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Sample records for technology development robotics

  1. Robotics Technology Development Program

    International Nuclear Information System (INIS)

    1994-02-01

    The Robotics Technology Development Program (RTDP) is a ''needs-driven'' effort. A lengthy series of presentations and discussions at DOE sites considered critical to DOE's Environmental Restoration and Waste Management (EM) Programs resulted in a clear understanding of needed robotics applications toward resolving definitive problems at the sites. A detailed analysis of the Tank Waste Retrieval (TWR), Contaminant Analysis Automation (CAA), Mixed Waste Operations (MWO), and Decontamination ampersand Dismantlement (D ampersand D). The RTDP Group realized that much of the technology development was common (Cross Cutting-CC) to each of these robotics application areas, for example, computer control and sensor interface protocols. Further, the OTD approach to the Research, Development, Demonstration, Testing, and Evaluation (RDDT ampersand E) process urged an additional organizational break-out between short-term (1--3 years) and long-term (3--5 years) efforts (Advanced Technology-AT). The RDTP is thus organized around these application areas -- TWR, CAA, MWO, D ampersand D and CC ampersand AT -- with the first four developing short-term applied robotics. An RTDP Five-Year Plan was developed for organizing the Program to meet the needs in these application areas

  2. Advances in Robotic Servicing Technology Development

    Science.gov (United States)

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

    2015-01-01

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

  3. Robotics Technology Development Program Cross Cutting and Advanced Technology

    International Nuclear Information System (INIS)

    Harrigan, R.W.; Horschel, D.S.

    1994-01-01

    Need-based cross cutting technology is being developed which is broadly applicable to the clean up of hazardous and radioactive waste within the US Department of Energy's complex. Highly modular, reusable technologies which plug into integrated system architectures to meet specific robotic needs result from this research. In addition, advanced technologies which significantly extend current capabilities such as automated planning and sensor-based control in unstructured environments for remote system operation are also being developed and rapidly integrated into operating systems

  4. Environmental restoration and waste management: Robotics technology development program: Robotics 5-year program plan

    International Nuclear Information System (INIS)

    1991-01-01

    This plan covers robotics Research, Development, Demonstration, Testing and Evaluation activities in the Program for the next five years. These activities range from bench-scale R ampersand D to full-scale hot demonstrations at DOE sites. This plan outlines applications of existing technology to near-term needs, the development and application of enhanced technology for longer-term needs, and initiation of advanced technology development to meet those needs beyond the five-year plan. The objective of the Robotic Technology Development Program (RTDP) is to develop and apply robotics technologies that will enable Environmental Restoration and Waste Management (ER ampersand WM) operations at DOE sites to be safer, faster and cheaper. Five priority DOE sites were visited in March 1990 to identify needs for robotics technology in ER ampersand WM operations. This 5-Year Program Plan for the RTDP detailed annual plans for robotics technology development based on identified needs. In July 1990 a forum was held announcing the robotics program. Over 60 organizations (industrial, university, and federal laboratory) made presentations on their robotics capabilities. To stimulate early interactions with the ER ampersand WM activities at DOE sites, as well as with the robotics community, the RTDP sponsored four technology demonstrations related to ER ampersand WM needs. These demonstrations integrated commercial technology with robotics technology developed by DOE in support of areas such as nuclear reactor maintenance and the civilian reactor waste program. 2 figs

  5. Environmental restoration and waste management: Robotics technology development program: Robotics 5-year program plan

    International Nuclear Information System (INIS)

    1991-01-01

    This plan covers robotics Research, Development, Demonstration, Testing, activities in the Program for the next five years. These activities range from bench-scale R ampersand D to fullscale hot demonstrations at DOE sites. This plan outlines applications of existing technology to near-term needs, the development and application of enhanced technology for longer-term needs, and an initiation of advanced technology development to meet those needs beyond the five-year plan. The objective of the Robotic Technology Development (RTDP) is to develop and apply robotics technologies that will enable Environmental Restoration and Waste Management operations at DOE sites to be safer, faster and cheaper. Five priority DOE sites were visited in March 1990 to identify needs for robotics technology in ER ampersand WM operations. This 5-Year Program Plan for the RTDP detailed annual plans for robotics technology development based on identified needs. This 5-Year Program Plan discusses the overall approach to be adopted by the RTDP to aggressively develop robotics technology and contains discussions of the Program Management Plan, Site Visit and Needs Summary, Approach to Needs-Directed Technical Development, Application-Specific Technical Development, and Cross-Cutting and Advanced Technology. Integrating application-specific ER ampersand WM needs, the current state of robotics technology, and the potential benefits (in terms of faster, safer, and cheaper) of new technology, the Plan develops application-specific road maps for robotics RDDT ampersand E for the period FY 1991 through FY 1995. In addition, the Plan identifies areas where longer-term research in robotics will have a high payoff in the 5- to 20-year time frame. 12 figs

  6. The development of advanced robotics technology in high radiation environment

    International Nuclear Information System (INIS)

    Lee, Yong Bum; Cho, Jaiwan; Lee, Nam Ho; Choi, Young Soo; Park, Soon Yong; Lee, Jong Min; Park, Jin Suk; Kim, Seung Ho; Kim, Byung Soo; Moon, Byung Soo.

    1997-07-01

    In the tele-operation technology using tele-presence in high radiation environment, stereo vision target tracking by centroid method, vergence control of stereo camera by moving vector method, stereo observing system by correlation method, horizontal moving axis stereo camera, and 3 dimensional information acquisition by stereo image is developed. Also, gesture image acquisition by computer vision and construction of virtual environment for remote work in nuclear power plant. In the development of intelligent control and monitoring technology for tele-robot in hazardous environment, the characteristics and principle of robot operation. And, robot end-effector tracking algorithm by centroid method and neural network method are developed for the observation and survey in hazardous environment. 3-dimensional information acquisition algorithm by structured light is developed. In the development of radiation hardened sensor technology, radiation-hardened camera module is designed and tested. And radiation characteristics of electric components is robot system is evaluated. Also 2-dimensional radiation monitoring system is developed. These advanced critical robot technology and telepresence techniques developed in this project can be applied to nozzle-dam installation /removal robot system, can be used to realize unmanned remotelization of nozzle-dam installation / removal task in steam generator of nuclear power plant, which can be contributed for people involved in extremely hazardous high radioactivity area to eliminate their exposure to radiation, enhance their task safety, and raise their working efficiency. (author). 75 refs., 21 tabs., 15 figs

  7. Essential technologies for developing human and robot collaborative system

    Energy Technology Data Exchange (ETDEWEB)

    Ishikawa, Nobuyuki; Suzuki, Katsuo [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment

    1997-10-01

    In this study, we aim to develop a concept of new robot system, i.e., `human and robot collaborative system`, for the patrol of nuclear power plants. This paper deals with the two essential technologies developed for the system. One is the autonomous navigation program with human intervention function which is indispensable for human and robot collaboration. The other is the position estimation method by using gyroscope and TV image to make the estimation accuracy much higher for safe navigation. Feasibility of the position estimation method is evaluated by experiment and numerical simulation. (author)

  8. Essential technologies for developing human and robot collaborative system

    International Nuclear Information System (INIS)

    Ishikawa, Nobuyuki; Suzuki, Katsuo

    1997-10-01

    In this study, we aim to develop a concept of new robot system, i.e., 'human and robot collaborative system', for the patrol of nuclear power plants. This paper deals with the two essential technologies developed for the system. One is the autonomous navigation program with human intervention function which is indispensable for human and robot collaboration. The other is the position estimation method by using gyroscope and TV image to make the estimation accuracy much higher for safe navigation. Feasibility of the position estimation method is evaluated by experiment and numerical simulation. (author)

  9. The development of advanced robotic technology -The development of advanced robotics for the nuclear industry-

    International Nuclear Information System (INIS)

    Lee, Jong Min; Lee, Yong Bum; Kim, Woong Ki; Park, Soon Yong; Kim, Seung Ho; Kim, Chang Hoi; Hwang, Suk Yeoung; Kim, Byung Soo; Lee, Young Kwang

    1994-07-01

    In this year (the second year of this project), researches and development have been carried out to establish the essential key technologies applied to robot system for nuclear industry. In the area of robot vision, in order to construct stereo vision system necessary to tele-operation, stereo image acquisition camera module and stereo image displayer have been developed. Stereo matching and storing programs have been developed to analyse stereo images. According to the result of tele-operation experiment, operation efficiency has been enhanced about 20% by using the stereo vision system. In a part of object recognition, a tele-operated robot system has been constructed to evaluate the performance of the stereo vision system and to develop the vision algorithm to automate nozzle dam operation. A nuclear fuel rod character recognition system has been developed by using neural network. As a result of perfomance evaluation of the recognition system, 99% recognition rate has been achieved. In the area of sensing and intelligent control, temperature distribution has been measured by using the analysis of thermal image histogram and the inspection algorithm has been developed to determine of the state be normal or abnormal, and the fuzzy controller has been developed to control the compact mobile robot designed for path moving on block-typed path. (Author)

  10. The DOE Office of Technology Development robotics program

    International Nuclear Information System (INIS)

    Yarbrough, L.W.; Williams, A.; Pasini, J. III

    1992-01-01

    The objective of the Robotics Technology Development Program (RTDP) is to develop and apply technologies for environmental restoration and waste management that will be applicable throughout the U.S. Department of Energy (DOE) complex. These efforts are aimed at: (1) reducing worker exposure and increasing safety through remote operation and control of equipment; (2) increasing productivity through enhanced capabilities and automation; and (3) reducing costs by faster completion of remediation activities, that in turn will reduce life-cycle costs. (author)

  11. The development of advanced robotics for the nuclear industry -The development of advanced robotic technology-

    International Nuclear Information System (INIS)

    Lee, Jong Min; Lee, Yong Bum; Park, Soon Yong; Cho, Jae Wan; Lee, Nam Hoh; Kim, Woong Kee; Moon, Byung Soo; Kim, Seung Hoh; Kim, Chang Heui; Kim, Byung Soo; Hwang, Suk Yong; Lee, Yung Kwang; Moon, Je Sun

    1995-07-01

    Main activity in this year is to develop both remote handling system and telepresence techniques, which can be used for people involved in extremely hazardous working area to alleviate their burden. In the robot vision technology part, KAERI-PSM system, stereo imaging camera module, stereo BOOM/MOLLY unit, and stereo HMD unit are developed. Also, autostereo TV system which falls under the category of next generation stereo imaging technology has been studied. The performance of KAERI-PSM system for remote handling task is evaluated and compared with other stereo imaging systems as well as general TV imaging system. The result shows that KAERI-PSM system is superior to the other stereo imaging systems about remote operation speedup and accuracy. The automatic recognition algorithm of instrument panel is studied and passive visual target tracking system is developed. The 5 DOF camera serving unit has been designed and fabricated. It is designed to function like human's eye. In the sensing and intelligent control research part, thermal image database system for thermal image analysis is developed and remote temperature monitoring technique using fiber optics is investigated. And also, two dimensional radioactivity sensor head for radiation profile monitoring system is designed. In the part of intelligent robotics, mobile robot is fabricated and its autonomous navigation using fuzzy control logic is studied. These remote handling and telepresence techniques developed in this project can be applied to nozzle-dam installation/removal robot system, reactor inspection unit, underwater nuclear pellet inspection and pipe abnormality inspection. And these developed remote handling and telepresence techniques will be applied in general industry, medical science, and military as well as nuclear facilities. It has been looking for these techniques to expand the working area of human, raise the working efficiencies of remote task to the highest degree, and enhance the industrial

  12. The development of advanced robotics for the nuclear industry -The development of advanced robotic technology-

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Jong Min; Lee, Yong Bum; Park, Soon Yong; Cho, Jae Wan; Lee, Nam Hoh; Kim, Woong Kee; Moon, Byung Soo; Kim, Seung Hoh; Kim, Chang Heui; Kim, Byung Soo; Hwang, Suk Yong; Lee, Yung Kwang; Moon, Je Sun [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

    1995-07-01

    Main activity in this year is to develop both remote handling system and telepresence techniques, which can be used for people involved in extremely hazardous working area to alleviate their burden. In the robot vision technology part, KAERI-PSM system, stereo imaging camera module, stereo BOOM/MOLLY unit, and stereo HMD unit are developed. Also, autostereo TV system which falls under the category of next generation stereo imaging technology has been studied. The performance of KAERI-PSM system for remote handling task is evaluated and compared with other stereo imaging systems as well as general TV imaging system. The result shows that KAERI-PSM system is superior to the other stereo imaging systems about remote operation speedup and accuracy. The automatic recognition algorithm of instrument panel is studied and passive visual target tracking system is developed. The 5 DOF camera serving unit has been designed and fabricated. It is designed to function like human`s eye. In the sensing and intelligent control research part, thermal image database system for thermal image analysis is developed and remote temperature monitoring technique using fiber optics is investigated. And also, two dimensional radioactivity sensor head for radiation profile monitoring system is designed. In the part of intelligent robotics, mobile robot is fabricated and its autonomous navigation using fuzzy control logic is studied. These remote handling and telepresence techniques developed in this project can be applied to nozzle-dam installation/removal robot system, reactor inspection unit, underwater nuclear pellet inspection and pipe abnormality inspection. And these developed remote handling and telepresence techniques will be applied in general industry, medical science, and military as well as nuclear facilities. 203 figs, 12 tabs, 72 refs. (Author).

  13. The development of advanced robotics for the nuclear industry -The development of advanced robotic technology

    International Nuclear Information System (INIS)

    Lee, Jong Min; Lee, Yong Bum; Park, Soon Woong; Cho, Jae Wan; Lee, Nam Ho; Kim, Woong Ki; Moon, Byung Soo; Lee, Young Jae; Kim, Chang Hoi; Kim, Seung Ho; Hwang, Seok Yong; Kim, Byung Soo; Moon, Jae Sun; Lee, Young Kwang; Choi, Kap Joo

    1996-07-01

    The comparison study of 3 kinds of stereo camera modules done in this final year of 4 year's longterm project shows that regenerating characteristics of stereo image of stereo camera using horizontally moving lens axis method is superior to the other two modules. Base on this comparison result, stereo camera module using horizontally moving lens method is developed. Also, stereo-Boom unit, high definition polarized stereo monitor(KAERI-PSM II) and 10.4sec. auto-stereogram TV using parallax barrier method are developed. These developed systems can be used for people involved in extremely hazardous working area to give vivid reality image of work environment. In the recognition and tracking section, auto-vergencing technology using focus fixation and cepstral filter, stereo camera calibration, range measurement technology using stereo camera module are developed. And active target tracking technology is developed also. In the sensing and intelligent control research part, active radioactivity image monitoring unit is developed. The spatial resolution of monitoring unit is 10cm at 1m distance, FOV is 60x40 deg [HXV], and radioactivity detection limit is 1mR/hr. Also, radiation-resistant inspection camera for nuclear facilities is designed. In the intelligent control section, fuzzy control algorithm for obstacle detouring navigation of mobile robot is developed. The smoothing techniques by fuzzy set is adapted to raise the pliability of obstacle detouring navigation of mobile robot. In order to raise robustness of developed fuzzy algorithm, fuzzy control algorithm is applied to 'Truck Backer Upper' problem and tuned. These advanced critical robot technology and telepresence techniques developed in this project can be applied to nozzle-dam installation/removal robot system, can be used to realize unmanned remotelization of nozzle-dam installation/removal task in steam generator of nuclear power plant, which can be contributed for people involved in extremely hazardous

  14. The development of robot application technology in nuclear facilities

    International Nuclear Information System (INIS)

    Kim, Seung Ho; Lee, Jong Min; Kim, Chang Hoe; Kim, Byung Soo; Sohn, Surg Won; Hwoang, Suk Yeoung; Lee, Yong Bum; Kim, Woong Ki

    1992-12-01

    The objective of this project is to establish the basic technologies for advanced robotic systems operated in unstructured environment. The developed robotic system, which is remotely controlled, is expected to reduce the radiation dosage for workers who do the maintenance, inspection, and repairing work in nuclear facilities. The two major work scopes of this project in this year are to study the control scheme of advanced robotic system and develop a mobile robot. An inverse kinematic algorithm of 7 degrees of freedom anthropomorphic manipulator is investigated for dexterous control. Extended closed-loop schemes for solving the inverse kinematics of the redundant manipulator have been proposed and decentralized adaptive controller was designed by utilizing a new cartesian space controller. Control architecture of neural network has been developed, which has a strong capability on solving the kinematics of manipulator. The planetary wheel assembly has been implemented in the design to be suitable for plant. The design of manipulator has been implemented to operate with the battery power in the mobile system. This project will continue to be a major technical driver, with nuclear plant maintenance and waste management applications in conjunction with 'Long-term nuclear development program' over the next decade. (Author)

  15. The development of advanced robotics for the nuclear industry -The development of advanced robotic technology

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Jong Min; Lee, Yong Bum; Park, Soon Woong; Cho, Jae Wan; Lee, Nam Ho; Kim, Woong Ki; Moon, Byung Soo; Lee, Young Jae; Kim, Chang Hoi; Kim, Seung Ho; Hwang, Seok Yong; Kim, Byung Soo; Moon, Jae Sun; Lee, Young Kwang; Choi, Kap Joo [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

    1996-07-01

    The comparison study of 3 kinds of stereo camera modules done in this final year of 4 year`s longterm project shows that regenerating characteristics of stereo image of stereo camera using horizontally moving lens axis method is superior to the other two modules. Base on this comparison result, stereo camera module using horizontally moving lens method is developed. Also, stereo-Boom unit, high definition polarized stereo monitor(KAERI-PSM II) and 10.4sec. auto-stereogram TV using parallax barrier method are developed. These developed systems can be used for people involved in extremely hazardous working area to give vivid reality image of work environment. In the recognition and tracking section, auto-vergencing technology using focus fixation and cepstral filter, stereo camera calibration, range measurement technology using stereo camera module are developed. And active target tracking technology is developed also. In the sensing and intelligent control research part, active radioactivity image monitoring unit is developed. The spatial resolution of monitoring unit is 10cm at 1m distance, FOV is 60x40 deg [HXV], and radioactivity detection limit is 1mR/hr. Also, radiation-resistant inspection camera for nuclear facilities is designed. In the intelligent control section, fuzzy control algorithm for obstacle detouring navigation of mobile robot is developed. The smoothing techniques by fuzzy set is adapted to raise the pliability of obstacle detouring navigation of mobile robot. In order to raise robustness of developed fuzzy algorithm, fuzzy control algorithm is applied to `Truck Backer Upper` problem and tuned. (Abstract Truncated)

  16. Environmental restoration and waste management: Robotics technology development program: Robotics 5-year program plan

    International Nuclear Information System (INIS)

    1991-01-01

    In FY 1990 Robotics Technology Development Program (RTDP) planning teams visited five DOE sites. These sites were selected by the Office of Technology Development to provide a needs basis for developing a 5-Year Plan. Visits to five DOE sites provided identification of needs for robotics technology development to support Environmental Restoration and Waste Management (ER ampersand WM) projects at those sites. Additional site visits will be conducted in the future to expand the planning basis. This volume summarizes both the results of the site visits and the needs and requirements of the priority ER ampersand WM activities at the sites, including potential needs for robotics and remote systems technology. It also discusses hazards associated with the site activities and any problems or technical uncertainties associated with dealing with the hazards in the performance of the ER ampersand WM work. Robotic or remote systems currently under development for remediation projects or waste operations are also discussed. The information in this document is organized principally by site, activity, and priority. Section 2.0, Site Needs, is based on information from the site visit reports and provides a summary which focuses on the site needs and requirements for each priority activity. Section 2.0 also records evaluations and discussions by the RTDP team following the site visit. Section 3.0, Commonality Assessment, documents similar site needs where common, or cross-cutting, robotics technology might be applied to several activities. Section 4.0 contains a summary of the site needs and requirements in tabular form. 1 tab

  17. The development of advanced robotic technology - A study on the development of Motion capturing system

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Dong Hyun; Kim, Ki Ho; Lee, Yong Woo; Park, Soo Il; Choi, Jin Sung; Kim, Hae Dong; Park, Chan Yong [System Engineering Research Institute, Taejon= (Korea, Republic of)

    1996-07-01

    Robots are used to perform jobs where the performer are exposed to the radioactivity. Good human-robot-interface is required to operate the robots easily and smoothly. It is believed that virtual reality and 3D graphics technology will be the beat solution for the good human-robot-interface. Using 3D computer graphics, complex human motions can be captured and displayed on the screen. The captured motion data can be used as the input to= control the remote robots using virtual reality technologies. Thus good human-robot-interface can be constructed. The motion capturing system developed in this study are very convenient and easy to be used to operate the robot. And the required time to operate the robot with the developed system is much shorter than to operate the robots without our motion capturing system. Therefore, efficient usage of the robot and related facilities will prolong the life time of them and reduce the manpower of the operators. The 3D data produced by our system will be used to generate commands to control the robot. 6 refs., 60 figs. (author)

  18. Developing the mechatronics and robotics at Nizhny Tagil Technological Institute of Ural Federal University

    Science.gov (United States)

    Goman, V. V.; Fedoreev, S. A.

    2018-02-01

    This report concerns the development trends of education in the field of the Mechatronics and Robotics at Nizhny Tagil Technological Institute (branch of Ural Federal University). The paper considers new teaching technologies, experience in upgrade of the laboratory facilities and some results of development Mechatronics and Robotics educational courses.

  19. Space Technology Game Changing Development Astrobee: ISS Robotic Free Flyer

    Science.gov (United States)

    Bualat, Maria Gabriele

    2015-01-01

    Astrobee will be a free-flying robot that can be remotely operated by astronauts in space or by mission controllers on the ground. NASA is developing Astrobee to perform a variety of intravehicular activities (IVA), such as operations inside the International Space Station. These IVA tasks include interior environmental surveys (e.g., sound level measurement), inventory and mobile camera work. Astrobee will also serve as a platform for robotics research in microgravity. Here we describe the Astrobee project objectives, concept of operations, development approach, key challenges, and initial design.

  20. The development of graphic simulation technology for tele-operated robot

    International Nuclear Information System (INIS)

    Kim, Chang Hoi; Kim, Seung Ho; Kim, Ki Ho; Jung, Seung Ho; Hwang, Suk Yeoung; Kim, Byung Soo; Seo, Yong Chil; Lee, Young Kwang

    1998-02-01

    In hostile environments like a nuclear power plant, human access is limited to the strict minimum due to the high-level of radiation. The design of tele-robotic system requires careful preparation because of the nature of its safety. Also, the human operator should have a capability of supervising the robot system and responding promptly to the unexpected events. In this study, the graphic simulation technology has been developed to construct tele-robotic system which can effectively perform the specified tasks in nuclear facilities. The developed graphic simulator utilizes the Indigo 2 workstation of Silicon Graphics as a main computer and its software is written in the OpenGL graphic library in X windows environments. The developed simulator, interfaced with the control system of the real robot through the ethernet, acts as a supervisory controller. Since clear and concise visual information on real robot posture and task environments can be processed in real time, the efficiency of tele-operation can be remarkably enhanced with this simulator. This simulator using advanced 3 dimensional graphics has many advantages of modeling complicated shapes of robot and constructing the virtual work environments similar to the real ones. With the use of this developed simulator, the operator can evaluate the performance of the tele-robot before it is put into real operation. This system can prevents the possible disaster of the robot resulting from the collision with its work environments. (author). 9 refs., 23 tabs., 13 figs

  1. Robot technology

    International Nuclear Information System (INIS)

    Vertut, Jean; Coiffet, Philippe.

    1985-01-01

    Teleoperation is concerned with the exploration and exploitation of of spaces which do not allow, because of their inaccessibility or hostility, direct access to man. This volume (Parts 2, 3 and 4) covers the contribution of computer science and automatic control to this technology. Part 2 includes a description of teleoperation systems followed by chapters on the operator substitution function by computer feedback to the operator. Part 3 has chapters on performance evaluation of teleoperation systems and the human operator in the teleoperation system. Part 4 is about applications of teleoperation in the nuclear industry, underwater, in space, in medicine, in industry and in security and civil protection. The nuclear applications include research and pilot facilities, reactor operation and maintenance, reactor decommissioning and dismantling and in emergencies, for example following a reactor accident. (U.K.)

  2. Tele-Robotic technology development in Korea for maintenance of nuclear power plants

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Jung, Seung Ho; Jung, Kyung Min; Shin, Ho Chul; Lee, Nam Ho; Kim, Chang Hoi [KAERI, Daejon (Korea, Republic of)

    2004-07-01

    The utilization of robotic technologies for maintenance in nuclear power plants involves several difficulties due to undetermined and diverse environments. But technical improvements with the stringent requirement of human workers away from high radiation areas push that more competitive robotics systems be available. This paper presents development of tele-robotics for preventive maintenance of nuclear power plants such as the maintenance of steam generator of reactor coolant system and the inspection of pressure tubes of calandria vessel in pressurized heavy water reactor. The current research efforts have been described on the core technologies related with a dexterous manipulator system controlled with a master arm and a remote controlled inspection mast attached upon the mobile base. Tele-operation technologies are discussed in the area of real time controller, stereo monitoring system, and simulator with 3-D graphics in virtual environments for enhancing the tele-operation efficiencies. Radiation dosimeters are developed to provide high dose rate such robot encounters in high radiation areas and replace the radiation sensitive electronic parts. The developed robotic systems are expected to enhance the safety and integrity of nuclear power plants and to reduce the maintenance time and cost and radiation exposure.

  3. Creating Communications, Computing, and Networking Technology Development Road Maps for Future NASA Human and Robotic Missions

    Science.gov (United States)

    Bhasin, Kul; Hayden, Jeffrey L.

    2005-01-01

    For human and robotic exploration missions in the Vision for Exploration, roadmaps are needed for capability development and investments based on advanced technology developments. A roadmap development process was undertaken for the needed communications, and networking capabilities and technologies for the future human and robotics missions. The underlying processes are derived from work carried out during development of the future space communications architecture, an d NASA's Space Architect Office (SAO) defined formats and structures for accumulating data. Interrelationships were established among emerging requirements, the capability analysis and technology status, and performance data. After developing an architectural communications and networking framework structured around the assumed needs for human and robotic exploration, in the vicinity of Earth, Moon, along the path to Mars, and in the vicinity of Mars, information was gathered from expert participants. This information was used to identify the capabilities expected from the new infrastructure and the technological gaps in the way of obtaining them. We define realistic, long-term space communication architectures based on emerging needs and translate the needs into interfaces, functions, and computer processing that will be required. In developing our roadmapping process, we defined requirements for achieving end-to-end activities that will be carried out by future NASA human and robotic missions. This paper describes: 10 the architectural framework developed for analysis; 2) our approach to gathering and analyzing data from NASA, industry, and academia; 3) an outline of the technology research to be done, including milestones for technology research and demonstrations with timelines; and 4) the technology roadmaps themselves.

  4. Human Robotic Systems (HRS): Robotic Technologies for Asteroid Missions

    Data.gov (United States)

    National Aeronautics and Space Administration — During 2014, the Robotic Technologies for Asteroid Missions activity has four tasks: Asteroid Retrieval Capture Mechanism Development and Testbed; Mission Operations...

  5. Robot technologies, autism and designs for learning

    DEFF Research Database (Denmark)

    Hansbøl, Mikala

    2015-01-01

    The field of robot technologies and education is rapidly evolving. Within only a few years, internationally and in Denmark, the focus on educational service robots and educational robotics has become more widespread. The 2015 NMC Technology Outlook report providing a technology outlook...... on Scandinavian schools places robotics and programming within a four to five year time-to-adoption period. At the moment in Denmark, many municipalities are initiating trials, investing in and engaging a diverse range of robot technologies in both daycare and schools. The field of education and robot...... technologies involves several very different educational approaches to supporting young people’s learning and development. The paper discusses how robot technologies as learning resources have been related to the field of autism and education, and argues for a need to further expand the areas of application...

  6. Robotics crosscutting program: Technology summary

    International Nuclear Information System (INIS)

    1996-08-01

    The Office of Environmental Management (EM) is responsible for cleaning up the legacy of radioactive and chemically hazardous waste at contaminated sites and facilities throughout the U.S. Department of Energy (DOE) nuclear weapons complex, preventing further environmental contamination, and instituting responsible environmental management. Initial efforts to achieve this mission resulted in the establishment of environmental restoration and waste management programs. However, as EM began to execute its responsibilities, decision makers became aware that the complexity and magnitude of this mission could not be achieved efficiently, affordably, safely, or reasonably with existing technology. Once the need for advanced cleanup technologies became evident, EM established an aggressive, innovative program of applied research and technology development. The Office of Technology Development (OTD) was established in November 1989 to advance new and improved environmental restoration and waste management technologies that would reduce risks to workers, the public, and the environment; reduce cleanup costs; and devise methods to correct cleanup problems that currently have no solutions. In 1996, OTD added two new responsibilities - management of a Congressionally mandated environmental science program and development of risk policy, requirements, and guidance. OTD was renamed the Office of Science and Technology (OST). This documents presents information concerning robotics tank waste retrieval overview, robotic chemical analysis automation, robotics decontamination and dismantlement, and robotics crosscutting and advanced technology

  7. Robotic Technologies for the Future Force - The ART STO

    National Research Council Canada - National Science Library

    Jaster, Jeffrey F

    2005-01-01

    .... The US Army's ARV Robotic Technologies (ART) Science and Technology Objective (STO) will develop a surrogate platform that will be used as a technology demonstrator for such robotic technologies...

  8. Designing, Developing, and Implementing a Course on LEGO Robotics for Technology Teacher Education

    Science.gov (United States)

    Chambers, Joan M.; Carbonaro, Mike

    2003-01-01

    Within a constructivist philosophy of learning, teachers, as students, are introduced to different perspectives of teaching with robotic technology while immersed in what Papert called a "constructionist" environment. Robotics allows students to creatively explore computer programming, mechanical design and construction, problem solving,…

  9. Robotics Technology Crosscutting Program. Technology summary

    International Nuclear Information System (INIS)

    1995-06-01

    The Robotics Technology Development Program (RTDP) is a needs-driven effort. A length series of presentations and discussions at DOE sites considered critical to DOE's Environmental Restoration and Waste Management (EM) Programs resulted in a clear understanding of needed robotics applications toward resolving definitive problems at the sites. A detailed analysis of the resulting robotics needs assessment revealed several common threads running through the sites: Tank Waste Retrieval (TWR), Contaminant Analysis Automation (CAA), Mixed Waste Operations (MWO), and Decontamination and Dismantlement (D and D). The RTDP Group also realized that some of the technology development in these four areas had common (Cross Cutting-CC) needs, for example, computer control and sensor interface protocols. Further, the OTD approach to the Research, Development, Demonstration, Testing, and Evaluation (RDDT and E) process urged an additional organizational breakdown between short-term (1--3 years) and long-term (3--5 years) efforts (Advanced Technology-AT). These factors lead to the formation of the fifth application area for Crosscutting and Advanced Technology (CC and AT) development. The RTDP is thus organized around these application areas -- TWR, CAA, MWO, D and D, and CC and AT -- with the first four developing short-term applied robotics. An RTDP Five-Year Plan was developed for organizing the Program to meet the needs in these application areas

  10. Integration of biotechnology, robot technology and visualisation technology for development of methods for automated mass production of elite trees

    DEFF Research Database (Denmark)

    Find, Jens

    Biotechnology has become an integrated part of plant breeding, and in recent years new methods have been developed for breeding and propagation of important plants in the agricultural-, ornamental- and forestry sector. One of the promising methods is somatic embryogenesis (SE), where plants...... are produced from single cells without sexual reproduction. SE has some particular advantages for the development of cost effective methods for clonal mass propagation of elite plants: It is a very effective and fast method for clonal propagation. The method is suitable for automatisation and robot technology....... The method is, for several plant species, the preferred basis for development of additional biotechnological breeding technologies as e.g. genetic transformation. Elite clones can be stored over extended periods in liquid nitrogen at -196°C However, commercial application of the technology has until now been...

  11. JPL Robotics Technology Applicable to Agriculture

    Science.gov (United States)

    Udomkesmalee, Suraphol Gabriel; Kyte, L.

    2008-01-01

    This slide presentation describes several technologies that are developed for robotics that are applicable for agriculture. The technologies discussed are detection of humans to allow safe operations of autonomous vehicles, and vision guided robotic techniques for shoot selection, separation and transfer to growth media,

  12. Developing a successful robotics program.

    Science.gov (United States)

    Luthringer, Tyler; Aleksic, Ilija; Caire, Arthur; Albala, David M

    2012-01-01

    Advancements in the robotic surgical technology have revolutionized the standard of care for many surgical procedures. The purpose of this review is to evaluate the important considerations in developing a new robotics program at a given healthcare institution. Patients' interest in robotic-assisted surgery has and continues to grow because of improved outcomes and decreased periods of hospitalization. Resulting market forces have created a solid foundation for the implementation of robotic surgery into surgical practice. Given proper surgeon experience and an efficient system, robotic-assisted procedures have been cost comparable to open surgical alternatives. Surgeon training and experience is closely linked to the efficiency of a new robotics program. Formally trained robotic surgeons have better patient outcomes and shorter operative times. Training in robotics has shown no negative impact on patient outcomes or mentor learning curves. Individual economic factors of local healthcare settings must be evaluated when planning for a new robotics program. The high cost of the robotic surgical platform is best offset with a large surgical volume. A mature, experienced surgeon is integral to the success of a new robotics program.

  13. Underwater welding using remote controlled robots. Development of remote underwater welding technology with a high power YAG laser

    International Nuclear Information System (INIS)

    Miwa, Yasuhiro; Sato, Syuuichi; Kojima, Toshio; Owaki, Katsura; Hirose, Naoya

    2002-01-01

    As components in nuclear power plant have been periodically carried out their inspection and repair to keep their integrity, on radioactive liquid wastes storage facility, because of difficulty on their inspection by human beings, some are remained without inspection, and even when capable of inspection, conversion from human works to remote operations is desired from a viewpoint of their operation efficiency upgrading. For response to these needs, some developments on a technology capable of carrying out inspection of their inside at underwater environment and repairing welding with YAG laser by means of remote operation, have been performed. Remote underwater inspection and repair technology is a combination technology of already applied underwater mobile technique (underwater inspection robot) with underwater YAG laser welding technique which is recently at actual using level. Therefore, this technology is composed of an inspection robot and a repair welding robot. And, testing results using the underwater inspection robot and welding test results using the underwater repair welding robot, were enough preferable to obtain forecasting applicable to actual apparatuses. This technology is especially effective for inspection and repair of inside of nuclear fuel cycle apparatuses and relatively high dose apparatuses, and can be thought to be applicable also to large capacity tanks, tanks dealing with harmful matters, underwater structures, and so on, in general industries. (G.K.)

  14. A Guide for Developing Human-Robot Interaction Experiments in the Robotic Interactive Visualization and Experimentation Technology (RIVET) Simulation

    Science.gov (United States)

    2016-05-01

    with the editing tool, Fig. 6 shows a virtual Middle Eastern market place with streets, stalls, and buildings. Each one of these items must be...Portugal): INSTICC Press; c2008. p. 323–328. Her MG, Hsu KS. Design and analysis of haptic direct drive robot for virtual reality . Journal of...development for the nonprogrammer with example TorqueScript files and step-by-step instructions to develop the virtual environment. Additional

  15. Performance Evaluation Methods for Assistive Robotic Technology

    Science.gov (United States)

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

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

  16. The development of advanced robotics for the nuclear industry. Technology development for a light weight robot handling heavy payload

    Energy Technology Data Exchange (ETDEWEB)

    Choi, Yong Je; Kim, Jae Won; Kim, Sang Bum; Chae, Seun Hoon; Suh, Sang Hoon; Kim, Han Sung [Yonsei University, Seoul (Korea, Republic of)

    1995-08-01

    This work has focused on the vibration control of long flexible arm and mechanism design of robotic system for performing tasks such as opening and closing of nozzle dam inside of steam generator under nuclear environment. Dynamic modeling of 3DOF flexible manipulator has preceded to design digital optimal vibration controller for linearized model, and we designed fuzzy controller to compensate nonlinearity. In order to prove the pertinence of above control technique, we set up experimental device and analyzed the result. In designing light weight robot capable of handling heavy payload, mechanism dimension was decided at the beginning by analyzing the work-cell and dynamic model was used for computer simulation. We performed computer simulation to select the suitable drive components of individual 6 joints and graphic visualization made it possible to set desirable working trajectory as well as to check the operating time. By consideration the torque characteristics from the simulation result we could suggest control algorithm. Final simulation proved the validity of drive mechanism and designed controller in individual joint scheme. (author). 17 refs., 61 figs., 31 tabs.

  17. A NEATER [robot] advance in active handling technology

    International Nuclear Information System (INIS)

    Abel, E.; Watson, C.J.H.

    1990-01-01

    The NEATER robot manipulator, commercially launched in December 1989 by AEA Technology and Staubli Unimation, arose from the recognition that technological advances in the non-nuclear robotics industry were beginning to outstrip those in the nuclear active handling sector. Its development from an industrial robot controller design is described. (author)

  18. Multiprocessor development for robot control

    International Nuclear Information System (INIS)

    Lee, Jong Min; Kim, Seung Ho; Hwang, Suk Yeoung; Sohn, Surg Won; Kim, Byung Soo; Kim, Chang Hoi; Lee, Yong Bum; Kim, Woong Ki

    1988-12-01

    The object of this project is to develop a multiprocessor system which is essential to robot technology. A multiprocessor system interconnecting many single board computer is much faster and flexible than a single processor. The developed multiprocessor will be used to control nuclear mobile robot, so a loosely coupled system is adopted as a robot controller. A total configuration of controller is divided into three main parts in related with its function. It is consisted of supervisory control part, functional control part, remote control part. The designed control system is to be expanded easily for further use with a modular architecture, so the functional independency within sub-systems can be obtained throughout the system structure. Electromagnetic interference affecting to the control system is minimized by using optical fiber as communication media between robot and control system. System performances is enhanced not only by using distributed architecture in hardware, but by adopting real-time, multi-tasking operating system in software. The iRMX86 OS is used and reconfigured for real-time, multi-tasking operation. RS-485 serial communication protocol is used between functional control part and remote control part. Since the developed multiprocessor control system is an essential and fundamental technology for artificial intelligent robot, the result of this project can be applied directly to nuclear mobile robot. (Author)

  19. Drum inspection robots: Application development

    Energy Technology Data Exchange (ETDEWEB)

    Hazen, F.B. [Fernald Environmental Restoration Management Corp., Cincinnati, OH (United States); Warner, R.D. [USDOE, Washington, DC (United States)

    1996-02-01

    Throughout the Department of Energy (DOE), drums containing mixed and low level stored waste are inspected, as mandated by the Resource Conservation and Recovery Act (RCRA) and other regulations. The inspections are intended to prevent leaks by finding corrosion long before the drums are breached. The DOE Office of Science and Technology (OST) has sponsored efforts towards the development of robotic drum inspectors. This emerging application for mobile and remote sensing has broad applicability for DOE and commercial waste storage areas. Three full scale robot prototypes have been under development, and another project has prototyped a novel technique to analyze robotically collected drum images. In general, the robots consist of a mobile, self-navigating base vehicle, outfitted with sensor packages so that rust and other corrosion cues can be automatically identified. They promise the potential to lower radiation dose and operator effort required, while improving diligence, consistency, and documentation.

  20. Drum inspection robots: Application development

    International Nuclear Information System (INIS)

    Hazen, F.B.; Warner, R.D.

    1996-01-01

    Throughout the Department of Energy (DOE), drums containing mixed and low level stored waste are inspected, as mandated by the Resource Conservation and Recovery Act (RCRA) and other regulations. The inspections are intended to prevent leaks by finding corrosion long before the drums are breached. The DOE Office of Science and Technology (OST) has sponsored efforts towards the development of robotic drum inspectors. This emerging application for mobile and remote sensing has broad applicability for DOE and commercial waste storage areas. Three full scale robot prototypes have been under development, and another project has prototyped a novel technique to analyze robotically collected drum images. In general, the robots consist of a mobile, self-navigating base vehicle, outfitted with sensor packages so that rust and other corrosion cues can be automatically identified. They promise the potential to lower radiation dose and operator effort required, while improving diligence, consistency, and documentation

  1. Robotic technology-probably a safe tool for development of completely endoscopic coronary revascularization procedures.

    Science.gov (United States)

    Bonatti, Johannes; Schachner, Thomas; Bonaros, Nikolaos; Rützler, Elisabeth; Weidinger, Felix; Schistek, Roland; Feuchtner, Gudrun; Friedrich, Guy; Pachinger, Otmar; Laufer, Günther

    2008-05-01

    : Totally endoscopic coronary artery bypass grafting (TECAB) requires telemanipulation technologies because attempts using conventional thoracoscopic instrumentation have completely failed. These complex operations require individual and team learning curves and necessitate a stepwise approach. The aim of this study is to assess risk adjusted outcome in robotically assisted coronary artery bypass grafting (CABG) after the first 6 years of application. : From 2001 to 2007, 177 CABG procedures were performed using the da Vinci system. A low risk patient population [age 59 (31-76) years, EuroSCORE 1 (0-7)] was treated. The following procedures were carried out: endoscopic internal mammary artery takedown in minimally invasive direct coronary artery bypass, Off-pump coronary artery bypass, and CABG (n = 26); robotic suturing of left internal mammary artery to left anterior descending artery anastomoses through sternotomy (n = 32); TECAB on the arrested heart (n = 108); TECAB on the beating heart (n = 11). : There was no hospital mortality, and cumulative risk adjusted mortality plots showed that 2.76 predicted events did not occur. Given 177 event free procedures Clopper Pearson estimations revealed a 95% confidence interval between 0.0% and 2.3% for perioperative mortality. : Introduction of robotic TECAB grafting appears to meet current CABG safety standards. Initial application in low risk patients and a stepwise approach towards completely endoscopic versions of the operation are worthwhile. Despite a high grade of innovation and despite learning curves, perioperative mortality may be lower than predicted.

  2. 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)

  3. The Development of radiation hardened tele-robot system - Development of teleoperating technology using a universal master

    Energy Technology Data Exchange (ETDEWEB)

    Choi, Yong Je; Yang, Hyun Suk [Yonsei University, Seoul (Korea)

    1999-04-01

    A force-reflecting universal master for a teleoperating system has been designed and constructed, which can be used as an effective command input device for teleoperated robots. This report presents a full detail of the mechanism design and experiments related to the development of the force-reflecting masters. A real time virtual graphics display system which can be used as a powerful tool to predict any potential dangers and also to prevent an accident in advance has been developed and interfaced with the master. In order to transmit the force information of the slave to the operator effectively, the force-reflecting algorithm has been suggested and tested on the teleoperating system. The various master-slave systems have been tested in order to develop an efficient control algorithm for a teleoperating system with a force-reflecting master. A compliant device with the force/torque sensor capability has been also developed, which can be used as a passive position/force hybrid control device and as a sensor acquiring valid contact information of a slave with an environment. Experimental results showed that the developed teleoperating technology can be applied to a teleoperator system which interacts with the real environment. 21 refs., 103 figs., 2 tabs. (Author)

  4. Development of Test Rig for Robotization of Mining Technological Processes - Oversized Rock Breaking Process Case

    Science.gov (United States)

    Pawel, Stefaniak; Jacek, Wodecki; Jakubiak, Janusz; Zimroz, Radoslaw

    2017-12-01

    Production chain (PCh) in underground copper ore mine consists of several subprocesses. From our perspective implementation of so called ZEPA approach (Zero Entry Production Area) might be very interesting [16]. In practice, it leads to automation/robotization of subprocesses in production area. In this paper was investigated a specific part of PCh i.e. a place when cyclic transport by LHDs is replaced with continuous transport by conveying system. Such place is called dumping point. The objective of dumping points with screen is primary classification of the material (into coarse and fine material) and breaking oversized rocks with hydraulic hammer. Current challenges for the underground mining include e.g. safety improvement as well as production optimization related to bottlenecks, stoppages and operational efficiency of the machines. As a first step, remote control of the hydraulic hammer has been introduced, which not only transferred the operator to safe workplace, but also allowed for more comfortable work environment and control over multiple technical objects by a single person. Today literature analysis shows that current mining industry around the world is oriented to automation and robotization of mining processes and reveals technological readiness for 4th industrial revolution. The paper is focused on preliminary analysis of possibilities for the use of the robotic system to rock-breaking process. Prototype test rig has been proposed and experimental works have been carried out. Automatic algorithms for detection of oversized rocks, crushing them as well as sweeping and loosening of material have been formulated. Obviously many simplifications have been assumed. Some near future works have been proposed.

  5. Inventing Japan's 'robotics culture': the repeated assembly of science, technology, and culture in social robotics.

    Science.gov (United States)

    Sabanović, Selma

    2014-06-01

    Using interviews, participant observation, and published documents, this article analyzes the co-construction of robotics and culture in Japan through the technical discourse and practices of robotics researchers. Three cases from current robotics research--the seal-like robot PARO, the Humanoid Robotics Project HRP-2 humanoid, and 'kansei robotics' - show the different ways in which scientists invoke culture to provide epistemological grounding and possibilities for social acceptance of their work. These examples show how the production and consumption of social robotic technologies are associated with traditional crafts and values, how roboticists negotiate among social, technical, and cultural constraints while designing robots, and how humans and robots are constructed as cultural subjects in social robotics discourse. The conceptual focus is on the repeated assembly of cultural models of social behavior, organization, cognition, and technology through roboticists' narratives about the development of advanced robotic technologies. This article provides a picture of robotics as the dynamic construction of technology and culture and concludes with a discussion of the limits and possibilities of this vision in promoting a culturally situated understanding of technology and a multicultural view of science.

  6. Automated technological equipment-robot complexes

    International Nuclear Information System (INIS)

    Zhitomirskii, S.V.; Samorodskikh, B.L.

    1984-01-01

    This paper surveys the types of automated technological equipment robot complexes. The principal elements of such complexes are described. Complexes are divided into two principal groups: those using simultaneously acting robots, and those using successively acting robots. The great variety of types of robots using successive action is then described

  7. Low-Cost Rescue Robot for Disaster Management in a Developing Country: Development of a Prototype Using Locally Available Technology

    Science.gov (United States)

    Mahmud, Faisal; Hossain, S. G. M.; Bin, Jobair

    2010-01-01

    The use of robots in different fields is common and effective in developed countries. In case of incident management or emergency rescue after a disaster, robots are often used to lessen the human effort where it is either impossible or life-threatening for rescuers. Though developed countries can afford robotic-effort for pro-disaster management, the scenario is totally opposite for developing and under-developed countries to engage such a machine-help due to high cost of the machines and high maintenance cost as well. In this research paper, the authors proposed a low-cost "Rescue-Robot" for pro-disaster management which can overcome the budget-constraints as well as fully capable of rescue purposes for incident management. Here, all the research works were performed in Bangladesh - a developing country in South Asia. A disaster struck structure was chosen and a thorough survey was performed to understand the real-life environment for the prototype. The prototype was developed considering the results of this survey and it was manufactured using all locally available components and facilities.

  8. A welding technology using RobotStudio

    OpenAIRE

    Cohal Viorel

    2017-01-01

    The paper presents the results obtained in designing a welding workstation by using offline programming in RobotStudio. The developed model was used to simulate welding elements of a welded assembly. Welding routes are obtained offline. By using ArcWelding module and VirtualArc there were obtained parameters of welding technology, which are automatically in WPS.

  9. Development of robotics technology for remote characterization and remediationof buried waste

    International Nuclear Information System (INIS)

    Noakes, M.W.; Richardson, B.S.; Burks, B.L.; Sandness, G.R.

    1992-01-01

    Detection, characterization, and excavation of buried objects and materials are important steps in the restoration of subsurface disposal sites. The US Department of Energy (DOE), through its Buried Waste Robotics Program, is developing a Remote Characterization System (RCS) to address the needs of remote subsurface characterization and, in a joint program with the US Army, is developing a teleoperated excavator. Development of the RCS is based on recent DOE remote characterization testing and demonstrations performed at Oak Ridge National Laboratory and Idaho National Engineering Laboratory. The RCS, which will be developed and refined over a two- to three-year period, is designed to (1) increase safety by removing on-site personnel from hazardous areas, (2) remotely acquire real-time data from multiple sensors, (3) increase cost-effectiveness and productivity by partial automation of the data collection process and by gathering and evaluating data from multiple sensors in real time, and (4) reduce costs for other waste-related development programs through joint development efforts and reusable standardized subsystems. For retrieval of characterized waste, the Small Emplacement Excavator, an existing US Army backhoe that is being converted to teleoperated control, will be used to demonstrate the feasibility of retrofitting commercial equipment for high-performance remote operations

  10. Human Robotic Systems (HRS): Robonaut 2 Technologies Element

    Data.gov (United States)

    National Aeronautics and Space Administration — The goal of the Robonaut 2 (R2) Technology Project Element within Human Robotic Systems (HRS) is to developed advanced technologies for infusion into the Robonaut 2...

  11. Robot development for nuclear material processing

    International Nuclear Information System (INIS)

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

    1991-07-01

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

  12. Robotics Technology in Mental Health Care

    OpenAIRE

    Riek, Laurel D.

    2015-01-01

    This chapter discusses the existing and future use of robotics and intelligent sensing technology in mental health care. While the use of this technology is nascent in mental health care, it represents a potentially useful tool in the practitioner's toolbox. The goal of this chapter is to provide a brief overview of the field, discuss the recent use of robotics technology in mental health care practice, explore some of the design issues and ethical issues of using robots in this space, and fi...

  13. NASA Thermal Control Technologies for Robotic Spacecraft

    Science.gov (United States)

    Swanson, Theodore D.; Birur, Gajanana C.

    2003-01-01

    Technology development is inevitably a dynamic process in search of an elusive goal. It is never truly clear whether the need for a particular technology drives its development, or the existence of a new capability initiates new applications. Technology development for the thermal control of spacecraft presents an excellent example of this situation. Nevertheless, it is imperative to have a basic plan to help guide and focus such an effort. Although this plan will be a living document that changes with time to reflect technological developments, perceived needs, perceived opportunities, and the ever-changing funding environment, it is still a very useful tool. This presentation summarizes the current efforts at NASA/Goddard and NASA/JPL to develop new thermal control technology for future robotic NASA missions.

