WorldWideScience

Sample records for through-the-internet robotic teleoperated

  1. Telerobotics: through-the-Internet teleoperation of the ABB IRB 2000 industrial robot

    Science.gov (United States)

    Alvares, Alberto J.; Caribe de Carvalho, Guilherme; Paulinyi, Luis F. d. A.; Alfaro, Sadek C. A.

    1999-11-01

    Robotic systems can be controlled remotely through the use of telerobotics. This work presents a through-the-internet teleoperation system for remotely operating the IRB2000 industrial robot. The IRB2000 controller allows external access through a RS232 serial communication link, which is based on a 42 function proprietary communication protocol. The proposed teleoperation system uses this communication capability by connecting it to a local area network based on TCP/IP (Transport Control Protocol/Internet Protocol). The system was implemented using a Client/Server architecture, having as server a UNIX (LINUX) platform.

  2. Teleoperated robotic sorting system

    Science.gov (United States)

    Roos, Charles E.; Sommer, Edward J.; Parrish, Robert H.; Russell, James R.

    2000-01-01

    A method and apparatus are disclosed for classifying materials utilizing a computerized touch sensitive screen or other computerized pointing device for operator identification and electronic marking of spatial coordinates of materials to be extracted. An operator positioned at a computerized touch sensitive screen views electronic images of the mixture of materials to be sorted as they are conveyed past a sensor array which transmits sequences of images of the mixture either directly or through a computer to the touch sensitive display screen. The operator manually "touches" objects displayed on the screen to be extracted from the mixture thereby registering the spatial coordinates of the objects within the computer. The computer then tracks the registered objects as they are conveyed and directs automated devices including mechanical means such as air jets, robotic arms, or other mechanical diverters to extract the registered objects.

  3. Tele-operated service robots : ROSE

    NARCIS (Netherlands)

    Osch, van M.P.W.J.; Bera, D.; Hee, van K.M.; Koks, Y.; Zeegers, H.

    2014-01-01

    Service robots are robots that are intended to perform tasks normally done by humans in an environment in which humans work as well. However, they are neither required to accomplish these tasks in the same way as humans nor need to look like a human being. A tele-operated robot is controlled from a

  4. Reasons for singularity in robot teleoperation

    DEFF Research Database (Denmark)

    Marhenke, Ilka; Fischer, Kerstin; Savarimuthu, Thiusius Rajeeth

    2014-01-01

    In this paper, the causes for singularity of a robot arm in teleoperation for robot learning from demonstration are analyzed. Singularity is the alignment of robot joints, which prevents the configuration of the inverse kinematics. Inspired by users' own hypotheses, we investigated speed and dela...

  5. Internet Teleoperation of a Robot with Streaming Buffer System under Varying Time Delays

    Science.gov (United States)

    Park, Jahng-Hyon; Shin, Wanjae

    It is known that existence of irregular transmission time delay is a major bottleneck for application of advanced robot control schemes to internet telerobotic systems. In the internet teleoperation system, the irregular transmission time delay causes a critical problem, which includes instability and inaccuracy. This paper suggests a practical internet teleoperation system with streaming buffer system, which consists of a buffer, a buffer manager, and a control timer. The proposed system converts the irregular transmission time delay to a constant. So, the system effectively transmits the control input to a remote site to operate a robot stably and accurately. This feature enables short control input intervals. That means the entire system has a large control bandwidth. The validity of the proposed method is demonstrated by experiments of teleoperation from USC (University of Southern California in U. S.A.) to HYU (Hanyang Univ. in Korea) through the Internet. The proposed method is also demonstrated by experiments of teleoperation through the wireless internet.

  6. Teleoperation and beyond for assistive humanoid robots

    NARCIS (Netherlands)

    Goodrich, M.A.; Crandall, J.W.; Barakova, E.I.

    2013-01-01

    In this review, we explore how teleoperation could potentially be applied to the management of humanoid robots, with an emphasis on humanoid robots that are used in assistive roles, including clinical therapies. Since there are very few examples of the remote operation of a full humanoid, the review

  7. ANDROID BASED TELEOPERATION FOR THE FINCH ROBOT

    Directory of Open Access Journals (Sweden)

    Oliver Faust

    2016-09-01

    Full Text Available The act of creating a robot involves systems engineering and creative problem solutions. It is about using established components to create a system that works in the natural or at least in the human environment. The current project is no exception, we have used the Robot Operating System (ROS to create an android based teleoperator application for the Finch robot. A Raspberry Pi processing platform establishes the link between the android device and the Finch robot. The most creative task, during the system design, was to translate the commands from the teleoperator application into wheel movements of the Finch robot. The translation must take into account the physical setup of the robot, including unintended negative influences, such as drag. The command translation involved a nonlinear coordinate transformation. The ROS framework enabled us to focus on that nonstandard coordinate translation task by offering a high level of abstraction and the ability to create component functionalities independently.

  8. Modular architecture for robotics and teleoperation

    Science.gov (United States)

    Anderson, Robert J.

    1996-12-03

    Systems and methods for modularization and discretization of real-time robot, telerobot and teleoperation systems using passive, network based control laws. Modules consist of network one-ports and two-ports. Wave variables and position information are passed between modules. The behavior of each module is decomposed into uncoupled linear-time-invariant, and coupled, nonlinear memoryless elements and then are separately discretized.

  9. Bilateral teleoperation for force sensorless 1-dof robots

    NARCIS (Netherlands)

    Lichiardopol, S.; Wouw, van de N.; Nijmeijer, H.; Filipe, J.; Cetto, J.A.; Ferrier, J.-L.

    2010-01-01

    It is well known that for bilateral teleoperation, force feedback information is needed. In this paper, we propose a control approach for bilateral teleoperation with uncertainties in the model of the slave robot and which does not use force sensors for haptic feedback. The controller design is

  10. Bilateral teleoperation for linear force sensorless 3D robots

    NARCIS (Netherlands)

    Lichiardopol, S.; Wouw, van de N.; Nijmeijer, H.; Andrade Cetto, J.; Ferrier, J.; Filipe, J.

    2011-01-01

    It is well known that for bilateral teleoperation, force feedback information is needed. In this paper, we propose a control approach for bilateral teleoperation with uncertainties in the model of the slave robot and which does not use force sensors for haptic feedback. The controller design is

  11. Joining teleoperation with robotics for advanced manipulation in hostile environments

    International Nuclear Information System (INIS)

    Martin, H.L.; Hamel, W.R.

    1984-01-01

    Manipulators have been used for many years to perform remote handling tasks in hazardous environments. The development history of teleoperators is reviewed, and applications around the world are summarized. The effect of computer supervisory control is discussed, and similarities between robots and teleoperator research activities are delineated. With improved control strategies and system designs, combination of positive attributes of robots with teleoperators will lead to advanced machines capable of autonomy in unstructured environments. This concept of a telerobot is introduced as a goal for future activities

  12. Building a Relationship between Robot Characteristics and Teleoperation User Interfaces.

    Science.gov (United States)

    Mortimer, Michael; Horan, Ben; Seyedmahmoudian, Mehdi

    2017-03-14

    The Robot Operating System (ROS) provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF), Semantic Robot Description Format (SRDF), and its message description language, can be used to identify key robot characteristics to inform User Interface (UI) design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by using the

  13. Building a Relationship between Robot Characteristics and Teleoperation User Interfaces

    Directory of Open Access Journals (Sweden)

    Michael Mortimer

    2017-03-01

    Full Text Available The Robot Operating System (ROS provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF, Semantic Robot Description Format (SRDF, and its message description language, can be used to identify key robot characteristics to inform User Interface (UI design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by

  14. An Intuitive Robot Teleoperation System for Nuclear Power Plant Decommissioning

    International Nuclear Information System (INIS)

    Lee, Chang-hyuk; Gu, Taehyeong; Lee, Kyung-min; Ye, Sung-Joon; Bang, Young-bong

    2017-01-01

    A robot teleoperation system consists of a master device and a slave robot. The master device senses human intention and delivers it to the salve robot. A haptic device and an exoskeletal robot are widely used as the master device. The slave robot carries out operations delivered by the master device. It should guarantee enough degree of freedom (DOF) to perform the instructed operation and mobility in the environment inside the nuclear plant, such as flat surfaces and stairs. A 7-DOF robotic arm is commonly used as the slave device. This paper proposed a robot teleoperation system for nuclear power plant decommissioning. It discussed an experiment that was performed to validate the system's usability. The operator wearing the exoskeletal master device at the master site controlled the slave robot enabling it to move on a flat surface, climb/descend stairs, and move obstacles. The proposed robot teleoperation system can also be used in hazardous working environments where the use of such robots would be beneficial to human health and safety. In the future, research studies on the protection against radiation that damages the slave robot should be conducted.

  15. Fuzzy Logic Supervised Teleoperation Control for Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    2008-01-01

    The supervised teleoperation control is presented for a mobile robot to implement the tasks by using fuzzy logic. The teleoperation control system includes joystick based user interaction mechanism, the high level instruction set and fuzzy logic behaviors integrated in a supervised autonomy teleoperation control system for indoor navigation. These behaviors include left wall following, right wall following, turn left, turn right, left obstacle avoidance, right obstacle avoidance and corridor following based on ultrasonic range finders data. The robot compares the instructive high level command from the operator and relays back a suggestive signal back to the operator in case of mismatch between environment and instructive command. This strategy relieves the operator's cognitive burden, handle unforeseen situations and uncertainties of environment autonomously. The effectiveness of the proposed method for navigation in an unstructured environment is verified by experiments conducted on a mobile robot equipped with only ultrasonic range finders for environment sensing.

  16. 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.

  17. Experiments in teleoperator and autonomous control of space robotic vehicles

    Science.gov (United States)

    Alexander, Harold L.

    1991-01-01

    A program of research embracing teleoperator and automatic navigational control of freely flying satellite robots is presented. Current research goals include: (1) developing visual operator interfaces for improved vehicle teleoperation; (2) determining the effects of different visual interface system designs on operator performance; and (3) achieving autonomous vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space-robot simulator vehicle currently under development. Visual-interface design options under investigation include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and the provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion.

  18. On bilateral teleoperation of aerial robots

    NARCIS (Netherlands)

    Mersha, A.Y.; Stramigioli, Stefano; Carloni, Raffaella

    This paper presents a generic hierarchical passive teleoperation control architecture that effectively addresses the issues of workspace incompatibility and precision, as well as other classical and peculiar challenges. More specifically, the control scheme consists of a user-defined variable scale

  19. Markerless Kinect-Based Hand Tracking for Robot Teleoperation

    Directory of Open Access Journals (Sweden)

    Guanglong Du

    2012-07-01

    Full Text Available This paper presents a real-time remote robot teleoperation method using markerless Kinect-based hand tracking. Using this tracking algorithm, the positions of index finger and thumb in 3D can be estimated by processing depth images from Kinect. The hand pose is used as a model to specify the pose of a real-time remote robot's end-effector. This method provides a way to send a whole task to a remote robot instead of sending limited motion commands like gesture-based approaches and this method has been tested in pick-and-place tasks.

  20. Experiments in augmented teleoperation for mobile robots: I

    Science.gov (United States)

    Witus, Gary; Hunt, Shawn; Ellis, R. Darrin

    2007-04-01

    Teleoperated mobile robots are beginning to be used for a variety of tasks that require movement in close quarters in the vicinity of moving and parked vehicles, buildings and other man-made structures, and the target object for inspection or manipulation. The robots must be close enough to deploy short-range sensors and manipulators, and must be able to maneuver without potentially damaging collisions. Teleoperation is fatiguing and stressful even without the requirement for close positioning. In cooperation with the TARDEC Robotic Mobility Laboratory (TRML), we are investigating approaches to reduce workload and improve performance through augmented teleoperation. Human-robot interfaces for teleoperation commonly provide two degrees-of-freedom (DoF) motion control with visual feedback from an on-board egocentric camera and no supplemental distance or orientation cueing. This paper reports on the results of preliminary experiments to assess the effects on man-machine task performance of several options for augmented teleoperation: (a) 3 DoF motion control (rotation and omni-directional translation) versus 2 DoF control (rotation and forward/reverse motion), (b) on-board egocentric camera versus fixed-position overwatch camera versus dual egocentric-and-overwatch cameras, and (c) presence or absence of distance and orientation visual cueing. We examined three dimensions of performance: completion time, spatial accuracy, and workspace area. We investigated effects on the expected completion time and on the variance in completion time. Spatial accuracy had three components: orientation, aimpoint, and distance. We collected performance under different task conditions: (a) three position-and-orientation tolerance or accuracy objectives, and (b) four travel distances between successive inspection points. We collected data from three subjects. We analyzed the main effects and conditional interaction effects among the teleoperation options and task conditions. We were

  1. Robot Teleoperation and Perception Assistance with a Virtual Holographic Display

    Science.gov (United States)

    Goddard, Charles O.

    2012-01-01

    Teleoperation of robots in space from Earth has historically been dfficult. Speed of light delays make direct joystick-type control infeasible, so it is desirable to command a robot in a very high-level fashion. However, in order to provide such an interface, knowledge of what objects are in the robot's environment and how they can be interacted with is required. In addition, many tasks that would be desirable to perform are highly spatial, requiring some form of six degree of freedom input. These two issues can be combined, allowing the user to assist the robot's perception by identifying the locations of objects in the scene. The zSpace system, a virtual holographic environment, provides a virtual three-dimensional space superimposed over real space and a stylus tracking position and rotation inside of it. Using this system, a possible interface for this sort of robot control is proposed.

  2. Application of teleoperator expertise to robotics

    International Nuclear Information System (INIS)

    Grisham, D.L.; Lambert, J.E.

    1985-01-01

    This paper will briefly describe the evolution of Monitor remote handling system and its present capabilities and accomplishments. It will also suggest that the equipment and operational expertise can be applied to robotic systems in radioactive and other hostile environments. The Monitor methods of operation, tooling devised and employed, and the applications of these methods to robotic systems will be described

  3. Teleoperated mobile robot (KAEROT) for inspection in nuclear facilities

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Byung-Soo; Kim, Chang-Hoi; Hwang, Suk-Young; Kim, Seung-Ho; Lee, Jong-Min [Korea Atomic Energy Research Inst., Taejon (Korea, Republic of)

    1994-12-31

    A teleoperated mobile robot, named as KAEROT, has been developed for inspection and maintenance in nuclear facilities. It is composed of the planetary wheel-type mobile unit and 5 DOF manipulator one. The mobile unit is able to climb up and down stairs with high stability. This paper presents the kinematic analysis of KAEROT and the stair climbing algorithm. The proposed algorithm consists of two parts; one is to generate the moving path, and the other is to calculate the angular velocity of each wheel to follow up the generated reference path. Simulations and experiments on the irregular stairs have been carried out with the developed mobile robot. The proposed algorithm is proved to be very effective for inspection in nuclear facilities. The inclination angle of robot is maintained below 30.8deg while it is climbing up the stairs of a slope of 25deg. (author).

  4. Teleoperated mobile robot (KAEROT) for inspection in nuclear facilities

    International Nuclear Information System (INIS)

    Kim, Byung-Soo; Kim, Chang-Hoi; Hwang, Suk-Young; Kim, Seung-Ho; Lee, Jong-Min

    1994-01-01

    A teleoperated mobile robot, named as KAEROT, has been developed for inspection and maintenance in nuclear facilities. It is composed of the planetary wheel-type mobile unit and 5 DOF manipulator one. The mobile unit is able to climb up and down stairs with high stability. This paper presents the kinematic analysis of KAEROT and the stair climbing algorithm. The proposed algorithm consists of two parts; one is to generate the moving path, and the other is to calculate the angular velocity of each wheel to follow up the generated reference path. Simulations and experiments on the irregular stairs have been carried out with the developed mobile robot. The proposed algorithm is proved to be very effective for inspection in nuclear facilities. The inclination angle of robot is maintained below 30.8deg while it is climbing up the stairs of a slope of 25deg. (author)

  5. An assigned responsibility system for robotic teleoperation control.

    Science.gov (United States)

    Small, Nicolas; Lee, Kevin; Mann, Graham

    2018-01-01

    This paper proposes an architecture that explores a gap in the spectrum of existing strategies for robot control mode switching in adjustable autonomy. In situations where the environment is reasonably known and/or predictable, pre-planning these control changes could relieve robot operators of the additional task of deciding when and how to switch. Such a strategy provides a clear division of labour between the automation and the human operator(s) before the job even begins, allowing for individual responsibilities to be known ahead of time, limiting confusion and allowing rest breaks to be planned. Assigned Responsibility is a new form of adjustable autonomy-based teleoperation that allows the selective inclusion of automated control elements at key stages of a robot operation plan's execution. Progression through these stages is controlled by automatic goal accomplishment tracking. An implementation is evaluated through engineering tests and a usability study, demonstrating the viability of this approach and offering insight into its potential applications.

  6. Robotics and tele-operation technology for applications in nuclear fields

    International Nuclear Information System (INIS)

    Kosuge, Kazuhiro; Hirata, Yasuhisa; Takeo, Koji

    2002-01-01

    In this article, we introduce available robotics and tele-operation technology for applications in Nuclear Fields. First, robotics technology for manipulation of a large object is introduced which has been experimentally applied to ITER Maintenance Robot. Then, transportation technology of a large object by multiple mobile robots is reviewed. At last, recent tele-operation technologies and a prototype tele-operation system, referred to as VISIT (Visual Interface System for Interactive Task-execution), is introduced. Several experimental results are also introduced. (author)

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

    Science.gov (United States)

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

    2009-05-01

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

  8. Assistant Personal Robot (APR: Conception and Application of a Tele-Operated Assisted Living Robot

    Directory of Open Access Journals (Sweden)

    Eduard Clotet

    2016-04-01

    Full Text Available This paper presents the technical description, mechanical design, electronic components, software implementation and possible applications of a tele-operated mobile robot designed as an assisted living tool. This robotic concept has been named Assistant Personal Robot (or APR for short and has been designed as a remotely telecontrolled robotic platform built to provide social and assistive services to elderly people and those with impaired mobility. The APR features a fast high-mobility motion system adapted for tele-operation in plain indoor areas, which incorporates a high-priority collision avoidance procedure. This paper presents the mechanical architecture, electrical fundaments and software implementation required in order to develop the main functionalities of an assistive robot. The APR uses a tablet in order to implement the basic peer-to-peer videoconference and tele-operation control combined with a tactile graphic user interface. The paper also presents the development of some applications proposed in the framework of an assisted living robot.

  9. Robotic design analysis based on teleoperated manipulator data collection

    International Nuclear Information System (INIS)

    Stoughton, R.S.; Martin, H.L.

    1985-01-01

    Extensive data collection was performed on a servomanipulator system (TeleOperator Systems SM-229) to determine the motion range and mechanical power usage of the manipulator under direct human control. More than 50 hours of various manipulation operations were performed while joint positions and motor currents were recorded. Reduction of these data yielded histograms of the manipulator usage patterns revealing areas where future manipulator motion ranges and drive systems could be optimized. This report develops a graphical representation of mechanical power usage that relates torque and velocity to the total usage time. Methods of interpreting this representation are discussed and generalized for use in analyzing robotic systems. The resulting technique will allow designers to reevaluate an operating system and determine how to improve that system's design

  10. Mobile robot teleoperation system for plant inspection based on collecting and utilizing environment data

    International Nuclear Information System (INIS)

    Kawabata, Kuniaki; Watanabe, Nobuyasu; Asama, Hajime; Kita, Nobuyuki; Yang, Hai-quan

    2004-01-01

    This paper describes about development of a mobile robot teleoperation system for plant inspection. In our system, the robot is an agent for collecting the environment data and is also teleoperated by the operator utilizing such accumulated environment data which is displayed on the operation interface. The robot equips many sensors for detecting the state of the robot and the environment. Such redundant sensory system can be also utilized to collect the working environment data on-site while the robot is patrolling. Here, proposed system introduces the framework of collecting and utilizing environment data for adaptive plant inspection using the teleoperated robot. A view simulator is primarily aiming to facilitate evaluation of the visual sensors and algorithms and is also extended as the Environment Server, which is the core technology of the digital maintenance field for the plant inspection. In order to construct detailed seamless digital maintenance field mobile robotic technology is utilized to supply environment data to the server. The sensory system on the robot collect the environment data on-site and such collected data is uploaded to the Environment Server for compiling accurate digital environment data base. The robot operator also can utilize accumulated environment data by referring to the Environment Server. In this paper, we explain the concept of our teleoperation system based on collecting and utilizing environment data. Using developed system, inspection patrol experiments were attempted in the plant mock-up. Experimental results are shown by using an omnidirectional mobile robot with sensory system and the Environment Server. (author)

  11. PD-like controller for delayed bilateral teleoperation of wheeled robots

    Science.gov (United States)

    Slawiñski, E.; Mut, V.; Santiago, D.

    2016-08-01

    This paper proposes a proportional derivative (PD)-like controller applied to the delayed bilateral teleoperation of wheeled robots with force feedback in face of asymmetric and varying-time delays. In contrast to bilateral teleoperation of manipulator robots, in these systems, there is a mismatch between the models of the master and slave (mobile robot), problem that is approached in this work, where the system stability is analysed. From this study, it is possible to infer the control parameters, depending on the time delay, necessary to assure stability. Finally, the performance of the delayed teleoperation system is evaluated through tests where a human operator drives a 3D simulator as well as a mobile robot for pushing objects.

  12. A novel approach to haptic tele-operation of aerial robot vehicles

    NARCIS (Netherlands)

    Stramigioli, Stefano; Mahony, Robert; Corke, Peter

    2010-01-01

    We present a novel, simple and effective approach for tele-operation of aerial robotic vehicles with haptic feedback. Such feedback provides the remote pilot with an intuitive feel of the robot's state and perceived local environment that will ensure simple and safe operation in cluttered 3D

  13. Transparency through the Internet

    Energy Technology Data Exchange (ETDEWEB)

    Haginoya, Tohru [Inst. of Nuclear Materials Management, Japan Chapter, Tokyo (Japan)

    1998-07-01

    Many countries, especially developed countries have their 'Home Pages' and disclose their activities openly including nuclear activities. These information give, to some extent, the transparency of countries. The annual report of the IAEA can be found in its home page, reports describe its safeguards activities including facilities under its safeguards together with the status of 'subsidiary arrangements'. The Atomic Energy White Papers of the STA home pages show its nuclear activities and nuclear material. Details of safeguards related information are obtained by analyzing these home pages and find some information inconsistent each other. In connection with Strengthened Safeguards system' , non-nuclear items such as zirconium, heavy water or their manufacturing organizations which are subject to the safeguards system would be retrieved by using 'search engines' through the internet. (author)

  14. Transparency through the Internet

    International Nuclear Information System (INIS)

    Haginoya, Tohru

    1998-01-01

    Many countries, especially developed countries have their 'Home Pages' and disclose their activities openly including nuclear activities. These information give, to some extent, the transparency of countries. The annual report of the IAEA can be found in its home page, reports describe its safeguards activities including facilities under its safeguards together with the status of 'subsidiary arrangements'. The Atomic Energy White Papers of the STA home pages show its nuclear activities and nuclear material. Details of safeguards related information are obtained by analyzing these home pages and find some information inconsistent each other. In connection with Strengthened Safeguards system' , non-nuclear items such as zirconium, heavy water or their manufacturing organizations which are subject to the safeguards system would be retrieved by using 'search engines' through the internet. (author)

  15. Design of teleoperated robot system for nozzle dam maintenance in steam generator

    International Nuclear Information System (INIS)

    Kim, Chang-Hoi; Hwang, Suk-Young; Lee, Young-Gwang; Kim, Byung-Soo; Kim, Seung-Ho; Lee, Jong-Min

    1994-01-01

    The recent development of teleoperated manipulator system in KAERI is presented. The manipulator system is composed of master-slave arm and control system with VME based hierarchical structure. Supervisory control part with graphic workstation provides affluent visual information to human operator. This robot can be operated either in the teleoperation mode with master-slave or in the program mode running by computer system itself to enable installation or removal of nozzle dam appropriately within a water chamber of steam generator. Evaluation and analysis have been carried out to get optimal parameters of the robot. (author)

  16. A Ground-Based Validation System of Teleoperation for a Space Robot

    Directory of Open Access Journals (Sweden)

    Xueqian Wang

    2012-10-01

    Full Text Available Teleoperation of space robots is very important for future on-orbit service. In order to assure the task is accomplished successfully, ground experiments are required to verify the function and validity of the teleoperation system before a space robot is launched. In this paper, a ground-based validation subsystem is developed as a part of a teleoperation system. The subsystem is mainly composed of four parts: the input verification module, the onboard verification module, the dynamic and image workstation, and the communication simulator. The input verification module, consisting of hardware and software of the master, is used to verify the input ability. The onboard verification module, consisting of the same hardware and software as the onboard processor, is used to verify the processor's computing ability and execution schedule. In addition, the dynamic and image workstation calculates the dynamic response of the space robot and target, and generates emulated camera images, including the hand-eye cameras, global-vision camera and rendezvous camera. The communication simulator provides fidelity communication conditions, i.e., time delays and communication bandwidth. Lastly, we integrated a teleoperation system and conducted many experiments on the system. Experiment results show that the ground system is very useful for verified teleoperation technology.

  17. Switching-based Mapping and Control for Haptic Teleoperation of Aerial Robots

    NARCIS (Netherlands)

    Mersha, A.Y.; Stramigioli, Stefano; Carloni, Raffaella

    2012-01-01

    This paper deals with the bilateral teleoperation of underactuated aerial robots by means of a haptic interface. In particular, we propose a switching-based state mapping and control algorithm between a rate-based passive controller, which addresses the workspace incompatibility between the master

  18. A CORBA-Based Control Architecture for Real-Time Teleoperation Tasks in a Developmental Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Hanafiah Yussof

    2011-06-01

    Full Text Available This paper presents the development of new Humanoid Robot Control Architecture (HRCA platform based on Common Object Request Broker Architecture (CORBA in a developmental biped humanoid robot for real-time teleoperation tasks. The objective is to make the control platform open for collaborative teleoperation research in humanoid robotics via the internet. Meanwhile, to generate optimal trajectory generation in bipedal walk, we proposed a real time generation of optimal gait by using Genetic Algorithms (GA to minimize the energy for humanoid robot gait. In addition, we proposed simplification of kinematical solutions to generate controlled trajectories of humanoid robot legs in teleoperation tasks. The proposed control systems and strategies was evaluated in teleoperation experiments between Australia and Japan using humanoid robot Bonten-Maru. Additionally, we have developed a user-friendly Virtual Reality (VR user interface that is composed of ultrasonic 3D mouse system and a Head Mounted Display (HMD for working coexistence of human and humanoid robot in teleoperation tasks. The teleoperation experiments show good performance of the proposed system and control, and also verified the good performance for working coexistence of human and humanoid robot.

  19. A CORBA-Based Control Architecture for Real-Time Teleoperation Tasks in a Developmental Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Hanafiah Yussof

    2011-06-01

    Full Text Available This paper presents the development of new Humanoid Robot Control Architecture (HRCA platform based on Common Object Request Broker Architecture (CORBA in a developmental biped humanoid robot for real‐time teleoperation tasks. The objective is to make the control platform open for collaborative teleoperation research in humanoid robotics via the internet. Meanwhile, to generate optimal trajectory generation in bipedal walk, we proposed a real time generation of optimal gait by using Genetic Algorithms (GA to minimize the energy for humanoid robot gait. In addition, we proposed simplification of kinematical solutions to generate controlled trajectories of humanoid robot legs in teleoperation tasks. The proposed control systems and strategies was evaluated in teleoperation experiments between Australia and Japan using humanoid robot Bonten‐Maru. Additionally, we have developed a user‐ friendly Virtual Reality (VR user interface that is composed of ultrasonic 3D mouse system and a Head Mounted Display (HMD for working coexistence of human and humanoid robot in teleoperation tasks. The teleoperation experiments show good performance of the proposed system and control, and also verified the good performance for working coexistence of human and humanoid robot.

