WorldWideScience

Sample records for sustainable cooperative robotic

  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. Sorting and sustaining cooperation

    DEFF Research Database (Denmark)

    Vikander, Nick

    2013-01-01

    This paper looks at cooperation in teams where some people are selfish and others are conditional cooperators, and where lay-offs will occur at a fixed future date. I show that the best way to sustain cooperation prior to the lay-offs is often in a sorting equilibrium, where conditional cooperators...... can identify and then work with one another. Changes to parameters that would seem to make cooperation more attractive, such as an increase in the discount factor or the fraction of conditional cooperators, can reduce equilibrium cooperation if they decrease a selfish player's incentive to sort....

  3. Heterogeneous Multi-Robot Cooperation

    Science.gov (United States)

    1994-02-01

    express my heartfelt thanks to my thesis advisor . Rod Brooks. who supported and encouraged me throughout my time at MIT. He provided a good mixture of...group than is possible with individual robots alone. 25 26 CHAPTER 3. ALLIANCE: THE COOPERATIVE ROBO ,ARCHITECTURE’ discuss the implications of these...available, robot teams should take advantage of it; however, I do not want the team to experience total breakdown when communication becomes unavailable

  4. Cooperative robots and sensor networks

    CERN Document Server

    Khelil, Abdelmajid

    2014-01-01

    Mobile robots and Wireless Sensor Networks (WSNs) have enabled great potentials and a large space for ubiquitous and pervasive applications. Robotics and WSNs have mostly been considered as separate research fields and little work has investigated the marriage between these two technologies. However, these two technologies share several features, enable common cyber-physical applications and provide complementary support to each other.
 The primary objective of book is to provide a reference for cutting-edge studies and research trends pertaining to robotics and sensor networks, and in particular for the coupling between them. The book consists of five chapters. The first chapter presents a cooperation strategy for teams of multiple autonomous vehicles to solve the rendezvous problem. The second chapter is motivated by the need to improve existing solutions that deal with connectivity prediction, and proposed a genetic machine learning approach for link-quality prediction. The third chapter presents an arch...

  5. Communicating Cooperative Robots with Bluetooth

    DEFF Research Database (Denmark)

    Schiøler, Henrik; Son, L.T.; Madsen, Ole Brun

    2001-01-01

    A generic architecture for system of cooperating communicating mobile robots is presented. An overall structure is defined from a modularity viewpoint, where a number of generic modules are identified; low level communication interface, network layer services such as initial and adaptive network...... structuring, routing and capacity management, overall behaviour which includes commitment to overall strategies as well as local behaviour like trajectory planning and navigation. Focus is kept on communication aspects and an example application of establishing a reliable wireless real-time communication...

  6. Cooperative robots and sensor networks 2015

    CERN Document Server

    Dios, JRamiro

    2015-01-01

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

  7. Cooperative Robots to Observe Moving Targets: Review.

    Science.gov (United States)

    Khan, Asif; Rinner, Bernhard; Cavallaro, Andrea

    2018-01-01

    The deployment of multiple robots for achieving a common goal helps to improve the performance, efficiency, and/or robustness in a variety of tasks. In particular, the observation of moving targets is an important multirobot application that still exhibits numerous open challenges, including the effective coordination of the robots. This paper reviews control techniques for cooperative mobile robots monitoring multiple targets. The simultaneous movement of robots and targets makes this problem particularly interesting, and our review systematically addresses this cooperative multirobot problem for the first time. We classify and critically discuss the control techniques: cooperative multirobot observation of multiple moving targets, cooperative search, acquisition, and track, cooperative tracking, and multirobot pursuit evasion. We also identify the five major elements that characterize this problem, namely, the coordination method, the environment, the target, the robot and its sensor(s). These elements are used to systematically analyze the control techniques. The majority of the studied work is based on simulation and laboratory studies, which may not accurately reflect real-world operational conditions. Importantly, while our systematic analysis is focused on multitarget observation, our proposed classification is useful also for related multirobot applications.

  8. Cooperative robots and sensor networks 2014

    CERN Document Server

    Khelil, Abdelmajid

    2014-01-01

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

  9. Robotic Cooperative Learning Promotes Student STEM Interest

    Science.gov (United States)

    Mosley, Pauline; Ardito, Gerald; Scollins, Lauren

    2016-01-01

    The principal purpose of this investigation is to study the effect of robotic cooperative learning methodologies on middle school students' critical thinking, and STEM interest. The semi-experimental inquiry consisted of ninety four six-grade students (forty nine students in the experimental group, forty five students in the control group), chosen…

  10. Vision-based mapping with cooperative robots

    Science.gov (United States)

    Little, James J.; Jennings, Cullen; Murray, Don

    1998-10-01

    Two stereo-vision-based mobile robots navigate and autonomously explore their environment safely while building occupancy grid maps of the environment. The robots maintain position estimates within a global coordinate frame using landmark recognition. This allows them to build a common map by sharing position information and stereo data. Stereo vision processing and map updates are done at 3 Hz and the robots move at speeds of 200 cm/s. Cooperative mapping is achieved through autonomous exploration of unstructured and dynamic environments. The map is constructed conservatively, so as to be useful for collision-free path planning. Each robot maintains a separate copy of a shared map, and then posts updates to the common map when it returns to observe a landmark at home base. Issues include synchronization, mutual localization, navigation, exploration, registration of maps, merging repeated views (fusion), centralized vs decentralized maps.

  11. Multi-robot Cooperation Behavior Decision Based on Psychological Values

    Directory of Open Access Journals (Sweden)

    Jian JIANG

    2014-01-01

    Full Text Available The method based on psychology concept has been proved to be a successful tool used for human-robot interaction. But its related research in multi-robot cooperation has remained scarce until recent studies. To solve the problem, a decision-making mechanism based on psychological values is presented to be regarded as the basis of the multi-robot cooperation. Robots give birth to psychological values based on the estimations of environment, teammates and themselves. The mapping relationship between psychological values and cooperation tendency threshold values is set up with artificial neural network. Robots can make decision on the bases of these threshold values in cooperation scenes. Experiments show that the multi-robot cooperation method presented in the paper not only can ensure the rationality of robots’ decision-making, but also can ensure the speediness of robots’ decision-making.

  12. Intelligent control and cooperation for mobile robots

    Science.gov (United States)

    Stingu, Petru Emanuel

    The topic discussed in this work addresses the current research being conducted at the Automation & Robotics Research Institute in the areas of UAV quadrotor control and heterogenous multi-vehicle cooperation. Autonomy can be successfully achieved by a robot under the following conditions: the robot has to be able to acquire knowledge about the environment and itself, and it also has to be able to reason under uncertainty. The control system must react quickly to immediate challenges, but also has to slowly adapt and improve based on accumulated knowledge. The major contribution of this work is the transfer of the ADP algorithms from the purely theoretical environment to the complex real-world robotic platforms that work in real-time and in uncontrolled environments. Many solutions are adopted from those present in nature because they have been proven to be close to optimal in very different settings. For the control of a single platform, reinforcement learning algorithms are used to design suboptimal controllers for a class of complex systems that can be conceptually split in local loops with simpler dynamics and relatively weak coupling to the rest of the system. Optimality is enforced by having a global critic but the curse of dimensionality is avoided by using local actors and intelligent pre-processing of the information used for learning the optimal controllers. The system model is used for constructing the structure of the control system, but on top of that the adaptive neural networks that form the actors use the knowledge acquired during normal operation to get closer to optimal control. In real-world experiments, efficient learning is a strong requirement for success. This is accomplished by using an approximation of the system model to focus the learning for equivalent configurations of the state space. Due to the availability of only local data for training, neural networks with local activation functions are implemented. For the control of a formation

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

    Science.gov (United States)

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

    2017-08-01

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

  14. ALLIANCE: An architecture for fault tolerant multi-robot cooperation

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1995-02-01

    ALLIANCE is a software architecture that facilitates the fault tolerant cooperative control of teams of heterogeneous mobile robots performing missions composed of loosely coupled, largely independent subtasks. ALLIANCE allows teams of robots, each of which possesses a variety of high-level functions that it can perform during a mission, to individually select appropriate actions throughout the mission based on the requirements of the mission, the activities of other robots, the current environmental conditions, and the robot`s own internal states. ALLIANCE is a fully distributed, behavior-based architecture that incorporates the use of mathematically modeled motivations (such as impatience and acquiescence) within each robot to achieve adaptive action selection. Since cooperative robotic teams usually work in dynamic and unpredictable environments, this software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. The feasibility of this architecture is demonstrated in an implementation on a team of mobile robots performing a laboratory version of hazardous waste cleanup.

  15. ALLIANCE: An architecture for fault tolerant multi-robot cooperation

    International Nuclear Information System (INIS)

    Parker, L.E.

    1995-02-01

    ALLIANCE is a software architecture that facilitates the fault tolerant cooperative control of teams of heterogeneous mobile robots performing missions composed of loosely coupled, largely independent subtasks. ALLIANCE allows teams of robots, each of which possesses a variety of high-level functions that it can perform during a mission, to individually select appropriate actions throughout the mission based on the requirements of the mission, the activities of other robots, the current environmental conditions, and the robot's own internal states. ALLIANCE is a fully distributed, behavior-based architecture that incorporates the use of mathematically modeled motivations (such as impatience and acquiescence) within each robot to achieve adaptive action selection. Since cooperative robotic teams usually work in dynamic and unpredictable environments, this software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. The feasibility of this architecture is demonstrated in an implementation on a team of mobile robots performing a laboratory version of hazardous waste cleanup

  16. Experiments on co-operating robot arms

    International Nuclear Information System (INIS)

    Arthaya, B.; De Schutter, J.

    1994-01-01

    When two robots manipulate a common object or perform a single task together, a closed-kinematic chain is formed. If both robots are controlled under position control only, at a certain phase during the manipulation, the interaction forces may become unacceptably high. The interaction forces are caused by the kinematic as well as the dynamic errors in the robot position controller. In order to avoid this problem, a synchronized motion between both robots has to be generated, not only by controlling the position (velocity) of the two end-effectors, but also by controlling the interaction forces between them. In order to generate a synchronized motion, the first robot controller continuously modifies the task frame velocity corresponding to the velocity of the other robot. This implies that the velocity of the other robot is used as feed-forward information in order to anticipate its motion. This approach results in a better tracking behaviour

  17. Optimal Modality Selection for Cooperative Human-Robot Task Completion.

    Science.gov (United States)

    Jacob, Mithun George; Wachs, Juan P

    2016-12-01

    Human-robot cooperation in complex environments must be fast, accurate, and resilient. This requires efficient communication channels where robots need to assimilate information using a plethora of verbal and nonverbal modalities such as hand gestures, speech, and gaze. However, even though hybrid human-robot communication frameworks and multimodal communication have been studied, a systematic methodology for designing multimodal interfaces does not exist. This paper addresses the gap by proposing a novel methodology to generate multimodal lexicons which maximizes multiple performance metrics over a wide range of communication modalities (i.e., lexicons). The metrics are obtained through a mixture of simulation and real-world experiments. The methodology is tested in a surgical setting where a robot cooperates with a surgeon to complete a mock abdominal incision and closure task by delivering surgical instruments. Experimental results show that predicted optimal lexicons significantly outperform predicted suboptimal lexicons (p human-robot collision) and the differences in the lexicons are analyzed.

  18. Cooperative Robot Teams Applied to the Site Preparation Task

    International Nuclear Information System (INIS)

    Parker, LE

    2001-01-01

    Prior to human missions to Mars, infrastructures on Mars that support human survival must be prepared. robotic teams can assist in these advance preparations in a number of ways. This paper addresses one of these advance robotic team tasks--the site preparation task--by proposing a control structure that allows robot teams to cooperatively solve this aspect of infrastructure preparation. A key question in this context is determining how robots should make decisions on which aspect of the site preparation t6ask to address throughout the mission, especially while operating in rough terrains. This paper describes a control approach to solving this problem that is based upon the ALLIANCE architecture, combined with performance-based rough terrain navigation that addresses path planning and control of mobile robots in rough terrain environments. They present the site preparation task and the proposed cooperative control approach, followed by some of the results of the initial testing of various aspects of the system

  19. Telemanipulation of cooperative robots: a case of study

    Science.gov (United States)

    Pliego-Jiménez, Javier; Arteaga-Pérez, Marco

    2018-06-01

    This article addresses the problem of dexterous robotic grasping by means of a telemanipulation system composed of a single master and two slave robot manipulators. The slave robots are analysed as a cooperative system where it is assumed that the robots can push but not pull the object. In order to achieve a stable rigid grasp, a centralised adaptive position-force control algorithm for the slave robots is proposed. On the other hand, a linear velocity observer for the master robot is developed to avoid numerical differentiation. A set of experiments with different human operators were carried out to show the good performance and capabilities of the proposed control-observer algorithm. In addition, the dynamic model and closed-loop dynamics of the telemanipulation is presented.

  20. Safe human-robot cooperation in an industrial environment

    OpenAIRE

    Pedrocchi N.; Vicentini F.; Matteo M.; Tosatti L.M.

    2013-01-01

    The standard EN ISO10218 is fostering the implementation of hybrid production systems, i.e., production systems characterized by a close relationship among human operators and robots in cooperative tasks. Human‐robot hybrid systems could have a big economic benefit in small and medium sized production, even if this new paradigm introduces mandatory, challenging safety aspects. Among various requirements for collaborative workspaces, safety‐assurance involves two different application layers; ...

  1. A Fully Sensorized Cooperative Robotic System for Surgical Interventions

    Science.gov (United States)

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

    2012-01-01

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

  2. Communicating with Teams of Cooperative Robots

    National Research Council Canada - National Science Library

    Perzanowski, D; Schultz, A. C; Adams, W; Bugajska, M; Marsh, E; Trafton, G; Brock, D; Skubic, M; Abramson, M

    2002-01-01

    .... For this interface, they have elected to use natural language and gesture. Gestures can be either natural gestures perceived by a vision system installed on the robot, or they can be made by using a stylus on a Personal Digital Assistant...

  3. Designing a Social Environment for Human-Robot Cooperation.

    Science.gov (United States)

    Amram, Fred M.

    Noting that work is partly a social activity, and that workers' psychological and emotional needs influence their productivity, this paper explores avenues for improving human-robot cooperation and for enhancing worker satisfaction in the environment of flexible automation. The first section of the paper offers a brief overview of the…

  4. Safe Human-Robot Cooperation in an Industrial Environment

    Directory of Open Access Journals (Sweden)

    Nicola Pedrocchi

    2013-01-01

    Full Text Available The standard EN ISO10218 is fostering the implementation of hybrid production systems, i.e., production systems characterized by a close relationship among human operators and robots in cooperative tasks. Human-robot hybrid systems could have a big economic benefit in small and medium sized production, even if this new paradigm introduces mandatory, challenging safety aspects. Among various requirements for collaborative workspaces, safety-assurance involves two different application layers; the algorithms enabling safe space-sharing between humans and robots and the enabling technologies allowing acquisition data from sensor fusion and environmental data analysing. This paper addresses both the problems: a collision avoidance strategy allowing on-line re-planning of robot motion and a safe network of unsafe devices as a suggested infrastructure for functional safety achievement.

  5. MOTION PLANNING OF MULTIPLE MOBILE ROBOTS COOPERATIVELY TRANSPORTING A COMMON OBJECT

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    Many applications above the capability of a single robot need the cooperation of multiple mobile robots, but effective cooperation is hard to achieve. In this paper, a master-slave method is proposed to control the motions of multiple mobile robots that cooperatively transport a common object from a start point to a goal point. A noholonomic kinematic model to constrain the motions of multiple mobile robots is built in order to achieve cooperative motions of them, and a "Dynamic Coordinator" strategy is used to deal with the collision-avoidance of the master robot and slave robot individually. Simulation results show the robustness and effectiveness of the method.

  6. Regional cooperation and sustainable development: The Arctic

    International Nuclear Information System (INIS)

    Vartanov, R.V.

    1993-01-01

    The Arctic is one of the regions most alienated from sustainable development, due to consequences of nuclear testing, long-range pollution transport, large-scale industrial accidents, irrational use of natural resources, and environmentally ignorant socio-economic policies. Revelations of the state of the USSR Arctic shows that air quality in northern cities is below standard, fish harvests are declining, pollution is not being controlled, and native populations are being affected seriously. The presence of immense resources in the Arctic including exploitable offshore oil reserves of 100-200 billion bbl and the prospect of wider utilization of northern sea routes should stimulate establishment of a new international regime of use, research, and protection of Arctic resources in favor of sustainable development in the region. The Arctic marine areas are the key component of the Arctic ecosystem and so should receive special attention. A broad legal framework has already been provided for such cooperation. Included in such cooperation would be native peoples and non-Arctic countries. Specifics of the cooperation would involve exchanging of scientific and technical information, promotion of ecologically sound technologies, equipping Arctic regions with means to control environmental quality, harmonizing environmental protection legislation, and monitoring Arctic environmental quality

  7. Cooperative resources lead to sustainable competitive advantage

    Directory of Open Access Journals (Sweden)

    Fernando Vieira

    2016-11-01

    Full Text Available The objective of this research is to analyze how organizational resources contribute to cooperatives achieving a sustainable competitive advantage. The theoretical approach of this study is the Resource Based View and VRIO model advocated by Barney and Hesterly (2007. The research was characterized as descriptive and quantitative, through data collection from secondary sources and a survey. The data collection tool was a questionnaire devised by Peacock, Sehnem and Hoffmann (2011. Data collection took place between the months of September 2014 and March 2015. The study sample was composed of a total of 215 cooperatives from across the country, divided into 13 segments. Secondary data was subjected to content analysis. The primary data was analyzed using statistical inference, namely: descriptive statistics, mean, Pearson correlation, Varimax rotation and the Kruskal-Wallis test. The main results showed that human resources are seen as important to achieving a sustainable competitive advantage. This research contributed to and enables new studies concerning the growth of cooperatives taking into account the use of internal resources.

  8. Cooperative multi-robot observation of multiple moving targets

    International Nuclear Information System (INIS)

    Parker, L.E.; Emmons, B.A.

    1997-01-01

    An important issue that arises in the automation of many security, surveillance, and reconnaissance tasks is that of monitoring, or observing, the movements of targets navigating in a bounded area of interest. A key research issue in these problems is that of sensor placement--determining where sensors should be located to maintain the targets in view. In complex applications of this type, the use of multiple sensors dynamically moving over time is required. In this paper, the authors investigate the sue of a cooperative team of autonomous sensor-based robots for multi-robot observation of multiple moving targets. They focus primarily on developing the distributed control strategies that allow the robot team to attempt to maximize the collective tie during which each object is being observed by at least one robot in the area of interest. The initial efforts in this problem address the aspects of distributed control in homogeneous robot teams with equivalent sensing and movement capabilities working in an uncluttered, bounded area. This paper first formalizes the problem, discusses related work, and then shows that this problem is NP-hard. They then present a distributed approximate approach to solving this problem that combines low-level multi-robot control with higher-level control

  9. Multi-robot motion control for cooperative observation

    International Nuclear Information System (INIS)

    Parker, L.E.

    1997-01-01

    An important issue that arises in the automation of many security, surveillance, and reconnaissance tasks is that of monitoring (or observing) the movements of targets navigating in a bounded area of interest. A key research issue in these problems is that of sensor placement--determining where sensors should be located to maintain the targets in view. In complex applications involving limited-range sensors, the use of multiple sensors dynamically moving over time is required. In this paper, the authors investigate the use of a cooperative team of autonomous sensor-based robots for the observation of multiple moving targets. They focus primarily on developing the distributed control strategies that allow the robot team to attempt to minimize the total time in which targets escape observation by some robot team member in the area of interest. This paper first formalizes the problem and discusses related work. The authors then present a distributed approximate approach to solving this problem that combines low-level multi-robot control with higher-level reasoning control based on the ALLIANCE formalism. They analyze the effectiveness of the approach by comparing it to 3 other feasible algorithms for cooperative control, showing the superiority of the approach for a large class of problems

  10. Multi-robot motion control for cooperative observation

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E. [Oak Ridge National Lab., TN (United States). Center for Engineering Systems Advanced Research

    1997-06-01

    An important issue that arises in the automation of many security, surveillance, and reconnaissance tasks is that of monitoring (or observing) the movements of targets navigating in a bounded area of interest. A key research issue in these problems is that of sensor placement--determining where sensors should be located to maintain the targets in view. In complex applications involving limited-range sensors, the use of multiple sensors dynamically moving over time is required. In this paper, the authors investigate the use of a cooperative team of autonomous sensor-based robots for the observation of multiple moving targets. They focus primarily on developing the distributed control strategies that allow the robot team to attempt to minimize the total time in which targets escape observation by some robot team member in the area of interest. This paper first formalizes the problem and discusses related work. The authors then present a distributed approximate approach to solving this problem that combines low-level multi-robot control with higher-level reasoning control based on the ALLIANCE formalism. They analyze the effectiveness of the approach by comparing it to 3 other feasible algorithms for cooperative control, showing the superiority of the approach for a large class of problems.

  11. Cooperative Robot Localization Using Event-Triggered Estimation

    Science.gov (United States)

    Iglesias Echevarria, David I.

    It is known that multiple robot systems that need to cooperate to perform certain activities or tasks incur in high energy costs that hinder their autonomous functioning and limit the benefits provided to humans by these kinds of platforms. This work presents a communications-based method for cooperative robot localization. Implementing concepts from event-triggered estimation, used with success in the field of wireless sensor networks but rarely to do robot localization, agents are able to only send measurements to their neighbors when the expected novelty in this information is high. Since all agents know the condition that triggers a measurement to be sent or not, the lack of a measurement is therefore informative and fused into state estimates. In the case agents do not receive either direct nor indirect measurements of all others, the agents employ a covariance intersection fusion rule in order to keep the local covariance error metric bounded. A comprehensive analysis of the proposed algorithm and its estimation performance in a variety of scenarios is performed, and the algorithm is compared to similar cooperative localization approaches. Extensive simulations are performed that illustrate the effectiveness of this method.

  12. Knowledge Sharing for the Provision of sustainable Cooperation ...

    African Journals Online (AJOL)

    pc

    2018-03-05

    Mar 5, 2018 ... affect development of a sustainable society and will determine tendencies in ... artificial intelligence and should be defined as 'intellectual systems' ..... Grundspeņķis,"Multi-Agent Robotic System Architecture for Effective Task.

  13. Evolutionary Fuzzy Control and Navigation for Two Wheeled Robots Cooperatively Carrying an Object in Unknown Environments.

    Science.gov (United States)

    Juang, Chia-Feng; Lai, Min-Ge; Zeng, Wan-Ting

    2015-09-01

    This paper presents a method that allows two wheeled, mobile robots to navigate unknown environments while cooperatively carrying an object. In the navigation method, a leader robot and a follower robot cooperatively perform either obstacle boundary following (OBF) or target seeking (TS) to reach a destination. The two robots are controlled by fuzzy controllers (FC) whose rules are learned through an adaptive fusion of continuous ant colony optimization and particle swarm optimization (AF-CACPSO), which avoids the time-consuming task of manually designing the controllers. The AF-CACPSO-based evolutionary fuzzy control approach is first applied to the control of a single robot to perform OBF. The learning approach is then applied to achieve cooperative OBF with two robots, where an auxiliary FC designed with the AF-CACPSO is used to control the follower robot. For cooperative TS, a rule for coordination of the two robots is developed. To navigate cooperatively, a cooperative behavior supervisor is introduced to select between cooperative OBF and cooperative TS. The performance of the AF-CACPSO is verified through comparisons with various population-based optimization algorithms for the OBF learning problem. Simulations and experiments verify the effectiveness of the approach for cooperative navigation of two robots.

  14. A Decentralized Interactive Architecture for Aerial and Ground Mobile Robots Cooperation

    OpenAIRE

    Harik, El Houssein Chouaib; Guérin, François; Guinand, Frédéric; Brethé, Jean-François; Pelvillain, Hervé

    2014-01-01

    International audience; —This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is used to provide a local coverage of ground features. We include a human-in-the-loop to provide waypoints for the ground mobile robot to progress safely in the inspected area. The aerial mobile robot follows continuously the ground mobi...

  15. Trajectory generation for two robots cooperating to perform a task

    International Nuclear Information System (INIS)

    Lewis, C.L.

    1995-01-01

    This paper formulates an algorithm for trajectory generation for two robots cooperating to perform an assembly task. Treating the two robots as a single redundant system, this paper derives two Jacobian matrices which relate the joint rates of the entire system to the relative motion of the grippers with respect to one another. The advantage of this formulation over existing methods is that a variety of secondary criteria can be conveniently satisfied using motion in the null-space of the relative Jacobian. This paper presents methods for generating dual-arm joint trajectories which perform assembly tasks while at the same time avoiding obstacles and joint limits, and also maintaining constraints on the absolute position and orientation of the end-effectors

  16. Cooperative Three-Robot System for Traversing Steep Slopes

    Science.gov (United States)

    Stroupe, Ashley; Huntsberger, Terrance; Aghazarian, Hrand; Younse, Paulo; Garrett, Michael

    2009-01-01

    Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data

  17. Sustainability indicators - a tool for regional co-operation

    OpenAIRE

    Koitka, Heike

    2002-01-01

    Sustainability indicators are more than just numbers. Besides their main function of illustrating the complex vision of sustainability they could support some factors for success of regional co-operation through their development. Today the discussion on indicators and co-operation is mainly separated from each other. Sustainability indicators are developed on all spatial levels from neighbourhoods up to the United Nations. In some cases the indicators are developed but remain unused. Regiona...

  18. Sustaining Emotional Communication when Interacting with an Android Robot

    DEFF Research Database (Denmark)

    Vlachos, Evgenios

    The more human-like a robot appears and acts, the more users will have the belief of communicating with a human partner rather than with an artificial entity. However, current robotic technology displays limitations on the design of the facial interface and on the design of believable Human...... of an android related to its actions, perception and intelligence, or failure to identify which robot type is qualified to perform a specific task, might lead to disruption of HRI. This study is concerned with the problem of sustaining emotional communication when interacting with an android social robot......-ended evaluation method pertaining to the interpretation of Android facial expressions (g) a study on how users’ perception and attitude can change after direct interaction with a robot, (h) a study on how androids can maintain the focus of attention during short-term dyadic interactions, and (i) a state...

  19. Development and implementation of algorithms in a population of cooperative autonomous mobile robots

    CSIR Research Space (South Africa)

    Namoshe, M

    2007-10-01

    Full Text Available An increase in the number of mobile robot users has lead to the design and implementation of cooperative autonomous mobile robots. Autonomous robots require the ability to build maps of an unknown environment while simultaneously using these maps...

  20. Cognitive Coordination for Cooperative Multi-Robot Teamwork

    NARCIS (Netherlands)

    Wei, C.

    2015-01-01

    Multi-robot teams have potential advantages over a single robot. Robots in a team can serve different functionalities, so a team of robots can be more efficient, robust and reliable than a single robot. In this dissertation, we are in particular interested in human level intelligent multi-robot

  1. Cooperative Path Planning and Constraints Analysis for Master-Slave Industrial Robots

    Directory of Open Access Journals (Sweden)

    Yahui Gan

    2012-09-01

    Full Text Available A strategy of cooperative path planning for a master-slave multiple robot system is presented in this paper. The path planning method is based on motion constraints between the end-effectors of cooperative robots. Cooperation motions have been classified into three types by relative motions between end-effectors of master and slave robots, which is concurrent cooperation, coupled synchronous cooperation and combined synchronous cooperation. Based on this classification, position /orientation constraints and joint velocity constraints are explored in-depth here. In order to validate the path planning method and the theoretical developments in motion constraints analysis, representative experiments based on two industrial robots, Motoman VA1400 and HP20, are provided at the end of the paper. The experimental results have proved both the effectiveness of the path planning method and the correctness of the constraints analysis.

  2. The international cooperation for sustainable development

    International Nuclear Information System (INIS)

    Ruiz, Francisco; Soto, David

    1998-02-01

    This article notices the importance of the environmental issue for the international cooperation and the legislative progress about it in Colombia. Also, it study the changes in the cooperation system, from one based in quotas to other based in the demand, and the adjustments required in developing countries to adapt to the new scheme

  3. Knowledge Sharing for the Provision of sustainable Cooperation ...

    African Journals Online (AJOL)

    pc

    2018-03-05

    Mar 5, 2018 ... knowledge sharing imitation model and prototype for sustainable cooperation between ... enterprises. The goal involves innovative methods and web-based ..... rather informative and motivating for everyone to return to the cooperative ... communication style and activity between involved parties. The main ...

  4. Conceptualizing the Effectiveness of Sustainability Assessment in Development Cooperation

    Directory of Open Access Journals (Sweden)

    Jean Hugé

    2015-05-01

    Full Text Available Sustainability assessment has emerged as a key decision-support process in development cooperation in response to the growing acknowledgement of the impacts of global change. This paper aims at conceptualizing the effectiveness of sustainability assessment as applied in development cooperation, by focusing on the sustainability assessment practice by actors of the official Belgian Development Cooperation. The conceptualization of the effectiveness of sustainability assessment is synthesized in a set of issues and concerns, based on semi-structured interviews. The paper highlights the specificity of sustainability assessment in the development cooperation sector (e.g., through the cultural and discursive compatibility dimensions of assessment in a North-South context. Effectiveness is inherently linked to the expected functions of sustainability assessment in the decision-making process, which include fostering organizational change, shaping contextually adapted framings of sustainability and operationalizing the sustainability transition. These findings highlight the relevance of a discourse-sensitive approach to sustainability assessment if one is to strengthen its credibility and legitimacy.

  5. ALLIANCE: An architecture for fault tolerant, cooperative control of heterogeneous mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1995-02-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control in robot missions involving loosely coupled, largely independent tasks. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, the author describes in detail experimental results of an implementation of this architecture on a team of physical mobile robots performing a cooperative box pushing demonstration. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes in the capabilities of the robot team.

  6. The benefit of sustainable industrial cooperation. Study on the economical and ecological benefits of industrial cooperatives

    International Nuclear Information System (INIS)

    Hansen, D.H.J.M.; Lavrijsen, T.; Vermeulen, W.J.V.

    2005-01-01

    From scientific literature and policy memoranda it appears that sustainable industrial cooperatives result into economical and ecological benefits. However, little empirical data on practical results is available. Therefore, recently, an analysis has been carried out determining the benefit of industrial cooperation. The economical and ecological offer businesses a cost-effective option to reduce the environmental burden. Still, real implementation of such cooperatives is only realized yet by forerunners in the field of environmental management [nl

  7. Investigation of the Impedance Characteristic of Human Arm for Development of Robots to Cooperate with Humans

    Science.gov (United States)

    Rahman, Md. Mozasser; Ikeura, Ryojun; Mizutani, Kazuki

    In the near future many aspects of our lives will be encompassed by tasks performed in cooperation with robots. The application of robots in home automation, agricultural production and medical operations etc. will be indispensable. As a result robots need to be made human-friendly and to execute tasks in cooperation with humans. Control systems for such robots should be designed to work imitating human characteristics. In this study, we have tried to achieve these goals by means of controlling a simple one degree-of-freedom cooperative robot. Firstly, the impedance characteristic of the human arm in a cooperative task is investigated. Then, this characteristic is implemented to control a robot in order to perform cooperative task with humans. A human followed the motion of an object, which is moved through desired trajectories. The motion is actuated by the linear motor of the one degree-of-freedom robot system. Trajectories used in the experiments of this method were minimum jerk (the rate of change of acceleration) trajectory, which was found during human and human cooperative task and optimum for muscle movement. As the muscle is mechanically analogous to a spring-damper system, a simple second-order equation is used as models for the arm dynamics. In the model, we considered mass, stiffness and damping factor. Impedance parameter is calculated from the position and force data obtained from the experiments and based on the “Estimation of Parametric Model”. Investigated impedance characteristic of human arm is then implemented to control a robot, which performed cooperative task with human. It is observed that the proposed control methodology has given human like movements to the robot for cooperating with human.

  8. Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

    International Nuclear Information System (INIS)

    Mann, R.C.; Fujimura, K.; Unseren, M.A.

    1991-01-01

    One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR)at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace. 15 refs., 3 figs

  9. Modelling of cooperating robotized systems with the use of object-based approach

    Science.gov (United States)

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

    2015-11-01

    Today's robotized manufacturing systems are characterized by high efficiency. The emphasis is placed mainly on the simultaneous work of machines. It could manifest in many ways, where the most spectacular one is the cooperation of several robots, during work on the same detail. What's more, recently a dual-arm robots are used that could mimic the manipulative skills of human hands. As a result, it is often hard to deal with the situation, when it is necessary not only to maintain sufficient precision, but also the coordination and proper sequence of movements of individual robots’ arms. The successful completion of this task depends on the individual robot control systems and their respective programmed, but also on the well-functioning communication between robot controllers. A major problem in case of cooperating robots is the possibility of collision between particular links of robots’ kinematic chains. This is not a simple case, because the manufacturers of robotic systems do not disclose the details of the control algorithms, then it is hard to determine such situation. Another problem with cooperation of robots is how to inform the other units about start or completion of part of the task, so that other robots can take further actions. This paper focuses on communication between cooperating robotic units, assuming that every robot is represented by object-based model. This problem requires developing a form of communication protocol that the objects can use for collecting the information about its environment. The approach presented in the paper is not limited to the robots and could be used in a wider range, for example during modelling of the complete workcell or production line.

  10. Incentive Model Based on Cooperative Relationship in Sustainable Construction Projects

    Directory of Open Access Journals (Sweden)

    Guangdong Wu

    2017-07-01

    Full Text Available Considering the cooperative relationship between owners and contractors in sustainable construction projects, as well as the synergistic effects created by cooperative behaviors, a cooperative incentive model was developed using game theory. The model was formulated and analyzed under both non-moral hazard and moral hazard situations. Then, a numerical simulation and example were proposed to verify the conclusions derived from the model. The results showed that the synergistic effect increases the input intensity of one party’s resource transfer into the increase of marginal utility of the other party, thus the owner and contractor are willing to enhance their levels of effort. One party’s optimal benefit allocation coefficient is positively affected by its own output efficiency, and negatively affected by the other party’s output efficiency. The effort level and expected benefits of the owner and contractor can be improved by enhancing the cooperative relationship between the two parties, as well as enhancing the net benefits of a sustainable construction project. The synergistic effect cannot lower the negative effect of moral hazard behaviors during the implementation of sustainable construction projects. Conversely, the higher levels of the cooperative relationship, the wider the gaps amongst the optimal values under both non-moral hazard and moral hazard situations for the levels of effort, expected benefits and net project benefits. Since few studies to date have emphasized the effects of cooperative relationship on sustainable construction projects, this study constructed a game-based incentive model to bridge the gaps. This study contributes significant theoretical and practical insights into the management of cooperation amongst stakeholders, and into the enhancement of the overall benefits of sustainable construction projects.

  11. Cooperation between humans and robots in fine assembly

    Science.gov (United States)

    Jalba, C. K.; Konold, P.; Rapp, I.; Mann, C.; Muminovic, A.

    2017-01-01

    The development of ever smaller components in manufacturing processes require handling, assembling and testing of miniature similar components. The human eye meets its optical limits with ongoing miniaturization of parts, due to the fact that it is not able to detect particles with a size smaller than 0.11 mm or register distances below 0.07 mm - like separating gaps. After several hours of labour, workers cannot accurately differentiate colour nuances as well as constant quality of work cannot be guaranteed. Assembly is usually done with tools, such as microscopes, magnifiers or digital measuring devices. Due to the enormous mental concentration, quickly a fatigue process sets in. This requires breaks or change of task and reduces productivity. Dealing with handling devices such as grippers, guide units and actuators for component assembling, requires a time consuming training process. Often productivity increase is first achieved after years of daily training. Miniaturizations are ubiquitously needed, for instance in the surgery. Very small add-on instruments must be provided. In measurement, e.g. it is a technological must and a competitive advantage, to determine required data with a small-as-possible, highest-possible-resolution sensor. Solution: The realization of a flexible universal workstation, using standard robotic systems and image processing devices in cooperation with humans, where workers are largely freed up from highly strenuous physical and fine motoric work, so that they can do productive work monitoring and adjusting the machine assisted production process.

  12. Evolving controllers for a homogeneous system of physical robots: structured cooperation with minimal sensors.

    Science.gov (United States)

    Quinn, Matt; Smith, Lincoln; Mayley, Giles; Husbands, Phil

    2003-10-15

    We report on recent work in which we employed artificial evolution to design neural network controllers for small, homogeneous teams of mobile autonomous robots. The robots were evolved to perform a formation-movement task from random starting positions, equipped only with infrared sensors. The dual constraints of homogeneity and minimal sensors make this a non-trivial task. We describe the behaviour of a successful system in which robots adopt and maintain functionally distinct roles in order to achieve the task. We believe this to be the first example of the use of artificial evolution to design coordinated, cooperative behaviour for real robots.

  13. Distributed control of multi-robot teams: Cooperative baton passing task

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1998-11-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, they describe the implementation of this architecture on a team of physical mobile robots performing a cooperative baton passing task. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes during the task.