  14. Tema 2: Robot technologies, autism and designs for learning

    Directory of Open Access Journals (Sweden)

    Mikala Hansbøl

    2015-12-01

    Full Text Available The field of robot technologies and education is rapidly evolving. Within only a few years, internationally and in Denmark, the focus on educational service robots and educational robotics has become more widespread. The 2015 NMC Technology Outlook report providing a technology outlook on Scandinavian schools places robotics and programming within a four to five year time-to-adoption period. At the moment in Denmark, many municipalities are initiating trials, investing in and engaging a diverse range of robot technologies in both daycare and schools. The field of education and robot technologies involves several very different educational approaches to supporting young people’s learning and development. The paper discusses how robot technologies as learning resources have been related to the field of autism and education, and argues for a need to further expand the areas of application in the future, with a focus on children and young people diagnosed with autism spectrum disorders, their ICT interests and engagement in innovative and creative learning. The paper draws on international research and examples from the author’s own research into education for children and young people diagnosed with autism spectrum disorders, drawing on teachers’ and the students’ interests in working with ICT (e.g. robot technology.

  15. The future of Robotics Technology

    DEFF Research Database (Denmark)

    Pagliarini, Luigi; Lund, Henrik Hautop

    2017-01-01

    In the last decade the robotics industry has created millions of additional jobs led by consumer electronics and the electric vehicle industry, and by 2020, robotics will be a $100 billion worth industry, as big as the tourism industry.. For example, the rehabilitation robot market has grown 10...... times between 2010 and 2016, thanks to advancements in rehab/therapy robots, active prostheses, exoskeletons, and wearable robotics. In short, the very next decade robotics will become vital components in a number of applications and robots paired with AI will be able to perform complex actions...

  16. Robotics in rehabilitation: technology as destiny.

    Science.gov (United States)

    Stein, Joel

    2012-11-01

    Robotic aids for rehabilitation hold considerable promise but have not yet achieved widespread clinical adoption. Barriers to adoption include the limited data on efficacy, the single-purpose design of existing robots, financial considerations, and clinician lack of familiarity with this technology. Although the path forward to clinical adoption may be slow and have several false starts, the labor-saving aspect of robotic technology will ultimately ensure its adoption.

  17. DOE EM industry programs robotics development

    International Nuclear Information System (INIS)

    Staubly, R.; Kothari, V.

    1998-01-01

    The Office of Science and Technology (OST) manages an aggressive program for RD and D, as well as testing and evaluation for the Department of Energy's (DOE's) Environmental Management (EM) organization. The goal is to develop new and improved environmental restoration and waste management technologies to clean up the inventory of the DOE weapons complex faster, safer, and cheaper than is possible with currently available technologies. Robotic systems reduce worker exposure to the absolute minimum, while providing proven, cost-effective, and, for some applications, the only acceptable technique for addressing challenging problems. Development of robotic systems for remote operations occurs in three main categories: tank waste characterization and retrieval; decontamination and dismantlement; and characterization, mapping, and inspection systems. In addition, the Federal Energy Technology Center (FETC) has some other projects which fall under the heading of supporting R and D. The central objective of all FETC robotic projects is to make robotic systems more attractive by reducing costs and health risks associated with the deployment of robotic technologies in the cleanup of the nuclear weapons complex. This will be accomplished through development of robots that are cheaper, faster, safer, and more reliable, as well as more straightforward to modify/adapt and more intuitive to operate with autonomous capabilities and intelligent controls that prevent accidents and optimize task execution

  18. Preparing Ugandan Secondary Teachers for Robotics and Technology Competitions

    Directory of Open Access Journals (Sweden)

    Erdogan Kaya

    2016-01-01

    Full Text Available This paper describes the details of an intensive one-day robotics workshop designed to introduce the basics of educational robotics to 10 Ugandan secondary information technology teachers. At the end of the workshop, a survey was administered to the participating teachers. The workshop was successful in sparking teachers’ interest in robotics. Five out of 10 teachers participated in a regional robotics competition with their own school teams 5 months after participating in the workshop. The other 5 teachers planned to participate in the same regional robotics competition in the following year. This study suggests that robotics programs offer an opportunity for students in developing countries such as Uganda to become deeply involved in STEM activities and develop an interest in STEM careers. Further research might focus on teacher professional development that is a critical factor mediating students’ access to quality STEM education in developing countries.

  19. Rethinking Regulation for Experimenting with Emerging Robotics Technologies

    NARCIS (Netherlands)

    Fosch Villaronga, Eduard; Heldeweg, Michiel A.

    2016-01-01

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

  20. Soft Robotics: from scientific challenges to technological applications

    Science.gov (United States)

    Laschi, C.

    2016-05-01

    Soft robotics is a recent and rapidly growing field of research, which aims at unveiling the principles for building robots that include soft materials and compliance in the interaction with the environment, so as to exploit so-called embodied intelligence and negotiate natural environment more effectively. Using soft materials for building robots poses new technological challenges: the technologies for actuating soft materials, for embedding sensors into soft robot parts, for controlling soft robots are among the main ones. This is stimulating research in many disciplines and many countries, such that a wide community is gathering around initiatives like the IEEE TAS TC on Soft Robotics and the RoboSoft CA - A Coordination Action for Soft Robotics, funded by the European Commission. Though still in its early stages of development, soft robotics is finding its way in a variety of applications, where safe contact is a main issue, in the biomedical field, as well as in exploration tasks and in the manufacturing industry. And though the development of the enabling technologies is still a priority, a fruitful loop is growing between basic research and application-oriented research in soft robotics.

  1. Control Robotics Programming Technology. Technology Learning Activity. Teacher Edition.

    Science.gov (United States)

    Oklahoma State Dept. of Vocational and Technical Education, Stillwater. Curriculum and Instructional Materials Center.

    This Technology Learning Activity (TLA) for control robotics programming technology in grades 6-10 is designed to teach students to construct and program computer-controlled devices using a LEGO DACTA set and computer interface and to help them understand how control technology and robotics affect them and their lifestyle. The suggested time for…

  2. The Canadian Space Agency, Space Station, Strategic Technologies for Automation and Robotics Program technology development activity in protection of materials from the low Earth orbit space environment

    Science.gov (United States)

    Francoeur, J. R.

    1992-01-01

    The Strategic Technologies in Automation and Robotics (STEAR) program is managing a number of development contracts to improve the protection of spacecraft materials from the Low Earth Orbit (LEO) space environment. The project is structured in two phases over a 3 to 4 year period with a budget of 3 to 4 million dollars. Phase 1 is designed to demonstrate the technical feasibility and commercial potential of a coating/substrate system and its associated application process. The objective is to demonstrate a prototype fabrication capability using a full scale component of a commercially viable process for the protection of materials and surface finishes from the LEO space environment, and to demonstrate compliance with a set of performance requirements. Only phase 1 will be discussed in this paper.

  3. What do care robots reveal about technology?

    NARCIS (Netherlands)

    op den Akker, Hendrikus J.A.

    2015-01-01

    Ethical issues raised by the idea of social robots that care point at a fundamental difference between man and machine. What sort of “difference‿ is this? We propose a semiotic view on technology to clarify the relations users have with social robots. Are these autonomous agents just promising or

  4. The development of advanced robotic technology. A study on the tele-existence and intelligent control of a robot system for nuclear power plants

    Energy Technology Data Exchange (ETDEWEB)

    Chung, Myung Jin; Byun, Jueng Nam; Kim, Jong Hwan; Lee, Ju Jang; Bang, Seok Won; Chu, Gil Hwan; Park, Jong Cheol; Choi, Jong Seok; Yang, Jung Min; Hong, Sun Ki [Korea Advanced Institute of Science and Technology, Taejon (Korea, Republic of)

    1995-07-01

    To increase the efficiency of human intelligence it is required to develop an intelligent monitoring and system. In this research, we develop intelligent control methods related with tele-operation, tele-existence, real-time control technique, and intelligent control technique. Those are key techniques in tele-operation, especially for the repair and maintenance of nuclear power plants. The objective of this project is to develop of the tele-existence and intelligent control system for a robot used in the nuclear power plants. (author). 20 refs.

  5. The future of Robotics Technology

    DEFF Research Database (Denmark)

    Pagliarini, Luigi; Lund, Henrik Hautop

    2017-01-01

    In the last decade the robotics industry has created millions of additional jobs led by consumer electronics and the electric vehicle industry, and by 2020, robotics will be a $100 billion worth industry, as big as the tourism industry.. For example, the rehabilitation robot market has grown 10 t...... that are capable of learning from humans, driving the intelligent automation phenomenon. Therefore, in this paper we try to depict the direction and the fields of application of such important sector of future markets, and scientific research.......In the last decade the robotics industry has created millions of additional jobs led by consumer electronics and the electric vehicle industry, and by 2020, robotics will be a $100 billion worth industry, as big as the tourism industry.. For example, the rehabilitation robot market has grown 10...

  6. Developing sensor-driven robots for hazardous environments

    International Nuclear Information System (INIS)

    Trivedi, M.M.; Gonzalez, R.C.; Abidi, M.A.

    1987-01-01

    Advancements in robotic technology are sought to provide enhanced personnel safety and reduced costs of operation associated with nuclear power plant manufacture, construction, maintenance, operation, and decommissioning. The authors describe main characteristics of advanced robotic systems for such applications and suggest utilization of sensor-driven robots. Research efforts described in the paper are directed towards developing robotic systems for automatic inspection and manipulation of various tasks associated with a test panel mounted with a variety of switches, controls, displays, meters, and valves

  7. 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...

  8. Robotic technology in surgery: past, present, and future.

    Science.gov (United States)

    Camarillo, David B; Krummel, Thomas M; Salisbury, J Kenneth

    2004-10-01

    It has been nearly 20 years since the first appearance of robotics in the operating room. In that time, much progress has been made in integrating robotic technologies with surgical instrumentation, as evidenced by the many thousands of successful robot-assisted cases. However, to build on past success and to fully leverage the potential of surgical robotics in the future, it is essential to maximize a shared understanding and communication among surgeons, engineers, entrepreneurs, and healthcare administrators. This article provides an introduction to medical robotic technologies, develops a possible taxonomy, reviews the evolution of a surgical robot, and discusses future prospects for innovation. Robotic surgery has demonstrated some clear benefits. It remains to be seen where these benefits will outweigh the associated costs over the long term. In the future, surgical robots should be smaller, less expensive, easier to operate, and should seamlessly integrate emerging technologies from a number of different fields. Such advances will enable continued progress in surgical instrumentation and, ultimately, surgical care.

  9. Integration of advanced teleoperation technologies for control of space robots

    Science.gov (United States)

    Stagnaro, Michael J.

    1993-01-01

    Teleoperated robots require one or more humans to control actuators, mechanisms, and other robot equipment given feedback from onboard sensors. To accomplish this task, the human or humans require some form of control station. Desirable features of such a control station include operation by a single human, comfort, and natural human interfaces (visual, audio, motion, tactile, etc.). These interfaces should work to maximize performance of the human/robot system by streamlining the link between human brain and robot equipment. This paper describes development of a control station testbed with the characteristics described above. Initially, this testbed will be used to control two teleoperated robots. Features of the robots include anthropomorphic mechanisms, slaving to the testbed, and delivery of sensory feedback to the testbed. The testbed will make use of technologies such as helmet mounted displays, voice recognition, and exoskeleton masters. It will allow tor integration and testing of emerging telepresence technologies along with techniques for coping with control link time delays. Systems developed from this testbed could be applied to ground control of space based robots. During man-tended operations, the Space Station Freedom may benefit from ground control of IVA or EVA robots with science or maintenance tasks. Planetary exploration may also find advanced teleoperation systems to be very useful.

  10. An overview of current situations of robot industry development

    Directory of Open Access Journals (Sweden)

    Wu Qiong

    2018-01-01

    Full Text Available As an industry of emerging technology, robot industry has become one of important signs to evaluate a country’s level in science and technology innovation and high-end manufacturing, and an important strategic field to take the preemptive opportunities in development of intelligent society. Developed countries such as the USA, Germany, France and Japan have formulated their robot R&D strategies and planning in succession. China boasts good industrial foundation and has made encouraging progress in the course of development of robot technology. This paper briefly discusses the application type of robot industry and current situations of robot industry development in countries around the world, and makes detailed explanation of current situations of robot industry development in China.

  11. Stable Aspects in Robot Software Development

    Directory of Open Access Journals (Sweden)

    Davide Brugali

    2006-03-01

    Full Text Available The paper investigates the concept of software “stability” applied to robot systems. We define “stable” a family of systems modelled, designed and implemented so that specific applications of the family may be developed re-using, adapting and specializing knowledge, architecture and existing components. During the last few years, many ideas and technologies of software engineering (e.g. modularity, OO development and design patterns were introduced in the development of robotic systems to improve the “stability” property. All these ideas and technologies are important. Nevertheless, they model robotic systems along a unique direction: the functional decomposition of parts. Unfortunately, there are concerns of robotic systems that relate to the systems as a whole hence crosscutting their modular structure. The Aspect Oriented Software Development is a recently emerged approach for modelling, designing and encapsulating the above-mentioned crosscutting concerns (aspects. We contend that stability must be based on a careful domain analysis and on a multidimensional modelling of different and recurring aspects of robot systems.

  12. Robotic technologies for outdoor industrial vehicles

    Science.gov (United States)

    Stentz, Anthony

    2001-09-01

    The commercial industries of agriculture, mining, construction, and material handling employ a wide variety of mobile machines, including tractors, combines, Load-Haul-Dump vehicles, trucks, paving machines, fork trucks, and many more. Automation of these vehicles promises to improve productivity, reduce operational costs, and increase safety. Since the vehicles typically operate in difficult environments, under all weather conditions, and in the presence of people and other obstacles, reliable automation faces severe technical challenges. Furthermore, the viable technology solutions are constrained by cost considerations. Fortunately, due to the limited application domain, repetitive nature, and the utility of partial automation for most tasks, robotics technologies can have a profound impact on industrial vehicles. In this paper, we describe a technical approach developed at Carnegie Mellon University for automating mobile machines in several applications, including mass excavation, mining, and agriculture. The approach is introduced via case studies, and the results are presented.

  13. Trend of development of robots for nuclear facilities

    International Nuclear Information System (INIS)

    Maki, Hideo; Sasaki, Masayoshi

    1984-01-01

    Robot technology becomes more and more important in the field of atomic energy industries. Hitachi Ltd. has energetically engaged in the development of the robot technology for nuclear facilities, recognizing these situations. The course of the development of robot technology and the robots for nuclear facilities is described. As the practical examples of the robots for nuclear facilities, there have been automatic fuel exchangers, the remotely operated automatic exchangers for control rod driving mechanism, automatic and semi-automatic ultrasonic flaw detectors and so on. As the robots for nuclear facilities under development, control rod driving mechanism disassembling and cleaning system, the volume reduction device for spent fuel channel boxes and control rods and others are reported. (Kako, I.)

  14. R and D on robots for nuclear power plants in 'advanced robot technology' project

    International Nuclear Information System (INIS)

    Ando, Hiroaki

    1987-01-01

    The project aims at developing a safe man-robot system of high mobility and workability, highly adaptable to the working environment, and readily and reliably remote-controlled. The plan is to develop 'multi-purpose robots' that can do monitoring, inspection and light work quickly and correctly in areas where access of humans is difficult (e.g. hot spots and the inner space of the primary containment vessel), and 'robots used exclusively for valves, pumps, and other equipment, multi-functional to be used only for specific purposes'. This can be expected to be completed on the basis of results in research and development for the multi-purpose robots. R and D on the total system means manufacturing an optimum system with sufficient functions and performance required for the robot by combining existing technologies most adequately on the basis of the results of research and development on the project. After conceptual drawing and conceptual design, the system will be manufactured and demonstration tests will be completed by fiscal 1987 or 1988. This report describes the total image of the robots concerning the shape, locomotion, manipulation, perception, communication, control management, reliability and environmental durability, and then outlines the research and development activities regarding locomotion, manipulator, tectile sensor, actuator, single-eye three-dimensional measurement, visual data processing, optical spacial transmission, failure repair controller, functional reduction, robot health care and radiation resistance. (Nogami, K.)

  15. Automation and robotics technology for intelligent mining systems

    Science.gov (United States)

    Welsh, Jeffrey H.

    1989-01-01

    The U.S. Bureau of Mines is approaching the problems of accidents and efficiency in the mining industry through the application of automation and robotics to mining systems. This technology can increase safety by removing workers from hazardous areas of the mines or from performing hazardous tasks. The short-term goal of the Automation and Robotics program is to develop technology that can be implemented in the form of an autonomous mining machine using current continuous mining machine equipment. In the longer term, the goal is to conduct research that will lead to new intelligent mining systems that capitalize on the capabilities of robotics. The Bureau of Mines Automation and Robotics program has been structured to produce the technology required for the short- and long-term goals. The short-term goal of application of automation and robotics to an existing mining machine, resulting in autonomous operation, is expected to be accomplished within five years. Key technology elements required for an autonomous continuous mining machine are well underway and include machine navigation systems, coal-rock interface detectors, machine condition monitoring, and intelligent computer systems. The Bureau of Mines program is described, including status of key technology elements for an autonomous continuous mining machine, the program schedule, and future work. Although the program is directed toward underground mining, much of the technology being developed may have applications for space systems or mining on the Moon or other planets.

  16. The development of radiation hardened robot for nuclear facility

    International Nuclear Information System (INIS)

    Kim, Seung Ho; Jung, Seung Ho; Kim, Byung Soo and others

    2000-04-01

    The work conducted in this stage covers development of core technology of tele-robot system including monitoring technique in high-level radioactive area, tele-sensing technology and radiation-hardened technology for the non-destructive tele-inspection system which monitors the primary coolant system during the normal operations of PHWR(Pressurized Heavy Water Reactor) NPPs and measures the decrease of bending part of feeder pipe during overall. Based on the developed core technology, the monitoring mobile robot system of the primary coolant system and the feeder pipe inspecting robot system are developed

  17. The development of radiation hardened robot for nuclear facility

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Jung, Seung Ho; Kim, Byung Soo and others

    2000-04-01

    The work conducted in this stage covers development of core technology of tele-robot system including monitoring technique in high-level radioactive area, tele-sensing technology and radiation-hardened technology for the non-destructive tele-inspection system which monitors the primary coolant system during the normal operations of PHWR(Pressurized Heavy Water Reactor) NPPs and measures the decrease of bending part of feeder pipe during overall. Based on the developed core technology, the monitoring mobile robot system of the primary coolant system and the feeder pipe inspecting robot system are developed.

  18. Application of dexterous space robotics technology to myoelectric prostheses

    Science.gov (United States)

    Hess, Clifford; Li, Larry C. H.; Farry, Kristin A.; Walker, Ian D.

    1994-01-01

    Future space missions will require robots equipped with highly dexterous robotic hands to perform a variety of tasks. A major technical challenge in making this possible is an improvement in the way these dexterous robotic hands are remotely controlled or teleoperated. NASA is currently investigating the feasibility of using myoelectric signals to teleoperate a dexterous robotic hand. In theory, myoelectric control of robotic hands will require little or no mechanical parts and will greatly reduce the bulk and weight usually found in dexterous robotic hand control devices. An improvement in myoelectric control of multifinger hands will also benefit prosthetics users. Therefore, as an effort to transfer dexterous space robotics technology to prosthetics applications and to benefit from existing myoelectric technology, NASA is collaborating with the Limbs of Love Foundation, the Institute for Rehabilitation and Research, and Rice University in developing improved myoelectric control multifinger hands and prostheses. In this paper, we will address the objectives and approaches of this collaborative effort and discuss the technical issues associated with myoelectric control of multifinger hands. We will also report our current progress and discuss plans for future work.

  19. Developing stereo image based robot control system

    Energy Technology Data Exchange (ETDEWEB)

    Suprijadi,; Pambudi, I. R.; Woran, M.; Naa, C. F; Srigutomo, W. [Department of Physics, FMIPA, InstitutTeknologi Bandung Jl. Ganesha No. 10. Bandung 40132, Indonesia supri@fi.itb.ac.id (Indonesia)

    2015-04-16

    Application of image processing is developed in various field and purposes. In the last decade, image based system increase rapidly with the increasing of hardware and microprocessor performance. Many fields of science and technology were used this methods especially in medicine and instrumentation. New technique on stereovision to give a 3-dimension image or movie is very interesting, but not many applications in control system. Stereo image has pixel disparity information that is not existed in single image. In this research, we proposed a new method in wheel robot control system using stereovision. The result shows robot automatically moves based on stereovision captures.

  20. Development of robotic mobile platform with the universal chassis system

    Science.gov (United States)

    Ryadchikov, I.; Nikulchev, E.; Sechenev, S.; Drobotenko, M.; Svidlov, A.; Volkodav, P.; Feshin, A.

    2018-02-01

    The problem of stabilizing the position of mobile devices is extremely relevant at the modern level of technology development. This includes the problem of stabilizing aircraft and stabilizing the pitching of ships. In the laboratory of robotics and mechatronics of the Kuban State University, a robot is developed. The robot has additional internal degrees of freedom, responsible for compensating for deflections - the dynamic stabilization system.

  1. Multiprocessor development for robot control

    International Nuclear Information System (INIS)

    Lee, John Min; Kim, Seung Ho; Kim, Chang Hoi; Kim, Byung Soo; Hwang, Suk Yeong; Lee, Young Bum; Sohn, Suk Won; Kim, Woon Gi

    1990-01-01

    The project of this study is to develop a real time controller applying autonomous robotic systems operated in hostile environment. Developed control system is designed with a multiprocessor to get independency and reliability as well as to extend the system easily. The control system is designed in three distinct subsystems (supervisory control part, functional control part, and remote control part). To review the functional performance of developed controller, a prototype mobile robot, which was installed 4 DOF mainpulator, was designed and manufactured. Initial tests showed that the robot could turn with a radius of 38 cm and a maximum speed of 1.26 km/hr and go over obstacle of 18 cm in height. (author)

  2. Development of an advanced robot manipulator system

    International Nuclear Information System (INIS)

    Oomichi, Takeo; Higuchi, Masaru; Shimizu, Yujiro; Ohnishi, Ken

    1991-01-01

    A sophisticated manipulator system for an advanced robot was developed under the 'Advanced Robot Technology Development' Program promoted and supported by the Agency of Industrial Science and Technology of MITI. The authors have participated in the development of a fingered manipulator with force and tactile sensors applicable to a masterslave robot system. Our slave manipulator is equipped with four fingers. Though the finger needs many degrees of freedom so as to be suitable for skilful handing of an object, our fingers are designed to have minimum degree of freedom in order to reduce weight. Each finger tip was designed to be similar to a human finger which has flexibility, softness and contact feeling. The shape of the master finger manipulator was so designed that the movement of the fingers is smoother and that the constraint feeling of the operator is smaller. We were adopted to a pneumatic pressure system for transmitting the tactile feeling of the slave fingers to the master fingers. A multiple sensory bilateral control system which gives an operator a feeling of force and tactile reduces his feeling of constraint in carrying out work with a robot system. (author)

  3. Development of a remote inspection robot for high pressure structures

    International Nuclear Information System (INIS)

    Lee, Jae C.; Kim, Jae H.; Choi, Yu R.; Moon, Soon S.

    1999-10-01

    The high pressure structures in industrial plants must be periodically inspected for ensure their safety. Currently, the examination of them is manually performed by human inspectors, and there are many restrictions to examine the large containers which enclose dangerous chemicals or radioactive materials. We developed a remotely operated robot to examine these structures using recent mobile robot and computer technologies. Our robot has two magnetic caterpillars that make the robot can adhere to the structures made of steel like materials. The robot moves to the position for examination, and scans that position using ultrasonic probes equipped on it's arm, and transmits the result to the inspector according to his/her commands. Without building any auxiliary structures the robot can inspect the places where manual inspection can't reach. Therefore the robot can make shortening the inspection time as well as preventing the inspector from an accident. (author)

  4. ACOG Technology Assessment in Obstetrics and Gynecology No. 6: Robot-assisted surgery.

    Science.gov (United States)

    2009-11-01

    The field of robotic surgery is developing rapidly, but experience with this technology is currently limited. In response to increasing interest in robotics technology, the Committee on Gynecologic Practice's Technology Assessment was developed to describe the robotic surgical system,potential advantages and disadvantages, gynecologic applications, and the current state of the evidence. Randomized trials comparing robot-assisted surgery with traditional laparoscopic, vaginal, or abdominal surgery are needed to evaluate long-term clinical outcomes and cost-effectiveness, as well as to identify the best applications of this technology.

  5. Space technology and robotics in school projects

    Science.gov (United States)

    Villias, Georgios

    2016-04-01

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

  6. New development in robot vision

    CERN Document Server

    Behal, Aman; Chung, Chi-Kit

    2015-01-01

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

  7. Developing Creative Behavior in Elementary School Students with Robotics

    Science.gov (United States)

    Nemiro, Jill; Larriva, Cesar; Jawaharlal, Mariappan

    2017-01-01

    The School Robotics Initiative (SRI), a problem-based robotics program for elementary school students, was developed with the objective of reaching students early on to instill an interest in Science, Technology, Engineering, and Math disciplines. The purpose of this exploratory, observational study was to examine how the SRI fosters student…

  8. Bringing robotics technology down to Earth

    International Nuclear Information System (INIS)

    Fuller, B.R.

    1997-01-01

    Robotics technology is successfully being transitioned from space to terrestrial applications. It is being modified and enhanced to help in the US DOE's Environmental Restoration and Waste Management Program. Some examples of these applications, ranging from large multijointed manipulators to autonomously navigated remote vehicles, are outlined in this article. They include the following: underground storage tank technology demonstration; light-duty utility arm system; remotely controlled material-handling system; remotely operated excavator; self-guided transfer vehicle. 10 figs

  9. Robotic Technologies and Rehabilitation: New Tools for Stroke Patients’ Therapy

    Directory of Open Access Journals (Sweden)

    Patrizia Poli

    2013-01-01

    Full Text Available Introduction. The role of robotics in poststroke patients’ rehabilitation has been investigated intensively. This paper presents the state-of-the-art and the possible future role of robotics in poststroke rehabilitation, for both upper and lower limbs. Materials and Methods. We performed a comprehensive search of PubMed, Cochrane, and PeDRO databases using as keywords “robot AND stroke AND rehabilitation.” Results and Discussion. In upper limb robotic rehabilitation, training seems to improve arm function in activities of daily living. In addition, electromechanical gait training after stroke seems to be effective. It is still unclear whether robot-assisted arm training may improve muscle strength, and which electromechanical gait-training device may be the most effective for walking training implementation. Conclusions. In the field of robotic technologies for stroke patients’ rehabilitation we identified currently relevant growing points and areas timely for developing research. Among the growing points there is the development of new easily transportable, wearable devices that could improve rehabilitation also after discharge, in an outpatient or home-based setting. For developing research, efforts are being made to establish the ideal type of treatment, the length and amount of training protocol, and the patient’s characteristics to be successfully enrolled to this treatment.

  10. Robotic Technologies and Rehabilitation: New Tools for Stroke Patients' Therapy

    Science.gov (United States)

    Poli, Patrizia; Morone, Giovanni; Rosati, Giulio; Masiero, Stefano

    2013-01-01

    Introduction. The role of robotics in poststroke patients' rehabilitation has been investigated intensively. This paper presents the state-of-the-art and the possible future role of robotics in poststroke rehabilitation, for both upper and lower limbs. Materials and Methods. We performed a comprehensive search of PubMed, Cochrane, and PeDRO databases using as keywords “robot AND stroke AND rehabilitation.” Results and Discussion. In upper limb robotic rehabilitation, training seems to improve arm function in activities of daily living. In addition, electromechanical gait training after stroke seems to be effective. It is still unclear whether robot-assisted arm training may improve muscle strength, and which electromechanical gait-training device may be the most effective for walking training implementation. Conclusions. In the field of robotic technologies for stroke patients' rehabilitation we identified currently relevant growing points and areas timely for developing research. Among the growing points there is the development of new easily transportable, wearable devices that could improve rehabilitation also after discharge, in an outpatient or home-based setting. For developing research, efforts are being made to establish the ideal type of treatment, the length and amount of training protocol, and the patient's characteristics to be successfully enrolled to this treatment. PMID:24350244

  11. Small Body Exploration Technologies as Precursors for Interstellar Robotics

    Science.gov (United States)

    Noble, R. J.; Sykes, M. V.

    The scientific activities undertaken to explore our Solar System will be very similar to those required someday at other stars. The systematic exploration of primitive small bodies throughout our Solar System requires new technologies for autonomous robotic spacecraft. These diverse celestial bodies contain clues to the early stages of the Solar System's evolution, as well as information about the origin and transport of water-rich and organic material, the essential building blocks for life. They will be among the first objects studied at distant star systems. The technologies developed to address small body and outer planet exploration will form much of the technical basis for designing interstellar robotic explorers. The Small Bodies Assessment Group, which reports to NASA, initiated a Technology Forum in 2011 that brought together scientists and technologists to discuss the needs and opportunities for small body robotic exploration in the Solar System. Presentations and discussions occurred in the areas of mission and spacecraft design, electric power, propulsion, avionics, communications, autonomous navigation, remote sensing and surface instruments, sampling, intelligent event recognition, and command and sequencing software. In this paper, the major technology themes from the Technology Forum are reviewed, and suggestions are made for developments that will have the largest impact on realizing autonomous robotic vehicles capable of exploring other star systems.

  12. Small Body Exploration Technologies as Precursors for Interstellar Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Noble, Robert; /SLAC; Sykes, Mark V.; /PSI, Tucson

    2012-02-15

    The scientific activities undertaken to explore our Solar System will be the same as required someday at other stars. The systematic exploration of primitive small bodies throughout our Solar System requires new technologies for autonomous robotic spacecraft. These diverse celestial bodies contain clues to the early stages of the Solar System's evolution as well as information about the origin and transport of water-rich and organic material, the essential building blocks for life. They will be among the first objects studied at distant star systems. The technologies developed to address small body and outer planet exploration will form much of the technical basis for designing interstellar robotic explorers. The Small Bodies Assessment Group, which reports to NASA, initiated a Technology Forum in 2011 that brought together scientists and technologists to discuss the needs and opportunities for small body robotic exploration in the Solar System. Presentations and discussions occurred in the areas of mission and spacecraft design, electric power, propulsion, avionics, communications, autonomous navigation, remote sensing and surface instruments, sampling, intelligent event recognition, and command and sequencing software. In this paper, the major technology themes from the Technology Forum are reviewed, and suggestions are made for developments that will have the largest impact on realizing autonomous robotic vehicles capable of exploring other star systems.

  13. Patent Network Analysis and Quadratic Assignment Procedures to Identify the Convergence of Robot Technologies.

    Directory of Open Access Journals (Sweden)

    Woo Jin Lee

    Full Text Available Because of the remarkable developments in robotics in recent years, technological convergence has been active in this area. We focused on finding patterns of convergence within robot technology using network analysis of patents in both the USPTO and KIPO. To identify the variables that affect convergence, we used quadratic assignment procedures (QAP. From our analysis, we observed the patent network ecology related to convergence and found technologies that have great potential to converge with other robotics technologies. The results of our study are expected to contribute to setting up convergence based R&D policies for robotics, which can lead new innovation.

  14. 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)

  15. Robot technology and numbers in the classroom

    DEFF Research Database (Denmark)

    Majgaard, Gunver; Nielsen, Jacob; Misfeldt, Morten

    2010-01-01

    This paper explores how a cubic user-configurable modular robotic system can be used to support learning about numbers and how they are pronounced. The development is done in collaboration with a class of 7-8 year old children and their mathematics teacher. The tool is called Speakmath and it com......This paper explores how a cubic user-configurable modular robotic system can be used to support learning about numbers and how they are pronounced. The development is done in collaboration with a class of 7-8 year old children and their mathematics teacher. The tool is called Speakmath...

  16. Design based action research in the world of robot technology and learning

    DEFF Research Database (Denmark)

    Majgaard, Gunver

    2010-01-01

    Why is design based action research method important in the world of robot technology and learning? The article explores how action research and interaction-driven design can be used in development of educational robot technological tools. The actual case is the development of “Fraction Battle......” which is about learning fractions in primary school. The technology is based on robot technology. An outdoor digital playground is taken into to the classroom and then redesigned. The article argues for interaction design takes precedence to technology or goal driven design for development...

  17. Integration of biotechnology, robot technoplogy and visualisation technology for development of methods for autamated mass production of elite trees

    DEFF Research Database (Denmark)

    Find, Jens; Krogstrup, Peter

    2009-01-01

    for purpose' and guarantee a consumer oriented and tailor made wood supply. However, commercial application of the technology has until now been hampered by two essential problems: 1) the production costs per plant must be reduced, 2) improved methods must be developed for transfer and acclimatisation...... technologies. The present project takes advantage of effective methods developed at the University of Copenhagen for SE in nordmanns fir and sitka spruce. These methods are used as a model system for development of biotechnological breeding tools in combination with automated plant production of plants...

  18. Network Distributed Monitoring System Based on Robot Technology Middleware

    Directory of Open Access Journals (Sweden)

    Kunikatsu Takase

    2008-11-01

    Full Text Available In this paper, a network distributed monitoring system for human assistance robot system was developed to improve the interaction among the users and local service robotic system and enable a remote user to get a better understanding of what is going on in the local environment. Home integration robot system and network monitoring system using QuickCam Orbit cameras were developed and demonstrated from June 9 to June 19 at the 2005 World Exposition, Aichi, Japan. Improvements of network distributed monitoring system using IEEE1394 cameras with high performance and high resolution have been done in order to extend the application of system. Robot Technology Middleware (RTM was used in the developed system. By using RTM, we can develop cameras functional elements as RT software components that can be implemented by different programming languages, run in different operating system, or connected in different networks to interoperate.It is also easy to create comprehensive robot system application by reusing existing modules thus facilitating networkdistributed software sharing and improving the cost of writing and maintaining software.

  19. Advanced robotic technologies for transfer at Sandia National Laboratories

    Energy Technology Data Exchange (ETDEWEB)

    Bennett, P.C.

    1994-10-01

    Hazardous operations which have in the past been completed by technicians are under increased scrutiny due to high costs and low productivity associated with providing protective clothing and environments. As a result, remote systems are needed to accomplish many hazardous materials handling tasks such as the clean-up of waste sites in which the exposure of personnel to radiation, chemical, explosive and other hazardous constituents is unacceptable. Computer models augmented by sensing, and structured, modular computing environments are proving effective in automating many unstructured hazardous tasks. Work at Sandia National Laboratories (SNL) has focused on applying flexible automation (robotics) to meet the needs of the U.S. Department of Energy (USDOE). Dismantling facilities, environmental remediation, and materials handling in changing, hazardous environments lead to many technical challenges. Computer planning, monitoring and operator assistance shorten training cycles, reduce errors, and speed execution of operations. Robotic systems that re-use well-understood generic technologies can be much better characterized than robotic systems developed for a particular application, leading to a more reliable and safer systems. Further safety in robotic operations results from use of environmental sensors and knowledge of the task and environment. Collision detection and avoidance is achieved from such sensor integration and model-based control. This paper discusses selected technologies developed at SNL for use within the USDOE complex that have been or are ready for transfer to government and industrial suppliers. These technologies include sensors, sub-systems, and the design philosophy applied to quickly integrate them into a working robotic system. This paper represents the work of many people at the Intelligent Systems and Robotics Center at SNL, to whom the credit belongs.

  20. Advanced robotic technologies for transfer at Sandia National Laboratories

    International Nuclear Information System (INIS)

    Bennett, P.C.

    1994-01-01

    Hazardous operations which have in the past been completed by technicians are under increased scrutiny due to high costs and low productivity associated with providing protective clothing and environments. As a result, remote systems are needed to accomplish many hazardous materials handling tasks such as the clean-up of waste sites in which the exposure of personnel to radiation, chemical, explosive and other hazardous constituents is unacceptable. Computer models augmented by sensing, and structured, modular computing environments are proving effective in automating many unstructured hazardous tasks. Work at Sandia National Laboratories (SNL) has focused on applying flexible automation (robotics) to meet the needs of the U.S. Department of Energy (USDOE). Dismantling facilities, environmental remediation, and materials handling in changing, hazardous environments lead to many technical challenges. Computer planning, monitoring and operator assistance shorten training cycles, reduce errors, and speed execution of operations. Robotic systems that re-use well-understood generic technologies can be much better characterized than robotic systems developed for a particular application, leading to a more reliable and safer systems. Further safety in robotic operations results from use of environmental sensors and knowledge of the task and environment. Collision detection and avoidance is achieved from such sensor integration and model-based control. This paper discusses selected technologies developed at SNL for use within the USDOE complex that have been or are ready for transfer to government and industrial suppliers. These technologies include sensors, sub-systems, and the design philosophy applied to quickly integrate them into a working robotic system. This paper represents the work of many people at the Intelligent Systems and Robotics Center at SNL, to whom the credit belongs

  1. Future robotic platforms in urologic surgery: recent developments.

    Science.gov (United States)

    Herrell, S Duke; Webster, Robert; Simaan, Nabil

    2014-01-01

    To review recent developments at Vanderbilt University of new robotic technologies and platforms designed for minimally invasive urologic surgery and their design rationale and potential roles in advancing current urologic surgical practice. Emerging robotic platforms are being developed to improve performance of a wider variety of urologic interventions beyond the standard minimally invasive robotic urologic surgeries conducted currently with the da Vinci platform. These newer platforms are designed to incorporate significant advantages of robotics to improve the safety and outcomes of transurethral bladder surgery and surveillance, further decrease the invasiveness of interventions by advancing LESS surgery, and to allow for previously impossible needle access and ablation delivery. Three new robotic surgical technologies that have been developed at Vanderbilt University are reviewed, including a robotic transurethral system to enhance bladder surveillance and transurethral bladder tumor, a purpose-specific robotic system for LESS, and a needle-sized robot that can be used as either a steerable needle or small surgeon-controlled micro-laparoscopic manipulator.

  2. Lyndon B. Johnson Space Center (JSC) proposed dual-use technology investment program in intelligent robots

    Science.gov (United States)

    Erikson, Jon D.

    1994-01-01

    This paper presents an overview of the proposed Lyndon B. Johnson Space Center (JSC) precompetitive, dual-use technology investment project in robotics. New robotic technology in advanced robots, which can recognize and respond to their environments and to spoken human supervision so as to perform a variety of combined mobility and manipulation tasks in various sectors, is an obejective of this work. In the U.S. economy, such robots offer the benefits of improved global competitiveness in a critical industrial sector; improved productivity by the end users of these robots; a growing robotics industry that produces jobs and profits; lower cost health care delivery with quality improvements; and, as these 'intelligent' robots become acceptable throughout society, an increase in the standard of living for everyone. In space, such robots will provide improved safety, reliability, and productivity as Space Station evolves, and will enable human space exploration (by human/robot teams). The proposed effort consists of partnerships between manufacturers, universities, and JSC to develop working production prototypes of these robots by leveraging current development by both sides. Currently targeted applications are in the manufacturing, health care, services, and construction sectors of the U.S. economy and in the inspection, servicing, maintenance, and repair aspects of space exploration. But the focus is on the generic software architecture and standardized interfaces for custom modules tailored for the various applications allowing end users to customize a robot as PC users customize PC's. Production prototypes would be completed in 5 years under this proposal.

  3. Technology of disaster response robot and issues

    International Nuclear Information System (INIS)

    Tadokoro, Satoshi

    2013-01-01

    The needs, function structure , ability of disaster response robot are stated. Robots are classified by move mode such as Unmanned Ground Vehicle (UGV), Legged Robots, Exoskeleton, Unmanned Aerial Vehicle (UAV), Wall Climbing Robots, robots for narrow space. Quince, disaster response robot, collected at first information in the building of Fukushima Daiichi Nuclear Power Station. Functions of rescue robots and technical problems under disaster conditions, shape and characteristics of robots and TRL, PackBot, Pelican, Quince, scope camera, and three-dimensional map made by Quince are illustrated. (S.Y.)

  4. Development of robotic plasma radiochemical assays for positron emission tomography

    International Nuclear Information System (INIS)

    Alexoff, D.L.; Shea, C.; Fowler, J.S.; Gatley, S.J.; Schlyer, D.J.

    1995-01-01

    A commercial laboratory robot system (Zymate PyTechnology II Laboratory Automation System; Zymark Corporation, Hopkinton, MA) was interfaced to standard and custom laboratory equipment and programmed to perform rapid radiochemical analyses for quantitative PET studies. A Zymark XP robot arm was used to carry out the determination of unchanged (parent) radiotracer in plasma using only solid phase extraction methods. Robotic throughput for the assay of parent radiotracer in plasma is 4--6 samples/hour depending on the radiotracer. Robotic assays of parent compound in plasma were validated for the radiotracers [ 11 C]Benztropine, [ 11 C]cocaine, [ 11 C]clorgyline, [ 11 C]deprenyl, [ 11 C]methadone, [ 11 C]methylphenidate, [ 11 C]raclorpride, and [ 11 C]SR46349B. A simple robot-assisted methods development strategy has been implemented to facilitate the automation of plasma assays of new radiotracers

  5. EHD as sensor fabrication technology for robotic skins

    Science.gov (United States)

    Shin, Jeongsik; Lee, Woo Ho; Nothnagle, Caleb; Wijesundara, Muthu B. J.

    2014-06-01

    Human-robot interaction can be made more sophisticated and intuitive if the entire body of a robot is covered with multimodal sensors embedded in artificial skin. In order to efficiently interact with humans in unstructured environments, robotic skin may require sensors such as touch, impact, and proximity. Integration of various types of sensors into robotic skin is challenging due to the topographical nature of skin. Printing is a promising technology that can be explored for sensor integration as it may allow both sensors and interconnects to be directly printed into the skin. We are developing Electrohydrodynamic (EHD) inkjet printing technology in order to co-fabricate various devices onto a single substrate. Using strong applied electrostatic forces, EHD allows the printing of microscale features from a wide array of materials with viscosities ranging from 100 to 1000cP, highly beneficial for multilateral integration. Thus far we have demonstrated EHD's capability at printing patterns of Poly(2,3-dihydrothieno-1,4-dioxin)-poly(styrenesulfonate) for pressure sensor applications, generating patterns with modified commercial photoresist for mask-less lithography, and obtaining ZnO microstructures for direct device printing. Printed geometries range from a few tens of microns to millimeters. We have used inks with viscosities ranging from 230 to 520cp and from non-conductive to 135μS/cm. These results clearly show that the EHD is a promising multi-material printing platform and would be an enabling technology that can be used to co-fabricate various devices into robotic skin.

  6. A human-oriented framework for developing assistive service robots.

    Science.gov (United States)

    McGinn, Conor; Cullinan, Michael F; Culleton, Mark; Kelly, Kevin

    2018-04-01

    Multipurpose robots that can perform a range of useful tasks have the potential to increase the quality of life for many people living with disabilities. Owing to factors such as high system complexity, as-yet unresolved research questions and current technology limitations, there is a need for effective strategies to coordinate the development process. Integrating established methodologies based on human-centred design and universal design, a framework was formulated to coordinate the robot design process over successive iterations of prototype development. An account is given of how the framework was practically applied to the problem of developing a personal service robot. Application of the framework led to the formation of several design goals which addressed a wide range of identified user needs. The resultant prototype solution, which consisted of several component elements, succeeded in demonstrating the performance stipulated by all of the proposed metrics. Application of the framework resulted in the development of a complex prototype that addressed many aspects of the functional and usability requirements of a personal service robot. Following the process led to several important insights which directly benefit the development of subsequent prototypes. Implications for Rehabilitation This research shows how universal design might be used to formulate usability requirements for assistive service robots. A framework is presented that guides the process of designing service robots in a human-centred way. Through practical application of the framework, a prototype robot system that addressed a range of identified user needs was developed.

  7. Research on the attitude detection technology of the tetrahedron robot

    Science.gov (United States)

    Gong, Hao; Chen, Keshan; Ren, Wenqiang; Cai, Xin

    2017-10-01

    The traditional attitude detection technology can't tackle the problem of attitude detection of the polyhedral robot. Thus we propose a novel algorithm of multi-sensor data fusion which is based on Kalman filter. In the algorithm a tetrahedron robot is investigated. We devise an attitude detection system for the polyhedral robot and conduct the verification of data fusion algorithm. It turns out that the minimal attitude detection system we devise could capture attitudes of the tetrahedral robot in different working conditions. Thus the Kinematics model we establish for the tetrahedron robot is correct and the feasibility of the attitude detection system is proven.

  8. [Robotic and systems technology for advanced endoscopic procedures].

    Science.gov (United States)

    Arezzo, A; Testa, T; Schurr, M O; Buess, G F; De Gregori, M

    2001-01-01

    The advent of endoscopic techniques changed surgery in many regards. This paper intends to describe an overview about technologies to facilitate endoscopic surgery. The systems described have been developed for the use in general surgery, but an easy application also in other fields of endoscopic surgery seems realistic. The introduction of system technology and robotic technology enables today to design a highly ergonomic solo-surgery platform. This consists of a system of devices for endoscopic surgery (HF, light source, etc...) with which the surgeon interacts directly, positioning systems for optic and instruments that the surgeon drives as the likes without assistance, and a chair to increase the comfort of the surgeon during surgery. The system of endoscopic devices named OREST (Dornier, München) designed already in 1992 opened the way to a number of systems available today that allow to the surgeon a direct control of the instrumentation. A considerable step ahead in endoscopic technology is the introduction of robotic technology to design assisting systems for solo-surgery and microsurgical instrument manipulators. Results of a number of experimental trials on combinations of different positioning devices are presented and commented. A further step in the employment of robotic technology is the design of "master-slave manipulators" to provide the surgeon with additional degrees of freedom of instrumentation. In 1996 a first prototype of an endoscopic manipulator system, named ARTEMIS, designed in cooperation with the Research Center in Karlsruhe, could be used in experimental applications. Clinical use of the system, however, will require further development of the arm mechanics and the control system. The combination with the implementation of telecommunication technology will open new frontiers, such as teleconsulting, teleassistance and telemanipulation.

  9. Development of a Cognitive Robotic System for Simple Surgical Tasks

    Directory of Open Access Journals (Sweden)

    Riccardo Muradore

    2015-04-01

    Full Text Available The introduction of robotic surgery within the operating rooms has significantly improved the quality of many surgical procedures. Recently, the research on medical robotic systems focused on increasing the level of autonomy in order to give them the possibility to carry out simple surgical actions autonomously. This paper reports on the development of technologies for introducing automation within the surgical workflow. The results have been obtained during the ongoing FP7 European funded project Intelligent Surgical Robotics (I-SUR. The main goal of the project is to demonstrate that autonomous robotic surgical systems can carry out simple surgical tasks effectively and without major intervention by surgeons. To fulfil this goal, we have developed innovative solutions (both in terms of technologies and algorithms for the following aspects: fabrication of soft organ models starting from CT images, surgical planning and execution of movement of robot arms in contact with a deformable environment, designing a surgical interface minimizing the cognitive load of the surgeon supervising the actions, intra-operative sensing and reasoning to detect normal transitions and unexpected events. All these technologies have been integrated using a component-based software architecture to control a novel robot designed to perform the surgical actions under study. In this work we provide an overview of our system and report on preliminary results of the automatic execution of needle insertion for the cryoablation of kidney tumours.

  10. The development of robot art

    DEFF Research Database (Denmark)

    Pagliarini, Luigi; Lund, Henrik Hautop

    2009-01-01

    Going through a few examples of robot artists who are recognized worldwide, we try to analyze the deepest meaning of what is called “robot art” and the related art field definition. We also try to highlight its well-marked borders, such as kinetic sculptures, kinetic art, cyber art, and cyberpunk...... that might classify robot art as a unique and innovative discipline, and to track down some of the principles by which a robotic artifact can or cannot be considered an art piece in terms of social, cultural, and strictly artistic interest....

  11. Multidisciplinary approach for developing a new robotic system for domiciliary assistance to elderly people.

    Science.gov (United States)

    Cavallo, F; Aquilano, M; Bonaccorsi, M; Mannari, I; Carrozza, M C; Dario, P

    2011-01-01

    This paper aims to show the effectiveness of a (inter / multi)disciplinary team, based on the technology developers, elderly care organizations, and designers, in developing the ASTRO robotic system for domiciliary assistance to elderly people. The main issues presented in this work concern the improvement of robot's behavior by means of a smart sensor network able to share information with the robot for localization and navigation, and the design of the robot's appearance and functionalities by means of a substantial analysis of users' requirements and attitude to robotic technology to improve acceptability and usability.

  12. En-Vac Robotic Wall Scabbler. Innovative Technology Summary Report

    International Nuclear Information System (INIS)

    2001-01-01

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

  13. 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...

  14. 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...

  15. Robotics: A Bridge for Education and Technology.

    Science.gov (United States)

    Warnat, Winifred I.

    Robotics (robot usage) is discussed from a historical perspective with regard to its role in employment and education. Part 1 examines the transition from an industrial to an information society and speculates what the future might hold, particularly in terms of employment. Part 2 gives a historical overview of the robotics industry and discusses…

  16. Futurism in nursing: Technology, robotics and the fundamentals of care.

    Science.gov (United States)

    Archibald, Mandy M; Barnard, Alan

    2017-09-21

    To explore the concept of futurism and the emergence of robotics in relation to the fundamentals of care, highlighting how nurses need a more anticipatory and contemporary position towards technology to maintain relevance in the future. The future of nursing in Western countries will soon be linked with the emergence of robotics for efficient and cost-effective provision of fundamental care. Their emergence and roles with care of the body and more broadly assisting people with their daily living activities has enormous implications for the profession and health care. Despite this importance, how nursing understands and will respond to technological trends and developments is insufficiently reflected in the professions discourse. A discursive article. Literature from nursing fundamentals of care/fundamental care, information science, technology, humanities and philosophy informed the arguments in this article. This article examines the intersection of futurism and the fundamentals of care, and how adopting an anticipatory and posthuman perspective towards technological-care integration is necessary amidst a robot revolution in the techno-era. Nurses are currently challenged to understand, prioritise and deliver fundamental care. Health systems are challenged by a lack of care predicated by shortfalls in skilled staff and deficiencies in staff mobilisation. Both challenges can be compounded or alleviated by further integration of technology, but to maximise benefit requires forethought and understanding. This article can help open needed dialogue around planning for the future and is a call to action for the nursing profession to conceptualise its position on exponential technological growth and fundamental care provision. © 2017 John Wiley & Sons Ltd.

  17. Indigenous robotics technology in nuclear industries (Paper No. 039)

    International Nuclear Information System (INIS)

    Challappa, S.; Guha, S.