  20. 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)

  1. Tele-operated service robots for household and care

    NARCIS (Netherlands)

    Osch, van M.P.W.J.; Bera, D.; Koks, Y.; Hee, van K.M.; Bronswijk, van J.E.M.H.; Maas, G.J.; Gassel, van F.J.M.

    2012-01-01

    Purpose: Service robots are a relatively new branch of robotics after the successful industry robots and the experimental humanoids. Service robots are supposed to perform tasks that normally are done by humans in particular daily life activities. However they do not have to do it in the same way as

  2. Personality Perception of Robot Avatar Teleoperators in Solo and Dyadic Tasks

    Directory of Open Access Journals (Sweden)

    Paul Adam Bremner

    2017-05-01

    Full Text Available Humanoid robot avatars are a potential new telecommunication tool, whereby a user is remotely represented by a robot that replicates their arm, head, and possible face movements. They have been shown to have a number of benefits over more traditional media such as phones or video calls. However, using a teleoperated humanoid as a communication medium inherently changes the appearance of the operator, and appearance-based stereotypes are used in interpersonal judgments (whether consciously or unconsciously. One such judgment that plays a key role in how people interact is personality. Hence, we have been motivated to investigate if and how using a robot avatar alters the perceived personality of teleoperators. To do so, we carried out two studies where participants performed 3 communication tasks, solo in study one and dyadic in study two, and were recorded on video both with and without robot mediation. Judges recruited using online crowdsourcing services then made personality judgments of the participants in the video clips. We observed that judges were able to make internally consistent trait judgments in both communication conditions. However, judge agreement was affected by robot mediation, although which traits were affected was highly task dependent. Our most important finding was that in dyadic tasks personality trait perception was shifted to incorporate cues relating to the robot’s appearance when it was used to communicate. Our findings have important implications for telepresence robot design and personality expression in autonomous robots.

  3. Complete Low-Cost Implementation of a Teleoperated Control System for a Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Rafael Barea

    2013-01-01

    Full Text Available Humanoid robotics is a field of a great research interest nowadays. This work implements a low-cost teleoperated system to control a humanoid robot, as a first step for further development and study of human motion and walking. A human suit is built, consisting of 8 sensors, 6 resistive linear potentiometers on the lower extremities and 2 digital accelerometers for the arms. The goal is to replicate the suit movements in a small humanoid robot. The data from the sensors is wirelessly transmitted via two ZigBee RF configurable modules installed on each device: the robot and the suit. Replicating the suit movements requires a robot stability control module to prevent falling down while executing different actions involving knees flexion. This is carried out via a feedback control system with an accelerometer placed on the robot’s back. The measurement from this sensor is filtered using Kalman. In addition, a two input fuzzy algorithm controlling five servo motors regulates the robot balance. The humanoid robot is controlled by a medium capacity processor and a low computational cost is achieved for executing the different algorithms. Both hardware and software of the system are based on open platforms. The successful experiments carried out validate the implementation of the proposed teleoperated system.

  4. Compact teleoperated laparoendoscopic single-site robotic surgical system: Kinematics, control, and operation.

    Science.gov (United States)

    Isaac-Lowry, Oran Jacob; Okamoto, Steele; Pedram, Sahba Aghajani; Woo, Russell; Berkelman, Peter

    2017-12-01

    To date a variety of teleoperated surgical robotic systems have been developed to improve a surgeon's ability to perform demanding single-port procedures. However typical large systems are bulky, expensive, and afford limited angular motion, while smaller designs suffer complications arising from limited motion range, speed, and force generation. This work was to develop and validate a simple, compact, low cost single site teleoperated laparoendoscopic surgical robotic system, with demonstrated capability to carry out basic surgical procedures. This system builds upon previous work done at the University of Hawaii at Manoa and includes instrument and endoscope manipulators as well as compact articulated instruments designed to overcome single incision geometry complications. A robotic endoscope holder was used for the base, with an added support frame for teleoperated manipulators and instruments fabricated mostly from 3D printed parts. Kinematics and control methods were formulated for the novel manipulator configuration. Trajectory following results from an optical motion tracker and sample task performance results are presented. Results indicate that the system has successfully met the goal of basic surgical functionality while minimizing physical size, complexity, and cost. Copyright © 2017 John Wiley & Sons, Ltd.

  5. Intelligent networked teleoperation control

    CERN Document Server

    Li, Zhijun; Su, Chun-Yi

    2015-01-01

    This book describes a unified framework for networked teleoperation systems involving multiple research fields: networked control systems for linear and nonlinear forms, bilateral teleoperation, trilateral teleoperation, multilateral teleoperation and cooperative teleoperation. It closely examines networked control as a field at the intersection of systems & control and robotics and presents a number of experimental case studies on testbeds for robotic systems, including networked haptic devices, robotic network systems and sensor network systems. The concepts and results outlined are easy to understand, even for readers fairly new to the subject. As such, the book offers a valuable reference work for researchers and engineers in the fields of systems & control and robotics.

  6. On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators.

    Science.gov (United States)

    Buzzi, Jacopo; Ferrigno, Giancarlo; Jansma, Joost M; De Momi, Elena

    2017-01-01

    Teleoperated robotic systems are widely spreading in multiple different fields, from hazardous environments exploration to surgery. In teleoperation, users directly manipulate a master device to achieve task execution at the slave robot side; this interaction is fundamental to guarantee both system stability and task execution performance. In this work, we propose a non-disruptive method to study the arm endpoint stiffness. We evaluate how users exploit the kinetic redundancy of the arm to achieve stability and precision during the execution of different tasks with different master devices. Four users were asked to perform two planar trajectories following virtual tasks using both a serial and a parallel link master device. Users' arm kinematics and muscular activation were acquired and combined with a user-specific musculoskeletal model to estimate the joint stiffness. Using the arm kinematic Jacobian, the arm end-point stiffness was derived. The proposed non-disruptive method is capable of estimating the arm endpoint stiffness during the execution of virtual teleoperated tasks. The obtained results are in accordance with the existing literature in human motor control and show, throughout the tested trajectory, a modulation of the arm endpoint stiffness that is affected by task characteristics and hand speed and acceleration.

  7. On the Value of Estimating Human Arm Stiffness during Virtual Teleoperation with Robotic Manipulators

    Directory of Open Access Journals (Sweden)

    Jacopo Buzzi

    2017-09-01

    Full Text Available Teleoperated robotic systems are widely spreading in multiple different fields, from hazardous environments exploration to surgery. In teleoperation, users directly manipulate a master device to achieve task execution at the slave robot side; this interaction is fundamental to guarantee both system stability and task execution performance. In this work, we propose a non-disruptive method to study the arm endpoint stiffness. We evaluate how users exploit the kinetic redundancy of the arm to achieve stability and precision during the execution of different tasks with different master devices. Four users were asked to perform two planar trajectories following virtual tasks using both a serial and a parallel link master device. Users' arm kinematics and muscular activation were acquired and combined with a user-specific musculoskeletal model to estimate the joint stiffness. Using the arm kinematic Jacobian, the arm end-point stiffness was derived. The proposed non-disruptive method is capable of estimating the arm endpoint stiffness during the execution of virtual teleoperated tasks. The obtained results are in accordance with the existing literature in human motor control and show, throughout the tested trajectory, a modulation of the arm endpoint stiffness that is affected by task characteristics and hand speed and acceleration.

  8. 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

  9. Robot technology. Vol. 3B. Teleoperation and robotics: applications and technology

    Energy Technology Data Exchange (ETDEWEB)

    Vertut, J; Coiffet, P

    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.).

  10. 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

  11. A Surgical Robot Teleoperation Framework for Providing Haptic Feedback Incorporating Virtual Envrioment-Based Guidance

    Directory of Open Access Journals (Sweden)

    Adnan Munawar

    2016-08-01

    Full Text Available In robot-assisted tele-operated laparoscopic surgeries, the patient side manipulators are controlled via the master manipulators that are controlled by the surgeon. The current generation of robots approved for laparoscopic surgery lack haptic feedback. In theory, haptic feedback would enhance the surgical procedures by enabling better coordination between the hand movements that are improved by the tactile sense of the operating environment. This research presents an overall control framework for a haptic feedback on existing robot platforms, and demonstrated on the daVinci Research Kit (dVRK system. The paper discusses the implementation of a flexible framework that incorporates a stiffness control with gravity compensation for the surgeons manipulator and a sensing and collision detection algorithm for calculating the interaction between the patients manipulators and the surgical area.

  12. Safe teleoperation based on flexible intraoperative planning for robot-assisted laser microsurgery.

    Science.gov (United States)

    Mattos, Leonardo S; Caldwell, Darwin G

    2012-01-01

    This paper describes a new intraoperative planning system created to improve precision and safety in teleoperated laser microsurgeries. It addresses major safety issues related to real-time control of a surgical laser during teleoperated procedures, which are related to the reliability and robustness of the telecommunication channels. Here, a safe solution is presented, consisting in a new planning system architecture that maintains the flexibility and benefits of real-time teleoperation and keeps the surgeon in control of all surgical actions. The developed system is based on our virtual scalpel system for robot-assisted laser microsurgery, and allows the intuitive use of stylus to create surgical plans directly over live video of the surgical field. In this case, surgical plans are defined as graphic objects overlaid on the live video, which can be easily modified or replaced as needed, and which are transmitted to the main surgical system controller for subsequent safe execution. In the process of improving safety, this new planning system also resulted in improved laser aiming precision and improved capability for higher quality laser procedures, both due to the new surgical plan execution module, which allows very fast and precise laser aiming control. Experimental results presented herein show that, in addition to the safety improvements, the new planning system resulted in a 48% improvement in laser aiming precision when compared to the previous virtual scalpel system.

  13. Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body Manipulation

    Science.gov (United States)

    Hebert, Paul; Ma, Jeremy; Borders, James; Aydemir, Alper; Bajracharya, Max; Hudson, Nicolas; Shankar, Krishna; Karumanchi, Sisir; Douillard, Bertrand; Burdick, Joel

    2015-01-01

    The use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called "supervised-autonomy" is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation that integrates high level human cognition and commanding with the intelligence and processing power of autonomous systems. Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURROGATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected by a single 7-DOF torso, mounted on a tracked-wheel base. We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously. We use a concept of "behaviors" to chain together sequences of "actions" for the robot to perform which is then executed real time.

  14. Robot technology. Vol. 3A. Teleoperation and robotics: evolution and development

    Energy Technology Data Exchange (ETDEWEB)

    Vertut, J; Coiffet, P

    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.).

  15. NONLINEAR FORCE PROFILE USED TO INCREASE THE PERFORMANCE OF A HAPTIC USER INTERFACE FOR TELEOPERATING A ROBOTIC HAND

    Energy Technology Data Exchange (ETDEWEB)

    Anthony L. Crawford

    2012-07-01

    MODIFIED PAPER TITLE AND ABSTRACT DUE TO SLIGHTLY MODIFIED SCOPE: TITLE: Nonlinear Force Profile Used to Increase the Performance of a Haptic User Interface for Teleoperating a Robotic Hand Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be accomplished in hazardous environments, such as hot cells, glove boxes, decommissioning, explosives disarmament, and space. The research associated with this paper hypothesizes that a user interface and complementary radiation compatible robotic hand that integrates the human hand’s anthropometric properties, speed capability, nonlinear strength profile, reduction of active degrees of freedom during the transition from manipulation to grasping, and just noticeable difference force sensation characteristics will enhance a user’s teleoperation performance. The main contribution of this research is in that a system that concisely integrates all these factors has yet to be developed and furthermore has yet to be applied to a hazardous environment as those referenced above. In fact, the most prominent slave manipulator teleoperation technology in use today is based on a design patented in 1945 (Patent 2632574) [1]. The robotic hand/user interface systems of similar function as the one being developed in this research limit their design input requirements in the best case to only complementing the hand’s anthropometric properties, speed capability, and linearly scaled force application relationship (e.g. robotic force is a constant, 4 times that of the user). In this paper a nonlinear relationship between the force experienced between the user interface and the robotic hand was devised based on property differences of manipulation and grasping activities as they pertain to the human hand. The results show that such a relationship when subjected to a manipulation task and grasping task produces increased performance compared to the

  16. A tele-operated mobile ultrasound scanner using a light-weight robot.

    Science.gov (United States)

    Delgorge, Cécile; Courrèges, Fabien; Al Bassit, Lama; Novales, Cyril; Rosenberger, Christophe; Smith-Guerin, Natalie; Brù, Concepció; Gilabert, Rosa; Vannoni, Maurizio; Poisson, Gérard; Vieyres, Pierre

    2005-03-01

    This paper presents a new tele-operated robotic chain for real-time ultrasound image acquisition and medical diagnosis. This system has been developed in the frame of the Mobile Tele-Echography Using an Ultralight Robot European Project. A light-weight six degrees-of-freedom serial robot, with a remote center of motion, has been specially designed for this application. It holds and moves a real probe on a distant patient according to the expert gesture and permits an image acquisition using a standard ultrasound device. The combination of mechanical structure choice for the robot and dedicated control law, particularly nearby the singular configuration allows a good path following and a robotized gesture accuracy. The choice of compression techniques for image transmission enables a compromise between flow and quality. These combined approaches, for robotics and image processing, enable the medical specialist to better control the remote ultrasound probe holder system and to receive stable and good quality ultrasound images to make a diagnosis via any type of communication link from terrestrial to satellite. Clinical tests have been performed since April 2003. They used both satellite or Integrated Services Digital Network lines with a theoretical bandwidth of 384 Kb/s. They showed the tele-echography system helped to identify 66% of lesions and 83% of symptomatic pathologies.

  17. User interface for a tele-operated robotic hand system

    Science.gov (United States)

    Crawford, Anthony L

    2015-03-24

    Disclosed here is a user interface for a robotic hand. The user interface anchors a user's palm in a relatively stationary position and determines various angles of interest necessary for a user's finger to achieve a specific fingertip location. The user interface additionally conducts a calibration procedure to determine the user's applicable physiological dimensions. The user interface uses the applicable physiological dimensions and the specific fingertip location, and treats the user's finger as a two link three degree-of-freedom serial linkage in order to determine the angles of interest. The user interface communicates the angles of interest to a gripping-type end effector which closely mimics the range of motion and proportions of a human hand. The user interface requires minimal contact with the operator and provides distinct advantages in terms of available dexterity, work space flexibility, and adaptability to different users.

  18. User interface for a tele-operated robotic hand system

    Energy Technology Data Exchange (ETDEWEB)

    Crawford, Anthony L

    2015-03-24

    Disclosed here is a user interface for a robotic hand. The user interface anchors a user's palm in a relatively stationary position and determines various angles of interest necessary for a user's finger to achieve a specific fingertip location. The user interface additionally conducts a calibration procedure to determine the user's applicable physiological dimensions. The user interface uses the applicable physiological dimensions and the specific fingertip location, and treats the user's finger as a two link three degree-of-freedom serial linkage in order to determine the angles of interest. The user interface communicates the angles of interest to a gripping-type end effector which closely mimics the range of motion and proportions of a human hand. The user interface requires minimal contact with the operator and provides distinct advantages in terms of available dexterity, work space flexibility, and adaptability to different users.

  19. Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots.

    Science.gov (United States)

    Son, Hyoung Il; Franchi, Antonio; Chuang, Lewis L; Kim, Junsuk; Bulthoff, Heinrich H; Giordano, Paolo Robuffo

    2013-04-01

    In this paper, we investigate the effect of haptic cueing on a human operator's performance in the field of bilateral teleoperation of multiple mobile robots, particularly multiple unmanned aerial vehicles (UAVs). Two aspects of human performance are deemed important in this area, namely, the maneuverability of mobile robots and the perceptual sensitivity of the remote environment. We introduce metrics that allow us to address these aspects in two psychophysical studies, which are reported here. Three fundamental haptic cue types were evaluated. The Force cue conveys information on the proximity of the commanded trajectory to obstacles in the remote environment. The Velocity cue represents the mismatch between the commanded and actual velocities of the UAVs and can implicitly provide a rich amount of information regarding the actual behavior of the UAVs. Finally, the Velocity+Force cue is a linear combination of the two. Our experimental results show that, while maneuverability is best supported by the Force cue feedback, perceptual sensitivity is best served by the Velocity cue feedback. In addition, we show that large gains in the haptic feedbacks do not always guarantee an enhancement in the teleoperator's performance.

  20. 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)

  1. Tele-operated search robot for human detection using histogram of oriented objects

    Science.gov (United States)

    Cruz, Febus Reidj G.; Avendaño, Glenn O.; Manlises, Cyrel O.; Avellanosa, James Jason G.; Abina, Jyacinth Camille F.; Masaquel, Albert M.; Siapno, Michael Lance O.; Chung, Wen-Yaw

    2017-02-01

    Disasters such as typhoons, tornadoes, and earthquakes are inevitable. Aftermaths of these disasters include the missing people. Using robots with human detection capabilities to locate the missing people, can dramatically reduce the harm and risk to those who work in such circumstances. This study aims to: design and build a tele-operated robot; implement in MATLAB an algorithm for the detection of humans; and create a database of human identification based on various positions, angles, light intensity, as well as distances from which humans will be identified. Different light intensities were made by using Photoshop to simulate smoke, dust and water drops conditions. After processing the image, the system can indicate either a human is detected or not detected. Testing with bodies covered was also conducted to test the algorithm's robustness. Based on the results, the algorithm can detect humans with full body shown. For upright and lying positions, detection can happen from 8 feet to 20 feet. For sitting position, detection can happen from 2 feet to 20 feet with slight variances in results because of different lighting conditions. The distances greater than 20 feet, no humans can be processed or false negatives can occur. For bodies covered, the algorithm can detect humans in cases made under given circumstances. On three positions, humans can be detected from 0 degrees to 180 degrees under normal, with smoke, with dust, and with water droplet conditions. This study was able to design and build a tele-operated robot with MATLAB algorithm that can detect humans with an overall precision of 88.30%, from which a database was created for human identification based on various conditions, where humans will be identified.

  2. Robotic 4D ultrasound solution for real-time visualization and teleoperation

    Directory of Open Access Journals (Sweden)

    Al-Badri Mohammed

    2017-09-01

    Full Text Available Automation of the image acquisition process via robotic solutions offer a large leap towards resolving ultrasound’s user-dependency. This paper, as part of a larger project aimed to develop a multipurpose 4d-ultrasonic force-sensitive robot for medical applications, focuses on achieving real-time remote visualisation for 4d ultrasound image transfer. This was possible through implementing our software modification on a GE Vivid 7 Dimension workstation, which operates a matrix array probe controlled by a KUKA LBR iiwa 7 7-DOF robotic arm. With the help of robotic positioning and the matrix array probe, fast volumetric imaging of target regions was feasible. By testing ultrasound volumes, which were roughly 880 kB in size, while using gigabit Ethernet connection, a latency of ∼57 ms was achievable for volume transfer between the ultrasound station and a remote client application, which as a result allows a frame count of 17.4 fps. Our modification thus offers for the first time real-time remote visualization, recording and control of 4d ultrasound data, which can be implemented in teleoperation.

  3. Space teleoperation research. American Nuclear Society Executive conference: Remote operations and robotics in the nuclear industry; remote maintenance in other hostile environments

    Science.gov (United States)

    Meintel, A. J., Jr.; Will, R. W.

    1985-01-01

    This presentation consists of four sections. The first section is a brief introduction to the NASA Space Program. The second portion summarized the results of a congressionally mandated study of automation and robotics for space station. The third portion presents a number of concepts for space teleoperator systems. The remainder of the presentation describes Langley Research Center's teleoperator/robotic research to support remote space operations.

  4. Decontamination and concrete core sampling by teleoperated robot at Fukushima Daiichi reactor buildings

    International Nuclear Information System (INIS)

    Watanabe, Masaru; Onitsuka, Hironori; Shimonabe, Noriaki; Fujita, Jun; Matsumura, Takumi; Okumura, Atsushi

    2015-01-01

    For decommissioning of Fukushima daiichi nuclear power station, reduction of the dose equivalent rates inside the reactor buildings is an important issue. Concrete core sampling from the buildings to investigate the contamination is necessary for study about effective decontamination. However, dose rate inside the reactor buildings is very high. For example, dose rate of 1st floor on the Unit 1 is 1.2 - 1820 [mSv / h], the Unit 2 is 2.5 - 220 [mSv / h] and Unit 3 is 2.2 - 4780 [mSv / h]. So it is difficult for workers to work long hours. Therefore, a teleoperated robot, named 'MHI-MEISTeR (Mitsubishi Heavy Industries - Maintenance Equipment Integrated System of Telecontrol Robot)', has been developed to conduct operations like concrete core samples from the reactor buildings. Actually, some concrete core samples from Fukushima daiichi were taken by MHI-MEISTeR. In addition, MHI-MEISTeR is designed as a versatile robot, and so it can conduct suction / blast decontamination works as well as concrete core sampling. The above operations were performed by MHI-MEISTeR in Fukushima daiichi nuclear power station. (author)

  5. 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

  6. Specification of an integrated information architecture for a mobile teleoperated robot for home telecare.

    Science.gov (United States)

    Iannuzzi, David; Grant, Andrew; Corriveau, Hélène; Boissy, Patrick; Michaud, Francois

    2016-12-01

    The objective of this study was to design effectively integrated information architecture for a mobile teleoperated robot in remote assistance to the delivery of home health care. Three role classes were identified related to the deployment of a telerobot, namely, engineer, technology integrator, and health professional. Patients and natural caregivers were indirectly considered, this being a component of future field studies. Interviewing representatives of each class provided the functions, and information content and flows for each function. Interview transcripts enabled the formulation of UML (Universal Modeling Language) diagrams for feedback from participants. The proposed information architecture was validated with a use-case scenario. The integrated information architecture incorporates progressive design, ergonomic integration, and the home care needs from medical specialist, nursing, physiotherapy, occupational therapy, and social worker care perspectives. The integrated architecture iterative process promoted insight among participants. The use-case scenario evaluation showed the design's robustness. Complex innovation such as a telerobot must coherently mesh with health-care service delivery needs. The deployment of integrated information architecture bridging development, with specialist and home care applications, is necessary for home care technology innovation. It enables continuing evolution of robot and novel health information design in the same integrated architecture, while accounting for patient ecological need.

  7. Developments of STR project in the scope of teleoperation handling robotic for the operation in Spanish nuclear facilities

    International Nuclear Information System (INIS)

    Bielza, M.; Gomez Santamaria, J.; Izquierdo, J.A.; Martinez, S.; Linares, F.; Avello, A.; Gago, M.J.

    1998-01-01

    The main objective of the Teleoperated Robotic Systems project (SRT) is the development of teleoperated robotic systems for use in the inspection, surveillance and maintenance operations in nuclear and radioactive installations. These systems make possible the reduction of the individual and collective doses of the workers that undertake these operations, as well as an increase of plant availability as it is possible to carry out specific tasks of inspection and surveillance in high radiation dose areas without having to reduce the power of the installation. This project started in 1995, deciding to priorize the inspection equipment in a first phase. When this work were advanced, the development of the manipulation activities was carried out to being consider the nuclear installations needs. As a result of this work, the manipulation requirements were elaborated in order to prepare the beginning technical specifications to design the equipment s. These developments are based on a fixed manipulator which is located closed to the equipment that we want to repair, and an arm manipulator which moves by caterpillars, it is easier to control than others; and the navigation system which allows the robot self-locating in the complex area. In this paper the conclusions about the manipulation requirements are described, as well as the state of the manipulation prototype. (Author)

  8. Experience in the use of teleoperated robotic equipment in the Spanish Nuclear Power Plants (S.R.T. Project)

    International Nuclear Information System (INIS)

    Bielza, M.; Gomez, J.; Izquierdo, J.A.; Bercedo, A.; Espallardo, J.A.; Martinez, A.; Carmena, P.; Pascual, J.L.

    1998-01-01

    The main objective of the Teleoperated Robotic Systems project (SRT) is the development of teleoperated robotic systems for use in the inspection, surveillance and maintenance operations in nuclear and radioactive installations. These systems make possible the reduction of the individual and collective doses of the workers that undertake these operations, as well as an increase of plant availability as it is possible to carry out specific tasks of inspection and surveillance in high radiation dose areas without to reduce the power of the installation. This project started in 1995 deciding to priorize the inspection equipment in a first phase. As a result of this work currently several semi-industrial products are available: ROBCAR, ROBICEN y ANAES. These have been installed for testing and commercial operation in Spanish nuclear installations. In this paper the experience of using these prototypes in the S.M. de Garona and Cofrentes nuclear power plants is described, as well as the improvements in the design of these systems derived from these experiences that have been incorporated to the industrial prototypes that are currently in the last phase of development. (Author)

  9. Teleoperation for learning by demonstration

    DEFF Research Database (Denmark)

    Kukliński, Kamil; Fischer, Kerstin; Marhenke, Ilka

    2014-01-01

    Learning by demonstration is a useful technique to augment a robot's behavioral inventory, and teleoperation allows lay users to demonstrate novel behaviors intuitively to the robot. In this paper, we compare two modes of teleoperation of an industrial robot, the demonstration by means of a data...... glove and by means of a control object (peg). Experiments with 16 lay users, performing assembly task on the Cranfield benchmark objects, show that the control peg leads to more success, more efficient demonstration and fewer errors....

  10. The development of robotic system for the nuclear power plants - A study on the manipulation of teleoperation system using redundant robot

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Chung Oh; Cho, Hyung Seok; Jang, Pyung Hoon; Park, Ki Chul; Hyun, Jang Hwan; Kim, Joo Gon; Park, Young Joon; Hwang, Woong Tae; Jeon, Yong Soo; Lee, Joo Yeon; Ahn, Kyung Mo [Korea Advanced Institute of Science and Technology, Taejon (Korea, Republic of)

    1996-07-01

    In this project the following 4 sub- projects have been studied for use in nuclear power plants. 1) Development of precision control method for the hydraulic and pneumatic actuators: The fuzzy gain tuner for the pneumatic servo position control system with the state feedback controller was designed= by using the professional knowledge. Through the experimental study, this control method was verified to obtain the optimal fain automatically. 2) Development of an universal master arm and force reflecting teleoperation system: An autonomous telerobot system with a vision based force reflection capability was developed. To effectly implement visual force feedback, 3 different control methods were also developed. 3) A study on the analysis and control of the redundant robot manipulator: An optimal joint-path of 8-DOF redundant KAEROT for the nozzle dam task was generated and its effectiveness and safety was verified by using graphic/animation tool. The proposed dynamic control algorithm for the redundant robot was applied to the experiment of planar 3- DOF redundant robot, showing good performance. 4) A study on the robot/user interface design: A set of final design and its console table was developed, which has metaphorical identity and user-friendly interface and a study mock-up was also developed to identify the possibility in a clear form. 33 refs., 3 tabs., 11 figs. (author)

  11. Mobile teleoperator remote sensing

    International Nuclear Information System (INIS)

    Hall, E.L.

    1986-01-01

    Sensing systems are an important element of mobile teleoperators and robots. This paper discusses certain problems and limitations of vision and other sensing systems with respect to operations in a radiological accident environment. Methods which appear promising for near-term improvements to sensor technology are described. 3 refs

  12. Manipulators in teleoperation

    International Nuclear Information System (INIS)

    Hamel, W.R.

    1985-01-01

    Teleoperated manipulators represent a mature technology which has evolved over nearly 40 years of applications experience. The wide range of manipulator concepts developed thus far reflect differing applications, priorities, and philosophies. The technology of teleoperated manipulators is in a rapid state of change (just as are industrial robotics) fueled by microelectronics and materials advances. Large strides in performance and dexterity are now practical and advantageous. Even though improved controls and sensory feedback will increase functionality, overall costs should be reduced as manipulator fabrication and assembly labor costs are reduced through improved manufacturing technology. As these advances begin to materialize, broader applications in nonnuclear areas should occur

  13. Robotics in nuclear engineering: Computer assisted teleoperation in hazardous environments with particular reference to radiation fields

    International Nuclear Information System (INIS)

    Larcombe, M.H.E.