  14. Sustaining cooperation in a differential game of advertising goodwill accumulation

    DEFF Research Database (Denmark)

    Jørgensen, Steffen; Gromova, Ekaterina

    2016-01-01

    The paper suggests a differential game of advertising competition among three symmetric firms, played over an infinite horizon. The objective of the research is to see if a cooperative agreement among the firms can be sustained over time. For this purpose the paper determines the characteristic...

  15. Impact of a Sustained Cooperative Learning Intervention on Student Motivation

    Science.gov (United States)

    Fernandez-Rio, Javier; Sanz, Naira; Fernandez-Cando, Judith; Santos, Luis

    2017-01-01

    Background: Cooperative Learning has been recently defined as a true pedagogical model. Moreover, in a recent review Casey and Goodyear reported that it can help physical education promote the four basic learning outcomes: physical, cognitive, social and affective. Purpose: The main goal was to investigate the impact of a sustained Cooperative…

  16. A Case-Study for Life-Long Learning and Adaptation in Cooperative Robot Teams

    International Nuclear Information System (INIS)

    Parker, L.E.

    1999-01-01

    While considerable progress has been made in recent years toward the development of multi-robot teams, much work remains to be done before these teams are used widely in real-world applications. Two particular needs toward this end are the development of mechanisms that enable robot teams to generate cooperative behaviors on their own, and the development of techniques that allow these teams to autonomously adapt their behavior over time as the environment or the robot team changes. This paper proposes the use of the Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) application as a rich domain for studying the issues of multi-robot learning and adaptation. After discussing the need for learning and adaptation in multi-robot teams, this paper describes the CMOMMT application and its relevance to multi-robot learning. We discuss the results of the previously- developed, hand-generated algorithm for CMOMMT and the potential for learning that was discovered from the hand-generated approach. We then describe the early work that has been done (by us and others) to generate multi- robot learning techniques for the CMOMMT application, as well as our ongoing research to develop approaches that give performance as good, or better, than the hand-generated approach. The ultimate goal of this research is to develop techniques for multi-robot learning and adaptation in the CMOMMT application domain that will generalize to cooperative robot applications in other domains, thus making the practical use of multi-robot teams in a wide variety of real-world applications much closer to reality

  17. A 2.5D Map-Based Mobile Robot Localization via Cooperation of Aerial and Ground Robots.

    Science.gov (United States)

    Nam, Tae Hyeon; Shim, Jae Hong; Cho, Young Im

    2017-11-25

    Recently, there has been increasing interest in studying the task coordination of aerial and ground robots. When a robot begins navigation in an unknown area, it has no information about the surrounding environment. Accordingly, for robots to perform tasks based on location information, they need a simultaneous localization and mapping (SLAM) process that uses sensor information to draw a map of the environment, while simultaneously estimating the current location of the robot on the map. This paper aims to present a localization method based in cooperation between aerial and ground robots in an indoor environment. The proposed method allows a ground robot to reach accurate destination by using a 2.5D elevation map built by a low-cost RGB-D (Red Green and Blue-Depth) sensor and 2D Laser sensor attached onto an aerial robot. A 2.5D elevation map is formed by projecting height information of an obstacle using depth information obtained by the RGB-D sensor onto a grid map, which is generated by using the 2D Laser sensor and scan matching. Experimental results demonstrate the effectiveness of the proposed method for its accuracy in location recognition and computing speed.

  18. A 2.5D Map-Based Mobile Robot Localization via Cooperation of Aerial and Ground Robots

    Directory of Open Access Journals (Sweden)

    Tae Hyeon Nam

    2017-11-01

    Full Text Available Recently, there has been increasing interest in studying the task coordination of aerial and ground robots. When a robot begins navigation in an unknown area, it has no information about the surrounding environment. Accordingly, for robots to perform tasks based on location information, they need a simultaneous localization and mapping (SLAM process that uses sensor information to draw a map of the environment, while simultaneously estimating the current location of the robot on the map. This paper aims to present a localization method based in cooperation between aerial and ground robots in an indoor environment. The proposed method allows a ground robot to reach accurate destination by using a 2.5D elevation map built by a low-cost RGB-D (Red Green and Blue-Depth sensor and 2D Laser sensor attached onto an aerial robot. A 2.5D elevation map is formed by projecting height information of an obstacle using depth information obtained by the RGB-D sensor onto a grid map, which is generated by using the 2D Laser sensor and scan matching. Experimental results demonstrate the effectiveness of the proposed method for its accuracy in location recognition and computing speed.

  19. Generating Self-Reliant Teams of Autonomous Cooperating Robots: Desired design Characteristics

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1999-05-01

    The difficulties in designing a cooperative team are significant. Several of the key questions that must be resolved when designing a cooperative control architecture include: How do we formulate, describe, decompose, and allocate problems among a group of intelligent agents? How do we enable agents to communicate and interact? How do we ensure that agents act coherently in their actions? How do we allow agents to recognize and reconcile conflicts? However, in addition to these key issues, the software architecture must be designed to enable multi-robot teams to be robust, reliable, and flexible. Without these capabilities, the resulting robot team will not be able to successfully deal with the dynamic and uncertain nature of the real world. In this extended abstract, we first describe these desired capabilities. We then briefly describe the ALLIANCE software architecture that we have previously developed for multi-robot cooperation. We then briefly analyze the ALLIANCE architecture in terms of the desired design qualities identified.

  20. Cooperative Exploration for USAR Robots with Indirect Communication

    OpenAIRE

    Ziparo, V. A.; Kleiner, Alexander; Farinelli, A.; Marchetti, L.; Nardi, D.

    2007-01-01

    To coordinate a team of robots for exploration is a challenging problem, particularly in unstructured areas, as for example post-disaster scenarios where direct communication is severely constrained. Furthermore, conventional methods of SLAM, e.g. those performing data association based on visual features, are doomed to fail due to bad visibility caused by smoke and fire. We use indirect communication (based on RFIDs), to share knowledge and use a gradient-like local search to direct robots t...

  1. SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots

    Science.gov (United States)

    Li, Xin; Bilbao, Sonia; Martín-Wanton, Tamara; Bastos, Joaquim; Rodriguez, Jonathan

    2017-01-01

    In order to facilitate cooperation between underwater robots, it is a must for robots to exchange information with unambiguous meaning. However, heterogeneity, existing in information pertaining to different robots, is a major obstruction. Therefore, this paper presents a networked ontology, named the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) ontology, to address information heterogeneity and enable robots to have the same understanding of exchanged information. The SWARMs ontology uses a core ontology to interrelate a set of domain-specific ontologies, including the mission and planning, the robotic vehicle, the communication and networking, and the environment recognition and sensing ontology. In addition, the SWARMs ontology utilizes ontology constructs defined in the PR-OWL ontology to annotate context uncertainty based on the Multi-Entity Bayesian Network (MEBN) theory. Thus, the SWARMs ontology can provide both a formal specification for information that is necessarily exchanged between robots and a command and control entity, and also support for uncertainty reasoning. A scenario on chemical pollution monitoring is described and used to showcase how the SWARMs ontology can be instantiated, be extended, represent context uncertainty, and support uncertainty reasoning. PMID:28287468

  2. Punishment sustains large-scale cooperation in prestate warfare

    Science.gov (United States)

    Mathew, Sarah; Boyd, Robert

    2011-01-01

    Understanding cooperation and punishment in small-scale societies is crucial for explaining the origins of human cooperation. We studied warfare among the Turkana, a politically uncentralized, egalitarian, nomadic pastoral society in East Africa. Based on a representative sample of 88 recent raids, we show that the Turkana sustain costly cooperation in combat at a remarkably large scale, at least in part, through punishment of free-riders. Raiding parties comprised several hundred warriors and participants are not kin or day-to-day interactants. Warriors incur substantial risk of death and produce collective benefits. Cowardice and desertions occur, and are punished by community-imposed sanctions, including collective corporal punishment and fines. Furthermore, Turkana norms governing warfare benefit the ethnolinguistic group, a population of a half-million people, at the expense of smaller social groupings. These results challenge current views that punishment is unimportant in small-scale societies and that human cooperation evolved in small groups of kin and familiar individuals. Instead, these results suggest that cooperation at the larger scale of ethnolinguistic units enforced by third-party sanctions could have a deep evolutionary history in the human species. PMID:21670285

  3. Quadruped robots for nuclear facilities. Development of cooperative carrying and unloading functions

    International Nuclear Information System (INIS)

    2016-01-01

    As the Fukushima Daiichi Nuclear Power Station (hereafter refers to as 1F) became the high dose environment by the Great East Japan Earthquake, remotely operated robots were required in order to reduce workers' radiation exposure. We developed a quadruped robot to walk the stairs and narrow passages with carrying burdens such as investigation tools. This robot investigated water leakage from vent pipes at underground of 1F unit 2. There are various works towards the decommissioning such as measuring doses of radiation, cutting pipes, connecting wires and more. It is desirable to carry various work tools and to unload them at destinations with remotely operated robots. To this end, we have developed carrying and unloading functions of the robot. In addition, we have developed cooperative carrying functions that two quadruped robots carry and unload a burden which is too long or heavy for individual robot. As a result, it was realized that two robots carried the pipe of 48 kg while getting over a step of 100 mm and unloading it at a destination. (author)

  4. What Role for Emotions in Cooperating Robots? - The Case of RH3-Y

    Science.gov (United States)

    Dessimoz, Jean-Daniel; Gauthey, Pierre-François

    The paper reviews key aspects of emotions in the context of cooperating robots (mostly, robots cooperating with humans), and gives numerous concrete examples from RH-Y robots. Emotions have been first systematically studied in relation to human expressions, and then the shift has come towards a machine-based replication. Emotions appear to result from changes, from convergence or deviation between status and goals; they trigger appropriate activities, are commonly represented in 2D or 3D affect space, and can be made visible by facial expressions. While specific devices are sometimes created, emotive expressions seem to be conveniently rendered by a set of facial images or more simply by some icons; they can also possibly be parameterized in a few dimensions for continuous modulation. In fact however, internal forces for activities and changes may be expressed in many ways other than faces: screens, panels, and operational behaviors. Relying on emotions ensures useful aspects, such as experience reuse, legibility or communication. But it also includes limits such as due to the nature of robots, of interactive media, and even of the very domain of emotions. For our goal, the design of effective and efficient, cooperating robots, in domestic applications, communication and interaction play key roles; best practices become evident after experimental verification; and our experience gained so far, over 10 years and more, points at a variety of successful strategic attitudes and expression modes, much beyond classic human emotions and facial or iconic images.

  5. Optimal Control of Holding Motion by Nonprehensile Two-Cooperative-Arm Robot

    Directory of Open Access Journals (Sweden)

    Changan Jiang

    2016-01-01

    Full Text Available Recently, more researchers have focused on nursing-care assistant robot and placed their hope on it to solve the shortage problem of the caregivers in hospital or nursing home. In this paper, a nonprehensile two-cooperative-arm robot is considered to realize holding motion to keep a two-rigid-link object (regarded as a care-receiver stable on the robot arms. By applying Newton-Euler equations of motion, dynamic model of the object is obtained. In this model, for describing interaction behavior between object and robot arms in the normal direction, a viscoelastic model is employed to represent the normal forces. Considering existence of friction between object and robot arms, LuGre dynamic model is applied to describe the friction. Based on the obtained model, an optimal regulator is designed to control the holding motion of two-cooperative-arm robot. In order to verify the effectiveness of the proposed method, simulation results are shown.

  6. Sustainable rural development and cross-border cooperation

    Directory of Open Access Journals (Sweden)

    Stojanović Žaklina

    2009-01-01

    Full Text Available The concept of sustainable rural development comprises three aspects - social, economical and ecological. They are supposed to act in synergy, but, at the same time, these aspects are supposed to be competitive. Agriculture, as a traditional activity of rural economy, contributes to the sustainable development of rural areas only if there is an adequate resources management. If not, there will be a significant degradation of rural environment. These are the reasons why sustainable agriculture development is emphasized since it maximizes productivity and minimizes negative effects on nature and human resources. In this context, one should observe the connection between agriculture and tourism existing in the EU, where the application of sustainable agricultural development concept produces external effects connected to biodiversity protection and environment in rural areas. These become a good foundation for the development of rural and ecotourism. EU enlargement induced diversification of support programmes that EU gives to the candidate countries, as well as to those who are just entering the process of stabilization and association to the EU. Through cross-border cooperation projects, many goals can be accomplished, among which aspiration for promotion of sustainable economical and social development in border regions is one of the leading. Knowing that these regions are usually passive and underdeveloped, the projects of cross-border cooperation could induce development of those activities in local economy, which could bring better living conditions and economic prosperity on the one hand, and protection of environment on the other. Examples of this kind of projects in Serbia can usually be found in rural and ecotourism development.

  7. 75 FR 57502 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2010-09-21

    ... DEPARTMENT OF JUSTICE Antitrust Division Notice Pursuant to the National Cooperative Research and Production Act of 1993--Robotics Technology Consortium, Inc. Correction In notice document 2010-22215 beginning on page 54914 in the issue of Thursday, July 9, 2010, make the following corrections: 1. On page...

  8. Incremental inverse kinematics based vision servo for autonomous robotic capture of non-cooperative space debris

    Science.gov (United States)

    Dong, Gangqi; Zhu, Z. H.

    2016-04-01

    This paper proposed a new incremental inverse kinematics based vision servo approach for robotic manipulators to capture a non-cooperative target autonomously. The target's pose and motion are estimated by a vision system using integrated photogrammetry and EKF algorithm. Based on the estimated pose and motion of the target, the instantaneous desired position of the end-effector is predicted by inverse kinematics and the robotic manipulator is moved incrementally from its current configuration subject to the joint speed limits. This approach effectively eliminates the multiple solutions in the inverse kinematics and increases the robustness of the control algorithm. The proposed approach is validated by a hardware-in-the-loop simulation, where the pose and motion of the non-cooperative target is estimated by a real vision system. The simulation results demonstrate the effectiveness and robustness of the proposed estimation approach for the target and the incremental control strategy for the robotic manipulator.

  9. Man-Robot Symbiosis: A Framework For Cooperative Intelligence And Control

    Science.gov (United States)

    Parker, Lynne E.; Pin, Francois G.

    1988-10-01

    The man-robot symbiosis concept has the fundamental objective of bridging the gap between fully human-controlled and fully autonomous systems to achieve true man-robot cooperative control and intelligence. Such a system would allow improved speed, accuracy, and efficiency of task execution, while retaining the man in the loop for innovative reasoning and decision-making. The symbiont would have capabilities for supervised and unsupervised learning, allowing an increase of expertise in a wide task domain. This paper describes a robotic system architecture facilitating the symbiotic integration of teleoperative and automated modes of task execution. The architecture reflects a unique blend of many disciplines of artificial intelligence into a working system, including job or mission planning, dynamic task allocation, man-robot communication, automated monitoring, and machine learning. These disciplines are embodied in five major components of the symbiotic framework: the Job Planner, the Dynamic Task Allocator, the Presenter/Interpreter, the Automated Monitor, and the Learning System.

  10. Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery.

    Science.gov (United States)

    Balicki, Marcin; Xia, Tian; Jung, Min Yang; Deguet, Anton; Vagvolgyi, Balazs; Kazanzides, Peter; Taylor, Russell

    2011-06-01

    This paper presents the design of a tele-robotic microsurgical platform designed for development of cooperative and tele-operative control schemes, sensor based smart instruments, user interfaces and new surgical techniques with eye surgery as the driving application. The system is built using the distributed component-based cisst libraries and the Surgical Assistant Workstation framework. It includes a cooperatively controlled EyeRobot2, a da Vinci Master manipulator, and a remote stereo visualization system. We use constrained optimization based virtual fixture control to provide Virtual Remote-Center-of-Motion (vRCM) and haptic feedback. Such system can be used in a hybrid setup, combining local cooperative control with remote tele-operation, where an experienced surgeon can provide hand-over-hand tutoring to a novice user. In another scheme, the system can provide haptic feedback based on virtual fixtures constructed from real-time force and proximity sensor information.

  11. Human-robot cooperative movement training: Learning a novel sensory motor transformation during walking with robotic assistance-as-needed

    Directory of Open Access Journals (Sweden)

    Benitez Raul

    2007-03-01

    Full Text Available Abstract Background A prevailing paradigm of physical rehabilitation following neurologic injury is to "assist-as-needed" in completing desired movements. Several research groups are attempting to automate this principle with robotic movement training devices and patient cooperative algorithms that encourage voluntary participation. These attempts are currently not based on computational models of motor learning. Methods Here we assume that motor recovery from a neurologic injury can be modelled as a process of learning a novel sensory motor transformation, which allows us to study a simplified experimental protocol amenable to mathematical description. Specifically, we use a robotic force field paradigm to impose a virtual impairment on the left leg of unimpaired subjects walking on a treadmill. We then derive an "assist-as-needed" robotic training algorithm to help subjects overcome the virtual impairment and walk normally. The problem is posed as an optimization of performance error and robotic assistance. The optimal robotic movement trainer becomes an error-based controller with a forgetting factor that bounds kinematic errors while systematically reducing its assistance when those errors are small. As humans have a natural range of movement variability, we introduce an error weighting function that causes the robotic trainer to disregard this variability. Results We experimentally validated the controller with ten unimpaired subjects by demonstrating how it helped the subjects learn the novel sensory motor transformation necessary to counteract the virtual impairment, while also preventing them from experiencing large kinematic errors. The addition of the error weighting function allowed the robot assistance to fade to zero even though the subjects' movements were variable. We also show that in order to assist-as-needed, the robot must relax its assistance at a rate faster than that of the learning human. Conclusion The assist

  12. Human-robot cooperative movement training: learning a novel sensory motor transformation during walking with robotic assistance-as-needed.

    Science.gov (United States)

    Emken, Jeremy L; Benitez, Raul; Reinkensmeyer, David J

    2007-03-28

    A prevailing paradigm of physical rehabilitation following neurologic injury is to "assist-as-needed" in completing desired movements. Several research groups are attempting to automate this principle with robotic movement training devices and patient cooperative algorithms that encourage voluntary participation. These attempts are currently not based on computational models of motor learning. Here we assume that motor recovery from a neurologic injury can be modelled as a process of learning a novel sensory motor transformation, which allows us to study a simplified experimental protocol amenable to mathematical description. Specifically, we use a robotic force field paradigm to impose a virtual impairment on the left leg of unimpaired subjects walking on a treadmill. We then derive an "assist-as-needed" robotic training algorithm to help subjects overcome the virtual impairment and walk normally. The problem is posed as an optimization of performance error and robotic assistance. The optimal robotic movement trainer becomes an error-based controller with a forgetting factor that bounds kinematic errors while systematically reducing its assistance when those errors are small. As humans have a natural range of movement variability, we introduce an error weighting function that causes the robotic trainer to disregard this variability. We experimentally validated the controller with ten unimpaired subjects by demonstrating how it helped the subjects learn the novel sensory motor transformation necessary to counteract the virtual impairment, while also preventing them from experiencing large kinematic errors. The addition of the error weighting function allowed the robot assistance to fade to zero even though the subjects' movements were variable. We also show that in order to assist-as-needed, the robot must relax its assistance at a rate faster than that of the learning human. The assist-as-needed algorithm proposed here can limit error during the learning of a

  13. Integrated co-operative governance in the context of sustainable development

    Directory of Open Access Journals (Sweden)

    Eric Nealer

    2011-07-01

    Keywords:Sustainable development, governance, co-operative governance, integrated,organising, and communication. Disciplines:Public Administration, Public Management, Social Welfare, Environmental Management, Municipal public service delivery, Social Development, Organisational Behaviour, Co-operative Governance, Communication, Sustainable Development, Sustainable Organisational Development

  14. Fuzzy variable impedance control based on stiffness identification for human-robot cooperation

    Science.gov (United States)

    Mao, Dachao; Yang, Wenlong; Du, Zhijiang

    2017-06-01

    This paper presents a dynamic fuzzy variable impedance control algorithm for human-robot cooperation. In order to estimate the intention of human for co-manipulation, a fuzzy inference system is set up to adjust the impedance parameter. Aiming at regulating the output fuzzy universe based on the human arm’s stiffness, an online stiffness identification method is developed. A drag interaction task is conducted on a 5-DOF robot with variable impedance control. Experimental results demonstrate that the proposed algorithm is superior.

  15. Intergovermental Cooperation Initiative on Sustainable Transportation Management in Jabodetabek

    Directory of Open Access Journals (Sweden)

    Hidayat Chusnul Chotimah

    2016-05-01

    Full Text Available The main issues in Jabodetabek concerning the management of transportation are related to the increased use of private vehicles and the decreased use of public transportation, overcrowding daily traffic in Jabodetabek, the high congestion followed by insecurity in traffic, environmental pollution, uncontrolled growth of and underdeveloped infrastructure, and irregularities in land use. To overcome these problems, sustainable transportation management becomes very important in which the government should be able to cope with environmental, economic and social factors under the decision making related to transportation in Jabodetabek. Therefore, through interactive planning, this study will examine intergovernmental cooperation initiatives on sustainable transportation management in Jabodetabek. This study uses qualitative and descriptive method through literature study and existing statistics as the resources to apply the interactive planning approach. The result shows that there are found a number of problems and gaps in the management of transportation in Jabodetabek that needs to be reduced because it has the same scope of other gaps. From these problems can be made further action programs and policies in accordance with the resources owned, and then, the design of implementation made and controlled whether in accordance with the purpose or not. Thus, sustainable transportation management in the Jabodetabek needs to be done jointly in an institutional or policyframework involving governments Jabodetabekpunjur, BKSP Jabodetabekpunjur, and the private sector.

  16. Management of sustainable tourism destination through stakeholder cooperation

    Directory of Open Access Journals (Sweden)

    Božena Krce Miočić

    2016-12-01

    research results, that included 87 interested stakeholders from all segments of tourist industry, public services, local administration and self-government, and in comparison with the results of tourism demand research on the non-random sample of 1,697 tourists, we draw conclusions on the level of stakeholder involvement and cooperation in creating the sustainable destination. The aim of this paper is to offer recommendations for harmonizing development directions of the sustainable destination in order to reduce differences among stakeholders.

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

    Science.gov (United States)

    Mueller, Robert P.

    2006-01-01

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

  18. Self-organized control in cooperative robots using a pattern formation principle

    International Nuclear Information System (INIS)

    Starke, Jens; Ellsaesser, Carmen; Fukuda, Toshio

    2011-01-01

    Self-organized modular approaches proved in nature to be robust and optimal and are a promising strategy to control future concepts of flexible and modular manufacturing processes. We show how this can be applied to a model of flexible manufacturing based on time-dependent robot-target assignment problems where robot teams have to serve manufacturing targets such that an objective function is optimized. Feasibility of the self-organized solutions can be guaranteed even for unpredictable situations like sudden changes in the demands or breakdowns of robots. As example an uncrewed space mission is visualized in a simulation where robots build a space station. - Highlights: → Adapting a pattern formation principle to control cooperative robots in a robust way. → Flexible manufacturing systems are modelled by time-dependent assignment problems. → Coupled selection equations guarantee feasibility of solutions. → Solution structure (permutations) is not destroyed by inhomogeneous growth rates. → Example of an uncrewed space mission shows effectivity and robustness.

  19. From Intuitive Programming of Robotic Systems to Business Sustainability of Manufacturing SMEs

    Directory of Open Access Journals (Sweden)

    Bogdan Mocan

    2016-02-01

    Full Text Available Economic growth and sustainable development are issues which are becoming more and more important for nowadays companies. Sustainable development strives for moderate and responsible use within the economic and production activity the limited resources of our planet. Eco-innovations, eco-efficiency and corporate social responsibility practices define much of the current industrial sustainability agenda. While important, they are insufficient in themselves to deliver the holistic changes necessary to achieve long-term social and environmental sustainability. This paper proposed a framework for designing multimodal human-robot interfaces and a demonstrator that facilitate a sustainable use of robotic systems with positive effects on SMEs business sustainability. The proposed approach is intended to bring important contributions to the development of human robot interaction in order to facilitate intuitive programming and to enable easily adapting to changes in robot tasks and applications without the need of using skilled personnel. Our research emphasize the idea that new technologies in product and process create and enable new business strategies; and we demonstrate that changing the paradigm in programming industrial robotic systems it is possible by a “business case for sustainability” to have a sustainable development of the business, in special in case of SMEs.

  20. Hybrid FES-robot cooperative control of ambulatory gait rehabilitation exoskeleton.

    Science.gov (United States)

    del-Ama, Antonio J; Gil-Agudo, Angel; Pons, José L; Moreno, Juan C

    2014-03-04

    Robotic and functional electrical stimulation (FES) approaches are used for rehabilitation of walking impairment of spinal cord injured individuals. Although devices are commercially available, there are still issues that remain to be solved. Control of hybrid exoskeletons aims at blending robotic exoskeletons and electrical stimulation to overcome the drawbacks of each approach while preserving their advantages. Hybrid actuation and control have a considerable potential for walking rehabilitation but there is a need of novel control strategies of hybrid systems that adequately manage the balance between FES and robotic controllers. Combination of FES and robotic control is a challenging issue, due to the non-linear behavior of muscle under stimulation and the lack of developments in the field of hybrid control. In this article, a cooperative control strategy of a hybrid exoskeleton is presented. This strategy is designed to overcome the main disadvantages of muscular stimulation: electromechanical delay and change in muscle performance over time, and to balance muscular and robotic actuation during walking.Experimental results in healthy subjects show the ability of the hybrid FES-robot cooperative control to balance power contribution between exoskeleton and muscle stimulation. The robotic exoskeleton decreases assistance while adequate knee kinematics are guaranteed. A new technique to monitor muscle performance is employed, which allows to estimate muscle fatigue and implement muscle fatigue management strategies. Kinesis is therefore the first ambulatory hybrid exoskeleton that can effectively balance robotic and FES actuation during walking. This represents a new opportunity to implement new rehabilitation interventions to induce locomotor activity in patients with paraplegia.Acronym list: 10 mWT: ten meters walking test; 6 MWT: six minutes walking test; FSM: finite-state machine; t-FSM: time-domain FSM; c-FSM: cycle-domain FSM; FES: functional electrical

  1. Democratizing Rural Economy: Institutional Friction, Sustainable Struggle and the Cooperative Movement

    Science.gov (United States)

    Mooney, Patrick H.

    2004-01-01

    Sustainable development demands institutions manage the conflicts and struggles that inevitably arise over material and ideal interests. While current cooperative theory privileges the economic element, a political economy of cooperation emphasizes cooperatives' tentative bridging of economic and political spheres with a democratic ethos. The…

  2. Introduction of symbiotic human-robot-cooperation in the steel sector: an example of social innovation

    Science.gov (United States)

    Colla, Valentina; Schroeder, Antonius; Buzzelli, Andrea; Abbà, Dario; Faes, Andrea; Romaniello, Lea

    2018-05-01

    The introduction of new technologies, which can support and empower human capabilities in a number of professional tasks while possibly reducing the need for cumbersome operations and the exposure to risk and professional diseases, is nowadays perceived as a must in any industrial field, process industry included. However, despite their relevant potentials, new technologies are not always easy to introduce in the professional environment. A design procedure which takes into account the workers' acceptance, needing and capabilities as well as a continuing education and training process of the personnel who must exploit the innovation, is as fundamental as the technical reliability for the successful introduction of any new technology in a professional environment. An exemplary case is provided by symbiotic human-robot-cooperation. In the steel sector, the difficulties for the implementation of symbiotic human-robot-cooperation is bigger with respect to the manufacturing sector, due to the environmental conditions, which in some cases are not favorable to robots. On the other hand, the opportunities and potential advantages are also greater, as robots could replace human operators in repetitive, heavy tasks, by improving workers' health and safety. The present paper provides an example of the potential and opportunities of human-robot interaction and discusses how this approach can be included in a social innovation paradigm. Moreover, an example will be provided of an ongoing project funded by the Research Fund for Coal and Steel, "ROBOHARSH", which aims at implementing such approach in the steel industry, in order to develop a very sensitive task, i.e. the replacement of the refractory components of the ladle sliding gate.

  3. Towards the Robotic “Avatar”: An Extensive Survey of the Cooperation between and within Networked Mobile Sensors

    Directory of Open Access Journals (Sweden)

    Aydan M. Erkmen

    2010-09-01

    Full Text Available Cooperation between networked mobile sensors, wearable and sycophant sensor networks with parasitically sticking agents, and also having human beings involved in the loop is the “Avatarization” within the robotic research community, where all networks are connected and where you can connect/disconnect at any time to acquire data from a vast unstructured world. This paper extensively surveys the networked robotic foundations of this robotic biological “Avatar” that awaits us in the future. Cooperation between networked mobile sensors as well as cooperation of nodes within a network are becoming more robust, fault tolerant and enable adaptation of the networks to changing environment conditions. In this paper, we survey and comparatively discuss the current state of networked robotics via their critical application areas and their design characteristics. We conclude by discussing future challenges.

  4. A Car Transportation System in Cooperation by Multiple Mobile Robots for Each Wheel: iCART II

    Science.gov (United States)

    Kashiwazaki, Koshi; Yonezawa, Naoaki; Kosuge, Kazuhiro; Sugahara, Yusuke; Hirata, Yasuhisa; Endo, Mitsuru; Kanbayashi, Takashi; Shinozuka, Hiroyuki; Suzuki, Koki; Ono, Yuki

    The authors proposed a car transportation system, iCART (intelligent Cooperative Autonomous Robot Transporters), for automation of mechanical parking systems by two mobile robots. However, it was difficult to downsize the mobile robot because the length of it requires at least the wheelbase of a car. This paper proposes a new car transportation system, iCART II (iCART - type II), based on “a-robot-for-a-wheel” concept. A prototype system, MRWheel (a Mobile Robot for a Wheel), is designed and downsized less than half the conventional robot. First, a method for lifting up a wheel by MRWheel is described. In general, it is very difficult for mobile robots such as MRWheel to move to desired positions without motion errors caused by slipping, etc. Therefore, we propose a follower's motion error estimation algorithm based on the internal force applied to each follower by extending a conventional leader-follower type decentralized control algorithm for cooperative object transportation. The proposed algorithm enables followers to estimate their motion errors and enables the robots to transport a car to a desired position. In addition, we analyze and prove the stability and convergence of the resultant system with the proposed algorithm. In order to extract only the internal force from the force applied to each robot, we also propose a model-based external force compensation method. Finally, proposed methods are applied to the car transportation system, the experimental results confirm their validity.

  5. Hierarchical HMM based learning of navigation primitives for cooperative robotic endovascular catheterization.

    Science.gov (United States)

    Rafii-Tari, Hedyeh; Liu, Jindong; Payne, Christopher J; Bicknell, Colin; Yang, Guang-Zhong

    2014-01-01

    Despite increased use of remote-controlled steerable catheter navigation systems for endovascular intervention, most current designs are based on master configurations which tend to alter natural operator tool interactions. This introduces problems to both ergonomics and shared human-robot control. This paper proposes a novel cooperative robotic catheterization system based on learning-from-demonstration. By encoding the higher-level structure of a catheterization task as a sequence of primitive motions, we demonstrate how to achieve prospective learning for complex tasks whilst incorporating subject-specific variations. A hierarchical Hidden Markov Model is used to model each movement primitive as well as their sequential relationship. This model is applied to generation of motion sequences, recognition of operator input, and prediction of future movements for the robot. The framework is validated by comparing catheter tip motions against the manual approach, showing significant improvements in the quality of catheterization. The results motivate the design of collaborative robotic systems that are intuitive to use, while reducing the cognitive workload of the operator.

  6. A New Approach of Multi-robot Cooperative Pursuit Based on Association Rule Data Mining

    Directory of Open Access Journals (Sweden)

    Jun Li

    2010-02-01

    Full Text Available An approach of cooperative hunting for multiple mobile targets by multi-robot is presented, which divides the pursuit process into forming the pursuit teams and capturing the targets. The data sets of attribute relationship is built by consulting all of factors about capturing evaders, then the interesting rules can be found by data mining from the data sets to build the pursuit teams. Through doping out the positions of targets, the pursuit game can be transformed into multi-robot path planning. Reinforcement learning is used to find the best path. The simulation results show that the mobile evaders can be captured effectively and efficiently, and prove the feasibility and validity of the given algorithm under a dynamic environment.

  7. A New Approach of Multi-Robot Cooperative Pursuit Based on Association Rule Data Mining

    Directory of Open Access Journals (Sweden)

    Jun Li

    2009-12-01

    Full Text Available An approach of cooperative hunting for multiple mobile targets by multi-robot is presented, which divides the pursuit process into forming the pursuit teams and capturing the targets. The data sets of attribute relationship is built by consulting all of factors about capturing evaders, then the interesting rules can be found by data mining from the data sets to build the pursuit teams. Through doping out the positions of targets, the pursuit game can be transformed into multi-robot path planning. Reinforcement learning is used to find the best path. The simulation results show that the mobile evaders can be captured effectively and efficiently, and prove the feasibility and validity of the given algorithm under a dynamic environment.

  8. Control and applications of cooperating disparate robotic manipulators relevant to nuclear waste management

    Science.gov (United States)

    Lew, Jae Young; Book, Wayne J.

    1991-01-01

    Remote handling in nuclear waste management requires a robotic system with precise motion as well as a large workspace. The concept of a small arm mounted on the end of a large arm may satisfy such needs. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, control of these cooperating disparate manipulators is accomplished in computer simulations. Thus, this robotic system can have the accuracy of the small arm, and at the same time, it can have the payload capacity and large workspace of the large arm.

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

    Science.gov (United States)

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

    2018-06-01

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

  10. Building the Leviathan--Voluntary centralisation of punishment power sustains cooperation in humans.

    Science.gov (United States)

    Gross, Jörg; Méder, Zsombor Z; Okamoto-Barth, Sanae; Riedl, Arno

    2016-02-18

    The prevalence of cooperation among humans is puzzling because cooperators can be exploited by free riders. Peer punishment has been suggested as a solution to this puzzle, but cumulating evidence questions its robustness in sustaining cooperation. Amongst others, punishment fails when it is not powerful enough, or when it elicits counter-punishment. Existing research, however, has ignored that the distribution of punishment power can be the result of social interactions. We introduce a novel experiment in which individuals can transfer punishment power to others. We find that while decentralised peer punishment fails to overcome free riding, the voluntary transfer of punishment power enables groups to sustain cooperation. This is achieved by non-punishing cooperators empowering those who are willing to punish in the interest of the group. Our results show how voluntary power centralisation can efficiently sustain cooperation, which could explain why hierarchical power structures are widespread among animals and humans.

  11. Building the Leviathan – Voluntary centralisation of punishment power sustains cooperation in humans

    Science.gov (United States)

    Gross, Jörg; Méder, Zsombor Z.; Okamoto-Barth, Sanae; Riedl, Arno

    2016-01-01

    The prevalence of cooperation among humans is puzzling because cooperators can be exploited by free riders. Peer punishment has been suggested as a solution to this puzzle, but cumulating evidence questions its robustness in sustaining cooperation. Amongst others, punishment fails when it is not powerful enough, or when it elicits counter-punishment. Existing research, however, has ignored that the distribution of punishment power can be the result of social interactions. We introduce a novel experiment in which individuals can transfer punishment power to others. We find that while decentralised peer punishment fails to overcome free riding, the voluntary transfer of punishment power enables groups to sustain cooperation. This is achieved by non-punishing cooperators empowering those who are willing to punish in the interest of the group. Our results show how voluntary power centralisation can efficiently sustain cooperation, which could explain why hierarchical power structures are widespread among animals and humans. PMID:26888519

  12. Role of cooperative companies in sustainable rice production and ...

    African Journals Online (AJOL)

    STORAGESEVER

    2010-03-15

    Mar 15, 2010 ... poverty in Guilan state of Iran, thus cooperative companies should be organized and supported by government. Key words: Cooperative companies, rural households, rice, income, employment. INTRODUCTION. Almost half ... education and trainnig, neglect of agriculture and low investment are major ...

  13. Study and Application of Reinforcement Learning in Cooperative Strategy of the Robot Soccer Based on BDI Model

    Directory of Open Access Journals (Sweden)

    Wu Bo-ying

    2009-11-01

    Full Text Available The dynamic cooperation model of multi-Agent is formed by combining reinforcement learning with BDI model. In this model, the concept of the individual optimization loses its meaning, because the repayment of each Agent dose not only depend on itsself but also on the choice of other Agents. All Agents can pursue a common optimum solution and try to realize the united intention as a whole to a maximum limit. The robot moves to its goal, depending on the present positions of the other robots that cooperate with it and the present position of the ball. One of these robots cooperating with it is controlled to move by man with a joystick. In this way, Agent can be ensured to search for each state-action as frequently as possible when it carries on choosing movements, so as to shorten the time of searching for the movement space so that the convergence speed of reinforcement learning can be improved. The validity of the proposed cooperative strategy for the robot soccer has been proved by combining theoretical analysis with simulation robot soccer match (11vs11 .