    1987-02-01

    Robots are essential for material handling, stripping, fitting, welding and other operations in a hazardous environment as exits in nuclear industries. Adoptivity of the equipment to environment to carry out remote activity, accuracy of the performance and quality are the primordial considerations for selection of such types of robots. The essential features of a typical robot are described in this paper. As a first step towards development of such a robot, a six-axis multipurpose robot developed in Central Workshops, Bhabha Atomic Research Centre, is also described in this paper. (author). 2 figs

  18. Robot technology and numbers in the classroom

    DEFF Research Database (Denmark)

    Majgaard, Gunver; Nielsen, Jacob; Misfeldt, Morten

    2010-01-01

    This paper explores how a cubic user-configurable modular robotic system can be used to support learning about numbers and how they are pronounced. The development is done in collaboration with a class of 7-8 year old children and their mathematics teacher. The tool is called Speakmath and it com......This paper explores how a cubic user-configurable modular robotic system can be used to support learning about numbers and how they are pronounced. The development is done in collaboration with a class of 7-8 year old children and their mathematics teacher. The tool is called Speakmath...... and it combines physical interaction, learning, and immediate feedback. Speakmath supports the children’s understanding of place value in the sense that it allows them to experiment and create large numbers. Surprisingly the children found it very fun to express very large numbers, and also made smalls contests...... about who could build the largest number. This made a close tie between learning goals, game play, and the core of Speakmath....

  19. Acceptability of robotic technology in neuro-rehabilitation: preliminary results on chronic stroke patients.

    Science.gov (United States)

    Mazzoleni, Stefano; Turchetti, Giuseppe; Palla, Ilaria; Posteraro, Federico; Dario, Paolo

    2014-09-01

    During the last decade, different robotic devices have been developed for motor rehabilitation of stroke survivors. These devices have been shown to improve motor impairment and contribute to the understanding of mechanisms underlying motor recovery after a stroke. The assessment of the robotic technology for rehabilitation assumes great importance. The aim of this study is to present preliminary results on the assessment of the acceptability of the robotic technology for rehabilitation on a group of thirty-four chronic stroke patients. The results from questionnaires on the patients' acceptability of two different robot-assisted rehabilitation scenarios show that the robotic approach was well accepted and tolerated by the patients. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

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

    Directory of Open Access Journals (Sweden)

    HRH Patel

    2009-09-01

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

  1. Robotics program development: Applicable lessons learned from TMI-2

    International Nuclear Information System (INIS)

    Schwartz, F.L.

    1989-09-01

    The nuclear industry is becoming increasingly aware of the benefits that can result from the use of robotics technology to augment plant maintenance and monitoring programs. This awareness is growing as a result of various utility successes in deploying robotics tools and realizing benefits to plant operations. These benefits include: (1) reducing occupational exposure risks associated with performing tasks in high radiation zones; (2) reducing fatigue associated with physically demanding tasks; and (3) minimizing human error associated with repetitive tasks. This EPRI-sponsored report addresses the programmatic issues faced by GPU Nuclear in developing a program that extensively employed robotics and remotely controlled equipment. Many of the lessons learned can be applied to an operating plant. This report has been prepared to present generally applicable experiences that a utility may wish to consider when developing a robotics program. Issues addressed within this report can serve as a preliminary guide to: (1) establishing equipment requirements; (2) preparing personnel to implement a robotics program; and (3) determining the impacts on the administrative aspects of operations related to procedures, licensing, and reliability. The Three Mile Island Unit 2 accident created a unique situation within industry; i.e., remotely controlled equipment provided the only viable option for accomplishing a number of recovery tasks. This impetus accelerated the development of practical robotics tooling for specific tasks. 16 refs., 35 figs., 2 tabs

  2. Robots as objects-to-develop-with

    Directory of Open Access Journals (Sweden)

    Alessandro Pollini

    2006-01-01

    Full Text Available Studio dell’impiego di artefatti robotici nella pratica psicomotoria, esplorando l’approccio ai robot come “objects-to-develop-with”. Viene presentato un’esperienza sperimentale.

  3. Redefining robot based technologies for elderly people assistance: a survey

    DEFF Research Database (Denmark)

    Pagliarini, Luigi; Lund, Henrik Hautop

    2016-01-01

    , for their relative assistance personnel. Indeed, while in rehabilitation robotics, a major role is played by the human-machine interface (HMI) used to gather the patient's intent from biological signals, and convert them into control signals for the robotic artefacts, surprisingly, decades of research have not yet...... declared what the optimal HMI is in this context [1]. Further, there is an urgent need to clarify how various technologies can be a goal or an approach for preventive, rehabilitative and assistive interaction. Therefore, we try to make a first step towards a redefinition of Robotics Assistive Technology.......We analyse the state of the art of hi-tech and robot based technologies in terms of Assistive Technology for all patients and, in particular, elderly people assistance and everyday activities aid. We focus on different aspects and characteristics of these tools, such as playfulness, invasiveness...

  4. Model Driven Software Development for Agricultural Robotics

    DEFF Research Database (Denmark)

    Larsen, Morten

    processing, control engineering, etc. This thesis proposes a Model-Driven Software Develop- ment based approach to model, analyse and partially generate the software implementation of a agricultural robot. Furthermore, Guidelines for mod- elling the architecture of an agricultural robots are provided......The design and development of agricultural robots, consists of both mechan- ical, electrical and software components. All these components must be de- signed and combined such that the overall goal of the robot is fulfilled. The design and development of these systems require collaboration between...... mul- tiple engineering disciplines. To this end, architectural specifications can serve as means for communication between different engineering disciplines. Such specifications aid in establishing the interface between the different com- ponents, belonging to different domains such as image...

  5. Robotics for radioactive waste management in AEA technology facilities

    International Nuclear Information System (INIS)

    Legg, S.A.; Watson, C.J.H.; Staples, A.

    1992-01-01

    This paper describes the use of robotic technology in two AEA Technology facilities. In the first application, the task is standardized and repetitive, and is undertaken using a conventional industrial robot, operating in teach-and-repeat mode. In the second application, the task is non-repetitive, and requires the use of a variety of different tools. it is therefore undertaken by a nuclear engineered telerobot, with a tool change station

  6. ROBOT-ASSISTED SURGERY AND ROBOTS EXOSKELETONS FOR REHABILITATION: WORLD TECHNOLOGICAL LEADERS AND PERSPECTIVES OF RUSSIA

    Directory of Open Access Journals (Sweden)

    O. V. Cherchenko

    2015-01-01

    Full Text Available There was analysed the publication and patent activity with regard to two actively developing areas in the field of medical robototronics: robots-exoskeletons for rehabilitation of people with muscoloskeletal disorders and robot-assisted surgery. There was identified discrepancy in the structure of global and national publication and patent flows. There were revealed disadvantages of foreign innovations on robot-assisted surgery, which create prerequisites for promoting import-substituting innovations of domestic engineers. 

  7. Development of technology for creating intelligent control systems for power plants and propulsion systems for marine robotic systems

    Science.gov (United States)

    Iakovleva, E. V.; Momot, B. A.

    2017-10-01

    The object of this study is to develop a power plant and an electric propulsion control system for autonomous remotely controlled vessels. The tasks of the study are as follows: to assess remotely controlled vessels usage reasonability, to define the requirements for this type of vessel navigation. In addition, the paper presents the analysis of technical diagnostics systems. The developed electric propulsion control systems for vessels should provide improved reliability and efficiency of the propulsion complex to ensure the profitability of remotely controlled vessels.

  8. Achievement report on research and development of medical and welfare equipment technology. Meal delivery robot for carrying food trays to aged and disabled persons; Iryo fukushi kiki gijutsu kenkyu kaihatsu seika hokokusho. Koreisha shogaishayo shokuji hanso jido robot system

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-11-01

    Research and development of a mobile robot is carried out, who steers the meal distribution wagon, serves the meal at the bedside of aged or disabled people, retrieves the dishes when the meal is over, and then carry them back. The conditions discussed in the study for the robot to simultaneously satisfy are mentioned below. It should be of the size and weight fit for the job, avoid obstacles while travelling automatically and safely, behave at a safe and proper rate not jeopardizing the patient during the feeding process, communicate with the patient through picture and voice, and capable of acting without causing people to find in it anything overbearing or wrongful. The project began with the concept design process, which was followed by the basic design process, tentative manufacture of parts, tentative manufacture of components, and finally the construction of the whole. The developed robot system, after passing functional tests conducted in a mockup facility, experiences some period of tentative employment at three medical and welfare facilities. It is then confirmed that it safely performs a series of acts including meal serving and dish retrieving and that it is excellent in terms of autonomous self-control, safety, friendliness, and work efficiency. (NEDO)

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

    Science.gov (United States)

    Nakadate, Ryu; Arata, Jumpei; Hashizume, Makoto

    2015-02-01

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

  10. Laboratory robotics projects in the Analytical Development Division at the Savannah River Laboratory

    International Nuclear Information System (INIS)

    Lien, O.G.; Steele, A.W.

    1986-01-01

    To encourage the application of robotics technology for routine radiobench applications, a laboratory dedicated to the research and development of contained robotic systems is being constructed. The facility will have several robots located in laminar flow hoods, and the hoods are being designed to allow the possibility for multiple robots to work together. This paper presents both the design features of the hoods and the general layout of the laboratory, and also discusses an application of a robotic system for the routine nuclear counting of gamma tube samples. The gamma tube system is presently operating in one of the routine analysis laboratories. 5 figs

  11. Trend on research and development of maintenance robot for nuclear power station

    International Nuclear Information System (INIS)

    Hamada, Shoichi

    1990-01-01

    The expectations for nuclear power supply will increase more and more in future. In the field of maintenance, a robot was introduced in the early stages effecting the decrease of personal exposure, shortening of plantoutage, etc., which has significantly contributed to the stable power generation by nuclear power stations. Recently, a robot is expected to handle new applications for man-like maintenance work, too. The research and development for realization of robots having high-grade specified functions or multi-purpose is now being proceeded. This paper presents the recent situation of robots and the tendency of studies on advanced basic technology of robotics. (author)

  12. Development of the robot system to assist CT-guided brain surgery

    International Nuclear Information System (INIS)

    Koyama, H.; Funakubo, H.; Komeda, T.; Uchida, T.; Takakura, K.

    1999-01-01

    The robot technology was introduced into the stereotactic neurosurgery for application to biopsy, blind surgery, and functional neurosurgery. The authors have developed a newly designed the robot system to assist CT-guided brain surgery, designed to allow a biopsy needle to reach the targget such as a cerebral tumor within a brain automatically on the basis of the X,Y, and Z coordinates obtained by CT scanner. In this paper we describe construction of the robot, the control of the robot by CT image, robot simulation, and investigated a phantom experiment using CT image. (author)

  13. Robotics-Control Technology. Technology Learning Activity. Teacher Edition. Technology Education Series.

    Science.gov (United States)

    Oklahoma State Dept. of Vocational and Technical Education, Stillwater. Curriculum and Instructional Materials Center.

    This document contains the materials required for presenting an 8-day competency-based technology learning activity (TLA) designed to introduce students in grades 6-10 to advances and career opportunities in the field of robotics-control technology. The guide uses hands-on exploratory experiences into which activities to help students develop…

  14. Recommendations for cask features for robotic handling from the Advanced Handling Technology Project

    International Nuclear Information System (INIS)

    Drotning, W.

    1991-02-01

    This report describes the current status and recent progress in the Advanced Handling Technology Project (AHTP) initiated to explore the use of advanced robotic systems and handling technologies to perform automated cask handling operations at radioactive waste handling facilities, and to provide guidance to cask designers on the impact of robotic handling on cask design. Current AHTP tasks have developed system mock-ups to investigate robotic manipulation of impact limiters and cask tiedowns. In addition, cask uprighting and transport, using computer control of a bridge crane and robot, were performed to demonstrate the high speed cask transport operation possible under computer control. All of the current AHTP tasks involving manipulation of impact limiters and tiedowns require robotic operations using a torque wrench. To perform these operations, a pneumatic torque wrench and control system were integrated into the tool suite and control architecture of the gantry robot. The use of captured fasteners is briefly discussed as an area where alternative cask design preferences have resulted from the influence of guidance for robotic handling vs traditional operations experience. Specific robotic handling experiences with these system mock-ups highlight a number of continually recurring design principles: (1) robotic handling feasibility is improved by mechanical designs which emphasize operation with limited dexterity in constrained workspaces; (2) clearances, tolerances, and chamfers must allow for operations under actual conditions with consideration for misalignment and imprecise fixturing; (3) successful robotic handling is enhanced by including design detail in representations for model-based control; (4) robotic handling and overall quality assurance are improved by designs which eliminate the use of loose, disassembled parts. 8 refs., 15 figs

  15. Development of Mine Detection Robot System

    Directory of Open Access Journals (Sweden)

    Yuichi Satsumi

    2008-11-01

    Full Text Available The Mine Detection Robot supports the mine removal work in countries where mines are buried, such as Afghanistan. The development started from September, 2003. Considering running on rough terrains, the robot has four crawlers, and hydraulic motors in front and rear were serially connected by piping so that they could rotate synchronously. Two work arms were mounted on the robot, one was a horizontal multi-joint SCARA type with motorized 2-link arm, while the other was a vertical multi-joint manipulator with 6 degrees of freedom. Also, domestic evaluation tests were carried out from February to March, 2005, followed by overseas validation tests in Croatia from February to March, 2006. These tests were conducted with a mine detecting senor mounted on the Robot, and the detection performance was evaluated by its mine detection rate.

  16. Development of Mine Detection Robot System

    Directory of Open Access Journals (Sweden)

    Hajime Aoyama

    2007-06-01

    Full Text Available The Mine Detection Robot supports the mine removal work in countries where mines are buried, such as Afghanistan. The development started from September, 2003. Considering running on rough terrains, the robot has four crawlers, and hydraulic motors in front and rear were serially connected by piping so that they could rotate synchronously. Two work arms were mounted on the robot, one was a horizontal multi-joint SCARA type with motorized 2-link arm, while the other was a vertical multi-joint manipulator with 6 degrees of freedom. Also, domestic evaluation tests were carried out from February to March, 2005, followed by overseas validation tests in Croatia from February to March, 2006. These tests were conducted with a mine detecting senor mounted on the Robot, and the detection performance was evaluated by its mine detection rate.

  17. Development of a Modular Robotic Platform

    Directory of Open Access Journals (Sweden)

    Claudiu Ioan Cirebea

    2014-12-01

    Full Text Available In this paper a modular robotic platform is presented, for students and researchers laboratory work based on the Matlab-Simulink and dSpace real time control platform. The goal of this combination is to stimulate and to experiment with real time hardware and software in courses where mobile robotics is adopted as a motivating platform to introduce mechatronics competencies. Its many possibilities for modifications and extensions make experiments very easy. We used, for example, an omnidirectional mobile robot configuration with three Swedish wheels, whose kinematic model was simulated using Simulink. For real-time control, of the robot, the developed model has been implemented using DSpace platform DS1103.

  18. Design and development of a hand robotic rehabilitation device for post stroke patients.

    Science.gov (United States)

    Rashedi, E; Mirbagheri, A; Taheri, B; Farahmand, F; Vossoughi, G R; Parnianpour, M

    2009-01-01

    Robot-mediated rehabilitation is a rapidly advancing discipline that seeks to develop improved treatment procedures using new technologies, e.g., robotics, coupled with modern theories in neuroscience and rehabilitation. A robotic device was designed and developed for rehabilitation of upper limbs of post stroke patients. A novel force feedback bimanual working mode provided real-time dynamic sensation of the paretic hand. Results of the preliminary clinical tests revealed a quantitative evaluation of the patient's level of paresis and disability.

  19. Enhancement of Online Robotics Learning Using Real-Time 3D Visualization Technology

    Directory of Open Access Journals (Sweden)

    Richard Chiou

    2010-06-01

    Full Text Available This paper discusses a real-time e-Lab Learning system based on the integration of 3D visualization technology with a remote robotic laboratory. With the emergence and development of the Internet field, online learning is proving to play a significant role in the upcoming era. In an effort to enhance Internet-based learning of robotics and keep up with the rapid progression of technology, a 3- Dimensional scheme of viewing the robotic laboratory has been introduced in addition to the remote controlling of the robots. The uniqueness of the project lies in making this process Internet-based, and remote robot operated and visualized in 3D. This 3D system approach provides the students with a more realistic feel of the 3D robotic laboratory even though they are working remotely. As a result, the 3D visualization technology has been tested as part of a laboratory in the MET 205 Robotics and Mechatronics class and has received positive feedback by most of the students. This type of research has introduced a new level of realism and visual communications to online laboratory learning in a remote classroom.

  20. Applications of Evolving Robotic Technology for Head and Neck Surgery.

    Science.gov (United States)

    Sharma, Arun; Albergotti, W Greer; Duvvuri, Umamaheswar

    2016-03-01

    Assess the use and potential benefits of a new robotic system for transoral radical tonsillectomy, transoral supraglottic laryngectomy, and retroauricular thyroidectomy in a cadaver dissection. Three previously described robotic procedures (transoral radical tonsillectomy, transoral supraglottic laryngectomy, and retroauricular thyroidectomy) were performed in a cadaver using the da Vinci Xi Surgical System. Surgical exposure and access, operative time, and number of collisions were examined objectively. The new robotic system was used to perform transoral radical tonsillectomy with dissection and preservation of glossopharyngeal nerve branches, transoral supraglottic laryngectomy, and retroauricular thyroidectomy. There was excellent exposure without any difficulties in access. Robotic operative times (excluding set-up and docking times) for the 3 procedures in the cadaver were 12.7, 14.3, and 21.2 minutes (excluding retroauricular incision and subplatysmal elevation), respectively. No robotic arm collisions were noted during these 3 procedures. The retroauricular thyroidectomy was performed using 4 robotic ports, each with 8 mm instruments. The use of updated and evolving robotic technology improves the ease of previously described robotic head and neck procedures and may allow surgeons to perform increasingly complex surgeries. © The Author(s) 2015.

  1. Development of underwater YAG laser repair welding robots for tanks

    International Nuclear Information System (INIS)

    Miwa, Yasuhiro; Satoh, Syuichi; Ito, Kosuke; Kochi, Tsutomu; Kojima, Toshio; Ohwaki, Katsura; Morita, Ichiro

    1999-01-01

    A remote-controlled repair welding robot which uses YAG laser welding technology in underwater environment was developed. This is an underwater robot technology combined with a laser welding technology. This report will describe the structure and performance of this robot, and the welding test results. The repair welding robot consists of two parts. The one is driving equipment, and the other is welding unit. It can swim in the tank, move around the tank wall, and stay on the welding area. After that it starts YAG laser repair welding. The target of this technology is inner surface repair of some tanks made of austenitic stainless steel, for example RW (Radioactive Waste) tanks. A degradation by General Corrosion and so on might be occurred at inner surface of these tanks in BWR type nuclear power plants. If the damaged area is wide, repair welding works are done. Some workers go into the tank and set up scaffolding after full drainage. In many cases it spends too much time for draining water and repair welding preparation. If the repair welding works can be done in underwater environment, the outage period will be reduced. This is a great advantage. (author)

  2. Robotic control architecture development for automated nuclear material handling systems

    International Nuclear Information System (INIS)

    Merrill, R.D.; Hurd, R.; Couture, S.; Wilhelmsen, K.

    1995-02-01

    Lawrence Livermore National Laboratory (LLNL) is engaged in developing automated systems for handling materials for mixed waste treatment, nuclear pyrochemical processing, and weapon components disassembly. In support of these application areas there is an extensive robotic development program. This paper will describe the portion of this effort at LLNL devoted to control system architecture development, and review two applications currently being implemented which incorporate these technologies

  3. Robotic control architecture development for automated nuclear material handling systems

    Energy Technology Data Exchange (ETDEWEB)

    Merrill, R.D.; Hurd, R.; Couture, S.; Wilhelmsen, K.

    1995-02-01

    Lawrence Livermore National Laboratory (LLNL) is engaged in developing automated systems for handling materials for mixed waste treatment, nuclear pyrochemical processing, and weapon components disassembly. In support of these application areas there is an extensive robotic development program. This paper will describe the portion of this effort at LLNL devoted to control system architecture development, and review two applications currently being implemented which incorporate these technologies.

  4. Applying commercial robotic technology to radioactive material processing

    International Nuclear Information System (INIS)

    Grasz, E.L.; Sievers, R.H. Jr.

    1990-11-01

    The development of robotic systems for glove box process automation is motivated by the need to reduce operator radiation dosage, minimize the generation of process waste, and to improve the security of nuclear materials. Commercial robotic systems are available with the required capabilities but are not compatible with a glove box environment. Alpha radiation, concentrated dust, a dry atmosphere and restricted work space result in the need for unique adaptations to commercial robotics. Implementation of these adaptations to commercial robotics require performance trade-offs. A design and development effort has been initiated to evaluate the feasibility of using a commercial overhead gantry robot for glove box processing. This paper will present the initial results and observations for this development effort. 1 ref

  5. Current state-of-the-art and future perspectives of robotic technology in neurosurgery.

    Science.gov (United States)

    Mattei, Tobias A; Rodriguez, Abraham Hafiz; Sambhara, Deepak; Mendel, Ehud

    2014-07-01

    Neurosurgery is one of the most demanding surgical specialties in terms of precision requirements and surgical field limitations. Recent advancements in robotic technology have generated the possibility of incorporating advanced technological tools to the neurosurgical operating room. Although previous studies have addressed the specific details of new robotic systems, there is very little literature on the strengths and drawbacks of past attempts, currently available platforms and prototypes in development. In this review, the authors present a critical historical analysis of the development of robotic technology in neurosurgery as well as a comprehensive summary of the currently available systems that can be expected to be incorporated to the neurosurgical armamentarium in the near future. Finally, the authors present a critical analysis of the main technical challenges in robotic technology development at the present time (such as the design of improved systems for haptic feedback and the necessity of incorporating intraoperative imaging data) as well as the benefits which robotic technology is expected to bring to specific neurosurgical subspecialties in the near future.

  6. A study on remote handling technology using gantry robot manipulator

    International Nuclear Information System (INIS)

    Park, B. S.; An, S. H.; Lee, J. R.; Kim, S. H.; Lee, I. S.; Yoon, J. S.

    2000-01-01

    The Spent Fuel Disassembling Process Mockup(SFDPM) test facility is used for developing and testing a mechanical head end process of spent fuel, by using the PWR fuel assembly mockup. In the SFDPM test facility various equipment are installed including a rod extraction, cutting, decladding device, and a skeleton compaction device. The head end process of spent fuel assembly is used for the process of the spent fuel reuse and also, used for the interim storage process. In the SFDPM, the remote handling and control technology is developed and tested to establish the head end process. A robot manipulator is attached to the telescopic tube installed at the trolley which is movable into X and Y direction. The manipulator is used for remotely handling and transporting fuel rods, bottom nozzles, and skeletons, etc. Also, it is used for remotely cutting guide tubes in order to remove top nozzle. This paper shows the experimental results of remote handling in the SFDPM

  7. Soft-robotic arm inspired by the octopus: II. From artificial requirements to innovative technological solutions.

    Science.gov (United States)

    Mazzolai, B; Margheri, L; Cianchetti, M; Dario, P; Laschi, C

    2012-06-01

    Soft robotics is a current focus in robotics research because of the expected capability of soft robots to better interact with real-world environments. As a point of inspiration in the development of innovative technologies in soft robotics, octopuses are particularly interesting 'animal models'. Octopus arms have unique biomechanical capabilities that combine significant pliability with the ability to exert a great deal of force, because they lack rigid structures but can change and control their degree of stiffness. The octopus arm motor capability is a result of the peculiar arrangement of its muscles and the properties of its tissues. These special abilities have been investigated by the authors in a specific study dedicated to identifying the key principles underlying these biological functions and deriving engineering requirements for robotics solutions. This paper, which is the second in a two-part series, presents how the identified requirements can be used to create innovative technological solutions, such as soft materials, mechanisms and actuators. Experiments indicate the ability of these proposed solutions to ensure the same performance as in the biological model in terms of compliance, elongation and force. These results represent useful and relevant components of innovative soft-robotic systems and suggest their potential use to create a new generation of highly dexterous, soft-bodied robots.

  8. Soft-robotic arm inspired by the octopus: II. From artificial requirements to innovative technological solutions

    International Nuclear Information System (INIS)

    Mazzolai, B; Margheri, L; Cianchetti, M; Dario, P; Laschi, C

    2012-01-01

    Soft robotics is a current focus in robotics research because of the expected capability of soft robots to better interact with real-world environments. As a point of inspiration in the development of innovative technologies in soft robotics, octopuses are particularly interesting ‘animal models’. Octopus arms have unique biomechanical capabilities that combine significant pliability with the ability to exert a great deal of force, because they lack rigid structures but can change and control their degree of stiffness. The octopus arm motor capability is a result of the peculiar arrangement of its muscles and the properties of its tissues. These special abilities have been investigated by the authors in a specific study dedicated to identifying the key principles underlying these biological functions and deriving engineering requirements for robotics solutions. This paper, which is the second in a two-part series, presents how the identified requirements can be used to create innovative technological solutions, such as soft materials, mechanisms and actuators. Experiments indicate the ability of these proposed solutions to ensure the same performance as in the biological model in terms of compliance, elongation and force. These results represent useful and relevant components of innovative soft-robotic systems and suggest their potential use to create a new generation of highly dexterous, soft-bodied robots. (paper)

  9. Problems in software development for nuclear robotics

    International Nuclear Information System (INIS)

    Shinohara, Yoshikuni

    1986-01-01

    Major technical problems in developing softwares for intelligent robots for future nuclear applications are explained briefly. In order that a robot can perform various kinds of complex works, it must be equipped with a high level of artificial intelligence which includes sensing functions such as visiual, auditory, tactile, proximity sensing, cognitive functions such as recognition of objects and understanding of working environment, decision-making functions such as work planning and control functions such as manipulator and locomotion controls. A large amount of various kinds of signals and informations must be processed with a high speed for an integrated control of these functions. It will be desirable that the computer program for controlling a robot which must run in a real-time will have a functionally hierarchical and distributed structure from the view point of software development. Parallel processing will be required from the view point of computation time. (author)

  10. Robotic and Sensor Technologies for Mobility in Older People.

    Science.gov (United States)

    Penteridis, Lazaros; D'Onofrio, Grazia; Sancarlo, Daniele; Giuliani, Francesco; Ricciardi, Francesco; Cavallo, Filippo; Greco, Antonio; Trochidis, Ilias; Gkiokas, Alexander

    2017-10-01

    Maintaining independent mobility is fundamental to independent living and to the quality of life of older people. Robotic and sensor technologies may offer a lot of potential and can make a significant difference in the lives of older people and to their primary caregivers. The aim of this study was to provide a presentation of the methods that are used up till now for analysis and evaluation of human mobility utilizing sensor technologies and to give the state of the art in robotic platforms for supporting older people with mobility limitations. The literature was reviewed and systematic reviews of cohort studies and other authoritative reports were identified. The selection criteria included (1) patients with age ≥60 years; (2) patients with unstable gait, with or without recurrent falls; (3) patients with slow movements, short strides, and little trunk movement; (4) sensor technologies that are currently used for mobility evaluation; and (5) robotic technologies that can serve as a supporting companion for older people with mobility limitations. One hundred eighty-one studies published up until February 2017 were identified, of which 36 were included. Two categories of research were identified from the review regarding the robot and sensor technologies: (1) sensor technologies for mobility analysis and (2) robots for supporting older people with mobility limitations. Potential for robotic and sensor technologies can be taken advantage of for evaluation and support at home for elder persons with mobility limitations in an automated way without the need of the physical presence of any medical personnel, reducing the stress of caregivers.

  11. Robotic Technology: An Assessment and Forecast,

    Science.gov (United States)

    1984-07-01

    competitiveness of this industry requires the . .. use of the most cost-effective manufacturing techniques available. Beyond cost-effectiveness, sheer ...It 4-1 (1983). Nagel* R., ’ Robots: Not Yet Smart Enough.’ IEEE Spectrum 20, 78 (1983). Schwartz. J. and Sharir, ’On the Piano Movers’ Problem: V. The

  12. Gearing up and accelerating cross-fertilization between academic and industrial robotics research in Europe technology transfer experiments from the ECHORD project

    CERN Document Server

    Veiga, Germano; Natale, Ciro

    2014-01-01

    This monograph by Florian Röhrbein, Germano Veiga and Ciro Natale is an edited collection of 15 authoritative contributions in the area of robot technology transfer between academia and industry. It comprises three parts on Future Industrial Robotics, Robotic Grasping as well as Human-Centered Robots. The book chapters cover almost all the topics nowadays considered ‘hot’ within the robotics community, from reliable object recognition to dexterous grasping, from speech recognition to intuitive robot programming, from mobile robot navigation to aerial robotics, from safe physical human-robot interaction to body extenders. All contributions stem from the results of ECHORD – the European Clearing House for Open Robotics Development, a large-scale integrating project funded by the European Commission within the 7th Framework Programme from 2009 to 2013. ECHORD’s two main pillars were the so-called experiments, 52 small-sized industry-driven research projects, and the structured dialog, a powerful interac...

  13. Gearing up and accelerating cross-fertilization between academic and industrial robotics research in Europe technology transfer experiments from the ECHORD project

    CERN Document Server

    Veiga, Germano; Natale, Ciro

    2014-01-01

    This monograph by Florian Röhrbein, Germano Veiga and Ciro Natale is an edited collection of 15 authoritative contributions in the area of robot technology transfer between academia and industry. It comprises three parts on Future Industrial Robotics, Robotic Grasping as well as Human-Centered Robots. The book chapters cover almost all the topics nowadays considered ‘hot’ within the robotics community, from reliable object recognition to dexterous grasping, from speech recognition to intuitive robot programming, from mobile robot navigation to aerial robotics, from safe physical human-robot interaction to body extenders. All contributions stem from the results of ECHORD – the European Clearing House for Open Robotics Development, a large-scale integrating project funded by the European Commission within the 7th Framework Programme from 2009 to 2013. ECHORD’s two main pillars were the so-called experiments, 51 small-sized industry-driven research projects, and the structured dialog, a powerful interac...

  14. Technological Dangers and the Potential of Human-Robot Interaction

    DEFF Research Database (Denmark)

    Nørskov, Marco

    2016-01-01

    The ethical debate on social robotics has become one of the cutting edge topics of our time. When it comes to both academic and non-academic debates, the methodological framework is, with few exceptions, typically and tacitly grounded in an us-versus-them perspective. It is as though we were...... technological dangers and opportunities. Finally, aiming for the very limits of the theory, I discuss the contours of a praxis facilitating being-with-robots beyond conceptualization. Basically, this mode of being, pertaining to non-technological HRI, bypasses Heidegger’s warnings, and potentially facilitates...

  15. Information technology convergence security, robotics, automations and communication

    CERN Document Server

    Barolli, Leonard; Xhafa, Fatos; Jeong, Hwa-Young

    2013-01-01

    Information technology and its convergence issue is emerging rapidly as an exciting new paradigm with user-centric environment to provide computing and communication services. This area will be the most comprehensive topics with various aspects of advances in information technology and its convergence services. This book covers all topics as computational science and applications, electronics engineering, manufacturing technology, services, technical skill to control the robot, automatic operation and application, simulation and testing communication and many more.

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

    International Nuclear Information System (INIS)

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

    1997-07-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-07-01

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

  18. Human Robotic Systems (HRS): National Robotics Initiative (NRI) & Robotics Technology Pipeline Element

    Data.gov (United States)

    National Aeronautics and Space Administration — During 2012, NASA funded 9 grants to research institutions and universities, after reviews by NSF panels and NASA robotics experts.  The 9 research grantees...

  19. Enabling technologies for the prassi autonomous robot

    Energy Technology Data Exchange (ETDEWEB)

    Taraglio, S.; Nanni, V. [ENEA, Robotics and Information Technology Division, Rome (Italy)

    2001-07-01

    In this book are summarised some of the results of the PRASSI project as presented by the different partners of the effort. PRASSI is an acronym which stands for Autonomous Robotic Platform for the Security and Surveillance of plants, the Italian for it is 'Piattaforma Robotica per la Sorveglianza e Sicurezza d'Impianto'. This project has been funded by the Italian Ministry for the Education, the University and the Research (MIUR) in the framework of the project High Performance Computing Applied to Robotics (Calcolo Parallelo con Applicazioni alla Robotica) of the law 95/1995. The idea behind such an initiative is that of fostering the knowledge and possibly the use of high performance computing in the research and industrial community. In other words, robotic scientists are always simplifying their algorithms or using particular approaches (e.g. soft computing) in order to use standard processors for difficult sensorial data processing; well, what if an embedded parallel computer were available, with at least one magnitude more of computing power?.

  20. Robotic Tactile Sensing Technologies and System

    CERN Document Server

    Dahiya, Ravinder S

    2013-01-01

    Future robots are expected to work closely and interact safely with real-world objects and humans alike. Sense of touch is important in this context, as it helps estimate properties such as shape, texture, hardness, material type and many more; provides action related information, such as slip detection; and helps carrying out actions such as rolling an object between fingers without dropping it. This book presents an in-depth description of the solutions available for gathering tactile data, obtaining aforementioned tactile information from the data and effectively using the same in various robotic tasks. Better integration of tactile sensors on a robot’s body is prerequisite for the effective utilization of tactile data. For this reason, the hardware, software and application related issues (and resulting trade-offs) that must be considered to make tactile sensing an effective component of robotic platforms are discussed in-depth.To this end, human touch sensing has also been explored. The design hints co...

  1. 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

  2. Integration of biotechnology, visualisation technology and robot technology for automated mass propagation af elite trees

    DEFF Research Database (Denmark)

    Find, Jens

    Somatic embryogenesis (SE) is one of the promisisng methods for integration of biotechnology into breeding and propagation of conifers. Especially because SE has some particular advantages for the development of cost effective methods for clonal mass propagation of elite trees: It is a very...... effective and fast method for clonal propagation. The method is suitable for automatisation and robot technology. The method is, for several plant species, the preferred basis for development of additional biotechnological breeding technologies as e.g. genetic transformation. Elite clones can be stored over...... extended periods in liquid nitrogen at -196°C However, commercial application of the technology has until now been hampered by two essential problems: The production costs per plant must be reduced. Labour costs are low in the early steps of the process whereas they increase dramatically during the later...

  3. Development of commercial robots for radwaste handling

    International Nuclear Information System (INIS)

    Colborn, K.A.

    1988-01-01

    The cost and dose burden associated with low level radwaste handling activities is a matter of increasing concern to the commercial nuclear power industry. This concern is evidenced by the fact that many utilities have begun to revaluate waste generation, handling, and disposal activities at their plants in an effort to improve their overall radwaste handling operations. This paper reports on the project Robots for Radwaste Handling, to identify the potential of robots to improve radwaste handling operations. The project has focussed on the potential of remote or automated technology to improve well defined, recognizable radwaste operations. The project focussed on repetitive, low skill level radwaste handling and decontamination tasks which involve significant radiation exposure

  4. Interdisciplinary technology assessment of service robots: the psychological/work science perspective.

    Science.gov (United States)

    Fischer, Martin

    2012-12-01

    The article sheds light on psychological and work science aspects of the design and utilization of service robots. An initial presentation of the characteristics of man-robot interaction is followed by a discussion of the principles of the division of functions between human beings and robots in service area work systems. The following aspects are to be considered: (1) the organisation of societal work (such as the different employment and professional profiles of service employees), (2) the work tasks to be performed by humans and robots (such as handling, monitoring or decision-making tasks), (3) the possibilities and the limitations of realizing such tasks by means of information technology (depending, for example, on the motoric capabilities, perception and cognition of the robot). Consideration of these three design perspectives gives rise to criteria of usability. Current debate focuses on the (work science) principles of man-machine communication, though in future these should be supplemented with robot-specific criteria such as "motoric capabilities" or "relationship quality." The article concludes by advocating the convergence and combination of work science criteria with ideas drawn from participative design approaches in the development and utilization of service robots.

  5. Development of a soft untethered robot using artificial muscle actuators

    Science.gov (United States)

    Cao, Jiawei; Qin, Lei; Lee, Heow Pueh; Zhu, Jian

    2017-04-01

    Soft robots have attracted much interest recently, due to their potential capability to work effectively in unstructured environment. Soft actuators are key components in soft robots. Dielectric elastomer actuators are one class of soft actuators, which can deform in response to voltage. Dielectric elastomer actuators exhibit interesting attributes including large voltage-induced deformation and high energy density. These attributes make dielectric elastomer actuators capable of functioning as artificial muscles for soft robots. It is significant to develop untethered robots, since connecting the cables to external power sources greatly limits the robots' functionalities, especially autonomous movements. In this paper we develop a soft untethered robot based on dielectric elastomer actuators. This robot mainly consists of a deformable robotic body and two paper-based feet. The robotic body is essentially a dielectric elastomer actuator, which can expand or shrink at voltage on or off. In addition, the two feet can achieve adhesion or detachment based on the mechanism of electroadhesion. In general, the entire robotic system can be controlled by electricity or voltage. By optimizing the mechanical design of the robot (the size and weight of electric circuits), we put all these components (such as batteries, voltage amplifiers, control circuits, etc.) onto the robotic feet, and the robot is capable of realizing autonomous movements. Experiments are conducted to study the robot's locomotion. Finite element method is employed to interpret the deformation of dielectric elastomer actuators, and the simulations are qualitatively consistent with the experimental observations.

  6. Present state of inspection robot technology in nuclear power facilities. Case of fast breeder reactors

    International Nuclear Information System (INIS)

    Ara, Kuniaki

    1995-01-01

    In the maintenance works in nuclear power facilities such as checkup, inspection and repair, for the main purpose of radiation protection, remote operation technology was introduced since relatively early stage, and at present, the robots that carry out the inspection works for confirming the soundness of main equipment have been developed and put to practical use. At the time of introducing these technologies, in addition to the research and development of robots proper, the coordination with the design of plant machinery and equipment facilities as the premise of introducing robots is an important requirement. In this report, the present state of the development of remote inspection technology for fast breeder reactors is introduced, and the matters to which attention is paid in the plant design for introducing robots are explained. First, fast breeder reactors are described. The needs of robotizing and adopting remote operation in nuclear power facilities are explained, using the examples of the inspection system for a reactor vessel and the inspection system for steam generator heat transfer tubes. (K.I.)

  7. Anesthesia for robotic cardiac surgery: An amalgam of technology and skill

    Directory of Open Access Journals (Sweden)

    Chauhan Sandeep

    2010-01-01

    Full Text Available The surgical procedures performed with robtic assitance and the scope for its future assistance is endless. To keep pace with the developing technologies in this field it is imperative for the cardiac anesthesiologists to have aworking knowledge of these systems, recognize potential complications and formulate an anesthetic plan to provide safe patient care. Challenges posed by the use of robotic systems include, long surgical times, problems with one lung anesthesia in presence of coronary artery disease, minimally invasive percutaneous cardiopulmonary bypass management and expertise in Trans-Esophageal Echocardiography. A long list of cardiac surgeries are performed with the use of robotic assistance, and the list is continuously growing as surgical innovation crosses new boundaries. Current research in robotic cardiac surgery like beating heart off pump intracardic repair, prototype epicardial crawling device, robotic fetal techniques etc. are in the stage of animal experimentation, but holds a lot of promise in future

  8. Feeding assistive robotics, socio-technological imaginaries and care

    DEFF Research Database (Denmark)

    Nickelsen, Niels Christian Mossfeldt

    The media and political/managerial levels focus on the opportunities to re-perform Denmark through digitization. Feeding assistive robotics is a welfare technology, relevant to citizens with low or no function in their arms. Despite national dissemination strategies, it proves difficult to recruit...

  9. Machine Vision Giving Eyes to Robots. Resources in Technology.

    Science.gov (United States)

    Technology Teacher, 1990

    1990-01-01

    This module introduces machine vision, which can be used for inspection, robot guidance and part sorting. The future for machine vision will include new technology and will bring vision systems closer to the ultimate vision processor, the human eye. Includes a student quiz, outcomes, and activities. (JOW)

  10. Socio-technological imaginaries, assistive robotics and transformation of care

    DEFF Research Database (Denmark)

    Nickelsen, Niels Christian Mossfeldt

    The media and political/managerial levels focus on the opportunities to re-perform Denmark through digitization. Feeding assistive robotics (FAR) is a welfare technology, relevant to citizens with no function in their arms. Despite national dissemination strategies, it proves difficult to recruit...

  11. Socio-technological imaginaries, assistive robotics and transformation of care

    DEFF Research Database (Denmark)

    Nickelsen, Niels Christian Mossfeldt; Simonsen Abildgaard, Johan

    2018-01-01

    The media and political/managerial levels focus on the opportunities to re-perform Denmark through digitization. Feeding assistive robotics (FAR) is a welfare technology, relevant to citizens with no function in their arms. Despite national dissemination strategies, it proves difficult to recruit...

  12. Long-reach articulated robots for inspection and mini-invasive interventions in hazardous environments: Recent robotics research, qualification testing, and tool developments

    International Nuclear Information System (INIS)

    Perrot, Yann; Kammerer, Nolwenn; Measson, Yvan; Verney, Alexandre; Gargiulo, Laurent; Houry, Michael; Keller, Delphine; Piolain, Gerard

    2012-01-01

    The Interactive Robotics Laboratory of CEA LIST is in charge of the development of remote handling technologies to meet energy industry requirements. This paper reports the research and development activities in advanced robotics systems for inspection or light intervention in hazardous environments with limited access such as blind hot cells in the nuclear industry or the thermonuclear experimental Tokamak fusion reactor. A long-reach carrier robot called the articulated inspection arm (AIA) and diagnostics and tools for inspection or intervention are described. Finally experimental field tests are presented and actual challenges in modeling the robot's flexibilities are discussed. (authors)

  13. Space Robotics: Current Status, Long-term Objectives, and Development Trends. Analytical Review

    Directory of Open Access Journals (Sweden)

    P. P. Belonozhko

    2016-01-01

    Full Text Available Prospects for space robotics concern both the development of used prototypes to extend the capabilities and the creation of new classes of systems, the operating analogues of which are, currently, unavailable. Thus, a uniqueness of the objects of space robotics, extreme operating conditions, difficulty in full-scale ground work and tests define a variety of design solutions and a wide scope of issues for further theoretical and experimental studies. The paper highlights the tasks successfully solved up to date, involving the space robotics equipment that was used in orbital environment, those of currently solved, involving the robotics equipment that is in use, and the long-term objectives, following from the logic of the space technology development to define the ways of its further development and require a development and creation of new equipment of space robotics. Thus, the development trends of space robotics are largely defined by its history of development, on the one hand, and by a growing demand for the robotic service as applied to the promising objects of space technology, on the other one. The paper considers the trends of space robotics development, which are a consequence of the natural logic of its development and are determined by a demand for advanced objects of space technology in robotic servicing. Highlights the most important elements of a design concept and the creating and operating features of the multipurpose extendable space systems, including those, which have no analogues and prototypes, are rolled into one demand for automation, and associated with their creation, operation, and problems of utilization. The concept of assembly and service autonomous robotic space modules has been under consideration. Within the orbital assembly procedure, the typical dynamic modes, relevant in terms of practical implementation of controlled movement are highlighted.

  14. Developing Humanoid Robots for Real-World Environments

    Science.gov (United States)

    Stoica, Adrian; Kuhlman, Michael; Assad, Chris; Keymeulen, Didier

    2008-01-01

    Humanoids are steadily improving in appearance and functionality demonstrated in controlled environments. To address the challenges of operation in the real-world, researchers have proposed the use of brain-inspired architectures for robot control, and the use of robot learning techniques that enable the robot to acquire and tune skills and behaviours. In the first part of the paper we introduce new concepts and results in these two areas. First, we present a cerebellum-inspired model that demonstrated efficiency in the sensory-motor control of anthropomorphic arms, and in gait control of dynamic walkers. Then, we present a set of new ideas related to robot learning, emphasizing the importance of developing teaching techniques that support learning. In the second part of the paper we propose the use in robotics of the iterative and incremental development methodologies, in the context of practical task-oriented applications. These methodologies promise to rapidly reach system-level integration, and to early identify system-level weaknesses to focus on. We apply this methodology in a task targeting the automated assembly of a modular structure using HOAP-2. We confirm this approach led to rapid development of a end-to-end capability, and offered guidance on which technologies to focus on for gradual improvement of a complete functional system. It is believed that providing Grand Challenge type milestones in practical task-oriented applications accelerates development. As a meaningful target in short-mid term we propose the 'IKEA Challenge', aimed at the demonstration of autonomous assembly of various pieces of furniture, from the box, following included written/drawn instructions.

  15. Robotic technologies in surgical oncology training and practice.

    Science.gov (United States)

    Orvieto, Marcelo A; Marchetti, Pablo; Castillo, Octavio A; Coelho, Rafael F; Chauhan, Sanket; Rocco, Bernardo; Ardila, Bobby; Mathe, Mary; Patel, Vipul R

    2011-09-01

    The modern-day surgeon is frequently exposed to new technologies and instrumentation. Robotic surgery (RS) has evolved as a minimally invasive technique aimed to improve clinical outcomes. RS has the potential to alleviate the inherent limitations of laparoscopic surgery such as two dimensional imaging, limited instrument movement and intrinsic human tremor. Since the first reported robot-assisted surgical procedure performed in 1985, the technology has dramatically evolved and currently multiple surgical specialties have incorporated RS into their daily clinical armamentarium. With this exponential growth, it should not come as a surprise the ever growing requirement for surgeons trained in RS as well as the interest from residents to receive robotic exposure during their training. For this reason, the establishment of set criteria for adequate and standardized training and credentialing of surgical residents, fellows and those trained surgeons wishing to perform RS has become a priority. In this rapidly evolving field, we herein review the past, present and future of robotic technologies and its penetration into different surgical specialties. Copyright © 2010 Elsevier Ltd. All rights reserved.

  16. Mobile robot worksystem (Rosie). Innovative technology summary report

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-05-01

    The US Department of Energy (DOE) and the Federal Energy Technology Center (FETC) have developed a Large Scale Demonstration Project (LSDP) at the Chicago Pile-5 Research Reactor (CP-5) at Argonne National Laboratory-East (ANL). The objective of the LSDP is to demonstrate potentially beneficial Deactivation and Decommissioning (D and D) technologies in comparison with current baseline technologies. Rosie is a mobile robot worksystem developed for nuclear facilities D and D. Rosie performs mechanical dismantlement of radiologically contaminated structures by remotely deploying other tools or systems. At the CP-5 reactor site, Rosie is a mobile platform used to support reactor assembly demolition through its long reach, heavy lift capability and its deployment and positioning of a Kraft Predator dexterous manipulator arm. Rosie is a tethered, 50 m (165 ft) long, robotic system controlled via teleoperation from a control console that is located outside of the radiological containment area. The operator uses Rosie to move, lift or offload radioactive materials using its integral lifting hook or to position the Kraft Predator arm in locations where the arm can be used to dismantle parts of the CP-5 reactor. The specific operating areas were concentrated in two high radiation areas, one at the top of the reactor structure atop and within the reactor tank assembly and the second at a large opening on the west side of the reactor`s biological shield called the west thermal column. In the first of these areas, low level radioactive waste size previously segmented or dismantled by the Dual Arm Work Platform (DAWP) and placed into a steel drum or transfer can were moved to a staging area for manual packaging. In the latter area, the manipulator arm removed and transferred shielding blocks from the west thermal column area of the reactor into waste containers. Rosie can also deploy up to twelve remotely controlled television cameras, some with microphones, which can be used

  17. Mobile robot worksystem (Rosie). Innovative technology summary report

    International Nuclear Information System (INIS)

    1999-05-01

    The US Department of Energy (DOE) and the Federal Energy Technology Center (FETC) have developed a Large Scale Demonstration Project (LSDP) at the Chicago Pile-5 Research Reactor (CP-5) at Argonne National Laboratory-East (ANL). The objective of the LSDP is to demonstrate potentially beneficial Deactivation and Decommissioning (D and D) technologies in comparison with current baseline technologies. Rosie is a mobile robot worksystem developed for nuclear facilities D and D. Rosie performs mechanical dismantlement of radiologically contaminated structures by remotely deploying other tools or systems. At the CP-5 reactor site, Rosie is a mobile platform used to support reactor assembly demolition through its long reach, heavy lift capability and its deployment and positioning of a Kraft Predator dexterous manipulator arm. Rosie is a tethered, 50 m (165 ft) long, robotic system controlled via teleoperation from a control console that is located outside of the radiological containment area. The operator uses Rosie to move, lift or offload radioactive materials using its integral lifting hook or to position the Kraft Predator arm in locations where the arm can be used to dismantle parts of the CP-5 reactor. The specific operating areas were concentrated in two high radiation areas, one at the top of the reactor structure atop and within the reactor tank assembly and the second at a large opening on the west side of the reactor's biological shield called the west thermal column. In the first of these areas, low level radioactive waste size previously segmented or dismantled by the Dual Arm Work Platform (DAWP) and placed into a steel drum or transfer can were moved to a staging area for manual packaging. In the latter area, the manipulator arm removed and transferred shielding blocks from the west thermal column area of the reactor into waste containers. Rosie can also deploy up to twelve remotely controlled television cameras, some with microphones, which can be used

  18. THE CURRENT STATE AND THE PERSPECTIVES OF ROBOTICS DEVELOPMENT: IN THE GLOBE AND RUSSIA

    Directory of Open Access Journals (Sweden)

    N. N. Bondareva

    2016-01-01

    Full Text Available In the article the methodological bases for the new criteria of goods and services efficiency and standards in a new cyber environment, and also the reasons and consequences of the robotic goods and services demands' transformation are defined. The newest era of the mass cyber development and hybridization as the following robotization stage is predicted, the analysis of the new mass commercialization challenges and threats of its breakthrough researches is carried out. The global environment influence on the level of corporate robotization and replacement of a non-hybrid environment by the totally hybrid environment are given on the example of the countries pioneers of the forced technological development (Japan, the USA, South Korea, and Germany. The definitions and the existing robots' classifications of three generations are revealed, taking into the account its main criteria robots' so called self-training ability.The methodological criteria and requirements to the leading countries' competitiveness in a new cyber environment in "the sixth technological shift era", including the military, social, political and economic stability, the defensive potential in the new hybrid and contactless cyber wars, are described.The comparative analysis of the well-known forecasts is conducted, including 'The Future of Employment is carried out: How Susceptible Are Jobs to Computerization" by Karl Frey and Michael Osborn, 'The Future of Jobs, 2025: Working Side-By-Side with Robots" from "Forrester Research" the forecast of the World Economic Forum (WEF of'The Future of Jobs" from 2016 and "Robotic Nation" of Marshall Brian, for the period till 2025 about the mass robotization effects, including the influence of robotization on the global employment.The target approach analysis is carried out, as well as the progressive methodological approaches on the governmental and corporate levels are described. The value of the efficient implementation criteria of the

  19. Software development to support sensor control of robot arc welding

    Science.gov (United States)

    Silas, F. R., Jr.