    1984-01-01

    A report which examines the potential of robot devices in hazardous environments in nuclear engineering, such as: Fuel processing; Reactor maintenance; Reactor decommissioning; Transportation of active material; Waste handling; Incident management. The book reviews the present state of the art in remote controlled robots, and gives total system predictions for possible future applications within the nuclear industry. It examines the planning aspects of a programme of development for the technology, and highlights the priorities. Detailed descriptions are provided of the hardware and techniques which already contribute, or should contribute in the future, to the development of useable remote controlled robotics systems

  14. Wireless robot teleoperation via internet using IPv6 over a bluetooth personal area network

    Directory of Open Access Journals (Sweden)

    Carlos Araque Rodríguez

    2010-01-01

    Full Text Available En este artículo se presenta el diseño, construcción y pruebas de un sistema que permite la manipulación y visualización del robot Microbot Teachmover usando una conexión inalámbrica Bluetooth con dirección IPv6, brindando la posibilidad de manejar el robot desde diferentes escenarios: desde un dispositivo móvil que se encuentra en la misma piconet del robot; desde un computador que se encuentre en la misma piconet del robot y desde un computador que se encuentre conectado a Internet con una dirección IPv6.

  15. Remote Thermal Analysis Through the Internet

    Science.gov (United States)

    Malroy, Eric T.

    2002-07-01

    The Heater of the Hypersonic Tunnel Facility (HTF) was modeled using SINDA/FLUINT thermal software. A description of the model is given. The project presented the opportunity of interfacing the thermal model with the Internet and was a demonstration that complex analysis is possible through the Internet. Some of the issues that need to be addressed related to interfacing software with the Internet are the following: justification for using the Internet, selection of the web server, choice of the CGI language, security of the system, communication among the parties, maintenance of state between web pages, and simultaneous users on the Internet system. The opportunities available for using the Internet for analysis are many and can present a significant jump in technology. This paper presents a vision how interfacing with the Internet could develop in the future. Using a separate Optical Internet (OI) for analysis, coupled with virtual reality analysis rooms (VRAR), could provide a synergistic environment to couple together engineering analysis within industry, academia, and government. The process of analysis could be broken down into sub-components so that specialization could occur resulting in superior quality, minimized cost and reduced time for engineering analysis and manufacturing. Some possible subcomponents of the system are solver routines, databases, Graphical User Interfaces, engineering design software, VRARs, computer processing, CAD systems, manufacturing, and a plethora of other options only limited by ones imagination. On a larger scope, the specialization of companies on the optical network would allow companies to rapidly construct and reconstruct their infrastructure based on changing economic conditions. This could transform business.

  16. UAV-guided navigation for ground robot tele-operation in a military reconnaissance environment.

    Science.gov (United States)

    Chen, Jessie Y C

    2010-08-01

    A military reconnaissance environment was simulated to examine the performance of ground robotics operators who were instructed to utilise streaming video from an unmanned aerial vehicle (UAV) to navigate his/her ground robot to the locations of the targets. The effects of participants' spatial ability on their performance and workload were also investigated. Results showed that participants' overall performance (speed and accuracy) was better when she/he had access to images from larger UAVs with fixed orientations, compared with other UAV conditions (baseline- no UAV, micro air vehicle and UAV with orbiting views). Participants experienced the highest workload when the UAV was orbiting. Those individuals with higher spatial ability performed significantly better and reported less workload than those with lower spatial ability. The results of the current study will further understanding of ground robot operators' target search performance based on streaming video from UAVs. The results will also facilitate the implementation of ground/air robots in military environments and will be useful to the future military system design and training community.

  17. Robotics in nuclear engineering. Computer-assisted teleoperation in hazardous environments with particular reference to radiation fields

    Energy Technology Data Exchange (ETDEWEB)

    Larcombe, M H.E.; Halsall, J R

    1984-01-01

    The subject is covered in chapters, entitled: foreword and definitions; introduction; robotics state of the art 1984; potential applications; advanced remote control; robot system design principles; robot system skills; planning of remote control robotics R and D; example systems; REMCON (advanced remote control robotic systems) guidelines; robot activation; robot instrumentation; robot guidance; design of equipment for robotic maintenance; ergonomics of control.

  18. Robotic and nuclear safety for an automated/teleoperated glove box system

    International Nuclear Information System (INIS)

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

    1991-09-01

    Lawrence Livermore National Laboratory (LLNL) is developing a fully automated system to handle the processing of special nuclear materials (SNM). This work is performed in response to the new goals at the Department of Energy (DOE) for hazardous waste minimization and radiation dose reduction. This fully automated system, called the automated test bed (ATB), consists of an IBM gantry robot and automated processing equipment sealed within a glove box. While the ATB is a cold system, we are designing it as a prototype of the future hot system. We recognized that identification and application of safety requirements early in the design phase will lead to timely installation and approval of the hot system. This paper identifies these safety issues as well as the general safety requirements necessary for the safe operation of the ATB. 4 refs., 2 figs

  19. Towards a Location-based Service for Early Mental Health Interventions in Disaster Response Using Minimalistic Tele-operated Android Robots Technology

    Science.gov (United States)

    Vahidi, H.; Mobasheri, A.; Alimardani, M.; Guan, Q.; Bakillah, M.

    2014-04-01

    Providing early mental health services during disaster is a great challenge in the disaster response phase. Lack of access to adequate mental-health professionals in the early stages of large-scale disasters dramatically influences the trend of a successful mental health aid. In this paper, a conceptual framework has been suggested for adopting cellphone-type tele-operated android robots in the early stages of disasters for providing the early mental health services for disaster survivors by developing a locationbased and participatory approach. The techniques of enabling GI-services in a Peer-to-Peer (P2P) environment were studied to overcome the limitations of current centralized services. Therefore, the aim of this research study is to add more flexibility and autonomy to GI web services (WMS, WFS, WPS, etc.) and alleviate to some degree the inherent limitations of these centralized systems. A P2P system Architecture is presented for the location-based service using minimalistic tele-operated android robots, and some key techniques of implementing this service using BestPeer were studied for developing this framework.

  20. Mobile teleoperator research at Savannah River Laboratory

    International Nuclear Information System (INIS)

    Byrd, J.S.

    1985-01-01

    A Robotics Technology Group was organized at Savannah River Laboratory to employ modern automation and robotics for applications at the Savannah River site. Several industrial robots have been installed in plant processes. Other robotics systems are under development in the laboratories, including mobile teleoperators for general remote tasks and emergency response operations. This paper discusses present work on a low-cost wheeled mobile vehicle, a modular light duty manipulator arm, a large gantry telerobot system, and a high technology six-legged walking robot with a teleoperated arm

  1. Development and demonstration of a teleoperated modular open-quotes snakeclose quotes robot system. Final report, September 30, 1986--December 31, 1993

    International Nuclear Information System (INIS)

    Tesar, D.; Hooper, R.

    1995-01-01

    The U.S. Department of Energy has provided support to four universities and the Oak Ridge National Laboratory in order to pursue research leading to the development and deployment of advanced robotic systems capable of performing tasks that generate significant occupational radiation exposure and/or whose execution times can be reduced if performed by an automated system. The goal was to develop advanced robotic systems capable of performing surveillance, maintenance, and repair tasks in nuclear facilities and other hazardous environments. The approach to achieving the program objective was a transition from teleoperation to the capability of autonomous operation within three successive generations of robotic systems. The robotic system will always have the capability to request human assistance. The development of general purpose robots to perform skilled labor tasks in restricted environments was shown to have extensive payback in areas of energy systems (nuclear and fossil units), chemical plants, fire fighting, space operations, underwater activities, defense, and other hazardous activities. The strategy that was used to achieve the program goals in an efficient and timely manner consisted in utilizing, and advancing where required, state-of-the-art robotics technology through close interaction between the universities and the manufacturers and operators of nuclear power plants. The research effort showed that a broad range of applications for the robotic systems existed for the improved operation of nuclear reactors and in other hazardous tasks. As a consequence, each institution was able to obtain additional support from other agencies, e.g., DoD and NASA. Areas of cooperation with other nations (e.g., Japan, France, Germany) were utilized

  2. Development and demonstration of a teleoperated modular {open_quotes}snake{close_quotes} robot system. Final report, September 30, 1986--December 31, 1993

    Energy Technology Data Exchange (ETDEWEB)

    Tesar, D.; Hooper, R.

    1995-04-12

    The U.S. Department of Energy has provided support to four universities and the Oak Ridge National Laboratory in order to pursue research leading to the development and deployment of advanced robotic systems capable of performing tasks that generate significant occupational radiation exposure and/or whose execution times can be reduced if performed by an automated system. The goal was to develop advanced robotic systems capable of performing surveillance, maintenance, and repair tasks in nuclear facilities and other hazardous environments. The approach to achieving the program objective was a transition from teleoperation to the capability of autonomous operation within three successive generations of robotic systems. The robotic system will always have the capability to request human assistance. The development of general purpose robots to perform skilled labor tasks in restricted environments was shown to have extensive payback in areas of energy systems (nuclear and fossil units), chemical plants, fire fighting, space operations, underwater activities, defense, and other hazardous activities. The strategy that was used to achieve the program goals in an efficient and timely manner consisted in utilizing, and advancing where required, state-of-the-art robotics technology through close interaction between the universities and the manufacturers and operators of nuclear power plants. The research effort showed that a broad range of applications for the robotic systems existed for the improved operation of nuclear reactors and in other hazardous tasks. As a consequence, each institution was able to obtain additional support from other agencies, e.g., DoD and NASA. Areas of cooperation with other nations (e.g., Japan, France, Germany) were utilized.

  3. Job hunting by through the internet: The experiences of some ...

    African Journals Online (AJOL)

    Each year, thousands of graduates are turned into the labour market from over fifty tertiary institutions in Nigeria in search of jobs. In addition to the traditional methods of job-hunting, most of these graduates are increasingly using the Internet as a veritable source of job opportunities. However, jobhunting through the Internet ...

  4. Communications options for teleoperations

    International Nuclear Information System (INIS)

    Springthorpe, R.T.

    1991-08-01

    TELEMAN is a programme of research work on remote handling in hazardous or disordered nuclear environments, carried out for the European Atomic Agency Community by a number of participants, part funded by the CEC. The objective is to develop advanced tele-operated robots for users in the nuclear industry to contribute to safety and profitability. A study performed by AEA Technology in 1989 for the TELEMAN programme examined communications standards and made recommendations where possible. It was recognised that a control architecture needed to be defined before determining which communications standards are appropriate. Several developing areas were recommended for further study and the results of this study are reported here. (author)

  5. Social Inclusion of Senior Citizens by a Teleoperated Android

    DEFF Research Database (Denmark)

    Yamazaki, Ryuji; Nishio, Shuichi; Ishiguro, Hiroshi

    As populations continue to age, there is a growing need for assistive technologies that help senior citizens maintain their autonomy and enjoy their lives. We explore the potential of teleoperated androids, which are embodied telecommunication media with humanlike appearances. Our exploratory study...... focused on the social aspects of Telenoid, a teleoperated android designed as a minimalistic human, which might facilitate communica- tion between senior citizens and its operators. We con- ducted cross-cultural field trials in Japan and Denmark by introducing Telenoid into care facilities and the pri......- vate homes of seniors to observe how they responded to it. In Japan, we set up a teleoperation system in an elemen- tary school and investigated how it shaped communica- tion through the internet between the elderly in a care facility and the children who acted as teleoperators. In both countries...

  6. Development and human factors analysis of an augmented reality interface for multi-robot tele-operation and control

    Science.gov (United States)

    Lee, Sam; Lucas, Nathan P.; Ellis, R. Darin; Pandya, Abhilash

    2012-06-01

    This paper presents a seamlessly controlled human multi-robot system comprised of ground and aerial robots of semiautonomous nature for source localization tasks. The system combines augmented reality interfaces capabilities with human supervisor's ability to control multiple robots. The role of this human multi-robot interface is to allow an operator to control groups of heterogeneous robots in real time in a collaborative manner. It used advanced path planning algorithms to ensure obstacles are avoided and that the operators are free for higher-level tasks. Each robot knows the environment and obstacles and can automatically generate a collision-free path to any user-selected target. It displayed sensor information from each individual robot directly on the robot in the video view. In addition, a sensor data fused AR view is displayed which helped the users pin point source information or help the operator with the goals of the mission. The paper studies a preliminary Human Factors evaluation of this system in which several interface conditions are tested for source detection tasks. Results show that the novel Augmented Reality multi-robot control (Point-and-Go and Path Planning) reduced mission completion times compared to the traditional joystick control for target detection missions. Usability tests and operator workload analysis are also investigated.

  7. Modeling and Design of an Electro-Rheological Fluid Based Haptic System for Tele-Operation of Space Robots

    Science.gov (United States)

    Mavroidis, Constantinos; Pfeiffer, Charles; Paljic, Alex; Celestino, James; Lennon, Jamie; Bar-Cohen, Yoseph

    2000-01-01

    For many years, the robotic community sought to develop robots that can eventually operate autonomously and eliminate the need for human operators. However, there is an increasing realization that there are some tasks that human can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robot can be employed to perform these tasks. Remotely performing these types of tasks requires operating robots as human surrogates. While current "hand master" haptic systems are able to reproduce the feeling of rigid objects, they present great difficulties in emulating the feeling of remote/virtual stiffness. In addition, they tend to be heavy, cumbersome and usually they only allow limited operator workspace. In this paper a novel haptic interface is presented to enable human-operators to "feel" and intuitively mirror the stiffness/forces at remote/virtual sites enabling control of robots as human-surrogates. This haptic interface is intended to provide human operators intuitive feeling of the stiffness and forces at remote or virtual sites in support of space robots performing dexterous manipulation tasks (such as operating a wrench or a drill). Remote applications are referred to the control of actual robots whereas virtual applications are referred to simulated operations. The developed haptic interface will be applicable to IVA operated robotic EVA tasks to enhance human performance, extend crew capability and assure crew safety. The electrically controlled stiffness is obtained using constrained ElectroRheological Fluids (ERF), which changes its viscosity under electrical stimulation. Forces applied at the robot end-effector due to a compliant environment will be reflected to the user using this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted. In this paper, we will present the results of our modeling, simulation, and initial testing of such an

  8. Developments of STR project in the scope of teleoperation handling robotic for the operation in Spanish nuclear facilities; Desarrollos del proyecto SRT en el area de manipulacion robotica teleoperada para la operacion de las instalaciones nucleares espanolas

    Energy Technology Data Exchange (ETDEWEB)

    Bielza, M [ENDESA (Spain); Gomez Santamaria, J [IBERDROLA (Spain); Izquierdo, J A [C.N. COFRENTES (Spain); Martinez, S [C.N. ASCO (Spain); Linares, F [ENSA (Spain); Avello, A [CEIT (Spain); Gago, M J [IBRINCO (Spain)

    1998-12-01

    The main objective of the Teleoperated Robotic Systems project (SRT) is the development of teleoperated robotic systems for use in the inspection, surveillance and maintenance operations in nuclear and radioactive installations. These systems make possible the reduction of the individual and collective doses of the workers that undertake these operations, as well as an increase of plant availability as it is possible to carry out specific tasks of inspection and surveillance in high radiation dose areas without having to reduce the power of the installation. This project started in 1995, deciding to priorize the inspection equipment in a first phase. When this work were advanced, the development of the manipulation activities was carried out to being consider the nuclear installations needs. As a result of this work, the manipulation requirements were elaborated in order to prepare the beginning technical specifications to design the equipment s. These developments are based on a fixed manipulator which is located closed to the equipment that we want to repair, and an arm manipulator which moves by caterpillars, it is easier to control than others; and the navigation system which allows the robot self-locating in the complex area. In this paper the conclusions about the manipulation requirements are described, as well as the state of the manipulation prototype. (Author)

  9. 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...

  10. COLLABORATIVE LEARNING IN TEACHING A SECOND LANGUAGE THROUGH THE INTERNET

    Directory of Open Access Journals (Sweden)

    Ilknur ISTIFCI

    2011-10-01

    member to the success of the group. This paper mentions how teaching through distance education happens, interaction in teaching through the Internet, collaborative learning, and how collaborative learning occurs in teaching a second language through the Internet.

  11. Social Acceptance of a Teleoperated Android

    DEFF Research Database (Denmark)

    Ryuji, Yamazaki; Nishio, Shuichi; Ishiguro, Hiroshi

    2012-01-01

    We explored the potential of teleoperated android robots, which are embodied telecommunication media with humanlike appearances, and how they affect people in the real world when they are employed to express a telepresence and a sense of ‘being there’. In Denmark, our exploratory study focused on...

  12. The evolution of teleoperated manipulators at ORNL

    International Nuclear Information System (INIS)

    Kress, R.L.; Jansen, J.F.; Noakes, M.W.; Herndon, J.N.

    1996-01-01

    ORNL has made significant contributions to teleoperator and telerobotics technology for two decades and continues with an aggressive program today. Examples of past projects are: (1) the M2 servomanipulator, which was the first digitally controlled teleoperator; (2) the Advanced Servomanipulator (ASM), which was the first remotely maintainable teleoperator; (3) the CESARm/Kraft dissimilar teleoperated system; and (4) the Laboratory Telerobotic Manipulator (LTM), a 7-Degree-of-Freedom (7-DOF) telerobot built as a prototype for work in space. More recently, ORNL has become heavily involved with Environmental Restoration and Waste Management (ERWM) robotics programs funded by the Department of Energy (DOE). The ERWM program requires high payloads and high dexterity. As a result, a hydraulically actuated, dual-arm system comprised of two 6-DOF arms mounted on a 5-DOF base has been constructed and is being used today for various research tasks and for decontamination and dismantlement activities. All of these teleoperated manipulator systems build upon the experiences gained throughout the almost two decades of development. Each system incorporates not only the latest technology in computers, sensors, and electronics, but each new . system also adds at least one new feature to the technologies already developed and demonstrated in the previous system(s). As a result of this process, a serious study of these manipulator systems is a study in the evolution of teleoperated manipulator the systems in general. This provides insight not only into the research and development paths chosen in the past, but also into the appropriate directions for future teleoperator and telerobotics research. This paper examines each of the teleoperated/telerobotic systems developed at ORNL, summarizes their features and capabilities, examines the state of the most current telerobotic system (the Dual Arm Work Module), PM provides direction for a Next Generation Telerobotic Manipulator system

  13. Towards multi-platform software architecture for Collaborative Teleoperation

    Science.gov (United States)

    Domingues, Christophe; Otmane, Samir; Davesne, Frederic; Mallem, Malik

    2009-03-01

    Augmented Reality (AR) can provide to a Human Operator (HO) a real help in achieving complex tasks, such as remote control of robots and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer and easier with the remote real world. In this paper, we present an extension of an existing distributed software and network architecture for collaborative teleoperation based on networked human-scaled mixed reality and mobile platform. The first teleoperation system was composed by a VR application and a Web application. However the 2 systems cannot be used together and it is impossible to control a distant robot simultaneously. Our goal is to update the teleoperation system to permit a heterogeneous collaborative teleoperation between the 2 platforms. An important feature of this interface is based on the use of different Virtual Reality platforms and different Mobile platforms to control one or many robots.

  14. Towards multi-platform software architecture for Collaborative Teleoperation

    International Nuclear Information System (INIS)

    Domingues, Christophe; Otmane, Samir; Davesne, Frederic; Mallem, Malik

    2009-01-01

    Augmented Reality (AR) can provide to a Human Operator (HO) a real help in achieving complex tasks, such as remote control of robots and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer and easier with the remote real world. In this paper, we present an extension of an existing distributed software and network architecture for collaborative teleoperation based on networked human-scaled mixed reality and mobile platform. The first teleoperation system was composed by a VR application and a Web application. However the 2 systems cannot be used together and it is impossible to control a distant robot simultaneously. Our goal is to update the teleoperation system to permit a heterogeneous collaborative teleoperation between the 2 platforms. An important feature of this interface is based on the use of different Virtual Reality platforms and different Mobile platforms to control one or many robots.

  15. Teleoperation over low bandwidth communication links

    International Nuclear Information System (INIS)

    Fryer, R.J.; Mair, G.M.; Clark, N.; Heng, J.

    1996-01-01

    Teleoperation is well established for many areas of hazardous environment working. Where such environments are well structured and contained, such as within a working plant, communications bandwidths need not be a constraining factor. However where the worksite is remote, large, poorly structured or damaged communications rapidly become a critical factor in the efficient deployment and use of teleoperation equipment. The paper justifies and describes means which we are exploring to reduce the required communications bandwidth for teleoperation whist retaining full functionality. Techniques involved include incorporation of local intelligence at the worksite, with bandwidth devoted to high-level up-link control signals and down-link feedback, and the use of highly compressed video feeding 'virtual reality type' HMDs to provide maximum system transparency for the operator. The work is drawing on previous experience with an 'anthropomorphic robot heat' for telepresence work, and proprietary algorithms capable of compressing full colour video to standard telephone modem data rates. (Author)

  16. Advanced instrumentation and teleoperation

    International Nuclear Information System (INIS)

    Decreton, M.

    1998-01-01

    SCK-CEN's advanced instrumentation and teleoperation project aims at evaluating the potential of a telerobotic approach in a nuclear environment and, in particular, the use of remote-perception systems. Main achievements in 1997 in the areas of R and D on radiation tolerance for remote sensing, optical fibres and optical-fibre sensors, and computer-aided teleoperation are reported

  17. Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

    Directory of Open Access Journals (Sweden)

    Juan Manuel Ibarra-Zannatha

    2007-01-01

    Full Text Available The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position–position and/or force–position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed.

  18. 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)

  19. System for intelligent teleoperation research

    International Nuclear Information System (INIS)

    Orlando, N.E.

    1983-01-01

    The Automation Technology Branch of NASA Langley Research Center is developing a research capability in the field of artificial intelligence, particularly as applicable in teleoperator/robotics development for remote space operations. As a testbed for experimentation in these areas, a system concept has been developed and is being implemented. This system, termed DAISIE (Distributed Artificially Intelligent System for Interacting with the Environment), interfaces the key processes of perception, reasoning, and manipulation by linking hardware sensors and manipulators to a modular artificial intelligence (AI) software system in a hierarchical control structure. Verification experiments have been performed: one experiment used a blocksworld database and planner embedded in the DAISIE system to intelligently manipulate a simple physical environment; the other experiment implemented a joint-space collision avoidance algorithm. Continued system development is planned

  20. Development of a compact and user-friendly ion irradiation system controlled remotely through the internet

    International Nuclear Information System (INIS)

    Ishikawa, Ippei; Kada, Wataru; Sato, Fuminobu; Kato, Yushi; Iida, Toshiyuki; Tanaka, Teruya; Yamamoto, Junji

    2007-01-01

    A compact and user-friendly ion irradiation system controlled remotely through the Internet was developed for the execution of collaboration experiments together with researchers at remote sites. Several hardware instruments and software programs were constructed and provided for the remote control of the system and for its connection to the Internet. Surface modification and analysis experiments with this system were remotely performed through the Internet. It was confirmed from the experiments that the present ion irradiation system was precisely controlled through the Internet and could be easily and safely used for the surface modification and analysis, that the normal communication speed of around 10 Mbps for the Internet was fast enough for the execution of such typical remote-controlled experiments, and also that an access to the system by a mobile phone was convenient and useful enough to check the condition of the system and experimental data. (author)

  1. Teleoperation environment based on virtual reality. Application of two-planes method for position measurement

    International Nuclear Information System (INIS)

    Yoshikawa, Hidekazu; Tezuka, Tetsuo; Inoue, Ryuji

    1998-01-01

    A teleoperation system based on virtual environment (VE) is an emergent technology for operating a robot in remote or hazardous environment. We have developed a VE-based teleoperation system for robot-arm manipulation in a simplified real world. The VE for manipulating the robot arm is constructed by measuring the 3D positions of the objects around the robot arm by motion-stereo method. The 3D position is estimated by using two-(calibration) planes method based on images captured by the CCD camera on the robot-arm, since the two-planes method does not need pin-hole-model assumption to the camera system. The precision of this 3D-measurement is evaluated through experiments and then derived is the theoretical model to the error in the measurement. This measurement system is applied to VE-based teleoperation experiment for Peg-in-hole practice by the robot arm. (author)

  2. Telepresence and teleoperation

    International Nuclear Information System (INIS)

    Parsons, H.M.

    1990-01-01

    Some developers of mobile teleoperators for remote systems have been emphasizing telepresence as an important design consideration. This paper discusses what that term means and what it implies for human/machine interfaces from a human factors viewpoint. In general, telepresence means designing a control station's equipment so an operator has a sense of presence at the remote manipulator or vehicle being controlled

  3. Semiautonomous teleoperation system with vision guidance

    Science.gov (United States)

    Yu, Wai; Pretlove, John R. G.

    1998-12-01

    This paper describes the ongoing research work on developing a telerobotic system in Mechatronic Systems and Robotics Research group at the University of Surrey. As human operators' manual control of remote robots always suffer from reduced performance and difficulties in perceiving information from the remote site, a system with a certain level of intelligence and autonomy will help to solve some of these problems. Thus, this system has been developed for this purpose. It also serves as an experimental platform to test the idea of using the combination of human and computer intelligence in teleoperation and finding out the optimum balance between them. The system consists of a Polhemus- based input device, a computer vision sub-system and a graphical user interface which communicates the operator with the remote robot. The system description is given in this paper as well as the preliminary experimental results of the system evaluation.

  4. Teleoperation of Robonaut Using Finger Tracking

    Science.gov (United States)

    Champoux, Rachel G.; Luo, Victor

    2012-01-01

    With the advent of new finger tracking systems, the idea of a more expressive and intuitive user interface is being explored and implemented. One practical application for this new kind of interface is that of teleoperating a robot. For humanoid robots, a finger tracking interface is required due to the level of complexity in a human-like hand, where a joystick isn't accurate. Moreover, for some tasks, using one's own hands allows the user to communicate their intentions more effectively than other input. The purpose of this project was to develop a natural user interface for someone to teleoperate a robot that is elsewhere. Specifically, this was designed to control Robonaut on the international space station to do tasks too dangerous and/or too trivial for human astronauts. This interface was developed by integrating and modifying 3Gear's software, which includes a library of gestures and the ability to track hands. The end result is an interface in which the user can manipulate objects in real time in the user interface. then, the information is relayed to a simulator, the stand in for Robonaut, at a slight delay.

  5. Acquisition of Basic Behaviors through Teleoperation using Robonaut

    Science.gov (United States)

    Campbell, Christina

    2004-01-01

    My area of research is in artificial intelligence and robotics. The major platform of this research is NASA's Robonaut. This humanoid robot is located at the Johnson Space Center. Prior to receiving this grant, I was able to spend two summers in Houston working with the Robonaut team, which is headed by Rob Ambrose. My work centered on teaching Robonaut to grasp a wrench based on data gathered as a human teleoperated the robot. I tried to make the procedure as general as possible so that many different motions could be taught using this method.

  6. Control issues related to bilateral teleoperation of long-reach, flexible manipulators

    International Nuclear Information System (INIS)

    Love, L.J.