  14. Ocean robotics: 21st century sustainable science & marine resource management

    CSIR Research Space (South Africa)

    Swart, S

    2015-10-01

    Full Text Available marine robots? Swart et al., 2012 The CSIR Glider Fleet 14 GLIDERS: 5 PROFILING & 4 SURFACE GLIDERS = Glider deployment & ship CTD station = ship based underway measurements September 2012 – March 2013 Gough&Is. STF SAF APF G o u g h / T r i...

  15. Innovation, Cooperation, and the Perceived Benefits and Costs of Sustainable Agriculture Practices

    Directory of Open Access Journals (Sweden)

    Mark Lubell

    2011-12-01

    Full Text Available A central goal of most sustainable agriculture programs is to encourage growers to adopt practices that jointly provide economic, environmental, and social benefits. Using surveys of outreach professionals and wine grape growers, we quantify the perceived costs and benefits of sustainable viticulture practices recommended by sustainability outreach and certification programs. We argue that the mix of environmental benefits, economic benefits, and economic costs determine whether or not a particular practice involves decisions about innovation or cooperation. Decision making is also affected by the overall level of knowledge regarding different practices, and we show that knowledge gaps are an increasing function of cost and a decreasing function of benefits. How different practices are related to innovation and cooperation has important implications for the design of sustainability outreach programs. Cooperation, innovation, and knowledge gaps are issues that are likely to be relevant for the resilience and sustainability of many different types of social-ecological systems.

  16. The role of cooperatives in sustaining the livelihoods of rural communities: The case of rural cooperatives in Shurugwi District, Zimbabwe

    Directory of Open Access Journals (Sweden)

    Smart Mhembwe

    2017-04-01

    Full Text Available The main focus of the research was to analyse the role of cooperatives in sustaining the livelihoods of local rural communities in Shurugwi District in Zimbabwe. Descriptive survey design was used in this mixed method approach to the study. A questionnaire, interviews and observation methods were employed as the main research instruments. Purposive sampling technique was adopted and data were collected from government officials and from members of the six cooperatives in Shurugwi District. A total of 50 research participants were involved in the study. It was found that cooperatives were established as a strategy to sustain livelihoods of rural communities. With the adoption of cooperatives, people in the rural communities managed to generate employment, boost food production, empower the marginalised, especially women, and promote social cohesion and integration, thereby improving their livelihoods and reducing poverty. Most cooperatives face a number of challenges that include lack of financial support, poor management and lack of management skills, and lack of competitive markets to sell their produce. The study recommends that the government and the banking sector render financial support to cooperatives in rural communities to allow them to expand and diversify their business operations; constant training on leadership and management skills is provided to cooperatives’ members. There is also a need for cooperatives, especially those in the agricultural sector, to form some producer associations so as to easily market their produce. Lastly, the study recommends that future research should focus on investigating issues that hinder the growth of the cooperative movement in rural communities of Zimbabwe. It is hoped that policy-makers, the academia and communities would benefit from the study.

  17. Local and Sustainable Food Supply: The Role of European Retail Consumer Co-operatives

    Directory of Open Access Journals (Sweden)

    Martin Hingley

    2012-03-01

    Full Text Available  This paper investigates the rationale for local and sustainable food systems and retailer co-operatives as their entry points within local conditions. Emphasis is on localised food networks and connection between socially as well as environmentally sustainable production, distribution and consumption. Investigated is the premise that co-operative organisational structures, for reasons of their long-term socially responsible origins are at the forefront of development of local and sustainable food systems and are thereby in a position to offer a specific contribution to market development. Two key research questions are proposed: Firstly, is there a pre-determination of co-operatives to issues of sustainable and local food sourcing given the historical and practical context of their ethical/socially responsible and stakeholder-based business model? Secondly, do co-ops express support for re-localising food systems and what contribution do they make concerning sustainable food and their relationships with local food suppliers? The method of investigation is through a two country retailer co-operative sector analysis and comparison (Finland and Italy. The enquiry is qualitative and exploratory in nature in the form of an embedded, multiple case design. The paper makes practical and theoretical contribution to knowledge concerning interpretation of ‘localness’ in food, the role of co-operatives and the co-operative ethos in sustainable food systems and the development of the local food economy. Results of the study show a positive relationship between co-operative ethos and (social sustainability in local food, but the de-centralised nature of retailer co-operation also provides a barrier to replication of good practice.

  18. I Reach Faster When I See You Look: Gaze Effects in Human–Human and Human–Robot Face-to-Face Cooperation

    Science.gov (United States)

    Boucher, Jean-David; Pattacini, Ugo; Lelong, Amelie; Bailly, Gerard; Elisei, Frederic; Fagel, Sascha; Dominey, Peter Ford; Ventre-Dominey, Jocelyne

    2012-01-01

    Human–human interaction in natural environments relies on a variety of perceptual cues. Humanoid robots are becoming increasingly refined in their sensorimotor capabilities, and thus should now be able to manipulate and exploit these social cues in cooperation with their human partners. Previous studies have demonstrated that people follow human and robot gaze, and that it can help them to cope with spatially ambiguous language. Our goal is to extend these findings into the domain of action, to determine how human and robot gaze can influence the speed and accuracy of human action. We report on results from a human–human cooperation experiment demonstrating that an agent’s vision of her/his partner’s gaze can significantly improve that agent’s performance in a cooperative task. We then implement a heuristic capability to generate such gaze cues by a humanoid robot that engages in the same cooperative interaction. The subsequent human–robot experiments demonstrate that a human agent can indeed exploit the predictive gaze of their robot partner in a cooperative task. This allows us to render the humanoid robot more human-like in its ability to communicate with humans. The long term objectives of the work are thus to identify social cooperation cues, and to validate their pertinence through implementation in a cooperative robot. The current research provides the robot with the capability to produce appropriate speech and gaze cues in the context of human–robot cooperation tasks. Gaze is manipulated in three conditions: Full gaze (coordinated eye and head), eyes hidden with sunglasses, and head fixed. We demonstrate the pertinence of these cues in terms of statistical measures of action times for humans in the context of a cooperative task, as gaze significantly facilitates cooperation as measured by human response times. PMID:22563315

  19. I Reach Faster When I See You Look: Gaze Effects in Human-Human and Human-Robot Face-to-Face Cooperation.

    Science.gov (United States)

    Boucher, Jean-David; Pattacini, Ugo; Lelong, Amelie; Bailly, Gerrard; Elisei, Frederic; Fagel, Sascha; Dominey, Peter Ford; Ventre-Dominey, Jocelyne

    2012-01-01

    Human-human interaction in natural environments relies on a variety of perceptual cues. Humanoid robots are becoming increasingly refined in their sensorimotor capabilities, and thus should now be able to manipulate and exploit these social cues in cooperation with their human partners. Previous studies have demonstrated that people follow human and robot gaze, and that it can help them to cope with spatially ambiguous language. Our goal is to extend these findings into the domain of action, to determine how human and robot gaze can influence the speed and accuracy of human action. We report on results from a human-human cooperation experiment demonstrating that an agent's vision of her/his partner's gaze can significantly improve that agent's performance in a cooperative task. We then implement a heuristic capability to generate such gaze cues by a humanoid robot that engages in the same cooperative interaction. The subsequent human-robot experiments demonstrate that a human agent can indeed exploit the predictive gaze of their robot partner in a cooperative task. This allows us to render the humanoid robot more human-like in its ability to communicate with humans. The long term objectives of the work are thus to identify social cooperation cues, and to validate their pertinence through implementation in a cooperative robot. The current research provides the robot with the capability to produce appropriate speech and gaze cues in the context of human-robot cooperation tasks. Gaze is manipulated in three conditions: Full gaze (coordinated eye and head), eyes hidden with sunglasses, and head fixed. We demonstrate the pertinence of these cues in terms of statistical measures of action times for humans in the context of a cooperative task, as gaze significantly facilitates cooperation as measured by human response times.

  20. 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.

  1. Designing a Robot Teaching Assistant for Enhancing and Sustaining Learning Motivation

    Science.gov (United States)

    Hung, I-Chun; Chao, Kuo-Jen; Lee, Ling; Chen, Nian-Shing

    2013-01-01

    Although many researchers have pointed out that educational robots can stimulate learners' learning motivation, the learning motivation will be hardly sustained and rapidly decreased over time if the amusement and interaction merely come from the new technology itself without incorporating instructional strategies. Many researchers have…

  2. Cooperative Control for A Hybrid Rehabilitation System Combining Functional Electrical Stimulation and Robotic Exoskeleton

    Directory of Open Access Journals (Sweden)

    Dingguo Zhang

    2017-12-01

    Full Text Available Functional electrical stimulation (FES and robotic exoskeletons are two important technologies widely used for physical rehabilitation of paraplegic patients. We developed a hybrid rehabilitation system (FEXO Knee that combined FES and an exoskeleton for swinging movement control of human knee joints. This study proposed a novel cooperative control strategy, which could realize arbitrary distribution of torque generated by FES and exoskeleton, and guarantee harmonic movements. The cooperative control adopted feedfoward control for FES and feedback control for exoskeleton. A parameter regulator was designed to update key parameters in real time to coordinate FES controller and exoskeleton controller. Two muscle groups (quadriceps and hamstrings were stimulated to generate active torque for knee joint in synchronization with torque compensation from exoskeleton. The knee joint angle and the interactive torque between exoskeleton and shank were used as feedback signals for the control system. Central pattern generator (CPG was adopted that acted as a phase predictor to deal with phase confliction of motor patterns, and realized synchronization between the two different bodies (shank and exoskeleton. Experimental evaluation of the hybrid FES-exoskeleton system was conducted on five healthy subjects and four paraplegic patients. Experimental results and statistical analysis showed good control performance of the cooperative control on torque distribution, trajectory tracking, and phase synchronization.

  3. Cooperative Control for A Hybrid Rehabilitation System Combining Functional Electrical Stimulation and Robotic Exoskeleton.

    Science.gov (United States)

    Zhang, Dingguo; Ren, Yong; Gui, Kai; Jia, Jie; Xu, Wendong

    2017-01-01

    Functional electrical stimulation (FES) and robotic exoskeletons are two important technologies widely used for physical rehabilitation of paraplegic patients. We developed a hybrid rehabilitation system (FEXO Knee) that combined FES and an exoskeleton for swinging movement control of human knee joints. This study proposed a novel cooperative control strategy, which could realize arbitrary distribution of torque generated by FES and exoskeleton, and guarantee harmonic movements. The cooperative control adopted feedfoward control for FES and feedback control for exoskeleton. A parameter regulator was designed to update key parameters in real time to coordinate FES controller and exoskeleton controller. Two muscle groups (quadriceps and hamstrings) were stimulated to generate active torque for knee joint in synchronization with torque compensation from exoskeleton. The knee joint angle and the interactive torque between exoskeleton and shank were used as feedback signals for the control system. Central pattern generator (CPG) was adopted that acted as a phase predictor to deal with phase confliction of motor patterns, and realized synchronization between the two different bodies (shank and exoskeleton). Experimental evaluation of the hybrid FES-exoskeleton system was conducted on five healthy subjects and four paraplegic patients. Experimental results and statistical analysis showed good control performance of the cooperative control on torque distribution, trajectory tracking, and phase synchronization.

  4. The Analysis of the Determinants of Sustainable Cross-Border Cooperation and Recommendations on Its Harmonization

    Directory of Open Access Journals (Sweden)

    Joanna Kurowska-Pysz

    2017-12-01

    Full Text Available Cross-border partnerships are a distinctive example of inter-organizational cooperation, embedded, in terms of territory, in the neighboring borderland regions of two or more countries. The aim of this paper is to identify factors that contribute to the sustainable cross-border cooperation and affect motivation to increase cooperation between cross-border partners. The objective implementation is connected with the verification of a hypothesis referring to the possible impact of the European Union funds on the trans-boundary cooperation transformations. Results of desk research and quantitative research involving IDI, CATI, CAWI and CATI and PAPI data collection methods, implemented in the Polish–Czech borderland in 2016 were used in this paper. Research on the Polish–Lithuanian borderland was also used in the paper to conduct comparative analysis, useful to identify and evaluate factors motivating sustainable cross-border cooperation in the Czech–Polish borderland. The sustainable, cross-border and inter-organizational cooperation in the borderlands results from the simultaneous interaction of three groups of factors: (1 people and institutions (the quality of interpersonal relationships; (2 cross-border planning, procedures and support mechanisms (e.g., the possibility of jointly planning the cross-border cooperation and obtaining EU funds for the development of the borderlands as well as the availability of other funds helpful in this kind of cooperation; and (3 environment (historical affinity and geographical proximity of neighboring border regions, system support at the regional and local level in neighboring countries.

  5. Coordination vs. voluntarism and enforcement in sustaining international environmental cooperation.

    Science.gov (United States)

    Barrett, Scott

    2016-12-20

    The fates of "transboundary" environmental systems depend on how nation states interact with one another. In the absence of a hegemon willing and able to coerce other states into avoiding a "tragedy of the commons," shared environments will be safeguarded if international cooperation succeeds and degraded or even destroyed if it fails. Treaties and related institutions of international law give form to these efforts to cooperate. Often, they implore states to act in their collective (as opposed to their national) interests. Sometimes, they impel cooperating states to punish free riders. A few agreements coordinate states' behavior. Here, I present simple game-theoretic models showing whether and how treaties and related institutions can change incentives, aligning states' self-interests with their collective interests. I show that, as a general matter, states struggle to cooperate voluntarily and enforce agreements to cooperate but that they find it relatively easy to coordinate actions. In some cases, the need for coordination is manifest. In other cases, it requires strategic thinking. Coordination may fall short of supporting an ideal outcome, but it nearly always works better than the alternatives.

  6. The Dynamics and Sliding Mode Control of Multiple Cooperative Welding Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Bin Zi

    2012-08-01

    Full Text Available This paper deals with the design, dynamic modelling and sliding mode control of multiple cooperative welding robot manipulators (MWRMs. The MWRMs can handle complex tasks that are difficult or even impossible for a single manipulator. The kinematics and dynamics of the MWRMs are studied on the basis of the Denavit-Hartenberg and Lagrange method. Following that, considering the MWRM system with nonlinear and unknown disturbances, a non-singular terminal sliding mode control strategy is designed. By means of the Lyapunov function, the stability of the controller is proved. Simulation results indicate that the good control performance of the MWRMs is achieved by the non-singular terminal sliding mode controller, which also illustrates the correctness of the dynamic modelling and effectiveness of the proposed control strategy.

  7. Role of cooperative companies in sustainable rice production and ...

    African Journals Online (AJOL)

    This study was conducted in the districts of Guilan state of Iran to assess the impact of cooperative companies on the economic condition of rice farmers in the Guilan state. The research was conducted in the 2005 to 2007 periods. Three hundred respondents were selected for the study comprising equal number of ...

  8. Movement Performance of Human-Robot Cooperation Control Based on EMG-Driven Hill-Type and Proportional Models for an Ankle Power-Assist Exoskeleton Robot.

    Science.gov (United States)

    Ao, Di; Song, Rong; Gao, JinWu

    2017-08-01

    Although the merits of electromyography (EMG)-based control of powered assistive systems have been certified, the factors that affect the performance of EMG-based human-robot cooperation, which are very important, have received little attention. This study investigates whether a more physiologically appropriate model could improve the performance of human-robot cooperation control for an ankle power-assist exoskeleton robot. To achieve the goal, an EMG-driven Hill-type neuromusculoskeletal model (HNM) and a linear proportional model (LPM) were developed and calibrated through maximum isometric voluntary dorsiflexion (MIVD). The two control models could estimate the real-time ankle joint torque, and HNM is more accurate and can account for the change of the joint angle and muscle dynamics. Then, eight healthy volunteers were recruited to wear the ankle exoskeleton robot and complete a series of sinusoidal tracking tasks in the vertical plane. With the various levels of assist based on the two calibrated models, the subjects were instructed to track the target displayed on the screen as accurately as possible by performing ankle dorsiflexion and plantarflexion. Two measurements, the root mean square error (RMSE) and root mean square jerk (RMSJ), were derived from the assistant torque and kinematic signals to characterize the movement performances, whereas the amplitudes of the recorded EMG signals from the tibialis anterior (TA) and the gastrocnemius (GAS) were obtained to reflect the muscular efforts. The results demonstrated that the muscular effort and smoothness of tracking movements decreased with an increase in the assistant ratio. Compared with LPM, subjects made lower physical efforts and generated smoother movements when using HNM, which implied that a more physiologically appropriate model could enable more natural and human-like human-robot cooperation and has potential value for improvement of human-exoskeleton interaction in future applications.

  9. Local Sustainability and Cooperation Actions in the Mediterranean Region

    Directory of Open Access Journals (Sweden)

    Tiberio Daddi

    2014-05-01

    Full Text Available The populations of the Middle East and Africa are increasing rapidly, contributing to rapid urban growth. This paper describes a two-year action research process involving diverse public, private, and community stakeholders. The actions aimed to develop and strengthen the capabilities of three Mediterranean cities (Marrakech, Morocco; Sin el Fil, Lebanon; and Bodrum, Turkey in managing and promoting local sustainable development. The needs and priorities of each Mediterranean partner were identified and pilot actions were elaborated to promote urban sustainability, the exploitation of local resources, and the enhancement of local tangible and intangible assets. The paper describes the outputs of pilot actions carried out in these cities, highlighting how these experiences contribute to the current debate on urban sustainability. Broad implications for policy and practice are discussed.

  10. Stakeholder cooperation in implementation of the sustainable development concept: Montenegrin tourist destinations

    Directory of Open Access Journals (Sweden)

    Ljiljana Pjerotic

    2017-06-01

    Full Text Available The importance of involving diverse stakeholders in tourism planning is receiving growing recognition. Tourism destination planning is a complex process, due to the existence of a wide variety of stakeholders with a wide range of opinions, multiple problem visions and different interests. Despite the complexity of the planning process one feature acknowledged for successful destination management planning is high level of stakeholder cooperation. The paper examines the level of stakeholder cooperation on the specific example of the sustainable development concept implementation in Montenegrin tourism. It starts with two hypotheses: first, the development level of instruments for managing tourist destination depends on stakeholder cooperation level in a particular destination, and second, implementation of the sustainable development concept is positively correlated with the development of instruments for managing tourist destination. The results have indicated poor implementation of tourism development plans and low level of stakeholder cooperation.

  11. An assessment of the sustainable energy investments in the framework of the EU-GCC cooperation

    International Nuclear Information System (INIS)

    Patlitzianas, Konstantinos D.; Doukas, Haris; Askounis, Dimitris T.

    2007-01-01

    The cooperation between the European Union (EU) and the Gulf Cooperation Council (GCC) should be broadened, deepened and become more interactive due to GCC states' accession to the Kyoto protocol in 2005. Nowadays, the GCC states start putting climate change and its business opportunities on the top of their priorities' list towards the accomplishment of the sustainable development goals. However, the level of development of sustainable energy investments (renewable energy, CO 2 sequestration and rational use of energy) is low until now in the GCC. For the above reason, the assessment of appropriate investments needs to be taken into account both by the governments in order to design the appropriate framework for supporting them and the project investors to identify the commercially profitable ones. In this framework, the aim of this paper is the identification and assessment of sustainable energy investments in the framework of the EU-GCC co-operation. (author)

  12. Teacher-Community Cooperation to Promote Sustainability of ...

    African Journals Online (AJOL)

    This study was undertaken with 83 teachers from 54 primary schools in Kenya. Its purpose was to establish how teachers relate with the local community and how they harness this interaction to promote sustainability of wetlands within their locality. Data were collected using questionnaires, interviews and observation.

  13. Supporting Sustainable Strategies for SMEs through Training, Cooperation and Mentoring

    Science.gov (United States)

    Brien, Emma O.; Hamburg, Ileana

    2014-01-01

    In order to remain successful and competitive in business today it is important that SMEs can sustain themselves by adapting to economic changes. SMEs have a distinct advantage over large companies in that they have less bureaucracy and hierarchical restrictions and can implement changes quickly. However often they are slow to change their way of…

  14. Social sustainability of Brazilian biodiesel: The role of agricultural cooperatives

    NARCIS (Netherlands)

    Stattman, S.L.; Mol, A.P.J.

    2014-01-01

    Biofuels have been criticized in academic and activist circles not only for their environmental consequences but also for their social impacts on food availability and on small-scale family farming. Meanwhile (global) initiatives and policies have been developed to stimulate "sustainable biofuels".

  15. Creating a Culture of Sustainability using Mission Statements of Cooperative Organizations

    Directory of Open Access Journals (Sweden)

    Nooraslinda Abdul Aris

    2016-01-01

    Full Text Available Mission statements are recognized as effective strategic management tools that influence firms’ performance. The evolution of a culture of sustainability begins with a mission statement that strikes a balance between financial performance and social commitments. The clear articulation of sustainability as part of the firm’s mission, values, goals, and strategy are key factors in fostering sustainability focused culture. This study illustrates the fundamental tenets of the culture of organizational sustainability model proposed by Galpin, Whitttington, and Bell (2015 using selected cooperatives in Malaysia. The contents of the mission statements were then analyze using the nine elements model by Pearce and David (1987 in findings its relations to and the existence of sustainability culture within the cooperatives. Findings from the study confirm building an organizational infrastructure that fosters a culture of sustainability results in positive employee and organizational-level sustainability performance. A reference was made to Bank Rakyat, one of the leading cooperative-based banking in the country for its outstanding performance.

  16. Managing European Cross Border Cooperation Projects on Sustainability: A Focus on MESP Project

    Directory of Open Access Journals (Sweden)

    Corrado Schenone

    2017-01-01

    Full Text Available International cooperation is a must to achieve the goal of sustainable development, since only through cross border actions’ complex issues like environmental degradation can be faced. Supranational initiatives and shared objectives are the only path for getting a durable and effective green strategy, which transcends boundaries or governments and fosters a common effort for sustainability through networking. The European Neighborhood and Partnership Instrument (ENPI aims at reinforcing cooperation between the European Union (EU and partner countries’ regions placed along the shores of the Mediterranean Sea. To this extent, MESP (Managing the Environmental Sustainability of Ports for a durable development can be considered as a typical cross border cooperation project, willing to create a sustainable environmental management of port in northern and southern shores of the Mediterranean basin. This has been achieved through the development of specific guidelines towards environmental sustainability and the collection of common tools, methodologies, good practices and innovations focused on pollution reduction that can be replicated in Mediterranean ports and further. This was possible through the creation of a strong cooperation network and long-lasting collaborations among partners and stakeholders such as harbour cities, port authorities, universities, research centres and scientific skills.

  17. The role of sustainable energy issues in development cooperation

    International Nuclear Information System (INIS)

    Jansen, J.C.; Buskens, V.W.

    1994-01-01

    The author discusses the need to reduce primary energy resource requirements to provide more affordable basic energy services to the developing countries. The relationship between energy supply and environment/developing issues (such as climate change, deforestation, poverty, health etc.) is discussed. The Bruntland Report and two UNCED agreements the Framework Convention on Climate Change, and Agenda 21 are summarised and a brief assessment made of their coverage of sustainable energy issues. 27 refs

  18. Fiscal 2000 report on result of R and D on robot system cooperating and coexisting with human beings. R and D on robot system cooperating and coexisting with human beings; 2000 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-06-01

    A highly safe and reliable robot is being developed capable of cooperating with human beings and executing complicated operations in a human working/living space. This paper describes the fiscal 2000 results. Development of robot motion library was continued for extended task for providing services to people in care houses for the aged controlling motions of the humanoid robot. A basic design for a personal service system by the humanoid robot was conducted with the aim of nursing assistance and for the objective of developing a portable terminal type tele-operation device. A public and a home cockpit were researched with the purpose of developing user interfaces for telexistence control. A dynamic simulator for humanoid robots was built, with motions of standing-up and walking examined, in order to develop basic theories for the dual-handed tasks aided by the leg-arm cooperative motion. To develop a robot that properly and safely cooperates and coexists with the human beings, it is essential to obtain a dynamically reasonable and natural control law, so that the basic studies were conducted in this direction. With the purpose of developing a motion capture and learning system, a virtual robot platform and an information acquiring interface were developed. Studies were also conducted on modeling technique for achieving realistic material properties from high-precision image synthesis and actual images. (NEDO)

  19. 78 FR 13896 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2013-03-01

    ... Production Act of 1993--Robotics Technology Consortium, Inc. Notice is hereby given that, on February 5, 2013... seq. (``the Act''), Robotics Technology Consortium, Inc. (``RTC'') has filed written notifications... Institute LLC, Monticello, FL; Humanistic Robotics, Inc., Philadelphia, PA; Polaris Sales, Inc., Medina, MN...

  20. 77 FR 34067 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2012-06-08

    ... Production Act of 1993--Robotics Technology Consortium, Inc. Notice is hereby given that, on April 30, 2012... seq. (``the Act''), Robotics Technology Consortium, Inc. (``RTC'') has filed written notifications... Inc., Huntsville, AL; John H. Northrop & Associates, Inc., Burke, VA; Lithos Robotics Corporation...

  1. 76 FR 79218 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2011-12-21

    ... Production Act of 1993--Robotics Technology Consortium, Inc. Notice is hereby given that, on November 22....C. 4301 et seq. (``the Act''), Robotics Technology Consortium, Inc. (``RTC'') has filed written...., Arlington, VA; Jaybridge Robotics, Cambridge, MA; Klett Consulting Group, Inc., Virginia Beach, VA; and Next...

  2. 76 FR 59160 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2011-09-23

    ... Production Act of 1993--Robotics Technology Consortium, Inc. Notice is hereby given that, on July 27, 2011... seq. (``the Act''), the Robotics Technology Consortium (``RTC'') has filed written notifications... Machining, Longmont, CA; Carnegie Robotics LLC, Pittsburgh, PA; Embry-Riddle Aeronautical University...

  3. THE COOPERATIVE WORK AND FAMILY FARMING ECOLOGICALLY BASED: ACTIONS FOR SUSTAINABLE DEVELOPMENT FROM THE LOCAL REALITY

    Directory of Open Access Journals (Sweden)

    Fabiana da Silva Andersson

    2012-11-01

    Full Text Available This study aimed to characterize the associated farmers to Cooperativa Sul Ecológica de Agricultores Familiares Ltda., and to understand the organization of the cooperative institution. For this, we conducted semi-structured interviews with the family farmers ecological base and development agents along Cooperative, together the use of secondary sources. Since the Cooperative presents their work ethics and press for horizontal beginning, it allows collective decision making. In addition, your audience - family farmers ecological base - has an active history of sustainable and cooperative work. Therefore, we can measure both the public research on the family farm as the institution Cooperativa Sul Ecológica actual actions and what Costabeber & Caporal established as ecologically based agriculture.

  4. COOPERATION AND SUSTAINABILITY CASE STUDY OF A SOCIETY OF SOCIAL SOLIDARITY

    Directory of Open Access Journals (Sweden)

    Graciela Carrillo González

    2013-04-01

    Full Text Available Sustainability studies have been addressed from an economic, social, cultural, and environmental point of view. They have exceeded dimensions and developed mechanisms, which have involved various elements to establish cooperation and social networks. The aim of this paper is to analyze cooperation and establishment of farmers' organizations as critical factors in achieving sustainable local projects oriented to reforestation and land recovery, illustrating with the case of a triple S (Society of Social Solidarity, in the town of Zapotitlan Lagunas in the State of Oaxaca. Positive effects derived from these kinds of societies are reforestation in the area, land recovery, consolidation of social relationships and job creations. Therefore, thinking and acting locally is a condition to positively impact on the environment and add a social and economic vision can contribute to sustainability.

  5. A Hybrid Method of Analyzing Patents for Sustainable Technology Management in Humanoid Robot Industry

    Directory of Open Access Journals (Sweden)

    Jongchan Kim

    2016-05-01

    Full Text Available A humanoid, which refers to a robot that resembles a human body, imitates a human’s intelligence, behavior, sense, and interaction in order to provide various types of services to human beings. Humanoids have been studied and developed constantly in order to improve their performance. Humanoids were previously developed for simple repetitive or hard work that required significant human power. However, intelligent service robots have been developed actively these days to provide necessary information and enjoyment; these include robots manufactured for home, entertainment, and personal use. It has become generally known that artificial intelligence humanoid technology will significantly benefit civilization. On the other hand, Successful Research and Development (R & D on humanoids is possible only if they are developed in a proper direction in accordance with changes in markets and society. Therefore, it is necessary to analyze changes in technology markets and society for developing sustainable Management of Technology (MOT strategies. In this study, patent data related to humanoids are analyzed by various data mining techniques, including topic modeling, cross-impact analysis, association rule mining, and social network analysis, to suggest sustainable strategies and methodologies for MOT.

  6. Robotics

    International Nuclear Information System (INIS)

    Scheide, A.W.

    1983-01-01

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

  7. Donating money is not the only way to sustain cooperation in public goods game

    Science.gov (United States)

    Chen, Tong; Wu, Zheng-Hong; Wang, Le

    Most of the previous studies research cooperation mainly based on donating money in social public goods games. Owing to the lack of income, some people prefer to donate time instead of money to promote the activity, in our daily life. Motivated by this fact, we here investigate the influence of the encouragement of donating time on the evolution of cooperation based on village opera. In our study, we set up two models: one is money-only model (MOM). Donating money is the only choice in MOM. The other is money-time model (MTM). Besides donating money, donating time is an alternative in MTM. Through numerical simulations, we find that compared to MOM, MTM has a faster speed to reach cooperation equilibrium and cost advantage to sustain the same cooperation level, without the effects of income, reputation, satisfaction, emotion and maximum nonmonetary input. However, it should be noted that MTM is better than MOM in a moderate interval of general budget V. Our results provide stark evidence that the encouragement of donating time can promote and sustain cooperation better than only donating money.

  8. A Weighted Goal Programming model for planning sustainable development applied to Gulf Cooperation Council Countries

    International Nuclear Information System (INIS)

    Jayaraman, Raja; Colapinto, Cinzia; La Torre, Davide; Malik, Tufail

    2017-01-01

    Highlights: • Application of multi-criteria optimization model for sustainable development. • GHG emissions targets cannot be attainable due to reliance on hydrocarbon sources. • Provides quantitative evidence for future investments in green energy. • Application to Gulf Cooperation Countries. - Abstract: The United Nations agenda for sustainable development by the year 2030 proposes 17 sustainable development goals which include access to affordable, reliable and clean energy, sustained economic growth with full productive employment and, urgent action to mitigate environmental degradation. Planning for sustainable development requires integrating conflicting criteria on economy, energy, environment and social aspects. In this paper, we introduce a Weighted Goal Programming model involving criteria on the economic development (GDP), the electricity consumption, the greenhouse gas emissions, and the total number of employees to determine optimal labor allocation across various economic sectors. The proposed model is validated with data from the six members of the Gulf Cooperation Council (namely Bahrain, Kuwait, Oman, Qatar, Saudi Arabia and the United Arab Emirates). The results of the model aim to provide empirical evidence and insights to decision makers and policy analysts in developing optimal strategies able to simultaneously satisfy energy demand, economic growth, labor development and reduction in greenhouse gas emissions to achieve sustainability targets by the year 2030.

  9. Robotic Observatory System Design-Specification Considerations for Achieving Long-Term Sustainable Precision Performance

    Science.gov (United States)

    Wray, J. D.

    2003-05-01

    The robotic observatory telescope must point precisely on the target object, and then track autonomously to a fraction of the FWHM of the system PSF for durations of ten to twenty minutes or more. It must retain this precision while continuing to function at rates approaching thousands of observations per night for all its years of useful life. These stringent requirements raise new challenges unique to robotic telescope systems design. Critical design considerations are driven by the applicability of the above requirements to all systems of the robotic observatory, including telescope and instrument systems, telescope-dome enclosure systems, combined electrical and electronics systems, environmental (e.g. seeing) control systems and integrated computer control software systems. Traditional telescope design considerations include the effects of differential thermal strain, elastic flexure, plastic flexure and slack or backlash with respect to focal stability, optical alignment and angular pointing and tracking precision. Robotic observatory design must holistically encapsulate these traditional considerations within the overall objective of maximized long-term sustainable precision performance. This overall objective is accomplished through combining appropriate mechanical and dynamical system characteristics with a full-time real-time telescope mount model feedback computer control system. Important design considerations include: identifying and reducing quasi-zero-backlash; increasing size to increase precision; directly encoding axis shaft rotation; pointing and tracking operation via real-time feedback between precision mount model and axis mounted encoders; use of monolithic construction whenever appropriate for sustainable mechanical integrity; accelerating dome motion to eliminate repetitive shock; ducting internal telescope air to outside dome; and the principal design criteria: maximizing elastic repeatability while minimizing slack, plastic deformation

  10. Sustained Professional Development on Cooperative Learning: Impact on Six Teachers' Practices and Students' Learning.

    Science.gov (United States)

    Goodyear, Victoria A

    2017-03-01

    It has been argued, extensively and internationally, that sustained school-based continuous professional development (CPD) has the potential to overcome some of the shortcomings of traditional one-off CPD programs. Yet, the evidence base on more effective or less effective forms of CPD is contradictory. The mechanisms by which sustained support should be offered are unclear, and the impacts on teachers' and students' learning are complex and difficult to track. The purpose of this study was to examine the impact of a sustained school-based, tailored, and supported CPD program on teachers' practices and students' learning. Data are reported from 6 case studies of individual teachers engaged in a yearlong CPD program focused on cooperative learning. The CPD program involved participatory action research and frequent interaction/support from a boundary spanner (researcher/facilitator). Data were gathered from 29 video-recorded lessons, 108 interviews, and 35 field journal entries. (a) Individualized (external) support, (b) departmental (internal) support, and (c) sustained support impacted teachers' practices of cooperative learning. The teachers adapted their practices of cooperative learning in response to their students' learning needs. Teachers began to develop a level of pedagogical fluency, and in doing so, teachers advanced students' learning. Because this study demonstrates impact, it contributes to international literature on effective CPD. The key contribution is the detailed evidence about how and why CPD supported 6 individual teachers to learn-differently-and the complexity of the learning support required to engage in ongoing curriculum development to positively impact student learning.

  11. 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.

  12. Non-linear sliding mode control of the lower extremity exoskeleton based on human–robot cooperation

    Directory of Open Access Journals (Sweden)

    Shiqiang Zhu

    2016-10-01

    Full Text Available This article presents a human–robot cooperation controller towards the lower extremity exoskeleton which aims to improve the tracking performance of the exoskeleton and reduce the human–robot interaction force. Radial basis function neural network is introduced to model the human–machine interaction which can better approximate the non-linear relationship than the general impedance model. A new method to calculate the inverse Jacobian matrix is presented. Compared to traditional damped least squares method, the novel method is proved to be able to avoid the orientation change of the velocity of the human–robot interaction point by the simulation result. This feature is very important in human–robot system. Then, an improved non-linear robust sliding mode controller is designed to promote the tracking performance considering system uncertainties and model errors, where a new non-linear integral sliding surface is given. The stability analysis of the proposed controller is performed using Lyapunov stability theory. Finally, the novel methods are applied to the swing leg control of the lower extremity exoskeleton, its effectiveness is validated by simulation and comparative experiments.

  13. Socially cooperative choices: An approach to achieving resource sustainability in the coastal zone

    Science.gov (United States)

    Crance, Colin; Draper, Dianne

    1996-03-01

    Achieving resource sustainability, particularly in the coastal zone, is complicated by a variety of interdependencies and trade-offs between economic, social, and ecological variables. Although trade-offs between each of these variables are important, this paper emphasizes the social components of resource management. In this regard a distinction is made between individual and cooperative choices. Individual choices frequently are made from a shortterm, self-interested perspective, whereas cooperative choices are made from a long-term, community and resource-sustainability perspective. Typically, when presented with a spectrum of resource management decisions, individuals have a tendency to act in a self-interested manner. Thus, cooperative benefits, such as reduced conflict and improved resource certainty, are not realized. An overview of selected aspects of social dilemma theory suggests that socially cooperative choice outcomes are attainable in coastal zone management by integrating structural and behavioral solutions in resource use decision making. Three barriers to successful integration of structural and behavioral solutions are identified as self-interest, mistrust, and variable perceptions of resource amenities. Examples from coastal zone management indicate that these barriers may be overcome using approaches such as scopereduction, co-management, community education, and local participation. The paper also provides comment on the potential benefits of integrating structural and behavioral solutions in international coastal zone management efforts.

  14. How to get residents/owners in housing cooperatives to agree on sustainable renovation

    Energy Technology Data Exchange (ETDEWEB)

    Lappegard Hauge, A. [SINTEF Building and Infrastructure, P.O. Box 124, Blindern, 0314 Oslo (Norway); Thomsen, J. [SINTEF Building and Infrastructure, 7465 Trondheim (Norway); Loefstroem, E. [SINTEF Building and Infrastructure, 7491 Trondheim (Norway)

    2013-05-15

    What factors increase the chance that residents/owners in housing cooperatives agree on sustainable energy efficient renovation? Based on 30 qualitative interviews with professional advisors in cooperative housing associations and chairman/board and residents in three chosen case studies, an analysis of opportunities and barriers for making a common decision on renovation is performed. Success criteria and barriers are found on the societal level as well as on the organizational/individual level. The barriers and success criteria identified on the societal level are: knowledge level on energy-efficient renovation among relevant actors, owner structure of the housing cooperative, and existing regulations and incentives. On the organizational and individual level, the following categories influencing renovation processes were identified: the time frame and organization of the process, understanding the residents' needs, economy, the information given, and the existence of available exemplary projects and role models. Based on the results of the study, ten guidelines that contribute to more successful decision making processes and increase the chances of sustainable energy efficient renovation in housing cooperatives are presented.