    1986-01-01

    The development of software for a Digital Equipment Corporation MINC-23 Laboratory Computer to provide functions of a workcell host computer for Space Shuttle Main Engine (SSME) robotic welding is documented. Routines were written to transfer robot programs between the MINC and an Advanced Robotic Cyro 750 welding robot. Other routines provide advanced program editing features while additional software allows communicatin with a remote computer aided design system. Access to special robot functions were provided to allow advanced control of weld seam tracking and process control for future development programs.

  20. Development of wall ranging radiation inspection robot

    International Nuclear Information System (INIS)

    Lee, B. J.; Yoon, J. S.; Park, Y. S.; Hong, D. H.; Oh, S. C.; Jung, J. H.; Chae, K. S.

    1999-03-01

    With the aging of nation's nuclear facilities, the target of this project is to develop an under water wall ranging robotic vehicle which inspects the contamination level of the research reactor (TRIGA MARK III) as a preliminary process to dismantling. The developed vehicle is driven by five thrusters and consists of small sized control boards, and absolute position detector, and a radiation detector. Also, the algorithm for autonomous navigation is developed and its performance is tested through under water experiments. Also, the test result at the research reactor shows that the vehicle firmly attached the wall while measuring the contamination level of the wall

  1. Interventional robotic systems: Applications and technology state-of-the-art

    Science.gov (United States)

    CLEARY, KEVIN; MELZER, ANDREAS; WATSON, VANCE; KRONREIF, GERNOT; STOIANOVICI, DAN

    2011-01-01

    Many different robotic systems have been developed for invasive medical procedures. In this article we will focus on robotic systems for image-guided interventions such as biopsy of suspicious lesions, interstitial tumor treatment, or needle placement for spinal blocks and neurolysis. Medical robotics is a young and evolving field and the ultimate role of these systems has yet to be determined. This paper presents four interventional robotics systems designed to work with MRI, CT, fluoroscopy, and ultrasound imaging devices. The details of each system are given along with any phantom, animal, or human trials. The systems include the AcuBot for active needle insertion under CT or fluoroscopy, the B-Rob systems for needle placement using CT or ultrasound, the INNOMOTION for MRI and CT interventions, and the MRBot for MRI procedures. Following these descriptions, the technology issues of image compatibility, registration, patient movement and respiration, force feedback, and control mode are briefly discussed. It is our belief that robotic systems will be an important part of future interventions, but more research and clinical trials are needed. The possibility of performing new clinical procedures that the human cannot achieve remains an ultimate goal for medical robotics. Engineers and physicians should work together to create and validate these systems for the benefits of patients everywhere. PMID:16754193

  2. Interventional robotic systems: applications and technology state-of-the-art.

    Science.gov (United States)

    Cleary, Kevin; Melzer, Andreas; Watson, Vance; Kronreif, Gernot; Stoianovici, Dan

    2006-01-01

    Many different robotic systems have been developed for invasive medical procedures. In this article we will focus on robotic systems for image-guided interventions such as biopsy of suspicious lesions, interstitial tumor treatment, or needle placement for spinal blocks and neurolysis. Medical robotics is a young and evolving field and the ultimate role of these systems has yet to be determined. This paper presents four interventional robotics systems designed to work with MRI, CT, fluoroscopy, and ultrasound imaging devices. The details of each system are given along with any phantom, animal, or human trials. The systems include the AcuBot for active needle insertion under CT or fluoroscopy, the B-Rob systems for needle placement using CT or ultrasound, the INNOMOTION for MRI and CT interventions, and the MRBot for MRI procedures. Following these descriptions, the technology issues of image compatibility, registration, patient movement and respiration, force feedback, and control mode are briefly discussed. It is our belief that robotic systems will be an important part of future interventions, but more research and clinical trials are needed. The possibility of performing new clinical procedures that the human cannot achieve remains an ultimate goal for medical robotics. Engineers and physicians should work together to create and validate these systems for the benefits of patients everywhere.

  3. Care robots for the supermarket shelf: a product gap in assistive technologies.

    Science.gov (United States)

    Blackman, Tim

    2013-07-01

    The literature on the development of assistive robots is dominated by technological papers with little consideration of how such devices might be commercialised for a mass market at a price that is affordable for older people and their families as well as public services and care insurers. This article argues that the focus of technical development in this field is too ambitious, neglecting the potential market for an affordable device that is aleady in the realm of the 'adjacent possible' given current technology capabilities. It also questions on both ethical and marketing grounds the current effort to develop assistive robots with pet-like or human-like features. The marketing literature on 'really new products' has so far not appeared to inform the development of assistive robots but has some important lessons. These include using analogies with existing products and giving particular attention to the role of early adopters. Relevant analogies for care robots are not animals or humans but useful domestic appliances and personal technologies with attractive designs, engaging functionality and intuitive usability. This points to a strategy for enabling mass adoption - which has so far eluded even conventional telecare - of emphasising how such an appliance is part of older people's contemporary lifestyles rather than a sign of age-related decline and loss of independence.

  4. Robot Mechanisms

    CERN Document Server

    Lenarcic, Jadran; Stanišić, Michael M

    2013-01-01

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

  5. Development of Advanced Robotic Hand System for space application

    Science.gov (United States)

    Machida, Kazuo; Akita, Kenzo; Mikami, Tatsuo; Komada, Satoru

    1994-01-01

    The Advanced Robotic Hand System (ARH) is a precise telerobotics system with a semi dexterous hand for future space application. The ARH will be tested in space as one of the missions of the Engineering Tests Satellite 7 (ETS-7) which will be launched in 1997. The objectives of the ARH development are to evaluate the capability of a possible robot hand for precise and delicate tasks and to validate the related technologies implemented in the system. The ARH is designed to be controlled both from ground as a teleoperation and by locally autonomous control. This paper presents the overall system design and the functional capabilities of the ARH as well as its mission outline as the preliminary design has been completed.

  6. Development of a robot Holon using an open modular controller

    DEFF Research Database (Denmark)

    Schnell, Jakob; Andersen, Søren; Sørensen, Christian

    1999-01-01

    System (HoMuCS) architecture and methodology for implementing a HMS. This paper specifically reviews the development of a Robot Holon based on an open controller in the context of the HoMuCS architecture. The paper will describe the results and research work that was involved in developing a robot holon...... for a physical robot. The robot holon was implemented on an existing robot at the department which was upgraded by removing its native control system and replacing it with a new PC-based open controller. The development of the robot holon builds on the notion that a robot holon will be able to performboth......Holonic Manufacturing Systems (HMS) has during the last period presented itself as an advantageous theoretical foundation for the problems that arise in controlling agile manufacturing systems. Previous research, at the Department, has demonstrated how modern shop floor control systems can...

  7. The development of radiation hardened tele-robot system - Development of path-planning and control technology for tele-operated redundant manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Chang, Pyung Hun; Park, Ki Cheol; Park, Suk Ho [Korea Advanced Institute of Science and Technology, Taejon (Korea)

    1999-04-01

    This project focuses on the development of the control system for a teleoperated redundant manipulator, which performs many tasks dexterously, while avoiding obstacles, instead of human workers in the extreme situations like nuclear power plants. To this end, four consecutive research works have been performed. First, two new methods for global path-planning have been developed to inspect the global behavior of the redundant manipulator. Second, characteristics of optimal solutions(COS) under inequality constraints have been analyzed and, using the COS, how to greatly enhance the conventional redundancy resolution methods in terms of performance and repeatability has also been proposed. Third, an effective control method for a redundant manipulator has been developed, which incorporates all kinds of physical limits into practical inequality constraints and is computationally efficient for real-time purposes. Finally, using this control method as the controller of the slave redundant manipulator and developing a master manipulator, the inertial torque and gravitation torque of which are negligible, a force-reflected teleoperation control system has been developed. Through the teleoperation control system, human operator can accurately control the position and the force of the end-effector of the slave manipulator while feeling the interaction force between the slave and the workpiece. In addition, the slave redundant manipulator autonomously can control the impedance and can optimize a given performance measure while avoiding physical limits such as joint angle limits and obstacles. 49 refs., 43 figs., 10 tabs. (Author)

  8. JPRS Report, Science & Technology, Japan, 4th Intelligent Robots Symposium, Volume 2

    Science.gov (United States)

    1989-03-16

    Containing Skid a.2 System causing overturn A biped mobile robot needs equilibrium control to prevent it from overturning due to external disturbances...8217 « II I, I » 111 I» Uli —’■» !’■’ Science & Technology Japan 19980530 091 ATH INTELLIGENT ROBOTS ...SCIENCE & TECHNOLOGY JAPAN 4th INTELLIGENT ROBOTS SYMPOSIUM VOLUME II 43064062 Tokyo 4TH INTELLIGENT ROBOTS SYMPOSIUM PAPERS in Japanese 13-14 Jun

  9. A systematic review of applying modern software engineering techniques to developing robotic systems

    Directory of Open Access Journals (Sweden)

    Claudia Pons

    2012-01-01

    Full Text Available Robots have become collaborators in our daily life. While robotic systems become more and more complex, the need to engineer their software development grows as well. The traditional approaches used in developing these software systems are reaching their limits; currently used methodologies and tools fall short of addressing the needs of such complex software development. Separating robotics’ knowledge from short-cycled implementation technologies is essential to foster reuse and maintenance. This paper presents a systematic review (SLR of the current use of modern software engineering techniques for developing robotic software systems and their actual automation level. The survey was aimed at summarizing existing evidence concerning applying such technologies to the field of robotic systems to identify any gaps in current research to suggest areas for further investigation and provide a background for positioning new research activities.

  10. On the Development of Learning Control for Robotic Manipulators

    Directory of Open Access Journals (Sweden)

    Dan Zhang

    2017-09-01

    Full Text Available Learning control for robotic manipulators has been developed over the past decade and to the best of the authors’ knowledge, it is still in its infant development stage; the authors believe that it will become one of the most promising directions in the control area in robotic manipulators. Learning control in robotic manipulators is mainly used to address the issue that the friction at the joints of robotic mechanisms and other uncertainties may exist in the dynamic models, which are very complex and may even be impossible to model mathematically. In this paper, the authors review and discuss the learning control in robotic manipulators and some issues in learning control for robotic manipulators are also illustrated. This review is able to give a general guideline for future research in learning control for robotic manipulators.

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

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1994-09-01

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

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

    International Nuclear Information System (INIS)

    1994-09-01

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

  13. Technology driven Robotic-Moon-Mission 2016

    OpenAIRE

    Bozic, Ognjan; Longo, Jose M. A.

    2007-01-01

    Summary The paper proposes a concept mission to Moon including a space-tug-vehicle in Moon orbit, a transfer surveillance/relay satellite into low lunar orbit, a Moon lander equipped with a rover for miscellaneous challenges and an Earth return spacecraft transporting Moon samples. To guaranty a low mission cost, trajectories of low impulse has been selected in combination of technologies like combined chemical-electrical propulsion; broad Ka–band/ X–band/ S-band transponder communication...

  14. Robotics and systems technology for advanced endoscopic procedures: experiences in general surgery.

    Science.gov (United States)

    Schurr, M O; Arezzo, A; Buess, G F

    1999-11-01

    The advent of endoscopic techniques changed surgery in many regards. This paper intends to describe an overview about technologies to facilitate endoscopic surgery. The systems described have been developed for the use in general surgery, but an easy application also in the field of cardiac surgery seems realistic. The introduction of system technology and robotic technology enables today to design a highly ergonomic solo-surgery platform. To relief the surgeon from fatigue we developed a new chair dedicated to the functional needs of endoscopic surgery. The foot pedals for high frequency, suction and irrigation are integrated into the basis of the chair. The chair is driven by electric motors controlled with an additional foot pedal joystick to achieve the desired position in the OR. A major enhancement for endoscopic technology is the introduction of robotic technology to design assisting devices for solo-surgery and manipulators for microsurgical instrumentation. A further step in the employment of robotic technology is the design of 'master-slave manipulators' to provide the surgeon with additional degrees of freedom of instrumentation. In 1996 a first prototype of an endoscopic manipulator system. named ARTEMIS, could be used in experimental applications. The system consists of a user station (master) and an instrument station (slave). The surgeon sits at a console which integrates endoscopic monitors, communication facilities and two master devices to control the two slave arms which are mounted to the operating table. Clinical use of the system, however, will require further development in the area of slave mechanics and the control system. Finally the implementation of telecommunication technology in combination with robotic instruments will open new frontiers, such as teleconsulting, teleassistance and telemanipulation.

  15. NASA's Robotic Lunar Lander Development Project

    Science.gov (United States)

    Cohen, Barbara A.

    2012-01-01

    Since early 2005, NASA's Robotic Lunar Lander Development (RLLD) office at NASA MSFC, in partnership with the Applied Physics Laboratory (APL), has developed mission concepts and preformed risk-reduction activities to address planetary science and exploration objectives uniquely met with landed missions. The RLLD team developed several concepts for lunar human-exploration precursor missions to demonstrate precision landing and in-situ resource utilization, a multi-node lunar geophysical network mission, either as a stand-alone mission, or as part of the International Lunar Network (ILN), a Lunar Polar Volatiles Explorer and a Mercury lander mission for the Planetary Science decadal survey, and an asteroid rendezvous and landing mission for the Exploration Precursor Robotics Mission (xPRM) office. The RLLD team has conducted an extensive number of risk-reduction activities in areas common to all lander concepts, including thruster testing, propulsion thermal control demonstration, composite deck design and fabrication, and landing leg stability and vibration. In parallel, the team has developed two robotic lander testbeds providing closed-loop, autonomous hover and descent activities for integration and testing of flight-like components and algorithms. A compressed-air test article had its first flight in September 2009 and completed over 150 successful flights. This small test article (107 kg dry/146 kg wet) uses a central throttleable thruster to offset gravity, plus 3 descent thrusters (37lbf ea) and 6 attitude-control thrusters (12lbf ea) to emulate the flight system with pulsed operation over approximately 10s of flight time. The test article uses carbon composite honeycomb decks, custom avionics (COTS components assembled in-house), and custom flight and ground software. A larger (206 kg dry/322 kg wet), hydrogen peroxide-propelled vehicle began flight tests in spring 2011 and fly over 30 successful flights to a maximum altitude of 30m. The monoprop testbed

  16. Feeding assistive robotics, socio-technological imaginaries and care

    DEFF Research Database (Denmark)

    Nickelsen, Niels Christian Mossfeldt

    The media and political/managerial levels focus on the opportunities to re-perform Denmark through digitization. Feeding assistive robotics is a welfare technology, relevant to citizens with low or no function in their arms. Despite national dissemination strategies, it proves difficult to recruit...... suitable citizens. This working paper discusses roboticists’ and governmental agencies’ socio-technological imaginaries. I argue that imaginaries intertwine with stakeholders’ organizing of their worlds and discuss the resulting tinkering during implementation. The ANT idea of ‘follow the actor’ inspired...

  17. Informed Design to Robotic Production Systems; Developing Robotic 3D Printing System for Informed Material Deposition

    NARCIS (Netherlands)

    Mostafavi, S.; Bier, H.; Bodea, S.; Anton, A.M.

    2015-01-01

    This paper discusses the development of an informed Design-to-Robotic-Production (D2RP) system for additive manufacturing to achieve performative porosity in architecture at various scales. An extended series of experiments on materiality, fabrication and robotics were designed and carried out

  18. A review of space robotics technologies for on-orbit servicing

    Science.gov (United States)

    Flores-Abad, Angel; Ma, Ou; Pham, Khanh; Ulrich, Steve

    2014-07-01

    Space robotics is considered one of the most promising approaches for on-orbit servicing (OOS) missions such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbital debris removal. Many enabling techniques have been developed in the past two decades and several technology demonstration missions have been completed. A number of manned on-orbit servicing missions were successfully accomplished but unmanned, fully autonomous, servicing missions have not been done yet. Furthermore, all previous unmanned technology demonstration missions were designed to service cooperative targets only. Robotic servicing of a non-cooperative satellite is still an open research area facing many technical challenges. One of the greatest challenges is to ensure the servicing spacecraft safely and reliably docks with the target spacecraft or capture the target to stabilize it for subsequent servicing. This is especially important if the target has an unknown motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To motivate and facilitate such research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned on-orbit servicing missions.

  19. New Developments in Robotics and Single-site Gynecologic Surgery.

    Science.gov (United States)

    Matthews, Catherine A

    2017-06-01

    Within the last 10 years there have been significant advances in minimal-access surgery. Although no emerging technology has demonstrated improved outcomes or fewer complications than standard laparoscopy, the introduction of the robotic surgical platform has significantly lowered abdominal hysterectomy rates. While operative time and cost were higher in robotic-assisted procedures when the technology was first introduced, newer studies demonstrate equivalent or improved robotic surgical efficiency with increased experience. Single-port hysterectomy has not improved postoperative pain or subjective cosmetic results. Emerging platforms with flexible, articulating instruments may increase the uptake of single-port procedures including natural orifice transluminal endoscopic cases.

  20. 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.

  1. Advanced technology mobile robotics vehicle fleet

    International Nuclear Information System (INIS)

    McGovern, D.E.

    1987-03-01

    A fleet of vehicles is being developed and maintained by Sandia National Laboratories for studies in remote control and autonomous operation. The vehicles range from modified commercial vehicles to specially constructed mobile platforms and are utilized as testbeds for developing concepts in the areas of remote control (teleoperation) and computer control (autonomy). Actuators control the vehicle speed, brakes, and steering via manual input from a remote driving station or through some level of digital computer control. On-board processing may include simple vehicle control functions or may allow for unmanned, autonomous operation. Communication links are provided for digital communication between control computers, television transmission for vehicle vision, and voice for local control. SNL can develop, test, and evaluate sensors, processing requirements, various methods of actuator implementation, operator controlled feedback requirements, and vehicle operations. A description of the major features and uses for each of the vehicles in the fleet is provided

  2. From CAD to Robot: Undergraduate Capstone Design in Engineering Technology

    Directory of Open Access Journals (Sweden)

    Kuldeep S. Rawat

    2013-06-01

    Full Text Available A novel senior project in designing and implementing a wheeled platform-based experimental mobile robot is discussed. This mobile robot design project was used as a platform to learn sensor interfacing, microcontroller programming, motor control, and electronic circuit design and troubleshooting. A specially designed proto board was used so that students could experiment with various types of sensors and supporting electronic circuitry. The modules implemented in this project are, servo motor control, infrared (IR-based obstacle detection and avoidance, temperature sensing, and IR wireless communication. An 8-bit Peripheral Interface Controller (PIC microcontroller, operating at 20MHz, was used as a programmable controller to monitor external environment through sensors and make appropriate decisions. PIC microcontroller was programmed using PICBasic PRO, a BASIC like high-level language. The implementation was divided into separate experiments, through which the students progressively completed the mobile robot. This progressive experimentation helped students develop their knowledge of interfacing, microcontroller programming, electronic control, circuit design, and troubleshooting in an incremental manner. The robot design experiments, sensor interfacing, electronic control, supporting circuitry, problems faced and troubleshooting during implementation are discussed in the paper.

  3. Development of robot for light repairing work of nuclear power plants

    International Nuclear Information System (INIS)

    Katayanagi, Hiroshi; Shoji, Yoshito; Tamura, Kimiyoshi; Yamashita, Shigeru.

    1990-01-01

    When leakage occurs in the primary cooling system and auxiliary machinery system of nuclear reactors, in order to limit the leakage to outside to minimum, and prevent the escalation to accidents and troubles, the retightening of valve glands, the repair of leakage at piping flanges and so on become necessary. For the labor saving and the reduction of radiation exposure of workers, the development of a robot which can carry out these repair works by remote operation has been performed from 1985 to 1989. At the time of the development, the working areas in nuclear power stations were surveyed, the objects of application were narrowed down, and the development of elementary technologies and job analysis were carried out, thereafter, a robot was manufactured for trial. Subsequently, it was confirmed by using the mock-up facilities that the robot can do remote repair. The robot for light repairing works which was developed is described in this report. The functional features of the robot, the course of its development and the results of the mock-up test are reported. Hereafter, the expansion of the range of repair works and to make the robot intelligent are intended to make it into a practical robot. (K.I.)

  4. Developing sensor-based robots with utility to waste management applications

    International Nuclear Information System (INIS)

    Trivedi, M.M.; Abidi, M.A.; Gonzalez, R.C.

    1990-01-01

    There are several Environmental Restoration and Waste Management (ER and WM) application areas where autonomous or teleoperated robotic systems can be utilized to improve personnel safety and reduce operation costs. In this paper the authors describe continuing research undertaken by their group in intelligent robotics area which should have a direct relevance to a number of ER and WM applications. The authors' current research is sponsored by the advanced technology division of the U.S. Department of Energy. It is part of a program undertaken at four universities (Florida, Michigan, Tennessee, and Texas) and the Oak ridge National Laboratory directed towards the development of advanced robotic systems for use in nuclear environments. The primary motivation for using robotic (autonomous and/or teleoperated) technology in such hazardous environments is to reduce exposure and costs associated with performing tasks such as surveillance, maintenance and repair. The main focus of the authors' research a the University of Tennessee has been to contribute to the development of autonomous inspection and manipulation systems which utilize a wide array of sensory inputs in controlling the actions of a stationary robot. The authors' experimental research effort is directed towards design and evaluation of new methodologies using a laboratory based robotic testbed. A unique feature of this testbed is a multisensor module useful in the characterization of the robot workspace. In this paper, the authors describe the development of a robot vision system for automatic spill detection, localization and clean-up verification; and the development of efficient techniques for analyzing range images using a parallel computer. The 'simulated spill cleanup' scenario allows us to show the applicability of robotic systems to problems encountered in nuclear environments

  5. Robotics.

    Science.gov (United States)

    Waddell, Steve; Doty, Keith L.

    1999-01-01

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

  6. THE PERSPECTIVES AND THE CONDITIONS OF THE ROBOTICS DEVELOPMENT IN RUSSIA

    Directory of Open Access Journals (Sweden)

    Nikolay Ivanovich Komkov

    2016-01-01

    Full Text Available The article investigates the evolution of the attitude of the state, business and the population to automation and robotics problems in the period of the USSR and till the modern period – from the reserved and declarative and political attitude to the current integrated programmed and project -based approach. The analysis of the Government’s decisions and documents in the  eld of robotics development in the Russian Federation, including «Strategy – 2020» have been made, the conditions, restrictions and challenges of the environment applicable for the solution of the problems as well as the mass robotization task in the Russian Federation have been de ned with consideration of the best international experience. Forecasts of robotics market growth are provided for the Russian Federation and its participants, and the new requirements and the prospects of the new robotic market growth have been characterized. The reasons of low competitiveness of the Russian Federation robotic  eld including the market demand problems from the state and business for «the  fth and sixth technological shift» innovative products and services have been analysed. The low speed of a transfer of the breaking scienti c technologies to industry, restrictions for the mass introduction of robots in the Russian Federation for robotization processes acceleration are established. The Russian state integrated support of the robotic platform key participants, including a growth of investments into fundamental and applied researches in the  eld of robotization and the adaptation of the best international experience are presented as the progressive methods of the Russian Federation competitiveness increase in all  eld of economy and military industrial complex.

  7. Design and Development of Vision Based Blockage Clearance Robot for Sewer Pipes

    Directory of Open Access Journals (Sweden)

    Krishna Prasad Nesaian

    2012-03-01

    Full Text Available Robotic technology is one of the advanced technologies, which is capable of completing tasks at situations where humans are unable to reach, see or survive. The underground sewer pipelines are the major tools for the transportation of effluent water. A lot of troubles caused by blockage in sewer pipe will lead to overflow of effluent water, sanitation problems. So robotic vehicle that is capable of traveling at underneath effluent water determining blockage using ultrasonic sensors and clearing by means of drilling mechanism is done. In addition to that wireless camera is fixed which acts as a robot vision by which we can monitor video and capture images using MATLAB tool. Thus in this project a prototype model of underground sewer pipe blockage clearance robot with drilling type will be developed

  8. The development of functional fail-safe control for advanced robots

    International Nuclear Information System (INIS)

    Hosaka, Shigetaka; Shimizu, Yujiro; Hayashi, Tetsuji

    1990-01-01

    Advanced robots for the nuclear power plant maintenance are increasing the complexity in comparison with industrial robots, and severe in condition of use, and are increasing the importance of safety and reliability. In this paper, as a high reliability technology for Advanced Robot, Functional Failsafe control (FFC) is described. FFC isolates the faults, and keeps the minimum function of robot, using the remained potential redundancy of robot, with minimizing of additional parts to robot, at the occurrence of faults. We suggest the three reliability evaluation principles for Advanced robot, then define the FFC in these principles. In the proposed FFC, the method of using an amplifier between two servosystems in common, and the method of stucking the degrees of freedom of robot arm are studied and proved by experiments on the design of FFC. And, a new design method is showed, based on not only the reliability of time, but also the reliability of amount of working. So, we clarified some remained subjects to develop for the FFC. (author)

  9. Concept development of a tendon arm manipulator and anthropomorphic robotic hand

    Science.gov (United States)

    Tolman, C. T.

    1987-01-01

    AMETEK/ORED inhouse research and development efforts leading toward a next-generation robotic manipulator arm and end-effector technology is summarized. Manipulator arm development has been directed toward a multiple-degree-of-freedom, flexible, tendon-driven concept referred to here as a Tendon Arm Manipulator (TAM). End-effector development has been directed toward a three-fingered, dextrous, tendon-driven, anthropomorphic configuration which is referred to as an Anthropomorphic Robotic Hand (ARH). Key technology issues are identified for both concepts.

  10. Development of a 3D-Printed Robotic Prosthetic Arm

    Energy Technology Data Exchange (ETDEWEB)

    Gomez Martinez, M.; Garcia-Miquel, A.; Vidal Martinez, N.

    2016-07-01

    Current prostheses are not affordable to the general public. 3D printing technology may allow low-cost production of such devices, making them more readily accessible to people in need. This contribution presents the set-up and the considerations that have to be taken into account to develop a functional artificial upper limb prototype. The robotic prosthetic arm reported herein was produced entirely using 3D printing technology to demonstrate its feasibility on a limited budget. The project was developed to integrate two different functional modes: a prosthetic application and a remote application. The prosthetic application is intended to emulate existing prosthetic devices using myoelectric sensors. The remote application is conceived as a tool for prevention, by providing the general public with a device that could carry out activities that entail a risk of severe physical injury. This is achieved using a hand-tracking system that allows the robotic arm to copy the user’s movements remotely and in real time. The outcome of the validation tests has been considerably successful for both applications and the total costs are on target. (Author)

  11. The development of fire detection robot

    OpenAIRE

    Sucuoğlu, Hilmi Saygın

    2015-01-01

    The aim of this thesis is to design and manufacture a fire detection robot that especially operates in industrial areas for fire inspection and early detection. Robot is designed and implemented to track prescribed paths with obstacle avoidance function through obstacle avoidance and motion planning units and to scan the environment in order to detect fire source using fire detection unit. Robot is able to track patrolling routes using virtual lines that defined to the motion planning unit. ...

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

    Science.gov (United States)

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

    2017-07-01

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

  13. 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

  14. Development of a Minimally Actuated Jumping-Rolling Robot

    Directory of Open Access Journals (Sweden)

    Thanhtam Ho

    2015-04-01

    Full Text Available This paper presents development of a hybrid mobile robot in order to take advantage of both rolling and jumping locomotion on the ground. According to the unique design of the mechanism, the robot is able to execute both jumping and rolling skilfully by using only one DC motor. Changing the centre of gravity enables rolling of the robot and storage of energy is utilized for jumping. Mechanism design and control logic are validated by computer simulation. Simulation results show that the robot can jump nearly 1.3 times its diameter and roll at the speed of 3.3 times its diameter per second.

  15. The Development of a Radiation Hardened Robot for Nuclear Facilities

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seung Ho; Kim, Chang Hoi; Seo, Yong Chil (and others)

    2007-04-15

    We has been developed two remotely controlled robotic systems. One is a underwater vehicle for inspection of the internal structures of PWRs and retrieving foreign stubs in the reactor pressure vessels and reactor coolant pipes. The other robotic system consists of a articulated-type mobile robot capable of recovering the failure of the fuel exchange machine and a mini modular mobile robot for inspection of feeder pipes with ultrasonic array sensors in PHWRs. The underwater robot has been designed by considering radiation effect, underwater condition, and accessibility to the working area. The size of underwater robot is designed to enter the cold legs. A extendable manipulator is mounted on the mobile robot, which can restore nuclear fuel exchange machine. The mini modular mobile robot is composed of dual inch worm mechanisms, which are constructed by two gripper bodies that can fix the robot body on to the pipe and move along the longitudinal and to rotate in a circumferential direction to access all of the outer surfaces of the pipe.

  16. The Development of a Radiation Hardened Robot for Nuclear Facilities

    International Nuclear Information System (INIS)

    Jung, Seung Ho; Kim, Chang Hoi; Seo, Yong Chil

    2007-04-01

    We has been developed two remotely controlled robotic systems. One is a underwater vehicle for inspection of the internal structures of PWRs and retrieving foreign stubs in the reactor pressure vessels and reactor coolant pipes. The other robotic system consists of a articulated-type mobile robot capable of recovering the failure of the fuel exchange machine and a mini modular mobile robot for inspection of feeder pipes with ultrasonic array sensors in PHWRs. The underwater robot has been designed by considering radiation effect, underwater condition, and accessibility to the working area. The size of underwater robot is designed to enter the cold legs. A extendable manipulator is mounted on the mobile robot, which can restore nuclear fuel exchange machine. The mini modular mobile robot is composed of dual inch worm mechanisms, which are constructed by two gripper bodies that can fix the robot body on to the pipe and move along the longitudinal and to rotate in a circumferential direction to access all of the outer surfaces of the pipe

  17. Developing a robotic pancreas program: the Dutch experience

    NARCIS (Netherlands)

    Nota, Carolijn L.; Zwart, Maurice J.; Fong, Yuman; Hagendoorn, Jeroen; Hogg, Melissa E.; Groot Koerkamp, Bas; Besselink, Marc G.; Molenaar, I. Quintus

    2017-01-01

    Robot-assisted surgery has been developed to overcome limitations of conventional laparoscopy aiming to further optimize minimally invasive surgery. Despite the fact that robotics already have been widely adopted in urology, gynecology, and several gastro-intestinal procedures, like colorectal

  18. Design and Development Issues for Educational Robotics Training Camps

    Science.gov (United States)

    Ucgul, Memet; Cagiltay, Kursat

    2014-01-01

    The aim of this study is to explore critical design issues for educational robotics training camps and to describe how these factors should be implemented in the development of such camps. For this purpose, two robotics training camps were organized for elementary school students. The first camp had 30 children attendees, and the second had 22. As…

  19. Development of a mobile robot for remote radiation measurement

    International Nuclear Information System (INIS)

    Sarkar, Ushnish; Saini, Surendra Singh; Swaroop, Tumapala Teja; Sreejith, P.; Kumar, Ravinder; Ray, Debasish Datta

    2016-01-01

    Remote measurement of radiation using mobile robots is recommended in nuclear installations. For this purpose various robots have been developed that carry a radiation sensor. However since the robot has to go very near to the source of radiation, the life of the robot's components is compromised due to high level of absorbed dose. It was earlier managed to increase the life expectancy of remote radiation measurement robots by allowing the sensor to be placed on an extendable telescopic assembly; analogous to a health physicist taking measurements using a Teletector. The first prototype developed had stair climbing capabilities but it was found to be over dimensioned for various potential applications. A significant use of such robots is in taking measurements at nuclear reprocessing facilities having narrow cluttered pathways. This required development of a new version of the robot capable of negotiating the narrow pathways of such facilities. This paper describes the different aspects of the development of the mobile robot system with flexible radiation sensing capabilities

  20. Development control systems takeover: subject robotic arm on the example anthropomorhic robot AR-601

    Science.gov (United States)

    Sirazetdinov, R.; Devaev, V.; Zakirzyanova, G.

    2016-06-01

    It is proposed the formation software architecture of complex motion for robotic systems in the form of sets of behavior - patterns - similar to the motor reflexes of living organisms. To form patterns of behavior of the robot teh authors used a methodology of structural analysis of complex systems IDEF0, then developed types of elementary algorithms (patterns) that make up the dynamics of the anthropomorphic robot jump. The work is performed according to the Russian Government Program of Competitive Growth of Kazan Federal University.

  1. Tecnology Development for Robotic Surface Inspection

    Science.gov (United States)

    Volpe, Richard; Balaram, J. Bob

    1994-01-01

    For the past three years at JPL, NASA has been sponsoring the Remote Surface Inspection Project to develop the technology needed for doing periodic and on-demand inspection of space borne platforms, in particular Space Station Freedom.

  2. Impact of Robotics and Geospatial Technology Interventions on Youth STEM Learning and Attitudes

    Science.gov (United States)

    Nugent, Gwen; Barker, Bradley; Grandgenett, Neal; Adamchuk, Viacheslav I.

    2010-01-01

    This study examined the impact of robotics and geospatial technologies interventions on middle school youth's learning of and attitudes toward science, technology, engineering, and mathematics (STEM). Two interventions were tested. The first was a 40-hour intensive robotics/GPS/GIS summer camp; the second was a 3-hour event modeled on the camp…

  3. Development of a Simulated Environment for Human-Robot Interaction

    Directory of Open Access Journals (Sweden)

    Karsten Berns

    2011-12-01

    Full Text Available Human-robot interaction scenarios are extremely complicated and require precise definition of the environment variables for rigorously testing different aspects of robotic behavior. The environmental setup affects the behaviors of both the humans and the robots, as they respond differently under varying accoustic or lightning conditions. Moreover, conducting several experiments repeatedly with the humans as test subjects also causes behavioral changes in them and eventually the responses remain no longer similar to the already conducted experiments. Thus making it is impossible to perform interaction scenarios in a repeatable manner. Developing and using 3D simulations, where different parameters can be adjusted, is the most beneficial solution in such cases. This requires not only the development of different simulated robots but also the simulation of dynamic surroundings including the interaction partner. In this paper, we present a simulation framework that allows the simulation of human-robot interaction including the simulated interaction partner and its dynamics.

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

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1999-03-01

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

  5. Development of Methodologies, Metrics, and Tools for Investigating Human-Robot Interaction in Space Robotics

    Science.gov (United States)

    Ezer, Neta; Zumbado, Jennifer Rochlis; Sandor, Aniko; Boyer, Jennifer

    2011-01-01

    Human-robot systems are expected to have a central role in future space exploration missions that extend beyond low-earth orbit [1]. As part of a directed research project funded by NASA s Human Research Program (HRP), researchers at the Johnson Space Center have started to use a variety of techniques, including literature reviews, case studies, knowledge capture, field studies, and experiments to understand critical human-robot interaction (HRI) variables for current and future systems. Activities accomplished to date include observations of the International Space Station s Special Purpose Dexterous Manipulator (SPDM), Robonaut, and Space Exploration Vehicle (SEV), as well as interviews with robotics trainers, robot operators, and developers of gesture interfaces. A survey of methods and metrics used in HRI was completed to identify those most applicable to space robotics. These methods and metrics included techniques and tools associated with task performance, the quantification of human-robot interactions and communication, usability, human workload, and situation awareness. The need for more research in areas such as natural interfaces, compensations for loss of signal and poor video quality, psycho-physiological feedback, and common HRI testbeds were identified. The initial findings from these activities and planned future research are discussed. Human-robot systems are expected to have a central role in future space exploration missions that extend beyond low-earth orbit [1]. As part of a directed research project funded by NASA s Human Research Program (HRP), researchers at the Johnson Space Center have started to use a variety of techniques, including literature reviews, case studies, knowledge capture, field studies, and experiments to understand critical human-robot interaction (HRI) variables for current and future systems. Activities accomplished to date include observations of the International Space Station s Special Purpose Dexterous Manipulator

  6. Conceptions of health service robots

    DEFF Research Database (Denmark)

    Lystbæk, Christian Tang

    2015-01-01

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

  7. Automation, robotics and remote handling technology in the nuclear fuel cycle

    International Nuclear Information System (INIS)

    Rajagopalan, C.; Venugopal, S.

    2013-01-01

    Automation and Robotics technology are making significant contributions in almost all fields of engineering and technology and their presence is felt in all spheres of human life. The importance of automation and robotics has increased rapidly in the recent years to cater to the global competitive pressures by the manufacturing industry by utilizing the increased productivity and improved quality this technology offers. Improvement of productivity, quality, profitability and, indeed, survival are the major motivating factors in the implementation of automation and robotics technology in the manufacturing sector. Robots are used extensively in the automotive industry, primarily for welding, painting and material handling applications. The electronics, aerospace, metalworking and consumer goods industries are also major potential robot users. The common uses of robots in industries mostly include the four Ps - Picking, Placing, Packaging and Painting - apart from other industrial routines like assembly and welding. As is the case with industrial tools and machineries, a properly designed robot (for the appropriate task) has almost unlimited endurance with the added benefit of precisions unmatched by human workers. With robot technology as a key element, integrated factory automation systems touch on nearly all types of manufacturing. The productivity and competitiveness in these industries will depend in large part on flexible automation through robotics

  8. Robotics and remote systems developments and applications, FY96. Revision 1

    International Nuclear Information System (INIS)

    Lewis, W.I. III; Teese, G.D.

    1996-10-01

    The purpose of this report is to document the contributions that the Savannah River Technology Center (SRTC) has made during Fiscal Year 1996 in the Robotics and Remote Systems Technology arena. The contributions originated from the Applied Science and Engineering Technology (ASET) Department's Equipment Engineering Section (EES). Activities and deliverables for the Savannah River Site's (SRS) main operating divisions as well as contributions to new mission activities, other Department of Energy (DOE) sites and programs, intellectual property development and professional societies are described

  9. Robotic and minimal access surgery: technology and surgical outcomes of radical prostatectomy for prostate cancer.

    Science.gov (United States)

    Müller, Stig; Grønning, Leif Erik; Nilsen, Frode S; Mygland, Vegard; Patel, Hiten R H

    2014-11-01

    Since the 1990s, minimal access surgery has been utilized in urology. In the past 15 years, robotic surgery has evolved and become a natural part of minimal access surgery. The dissemination has been fast and the opportunity of prospective trials has been missed. Nevertheless, robotic surgery has obvious benefits for the surgeon and patient. Even though the scientific evidence is not strong, robotic surgery is here to stay. However, there are lessons to learn from the implementation of the da Vinci system with regards to patient safety and prospective evaluation of the new technology. The future of surgery will include technologies derived from robotic surgery.

  10. Incremental development of large-scale human-robot teamwork in disaster response environments

    NARCIS (Netherlands)

    Greeff, J. de; Smets, N.J.J.M.; Hindriks, K.; Neerincx, M.A.; Kruijff-Korbayová, I.

    2017-01-01

    We report on the latest large-scale disaster-response exercise conducted by our project, which involves a robotic system with both ground robots (UGVs) and aerial robots (UAVs). In particularly, we focus on aspects related to Human-Robot teaming, and the uptake of new technology by end-users. © 2017

  11. Development and Test of Robotically Assisted Extravehicular Activity Gloves

    Science.gov (United States)

    Rogers, Jonathan M.; Peters, Benjamin J.; Laske, Evan A.; McBryan, Emily R.

    2017-01-01

    Over the past two years, the High Performance EVA Glove (HPEG) project under NASA's Space Technology Mission Directorate (STMD) funded an effort to develop an electromechanically-assisted space suit glove. The project was a collaboration between the Johnson Space Center's Software, Robotics, and Simulation Division and the Crew and Thermal Systems division. The project sought to combine finger actuator technology developed for Robonaut 2 with the softgoods from the ILC Phase VI EVA glove. The Space Suit RoboGlove (SSRG) uses a system of three linear actuators to pull synthetic tendons attached to the glove's fingers to augment flexion of the user's fingers. To detect the user's inputs, the system utilizes a combination of string potentiometers along the back of the fingers and force sensitive resistors integrated into the fingertips of the glove cover layer. This paper discusses the development process from initial concepts through two major phases of prototypes, and the results of initial human testing. Initial work on the project focused on creating a functioning proof of concept, designing the softgoods integration, and demonstrating augmented grip strength with the actuators. The second year of the project focused on upgrading the actuators, sensors, and software with the overall goal of creating a system that moves with the user's fingers in order to reduce fatigue associated with the operation of a pressurized glove system. This paper also discusses considerations for a flight system based on this prototype development and address where further work is required to mature the technology.

  12. Consuming technologies - developing routines

    DEFF Research Database (Denmark)

    Gram-Hanssen, Kirsten

    2008-01-01

    technologies and in this article these processes will be investigated from three different perspectives: an historical perspective of how new technologies have entered homes, a consumer perspective of how both houses and new technologies are purchased and finally, as the primary part of the article, a user...... perspective of how routines develop while these technologies are being used. In the conclusion these insights are discussed in relation to possible ways of influencing routines....

  13. Development of a SG Tube Inspection/maintenance Robot

    International Nuclear Information System (INIS)

    Shin, Ho Cheol; Jung, Kyung Min; Choi, Chang Hwan; Kim, Seung Ho

    2005-01-01

    A radiation hardened robot system is developed which assists in an automatic non-destructive testing and the repair of nuclear steam generator tubes. And a control system is developed. For easy carriage and installation, the robot system consists of three separable parts: a manipulator, a water chamber entering and leaving device of the manipulator and a manipulator base pose adjusting device. The kinematic analysis using the grid method was performed to search for the optimal manipulator's link parameters, and the stress analysis of the robotic system was also carried out for a structural safety verification. The robotic control system consists of a main personal computer placed near the operator and a local robotic position controller placed near the steam generator. A software program to control and manage the robotic system has been developed on the NT based OS to increase the usability. The software program provides a robot installation function, a robot calibration function, a managing and arranging function for the eddy-current test, a real time 3- D graphic simulation function which offers a remote reality to operators and so on. The image information acquired from the camera attached to the end-effector is used to calibrate the end-effector pose error and the time-delayed control algorithm is applied to calculate the optimal PID gain of the position controller. Eddy-current probe guide devices, a brushing tool, a motorized plugging tool and a U-tube internal visual inspection system have been developed. A data acquisition system was built to acquire and process the eddy-current signals, and a software program for eddy-current signal acquisition and processing. The developed robotic system has been tested in the Ulchin NPP type steam generator mockup in a laboratory. The final function test was carried out at the Kori Npp type steam generator mockup in the Kori training center

  14. Dual Arm Work Platform teleoperated robotics system. Innovative technology summary report

    International Nuclear Information System (INIS)

    1998-12-01

    The US Department of Energy (DOE) and the Federal Energy Technology Center (FETC) has developed a Large Scale Demonstration Project (LSDP) at the Chicago Pile-5 Research Reactor (CP-5) at Argonne National Laboratory-East (ANL). The objective of the LSDP is to demonstrate potentially beneficial Deactivation and Decommissioning (D and D) technologies in comparison with current baseline technologies. The Dual Arm Work Platform (DAWP) demonstration focused on the use of the DAWP to segment and dismantle the CP-5 reactor tank and surrounding bio-shield components (including the graphite block reflector, lead and boral sheeting) and performing some minor tasks best suited for the use of teleoperated robotics that were not evaluated in this demonstration. The DAWP system is not a commercially available product at this time. The CP-5 implementation was its first D and D application. The demonstration of the DAWP was to determine the areas on which improvements must be made to make this technology commercially viable. The results of the demonstration are included in this greenbook. It is the intention of the developers to incorporate lessons learned at this demonstration and current technological advancements in robotics into the next generation of the DAWP

  15. Dual Arm Work Platform teleoperated robotics system. Innovative technology summary report

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1998-12-01

    The US Department of Energy (DOE) and the Federal Energy Technology Center (FETC) has developed a Large Scale Demonstration Project (LSDP) at the Chicago Pile-5 Research Reactor (CP-5) at Argonne National Laboratory-East (ANL). The objective of the LSDP is to demonstrate potentially beneficial Deactivation and Decommissioning (D and D) technologies in comparison with current baseline technologies. The Dual Arm Work Platform (DAWP) demonstration focused on the use of the DAWP to segment and dismantle the CP-5 reactor tank and surrounding bio-shield components (including the graphite block reflector, lead and boral sheeting) and performing some minor tasks best suited for the use of teleoperated robotics that were not evaluated in this demonstration. The DAWP system is not a commercially available product at this time. The CP-5 implementation was its first D and D application. The demonstration of the DAWP was to determine the areas on which improvements must be made to make this technology commercially viable. The results of the demonstration are included in this greenbook. It is the intention of the developers to incorporate lessons learned at this demonstration and current technological advancements in robotics into the next generation of the DAWP.

  16. A step towards developing adaptive robot-mediated intervention architecture (ARIA) for children with autism.

    Science.gov (United States)

    Bekele, Esubalew T; Lahiri, Uttama; Swanson, Amy R; Crittendon, Julie A; Warren, Zachary E; Sarkar, Nilanjan

    2013-03-01

    Emerging technology, especially robotic technology, has been shown to be appealing to children with autism spectrum disorders (ASD). Such interest may be leveraged to provide repeatable, accurate and individualized intervention services to young children with ASD based on quantitative metrics. However, existing robot-mediated systems tend to have limited adaptive capability that may impact individualization. Our current work seeks to bridge this gap by developing an adaptive and individualized robot-mediated technology for children with ASD. The system is composed of a humanoid robot with its vision augmented by a network of cameras for real-time head tracking using a distributed architecture. Based on the cues from the child's head movement, the robot intelligently adapts itself in an individualized manner to generate prompts and reinforcements with potential to promote skills in the ASD core deficit area of early social orienting. The system was validated for feasibility, accuracy, and performance. Results from a pilot usability study involving six children with ASD and a control group of six typically developing (TD) children are presented.

  17. Development and Field Testing of the FootFall Planning System for the ATHLETE Robots

    Science.gov (United States)

    SunSpiral, Vytas; Wheeler, D. W.; Chavez-Clementa, Daniel; Mittman, David

    2011-01-01

    The FootFall Planning System is a ground-based planning and decision support system designed to facilitate the control of walking activities for the ATHLETE (All-Terrain Hex-Limbed Extra-Terrestrial Explorer) family of robots. ATHLETE was developed at NASA's Jet Propulsion Laboratory (JPL) and is a large six-legged robot designed to serve multiple roles during manned and unmanned missions to the Moon; its roles include transportation, construction and exploration. Over the four years from 2006 through 2010 the FootFall Planning System was developed and adapted to two generations of the ATHLETE robots and tested at two analog field sites (the Human Robotic Systems Project's Integrated Field Test at Moses Lake, Washington, June 2008, and the Desert Research and Technology Studies (D-RATS), held at Black Point Lava Flow in Arizona, September 2010). Having 42 degrees of kinematic freedom, standing to a maximum height of just over 4 meters, and having a payload capacity of 450 kg in Earth gravity, the current version of the ATHLETE robot is a uniquely complex system. A central challenge to this work was the compliance of the high-DOF (Degree Of Freedom) robot, especially the compliance of the wheels, which affected many aspects of statically-stable walking. This paper will review the history of the development of the FootFall system, sharing design decisions, field test experiences, and the lessons learned concerning compliance and self-awareness.

  18. Graphite technology development plan

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1986-07-01

    This document presents the plan for the graphite technology development required to support the design of the 350 MW(t) Modular HTGR within the US National Gas-Cooled Reactor Program. Besides descriptions of the required technology development, cost estimates, and schedules, the plan also includes the associated design functions and design requirements.

  19. Service robotics: do you know your new companion? Framing an interdisciplinary technology assessment.

    Science.gov (United States)

    Decker, Michael; Dillmann, Rüdiger; Dreier, Thomas; Fischer, Martin; Gutmann, Mathias; Ott, Ingrid; Spiecker Genannt Döhmann, Indra

    2011-11-01

    Service-Robotic-mainly defined as "non-industrial robotics"-is identified as the next economical success story to be expected after robots have been ubiquitously implemented into industrial production lines. Under the heading of service-robotic, we found a widespread area of applications reaching from robotics in agriculture and in the public transportation system to service robots applied in private homes. We propose for our interdisciplinary perspective of technology assessment to take the human user/worker as common focus. In some cases, the user/worker is the effective subject acting by means of and in cooperation with a service robot; in other cases, the user/worker might become a pure object of the respective robotic system, for example, as a patient in a hospital. In this paper, we present a comprehensive interdisciplinary framework, which allows us to scrutinize some of the most relevant applications of service robotics; we propose to combine technical, economical, legal, philosophical/ethical, and psychological perspectives in order to design a thorough and comprehensive expert-based technology assessment. This allows us to understand the potentials as well as the limits and even the threats connected with the ongoing and the planned implementation of service robots into human lifeworld-particularly of those technical systems displaying increasing grades of autonomy.

  20. Equipment to Support Development of Neuronal Network Controlled Robots

    Science.gov (United States)

    2016-06-25

    growth and training of neuronal neural networks to control robot arms. This work was done to learn the properties of the neurons and neuronal network , by...Equipment to Support Development of Neuronal Network Controlled Robots With this award, our team purchased an ALA 2-channel stimulus generator, an...peer-reviewed journals: Number of Papers published in non peer-reviewed journals: Final Report: Equipment to Support Development of Neuronal Network

  1. Development of a remote tank inspection robotic system

    International Nuclear Information System (INIS)

    Knape, B.P.; Bares, L.C.