    1997-01-01

    A challenging problem presently being addressed by the Department of Energy (DOE) is the extraction of large volumes of hazardous waste from underground waste storage facilities. The nature of the material requires the use of robotic and teleoperated systems. Furthermore, the constraints of the storage tanks require the use of long reach manipulators. These robots are characterized by their large workspace and reduced mass. Unfortunately, this reduction in mass increases structural compliance, making these robots susceptible to vibration. Until recently, no attempt has been made to provide the operator any type of force reflection due to the compliance of the slave robot. This paper addresses the control of bilateral teleoperation systems that use long-reach, flexible manipulators. Analysis and experiments show that the compliance of the slave robot directly affects the stability of the teleoperation system. This study suggests that this may be controlled by increasing the damping on the master robot. However, this increase in target damping increases the energy an operator must exert during the execution of a task. A new teleoperation strategy adapts the target impedance of the master robot to variations in the identified impedance of the remote environment coupled to the slave robot. Experiments show increased performance due to a decrease in the energy the operator must provide during task execution

  7. Immersive Virtual Reality with Applications to Tele-Operation and Training

    Science.gov (United States)

    2016-03-07

    reviewed journals : Number of Papers published in non peer-reviewed journals : Final Report: Immersive Virtual Reality with Applications to Tele-Operation... Immersive Virtual Reality with Applications to Tele-Operation and Training The proposed project aims to develop a fundamental framework for...establishing an immersive virtual reality environment for robust and scalable human robotics interaction in a cooperative intelligent architecture at the

  8. Vision-Based Robot Following Using PID Control

    OpenAIRE

    Chandra Sekhar Pati; Rahul Kala

    2017-01-01

    Applications like robots which are employed for shopping, porter services, assistive robotics, etc., require a robot to continuously follow a human or another robot. This paper presents a mobile robot following another tele-operated mobile robot based on a PID (Proportional–Integral-Differential) controller. Here, we use two differential wheel drive robots; one is a master robot and the other is a follower robot. The master robot is manually controlled and the follower robot is programmed to ...

  9. Individualized, home-based interactive training of cerebral palsy children delivered through the Internet

    DEFF Research Database (Denmark)

    Bilde, Peder E; Kliim-Due, Mette; Rasmussen, Betina

    2011-01-01

    The available health resources limit the amount of therapy that may be offered to children with cerebral palsy and the amount of training in each session may be insufficient to drive the neuroplastic changes, which are necessary for functional improvements to take place. The aim of this pilot study...... was to provide proof of concept that individualized and supervised interactive home-based training delivered through the internet may provide an efficient way of maintaining intensive training of children with cerebral palsy over prolonged periods....

  10. Use of accident experience in developing criteria for teleoperator equipment

    International Nuclear Information System (INIS)

    Vallario, E.J.; Selby, J.M.

    1985-10-01

    The 1961 SL-1 reactor accident in Idaho and the Recuplex accident at Hanford are reviewed to identify problems common to emergency situations, lessons learned from accidents, criteria for emergency equipment, and recommendations for using robotics to solve problems during emergencies. Teleoperator equipment could be used to assess the extent of the damage and the condition of the reactor, retrieve dosimeters, evacuate and treat accident victims, clean up debris and decontaminate accident areas. 2 refs., 9 figs

  11. Advanced Tele-operation

    International Nuclear Information System (INIS)

    Decreton, M.

    1998-01-01

    Maintenance, repair, and dismantling operations in nuclear facilities have to be performed remotely when high radiation doses exclude hands-on operation, but also to minimize contamination risks and occupational doses to the operators. Computer-aided and sensor-based tele-operation enhances safety, reliability, and performance by helping the operator in difficult tasks with poor remote environmental perception. The objectives of work in this domain are to increase the scientific knowledge of the studied phenomena, to improve the interpretation of data, to improve the piloting og experimental devices during irradiation, to reveal and to understand possible unexpected phenomena occurring during irradiation. This scientific report describes the achievements for 1997 in the area of radiation tolerance for of remote-sensing, optical fibres and optical fibre sensors

  12. 12 CFR 7.5009 - Location under 12 U.S.C. 85 of national banks operating exclusively through the Internet.

    Science.gov (United States)

    2010-01-01

    ... operating exclusively through the Internet. 7.5009 Section 7.5009 Banks and Banking COMPTROLLER OF THE... under 12 U.S.C. 85 of national banks operating exclusively through the Internet. For purposes of 12 U.S.C. 85, the main office of a national bank that operates exclusively through the Internet is the...

  13. LOW INCOME CONSUMERS AND ONLINE SHOPPING: APPREHENSIONS IN CONSUMING THROUGH THE INTERNET

    Directory of Open Access Journals (Sweden)

    Juan Pablo da Silva Dias

    2015-08-01

    Full Text Available The growth in access of low income consumers to the internet has taken them to use the net in search of entertainment, education and relationships. However, consuming online is still an activity surrounded by distrust. The present study aims to discuss the reasons why low income consumers have apprehension in consuming through the internet. For this, in depth interviews were conducted with 23 low income consumers. The collected data shows that the internet is still seen by the interviewees as being, mainly, for leisure and entertainment. Online shopping still is a task they fear, because of different motives. Initially, one can point the preference to consume in physical stores, since the consumers can touch the desired product, enjoy the trip to the store as a moment of pleasure and the possibility of interacting with salesmen, who help them in their choice. The apprehensions in buying online are also influenced by the perception that sites are not safe, because they offer threats, such as viruses or theft of personal information. Furthermore, interviewees believe that online stores are not compromised with their customers, since they permit problems to occur in the delivery of merchandise, are not clear about the shopping process, and create difficulties in payment method. Another reason for them not to buy online is the perception that if a negative consuming episode of online shopping happened to someone they know, it is also bound to happen with them. Despite this reasoning, these consumers point the importance of help from a third party in their reference group as main incentive for them to face the obstacles to consuming through the internet. In conclusion, it is possible to consider that low income consumers have apprehensions that are similar to their higher income peers, but, also, show different feelings, which are seldom discussed in the literature about online shopping.

  14. Teleoperators: Man's Machine Partners

    Energy Technology Data Exchange (ETDEWEB)

    Corliss, William R.

    1972-01-01

    This booklet is about teleoperators, a class of machines that augment man rather than replace him. Teleoperators have the ability to add to man's strength, his reach, and his ability to work in hostile environments.

  15. A high capability teleoperated vehicle for hazardous applications

    International Nuclear Information System (INIS)

    Dudar, A.M.; Witherspoon, R.L.

    1995-01-01

    The Robotics Development Group at the Savannah River Site is developing a high performance teleoperated vehicle for use in radioactive and hazardous environments. The three-wheeled vehicle incorporates a highly dexterous 6 degree-of-freedom (DOF), hydraulically-powered manipulator made by Schilling Development, Inc. The teleoperator is called Little MoRT (MObile Radio-controlled Teleoperator) and is a modified version of a commercially available, battery-powered, warehouse vehicle. Little MoRT is controlled remotely by a universal robot controller either through a radio frequency link or a tethered cable. Six video cameras and a microphone provide the operator with audio-visual feedback of the vehicle and its surrounding environment. The vehicle also incorporates a hydraulic power unit consisting of a propane-driven engine for powering the Schilling manipulator. Little MoRT is capable of operating in outdoor as well as indoor environments and is well suited for decontamination and decommissioning activities such as dismantling, sorting, and surveying of radioactive waste

  16. Robotics

    Science.gov (United States)

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

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

  17. A 3-D Miniature LIDAR System for Mobile Robot Navigation, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — Future lunar site operations will benefit from mobile robots, both autonomous and tele-operated, that complement or replace human extravehicular activity....

  18. Mechanical accessories for mobile teleoperators

    International Nuclear Information System (INIS)

    Feldman, M.J.; Herndon, J.N.

    1985-01-01

    The choice of optimum mechanical accessories for mobile teleoperators involves matching the criteria for emergency response with the available technology. This paper presents a general background to teleoperations, a potpourri of the manipulator systems available, and an argument for force reflecting manipulation. The theme presented is that the accomplishment of humanlike endeavors in hostile environments will be most successful when man model capabilities are utilized. The application of recent electronic technology to manipulator development has made new tools available to be applied to emergency response activities. The development activities described are products of the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory. 13 refs., 7 figs

  19. MARKETING POLICIES THROUGH THE INTERNET: THE CASE OF SKIING CENTERS IN GREECE

    Directory of Open Access Journals (Sweden)

    Panagiotis LEFAKIS

    2012-09-01

    Full Text Available Lately, Internet constitutes a major tool for transactions in every aspect and supports innovative marketing policies. Broadband Internet has become “the key to success” for businesses, as it offers various advantages and benefits through Internet marketing (e-marketing policies. In Greece, mountainous areas are usually covered with snow during winter months; so, skiing centers have become an important asset for winter tourism. The Internet evolution and the development of network infrastructure enhance marketing policies for winter tourism activities. This paper studies the use of marketing policies in Greek skiing centers through the Internet, such as promotional activities, website interactivity, accommodation & entertainment information, online weather forecast, guest book, etc Therefore, the paper aims to optimize and evaluate skiing centers in Greece, qualitatively and quantitatively according to e-marketing policies used as criteria, based on the multicriteria method of PROMETHEE II and further to classify them in groups. Finally we identify and describe the optimum group of skiing centers to be used as a model with enhanced customer communication services.

  20. First International Symposium on Long QT Syndrome through the Internet, April 2004

    Directory of Open Access Journals (Sweden)

    Sergio Dubner

    2004-07-01

    Full Text Available With the First Virtual Symposium on Long QT Syndrome already finished; which was held over the month of April, 2004 as an educational activity of the International Society for Holter and Noninvasive Electrocardiology (ISHNE, and completely through the Internet; we, the Presidents of the Scientific and Steering Committees, Sergio Dubner, Edgardo Schapachnik and Andrés Ricardo Pérez Riera, are wondering gladly surprised, which may have been the main causes of such a huge success as we have reached, and the enormous interest arisen. Just to have an idea of the dimension achieved, data obtained from http://www.a9.com (an Amazon.com site or with the traditional search engine Google, prove that the first reply when you request information about long QT Syndrome is the access site of the Symposium. We believe that the response to this question may be summarized in one word: REALIZATION. The best definition for success is realization. The huge motivation in each one of us made the difference. We worked with a cohesive group, like a team, aware of the unparalleled and great opportunity Prof. Arthur Moss had initially assigned to Sergio Dubner and Edgardo Schapachnik, an invitation that the latter extended to Andrés Ricardo Pérez Riera.

  1. Unhealthy food marketing to New Zealand children and adolescents through the internet.

    Science.gov (United States)

    Vandevijvere, Stefanie; Sagar, Karuna; Kelly, Bridget; Swinburn, Boyd

    2017-02-17

    To assess the extent and nature of unhealthy food marketing to New Zealand children and adolescents through the internet. Internet traffic data for January 2014 was purchased from AC Nielsen to identify the most popular websites (n=110) among children and adolescents aged 6-17 years. In addition, websites (n=70) of food and beverage brands most frequently marketed to children through television, sports, magazines and Facebook were included. Marketing techniques and features on those websites were analysed. The extent of food marketing on popular non-food websites was low. A wide range of marketing techniques and features was, however, identified on food brand websites, including advercation (87%), viral marketing (64%), cookies (54%), free downloadable items (43%), promotional characters (39%), designated children's sections (19%) and advergaming (13%). Most techniques appeared more frequently on websites specifically targeting children and adolescents, than on other websites targeting the general public. Compared to traditional media, the internet allows food marketers to use engaging techniques to directly interact with children. While the range of marketing techniques and features identified on food brand websites was extensive, the most popular websites among children and adolescents were non-food related, and the extent of food marketing on those websites was found to be low. Additional assessment of food marketing to children through social and other digital media is recommended.

  2. Robotics in General Surgery

    OpenAIRE

    Wall, James; Chandra, Venita; Krummel, Thomas

    2008-01-01

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

  3. Usability study of a vineyard teleoperated compost spreader.

    Science.gov (United States)

    Ferrari, Ester; Cavallo, Eugenio

    2012-01-01

    Teleoperation has been widely applied in modern industry because of a variety of advantages, such as providing replaceable surrogates for humans in dangerous or difficult working environments over long distances. In this paper, a usability evaluation study of a teleoperation system for a compost spreader robotic machine is presented. The machine has been designed for the application of compost in small and stepping parcels of hilly vineyards. Driving and working tasks can be controlled remotely by a portable piloting unit, reducing the risk for the operator in the event of machine overturning. Participants of the study were asked to perform a series of tasks and sub-tasks and to vocalize their thoughts while working with the machine. The tasks were designed to simulate typical user experience. Once all the tasks were accomplished each participant was asked to fill a questionnaire. The evaluation considered aspects such as learnability, ease of use, understandability, controllability, frustration, mental effort, distraction, clarity of presentation, perceived usefulness, temporal efficiency and machine aesthetic. Results show that usability evaluation helped detecting design deficiencies in the teleoperated compost spreader machine.

  4. Improving UGV teleoperation performance using novel visualization techniques and manual interfaces

    Science.gov (United States)

    Vozar, Steven; Tilbury, Dawn M.

    2012-06-01

    Unmanned ground vehicles (UGVs) are well-suited to a variety of tasks that are dangerous or repetitive for humans to perform. Despite recent advances, UGVs still suffer from reliability issues, and human operation failures have been identified as one root cause of UGV system failure. However, most literature relevant to UGV reliability does not address the effects of human errors or the user interface. Our previous work investigated the issue of user situational awareness and sense of presence in the robot workspace by implementing a Mixed Reality interface featuring a first-person video feed with an Augmented Reality overlay and a third-person Virtual Reality display. The interface was evaluated in a series of user tests in which users manually controlled a UGV with a manipulator arm using traditional input modalities including a computer mouse, keyboard and gamepad. In this study, we learned that users found it challenging to mentally map commands from the manual inputs to the robot arm behavior. Also, switching between control modalities seemed to add to the cognitive load during teleoperation tasks. A master-slave style manual controller can provide an intuitive one-to-one mapping from user input to robot pose, and has the potential to improve both operator situational awareness for teleoperation tasks and decrease mission completion time. This paper describes the design and implementation of a teleoperated UGV with a Mixed Reality visualization interface and a master-slave controller that is suitable for teleoperated mobile manipulation tasks.

  5. Workload, flow, and telepresence during teleoperation

    Energy Technology Data Exchange (ETDEWEB)

    Draper, J.V. [Oak Ridge National Lab., TN (United States); Blair, L.M. [Human Machine Interfaces, Inc., Knoxville, TN (United States)

    1996-04-01

    There is much speculation about the relations among workload, flow, telepresence, and performance during teleoperation, but few data that provide evidence concerning them. This paper presents results an investigation conducted during completion of a pipe cutting task using a teleoperator at ORNL. Results show support for the hypothesis that telepresence is related to expenditure of attentional resources, and some support for the hypothesis that telepresence is related to flow. The discussion examines the results from an attentional resources perspective on teleoperation.

  6. Workload, flow, and telepresence during teleoperation

    International Nuclear Information System (INIS)

    Draper, J.V.; Blair, L.M.

    1996-01-01

    There is much speculation about the relations among workload, flow, telepresence, and performance during teleoperation, but few data that provide evidence concerning them. This paper presents results an investigation conducted during completion of a pipe cutting task using a teleoperator at ORNL. Results show support for the hypothesis that telepresence is related to expenditure of attentional resources, and some support for the hypothesis that telepresence is related to flow. The discussion examines the results from an attentional resources perspective on teleoperation

  7. Framework for teleoperated microassembly systems

    Science.gov (United States)

    Reinhart, Gunther; Anton, Oliver; Ehrenstrasser, Michael; Patron, Christian; Petzold, Bernd

    2002-02-01

    Manual assembly of minute parts is currently done using simple devices such as tweezers or magnifying glasses. The operator therefore requires a great deal of concentration for successful assembly. Teleoperated micro-assembly systems are a promising method for overcoming the scaling barrier. However, most of today's telepresence systems are based on proprietary and one-of-a-kind solutions. Frameworks which supply the basic functions of a telepresence system, e.g. to establish flexible communication links that depend on bandwidth requirements or to synchronize distributed components, are not currently available. Large amounts of time and money have to be invested in order to create task-specific teleoperated micro-assembly systems from scratch. For this reason, an object-oriented framework for telepresence systems that is based on CORBA as a common middleware was developed at the Institute for Machine Tools and Industrial Management (iwb). The framework is based on a distributed architectural concept and is realized in C++. External hardware components such as haptic, video or sensor devices are coupled to the system by means of defined software interfaces. In this case, the special requirements of teleoperation systems have to be considered, e.g. dynamic parameter settings for sensors during operation. Consequently, an architectural concept based on logical sensors has been developed to achieve maximum flexibility and to enable a task-oriented integration of hardware components.

  8. Development of teleoperated cleanup system

    International Nuclear Information System (INIS)

    Kim, Ki Ho; Park, J. J.; Yang, M. S.; Kwon, H. J.

    2005-01-01

    This report describes the development of a teleoperated cleanup system for use in a highly radioactive environment of DFDF(DUPIC Fuel Demonstration Facility) at KAERI where direct human access to the in-cell is strictly limited. The teleoperated cleanup system was designed to remotely remove contaminants placed or fixed on the floor surface of the hot-cell by mopping them with wet cloth. This cleanup system consists of a mopping slave, a mopping master and a control console. The mopping slave located at the in-cell comprises a mopping tool with a mopping cloth and a mobile platform, which were constructed in modules to facilitate maintenance. The mopping master that is an input device to control the mopping slave has kinematic dissimilarity with the mopping slave. The control console provides a means of bilateral control flows and communications between the mopping master and the mopping slave. In operation, the human operator from the out-of-cell performs a series of decontamination tasks remotely by manipulating the mopping slave located in-cell via a mopping master, having a sense of real mopping. The environmental and mechanical design considerations, and control systems of the developed teleoperated cleanup system are also described

  9. A multi-agent architecture for sharing knowledge and experimental data about waste water treatment plants through the Internet

    International Nuclear Information System (INIS)

    Abu Yaman, I. R.; Kerckhoffs, J. E.

    1998-01-01

    In this paper, we present a first prototype of a local multi-agent architecture for the sharing of knowledge and experimental data about waste water treatment plants through the Internet, or more specifically the WWW. Applying a net browser such as nets cape, a user can have access to a CLIPS expert system (advising on waste water cleaning technologies) and experimental data files. The discussed local prototype is part of proposed global agent architecture. (authors)

  10. Affect-focused psychodynamic psychotherapy for depression and anxiety through the Internet: a randomized controlled trial

    Directory of Open Access Journals (Sweden)

    Robert Johansson

    2013-07-01

    Full Text Available Background. Psychodynamic psychotherapy is a psychological treatment approach that has a growing empirical base. Research has indicated an association between therapist-facilitated affective experience and outcome in psychodynamic therapy. Affect-phobia therapy (APT, as outlined by McCullough et al., is a psychodynamic treatment that emphasizes a strong focus on expression and experience of affect. This model has neither been evaluated for depression nor anxiety disorders in a randomized controlled trial. While Internet-delivered psychodynamic treatments for depression and generalized anxiety disorder exist, they have not been based on APT. The aim of this randomized controlled trial was to investigate the efficacy of an Internet-based, psychodynamic, guided self-help treatment based on APT for depression and anxiety disorders.Methods. One hundred participants with diagnoses of mood and anxiety disorders participated in a randomized (1:1 ratio controlled trial of an active group versus a control condition. The treatment group received a 10-week, psychodynamic, guided self-help treatment based on APT that was delivered through the Internet. The treatment consisted of eight text-based treatment modules and included therapist contact (9.5 min per client and week, on average in a secure online environment. Participants in the control group also received online therapist support and clinical monitoring of symptoms, but received no treatment modules. Outcome measures were the 9-item Patient Health Questionnaire Depression Scale (PHQ-9 and the 7-item Generalized Anxiety Disorder Scale (GAD-7. Process measures were also included. All measures were administered weekly during the treatment period and at a 7-month follow-up.Results. Mixed models analyses using the full intention-to-treat sample revealed significant interaction effects of group and time on all outcome measures, when comparing treatment to the control group. A large between-group effect size

  11. Hydraulically powered dissimilar teleoperated system controller design

    International Nuclear Information System (INIS)

    Jansen, J.F.; Kress, R.L.

    1996-01-01

    This paper will address two issues associated with the implementation of a hydraulically powered dissimilar master-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system will be presented

  12. 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

  13. DESIGN AND CONSTRUCTION OF A FORCE-REFLECTING TELEOPERATION SYSTEM

    Energy Technology Data Exchange (ETDEWEB)

    M.A. Ebadian, Ph.D.

    1999-01-01

    make the system portable, compact, and lightweight. A variety of design alternatives are presented and evaluated. Finally, a GUI software package is developed to interface with several teleoperation unit components. These components include an industrial robot, electric motor, encoder, force/torque sensor, and CCD camera. The software includes features such as position scaling, force scaling, and rereferencing and is intended to provide a sound basis for the development of a multi-DOF FRMC system in the future.

  14. DESIGN AND CONSTRUCTION OF A FORCE-REFLECTING TELEOPERATION SYSTEM

    International Nuclear Information System (INIS)

    Ebadian, M.A.

    1999-01-01

    make the system portable, compact, and lightweight. A variety of design alternatives are presented and evaluated. Finally, a GUI software package is developed to interface with several teleoperation unit components. These components include an industrial robot, electric motor, encoder, force/torque sensor, and CCD camera. The software includes features such as position scaling, force scaling, and rereferencing and is intended to provide a sound basis for the development of a multi-DOF FRMC system in the future

  15. Robotic intelligence kernel

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID

    2009-11-17

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

  16. Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Lorino, P; Altwegg, J M

    1985-05-01

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

  17. Human-Robot Interaction

    Science.gov (United States)

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

    2015-01-01

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

  18. Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback

    OpenAIRE

    Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S.

    2013-01-01

    This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI ...

  19. Meeting sex partners through the Internet, risky sexual behavior, and HIV testing among sexually transmitted infections clinic patients.

    Science.gov (United States)

    Brown, Monique J; Pugsley, River; Cohen, Steven A

    2015-02-01

    The Internet has now become a popular venue to meet sex partners. People who use the Internet to meet sex partners may be at a higher risk for contracting HIV and STIs. This study examined the association between meeting sex partners from the Internet, and HIV testing, STI history, and risky sexual behavior. Data were obtained from the Virginia Department of Health STD Surveillance Network. Logistic regression models were used to obtain crude and adjusted odds ratios, and 95 % confidence intervals for the associations between meeting sex partners through the Internet and ever tested for HIV, HIV testing in the past 12 months, STI history, and risky sexual behavior. Logistic regression was also used to determine if gender and men who have sex with men interaction terms significantly improved the model. Women who met a sex partner from the Internet were more likely to have had an HIV test in the past 12 months than women who did not meet a partner in this way. On the other hand, men who met a sex partner through the Internet were more likely to have ever had an HIV test than other men, but this was only seen for heterosexual men. All populations who met a sex partner from the Internet were more likely to take part in risky sexual behavior. HIV prevention strategies should emphasize annual testing for all populations.

  20. Monitor, the prelude to robotics

    International Nuclear Information System (INIS)

    Grisham, D.L.; Lambert, J.E.

    1985-01-01

    Robots and teleoperator systems will play an important role in future energy systems regardless of the particular energy source. Present remote handling systems were developed for radioactive environments; however, future sources, such as fusion reactors, solar concentrators, and wind generators will also produce environments too hostile for practical ''hands on'' maintenance. Teleoperator systems developed at the Clinton P. Anderson Meson Physics Facility (LAMPF) are a logical prelude to performing remote operations with robots. The ''Monitor'' remote handling systems represented state-of-the-art mechanical hardware and operating techniques - the only elements missing are suitable computer and software interfaces

  1. Haptic teleoperation systems signal processing perspective

    CERN Document Server

    Lee, Jae-young

    2015-01-01

    This book examines the signal processing perspective in haptic teleoperation systems. This text covers the topics of prediction, estimation, architecture, data compression, and error correction that can be applied to haptic teleoperation systems. The authors begin with an overview of haptic teleoperation systems, then look at a Bayesian approach to haptic teleoperation systems. They move onto a discussion of haptic data compression, haptic data digitization and forward error correction.   ·         Presents haptic data prediction/estimation methods that compensate for unreliable networks   ·         Discusses haptic data compression that reduces haptic data size over limited network bandwidth and haptic data error correction that compensate for packet loss problem   ·         Provides signal processing techniques used with existing control architectures.

  2. Advanced teleoperation in nuclear applications

    International Nuclear Information System (INIS)

    Hamel, W.R.; Feldman, M.J.; Martin, H.L.

    1984-01-01

    A new generation of integrated remote maintenance systems is being developed to meet the needs of future nuclear fuel reprocessing at the Oak Ridge National Laboratory. Development activities cover all aspects of an advanced teleoperated maintenance system with particular emphasis on a new force-reflecting servomanipulator concept. The new manipulator, called the advanced servomanipulator, is microprocessor controlled and is designed to achieve force-reflection performance near that of mechanical master/slave manipulators. The advanced servomanipulator uses a gear-drive transmission which permits modularization for remote maintainability (by other advanced servomanipulators) and increases reliability. Human factors analysis has been used to develop an improved man/machine interface concept based upon colorgraphic displays and menu-driven tough screens. Initial test and evaluation of two advanced servomanipulator slave arms and several other development components have begun. 9 references, 5 figures

  3. Human-Robot Interaction

    Science.gov (United States)

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

    2012-01-01

    Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is a new Human Research Program (HRP) risk. HRI is a research area that seeks to understand the complex relationship among variables that affect the way humans and robots work together to accomplish goals. The DRP addresses three major HRI study areas that will provide appropriate information for navigation guidance to a teleoperator of a robot system, and contribute to the closure of currently identified HRP gaps: (1) Overlays -- Use of overlays for teleoperation to augment the information available on the video feed (2) Camera views -- Type and arrangement of camera views for better task performance and awareness of surroundings (3) Command modalities -- Development of gesture and voice command vocabularies

  4. Stabilization of Teleoperation Systems with Communication Delays: An IMC Approach

    Directory of Open Access Journals (Sweden)

    Yuling Li

    2018-01-01

    Full Text Available The presence of time delays in communication introduces a limitation to the stability of bilateral teleoperation systems. This paper considers internal model control (IMC design of linear teleoperation system with time delays, and the stability of the closed-loop system is analyzed. It is shown that the stability is guaranteed delay-independently. The passivity assumption for external forces is removed for the proposed design of teleoperation systems. The behavior of the resulting teleoperation system is illustrated by simulations.

  5. Robotics

    Indian Academy of Sciences (India)

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

  6. Multivariate stability of force-reflecting teleoperation: Structures of finite and infinite zeros

    International Nuclear Information System (INIS)

    Daniel, R.W.; McAree, P.R.

    2000-01-01

    This paper presents a stability analysis of force-position teleoperation under general end-effector contact. The analysis is based on the finite and infinite zero structure of the multivariable root-locus resulting from modulation of the environment stiffness. The starting point is an analysis of the stability of robot force control, motivated by the observation that the human-operator in a force reflection loop acts as a force servo, generating position commands in response to reflected force. Asymptotic root loci properties are used to establish passivity conditions on force feedback to give root locus interpretations of the well-known results that (1) feedback via the inverse joint Jacobian can lead to (kinematic) instability and that (2) passivity is preserved by kinematically proper force feedback through the transpose of the joint angle Jacobian. It is demonstrated that a fully constrained force-position teleoperation loop has an identical infinite zero structure to that of a slave manipulation under kinematically proper force control and that the dominant vibration modes of a force-position loop are fully described by a multivariable analogue of the single-input single-output pseudo-system investigated in a study by Daniel and McAree. Extension of the analysis to cover partial end-effector constraint provides a design tool for teleoperation control and serves to aid selection of teleoperation slate-arms. The paper concludes by giving a passivity condition for multiple-input multiple-output force-position teleoperation for stable contact against all environments

  7. Seeking sex partners through the internet and mobile phone applications among men who have sex with men in Taiwan.

    Science.gov (United States)

    Ko, Nai-Ying; Tseng, Po-Chia; Huang, Yu-Chao; Chen, Yen-Chin; Hsu, Su-Ting

    2016-07-01

    It has become popular for men who have sex with men (MSM) to use mobile-phone geosocial networking applications (mobile apps) to find sex partners. A cross-sectional online survey was conducted in Taiwan to compare the sexual and substance-use behaviors of MSM seeking sex partners through the internet and mobile apps. Of the 1060 participants, 65.8% used the internet via computer and 37.7% used a mobile app to find sexual partners, while 30.3% used recreational drugs or alcohol in the previous 6 months. MSM who exclusively used mobile apps to seek sex partners were significantly more likely than MSM seeking sex via computer to be older, to have used recreational drugs or alcohol, and to have sex with HIV-positive partners. Additionally, using mobile apps to seek sex partners was significantly associated with having sex with online partners through either mobile apps or computer-based internet use (adjusted odds ratio (AOR), 7.12 [3.87-13.11]), self-reporting as HIV-positive (AOR, 2.24 [1.12-4.12]), using recreational drugs (AOR, 1.67 [1.21-2.32]), having disclosed HIV status to sexual partners (AOR, 1.44 [1.03-2.02]), and having sex with HIV-positive partners (AOR, 1.81 [1.06-3.10]). In conclusion, the mobile apps may serve as a feasible platform for HIV-positive MSM to find other HIV-positive partners.