  15. Fiscal 2000 report on result of R and D on robot system cooperating and coexisting with human beings. Development of energy conservation technology; 2000 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho. Energy shiyo gorika gijutsu kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-06-01

    Introduction of a number of robots and consumption of a large amount of energy are unavoidable if a complicated process operation is to be carried out by robots in an extensive work site. Great energy conservation is contrived by developing robots applicable to manufacturing in performing a variety of operations in place of human beings and thereby reducing the number of robots to work. This paper explains the fiscal 2000 results. For dual-handed cooperative tasks, a function was examined capable of gripping an object without giving a humanoid robot an instruction of an exact gripping position. A method was designed to prepare a command for the other arm through a command for one arm, with torque impedance control employed for the purpose of avoiding damage due to collision. A study was conducted on a three-dimensional shape detecting model using a visual device of a robot. In grasping problems of balance control of a humanoid robot, the behavior of a robot consisting of multi-links was considered as behavior of inverted pendulum, with possibility checked for the stabilization of the balance. For the purpose of putting the virtual robot platform previously developed to practical use, a three-dimensional operation tool of run-time user interface was developed, with research conducted on the sophistication of robot application. (NEDO)

  16. R&D Cooperation and Knowledge Spillover Effects for Sustainable Business Innovation in the Chemical Industry

    Directory of Open Access Journals (Sweden)

    Petr Hájek

    2018-04-01

    Full Text Available This paper investigates the influence of research and development (R&D cooperation on the creation of spillover effects for sustainable firms in the chemical industry. We explore the evidence for the origin of knowledge spillovers derived from cooperation amongst firms and universities and R&D organizations as well as to test the influence of internal/external financial support on these effects. The results confirm that when firms acquire knowledge from internal sources, this leads to increased innovation and sustainable performance. We have proved that internal expenditure results in increased internal knowledge spillovers. These findings may be specific for Central and Eastern (CEE transition countries, indicating their efforts to build path-dependent structures based on knowledge institutions and businesses as well as knowledge networks. However, this study also provides a more “global” contribution to the knowledge spillover effect theory. It shows that a firm’s cooperation both with universities and with other firms promotes different types of knowledge spillovers and can affect diverse modes of sustainable activities in innovation.

  17. Self-organized control in cooperative robots using a pattern formation principle

    DEFF Research Database (Denmark)

    Starke, Jens; Ellsaesser, Carmen; Fukuda, Toshio

    2011-01-01

    problems where robot teams have to serve manufacturing targets such that an objective function is optimized. Feasibility of the self-organized solutions can be guaranteed even for unpredictable situations like sudden changes in the demands or breakdowns of robots. As example an uncrewed space mission...

  18. Aspects of Sustainability: Cooperation, Job Satisfaction, and Burnout among Swiss Psychiatrists.

    Science.gov (United States)

    Baumgardt, Johanna; Moock, Jörn; Rössler, Wulf; Kawohl, Wolfram

    2015-01-01

    Greater sustainability in mental health services is frequently demanded but seldom analyzed. Levels of cooperation, job satisfaction, and burnout are indicators of social sustainability in this field and are of particular importance to medical staff. Because registered psychiatrists play a central role, we assessed the status quo and interactions between these three factors among registered psychiatrists in Switzerland. A postal survey with three standardized questionnaires about cooperation, job satisfaction, and burnout was conducted among all registered psychiatrists in the German-speaking part of Switzerland (n = 1485). Addresses were provided by the Swiss Medical Association. Response rate was 23.7% (n = 352), yielding a largely male sample (62.8%; n = 218) aged 55.5 ± 8.7 years old. Quantity (47 ± 56.2 contacts over 3 months) and duration (91.1 ± 101.6 min per week) of cooperation was found to be diverse depending on the stakeholder. Quality of cooperation was greatest in general practitioners (81.5%) while it was worst in community mental health providers (54.9%). Overall job satisfaction was assessed rather high (3.7 ± 0.8), and burnout rates were below crucial values (Emotional Exhaustion, 2.9 ± 0.8; Depersonalization, 1.9 ± 0.5). Both were positively influenced by cooperation. The strongest correlation was found between job satisfaction and burnout, and both had significant inverse relationships in all dimensions. To foster sustainability in outpatient mental health care regarding cooperation, job satisfaction, and burnout, personal aspects such and age or years of registration, organizational aspects, such as networking and practice setting, as wells as supportive aspects such as psychotherapy, and self-help groups, must be considered. Quality of cooperation should be reinforced in particular. Because Integrated and Managed Care models cover several of these factors, the models should be more strongly

  19. Sustainable Development Aspects in Cross-Border Cooperation Programmes: The Case of Macedonia and Albania

    Directory of Open Access Journals (Sweden)

    Klodjan Seferaj

    2014-12-01

    Full Text Available The cross-border area between Albania and Macedonia can be considered as a region with agrarian or industrial-agrarian economy, although the overall picture should take into account significant contrasts within the region, between the two countries, but also between the southern and northern part, and between mountainous areas and lowlands. Agriculture, agribusiness, light industry, mining, energy production and tourism are the main economic sectors, which also have the biggest potential in the cross-border region. Both countries are gaining experience in EU funded cross-border cooperation programmes with other neighbouring countries and with each other. The scope of the research is the evaluation and analysis of the Integrated Pre-accession Assistance (IPA Cross-border Cooperation (CBC Programme Macedonia-Albania 2007-2013 and its sustainable development aspects. The research is trying to assess the impact of the programme since its start in 2007 and the impact of the implemented grants on the sustainable development. The importance of the sustainable development aspect is recognized and is formally included into various national strategic documents, however implementation is often problematic and sustainability aspects need to be examined on a more concrete level. The methodology used was qualitative with research tools such as desk studies of relevant program documentation, strategic and planning documentation and other relevant published materials. The desk review considered well over 40 documents relevant to the program, most of which were shared by the Ministry of European Integration (MoEI and other actors.

  20. 75 FR 54914 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Robotics...

    Science.gov (United States)

    2010-09-09

    ..., Incorporated, Amstin, TX; Dataspeed Inc., Troy, MI; Delta Tau Data Systems, Inc., Chatsworth, CA; Dragonfly...; Esys Integration Corporation, Auburn Hills, MI; JADI, Inc., Troy, MI; Mobile Robots Inc., Amherst, NH...

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

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2000-03-01

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

  2. Upper Limb Rehabilitation Robot Powered by PAMs Cooperates with FES Arrays to Realize Reach-to-Grasp Trainings

    Science.gov (United States)

    Su, Chen; Jiang, Xiaobo

    2017-01-01

    The reach-to-grasp activities play an important role in our daily lives. The developed RUPERT for stroke patients with high stiffness in arm flexor muscles is a low-cost lightweight portable exoskeleton rehabilitation robot whose joints are unidirectionally actuated by pneumatic artificial muscles (PAMs). In order to expand the useful range of RUPERT especially for patients with flaccid paralysis, functional electrical stimulation (FES) is taken to activate paralyzed arm muscles. As both the exoskeleton robot driven by PAMs and the neuromuscular skeletal system under FES possess the highly nonlinear and time-varying characteristics, iterative learning control (ILC) is studied and is taken to control this newly designed hybrid rehabilitation system for reaching trainings. Hand function rehabilitation refers to grasping. Because of tiny finger muscles, grasping and releasing are realized by FES array electrodes and matrix scan method. By using the surface electromyography (EMG) technique, the subject's active intent is identified. The upper limb rehabilitation robot powered by PAMs cooperates with FES arrays to realize active reach-to-grasp trainings, which was verified through experiments. PMID:29065566

  3. Upper Limb Rehabilitation Robot Powered by PAMs Cooperates with FES Arrays to Realize Reach-to-Grasp Trainings

    Directory of Open Access Journals (Sweden)

    Xikai Tu

    2017-01-01

    Full Text Available The reach-to-grasp activities play an important role in our daily lives. The developed RUPERT for stroke patients with high stiffness in arm flexor muscles is a low-cost lightweight portable exoskeleton rehabilitation robot whose joints are unidirectionally actuated by pneumatic artificial muscles (PAMs. In order to expand the useful range of RUPERT especially for patients with flaccid paralysis, functional electrical stimulation (FES is taken to activate paralyzed arm muscles. As both the exoskeleton robot driven by PAMs and the neuromuscular skeletal system under FES possess the highly nonlinear and time-varying characteristics, iterative learning control (ILC is studied and is taken to control this newly designed hybrid rehabilitation system for reaching trainings. Hand function rehabilitation refers to grasping. Because of tiny finger muscles, grasping and releasing are realized by FES array electrodes and matrix scan method. By using the surface electromyography (EMG technique, the subject’s active intent is identified. The upper limb rehabilitation robot powered by PAMs cooperates with FES arrays to realize active reach-to-grasp trainings, which was verified through experiments.

  4. Influence of facial feedback during a cooperative human-robot task in schizophrenia.

    Science.gov (United States)

    Cohen, Laura; Khoramshahi, Mahdi; Salesse, Robin N; Bortolon, Catherine; Słowiński, Piotr; Zhai, Chao; Tsaneva-Atanasova, Krasimira; Di Bernardo, Mario; Capdevielle, Delphine; Marin, Ludovic; Schmidt, Richard C; Bardy, Benoit G; Billard, Aude; Raffard, Stéphane

    2017-11-03

    Rapid progress in the area of humanoid robots offers tremendous possibilities for investigating and improving social competences in people with social deficits, but remains yet unexplored in schizophrenia. In this study, we examined the influence of social feedbacks elicited by a humanoid robot on motor coordination during a human-robot interaction. Twenty-two schizophrenia patients and twenty-two matched healthy controls underwent a collaborative motor synchrony task with the iCub humanoid robot. Results revealed that positive social feedback had a facilitatory effect on motor coordination in the control participants compared to non-social positive feedback. This facilitatory effect was not present in schizophrenia patients, whose social-motor coordination was similarly impaired in social and non-social feedback conditions. Furthermore, patients' cognitive flexibility impairment and antipsychotic dosing were negatively correlated with patients' ability to synchronize hand movements with iCub. Overall, our findings reveal that patients have marked difficulties to exploit facial social cues elicited by a humanoid robot to modulate their motor coordination during human-robot interaction, partly accounted for by cognitive deficits and medication. This study opens new perspectives for comprehension of social deficits in this mental disorder.

  5. The emerging roles of agricultural insurance and farmers cooperatives on sustainable rice productions in Indonesia

    Science.gov (United States)

    Lopulisa, C.; Rismaneswati; Ramlan, A.; Suryani, I.

    2018-05-01

    Rice is the main staple food of most Asian countries including Indonesia. Most of the rice producers are constituted by small individual farmers characterized with mostly landless, have a less farming capitals and less access to pool resources and of course are confronted with various risk. Agriculture is faced with a lot of uncertainly most of which are not within the control of farmers. Global climatic change, climatic disasters, fluctuation of global economic and competitiveness of multinational company make difficulties of farmers to pursue his sustainable farming activity. The challenge and the role of government is to reduce uncertainly and to improve resiliency of the small farmer. Agriculture insurance shall focus on risk factors that are difficult to manage or cannot be managed by small farmers and it is should be viewed as just one aspect of the “holistic” risk management strategy. Technology, market, consumer, behaviour, development will always move forward, and no individual farmers can adapt this change alone, so small farmers need to corporate with each other that can optimized the resources they have. Cooperative could create possibilities, value added, shortening the supplied chain, made a product more effective and efficient, and finally can complete in domestic and global markets. Therefore, agriculture insurance as well a farmer cooperative may play an important role on sustainability of rice production in Indonesia. Nowadays and in the future agriculture sustainability is a not merely of technology problems but also a matter of economic-social-culture and politic issues within local, national, and international context.

  6. Taxation of cooperatives from the perspective of international expansion and sustainable development of social economy

    Directory of Open Access Journals (Sweden)

    Gemma Patón García

    2014-07-01

    Full Text Available The economic crisis has created a major concern in developedcountries for control of social risks with negative effects on growth and this problem can be approached from the perspective of Corporate Social Responsibility (CSR. Thus, CSR is seen as an entrepreneurial attitude aimed at promoting social, economic and environmental purposes while guarantying competitiveness in the international market. Thus, social economy can contribute to sustainable development, economic and social cohesion, to promote productive and income distribution, to ensure employment and equality of opportunities. The purpose of this study is to have an influence onthe role that taxation plays in the area of incentive policies related to social economy and very prominently manifested in the legal status of cooperatives. The approach aims to provide proposals on tax regulation of cooperatives taking the perspective of the international context and the size of the sector in countries like Spain and Peru in order to encourage cooperative social responsibility. Indeed, the importance of providing a legal and fiscal framework to promote their internationalization connects providentially with the principles that govern the cooperative action. We consider that it is essential, from the perspective of sustainable development and cooperatives’social responsibility, to take into account in the tax regime applicable criteria that can be justified on constitutional principles, the general interest of society or internationalization economic activity. Also, there could be other positive effects in the area of Latin America, such as decreasing tax evasion and the formalization of at least a portion of the informal sector of the economy, including the real impulse to CSR.

  7. Transitions towards sustainable agriculture: the organic apiculture niche in an Argentinean cooperative

    Directory of Open Access Journals (Sweden)

    Maximiliano Vila Seoane

    2017-05-01

    Full Text Available This article argues that it is possible to transform innovation pathways in natural-resource-based industries towards more sustainable ones. In particular, it employs the socio-technical transitions framework to understand the structural barriers that the industrial agricultural system puts to COOPSOL, an Argentinean cooperative project of organic apiculture. The article is based on qualitative data that systematize, on the one hand, the pressures for continuity and change in the agricultural system. On the other hand, the data reveal the main perceptions of COOPSOL´s actors about the existing structural limits.

  8. Design of an Action Selection Mechanism for Cooperative Soccer Robots Based on Fuzzy Decision Making Algorithm

    Directory of Open Access Journals (Sweden)

    S. Alireza Mohades Kasaei

    2010-04-01

    Full Text Available Robocup is an international competition for multi agent research and related subject like: Artificial intelligence, Image processing, machine learning, robot path planning, control, and
    obstacle avoidance. In a soccer robot game, the environment is highly competitive and dynamic. In order to work in the dynamically changing environment, the decision-making system of a soccer robot system should have the features of flexibility and real-time adaptation. In this paper we will
    focus on the Middle Size Soccer Robot league (MSL and new hierarchical hybrid fuzzy methods for decision making and action selection of a robot in Middle Size Soccer Robot league (MSL are presented. First, the behaviors of an agent are introduced, implemented and classified in two layers,
    the Low_Level_Behaviors and the High_Level_Behaviors. In the second layer, a two phase mechanism for decision making is introduced. In phase one, some useful methods are implemented which check the robot’s situation for performing required behaviors. In the next phase, the team strategy, team formation, robot’s role and the robot’s positioning system are introduced. A fuzzy logical approach is employed to recognize the team strategy and further more to tell the player the
    best position to move. We believe that a Dynamic role engine is necessary for a successful team. Dynamic role engine and formation control during offensive or defensive play, help us to prevent collision avoidance among own players when attacking the ball and obstacle avoidance of the opponents. At last, we comprised our implemented algorithm in the Robocup 2007 and 2008 and results showed the efficiency of the introduced methodology. The results are satisfactory which has already been successfully implemented in ADRO RoboCup team. This project is still in progress and some new interesting methods are described in the current report.

  9. Sustainable Planning of Cross-Border Cooperation: A Strategy for Alliances in Border Cities

    Directory of Open Access Journals (Sweden)

    Joanna Kurowska-Pysz

    2018-05-01

    Full Text Available In recent years, cooperation among nations has become a critical issue towards sustainable development of neighbor cities in border areas. In this regard, sustainable common planning approaches and policies are an increasing reality, particularly in European territories. Considering the significant amount of cross-border cooperation (CBC projects and strategies within Europe, it is crucial to promote research approaches that are able to identify the most positive approaches towards the establishment of alliances in border territories, serving as pivotal methodologies for achieving success. Contextually, the present study considered direct and indirect research methods and tools, literature reviews, data collection, computer-assisted telephone interviewing (CATI and computer-assisted web interview (CAWI, all applied over two European border cities: Cieszyn (Poland and Cesky Tesin (Czech Republic. These methods enabled the assembly of perspectives of local authorities, public and private institutions, non-governmental organizations, and entrepreneurs from the cities under study. Through the analysis of the collected data, five conditions have been identified for the success of strategic alliances in CBC projects: (i well defining the alliance goals; (ii ensuring participation in the alliance of various groups of stakeholders; (iii involvement of both partners with extensive experience in CBC; (iv ensuring the coherence of the key objective; and (v guaranteeing the alliance benefits both sides. These conditions might effectively contribute to achieve more successful outputs in CBC projects, highlighting the relevance of previously developed strategies on the definition of future approaches.

  10. 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 ...

  11. Building Sustainable Smallholder Cooperatives in Emerging Market Economies: Findings from a Five-Year Project in Kenya

    Directory of Open Access Journals (Sweden)

    John E. Meador

    2016-07-01

    Full Text Available A comparative study of two smallholder dairy cooperatives in Kenya examines the question: what factors are conducive to producing sustainable smallholder cooperatives that can gain entry into the vertical value chain in liberalized post-colonial economies? The relative weight of income advantage; selective individual incentives and, social capital on maintaining member patronage are assessed within variable environmental constraints and opportunities facing different cooperatives. The methodology includes case study observation of the cooperatives during a five-year period, as well as sample surveys of members and non-members that include indicators of dairy income; reasons why farmers elect to join or not join the cooperative; and assessments of the importance of different services provided by the cooperative. The findings show how the relative weight of specific incentives for cooperative membership can vary from one environment to another within the same nation. The most important finding is that maintaining sustainable smallholder cooperatives within an increasingly competitive environment depends on the ability of managers to create business strategies that are compatible with the cooperative’s environmental constraints but, at the same time, incentivize members’ patronage.

  12. Sustainable Relations in International Development Cooperation Projects: The Role of Organizational Climate

    Directory of Open Access Journals (Sweden)

    Cosimo Rota

    2011-10-01

    Full Text Available  The importance of the human side of project management to assess the success of international development project has not been fully considered yet. An analysis of the literature on the project success definition, focused on the success criteria and success factors, was carried out. The organization’s effectiveness, in terms of Relations Sustainability, emerged as a criteria integrating the "time, cost, performance" approach to define a project success. Based on previous research contributions on the factors influencing the organization’s effectiveness, the paper expands the analysis of the influence of Organizational Climate on the Relation Sustainability between project manager and project team involved in international cooperation for development. The statistical methods used include confirmatory factors analysis and structural equation modeling. The results carry implications for project management identifying five dimensions of Organizational Climate (trust, innovation, social cohesion, communication and job challenge influencing Relations Sustainability. This finding suggests that Organizational Climate contributes to project success by creating trust, stimulating commitment and generating satisfaction to overcome conflicts between project manager and project team.

  13. Cooperative Rendezvous and Docking for Underwater Robots Using Model Predictive Control and Dual Decomposition

    DEFF Research Database (Denmark)

    Nielsen, Mikkel Cornelius; Johansen, Tor Arne; Blanke, Mogens

    2018-01-01

    This paper considers the problem of rendezvous and docking with visual constraints in the context of underwater robots with camera-based navigation. The objective is the convergence of the vehicles to a common point while maintaining visual contact. The proposed solution includes the design of a ...... of a distributed model predictive controller based on dual decomposition, which allows for optimization in a decentralized fashion. The proposed distributed controller enables rendezvous and docking between vehicles while maintaining visual contact....

  14. Cooperation Is Not Enough—Exploring Social-Ecological Micro-Foundations for Sustainable Common-Pool Resource Use

    Science.gov (United States)

    Wijermans, Nanda; Schlüter, Maja; Lindahl, Therese

    2016-01-01

    Cooperation amongst resource users holds the key to overcoming the social dilemma that characterizes community-based common-pool resource management. But is cooperation alone enough to achieve sustainable resource use? The short answer is no. Developing management strategies in a complex social-ecological environment also requires ecological knowledge and approaches to deal with perceived environmental uncertainty. Recent behavioral experimental research indicates variation in the degree to which a group of users can identify a sustainable exploitation level. In this paper, we identify social-ecological micro-foundations that facilitate cooperative sustainable common-pool resource use. We do so by using an agent-based model (ABM) that is informed by behavioral common-pool resource experiments. In these experiments, groups that cooperate do not necessarily manage the resource sustainably, but also over- or underexploit. By reproducing the patterns of the behavioral experiments in a qualitative way, the ABM represents a social-ecological explanation for the experimental observations. We find that the ecological knowledge of each group member cannot sufficiently explain the relationship between cooperation and sustainable resource use. Instead, the development of a sustainable exploitation level depends on the distribution of ecological knowledge among the group members, their influence on each other’s knowledge, and the environmental uncertainty the individuals perceive. The study provides insights about critical social-ecological micro-foundations underpinning collective action and sustainable resource management. These insights may inform policy-making, but also point to future research needs regarding the mechanisms of social learning, the development of shared management strategies and the interplay of social and ecological uncertainty. PMID:27556175

  15. Cooperation Is Not Enough—Exploring Social-Ecological Micro-Foundations for Sustainable Common-Pool Resource Use [corrected].

    Directory of Open Access Journals (Sweden)

    Caroline Schill

    Full Text Available Cooperation amongst resource users holds the key to overcoming the social dilemma that characterizes community-based common-pool resource management. But is cooperation alone enough to achieve sustainable resource use? The short answer is no. Developing management strategies in a complex social-ecological environment also requires ecological knowledge and approaches to deal with perceived environmental uncertainty. Recent behavioral experimental research indicates variation in the degree to which a group of users can identify a sustainable exploitation level. In this paper, we identify social-ecological micro-foundations that facilitate cooperative sustainable common-pool resource use. We do so by using an agent-based model (ABM that is informed by behavioral common-pool resource experiments. In these experiments, groups that cooperate do not necessarily manage the resource sustainably, but also over- or underexploit. By reproducing the patterns of the behavioral experiments in a qualitative way, the ABM represents a social-ecological explanation for the experimental observations. We find that the ecological knowledge of each group member cannot sufficiently explain the relationship between cooperation and sustainable resource use. Instead, the development of a sustainable exploitation level depends on the distribution of ecological knowledge among the group members, their influence on each other's knowledge, and the environmental uncertainty the individuals perceive. The study provides insights about critical social-ecological micro-foundations underpinning collective action and sustainable resource management. These insights may inform policy-making, but also point to future research needs regarding the mechanisms of social learning, the development of shared management strategies and the interplay of social and ecological uncertainty.

  16. Cooperation Is Not Enough—Exploring Social-Ecological Micro-Foundations for Sustainable Common-Pool Resource Use [corrected].

    Science.gov (United States)

    Schill, Caroline; Wijermans, Nanda; Schlüter, Maja; Lindahl, Therese

    2016-01-01

    Cooperation amongst resource users holds the key to overcoming the social dilemma that characterizes community-based common-pool resource management. But is cooperation alone enough to achieve sustainable resource use? The short answer is no. Developing management strategies in a complex social-ecological environment also requires ecological knowledge and approaches to deal with perceived environmental uncertainty. Recent behavioral experimental research indicates variation in the degree to which a group of users can identify a sustainable exploitation level. In this paper, we identify social-ecological micro-foundations that facilitate cooperative sustainable common-pool resource use. We do so by using an agent-based model (ABM) that is informed by behavioral common-pool resource experiments. In these experiments, groups that cooperate do not necessarily manage the resource sustainably, but also over- or underexploit. By reproducing the patterns of the behavioral experiments in a qualitative way, the ABM represents a social-ecological explanation for the experimental observations. We find that the ecological knowledge of each group member cannot sufficiently explain the relationship between cooperation and sustainable resource use. Instead, the development of a sustainable exploitation level depends on the distribution of ecological knowledge among the group members, their influence on each other's knowledge, and the environmental uncertainty the individuals perceive. The study provides insights about critical social-ecological micro-foundations underpinning collective action and sustainable resource management. These insights may inform policy-making, but also point to future research needs regarding the mechanisms of social learning, the development of shared management strategies and the interplay of social and ecological uncertainty.

  17. Strengthening Radiation Protection Infrastructures in Africa: Towards Establishing Effective and Sustainable Co-operations and Networks

    International Nuclear Information System (INIS)

    2010-09-01

    The third African IRPA 2010 conference on Strengthening Radiation Protection Infrastructures in Africa: Towards Establishing Effective and Sustainable Co-operations and Networks. IAEA's role in radiation protection with focus in Africa. The controlling of exposure to indoor Radon. And Measure of activities and calculation of effective dose of indoor 222 Rn in some dwelling and enclosed areas in Africa - capacity building for radiation protection. It had also address Patient Radiation Protection in Radiotherapy, challenges for advancing medical physic globally, Heath effects and medical applications of non-ionizing radiation, nuclear safety and radiation protection consideration in the design of research and development. The International radiation protection association (IRPA) 2010-2011 strategic plan that address among other issues educations and training activities (2000-2020) and the current UNSCLEAR activities

  18. Robust, fast and accurate vision-based localization of a cooperative target used for space robotic arm

    Science.gov (United States)

    Wen, Zhuoman; Wang, Yanjie; Luo, Jun; Kuijper, Arjan; Di, Nan; Jin, Minghe

    2017-07-01

    When a space robotic arm deploys a payload, usually the pose between the cooperative target fixed on the payload and the hand-eye camera installed on the arm is calculated in real-time. A high-precision robust visual cooperative target localization method is proposed. Combing a circle, a line and dots as markers, a target that guarantees high detection rates is designed. Given an image, single-pixel-width smooth edges are drawn by a novel linking method. Circles are then quickly extracted using isophotes curvature. Around each circle, a square boundary in a pre-calculated proportion to the circle radius is set. In the boundary, the target is identified if certain numbers of lines exist. Based on the circle, the lines, and the target foreground and background intensities, markers are localized. Finally, the target pose is calculated by the Point-3-Perspective algorithm. The algorithm processes 8 frames per second with the target distance ranging from 0.3m to 1.5 m. It generated high-precision poses of above 97.5% on over 100,000 images regardless of camera background, target pose, illumination and motion blur. At 0.3 m, the rotation and translation errors were less than 0.015° and 0.2 mm. The proposed algorithm is very suitable for real-time visual measurement that requires high precision in aerospace.

  19. Interaction learning for dynamic movement primitives used in cooperative robotic tasks

    DEFF Research Database (Denmark)

    Kulvicius, Tomas; Biehl, Martin; Aein, Mohamad Javad

    2013-01-01

    Abstract Since several years dynamic movement primitives (DMPs) are more and more getting into the center of interest for flexible movement control in robotics. In this study we introduce sensory feedback together with a predictive learning mechanism which allows tightly coupled dual-agent systems...... to learn an adaptive, sensor-driven interaction based on DMPs. The coupled conventional (no-sensors, no learning) DMP-system automatically equilibrates and can still be solved analytically allowing us to derive conditions for stability. When adding adaptive sensor control we can show that both agents learn...

  20. Time for a new approach to public participation in EA: Promoting cooperation and consensus for sustainability

    International Nuclear Information System (INIS)

    Doelle, Meinhard; Sinclair, A. John

    2006-01-01

    One of the fundamental challenges of project-based environmental assessments (EA) has been to deliver on the promise of meaningful public participation leading to decisions that put affected societies on the path to sustainability. The record to date has been less than promising, leading the authors to propose that it is time to consider a different approach to legislating public participation in project assessments, one that starts with the ultimate objective of cooperation and consensus building. The authors work back from this objective and propose an EA process specifically designed to encourage all participants to participate constructively. In the process, the authors identify how the proposed process will address various criticisms made of the traditional approach to EA by proponents, government officials and members of the public alike. Through a fundamental shift from process requirements to a focus on the outcomes of EA, the authors propose a way forward for project-based EA to deliver on the promise of becoming a central tool on the path to sustainability

  1. [Cooperation, Job Satisfaction and Burn Out - Sustainability in Outpatient Mental Health Care among Medical Specialists in Germany].

    Science.gov (United States)

    Baumgardt, Johanna; Moock, Jörn; Rössler, Wulf; Kawohl, Wolfram

    2017-04-01

    Objective Cooperation, job satisfaction, and burn out risk are indicators of sustainability in mental health services. Thus they were assessed among registered medical specialists in outpatient mental health care in Germany. Method A postal survey consisting of three questionnaires about cooperation, job satisfaction, and burnout was carried out among all registered medical specialists in outpatient mental health care in Germany (n = 4,430). Results 14.1 % (n = 626) of the specialists responded to the survey. Quality and quantity of cooperation regarding mental health care services were rated diverse, job satisfaction was assessed medium to high, and burnout risk was low to medium. Higher job satisfaction correlated with good quality of cooperation, fewer years of practice, fewer patients' chronically ill, more patients who as well seek psychotherapy, and less time spent on cooperation. Low burn out risk correlated with good quality of cooperation, higher age, single practice setting and a higher amount of patients who as well seek psychotherapy. Conclusion Quality and quantity of cooperation in outpatient mental health care - especially regarding community mental health care institutions - should be fostered. Aspects to be considered to reinforce job satisfaction and minimize burn out risk are age, years of practice, quality and quantity of cooperation, practice setting, and the mixture of patients. © Georg Thieme Verlag KG Stuttgart · New York.

  2. Fuzzy logic controller for cooperative mobile robotics implemented in leader-follower formation approach

    Directory of Open Access Journals (Sweden)

    Manuel Alejandro Molina-Villa

    2015-01-01

    Full Text Available Este artículo presenta el diseño de un controlador de lógica difusa implementandoel método líder-seguidor para un sistema de robótica cooperativa móvil, que permita a ungrupo de robots establecer y mantener una formación geométrica especifi ca mientras sedesplazan siguiendo una trayectoria de referencia. Como resultado de la investigación, seprobó mediante simulación un sistema de control cooperativo, que permite a un grupo derobots mantener una formación específi ca mientras desarrollan una misión determinada.Este controlador permite evadir obstáculos cambiando la formación o cambiando el líder delgrupo en cualquier momento.

  3. Energy policy, economic cooperation, and sustainable development in Central Asia: the case of Uzbekistan

    Energy Technology Data Exchange (ETDEWEB)

    Djakhangir, S

    2005-04-15

    This research deals with a number of issues on the transformation process, sustainable development and regional cooperation in Central Asia. These areas of the research are discussed within the three models of development, i.e. national, regional, and global. Within the new concept on stability and conflict prevention, the author attempted to sort out the economic fundamentals affecting contemporary development of the states in the region. The main focus is made on Uzbekistan which is the most populated country in the region and whose socio-political and economic development has substantial impact on the regional situation. The analysis of the country's progress in domestic economic reforms in the past not only defines some conflict areas of development, but also tries to shape those fields where national strategy is confronted with difficulties on the long and pain-staking way from the plan system towards liberal market economy and democratic society. At the sector-specific level, particular attention is paid to the trends in Uzbekistan's energy sector. Simultaneously the work argues that national policy decisions in the energy field go much beyond national borders, and strongly correlated to intra-regional relations, as well as to those heated by geopolitical and geoeconomic considerations of the USA, Russia, Iran, China, the EU, and Turkey. Subsequently, the research concludes that Central Asia so far remains mainly as an object of expansion of great geopolitical interests rather than being a sovereign player in international relations. In this regard, sustainable development of the states in the region is expected to depend to a large extent on how the interests of the regional states will be put in line with those of non-regionals. Finally, the research emphasizes that in terms of limited domestic resources, investment and donor activities are desperately needed, both in Uzbekistan and the whole region, to modernize production process, raise efficiency, create

  4. Dataglove-based interface for impedance control of manipulators in cooperative human–robot environments

    International Nuclear Information System (INIS)

    Paredes-Madrid, L; Gonzalez de Santos, P

    2013-01-01

    A dataglove-based interface is presented for tracking the forces applied by the hand during contact tasks with a 6-degree-of-freedom (DOF) manipulator. The interface uses 11 force sensors carefully placed on the palm-side fabric of a 16 DOF dataglove. The force sensors use piezoresistive technology to measure the individual force components from the hand. Based on the dataglove measurements, these components are transformed and summed to assemble the resultant force vector. Finally, this force vector is translated into the manipulator frame using orientation measurements from an inertial measurement unit placed on the dorsal side of the dataglove. Static tests show that the dataglove-based interface can effectively measure the applied hand force, but there are inaccuracies in orientation and magnitude when compared to the load cell measurements used as the reference for error calculation. Promising results were achieved when controlling the 6 DOF manipulator based on the force readings acquired from the dataglove interface; the decoupled dynamics of the dataglove interface with respect to the robot structure yielded smooth force readings of the human intention that could be effectively used in the impedance control of the manipulator. (paper)

  5. A Hybrid Method of Analyzing Patents for Sustainable Technology Management in Humanoid Robot Industry

    OpenAIRE

    Jongchan Kim; Joonhyuck Lee; Gabjo Kim; Sangsung Park; Dongsik Jang

    2016-01-01

    A humanoid, which refers to a robot that resembles a human body, imitates a human’s intelligence, behavior, sense, and interaction in order to provide various types of services to human beings. Humanoids have been studied and developed constantly in order to improve their performance. Humanoids were previously developed for simple repetitive or hard work that required significant human power. However, intelligent service robots have been developed actively these days to provide necessary info...

  6. A flexible dual-mode proximity sensor based on cooperative sensing for robot skin applications

    Science.gov (United States)

    Huang, Ying; Cai, Xia; Kan, Wenqing; Qiu, Shihua; Guo, Xiaohui; Liu, Caixia; Liu, Ping

    2017-08-01

    A flexible dual-mode proximity sensor has been designed and implemented, which is capable of combining capacitive-resistive detection in this paper. The capacitive type proximity sensor detecting is defined as mode-C, and the resistive type proximity sensor detecting is defined as mode-R. The characteristics of the proximity sensor are as follows: (1) the theoretical mode is developed which indicates that this proximity sensor can reflect proximity information accurately; (2) both sensing modes are vertically integrated into a sandwich-like chip with an 8 mm × 12 mm unit area. The thickness of a mode-R sensing material (graphene nanoplatelets) and mode-C dielectric (the mixture of carbon black and silicone rubber) is 1 mm and 2.5 mm, respectively; (3) for mode-R, the linearity of temperature-resistance curve can achieve 0.998 in the temperature range from 25°C to 65°C. And for mode-C, various materials can be successfully detected with fast response and high reversibility. Meanwhile, the study compensated the influence of object temperature to ensure mode-C properly works. A cooperative sensing test shows that R-C dual modes sense effectively which can enlarge the sensing distance compared with the single mode proximity sensor. The fabrication of this sensor is convenient, and the integrity of a flexible sandwich-like structure based on dual modes is beneficial to form arrays, which is suitable to be used in skin-like sensing applications.

  7. Energy policy, economic cooperation, and sustainable development in Central Asia: the case of Uzbekistan

    Energy Technology Data Exchange (ETDEWEB)

    Djakhangir, S.

    2005-04-15

    This research deals with a number of issues on the transformation process, sustainable development and regional cooperation in Central Asia. These areas of the research are discussed within the three models of development, i.e. national, regional, and global. Within the new concept on stability and conflict prevention, the author attempted to sort out the economic fundamentals affecting contemporary development of the states in the region. The main focus is made on Uzbekistan which is the most populated country in the region and whose socio-political and economic development has substantial impact on the regional situation. The analysis of the country's progress in domestic economic reforms in the past not only defines some conflict areas of development, but also tries to shape those fields where national strategy is confronted with difficulties on the long and pain-staking way from the plan system towards liberal market economy and democratic society. At the sector-specific level, particular attention is paid to the trends in Uzbekistan's energy sector. Simultaneously the work argues that national policy decisions in the energy field go much beyond national borders, and strongly correlated to intra-regional relations, as well as to those heated by geopolitical and geoeconomic considerations of the USA, Russia, Iran, China, the EU, and Turkey. Subsequently, the research concludes that Central Asia so far remains mainly as an object of expansion of great geopolitical interests rather than being a sovereign player in international relations. In this regard, sustainable development of the states in the region is expected to depend to a large extent on how the interests of the regional states will be put in line with those of non-regionals. Finally, the research emphasizes that in terms of limited domestic resources, investment and donor activities are desperately needed, both in Uzbekistan and the whole region, to modernize production process, raise

  8. Cooperative institutions for sustainable common pool resource management: Application to groundwater

    Science.gov (United States)

    Madani, Kaveh; Dinar, Ariel

    2012-09-01

    Beneficiaries of common pool resources (CPRs) may select available noncooperative and regulatory exogenous institutions for managing the resource, as well as cooperative management institutions. All these institutions may increase the long-term gains, prolong the life of the resource, and help to escape the tragedy of the commons trap. Cooperative game theory approaches can serve as the backbone of cooperative CPR management institutions. This paper formulates and applies several commonly used cooperative game theoretic solution concepts, namely, the core, Nash-Harsanyi, Shapley, and nucleolus. Through a numerical groundwater example, we show how CPR users can share the gains obtained from cooperation in a fair and efficient manner based on these cooperative solution concepts (management institutions). Although, based on their fairness rationales, various cooperative management institutions may suggest different allocations that are potentially acceptable to the users, these allocation solutions may not be stable as some users may find them unfair. This paper discusses how different methods, such as application of the plurality rule and power index, stability index, and propensity to disrupt concepts, can help identify the most stable and likely solutions for enforcing cooperation among the CPR beneficiaries. Furthermore, how the noncooperative managerial characteristics of the CPR users can affect the stability and acceptability of the different cooperative CPR management institutions is discussed, providing valuable policy insights for cooperative CPR management at community levels.