    1990-01-01

    RedZone Robotics is currently developing a remote tank inspection (RTI) robotic system for Westinghouse Idaho Nuclear Company (WINCO). WINCO intends to use the RTI robotic system at the Idaho Chemical Processing Plant, a facility that contains a tank farm of several 1,135,500-ell (300,000-gal), 15.2-m (50-ft)-diam, high-level liquid waste storage tanks. The primary purpose of the RTI robotic system is to inspect the interior of these tanks for corrosion that may have been caused by the combined effects of radiation, high temperature, and caustic by the combined effects of radiation, high temperature, and caustic chemicals present inside the tanks. The RTI robotic system features a vertical deployment unit, a robotic arm, and a remote control console and computer [located up to 30.5 m (100 ft) away from the tank site]. All actuators are high torque, electric dc brush motors that are servocontrolled with absolute position feedback. The control system uses RedZone's standardized intelligent controller for enhanced telerobotics, which provides a high speed, multitasking environment on a VME bus. Currently, the robot is controlled in a manual, job-button, control mode; however, control capability is available to develop preprogrammed, automated modes of operation

  2. Robotic System Development for Cooperative Orthopedic Drilling Assistance

    Directory of Open Access Journals (Sweden)

    Vijayabaskar Kasi

    2014-10-01

    Full Text Available This paper describes a robotic bone drilling and screwing system for applications in orthopedic surgery. The goal is to realize two robot manipulators performing cooperative bone drilling. The proposed cooperative bone drilling system can be divided into hardware and software development. The hardware development section consists of two robot manipulator arms, which perform drilling and gripping of the bone, and operates using two joysticks. The software section assists the surgeon in visual and navigation control of those robot manipulators. Controller used in this system can be included in the hardware and software sections. Disturbance observer based position control was used in the robot manipulator maneuver and reposition controller (cooperative control was used in cooperative drilling operation to maintain the alignment of the drill bit during drilling. A mathematical model for the control system was designed and a real environment mimicking simulation for bone drilling was designed. The result of the simulation shows that the cooperative robot system managed to perform cooperative drilling when misalignment occurs during bone drilling. The bone gripping robot managed to restore the drill bit to its ideal alignment in every event of misalignment in the drilling axis. Therefore this cooperative system has potential application in experimental orthopedic surgery.

  3. Development of In-Pipe Robot D300: Cornering Mechanism

    Directory of Open Access Journals (Sweden)

    Zainal Abidin Ana Sakura

    2017-01-01

    Full Text Available Utilization of robots for in-pipe maintenance considered as one of the most effective ways to improve the pipeline operation. The specific condition and structure of a pipeline system is a challenge for the robots to perform its task. This research aims to assess the characteristic and performance of the in-pipe robot in a 90° pipe elbow. Hence, a prototype of in-pipe robot for 300 mm UPVC pipe diameter (IPR-D300 has been built. The conception of the robot is based on wall-pressed caterpillar type which is suitable for not only horizontal pipeline position, but also vertical and elbows pipeline. This robot is equipped with ultrasonic sensors, high performance microcontroller board and powerful geared motor for travelling in the corner of pipeline. The developed IPR-D300 consist of three independent driving modules that are able to alter the speed according to the pipeline characteristic. The hardware and software of the IPR-D300 performance have been tested and successfully perform the cornering task smoothly. The developed IPR-D300 potentially can be applied for in-pipe cleaning operation especially on centralised sewerage system. As standard pipeline size for sewerage system housing in Malaysia is 200 mm, smaller and robust in-pipe robot will be the future target.

  4. Implementation of a Robot Hand Controlled with Android Software

    OpenAIRE

    TEZEL, Cengiz; GÜNAY, Ozan; Kayisli, Korhan

    2018-01-01

    Bionic robots intended to be used in the medical fieldare currently in the robotic sector, where many researches have been done.Bionic robot studies started with robot arm were developed as robot hands,robot legs and humanoid robots. In the medical sector, they were inspired byprosthetic arms, legs and hand products and took their place in roboticssystems. With the development of 3-D printer technology, these roboticexercises made at the medical field have gained speed. In this article, it is...

  5. Development of a Novel Locomotion Algorithm for Snake Robot

    International Nuclear Information System (INIS)

    Khan, Raisuddin; Billah, Md Masum; Watanabe, Mitsuru; Shafie, A A

    2013-01-01

    A novel algorithm for snake robot locomotion is developed and analyzed in this paper. Serpentine is one of the renowned locomotion for snake robot in disaster recovery mission to overcome narrow space navigation. Several locomotion for snake navigation, such as concertina or rectilinear may be suitable for narrow spaces, but is highly inefficient if the same type of locomotion is used even in open spaces resulting friction reduction which make difficulties for snake movement. A novel locomotion algorithm has been proposed based on the modification of the multi-link snake robot, the modifications include alterations to the snake segments as well elements that mimic scales on the underside of the snake body. Snake robot can be able to navigate in the narrow space using this developed locomotion algorithm. The developed algorithm surmount the others locomotion limitation in narrow space navigation

  6. Development of Industrial High-Speed Transfer Parallel Robot

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Byung In; Kyung, Jin Ho; Do, Hyun Min; Jo, Sang Hyun [Korea Institute of Machinery and Materials, Daejeon (Korea, Republic of)

    2013-08-15

    Parallel robots used in industry require high stiffness or high speed because of their structural characteristics. Nowadays, the importance of rapid transportation has increased in the distribution industry. In this light, an industrial parallel robot has been developed for high-speed transfer. The developed parallel robot can handle a maximum payload of 3 kg. For a payload of 0.1 kg, the trajectory cycle time is 0.3 s (come and go), and the maximum velocity is 4.5 m/s (pick amp, place work, adept cycle). In this motion, its maximum acceleration is very high and reaches approximately 13g. In this paper, the design, analysis, and performance test results of the developed parallel robot system are introduced.

  7. Development of Industrial High-Speed Transfer Parallel Robot

    International Nuclear Information System (INIS)

    Kim, Byung In; Kyung, Jin Ho; Do, Hyun Min; Jo, Sang Hyun

    2013-01-01

    Parallel robots used in industry require high stiffness or high speed because of their structural characteristics. Nowadays, the importance of rapid transportation has increased in the distribution industry. In this light, an industrial parallel robot has been developed for high-speed transfer. The developed parallel robot can handle a maximum payload of 3 kg. For a payload of 0.1 kg, the trajectory cycle time is 0.3 s (come and go), and the maximum velocity is 4.5 m/s (pick amp, place work, adept cycle). In this motion, its maximum acceleration is very high and reaches approximately 13g. In this paper, the design, analysis, and performance test results of the developed parallel robot system are introduced

  8. 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.

  9. 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...

  10. Development of Assistive Robots Using International Classification of Functioning, Disability, and Health: Concept, Applications, and Issues

    Directory of Open Access Journals (Sweden)

    Hideyuki Tanaka

    2013-01-01

    Full Text Available Many assistive robots for elderly and disabled people have been developed in the past few decades. However, very few of them became commercially available. The major cause of the problem is that the cost-benefit ratio and the risk-benefit ratio of them are not good or not known. The evaluation of them should be done in the light of the impacts of assistive technologies on users’ whole life, both in short-term and long-term. In this paper, we propose a framework of evaluation and design of assistive robots using ICF (International Classification of Functioning, Disability, and Health. The goal of the framework is the realization of the life design and the improvement of the quality of life using assistive technologies. We describe the concept of utilizing ICF in the development process of assistive robots, and demonstrate its utility by using some examples of practical application such as the analysis of daily living, the design of assistive robots and the evaluation of assistive robots. We also show the issues of using ICF for further development of the framework.

  11. Robot

    OpenAIRE

    Flek, O.

    2015-01-01

    The objective of this paper is to design and produce a robot based on a four wheel chassis equipped with a robotic arm capable of manipulating small objects. The robot should be able to operate in an autonomous mode controlled by a microcontroller and in a mode controlled wirelessly by an operator in real time. Precision and accuracy of the robotic arm should be sufficient for the collection of small objects, such as syringes and needles. The entire robot should be easy to operate user-friend...

  12. The Strategic Technologies for Automation and Robotics (STEAR) program: Protection of materials in the space environment subprogram

    Science.gov (United States)

    Schmidt, Lorne R.; Francoeur, J.; Aguero, Alina; Wertheimer, Michael R.; Klemberg-Sapieha, J. E.; Martinu, L.; Blezius, J. W.; Oliver, M.; Singh, A.

    1995-01-01

    Three projects are currently underway for the development of new coatings for the protection of materials in the space environment. These coatings are based on vacuum deposition technologies. The projects will go as far as the proof-of-concept stage when the commercial potential for the technology will be demonstrated on pilot-scale fabrication facilities in 1996. These projects are part of a subprogram to develop supporting technologies for automation and robotics technologies being developed under the Canadian Space Agency's STEAR Program, part of the Canadian Space Station Program.

  13. Research and development of advanced robots for nuclear power plants

    International Nuclear Information System (INIS)

    Tsukune, Hideo; Hirukawa, Hirohisa; Kitagaki, Kosei; Liu, Yunhui; Onda, Hiromu; Nakamura, Akira

    1994-01-01

    Social and economic demands have been pressing for automation of inspection tasks, maintenance and repair jobs of nuclear power plants, which are carried out by human workers under circumstances with high radiation level. Since the plants are not always designed for introduction of automatic machinery, sophisticated robots shall play a crucial role to free workers from hostile environments. We have been studying intelligent robot systems and regarded nuclear industries as one of the important application fields where we can validate the feasibility of the methods and systems we have developed. In this paper we firstly discuss on the tasks required in nuclear power plants. Secondly we introduce current status of R and D on special purpose robots, versatile robots and intelligent robots for automatizing the tasks. Then we focus our discussions on three major functions in realizing robotized assembly tasks under such unstructured environments as in nuclear power plants; planning, vision and manipulation. Finally we depict an image of a prototype robot system for nuclear power plants based on the advanced functions. (author) 64 refs

  14. 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

  15. Advanced Mirror Technology Development

    Science.gov (United States)

    Stahl, H. Philip

    2017-01-01

    The Advanced Mirror Technology Development (AMTD) project matures critical technologies required to enable ultra-stable 4-m-or-larger monolithic or segmented ultraviolet, optical, and infrared (UVOIR) space telescope primary-mirror assemblies for general astrophysics and ultra-high-contrast observations of exoplanets.

  16. Robotized Warehouse Systems: Developments and Research Opportunities

    NARCIS (Netherlands)

    K. Azadeh (Kaveh); M.B.M. de Koster (René); D. Roy (Debjit)

    2017-01-01

    textabstractRobotized handling systems are increasingly applied in distribution centers. They require little space, provide flexibility in managing varying demand requirements, and are able to work 24/7. This makes them particularly fit for e-commerce operations. This paper reviews new categories of

  17. Ocean Technology Development Tank

    Data.gov (United States)

    Federal Laboratory Consortium — The new SWFSC laboratory in La Jolla incorporates a large sea- and fresh-water Ocean Technology Development Tank. This world-class facility expands NOAA's ability to...

  18. 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

  19. Technology research and development

    International Nuclear Information System (INIS)

    Haas, G.M.; Abdov, M.A.; Baker, C.C.; Beuligmann, R.F.

    1985-01-01

    The U.S. Dept. of Energy discusses the new program plan, the parameters of which are a broad scientific and technology knowledge base, an attractive plasma configuration to be determined, and other issues concerning uncertainty as to what constitutes attractive fusion options to be determined in the future, and increased collaboration. Tables show changing directions in magnetic fusion energy, two examples of boundary condition impacts on long-term technology development, and priority classes of the latter. The Argonne National Laboratory comments on the relationship between science, technology and the engineering aspects of the fusion program. UCLA remarks on the role of fusion technology in the fusion program plan, particularly on results from the recent studies of FINESSE. General Dynamics offers commentary on the issues of a reduced budget, and new emphasis on science which creates an image of the program. A table illustrates technology research and development in the program plan from an industrial perspective

  20. Current Capabilities and Development Potential in Surgical Robotics

    Directory of Open Access Journals (Sweden)

    Mathias Hoeckelmann

    2015-05-01

    Full Text Available Commercial surgical robots have been in clinical use since the mid-1990s, supporting surgeons in various tasks. In the past decades, many systems emerged as research platforms, and a few entered the global market. This paper summarizes the currently available surgical systems and research directions in the broader field of surgical robotics. The widely deployed teleoperated manipulators aim to enhance human cognitive and physical skills and provide smart tools for surgeons, while image-guided robotics focus on surpassing human limitations by introducing automated targeting and treatment delivery methods. Both concepts are discussed based on prototypes and commercial systems. Through concrete examples the possible future development paths of surgical robots are illustrated. While research efforts are taking different approaches to improve the capacity of such systems, the aim of this survey is to assess their maturity from the commercialization point of view.

  1. Development and evaluation of a flexible distributed robot control architecture

    Science.gov (United States)

    Ellsberry, Andrew John

    2011-12-01

    The communications and electronic systems that comprise a distributed control architecture for a robotic manipulator tie the high level control and motion planning to the electromechanical components. Custom solutions to this problem can be expensive in terms of time, cost, and maintenance. The integration of commercial off the shelf (COTS) motion controllers, combined with a robust communication standard, offers the potential to reduce the costs and development times for new robots. This thesis demonstrates an implementation of this architecture using commercial controllers and the CANopen communications bus on two existing dexterous robots. Testing is conducted to quantify the single joint performance of these modules. Additionally, the implementation of the system on a second robot arm was conducted in order to test the flexibility of the system for use with different actuators and feedback.

  2. Development of automatic inspection robot for nuclear power plants

    International Nuclear Information System (INIS)

    Yamada, K.; Suzuki, K.; Saitoh, K.; Sakaki, T.; Ohe, Y.; Mizutani, T.; Segawa, M.; Kubo, K.

    1987-01-01

    This robot system has been developed for automatic inspection of nuclear power plants. The system configuration is composed of vehicle that runs on monorail, the sensors on the vehicle, an image processer that processes the image information from the sensors, a computer that creates the inspection planning of the robot and an operation panel. This system has two main features, the first is the robot control system. The vehicle and the sensors are controlled by the output data calculated in the computer with the three dimensional plant data. The malfunction is recognized by the combination of the results of image processing, information from the microphone and infrared camera. Tests for a prototype automatic inspection robot system have been performed in the simulated main steam piping room of a nuclear power plant

  3. Fusion development and technology

    International Nuclear Information System (INIS)

    Montgomery, D.B.

    1991-01-01

    This report discusses the following topics: superconducting magnet technology high field superconductors; advanced magnetic system and divertor development; poloidal field coils; gyrotron development; commercial reactor studies -- Aries; ITER physics; ITER superconducting PF scenario and magnet analysis; and safety, environmental and economic factors in fusion development

  4. Social Robots, Brain Machine Interfaces and Neuro/Cognitive Enhancers: Three Emerging Science and Technology Products through the Lens of Technology Acceptance Theories, Models and Frameworks

    Directory of Open Access Journals (Sweden)

    Gregor Wolbring

    2013-06-01

    Full Text Available Social robotics, brain machine interfaces and neuro and cognitive enhancement products are three emerging science and technology products with wide-reaching impact for disabled and non-disabled people. Acceptance of ideas and products depend on multiple parameters and many models have been developed to predict product acceptance. We investigated which frequently employed technology acceptance models (consumer theory, innovation diffusion model, theory of reasoned action, theory of planned behaviour, social cognitive theory, self-determination theory, technology of acceptance model, Unified Theory of Acceptance and Use of Technology UTAUT and UTAUT2 are employed in the social robotics, brain machine interfaces and neuro and cognitive enhancement product literature and which of the core measures used in the technology acceptance models are implicit or explicit engaged with in the literature.

  5. Design and Development of a Landmines Removal Robot

    Directory of Open Access Journals (Sweden)

    K.T.M.U. Hemapala

    2012-03-01

    Full Text Available Humanitarian demining is a calamity of war affecting many third world countries. Mines are cheap weapons, built to sustain horrible injuries that target active people with a knock-on effect upon economic growth. The clearing is time consuming and expensive. Clearing is an engineering duty and the humanitarian goal is a technical challenge. Advanced robotics fulfils this task cleanly and reliably on the condition that upgrades and cost are met, meaning that they lose third-world appropriateness. The challenge is to turn local machines and awareness into effective robotic aids, willingly used by the local people, and to enhance the on-going outcomes. The solution to the demining problem shall be a low cost robotic outfit with resort to nearby available resources and competences (e.g., drawn from the local agricultural machinery and know-how. This paper discusses an ongoing project that aims to develop a low-cost robot with intelligent remote-command abilities, as a cheap productivity upgrading, assembled from standard farming devices, through the shared know-how and commitment of locally involved operators. During the study, the authors have developed a low-cost robot capable of removing mines. The robot consists of modified agricultural components including its mobile carrier and the mine effector.

  6. Contribution of innovative technologies to new developments in horticulture

    NARCIS (Netherlands)

    Pekkeriet, Erik; Henten, Van E.J.; Campen, J.B.

    2015-01-01

    This paper reviews new developments in high-tech greenhouse horticulture. It will focus on sensors, energy solutions, covering materials, production technology and robotics. Driving forces for new technologies are identified and Dutch greenhouse crop production is used as an example. Sensors are

  7. Rover Technologies

    Data.gov (United States)

    National Aeronautics and Space Administration — Develop and mature rover technologies supporting robotic exploration including rover design, controlling rovers over time delay and for exploring . Technology...

  8. ISRU-Based Robotic Construction Technologies for Lunar and Martian Infrastructures

    Data.gov (United States)

    National Aeronautics and Space Administration — This study hopes to examine how to robotically pour regolith-based concrete on the Moon or Mars. The study team is adapting its current, Earth based technologies...

  9. 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...

  10. 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...

  11. Technology for an intelligent, free-flying robot for crew and equipment retrieval in space

    Science.gov (United States)

    Erickson, J. D.; Reuter, G. J.; Healey, Kathleen J.; Phinney, D. E.

    1990-01-01

    Crew rescue and equipment retrieval is a Space Station Freedom requirement. During Freedom's lifetime, there is a high probability that a number of objects will accidently become separated. Members of the crew, replacement units, and key tools are examples. Retrieval of these objects within a short time is essential. Systems engineering studies were conducted to identify system requirements and candidate approaches. One such approach, based on a voice-supervised, intelligent, free-flying robot was selected for further analysis. A ground-based technology demonstration, now in its second phase, was designed to provide an integrated robotic hardware and software testbed supporting design of a space-borne system. The ground system, known as the EVA Retriever, is examining the problem of autonomously planning and executing a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles. The current prototype is an anthropomorphic manipulator unit with dexterous arms and hands attached to a robot body and latched in a manned maneuvering unit. A precision air-bearing floor is used to simulate space. Sensor data include two vision systems and force/proximity/tactile sensors on the hands and arms. Planning for a shuttle file experiment is underway. A set of scenarios and strawman requirements were defined to support conceptual development. Initial design activities are expected to begin in late 1989 with the flight occurring in 1994. The flight hardware and software will be based on lessons learned from both the ground prototype and computer simulations.

  12. Automated Manufacturing/Robotics Technology: Certificate and Associate Degree Programs.

    Science.gov (United States)

    McQuay, Paul L.

    A description is provided of the Automated Manufacturing/Robotics program to be offered at Delaware County Community College beginning in September 1984. Section I provides information on the use of reprogramable industrial robots in manufacturing and the rapid changes in production that can be effected through the application of automated…

  13. Adoption of Robotic Technology for Treating Colorectal Cancer.

    Science.gov (United States)

    Schootman, Mario; Hendren, Samantha; Ratnapradipa, Kendra; Stringer, Lisa; Davidson, Nick O

    2016-11-01

    Debate exists regarding the role of robotic-assisted surgery in colorectal cancer. Robotic-assisted surgery has been promoted as a strategy to increase the availability of minimally invasive surgery, which is associated with improved short-term morbidity; however, robotic-assisted surgery is much more expensive than laparoscopic surgery. We aimed to understand hospital and patient trends in the adoption of robotic-assisted surgery. The study used cross-sectional and longitudinal designs. The study included 2010 and 2012 American Hospital Association surveys, as well as the 2010-2012 Nationwide Inpatient Sample. US hospitals responding to the American Hospital Association survey were included to measure patients with colorectal cancer who were undergoing elective minimally invasive surgery or open resection. Robotic-assisted surgery adoption by US hospitals was measured, regarding specifically patients with colorectal cancer who were treated with robotic surgery. In 2010, 20.1% of hospitals adopted robotic-assisted surgery, increasing to 27.4% by 2012. Hospitals more likely to adopt robotic-assisted surgery included teaching hospitals, those with more advanced imaging services, those in metropolitan rather than rural areas, and those performing the highest inpatient surgery volume. Robotic-assisted surgery only accounted for 1.3% of colorectal cancer operations during 2010-2012, but patient probability of robotic-assisted surgery ranged from 0.1% to 15.2%. The percentage of patients with colorectal cancer who were treated robotically among those undergoing minimally invasive surgery increased over time (2010, 1.5%; 2012, 3.6%). Robotic-assisted surgery is increasing more rapidly for patients with rectal cancer with minimally invasive surgery (2010, 5.5%; 2012, 13.3%) versus patients with colon cancer treated with minimally invasive surgery (2010, 1.3%; 2012, 3.3%). The study was limited by its observational study design. Robotic-assisted surgery uptake remains low

  14. Technology transfer for development

    International Nuclear Information System (INIS)

    Abraham, D.

    1990-07-01

    The IAEA has developed a multifaceted approach to ensure that assistance to Member States results in assured technology transfer. Through advice and planning, the IAEA helps to assess the costs and benefits of a given technology, determine the basic requirements for its efficient use in conditions specific to the country, and prepare a plan for its introduction. This report describes in brief the Technical Co-operation Programmes

  15. Calibration technology in application of robot-laser scanning system

    Science.gov (United States)

    Ren, YongJie; Yin, ShiBin; Zhu, JiGui

    2012-11-01

    A system composed of laser sensor and 6-DOF industrial robot is proposed to obtain complete three-dimensional (3-D) information of the object surface. Suitable for the different combining ways of laser sensor and robot, a new method to calibrate the position and pose between sensor and robot is presented. By using a standard sphere with known radius as a reference tool, the rotation and translation matrices between the laser sensor and robot are computed, respectively in two steps, so that many unstable factors introduced in conventional optimization methods can be avoided. The experimental results show that the accuracy of the proposed calibration method can be achieved up to 0.062 mm. The calibration method is also implemented into the automated robot scanning system to reconstruct a car door panel.

  16. What do we learn about development from baby robots?

    Science.gov (United States)

    Oudeyer, Pierre-Yves

    2017-01-01

    Understanding infant development is one of the great scientific challenges of contemporary science. In addressing this challenge, robots have proven useful as they allow experimenters to model the developing brain and body and understand the processes by which new patterns emerge in sensorimotor, cognitive, and social domains. Robotics also complements traditional experimental methods in psychology and neuroscience, where only a few variables can be studied at the same time. Moreover, work with robots has enabled researchers to systematically explore the role of the body in shaping the development of skill. All told, this work has shed new light on development as a complex dynamical system. WIREs Cogn Sci 2017, 8:e1395. doi: 10.1002/wcs.1395 For further resources related to this article, please visit the WIREs website. © 2016 Wiley Periodicals, Inc.

  17. Development of an Active Limp Controlled Space Robot Joint

    Science.gov (United States)

    Nishida, Shin-Ichiro; Yoshikawa, Tsuneo

    The active limp joint was developed for the purpose of the joint for space robots from which good compliant nature is obtained to pulling in by the attaching mechanism in on-orbit assembly work. The contact work in on-orbit assembly work was analyzed, and joint active limp control was proposed as a force control system which realizes compliant action. Moreover, the small cable lap mechanism of the torque sensor of high stiffness and disturbance torque was developed. The space robot joint mechanism which these are built in was developed, and it verified that forcing for the object by application of fine joint torque sensor and joint compliance control could be performed by characteristic testing. Furthermore, it verified that good compliant action was realizable to pulling-in action by joint active limp control. Thus, the joint mechanism and control system suitable for the next-generation space robot arm which does on-orbit assembly work were developed.

  18. Robotics Scoping Study to Evaluate Advances in Robotics Technologies that Support Enhanced Efficiencies for Yucca Mountain Repository Operations

    Energy Technology Data Exchange (ETDEWEB)

    T. Burgess; M. Noakes; P. Spampinato

    2005-03-17

    This paper presents an evaluation of robotics and remote handling technologies that have the potential to increase the efficiency of handling waste packages at the proposed Yucca Mountain High-Level Nuclear Waste Repository. It is expected that increased efficiency will reduce the cost of operations. The goal of this work was to identify technologies for consideration as potential projects that the U.S. Department of Energy Office of Civilian Radioactive Waste Management, Office of Science and Technology International Programs, could support in the near future, and to assess their ''payback'' value. The evaluation took into account the robotics and remote handling capabilities planned for incorporation into the current baseline design for the repository, for both surface and subsurface operations. The evaluation, completed at the end of fiscal year 2004, identified where significant advantages in operating efficiencies could accrue by implementing any given robotics technology or approach, and included a road map for a multiyear R&D program for improvements to remote handling technology that support operating enhancements.

  19. Robotics Scoping Study to Evaluate Advances in Robotics Technologies that Support Enhanced Efficiencies for Yucca Mountain Repository Operations

    International Nuclear Information System (INIS)

    Burgess, T.; Noakes, M.; Spampinato, P.

    2005-01-01

    This paper presents an evaluation of robotics and remote handling technologies that have the potential to increase the efficiency of handling waste packages at the proposed Yucca Mountain High-Level Nuclear Waste Repository. It is expected that increased efficiency will reduce the cost of operations. The goal of this work was to identify technologies for consideration as potential projects that the U.S. Department of Energy Office of Civilian Radioactive Waste Management, Office of Science and Technology International Programs, could support in the near future, and to assess their ''payback'' value. The evaluation took into account the robotics and remote handling capabilities planned for incorporation into the current baseline design for the repository, for both surface and subsurface operations. The evaluation, completed at the end of fiscal year 2004, identified where significant advantages in operating efficiencies could accrue by implementing any given robotics technology or approach, and included a road map for a multiyear R and D program for improvements to remote handling technology that support operating enhancements

  20. Experiences in Developing an Experimental Robotics Course Program for Undergraduate Education

    Science.gov (United States)

    Jung, Seul

    2013-01-01

    An interdisciplinary undergraduate-level robotics course offers students the chance to integrate their engineering knowledge learned throughout their college years by building a robotic system. Robotics is thus a core course in system and control-related engineering education. This paper summarizes the experience of developing robotics courses…

  1. Soft Robotics: New Perspectives for Robot Bodyware and Control.

    Science.gov (United States)

    Laschi, Cecilia; Cianchetti, Matteo

    2014-01-01

    The remarkable advances of robotics in the last 50 years, which represent an incredible wealth of knowledge, are based on the fundamental assumption that robots are chains of rigid links. The use of soft materials in robotics, driven not only by new scientific paradigms (biomimetics, morphological computation, and others), but also by many applications (biomedical, service, rescue robots, and many more), is going to overcome these basic assumptions and makes the well-known theories and techniques poorly applicable, opening new perspectives for robot design and control. The current examples of soft robots represent a variety of solutions for actuation and control. Though very first steps, they have the potential for a radical technological change. Soft robotics is not just a new direction of technological development, but a novel approach to robotics, unhinging its fundamentals, with the potential to produce a new generation of robots, in the support of humans in our natural environments.

  2. Soft Robotics: new perspectives for robot bodyware and control

    Directory of Open Access Journals (Sweden)

    Cecilia eLaschi

    2014-01-01

    Full Text Available The remarkable advances of robotics in the last fifty years, which represent an incredible wealth of knowledge, are based on the fundamental assumption that robots are chains of rigid links. The use of soft materials in robotics, driven not only by new scientific paradigms (biomimetics, morphological computation, and others, but also by many applications (biomedical, service, rescue robots, and many more, is going to overcome these basic assumptions and makes the well-known theories and techniques poorly applicable, opening new perspectives for robot design and control.The current examples of soft robots represent a variety of solutions for actuation, and control. Though very first steps, they have the potential for a radical technological change. Soft robotics is not just a new direction of technological development, but a novel approach to robotics, unhinging its fundamentals, with the potential to produce a new generation of robots, in the support of humans in our natural environments.

  3. Conceptions of health service robots

    DEFF Research Database (Denmark)

    Lystbæk, Christian Tang

    2015-01-01

    Technology developments create rich opportunities for health service providers to introduce service robots in health care. While the potential benefits of applying robots in health care are extensive, the research into the conceptions of health service robot and its importance for the uptake...... the two dimensions we identify four basic conceptions of health service robots, conceptualizing health service robots as critical, practical, desirable or affectionate, respectively. The article concludes with an outline of managerial concerns and points of departure for future research. Keywords: Service...... of robotics technology in health care is limited. This article develops a model of the basic conceptions of health service robots that can be used to understand different assumptions and values attached to health care technology in general and health service robots in particular. The article takes...

  4. Fusion development and technology

    International Nuclear Information System (INIS)

    Montgomery, D.B.

    1992-01-01

    This report discusses the following: superconducting magnet technology; high field superconductors; advanced magnetic system and divertor development; poloidal field coils; gyrotron development; commercial reactor studies--aries; ITER physics: alpha physics and alcator R ampersand D for ITER; lower hybrid current drive and heating in the ITER device; ITER superconducting PF scenario and magnet analysis; ITER systems studies; and safety, environmental and economic factors in fusion development

  5. Fusion development and technology

    Energy Technology Data Exchange (ETDEWEB)

    Montgomery, D.B.

    1992-01-01

    This report discusses the following: superconducting magnet technology; high field superconductors; advanced magnetic system and divertor development; poloidal field coils; gyrotron development; commercial reactor studies--aries; ITER physics: alpha physics and alcator R D for ITER; lower hybrid current drive and heating in the ITER device; ITER superconducting PF scenario and magnet analysis; ITER systems studies; and safety, environmental and economic factors in fusion development.

  6. Biofuel technologies. Recent developments

    Energy Technology Data Exchange (ETDEWEB)

    Gupta, Vijai Kumar [National Univ. of Ireland Galway (Ireland). Dept. of Biochemistry; MITS Univ., Rajasthan (India). Dept. of Science; Tuohy, Maria G. (eds.) [National Univ. of Ireland Galway (Ireland). Dept. of Biochemistry

    2013-02-01

    Written by experts. Richly illustrated. Of interest to both experienced researchers and beginners in the field. Biofuels are considered to be the main potential replacement for fossil fuels in the near future. In this book international experts present recent advances in biofuel research and related technologies. Topics include biomethane and biobutanol production, microbial fuel cells, feedstock production, biomass pre-treatment, enzyme hydrolysis, genetic manipulation of microbial cells and their application in the biofuels industry, bioreactor systems, and economical processing technologies for biofuel residues. The chapters provide concise information to help understand the technology-related implications of biofuels development. Moreover, recent updates on biofuel feedstocks, biofuel types, associated co- and byproducts and their applications are highlighted. The book addresses the needs of postgraduate researchers and scientists across diverse disciplines and industrial sectors in which biofuel technologies and related research and experimentation are pursued.

  7. The combined measurement and compensation technology for robot motion error

    Science.gov (United States)

    Li, Rui; Qu, Xinghua; Deng, Yonggang; Liu, Bende

    2013-10-01

    Robot parameter errors are mainly caused by the kinematic parameter errors and the moving angle errors. The calibration of the kinematic parameter errors and the regularity of each axis moving angle errors are mainly researched in this paper. The errors can be compensated by the error model through pre-measurement. So robot kinematic system accuracy can be improved in the case where there are no external devices for real-time measurement. Combination measuring system which is based on the laser tracker and the biaxial orthogonal inertial measuring instrument is designed and built in the paper. The laser tracker is used to build the robot kinematic parameter error model which is based on the minimum constraint of distance error. The biaxial orthogonal inertial measuring instrument is used to obtain the moving angle error model of each axis. The model is preset when the robot is moving in the predetermined path to get the exam movement error and the compensation quantity is feedback to robot controller module of moving axis to compensation the angle. The robot kinematic parameter calibration bases on distance error model and the distribution law of each axis movement error are discussed in this paper. The laser tracker is applied to prove that the method can effectively improve the control accuracy of the robot system.

  8. Manufacturing process applications team (MATEAM). [technology transfer in the areas of machine tools and robots

    Science.gov (United States)

    1979-01-01

    The transfer of NASA technology to the industrial sector is reported. Presentations to the machine tool and robot industries and direct technology transfers of the Adams Manipulator arm, a-c motor control, and the bolt tension monitor are discussed. A listing of proposed RTOP programs with strong potential is included. A detailed description of the rotor technology available to industry is given.

  9. Social humanoid robot SARA: development of the wrist mechanism

    Science.gov (United States)

    Penčić, M.; Rackov, M.; Čavić, M.; Kiss, I.; Cioată, V. G.

    2018-01-01

    This paper presents the development of a wrist mechanism for humanoid robots. The research was conducted within the project which develops social humanoid robot Sara - a mobile anthropomorphic platform for researching the social behaviour of robots. There are two basic ways for the realization of humanoid wrist. The first one is based on biologically inspired structures that have variable stiffness, and the second one on low backlash mechanisms that have high stiffness. Our solution is low backlash differential mechanism that requires small actuators. Based on the kinematic-dynamic requirements, a dynamic model of the robot wrist is formed. A dynamic simulation for several hand positions was performed and the driving torques of the wrist mechanism were determined. The realized wrist has 2 DOFs and enables movements in the direction of flexion/extension 115°, ulnar/radial deviation ±45° and the combination of these two movements. It consists of a differential mechanism with three spur bevel gears, two of which are driving and identical, while the last one is the driven gear to which the robot hand is attached. Power transmission and motion from the actuator to the input links of the differential mechanism is realized with two parallel placed identical gear mechanisms. The wrist mechanism has high carrying capacity and reliability, high efficiency, a compact design and low backlash that provides high positioning accuracy and repeatability of movements, which is essential for motion control.

  10. A psychology based approach for longitudinal development in cognitive robotics

    Directory of Open Access Journals (Sweden)

    James eLaw

    2014-01-01

    Full Text Available A major challenge in robotics is the ability to learn, from novel experiences, new behaviour that is useful for achieving new goals and skills. Autonomous systems must be able to learn solely through the environment, thus ruling out a priori task knowledge, tuning, extensive training, or other forms of pre-programming. Learning must also be cumulative and incremental, as complex skills are built on top of primitive skills. Additionally, it must be driven by intrinsic motivation because formative experience is gained through autonomous activity, even in the absence of extrinsic goals or tasks. This paper presents an approach to these issues through robotic implementations inspired by the learning behaviour of human infants. We describe an approach to developmental learning and present results from a demonstration of longitudinal development on an iCub humanoid robot. The results cover the rapid emergence of staged behaviour, the role of constraints in development, the effect of bootstrapping between stages, and the use of a schema memory of experiential fragments in learning new skills. The context is a longitudinalexperiment in which the robot advanced from uncontrolled motor babbling to skilled hand/eyeintegrated reaching and basic manipulation of objects. This approach offers promise for furtherfast and effective sensory-motor learning techniques for robotic learning.

  11. A psychology based approach for longitudinal development in cognitive robotics.

    Science.gov (United States)

    Law, J; Shaw, P; Earland, K; Sheldon, M; Lee, M

    2014-01-01

    A major challenge in robotics is the ability to learn, from novel experiences, new behavior that is useful for achieving new goals and skills. Autonomous systems must be able to learn solely through the environment, thus ruling out a priori task knowledge, tuning, extensive training, or other forms of pre-programming. Learning must also be cumulative and incremental, as complex skills are built on top of primitive skills. Additionally, it must be driven by intrinsic motivation because formative experience is gained through autonomous activity, even in the absence of extrinsic goals or tasks. This paper presents an approach to these issues through robotic implementations inspired by the learning behavior of human infants. We describe an approach to developmental learning and present results from a demonstration of longitudinal development on an iCub humanoid robot. The results cover the rapid emergence of staged behavior, the role of constraints in development, the effect of bootstrapping between stages, and the use of a schema memory of experiential fragments in learning new skills. The context is a longitudinal experiment in which the robot advanced from uncontrolled motor babbling to skilled hand/eye integrated reaching and basic manipulation of objects. This approach offers promise for further fast and effective sensory-motor learning techniques for robotic learning.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2008-03-01

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

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

    International Nuclear Information System (INIS)

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

    2008-01-01

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

  14. Developing glovebox robotics to meet the national robot safety standard and nuclear safety criteria

    International Nuclear Information System (INIS)

    McMahon, T.T.; Sievers, R.H.

    1991-09-01

    Development of a glove box based robotic system by the Lawrence Livermore National Laboratory (LLNL) is reported. Safety issues addressed include planning to meet the special constraints of operations within a hazardous material glove box and with hostile environments, compliance with the current and draft national robotic system safety standards, and eventual satisfaction of nuclear material handling requirements. Special attention has been required for the revision to the robot and control system models which antedate adoption of the present national safety standard. A robotic test bed, using non-radioactive surrogates is being activated at the Lawrence Livermore National Laboratory to develop the material handling system and the process interfaces for future special nuclear material processing applications. Part of this effort is to define, test, and revise adequate safety controls to ensure success when the system is eventually deployed at a DOE site. The current system is primarily for demonstration and testing, but will evolve into the baseline configuration from which the production system is to be derived. This results in special hazards associated with research activities which may not be present on a production line. Nuclear safety is of paramount importance and has been successfully addressed for 50 years in the DOE weapons production complex. It carries its particular requirements for robot systems and manual operations, as summarized below: Criticality must be avoided (materials cannot consolidate or accumulate to approach a critical mass). Radioactive materials must be confined. The public and workers must be protected from accountable radiation exposure. Nuclear material must be readily retrievable. Nuclear safety must be conclusively demonstrated through hazards analysis. 7 refs

  15. Development of a New Manta Robot Considering the Propulsive Resistance

    Directory of Open Access Journals (Sweden)

    Kota Mikuriya

    2017-03-01

    Full Text Available In recent years, biological research of an aquatic lifeis carried out actively. The sea is a dangerous environment forhumans, so that we cannot investigate an aquatic life for a longperiod of time. In addition, conventional underwater robots havea common mechanism for propulsion with screw propellers.Noises generated by screw propellers have a possibility of givinga bad effect on the biological behavior. On the other hand,biomimetic robots can investigate aquatic lives without affectingthem significantly. Our laboratory has developed a Manta robotthat has propulsion mechanisms with pectoral fins, mimickingthe pectoral fin of the manta ray. Conventional Manta robotshave a problem that its swimming speed is insufficient forinvestigating aquatic lives. In this paper, we develop anautonomous Manta robot that is excellent in the propulsionperformance by taking account of propulsion resistance causedby the body shape. Several experiments are conducted to showthe effectiveness of the proposed method, in the point of theswimming speed and propulsive efficiency

  16. Development of a Tether Based Space Walking Robot to Be Tested on ISS/KIBO

    Science.gov (United States)

    Oda, Mitsushige; Yoshii, Masahiro; Kato, Hiroki; Suzuki, Satoshi; Hagiwara, Yusuke; Ueno, Taihei

    A unique space robot is proposed to support astronauts in space. The robot moves around the surface of a space facility, e.g. a space station using its handrails and tethers that the robot has. This unique mechanism of the proposed robot makes it possible to realize the robot in a small volume while the robot can move around the wide area. In order to demonstrate usefulness of this unique robot, an onboard experiment on the exposed facility of the International Space Station Japanese Experiment Module, “KIBO” will be conducted in the year 2012. Development of the experiment system is progressing now.

  17. Training in urological robotic surgery. Future perspectives.

    Science.gov (United States)

    El Sherbiny, Ahmed; Eissa, Ahmed; Ghaith, Ahmed; Morini, Elena; Marzotta, Lucilla; Sighinolfi, Maria Chiara; Micali, Salvatore; Bianchi, Giampaolo; Rocco, Bernardo

    2018-01-01

    As robotics are becoming more integrated into the medical field, robotic training is becoming more crucial in order to overcome the lack of experienced robotic surgeons. However, there are several obstacles facing the development of robotic training programs like the high cost of training and the increased operative time during the initial period of the learning curve, which, in turn increase the operative cost. Robotic-assisted laparoscopic prostatectomy is the most commonly performed robotic surgery. Moreover, robotic surgery is becoming more popular among urologic oncologists and pediatric urologists. The need for a standardized and validated robotic training curriculum was growing along with the increased number of urologic centers and institutes adopting the robotic technology. Robotic training includes proctorship, mentorship or fellowship, telementoring, simulators and video training. In this chapter, we are going to discuss the different training methods, how to evaluate robotic skills, the available robotic training curriculum, and the future perspectives.

  18. Soviet Robots in the Solar System Mission Technologies and Discoveries

    CERN Document Server

    Huntress, JR , Wesley T

    2011-01-01

    The Soviet robotic space exploration program began in a spirit of bold adventure and technical genius. It ended after the fall of the Soviet Union and the failure of its last mission to Mars in 1996. Soviet Robots in the Solar System chronicles the scientific and engineering accomplishments of this enterprise from its infancy to its demise. Each flight campaign is set into context of national politics and international competition with the United States. Together with its many detailed illustrations and images, Soviet Robots in the Solar System presents the most detailed technical description of Soviet robotic space flights provides a unique insight into programmatic, engineering, and scientific issues covers mission objectives, spacecraft engineering, flight details, scientific payload and results describes in technical depth Soviet lunar and planetary probes

  19. ABC Technology Development Program

    International Nuclear Information System (INIS)

    1994-01-01

    The Accelerator-Based Conversion (ABC) facility will be designed to accomplish the following mission: 'Provide a weapon's grade plutonium disposition capability in a safe, economical, and environmentally sound manner on a prudent schedule for [50] tons of weapon's grade plutonium to be disposed on in [20] years.' This mission is supported by four major objectives: provide a reliable plutonium disposition capability within the next [15] years; provide a level of safety and of safety assurance that meets or exceeds that afforded to the public by modern commercial nuclear power plants; meet or exceed all applicable federal, state, and local regulations or standards for environmental compliance; manage the program in a cost effective manner. The ABC Technology Development Program defines the technology development activities that are required to accomplish this mission. The technology development tasks are related to the following topics: blanket system; vessel systems; reactivity control systems; heat transport system components; energy conversion systems; shutdown heat transport systems components; auxiliary systems; technology demonstrations - large scale experiments

  20. Robotic education, a tool for the theaching-learning of the science and technology

    Directory of Open Access Journals (Sweden)

    Kathia Pittí Patiño

    2012-07-01

    Full Text Available Normal.dotm 0 0 1 113 649 Universidad de Salamanca 5 1 797 12.0 0 false 18 pt 18 pt 0 0 false false false /* Style Definitions */ table.MsoNormalTable {mso-style-name:"Table Normal"; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-parent:""; mso-padding-alt:0cm 5.4pt 0cm 5.4pt; mso-para-margin-top:0cm; mso-para-margin-right:0cm; mso-para-margin-bottom:10.0pt; mso-para-margin-left:0cm; line-height:115%; mso-pagination:widow-orphan; font-size:12.0pt; font-family:"Times New Roman"; mso-ascii-font-family:Calibri; mso-ascii-theme-font:minor-latin; mso-fareast-font-family:"Times New Roman"; mso-fareast-theme-font:minor-fareast; mso-hansi-font-family:Calibri; mso-hansi-theme-font:minor-latin;} This paper presents and analyzes the educational robotics as a tool to support teaching and learning process at the level of pre-media, primarily engaged in complex subjects such as mathematics, physics and computer science, among others. The study was limited to high schools in the province of Chiriqui, Panama, took a sample of six schools in the province and for each school involved both students and teachers. The main objective of the project was to demonstrate how robotics education, facilitates and encourages teaching and learning of science and technology. The results showed that robotics could become an excellent tool to understand abstract concepts and complex subjects in the area of science and technology, as well as allowing developing basic skills such as teamwork.

  1. Transmutation Technology Development

    Energy Technology Data Exchange (ETDEWEB)

    Song, T. Y.; Park, W. S.; Kim, Y. H. (and others)

    2007-06-15

    The spent fuel coming from the PWR is one of the most difficult problems to be solved for the continuous use of nuclear power. It takes a few million years to be safe under the ground. Therefore, it is not easy to take care of the spent fuel for such a long time. Transmutation technology is the key technology which can solve the spent fuel problem basically. Transmutation is to transmute long-lived radioactive nuclides in the spent fuel into short-lived or stable nuclide through nuclear reactions. The long-lived radioactive nuclides can be TRU and fission products such as Tc-99 and I-129. Although the transmutation technology does not make the underground disposal totally unnecessary, the period to take care of the spent fuel can be reduced to the order of a few hundred years. In addition to the environmental benefit, transmutation can be considered to recycle the energy in the spent fuel since the transmutation is performed through nuclear fission reaction of the TRU in the spent fuel. Therefore, transmutation technology is worth being developed in economical aspect. The results of this work can be a basis for the next stage research. The objective of the third stage research was to complete the core conceptual design and verification of the key technologies. The final results will contribute to the establishment of Korean back end fuel cycle policy by providing technical guidelines.

  2. Development of underwater robot for taking off marine life

    International Nuclear Information System (INIS)

    Hirai, Harumi; Wakamatsu, Kazuhiko; Ueda, Ryohei; Edahiro, Kyosuke; Hayashi, Shunichi.

    1983-01-01

    Fouling by marine life growths in the cooling water system at seaside power generating stations is a major problem in the maintenance of a safe and efficient operation. Ingress of released growths into the condensers and coolers often jeopardizes their tube life and performance by clogging and/or tube corrosion. Many stations are obliged to remove periodically the growths manually after drying-out the system or by divers at considerable expenditure in time and money. A new remote-controlled underwater robot is developed for brushing marine life off cooling water intake channels of thermal and nuclear power generation plants. This robot consists of an underwater working unit, a power supply system, hydraulic hose take-up unit and controlling equipment. The full hydraulically powered robot, which can be used for both open and closed conduits, permits cleaning under water intake servicing condition. It drastically reduces both time and cost. (author)

  3. Implementation of a Tour Guide Robot System Using RFID Technology and Viterbi Algorithm-Based HMM for Speech Recognition

    Directory of Open Access Journals (Sweden)

    Neng-Sheng Pai

    2014-01-01

    Full Text Available This paper applied speech recognition and RFID technologies to develop an omni-directional mobile robot into a robot with voice control and guide introduction functions. For speech recognition, the speech signals were captured by short-time processing. The speaker first recorded the isolated words for the robot to create speech database of specific speakers. After the speech pre-processing of this speech database, the feature parameters of cepstrum and delta-cepstrum were obtained using linear predictive coefficient (LPC. Then, the Hidden Markov Model (HMM was used for model training of the speech database, and the Viterbi algorithm was used to find an optimal state sequence as the reference sample for speech recognition. The trained reference model was put into the industrial computer on the robot platform, and the user entered the isolated words to be tested. After processing by the same reference model and comparing with previous reference model, the path of the maximum total probability in various models found using the Viterbi algorithm in the recognition was the recognition result. Finally, the speech recognition and RFID systems were achieved in an actual environment to prove its feasibility and stability, and implemented into the omni-directional mobile robot.

  4. Robotics as a resource to facilitate the learning and general skills development

    Directory of Open Access Journals (Sweden)

    Flor Ángela Bravo Sánchez

    2012-07-01

    Full Text Available Normal.dotm 0 0 1 127 729 Universidad de Salamanca 6 1 895 12.0 0 false 18 pt 18 pt 0 0 false false false /* Style Definitions */ table.MsoNormalTable {mso-style-name:"Table Normal"; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-parent:""; mso-padding-alt:0cm 5.4pt 0cm 5.4pt; mso-para-margin-top:0cm; mso-para-margin-right:0cm; mso-para-margin-bottom:10.0pt; mso-para-margin-left:0cm; line-height:115%; mso-pagination:widow-orphan; font-size:12.0pt; font-family:"Times New Roman"; mso-ascii-font-family:Calibri; mso-ascii-theme-font:minor-latin; mso-fareast-font-family:"Times New Roman"; mso-fareast-theme-font:minor-fareast; mso-hansi-font-family:Calibri; mso-hansi-theme-font:minor-latin;} The growing importance of technology in the world today and its continuous development, makes the technology becomes an integral part of the formation process in childhood and youth. For this reason is important to develop proposals that are offered to children and young people to come into contact with new technologies, that is possible through the use of software and hardware tools, such as robotic prototypes and specialized programs for educational purposes This paper shows the importance of the use of robotics as a learning tool and presents the typical stages that must be confronted in implementing educational robotics projects in the classroom. It also presents an educational robotics project called "Mundo Robotica" which seeks to involve robotics in the classroom through practical activities and learning resources, all this is articulated from a virtual platform.

  5. ECH Technology Development

    Energy Technology Data Exchange (ETDEWEB)

    Temkin, Richard [Massachusetts Inst. of Technology (MIT), Cambridge, MA (United States)

    2014-12-24

    Electron Cyclotron Heating (ECH) is needed for plasma heating, current drive, plasma stability control, and other applications in fusion energy sciences research. The program of fusion energy sciences supported by U. S. DOE, Office of Science, Fusion Energy Sciences relies on the development of ECH technology to meet the needs of several plasma devices working at the frontier of fusion energy sciences research. The largest operating ECH system in the world is at DIII-D, consisting of six 1 MW, 110 GHz gyrotrons capable of ten second pulsed operation, plus two newer gyrotrons. The ECH Technology Development research program investigated the options for upgrading the DIII-D 110 GHz ECH system. Options included extending present-day 1 MW technology to 1.3 – 1.5 MW power levels or developing an entirely new approach to achieve up to 2 MW of power per gyrotron. The research consisted of theoretical research and designs conducted by Communication and Power Industries of Palo Alto, CA working with MIT. Results of the study would be validated in a later phase by research on short pulse length gyrotrons at MIT and long pulse / cw gyrotrons in industry. This research follows a highly successful program of development that has led to the highly reliable, six megawatt ECH system at the DIII-D tokamak. Eventually, gyrotrons at the 1.5 megawatt to multi-megawatt power level will be needed for heating and current drive in large scale plasmas including ITER and DEMO.

  6. Graphite Technology Development Plan

    Energy Technology Data Exchange (ETDEWEB)

    W. Windes; T. Burchell; R. Bratton

    2007-09-01

    This technology development plan is designed to provide a clear understanding of the research and development direction necessary for the qualification of nuclear grade graphite for use within the Next Generation Nuclear Plant (NGNP) reactor. The NGNP will be a helium gas cooled Very High Temperature Reactor (VHTR) with a large graphite core. Graphite physically contains the fuel and comprises the majority of the core volume. Considerable effort will be required to ensure that the graphite performance is not compromised during operation. Based upon the perceived requirements the major data needs are outlined and justified from the perspective of reactor design, reatcor performance, or the reactor safety case. The path forward for technology development can then be easily determined for each data need. How the data will be obtained and the inter-relationships between the experimental and modeling activities will define the technology development for graphite R&D. Finally, the variables affecting this R&D program are discussed from a general perspective. Factors that can significantly affect the R&D program such as funding, schedules, available resources, multiple reactor designs, and graphite acquisition are analyzed.