  8. Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback.

    Science.gov (United States)

    Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S

    2013-01-01

    This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N.

  9. Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback

    Science.gov (United States)

    Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S.

    2014-01-01

    This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N. PMID:25126446

  10. Analyzing Robotic Kinematics Via Computed Simulations

    Science.gov (United States)

    Carnahan, Timothy M.

    1992-01-01

    Computing system assists in evaluation of kinematics of conceptual robot. Displays positions and motions of robotic manipulator within work cell. Also displays interactions between robotic manipulator and other objects. Results of simulation displayed on graphical computer workstation. System includes both off-the-shelf software originally developed for automotive industry and specially developed software. Simulation system also used to design human-equivalent hand, to model optical train in infrared system, and to develop graphical interface for teleoperator simulation system.

  11. Robotics Strategy White Paper

    Science.gov (United States)

    2009-03-19

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

  12. Robots: Fantasy and Reality

    Energy Technology Data Exchange (ETDEWEB)

    Calder, Neil

    2007-04-27

    A irreverent non-technical review of the history of surprisingly animate machines, from ancient Egypt to current times. Areas include teleoperators for hazardous environments, assembly systems, medical applications, entertainment, and science fiction. The talk has over 100 slides, covering such varied topics as Memnon son of Dawn, Droz's automata, Vaucanson's duck, cathedral clocks, Von Kempelen's chess player, household robots, Asimov's laws, Disneyland, dinosaurs, and movie droids and cyborgs.

  13. Robots: Fantasy and Reality

    International Nuclear Information System (INIS)

    Calder, Neil

    2007-01-01

    A irreverent non-technical review of the history of surprisingly animate machines, from ancient Egypt to current times. Areas include teleoperators for hazardous environments, assembly systems, medical applications, entertainment, and science fiction. The talk has over 100 slides, covering such varied topics as Memnon son of Dawn, Droz's automata, Vaucanson's duck, cathedral clocks, Von Kempelen's chess player, household robots, Asimov's laws, Disneyland, dinosaurs, and movie droids and cyborgs.

  14. Passive hybrid force-position control for tele-operation based on real-time simulation of a virtual mechanism

    International Nuclear Information System (INIS)

    Joly, L.; Andriot, C.

    1995-01-01

    Hybrid force-position control aims at controlling position and force in separate directions. It is particularly useful to perform certain robotic tasks. In tele-operation context, passivity is important because it ensures stability when the system interacts with any passive environment. In this paper, we propose an original approach to hybrid force-position control of a force reflecting tele-robot system. It is based on real-time simulation of a virtual mechanism corresponding to the task. the resulting control law is passive. Experiments on a 6 degrees of freedom tele-operation system consisting in following a bent pipe under several control modes validate the approach. (authors). 12 refs., 6 figs

  15. An experimental program on advanced robotics

    International Nuclear Information System (INIS)

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

    1987-01-01

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

  16. Experimental setup for evaluating an adaptive user interface for teleoperation control

    Science.gov (United States)

    Wijayasinghe, Indika B.; Peetha, Srikanth; Abubakar, Shamsudeen; Saadatzi, Mohammad Nasser; Cremer, Sven; Popa, Dan O.

    2017-05-01

    A vital part of human interactions with a machine is the control interface, which single-handedly could define the user satisfaction and the efficiency of performing a task. This paper elaborates the implementation of an experimental setup to study an adaptive algorithm that can help the user better tele-operate the robot. The formulation of the adaptive interface and associate learning algorithms are general enough to apply when the mapping between the user controls and the robot actuators is complex and/or ambiguous. The method uses a genetic algorithm to find the optimal parameters that produce the input-output mapping for teleoperation control. In this paper, we describe the experimental setup and associated results that was used to validate the adaptive interface to a differential drive robot from two different input devices; a joystick, and a Myo gesture control armband. Results show that after the learning phase, the interface converges to an intuitive mapping that can help even inexperienced users drive the system to a goal location.

  17. Teleoperation of steerable flexible needles by combining kinesthetic and vibratory feedback.

    Science.gov (United States)

    Pacchierotti, Claudio; Abayazid, Momen; Misra, Sarthak; Prattichizzo, Domenico

    2014-01-01

    Needle insertion in soft-tissue is a minimally invasive surgical procedure that demands high accuracy. In this respect, robotic systems with autonomous control algorithms have been exploited as the main tool to achieve high accuracy and reliability. However, for reasons of safety and responsibility, autonomous robotic control is often not desirable. Therefore, it is necessary to focus also on techniques enabling clinicians to directly control the motion of the surgical tools. In this work, we address that challenge and present a novel teleoperated robotic system able to steer flexible needles. The proposed system tracks the position of the needle using an ultrasound imaging system and computes needle's ideal position and orientation to reach a given target. The master haptic interface then provides the clinician with mixed kinesthetic-vibratory navigation cues to guide the needle toward the computed ideal position and orientation. Twenty participants carried out an experiment of teleoperated needle insertion into a soft-tissue phantom, considering four different experimental conditions. Participants were provided with either mixed kinesthetic-vibratory feedback or mixed kinesthetic-visual feedback. Moreover, we considered two different ways of computing ideal position and orientation of the needle: with or without set-points. Vibratory feedback was found more effective than visual feedback in conveying navigation cues, with a mean targeting error of 0.72 mm when using set-points, and of 1.10 mm without set-points.

  18. Passive impedance-based second-order sliding mode control for non-linear teleoperators

    Directory of Open Access Journals (Sweden)

    Luis G García-Valdovinos

    2017-02-01

    Full Text Available Bilateral teleoperation systems have attracted significant attention in the last decade mainly because of technological advancements in both the communication channel and computers performance. In addition, non-linear multi-degree-of-freedom bilateral teleoperators along with state observers have become an open research area. In this article, a model-free exact differentiator is used to estimate the full state along with a chattering-free second-order sliding mode controller to guarantee a robust impedance tracking under both constant and an unknown time delay of non-linear multi-degree-of-freedom robots. The robustness of the proposed controller is improved by introducing a change of coordinates in terms of a new nominal reference similar to that used in adaptive control theory. Experimental results that validate the predicted behaviour are presented and discussed using a Phantom Premium 1.0 as the master robot and a Catalyst-5 virtual model as the slave robot. The dynamics of the Catalyst-5 system is solved online.

  19. Multilateral haptics-based immersive teleoperation for improvised explosive device disposal

    Science.gov (United States)

    Erickson, David; Lacheray, Hervé; Daly, John

    2013-05-01

    Of great interest to police and military organizations is the development of effective improvised explosive device (IED) disposal (IEDD) technology to aid in activities such as mine field clearing, and bomb disposal. At the same time minimizing risk to personnel. This paper presents new results in the research and development of a next generation mobile immersive teleoperated explosive ordnance disposal system. This system incorporates elements of 3D vision, multilateral teleoperation for high transparency haptic feedback, immersive augmented reality operator control interfaces, and a realistic hardware-in-the-loop (HIL) 3D simulation environment incorporating vehicle and manipulator dynamics for both operator training and algorithm development. In the past year, new algorithms have been developed to facilitate incorporating commercial off-the-shelf (COTS) robotic hardware into the teleoperation system. In particular, a real-time numerical inverse position kinematics algorithm that can be applied to a wide range of manipulators has been implemented, an inertial measurement unit (IMU) attitude stabilization system for manipulators has been developed and experimentally validated, and a voice­operated manipulator control system has been developed and integrated into the operator control station. The integration of these components into a vehicle simulation environment with half-car vehicle dynamics has also been successfully carried out. A physical half-car plant is currently being constructed for HIL integration with the simulation environment.

  20. Low-Latency Teleoperations for Human Exploration and Evolvable Mars Campaign

    Science.gov (United States)

    Lupisella, Mark; Wright, Michael; Arney, Dale; Gershman, Bob; Stillwagen, Fred; Bobskill, Marianne; Johnson, James; Shyface, Hilary; Larman, Kevin; Lewis, Ruthan; hide

    2015-01-01

    NASA has been analyzing a number of mission concepts and activities that involve low-latency telerobotic (LLT) operations. One mission concept that will be covered in this presentation is Crew-Assisted Sample Return which involves the crew acquiring samples (1) that have already been delivered to space, and or acquiring samples via LLT from orbit to a planetary surface and then launching the samples to space to be captured in space and then returned to the earth with the crew. Both versions of have key roles for low-latency teleoperations. More broadly, the NASA Evolvable Mars Campaign is exploring a number of other activities that involve LLT, such as: (a) human asteroid missions, (b) PhobosDeimos missions, (c) Mars human landing site reconnaissance and site preparation, and (d) Mars sample handling and analysis. Many of these activities could be conducted from Mars orbit and also with the crew on the Mars surface remotely operating assets elsewhere on the surface, e.g. for exploring Mars special regions and or teleoperating a sample analysis laboratory both of which may help address planetary protection concerns. The operational and technology implications of low-latency teleoperations will be explored, including discussion of relevant items in the NASA Technology Roadmap and also how previously deployed robotic assets from any source could subsequently be used by astronauts via LLT.

  1. Recent advances in remote coal mining machine sensing, guidance, and teleoperation

    Energy Technology Data Exchange (ETDEWEB)

    Ralston, J C; Hainsworth, D W; Reid, D C; Anderson, D L; McPhee, R J [CSIRO Exploration & Minerals, Kenmore, Qld. (Australia)

    2001-10-01

    Some recent applications of sensing, guidance and telerobotic technology in the coal mining industry are presented. Of special interest is the development of semi or fully autonomous systems to provide remote guidance and communications for coal mining equipment. The use of radar and inertial based sensors are considered in an attempt to solve the horizontal and lateral guidance problems associated with mining equipment automation. Also described is a novel teleoperated robot vehicle with unique communications capabilities, called the Numbat, which is used in underground mine safety and reconnaissance missions.

  2. Teleautonomous Control on Rescue Robot Prototype

    Directory of Open Access Journals (Sweden)

    Son Kuswadi

    2012-12-01

    Full Text Available Robot application in disaster area can help responder team to save victims. In order to finish task, robot must have flexible movement mechanism so it can pass through uncluttered area. Passive linkage can be used on robot chassis so it can give robot flexibility. On physical experiments, robot is succeeded to move through gravels and 5 cm obstacle. Rescue robot also has specialized control needs. Robot must able to be controlled remotely. It also must have ability to move autonomously. Teleautonomous control method is combination between those methods. It can be concluded from experiments that on teleoperation mode, operator must get used to see environment through robot’s camera. While on autonomous mode, robot is succeeded to avoid obstacle and search target based on sensor reading and controller program. On teleautonomous mode, robot can change control mode by using bluetooth communication for data transfer, so robot control will be more flexible.

  3. Transferring human impedance regulation skills to robots

    CERN Document Server

    Ajoudani, Arash

    2016-01-01

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

  4. Teleoperation system using Asynchronous transfer mode, ATM network

    International Nuclear Information System (INIS)

    Mohd Dani Baba; A Nasoruddin Mohamad

    1999-01-01

    This paper examines the application of Asynchronous Transfer Mode (ATM) in a distributed industrial environment such as in teleoperation, which performs real time control manipulation from a remote location. In our study, two models of teleoperation are proposed; the first model is a point to point connection and the second model is through an ATM network. The performance results are analysed as to determine whether the two models can support the teleoperation traffics via simulation using commercial software design tool. (Author)

  5. 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

  6. Force-feedback tele operation of industrial robots a cost effective solution for decontamination of nuclear plants

    International Nuclear Information System (INIS)

    Desbats, P.; Andriot, C.; Gicquel, P.; Viallesoubranne, J.P.; Souche, C.

    1998-01-01

    Decontamination and maintenance in hot cells are some new emerging applications of industrial robots in the nuclear fuel cycle plants. Industrial robots are low cost, accurate and reliable manipulator arms which are used in manufacturing industries usually. Thanks to the recent evolution of robotics technologies, some industrial robots may be adapted to nuclear environment. These robots are transportable, sealed and can be decontaminated, and they may be 'hardened' up to a level of irradiation dose sufficient for operation in low and medium irradiating/contaminating environments. Although industrial robots are usually programmed to perform specific and repetitive tasks, they may be remotely tele-operated by human operators as well. This allows industrial robots to perform usual tele-manipulation tasks encountered in the nuclear plants and more. The paper presents the computer based tele-operation control system TAO2000 TM , developed by the Tele-operation and Robotics Service of CEA, which has been applied to the RX90 TM industrial robot from ST-UBLI company. This robot has been selected in order to perform various maintenance and decontamination tasks in COGEMA plants. TAO2000 provides the overall tele-robotic and robotic functions necessary to perform any remote tele-operation application in hostile environment: force-feedback master-slave control; computer- assisted tele-operation of mechanical processes; trajectory programming as well as various robotics functions; graphical modelling of working environment and simulation; automatic path planning with obstacle avoidance; man-machine interface for tasks programming and mission execution. Experimental results reported in the paper demonstrate the feasibility of force-feedback master-slave control of standard industrial robots. Finally, the design of new, cost effective. tele-operation systems based on industrial robots may be intended for nuclear plants maintenance. (author)

  7. Associations of Social Support, Friends Only Known Through the Internet, and Health-Related Quality of Life with Internet Gaming Disorder in Adolescence.

    Science.gov (United States)

    Wartberg, Lutz; Kriston, Levente; Kammerl, Rudolf

    2017-07-01

    Internet Gaming Disorder (IGD) has been included in the current edition of the Diagnostic and Statistical Manual of Mental Disorders-Fifth Edition (DSM-5). In the present study, the relationship among social support, friends only known through the Internet, health-related quality of life, and IGD in adolescence was explored for the first time. For this purpose, 1,095 adolescents aged from 12 to 14 years were surveyed with a standardized questionnaire concerning IGD, self-perceived social support, proportion of friends only known through the Internet, and health-related quality of life. The authors conducted unpaired t-tests, a chi-square test, as well as correlation and logistic regression analyses. According to the statistical analyses, adolescents with IGD reported lower self-perceived social support, more friends only known through the Internet, and a lower health-related quality of life compared with the group without IGD. Both in bivariate and multivariate logistic regression models, statistically significant associations between IGD and male gender, a higher proportion of friends only known through the Internet, and a lower health-related quality of life (multivariate model: Nagelkerke's R 2  = 0.37) were revealed. Lower self-perceived social support was related to IGD in the bivariate model only. In summary, quality of life and social aspects seem to be important factors for IGD in adolescence and therefore should be incorporated in further (longitudinal) studies. The findings of the present survey may provide starting points for the development of prevention and intervention programs for adolescents affected by IGD.

  8. Pseudo-Haptic Feedback in Teleoperation.

    Science.gov (United States)

    Neupert, Carsten; Matich, Sebastian; Scherping, Nick; Kupnik, Mario; Werthschutzky, Roland; Hatzfeld, Christian

    2016-01-01

    In this paper, we develop possible realizations of pseudo-haptic feedback in teleoperation systems based on existing works for pseudo-haptic feedback in virtual reality and the intended applications. We derive four potential factors affecting the performance of haptic feedback (calculation operator, maximum displacement, offset force, and scaling factor), which are analyzed in three compliance identification experiments. First, we analyze the principle usability of pseudo-haptic feedback by comparing information transfer measures for teleoperation and direct interaction. Pseudo-haptic interaction yields well above-chance performance, while direct interaction performs almost perfectly. In order to optimize pseudo-haptic feedback, in the second study we perform a full-factorial experimental design with 36 subjects performing 6,480 trials with 36 different treatments. Information transfer ranges from 0.68 bit to 1.72 bit in a task with a theoretical maximum of 2.6 bit, with a predominant effect of the calculation operator and a minor effect of the maximum displacement. In a third study, short- and long-term learning effects are analyzed. Learning effects regarding the performance of pseudo-haptic feedback cannot be observed for single-day experiments. Tests over 10 days show a maximum increase in information transfer of 0.8 bit. The results show the feasibility of pseudo-haptic feedback for teleoperation and can be used as design basis for task-specific systems.

  9. Operator learning effects in teleoperated rendezvous & docking

    Science.gov (United States)

    Wilde, M.; Harder, J.; Purschke, R.

    Teleoperation of spacecraft proximity operations and docking requires delicate timing and coordination of spacecraft maneuvers. Experience has shown that human operators show large performance fluctuations in these areas, which are a major factor to be addressed in operator training. In order to allow the quantification of the impact of these human fluctuations on control system performance and the human perception of this performance, a learning curve study was conducted with teleoperated final approach and docking scenarios. Over a period of ten experiment days, three test participants were tasked with repeatedly completing a set of three training scenarios. The scenarios were designed to contain different combinations of the major elements of any final approach and docking situation, and to feature an increasing difficulty level. The individual difficulty levels for the three operators furthermore differed in the level of operator support functions available in their human-machine interfaces. Operator performance in the test scenarios were evaluated in the fields approach success and precision, docking safety, and approach efficiency by a combination of recorded maneuver data and questionnaires. The results show that operator experience and the associated learning curves increase operator performance substantially, regardless of the support system used. The paper also shows that the fluctuations in operator performance and self-perception are substantial between as well as within experiment days, and must be reckoned with in teleoperation system design and mission planning.

  10. Passive Transparency Compensation for Bilateral Teleoperators with Communication Delays

    Directory of Open Access Journals (Sweden)

    Erick J. Rodríguez-Seda

    2015-01-01

    Full Text Available One of the main challenges in the realization of time-delayed bilateral teleoperators is the stable adaptation of transparency when the remote environmental dynamics are time-varying. In this paper, we propose a bilateral control strategy that passively adjusts the transparency of the system when the slave robot transitions between two different environments. The proposed controller exploits the effect that the wave impedance (a design parameter of the passivity-based scattering transformation has on transparency without comprising closed-loop stability, regardless of time-varying communication delays. To properly adjust transparency, the control scheme smoothly switches the wave impedance parameter between a low value, ideal for free motion, and a sufficiently large value, suited for hard-contact tasks. We show that, by adopting this strategy, the transmitted impedance to the operator approximates more closely the environmental impedance value. Furthermore, we theoretically prove master-slave position coordination and force tracking under different scenarios. Simulation results illustrate the effectiveness of the proposed control strategy.

  11. Design and implementation of visual-haptic assistive control system for virtual rehabilitation exercise and teleoperation manipulation.

    Science.gov (United States)

    Veras, Eduardo J; De Laurentis, Kathryn J; Dubey, Rajiv

    2008-01-01

    This paper describes the design and implementation of a control system that integrates visual and haptic information to give assistive force feedback through a haptic controller (Omni Phantom) to the user. A sensor-based assistive function and velocity scaling program provides force feedback that helps the user complete trajectory following exercises for rehabilitation purposes. This system also incorporates a PUMA robot for teleoperation, which implements a camera and a laser range finder, controlled in real time by a PC, were implemented into the system to help the user to define the intended path to the selected target. The real-time force feedback from the remote robot to the haptic controller is made possible by using effective multithreading programming strategies in the control system design and by novel sensor integration. The sensor-based assistant function concept applied to teleoperation as well as shared control enhances the motion range and manipulation capabilities of the users executing rehabilitation exercises such as trajectory following along a sensor-based defined path. The system is modularly designed to allow for integration of different master devices and sensors. Furthermore, because this real-time system is versatile the haptic component can be used separately from the telerobotic component; in other words, one can use the haptic device for rehabilitation purposes for cases in which assistance is needed to perform tasks (e.g., stroke rehab) and also for teleoperation with force feedback and sensor assistance in either supervisory or automatic modes.

  12. Robotics for nuclear power plants

    International Nuclear Information System (INIS)

    Nakayama, Ryoichi; Kimura, Motohiko; Abe, Akira

    1993-01-01

    A continuing need exists for automatic or remote-controlled machines or robots which can perform inspection and maintenance tasks in nuclear power plants. Toshiba has developed several types of monofunctional and multi- functional robots for such purposes over the past 20 years, some of which have already been used in actual plants. This paper describes new multifunctional robots for inspection and maintenance. An inspection robot has been applied in an actual plant for two years for performance testing. Maintenance robots for grinding tasks have also been developed, which can be easily teleoperated by the operator using automatic control. These new robots are expected to be applied to actual inspection and maintenance work in nuclear power plants. (author)

  13. Implementation and design of a teleoperation system based on a VMEBUS/68020 pipelined architecture

    Science.gov (United States)

    Lee, Thomas S.

    1989-01-01

    A pipelined control design and architecture for a force-feedback teleoperation system that is being implemented at the Jet Propulsion Laboratory and which will be integrated with the autonomous portion of the testbed to achieve share control is described. At the local site, the operator sees real-time force/torque displays and moves two 6-degree of freedom (dof) force-reflecting hand-controllers as his hands feel the contact force/torques generated at the remote site where the robots interact with the environment. He also uses a graphical user menu to monitor robot states and specify system options. The teleoperation software is written in the C language and runs on MC68020-based processor boards in the VME chassis, which utilizes a real-time operating system; the hardware is configured to realize a four-stage pipeline configuration. The environment is very flexible, such that the system can easily be configured as a stand-alone facility for performing independent research in human factors, force control, and time-delayed systems.

  14. Performance benefits of telerobotics and teleoperation - enhancements for an arm-based tank waste retrieval system

    Energy Technology Data Exchange (ETDEWEB)

    Horschel, D.S. [Sandia National Labs., Albuquerque, NM (United States); Gibbons, P.W. [Westinghouse Hanford Co., Richland, WA (United States); Draper, J.V. [Oak Ridge National Lab., TN (United States)] [and others

    1995-06-01

    This report evaluates telerobotic and teleoperational arm-based retrieval systems that require advanced robotic controls. These systems will be deployed in waste retrieval activities in Hanford`s Single Shell Tanks (SSTs). The report assumes that arm-based, retrieval systems will combine a teleoperational arm and control system enhanced by a number of advanced and telerobotic controls. The report describes many possible enhancements, spanning the full range of the control spectrum with the potential for technical maturation. The enhancements considered present a variety of choices and factors including: the enhancements to be included in the actual control system, safety, detailed task analyses, human factors, cost-benefit ratios, and availability and maturity of technology. Because the actual system will be designed by an offsite vendor, the procurement specifications must have the flexibility to allow bidders to propose a broad range of ideas, yet build in enough restrictions to filter out infeasible and undesirable approaches. At the same time they must allow selection of a technically promising proposal. Based on a preliminary analysis of the waste retrieval task, and considering factors such as operator limitations and the current state of robotics technology, the authors recommend a set of enhancements that will (1) allow the system to complete its waste retrieval mission, and (2) enable future upgrades in response to changing mission needs and technological advances.

  15. Performance benefits of telerobotics and teleoperation - enhancements for an arm-based tank waste retrieval system

    International Nuclear Information System (INIS)

    Horschel, D.S.; Gibbons, P.W.; Draper, J.V.

    1995-06-01

    This report evaluates telerobotic and teleoperational arm-based retrieval systems that require advanced robotic controls. These systems will be deployed in waste retrieval activities in Hanford's Single Shell Tanks (SSTs). The report assumes that arm-based, retrieval systems will combine a teleoperational arm and control system enhanced by a number of advanced and telerobotic controls. The report describes many possible enhancements, spanning the full range of the control spectrum with the potential for technical maturation. The enhancements considered present a variety of choices and factors including: the enhancements to be included in the actual control system, safety, detailed task analyses, human factors, cost-benefit ratios, and availability and maturity of technology. Because the actual system will be designed by an offsite vendor, the procurement specifications must have the flexibility to allow bidders to propose a broad range of ideas, yet build in enough restrictions to filter out infeasible and undesirable approaches. At the same time they must allow selection of a technically promising proposal. Based on a preliminary analysis of the waste retrieval task, and considering factors such as operator limitations and the current state of robotics technology, the authors recommend a set of enhancements that will (1) allow the system to complete its waste retrieval mission, and (2) enable future upgrades in response to changing mission needs and technological advances

  16. Teleoperated Visual Inspection and Surveillance with Unmanned Ground and Aerial Vehicles

    Directory of Open Access Journals (Sweden)

    Viatcheslav Tretyakov

    2008-11-01

    Full Text Available This paper introduces our robotic system named UGAV (Unmanned Ground-Air Vehicle consisting of two semi-autonomous robot platforms, an Unmanned Ground Vehicle (UGV and an Unmanned Aerial Vehicles (UAV. The paper focuses on three topics of the inspection with the combined UGV and UAV: (A teleoperated control by means of cell or smart phones with a new concept of automatic configuration of the smart phone based on a RKI-XML description of the vehicles control capabilities, (B the camera and vision system with the focus to real time feature extraction e.g. for the tracking of the UAV and (C the architecture and hardware of the UAV

  17. A design framework for teleoperators with kinesthetic feedback

    Science.gov (United States)

    Hannaford, Blake

    1989-01-01

    The application of a hybrid two-port model to teleoperators with force and velocity sensing at the master and slave is presented. The interfaces between human operator and master, and between environment and slave, are ports through which the teleoperator is designed to exchange energy between the operator and the environment. By computing or measuring the input-output properties of this two-port network, the hybrid two-port model of an actual or simulated teleoperator system can be obtained. It is shown that the hybrid model (as opposed to other two-port forms) leads to an intuitive representation of ideal teleoperator performace and applies to several teleoperator architectures. Thus measured values of the h matrix or values computed from a simulation can be used to compare performance with th ideal. The frequency-dependent h matrix is computed from a detailed SPICE model of an actual system, and the method is applied to a proposed architecture.

  18. Attitudinal Change in Elderly Citizens Toward Social Robots

    DEFF Research Database (Denmark)

    Damholdt, Malene Flensborg; Nørskov, Marco; Yamazaki, Ryuji

    2015-01-01

    Attitudes toward robots influence the tendency to accept or reject robotic devices. Thus it is important to investigate whether and how attitudes toward robots can change. In this pilot study we investigate attitudinal changes in elderly citizens toward a tele-operated robot in relation to three...... relatedness (r = 0.581) whilst Neuroticism correlated negatively (r = -0.582) with mental relatedness with the robot. The results tentatively suggest that neither information about functionality nor direct repeated encounters are pivotal in changing attitudes toward robots in elderly citizens. This may...

  19. Overview of robotics and teleoperators in developing fusion power

    International Nuclear Information System (INIS)

    Spampinato, P.T.

    1986-01-01

    This paper presents an overview of the maintenance considerations for next-generation fusion reactors. It draws upon the work done at the Fusion Engineering Design Center over the past several years as well as the work of others in the United States and abroad. It specifically addresses the maintenance philosophy adopted for these devices, configuration design using modular components, maintenance operations, and equipment. In addition, the status of fusion development in the United States, Europe, and Japan is reviewed. 14 refs., 10 figs

  20. Simulation tools for robotic and teleoperated hazardous waste removal

    International Nuclear Information System (INIS)

    Love, L.J.; Kress, R.L.; Bills, K.C.