  9. To Enable and Sustain: Pacific Air Forces’ Theater Security Cooperation as a Line of Operation

    Science.gov (United States)

    2015-02-01

    security cooperation mechanisms already in place are evolving into a more sequenced and deliberate plan towards a defined cooperative end state. This...alignment of higher guidance and is designed to advise and guide the command’s activities in the region. Joint in its es- sence , it communicates and...face of crises, it is far better to prevent them from occurring in the first place , establish cooperative arrangements ahead of time, and reduce

  10. Dry Ports-Seaports Sustainable Logistics Network Optimization: Considering the Environment Constraints and the Concession Cooperation Relationships

    Directory of Open Access Journals (Sweden)

    Wei Hairui

    2017-11-01

    Full Text Available In China dry ports enter into a rapid development period now, however for many Chinese dry ports, the operation faces difficulties duo to inefficient logistics networks and cooperation relationship between dry ports and seaports. Focusing on the concession cooperation mechanism of seaports and dry ports, and the environmental constraints (carbon emissions and congestion cost, a bi-objective location-allocation MILP model for the sustainable hinterland-dry ports-seaports logistics network optimization is formulated, aiming at the system logistics costs and carbon emissions to be minimized. Moreover, for the cooperation mechanism of seaports to dry ports, a parameter called cooperation cost concession coefficient is proposed for the optimization model, and a new evaluation method based on the ordered weighted averaging (OWA operator is used to evaluate it. Then a location-allocation decision-making framework for the hinterland-dry port-seaport logistics network is proposed. The innovative aspect of the model is that it can proposes a effective and environment friendly dry ports location strategic and also give insights into the connective cooperation relationships, and cargo flows of the network. A case study involving configuration of dry ports in Henan Province is conducted, and the model is successfully applied.

  11. Creating a Culture of Sustainability using Mission Statements of Cooperative Organizations

    OpenAIRE

    Nooraslinda Abdul Aris; Rohana Othman; Wan Mohd Yusof Wan Chik; Safawi Abdul Rahman

    2016-01-01

    Mission statements are recognized as effective strategic management tools that influence firms’ performance. The evolution of a culture of sustainability begins with a mission statement that strikes a balance between financial performance and social commitments. The clear articulation of sustainability as part of the firm’s mission, values, goals, and strategy are key factors in fostering sustainability focused culture. This study illustrates the fundamental tenets of the culture of organizat...

  12. Governance, corporate social responsibility and cooperation in sustainable tourist destinations: the case of the island of Fuerteventura

    Directory of Open Access Journals (Sweden)

    Olga González-Morales

    2016-11-01

    Full Text Available This paper reflects on governance, corporate social responsibility (CSR and public-private cooperation in sustainable tourist destinations. The empirical analysis focuses on the island of Fuerteventura (the Canary Islands, where a process of coordinated decision making has begun, as well as putting in place plans to modernize the destination. Those responsible for tourism hotel and non-hotel accommodation were surveyed to assess the importance given to CSR in their companies. In particular, CSR’s environmental dimension and its relation with the public sector and other socio-economic factors, bearing in mind that Fuerteventura is a tourist destination in a Biosphere Reserve.

  13. 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...

  14. 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.

  15. The transmission of sustainable harvesting norms when agents are conditionally cooperative

    NARCIS (Netherlands)

    Richter, Andries; Grasman, J.

    2013-01-01

    Experimental and observational studies have highlighted the importance of agents being conditionally cooperative when facing a social dilemma. We formalize this mechanism in a theoretical model that portrays a small community having joint access to a common pool resource. The diffusion of norms of

  16. Sustainability.

    Science.gov (United States)

    Chang, Chein-Chi; DiGiovanni, Kimberly; Mei, Ying; Wei, Li

    2016-10-01

    This review on Sustainability covers selected 2015 publications on the focus of Sustainability. It is divided into the following sections : • Sustainable water and wastewater utilities • Sustainable water resources management • Stormwater and green infrastructure • Sustainability in wastewater treatment • Life cycle assessment (LCA) applications • Sustainability and energy in wastewater industry, • Sustainability and asset management.

  17. Women's Nutribusiness cooperatives in Kenya: an integrated strategy for sustaining rural livelihoods.

    Science.gov (United States)

    Maretzki, Audrey N

    2007-01-01

    With funding provided by the Center for Higher Education of the United States Agency for International Development, The Pennsylvania State University and Tuskegee University collaborated with the University of Nairobi in establishing women's NutriBusiness Cooperatives in the Rift Valley and Central Provinces of Kenya. Between 1992 and 1999, the cooperatives were established, facilities and equipment were supplied and extensive participatory training was provided by university-affiliated investigators and project staff. This initiative enabled approximately 2500 rural Kenyan women farmers to add value to their crops by processing and locally marketing nutritious, convenient, culturally-appropriate weaning food mixes. Implementation of the NutriBusiness model is described and challenges of cultural engagement are highlighted.

  18. Sustainable Agriculture for Environment Protection: Results of Six Years of Cooperation between China and Italy

    Directory of Open Access Journals (Sweden)

    Corrado Clini

    2011-02-01

    Full Text Available The importance of a shift toward agricultural systems, which are more complex in terms of biodiversity in emerging countries such as China, where most of the population (about 60% lives in rural areas, in poor conditions and still relies on agriculture as the main source of income, is discussed. In China the problems caused by shifting to more intensive and polluting agricultural production patterns to address the demand for food of the growing population and by the need of higher incomes of rural communities are serious. The experience gained in the framework of the Sino-Italian Cooperation Program for Environment Protection jointly launched by the Italian Ministry for the Environment and Territory (IMET and the State Environment Protection Administration of China (SEPA in the year 2000, through the implementation of several cooperation projects in different rural areas of China is critically discussed.

  19. Human-Agent Teaming for Multi-Robot Control: A Literature Review

    Science.gov (United States)

    2013-02-01

    advent of the Goggle driverless car , autonomous farm equipment, and unmanned commercial aircraft (Mosher, 2012). The inexorable trend towards...because a robot cannot be automated to navigate in difficult terrain. However, this high ratio will not be sustainable if large numbers of autonomous ...Parasuraman et al., 2007). 3.5 RoboLeader Past research indicates that autonomous cooperation between robots can improve the performance of the human

  20. The advantage of democratic peer punishment in sustaining cooperation within groups

    DEFF Research Database (Denmark)

    Pfattheicher, Stefan; Boehm, Robert; Kesberg, Rebekka

    2018-01-01

    (i.e., antisocial punishment) is possible. In the present work, we propose that a system of democratic peer punishment, that is, direct and equal participation of each individual in the punishment decision‐making process with punishment only executed when a majority has voted for its execution, can......In social dilemma situations, individuals benefit from uncooperative behavior while exploiting resources of the collective. One prominent solution to prevent uncooperative behavior and to increase cooperation is to establish a system of costly peer punishment, that is, the possibility for every...

  1. Collaborative Environmental Governance, Inter-Agency Cooperation and Local Water Sustainability in China

    Directory of Open Access Journals (Sweden)

    Chen Huang

    2017-12-01

    Full Text Available Administrative fragmentation among government agencies has posed a significant challenge to environmental governance. However, few studies have theoretically examined and empirically measured how local governments in China address this with collaborative approaches. Informed by the ecology of games framework (EGF, this paper examined the status of inter-agency water governance in Dongguan City: the pilot city of aquatic ecologically friendly city of China. The research question we seek to address is: What are the main characteristics of the water governance network in local China? With empirical data collected via survey questionnaires and semi-structured in-depth interviews following the EGF, we find that local agencies have realized the need for cooperation in water resource management. However, they were not substantially familiar with each other in the local policy network, failing to reach their full potential in collaboration. Social network analysis was used to analyze the collaborative network. We found that the network has a weak to moderate density, allowing for collective action problems and leading to insufficient cooperative governance. The network has presented central actors with strong bridging capital to control information and resource flows. We also find strong bonding capital among some policy actors as shown in high reciprocity, clustering coefficient and transitivity. To strengthen the effectiveness of local water governance, efforts should be made to establish a functional department and extend the boundary of collaborative network.

  2. State and business co-operation in settling socio-economic issues: forward to sustainable development of ecologically unfavorable regions

    Science.gov (United States)

    Bashkirova, N. N.; Lessovaia, S. N.

    2018-01-01

    The complexity of socio-economic issues of mono-cities located in the ecologically unfavorable regions of Eurasia was disclosed. The economically strategic role of city-forming mining enterprises and their impact on ecological situation was revealed. The general conception of settling the socio-economic problems of mono-cities located in ecologically unfavorable regions was worked out. Various approached to the concentration of financial resources for economic and ecological sustainable development of the regions located on the north of Eurasia holding nature protection actions were submitted. Based on performed critical analysis of the positive international experience of ecological taxation some approaches to reforming current Russian system of ecological taxation were suggested. It was revealed that increasing the social responsibilities of business in the field of waste recycling, environmental protection and monitoring of ecological conditions of territories and state and business co-operation are the most efficient opportunities in settling socio-economic issues of ecologically unfavorable regions.

  3. International cooperation to improve access to and sustain effectiveness of antimicrobials.

    Science.gov (United States)

    Årdal, Christine; Outterson, Kevin; Hoffman, Steven J; Ghafur, Abdul; Sharland, Mike; Ranganathan, Nisha; Smith, Richard; Zorzet, Anna; Cohn, Jennifer; Pittet, Didier; Daulaire, Nils; Morel, Chantal; Rizvi, Zain; Balasegaram, Manica; Dar, Osman A; Heymann, David L; Holmes, Alison H; Moore, Luke S P; Laxminarayan, Ramanan; Mendelson, Marc; Røttingen, John-Arne

    2016-01-16

    Securing access to effective antimicrobials is one of the greatest challenges today. Until now, efforts to address this issue have been isolated and uncoordinated, with little focus on sustainable and international solutions. Global collective action is necessary to improve access to life-saving antimicrobials, conserving them, and ensuring continued innovation. Access, conservation, and innovation are beneficial when achieved independently, but much more effective and sustainable if implemented in concert within and across countries. WHO alone will not be able to drive these actions. It will require a multisector response (including the health, agriculture, and veterinary sectors), global coordination, and financing mechanisms with sufficient mandates, authority, resources, and power. Fortunately, securing access to effective antimicrobials has finally gained a place on the global political agenda, and we call on policy makers to develop, endorse, and finance new global institutional arrangements that can ensure robust implementation and bold collective action. Copyright © 2016 Elsevier Ltd. All rights reserved.

  4. The duality of gaze: Eyes extract and signal social information during sustained cooperative and competitive dyadic gaze

    Directory of Open Access Journals (Sweden)

    Michelle eJarick

    2015-09-01

    Full Text Available In contrast to nonhuman primate eyes, which have a dark sclera surrounding a dark iris, human eyes have a white sclera that surrounds a dark iris. This high contrast morphology allows humans to determine quickly and easily where others are looking and infer what they are attending to. In recent years an enormous body of work has used photos and schematic images of faces to study these aspects of social attention, e.g., the selection of the eyes of others and the shift of attention to where those eyes are directed. However, evolutionary theory holds that humans did not develop a high contrast morphology simply to use the eyes of others as attentional cues; rather they sacrificed camouflage for communication, that is, to signal their thoughts and intentions to others. In the present study we demonstrate the importance of this by taking as our starting point the hypothesis that a cornerstone of nonverbal communication is the eye contact between individuals and the time that it is held. In a single simple study we show experimentally that the effect of eye contact can be quickly and profoundly altered merely by having participants, who had never met before, play a game in a cooperative or competitive manner. After the game participants were asked to make eye contact for a prolonged period of time (10 minutes. Those who had played the game cooperatively found this terribly difficult to do, repeatedly talking and breaking gaze. In contrast, those who had played the game competitively were able to stare quietly at each other for a sustained period. Collectively these data demonstrate that when looking at the eyes of a real person one both acquires and signals information to the other person. This duality of gaze is critical to nonverbal communication, with the nature of that communication shaped by the relationship between individuals, e.g., cooperative or competitive.

  5. Enabling sustainable uranium production: The Inter-regional Technical Cooperation experience

    International Nuclear Information System (INIS)

    Tulsidas, H.; Zhang, J.

    2014-01-01

    Uranium production cycle activities are increasing worldwide, often in countries with little or no previous experience in such activities. Initial efforts in uranium exploration and mining were limited to a few countries, which progressed through a painful learning curve often associated with high socioeconomic costs. With time, good practices for the sustainable conduct of operations became well established, but new projects in different regional contexts continue to face challenges. Moreover, there have been highs and lows in the levels of activities and operations in the uranium industry, which has disrupted the stabilizing of the experiences and lessons learned, into a coherent body of knowledge. This collective experience, assimilated over time, has to be transferred to a new generation of experts, who have to be enabled to use this knowledge effectively in their local contexts in order to increase efficiency and reduce the footprint of the operations. This makes it sustainable and socially acceptable to local communities, as well as in the global context. IAEA has implemented several projects in the last five years to address gaps in transferring a coherent body of knowledge on sustainable uranium production from a well experienced generation of experts to a new generation facing similar challenges in different geographical, technological, economic and social contexts. These projects focused on enabling the new practitioners in the uranium production industry to avoid the mistakes of the past and to apply good practices established elsewhere, adapted to local needs. The approach was intended to bring considerable cost savings while attracting elevated levels of social acceptance. These projects were effective in introducing experts from different areas of the uranium production cycle and with different levels of experience to the availability of advanced tools that can make operations more efficient and productive, reduce footprint, increase competencies in

  6. Public and Hidden Economies in Atuntaqui (Ecuador: The Challenge of Sustaining Cooperation in Textile Production

    Directory of Open Access Journals (Sweden)

    Rudi Colloredo-Mansfeld

    2013-09-01

    Full Text Available In the 2000s, Atuntaqui’s quality improvement program, joint marketing investments, and cultural initatives were designed to leverage the power of strategic cooperation. Over the course of several development projects, however, social interactions became more inclusive and more contentious. In this paper, we introduce the idea of a public economy and contrast it with narrower social capital theories to account for the benefits of Atuntaqui’s move from hidden production to an open trade. With data from field research that spans seven years, this article documents how the pressures of rapid manufacturing growth and the missteps in managing civic projects have undermined public participation and closed off important features of the public economy. The paper concludes with observa­tion about how to revive more robust collaborations through diversification of local participants, strengthening of the chamber of commerce, and recognizing and including the large wave of new, smaller producers. 

  7. Sustainable Load-Balancing Scheme for Inter-Sensor Convergence Processing of Routing Cooperation Topology

    Directory of Open Access Journals (Sweden)

    Hyun-Woo Kim

    2016-05-01

    Full Text Available Recent advancements in Information Technology (IT have sparked the creation of numerous and diverse types of devices and services. Manual data collection measurement methods have been automated through the use of various wireless or wired sensors. Single sensor devices are included in smart devices such as smartphones. Data transmission is critical for big data collected from sensor nodes, such as Mobile Sensor Nodes (MSNs, where sensors move dynamically according to sensor mobility, or Fixed Sensor Nodes (FSNs, where sensor locations are decided by the users. False data transfer processing of big data results in topology lifespan reduction and data transfer delays. Hence, a variety of simulators and diverse load-balancing algorithms have been developed as protocol verification tools for topology lifespan maximization and effective data transfer processing. However, those previously developed simulators have limited functions, such as an event function for a specific sensor or a battery consumption rate test for sensor deployment. Moreover, since the previous load-balancing algorithms consider only the general traffic distribution and the number of connected nodes without considering the current topology condition, the sustainable load-balancing technique that takes into account the battery consumption rate of the dispersed sensor nodes is required. Therefore, this paper proposes the Sustainable Load-balancing Scheme (SLS, which maximizes the overall topology lifespan through effective and sustainable load-balancing of data transfer among the sensors. SLS is capable of maintaining an effective topology as it considers both the battery consumption rate of the sensors and the data transfer delay.

  8. Viewpoint – The Role of the German Development Cooperation in Promoting Sustainable Hydropower

    Directory of Open Access Journals (Sweden)

    Cathleen Seeger

    2010-06-01

    Germany’s engagement in the promotion of participatory processes on dam-related issues is building on the WCD and follow-up processes, as outlined in this article. On the global level, BMZ, represented by the Deutsche Gesellschaft für Technische Zusammenarbeit (GTZ, is currently part of the Hydropower Sustainability Assessment Forum (HSAF. On the national level, one example of support is the contribution to and interaction with the Ghana Dam Dialogue, which is facilitated through two local partners: the International Water Management Institute (IWMI and the Volta Basin Development Foundation (VBDF.

  9. Sustaining PICA for Future NASA Robotic Science Missions Including NF-4 and Discovery

    Science.gov (United States)

    Stackpoole, Mairead; Venkatapathy, Ethiraj; Violette, Steve

    2018-01-01

    Phenolic Impregnated Carbon Ablator (PICA), invented in the mid 1990's, is a low-density ablative thermal protection material proven capable of meeting sample return mission needs from the moon, asteroids, comets and other unrestricted class V destinations as well as for Mars. Its low density and efficient performance characteristics have proven effective for use from Discovery to Flag-ship class missions. It is important that NASA maintain this thermal protection material capability and ensure its availability for future NASA use. The rayon based carbon precursor raw material used in PICA preform manufacturing has experienced multiple supply chain issues and required replacement and requalification at least twice in the past 25 years and a third substitution is now needed. The carbon precursor replacement challenge is twofold - the first involves finding a long-term replacement for the current rayon and the second is to assess its future availability periodically to ensure it is sustainable and be alerted if additional replacement efforts need to be initiated. This paper reviews current PICA sustainability activities to identify a rayon replacement and to establish that the capability of the new PICA derived from an alternative precursor is in family with previous versions.

  10. Enabling Sustainable Uranium Production: The Inter-regional Technical Cooperation experience

    International Nuclear Information System (INIS)

    Tulsidas, Harikrishnan; Zhang Jing

    2014-01-01

    The challenges in uranium mining: Technology: Systematic efforts to understand uranium is only a few decades old, compared to other energy or mineral sources that may have centuries of study and research. Planning: Interest in uranium peaked in the 1970s, but fell in the three decades following that due to many reasons, notably due a deluge 'cheap oil'. Uranium exploration is driven by a relatively small market demand as of now, which could change in a major way in the future. Optimization: Very little research and development has gone into making uranium extraction more efficient. There are many processing plants in the world with grossly poor extraction efficiency that up to 1000 ppm of uranium is left behind in the tailings. Sustainability: Extraction of uranium from unconventional is another indicator on how seriously we are thinking about sustainability. Every year some 12000 tonnes of uranium is being permanently lost because of our lack of interest in recovering uranium from phosphoric acid. Coordination: Certain amount of competitiveness is unavoidable in a market driven economy. But the challenges of uranium can better managed only if a higher level of unified action by all stakeholders is realized.

  11. Institutions and Social Change: implementing co-operative housing and environmentally sustainable development at Christie Walk

    Directory of Open Access Journals (Sweden)

    Susan McClean

    2009-09-01

    Full Text Available How can institutions contribute to the building of civil society in the twenty- first century? It is clear that the old laissez-faire approach and the more recent neo-conservative reliance on the market have failed to deliver housing for many people. On the other hand the state-based welfare housing model espoused by the Australian Labor Party over the twentieth century has also been beset by problems. Social alienation, and the crisis in affordable housing make the case that individualist approaches to urban living are not working. More communal solutions are needed - solutions attuned to a complex view of civil society outlined by Michael Edwards' tripartite definition. At the same time the onset of global warming now prompts Australians to create more environmentally sustainable ways of living. Addressing the theme of responsibility, this paper focuses on citizenship in its broader environmental, social and active forms. It analyses interviews and documentary evidence concerning the planning and development of Christie Walk, an innovative, medium density eco-city development in Adelaide. The investigation reveals the effects of some Australian institutions on residents' efforts to live socially and environmentally sustainable lives in an urban environment. The paper offers transdisciplinary research and analysis, linking the fields of history, urban housing, community development and environmental theory.

  12. Sustainable Carbon Dioxide Photoreduction by a Cooperative Effect of Reactor Design and Titania Metal Promotion

    Directory of Open Access Journals (Sweden)

    Alberto Olivo

    2018-01-01

    Full Text Available An effective process based on the photocatalytic reduction of CO2 to face on the one hand, the crucial problem of environmental pollution, and, on the other hand, to propose an efficient way to product clean and sustainable energy sources has been developed in this work. Particular attention has been paid to the sustainability of the process by using a green reductant (water and TiO2 as a photocatalyst under very mild operative conditions (room temperature and atmospheric pressure. It was shown that the efficiency in carbon dioxide photoreduction is strictly related to the process parameters and to the catalyst features. In order to formulate a versatile and high performing catalyst, TiO2 was modified by oxide or metal species. Copper (in the oxide CuO form or gold (as nanoparticles were employed as promoting metal. Both photocatalytic activity and selectivity displayed by CuO-TiO2 and Au-TiO2 were compared, and it was found that the nature of the promoter (either Au or CuO shifts the selectivity of the process towards two strategic products: CH4 or H2. The catalytic results were discussed in depth and correlated with the physicochemical features of the photocatalysts.

  13. Cooperation between scientists, NGOs and industry in support of sustainable fisheries: the South African hake Merluccius spp. trawl fishery experience.

    Science.gov (United States)

    Field, J G; Attwood, C G; Jarre, A; Sink, K; Atkinson, L J; Petersen, S

    2013-10-01

    This paper examines the increasingly close interaction between natural and social scientists, non-governmental organizations (NGO) and industry, in pursuit of responsible ecosystem-based management of fisheries. South Africa has committed to implementing an ecosystem approach to fisheries management. Management advice stems from multi-stakeholder representation on government-led scientific and management working groups. In the hake Merluccius capensis and Merluccius paradoxus fishery, the primary management measure is an annual total allowable catch (TAC), the level of which is calculated using a management procedure (MP) that is revised approximately every 4 years. Revision of the MP is a consultative process involving most stakeholders, and is based on simulation modelling of projected probable scenarios of resource and fishery dynamics under various management options. NGOs, such as the Worldwide Fund for Nature in South Africa (WWF-SA), have played an important role in influencing consumers, the fishing industry and government to develop responsible fishing practices that minimize damage to marine ecosystems. Cooperation between industry, government and scientists has helped to improve sustainability and facilitated the meeting of market-based incentives for more responsible fisheries. Research includes ecosystem modelling, spatial analysis and ecosystem risk assessment with increasing research focus on social and economic aspects of the fishery. A four-year cooperative experiment to quantify the effect of trawling on benthic community structure is being planned. The food requirements of top predators still need to be included in the TAC-setting formulae and more social and economic research is needed. This paper also demonstrates how NGO initiatives such as Marine Stewardship Council certification and the Southern African Sustainable Seafood Initiative, a traffic light system of classifying seafood for consumers, have contributed to responsible fishing

  14. Achievement report for fiscal 2000 on operational research of human cooperative and coexisting (humanoid) robot system. Operational research of humanoid robot system; 2000 nendo ningen kyocho kyozongata robot system un'yo kenkyu seika hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-03-01

    This paper reports the achievements in fiscal 2000 in the operational research of humanoid robot system. Carrying out the development smoothly and efficiently requires accumulation of the operational know-how in both of the periodical check and maintenance and the aspects of hard and software to maintain the functions and performances of the robot platform having been developed in the previous fiscal year. Checks were given on fitting of the fasteners and connectors, batteries, and sensors. Operations were confirmed and adjusted on the liquid crystal projector of the surrounded visual display system for remotely controlled operation, polarization filters, screens, reflector mirrors, and wide viewing angle cameras. Verifications were made on fitting of the arm operation force sensing and presenting system, checks on the mechanical components, and operation of the driving system, whereas no change has been found in the operation for the period of one year, and sufficient performance was identified for the remote robot operation. The virtual robot platform has presented no crash and impediments during erroneous use in the disks of the dynamics simulator and the distributed network processing system. (NEDO)

  15. Cooperative Multi-robot Patrolling: A study of distributed approaches based on mathematical models of game theory to protect infrastructures

    OpenAIRE

    Hernandez Serrato, Erik

    2015-01-01

    El principio de Teoría de Juegos permite desarrollar modelos estocásticos de patrullaje multi-robot para proteger infraestructuras criticas. La protección de infraestructuras criticas representa un gran reto para los países al rededor del mundo, principalmente después de los ataques terroristas llevados a cabo la década pasada. En este documento el termino infraestructura hace referencia a aeropuertos, plantas nucleares u otros instalaciones. El problema de patrullaje se define como la activi...

  16. Methodological Approach for the Sustainability Assessment of Development Cooperation Projects for Built Innovations Based on the SDGs and Life Cycle Thinking

    Directory of Open Access Journals (Sweden)

    Stephanie D. Maier

    2016-10-01

    Full Text Available This paper describes a methodological approach for a sustainability assessment of development cooperation projects. Between the scientific disciplines there is no agreement on the term of “sustainability”. Whereas the definition of sustainability within the context of development cooperation frequently highlights the long-term success of an intervention, the United Nations herald the inclusion of social, economic and environmental aspects. This paper proposes to bridge this gap by providing an analytical framework that uses nine impact category groups based on thematic priorities of sustainable development derived from the Sustainable Development Goals. Additionally, the long-term effectiveness of a project is taken into consideration. These impact category groups comprise the analytical framework, which is investigated by the Life Cycle Assessment and an indicator-based analysis. These data are obtained through empirical social research and the LCA inventory. The underlying concept is based on life cycle thinking. Taking up a multi-cycle model this study establishes two life cycles: first, the project management life cycle; and, second, the life cycle of a project’s innovation. The innovation’s life cycle is identified to have the greatest impact on the target region and the local people and is consequently of primary interest. This methodological approach enables an ex-post sustainability assessment of a built innovation of a development cooperation project and is tested on a case study on Improved Cooking Stoves in Bangladesh.

  17. Fiscal 2000 report on result of R and D on robot system cooperating and coexisting with human beings. Development for putting new power generating technology to practical use; 2000 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho. Shinhatsuden gijutsu jitsuyoka kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-06-01

    A highly safe and reliable robot is being developed capable of cooperating and coexisting with human beings to carry out complicated operations in a dangerous site such as a plant, power station maintenance, construction, disaster relief, etc. This paper describes the fiscal 2000 results. In the research for navigated walking functions, the capabilities were extracted for walking straight, turning around and going up and down stairs, with a virtual platform simulated and examined. In the development of remote operation for proxy drive, a method was investigated for instructing change in posture and cooperative movement of the arms and legs. In the evaluation of proxy drive operations for industrial vehicles, a type of operating machine was specified for driving in a standing posture applicable to a robot. In the development of information forming technology supporting remote operations, a basic design was made for the simulator technology of compensating information. Server/client remote control technology was investigated, while a plurality of bi-directional interface means were reviewed for the purpose of efficient information exchange between a robot and an operator. A system for assembling a wall panel was evaluated as an outdoor man-machine cooperative operation. Adaptability to complicated environment such as unprepared ground was also studied, as well as the control of movement of a humanoid robot. (NEDO)

  18. 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.      

  19. FY 1999 achievement report on the R and D of a human cooperation/coexistence robot system. New development for the commercialization for the electric power generation technology; 1999 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho. Shinhatsuden gijutsu jitsuyoka kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2000-03-01

    The paper described the FY 1999 results of the development of a human cooperation/coexistence robot system and the development for commercialization for power plants. The support robot platform for maintenance, etc. was fabricated, connected with the remote operation system and verified of the integrated function. The operator controls the robot from the remote operation cockpit by HMD (head mounted display) which can present image following the head movement of the operator, extended virtual reality technology, and stereo-sound system. Hand/arm movement and instruction for movement were given to the robot, and at the same time, the robot was made a device which can present inner force sense and bodily sensation to the operator. The remote hand operating software was developed. A method was developed by which the information on visual sense, touch sense and somatic sense is presented in realtime to the operator so that he can obtain a feeling of attendance. A model for sensor simulator verification was also developed so that the developer of software can also make a verification experiment in the actual environment. Interface was developed so that library of basic movements can be used in the network environment. An investigational research on the promotion of robot was made. (NEDO)

  20. Achievement report for fiscal 2000 on research and development of human cooperating and coexisting robot system. Research and development of rationalization in oil refining system; 2000 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho. Sekiyu seisei system gorika kenkyu kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-06-01

    It is intended to develop a human cooperating and coexisting robot system that can move around freely during operation and shutdown of a oil refining plant to perform different works. This paper describes the achievements in fiscal 2000. With regard to the navigation and maintenance work functions, design was made on the robot induction system and its conception to perform the works after the robot has reached a place of the work. The specifications required for the robot supporting agent were made clear, and the constituting modules were designed to exchange information with the robot. Specifications were compiled for a portable remote operation device intended of operating different vehicles. Investigations were carried out on such protection technologies as interference check and shock absorbing materials to protect the robot platform. A method was developed to acquire posture and motion patterns of a human demonstrator, using only the upper half of the body, from the images captured by a head-mounted camera. Discussions were given on the specifications, systems and image processing algorithms required for vision-navigated autonomous walking, whose practicability was verified. Autonomous walking by means of map-based guidance, and hand operating technologies were also discussed. (NEDO)

  1. H.S.H. Prince Radu of Hohenzollern-Veringen, Special Representative of the Romanian Government for Integration, Co-operation and Sustainable Development

    CERN Multimedia

    Maximilien Brice

    2002-01-01

    H.S.H. Prince Radu of Hohenzollern-Veringen, Special Representative of the Romanian Government for Integration, Co-operation and Sustainable Development (third from left) with (left to right) Florian Ciolacu (Romanian Mission in Geneva), Cornel Comsa (personal adviser to the Prince), Sorin Ilie (CERN), Calin Alexa (ATLAS), Iosif Legrand (Caltech/CMS), Mihaela Gheata (ALICE), Andrei Gheata (ALICE), and Sorin Zgura (ALICE).

  2. Concurrent Path Planning with One or More Humanoid Robots

    Science.gov (United States)

    Sanders, Adam M. (Inventor); Reiland, Matthew J. (Inventor)

    2014-01-01

    A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.

  3. On Open- source Multi-robot simulators

    CSIR Research Space (South Africa)

    Namoshe, M

    2008-07-01

    Full Text Available Open source software simulators play a major role in robotics design and research as platforms for developing, testing and improving architectures, concepts and algorithms for cooperative/multi-robot systems. Simulation environment enables control...

  4. 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…

  5. FY 1999 research cooperation project - the research cooperation on the protection of biodiversity and sustainable use, etc. Follow-up; 1999 nendo seibutsu tayosei hozen to jizokuteki riyo nado ni kansuru kenkyu kyoryoku. Follow up

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2000-03-01

    The follow-up for the research cooperation for Indonesia, Malaysia and Thailand was conducted to make it possible that developing countries themselves protect biological resources in the tropical area, etc. and make the sustainable use of biological resources using bio-technology. In Indonesia, the follow-up was to be made for proceeding with the joint study for 'The study on the plant utilization technology - search for useful plant ingredients' reported by Professor Koshimizu, Kinki University. In Malaysia, considering that equipment is enough installed there and research leaders are very excellent, it is considered that the country is suitable for the partner of future joint research on microorganisms with Japan. Moreover, the merit in joint study is the cooperation in study of information system and culture collection. In Thailand, Japan told them that the study theme has to be made smaller toward the culture collection rich in content and the search for useful plants/bacteria. (NEDO)

  6. FY 1999 research cooperation project - the research cooperation on the protection of biodiversity and sustainable use, etc. Follow-up; 1999 nendo seibutsu tayosei hozen to jizokuteki riyo nado ni kansuru kenkyu kyoryoku. Follow up

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2000-03-01

    The follow-up for the research cooperation for Indonesia, Malaysia and Thailand was conducted to make it possible that developing countries themselves protect biological resources in the tropical area, etc. and make the sustainable use of biological resources using bio-technology. In Indonesia, the follow-up was to be made for proceeding with the joint study for 'The study on the plant utilization technology - search for useful plant ingredients' reported by Professor Koshimizu, Kinki University. In Malaysia, considering that equipment is enough installed there and research leaders are very excellent, it is considered that the country is suitable for the partner of future joint research on microorganisms with Japan. Moreover, the merit in joint study is the cooperation in study of information system and culture collection. In Thailand, Japan told them that the study theme has to be made smaller toward the culture collection rich in content and the search for useful plants/bacteria. (NEDO)

  7. Report on the achievements in fiscal 1999 on research and development of a human cooperating and coexisting type robot system (Development of energy use rationalization technology); 1999 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho. Energy shiyo gorika gijutsu kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2000-03-01

    Research and development has been performed on a system technology for the human cooperating and coexisting type robot that can perform various types of works substituting human hands. This paper summarizes the achievements in fiscal 1999. In developing a high-function hand, development and fabrication were executed on a device to teach four finger holding actions that correspond to the enhancement in action stability and control responsiveness of the four finger hand and to positions and attitudes of objects. In fabricating the robot platforms, single platform tests and remotely controlled platform connection tests were performed, which demonstrated the functions as an integrated system. In developing libraries for topography adaptive three-dimensional basic walking actions, development was carried out on libraries that correspond to menus for direct advance on a flat land, slewing, and walking on staircases and irregular land. It was found that control closer to that for actually usable robot is possible by considering time delay in articulate control when simulation was performed using the testing robot body. In the study and survey of robot proliferation, development plans were presented that take into consideration the social influence, technological factors, and cost need adaptability. (NEDO)

  8. "La cooperación en el desarrollo de la Humanidad: de los hechos históricos a la tenacidad de la axiología cooperativa en los pilares de la sostenibilidad" (Cooperation in the development of Humanity: from historical facts to the tenacity of cooperative axiology in the pillars of sustainability

    Directory of Open Access Journals (Sweden)

    José Eduardo de Miranda

    2012-01-01

    Full Text Available Although he is known the history of the cooperative movement,it will display the presence of cooperation, in how much value in the process ofdevelopment of mankind. Also, submit the first co-operative, developed tech-niques under eigenvalues of respect with the environment and with the com-mon, allowing the man to subtract from the nature the essential means totheir survival. Also, is going to demonstrate the importance of cooperation asa mechanism for overcoming socio-economic needs, and, above all, the impor-tance of the axiological substrate of cooperation as a sustainability budget.

  9. Direct Interaction between the Voltage Sensors Produces Cooperative Sustained Deactivation in Voltage-gated H+ Channel Dimers*

    OpenAIRE

    Okuda, Hiroko; Yonezawa, Yasushige; Takano, Yu; Okamura, Yasushi; Fujiwara, Yuichiro

    2016-01-01

    The voltage-gated H+ channel (Hv) is a voltage sensor domain-like protein consisting of four transmembrane segments (S1?S4). The native Hv structure is a homodimer, with the two channel subunits functioning cooperatively. Here we show that the two voltage sensor S4 helices within the dimer directly cooperate via a ?-stacking interaction between Trp residues at the middle of each segment. Scanning mutagenesis showed that Trp situated around the original position provides the slow gating kineti...

  10. FY 2000 research cooperation project on the research cooperation for the preservation, sustainable utilization, etc. of the biological diversification. Follow-up; 2000 nendo kenkyu kyoryoku jigyo. Seibutsu tayosei hozen to zizokuteki riyo to ni kansuru kenkyu kyoryoku (Follow up)

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-03-01

    For the purpose of contributing to developing countries' preserving biological resources in the tropical region, etc. and making the sustainable utilization of biological resources using biotechnology, etc. possible, research cooperation for strengthening the base of international research cooperation was given, and the FY 2000 results were outlined. In this fiscal year, visits were paid to research institutes in Indonesia, Thailand and Malaysia for survey of the present situation. In Indonesia, conducted were the study of information system and culture collection, study of plant utilization technology, study of utilization technology of bacteria, etc., and improvement in personnel, facilities and maintenance management power of research cooperation institutes was confirmed. In Thailand and Malaysia, conducted were the study of information system and culture collection, study of rule making of the access profit distribution to genetic resource, and management of the biological resource sampled and study of the route to the industrial utilization. Taking advantage of this project, the contract for the genetic resource search for commercial purpose was agreed between a Japanese company and a Malaysian institute. (NEDO)

  11. Special Issue on Intelligent Robots

    Directory of Open Access Journals (Sweden)

    Genci Capi

    2013-08-01

    Full Text Available The research on intelligent robots will produce robots that are able to operate in everyday life environments, to adapt their program according to environment changes, and to cooperate with other team members and humans. Operating in human environments, robots need to process, in real time, a large amount of sensory data—such as vision, laser, microphone—in order to determine the best action. Intelligent algorithms have been successfully applied to link complex sensory data to robot action. This editorial briefly summarizes recent findings in the field of intelligent robots as described in the articles published in this special issue.