  7. Developing concepts for improved efficiency of robot work preparation

    NARCIS (Netherlands)

    Essers, M.S.; Vaneker, Thomas H.J.

    2013-01-01

    SInBot[1] is a large research project that focuses on maximizing the efficient use of mobile industrial robots during medium sized production runs. The system that will be described in this paper will focusses on the development and validation of concepts for efficient work preparation for cells of

  8. Social Robotic Experience and Media Communication Practices: An Exploration on the Emotional and Ritualized Human-technology-relations

    Directory of Open Access Journals (Sweden)

    Christine Linke

    2013-01-01

    Full Text Available This article approaches the subject of social robots by focusing on the emotional relations people establish with media and information and communication technology (ICTs in their everyday life. It examines human-technology-relation from a social studies point of view, seeking to raise questions that enable us to make a connection between the research on human relationships and the topic of human-technology relation, especially human-humanoid-relation. In order to explore the human-technology-relations, theoretical ideas of a mediatization of communication and of a ritual interaction order are applied. Ritual theory is particularly used to enable a focus on emotion as a significant dimension in analyzing social technologies. This explorative article refers to empirical findings regarding media communication practices in close relationships. It argues that following the developed approach regarding mediatized and ritualized relational practices, useful insights for a conceptualization of the human-social robot relation can be achieved. The article concludes with remarks regarding the challenge of an empirical approach to human-social robot-relations.

  9. Sustainable Cooperative Robotic Technologies for Human and Robotic Outpost Infrastructure Construction and Maintenance

    Science.gov (United States)

    Stroupe, Ashley W.; Okon, Avi; Robinson, Matthew; Huntsberger, Terry; Aghazarian, Hrand; Baumgartner, Eric

    2004-01-01

    Robotic Construction Crew (RCC) is a heterogeneous multi-robot system for autonomous acquisition, transport, and precision mating of components in construction tasks. RCC minimizes resources constrained in a space environment such as computation, power, communication and, sensing. A behavior-based architecture provides adaptability and robustness despite low computational requirements. RCC successfully performs several construction related tasks in an emulated outdoor environment despite high levels of uncertainty in motions and sensing. Quantitative results are provided for formation keeping in component transport, precision instrument placement, and construction tasks.

  10. UST-ID robotics: Wireless communication and minimum conductor technology, and end-point tracking technology surveys

    International Nuclear Information System (INIS)

    Holliday, M.A.

    1993-10-01

    This report is a technology review of the current state-of-the-art in two technologies applicable to the Underground Storage Tank (UST) program at the Hanford Nuclear Reservation. The first review is of wireless and minimal conductor technologies for in-tank communications. The second review is of advanced concepts for independent tool-point tracking. This study addresses the need to provide wireless transmission media or minimum conductor technology for in-tank communications and robot control. At present, signals are conducted via contacting transmission media, i.e., cables. Replacing wires with radio frequencies or invisible light are commonplace in the communication industry. This technology will be evaluated for its applicability to the needs of robotics. Some of these options are radio signals, leaky coax, infrared, microwave, and optical fiber systems. Although optical fiber systems are contacting transmission media, they will be considered because of their ability to reduce the number of conductors. In this report we will identify, evaluate, and recommend the requirements for wireless and minimum conductor technology to replace the present cable system. The second section is a technology survey of concepts for independent end-point tracking (tracking the position of robot end effectors). The position of the end effector in current industrial robots is determined by computing that position from joint information, which is basically a problem of locating a point in three-dimensional space. Several approaches are presently being used in industrial robotics, including: stereo-triangulation with a theodolite network and electrocamera system, photogrammetry, and multiple-length measurement with laser interferometry and wires. The techniques that will be evaluated in this survey are advanced applications of the aforementioned approaches. These include laser tracking (3-D and 5-D), ultrasonic tracking, vision-guided servoing, and adaptive robotic visual tracking

  11. UST-ID robotics: Wireless communication and minimum conductor technology, and end-point tracking technology surveys

    Energy Technology Data Exchange (ETDEWEB)

    Holliday, M.A.

    1993-10-01

    This report is a technology review of the current state-of-the-art in two technologies applicable to the Underground Storage Tank (UST) program at the Hanford Nuclear Reservation. The first review is of wireless and minimal conductor technologies for in-tank communications. The second review is of advanced concepts for independent tool-point tracking. This study addresses the need to provide wireless transmission media or minimum conductor technology for in-tank communications and robot control. At present, signals are conducted via contacting transmission media, i.e., cables. Replacing wires with radio frequencies or invisible light are commonplace in the communication industry. This technology will be evaluated for its applicability to the needs of robotics. Some of these options are radio signals, leaky coax, infrared, microwave, and optical fiber systems. Although optical fiber systems are contacting transmission media, they will be considered because of their ability to reduce the number of conductors. In this report we will identify, evaluate, and recommend the requirements for wireless and minimum conductor technology to replace the present cable system. The second section is a technology survey of concepts for independent end-point tracking (tracking the position of robot end effectors). The position of the end effector in current industrial robots is determined by computing that position from joint information, which is basically a problem of locating a point in three-dimensional space. Several approaches are presently being used in industrial robotics, including: stereo-triangulation with a theodolite network and electrocamera system, photogrammetry, and multiple-length measurement with laser interferometry and wires. The techniques that will be evaluated in this survey are advanced applications of the aforementioned approaches. These include laser tracking (3-D and 5-D), ultrasonic tracking, vision-guided servoing, and adaptive robotic visual tracking.

  12. [Preclinical development of the TIMC LER (light endoscope robot)].

    Science.gov (United States)

    Long, Jean-Alexandre; Cinquin, Philippe; Troccaz, Jocelyne; Rambeaud, Jean-Jacques; Skowron, Olivier; Berkelman, Peter; Letoublon, Christian; Cadi, Pierre; Bocqueraz, Frédéric; Voros, Sandrine; Descotes, Jean-Luc

    2006-02-01

    The authors participated in the development of an innovative endoscope robot in laparoscopic surgery designed by TIMC-GMCAO, providing a solution to the disadvantages of currently available systems, i.e. their cost and large dimensions. A compact robot (LER) placed on the patient's skin that can be used in the lateral and dorsal supine position was tested on cadavres and laboratory pigs in order to allow successive modifications. The current control system is based on voice recognition. The amplitude of vision is 360 degrees with an angle of 160 degrees. Twenty three procedures were performed (2 radical prostatectomies, 4 pelvic lymph node dissections, 6 nephrectomies, 2 adrenalectomies, 3 cholecystectomies, 1 small bowel resection-anastomosis, 1 cystectomy, 1 splenectomy, and 3 appendicectomies). Among the various control systems tested, we adopted voice recognition on the basis of its intuitive nature and the fact that it leaves one hand free. In the light of these studies, several aspects of the prototype were modified: reliability, fixation, ergonomy and dimensions. The ease of installation, which takes only 5 minutes, and the easy handling of the robot allowed 21 out of 23 laparoscopic procedures to be performed without the need for an assistant. The LER robot is an endoscope robot guided by the surgeon's voice that can eliminate the need for an assistant to hold the camera during laparoscopic surgery in the lateral and dorsal supine positions. The ease of installation and manufacture should make this an effective and inexpensive system. The gain in operating time was not evaluated during these trials on cadavres and pigs, as various prototypes were tested and several problems of reliability were successively resolved. Ongoing randomized, prospective clinical trials should soon validate this robot prior to marketing.

  13. Starting and Teaching Basic Robotics in the Classroom: Modern, Engaging Engineering in Technology Education

    Science.gov (United States)

    Bianco, Andrew S.

    2014-01-01

    All technology educators have favorite lessons and projects that they most desire to teach. Many teachers might ask why teach robotics when there are many other concepts to cover with the students? The answer to this question is to engage students in science, technology, engineering, and math (commonly referred to as STEM) concepts. In order for…

  14. 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)

  15. A Universal Design for Robotics Education

    Science.gov (United States)

    Bülbül, Mustafa Sahin

    2017-01-01

    In this century, technological and educational needs increase drastically. Out of local language, educators need to teach robotic language and use necessary technologies to design robots like with the Arduino set. Users may develop their own robots with this set. It also improves design and implementation skills. However, it is not a suitable…

  16. Robots Spur Software That Lends a Hand

    Science.gov (United States)

    2014-01-01

    While building a robot to assist astronauts in space, Johnson Space Center worked with partners to develop robot reasoning and interaction technology. The partners created Robonaut 1, which led to Robonaut 2, and the work also led to patents now held by Universal Robotics in Nashville, Tennessee. The NASA-derived technology is available for use in warehousing, mining, and more.

  17. DEVELOPMENT OF TRAJECTORY CONTROL SYSTEM FOR THE OMNIDIRECTIONAL MOBILE ROBOT

    Directory of Open Access Journals (Sweden)

    Y. A. Kapitanyuk

    2014-03-01

    Full Text Available The article deals with a trajectory control system development for the omnidirectional mobile robot. This kind of robots gives the possibility to control separately each degree of freedom due to special design of the wheels, which greatly facilitates the solution of the spatial control tasks and makes it possible to focus directly on the development of algorithms. Control law synthesis is based on kinematic model of a solid body on a plane. Desired trajectory is defined as a smooth implicit function in a fixed coordinate system. Procedure of control design is represented by using a differential-geometric method of nonlinear transformation of the original model to the task-oriented form, which describes the longitudinal motion along a trajectory and orthogonal deviation. Proportional controllers with direct compensation of nonlinear terms are synthesized for the transformed model. Main results are represented by nonlinear control algorithms and experimental data. Practical implementation of considered control laws for the Robotino mobile robot by Festo Didactics Company is done for illustration of this approach workability. The cases of straight line motion and movement along a circle are represented as desirable trajectories, and the majority of practical tasks for mobile robots control can be implemented by their combination.

  18. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

    This paper considers the use of tele-operated robots in live performance. Robots and performance have long been linked, from the working androids and automata staged in popular exhibitions during the nineteenth century and the robots featured at Cybernetic Serendipity (1968) and the World Expo...... discourse shapes how we perceive and use technology and also points to the ways in which emerging technologies “refashion our experience of space, time and human being filter through our art works, dreams and fantasies.” This paper considers a survey of robot dramaturgies to demonstrate how performance both...... shapes and reinforces popular awareness and misconceptions of robots. Flyvende Grise’s The Future (2013), Amit Drori’s Savanna (2010), Global Creatures’ King Kong (2013) and Louis Philip Demers’ Blind Robot (2013) each utilize tele-operated robots across a wide range of human and animal morphologies...

  19. Fundamentals of soft robot locomotion.

    Science.gov (United States)

    Calisti, M; Picardi, G; Laschi, C

    2017-05-01

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

  20. Graphite Technology Development Plan

    Energy Technology Data Exchange (ETDEWEB)

    W. Windes; T. Burchell; M.Carroll

    2010-10-01

    The Next Generation Nuclear Plant (NGNP) will be a helium-cooled High Temperature Gas Reactor (HTGR) with a large graphite core. Graphite physically contains the fuel and comprises the majority of the core volume. Graphite has been used effectively as a structural and moderator material in both research and commercial high-temperature gas-cooled reactors. This development has resulted in graphite being established as a viable structural material for HTGRs. While the general characteristics necessary for producing nuclear grade graphite are understood, historical “nuclear” grades no longer exist. New grades must be fabricated, characterized, and irradiated to demonstrate that current grades of graphite exhibit acceptable non-irradiated and irradiated properties upon which the thermomechanical design of the structural graphite in NGNP is based. This Technology Development Plan outlines the research and development (R&D) activities and associated rationale necessary to qualify nuclear grade graphite for use within the NGNP reactor.

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

    International Nuclear Information System (INIS)

    Martin, M.

    2000-01-01

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

  2. Introduction to Robotics for Industrial Technology Education. Curriculum Guide.

    Science.gov (United States)

    Campbell, Rob, Comp.

    This document consists of teacher's and student's guides for approximately 10 days of instruction that introduces robotics. The teacher's guide contains the following: an introduction; a daily lesson plan outline; a pretest; answers to the pretest and posttest; a list of student competencies; unit objectives and terms; definitions of terms;…

  3. International attitudes of early adopters to current and future robotic technologies in pediatric surgery.

    Science.gov (United States)

    Cundy, Thomas P; Marcus, Hani J; Hughes-Hallett, Archie; Najmaldin, Azad S; Yang, Guang-Zhong; Darzi, Ara

    2014-10-01

    Perceptions toward surgical innovations are critical to the social processes that drive technology adoption. This study aims to capture attitudes of early adopter pediatric surgeons toward robotic technologies in order to clarify 1) specific features that are driving appeal, 2) limiting factors that are acting as diffusion barriers, and 3) future needs. Electronic surveys were distributed to pediatric surgeons with personal experience or exposure in robotic surgery. Participants were classified as experts or nonexperts for subgroup analysis. Coded Likert scale responses were analyzed using the Friedman or Mann-Whitney test. A total of 48 responses were received (22 experts, 26 nonexperts), with 14 countries represented. The most highly rated benefits of robot assistance were wristed instruments, stereoscopic vision, and magnified view. The most highly rated limitations were capital outlay expense, instrument size, and consumables/maintenance expenses. Future technologies of greatest interest were microbots, image guidance, and flexible snake robots. Putative benefits and limitations of robotic surgery are perceived with widely varied weightings. Insight provided by these responses will inform relevant clinical, engineering, and industry groups such that unambiguous goals and priorities may be assigned for the future. Pediatric surgeons seem most receptive toward technology that is smaller, less expensive, more intelligent and flexible. Copyright © 2014 Elsevier Inc. All rights reserved.

  4. 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...

  5. Developing technologies and resources

    International Nuclear Information System (INIS)

    Walker, R.S.

    2015-01-01

    Our success as a nuclear nation rests on interdependent pillars involving industry, governments, regulators, and academia. In a context of coherent public policy, we must achieve: 5 Nuclear Industry Priorities: Ensure refurbishments are completed to cost and schedule; Achieve Canadian supply chain success in international nuclear business; Support a strong Canadian nuclear science, technology and innovation agenda; Enhance the supply of skilled workers; Develop a coordinated and integrated strategy for the long term management of all radioactive waste materials; Refine communication strategies informed by insights from social sciences. Canada's nuclear sector has the opportunity to adapt to the opportunities presented by having a national laboratory in Canada.

  6. Development of IR-Based Short-Range Communication Techniques for Swarm Robot Applications

    Directory of Open Access Journals (Sweden)

    RAMLI, A. R.

    2010-11-01

    Full Text Available This paper proposes several designs for a reliable infra-red based communication techniques for swarm robotic applications. The communication system was deployed on an autonomous miniature mobile robot (AMiR, a swarm robotic platform developed earlier. In swarm applications, all participating robots must be able to communicate and share data. Hence a suitable communication medium and a reliable technique are required. This work uses infrared radiation for transmission of swarm robots messages. Infrared transmission methods such as amplitude and frequency modulations will be presented along with experimental results. Finally the effects of the modulation techniques and other parameters on collective behavior of swarm robots will be analyzed.

  7. Robotics

    Indian Academy of Sciences (India)

    computed torque method or feedback linearization. Hence, the resultant system is linear and for this the controller is easier to design. Software. Software, in addition to acting as a binding thread for the various robot subsystems, plays an important role in control. Physical devices like amplifiers, integrators, differentiators, etc.

  8. The Development of Radiation hardened tele-robot system - Development of artificial force reflection control for teleoperated mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Ju Jang; Hong, Sun Gi; Kang, Young Hoon; Kim, Min Soeng [Korea Advanced Institute of Science and Technology, Taejon (Korea)

    1999-04-01

    One of the most important issues in teleoperation is to provide the sense of telepresence so as to conduct the task more reliably. In particular, teleoperated mobile robots are needed to have some kinds of backup system when the operator is blind for remote situation owing to the failure of vision system. In the first year, the idea of artificial force reflection was researched to enhance the reliability of operation when the mobile robot travels on the plain ground. In the second year, we extend previous results to help the teleoperator even when the robot climbs stairs. Finally, we apply the developed control algorithms to real experiments. The artificial force reflection method has two modes; traveling on the plain ground and climbing stairs. When traveling on the plain ground, the force information is artificially generated by using the range data from the environment while generating the impulse force when climbing stairs. To verify the validity of our algorithm, we develop the simulator which consists of the joystick and the visual display system. Through some experiments using this system, we confirm the validity and effectiveness of our new idea of artificial force reflection in the teleoperated mobile robot. 11 refs., 30 figs. (Author)

  9. The concept and feasibility of EXPERT: intelligent armrest using robotics technology.

    Science.gov (United States)

    Goto, Tetsuya; Hongo, Kazuhiro; Yako, Takehiro; Hara, Yosuke; Okamoto, Jun; Toyoda, Kazutaka; Fujie, Masakatsu G; Iseki, Hiroshi

    2013-01-01

    Continuous precise motions are required in microneurosurgery to provide high-quality surgical results. Stabilizing the surgeon's arm and reducing fatigue during surgery are expected to improve the precision of microsurgical procedures. We have developed an intelligent armrest, EXPERT, that follows the surgeon's hand and fixes at an adequate position automatically using robotics technology. To understand the feasibility of EXPERT by using the system in laboratory experiments and clinical situations. EXPERT has an arm holder and acts as a passive controlled robot with 5 degrees of freedom. The system has 3 modes: transfer, arm-holding, and arm-free mode, which are selected automatically. In the transfer mode, the arm holder follows the surgeon's arm. In the arm-holding mode, EXPERT supports the surgeon's arm weight by fixing the arm holder. The surgeon can move his/her arm away from the arm holder in the arm-free mode. The surgeon can change the position of armrest while looking through the microscope and can continue the microsurgical procedure while holding surgical instruments. Since 2010, EXPERT has been applied in 13 surgeries. The EXPERT system decreased surgeon fatigue and reduced difficulty in performing surgical procedures. The EXPERT system markedly reduced surgeon hand tremor. There were no complications related to the use of this system. EXPERT is a useful tool for holding the surgeon's arm comfortably and following the surgeon's arm automatically.

  10. Technological Approaches for Neurorehabilitation: From Robotic Devices to Brain Stimulation and Beyond

    Directory of Open Access Journals (Sweden)

    Marianna Semprini

    2018-04-01

    Full Text Available Neurological diseases causing motor/cognitive impairments are among the most common causes of adult-onset disability. More than one billion of people are affected worldwide, and this number is expected to increase in upcoming years, because of the rapidly aging population. The frequent lack of complete recovery makes it desirable to develop novel neurorehabilitative treatments, suited to the patients, and better targeting the specific disability. To date, rehabilitation therapy can be aided by the technological support of robotic-based therapy, non-invasive brain stimulation, and neural interfaces. In this perspective, we will review the above methods by referring to the most recent advances in each field. Then, we propose and discuss current and future approaches based on the combination of the above. As pointed out in the recent literature, by combining traditional rehabilitation techniques with neuromodulation, biofeedback recordings and/or novel robotic and wearable assistive devices, several studies have proven it is possible to sensibly improve the amount of recovery with respect to traditional treatments. We will then discuss the possible applied research directions to maximize the outcome of a neurorehabilitation therapy, which should include the personalization of the therapy based on patient and clinician needs and preferences.

  11. The development of an instrument to measure the self-efficacy of students participating in VEX robotics competitions

    Science.gov (United States)

    Robinson, Trevor P.

    The number of robotics competitions has steadily increased over the past 30 years. Schools are implementing robotics competitions to increase student content knowledge and interest in science, technology, engineering, and mathematics (STEM). Companies in STEM-related fields are financially supporting robotics competitions to help increase the number of students pursuing careers in STEM among other reasons. These financial supporters and school administrations are asking what the outcomes of students participating in competitive robotics are. Few studies have been conducted to investigate these outcomes. The studies that have been conducted usually compare students in robotics to students not in robotics. There have not been any studies that compare students to themselves before and after participating in robotics competitions. This may be due to the lack of available instruments to measure student outcomes. This study developed an instrument to measure the self-efficacy of students participating in VEX Robotics Competitions (VRC). The VRC is the world's largest and fastest growing robotics competition available for middle and high school students. Self-efficacy was measured because of its importance to the education community. Students with higher self-efficacy tend to persevere through difficult tasks more frequently than students with low self-efficacy. A person's self-efficacy has major influence over what interests, activities, classes, college majors, and careers he or she will pursue in life. The self-efficacy survey instrument created through this study was developed through an occupational and task analysis (OTA), and initial content and face validity was established through the OTA process. Exploratory and confirmatory factor analyses were also conducted to assist in instrument validation. The reliability was calculated using Cronbach's alpha. Face validity was established through the OTA process. Construct validity was established through the factor

  12. Photonics technology development for optical fuzing

    Science.gov (United States)

    Geib, K. M.; Serkland, D. K.; Keeler, G. A.; Peake, G. M.; Mar, A.; von der Lippe, C. M.; Liu, J. J.

    2005-09-01

    This paper describes the photonic component development taking place at Sandia National Laboratories, ARDEC and the Army Research Laboratory in support of an effort to develop a robust, compact, and affordable photonic proximity sensor for munitions fuzing applications. Successful implementation of this sensor will provide a new capability for direct fire applications. The technologies under investigation for the optical fuze design covered in this paper are vertical-cavity surface-emitting lasers (VCSELs), vertical-external-cavity surface-emitting lasers (VECSELs), integrated resonant-cavity photodetectors (RCPDs), and refractive micro-optics. The culmination of this work will be low cost, robust, fully integrated, g-hardened components suitable for proximity fuzing applications. The use of advanced photonic components will enable replacement of costly assemblies that employ discrete lasers, photodetectors, and bulk optics. The integrated devices will be mass produced and impart huge savings for a variety of Army applications. The specific application under investigation is for gun-fired munitions. Nevertheless, numerous civilian uses exist for this proximity sensor in automotive, robotics and aerospace applications. This technology is also applicable to robotic ladar and short-range 3-D imaging.

  13. [The early rehabilitation of the patients with shoulder impingement syndrome using robotic technologies].

    Science.gov (United States)

    Tsvetkova, E M

    2013-01-01

    The objective of the present study was to develop a complex of rehabilitative measures for the treatment of the patients presenting with shoulder impingement syndrome including the combined application of the robotic technology based on the Multi-Joint System (Italy) in conjunction with physical therapy and massage. In addition, we estimated dynamics of the "American assessment shoulder and elbow surgery" test, the shoulder score index, the range of motion in the shoulder joint on the affected side with the help of the Multi-Joint System. It is concluded that the early use of the Multi-Joint System in combination with physical therapy and massage techniques provides the highly efficacious tool for the management of the patients suffering impingement syndrome.

  14. Development of RT-components for the M-3 Strawberry Harvesting Robot

    Science.gov (United States)

    Yamashita, Tomoki; Tanaka, Motomasa; Yamamoto, Satoshi; Hayashi, Shigehiko; Saito, Sadafumi; Sugano, Shigeki

    We are now developing the strawberry harvest robot called “M-3” prototype robot system under the 4th urgent project of MAFF. In order to develop the control software of the M-3 robot more efficiently, we innovated the RT-middleware “OpenRTM-aist” software platform. In this system, we developed 9 kind of RT-Components (RTC): Robot task sequence player RTC, Proxy RTC for image processing software, DC motor controller RTC, Arm kinematics RTC, and so on. In this paper, we discuss advantages of RT-middleware developing system and problems about operating the RTC-configured robotic system by end-users.

  15. Robotic membranes

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette

    2008-01-01

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

  16. 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)

  17. Improving Warehouse Inventory Management Through Rfid, Barcoding and Robotics Technologies

    Science.gov (United States)

    2014-12-01

    process or the ability for a reader to scan an object, case, or pallet that is traveling by forklift or conveyor belt (GAO, 2005, p. 25). In the report...analysis encompasses costs for systems purchase, implementation, and integrat ion. Benefits are measured by detennining cost savings in manpower...the advantages and disadvantages of an automatic identification system implementation. It also addresses future potential for the use of robots to

  18. Development of sodium technology

    Energy Technology Data Exchange (ETDEWEB)

    Hwang, Sung Tai; Nam, H. Y.; Choi, Y. D. [and others

    2000-05-01

    The objective of present study is to produce the experimental data for development and verification of computer codes for development of LMR and to develop the preliminary technologies for the future large scale verification experiments. A MHD experimental test loop has been constructed for the quantitative analysis of the effect of magnetic field on the sodium flow and experiments are carried out for three EM pumps. The previous pressure drop correlations are evaluated using the experimental data obtained from the pressure drop experiment in a 19-pin fuel assembly with wire spacer. An dimensionless variable is proposed to describe the amplitude and frequency of the fluctuation of free surface using the experimental data obtained from free surface experimental apparatus and an empirical correlation is developed using this dimensionless variable. An experimental test loop is constructed to measure the flow characteristics in IHX shell side and the local pressure drop in fuel assembly, and to test the vibration behaviour of fuel pins due to flow induced vibration. The sodium two-phase flow measuring technique using the electromagnetic flowmeter is developed and the sodium differential pressure drop measuring technique using the method of direct contact of sodium and oil is established. The work on the analysis of sodium fire characteristics and produce data for vlidation of computer code is performed. Perfect reopen time of self plugged leak path was observed to be about 130 minutes after water leak initiation. Reopen shape of a specimen appeared to be double layer of circular type, and reopen size of this specimen surface was about 2mm diameter on sodium side. In small water leakage experiments, the following correlation equation about the reopen time between sodium temperature and initial leak rate was obtained, {tau}{sub c} = {delta}{center_dot}g{sup -0.83}{center_dot}10{sup (3570/T{sub Na}-3.34)}, in 400-500 deg C of liquid sodium atmosphere. The characteristics

  19. Development of sodium technology

    International Nuclear Information System (INIS)

    Hwang, Sung Tai; Nam, H. Y.; Choi, Y. D.

    2000-05-01

    The objective of present study is to produce the experimental data for development and verification of computer codes for development of LMR and to develop the preliminary technologies for the future large scale verification experiments. A MHD experimental test loop has been constructed for the quantitative analysis of the effect of magnetic field on the sodium flow and experiments are carried out for three EM pumps. The previous pressure drop correlations are evaluated using the experimental data obtained from the pressure drop experiment in a 19-pin fuel assembly with wire spacer. An dimensionless variable is proposed to describe the amplitude and frequency of the fluctuation of free surface using the experimental data obtained from free surface experimental apparatus and an empirical correlation is developed using this dimensionless variable. An experimental test loop is constructed to measure the flow characteristics in IHX shell side and the local pressure drop in fuel assembly, and to test the vibration behaviour of fuel pins due to flow induced vibration. The sodium two-phase flow measuring technique using the electromagnetic flowmeter is developed and the sodium differential pressure drop measuring technique using the method of direct contact of sodium and oil is established. The work on the analysis of sodium fire characteristics and produce data for vlidation of computer code is performed. Perfect reopen time of self plugged leak path was observed to be about 130 minutes after water leak initiation. Reopen shape of a specimen appeared to be double layer of circular type, and reopen size of this specimen surface was about 2mm diameter on sodium side. In small water leakage experiments, the following correlation equation about the reopen time between sodium temperature and initial leak rate was obtained, τ c = δ·g -0.83 ·10 (3570/T Na -3.34) , in 400-500 deg C of liquid sodium atmosphere. The characteristics of pressure propagation and gas flow, and

  20. Development of flexible tactile sensors for hexapod robots

    DEFF Research Database (Denmark)

    Drimus, Alin; Børlum-Petersen, Mikkel; Jouffroy, Jerome

    2013-01-01

    This paper describes the development of flexible based tactile array sensors based on piezoresistive rubber for use in the leg tips of hexapod robotics. The sensors are composed of a sandwich similar structure, with a piezoresistive rubber used as the middle layer and flexPCB electrodes on the up......This paper describes the development of flexible based tactile array sensors based on piezoresistive rubber for use in the leg tips of hexapod robotics. The sensors are composed of a sandwich similar structure, with a piezoresistive rubber used as the middle layer and flexPCB electrodes...... on the upper and lower part of the rubber. To address a wider range of tactile stimuli, namely the dynamic tactile stimuli, a piezoelectric thin film sensor based on polyvinylidene fluoride(PVDF) is embedded into the leg tip mould. Both piezoresistive array and piezoelectric types of sensors are investigated...

  1. Development of a Robot System for Advanced High Quality Manufacturing Processes

    Directory of Open Access Journals (Sweden)

    B. Kuhlenkoetter

    2006-01-01

    Full Text Available Grinding and polishing are standard operations in material processing which are nowadays automated with the help of industrial robots in order to relieve human labour and optimize the profitability of production. However, it is expensive to adapt present systems to the production of other part geometries and operation cycles, and therefore adaptations are economically applicable only for large batch sizes.This project develops an “intelligent” robot system that obtains sensory skills due to the linkage of innovative robot technology and image processing systems via new software. With this system even the smallest error on highly-polished, mirror-like surfaces can be detected objectively and reproducibly. In addition, the system will be capable of establishing an optimum error compensation strategy dependent on the error data, as well as generating and realizing operating programmes. For this purpose it is given a manual-learning skill. A new offline-programming and simulating system for exacting operation processes makes it easier to set up, change and optimize robot programmes, thus making it useful for the operator. 

  2. Technology Development Facility (TDF)

    International Nuclear Information System (INIS)

    Doggett, J.N.

    1982-01-01

    We have been studying small, driven, magnetic-mirror-based fusion reactors for the Technology Development Facility (TDF), that will test fusion reactor materials, components, and subsystems. Magnetic mirror systems are particularly interesting for this application because of their inherent steady-state operation, potentially high neutron wall loading, and relatively small size. Our design is a tandem mirror device first described by Fowler and Logan, based on the physics of the TMX experiments at Lawrence Livermore National Laboratory (LLNL). The device produces 20 MW of fusion power with a first-wall, uncollided 14-MeV neutron flux of 1.4 MW/m 2 on an area of approximately 8 m 2 , while consuming approximately 250 MW of electrical power. The work was done by a combined industrial-laboratory-university group

  3. Investigation of Virtual Digital Human and Robotic Device Technology Merger Complimented by Haptics and Autostereoscopic Displays, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — The proposed innovations conform precisely to the technology needs described in Subtopic T5.02, Robotics and Virtual Digital Human Technologies. ?Two potential areas...

  4. Robotic Arm-Assisted Sonography: Review of Technical Developments and Potential Clinical Applications.

    Science.gov (United States)

    Swerdlow, Daniel R; Cleary, Kevin; Wilson, Emmanuel; Azizi-Koutenaei, Bamshad; Monfaredi, Reza

    2017-04-01

    Ultrasound imaging requires trained personnel. Advances in robotics and data transmission create the possibility of telesonography. This review introduces clinicians to current technical work in and potential applications of this developing capability. Telesonography offers advantages in hazardous or remote environments. Robotically assisted ultrasound can reduce stress injuries in sonographers and has potential utility during robotic surgery and interventional procedures.

  5. Epilogue to Special Issue on Developmental Robotics: Can Experiments with Machines Inform Theory in Infant Development?

    Science.gov (United States)

    Prince, Christopher G.

    2008-01-01

    Developmental robotics has forwarded a range of models of development and behaviours. With the variety of systems that have been created, and with some of these approximating prominent human behaviours (e.g. joint attention, word learning, imitation), one may argue that developmental robotics has started to go past robotic models of earwigs…

  6. Design, Development, and Mobility Test of an Omnidirectional Mobile Robot for Rough Terrain

    Science.gov (United States)

    2012-01-01

    module has two independently-driven wheels that produce arbitrary planar translational velocity, enabling the robot to achieve its omnidirectional mo... wheels [9] and Mecanumm wheels [10] Fig. 2 ASOC-driven omnidirectional mobile robot (left) and ASOC module (right) Design, Development, and...Mobility test of an Omnidirectional Mobile Robot 7 The kinematic control explained here calculates all wheel angular

  7. Robotics in dentistry: Fiction or reality

    Directory of Open Access Journals (Sweden)

    B Divya Bhat

    2017-01-01

    Full Text Available Robots, the most wonderful invention of human being, have made its way into dentistry. The necessary technologies have been developed and experimented which would help it to be adapted in dentistry. With unmatched precision and ability to work without fatigue, robots are the most useful applications of robotic technology. The main aim of this paper is to review the application of robotics in dentistry.

  8. Development of Korea telecommunication technology

    International Nuclear Information System (INIS)

    1992-06-01

    It concentrates on development of Korea telecommunication technology, which is made up seven chapters. It gives description of manual central telephone exchange or private automatic telephone exchange, transmission technology on wire line and cable line technology and optical transmission, radio communication technology on mobile and natural satellite communication, network technology with intelligent network, broadband ISDN and packet switched Data Network, terminal technology with telephone and data communication terminal and development of Information Technology in Korea. It has an appendix about development of military communication system.

  9. Technology Development of Safeguards

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Ho Dong; Kang, H. Y.; Ko, W. I. (and others)

    2007-04-15

    The objective of this project is to perform R and D on the essential technologies in nuclear material measurement and surveillance and verification system, and to improve the state of being transparent on the nuclear material management of DUPIC Fuel Development Facility (DFDF) through the evaluation of safeguard ability on non-proliferation fuel cycle and nuclear proliferation resistance. Nuclear material position scan system for the reduction of measurement error was developed for the spatial distribution search of spent fuel in DUPIC facility. Web-based realtime remote monitoring system was designed and constructed for satisfying the IAEA's performance criteria of continuous monitoring, and also developed a software for the function of remote control and message. And diversion paths in a proliferation resistant pyroprocess for SFR were analyzed and its protecting system against the diversion paths were suggested for enhancing proliferation resistance of advanced nuclear fuel cycle. These results could be used for planning the further R and D items in the area of safeguards. Those R and D results mentioned above would be helpful for increasing Korean nuclear transparency in the future.

  10. The financial impact of robotic technology for partial and radical nephrectomy.

    Science.gov (United States)

    Kates, Max; Ball, Mark W; Patel, Hiten D; Gorin, Michael A; Pierorazio, Phillip M; Allaf, Mohamad E

    2015-03-01

    We sought to evaluate the financial impact of robotic technology for partial nephrectomy (PN) and radical nephrectomy (RN) in the state of Maryland. The Maryland Health Services Cost Review Commission (HSCRC) documents all acute care hospital charges data. This database was queried for patients who underwent laparoscopic or robot-assisted RN and PN from 2008 to 2012. Total hospital charge, subcharge, and length of stay (LOS) were analyzed separately for RN and PN. Overall, 2834 patients were identified. Of those, 282 were laparoscopic PN (LPN), 1078 robot-assisted PN (RPN), 1098 laparoscopic RN (LRN), and 376 robot-assisted RN (RRN). For PN, the total hospital charge was $19,062 for LPN and $18,255 for RPN (P=0.138), with a charge savings of $807 per case in favor of robotics. For RN, the total hospital charge was $23,391 for RRN and $18,280 for LRN (P=0.004), with a charge premium of $5111 for robotic cases. LOS was shorter for RPN compared with LPN (2.51 vs 2.99 days, Pfinancial implications of RRN use for routine cases warrants further study.

  11. Present and Future of Nuclear Robotics

    International Nuclear Information System (INIS)

    Bielza Ciaz-Caneja, M.; Carmena Servet, P.; Gomez Santamaria, J.; Gonzalez Fernandez, J.; Izquierdo Mendoza, J.A.; Linares Pintos, F.; Martinez Gonzalez; Muntion Ruesgas, A.; Serna Oliveira, M.A.

    1997-01-01

    New technologies have increased the use of robotic systems in fields other than Industry. As a result, research and developers are focusing their interest in concepts like Intelligent Robotics and Robotics in Services. This paper describes the use of Robotics in Nuclear facilities, where robots can be used to protect workers in high radiation areas, to reduce total worker exposure and to minimise downtime. First, the structure of robot systems is introduced and the benefits of nuclear robots is presented. Next, the paper describes some specific nuclear applications and the families of nuclear robots present in the market. After that, a section is devoted to Nuclear Robotics in Spain, with emphasis in some of the developments being carried out at present. Finally, some reflections about the future of robots in Nuclear Industry are offered. (Author) 18 refs

  12. The development of radiation hardened robot for nuclear facility - Development of embedded controller for hydraulic robot

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Byung Kook; Kim, Jae Kwon [Korea Advanced Institute of Science and Technology, Taejon (Korea)

    2000-04-01

    We designed and implemented a reliable hierarchical control system for hydraulic robots for nuclear power plant maintenance. In hazardous environments such as nuclear power plants, robot systems or automated equipment should be used instead of human being for maintenance and repair. Such robot should guarantee high reliability in hazardous environments such as high radiation or high temperature. The overall system is composed of three hierarchical subsystems: i) supervisory controller in safe zone for operator interaction with monitoring and commanding and graphic user interface, ii) master controller in semi-hazardous zone for control function, and iii) slave controller in hazardous zone for sensing and actuation. These subsystems are connected with suitable communication channels: a) master-slave communication channel implemented with CAN (Control Area Network) and b) supervisory-master communication with Ethernet. The master and the slave controllers construct a feedback closed-loop control system. In order to improve reliability, the slave controller is duplicated using cold-standby scheme, and master-slave communication channel is also duplicated. The overall system is implemented harmonically, and we obtained fast control interval of 1msec, which is sufficient for high-performance real-time control. 12 refs., 58 figs., 13 tabs. (Author)

  13. Developments in lubricant technology

    CERN Document Server

    Srivastava, S P

    2014-01-01

    Provides a fundamental understanding of lubricants and lubricant technology including emerging lubricants such as synthetic and environmentally friendly lubricants Teaches the reader to understand the role of technology involved in the manufacture of lubricants Details both major industrial oils and automotive oils for various engines Covers emerging lubricant technology such as synthetic and environmentally friendly lubricants Discusses lubricant blending technology, storage, re-refining and condition monitoring of lubricant in equipment

  14. Developing a Psychologically Inspired Cognitive Architecture for Robotic Control: The Symbolic and Subsymbolic Robotic Intelligence Control System (SS-RICS

    Directory of Open Access Journals (Sweden)

    Troy Dale Kelley

    2008-11-01

    Full Text Available This paper describes the ongoing development of a robotic control architecture that was inspired by computational cognitive architectures from the discipline of cognitive psychology. The robotic control architecture combines symbolic and subsymbolic representations of knowledge into a unified control structure. The architecture is organized as a goal driven, serially executing, production system at the highest symbolic level; and a multiple algorithm, parallel executing, simple collection of algorithms at the lowest subsymbolic level. The goal is to create a system that will progress through the same cognitive developmental milestones as do human infants. Common robotics problems of localization, object recognition, and object permanence are addressed within the specified framework.

  15. Developing a Psychologically Inspired Cognitive Architecture for Robotic Control: The Symbolic and Subsymbolic Robotic Intelligence Control System (SS-RICS

    Directory of Open Access Journals (Sweden)

    Troy Dale Kelley

    2006-09-01

    Full Text Available This paper describes the ongoing development of a robotic control architecture that was inspired by computational cognitive architectures from the discipline of cognitive psychology. The robotic control architecture combines symbolic and subsymbolic representations of knowledge into a unified control structure. The architecture is organized as a goal driven, serially executing, production system at the highest symbolic level; and a multiple algorithm, parallel executing, simple collection of algorithms at the lowest subsymbolic level. The goal is to create a system that will progress through the same cognitive developmental milestones as do human infants. Common robotics problems of localization, object recognition, and object permanence are addressed within the specified framework.

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

    Directory of Open Access Journals (Sweden)

    Isaac Osunmakinde

    2014-10-01

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

  17. The application of manipulator robot for nuclear power plant maintenance

    International Nuclear Information System (INIS)

    Fujita, Jun; Onishi, Ken

    2009-01-01

    In the maintenance works at nuclear power plant, robots are used because of high radiation, narrow space and underwater work. In light of manufacture period, cost and reliability, various maintenance works are requested to be done by one robot. As one of the solutions, we developed manipulator robots for the access of specialized tools. This study shows manipulator robots developed by MHI, application example to maintenance works and effectiveness of manipulator robots. When robotization of maintenance works are considered, manipulator technology is very effective solution means. The manipulator technologies in this study are able to apply to robotization needed under radiation environment. (author)

  18. Scratch to state-of-the-art: setting up a new robotic facility in a developing country.

    Science.gov (United States)

    Bora, G S; Mavuduru, R S; Devana, S K; Singh, S K; Mandal, A K

    2018-03-01

    The potential challenges encountered for setting up a robotic assisted surgical facility in developing country like India are many. We describe the initial hurdles and troubleshooting in establishing a facility of such kind. This experience might help to decrease initial hiccups in setting up such an innovative technology at other institutes.

  19. Kinect technology for hand tracking control of surgical robots: technical and surgical skill comparison to current robotic masters.

    Science.gov (United States)

    Kim, Yonjae; Leonard, Simon; Shademan, Azad; Krieger, Axel; Kim, Peter C W

    2014-06-01

    Current surgical robots are controlled by a mechanical master located away from the patient, tracking surgeon's hands by wire and pulleys or mechanical linkage. Contactless hand tracking for surgical robot control is an attractive alternative, because it can be executed with minimal footprint at the patient's bedside without impairing sterility, while eliminating current disassociation between surgeon and patient. We compared technical and technologic feasibility of contactless hand tracking to the current clinical standard master controllers. A hand-tracking system (Kinect™-based 3Gear), a wire-based mechanical master (Mantis Duo), and a clinical mechanical linkage master (da Vinci) were evaluated for technical parameters with strong clinical relevance: system latency, static noise, robot slave tremor, and controller range. Five experienced surgeons performed a skill comparison study, evaluating the three different master controllers for efficiency and accuracy in peg transfer and pointing tasks. da Vinci had the lowest latency of 89 ms, followed by Mantis with 374 ms and 3Gear with 576 ms. Mantis and da Vinci produced zero static error. 3Gear produced average static error of 0.49 mm. The tremor of the robot used by the 3Gear and Mantis system had a radius of 1.7 mm compared with 0.5 mm for da Vinci. The three master controllers all had similar range. The surgeons took 1.98 times longer to complete the peg transfer task with the 3Gear system compared with Mantis, and 2.72 times longer with Mantis compared with da Vinci (p value 2.1e-9). For the pointer task, surgeons were most accurate with da Vinci with average error of 0.72 mm compared with Mantis's 1.61 mm and 3Gear's 2.41 mm (p value 0.00078). Contactless hand-tracking technology as a surgical master can execute simple surgical tasks. Whereas traditional master controllers outperformed, given that contactless hand-tracking is a first-generation technology, clinical potential is promising and could

  20. Mobile Robot Knowledge Base

    National Research Council Canada - National Science Library

    Pastore, Tracy H; Barnes, Mitchell; Hallman, Rory

    2005-01-01

    .... As a result, the task of managing both technology and experience information is growing. In the not to- distant past, tracking development efforts of robotic platforms, subsystems and components was not too difficult, expensive, or time consuming...

  1. Robotic endovascular surgery.

    Science.gov (United States)

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

    2014-01-01

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

  2. 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.

  3. 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.

  4. The development of robotic systems for hazardous environments

    International Nuclear Information System (INIS)

    Collis-Smith, J.A.; Schilling, R.

    1996-01-01

    The need for teleoperated and robotic systems is growing. This growth is driven by several factors such as - statutory requirements; risk reduction and economic pressures. Robotic Systems are needed to provide reliable, economic means to perform surveillance, quantitative inspection, repairs, upgrading and eventual dismantling for decommissioning tasks. The range of potential applications has widened and there is now significant technical cross-fertilisation between developments in diverse environments. The typical robotic system consists of the emplacement equipment, the dextrous arm, the tool and the controls. The control system provides the operator with an integrated interface between the principal components, so that the operator can concentrate fully at the high level on the specific task in hand, while the control system and its software performs all the detail functions within the subparts of the integrated system. This paper develops this underlying logic, and is illustrated by experience drawn from a variety of examples in different environments to show the present state of the art in GEC Alsthom and suggest the way ahead in the near-term future. (Author)

  5. First steps in teaching computational thinking through mobile technology and robotics

    Directory of Open Access Journals (Sweden)

    Titipan Phetsrikran

    2017-07-01

    Full Text Available rogramming, or computational thinking, is becoming recognized as a skill that should be taught in primary and secondary schools. One technique for teaching programming is to use robotics, but usually this requires students to program via a PC. The purpose of this study is to investigate the potential for using an iPad application and robot that enables children to learn programming skills. This paper describes an application containing puzzles that involve creating a program to guide the physical robot from a start point to a goal. The application sends commands and controls the robots via Bluetooth and runs on the iPad with iOS. An initial experiment performed in a high school in Thailand explores how mobile technology and educational robotics can be applied to computational thinking in schools. The findings showed that the use of mobile technology opens up alternative styles of interaction in the classroom with potential for highly collaborative activities and greater focus on the learning domain.

  6. Mobile Sensor Technologies Being Developed

    Science.gov (United States)

    Greer, Lawrence C.; Oberle, Lawrence G.

    2003-01-01

    central command location. Web-based control and interrogation of similar mobile sensor platforms have also been demonstrated. Expected applications of this technology include robotic planetary exploration, astronaut-to-equipment communication, and remote aerospace engine inspections.

  7. Firing Room Remote Application Software Development & Swamp Works Laboratory Robot Software Development

    Science.gov (United States)

    Garcia, Janette

    2016-01-01

    The National Aeronautics and Space Administration (NASA) is creating a way to send humans beyond low Earth orbit, and later to Mars. Kennedy Space Center (KSC) is working to make this possible by developing a Spaceport Command and Control System (SCCS) which will allow the launch of Space Launch System (SLS). This paper's focus is on the work performed by the author in her first and second part of the internship as a remote application software developer. During the first part of her internship, the author worked on the SCCS's software application layer by assisting multiple ground subsystems teams including Launch Accessories (LACC) and Environmental Control System (ECS) on the design, development, integration, and testing of remote control software applications. Then, on the second part of the internship, the author worked on the development of robot software at the Swamp Works Laboratory which is a research and technology development group which focuses on inventing new technology to help future In-Situ Resource Utilization (ISRU) missions.

  8. Working on the robot society. : Visions and insights from science about the relation technology and employment.

    NARCIS (Netherlands)

    van Est, R.; Kool, L.

    2015-01-01

    The report Working on the robot society sets out current scientific findings for the relationship between technology and employment. It looks at the future and describes the policy options. In so doing, the report provides a joint fund of knowledge for societal and political debate on how the

  9. MELTED BUTTER TECHNOLOGY DEVELOPMENT

    Directory of Open Access Journals (Sweden)

    L. V. Golubeva

    2014-01-01

    Full Text Available Summary. Melted butter is made from dairy butter by rendering the fat phase. It has specific taste and aroma, high-calorie content and good assimilability. Defects of butter which appeared during the storage causes by the development of microbiological processes or by the chemical oxidation. On the development of these processes influence quality and composition of fresh butter, its physical structure, content of the increased amount of gas phase and content of heavy metals, storage conditions. Microbiological spoilage of butter occurs generally due to damage of plasma which is good environment for the development of microorganisms. Defects of microbiological origin include: unclean, sour, moldy, yeasty, cheesy, bitter taste. Defects of test and smell chemical origin are formed due to hydrolytic digestion of lipids. It's prevailed at long storage of butter in the conditions of freezing temperatures. It's picked out the following main processes of spoiling: souring, acidifying and sallowness. Often these processes take place simultaneously.It has been investigated melted butter with lactated additive. The latter improves the microbiological and toxicological safety, prolongs the storage condition of the products. Technological efficiency of the additives is achieved by a multilayer products formation from the inactive bound water, preventing microorganisms growth and by the barrier layer with lactate inhibiting hydrolytic reactions. Oil samples were obtained with the batch-type butter maker application, then they were melted and after that lactated additive were supplemented. It has been studied organoleptic and physico-chemical indices of the melted butter samples. The fatty-acid composition of melted butter were studied. Comparative analysis of fatty-acid composition of cow's milk fat and produced melted butter has shown their similarity. Also in the last sample there is increased weight fraction of linoleic and linolenic acids. The obtained

  10. Development of Pneumatic Robot Hand and Construction of Master-Slave System

    Science.gov (United States)

    Tsujiuchi, Nobutaka; Koizumi, Takayuki; Nishino, Shinya; Komatsubara, Hiroyuki; Kudawara, Tatsuwo; Hirano, Masanori

    Recently, research and development has focused on robots that work in place of people. It is necessary for robots to perform the same flexible motions as people. Additionally, such robots need to incorporate high-level safety features in order not to injure people. For creation of such robots, we need to develop a robot hand that functions like a human hand. At the same time, this type of robot hand can be used as an artificial hand. Here, we present artificial muscle-type pneumatic actuators as the driving source of a robot hand that is both safe and flexible. Some development of robot hands using pneumatic actuators has already taken place. But, until now, when a pneumatic actuator is used, a big compressor is needed. So, the driving system also needs to be big; enlargement of the driving system is a major problem. Consequently, in this research, we develop a low-pressure, low-volume pneumatic actuator for driving a robot hand that works flexibly and safely on the assumption that it will be in contact with people. We develop a five-fingered robot hand with pneumatic actuators. And, we construct a master-slave system to enable the robot hand to perform the same operations as a human hand. We make a 1-link arm that has one degree of freedom using a pneumatic actuator, and construct a control system for the 1-link arm and verify its control performance.

  11. Programming industrial robots using advanced input-output devices: test-case example using a CAD package and a digital pen based on the Anoto technology

    Directory of Open Access Journals (Sweden)

    J. Norberto Pires

    2007-08-01

    Full Text Available Interaction with robot systems for specification of manufacturing tasks and motions needs to be simple, to enable wide-spread use of robots in SMEs. In the best case, existing practices from manual work could be used, to smoothly let current employees start using robot technology as a natural part of their work. Our aim is to simplify the robot programming task by allowing the user to simply make technical drawings on a sheet of paper. Craftsman use paper and raw sketches for several situations; to share ideas, to get a better imagination or to remember the customer situation. Currently these sketches have either to be interpreted by the worker when producing the final product by hand, or transferred into CAD file using an according tool. The former means that no automation is included, the latter means extra work and much experience in using the CAD tool. Our approach is to use the digital pen and paper from Anoto as input devices for SME robotic tasks, thereby creating simpler and more user friendly alternatives for programming, parameterization and commanding actions. To this end, the basic technology has been investigated and fully working prototypes have been developed to explore the possibilities and limitation in the context of typical SME applications. Based on the encouraging experimental results, we believe that drawings on digital paper will, among other means of human-robot interaction, play

  12. Robot welding process control development task

    Science.gov (United States)

    Romine, Peter L.