    1997-02-01

    The primary mission of Oak Ridge National laboratory (ORNL) during World War II was the processing of pure plutonium metal in support of the Manhattan Project. Between 1943 and 1951, the Gunite and Associated Tanks (GAAT) at ORNL were built to collect, neutralize, and store the radioactive by-products. Currently, twelve gunite tanks and four stainless steel tanks are located on the ORNL complex. These tanks hold approximately 75,000 gal of radioactive sludge and solids and over 350,000 gal of liquid. Characterization studies of these tanks in 1994 indicated that the structural integrity of some of the tanks is questionable. Subsequently, there is presently an aggressive program directed towards the remediation and relocation of waste stored in the ORNL tanks. A number of factors complicate the remediation process. The material stored in these tanks ranges from liquid to sludge and solid and is composed of organic materials, heavy metals, and radionuclides. The tanks, which range from 12 to 50 ft in diameter are located below ground and in the middle of the ORNL complex. The only access to these tanks is through one of three access ports that are either 12 or 24 in. in diameter. These characteristics provide a daunting challenge: How can material be safely removed from such a confined structure. This paper describes the existing strategy and hardware presently used in the remediation process. This is followed by a description of an integrated hardware system model. This investigation has isolated a few key areas where further work is needed

  1. Attitudinal Change in Elderly Citizens Toward Social Robots: The Role of Personality Traits and Beliefs About Robot Functionality.

    Science.gov (United States)

    Damholdt, Malene F; Nørskov, Marco; Yamazaki, Ryuji; Hakli, Raul; Hansen, Catharina Vesterager; Vestergaard, Christina; Seibt, Johanna

    2015-01-01

    Attitudes toward robots influence the tendency to accept or reject robotic devices. Thus it is important to investigate whether and how attitudes toward robots can change. In this pilot study we investigate attitudinal changes in elderly citizens toward a tele-operated robot in relation to three parameters: (i) the information provided about robot functionality, (ii) the number of encounters, (iii) personality type. Fourteen elderly residents at a rehabilitation center participated. Pre-encounter attitudes toward robots, anthropomorphic thinking, and personality were assessed. Thereafter the participants interacted with a tele-operated robot (Telenoid) during their lunch (c. 30 min.) for up to 3 days. Half of the participants were informed that the robot was tele-operated (IC) whilst the other half were naïve to its functioning (UC). Post-encounter assessments of attitudes toward robots and anthropomorphic thinking were undertaken to assess change. Attitudes toward robots were assessed with a new generic 35-items questionnaire (attitudes toward social robots scale: ASOR-5), offering a differentiated conceptualization of the conditions for social interaction. There was no significant difference between the IC and UC groups in attitude change toward robots though trends were observed. Personality was correlated with some tendencies for attitude changes; Extraversion correlated with positive attitude changes to intimate-personal relatedness with the robot (r = 0.619) and to psychological relatedness (r = 0.581) whilst Neuroticism correlated negatively (r = -0.582) with mental relatedness with the robot. The results tentatively suggest that neither information about functionality nor direct repeated encounters are pivotal in changing attitudes toward robots in elderly citizens. This may reflect a cognitive congruence bias where the robot is experienced in congruence with initial attitudes, or it may support action-based explanations of cognitive dissonance reductions

  2. Attitudinal change in elderly citizens towards social robots: the role of personality traits and beliefs about robot functionality.

    Directory of Open Access Journals (Sweden)

    Malene Flensborg Damholdt

    2015-11-01

    Full Text Available Attitudes towards robots influence the tendency to accept or reject robotic devices. Thus it is important to investigate whether and how attitudes towards robots can change. In this pilot study we investigate attitudinal changes in elderly citizens toward a tele-operated robot in relation to three parameters: (i the information provided about robot functionality, (ii the number of encounters, (iii personality type. Fourteen elderly residents at a rehabilitation centre participated. Pre-encounter attitudes towards robots, anthropomorphic thinking, and personality were assessed. Thereafter the participants interacted with a tele-operated robot (Telenoid during their lunch (c. 30 min. for up to three days. Half of the participants were informed that the robot was tele-operated (IC whilst the other half were naïve to its functioning (UC. Post-encounter assessments of attitudes towards robots and anthropomorphic thinking were undertaken to assess change. Attitudes towards robots were assessed with a new generic 35-item questionnaire (Attitudes towards social robots scale: ASOR-5, offering a differentiated conceptualization of the conditions for social interaction.There was no significant difference between the IC and UC groups in attitude change towards robots though trends were observed. Personality was correlated with some tendencies for attitude changes; Extraversion correlated with positive attitude changes to intimate-personal relatedness with the robot (r=.619 and to psychological relatedness (r=.581 whilst Neuroticism correlated negatively (r=-.582 with mental relatedness with the robot. The results tentatively suggest that neither information about functionality nor direct repeated encounters are pivotal in changing attitudes towards robots in elderly citizens. This may reflect a cognitive congruence bias where the robot is experienced in congruence with initial attitudes, or it may support action-based explanations of cognitive dissonance

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

    International Nuclear Information System (INIS)

    1985-06-01

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

  4. ROBOT TASK SCENE ANALYZER

    International Nuclear Information System (INIS)

    Hamel, William R.; Everett, Steven

    2000-01-01

    Environmental restoration and waste management (ER and WM) challenges in the United States Department of Energy (DOE), and around the world, involve radiation or other hazards which will necessitate the use of remote operations to protect human workers from dangerous exposures. Remote operations carry the implication of greater costs since remote work systems are inherently less productive than contact human work due to the inefficiencies/complexities of teleoperation. To reduce costs and improve quality, much attention has been focused on methods to improve the productivity of combined human operator/remote equipment systems; the achievements to date are modest at best. The most promising avenue in the near term is to supplement conventional remote work systems with robotic planning and control techniques borrowed from manufacturing and other domains where robotic automation has been used. Practical combinations of teleoperation and robotic control will yield telerobotic work systems that outperform currently available remote equipment. It is believed that practical telerobotic systems may increase remote work efficiencies significantly. Increases of 30% to 50% have been conservatively estimated for typical remote operations. It is important to recognize that the basic hardware and software features of most modern remote manipulation systems can readily accommodate the functionality required for telerobotics. Further, several of the additional system ingredients necessary to implement telerobotic control--machine vision, 3D object and workspace modeling, automatic tool path generation and collision-free trajectory planning--are existent

  5. ROBOT TASK SCENE ANALYZER

    Energy Technology Data Exchange (ETDEWEB)

    William R. Hamel; Steven Everett

    2000-08-01

    Environmental restoration and waste management (ER and WM) challenges in the United States Department of Energy (DOE), and around the world, involve radiation or other hazards which will necessitate the use of remote operations to protect human workers from dangerous exposures. Remote operations carry the implication of greater costs since remote work systems are inherently less productive than contact human work due to the inefficiencies/complexities of teleoperation. To reduce costs and improve quality, much attention has been focused on methods to improve the productivity of combined human operator/remote equipment systems; the achievements to date are modest at best. The most promising avenue in the near term is to supplement conventional remote work systems with robotic planning and control techniques borrowed from manufacturing and other domains where robotic automation has been used. Practical combinations of teleoperation and robotic control will yield telerobotic work systems that outperform currently available remote equipment. It is believed that practical telerobotic systems may increase remote work efficiencies significantly. Increases of 30% to 50% have been conservatively estimated for typical remote operations. It is important to recognize that the basic hardware and software features of most modern remote manipulation systems can readily accommodate the functionality required for telerobotics. Further, several of the additional system ingredients necessary to implement telerobotic control--machine vision, 3D object and workspace modeling, automatic tool path generation and collision-free trajectory planning--are existent.

  6. Development of a teleoperated backhoe for buried waste excavation

    International Nuclear Information System (INIS)

    Burks, B.L.; Killough, S.M.; Thompson, D.H.

    1992-01-01

    For nearly five decades the United States (US) Department of Energy (DOE) and its predecessor agencies have engaged in broad-based research and development activities as well as nuclear weapons component production. As a by-product of these activities, large quantities of waste materials have been granted. One of the most common approaches used for solid waste storage was to bury waste containers in pits and trenches. With the current emphasis on environmental restoration, DOE now plans to either retrieve much of the legacy of buried waste or stabilize the waste in place via in situ vitrification or other means. Because of the variety of materials that have been buried over the years, the hazards of retrieval are significant if performed using conventional manned operations. The potential hazards, in addition to radiation exposure, include pyrophorics, toxic chemicals, and explosives. Although manifests exist for much of the buried waste, these records are often incomplete compared to today's requirements. Because of the potential hazards and uncertainty about waste contents and container integrity, it is highly desirable to excavate these wastes using remotely operated equipment. In this paper the authors describe the development of a teleoperated military tractor called the Small Emplacement Excavator (SEE). Development of the SEE is being funded jointly by both DOE and the US Army. The DOE sponsor is the Office of Technology Development (OTD) Robotics Program. The US Army sponsor is the Program Manager for Ammunition Logistics, Picatinny Arsenal. The primary interest for DOE is in the application to remote excavation of buried waste, while the primary emphasis for the US Army is in the remote retrieval of unexploded ordnance. Technical requirements for these two tasks are very similar and, therefore, justify a joint development project. 1 ref

  7. Haptics for Virtual Reality and Teleoperation

    CERN Document Server

    Mihelj, Matjaž

    2012-01-01

    This book covers all topics relevant for the design of haptic interfaces and teleoperation systems. The book provides the basic knowledge required for understanding more complex approaches and more importantly it introduces all issues that must be considered for designing efficient and safe haptic interfaces. Topics covered in this book provide insight into all relevant components of a haptic system. The reader is guided from understanding the virtual reality concept to the final goal of being able to design haptic interfaces for specific tasks such as nanomanipulation.  The introduction chapter positions the haptic interfaces within the virtual reality context. In order to design haptic interfaces that will comply with human capabilities at least basic understanding of human sensors-motor system is required. An overview of this topic is provided in the chapter related to human haptics. The book does not try to introduce the state-of-the-art haptic interface solutions because these tend to change quickly. On...

  8. A Comparison of Types of Robot Control for Programming by Demonstration

    DEFF Research Database (Denmark)

    Fischer, Kerstin; Kirstein, Franziska; Jensen, Lars Christian

    2016-01-01

    Programming by Demonstration (PbD) is an efficient way for non-experts to teach new skills to a robot. PbD can be carried out in different ways, for instance, by kinesthetic guidance, teleoperation or by using external controls. In this paper, we compare these three ways of controlling a robot in...

  9. Robotics and Automation Activities at the Savannah River Site: A Site Report for SUBWOG 39F

    International Nuclear Information System (INIS)

    Teese, G.D.

    1995-01-01

    The Savannah River Site has successfully used robots, teleoperators, and remote video to reduce exposure to ionizing radiation, improve worker safety, and improve the quality of operations. Previous reports have described the use of mobile teleoperators in coping with a high level liquid waste spill, the removal of highly contaminated equipment, and the inspection of nuclear reactor vessels. This report will cover recent applications at the Savannah River, as well as systems which SRS has delivered to other DOE site customers

  10. Human Machine Interfaces for Teleoperators and Virtual Environments

    Science.gov (United States)

    Durlach, Nathaniel I. (Compiler); Sheridan, Thomas B. (Compiler); Ellis, Stephen R. (Compiler)

    1991-01-01

    In Mar. 1990, a meeting organized around the general theme of teleoperation research into virtual environment display technology was conducted. This is a collection of conference-related fragments that will give a glimpse of the potential of the following fields and how they interplay: sensorimotor performance; human-machine interfaces; teleoperation; virtual environments; performance measurement and evaluation methods; and design principles and predictive models.

  11. Control issues for a hydraulically powered dissimilar teleoperated system

    International Nuclear Information System (INIS)

    Jansen, J.F.; Kress, R.L.

    1995-01-01

    This paper will address two issues associated with the implementation of a hydraulically powered dissimilar master-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system will be presented. (Schilling's Titan II hydraulic manipulators are the slave manipulators and the master manipulators are from the Oak Ridge National Laboratory-developed Advanced Servo Manipulator.)

  12. Operator dynamics for stability condition in haptic and teleoperation system: A survey.

    Science.gov (United States)

    Li, Hongbing; Zhang, Lei; Kawashima, Kenji

    2018-04-01

    Currently, haptic systems ignore the varying impedance of the human hand with its countless configurations and thus cannot recreate the complex haptic interactions. The literature does not reveal a comprehensive survey on the methods proposed and this study is an attempt to bridge this gap. The paper includes an extensive review of human arm impedance modeling and control deployed to address inherent stability and transparency issues in haptic interaction and teleoperation systems. Detailed classification and comparative study of various contributions in human arm modeling are presented and summarized in tables and diagrams. The main challenges in modeling human arm impedance for haptic robotic applications are identified. The possible future research directions are outlined based on the gaps identified in the survey. Copyright © 2018 John Wiley & Sons, Ltd.

  13. International Workshop and Summer School on Medical and Service Robotics

    CERN Document Server

    Bouri, Mohamed; Mondada, Francesco; Pisla, Doina; Rodic, Aleksandar; Helmer, Patrick

    2016-01-01

    Medical and Service Robotics integrate the most recent achievements in mechanics, mechatronics, computer science, haptic and teleoperation devices together with adaptive control algorithms. The book  includes topics such as surgery robotics, assist devices, rehabilitation technology, surgical instrumentation and Brain-Machine Interface (BMI) as examples for medical robotics. Autonomous cleaning, tending, logistics, surveying and rescue robots, and elderly and healthcare robots are typical examples of topics from service robotics. This is the Proceedings of the Third International Workshop on Medical and Service Robots, held in Lausanne, Switzerland in 2014. It presents an overview of current research directions and fields of interest. It is divided into three sections, namely 1) assistive and rehabilitation devices; 2) surgical robotics; and 3) educational and service robotics. Most contributions are strongly anchored on collaborations between technical and medical actors, engineers, surgeons and clinicians....

  14. Usability of stereoscopic view in teleoperation

    Science.gov (United States)

    Boonsuk, Wutthigrai

    2015-03-01

    Recently, there are tremendous growths in the area of 3D stereoscopic visualization. The 3D stereoscopic visualization technology has been used in a growing number of consumer products such as the 3D televisions and the 3D glasses for gaming systems. This technology refers to the idea that human brain develops depth of perception by retrieving information from the two eyes. Our brain combines the left and right images on the retinas and extracts depth information. Therefore, viewing two video images taken at slightly distance apart as shown in Figure 1 can create illusion of depth [8]. Proponents of this technology argue that the stereo view of 3D visualization increases user immersion and performance as more information is gained through the 3D vision as compare to the 2D view. However, it is still uncertain if additional information gained from the 3D stereoscopic visualization can actually improve user performance in real world situations such as in the case of teleoperation.

  15. Automation and robotics for the Space Exploration Initiative: Results from Project Outreach

    Science.gov (United States)

    Gonzales, D.; Criswell, D.; Heer, E.

    1991-01-01

    A total of 52 submissions were received in the Automation and Robotics (A&R) area during Project Outreach. About half of the submissions (24) contained concepts that were judged to have high utility for the Space Exploration Initiative (SEI) and were analyzed further by the robotics panel. These 24 submissions are analyzed here. Three types of robots were proposed in the high scoring submissions: structured task robots (STRs), teleoperated robots (TORs), and surface exploration robots. Several advanced TOR control interface technologies were proposed in the submissions. Many A&R concepts or potential standards were presented or alluded to by the submitters, but few specific technologies or systems were suggested.

  16. The effect of a robot-assisted surgical system on the kinematics of user movements.

    Science.gov (United States)

    Nisky, Ilana; Hsieh, Michael H; Okamura, Allison M

    2013-01-01

    Teleoperated robot-assisted surgery (RAS) offers many advantages over traditional minimally invasive surgery. However, RAS has not yet realized its full potential, and it is not clear how to optimally train surgeons to use these systems. We hypothesize that the dynamics of the master manipulator impact the ability of users to make desired movements with the robot. We compared freehand and teleoperated movements of novices and experienced surgeons. To isolate the effects of dynamics from procedural knowledge, we chose simple movements rather than surgical tasks. We found statistically significant effects of teleoperation and user expertise in several aspects of motion, including target acquisition error, movement speed, and movement smoothness. Such quantitative assessment of human motor performance in RAS can impact the design of surgical robots, their control, and surgeon training methods, and eventually, improve patient outcomes.

  17. Vision-Based Robot Following Using PID Control

    Directory of Open Access Journals (Sweden)

    Chandra Sekhar Pati

    2017-06-01

    Full Text Available Applications like robots which are employed for shopping, porter services, assistive robotics, etc., require a robot to continuously follow a human or another robot. This paper presents a mobile robot following another tele-operated mobile robot based on a PID (Proportional–Integral-Differential controller. Here, we use two differential wheel drive robots; one is a master robot and the other is a follower robot. The master robot is manually controlled and the follower robot is programmed to follow the master robot. For the master robot, a Bluetooth module receives the user’s command from an android application which is processed by the master robot’s controller, which is used to move the robot. The follower robot receives the image from the Kinect sensor mounted on it and recognizes the master robot. The follower robot identifies the x, y positions by employing the camera and the depth by using the Kinect depth sensor. By identifying the x, y, and z locations of the master robot, the follower robot finds the angle and distance between the master and follower robot, which is given as the error term of a PID controller. Using this, the follower robot follows the master robot. A PID controller is based on feedback and tries to minimize the error. Experiments are conducted for two indigenously developed robots; one depicting a humanoid and the other a small mobile robot. It was observed that the follower robot was easily able to follow the master robot using well-tuned PID parameters.

  18. World tour through the internet

    International Nuclear Information System (INIS)

    Jang, Ji Hwan; Kang, Ho Seong; Kim, Jong Hun

    1994-03-01

    This book deals with basic knowledge and familiarity with internet use, which is composed of seven chapters ; the world of internet, the basic knowledge for internet use such as telnet, mail, talk, basic command on Unix and command for communication, to access to the internet, if you get on the internet for the first time, useful service of internet such as archie service, gopher service, who is service, Use net, IRC and Netiquette on IRC, interesting internet trip like Billboard charts, TV-Rating, Solar Report, Agricultural Info, CARL, Nat'l Education BBS, internet service in Sydney university FEDIX, CAIR, NOAA, SDDAS, Stock, MUD and international Go server. The last chapter is computer networks connected to the internet ; computer services, BITNET, and FidoNet.

  19. World tour through the internet

    Energy Technology Data Exchange (ETDEWEB)

    Jang, Ji Hwan; Kang, Ho Seong; Kim, Jong Hun

    1994-03-15

    This book deals with basic knowledge and familiarity with internet use, which is composed of seven chapters ; the world of internet, the basic knowledge for internet use such as telnet, mail, talk, basic command on Unix and command for communication, to access to the internet, if you get on the internet for the first time, useful service of internet such as archie service, gopher service, who is service, Use net, IRC and Netiquette on IRC, interesting internet trip like Billboard charts, TV-Rating, Solar Report, Agricultural Info, CARL, Nat'l Education BBS, internet service in Sydney university FEDIX, CAIR, NOAA, SDDAS, Stock, MUD and international Go server. The last chapter is computer networks connected to the internet ; computer services, BITNET, and FidoNet.

  20. International collaborations through the internet

    DEFF Research Database (Denmark)

    Olson, Gary M.; David, Paul A.; Eksteen, Johan

    2007-01-01

    The past decade has seen remarkable advances in the availability of tools to support scientific collaboration at a distance. This is especially good news for international collaborations, where in the past constraints on collocation and travel have made such collaborations a major challenge. The ...

  1. Neural-adaptive control of single-master-multiple-slaves teleoperation for coordinated multiple mobile manipulators with time-varying communication delays and input uncertainties.

    Science.gov (United States)

    Li, Zhijun; Su, Chun-Yi

    2013-09-01

    In this paper, adaptive neural network control is investigated for single-master-multiple-slaves teleoperation in consideration of time delays and input dead-zone uncertainties for multiple mobile manipulators carrying a common object in a cooperative manner. Firstly, concise dynamics of teleoperation systems consisting of a single master robot, multiple coordinated slave robots, and the object are developed in the task space. To handle asymmetric time-varying delays in communication channels and unknown asymmetric input dead zones, the nonlinear dynamics of the teleoperation system are transformed into two subsystems through feedback linearization: local master or slave dynamics including the unknown input dead zones and delayed dynamics for the purpose of synchronization. Then, a model reference neural network control strategy based on linear matrix inequalities (LMI) and adaptive techniques is proposed. The developed control approach ensures that the defined tracking errors converge to zero whereas the coordination internal force errors remain bounded and can be made arbitrarily small. Throughout this paper, stability analysis is performed via explicit Lyapunov techniques under specific LMI conditions. The proposed adaptive neural network control scheme is robust against motion disturbances, parametric uncertainties, time-varying delays, and input dead zones, which is validated by simulation studies.

  2. A Discrete-Time Algorithm for Stiffness Extraction from sEMG and Its Application in Antidisturbance Teleoperation

    Directory of Open Access Journals (Sweden)

    Peidong Liang

    2016-01-01

    Full Text Available We have developed a new discrete-time algorithm of stiffness extraction from muscle surface electromyography (sEMG collected from human operator’s arms and have applied it for antidisturbance control in robot teleoperation. The variation of arm stiffness is estimated from sEMG signals and transferred to a telerobot under variable impedance control to imitate human motor control behaviours, particularly for disturbance attenuation. In comparison to the estimation of stiffness from sEMG, the proposed algorithm is able to reduce the nonlinear residual error effect and to enhance robustness and to simplify stiffness calibration. In order to extract a smoothing stiffness enveloping from sEMG signals, two enveloping methods are employed in this paper, namely, fast linear enveloping based on low pass filtering and moving average and amplitude monocomponent and frequency modulating (AM-FM method. Both methods have been incorporated into the proposed stiffness variance estimation algorithm and are extensively tested. The test results show that stiffness variation extraction based on the two methods is sensitive and robust to attenuation disturbance. It could potentially be applied for teleoperation in the presence of hazardous surroundings or human robot physical cooperation scenarios.

  3. Positioning the laparoscopic camera with industrial robot arm

    DEFF Research Database (Denmark)

    Capolei, Marie Claire; Wu, Haiyan; Andersen, Nils Axel

    2017-01-01

    This paper introduces a solution for the movement control of the laparoscopic camera employing a teleoperated robotic assistant. The project propose an autonomous robotic solution based on an industrial manipulator, provided with a modular software which is applicable to large scale. The robot arm...... industrial robot arm is designated to accomplish this manipulation task. The software is implemented in ROS in order to facilitate future extensions. The experimental results shows a manipulator capable of moving fast and smoothly the surgical tool around a remote center of motion....

  4. Human-like Compliance for Dexterous Robot Hands

    Science.gov (United States)

    Jau, Bruno M.

    1995-01-01

    This paper describes the Active Electromechanical Compliance (AEC) system that was developed for the Jau-JPL anthropomorphic robot. The AEC system imitates the functionality of the human muscle's secondary function, which is to control the joint's stiffness: AEC is implemented through servo controlling the joint drive train's stiffness. The control strategy, controlling compliant joints in teleoperation, is described. It enables automatic hybrid position and force control through utilizing sensory feedback from joint and compliance sensors. This compliant control strategy is adaptable for autonomous robot control as well. Active compliance enables dual arm manipulations, human-like soft grasping by the robot hand, and opens the way to many new robotics applications.

  5. Iconic Gestures for Robot Avatars, Recognition and Integration with Speech

    Science.gov (United States)

    Bremner, Paul; Leonards, Ute

    2016-01-01

    Co-verbal gestures are an important part of human communication, improving its efficiency and efficacy for information conveyance. One possible means by which such multi-modal communication might be realized remotely is through the use of a tele-operated humanoid robot avatar. Such avatars have been previously shown to enhance social presence and operator salience. We present a motion tracking based tele-operation system for the NAO robot platform that allows direct transmission of speech and gestures produced by the operator. To assess the capabilities of this system for transmitting multi-modal communication, we have conducted a user study that investigated if robot-produced iconic gestures are comprehensible, and are integrated with speech. Robot performed gesture outcomes were compared directly to those for gestures produced by a human actor, using a within participant experimental design. We show that iconic gestures produced by a tele-operated robot are understood by participants when presented alone, almost as well as when produced by a human. More importantly, we show that gestures are integrated with speech when presented as part of a multi-modal communication equally well for human and robot performances. PMID:26925010

  6. Iconic Gestures for Robot Avatars, Recognition and Integration with Speech

    Directory of Open Access Journals (Sweden)

    Paul Adam Bremner

    2016-02-01

    Full Text Available Co-verbal gestures are an important part of human communication, improving its efficiency and efficacy for information conveyance. One possible means by which such multi-modal communication might be realised remotely is through the use of a tele-operated humanoid robot avatar. Such avatars have been previously shown to enhance social presence and operator salience. We present a motion tracking based tele-operation system for the NAO robot platform that allows direct transmission of speech and gestures produced by the operator. To assess the capabilities of this system for transmitting multi-modal communication, we have conducted a user study that investigated if robot-produced iconic gestures are comprehensible, and are integrated with speech. Robot performed gesture outcomes were compared directly to those for gestures produced by a human actor, using a within participant experimental design. We show that iconic gestures produced by a tele-operated robot are understood by participants when presented alone, almost as well as when produced by a human. More importantly, we show that gestures are integrated with speech when presented as part of a multi-modal communication equally well for human and robot performances.

  7. Control for delayed bilateral teleoperation of a quadrotor.

    Science.gov (United States)

    Slawiñski, E; Santiago, D; Mut, V

    2017-11-01

    This paper proposes a cascade control scheme for delayed bilateral teleoperation of a quadcopter. The strategy transforms a 6D real quadcopter to an easy-to-teleoperate 3D virtual quadcopter. The scheme is formed by a P+d plus PID controller for each dof. The analysis based on Lyapunov theory gets as result the way to set the control parameters depending on the magnitude of the asymmetric time delays (forward and backward delays). This technic aims to reach stability, simplicity and good performance in practice. Besides, experimental tests about delayed bilateral teleoperation of a quadcopter including the proposed control scheme are shown in order to evaluate the system performance. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  8. 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)

  9. Power and signal transmission for mobile teleoperated systems

    International Nuclear Information System (INIS)

    Morris, A.C. Jr.; Hamel, W.R.

    1986-01-01

    Appropriate means must be furnished for supplying power and for sending controlling commands to mobile teleoperated systems. This paper describes a number of umbilical, onboard, and wireless systems used in transmitting power that are available for mobile teleoperator services. The pros and cons of selecting appropriate methods from a list of possible communication systems (wired, fiber optic, and radio frequency) are also examined. Moreover, hybrid systems combining wireless power transmissions with command-information signals are also possible. 20 refs., 6 figs., 1 tab

  10. Immersive vision assisted remote teleoperation using head mounted displays

    International Nuclear Information System (INIS)

    Vakkapatla, Veerendrababu; Singh, Ashutosh Pratap; Rakesh, V.; Rajagopalan, C.; Murugan, S.; Sai Baba, M.

    2016-01-01

    Handling and inspection of irradiated material is inevitable in nuclear industry. Hot cells are shielded radiation containment chambers equipped with master slave manipulators that facilitates remote handling. The existing methods using viewing windows and cameras for viewing the contents of hot cell to manipulate the radioactive elements have problems such as optical distortion, limited distance teleoperation, limited field of view that lead to inefficient operation. This paper presents a method of achieving immersive teleoperation to operate the master slave manipulator in hot cells by exploiting the advanced tracking and display capabilities of head mounted display devices. (author)

  11. 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.)

  12. Switching robust control synthesis for teleoperation via dwell time conditions

    NARCIS (Netherlands)

    López Martínez, C.A.; van de Molengraft, M.J.G.; Steinbuch, M.; Auvray, M.; Duriez, C.