  12. H.S.H. Prince Radu of Hohenzollern-Veringen, Special Representative of the Romanian Government for Integration, Co-operation and Sustainable Development

    CERN Multimedia

    Maximilien Brice

    2002-01-01

    H.S.H. Prince Radu of Hohenzollern-Veringen, Special Representative of the Romanian Government for Integration, Co-operation and Sustainable Development, is seen here visiting Microcosm, CERN's on-site exhibition centre. Photo 01: H.S.H. Prince Radu of Hohenzollern-Veringen (right) with his personal adviser Cornel Comsa inside Microcosm's full-scale model of a six-metre section of the LHC. Photos 04-06: H.S.H. Prince Radu of Hohenzollern-Veringen with Emma Sanders from ETT Division.

  13. Globe report on energy in Central and Easter Europe and the CIS: An urgent need for international cooperation on energy efficiency improvement for sustainable development

    International Nuclear Information System (INIS)

    Laponche, B.; Baguenier, H.

    1998-01-01

    In comparison with European Union countries, the countries of Central and Eastern Europe as well as the Confederation of Independent States are characterized by a very high energy intensity i.e. ratio of energy consumption to gross domestic product. The paper deals with most important factors influencing this high energy intensity; variety of situations in different countries affecting the power supplies; an urgent need for energy efficiency policy and cooperation related to sustainable development; the necessary tools for energy efficiency implementation. Main energy data and global indicators are shown in the appendix

  14. 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...

  15. Achievement report for fiscal 2000 on operational research of human cooperative and coexisting (humanoid) robot system. Development for practical application of new power generation technology; 2000 nendo ningen kyocho kyozongata robot system un'yo kenkyu seika hokokusho. Shinhatsuden gijutsu jitsuyoka kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-03-01

    This paper reports the achievements in fiscal 2000 in the development for practical application of a new power generation technology for the human cooperative and coexisting (humanoid) robot system. Carrying out the development smoothly and efficiently requires accumulation of the system operational know-how, as well as the periodical check and maintenance to maintain the functions and performances of the robot platform having been developed in the previous fiscal year. Checks were given on the robot platform hardware, and no anomalies were verified in all operation. For the remote operation platform, normal operations were identified in the visual and audio information presenting and communication systems, including such components as the PCI, noise removing card, three-dimensional microphone, and SGI320. Operations were confirmed on the movement and operation sensing and presenting system, whereas no change has been found in the operation for the period of one year, and sufficient performance was maintained. For the virtual robot platform, the operation was made open to public on the basic operation library network interface. No operational defects, damages, wear, and electrical failures were found in the master hand for the remote control by hands, force sense presentation, finger and wrist position detection, and contact angle presentation. (NEDO)

  16. 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...

  17. Analysis on the Load Carrying Mechanism Integrated as Heterogeneous Co-operative Manipulator in a Walking Wheelchair

    Science.gov (United States)

    Rajay Vedaraj, I. S.; Jain, Ritika; Rao, B. V. A.

    2014-07-01

    After industrial robots came into existence during 1960, the technology of robotics with the design and analysis of robots in various forms in industries as well as in domestic applications were developed. Nowadays, along with the automotive sector the robots are producing a great impact in the form of quality and production rate to register their existence reliable in various other sectors also. Robotic technology has undergone various phase translations from being tortured as humanoids to the present day manipulators. Depending upon the various forms of its existence, robot manipulators are designed as serial manipulators and parallel manipulators. Individually both types can be proved effective though both have various drawbacks in design and the kinematic analysis. The versatility of robots can be increased by making them work in an environment where the same work volume is shared by more than one manipulator. This work volume can be identified as co-operative work volume of those manipulators. Here the interference of manipulators in the work volume of other manipulators is possible and is made obstacle free. The main advantage of co-operative manipulators is that when a number of independent manipulators are put together in a cooperative work envelope the efficiency and ability to perform tasks is greatly enhanced. The main disadvantage of the co-operative manipulators lies in the complication of its design even for a simple application, in almost all fields. In this paper, a cooperative design of robot manipulators to work in co-operative work environment is done and analysed for its efficacy. In the industrial applications when robotic manipulators are put together in more numbers, the trajectory planning becomes the tough task in the work cell. Proper design can remove the design defects of the cooperative manipulators and can be utilized in a more efficient way. In the proposed research paper an analysis is made on such a type of cooperative manipulator

  18. Analysis on the Load Carrying Mechanism Integrated as Heterogeneous Co-operative Manipulator in a Walking Wheelchair

    International Nuclear Information System (INIS)

    Vedaraj, I S Rajay; Jain, Ritika; Rao, B V A

    2014-01-01

    After industrial robots came into existence during 1960, the technology of robotics with the design and analysis of robots in various forms in industries as well as in domestic applications were developed. Nowadays, along with the automotive sector the robots are producing a great impact in the form of quality and production rate to register their existence reliable in various other sectors also. Robotic technology has undergone various phase translations from being tortured as humanoids to the present day manipulators. Depending upon the various forms of its existence, robot manipulators are designed as serial manipulators and parallel manipulators. Individually both types can be proved effective though both have various drawbacks in design and the kinematic analysis. The versatility of robots can be increased by making them work in an environment where the same work volume is shared by more than one manipulator. This work volume can be identified as co-operative work volume of those manipulators. Here the interference of manipulators in the work volume of other manipulators is possible and is made obstacle free. The main advantage of co-operative manipulators is that when a number of independent manipulators are put together in a cooperative work envelope the efficiency and ability to perform tasks is greatly enhanced. The main disadvantage of the co-operative manipulators lies in the complication of its design even for a simple application, in almost all fields. In this paper, a cooperative design of robot manipulators to work in co-operative work environment is done and analysed for its efficacy. In the industrial applications when robotic manipulators are put together in more numbers, the trajectory planning becomes the tough task in the work cell. Proper design can remove the design defects of the cooperative manipulators and can be utilized in a more efficient way. In the proposed research paper an analysis is made on such a type of cooperative manipulator

  19. National workshop on forest productivity & technology: cooperative research to support a sustainable & competitive future - progress and strategy

    Science.gov (United States)

    Eric D. Vance

    2010-01-01

    The Agenda 2020 Program is a partnership among government agencies, the forest products industry, and academia to develop technology capable of enhancing forest productivity, sustaining environmental values, increasing energy efficiency, and improving the economic competitiveness of the United States forest sector. In November 2006, the USDA Forest Service, in...

  20. 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.

  1. 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.

  2. Robots and humans: synergy in planetary exploration

    Science.gov (United States)

    Landis, Geoffrey A.

    2004-01-01

    How will humans and robots cooperate in future planetary exploration? Are humans and robots fundamentally separate modes of exploration, or can humans and robots work together to synergistically explore the solar system? It is proposed that humans and robots can work together in exploring the planets by use of telerobotic operation to expand the function and usefulness of human explorers, and to extend the range of human exploration to hostile environments. Published by Elsevier Ltd.

  3. Achievement report for fiscal 2000 on operational research of human cooperative and coexisting (humanoid) robot system. Development of energy usage rationalizing technology; 2000 nendo ningen kyocho kyozongata robot system un'yo kenkyu seika hokokusho. Energy shiyo gorika gijutsu kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-03-01

    This paper reports the achievements in fiscal 2000 in the operational research on the human cooperative and coexisting (humanoid) robot system to rationalize energy usage. Operational method and maintenance were studied on the platform hardware that has been developed in the previous fiscal year. Checks were given periodically on the robot platform hardware, and no anomalies were verified in all operation. Verifications were made on the fasteners, additional tightening, fitting of the connectors, battery checks, zero position and step response checks, and output checks on the force component sensor, gyro sensor and G sensor. For the virtual robot platform, discussions were given on the basic movement library for the geography complying three-dimensional walking. Such configurations were constituted that integrated use is possible with the simulator system by connecting the networks, and the user can instruct the CORBA server with the generation of walking movements according to the GUI by using the general purpose WWW browser to connect it to the HTTP server, whose result can be verified by three-dimensional graphics. A method to stabilize the all-axis movement servo model was made open to public. (NEDO)

  4. FY 1998 result report on the R and D of human cooperation/coexistence type robot system. (Development of commercialization of new power generation technology); 1998 nendo ningen kyocho kyozongata robot system no kenkyu kaihatsu (shinhatsuden gijutsu jitsuyoka kaihatsu) seika hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-03-01

    The R and D were conducted to realize a robot system which can work cooperating and coexisting with humans at working places for maintenance, construction, rescue, etc. of plants and power plants. In the fabrication of a robot platform supporting maintenance, etc., the interface specifications were studied for command/data communication with the remote control platform. In the development of an audio-visual display system and a communication system, they were designed based on the required specifications of audio-visual display/communication systems for the remote control cockpit. In the development of a human-friendly display system for sense of operation, the basic design was carried out of a manipulation device, gripping operation, a force display device, a traveling operation device, and a body sense display device which make it possible to command standard operations required for walking with two legs and going up/down stairs and for lifting up and carrying an object with two arms with ease and presence. Further R and D were conducted of a method for displaying reality, sensor simulator, a network interface for the basic robot motion library, etc. (NEDO)

  5. Research cooperation project on conservation and sustainable use of tropical bioresources; Seibutsu tayosei hozen to jizokuteki riyonado ni kansuru kenkyu kyoryoku

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-03-01

    Research cooperation has been conducted on the conservation of biological species inhabiting in the tropical rainforest in developing countries in tropic zone and the sustainable use of genetic resources using biotechnologies. For the research cooperation with Thailand in FY 1996, research of the food acquisition strategy of the Primates has been conducted. A total of 19 species of animals and plants, i.e., 7 species of arbors, 7 species of herbs, and 5 species of insects, were newly confirmed for pig-tailed monkey. In Indonesia, a feasibility study was conducted on the information center of Indonesian tropical bioresources. For the research of culture collection of bacteria, 113 strains of acetic acid bacteria and 85 strains of lactic acid bacteria were separated from Indonesian specimens, and they were identified. An agreement was concluded with Malaysia, and discussions were conducted for the concrete implementation plan. For the project, construction of a database was investigated for bioresources including bacteria and higher animals useful for industries. Maintenance of gene bank was also investigated. 391 refs., 61 figs., 93 tabs.

  6. Lessons from collaborative governance and sociobiology theories for reinforcing sustained cooperation: a government food security case study.

    Science.gov (United States)

    Montoya, L A; Montoya, I; Sánchez González, O D

    2015-07-01

    This research aimed to understand how cooperation and collaboration work in interagency arrangements using a case study of the public management of food security and nutrition in Bogotá, Colombia. This study explored the available scientific literature on Collaborative Governance within the Public Management body of knowledge and the literature on Cooperation from the Sociobiology field. Then, proposals were developed for testing on the ground through an action-research effort that was documented as a case study. Finally, observations were used to test the proposals and some analytical generalizations were developed. To document the case study, several personal interviews, file reviews and normative reviews were conducted to generate a case study database. Collaboration and cooperation concepts within the framework of interagency public management can be understood as a shared desirable outcome that unites different agencies in committing efforts and resources to the accomplishment of a common goal for society, as seen in obtaining food and nutrition security for a specific territory. Collaboration emerges when the following conditions exist and decreases when they are absent: (1) a strong sponsorship that may come from a central government policy or from a distributed interagency consensus; (2) a clear definition of the participating agencies; (3) stability of the staff assigned to the coordination system; and (4) a fitness function for the staff, some mechanism to reward or punish the collaboration level of each individual in the interagency effort. As this research investigated only one case study, the findings must be taken with care and any generalization made from this study needs to be analytical in nature. Additionally, research must be done to accept these results universally. Food security and nutrition efforts are interagency in nature. For collaboration between agencies to emerge, a minimum set of characteristics that were established during the

  7. 1st Iberian Robotics Conference

    CERN Document Server

    Sanfeliu, Alberto; Ferre, Manuel; ROBOT2013; Advances in robotics

    2014-01-01

    This book contains the proceedings of the ROBOT 2013: FIRST IBERIAN ROBOTICS CONFERENCE and it can be said that included both state of the art and more practical presentations dealing with implementation problems, support technologies and future applications. A growing interest in Assistive Robotics, Agricultural Robotics, Field Robotics, Grasping and Dexterous Manipulation, Humanoid Robots, Intelligent Systems and Robotics, Marine Robotics, has been demonstrated by the very relevant number of contributions. Moreover, ROBOT2013 incorporates a special session on Legal and Ethical Aspects in Robotics that is becoming a topic of key relevance. This Conference was held in Madrid (28-29 November 2013), organised by the Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) and by the Centre for Automation and Robotics - CAR (Universidad Politécnica de Madrid (UPM) and Consejo Superior de Investigaciones Científicas (CSIC)), along with the co-operation of Grupo Temático de Robótica CEA-GT...

  8. To cooperate or not to cooperate

    DEFF Research Database (Denmark)

    Wessels, Josepha Ivanka

    To Cooperate or not to Cooperate...? discusses results of a research project to study the rehabilitation of 1500-year old water tunnels, so called "qanats", in Syria. Communities all over the world are using traditional technologies to extract drinkingwater, irrigate their lands and feed...... their livestock. But these often sustainable and ancient ways to make use of groundwater are in rapid decline worldwide. A research project started in 1999 to study the rehabilitation of 1500-year old water tunnels called "qanats"in Syria. To Cooperate or not to Cooperate...? discusses results and outcomes...

  9. Fiscal 1998 research cooperation project. Research cooperation on diversity preservation and sustainable use for living organisms; 1998 nendo seibutsu tayosei hozen to jizokuteki riyo nado ni kansuru kenkyu kyoryoku

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-03-01

    This report describes the titled research cooperation. Joint R and D with Thailand, Indonesia and Malaysia was made on collection and preservation of bio-resources such as tropical rain forest, and sustainable use of them by developing countries themselves. The project includes the simple identification and preservation technology of biospecies such as microorganism, assessment and monitoring technology of ecosystem, search of useful functions of biospecies, and construction of a bio-resource information network. This project promotes conversion of excessive hunting into resource conservation in agriculture, forestry and fisheries industries, and establishment of the basis of new product development in chemical and pharmaceutical industries. This project also contributes to preparation of the basic scheme of developed countries including Japan to countries holding bio-resources in addition to industrial basis preparation of every country. Until 1997, basis establishment has been made such as training of researchers, preparation of equipment and technical guidance, and in the final 1998, various results such as extraction of promising samples from microorganisms were obtained. (NEDO)

  10. 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 ...

  11. Robot Aesthetics

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

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

  12. Filigree Robotics

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  13. Adaptive heterogeneous multi-robot teams

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1998-11-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control in robot missions involving loosely coupled, largely independent tasks. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, the author describes in detail the experimental results of an implementation of this architecture on a team of physical mobile robots performing a cooperative box pushing demonstration. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes in the capabilities of the robot team.

  14. Control of free-flying space robot manipulator systems

    Science.gov (United States)

    Cannon, Robert H., Jr.

    1990-01-01

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

  15. Sustainable Food & Sustainable Economics

    OpenAIRE

    Alvarez, Mavis Dora

    2012-01-01

    Cuba today is immersed in a very intense process of perfecting its agricultural production structures with the goal of making them more efficient and sustainable in their economic administration and in their social and environmental management. Agricultural cooperatives in Cuba have the responsibility of producing on 73% of the country's farmland. Their contributions are decisive to developing agricultural production and to ensuring more and better food for the population, in addition to redu...

  16. Key Drivers for Cooperation toward Sustainable Development and the Management of CO2 Emissions: Comparative Analysis of Six Northeast Asian Countries

    Directory of Open Access Journals (Sweden)

    Andrew Chapman

    2018-01-01

    Full Text Available This study analyzes the key drivers of the relationship between economic growth and carbon emissions in six Northeast Asian countries (China, Japan, Republic of Korea, Democratic People’s Republic of Korea, Mongolia, and Russia from 1991 to 2015. We apply a decomposition analysis approach using Logarithmic Mean Divisia Index to identify the main contributing factors toward CO2 emission changes. To discuss the decomposition results in more in detail, we explain the energy portfolio change in each country to understand the energy and resource utilization strategy. From the results, we find that the key driving factors of CO2 emissions change and energy portfolio trends are different among Northeast Asian countries, driven by economic growth in China and Korea, reduced by energy efficiency improvements in Russia and the DPRK, while being relatively benign in Japan and Mongolia due to a combination of these factors. This result implies that we can better understand the regional cooperation policy for improving each driving factor to achieve sustainable development and management of CO2 emissions considering the characteristics of each country.

  17. The glucocorticoid receptor cooperates with the erythropoietin receptor and c-Kit to enhance and sustain proliferation of erythroid progenitors in vitro

    NARCIS (Netherlands)

    von Lindern, M.; Zauner, W.; Mellitzer, G.; Steinlein, P.; Fritsch, G.; Huber, K.; Löwenberg, B.; Beug, H.

    1999-01-01

    Although erythropoietin (Epo) is essential for the production of mature red blood cells, the cooperation with other factors is required for a proper balance between progenitor proliferation and differentiation. In avian erythroid progenitors, steroid hormones cooperate with tyrosine kinase receptors

  18. Forestry cooperatives: past and present

    Science.gov (United States)

    Mark G. Rickenbach

    2006-01-01

    Forest landowner cooperatives are not a new phenomenon, but past efforts to create and sustain these businesses have been largely unsuccessful in the U.S. Before and just after World War II saw significant investment in cooperative development that failed to create durable business. The purpose of this chapter is to briefly describe the history of forestry cooperatives...

  19. Frozen section evaluation via dynamic real-time non-robotic Telepathology system in a university Cancer center by resident / faculty cooperation team.

    Science.gov (United States)

    Vosoughi, Aram; Smith, Paul Taylor; Zeitouni, Joseph A; Sodeman, Gregori M; Jorda, Merce; Gomez-Fernandez, Carmen; Garcia-Buitrago, Monica; Petito, Carol K; Chapman, Jennifer R; Campuzano-Zuluaga, German; Rosenberg, Andrew E; Kryvenko, Oleksandr N

    2018-04-30

    Frozen section telepathology interpretation experience has been largely limited to practices with locations significantly distant from one another with sporadic need for frozen section diagnosis. In 2010 we established a real-time non-robotic telepathology system in a very active cancer center for daily frozen section service. Herein, we evaluate its accuracy compared to direct microscopic interpretation performed in the main hospital by the same faculty and its cost-efficiency over a 1-year period. From 643 (1416 parts) cases requiring intraoperative consultation, 333 cases (690 parts) were examined by telepathology and 310 cases (726 parts) by direct microscopy. Corresponding discrepancy rates were 2.6% (18 cases: 6 (0.9%) sampling and 12 (1.7%) diagnostic errors) and 3.2% (23 cases: 8 (1.1%) sampling and 15 (2.1%) diagnostic errors), P=.63. The sensitivity and specificity of intraoperative frozen diagnosis were 0.92 and 0.99, respectively, in telepathology, and 0.90 and 0.99, respectively, in direct microscopy. There was no correlation of error incidence with post graduate year level of residents involved in the telepathology service. Cost analysis indicated that the time saved by telepathology was $19691 over one year of the study period while the capital cost for establishing the system was $8924. Thus, real-time non-robotic telepathology is a reliable and easy to use tool for frozen section evaluation in busy clinical settings, especially when frozen section service involves more than one hospital, and it is cost efficient when travel is a component of the service. Copyright © 2018. Published by Elsevier Inc.

  20. Choosing the cooperative option

    Energy Technology Data Exchange (ETDEWEB)

    English, G. (National Rural Electric Cooperative Association (United States))

    1999-06-01

    Cooperatives do not ask to be exempted from the law. They do ask that laws and regulations be designed to allow them to meet the needs of their consumer-owners in accordance with cooperative principles, at a time that the marginal consumers being abandoned by for-profit utilities may be ready to gravitate toward cooperatives. The cooperative principles are worth reviewing because they explain the focus on the consumer and the cooperative concept of service: cooperatives are voluntary organizations, open to all persons able to use their services and willing to accept the responsibilities of membership; cooperatives are democratic organizations controlled by their members, who actively participate in setting policies and making decisions, the elected representatives are accountable to the membership; members contribute equitably to, and democratically control, the capital of their cooperative; cooperatives are autonomous, self-help organizations controlled by their members, if they enter into agreements with other organizations, including governments, they do so on terms that ensure democratic control by their members and maintain their cooperative autonomy; cooperatives provide education and training for their members, elected representatives, managers, and employees so they can contribute effectively to the development of their cooperatives, they inform the general public, particularly young people and opinion leaders, about the nature and benefits of cooperation; cooperatives serve their members most effectively and strength the cooperative movement by working together through local, national, regional, and international structures; and while focusing on member needs, cooperatives work for the sustainable development of their communities through policies accepted by their members.

  1. International co-operation

    International Nuclear Information System (INIS)

    Klinda, J.; Lieskovska, Z.

    1998-01-01

    Within the Union Nations (UN) framework, the Slovak Republic participated in following activities on environment protection co-operation: UN European Economic Commission, UN Industrial Development Organization, UN Development Programme, UN Human Habitat Organization, UN Environment Programme, and UN Commission on Sustainable Development. Relevant activities of the Slovak Republic in these co-operations as well as in European Union and OECD activities are reviewed. International conventions and other forms of multilateral co-operation, bilateral co-operation, and international programmes and projects in which the Slovak Republic took participate are presented

  2. Interactive robots in experimental biology.

    Science.gov (United States)

    Krause, Jens; Winfield, Alan F T; Deneubourg, Jean-Louis

    2011-07-01

    Interactive robots have the potential to revolutionise the study of social behaviour because they provide several methodological advances. In interactions with live animals, the behaviour of robots can be standardised, morphology and behaviour can be decoupled (so that different morphologies and behavioural strategies can be combined), behaviour can be manipulated in complex interaction sequences and models of behaviour can be embodied by the robot and thereby be tested. Furthermore, robots can be used as demonstrators in experiments on social learning. As we discuss here, the opportunities that robots create for new experimental approaches have far-reaching consequences for research in fields such as mate choice, cooperation, social learning, personality studies and collective behaviour. Copyright © 2011 Elsevier Ltd. All rights reserved.

  3. Educational Robotics: Open Questions and New Challenges

    Science.gov (United States)

    Alimisis, Dimitris

    2013-01-01

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

  4. 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

  5. Faster-than-real-time robot simulation for plan development and robot safety

    International Nuclear Information System (INIS)

    Crane, C.D. III; Dalton, R.; Ogles, J.; Tulenko, J.S.; Zhou, X.

    1990-01-01

    The University of Florida, in cooperation with the Universities of Texas, Tennessee, and Michigan and Oak Ridge National Laboratory (ORNL), is developing an advanced robotic system for the US Department of Energy under the University Program for Robotics for Advanced Reactors. As part of this program, the University of Florida has been pursuing the development of a faster-than-real-time robotic simulation program for planning and control of mobile robotic operations to ensure the efficient and safe operation of mobile robots in nuclear power plants and other hazardous environments

  6. 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...

  7. 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…

  8. 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

  9. 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.

  10. 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....

  11. 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

  12. Collaborative Assembly Operation between Two Modular Robots Based on the Optical Position Feedback

    Directory of Open Access Journals (Sweden)

    Liying Su

    2009-01-01

    Full Text Available This paper studies the cooperation between two master-slave modular robots. A cooperative robot system is set up with two modular robots and a dynamic optical meter-Optotrak. With Optotrak, the positions of the end effectors are measured as the optical position feedback, which is used to adjust the robots' end positions. A tri-layered motion controller is designed for the two cooperative robots. The RMRC control method is adopted to adjust the master robot to the desired position. With the kinematics constraints of the two robots including position and pose, joint velocity, and acceleration constraints, the two robots can cooperate well. A bolt and nut assembly experiment is executed to verify the methods.

  13. Transboundary cooperation

    International Nuclear Information System (INIS)

    Rauber, D.

    2006-01-01

    The operation of nuclear power plants near national borders requires a close bilateral co-operation to cope with accidents having off-site radiological impacts. For example in 1978 such an agreement was signed by the German and Swiss government. The accident at the Chernobyl NPP changed the international co-operation in the framework of international consequence management. International conventions were agreed to insure a timely notification and international assistance in case of an accident with transboundary effects. In order to fulfill these conventions several procedures were introduced. In addition, bilateral agreements were signed also with countries which are not operating nuclear power plants near national borders. Since then no accident took place that would have required any notification. However, following the experience the expectations to these networks have changed considerably and hence sustainable development is required to cope with new challenges such as long term consequences management, new radiological threats, faster international assistance, media and public concerns, and technical evolution of communications systems. (author)

  14. 4th International Conference on Advanced Robotics

    CERN Document Server

    1989-01-01

    The Fourth International Conference on Advanced Robotics was held in Columbus, Ohio, U. S. A. on June 13th to 15th, 1989. The first two conferences in this series were held in Tokyo. The third was held in Versailles, France in October 1987. The International Conference on Advanced Robotics is affiliated with the International Federation of Robotics. This conference was sponsored by The Ohio State University. The American Society of Mechanical Engineers was a cooperating co-sponsor. The objective of the International Conference on Advanced Robotics is to provide an international exchange of information on the topic of advanced robotics. This was adopted as one of the themes for international research cooperation at a meeting of representatives of seven industrialized countries held in Williamsburg, U. S. A. in May 1983. The present conference is truly international in character with contributions from authors of twelve countries. (Bulgaria, Canada, France, Great Britain, India, Italy, Japan, Peoples Republic o...

  15. Minefield Mapping Using Cooperative Multirobot Systems

    Directory of Open Access Journals (Sweden)

    Alaa Khamis

    2012-01-01

    Full Text Available This paper presents a team-theoretic approach to cooperative multirobot systems. The individual actions of the robots are controlled by the Belief-Desire-Intention model to endow the robots with the know-how needed to execute these actions deliberately. The cooperative behaviors between the heterogeneous robots are governed by the Team-Log theory to endow all the robots in the team with the know-how-to-cooperate and determine the team members’ commitments to each other despite their different types, properties, and goals. The proposed approach is tested for validity with the real life problem of minefield mapping. Different minefield sweeping strategies are studied to control the mobility of the mobile sweepers within the minefield in order to maximize the area coverage and improve picture compilation capability of the multirobot system.

  16. The Snackbot: Documenting the Design of a Robot for Long-term Human-Robot Interaction

    Science.gov (United States)

    2009-03-01

    distributed robots. Proceedings of the Computer Supported Cooperative Work Conference’02. NY: ACM Press. [18] Kanda, T., Takayuki , H., Eaton, D., and...humanoid robots. Proceedings of HRI’06. New York, NY: ACM Press, 351-352. [23] Nabe, S., Kanda, T., Hiraki , K., Ishiguro, H., Kogure, K., and Hagita

  17. Sustainable Development

    African Journals Online (AJOL)

    Tsegai Berhane Ghebretekle

    Ethiopia is selected as a case study in light of its pace in economic growth ... Interrogating the Economy-First Paradigm in 'Sustainable Development' … 65 .... agreement, since such effective global cooperation on climate change ultimately ..... and foster innovation; reduce inequality within and among countries; make cities.

  18. Efficiency in Microfinance Cooperatives

    Directory of Open Access Journals (Sweden)

    HARTARSKA, Valentina

    2012-12-01

    Full Text Available In recognition of cooperatives’ contribution to the socio-economic well-being of their participants, the United Nations has declared 2012 as the International Year of Cooperatives. Microfinance cooperatives make a large part of the microfinance industry. We study efficiency of microfinance cooperatives and provide estimates of the optimal size of such organizations. We employ the classical efficiency analysis consisting of estimating a system of equations and identify the optimal size of microfinance cooperatives in terms of their number of clients (outreach efficiency, as well as dollar value of lending and deposits (sustainability. We find that microfinance cooperatives have increasing returns to scale which means that the vast majority can lower cost if they become larger. We calculate that the optimal size is around $100 million in lending and half of that in deposits. We find less robust estimates in terms of reaching many clients with a range from 40,000 to 180,000 borrowers.

  19. 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

  20. Robotics Strategy White Paper

    Science.gov (United States)

    2009-03-19

    Cargo packaging and pallet assembly. Use of robotics tools to support palletization falls under the supply functional area which tasks the Army to...system. 17 At first glance, remote tele-operated surgery capability appears to already exist in civilian hospitals (i.e., DaVinci Machine: http... tool free maintenance and anticipatory sustainment and improved distribution. The UJTL tasks suggest nominal improvements in the maintenance area

  1. Hand-held medical robots.

    Science.gov (United States)

    Payne, Christopher J; Yang, Guang-Zhong

    2014-08-01

    Medical robots have evolved from autonomous systems to tele-operated platforms and mechanically-grounded, cooperatively-controlled robots. Whilst these approaches have seen both commercial and clinical success, uptake of these robots remains moderate because of their high cost, large physical footprint and long setup times. More recently, researchers have moved toward developing hand-held robots that are completely ungrounded and manipulated by surgeons in free space, in a similar manner to how conventional instruments are handled. These devices provide specific functions that assist the surgeon in accomplishing tasks that are otherwise challenging with manual manipulation. Hand-held robots have the advantages of being compact and easily integrated into the normal surgical workflow since there is typically little or no setup time. Hand-held devices can also have a significantly reduced cost to healthcare providers as they do not necessitate the complex, multi degree-of-freedom linkages that grounded robots require. However, the development of such devices is faced with many technical challenges, including miniaturization, cost and sterility, control stability, inertial and gravity compensation and robust instrument tracking. This review presents the emerging technical trends in hand-held medical robots and future development opportunities for promoting their wider clinical uptake.

  2. Intelligent robot trends for 1998

    Science.gov (United States)

    Hall, Ernest L.

    1998-10-01

    An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The use of these machines in factory automation can improve productivity, increase product quality and improve competitiveness. This paper presents a discussion of recent technical and economic trends. Technically, the machines are faster, cheaper, more repeatable, more reliable and safer. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. Economically, the robotics industry now has a 1.1 billion-dollar market in the U.S. and is growing. Feasibility studies results are presented which also show decreasing costs for robots and unaudited healthy rates of return for a variety of robotic applications. However, the road from inspiration to successful application can be long and difficult, often taking decades to achieve a new product. A greater emphasis on mechatronics is needed in our universities. Certainly, more cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit industry and society.

  3. Who’s Afraid of Robots?

    DEFF Research Database (Denmark)

    Di Nucci, Ezio; Santoni de Sio, Filippo

    2014-01-01

    We argue that lack of direct and conscious control is not, in principle, a reason to be afraid of machines in general and robots in particular: in order to articulate the ethical and political risks of increasing automation one must, therefore, tackle the difficult task of precisely delineating...... the theoretical and practical limits of sustainable delegation to robots....

  4. 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.

  5. International cooperation

    International Nuclear Information System (INIS)

    2008-01-01

    In this chapter international cooperation of the Division for Radiation Safety, NPP Decommissioning and Radwaste Management of the VUJE, a. s. is presented. Very important is cooperation with the International Atomic Energy Agency. This cooperation has various forms - national and regional projects of technical cooperation, coordinated research activities, participation of our experts in preparation of the IAEA documentation etc.

  6. 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…

  7. 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...

  8. Sociable Robots Through Self-Maintained Energy

    Directory of Open Access Journals (Sweden)

    Trung Dung Ngo

    2006-12-01

    Full Text Available Research of autonomous mobile robots has mostly emphasized interaction and coordination that are natually inspired from biological behavior of birds, insects, and fish: flocking, foraging, collecting, and sharing. However, most research has been only focused on autonomous behaviors in order to perform robots like animals, whereas it is lacked of determinant to those behaviours: energy. Approaching to clusted amimal and the higher, collective and sharing food among individuals are major activity to keep society being. This paper issues an approach to sociable robots using self-maintained energy in cooperative mobile robots, which is dominantly inspired from swarm behavior of collecting and sharing food of honey-bee and ant. Autonomous mobile robots are usually equipped with a finite energy, thus they can operate in a finite time. To overcome the finitude, we describe practical deployment of mobile robots that are capable of carrying and exchanging fuel to other robots. Mechanism implementation including modular hardware and control architecture to demonstrate the capabicities of the approach is presented. Subsequently, the battery exchange algorithm basically based on probabilistic modeling of total energy on each robot located in its local vicinity is described. The paper is concluded with challenging works of chain of mobile robots, rescue, repair, and relation of heterogeneous robots.

  9. Sociable Robots through Self-maintained Energy

    Directory of Open Access Journals (Sweden)

    Henrik Schioler

    2008-11-01

    Full Text Available Research of autonomous mobile robots has mostly emphasized interaction and coordination that are natually inspired from biological behavior of birds, insects, and fish: flocking, foraging, collecting, and sharing. However, most research has been only focused on autonomous behaviors in order to perform robots like animals, whereas it is lacked of determinant to those behaviours: energy. Approaching to clusted amimal and the higher, collective and sharing food among individuals are major activity to keep society being. This paper issues an approach to sociable robots using self-maintained energy in cooperative mobile robots, which is dominantly inspired from swarm behavior of collecting and sharing food of honey-bee and ant. Autonomous mobile robots are usually equipped with a finite energy, thus they can operate in a finite time. To overcome the finitude, we describe practical deployment of mobile robots that are capable of carrying and exchanging fuel to other robots. Mechanism implementation including modular hardware and control architecture to demonstrate the capabicities of the approach is presented. Subsequently, the battery exchange algorithm basically based on probabilistic modeling of total energy on each robot located in its local vicinity is described. The paper is concluded with challenging works of chain of mobile robots, rescue, repair, and relation of heterogeneous robots.

  10. 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...

  11. 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

  12. 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...

  13. 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....

  14. Subsidizing R&D cooperatives

    NARCIS (Netherlands)

    Hinloopen, J.

    2001-01-01

    A framework is developed with which the implementation of two commonly used R&D-stimulating policies can be evaluated: providing R&D subsidies and sustaining the formation of R&D cooperatives. Subsidized R&D cooperatives can also be analyzed. The analysis shows that providing R&D subsidies is more

  15. Intelligent robotics can boost America's economic growth

    Science.gov (United States)

    Erickson, Jon D.

    1994-01-01

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

  16. 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.

  17. An Intelligent Robot Programing

    Energy Technology Data Exchange (ETDEWEB)

    Hong, Seong Yong

    2012-01-15

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

  18. 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.

  19. Assessment of cooperation mechanism options: Cost-efficient and sustainable deployment of renewable energy sources towards the 20% target by 2020, and beyond. D3.2

    Energy Technology Data Exchange (ETDEWEB)

    Pade Hansen, L.-L.; Klinge Jacobsen, H.; Skovsgaard Nielsen, L.

    2012-12-15

    The RES Directive 2009/28/EC (European Commission 2009) set legally binding targets for EU Member States on energy consumption from renewable sources - the 2020 RES targets. A part of this can be achieved through the use of cooperation mechanisms: statistical transfer, joint project and joint support schemes. The intention of the cooperation mechanisms is to provide the flexibility needed to achieve Europe's renewable energy targets in a more cost-efficient way. In Task 3 of the RES4Less project we analyse the benefits and challenges of using the two cooperation mechanisms: joint project and joint support schemes. This report is the outcome of the work in Task 3.2 where we analyse how the barriers can be overcome and how different design options can be used under varying conditions and time horizons. Cooperation mechanisms have the potential to reduce the compliance costs of reaching the 2020 RES targets for EU member states. The largest benefits can be achieved under full harmonisation and one joints support scheme. However, the different national objectives along with uneven distribution of benefits and costs make this unrealistic in the near future. Cooperation between pairs or groups of countries with large net benefits that can be relatively easy estimated and shared is attractive and realisable in a shorter time horizon. Joint project cooperation is the most flexible instrument to use as it preserves the national legislation and support schemes (national objectives) and can be easily scaled in size. The drawback is the high transaction costs and some uncertainty regarding which party should carry the project implementation risk and guaranty the support for the projects for the entire lifetime. The joint projects can be realised in a short term horizon and as such pave the way for further cooperation. Large projects has a considerable advantage in the reduced transaction cost relative to project size and governments can be expected to be more willing to

  20. The Kinzua Quality Deer Cooperative: can adaptive management and local stakeholder engagement sustain reduced impact of ungulate browsers in forest systems?

    Science.gov (United States)

    Susan L. Stout; Alejandro A. Royo; David S. deCalesta; Kevin McAleese; James C. Finley

    2013-01-01

    The Kinzua Quality Deer Cooperative (KQDC) was established in 2000 to test new approaches to stewardship of white-tailed deer and forest habitat on a 30 000 hectare landscape in northwest Pennsylvania, USA. Partners included land managers, scientists, educators, tourism promoters,and hunters. KQDC goals were adaptive management of the deer herd, improved habitat...