    1992-01-01

    The completion of, and improvements made to, the software developed during 1990 for program maintenance on the PC and HEURIKON and transfer to the CYRO, and integration of the Rocketdyne vision software with the CYRO is documented. The new programs were used successfully by NASA, Rocketdyne, and UAH technicians and engineers to create, modify, upload, download, and control CYRO NC programs.

  13. Robotic complex for the development of thick steeply-inclined coal seams and ore deposits

    Science.gov (United States)

    Nikitenko, M. S.; Malakhov, Yu V.; Neogi, Biswarup; Chakraborty, Pritam; Banerjee, Dipesu

    2017-09-01

    Proposal for the formulation of robotic complexes for steeply inclined coal seams as a basis of the supportive-enclosing walking module and power support with a controlled outlet for mining industry has been represented in this literature. In mining industry, the available resource base reserves and mineral deposits are concentrated deep down the earth crust leading towards a complicated geological condition i.e. abrupt ore bedding and steeply inclined strata with the high gas content and fire hazard of thick coal stratum, heading against an unfavorable and sometimes human labor life risk during subversive mining. Prevailing towards the development of effective robotic complexes based on the means of “unmanned technologies” for extraction of minerals from hard-to-reach deposits and make sure the safety of underground staff during sublevel mining technology.

  14. 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.

  15. 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.

  16. 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

  17. 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

  18. Soft Robotics Week

    CERN Document Server

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

    2017-01-01

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

  19. Mobile Robot Self-Localization System Using Single Webcam Distance Measurement Technology in Indoor Environments

    Directory of Open Access Journals (Sweden)

    I-Hsum Li

    2014-01-01

    Full Text Available A single-webcam distance measurement technique for indoor robot localization is proposed in this paper. The proposed localization technique uses webcams that are available in an existing surveillance environment. The developed image-based distance measurement system (IBDMS and parallel lines distance measurement system (PLDMS have two merits. Firstly, only one webcam is required for estimating the distance. Secondly, the set-up of IBDMS and PLDMS is easy, which only one known-dimension rectangle pattern is needed, i.e., a ground tile. Some common and simple image processing techniques, i.e., background subtraction are used to capture the robot in real time. Thus, for the purposes of indoor robot localization, the proposed method does not need to use expensive high-resolution webcams and complicated pattern recognition methods but just few simple estimating formulas. From the experimental results, the proposed robot localization method is reliable and effective in an indoor environment.

  20. Control and Modeling of Extensible Continuum Robots

    Data.gov (United States)

    National Aeronautics and Space Administration — The goal of this research is to develop fundamental control theory, dynamic modeling, and control technology for extensible continuum robotic manipulators. These...

  1. Is robotic sacrocolpopexy a marketing gimmick or a technological advancement?

    Science.gov (United States)

    Kim, Ja-Hong; Anger, Jennifer T

    2010-07-01

    Robot-assisted laparoscopic sacrocolpopexy (RALS) is a new surgical technique for the treatment of symptomatic vaginal vault prolapse that is rapidly gaining popularity among both urologists and gynecologists. This article will summarize the available published data to assess the potential advantages and disadvantages of this new procedure and its current role in female pelvic floor reconstruction. The literature on RALS is limited mainly to single-institution retrospective studies, which suggest minimal morbidity, technical feasibility, and short-term efficacy comparable to open abdominal sacrocolpopexy. What remains uncertain is whether this approach will be superior to the other established minimally invasive transvaginal and laparoscopic approaches in terms of subjective and objective outcomes and quality of life. Other relevant issues, such as overall cost-effectiveness and extended application for multicompartment defects and uterine-sparing procedures, remain largely unexplored. The use of RALS will likely continue to expand secondary to increased access and the popularity of the robotic apparatus among both surgeons and patients. Well designed large randomized multicenter comparative studies based on validated measurement instruments are needed to evaluate its advantage over conventional approaches, including open abdominal sacrocolpopexy and various transvaginal and laparoscopic techniques.

  2. Status of development of robots for nuclear power generation

    International Nuclear Information System (INIS)

    Kawakami, Shoji; Asai, Takashi; Kihara, Shisho.

    1984-01-01

    In the field of checkup, inspection, maintenance and repair in nuclear power plants, remotely operated automatic devices, that is, the robots for nuclear power generation, have been adopted from the past as one of the measures to improve the reliability of equipment, to shorten the period of regular inspection and to reduce the radiation exposure dose of workers. As the proportion of nuclear power generation in electric power supply has increased, the reduction of the period and man-hour of the repair works in radioactive environment and the qualitative improvement of works have become important problems. So far, several tens of the remotely operated automatic devices for repair works have been developed and applied to PWR plants. As the range of robotization expands, the inside of existing power stations becomes overcrowded with such special devices and their control boards, therefore, it is desirable to advance the mechanization toward high performance, versatility and autonomous systems. The remotely operated automatic devices for the repair of steam generators, nuclear reactors and fuel, the automatic ultrasonic flaw detectors for pipings, the storage systems for radioactive solid wastes, unmanned forklift trucks, the submerged robots for cleaning water intake and discharge channels and so on are described. (Kako, I.)

  3. Developing a robotic prostatectomy service and a robotic fellowship programme - defining the learning curve.

    Science.gov (United States)

    Vasdev, Nikhil; Bishop, Conrad; Kass-Iliyya, Atoine; Hamid, Sami; McNicholas, Thomas A; Prasad, Venkat; Mohan-S, Gowrie; Lane, Timothy; Boustead, Gregory; Adshead, James M

    2013-02-01

    Robotic radical prostatectomy (RRP) is an established treatment for prostate cancer in selected centres with appropriate expertise. We studied our single-centre experience of developing a RRP service and subsequent training of 2 additional surgeons by the initial surgeon and the introduction of United Kingdom's first nationally accredited robotic fellowship training programme. We assessed the learning curve of the 3 surgeons with regard to peri-operative outcomes and oncological results. Three hundred consecutive patients underwent RRP between November 2008 and August 2012. Patients were divided into 3 equal groups (Group 1, case 1-100; Group 2, case 101-200; and Group 3, case 201-300). Age, ASA score, preoperative co-morbidities and indications for laparoscopic radical prostatectomy were comparable for all 3 patient groups. Peri-operative and oncological outcomes were compared across all 3 groups to assess the impact of the learning curve for laparoscopic radical prostatectomy. All surgical complications were classified using the Clavien-Dindo system. The mean age was 60.7 years (range 41-74). There was a significant reduction in the mean console time (p learning curve peri-operative parameters and oncological outcomes improve. This learning curve is not affected by the introduction of a fellowship-training programme. Using a carefully structured mentored approach, RRP can be safely introduced as a new procedure without compromising patient outcomes.

  4. Robot Vision to Monitor Structures in Invisible Fog Environments Using Active Imaging Technology

    Energy Technology Data Exchange (ETDEWEB)

    Park, Seungkyu; Park, Nakkyu; Baik, Sunghoon; Choi, Youngsoo; Jeong, Kyungmin [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2014-05-15

    Active vision is a direct visualization technique using a highly sensitive image sensor and a high intensity illuminant. Range-gated imaging (RGI) technique providing 2D and 3D images is one of emerging active vision technologies. The RGI technique extracts vision information by summing time sliced vision images. In the RGI system, objects are illuminated for ultra-short time by a high intensity illuminant and then the light reflected from objects is captured by a highly sensitive image sensor with the exposure of ultra-short time. The RGI system provides 2D and 3D image data from several images and it moreover provides clear images from invisible fog and smoke environment by using summing of time-sliced images. Nowadays, the Range-gated (RG) imaging is an emerging technology in the field of surveillance for security applications, especially in the visualization of invisible night and fog environment. Although RGI viewing was discovered in the 1960's, this technology is, nowadays, more and more applicable by virtue of the rapid development of optical and sensor technologies, such as highly sensitive imaging sensor and ultra-short pulse laser light. In contrast to passive vision systems, this technology enables operation even in harsh environments like fog and smoke. During the past decades, several applications of this technology have been applied in target recognition and in harsh environments, such as fog, underwater vision. Also, this technology has been demonstrated 3D imaging based on range-gated imaging. In this paper, a robot system to monitor structures in invisible fog environment is developed using an active range-gated imaging technique. The system consists of an ultra-short pulse laser device and a highly sensitive imaging sensor. The developed vision system is carried out to monitor objects in invisible fog environment. The experimental result of this newly approach vision system is described in this paper. To see invisible objects in fog

  5. Robot Vision to Monitor Structures in Invisible Fog Environments Using Active Imaging Technology

    International Nuclear Information System (INIS)

    Park, Seungkyu; Park, Nakkyu; Baik, Sunghoon; Choi, Youngsoo; Jeong, Kyungmin

    2014-01-01

    Active vision is a direct visualization technique using a highly sensitive image sensor and a high intensity illuminant. Range-gated imaging (RGI) technique providing 2D and 3D images is one of emerging active vision technologies. The RGI technique extracts vision information by summing time sliced vision images. In the RGI system, objects are illuminated for ultra-short time by a high intensity illuminant and then the light reflected from objects is captured by a highly sensitive image sensor with the exposure of ultra-short time. The RGI system provides 2D and 3D image data from several images and it moreover provides clear images from invisible fog and smoke environment by using summing of time-sliced images. Nowadays, the Range-gated (RG) imaging is an emerging technology in the field of surveillance for security applications, especially in the visualization of invisible night and fog environment. Although RGI viewing was discovered in the 1960's, this technology is, nowadays, more and more applicable by virtue of the rapid development of optical and sensor technologies, such as highly sensitive imaging sensor and ultra-short pulse laser light. In contrast to passive vision systems, this technology enables operation even in harsh environments like fog and smoke. During the past decades, several applications of this technology have been applied in target recognition and in harsh environments, such as fog, underwater vision. Also, this technology has been demonstrated 3D imaging based on range-gated imaging. In this paper, a robot system to monitor structures in invisible fog environment is developed using an active range-gated imaging technique. The system consists of an ultra-short pulse laser device and a highly sensitive imaging sensor. The developed vision system is carried out to monitor objects in invisible fog environment. The experimental result of this newly approach vision system is described in this paper. To see invisible objects in fog

  6. Facilitators and barriers to adopting robotic-assisted surgery: contextualizing the unified theory of acceptance and use of technology.

    Directory of Open Access Journals (Sweden)

    Christine Benmessaoud

    Full Text Available Robotic-assisted surgical techniques are not yet well established among surgeon practice groups beyond a few surgical subspecialties. To help identify the facilitators and barriers to their adoption, this belief-elicitation study contextualized and supplemented constructs of the unified theory of acceptance and use of technology (UTAUT in robotic-assisted surgery. Semi-structured individual interviews were conducted with 21 surgeons comprising two groups: users and nonusers. The main facilitators to adoption were Perceived Usefulness and Facilitating Conditions among both users and nonusers, followed by Attitude Toward Using Technology among users and Extrinsic Motivation among nonusers. The three main barriers to adoption for both users and nonusers were Perceived Ease of Use and Complexity, Perceived Usefulness, and Perceived Behavioral Control. This study's findings can assist surgeons, hospital and medical school administrators, and other policy makers on the proper adoption of robotic-assisted surgery and can guide future research on the development of theories and framing of hypotheses.

  7. International Conference Educational Robotics 2016

    CERN Document Server

    Moro, Michele; Menegatti, Emanuele

    2017-01-01

    This book includes papers presented at the International Conference “Educational Robotics 2016 (EDUROBOTICS)”, Athens, November 25, 2016. The papers build on constructivist and constructionist pedagogy and cover a variety of topics, including teacher education, design of educational robotics activities, didactical models, assessment methods, theater robotics, programming & making electronics with Snap4Arduino, the Duckietown project, robotics driven by tangible programming, Lego Mindstorms combined with App Inventor, the Orbital Education Platform, Anthropomorphic Robots and Human Meaning Makers in Education, and more. It provides researchers interested in educational robotics with the latest advances in the field with a focus on science, technology, engineering, arts and mathematics (STEAM) education. At the same time it offers teachers and educators from primary to secondary and tertiary education insights into how educational robotics can trigger the development of technological interest and 21st c...

  8. 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

  9. Development of stretcher component robots for rescue against nuclear disaster

    International Nuclear Information System (INIS)

    Iwano, Yuki; Osuka, Koichi; Amano, Hisanori

    2006-01-01

    This paper studies the rescue robots to rescue people in an area polluted with radioactive leakage in nuclear power institutions. In particular, we propose the rescue system which consists of a group of small mobile robots. First, small traction robots set the posture of the fainted victims to carry easily, and carry them to the safety space with the mobile robots for the stretcher composition. In this paper, we confirm that the stretcher component robots could transport and convey a 40 [kg] dummy doll. And, we also show an application usage of stretcher robot. (author)

  10. Development and clinical evaluation of medical robot assisted photodynamic therapy of port wine stains.

    Science.gov (United States)

    Wang, Xing-tao; Duan, Xing-guang; Huang, Qiang; Bian, Gui-bin; Zhao, Hong-hua; Huang, Nai-yan; Gu, Ying; Tang, Xiao-ying

    2011-03-01

    Port wine stains (PWS) are a kind of skin disease for which photodynamic therapy (PDT) has already achieved good results. With manual operation of clinical PDT, the laser density is uneven and laser irradiation of the lesion is arbitrary and non-uniform. In addition, lengthy manual operation tires doctors; thus a robot system has been developed to assist them. First, a novel medical manipulator consisting of five passive joints (robot arm) and two active joints (robot wrist) was developed to automatically improve the uniformity of laser irradiation. Second, image processing of the lesion was introduced. Third, kinematics and path planning of the robot were analysed, and safety precautions were introduced. Then, accuracy tests of the robot wrist and robot system were conducted separately before clinical application. Finally, a total of 50 PWS cases were treated using the robot system. The clinical outcomes and comparison of non-parametric values were employed to evaluate the robot system. The accuracies of the robot wrist and robot system were shown to meet the requirements of clinical PDT treatment. The robot system performed successfully in 50 PWS cases. Doctors can devote more energy to clinical judgments during treatment with the assistance of the robot system. All the PWS have shown different degrees of improvement. The results show that the robot system is useful in assisting doctors for the PDT treatment of PWS. The experiments show the feasibility and usefulness of the robot system in assisting doctors giving PDT treatment for PWS. The robot system can lighten the load on doctors and improve the therapeutic effect. Copyright © 2011 John Wiley & Sons, Ltd.

  11. Next force sensing technology for robots: multi-axis resonant sensors

    Science.gov (United States)

    Castano-Cano, Davinson; Grossard, Mathieu; Hubert, Arnaud

    2016-05-01

    The aim of this paper is to present a novel resonant multi-axis force sensor with applications in robotics. A resonant force sensor is characterized by the use of a frequency output signal to estimate the applied forces, instead of using its amplitude as it is often the case for the other existing technologies used in robotics. The advantages of resonant force sensing for robotics are discussed, especially for the safety requirements in the collaborative field. We extend our analysis to show the main similarities and differences between more classical sensors (based on strain gages for instance) and resonant ones, with a focus on their design. More specifically, we detail the way the design of the sensitive element, which essentially transduces the applied forces into frequencies, plays a major role on its performances.

  12. Trends in Robotic Sensor Technologies for Fruit Harvesting: 2010-2015

    DEFF Research Database (Denmark)

    Zujevs, Andrejs; Osadcuks, Vitalijs; Ahrendt, Peter

    2015-01-01

    complex. Precision Agriculture provides the possibility to use soil more intelligently and effectively. Precision Agriculture includes sensor technologies for yield mapping and measuring, soil sensing, nutrient and pesticide application, irrigation control, robotic harvesting, etc. With the increase...... plant inspection and harvesting solutions can emerge. This paper provides a review of modern sensor systems used in semi or fully automated robotic harvesting, including fruit detection and localization prior to pick or slice. Sensors used in selective harvesting were also reviewed. Sensor systems were...... classified in the following categories: computer vision, chemical sensors, tactile sensors and proximity sensors. The main trends in the future of robotic harvesting will involve usage of combinations of different sensor systems that provide accuracy and reliability....

  13. Health care cost consequences of using robot technology for hysterectomy

    DEFF Research Database (Denmark)

    Laursen, Karin Rosenkilde; Hyldgård, Vibe Bolvig; Jensen, Pernille Tine

    2018-01-01

    year before to 1 year after the surgery. Tariffs of the activity-based remuneration system and the diagnosis-related grouping case-mix system were used for valuation of primary and secondary care, respectively. Costs attributable to RALH were estimated using a difference-in-difference analytical......The objective of this study is to examine the costs attributable to robotic-assisted laparoscopic hysterectomy from a broad healthcare sector perspective in a register-based longitudinal study. The population in this study were 7670 consecutive women undergoing hysterectomy between January 2006...... approach and adjusted using multivariate linear regression. The main outcome measure was costs attributable to OAH, TLH, and RALH. For benign conditions RALH generated cost savings of € 2460 (95% CI 845; 4075) per patient compared to OAH and non-significant cost savings of € 1045 (95% CI -200; 2291) when...

  14. Toward Self-Growing Soft Robots Inspired by Plant Roots and Based on Additive Manufacturing Technologies.

    Science.gov (United States)

    Sadeghi, Ali; Mondini, Alessio; Mazzolai, Barbara

    2017-09-01

    In this article, we present a novel class of robots that are able to move by growing and building their own structure. In particular, taking inspiration by the growing abilities of plant roots, we designed and developed a plant root-like robot that creates its body through an additive manufacturing process. Each robotic root includes a tubular body, a growing head, and a sensorized tip that commands the robot behaviors. The growing head is a customized three-dimensional (3D) printer-like system that builds the tubular body of the root in the format of circular layers by fusing and depositing a thermoplastic material (i.e., polylactic acid [PLA] filament) at the tip level, thus obtaining movement by growing. A differential deposition of the material can create an asymmetry that results in curvature of the built structure, providing the possibility of root bending to follow or escape from a stimulus or to reach a desired point in space. Taking advantage of these characteristics, the robotic roots are able to move inside a medium by growing their body. In this article, we describe the design of the growing robot together with the modeling of the deposition process and the description of the implemented growing movement strategy. Experiments were performed in air and in an artificial medium to verify the functionalities and to evaluate the robot performance. The results showed that the robotic root, with a diameter of 50 mm, grows with a speed of up to 4 mm/min, overcoming medium pressure of up to 37 kPa (i.e., it is able to lift up to 6 kg) and bending with a minimum radius of 100 mm.

  15. Scoping review on the use of socially assistive robot technology in elderly care.

    Science.gov (United States)

    Abdi, Jordan; Al-Hindawi, Ahmed; Ng, Tiffany; Vizcaychipi, Marcela P

    2018-02-12

    With an elderly population that is set to more than double by 2050 worldwide, there will be an increased demand for elderly care. This poses several impediments in the delivery of high-quality health and social care. Socially assistive robot (SAR) technology could assume new roles in health and social care to meet this higher demand. This review qualitatively examines the literature on the use of SAR in elderly care and aims to establish the roles this technology may play in the future. Scoping review. Search of CINAHL, Cochrane Library, Embase, MEDLINE, PsychINFO and Scopus databases was conducted, complemented with a free search using Google Scholar and reference harvesting. All publications went through a selection process, which involved sequentially reviewing the title, abstract and full text of the publication. No limitations regarding date of publication were imposed, and only English publications were taken into account. The main search was conducted in March 2016, and the latest search was conducted in September 2017. The inclusion criteria consist of elderly participants, any elderly healthcare facility, humanoid and pet robots and all social interaction types with the robot. Exclusions were acceptability studies, technical reports of robots and publications surrounding physically or surgically assistive robots. In total, 61 final publications were included in the review, describing 33 studies and including 1574 participants and 11 robots. 28 of the 33 papers report positive findings. Five roles of SAR were identified: affective therapy, cognitive training, social facilitator, companionship and physiological therapy. Although many positive outcomes were reported, a large proportion of the studies have methodological issues, which limit the utility of the results. Nonetheless, the reported value of SAR in elderly care does warrant further investigation. Future studies should endeavour to validate the roles demonstrated in this review. NIHR 58672.

  16. Developing new behavior strategies of robot soccer team SjF TUKE Robotics

    Directory of Open Access Journals (Sweden)

    Mikuláš Hajduk

    2016-09-01

    Full Text Available There are too many types of robotic soccer approaches at present. SjF TUKE Robotics, who won robot soccer world tournament for year 2010 in category MiroSot, is a team with multiagent system approach. They have one main agent (master and five agent players, represented by robots. There is a point of view, in the article, for code programmer how to create new behavior strategies by creating a new code for master. There is a methodology how to prepare and create it following some rules.

  17. Technology development and demonstration for TRIGA research reactor decontamination, decommissioning and site restoration

    International Nuclear Information System (INIS)

    Oh, Won Zin; Jung, Ki Jung; Lee, Byung Jik

    1997-01-01

    This paper describes the introduction to research reactor decommissioning plan at KAERI, the background of technology development and demonstration, and the current status of the system decontamination technology for TRIGA reactors, concrete decontamination and dust treatment technologies, wall ranging robot and graphic simulation of dismantling processes, soil decontamination and restoration technology, recycling or reuse technologies for radioactive metallic wastes, and incineration technology demonstration for combustible wastes. 9 figs

  18. 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 ...

  19. Development of an Upper Limb Motorized Assistive-Rehabilitative Robot

    Science.gov (United States)

    Amiri, Masoud; Casolo, Federico

    While the number of people requiring help for the activities of daily living are increasing, several studies have been shown the effectiveness of robot training for upper limb functionality recovery. The robotic system described in this paper is an active end-effector based robot which can be used for assisting and rehabilitating of human upper limb. The robot is able to take into account desire of the patient for the support that patient needs to complete the task.

  20. Current state of micro-robots/devices as substitutes for screening colonoscopy: assessment based on technology readiness levels.

    Science.gov (United States)

    Tapia-Siles, Silvia C; Coleman, Stuart; Cuschieri, Alfred

    2016-02-01

    Previous reports have described several candidates, which have the potential to replace colonoscopy, but to date, there is still no device capable of fully replacing flexible colonoscopy in the management of colonic disorders and for mass adult population screening for asymptomatic colorectal cancer. NASA developed the TRL methodology to describe and define the stages of development before use and marketing of any device. The definitions of the TRLS used in the present review are those formulated by "The US Department of Defense Technology Readiness Assessment Guidance" but adapted to micro-robots for colonoscopy. All the devices included are reported in scientific literature. They were identified by a systematic search in Web of Science, PubMed and IEEE Xplore amongst other sources. Devices that clearly lack the potential for full replacement of flexible colonoscopy were excluded. The technological salient features of all the devices included for assessment are described briefly, with particular focus on device propulsion. The devices are classified according to the TRL criteria based on the reported information. An analysis is next undertaken of the characteristics and salient features of the devices included in the review: wireless/tethered devices, data storage-transmission and navigation, additional functionality, residual technology challenges and clinical and socio-economical needs. Few devices currently possess the required functionality and performance to replace the conventional colonoscopy. The requirements, including functionalities which favour the development of a micro-robot platform to replace colonoscopy, are highlighted.

  1. ISRU-Based Robotic Construction Technologies For Lunar And Martian Infrastructures

    Science.gov (United States)

    Khoshnevis, Behrokh; Carlson, Anders; Thangavelu, Madhu

    2017-01-01

    Economically viable and reliable building systems and tool sets are being sought, examined and tested for extraterrestrial infrastructure buildup. This project utilizes a unique architecture weaving the robotic building construction technology with designs for assisting rapid buildup of initial operational capability Lunar and Martian bases. The project intends to develop and test methodologies to construct certain crucial infrastructure elements in order to evaluate the merits, limitations and feasibility of adapting and using such technologies for extraterrestrial application. High priority infrastructure elements suggested by our NASA advisors to be considered include landing pads and aprons, roads, blast walls and shade walls, thermal and micrometeorite protection shields and dust-free platforms utilizing the well-known insitu resource utilization (ISRU) strategy. Current extraterrestrial settlement buildup philosophy holds that in order to minimize the materials needed to be flown in, at great transportation costs, strategies that maximize the use of locally available resources must be adopted. Tools and heavy equipment flown as cargo from Earth are proposed to build required infrastructure to support future missions and settlements on the Moon and Mars. Several unique systems including the Lunar Electric Rover, the unpressurized Chariot rover, the versatile light-weight crane and Tri-Athlete cargo transporter as well as the habitat module mockups and a new generation of spacesuits are undergoing coordinated tests at NASAs D-RATS. This project intends to draw up a detailed synergetic plan to utilize these maturing systems coupled with modern robotic fabrication technologies based primarily on 3D Printing, tailored for swift and reliable Lunar and Martian infrastructure development. This project also intends to increase astronaut safety, improve buildup performance, ameliorate dust interference and concerns, and reduce time-to-commission, all in an economic

  2. Smart Fabrics Technology Development

    Science.gov (United States)

    Simon, Cory; Potter, Elliott; Potter, Elliott; McCabe, Mary; Baggerman, Clint

    2010-01-01

    Advances in Smart Fabrics technology are enabling an exciting array of new applications for NASA exploration missions, the biomedical community, and consumer electronics. This report summarizes the findings of a brief investigation into the state of the art and potential applications of smart fabrics to address challenges in human spaceflight.

  3. 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

  4. Usability testing of a developed assistive robotic system with virtual assistance for individuals with cerebral palsy: a case study.

    Science.gov (United States)

    Jafari, Nooshin; Adams, Kim; Tavakoli, Mahdi; Wiebe, Sandra; Janz, Heidi

    2017-07-04

    This paper presents a novel application of an assistive robotic system with virtual assistance to enhance manual performance of individuals with cerebral palsy. Cerebral palsy affects one's voluntary motor movements resulting in limited opportunities to actively engage in physical manipulative activities that require fine motor movements and coordination. Lack of object manipulation and environmental exploration can result in further impairments such as cognitive and social delays. The proposed assistive robotic system has been developed to enhance hand movements of people with disabilities when performing a functional task colouring. This paper presents the usability testing of the effectiveness of the developed system with an individual with cerebral palsy in a set of colouring tasks. Assisted and unassisted approaches were compared and analysed through quantitative and qualitative measures. The robotic-based approach was further compared with the participant's typical alternate access method to perform the same proposed tasks. The robotic system with virtual assistance was clinically validated to be significantly more effective, compared to both unassisted and typical approaches, by increasing the hand controllability, reducing the physical load and increasing the easiness of maintaining movements within the lines. Future studies will inform the use of the system for children with disabilities to provide them with assisted play for functional and playful activities. Implications for rehabilitation Robotic system can enhance manual performance in individuals with disabilities. Participating in a robot-mediated play activity could increase children's motivation and engagement. The developed robotic system can contribute to a basis for clinical and home-based implementation of the technology to promote manual play activities for children with disabilities.

  5. The development of information technologies

    OpenAIRE

    Kostúr Karol

    2002-01-01

    The contribution analyses the tasks information technologies in industry. At present time is the problem of connecting mutual variously levels of management. Therefore, first priority is an integration of information technologies. The information technologies for enterprise management are analysed. The product SAP R/3 appears as suitable for top management. The SAP R/3 Enterprise has a new technology so call web-server. This server enables the integration with e-business. The development my S...

  6. Readiness for living technology: a comparative study of the uptake of robot technology in the Danish health-care sector.

    Science.gov (United States)

    Peronard, Jean-Paul

    2013-01-01

    This article is a comparative analysis between workers in health care with high and low degree of readiness for living technology such as robotics. To explore the differences among workers' readiness, statistical analysis was conducted in a data set obtained from 200 respondents. The results showed important differences between high- and low-readiness types on issues such as staff security, documentation, autonomy, and future challenges.

  7. Automation And Robotics And Related Technology Issues For Space Station Customer Servicing

    Science.gov (United States)

    Cline, Helmut P.

    1987-10-01

    The evolution of the Space Station's capabilities for customer servicing has been driven by the need to accommodate as broad a set of requirements as possible. At the same time, cost constraints must be weighed against these requirements in order to achieve an affordable program. A thorough analysis of all requirements during the recently completed definition phase of the Space Station Program has led to certain aspects of the Servicing System which will have significant levels of automation associated with them. The key factors which drive these systems in the direction of increasing automation are the limitations inherent in the performance of extravehicular activity (EVA) by the Space Station crew. The Servicing Facility, for example, will incorporate a high degree of automation and teleoperation in its elements in order to free the crew from the burdens associated with EVA. The ultimate goal is to develop the elements of the Servicing System in such a way as to be compatible with and complementary to the Flight Tele-robotic Servicer (FTS). The FTS, being developed by NASA's Goddard Space Flight Center, will evolve to increasing levels of autonomy to allow the virtual elimination of routine EVA. This paper will focus on those aspects of the Servicing System that will incorporate a significant level of automation and the related technology issues that will need to be more fully explored in the upcoming development phase of the Space Station Program.

  8. Y-12 Plant decontamination and decommissioning technology logic diagram for Building 9201-4. Volume 3: Technology evaluation data sheets; Part B: Decontamination, robotics/automation, waste management

    International Nuclear Information System (INIS)

    1994-09-01

    The Y-12 Plant Decontamination and Decommissioning Technology Logic Diagram for Building 9201-4 (TLD) was developed to provide a decision-support tool that relates decontamination and decommissioning (D and D) problems at Bldg. 9201-4 to potential technologies that can remediate these problems. The TLD uses information from the Strategic Roadmap for the Oak Ridge Reservation, the Oak Ridge K-25 Site Technology Logic Diagram, the Oak Ridge National Laboratory Technology Logic Diagram, and a previous Hanford logic diagram. This TLD identifies the research, development, demonstration, testing, and evaluation needed for sufficient development of these technologies to allow for technology transfer and application to D and D and waste management (WM) activities. It is essential that follow-on engineering studies be conducted to build on the output of this project. These studies will begin by selecting the most promising technologies identified in the TLD and by finding an optimum mix of technologies that will provide a socially acceptable balance between cost and risk. This report consists of the decontamination, robotics/automation, and WM data sheets

  9. Hybrid Propulsion Technology for Robotic Science Missions, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — C3 Propulsion's Hybrid Propulsion Technology will be applied to a NASA selected Sample Return Mission. Phase I will demonstrate Proof-of-Principle and Phase II will...

  10. Working Environment and Technological Development

    DEFF Research Database (Denmark)

    Clausen, Christian; Nielsen, Klaus T.; Jensen, Per Langaa

    1997-01-01

    The paper describes the purpose, themes, overarching research questions and specific projects of the programme: Working Environment and Technological Development. The major research themes are:1) Management concepts and the working environment, which considers the visions...... and their and their concept of working environment2) Technology renewal, which considers the role of the working environment in connection with the development and use of concrete technologies3) Working environment planning, which considers the existing efforts to place the working environment in a planning process....

  11. End-Effector Development for the PIP Puck Handling Robot

    International Nuclear Information System (INIS)

    Fowley, M.D.

    2001-01-01

    It has been decided that excess, weapons-grade plutonium shall be immobilized to prevent nuclear proliferation. The method of immobilization is to encapsulate the plutonium in a ceramic puck, roughly the size of a hockey puck, using a sintering process. This method has been officially identified as the Plutonium Immobilization Process (PIP). A Can-in-Canister storage method will be used to further immobilize the plutonium. The Can-in-Canister method uses the existing design of a Defense Waste Processing Facility (DWPF) canister to house the plutonium pucks. the process begins with several pucks being stacked in a stainless steel can. Several of the stainless steel cans are stacked in a cage-like magazine. Several of the magazines are then placed in a DWPF canister. The DWPF canister is then filled with molten glass containing high-level, radioactive waste from the DWPF vitrification process. The Can-in-Canister method makes reclamation of plutonium from the pucks technically difficult and highly undesirable. The mechanical requirements of the Can-in-Canister process, in conjunction with the amount of time required to immobilize the vast quantities of weapons-grade plutonium, will expose personnel to unnecessarily high levels of radiation if the processes were completed manually, in glove boxes. Therefore, automated equipment is designed into the process to reduce or eliminate personnel exposure. Robots are used whenever the automated handling operations become complicated. There are two such operations in the initial stages of the Can-in-Canister process, which required a six-axis robot. The first operation is a press unloading process. The second operation is a tray transfer process. To successfully accomplish the operational tasks described in the two operations, the end-effector of the robot must be versatile, lightweight, and rugged. As a result of these demands, an extensive development process was undertaken to design the optimum end-effector for these puck

  12. Mobile robotics research at Sandia National Laboratories

    Energy Technology Data Exchange (ETDEWEB)

    Morse, W.D.

    1998-09-01

    Sandia is a National Security Laboratory providing scientific and engineering solutions to meet national needs for both government and industry. As part of this mission, the Intelligent Systems and Robotics Center conducts research and development in robotics and intelligent machine technologies. An overview of Sandia`s mobile robotics research is provided. Recent achievements and future directions in the areas of coordinated mobile manipulation, small smart machines, world modeling, and special application robots are presented.

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

    Energy Technology Data Exchange (ETDEWEB)

    Fellows, R.L. [ed.

    1993-02-26

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

  14. Analysis and Development of Walking Algorithm Kinematic Model for 5-Degree of Freedom Bipedal Robot

    Directory of Open Access Journals (Sweden)

    Gerald Wahyudi Setiono

    2012-12-01

    Full Text Available A design of walking diagram and the calculation of a bipedal robot have been developed. The bipedal robot was designed and constructed with several kinds of servo bracket for the legs, two feet and a hip. Each of the bipedal robot leg was 5-degrees of freedom, three pitches (hip joint, knee joint and ankle joint and two rolls (hip joint and ankle joint. The walking algorithm of this bipedal robot was based on the triangle formulation of cosine law to get the angle value at each joint. The hip height, height of the swinging leg and the step distance are derived based on linear equation. This paper discussed the kinematic model analysis and the development of the walking diagram of the bipedal robot. Kinematics equations were derived, the joint angles were simulated and coded into Arduino board to be executed to the robot.

  15. A Service-Oriented Framework for the Development of Home Robots

    Directory of Open Access Journals (Sweden)

    Tsung-Hsien Yang

    2013-02-01

    Full Text Available In recent years, researchers have been building home robots able to interact and work with people. Yet, because of the complicated and independent robot development environments, it is not always easy to share and reuse robot code created by different providers. In this work, we present an ontology-based framework that integrates service-oriented computing environments with the standard web interface to develop reusable robotic services. In addition to the service discovery, selection, and composition processes often performed by traditional web services, our work also includes an adaptive mechanism through which the user can iteratively modify composite robotic services to suit his or her needs. The proposed methodology has been implemented and evaluated, and the results show that our framework can be used to build robotic services successfully.

  16. Robotic art, culture and cultural imagination

    DEFF Research Database (Denmark)

    Romic, Bojana

    2015-01-01

    In the recent years there has been an ongoing debate about the notion and (possible) function of robotic culture; with the development of the new generation of drones, as well as the advancement in social and health robotics, questions about robot culture seem to open a variety of discussions...... – beginning with the inquiry of how can we grasp the notion of culture, as an umbrella term for the range of habitual and technological practices, in relation to equally heterogeneous field of robotics. This article aims to accentuate the importance of cultural imagination of robots in situating the robotic...... research, observing it 'as a mixed register of fantasy and an actual practice' (Kakoudaki, 2007). The emphasis will be put on the robotic art which, I argue, is in the fluid state of exchange with other areas of robotic research, equally benefiting from the larger context of cultural imagination of robots...

  17. ROBIN, a Telepresence Robot to Support Older Users Monitoring and Social Inclusion: Development and Evaluation.

    Science.gov (United States)

    Cortellessa, Gabriella; Fracasso, Francesca; Sorrentino, Alessandra; Orlandini, Andrea; Bernardi, Giulio; Coraci, Luca; De Benedictis, Riccardo; Cesta, Amedeo

    2018-02-01

    This article describes an enhanced telepresence robot named ROBIN, part of a telecare system derived from the GIRAFFPLUS project for supporting and monitoring older adults at home. ROBIN is integrated in a sensor-rich environment that aims to continuously monitor physical and psychological wellbeing of older persons living alone. The caregivers (formal/informal) can communicate through it with their assisted persons. Long-term trials in real houses highlighted several user requirements that inspired improvements on the robotic platform. The enhanced telepresence robot was assessed by users to test its suitability to support social interaction and provide motivational feedback on health-related aspects. Twenty-five users (n = 25) assessed the new multimodal interaction capabilities and new communication services. A psychophysiological approach was adopted to investigate aspects like engagement, usability, and affective impact, as well as the possible role of individual differences on the quality of human-robot interaction. ROBIN was overall judged usable, the interaction with/through it resulted pleasant and the required workload was limited, thus supporting the idea of using it as a central component for remote assistance and social participation. Open-minded users tended to have a more positive interaction with it. This work describes an enabling technology for remote assistance and social communication. It highlights the importance of being compliant with users' needs to develop solutions easy to use and able to foster their social connections. The role of personality appeared to be relevant for the interaction, underscoring a clear role of the service personalization.

  18. Experience and Applications Up-date: Automation of Arc-Welding Operations Using Robot-Technology

    International Nuclear Information System (INIS)

    Teubel, G.

    1996-01-01

    In a short introduction, the important criteria for the correct choice of a robot cell, taking into account the given application, are highlighted. Furthermore, important hints are listed in terms of management decisions. The second chapter shows the main features of a welding robot cell in line with the present state of the art and describes some new developments with the aim of extending the arc-welding system to new applications such as flame cutting and beveling. The third chapter as centre piece gives an overall view of a brand new network control with many outstanding features for the users of arc-welding robots. the fourth and last chapter shows a recent realisation of a highly sophisticated F.M.S. system for welding, in random sequence, different large and heavy components. (Author) 1 ref

  19. Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches

    OpenAIRE

    Song, Sang-Eun; Cho, Nathan B.; Fischer, Gregory; Hata, Nobuhito; Tempany, Clare; Fichtinger, Gabor; Iordachita, Iulian

    2010-01-01

    Magnetic Resonance Imaging (MRI) guided prostate biopsy and brachytherapy has been introduced in order to enhance the cancer detection and treatment. For the accurate needle positioning, a number of robotic assistants have been developed. However, problems exist due to the strong magnetic field and limited workspace. Pneumatically actuated robots have shown the minimum distraction in the environment but the confined workspace limits optimal robot design and thus controllability is often poor....

  20. The development of advanced robotics for the nuclear industry -The development of robotic system for the nuclear power plants-

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Hoh; Kim, Chang Heui; Kim, Byung Soo; Hwang, Suk Yong; Kim, Kee Hoh; Lee, Jae Kyung; Lee, Yung Kwang; Suh, Yong Chil; Lee, Yong Bum; Kim, Woong Kee; Park, Soon Yong [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

    1995-07-01

    The Advanced Robotics Department of the Korea Atomic Energy Research Institute (KAERI) is developing a Dexterous Manipulation System (DMS) and a teleoperated mobile robot, identified as KAEROT/ml, for use in nuclear power plants. The DMS is being developed for performing tasks such as the opening and closing of nozzle dam inside water chamber of steam generator. The DMS has two major subsystems; a master-slave 6 degrees of freedom (dof) manipulator and a support device. The master-slave arms are designed dissimilar kinematically and dynamically, and their functions are performed by a bilateral force-reflecting force control. The slave is a hydraulically powered arm with a 3 dof end effector, and is mounted on the top of the support device for nozzle dam operation. The support device guides the slave arm into the water chamber and supports it during its operation. The DMS can be operated either in teleoperated or supervisory control modes. The KAEROT/ml is designed to be used in emergency response applications such as monitoring and mapping radiation areas, handling radioactive materials and performing decontamination tasks. The KAEROT/ml equipped with four-omnidirectional planetary wheels has a 6 dof joint-controlled arm and is capable of ascending and descending stairs and navigating flat surface with zero turning radius. This report describes the mechanical design, features, modeling and control system of both the DMS and the KAEROT/ml. 209 figs, 49 pix, 69 tabs, 62 refs. (Author).

  1. R and D project for large industrial technologies in fiscal 1990. Report on achievements in R and D of robots for critical works; 1990 nendo seika hokokusho. Ogata kogyo gijutsu kenkyu kaihatsu jigyo. Kyokugen sagyo robot no kenkyu kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1991-01-01

    Research and development have been performed on basic technologies common to different types of robots to carry out works in critical conditions. This paper summarizes the achievements in fiscal 1990. In the R and D of tactile sensors, a prototype multi-element sensor array applicable to fingers of a robot hand was produced, and the characteristics test was conducted. In the R and D of motive force technologies, a force controlled actuator for wrist containing a torque sensor was designed and produced on a trial basis, whereas evaluations were given on the size and weight reduction and the force control performance. Regarding the actuator with redundant degree of freedom, a force controlled arm was attached with an actuator with three degrees of freedom to have performed an evaluation experiment. With regard to a small size and light weight controller, fabrication was carried out on a multi-function, high-density controller which adds positional control and peripheral interface functions to the force controlling function, and an evaluation was given. In the R and D of robot language, discussions were given on robot languages related to each system of movement, manipulation, and sensors, and the grammar specifications were prepared. (NEDO)

  2. Simultaneous development of laparoscopy and robotics provides acceptable perioperative outcomes and shows robotics to have a faster learning curve and to be overall faster in rectal cancer surgery: analysis of novice MIS surgeon learning curves.

    Science.gov (United States)

    Melich, George; Hong, Young Ki; Kim, Jieun; Hur, Hyuk; Baik, Seung Hyuk; Kim, Nam Kyu; Sender Liberman, A; Min, Byung Soh

    2015-03-01

    Laparoscopy offers some evidence of benefit compared to open rectal surgery. Robotic rectal surgery is evolving into an accepted approach. The objective was to analyze and compare laparoscopic and robotic rectal surgery learning curves with respect to operative times and perioperative outcomes for a novice minimally invasive colorectal surgeon. One hundred and six laparoscopic and 92 robotic LAR rectal surgery cases were analyzed. All surgeries were performed by a surgeon who was primarily trained in open rectal surgery. Patient characteristics and perioperative outcomes were analyzed. Operative time and CUSUM plots were used for evaluating the learning curve for laparoscopic versus robotic LAR. Laparoscopic versus robotic LAR outcomes feature initial group operative times of 308 (291-325) min versus 397 (373-420) min and last group times of 220 (212-229) min versus 204 (196-211) min-reversed in favor of robotics; major complications of 4.7 versus 6.5 % (NS), resection margin involvement of 2.8 versus 4.4 % (NS), conversion rate of 3.8 versus 1.1 (NS), lymph node harvest of 16.3 versus 17.2 (NS), and estimated blood loss of 231 versus 201 cc (NS). Due to faster learning curves for extracorporeal phase and total mesorectal excision phase, the robotic surgery was observed to be faster than laparoscopic surgery after the initial 41 cases. CUSUM plots demonstrate acceptable perioperative surgical outcomes from the beginning of the study. Initial robotic operative times improved with practice rapidly and eventually became faster than those for laparoscopy. Developing both laparoscopic and robotic skills simultaneously can provide acceptable perioperative outcomes in rectal surgery. It might be suggested that in the current milieu of clashing interests between evolving technology and economic constrains, there might be advantages in embracing both approaches.

  3. Interactions between Humans and Robots

    DEFF Research Database (Denmark)

    Vlachos, Evgenios; Schärfe, Henrik

    2013-01-01

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

  4. The Development of a Robot-Based Learning Companion: A User-Centered Design Approach

    Science.gov (United States)

    Hsieh, Yi-Zeng; Su, Mu-Chun; Chen, Sherry Y.; Chen, Gow-Dong

    2015-01-01

    A computer-vision-based method is widely employed to support the development of a variety of applications. In this vein, this study uses a computer-vision-based method to develop a playful learning system, which is a robot-based learning companion named RobotTell. Unlike existing playful learning systems, a user-centered design (UCD) approach is…

  5. The human hand as an inspiration for robot hand development

    CERN Document Server

    Santos, Veronica

    2014-01-01

    “The Human Hand as an Inspiration for Robot Hand Development” presents an edited collection of authoritative contributions in the area of robot hands. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities. The twenty-four chapters discuss the field of robotic grasping and manipulation viewed in light of the human hand’s capabilities and push the state-of-the-art in robot hand design and control. Topics discussed include human hand biomechanics, neural control, sensory feedback and perception, and robotic grasp and manipulation. This book will be useful for researchers from diverse areas such as robotics, biomechanics, neuroscience, and anthropologists.

  6. Expanding Alaska's Remote Ocean Observing Capabilities Using Robotic Gliders and Remote Sensing Technologies

    Science.gov (United States)

    Janzen, C.; McCammon, M.; Winsor, P.; Murphy, D. J.; Mathis, J. T.; Baumgartner, M.; Stafford, K.; Statscewich, H.; Evans, W.; Potter, R. A.

    2016-02-01

    The Alaska Ocean Observing System (AOOS) is directed by Congress to facilitate, implement and support ocean observing for the entire coast of Alaska, working with federal, state, local and private sector partners. However, developing an integrated ocean observing system at high latitudes presents unique challenges. In addition to the harsh environment, the region covered by AOOS is made up of nearly 44,000 miles of coastline, larger than the marine systems in the rest of the United States combined. No other observing system in the United States has such climate extremes, significant geographic distances, and limited observing infrastructure. Making use of robotic technologies in Alaskan waters has been successfully demonstrated with the pilot deployment of a real-time marine mammal detection system deployed on a Slocum buoyancy controlled glider. The glider also carries payload to measure high resolution temperature and salinity data. With these simultaneous data streams, scientists are investigating how marine mammal occurrences are related to water column conditions and mixing fronts, as well as comparing northern versus southern Chukchi community composition, inshore (Alaska Coastal Current) waters, and offshore (Bering Sea) waters. In its third year, the glider is now equipped with lithium batteries that allow it to operate unattended for an entire Arctic summer season, whereas past deployments were limited to about 10 days. Developing and applying such cutting edge, long-endurance autonomous technology is benefitting others monitoring in Arctic regions where shipboard access is not only expensive, but limited to fair weather conditions during the openwater (ice free) seasons of summer to early fall.

  7. Wind energy technology developments

    DEFF Research Database (Denmark)

    Madsen, Peter Hauge; Hansen, Morten Hartvig; Pedersen, Niels Leergaard

    2014-01-01

    turbine blades and towers are very large series-produced components, which costs and quality are strongly dependent on the manufacturing methods. The industrial wind energy sector is well developed in Denmark, and the competitive advantage of the Danish sector and the potential for job creation...

  8. Technological development in fisheries management

    DEFF Research Database (Denmark)

    Eigaard, Ole Ritzau; Marchal, Paul; Gislason, Henrik

    2014-01-01

    Many marine fish stocks are overexploited and considerable overcapacity exists in fishing fleets worldwide. One of the reasons for the imbalance between resource availability and fishing capacity is technological development, which continuously increases the efficiency of the vessels—a mechanism...... referred to as “technological creep.” We review how the introduction of new and more efficient electronic equipment, gear design, engines, deck equipment, and catch-handling procedures influences the capture efficiency (catchability) of commercial fishing vessels. On average, we estimate that catchability...... increases by 3.2% per year due to technological developments, an increase often ignored in fisheries management. The documentation and quantification of technological creep improves the basis for successfully integrating the effects of technological development (and catchability changes) in fisheries...

  9. Development of a Self-Stabilizing Robotic Chassis for Industry

    Directory of Open Access Journals (Sweden)

    Ryadchikov Igor

    2017-01-01

    Full Text Available Presented the description of the bipedal robotic chassis with the unique kinematic scheme which has the possibility to locomote in complicated multi-level environment. AnyWalker is equipped with the system of compensation of external impacts with motor-wheels which can self-stabilize the robotic system in 3 dimensions. Presented chassis suggests to have open software and hardware architecture in order to become the universal walking platform for service and industry robots.

  10. Development of Lifting and Propulsion Mechanism for Biped Robot Inspired by Basilisk Lizards

    Directory of Open Access Journals (Sweden)

    Linsen Xu

    2013-01-01

    Full Text Available The lifting and propulsion mechanism of a novel biped robot inspired by the basilisk lizard's water-walking function has been developed. The movement trajectories of the Watt-I planar linkage are brought out by combining the movement equations of the four-bar mechanism and the coordinate transformation equations, which are used to simulate the foot trajectories of the basilisk lizard, and the lifting and propulsion mechanism of the biped robot walking on water is carried out. The links' parameters are optimized by taking the trajectories overlap ratio as the objective function. The prototype of the biped robot walking on water is manufactured by the results of the kinematic analysis on the robot. And the lifting and propulsion force curve on the robot from water is measured. The experiment results show that the lifting and propulsion system can satisfy the function requirement of the biped robot walking on water.

  11. Limits of Nature and Advances of Technology: What Does Biomimetics Have to Offer to Aquatic Robots?

    Directory of Open Access Journals (Sweden)

    F. E. Fish

    2006-01-01

    Full Text Available In recent years, the biomimetic approach has been utilized as a mechanism for technological advancement in the field of robotics. However, there has not been a full appreciation of the success and limitations of biomimetics. Similarities between natural and engineered systems are exhibited by convergences, which define environmental factors, which impinge upon design, and direct copying that produces innovation through integration of natural and artificial technologies. Limitations of this integration depend on the structural and mechanical differences of the two technologies and on the process by which each technology arises. The diversity of organisms that arose through evolutionary descent does not necessarily provide all possible solutions of optimal functions. However, in instances where organisms exhibit superior performance to engineered systems, features of the organism can be targeted for technology transfer. In this regard, cooperation between biologists and engineers is paramount.

  12. Nigerian Journal of Technological Development

    African Journals Online (AJOL)

    The Nigerian Journal of Technological Development is now a quarterly publication of the Faculty of Engineering & Technology, University of Ilorin, Ilorin, Nigeria. It publishes original high-quality articles focusing on all aspects of Engineering and Applied Sciences in March, June, September and December. Manuscripts are ...

  13. Factors associated with adoption of robotic surgical technology in US hospitals and relationship to radical prostatectomy procedure volume.