    2014-01-01

    Control design for bilateral teleoperation is still an open problem, given that it is desirable to meet a proper balance in the inherent trade-off between transparency and stability. We propose the use of switching robust control, in which smooth switching among controllers is achieved by the

  13. Assisted supervision of a computer aided tele-operation system

    Energy Technology Data Exchange (ETDEWEB)

    Le Bars, H; Gravez, P; Fournier, R

    1994-12-31

    This paper talks about Computer Aided Tele-operation (CAT) in dismantling and maintenance of nuclear plants. The current research orientations at CEA, basic concepts of the supervision assistance system and the realisation of a prototype are presented. (TEC). 3 refs., 4 figs.

  14. Assisted supervision of a computer aided tele-operation system

    International Nuclear Information System (INIS)

    Le Bars, H.; Gravez, P.; Fournier, R.

    1994-01-01

    This paper talks about Computer Aided Tele-operation (CAT) in dismantling and maintenance of nuclear plants. The current research orientations at CEA, basic concepts of the supervision assistance system and the realisation of a prototype are presented. (TEC). 3 refs., 4 figs

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

    Science.gov (United States)

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

    2017-10-01

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

  16. Hand-held medical robots.

    Science.gov (United States)

    Payne, Christopher J; Yang, Guang-Zhong

    2014-08-01

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

  17. Robotic security vehicle for exterior environments

    International Nuclear Information System (INIS)

    Klarer, P.R.; Workhoven, R.M.

    1988-01-01

    This paper describes a current effort at Sandia National Labs to develop an outdoor robotic vehicle capable of performing limited security functions autonomously in a structured environment. The present stage of development entails application of algorithms originally developed for the SIR vehicle to a testbed vehicle more appropriate to an outdoor environment. The current effort will culminate in a full scale demonstration of autonomous navigation capabilities on routine patrol and teleoperation by a human operator for alarm assessment and response. Various schemes for implementation of the robot system are discussed, as are plans for further development of the system

  18. Robotics research in Chile

    Directory of Open Access Journals (Sweden)

    Javier Ruiz-del-Solar

    2016-12-01

    Full Text Available The development of research in robotics in a developing country is a challenging task. Factors such as low research funds, low trust from local companies and the government, and a small number of qualified researchers hinder the development of strong, local research groups. In this article, and as a case of study, we present our research group in robotics at the Advanced Mining Technology Center of the Universidad de Chile, and the way in which we have addressed these challenges. In 2008, we decided to focus our research efforts in mining, which is the main industry in Chile. We observed that this industry has needs in terms of safety, productivity, operational continuity, and environmental care. All these needs could be addressed with robotics and automation technology. In a first stage, we concentrate ourselves in building capabilities in field robotics, starting with the automation of a commercial vehicle. An important outcome of this project was the earn of the local mining industry confidence. Then, in a second stage started in 2012, we began working with the local mining industry in technological projects. In this article, we describe three of the technological projects that we have developed with industry support: (i an autonomous vehicle for mining environments without global positioning system coverage; (ii the inspection of the irrigation flow in heap leach piles using unmanned aerial vehicles and thermal cameras; and (iii an enhanced vision system for vehicle teleoperation in adverse climatic conditions.

  19. The implications of force reflection for teleoperation in space

    International Nuclear Information System (INIS)

    Draper, J.V.; Herndon, J.N.; Moore, W.E.

    1987-01-01

    This paper reviews previous research on teleoperator force feedback and reports results of a testing program which assessed the impact of force reflection on teleoperator task performance. Force reflection is a type of force feedback in which the forces acting on the remote portion of the teleoperator are displayed to the operator by back-driving the master controller. The testing program compared three force reflection levels: 4 to 1 (four units of force on the slave produce one unit of force at the master controller), 1 to 1, and infinity to 1 (no force reflection). Time required to complete tasks, rate of occurrence of errors, the maximum force applied to tasks components, and variability in forces applied to components during completion of representative remote handling tasks were used as dependent variables. Operators exhibited lower error rates, lower peak forces, and more consistent application of forces using force reflection than they did without it. These data support the hypothesis that force reflection provides useful information for teleoperator users. The earlier literature and the results of the experiment are discussed in terms of their implications for space-based teleoperator systems. The discussion describes the impact of force reflection on task completion performance and task strategies, as suggested by the literature. It is important to understand the trade-offs involved in using telerobotic systems with and without force reflection. Force-reflecting systems are typically more expensive (in mass, volume, and price per unit), but they reduce mean time to repair and may be safer to use, compared to systems without force reflection

  20. Robotics research at Electrotechnical Laboratory-R and D program for advanced robot technology

    Energy Technology Data Exchange (ETDEWEB)

    Wakamatsu, S; Akahori, H; Shirai, Y; Kakikura, M

    1983-01-01

    The purposes of this paper are both to introduce the outline of robotics researches at Electrotechnical Laboratory and to describe the relation between those researches and the national project so called robotics for critical work. The authors first describe the robotics researches and related topics historically which have been continued from the latter half of 1960s as a part of researches on artificial intelligence at Electrotechnical Laboratory. Secondly, they mention the present aspects of our researches, its relation with past results, and changes of basic concepts on robotics systems. Finally, as an extension of our researches, they propose some approaches to establish the following techniques which make very important roles for the success of the national project; (1) manipulation techniques, (2) sensor techniques, (3) autonomous robot control techniques, (4) advanced tele-operation techniques and, (5) system totalizing techniques. 15 references.

  1. A framework for an institutional high level security policy for the processing of medical data and their transmission through the Internet.

    Science.gov (United States)

    Ilioudis, C; Pangalos, G

    2001-01-01

    The Internet provides many advantages when used for interaction and data sharing among health care providers, patients, and researchers. However, the advantages provided by the Internet come with a significantly greater element of risk to the confidentiality, integrity, and availability of information. It is therefore essential that Health Care Establishments processing and exchanging medical data use an appropriate security policy. To develop a High Level Security Policy for the processing of medical data and their transmission through the Internet, which is a set of high-level statements intended to guide Health Care Establishment personnel who process and manage sensitive health care information. We developed the policy based on a detailed study of the existing framework in the EU countries, USA, and Canada, and on consultations with users in the context of the Intranet Health Clinic project. More specifically, this paper has taken into account the major directives, technical reports, law, and recommendations that are related to the protection of individuals with regard to the processing of personal data, and the protection of privacy and medical data on the Internet. We present a High Level Security Policy for Health Care Establishments, which includes a set of 7 principles and 45 guidelines detailed in this paper. The proposed principles and guidelines have been made as generic and open to specific implementations as possible, to provide for maximum flexibility and adaptability to local environments. The High Level Security Policy establishes the basic security requirements that must be addressed to use the Internet to safely transmit patient and other sensitive health care information. The High Level Security Policy is primarily intended for large Health Care Establishments in Europe, USA, and Canada. It is clear however that the general framework presented here can only serve as reference material for developing an appropriate High Level Security Policy in a

  2. Automation and Robotics for Space-Based Systems, 1991

    Science.gov (United States)

    Williams, Robert L., II (Editor)

    1992-01-01

    The purpose of this in-house workshop was to assess the state-of-the-art of automation and robotics for space operations from an LaRC perspective and to identify areas of opportunity for future research. Over half of the presentations came from the Automation Technology Branch, covering telerobotic control, extravehicular activity (EVA) and intra-vehicular activity (IVA) robotics, hand controllers for teleoperation, sensors, neural networks, and automated structural assembly, all applied to space missions. Other talks covered the Remote Manipulator System (RMS) active damping augmentation, space crane work, modeling, simulation, and control of large, flexible space manipulators, and virtual passive controller designs for space robots.

  3. Air Force construction automation/robotics

    Science.gov (United States)

    Nease, AL; Dusseault, Christopher

    1994-01-01

    The Air Force has several unique requirements that are being met through the development of construction robotic technology. The missions associated with these requirements place construction/repair equipment operators in potentially harmful situations. Additionally, force reductions require that human resources be leveraged to the maximum extent possible and that more stringent construction repair requirements push for increased automation. To solve these problems, the U.S. Air Force is undertaking a research and development effort at Tyndall AFB, FL to develop robotic teleoperation, telerobotics, robotic vehicle communications, automated damage assessment, vehicle navigation, mission/vehicle task control architecture, and associated computing environment. The ultimate goal is the fielding of robotic repair capability operating at the level of supervised autonomy. The authors of this paper will discuss current and planned efforts in construction/repair, explosive ordnance disposal, hazardous waste cleanup, fire fighting, and space construction.

  4. 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.)

  5. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

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

  6. Human factors activities in teleoperator development at the Oak Ridge National Laboratory

    International Nuclear Information System (INIS)

    Draper, J.V.; Herndon, J.N.

    1986-01-01

    The Consolidated Fuel Reprocessing Program (CFRP) at the Oak Ridge National Laboratory is developing advanced teleoperator systems for maintenance of future nuclear reprocessing facilities. Remote maintenance systems developed by the CFRP emphasize man-in-the-loop teleoperation. Consequently, human factors issues which affect teleoperator performance must be addressed. This papers surveys research and development activities carried out by the human factors group within the Remote Control Engineering Task of the CFRP

  7. Human-Robot Interaction Directed Research Project

    Science.gov (United States)

    Rochlis, Jennifer; Ezer, Neta; Sandor, Aniko

    2011-01-01

    Human-robot interaction (HRI) is about understanding and shaping the interactions between humans and robots (Goodrich & Schultz, 2007). It is important to evaluate how the design of interfaces and command modalities affect the human s ability to perform tasks accurately, efficiently, and effectively (Crandall, Goodrich, Olsen Jr., & Nielsen, 2005) It is also critical to evaluate the effects of human-robot interfaces and command modalities on operator mental workload (Sheridan, 1992) and situation awareness (Endsley, Bolt , & Jones, 2003). By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed that support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for design. Because the factors associated with interfaces and command modalities in HRI are too numerous to address in 3 years of research, the proposed research concentrates on three manageable areas applicable to National Aeronautics and Space Administration (NASA) robot systems. These topic areas emerged from the Fiscal Year (FY) 2011 work that included extensive literature reviews and observations of NASA systems. The three topic areas are: 1) video overlays, 2) camera views, and 3) command modalities. Each area is described in detail below, along with relevance to existing NASA human-robot systems. In addition to studies in these three topic areas, a workshop is proposed for FY12. The workshop will bring together experts in human-robot interaction and robotics to discuss the state of the practice as applicable to research in space robotics. Studies proposed in the area of video overlays consider two factors in the implementation of augmented reality (AR) for operator displays during teleoperation. The first of these factors is the type of navigational guidance provided by AR symbology. In the proposed

  8. Study of high-definition and stereoscopic head-aimed vision for improved teleoperation of an unmanned ground vehicle

    Science.gov (United States)

    Tyczka, Dale R.; Wright, Robert; Janiszewski, Brian; Chatten, Martha Jane; Bowen, Thomas A.; Skibba, Brian

    2012-06-01

    Nearly all explosive ordnance disposal robots in use today employ monoscopic standard-definition video cameras to relay live imagery from the robot to the operator. With this approach, operators must rely on shadows and other monoscopic depth cues in order to judge distances and object depths. Alternatively, they can contact an object with the robot's manipulator to determine its position, but that approach carries with it the risk of detonation from unintentionally disturbing the target or nearby objects. We recently completed a study in which high-definition (HD) and stereoscopic video cameras were used in addition to conventional standard-definition (SD) cameras in order to determine if higher resolutions and/or stereoscopic depth cues improve operators' overall performance of various unmanned ground vehicle (UGV) tasks. We also studied the effect that the different vision modes had on operator comfort. A total of six different head-aimed vision modes were used including normal-separation HD stereo, SD stereo, "micro" (reduced separation) SD stereo, HD mono, and SD mono (two types). In general, the study results support the expectation that higher resolution and stereoscopic vision aid UGV teleoperation, but the degree of improvement was found to depend on the specific task being performed; certain tasks derived notably more benefit from improved depth perception than others. This effort was sponsored by the Joint Ground Robotics Enterprise under Robotics Technology Consortium Agreement #69-200902 T01. Technical management was provided by the U.S. Air Force Research Laboratory's Robotics Research and Development Group at Tyndall AFB, Florida.

  9. Power and signal transmission for mobile teleoperated systems

    International Nuclear Information System (INIS)

    Morris, A.C. Jr.; Hamel, W.R.

    1985-01-01

    Appropriate means must be furnished for supplying power and for sending controlling commands to mobile teleoperated systems. Because a sizable number of possibilities are available for such applications, methods used in designing both the power and communications systems built into mobile vehicles that serve in radiological emergencies must be carefully selected. This paper describes a number of umbilical, on-board, and wireless systems used in tranmitting power that are available for mobile teleoperator services. The pros and cons of selecting appropriate methods from a list of possible communication systems (wired, fiber optic, and radio frequency) are also examined. Moreover, hybrid systems combining wireless power transmissions with command-information signals are also possible

  10. Modeling Human Steering Behavior During Path Following in Teleoperation of Unmanned Ground Vehicles.

    Science.gov (United States)

    Mirinejad, Hossein; Jayakumar, Paramsothy; Ersal, Tulga

    2018-04-01

    This paper presents a behavioral model representing the human steering performance in teleoperated unmanned ground vehicles (UGVs). Human steering performance in teleoperation is considerably different from the performance in regular onboard driving situations due to significant communication delays in teleoperation systems and limited information human teleoperators receive from the vehicle sensory system. Mathematical models capturing the teleoperation performance are a key to making the development and evaluation of teleoperated UGV technologies fully simulation based and thus more rapid and cost-effective. However, driver models developed for the typical onboard driving case do not readily address this need. To fill the gap, this paper adopts a cognitive model that was originally developed for a typical highway driving scenario and develops a tuning strategy that adjusts the model parameters in the absence of human data to reflect the effect of various latencies and UGV speeds on driver performance in a teleoperated path-following task. Based on data collected from a human subject test study, it is shown that the tuned model can predict both the trend of changes in driver performance for different driving conditions and the best steering performance of human subjects in all driving conditions considered. The proposed model with the tuning strategy has a satisfactory performance in predicting human steering behavior in the task of teleoperated path following of UGVs. The established model is a suited candidate to be used in place of human drivers for simulation-based studies of UGV mobility in teleoperation systems.

  11. Operation Modes and Control Schemes for Internet-Based Teleoperation System with Time Delay

    Institute of Scientific and Technical Information of China (English)

    曾庆军; 宋爱国

    2003-01-01

    Teleoperation system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of teleoperation system, varying time delay causes the overall system unstable and reduces the performance of transparency. This paper proposed twelve operation modes with different control schemes for teleoperation on the Internet with time delay. And an optimal operation mode with control scheme was specified for teleoperation with time delay, based on the tradeoff between passivity and transparency properties. It experimentally confirmed the validity of the proposed optimal mode and control scheme by using a simple one DOF master-slave manipulator system.

  12. Creating robots with personality : the effect of personality on social intelligence

    NARCIS (Netherlands)

    Mileounis, A.; Cuijpers, R.H.; Barakova, E.I.

    2015-01-01

    This study investigates the effect of two personality traits, dominance and extroversion, on social intelligence. To test these traits, a NAO robot was used, which was teleoperated through a computer using a Wizard of Oz technique. A within-subject design was conducted with extroversion as

  13. Field analysis: approach to the design of teleoperator workstation

    International Nuclear Information System (INIS)

    Saint-Jean, T.; Lescoat, D.A.

    1986-04-01

    Following a brief review of theoretical scope this paper will characterize a methodology to the design of teleoperation workstations. This methodology is illustrated by an example - field analysis of a telemanipulation task in a hot cell. Practical informations are given: operating strategy different from the written procedure, team work organization, different skills. Recommendations are suggested as regards the writing of procedures, the training of personnel and the work organisation

  14. Trust between man and machine in a teleoperation system

    International Nuclear Information System (INIS)

    Dassonville, I.; Jolly, D.; Desodt, A.M.

    1996-01-01

    The work we present deals with the trust of man in a teleoperation system. Trust is important because it is linked to stress which modifies human reliability. We are trying to quantify trust. In this paper, we'll present the theory of trust in relationships, and its extension for a man-machine system. Then, we explain the links between trust and human reliability. Then, we introduce our experimental process and the first results concerning selfconfidence

  15. Monte Carlo Registration and Its Application with Autonomous Robots

    Directory of Open Access Journals (Sweden)

    Christian Rink

    2016-01-01

    Full Text Available This work focuses on Monte Carlo registration methods and their application with autonomous robots. A streaming and an offline variant are developed, both based on a particle filter. The streaming registration is performed in real-time during data acquisition with a laser striper allowing for on-the-fly pose estimation. Thus, the acquired data can be instantly utilized, for example, for object modeling or robot manipulation, and the laser scan can be aborted after convergence. Curvature features are calculated online and the estimated poses are optimized in the particle weighting step. For sampling the pose particles, uniform, normal, and Bingham distributions are compared. The methods are evaluated with a high-precision laser striper attached to an industrial robot and with a noisy Time-of-Flight camera attached to service robots. The shown applications range from robot assisted teleoperation, over autonomous object modeling, to mobile robot localization.

  16. Design, Modelling and Teleoperation of a 2 mm Diameter Compliant Instrument for the da Vinci Platform.

    Science.gov (United States)

    Francis, P; Eastwood, K W; Bodani, V; Looi, T; Drake, J M

    2018-05-07

    This work explores the feasibility of creating and accurately controlling an instrument for robotic surgery with a 2 mm diameter and a three degree-of-freedom (DoF) wrist which is compatible with the da Vinci platform. The instrument's wrist is composed of a two DoF bending notched-nitinol tube pattern, for which a kinematic model has been developed. A base mechanism for controlling the wrist is designed for integration with the da Vinci Research Kit. A basic teleoperation task is successfully performed using two of the miniature instruments. The performance and accuracy of the instrument suggest that creating and accurately controlling a 2 mm diameter instrument is feasible and the design and modelling proposed in this work provide a basis for future miniature instrument development.

  17. A Novel Switching-Based Control Framework for Improved Task Performance in Teleoperation System With Asymmetric Time-Varying Delays.

    Science.gov (United States)

    Zhai, Di-Hua; Xia, Yuanqing

    2018-02-01

    This paper addresses the adaptive control for task-space teleoperation systems with constrained predefined synchronization error, where a novel switched control framework is investigated. Based on multiple Lyapunov-Krasovskii functionals method, the stability of the resulting closed-loop system is established in the sense of state-independent input-to-output stability. Compared with previous work, the developed method can simultaneously handle the unknown kinematics/dynamics, asymmetric varying time delays, and prescribed performance control in a unified framework. It is shown that the developed controller can guarantee the prescribed transient-state and steady-state synchronization performances between the master and slave robots, which is demonstrated by the simulation study.

  18. Human-Robot Interaction: Status and Challenges.

    Science.gov (United States)

    Sheridan, Thomas B

    2016-06-01

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

  19. Human Machine Interfaces for Teleoperators and Virtual Environments Conference

    Science.gov (United States)

    1990-01-01

    In a teleoperator system the human operator senses, moves within, and operates upon a remote or hazardous environment by means of a slave mechanism (a mechanism often referred to as a teleoperator). In a virtual environment system the interactive human machine interface is retained but the slave mechanism and its environment are replaced by a computer simulation. Video is replaced by computer graphics. The auditory and force sensations imparted to the human operator are similarly computer generated. In contrast to a teleoperator system, where the purpose is to extend the operator's sensorimotor system in a manner that facilitates exploration and manipulation of the physical environment, in a virtual environment system, the purpose is to train, inform, alter, or study the human operator to modify the state of the computer and the information environment. A major application in which the human operator is the target is that of flight simulation. Although flight simulators have been around for more than a decade, they had little impact outside aviation presumably because the application was so specialized and so expensive.

  20. Virtual reality and telepresence control of robots used in hazardous environments

    International Nuclear Information System (INIS)

    Bronisz, L.E.; Pittman, P.C.

    1996-01-01

    The purpose of this project was to explore the application of teleoperation and telepresence control to robots in hazardous environments at Los Alamos. The primary use of this technology would be in a glove-box type operation potentially allowing operators to work on hazardous materials while being completely removed from the danger of exposure in situations that are difficult to completely automate due to the highly unstructured environments or off-normal conditions. This project focused on determining the most appropriate tools and methods that could be applied in the near future resulting in a reasonably inexpensive working teleoperation or telepresence control system for industrial robots used in the handling of hazardous materials. Several topics had to be addressed to perform this task including input devices, control systems, robot manipulators, and simulation techniques or packages. Much of the work is still in the developmental stage and hardware will follow -- providing a usable tool for glove box robot control

  1. Usability testing of a mobile robotic system for in-home telerehabilitation.

    Science.gov (United States)

    Boissy, Patrick; Brière, Simon; Corriveau, Hélène; Grant, Andrew; Lauria, Michel; Michaud, François

    2011-01-01

    Mobile robots designed to enhance telepresence in the support of telehealth services are being considered for numerous applications. TELEROBOT is a teleoperated mobile robotic platform equipped with videoconferencingcapabilities and designed to be used in a home environment to. In this study, learnability of the system's teleoperation interface and controls was evaluated with ten rehabilitation professionals during four training sessions in a laboratory environment and in an unknown home environment while performing the execution of a standardized evaluation protocol typically used in home care. Results show that the novice teleoperators' performances on two of the four metrics used (number of command and total time) improved significantly across training sessions (ANOVAS, phome environment during navigation tasks (r=0,77 and 0,60). With only 4 hours of training, rehabilitation professionals were able learn to teleoperate successfully TELEROBOT. However teleoperation performances remained significantly less efficient then those of an expert. Under the home task condition (navigating the home environment from one point to the other as fast as possible) this translated to completion time between 350 seconds (best performance) and 850 seconds (worse performance). Improvements in other usability aspects of the system will be needed to meet the requirements of in-home telerehabilitation.

  2. 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.

  3. An operator training simulator based on interactive virtual teleoperation: nuclear facilities maintenance applications

    International Nuclear Information System (INIS)

    Kim, Ki Ho; Kim, Seung Ho

    1997-01-01

    Remote manipulation in nuclear hazardous environment is very often complex and difficult to operate and requires excessively careful preparation. Remote slave manipulators for unstructured work are manually controlled by a human operator. Small errors made by the operator via the master manipulator during operation can cause the slave to be surffered from excessive forces and result in considerable damages to the slave iteself and its environment. In this paper, we present a prototype of an operator training simulator for use in nuclear facilities maintenance applications, as part of the ongoing Nuclear Robotics Development Program at Korea Atomic Energy Research Institute (KAERI). The operator training simulator provides a means by which, in virtual task simulation, the operator can try out and train for expected remote tasks that the real slave manipulator will perform in advance. The operator interacts with both the virtual slave and task environment through the real master. Virtual interaction force feedback is provided to the operator. We also describe a man-in-the loop control scheme to realize bilateral force reflection in virtual teleoperation

  4. Tele-Operated Echography and Remote Guidance for Performing Tele-Echography on Geographically Isolated Patients

    Directory of Open Access Journals (Sweden)

    Philippe Arbeille

    2016-06-01

    Full Text Available Objective: To evaluate the performance of three tele-echography systems for routine use in isolated medical centers. Methods: Three systems were used for deep (abdomen, pelvis, fetal and superficial (muscle, thyroid, carotid artery examinations: (a a robotic arm (RA holding an echographic probe; (b an echograph with a motorized probe (MP; and (c remote guidance (RG where the patient site operator performed the examination assisted by an expert via videoconference. All systems were tested in the same medical center located 60 km away from the university hospital. Results: A total of 340 remote echography examinations were performed (41% RA and MP, 59% RG. MP and RA allowed full control of the probe orientation by the expert, and provided diagnoses in 97% of cases. The use of RG was sufficient for superficial vessel examinations and provided diagnoses in 98% of cases but was not suited for deep or superficial organs. Assessment of superficial organs was best accomplished using the MP. Discussion: Both teleoperated systems provided control of the probe orientation by the expert necessary for obtaining appropriate views of deep organs but the MP was much more ergonomic and easier to use than the RA. RG was appropriate for superficial vessels while the MP was better for superficial volumic organs.

  5. Effect of biased feedback on motor imagery learning in BCI-teleoperation system

    Directory of Open Access Journals (Sweden)

    Maryam eAlimardani

    2014-04-01

    Full Text Available Feedback design is an important issue in motor imagery BCI systems. Regardless, to date it has not been reported how feedback presentation can optimize co-adaptation between a human brain and such systems. This paper assesses the effect of realistic visual feedback on users’ BC performance and motor imagery skills. We previously developed a tele-operation system for a pair of humanlike robotic hands and showed that BCI control of such hands along with first-person perspective visual feedback of movements can arouse a sense of embodiment in the operators. In the first stage of this study, we found that the intensity of this ownership illusion was associated with feedback presentation and subjects’ performance during BCI motion control. In the second stage, we probed the effect of positive and negative feedback bias on subjects’ BCI performance and motor imagery skills. Although the subject specific classifier, which was set up at the beginning of experiment, detected no significant change in the subjects’ online performance, evaluation of brain activity patterns revealed that subjects’ self-regulation of motor imagery features improved due to a positive bias of feedback and a possible occurrence of ownership illusion. Our findings suggest that in general training protocols for BCIs, manipulation of feedback can play an important role in the optimization of subjects’ motor imagery skills.

  6. Probabilistic scan mode of a robot manipulator workspace using EEG signals. Part I

    International Nuclear Information System (INIS)

    Auat Cheein, Fernando A; Di Sciascio, Fernando; Freire Bastos, Teodiano; Carelli, Ricardo

    2007-01-01

    In this paper a probabilistic-based workspace scan mode of a manipulator robot is presented. The scan mode is governed by a Brain Computer Interface (BCI) based on Event Related Potentials (Synchronization and Dessynchronization events). The user is capable to select a specific position at the robot's workspace, which should be reached by the manipulator. The robot workspace is divided into cells. Each cell has a probability value associated with it. Once the robot reaches a cell, its probability value is updated. The mode the scan is made is determined by the probability of all cells at the workspace. Finally, the manipulator is teleoperated via TCP/IP

  7. 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

    1992-01-01

    The goal of this project is to develop a mobile teleoperated system to do the job effectively of inspection and light duty maintenance work inside the containment buildings under severe environments. This is the second year of the project. Basically remotely controlled concept was adopted to a mobile robot which was equipped with 7 degrees of freedom anthropomorphic manipulator providing dexterous control. Closed-loop schemes for solving the inverse kinematics of the redundant manipulator were investigated and decentralized adaptive controller was designed for the end effector to track the desired trajectory. A new stair climbing algorithm was proposed to go over irregular stairs, and simulations and experiments were carried out. User-friendly teleoperated control console was designed to comply with human engineering. Off-line programming technique has been developing to enhance the safety and efficiency in task assignment of robot. This research will in consequence be in a strong position to bid for further work in this area. (Author)

  8. Direct force-reflecting two-layer approach for passive bilateral teleoperation with time delays

    NARCIS (Netherlands)

    Heck, D.; Saccon, A.; Beerens, R.; Nijmeijer, H.

    2018-01-01

    We propose a two-layer control architecture for bilateral teleoperation with communication delays. The controller is structured with an (inner) performance layer and an (outer) passivity layer. In the performance layer, any traditional controller for bilateral teleoperation can be implemented. The

  9. A two-layer architecture for force-reflecting bilateral teleoperation with time delays

    NARCIS (Netherlands)

    Heck, D.J.F.; Saccon, A.; Nijmeijer, H.

    2015-01-01

    We propose a two-layer control architecture for bilateral teleoperation with communication delays. The controller is structured with an (outer) performance layer and an (inner) passivity layer. In the performance layer, any traditional controller for bilateral teleoperation can be implemented. In

  10. Kinetic scrolling-based position mapping for haptic teleoperation of unmanned aerial vehicles

    NARCIS (Netherlands)

    Ruesch, A.; Mersha, A.Y.; Stramigioli, Stefano; Carloni, Raffaella

    In this paper, we present a haptic teleoperation control algorithm for unmanned aerial vehicles, applying a kinetic scrolling-based position mapping. The proposed algorithm overcomes the master workspace limitations and enables to teleoperate the aerial vehicle in unbounded workspace in a fast and

  11. Maestro: a tele-robotic system for decommissioning of nuclear plants

    International Nuclear Information System (INIS)

    Desbats, P.; Idasiak, J.M.