  1. A concept of distributed architecture for maintenance robot systems

    International Nuclear Information System (INIS)

    Asama, Hajime

    1990-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Vivekananda Shanmuganatha

    2017-08-01

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

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

    CERN Document Server

    Haddadin, Sami

    2014-01-01

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

  4. US-German Cooperation For Further Development Of Decision Support Systems For Sustainable Contaminated Site Revitalization - Berlin, Germany, Sept. 24, 2008.

    Science.gov (United States)

    SMARTe (Sustainable Management Approaches and Revitalization Tools - electronic) is a web-based decision support tool developed by the Office of Research and Development (ORD) in partnership with the Office of Brownfields and Land Revital...

  5. DE.SMARTe: US-German Bilateral Cooperation For The Development Of An Internet-Based Decision Support System For Sustainable Revitalisation of Contaminated Sites - June 2009

    Science.gov (United States)

    SMARTe (Sustainable Management Approaches and Revitalization Tools-electronic) is a web-based decision support tool developed by he Office of Research and Development (ORD) in partnership with the Office of Brownfields and Land Revitaliza...

  6. Robot, human and communication; Robotto/ningen/comyunikeshon

    Energy Technology Data Exchange (ETDEWEB)

    Suehiro, T.

    1996-04-10

    Recently, some interests on the robots working with human beings under the same environment as the human beings and living with the human beings were promoting. In such robots, more suitability for environment and more robustness of system are required than those in conventional robots. Above all, communication of both the human beings and the robots on their cooperations is becoming a new problem. Hitherto, for the industrial robot, cooperation between human beings and robot was limited on its programming. As this was better for repeated operation of the same motion, its adoptable work was limited to some comparatively simpler one in factory and was difficult to change its content partially or to apply the other work. Furthermore, on the remote-controlled intelligent work robot represented by the critical work robot, its cooperation between the human beings and the robot can be conducted with the operation at remote location. In this paper, the communication of the robots lived with the human beings was examined. 17 refs., 1 fig.

  7. Conflictual cooperation

    DEFF Research Database (Denmark)

    Axel, Erik

    2011-01-01

    , cooperation appeared as the continuous reworking of contradictions in the local arrangement of societal con- ditions. Subjects were distributed and distributed themselves according to social privileges, resources, and dilemmas in cooperation. Here, the subjects’ activities and understandings took form from...

  8. Cost-Efficient and Sustainable Deployment of Renewable Energy Sources towards the 20% Target by 2020, and beyond. Summary of case studies for cooperation mechanisms

    Energy Technology Data Exchange (ETDEWEB)

    Dalla Longa, F. [ECN Policy Studies, Amsterdam (Netherlands); Klinge Jacobsen, H.; Pade Hnasen, L. [Technical University of Denmark DTU, Lyngby (Denmark); Tantareanu, C. [Center for Promotion of Clean and Efficient Energy ENERO, Bucharest (Romania); Caldes-Gomez, N.; Santamaria-Belda, M. [CIEMAT, Madrid (Spain)

    2012-09-15

    This document is a summary report highlighting the main aspect analyzed in the RES4LESS case studies. The document starts with an introductory chapter where the background that led to the selection of the case studies is outlined. In the following three chapters the case studies are presented, highlighting the most relevant results. A brief chapter concludes the document, giving an outlook on the follow-up activities of the RES4LESS project. This summary is intended not only as an introduction to the RES4LESS cases studies, but also as a guideline to read and interpret the in-depth analysis carried out in the final documents that describe the case studies in detail. These documents will be published in September 2012 on the RES4LESS website, www.res4less.eu. The objective of the RES4LESS project is to develop a Roadmap to cost-efficient deployment of energy from renewable sources (RES) in Europe, via cross-border cooperation mechanisms. The Commission has indicated that the 2020 targets for renewable energy (European Commission 2009) can be achieved through cooperation between Member States. This cooperation could lead to win-win situations, when a country with a large low-cost potential for renewable electricity could sell part of its surplus to a country with a limited and/or expensive potential. In the project, first a scoping exercise has been carried out to identify which countries could be candidates for cooperation. Next, three case studies have been elaborated to give a better view of what these cooperation mechanisms would entail in practice. The analysis has focused on renewable electricity (RES-E), although cooperation mechanisms could also be envisaged for renewable heat. Among the Member States providing the largest and cheapest surpluses Denmark, Romania and Spain have been chosen as Host Countries for the RES4LESS case studies. The technologies considered in the case studies are Offshore Wind for Denmark, Biomass for Romania, and CSP for Spain.

  9. 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...

  10. 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

  11. 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: ...

  12. 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.

  13. 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...

  14. 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.

  15. Development of Multiple Capsule Robots in Pipe

    Directory of Open Access Journals (Sweden)

    Shuxiang Guo

    2018-05-01

    Full Text Available Swallowable capsule robots which travel in body cavities to implement drug delivery, minimally invasive surgery, and diagnosis have provided great potential for medical applications. However, the space constraints of the internal environment and the size limitations of the robots are great challenges to practical application. To address the fundamental challenges of narrow body cavities, a different-frequency driven approach for multiple capsule robots with screw structure manipulated by external electromagnetic field is proposed in this paper. The multiple capsule robots are composed of driven permanent magnets, joint permanent magnets, and a screw body. The screw body generates a propulsive force in a fluidic environment. Moreover, robots can form new constructions via mutual docking and release. To provide manipulation guidelines for active locomotion, a dynamic model of axial propulsion and circumferential torque is established. The multiple start and step-out frequencies for multiple robots are defined theoretically. Moreover, the different-frequency driven approach based on geometrical parameters of screw structure and the overlap angles of magnetic polarities is proposed to drive multiple robots in an identical electromagnetic field. Finally, two capsule robots were prototyped and experiments in a narrow pipe were conducted to verify the different motions such as docking, release, and cooperative locomotion. The experimental results demonstrated the validity of the driven approach for multiple capsule robots in narrow body cavities.

  16. HYBRID COMMUNICATION NETWORK OF MOBILE ROBOT AND QUAD-COPTER

    Directory of Open Access Journals (Sweden)

    Moustafa M. Kurdi

    2017-01-01

    Full Text Available This paper introduces the design and development of QMRS (Quadcopter Mobile Robotic System. QMRS is a real-time obstacle avoidance capability in Belarus-132N mobile robot with the cooperation of quadcopter Phantom-4. The function of QMRS consists of GPS used by Mobile Robot and image vision and image processing system from both robot and quad-copter and by using effective searching algorithm embedded inside the robot. Having the capacity to navigate accurately is one of the major abilities of a mobile robot to effectively execute a variety of jobs including manipulation, docking, and transportation. To achieve the desired navigation accuracy, mobile robots are typically equipped with on-board sensors to observe persistent features in the environment, to estimate their pose from these observations, and to adjust their motion accordingly. Quadcopter takes off from Mobile Robot, surveys the terrain and transmits the processed Image terrestrial robot. The main objective of research paper is to focus on the full coordination between robot and quadcopter by designing an efficient wireless communication using WIFI. In addition, it identify the method involving the use of vision and image processing system from both robot and quadcopter; analyzing path in real-time and avoiding obstacles based-on the computational algorithm embedded inside the robot. QMRS increases the efficiency and reliability of the whole system especially in robot navigation, image processing and obstacle avoidance due to the help and connection among the different parts of the system.

  17. HUMAN MACHINE COOPERATIVE TELEROBOTICS

    International Nuclear Information System (INIS)

    William R. Hamel; Spivey Douglass; Sewoong Kim; Pamela Murray; Yang Shou; Sriram Sridharan; Ge Zhang; Scott Thayer; Rajiv V. Dubey

    2003-01-01

    research described as Human Machine Cooperative Telerobotics (HMCTR). The HMCTR combines the telerobot with robotic control techniques to improve the system efficiency and reliability in teleoperation mode. In this topical report, the control strategy, configuration and experimental results of Human Machines Cooperative Telerobotics (HMCTR), which modifies and limits the commands of human operator to follow the predefined constraints in the teleoperation mode, is described. The current implementation is a laboratory-scale system that will be incorporated into an engineering-scale system at the Oak Ridge National Laboratory in the future

  18. HUMAN MACHINE COOPERATIVE TELEROBOTICS

    Energy Technology Data Exchange (ETDEWEB)

    William R. Hamel; Spivey Douglass; Sewoong Kim; Pamela Murray; Yang Shou; Sriram Sridharan; Ge Zhang; Scott Thayer; Rajiv V. Dubey

    2003-06-30

    described as Human Machine Cooperative Telerobotics (HMCTR). The HMCTR combines the telerobot with robotic control techniques to improve the system efficiency and reliability in teleoperation mode. In this topical report, the control strategy, configuration and experimental results of Human Machines Cooperative Telerobotics (HMCTR), which modifies and limits the commands of human operator to follow the predefined constraints in the teleoperation mode, is described. The current implementation is a laboratory-scale system that will be incorporated into an engineering-scale system at the Oak Ridge National Laboratory in the future.

  19. Embodied Computation: An Active-Learning Approach to Mobile Robotics Education

    Science.gov (United States)

    Riek, L. D.

    2013-01-01

    This paper describes a newly designed upper-level undergraduate and graduate course, Autonomous Mobile Robots. The course employs active, cooperative, problem-based learning and is grounded in the fundamental computational problems in mobile robotics defined by Dudek and Jenkin. Students receive a broad survey of robotics through lectures, weekly…

  20. College of Engineering team to build battlefield robots for 2010 competition

    OpenAIRE

    Mackay, Steven D.

    2010-01-01

    The roving, walking robotic soldiers of the "Terminator" films are becoming less sci-fi, and more certain future every day. Now, a team of robotics researchers from the Virginia Tech College of Engineering will build a team of fully autonomous cooperative battle-ready robots as part of a 2010 international war games challenge that could spur real-life battle bots.

  1. 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

  2. Coordinating robots in water polo matches using modified snowdrift games

    NARCIS (Netherlands)

    Wang, Chen; Wu, Bin; Cao, Ming; Xie, Guangming

    2012-01-01

    One key research topic in the study of coordinating multiple robots is to understand under what conditions the synergy effect emerges. While most of the previous work on cooperative robots confirms the existence of synergy effects, less is known about how to quantify them and more importantly, how

  3. Supporting the development of environmentally  sustainable technologies and products: the role of  innovation, informal cooperation and governmental  agency

    DEFF Research Database (Denmark)

    Ulhøi, John Parm

    2008-01-01

        Sustainable, economic, environmental and social development will  require substantial improvements in the efficiency of present environmental  and resource use, which in turn will increase the focus on a broader set of  environmental, economic and social linkages. These are the result...

  4. 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.

  5. Cooperative Change and the Myth of Rationality

    OpenAIRE

    Rokholt, Per Ove; Borgen, Svein Ole

    2000-01-01

    Much of the current research on agricultural cooperatives is biased towards weaknesses of the cooperative organization form. The literature says very little about the strengths and advantages of the cooperative form and what is necessary to develop the form's uniqueness into a sustainable competitive advantage. We argue that for cooperatives to remain viable and competitive, the advantages of the form must be clearly manifested. There is now a lack of systematic theorizing in this field. Typi...

  6. Fiscal 1997 report on the cooperative research on the preservation and sustainable utilization of biological diversification; Seibutsu tayosei hozen to jizokuteki riyo nado ni kansuru kenkyu kyoryoku (1997 nendo hokokusho)

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1998-03-01

    Cooperative researches were conducted between Japan and Thailand, Indonesia and Malaysia for the purpose of the technology development to make developing countries themselves preserve bioresources existing in tropical forests and use those sustainably. The research subjects for Thailand are a strategical study on eating of the primates, improvement of a microorganism culture collection system, preservation of biological diversification using an artificial ecosystem, bioresource utilization, etc. The subjects for Indonesia are a study of a microorganism culture collection system, study of plant preservation technology, study of microorganism utilization technology, study of plant utilization technology, promotion of the founding of the Indonesia tropical bioresource information center, etc. The subjects for Malaysia are biological diversification database and gene bank, assessment/monitoring of the ocean ecosystem, assessment and inventory of the ecosystem using hi-tech technology, search/separation of bioactive substances originated from microorganism/plant, etc. 26 refs., 24 figs., 81 tabs.

  7. 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.

  8. 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.

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

    Science.gov (United States)

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

    2010-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Aníbal Ollero

    2010-03-01

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

  11. International cooperation

    International Nuclear Information System (INIS)

    Prieto, F.E.

    1984-01-01

    It looks doubtless that the need for an international cooperation to solve the worldwide energy problems is already a concern of individuals, institutions, and governments. This is an improvement. But there is something lacking. The author refers to the Atoms for Peace speech, the origin of the IAEA and of the subsequent spreading of the nuclear option. He also refers back to the call made by the Mexican government for a worldwide energy cooperation. He stresses the need for governments to cooperate, so that this international cooperation on energy can be put into operation for the benefit of mankind

  12. 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.

  13. '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...

  14. Control of free-flying space robot manipulator systems

    Science.gov (United States)

    Cannon, Robert H., Jr.

    1989-01-01

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

  15. 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.

  16. 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

  17. 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...

  18. 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...

  19. International cooperation

    International Nuclear Information System (INIS)

    1996-01-01

    In 1995, Nuclear Regulatory Authority of the Slovak Republic (NRA SR) ensured foreign cooperation particularly in the frame of the Slovak Republic is membership in the IAEA, as well as cooperation with the Nuclear Energy Agency of the Organization for Economic Cooperation and Development (OECD NEA), cooperation with European Union in the frame of PHARE programmes, and intergovernmental cooperation and cooperation among nuclear regulatory authorities. With respect to an international importance, prestige and a wide-scope possibilities of a technical assistance , either a direct one (expert assessments, technology supplies, work placement, scientific trips, training courses) or indirect one (participation at various conferences, seminars, technical committees, etc), the most important cooperation with the IAEA in Vienna. In 1994, the Slovak Republic, was elected to the Board Governors, the represent the group of Eastern European countries. The Slovak Government entrusted the NRA SR's Chairman with representing the Slovak Republic in the Board of Governors. Owing to a good name of Slovakia was elected to the one of two Vice-Chairmen of the Board of Governors at the 882-nd session on the Board. IAEA approved and developed 8 national projects for Slovakia in 1995. Generally, IAEA is contracting scientific contracts with research institutes, nuclear power plants and other organizations. Slovak organizations used these contracts as complementary funding of their tasks. In 1995, there were 12 scientific contracts in progress, or approved respectively. Other international activities of the NRA SR, international co-operations as well as foreign affairs are reported

  20. 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)

  1. 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…

  2. Developing robotic behavior using a genetic programming model

    International Nuclear Information System (INIS)

    Pryor, R.J.

    1998-01-01

    This report describes the methodology for using a genetic programming model to develop tracking behaviors for autonomous, microscale robotic vehicles. The use of such vehicles for surveillance and detection operations has become increasingly important in defense and humanitarian applications. Through an evolutionary process similar to that found in nature, the genetic programming model generates a computer program that when downloaded onto a robotic vehicle's on-board computer will guide the robot to successfully accomplish its task. Simulations of multiple robots engaged in problem-solving tasks have demonstrated cooperative behaviors. This report also discusses the behavior model produced by genetic programming and presents some results achieved during the study

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

    NARCIS (Netherlands)

    Leenes, R.E.; Lucivero, F.

    2015-01-01

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

  4. LARM PKM solutions for torso design in humanoid robots

    Science.gov (United States)

    Ceccarelli, Marco

    2014-12-01

    Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.

  5. ROBOSIM, a simulator for robotic systems

    Science.gov (United States)

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

    1991-01-01

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

  6. Ubiquitous Robotic Technology for Smart Manufacturing System.

    Science.gov (United States)

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

    2016-01-01

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

  7. 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...

  8. 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.

  9. 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

  10. 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...

  11. Compact Dexterous Robotic Hand

    Science.gov (United States)

    Lovchik, Christopher Scott (Inventor); Diftler, Myron A. (Inventor)

    2001-01-01

    A compact robotic hand includes a palm housing, a wrist section, and a forearm section. The palm housing supports a plurality of fingers and one or more movable palm members that cooperate with the fingers to grasp and/or release an object. Each flexible finger comprises a plurality of hingedly connected segments, including a proximal segment pivotally connected to the palm housing. The proximal finger segment includes at least one groove defining first and second cam surfaces for engagement with a cable. A plurality of lead screw assemblies each carried by the palm housing are supplied with power from a flexible shaft rotated by an actuator and output linear motion to a cable move a finger. The cable is secured within a respective groove and enables each finger to move between an opened and closed position. A decoupling assembly pivotally connected to a proximal finger segment enables a cable connected thereto to control movement of an intermediate and distal finger segment independent of movement of the proximal finger segment. The dexterous robotic hand closely resembles the function of a human hand yet is light weight and capable of grasping both heavy and light objects with a high degree of precision.

  12. 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...

  13. An inspection of pipe by snake robot

    Directory of Open Access Journals (Sweden)

    František Trebuňa

    2016-10-01

    Full Text Available The article deals with development and application of snake robot for inspection pipes. The first step involves the introduction of a design of mechanical and electrical parts of the snake robot. Next, the analysis of the robot locomotion is introduced. For the curved pipe, potential field method is used. By this method, the system is able to generate path for the head and rear robot, linking the environment with obstacles, which are represented by the walls of the pipe. Subsequently, the solution of potential field method is used in inverse kinematic model, which respects tasks as obstacle avoidance, joint limit avoidance, and singularity avoidance. Mentioned approach is then tested on snake robot in provisional pipe with rectangular cross section. For this research, software Matlab (2013b is used as the control system in cooperation with the control system of robot, which is based on microcontrollers. By experiments, it is shown that designed robot is able to pass through straight and also curved pipe.

  14. Shall I show you some other shirts too? : the psychology and ethics of persuasive robots

    NARCIS (Netherlands)

    Ham, J.R.C.; Spahn, A.

    2015-01-01

    Social robots may provide a solution to various societal challenges (e.g. the aging society, unhealthy lifestyles, sustainability). In the current contribution, we argue that crucial in the interactions of social robots with humans is that social robots are always created to some extent to influence

  15. 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

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

    CERN Document Server

    Pisla, Doina; Bleuler, Hannes

    2014-01-01

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

  17. Towards Bio-Inspired Chromatic Behaviours in Surveillance Robots

    Directory of Open Access Journals (Sweden)

    Sampath Kumar Karutaa Gnaniar

    2016-09-01

    Full Text Available The field of Robotics is ever growing at the same time as posing enormous challenges. Numerous works has been done in biologically inspired robotics emulating models, systems and elements of nature for the purpose of solving traditional robotics problems. Chromatic behaviours are abundant in nature across a variety of living species to achieve camouflage, signaling, and temperature regulation. The ability of these creatures to successfully blend in with their environment and communicate by changing their colour is the fundamental inspiration for our research work. In this paper, we present dwarf chameleon inspired chromatic behaviour in the context of an autonomous surveillance robot, “PACHONDHI”. In our experiments, we successfully validated the ability of the robot to autonomously change its colour in relation to the terrain that it is traversing for maximizing detectability to friendly security agents and minimizing exposure to hostile agents, as well as to communicate with fellow cooperating robots.

  18. MARS: An Educational Environment for Multiagent Robot Simulations

    Directory of Open Access Journals (Sweden)

    Marco Casini

    2016-01-01

    Full Text Available Undergraduate robotics students often find it difficult to design and validate control algorithms for teams of mobile robots. This is mainly due to two reasons. First, very rarely, educational laboratories are equipped with large teams of robots, which are usually expensive, bulky, and difficult to manage and maintain. Second, robotics simulators often require students to spend much time to learn their use and functionalities. For this purpose, a simulator of multiagent mobile robots named MARS has been developed within the Matlab environment, with the aim of helping students to simulate a wide variety of control algorithms in an easy way and without spending time for understanding a new language. Through this facility, the user is able to simulate multirobot teams performing different tasks, from cooperative to competitive ones, by using both centralized and distributed controllers. Virtual sensors are provided to simulate real devices. A graphical user interface allows students to monitor the robots behaviour through an online animation.

  19. 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.

  20. 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...

  1. Anthropomorphism in Human–Robot Co-evolution

    Directory of Open Access Journals (Sweden)

    Luisa Damiano

    2018-03-01

    Full Text Available Social robotics entertains a particular relationship with anthropomorphism, which it neither sees as a cognitive error, nor as a sign of immaturity. Rather it considers that this common human tendency, which is hypothesized to have evolved because it favored cooperation among early humans, can be used today to facilitate social interactions between humans and a new type of cooperative and interactive agents – social robots. This approach leads social robotics to focus research on the engineering of robots that activate anthropomorphic projections in users. The objective is to give robots “social presence” and “social behaviors” that are sufficiently credible for human users to engage in comfortable and potentially long-lasting relations with these machines. This choice of ‘applied anthropomorphism’ as a research methodology exposes the artifacts produced by social robotics to ethical condemnation: social robots are judged to be a “cheating” technology, as they generate in users the illusion of reciprocal social and affective relations. This article takes position in this debate, not only developing a series of arguments relevant to philosophy of mind, cognitive sciences, and robotic AI, but also asking what social robotics can teach us about anthropomorphism. On this basis, we propose a theoretical perspective that characterizes anthropomorphism as a basic mechanism of interaction, and rebuts the ethical reflections that a priori condemns “anthropomorphism-based” social robots. To address the relevant ethical issues, we promote a critical experimentally based ethical approach to social robotics, “synthetic ethics,” which aims at allowing humans to use social robots for two main goals: self-knowledge and moral growth.

  2. Anthropomorphism in Human–Robot Co-evolution

    Science.gov (United States)

    Damiano, Luisa; Dumouchel, Paul

    2018-01-01

    Social robotics entertains a particular relationship with anthropomorphism, which it neither sees as a cognitive error, nor as a sign of immaturity. Rather it considers that this common human tendency, which is hypothesized to have evolved because it favored cooperation among early humans, can be used today to facilitate social interactions between humans and a new type of cooperative and interactive agents – social robots. This approach leads social robotics to focus research on the engineering of robots that activate anthropomorphic projections in users. The objective is to give robots “social presence” and “social behaviors” that are sufficiently credible for human users to engage in comfortable and potentially long-lasting relations with these machines. This choice of ‘applied anthropomorphism’ as a research methodology exposes the artifacts produced by social robotics to ethical condemnation: social robots are judged to be a “cheating” technology, as they generate in users the illusion of reciprocal social and affective relations. This article takes position in this debate, not only developing a series of arguments relevant to philosophy of mind, cognitive sciences, and robotic AI, but also asking what social robotics can teach us about anthropomorphism. On this basis, we propose a theoretical perspective that characterizes anthropomorphism as a basic mechanism of interaction, and rebuts the ethical reflections that a priori condemns “anthropomorphism-based” social robots. To address the relevant ethical issues, we promote a critical experimentally based ethical approach to social robotics, “synthetic ethics,” which aims at allowing humans to use social robots for two main goals: self-knowledge and moral growth. PMID:29632507

  3. Anthropomorphism in Human-Robot Co-evolution.

    Science.gov (United States)

    Damiano, Luisa; Dumouchel, Paul

    2018-01-01

    Social robotics entertains a particular relationship with anthropomorphism, which it neither sees as a cognitive error, nor as a sign of immaturity. Rather it considers that this common human tendency, which is hypothesized to have evolved because it favored cooperation among early humans, can be used today to facilitate social interactions between humans and a new type of cooperative and interactive agents - social robots. This approach leads social robotics to focus research on the engineering of robots that activate anthropomorphic projections in users. The objective is to give robots "social presence" and "social behaviors" that are sufficiently credible for human users to engage in comfortable and potentially long-lasting relations with these machines. This choice of 'applied anthropomorphism' as a research methodology exposes the artifacts produced by social robotics to ethical condemnation: social robots are judged to be a "cheating" technology, as they generate in users the illusion of reciprocal social and affective relations. This article takes position in this debate, not only developing a series of arguments relevant to philosophy of mind, cognitive sciences, and robotic AI, but also asking what social robotics can teach us about anthropomorphism. On this basis, we propose a theoretical perspective that characterizes anthropomorphism as a basic mechanism of interaction, and rebuts the ethical reflections that a priori condemns "anthropomorphism-based" social robots. To address the relevant ethical issues, we promote a critical experimentally based ethical approach to social robotics, "synthetic ethics," which aims at allowing humans to use social robots for two main goals: self-knowledge and moral growth.

  4. 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...

  5. RoboSmith: Wireless Networked Architecture for Multiagent Robotic System

    Directory of Open Access Journals (Sweden)

    Florin Moldoveanu

    2010-11-01

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

  6. Velocity-curvature patterns limit human-robot physical interaction.

    Science.gov (United States)

    Maurice, Pauline; Huber, Meghan E; Hogan, Neville; Sternad, Dagmar

    2018-01-01

    Physical human-robot collaboration is becoming more common, both in industrial and service robotics. Cooperative execution of a task requires intuitive and efficient interaction between both actors. For humans, this means being able to predict and adapt to robot movements. Given that natural human movement exhibits several robust features, we examined whether human-robot physical interaction is facilitated when these features are considered in robot control. The present study investigated how humans adapt to biological and non-biological velocity patterns in robot movements. Participants held the end-effector of a robot that traced an elliptic path with either biological (two-thirds power law) or non-biological velocity profiles. Participants were instructed to minimize the force applied on the robot end-effector. Results showed that the applied force was significantly lower when the robot moved with a biological velocity pattern. With extensive practice and enhanced feedback, participants were able to decrease their force when following a non-biological velocity pattern, but never reached forces below those obtained with the 2/3 power law profile. These results suggest that some robust features observed in natural human movements are also a strong preference in guided movements. Therefore, such features should be considered in human-robot physical collaboration.

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

    Science.gov (United States)

    Fong, Terrence; Nourbakhsh, Illah

    2004-01-01

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

  8. Prenatal temperature shocks reduce cooperation

    NARCIS (Netherlands)

    Duchoslav, Jan

    2017-01-01

    Climate change has not only led to a sustained rise in mean global temperature over the past decades, but also increased the frequency of extreme weather events. This paper explores the effect of temperature shocks in utero on later-life taste for cooperation. Using historical climate data combined

  9. Educational Robotics as Mindtools

    Science.gov (United States)

    Mikropoulos, Tassos A.; Bellou, Ioanna

    2013-01-01

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

  10. 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

  11. 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.

  12. An experimental program on advanced robotics

    International Nuclear Information System (INIS)

    Yuan, J.S.C.; Stovman, J.; MacDonald, R.; Norgate, G.

    1987-01-01

    Remote handling in hostile environments, including space, nuclear facilities, and mines, requires hybrid systems which permit close cooperation between state of the art teleoperation and advanced robotics. Teleoperation using hand controller commands and television feedback can be enhanced by providing force-feel feedback and simulation graphics enhancement of the display. By integrating robotics features such as computer vision and force/tactile feedback with advanced local control systems, the overall effectiveness of the system can be improved and the operator workload reduced. This has been demonstrated in the laboratory. Applications such as a grappling drifting satellite or transferring material at sea are envisaged

  13. Interorganizational Cooperation

    Science.gov (United States)

    2016-10-12

    Administrative Services Officer , Office of Congressional and Intergovernmental Affairs, Office of the Chief Financial Officer , Office of the Chief ...Nations. • Clarifies the role of the United States Agency for International Development (USAID) Office of Transition Initiatives and its relationship...Centralize interorganizational cooperation within the command group. Under this model, the chief of staff or a special staff officer within the command

  14. Cooperative sentry vehicles and differential GPS leapfrog

    Energy Technology Data Exchange (ETDEWEB)

    FEDDEMA,JOHN T.; LEWIS,CHRISTOPHER L.; LAFARGE,ROBERT A.

    2000-06-07

    As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories Intelligent Systems and Robotics Center is developing and testing the feasibility of using a cooperative team of robotic sentry vehicles to guard a perimeter, perform a surround task, and travel extended distances. This paper describes the authors most recent activities. In particular, this paper highlights the development of a Differential Global Positioning System (DGPS) leapfrog capability that allows two or more vehicles to alternate sending DGPS corrections. Using this leapfrog technique, this paper shows that a group of autonomous vehicles can travel 22.68 kilometers with a root mean square positioning error of only 5 meters.

  15. A remote integrated testbed for cooperating objects

    CERN Document Server

    Dios, Jose Ramiro Martinez-de; Bernabe, Alberto de San; Ollero, Anibal

    2013-01-01

    Testbeds are gaining increasing relevance in research domains and also in industrial applications. However, very few books devoted to testbeds have been published. To the best of my knowledge no book on this topic has been published. This book is particularly interesting for the growing community of testbed developers. I believe the book is also very interesting for researchers in robot-WSN cooperation.This book provides detailed description of a system that can be considered the first testbed that allows full peer-to-peer interoperability between heterogeneous robots and ubiquitous systems su

  16. 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....

  17. 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

  18. Robotic inspection technology-process an toolbox

    Energy Technology Data Exchange (ETDEWEB)

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

    2005-07-01

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

  19. Evolution of Cooperation in Public Goods Games

    International Nuclear Information System (INIS)

    Xia Chengyi; Zhang Juanjuan; Wang Jinsong; Wang Yiling

    2011-01-01

    We investigate the evolution of cooperation with evolutionary public goods games based on finite populations, where four pure strategies: cooperators, defectors, punishers and loners who are unwilling to participate are considered. By adopting approximate best response dynamics, we show that the magnitude of rationality not only quantitatively explains the experiment results in [Nature (London) 425 (2003) 390], but also it will heavily influence the evolution of cooperation. Compared with previous results of infinite populations, which result in two equilibriums, we show that there merely exists a special equilibrium and the relevant high value of bounded rationality will sustain cooperation. In addition, we characterize that loner's payoff plays an active role in the maintenance of cooperation, which will only be warranted for the low and moderate values of loner's payoff. It thus indicates the effects of rationality and loner's payoff will influence the cooperation. Finally, we highlight the important result that the introduction of voluntary participation and punishment will facilitate cooperation greatly. (general)

  20. Piezoresistive pressure sensor array for robotic skin

    Science.gov (United States)

    Mirza, Fahad; Sahasrabuddhe, Ritvij R.; Baptist, Joshua R.; Wijesundara, Muthu B. J.; Lee, Woo H.; Popa, Dan O.

    2016-05-01

    Robots are starting to transition from the confines of the manufacturing floor to homes, schools, hospitals, and highly dynamic environments. As, a result, it is impossible to foresee all the probable operational situations of robots, and preprogram the robot behavior in those situations. Among human-robot interaction technologies, haptic communication is an intuitive physical interaction method that can help define operational behaviors for robots cooperating with humans. Multimodal robotic skin with distributed sensors can help robots increase perception capabilities of their surrounding environments. Electro-Hydro-Dynamic (EHD) printing is a flexible multi-modal sensor fabrication method because of its direct printing capability of a wide range of materials onto substrates with non-uniform topographies. In past work we designed interdigitated comb electrodes as a sensing element and printed piezoresistive strain sensors using customized EHD printable PEDOT:PSS based inks. We formulated a PEDOT:PSS derivative ink, by mixing PEDOT:PSS and DMSO. Bending induced characterization tests of prototyped sensors showed high sensitivity and sufficient stability. In this paper, we describe SkinCells, robot skin sensor arrays integrated with electronic modules. 4x4 EHD-printed arrays of strain sensors was packaged onto Kapton sheets and silicone encapsulant and interconnected to a custom electronic module that consists of a microcontroller, Wheatstone bridge with adjustable digital potentiometer, multiplexer, and serial communication unit. Thus, SkinCell's electronics can be used for signal acquisition, conditioning, and networking between sensor modules. Several SkinCells were loaded with controlled pressure, temperature and humidity testing apparatuses, and testing results are reported in this paper.

  1. A survey on dielectric elastomer actuators for soft robots.

    Science.gov (United States)

    Gu, Guo-Ying; Zhu, Jian; Zhu, Li-Min; Zhu, Xiangyang

    2017-01-23

    Conventional industrial robots with the rigid actuation technology have made great progress for humans in the fields of automation assembly and manufacturing. With an increasing number of robots needing to interact with humans and unstructured environments, there is a need for soft robots capable of sustaining large deformation while inducing little pressure or damage when maneuvering through confined spaces. The emergence of soft robotics offers the prospect of applying soft actuators as artificial muscles in robots, replacing traditional rigid actuators. Dielectric elastomer actuators (DEAs) are recognized as one of the most promising soft actuation technologies due to the facts that: i) dielectric elastomers are kind of soft, motion-generating materials that resemble natural muscle of humans in terms of force, strain (displacement per unit length or area) and actuation pressure/density; ii) dielectric elastomers can produce large voltage-induced deformation. In this survey, we first introduce the so-called DEAs emphasizing the key points of working principle, key components and electromechanical modeling approaches. Then, different DEA-driven soft robots, including wearable/humanoid robots, walking/serpentine robots, flying robots and swimming robots, are reviewed. Lastly, we summarize the challenges and opportunities for the further studies in terms of mechanism design, dynamics modeling and autonomous control.

  2. 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...

  3. 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...

  4. 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...

  5. 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.

  6. 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...

  7. Demonstrating sustainable energy: A review-based model of sustainable energy demonstration projects

    NARCIS (Netherlands)

    Bossink, Bart

    2017-01-01

    This article develops a model of sustainable energy demonstration projects, based on a review of 229 scientific publications on demonstrations in renewable and sustainable energy. The model addresses the basic organizational characteristics (aim, cooperative form, and physical location) and learning

  8. Stability Analysis of Cohesion Properties of Cooperative Agents with Limited Sensor Capability

    National Research Council Canada - National Science Library

    Liu, Yanfei

    2003-01-01

    .... Multiple robots can be designed to coordinate to accomplish certain tasks. Their cooperative behaviors resemble, to a certain extent, those of bacteria, bees and birds that work together for food in the biological world...

  9. Olfaction and Hearing Based Mobile Robot Navigation for Odor/Sound Source Search

    Directory of Open Access Journals (Sweden)

    Qi Wang

    2011-02-01

    Full Text Available Bionic technology provides a new elicitation for mobile robot navigation since it explores the way to imitate biological senses. In the present study, the challenging problem was how to fuse different biological senses and guide distributed robots to cooperate with each other for target searching. This paper integrates smell, hearing and touch to design an odor/sound tracking multi-robot system. The olfactory robot tracks the chemical odor plume step by step through information fusion from gas sensors and airflow sensors, while two hearing robots localize the sound source by time delay estimation (TDE and the geometrical position of microphone array. Furthermore, this paper presents a heading direction based mobile robot navigation algorithm, by which the robot can automatically and stably adjust its velocity and direction according to the deviation between the current heading direction measured by magnetoresistive sensor and the expected heading direction acquired through the odor/sound localization strategies. Simultaneously, one robot can communicate with the other robots via a wireless sensor network (WSN. Experimental results show that the olfactory robot can pinpoint the odor source within the distance of 2 m, while two hearing robots can quickly localize and track the olfactory robot in 2 min. The devised multi-robot system can achieve target search with a considerable success ratio and high stability.

  10. Olfaction and Hearing Based Mobile Robot Navigation for Odor/Sound Source Search

    Science.gov (United States)

    Song, Kai; Liu, Qi; Wang, Qi

    2011-01-01

    Bionic technology provides a new elicitation for mobile robot navigation since it explores the way to imitate biological senses. In the present study, the challenging problem was how to fuse different biological senses and guide distributed robots to cooperate with each other for target searching. This paper integrates smell, hearing and touch to design an odor/sound tracking multi-robot system. The olfactory robot tracks the chemical odor plume step by step through information fusion from gas sensors and airflow sensors, while two hearing robots localize the sound source by time delay estimation (TDE) and the geometrical position of microphone array. Furthermore, this paper presents a heading direction based mobile robot navigation algorithm, by which the robot can automatically and stably adjust its velocity and direction according to the deviation between the current heading direction measured by magnetoresistive sensor and the expected heading direction acquired through the odor/sound localization strategies. Simultaneously, one robot can communicate with the other robots via a wireless sensor network (WSN). Experimental results show that the olfactory robot can pinpoint the odor source within the distance of 2 m, while two hearing robots can quickly localize and track the olfactory robot in 2 min. The devised multi-robot system can achieve target search with a considerable success ratio and high stability. PMID:22319401

  11. 4th International Conference on Robot Intelligence Technology and Applications

    CERN Document Server

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

    2017-01-01

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

  12. 3rd International Conference on Robot Intelligence Technology and Applications

    CERN Document Server

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

    2015-01-01

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

  13. Computer-controlled wall servicing robot

    Energy Technology Data Exchange (ETDEWEB)

    Lefkowitz, S. [Pentek, Inc., Corapolis, PA (United States)

    1995-03-01

    After four years of cooperative research, Pentek has unveiled a new robot with the capability to automatically deliver a variety of cleaning, painting, inspection, and surveillance devices to large vertical surfaces. The completely computer-controlled robot can position a working tool on a 50-foot tall by 50-foot wide vertical surface with a repeatability of 1/16 inch. The working end can literally {open_quotes}fly{close_quotes} across the face of a wall at speed of 60 per minute, and can handle working loads of 350 pounds. The robot was originally developed to decontaminate the walls of reactor fueling cavities at commercial nuclear power plants during fuel outages. If these cavities are left to dry after reactor refueling, contamination present in the residue could later become airborne and move throughout the containment building. Decontaminating the cavity during the refueling outage reduces the need for restrictive personal protective equipment during plant operations to limit the dose rates.