    Science.gov (United States)

    Barbash, Gabriel I; Friedman, Bernard; Glied, Sherry A; Steiner, Claudia A

    2014-01-01

    Robotic technology has diffused rapidly despite high costs and limited additive reimbursement by major payers. We aimed to identify the factors associated with hospitals' decisions to adopt robotic technology and the consequences of these decisions. This observational study used data on hospitals and market areas from 2005 to 2009. Included were hospitals in census-based statistical areas within states in the State Inpatient Database that participated in the American Hospital Association annual surveys and performed radical prostatectomies. The likelihood that a hospital would acquire a robotic facility and the rates of radical prostatectomy relative to the prevalence of robots in geographic market areas were assessed using multivariable analysis. Hospitals in areas where a higher proportion of other hospitals had already acquired a robot were more likely to acquire one (P=0.012), as were those with more than 300 beds (Phospitals (Ptechnology in the United States. Significantly more radical prostatectomies were performed in hospitals with robots and in market areas of hospitals with robotic technology.

  14. A Framework for the Development of Robot Behavior

    National Research Council Canada - National Science Library

    Grupen, Roderic A; Huber, Manfred

    2005-01-01

    .... This paper presents an approach to robot skill acquisition that takes concepts from developmental theory to structure the learning problem and provides a mechanism to generate developmental schedules...

  15. High performance fuel technology development

    Energy Technology Data Exchange (ETDEWEB)

    Koon, Yang Hyun; Kim, Keon Sik; Park, Jeong Yong; Yang, Yong Sik; In, Wang Kee; Kim, Hyung Kyu [KAERI, Daejeon (Korea, Republic of)

    2012-01-15

    {omicron} Development of High Plasticity and Annular Pellet - Development of strong candidates of ultra high burn-up fuel pellets for a PCI remedy - Development of fabrication technology of annular fuel pellet {omicron} Development of High Performance Cladding Materials - Irradiation test of HANA claddings in Halden research reactor and the evaluation of the in-pile performance - Development of the final candidates for the next generation cladding materials. - Development of the manufacturing technology for the dual-cooled fuel cladding tubes. {omicron} Irradiated Fuel Performance Evaluation Technology Development - Development of performance analysis code system for the dual-cooled fuel - Development of fuel performance-proving technology {omicron} Feasibility Studies on Dual-Cooled Annular Fuel Core - Analysis on the property of a reactor core with dual-cooled fuel - Feasibility evaluation on the dual-cooled fuel core {omicron} Development of Design Technology for Dual-Cooled Fuel Structure - Definition of technical issues and invention of concept for dual-cooled fuel structure - Basic design and development of main structure components for dual- cooled fuel - Basic design of a dual-cooled fuel rod.

  16. E-infocenter, a visual tool for project management in educational robotics using web technologies

    Directory of Open Access Journals (Sweden)

    Kathia Pittí Patiño

    2012-07-01

    Full Text Available Normal.dotm 0 0 1 147 838 Universidad de Salamanca 6 1 1029 12.0 0 false 18 pt 18 pt 0 0 false false false /* Style Definitions */ table.MsoNormalTable {mso-style-name:"Table Normal"; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-parent:""; mso-padding-alt:0cm 5.4pt 0cm 5.4pt; mso-para-margin-top:0cm; mso-para-margin-right:0cm; mso-para-margin-bottom:10.0pt; mso-para-margin-left:0cm; line-height:115%; mso-pagination:widow-orphan; font-size:12.0pt; font-family:"Times New Roman"; mso-ascii-font-family:Calibri; mso-ascii-theme-font:minor-latin; mso-fareast-font-family:"Times New Roman"; mso-fareast-theme-font:minor-fareast; mso-hansi-font-family:Calibri; mso-hansi-theme-font:minor-latin;} Internet applications and educational robotics are technologies that are characterized by their relatively novelty and motivating character. They are the ideal setting for the application of active teaching methods. The project-based learning is considered as one of the most attractive of these teaching methods. Under our approach, the projects with robots makes use of the Web 2.0 collaborative environment, so this one will be considered as student support tool. In this way they can develop many skills that are easily transferable to the work-market. In this paper, an online visual tool called E-infocenter is described. We will show the developed selection process, the design and the implementation of the mentioned project management. This tool has been used for the first time for six weeks in the workshop “Vehicles LEGO NXT” that is, an experience dedicated to children aged between 8 and 15 years. The benefits perceived by the participants have been at management level, emotional and collaboration.

  17. The vacuum system for technological unit development and design

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  18. Teaching Hospitals and the Disconnect Between Technology Adoption and Comparative Effectiveness Research: The Case of the Surgical Robot.

    Science.gov (United States)

    Makarov, Danil V; Li, Huilin; Lepor, Herbert; Gross, Cary P; Blustein, Jan

    2017-06-01

    The surgical robot, a costly technology for treatment of prostate cancer with equivocal marginal benefit, rapidly diffused into clinical practice. We sought to evaluate the role of teaching in the early adoption phase of the surgical robot. Teaching hospitals were the primary early adopters: data from the Healthcare Cost and Utilization Project showed that surgical robots were acquired by 45.5% of major teaching, 18.0% of minor teaching and 8.0% of non-teaching hospitals during the early adoption phase. However, teaching hospital faculty produced little comparative effectiveness research: By 2008, only 24 published studies compared robotic prostatectomy outcomes to those of conventional techniques. Just ten of these studies (41.7%) were more than minimally powered, and only six (25%) involved cross-institutional collaborations. In adopting the surgical robot, teaching hospitals fulfilled their mission to innovate, but failed to generate corresponding scientific evidence.

  19. Multichip module technology development

    International Nuclear Information System (INIS)

    Kapustinsky, J.S.; Boissevain, J.G.; Muck, R.C.; Smith, G.D.; Wong-Swanson, B.G.; Ziock, H.J.

    1997-01-01

    This is the final report of a one-year, Laboratory Directed Research and Development (LDRD) project at Los Alamos National Laboratory (LANL). A Multichip Module (MCM) was designed and submitted for fabrication to the Lockheed Martin foundry using a licensed process called High Density Interconnect (HDI). The HDI process uses thin film techniques to create circuit interconnect patterns on multiple layers of dielectric film which are deposited directly on top of unpackaged electronic die. This results in an optimally small package that approaches the area of the bare die themselves. This project tested the capability of the Lockheed Martin foundry to produce, in an HDI process, a complex mixed-mode (analog and digital) circuit on a single MCM substrate

  20. Radioisotope Power Systems Technology Development

    Data.gov (United States)

    National Aeronautics and Space Administration — The goal of the RPS's technology portfolio is to advance performance of radioisotope power systems through new and novel innovations being developed and transitioned...

  1. Assistive and Rehabilitation Robotic System

    Directory of Open Access Journals (Sweden)

    Adrian Abrudean

    2015-06-01

    Full Text Available A short introduction concerning the content of Assistive Technology and Rehabilitation Engineering is followed by a study of robotic systems which combine two or more assistive functions. Based on biomechanical aspects, a complex robotic system is presented, starting with the study of functionality and ending with the practical aspects of the prototype development.

  2. Energy consumption and technological developments

    International Nuclear Information System (INIS)

    Okorokov, V.R.

    1990-02-01

    The paper determines an outline of the world energy prospects based on principal trends of the development of energy consumption analysed over the long past period. According to the author's conclusion the development of energy systems will be determined in the nearest future (30 - 40 years) by contemporary energy technologies based on the exploitation of traditional energy resources but in the far future technologies based on the exploitation of thermonuclear and solar energy will play the decisive role. (author)

  3. Development of a Live-Line Robot and a New Construction Method at Distributed Lines

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seung Ho; Kim, Chang Hoi; Seo, Yong Chil; Shin, Ho Cheol; Lee, Sung Uk; Kim, Seung Jo

    2008-10-15

    The developed live-line robot is installed in the commercial live-line working truck used in the live-line works. The optimal installing position and method was analyzed by the graphical simulation. The dual arm robot was designed to have a maximize work space through the optimal configuration simulation in which the accessibility and interference of the robot to the distributed line environments were checked. The shape, material and size of the links was designed through the mechanical analysis, The prototype was made based on the analysis. The developed robot is insulated by the upper arm made of the FRP material. The insulation performance of the robot was verify by the leakage current test and the flashover voltage test. A tele-operating control system was developed for a operator to easily manipulate the developed robot and to actively manage the various conditions of the distributed line. The functions of the robot tested in the mockup. The insulation performance was tested and verified in the KERI (Korea Electrotechnology Research Institute). Finally, the performance of the developed robot was tested at the distributed line of the Gochang electric power test center.

  4. Development of Radioisotope Tracer Technology

    International Nuclear Information System (INIS)

    Jung, Sung Hee; Jin, Joon Ha; Kim, Jong Bum; Kim, Jin Seop; Kim, Jae Jo; Park, Soon Chul; Lim, Don Soon; Choi, Byung Jong; Jang, Dong Soon; Kim, Hye Sook

    2007-06-01

    The project is aimed to develop the radiotracer technology for process optimization and trouble-shooting to establish the environmental and industrial application of radiation and radioisotopes. The advanced equipment and software such as high speed data acquisition system, RTD model and high pressure injection tool have developed. Based on the various field application to the refinery/petrochemical industries, the developed technology was transfer to NDT company for commercial service. For the environmental application of radiotracer technology, injector, detector sled, core sampler, RI and GPS data logging system are developed and field tests were implemented successfully at Wolsung and Haeundae beach. Additionally tracer technology were also used for the performance test of the clarifier in a wastewater treatment plant and for the leak detection in reservoirs. From the experience of case studies on radiotracer experiment in waste water treatment facilities, 'The New Excellent Technology' is granted from the ministry of environment. For future technology, preliminary research for industrial gamma transmission and emission tomography which are new technology combined with radioisotope and image reconstruction are carried out

  5. Sensor development and integration for robotized laser welding

    NARCIS (Netherlands)

    Iakovou, D.

    2009-01-01

    Laser welding requires fast and accurate positioning of the laser beam over the seam trajectory. The task of accurate positioning of the laser tools is performed by robotic systems. It is therefore necessary to teach the robot the path it has to follow. Seam teaching is implemented in several ways:

  6. A Modular Architecture for Developing Robots for Industrial Applications

    DEFF Research Database (Denmark)

    Faina, Andres; Orjales, Felix; Souto, Daniel

    2015-01-01

    This chapter is concerned with proposing ways to make feasible the use of robots in many sectors characterized by dynamic and unstructured environments. In particular, we are interested in addressing the problem through a new approach, based on modular robotics, to allow the fast deployment of ro...

  7. Human Robotic Systems (HRS): Robotic ISRU Acquisition Element

    Data.gov (United States)

    National Aeronautics and Space Administration — During 2014, the Robotic ISRU Resource Acquisition project element will develop two technologies:Exploration Ground Data Systems (xGDS)Sample Acquisition on...

  8. Basic research on intelligent robotic systems operating in hostile environments: New developments at ORNL

    International Nuclear Information System (INIS)

    Barhen, J.; Babcock, S.M.; Hamel, W.R.; Oblow, E.M.; Saridis, G.N.; deSaussure, G.; Solomon, A.D.; Weisbin, C.R.

    1984-01-01

    Robotics and artificial intelligence research carried out within the Center for Engineering Systems Advanced Research (CESAR) is presented. Activities focus on the development and demonstration of a comprehensive methodological framework for intelligent machines operating in unstructured hostile environments. Areas currently being addressed include mathematical modeling of robot dynamics, real-time control, ''world'' modeling, machine perception and strategy planning

  9. Designing, developing, and deploying systems to support human-robot teams in disaster response

    NARCIS (Netherlands)

    Kruijff, G.J.M.; Kruijff-Korbayová, I.; Keshavdas, S.; Larochelle, B.; Janíček, M.; Colas, F.; Liu, M.; Pomerleau, F.; Siegwart, R.; Neerincx, M.A.; Looije, R.; Smets, N.J.J.M.; Mioch, T.; Diggelen, J. van; Pirri, F.; Gianni, M.; Ferri, F.; Menna, M.; Worst, R.; Linder, T.; Tretyakov, V.; Surmann, H.; Svoboda, T.; Reinštein, M.; Zimmermann, K.; Petříček, T.; Hlaváč, V.

    2014-01-01

    This paper describes our experience in designing, developing and deploying systems for supporting human-robot teams during disaster response. It is based on R&D performed in the EU-funded project NIFTi. NIFTi aimed at building intelligent, collaborative robots that could work together with humans in

  10. Design and development of a work robot to place ATLAS SCT modules onto barrel cylinders

    CERN Document Server

    Terada, S; Honma, F; Ikegami, Y; Iwata, Y; Kato, Y; Kobayashi, H; Kohriki, T; Kondo, T; Nakano, I; Sengoku, H; Takashima, R; Tanaka, R; Ujiie, N; Unno, Y; Yasuda, S

    2005-01-01

    More than 2000 silicon modules need to be placed and fastened on the ATLAS SCT barrel tracker. A semi-automatic pick-and-place work robot was designed and developed to cope with the module placement for the SCT barrel assembly. We found that this robot could place modules to a mechanical precision of better than 25 mum.

  11. Engineering research, development and technology

    International Nuclear Information System (INIS)

    1994-05-01

    The mission of the Engineering Research, Development, and Technology Program at Lawrence Livermore National Laboratory (LLNL) is to develop the technical staff, tools, and facilities needed to support current and future LLNL programs. The efforts are guided by a dual-benefit research and development strategy that supports Department of Energy missions, such as national security through nuclear deterrence and economic competitiveness through partnerships with U.S. industry. This annual report, organized by thrust area, describes the activities for the fiscal year 1993. The report provides timely summaries of objectives, methods, and results from nine thrust areas for this fiscal year: Computational Electronics and Electromagnetics; Computational Mechanics; Diagnostics and Microelectronics; Fabrication Technology; Materials Science and Engineering; Power Conversion Technologies; Nondestructive Evaluation; Remote Sensing, Imaging, and Signal Engineering; and Emerging Technologies. Separate abstracts were prepared for 47 papers in this report

  12. State of the Art: Bipedal Robots for Lower Limb Rehabilitation

    Directory of Open Access Journals (Sweden)

    Xiong Yang

    2017-11-01

    Full Text Available The bipedal robot is one of the most attractive robots types given its similarity to the locomotion of human beings and its ability to assist people to walk during rehabilitation. This review summarizes the chronological historical development of bipedal robots and introduces some current popular bipedal robots age. Then, the basic theory-stability control and key technology-motion planning of bipedal robots are introduced and analyzed. Bipedal robots have a wide range of applications in the service, education, entertainment, and other industries. After that, we specifically discuss the applications of bipedal robots in lower limb rehabilitation, including wearable exoskeleton robots, rehabilitation equipment, soft exoskeleton robots, and unpowered exoskeleton robots, and their control methods. Lastly, the future development and the challenges in this field are discussed.

  13. Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches

    Science.gov (United States)

    Song, Sang-Eun; Cho, Nathan B.; Fischer, Gregory; Hata, Nobuhito; Tempany, Clare; Fichtinger, Gabor; Iordachita, Iulian

    2011-01-01

    Magnetic Resonance Imaging (MRI) guided prostate biopsy and brachytherapy has been introduced in order to enhance the cancer detection and treatment. For the accurate needle positioning, a number of robotic assistants have been developed. However, problems exist due to the strong magnetic field and limited workspace. Pneumatically actuated robots have shown the minimum distraction in the environment but the confined workspace limits optimal robot design and thus controllability is often poor. To overcome the problem, a simple external damping mechanism using timing belts was sought and a 1-DOF mechanism test result indicated sufficient positioning accuracy. Based on the damping mechanism and modular system design approach, a new workspace-optimized 4-DOF parallel robot was developed for the MRI-guided prostate biopsy and brachytherapy. A preliminary evaluation of the robot was conducted using previously developed pneumatic controller and satisfying results were obtained. PMID:21399734

  14. Robotics

    Indian Academy of Sciences (India)

    Every animal has five basic senses - vision, hearing, smell, touch and taste. And we as human beings with an extra power of thinking have tried to develop devices that can detect/analyze the above (except smell and taste, perhaps). We have also developed devices to detect various other parameters like tem- perature ...

  15. The Development of a Hybrid Underwater Micro Biped Robot

    Directory of Open Access Journals (Sweden)

    S. Guo

    2006-01-01

    Full Text Available There has been a great demand, in the medical field and in industrial applications, for a novel micro biped robot with multiple degrees of freedom that can swim smoothly in water or in aqueous medium. The fish-like micro-robot studied is a type of miniature device that is installed with sensing and actuating elements. This article describes the new structure and motion mechanism of a hybrid type of underwater micro-robot using an ion-conducting polymer film (ICPF actuator, and discusses the swimming and floating characteristics of the micro-robot in water, measured by changing the voltage frequency and the amplitude of the input voltage. Results indicate that the swimming speed of the proposed underwater micro-robot can be controlled by changing the frequency of the input voltage, and the direction (upward or downward can be manipulated by changing the frequency of the electric current applied and the amplitude of the voltage.

  16. Modular robotic applications in nuclear power plant maintenance

    International Nuclear Information System (INIS)

    Glass, S.W.; Ranson, C.C.; Reinholtz, C.F.; Calkins, J.M.

    1996-01-01

    General-purpose factory automation robots have experienced limited use in nuclear maintenance and hazardous-environment work spaces due to demanding requirements on size, weight, mobility and adaptability. Robotic systems in nuclear power plants are frequently custom designed to meet specific space and performance requirements. Examples of these custom configurations include Framatome Technologies COBRA trademark Steam Generator Manipulator and URSULA trademark Reactor Vessel Inspection Manipulator. The use of custom robots in nuclear plants has been limited because of the lead time and expense associated with custom design. Developments in modular robotics and advanced robot control software coupled with more powerful low-cost computers, however, are helping to reduce the cost and schedule for deploying custom robots. A modular robotic system allows custom robot configurations to be implemented using standard (modular) joints and adaptable controllers. This paper discusses Framatome Technologies (FTI) current and planned developments in the area of modular robot system design

  17. The EM technology development strategy

    International Nuclear Information System (INIS)

    Frank, C.W.; Barainca, M.; Kubo, A.S.

    1992-01-01

    The Office of Technology Development (TD) supports research and development of technologies that will lower cost, reduce risk, improve safety, and accelerate cleanup of the Nuclear Weapons Complex and provide solutions to currently untractable environmental problems. The TD strategic plan outlines Applied Research, Development, Demonstration, Testing, and Evaluation (RDDT and E) that will provide needed technology products to be used by Environmental Restoration and Waste Management operations (i.e., our customers). The TD strategic plan is derived from EM Goals, Objectives, and Strategy and is incorporated into DOE'S Five-Year Plan for Environmental Restoration and Waste Management. The TD strategic plan is developed based on integrating customer requirements, and is complemented by a top-down, bottom-up analysis of Site Specific Technology Needs and environmental problems. The execution of TD's strategic plan is implemented largely through Integrated Programs (IP) and Integrated Demonstrations (ID). IDs have proven to be a cost-effective method of managing technology development, testing and evaluation, and implementation of successful technology systems into the DOE Environmental Restoration and Waste Management Programs. The Savannah River ID for Volatile Organic Compounds (VOCs) in Saturated Soils resulted in a 51 percent cost savings over stand-alone demonstrations, saving over $8 million. The IPs and IDs are selected based on customer needs, technical complexity, and complex-wide regulatory and compliance agreements. New technology systems are selected for incorporation into an IP or ID from offerings of the DOE laboratories, industry, and the universities. A major TD initiative was announced in August 1991, with the release of a Program Research and Development Announcement (PRDA) requesting industry and universities to propose innovative new technologies to clean up the Weapons Complex. (author)

  18. Robotics in Colorectal Surgery.

    Science.gov (United States)

    Weaver, Allison; Steele, Scott

    2016-01-01

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

  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. The development of robotic system for the nuclear power plant

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Lee, Jae Kyung; Kim, Ki Ho; Jung, Seung Ho; Kim, Chang Hoi; Kim, Byung Soo; Hwang, Suk Yeoung; Seo, Yong Chil; Lee, Young Kwang; Lee, Yong Bum; Kim, Woong Ki; Park, Soon Yong

    1996-07-01

    This project focuses on the development of a heavy-duty telerobotic system (HDTS) and a light-duty mobile robotic system (LDMRS) for use in nuclear power plants. HDTS has been developed for performing tasks such as the installation and removal of nozzle dam inside of water chamber of steam generator. HDTS that is remotely controlled could eliminate or significantly reduce human exposure to hazardous nuclear environment. HDTS has four major subsystems : a 6 degree of freedom master-slave manipulator, a guiding device, a monitoring device and a remote control center. Functional connections of each subsystems has resulted in HDTS that exhibits a high level of dexterity and a broad range of capabilities. LDMRS has been developed to be used in emergency response applications such as monitoring and mapping radiation areas, handling radioactive materials and performing decontamination tasks. LDMRS equipped with four-omnidirectional planetary wheels is capable of ascending and descending stairs by employing a automatic stair climbing algorithm. A force-reflective algorithm developed enables LDMRS to be navigated flat surface with zero turning radius without collision by giving an operator a sense of force. The significance of developments is in providing both HDTS and LDMRS that can be operated from remote locations to perform tasks such as the maintenance of nozzle dam and the video surveillance of the nuclear facilities efficiently and without endangering human workers. This report describes the mechanical design, features, control system, and capabilities of both HDTS and LDMRS. (author). 59 refs., 38 tabs., 132 figs.

  1. Design and development status of ETS-7, an RVD and space robot experiment satellite

    Science.gov (United States)

    Oda, M.; Inagaki, T.; Nishida, M.; Kibe, K.; Yamagata, F.

    1994-01-01

    ETS-7 (Engineering Test Satellite #7) is an experimental satellite for the in-orbit experiment of the Rendezvous Docking (RVD) and the space robot (RBT) technologies. ETS-7 is a set of two satellites, a chaser satellite and a target satellite. Both satellites will be launched together by NASDA's H-2 rocket into a low earth orbit. Development of ETS-7 started in 1990. Basic design and EM (Engineering Model) development are in progress now in 1994. The satellite will be launched in mid 1997 and the above in-orbit experiments will be conducted for 1.5 years. Design of ETS-7 RBT experiment system and development status are described in this paper.

  2. The development of robotic system for the nuclear power plants -The development of advanced robotics for the nuclear industry-

    International Nuclear Information System (INIS)

    Kim, Seung Ho; Kim, Chang Hoi; Kim, Byung Soo; Lee, Yong Bum; Hwang, Suk Yeoung; Kim, Woong Ki; Park, Soon Yong; Lee, Young Kwang; Lee, Jae Gyeong; Seo, Yong Chil

    1994-07-01

    The omni-directional planetary wheel type mobile robot (KAEROT/ml) has been developed on the concepts of the modularity, reliability, and stability. Manipulator system is designed in order to be able to install on mobile system and to upgrade operating capability. Control system consists of 68030 processor board, servo motor controller and I/O board. The 6 DOFs hydraulic manipulator is designed for nozzle dam installation and removal. The reachable length of manipulator is 1.7 m with the wrist configuration of pitch-yaw-roll. For the easy installation of manipulator from outside steam generator, specially designed guider is considered. Also master manipulator is designed for force feedback control. RCP (Remote Control Part) is constructed with Sparc processor boards and servo control boards. Graphic simulation has done for the evaluation of manipulator performance of nozzle dam works. (Author)

  3. Robotic Vehicle Proxy Simulation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Energid Technologies proposes the development of a digital simulation to replace robotic vehicles in field studies. It will model the dynamics, terrain interaction,...

  4. The development of information technologies

    Directory of Open Access Journals (Sweden)

    Kostúr Karol

    2002-12-01

    Full Text Available The contribution analyses the tasks information technologies in industry. At present time is the problem of connecting mutual variously levels of management. Therefore, first priority is an integration of information technologies. The information technologies for enterprise management are analysed. The product SAP R/3 appears as suitable for top management. The SAP R/3 Enterprise has a new technology so call web-server. This server enables the integration with e-business. The development my SAP is based on application of Business information warehouse (BW and Strategic enterprise management (SEM. The cheaper products (SPIN + EVIS are characterized too. Whitness Miner is very interesting system. The contribution this technology is programming realization of method KDD – knowledge discovery in databases.

  5. Beyond speculative robot ethics: a vision assessment study on the future of the robotic caretaker.

    Science.gov (United States)

    van der Plas, Arjanna; Smits, Martijntje; Wehrmann, Caroline

    2010-11-01

    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 led to some promising co-designed robot concepts in which jointly articulated moral guidelines are embedded. With our model, we think to have designed an interesting response on a recent call for a less speculative ethics of technology by encouraging discussions about the quality of positive and negative visions on the future of robotics.

  6. Titanium Aluminide Casting Technology Development

    Science.gov (United States)

    Bünck, Matthias; Stoyanov, Todor; Schievenbusch, Jan; Michels, Heiner; Gußfeld, Alexander

    2017-12-01

    Titanium aluminide alloys have been successfully introduced into civil aircraft engine technology in recent years, and a significant order volume increase is expected in the near future. Due to its beneficial buy-to-fly ratio, investment casting bears the highest potential for cost reduction of all competing production technologies for TiAl-LPTB. However, highest mechanical properties can be achieved by TiAl forging. In view of this, Access e.V. has developed technologies for the production of TiAl investment cast parts and TiAl die cast billets for forging purposes. While these parts meet the highest requirements, establishing series production and further optimizing resource and economic efficiency are present challenges. In order to meet these goals, Access has recently been certified according to aircraft standards, aiming at qualifying parts for production on technology readiness level 6. The present work gives an overview of the phases of development and certification.

  7. The application of manipulator robot for nuclear plant maintenance

    International Nuclear Information System (INIS)

    Kohata, Yukifumi; Fujita, Jun; Onishi, Ken; Tsuhari, Hiroyuki; Hosoe, Fumihiro

    2010-01-01

    In the maintenance works at nuclear power plant, robots are used because of high radiation, narrow space and underwater work. Various robots are needed because there is various maintenance works. This is inefficiency. As the solutions, we developed manipulator robots for the access of specialized tools. This study shows manipulator robots developed by MHI, application example to maintenance works and effectiveness of manipulator robots. When robotization of maintenance works are considered, manipulator technology is very effective solution means. We achieved efficiency improvement and the reliability improvement by developing a high generality manipulator. (author)

  8. Robot Grasps Rotating Object

    Science.gov (United States)

    Wilcox, Brian H.; Tso, Kam S.; Litwin, Todd E.; Hayati, Samad A.; Bon, Bruce B.

    1991-01-01

    Experimental robotic system semiautomatically grasps rotating object, stops rotation, and pulls object to rest in fixture. Based on combination of advanced techniques for sensing and control, constructed to test concepts for robotic recapture of spinning artificial satellites. Potential terrestrial applications for technology developed with help of system includes tracking and grasping of industrial parts on conveyor belts, tracking of vehicles and animals, and soft grasping of moving objects in general.

  9. A Systematic Analysis of Functional Safety Certification Practices in Industrial Robot Software Development

    Directory of Open Access Journals (Sweden)

    Tong Xie

    2017-01-01

    Full Text Available For decades, industry robotics have delivered on the promise of speed, efficiency and productivity. The last several years have seen a sharp resurgence in the orders of industrial robots in China, and the areas addressed within industrial robotics has extended into safety-critical domains. However, safety standards have not yet been implemented widely in academia and engineering applications, particularly in robot software development. This paper presents a systematic analysis of functional safety certification practices in software development for the safety-critical software of industrial robots, to identify the safety certification practices used for the development of industrial robots in China and how these practices comply with the safety standard requirements. Reviewing from Chinese academic papers, our research shows that safety standards are barely used in software development of industrial robot. The majority of the papers propose various solutions to achieve safety, but only about two thirds of the papers refer to non-standardized approaches that mainly address the systematic level rather than the software development level. In addition, our research shows that with the development of artificial intelligent, an emerging field is still on the quest for standardized and suitable approaches to develop safety-critical software.

  10. R and D project for large industrial technologies in fiscal 1989. Report on achievements in R and D of robots for critical works; 1989 nendo seika hokokusho. Ogata kogyo gijutsu kenkyu kaihatsu jigyo. Kyokugen sagyo robot no kenkyu kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1990-03-01

    Research and development have been performed on basic technologies common to different types of robots to carry out works in critical conditions. This paper summarizes the achievements in fiscal 1989. In the R and D of sensor technologies, a prototype tri-axial one-millimeter sensor array and a signal processing device were produced and evaluations were given. A prototype production and evaluations were made on a system that can recognize comprehensively the slip, hardness, and moment as the tri-axial tactile information. In the R and D of motive force technologies, discussions were given on improvement of sensitivity of the torque sensor in the actuator for force control. Design and prototype fabrication were carried out on a speed reducer integrated actuator having a torque sensor for the manipulator's elbow joint. In addition, a force controlled controller was fabricated on a trial basis, which compensates the non-linearity of the force controlled actuator by means of software control. In the R and D of the robot languages, an application program was prepared on a representative work related to movements of a critical work robot. Verification was also conducted on the reasonability of the grammar specifications. (NEDO)

  11. Comaparison of Web Developement Technologies

    OpenAIRE

    Ramesh Nagilla, Ramesh

    2012-01-01

    Web applications play an important role for many business purpose activities in the modernworld. It has become a platform for the companies to fulfil the needs of their business. In thissituation, Web technologies that are useful in developing these kinds of applications become animportant aspect. Many Web technologies like Hypertext Preprocessor (PHP), Active ServerPages (ASP.NET), Cold Fusion Markup Language (CFML), Java, Python, and Ruby on Rails areavailable in the market. All these techn...

  12. European innovation and technology development

    International Nuclear Information System (INIS)

    Johnson, R.W.

    1991-01-01

    The promotion of technological innovation by European national governments and the EC in pursuit of both increased recovery and the anchoring of technology in supply, manufacturing and service sector companies has been a feature of the strategic involvement by European states in exploration and production research and development. This paper summaries past trends in this activity and reviews the targets for future industry innovation which will enable European (primarily the North Sea) production to be sustained for a further generation

  13. Software and electronic developments for TUG - T60 robotic telescope

    Science.gov (United States)

    Parmaksizoglu, M.; Dindar, M.; Kirbiyik, H.; Helhel, S.

    2014-12-01

    A robotic telescope is a telescope that can make observations without hands-on human control. Its low level behavior is automatic and computer-controlled. Robotic telescopes usually run under the control of a scheduler, which provides high-level control by selecting astronomical targets for observation. TUBITAK National Observatory (TUG) T60 Robotic Telescope is controlled by open source OCAAS software, formally named TALON. This study introduces the improvements on TALON software, new electronic and mechanic designs. The designs and software improvements were implemented in the T60 telescope control software and tested on the real system successfully.

  14. Development of Radiochemical Separation Technology

    International Nuclear Information System (INIS)

    Lee, Eil Hee; Kim, K. W.; Yang, H. B.

    2007-06-01

    This project of the second phase was aimed at the development of basic unit technologies for advanced partitioning, and the application tests of pre-developed partitioning technologies for separation of actinides by using a simulated multi-component radioactive waste containing Am, Np, Tc, U and so on. The goals for recovery yield of TRU, and for purity of Tc are high than 99% and about 99%, respectively. The work scopes and contents were as follows. 1). For the development of basic unit technologies for advanced partitioning. 1. Development of technologies for co-removal of TRU and for mutual separation of U and TRU with a reduction-complexation reaction. 2. Development of extraction system for high-acidity co-separation of An(+3) and Ln(+3) and its radiolytic evaluation. 3. Synthesis of extractants for the selective separation of An(+3) and its relevant extraction system development. 4. Development of a hybrid system for the recovery of noble metals and its continuous separation tests. 5. Development of electrolytic system for the decompositions of N-NO3 and N-NH3 compounds to nitrogen gas. 2). For the application test of pre-developed partitioning technologies for the separation of actinide elements in a simulated multi-component solution equivalent to HLW level. 1. Co-separation of Tc, Np and U by a (TBP-TOA)/NDD system. 2. Mutual-separation of Am, Cm and RE elements by a (Zr-DEHPA)/NDD system. All results will be used as the fundamental data for the development of advanced partitioning process in the future

  15. Development of Radiochemical Separation Technology

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Eil Hee; Kim, K. W.; Yang, H. B. (and others)

    2007-06-15

    This project of the second phase was aimed at the development of basic unit technologies for advanced partitioning, and the application tests of pre-developed partitioning technologies for separation of actinides by using a simulated multi-component radioactive waste containing Am, Np, Tc, U and so on. The goals for recovery yield of TRU, and for purity of Tc are high than 99% and about 99%, respectively. The work scopes and contents were as follows. 1). For the development of basic unit technologies for advanced partitioning. 1. Development of technologies for co-removal of TRU and for mutual separation of U and TRU with a reduction-complexation reaction. 2. Development of extraction system for high-acidity co-separation of An(+3) and Ln(+3) and its radiolytic evaluation. 3. Synthesis of extractants for the selective separation of An(+3) and its relevant extraction system development. 4. Development of a hybrid system for the recovery of noble metals and its continuous separation tests. 5. Development of electrolytic system for the decompositions of N-NO3 and N-NH3 compounds to nitrogen gas. 2). For the application test of pre-developed partitioning technologies for the separation of actinide elements in a simulated multi-component solution equivalent to HLW level. 1. Co-separation of Tc, Np and U by a (TBP-TOA)/NDD system. 2. Mutual-separation of Am, Cm and RE elements by a (Zr-DEHPA)/NDD system. All results will be used as the fundamental data for the development of advanced partitioning process in the future.

  16. Integrating Product and Technology Development

    DEFF Research Database (Denmark)

    Meijer, Ellen Brilhuis; Pigosso, Daniela Cristina Antelmi; McAloone, Tim C.

    2016-01-01

    .g. managing dependencies) and opportunities (e.g. streamlining development). This paper presents five existing reference models for technology development (TD), which were identified via a systematic literature review, where their possible integration with product development (PD) reference models......Although dual innovation projects, defined in this article as the concurrent development of products and technologies, often occur in industry, these are only scarcely supported methodologically. Limited research has been done about dual innovation projects and their inherent challenges (e...... was investigated. Based on the specific characteristics desired for dual innovation projects, such as integrated product development and coverage of multiple development stages, a set of selection criteria was employed to select suitable PD and TD reference models. The integration and adaptation of the selected...

  17. Script of Healthcare Technology: Do Designs of Robotic Beds Exclude or Include Users?

    DEFF Research Database (Denmark)

    Brodersen, Søsser Grith Kragh; Hansen, Meiken; Lindegaard, Hanne

    2015-01-01

    of assistive technologies as design of socio-material assemblies , which include an analysis of the products already used in relation to multiple users, their practices and wishes. In the article we focus on the challenges in the implementation of two types of robotic beds used for disability care...... in a municipality in Denmark. We follow both the caregivers and disabled people’s daily practices. By using Actor Network Theory we explore the socio-material settings and the design challenges. The theoretical concept of ‘script’ is used to investigate how the artifacts (beds) and the multiple users go through...

  18. Space technology developments in Malaysia:

    Science.gov (United States)

    Sabirin, A.

    The venture of space is, by nature, a costly one. However, exploring space is not just an activity reserved for international superpowers. Smaller and emerging space nations, some with burgeoning space programs of their own, can play a role in space technology development and interplanetary exploration, sometimes simply by just being there. Over the past four decades, the range of services delivered by space technologies in Malaysia has grown enormously. For many business and public services, space based technologies have become the primary means of delivery of such services. Space technology development in Malaysia started with Malaysia's first microsatellite, TiungSAT-1. TiungSAT-1 has been successfully launched from the Baikonur Cosmodrome, Kazakhstan on the 26th of September 2000 on a Russian-Ukrainian Dnepr rocket. There have been wide imaging applications and information extraction using data from TiungSAT-1. Various techniques have been applied to the data for different applications in environmental assessment and monitoring as well as resource management. As a step forward, Malaysia has also initiated another space technology programme, RAZAKSAT. RAZAKSAT is a 180kg class satellite designed to provide 2.5meter ground sampling distance resolution imagery on a near equatorial orbit. Its mission objective is to demonstrate the capability of a medium high resolution remote sensing camera using a cost effective small satellite platform and a multi-channel linear push-broom electro-optical instrument. Realizing the immense benefits of space technology and its significant role in promoting sustainable development, Malaysia is committed to the continuous development and advancement of space technology within the scope of peaceful use of outer space and boosting its national economic growth through space related activities.

  19. Advanced Mirror & Modelling Technology Development

    Science.gov (United States)

    Effinger, Michael; Stahl, H. Philip; Abplanalp, Laura; Maffett, Steven; Egerman, Robert; Eng, Ron; Arnold, William; Mosier, Gary; Blaurock, Carl

    2014-01-01

    The 2020 Decadal technology survey is starting in 2018. Technology on the shelf at that time will help guide selection to future low risk and low cost missions. The Advanced Mirror Technology Development (AMTD) team has identified development priorities based on science goals and engineering requirements for Ultraviolet Optical near-Infrared (UVOIR) missions in order to contribute to the selection process. One key development identified was lightweight mirror fabrication and testing. A monolithic, stacked, deep core mirror was fused and replicated twice to achieve the desired radius of curvature. It was subsequently successfully polished and tested. A recently awarded second phase to the AMTD project will develop larger mirrors to demonstrate the lateral scaling of the deep core mirror technology. Another key development was rapid modeling for the mirror. One model focused on generating optical and structural model results in minutes instead of months. Many variables could be accounted for regarding the core, face plate and back structure details. A portion of a spacecraft model was also developed. The spacecraft model incorporated direct integration to transform optical path difference to Point Spread Function (PSF) and between PSF to modulation transfer function. The second phase to the project will take the results of the rapid mirror modeler and integrate them into the rapid spacecraft modeler.

  20. Developing maintenance technologies for FBR's heat exchanger units by advanced laser processing

    International Nuclear Information System (INIS)

    Nishimura, Akihiko; Shimada, Yukihiro

    2011-01-01

    Laser processing technologies were developed for the purpose of maintenance of FBR's heat exchanger units. Ultrashort laser processing fabricated fiber Bragg grating sensor for seismic monitoring. Fiber laser welding with a newly developed robot system repair cracks on inner wall of heat exchanger tubes. Safety operation of the heat exchanger units will be improved by the advanced laser processing technologies. These technologies are expected to be applied to the maintenance for the next generation FBRs. (author)

  1. Experience with the behavior-basedRobot development

    DEFF Research Database (Denmark)

    Marian, Nicolae; Bilberg, Arne

    , including aspects to transform social contexts into behavioral control models and to plan a behavioral strategy and make it adaptive. Validation of ideas is made in an experiment with a group of LEGO mobile robots using a range of sensors and negotiating their roles in different environments, which......In the near future robotic devices will be integrated in our daily lives. They would have to be equipped with social intelligence so they can move and act in a way that humans consider to be safe, reliable and in compliance with the unwritten rules of acceptable social behaviors linked to a given...... context. Instead of having stored computer-based models of surrounding environments (deliberative systems), behavior-based robots (BBR) are guided by their users through smart cooperation and interaction. For instance, there is no programming in the robot of what a crop field, cleaning floor...

  2. Evolutional development of controlling software for agricultural vehicles and robots

    DEFF Research Database (Denmark)

    Nakanishi, Tsuneo; Jæger-Hansen, Claes Lund; Griepentrog, Hans-Werner

    Agricultural vehicles and robots expand their controlling software in size and complexity for their increasing functions. Due to repeated, ad hoc addition and modification, software gets structurally corrupted and becomes low performing, resource consuming and unreliable. This paper presents...

  3. Development and demonstration of a teleoperated modular robot system

    International Nuclear Information System (INIS)

    Tosunoglu, S.; Tesar, D.

    1992-01-01

    This collection of bi-monthly progress reports on the DOE/NE Robotics Program presents information on significant accomplishments, reports and major correspondence issued, important meetings, and major problems associated with the program

  4. 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

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

    Energy Technology Data Exchange (ETDEWEB)

    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.

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

    DEFF Research Database (Denmark)

    Dang, Vinh Quang

    problem and finding optimal solutions for each one. However, the formulated mathematical models could only be applicable to small-scale problems in practice due to the significant increase of computation time as the problem size grows. Note that making schedules of mobile robots is part of real......-time operations of production managers. Hence to deal with large-scale applications, each heuristic based on genetic algorithms is then developed to find near-optimal solutions within a reasonable computation time for each problem. The quality of these solutions is then compared and evaluated by using......This thesis addresses the issues of scheduling of mobile robot(s) at operational levels of manufacturing systems. More specifically, two problems of scheduling of a single mobile robot with part-feeding tasks and scheduling of multiple mobile robots with preemptive tasks are taken into account...

  7. 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.

  8. Development and pilot testing of HEXORR: hand EXOskeleton rehabilitation robot.

    Science.gov (United States)

    Schabowsky, Christopher N; Godfrey, Sasha B; Holley, Rahsaan J; Lum, Peter S

    2010-07-28

    Following acute therapeutic interventions, the majority of stroke survivors are left with a poorly functioning hemiparetic hand. Rehabilitation robotics has shown promise in providing patients with intensive therapy leading to functional gains. Because of the hand's crucial role in performing activities of daily living, attention to hand therapy has recently increased. This paper introduces a newly developed Hand Exoskeleton Rehabilitation Robot (HEXORR). This device has been designed to provide full range of motion (ROM) for all of the hand's digits. The thumb actuator allows for variable thumb plane of motion to incorporate different degrees of extension/flexion and abduction/adduction. Compensation algorithms have been developed to improve the exoskeleton's backdrivability by counteracting gravity, stiction and kinetic friction. We have also designed a force assistance mode that provides extension assistance based on each individual's needs. A pilot study was conducted on 9 unimpaired and 5 chronic stroke subjects to investigate the device's ability to allow physiologically accurate hand movements throughout the full ROM. The study also tested the efficacy of the force assistance mode with the goal of increasing stroke subjects' active ROM while still requiring active extension torque on the part of the subject. For 12 of the hand digits'15 joints in neurologically normal subjects, there were no significant ROM differences (P > 0.05) between active movements performed inside and outside of HEXORR. Interjoint coordination was examined in the 1st and 3rd digits, and no differences were found between inside and outside of the device (P > 0.05). Stroke subjects were capable of performing free hand movements inside of the exoskeleton and the force assistance mode was successful in increasing active ROM by 43 +/- 5% (P hand's digits through nearly the entire ROM with physiologically accurate trajectories. Stroke subjects received the device intervention well and

  9. Development and pilot testing of HEXORR: Hand EXOskeleton Rehabilitation Robot

    Directory of Open Access Journals (Sweden)

    Godfrey Sasha B

    2010-07-01

    Full Text Available Abstract Background Following acute therapeutic interventions, the majority of stroke survivors are left with a poorly functioning hemiparetic hand. Rehabilitation robotics has shown promise in providing patients with intensive therapy leading to functional gains. Because of the hand's crucial role in performing activities of daily living, attention to hand therapy has recently increased. Methods This paper introduces a newly developed Hand Exoskeleton Rehabilitation Robot (HEXORR. This device has been designed to provide full range of motion (ROM for all of the hand's digits. The thumb actuator allows for variable thumb plane of motion to incorporate different degrees of extension/flexion and abduction/adduction. Compensation algorithms have been developed to improve the exoskeleton's backdrivability by counteracting gravity, stiction and kinetic friction. We have also designed a force assistance mode that provides extension assistance based on each individual's needs. A pilot study was conducted on 9 unimpaired and 5 chronic stroke subjects to investigate the device's ability to allow physiologically accurate hand movements throughout the full ROM. The study also tested the efficacy of the force assistance mode with the goal of increasing stroke subjects' active ROM while still requiring active extension torque on the part of the subject. Results For 12 of the hand digits'15 joints in neurologically normal subjects, there were no significant ROM differences (P > 0.05 between active movements performed inside and outside of HEXORR. Interjoint coordination was examined in the 1st and 3rd digits, and no differences were found between inside and outside of the device (P > 0.05. Stroke subjects were capable of performing free hand movements inside of the exoskeleton and the force assistance mode was successful in increasing active ROM by 43 ± 5% (P Conclusions Our pilot study shows that this device is capable of moving the hand's digits through

  10. Exploring the Possibility of Using Humanoid Robots as Instructional Tools for Teaching a Second Language in Primary School

    Science.gov (United States)

    Chang, Chih-Wei; Lee, Jih-Hsien; Chao, Po-Yao; Wang, Chin-Yeh; Chen, Gwo-Dong

    2010-01-01

    As robot technologies develop, many researchers have tried to use robots to support education. Studies have shown that robots can help students develop problem-solving abilities and learn computer programming, mathematics, and science. However, few studies discuss the use of robots to facilitate the teaching of second languages. We discuss whether…

  11. Evaluating space station applications of automation and robotics technologies from a human productivity point of view

    Science.gov (United States)

    Bard, J. F.

    1986-01-01

    The role that automation, robotics, and artificial intelligence will play in Space Station operations is now beginning to take shape. Although there is only limited data on the precise nature of the payoffs that these technologies are likely to afford there is a general consensus that, at a minimum, the following benefits will be realized: increased responsiveness to innovation, lower operating costs, and reduction of exposure to hazards. Nevertheless, the question arises as to how much automation can be justified with the technical and economic constraints of the program? The purpose of this paper is to present a methodology which can be used to evaluate and rank different approaches to automating the functions and tasks planned for the Space Station. Special attention is given to the impact of advanced automation on human productivity. The methodology employed is based on the Analytic Hierarchy Process. This permits the introduction of individual judgements to resolve the confict that normally arises when incomparable criteria underly the selection process. Because of the large number of factors involved in the model, the overall problem is decomposed into four subproblems individually focusing on human productivity, economics, design, and operations, respectively. The results from each are then combined to yield the final rankings. To demonstrate the methodology, an example is developed based on the selection of an on-orbit assembly system. Five alternatives for performing this task are identified, ranging from an astronaut working in space, to a dexterous manipulator with sensory feedback. Computational results are presented along with their implications. A final parametric analysis shows that the outcome is locally insensitive to all but complete reversals in preference.

  12. 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…

  13. Multiagent robotic systems' ambient light sensor

    Science.gov (United States)

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

    2017-05-01

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

  14. SPONGE ROBOTIC HAND DESIGN FOR PROSTHESES

    OpenAIRE

    Mine Seçkin

    2016-01-01

    In this study robotic hands and fingers’ materials are investigated from past to present and a sponge robotic hand is designed for biomedical applications. Emergence and necessity of soft robotic technology are explained and description of soft robot is made. Because of the importance of hand in a person’s body, researchers have dealt with robotic hand prostheses for many centuries and developed many hand types. To mimic the best for the human limbs, softness of the hand is one of the importa...

  15. Robot technology

    International Nuclear Information System (INIS)

    Vertut, Jean; Coiffet, Philippe.

    1985-01-01

    Teleoperation is concerned with the exploration and exploitation of spaces which do not allow, because of their inaccessibility or hostility, direct access to man. This volume (Part 1) covers the advances in mastering teleoperation, using only a knowledge of mechanics. The story is one of a gradual orderly succession of creative designs over many years. Diagrams and photographs illustrate the designs. This a comprehensive coverage of the subject. Following a chapter on the background to the subject the chapters cover the classification of teleoperation systems, mechanical master-slave telemanipulators for handling radioactive materials, motorized unilateral telemanipulators with open-loop control, bilateral servo manipulators, transporters and vehicles and, finally, one on the art of teleoperation at the time of the introduction of computer science. The book has been translated from French. (U.K.)

  16. Potential of robots as next-generation technology for clinical assessment of neurological disorders and upper-limb therapy.

    Science.gov (United States)

    Scott, Stephen H; Dukelow, Sean P

    2011-01-01

    Robotic technologies have profoundly affected the identification of fundamental properties of brain function. This success is attributable to robots being able to control the position of or forces applied to limbs, and their inherent ability to easily, objectively, and reliably quantify sensorimotor behavior. Our general hypothesis is that these same attributes make robotic technologies ideal for clinically assessing sensory, motor, and cognitive impairments in stroke and other neurological disorders. Further, they provide opportunities for novel therapeutic strategies. The present opinionated review describes how robotic technologies combined with virtual/augmented reality systems can support a broad range of behavioral tasks to objectively quantify brain function. This information could potentially be used to provide more accurate diagnostic and prognostic information than is available from current clinical assessment techniques. The review also highlights the potential benefits of robots to provide upper-limb therapy. Although the capital cost of these technologies is substantial, it pales in comparison with the potential cost reductions to the overall healthcare system that improved assessment and therapeutic interventions offer.

  17. Technological Development and Fisheries Management

    NARCIS (Netherlands)

    Eigaard, O.R.; Marchal, P.; Gislason, H.; Rijnsdorp, A.D.

    2014-01-01

    Many marine fish stocks are overexploited and considerable overcapacity exists in fishing fleets worldwide. One of the reasons for the imbalance between resource availability and fishing capacity is technological development, which continuously increases the efficiency of the vessels—a mechanism

  18. Technology and Motor Ability Development

    Science.gov (United States)

    Wang, Lin; Lang, Yong; Luo, Zhongmin

    2014-01-01

    As a new member joining the technology family, active video games have been developed to promote physical exercise. This working-in-progress paper shares an ongoing project on examining the basic motor abilities that are enhanced through participating in commercially available active video games. [For the full proceedings see ED557181.

  19. Development of radioisotope tracer technology

    International Nuclear Information System (INIS)

    Jin, Joon Ha; Lee, Myun Joo; Jung, Sung Hee; Park, Soon Chul; Lim, Dong Soon; Kim, Jae Ho; Lee, Jae Choon; Lee, Doo Sung; Cho, Yong Suk; Shin, Sung Kuan

    2000-04-01

    The purpose of this study is to develop the radioisotope tracer technology, which can be used in solving industrial and environmental problems and to build a strong tracer group to support the local industries. In relation to the tracer technology in 1999, experiments to estimate the efficiencies of a sludge digester of a waste water treatment plant and a submerged biological reactor of a dye industry were conducted. As a result, the tracer technology for optimization of facilities related to wastewater treatment has been developed and is believed to contribute to improve their operation efficiency. The quantification of the experimental result was attempted to improve the confidence of tracer technology by ECRIN program which basically uses the MCNP simulation principle. Using thin layer activation technique, wear of tappet shim was estimated. Thin layer surface of a tappet shim was irradiated by proton beam and the correlation between the measured activity loss and the amount of wear was established. The equipment was developed to adjust the energy of proton which collides with the surface of tappet. The tracer project team has participated into the tracer test for estimating the efficiency of RFCC system in SK cooperation. From the experiment the tracer team has obtained the primary elements to be considered for judging the efficiency of RFCC unit. By developing the tracer techniques to test huge industrial units like RFCC, the tracer team will be able to support the local industries that require technical services to solve any urgent trouble. (author)

  20. Biologically inspired intelligent robots

    Science.gov (United States)

    Bar-Cohen, Yoseph; Breazeal, Cynthia

    2003-07-01

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