  14. Scheduling a Single Mobile Robot Incorporated into Production Environment

    DEFF Research Database (Denmark)

    Dang, Vinh Quang; Nielsen, Izabela Ewa; Steger-Jensen, Kenn

    2013-01-01

    to the challenges of issues such as energy conservation and pollution preventions. Facing the central tension between manufacturing and environmental drivers is difficult, but critical to develop new technologies, particularly mobile robots, that can be incorporated into production to achieve holistic solutions....... This chapter deals with the problem of finding optimal operating sequence in a manufacturing cell of a mobile robot with manipulation arm that feeds materials to feeders. The “Bartender Concept” is discussed to show the cooperation between the mobile robot and industrial environment. The performance criterion...

  15. Robots and Humans in Planetary Exploration: Working Together?

    Science.gov (United States)

    Landis, Geoffrey A.; Lyons, Valerie (Technical Monitor)

    2002-01-01

    Today's approach to human-robotic cooperation in planetary exploration focuses on using robotic probes as precursors to human exploration. A large portion of current NASA planetary surface exploration is focussed on Mars, and robotic probes are seen as precursors to human exploration in: Learning about operation and mobility on Mars; Learning about the environment of Mars; Mapping the planet and selecting landing sites for human mission; Demonstration of critical technology; Manufacture fuel before human presence, and emplace elements of human-support infrastructure

  16. 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.

  17. 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....

  18. Virtual Sustainability

    Directory of Open Access Journals (Sweden)

    William Sims Bainbridge

    2010-09-01

    Full Text Available In four ways, massively multiplayer online role-playing games may serve as tools for advancing sustainability goals, and as laboratories for developing alternatives to current social arrangements that have implications for the natural environment. First, by moving conspicuous consumption and other usually costly status competitions into virtual environments, these virtual worlds might reduce the need for physical resources. Second, they provide training that could prepare individuals to be teleworkers, and develop or demonstrate methods for using information technology to replace much transportation technology, notably in commuting. Third, virtual worlds and online games build international cooperation, even blending national cultures, thereby inching us toward not only the world consciousness needed for international agreements about the environment, but also toward non-spatial government that cuts across archaic nationalisms. Finally, realizing the potential social benefits of this new technology may urge us to reconsider a number of traditional societal institutions.

  19. Mesofluidic controlled robotic or prosthetic finger

    Science.gov (United States)

    Lind, Randall F; Jansen, John F; Love, Lonnie J

    2013-11-19

    A mesofluidic powered robotic and/or prosthetic finger joint includes a first finger section having at least one mesofluidic actuator in fluid communication with a first actuator, a second mesofluidic actuator in fluid communication with a second actuator and a second prosthetic finger section pivotally connected to the first finger section by a joint pivot, wherein the first actuator pivotally cooperates with the second finger to provide a first mechanical advantage relative to the joint point and wherein the second actuator pivotally cooperates with the second finger section to provide a second mechanical advantage relative to the joint point.

  20. 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

  1. Query Processing for Probabilistic State Diagrams Describing Multiple Robot Navigation in an Indoor Environment

    Energy Technology Data Exchange (ETDEWEB)

    Czejdo, Bogdan [ORNL; Bhattacharya, Sambit [North Carolina Fayetteville State University; Ferragut, Erik M [ORNL

    2012-01-01

    This paper describes the syntax and semantics of multi-level state diagrams to support probabilistic behavior of cooperating robots. The techniques are presented to analyze these diagrams by querying combined robots behaviors. It is shown how to use state abstraction and transition abstraction to create, verify and process large probabilistic state diagrams.

  2. Multi-Robot Search for a Moving Target: Integrating World Modeling, Task Assignment and Context

    Science.gov (United States)

    2016-12-01

    Gemignani1, Daniele Nardi1 Abstract— In this paper, we address coordination within a team of cooperative autonomous robots that need to accomplish a common... cooperate to achieve a common goal. During the last years, the approaches to Multi-Robot Systems have been noticed and categorized in different survey...the environment). To highlight how our contribution compares to existing approaches, we categorize existing works on Fig. 2 by con - sidering their

  3. 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...

  4. 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.

  5. 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...

  6. 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....

  7. 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...

  8. 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

  9. Study on cooperative active sensing system

    International Nuclear Information System (INIS)

    Tsukune, Hideo; Kita, Nobuyuki; Hirai, Shigeoki; Kuniyoshi, Yasuo; Hara, Isao; Matsui, Toshihiro

    1999-01-01

    In order to realize autonomous type nuclear plant, three-dimensional geometrical modelling method, and a basic technology on information collection and processing system preparation in some nuclear basic technology developments such as 'study on system evaluation of nuclear facility furnished with artificial intelligence for nuclear power' and 'study on adaptability evaluation of information collection and processing system into autonomous type plant' had already been developed. In this study, a study on sensing system required for constructing robot groups capable of conducting autonomously traveling inspection and maintenance in large scale, complicated and diverse plant has been processed by aiming at establishment of dispersed cooperative intelligent system technology. In 1997 fiscal year, integration of cooperative visual sensing technique was attempted. And, at the same time, upgrading of individual element technology and transportation method essential to the integrated system were investigated. As a result, an operative active sensing prototype system due to transportation robot groups furnished with real time processing capacity on diverse informations by integration of cooperative active sensing technique and real time active sensing technique developed independently plural transportation robot. (G.K.)

  10. RHOBOT: Radiation hardened robotics

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-10-01

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

  11. 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.

  12. 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

  13. 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...

  14. 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.

  15. 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...

  16. 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.

  17. 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

  18. Control Algorithm Trajectory Planning for Dual Cooperative Manipulators with Experimental Verification

    Directory of Open Access Journals (Sweden)

    Omar Ahmed

    2016-01-01

    Full Text Available In order to achieve cooperation of multi-robots simultaneously, this paper presents an approach of Trajectory planning for two decoupled robots with six degrees of freedom (DOF each to execute packing task. The Denavit-Hartenberg (D-H representation is used to model robot links and solve the transformation matrices of each joint. The inverse kinematics solution using for a 6- DOF Robotic arm is presented, for given initial and final configurations of the robots, the robots are placed so that their workspaces overlap. An algorithm successfully finds a set of configurations to ensure, collision free transition from start to end configuration. Simulation and experiments based on 6-dof robot are carried out and the results verified the effectiveness of the proposed algorithm.

  19. 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...

  20. 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,…

  1. 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.

  2. 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

  3. 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

  4. 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.

  5. Local Water Conflict and Cooperation

    DEFF Research Database (Denmark)

    Hermann, Roberto Rivas; Hooper, Catherine; Munk Ravnborg, Helle

    2011-01-01

    in the five countries and discuss its implications. The present paper synthesizes possible ‘blind spots’ in the national policy, legal or administrative water governance frameworks with reference to the identified types of water-related conflictive and cooperative situations identified during the inventories.......In 2007 the Danish Institute for International Studies (DIIS) launched the research programme “Competing for Water: Understanding conflict and cooperation in local water governance”. Along with partners in five developing countries (Bolivia, Mali, Nicaragua, Vietnam and Zambia), the programme aims...... to contribute to “sustainable local water governance in support of the rural poor and otherwise disadvantaged groups in developing countries by improving the knowledge among researchers and practitioners of the nature, extent and intensity of local water conflict and cooperation and their social, economic...

  6. Sustainability and Competitiveness of Tourism

    OpenAIRE

    Angelkova, Tanja; Koteski, Cane; Jakovlev, Zlatko; Mitreva, Elizabeta

    2011-01-01

    Tourism is an activity that can have a really big impact on sustainable development. Sustainability of tourism involves extensive cooperation between tourist companies, tourist destinations and national, regional and local authorities in order to cover a broad group of challenges and at the same time to remain competitive. Opportunities for sustainable tourism development and preservation of its competitiveness, largely influenced by the quality of the environment, preserved and attractive...

  7. [Robotics in pediatric surgery].

    Science.gov (United States)

    Camps, J I

    2011-10-01

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

  8. Low cost submarine robot

    Directory of Open Access Journals (Sweden)

    Ponlachart Chotikarn

    2010-10-01

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

  9. Advances in robot kinematics

    CERN Document Server

    Khatib, Oussama

    2014-01-01

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

  10. Robots and 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...

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

    CERN Document Server

    Montijano, Eduardo

    2015-01-01

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

  12. Multi-robot team design for real-world applications

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1996-10-01

    Many of these applications are in dynamic environments requiring capabilities distributed in functionality, space, or time, and therefore often require teams of robots to work together. While much research has been done in recent years, current robotics technology is still far from achieving many of the real world applications. Two primary reasons for this technology gap are that (1) previous work has not adequately addressed the issues of fault tolerance and adaptivity in multi-robot teams, and (2) existing robotics research is often geared at specific applications and is not easily generalized to different, but related, applications. This paper addresses these issues by first describing the design issues of key importance in these real-world cooperative robotics applications: fault tolerance, reliability, adaptivity, and coherence. We then present a general architecture addressing these design issues (called ALLIANCE) that facilities multi-robot cooperation of small- to medium-sized teams in dynamic environments, performing missions composed of loosely coupled subtasks. We illustrate an implementation of ALLIANCE in a real-world application, called Bounding Overwatch, and then discuss how this architecture addresses our key design issues.

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

    Directory of Open Access Journals (Sweden)

    Karlo Griparić

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

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

    Science.gov (United States)

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

    2017-01-01

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

  15. Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems

    Directory of Open Access Journals (Sweden)

    Thumeera R. Wanasinghe

    2016-01-01

    Full Text Available This study proposes the use of a split covariance intersection algorithm (Split-CI for decentralized multirobot cooperative localization. In the proposed method, each robot maintains a local cubature Kalman filter to estimate its own pose in a predefined coordinate frame. When a robot receives pose information from neighbouring robots, it employs a Split-CI based approach to fuse this received measurement with its local belief. The computational and communicative complexities of the proposed algorithm increase linearly with the number of robots in the multirobot systems (MRS. The proposed method does not require fully connected synchronous communication channels between robots; in fact, it is applicable for MRS with asynchronous and partially connected communication networks. The pose estimation error of the proposed method is bounded. As the proposed method is capable of handling independent and interdependent information of the estimations separately, it does not generate overconfidence state estimations. The performance of the proposed method is compared with several multirobot localization approaches. The simulation and experiment results demonstrate that the proposed algorithm outperforms the single-robot localization algorithms and achieves approximately the same estimation accuracy as the centralized cooperative localization approach, but with reduced computational and communicative cost.

  16. A Human-Robot Co-Manipulation Approach Based on Human Sensorimotor Information.

    Science.gov (United States)

    Peternel, Luka; Tsagarakis, Nikos; Ajoudani, Arash

    2017-07-01

    This paper aims to improve the interaction and coordination between the human and the robot in cooperative execution of complex, powerful, and dynamic tasks. We propose a novel approach that integrates online information about the human motor function and manipulability properties into the hybrid controller of the assistive robot. Through this human-in-the-loop framework, the robot can adapt to the human motor behavior and provide the appropriate assistive response in different phases of the cooperative task. We experimentally evaluate the proposed approach in two human-robot co-manipulation tasks that require specific complementary behavior from the two agents. Results suggest that the proposed technique, which relies on a minimum degree of task-level pre-programming, can achieve an enhanced physical human-robot interaction performance and deliver appropriate level of assistance to the human operator.

  17. Research on multirobot pursuit task allocation algorithm based on emotional cooperation factor.

    Science.gov (United States)

    Fang, Baofu; Chen, Lu; Wang, Hao; Dai, Shuanglu; Zhong, Qiubo

    2014-01-01

    Multirobot task allocation is a hot issue in the field of robot research. A new emotional model is used with the self-interested robot, which gives a new way to measure self-interested robots' individual cooperative willingness in the problem of multirobot task allocation. Emotional cooperation factor is introduced into self-interested robot; it is updated based on emotional attenuation and external stimuli. Then a multirobot pursuit task allocation algorithm is proposed, which is based on emotional cooperation factor. Combined with the two-step auction algorithm recruiting team leaders and team collaborators, set up pursuit teams, and finally use certain strategies to complete the pursuit task. In order to verify the effectiveness of this algorithm, some comparing experiments have been done with the instantaneous greedy optimal auction algorithm; the results of experiments show that the total pursuit time and total team revenue can be optimized by using this algorithm.

  18. 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.)

  19. 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.

  20. 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

  1. 2nd International Conference on Robot Intelligence Technology and Applications

    CERN Document Server

    Matson, Eric; Myung, Hyun; Xu, Peter; Karray, Fakhri

    2014-01-01

    We are facing a new technological challenge on how to store and retrieve knowledge and manipulate intelligence for autonomous services by intelligent systems which should be capable of carrying out real world tasks autonomously. To address this issue, robot researchers have been developing intelligence technology (InT) for “robots that think” which is in the focus of this book. The book covers all aspects of intelligence from perception at sensor level and reasoning at cognitive level to behavior planning at execution level for each low level segment of the machine. It also presents the technologies for cognitive reasoning, social interaction with humans, behavior generation, ability to cooperate with other robots, ambience awareness, and an artificial genome that can be passed on to other robots. These technologies are to materialize cognitive intelligence, social intelligence, behavioral intelligence, collective intelligence, ambient intelligence and genetic intelligence. The book aims at serving resear...

  2. In vivo demonstration of surgical task assistance using miniature robots.

    Science.gov (United States)

    Hawks, Jeff A; Kunowski, Jacob; Platt, Stephen R

    2012-10-01

    Laparoscopy is beneficial to patients as measured by less painful recovery and an earlier return to functional health compared to conventional open surgery. However, laparoscopy requires the manipulation of long, slender tools from outside the patient's body. As a result, laparoscopy generally benefits only patients undergoing relatively simple procedures. An innovative approach to laparoscopy uses miniature in vivo robots that fit entirely inside the abdominal cavity. Our previous work demonstrated that a mobile, wireless robot platform can be successfully operated inside the abdominal cavity with different payloads (biopsy, camera, and physiological sensors). We hope that these robots are a step toward reducing the invasiveness of laparoscopy. The current study presents design details and results of laboratory and in vivo demonstrations of several new payload designs (clamping, cautery, and liquid delivery). Laboratory and in vivo cooperation demonstrations between multiple robots are also presented.

  3. An information economic rationale for cooperatives

    DEFF Research Database (Denmark)

    Bogetoft, Peter

    2005-01-01

    We consider how to organise the processing and marketing of an agricultural product when farming costs are known only by the individual farmers. We show that when marginal costs are uncorrelated, the market for final goods is competitive, and the market for processing is non-competitive, the soci......-competitive, the socially optimal production levels are sustained by a cooperative and a cooperative only. We show also that the cooperative form is particularly useful when the cost uncertainty is large and the net average revenue product is small....

  4. 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.

  5. 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.

  6. 75 FR 14190 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Joint Venture To...

    Science.gov (United States)

    2010-03-24

    ... Production Act of 1993--Joint Venture To Perform Project Entitled Robotic Rehabilitation of Aging Water... Cooperative Research and Production Act of 1993, 15 U.S.C. 4301 et sect. (``the Act''), Joint [[Page 14191

  7. Nurses' Needs for Care Robots in Integrated Nursing Care Services.

    Science.gov (United States)

    Lee, Jai-Yon; Song, Young Ae; Jung, Ji Young; Kim, Hyun Jeong; Kim, Bo Ram; Do, Hyun-Kyung; Lim, Jae-Young

    2018-05-13

    To determine the need for care robots among nurses and to suggest how robotic care should be prioritized in an integrated nursing care services. Korea is expected to be a super-aged society by 2030. To solve care issues with elderly inpatient caused by informal caregivers, the government introduced 'integrated nursing care services'; these are comprehensive care systems staffed by professionally trained nurses. To assist them, a care robot development project has been launched. The study applied a cross-sectional survey. In 2016, we conducted a multi-center survey involving 302 registered nurses in five hospitals including three tertiary and two secondary hospitals in Korea. The questionnaire consisted of general characteristics of nurses and their views on and extents of agreement about issues associated with robotic care. Trial center nurses and those with ≥10 years of experience reported positively on the prospects for robotic care. The top three desired primary roles for care robots were 'measuring/monitoring', 'mobility/activity' and 'safety care'. 'Reduction in workload', especially in terms of 'other nursing services' which were categorized as non-value-added nursing activities, was the most valued feature. The nurses approved of the aid by care robots but were concerned about device malfunction and interruption of rapport with patients. Care robots are expected to be effective in integrated nursing care services, particularly in 'measuring/monitoring'. Such robots should decrease nurses' workload and minimize non-value-added nursing activities efficiently. No matter how excellent care robots are, they must co-operate with and be controlled by nurses. This article is protected by copyright. All rights reserved. This article is protected by copyright. All rights reserved.

  8. 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.

  9. 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,.

  10. Teaching sustainable design

    Energy Technology Data Exchange (ETDEWEB)

    Cooper, P.; Haggard, K.; Knuckles, A.; Le Noble, J. [California Polytechnic State Univ., San Luis Obispo, CA (United States)

    1995-11-01

    Sustainable design is inclusive, holistic and integrative. It require humility and guts, caring and a certain degree of stubbornness. It helps to do it cooperatively in a group. Human interest in sustainability has gained a great deal of impetus over the last several years as the problems of the late 20th and the early 21st century have become clearer. Design for sustainability broadens and integrates many previously separate design concerns to create a unified approach that is both compelling and ripe with new possibilities. Ecosystem regeneration, ecological land use planning, biometric design, regional environmental and economic viability, natural landscape maintenance, resource optimization, integrated infrastructure system, neotraditional and pedestrian oriented urban design, passive solar architecture, appropriate technology, renewable building materials, healthy buildings, and the aesthetics of place; are a few of these design concerns that, when welded together, can create sustainability.

  11. 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...

  12. 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...

  13. 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

  14. 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.

  15. 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.

  16. 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.

  17. 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...

  18. 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

  19. 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

  20. 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.

  1. 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....

  2. 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...

  3. 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...

  4. 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.

  5. 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...

  6. 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

  7. 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.

  8. 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.

  9. 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

  10. 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...

  11. 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)

  12. 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...

  13. 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....

  14. Design, analysis and control of cable-suspended parallel robots and its applications

    CERN Document Server

    Zi, Bin

    2017-01-01

    This book provides an essential overview of the authors’ work in the field of cable-suspended parallel robots, focusing on innovative design, mechanics, control, development and applications. It presents and analyzes several typical mechanical architectures of cable-suspended parallel robots in practical applications, including the feed cable-suspended structure for super antennae, hybrid-driven-based cable-suspended parallel robots, and cooperative cable parallel manipulators for multiple mobile cranes. It also addresses the fundamental mechanics of cable-suspended parallel robots on the basis of their typical applications, including the kinematics, dynamics and trajectory tracking control of the feed cable-suspended structure for super antennae. In addition it proposes a novel hybrid-driven-based cable-suspended parallel robot that uses integrated mechanism design methods to improve the performance of traditional cable-suspended parallel robots. A comparative study on error and performance indices of hybr...

  15. Grassland Sustainability

    Science.gov (United States)

    Deborah U. Potter; Paulette L. Ford

    2004-01-01

    In this chapter we discuss grassland sustainability in the Southwest, grassland management for sustainability, national and local criteria and indicators of sustainable grassland ecosystems, and monitoring for sustainability at various scales. Ecological sustainability is defined as: [T]he maintenance or restoration of the composition, structure, and processes of...

  16. International co-operation

    International Nuclear Information System (INIS)

    1998-01-01

    In this part the are reviewed: Co-operation with IAEA; Participation of the Slovakia on the 41 st session of the General Conference; The comprehensive Nuclear-Test-Ban Treaty Organization; Co-operation with the Organization for Economic Co-operation and Development; co-operation with the European Commission; Fulfillment of obligations resulting from the international contracting documents

  17. 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.

  18. Study on a cooperative active sensing

    International Nuclear Information System (INIS)

    Tsukune, Hideo; Kita, Nobuyuki; Kuniyoshi, Yasuo; Hara, Isao; Matsui, Toshihiro; Matsushita, Toshio; Nagata, Kazuyuki; Nagakubo, Akihiko

    1997-01-01

    This study was made as a part of the research project ''Study on the evaluation of applicability of information collection·processing system to autonomous plant''. Previously, the basic techniques for 3-dimensional geometric modeling of working environments and for systemizing of information collection and processing have been developed. Thus, this study aimed to establish the techniques for a decentralized and cooperatively intellectualized system which allows to automatically perform patrol for inspection and maintenance in complicated plants. First, developments of cooperative active sensing for functioning in a multi-robot system and real-time active visual sensing were attempted and then the both were integrated to produce a prototype system for cooperative active sensing. The outcomes of the project in this year were as follows; a mobile platform with expanded functions, acoustic information processing, parallel EusLisp, a simulator for moving robot's behaviors, a visual monitoring system for moving objects, etc. All of these were usable for general purpose. (M.N.)

  19. Mobile Robotic Teams Applied to Precision Agriculture

    Energy Technology Data Exchange (ETDEWEB)

    Anderson, Matthew Oley; Kinoshita, Robert Arthur; Mckay, Mark D; Willis, Walter David; Gunderson, R.W.; Flann, N.S.

    1999-04-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) and Utah State University’s Center for Self-Organizing and Intelligent Systems (CSOIS) have developed a team of autonomous robotic vehicles applicable to precision agriculture. A unique technique has been developed to plan, coordinate, and optimize missions in large structured environments for these autonomous vehicles in realtime. Two generic tasks are supported: 1) Driving to a precise location, and 2) Sweeping an area while activating on-board equipment. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle, and task conditions. This paper discusses the development of the autonomous robotic team, details of the mission-planning algorithm, and successful field demonstrations at the INEEL.

  20. Mobile Robotic Teams Applied to Precision Agriculture

    Energy Technology Data Exchange (ETDEWEB)

    M.D. McKay; M.O. Anderson; N.S. Flann (Utah State University); R.A. Kinoshita; R.W. Gunderson; W.D. Willis (INEEL)

    1999-04-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) and Utah State University�s Center for Self-Organizing and Intelligent Systems (CSOIS) have developed a team of autonomous robotic vehicles applicable to precision agriculture. A unique technique has been developed to plan, coordinate, and optimize missions in large structured environments for these autonomous vehicles in real-time. Two generic tasks are supported: 1) Driving to a precise location, and 2) Sweeping an area while activating on-board equipment. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle, and task conditions. This paper discusses the development of the autonomous robotic team, details of the mission-planning algorithm, and successful field demonstrations at the INEEL.

  1. An Informationally Structured Room for Robotic Assistance

    Directory of Open Access Journals (Sweden)

    Tokuo Tsuji

    2015-04-01

    Full Text Available The application of assistive technologies for elderly people is one of the most promising and interesting scenarios for intelligent technologies in the present and near future. Moreover, the improvement of the quality of life for the elderly is one of the first priorities in modern countries and societies. In this work, we present an informationally structured room that is aimed at supporting the daily life activities of elderly people. This room integrates different sensor modalities in a natural and non-invasive way inside the environment. The information gathered by the sensors is processed and sent to a centralized management system, which makes it available to a service robot assisting the people. One important restriction of our intelligent room is reducing as much as possible any interference with daily activities. Finally, this paper presents several experiments and situations using our intelligent environment in cooperation with our service robot.

  2. Strenghtening local curricular capacity in international development cooperation

    NARCIS (Netherlands)

    Vis, C.K.S.

    2017-01-01

    Many curriculum development interventions carried out in international development cooperation lack sustainable outcomes, often as a result of a too narrow focus on curriculum and its development. Implementation of effective and encompassing approaches with an aligned focus on capacity development

  3. Fifty years of Technical Cooperation

    International Nuclear Information System (INIS)

    2007-01-01

    The International Atomic Energy Agency (IAEA) was established in Vienna in 1957. The Statute of the IAEA, approved by 81 nations, founded the organization on three pillars: nuclear verification; safety and security; and the transfer of technology. Today, these three pillars still remain at the heart of the organization's work. However, the way in which the IAEA carries out this work, particularly with regard to technology transfer, has changed greatly over the years. When the IAEA opened for business, nuclear science and technology were in their infancy. Many Member States had no nuclear capacity at all. The IAEA's 'technical assistance' programme, as it was then known, was modest. Early projects were small in scale and short lived, focusing mainly on building human capacities and creating institutions and facilities that would support the introduction of nuclear technology in a safe and effective manner. Today, the picture is more complex. Instead of merely offering assistance, the IAEA focuses on cooperation for sustainable socioeconomic development, building on the skills and infrastructure that Member States have acquired over the past five decades. Member States are full partners in the process, guiding the IAEA's technical cooperation activities, setting national and regional priorities, and offering training opportunities and technical support to the IAEA and to other Member States. Technical cooperation between developing countries is facilitated and supported through regional cooperative agreements. Regional centres of expertise play an important role in sharing the benefits of nuclear science and technology among Member States

  4. Evolution of Signaling in a Multi-Robot System: Categorization and Communication

    Science.gov (United States)

    Ampatzis, Christos; Tuci, Elio; Trianni, Vito; Dorigo, Marco

    We use Evolutionary Robotics to design robot controllers in which decision-making mechanisms to switch from solitary to social behavior are integrated with the mechanisms that underpin the sensory-motor repertoire of the robots. In particular, we study the evolution of behavioral and communicative skills in a categorization task. The individual decision-making structures are based on the integration over time of sensory information. The mechanisms for switching from solitary to social behavior and the ways in which the robots can affect each other's behavior are not predetermined by the experimenter, but are aspects of our model designed by artificial evolution. Our results show that evolved robots manage to cooperate and collectively discriminate between different environments by developing a simple communication protocol based on sound signaling. Communication emerges in the absence of explicit selective pressure coded in the fitness function. The evolution of communication is neither trivial nor obvious; for a meaningful signaling system to evolve, evolution must produce both appropriate signals and appropriate reactions to signals. The use of communication proves to be adaptive for the group, even if, in principle, non-cooperating robots can be equally successful with cooperating robots.

  5. Subgame consistent cooperation a comprehensive treatise

    CERN Document Server

    Yeung, David W K

    2016-01-01

    Strategic behavior in the human and social world has been increasingly recognized in theory and practice. It is well known that non-cooperative behavior could lead to suboptimal or even highly undesirable outcomes. Cooperation suggests the possibility of obtaining socially optimal solutions and the calls for cooperation are prevalent in real-life problems. Dynamic cooperation cannot be sustainable if there is no guarantee that the agreed upon optimality principle at the beginning is maintained throughout the cooperation duration. It is due to the lack of this kind of guarantees that cooperative schemes fail to last till its end or even fail to get started. The property of subgame consistency in cooperative dynamic games and the corresponding solution mechanism resolve this “classic” problem in game theory. This book is a comprehensive treatise on subgame consistent dynamic cooperation covering the up-to-date state of the art analyses in this important topic. It sets out to provide the theory, solution tec...

  6. Intelligent robot trends and predictions for the first year of the new millennium

    Science.gov (United States)

    Hall, Ernest L.

    2000-10-01

    An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The current use of these machines in outer space, medicine, hazardous materials, defense applications and industry is being pursued with vigor. In factory automation, industrial robots can improve productivity, increase product quality and improve competitiveness. The computer and the robot have both been developed during recent times. The intelligent robot combines both technologies and requires a thorough understanding and knowledge of mechatronics. Today's robotic machines are faster, cheaper, more repeatable, more reliable and safer than ever. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. Economically, the robotics industry now has more than a billion-dollar market in the U.S. and is growing. Feasibility studies show decreasing costs for robots and unaudited healthy rates of return for a variety of robotic applications. However, the road from inspiration to successful application can be long and difficult, often taking decades to achieve a new product. A greater emphasis on mechatronics is needed in our universities. Certainly, more cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit industry and society. The fearful robot stories may help us prevent future disaster. The inspirational robot ideas may inspire the scientists of tomorrow. However, the intelligent robot ideas, which can be reduced to practice, will change the world.

  7. 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.)

  8. 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.

  9. Implementing interorganizational cooperation in labour market reintegration: a case study.

    Science.gov (United States)

    Ståhl, Christian

    2012-06-01

    To bring people with complex medical, social and vocational needs back to the labour market, interorganizational cooperation is often needed. Yet, studies of processes and strategies for achieving sustainable interorganizational cooperation are sparse. The aim of this study was to analyse the implementation processes of Swedish legislation on financial coordination, with specific focus on different strategies for and perspectives on implementing interorganizational cooperation. A multiple-case study was used, where two local associations for financial coordination were studied in order to elucidate and compare the development of cooperative work in two settings. The material, collected during a 3-year period, consisted of documents, individual interviews with managers, and focus groups with officials. Two different implementation strategies were identified. In case 1, a linear strategy was used to implement cooperative projects, which led to difficulties in maintaining cooperative work forms due to a fragmented and time-limited implementation process. In case 2, an interactive strategy was used, where managers and politicians were continuously involved in developing a central cooperation team that became a central part of a developing structure for interorganizational cooperation. An interactive cooperation strategy with long-term joint financing was here shown to be successful in overcoming organizational barriers to cooperation. It is suggested that a strategy based on adaptation to local conditions, flexibility and constant evaluation is preferred for developing sustainable interorganizational cooperation when implementing policies or legislation affecting interorganizational relationships.

  10. 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

  11. 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.

  12. 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

  13. 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...

  14. Robots that care

    NARCIS (Netherlands)

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

    2010-01-01

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

  15. 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…

  16. 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.

  17. 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

  18. 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.)

  19. 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

  20. 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....

  1. 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.

  2. 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

  3. 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.

  4. Sustainable Agricultural Marketing Initiatives

    Directory of Open Access Journals (Sweden)

    Hakan Adanacıoğlu

    2015-07-01

    Full Text Available Sustainable marketing is a holistic approach that puts equal emphasis on environmental, social equity, and economic concerns in the development of marketing strategies. The purpose of the study is to examine and discuss the sustainable agricultural marketing initiatives practiced throughout the World and Turkey, and to put forth suggestions to further improve the performance of agricultural marketing initiatives in Turkey. Some of the sustainable agricultural marketing initiatives practiced around the world are carried out through civil organizations. Furthermore; some of these initiatives have also launched by farmers, consumers, food processors and retailers. The long-term strategies to increase these initiatives should be determined due to the fact that examples of successful sustainable agricultural marketing initiatives are inadequate and cannot be spread in Turkey. In this context, first of all, the supports provided by the government to improve agricultural marketing systems, such as EU funds for rural development should be compatible with the goals of sustainable marketing. For this purpose, it should be examined whether all proposed projects related to agricultural marketing meet the social, economic, and environmental principles of sustainable marketing. It is important that supporting organizations, especially civil society organisations, should take an active role for faster dissemination and adoption of sustainable agricultural marketing practices in Turkey. These organizations may provide technical assistance in preparing successful project proposals and training to farm groups. In addition, the other organizations, such as local administrations, producers' associations, cooperatives, can contribute to the success of sustainable agricultural marketing initiatives. The use of direct marketing strategies and vertical integration attempts in sustainable agricultural marketing initiatives that will likely be implemented in Turkey is

  5. Cost-Efficient and sustainable deployment of renewable energy sources towards the 20% target by 2020, and beyond. D3.3. Off Shore wind energy - Case study of cooperation mechanisms design

    Energy Technology Data Exchange (ETDEWEB)

    Klinge Jacobsen, H.; Pade Hansen, L.-L. [Technical Univ. of Denmark. DTU Management Engineering, Roskilde (Denmark); Jansen, J. [ECN, Petten (Netherlands)

    2012-10-15

    Denmark is projected to have by 2020 a large excess potential for offshore wind capacity in the North Sea at shallow and near to the coast locations. The Netherlands on the other hand has low and expensive RES potentials for its 2020 RES target obligations. Therefore offshore wind potentials in Denmark constitute a possible cost reduction for the Netherlands in meeting its 2020 RES target. This case study examines a large amount of 2 GW offshore wind capacity in the Danish North Sea area. Cooperation unfolds in a joint project type with state to state negotiation and settlement. Different timing and implementation options are described with the possibility to implement a series of 200 MW joint projects with negotiation for each separate phase. The case study is focusing on the area around Horns Rev, where wind conditions are good, the distance to shore is 20-30 km and water depth is around 25 m. With these conditions the cost level will be around 12 c Euro/kWh and that is at least a 3 c Euro/kWh cost advantage to the expansion with offshore wind in the Netherlands. Joint project cooperation is a simple form of cooperation that does not involve a restructuring of national support schemes and legislator changes that can take a long time to implement and affect a lot of entities in the host country. Projects are negotiated between the host and the user country, with the major task to settle a transfer price for the credits transferred in 2020. The design of cooperation assigns the entire project risk to the host country as the host is the party that enters into the contract with the investors in renewable energy capacity. This case study identifies the main barriers for the joint project cooperation and concludes that the main barriers to cooperation between Denmark and the Netherlands is the missing detailed knowledge on the penalty for non-compliance with the 2020 targets, and the lack of post 2020 targets in the EU policy. The missing knowledge on the penalty may

  6. From Cooperative Scans to Predictive Buffer Management

    NARCIS (Netherlands)

    M. Switakowski; P.A. Boncz (Peter); M. Zukowski (Marcin)

    2012-01-01

    textabstractIn analytical applications, database systems often need to sustain workloads with multiple concurrent scans hitting the same table. The Cooperative Scans (CScans) framework, which introduces an Active Buer Manager (ABM) component into the database architecture, has been the most

  7. 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....

  8. 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

  9. 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.

  10. 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.

  11. 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...

  12. Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains

    Directory of Open Access Journals (Sweden)

    Chika Yinka-Banjo

    2014-01-01

    Full Text Available Underground mining operations are carried out in hazardous environments. To prevent disasters from occurring, as often as they do in underground mines, and to prevent safety routine checkers from disasters during safety inspection checks, multirobots are suggested to do the job of safety inspection rather than human beings and single robots. Multirobots are preferred because the inspection task will be done in the minimum amount of time. This paper proposes a cooperative behaviour for a multirobot system (MRS to achieve a preentry safety inspection in underground terrains. A hybrid QLACS swarm intelligent model based on Q-Learning (QL and the Ant Colony System (ACS was proposed to achieve this cooperative behaviour in MRS. The intelligent model was developed by harnessing the strengths of both QL and ACS algorithms. The ACS optimizes the routes used for each robot while the QL algorithm enhances the cooperation between the autonomous robots. A description of a communicating variation within the QLACS model for cooperative behavioural purposes is presented. The performance of the algorithms in terms of without communication, with communication, computation time, path costs, and the number of robots used was evaluated by using a simulation approach. Simulation results show achieved cooperative behaviour between robots.

  13. South-South cooperation as a mechanism to strengthen public ...

    African Journals Online (AJOL)

    South-South cooperation as a mechanism to strengthen public health services in Africa: ... PROMOTING ACCESS TO AFRICAN RESEARCH ... Implementation of new models of development cooperation have been on the increase ... health system strengthening, aid effectiveness, sustainable development goals, Africa ...

  14. Laser-based pedestrian tracking in outdoor environments by multiple mobile robots.

    Science.gov (United States)

    Ozaki, Masataka; Kakimuma, Kei; Hashimoto, Masafumi; Takahashi, Kazuhiko

    2012-10-29

    This paper presents an outdoors laser-based pedestrian tracking system using a group of mobile robots located near each other. Each robot detects pedestrians from its own laser scan image using an occupancy-grid-based method, and the robot tracks the detected pedestrians via Kalman filtering and global-nearest-neighbor (GNN)-based data association. The tracking data is broadcast to multiple robots through intercommunication and is combined using the covariance intersection (CI) method. For pedestrian tracking, each robot identifies its own posture using real-time-kinematic GPS (RTK-GPS) and laser scan matching. Using our cooperative tracking method, all the robots share the tracking data with each other; hence, individual robots can always recognize pedestrians that are invisible to any other robot. The simulation and experimental results show that cooperating tracking provides the tracking performance better than conventional individual tracking does. Our tracking system functions in a decentralized manner without any central server, and therefore, this provides a degree of scalability and robustness that cannot be achieved by conventional centralized architectures.

  15. 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 ...

  16. 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 ...

  17. 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...

  18. 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…

  19. 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.

  20. Digital twins of human robot collaboration in a production setting

    DEFF Research Database (Denmark)

    Malik, Ali Ahmad; Bilberg, Arne

    2018-01-01

    This paper aims to present a digital twin framework to support the design, build and control of human-machine cooperation. In this study, computer simulations are used to develop a digital counterpart of a human-robot collaborative work environment for assembly work. The digital counterpart remains...... updated during the life cycle of the production system by continuously mirroring the physical system for quick and safe embed for continuous improvements. The case of a manufacturing company with human-robot work teams is presented for developing and validating the digital twin framework....