    2008-01-01

    Compared to electric manipulators, hydraulic manipulators can handle higher payloads with respect to their size and mass. However, due to their limited positioning resolution and dexterity, they are usually disqualified for precise tele-manipulation and high quality tele-operation. More over, experience feedback has shown that on-the-shelf hydraulic manipulators are not reliable when performing high demanding tasks in tele-operation for dismantling applications. In order to solve this problem, CEA (Commissariat l'Energie Atomique), in collaboration with Cybernetix company, has developed a computer-aided, high-precision remote handling system with force-feedback featuring the advanced hydraulic tele-robotic arm Maestro. (authors)

  12. Robots to assist daily activities: views of older adults with Alzheimer's disease and their caregivers.

    Science.gov (United States)

    Wang, Rosalie H; Sudhama, Aishwarya; Begum, Momotaz; Huq, Rajibul; Mihailidis, Alex

    2017-01-01

    Robots have the potential to both enable older adults with dementia to perform daily activities with greater independence, and provide support to caregivers. This study explored perspectives of older adults with Alzheimer's disease (AD) and their caregivers on robots that provide stepwise prompting to complete activities in the home. Ten dyads participated: Older adults with mild-to-moderate AD and difficulty completing activity steps, and their family caregivers. Older adults were prompted by a tele-operated robot to wash their hands in the bathroom and make a cup of tea in the kitchen. Caregivers observed interactions. Semi-structured interviews were conducted individually. Transcribed interviews were thematically analyzed. Three themes summarized responses to robot interactions: contemplating a future with assistive robots, considering opportunities with assistive robots, and reflecting on implications for social relationships. Older adults expressed opportunities for robots to help in daily activities, were open to the idea of robotic assistance, but did not want a robot. Caregivers identified numerous opportunities and were more open to robots. Several wanted a robot, if available. Positive consequences of robots in caregiving scenarios could include decreased frustration, stress, and relationship strain, and increased social interaction via the robot. A negative consequence could be decreased interaction with caregivers. Few studies have investigated in-depth perspectives of older adults with dementia and their caregivers following direct interaction with an assistive prompting robot. To fulfill the potential of robots, continued dialogue between users and developers, and consideration of robot design and caregiving relationship factors are necessary.

  13. Human-Robot Interaction Directed Research Project

    Science.gov (United States)

    Sandor, Aniko; Cross, Ernest V., II; Chang, Mai Lee

    2014-01-01

    Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces and command modalities affect the human's ability to perform tasks accurately, efficiently, and effectively when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. This DRP concentrates on three areas associated with interfaces and command modalities in HRI which are applicable to NASA robot systems: 1) Video Overlays, 2) Camera Views, and 3) Command Modalities. The first study focused on video overlays that investigated how Augmented Reality (AR) symbology can be added to the human-robot interface to improve teleoperation performance. Three types of AR symbology were explored in this study, command guidance (CG), situation guidance (SG), and both (SCG). CG symbology gives operators explicit instructions on what commands to input, whereas SG symbology gives operators implicit cues so that operators can infer the input commands. The combination of CG and SG provided operators with explicit and implicit cues allowing the operator to choose which symbology to utilize. The objective of the study was to understand how AR symbology affects the human operator's ability to align a robot arm to a target using a flight stick and the ability to allocate attention between the symbology and external views of the world. The study evaluated the effects type of symbology (CG and SG) has on operator tasks performance and attention allocation during teleoperation of a robot arm. The second study expanded on the first study by evaluating the effects of the type of

  14. 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...

  15. An Adaptive Regulator for Space Teleoperation System in Task Space

    Directory of Open Access Journals (Sweden)

    Chao Ge

    2014-01-01

    Full Text Available The problem of the gravity information which can not be obtained in advance for bilateral teleoperation is studied. In outer space exploration, the gravity term changes with the position changing of the slave manipulator. So it is necessary to design an adaptive regulator controller to compensate for the unknown gravity signal. Moreover, to get a more accurate position tracking performance, the controller is designed in the task space instead of the joint space. Additionally, the time delay considered in this paper is not only time varying but also unsymmetrical. Finally, simulations are presented to show the effectiveness of the proposed approach.

  16. Wave impedance selection for passivity-based bilateral teleoperation

    Science.gov (United States)

    D'Amore, Nicholas John

    When a task must be executed in a remote or dangerous environment, teleoperation systems may be employed to extend the influence of the human operator. In the case of manipulation tasks, haptic feedback of the forces experienced by the remote (slave) system is often highly useful in improving an operator's ability to perform effectively. In many of these cases (especially teleoperation over the internet and ground-to-space teleoperation), substantial communication latency exists in the control loop and has the strong tendency to cause instability of the system. The first viable solution to this problem in the literature was based on a scattering/wave transformation from transmission line theory. This wave transformation requires the designer to select a wave impedance parameter appropriate to the teleoperation system. It is widely recognized that a small value of wave impedance is well suited to free motion and a large value is preferable for contact tasks. Beyond this basic observation, however, very little guidance exists in the literature regarding the selection of an appropriate value. Moreover, prior research on impedance selection generally fails to account for the fact that in any realistic contact task there will simultaneously exist contact considerations (perpendicular to the surface of contact) and quasi-free-motion considerations (parallel to the surface of contact). The primary contribution of the present work is to introduce an approximate linearized optimum for the choice of wave impedance and to apply this quasi-optimal choice to the Cartesian reality of such a contact task, in which it cannot be expected that a given joint will be either perfectly normal to or perfectly parallel to the motion constraint. The proposed scheme selects a wave impedance matrix that is appropriate to the conditions encountered by the manipulator. This choice may be implemented as a static wave impedance value or as a time-varying choice updated according to the

  17. Research issues in implementing remote presence in teleoperator control

    Science.gov (United States)

    Corker, K.; Mishkin, A. H.; Lyman, J.

    1981-01-01

    The concept of remote presence in telemanipulation is presented. A conceptual design of a prototype teleoperator system incorporating remote presence is described. The design is presented in functional terms, sensor, display, and control subsystem. An intermediate environment, in which the human operator is made to feel present, is explicated. The intermediate environment differs from the task environment due to the quantity and type of information presented to an operator and due to scaling factors protecting the operator from the hazards of the task environment. Potential benefits of remote presence systems, both for manipulation and for the study of human cognition and preception are discussed.

  18. Teleoperation and computer control of a backhoe/manipulator system

    International Nuclear Information System (INIS)

    Amazeen, C.A.; Bishop, S.S.

    1987-01-01

    Teleoperation of the U.S. Army's Small Emplacement Excavator (SEE) is now in the prototype stage of development. Initial work is directed towards remotely controlling the SEE backhoe attachment as well as a Belvoir Research, Development, and Engineering Center (BRDEC)-developed heavy-lift manipulator (HLM). The HLM is an alternate end effector for the backhoe. Primitive computer control of the backhoe, with a bucket as an end effector, has been achieved. This paper presents the current and planned system configurations and discusses system applications

  19. Robotics Algorithms Provide Nutritional Guidelines

    Science.gov (United States)

    2009-01-01

    On July 5, 1997, a small robot emerged from its lander like an insect from an egg, crawling out onto the rocky surface of Mars. About the size of a child s wagon, NASA s Sojourner robot was the first successful rover mission to the Red Planet. For 83 sols (Martian days, typically about 40 minutes longer than Earth days), Sojourner - largely remote controlled by NASA operators on Earth - transmitted photos and data unlike any previously collected. Sojourner was perhaps the crowning achievement of the NASA Space Telerobotics Program, an Agency initiative designed to push the limits of robotics in space. Telerobotics - devices that merge the autonomy of robotics with the direct human control of teleoperators - was already a part of NASA s efforts; probes like the Viking landers that preceded Sojourner on Mars, for example, were telerobotic applications. The Space Telerobotics Program, a collaboration between Ames Research Center, Johnson Space Center, Jet Propulsion Laboratory (JPL), and multiple universities, focused on developing remote-controlled robotics for three main purposes: on-orbit assembly and servicing, science payload tending, and planetary surface robotics. The overarching goal was to create robots that could be guided to build structures in space, monitor scientific experiments, and, like Sojourner, scout distant planets in advance of human explorers. While telerobotics remains a significant aspect of NASA s efforts, as evidenced by the currently operating Spirit and Opportunity Mars rovers, the Hubble Space Telescope, and many others - the Space Telerobotics Program was dissolved and redistributed within the Agency the same year as Sojourner s success. The program produced a host of remarkable technologies and surprising inspirations, including one that is changing the way people eat

  20. Using virtual objects to aid underground storage tank teleoperation

    International Nuclear Information System (INIS)

    Anderson, R.J.; Davies, B.

    1994-01-01

    In this paper we describe an algorithm by which obstructions and surface features in an underground storage tank can be modeled and used to generate virtual barrier function for a real-time telerobotic system, which provides an aid to the operator for both real-time obstacle avoidance and for surface tracking. The algorithm requires that the slave's tool and every object in the waste storage tank be decomposed into convex polyhedral primitives, with the waste surface modeled by triangular prisms. Intrusion distance and extraction vectors are then derived at every time step by applying Gilbert's polyhedra distance algorithm, which has been adapted for the task. This information is then used to determine the compression and location of nonlinear virtual spring-dampers whose total force is summed and applied to the manipulator/teleoperator system. Experimental results using a PUMA 560 and a simulated waste surface validate the approach, showing that it is possible to compute the algorithm and generate smooth, realistic pseudo forces for the teleoperator system using standard VME bus hardware

  1. Advanced robotics R+D at KfK

    International Nuclear Information System (INIS)

    Rininsland, H.; Smidt, D.; Trauboth, H.; Kernforschungszentrum Karlsruhe G.m.b.H.; Kernforschungszentrum Karlsruhe G.m.b.H.

    1987-01-01

    Particular considerations for teleoperated and very long reach robotic systems are given. Robotic systems involving long reach referred to, include the TFTR maintenance boom developed for the Princeton fusion reactor and future automated cranes and bridge inspection equipment. A project to develop such long reach booms currently involves Putzmeister and the NRC, who will be responsible for developing the collision avoidance algorithms as part of a 'computer aided telemanipulation' approach. Problems encountered with operating equipment of this kind remotely were addressed during the recent Chernobyl disaster at which a range of equipment developed by Putzmeister was applied to combat the disaster. (orig./HP)

  2. The evolution of automation and robotics in manned spaceflight

    Science.gov (United States)

    Moser, T. L.; Erickson, J. D.

    1986-01-01

    The evolution of automation on all manned spacecraft including the Space Shuttle is reviewed, and a concept for increasing automation and robotics from the current Shuttle Remote Manipulator System (RMS) to an autonomous system is presented. The requirements for robotic elements are identified for various functions on the Space Station, including extravehicular functions and functions within laboratory and habitation modules which expand man's capacity in space and allow selected teleoperation from the ground. The initial Space Station will employ a telerobot and necessary knowledge based systems as an advisory to the crew on monitoring, fault diagnosis, and short term planning and scheduling.

  3. Mobile Manipulation, Tool Use, and Intuitive Interaction for Cognitive Service Robot Cosero

    Directory of Open Access Journals (Sweden)

    Jörg Stückler

    2016-11-01

    Full Text Available Cognitive service robots that shall assist persons in need in performing their activities of daily living have recently received much attention in robotics research.Such robots require a vast set of control and perception capabilities to provide useful assistance through mobile manipulation and human-robot interaction.In this article, we present hardware design, perception, and control methods for our cognitive service robot Cosero.We complement autonomous capabilities with handheld teleoperation interfaces on three levels of autonomy.The robot demonstrated various advanced skills, including the use of tools.With our robot we participated in the annual international RoboCup@Home competitions, winning them three times in a row.

  4. Controlling the autonomy of a reconnaissance robot

    Science.gov (United States)

    Dalgalarrondo, Andre; Dufourd, Delphine; Filliat, David

    2004-09-01

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

  5. A qualitative study of in-home robotic telepresence for home care of community-living elderly subjects

    DEFF Research Database (Denmark)

    Boissy, Patrice; Corriveau, Hélène; Michaud, François

    2007-01-01

    was illustrated using a photograph of a mobile robot, and participants were then asked to suggest potential health care applications. Interview data derived from the transcript of each group discussion were analyzed using qualitative induction based on content analysis. The analyses yielded statements that were...... categorized under three themes: potential applications, usability issues and user requirements. Teleoperated mobile robotic systems in the home were thought to be useful in assisting multidisciplinary patient care through improved communication between patients and healthcare professionals, and offering...

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

    Science.gov (United States)

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

    2016-05-01

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

  7. Robot engineering

    International Nuclear Information System (INIS)

    Jung, Seul

    2006-02-01

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

  8. Robot engineering

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seul

    2006-02-15

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

  9. Obstacle negotiation control for a mobile robot suspended on overhead ground wires by optoelectronic sensors

    Science.gov (United States)

    Zheng, Li; Yi, Ruan

    2009-11-01

    Power line inspection and maintenance already benefit from developments in mobile robotics. This paper presents mobile robots capable of crossing obstacles on overhead ground wires. A teleoperated robot realizes inspection and maintenance tasks on power transmission line equipment. The inspection robot is driven by 11 motor with two arms, two wheels and two claws. The inspection robot is designed to realize the function of observation, grasp, walk, rolling, turn, rise, and decline. This paper is oriented toward 100% reliable obstacle detection and identification, and sensor fusion to increase the autonomy level. An embedded computer based on PC/104 bus is chosen as the core of control system. Visible light camera and thermal infrared Camera are both installed in a programmable pan-and-tilt camera (PPTC) unit. High-quality visual feedback rapidly becomes crucial for human-in-the-loop control and effective teleoperation. The communication system between the robot and the ground station is based on Mesh wireless networks by 700 MHz bands. An expert system programmed with Visual C++ is developed to implement the automatic control. Optoelectronic laser sensors and laser range scanner were installed in robot for obstacle-navigation control to grasp the overhead ground wires. A novel prototype with careful considerations on mobility was designed to inspect the 500KV power transmission lines. Results of experiments demonstrate that the robot can be applied to execute the navigation and inspection tasks.

  10. International Advanced Robotics Programme. First workshop on manipulators, sensors and steps towards mobility

    International Nuclear Information System (INIS)

    Martin, T.

    1987-09-01

    This Workshop was held within the framework of the international collaboration in the area of advanced robotics, formerly initiated by the Economic Summit, called the International Advanced Robotics Programme (IARP). It was hosted by the Nuclear Research Center Karlsruhe on May 11-13, 1987. Ninety scientists of eight countries presented and discussed 32 R+D projects. The Proceedings contain full papers of most contributions (and summaries of the remaining ones) and summary reports on all of the eight sessions. The material presented reflects well the present endeavor to integrate advanced robotics and teleoperation techniques for difficult applications in harsh, demanding or dangerous conditions or environment. (orig.) [de

  11. New Design of Mobile Robot Path Planning with Randomly Moving Obstacles

    Directory of Open Access Journals (Sweden)

    T. A. Salih

    2013-05-01

    Full Text Available The navigation of a mobile robot in an unknown environment has always been a very challenging task. In order to achieve safe and autonomous navigation, the mobile robot needs to sense the surrounding environment and plans a collision-free path. This paper focuses on designing and implementing a mobile robot which has the ability of navigating smoothly in an unknown environment, avoiding collisions, without having to stop in front of obstacles, detecting leakage of combustible gases and transmitting a message of detection results to the civil defense unit automatically through the Internet to the E-mail. This design uses the implementation of artificial neural network (ANN on a new technology represented by Field Programmable Analog Array (FPAA for controlling the motion of the robot. The robot with the proposed controller is tested and has completed the required objective successfully.

  12. Robotics and artificial intelligence for hazardous environments

    International Nuclear Information System (INIS)

    Spelt, P.F.

    1993-01-01

    In our technological society, hazardous materials including toxic chemicals, flammable, explosive, and radioactive substances, and biological agents, are used and handled routinely. Each year, many workers who handle these substances are accidently contaminated, in some cases resulting in injury, death, or chronic disabilities. If these hazardous materials could be handled remotely, either with a teleoperated robot (operated by a worker in a safe location) or by an autonomous robot, then human suffering and economic costs of accidental exposures could be dramatically reduced. At present, it is still difficult for commercial robotic technology to completely replace humans involved in performing complex work tasks in hazardous environments. The robotics efforts at the Center for Engineering Systems Advanced Research represent a significant effort at contributing to the advancement of robotics for use in hazardous environments. While this effort is very broad-based, ranging from dextrous manipulation to mobility and integrated sensing, the technical portion of this paper will focus on machine learning and the high-level decision making needed for autonomous robotics

  13. Advanced teleoperation in nuclear applications: consolidated fuel reprocessing program

    International Nuclear Information System (INIS)

    Hamel, W.R.; Feldman, M.J.; Martin, H.L.

    1984-01-01

    A new generation of integrated remote maintenance systems is being developed to meet the needs of future nuclear fuel reprocessing at the Oak Ridge National Laboratory. Development activities cover all aspects of an advanced teleoperated maintenance system with particular emphasis on a new force-reflecting servomanipulator concept. The new manipulator, called the advanced servomanipulator, is microprocessor controlled and is designed to achieve force-reflection performance near that of mechanical master/slave manipulators. The advanced servomanipulator uses a gear-drive transmission which permits modularization for remote maintainability (by other advanced servomanipulators) and increases reliability. Human factors analysis has been used to develop an improved man/machine interface concept based upon colographic displays and menu-driven touch screens. Initial test and evaluation of two advanced servomanipulator slave arms and several other development components have begun. 9 references, 5 figures

  14. 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.

  15. Passivity-based control and estimation in networked robotics

    CERN Document Server

    Hatanaka, Takeshi; Fujita, Masayuki; Spong, Mark W

    2015-01-01

    Highlighting the control of networked robotic systems, this book synthesizes a unified passivity-based approach to an emerging cross-disciplinary subject. Thanks to this unified approach, readers can access various state-of-the-art research fields by studying only the background foundations associated with passivity. In addition to the theoretical results and techniques,  the authors provide experimental case studies on testbeds of robotic systems  including networked haptic devices, visual robotic systems,  robotic network systems and visual sensor network systems. The text begins with an introduction to passivity and passivity-based control together with the other foundations needed in this book. The main body of the book consists of three parts. The first examines how passivity can be utilized for bilateral teleoperation and demonstrates the inherent robustness of the passivity-based controller against communication delays. The second part emphasizes passivity’s usefulness for visual feedback control ...

  16. A mobile robot for remote inspection of radioactive waste

    International Nuclear Information System (INIS)

    Suh, Y. C.; Kim, C. H.; Cho, J. W.; Choi, Y. S.; Kim, S. H.

    2004-01-01

    Tele-operation and remote monitoring techniques are essential and important technologies for the inspection and maintenance of the radioactive waste. A mobile robot has been developed for the application of remote monitoring and inspection of nuclear facilities, where human access is limited because of the high-level radioactive environments. The mobile robot was designed with reconfigurable crawler type of wheels attached on the front and rear side in order to pass through the ditch. The extendable mast, mounted on the mobile robot, car be extended up to 8 m vertically. The robust controller for radiation is designed in focus on electric components to prevent abnormal operation in a highly radioactivated area during reactor operation. This robot system will enhance the reliability of nuclear power facilities, and cope with the unexpected radiation accident

  17. The development of robot application technology in nuclear facilities

    International Nuclear Information System (INIS)

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

    1991-01-01

    The project of this study is intended to develop the application technology for autonomous robotic systems operated in hostile environments where human access is prohibited. The mobile robot, named as KAEROT, has been designed by adopting the controller of multiprocessor of distributed system architecture in order to get flexibility. 2 driving wheel assembles and 1 steering mechanism has been adopted and each of them is made of planetary wheel which is composed of a couple of star-like arms with 3 wheels. The 6 D.O.F of manipulator is controlled by CCD camera mounted on the elbow and base, to provide wide view of the working area for tele-operation. The off-line programming system is being developed for checking robot constraint violations within workspace prior to execution of robot programming. (Author)

  18. Toward a framework for levels of robot autonomy in human-robot interaction.

    Science.gov (United States)

    Beer, Jenay M; Fisk, Arthur D; Rogers, Wendy A

    2014-07-01

    A critical construct related to human-robot interaction (HRI) is autonomy, which varies widely across robot platforms. Levels of robot autonomy (LORA), ranging from teleoperation to fully autonomous systems, influence the way in which humans and robots may interact with one another. Thus, there is a need to understand HRI by identifying variables that influence - and are influenced by - robot autonomy. Our overarching goal is to develop a framework for levels of robot autonomy in HRI. To reach this goal, the framework draws links between HRI and human-automation interaction, a field with a long history of studying and understanding human-related variables. The construct of autonomy is reviewed and redefined within the context of HRI. Additionally, the framework proposes a process for determining a robot's autonomy level, by categorizing autonomy along a 10-point taxonomy. The framework is intended to be treated as guidelines to determine autonomy, categorize the LORA along a qualitative taxonomy, and consider which HRI variables (e.g., acceptance, situation awareness, reliability) may be influenced by the LORA.

  19. Haptic Data Processing for Teleoperation Systems: Prediction, Compression and Error Correction

    OpenAIRE

    Lee, Jae-young

    2013-01-01

    This thesis explores haptic data processing methods for teleoperation systems, including prediction, compression, and error correction. In the proposed haptic data prediction method, unreliable network conditions, such as time-varying delay and packet loss, are detected by a transport layer protocol. Given the information from the transport layer, a Bayesian approach is introduced to predict position and force data in haptic teleoperation systems. Stability of the proposed method within stoch...

  20. Duty cycle testing and performance evaluation of the SM-229 teleoperator

    International Nuclear Information System (INIS)

    Stoughton, R.S.; Kuban, D.P.

    1985-11-01

    This paper contains the first known experimental studies and analyses of teleoperator performance for specific duty cycles. The results are presented in two distinct areas as position usage patterns, and as three-dimensional power grids. The position usage patterns are a valuable means to assess the available motion range. The power grids are a unique concept for evaluating joint performance. Final conclusions contain recommendations to upgrade the teleoperator for optimum performance. 3 refs., 16 figs

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

    International Nuclear Information System (INIS)

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

    1998-01-01

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

  2. Virtual and Remote Robotic Laboratory Using EJS, MATLAB and LabVIEW

    Directory of Open Access Journals (Sweden)

    Jose Antonio Lopez-Orozco

    2013-02-01

    Full Text Available This paper describes the design and implementation of a virtual and remote laboratory based on Easy Java Simulations (EJS and LabVIEW. The main application of this laboratory is to improve the study of sensors in Mobile Robotics, dealing with the problems that arise on the real world experiments. This laboratory allows the user to work from their homes, tele-operating a real robot that takes measurements from its sensors in order to obtain a map of its environment. In addition, the application allows interacting with a robot simulation (virtual laboratory or with a real robot (remote laboratory, with the same simple and intuitive graphical user interface in EJS. Thus, students can develop signal processing and control algorithms for the robot in simulation and then deploy them on the real robot for testing purposes. Practical examples of application of the laboratory on the inter-University Master of Systems Engineering and Automatic Control are presented.

  3. Virtual and remote robotic laboratory using EJS, MATLAB and LabVIEW.

    Science.gov (United States)

    Chaos, Dictino; Chacón, Jesús; Lopez-Orozco, Jose Antonio; Dormido, Sebastián

    2013-02-21

    This paper describes the design and implementation of a virtual and remote laboratory based on Easy Java Simulations (EJS) and LabVIEW. The main application of this laboratory is to improve the study of sensors in Mobile Robotics, dealing with the problems that arise on the real world experiments. This laboratory allows the user to work from their homes, tele-operating a real robot that takes measurements from its sensors in order to obtain a map of its environment. In addition, the application allows interacting with a robot simulation (virtual laboratory) or with a real robot (remote laboratory), with the same simple and intuitive graphical user interface in EJS. Thus, students can develop signal processing and control algorithms for the robot in simulation and then deploy them on the real robot for testing purposes. Practical examples of application of the laboratory on the inter-University Master of Systems Engineering and Automatic Control are presented.

  4. Research on Modeling Technology of Virtual Robot Based on LabVIEW

    Science.gov (United States)

    Wang, Z.; Huo, J. L.; Y Sun, L.; Y Hao, X.

    2017-12-01

    Because of the dangerous working environment, the underwater operation robot for nuclear power station needs manual teleoperation. In the process of operation, it is necessary to guide the position and orientation of the robot in real time. In this paper, the geometric modeling of the virtual robot and the working environment is accomplished by using SolidWorks software, and the accurate modeling and assembly of the robot are realized. Using LabVIEW software to read the model, and established the manipulator forward kinematics and inverse kinematics model, and realized the hierarchical modeling of virtual robot and computer graphics modeling. Experimental results show that the method studied in this paper can be successfully applied to robot control system.

  5. Modeling Leadership Styles in Human-Robot Team Dynamics

    Science.gov (United States)

    Cruz, Gerardo E.

    2005-01-01

    The recent proliferation of robotic systems in our society has placed questions regarding interaction between humans and intelligent machines at the forefront of robotics research. In response, our research attempts to understand the context in which particular types of interaction optimize efficiency in tasks undertaken by human-robot teams. It is our conjecture that applying previous research results regarding leadership paradigms in human organizations will lead us to a greater understanding of the human-robot interaction space. In doing so, we adapt four leadership styles prevalent in human organizations to human-robot teams. By noting which leadership style is more appropriately suited to what situation, as given by previous research, a mapping is created between the adapted leadership styles and human-robot interaction scenarios-a mapping which will presumably maximize efficiency in task completion for a human-robot team. In this research we test this mapping with two adapted leadership styles: directive and transactional. For testing, we have taken a virtual 3D interface and integrated it with a genetic algorithm for use in &le-operation of a physical robot. By developing team efficiency metrics, we can determine whether this mapping indeed prescribes interaction styles that will maximize efficiency in the teleoperation of a robot.

  6. Robotic-surgical instrument wrist pose estimation.

    Science.gov (United States)

    Fabel, Stephan; Baek, Kyungim; Berkelman, Peter

    2010-01-01

    The Compact Lightweight Surgery Robot from the University of Hawaii includes two teleoperated instruments and one endoscope manipulator which act in accord to perform assisted interventional medicine. The relative positions and orientations of the robotic instruments and endoscope must be known to the teleoperation system so that the directions of the instrument motions can be controlled to correspond closely to the directions of the motions of the master manipulators, as seen by the the endoscope and displayed to the surgeon. If the manipulator bases are mounted in known locations and all manipulator joint variables are known, then the necessary coordinate transformations between the master and slave manipulators can be easily computed. The versatility and ease of use of the system can be increased, however, by allowing the endoscope or instrument manipulator bases to be moved to arbitrary positions and orientations without reinitializing each manipulator or remeasuring their relative positions. The aim of this work is to find the pose of the instrument end effectors using the video image from the endoscope camera. The P3P pose estimation algorithm is used with a Levenberg-Marquardt optimization to ensure convergence. The correct transformations between the master and slave coordinate frames can then be calculated and updated when the bases of the endoscope or instrument manipulators are moved to new, unknown, positions at any time before or during surgical procedures.

  7. Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot

    Directory of Open Access Journals (Sweden)

    Max Schwarz

    2016-10-01

    Full Text Available Planetary exploration scenarios illustrate the need for autonomous robots that are capable to operate in unknown environments without direct human interaction. At the DARPA Robotics Challenge, we demonstrated that our Centaur-like mobile manipulation robot Momaro can solve complex tasks when teleoperated. Motivated by the DLR SpaceBot Cup 2015, where robots should explore a Mars-like environment, find and transport objects, take a soil sample, and perform assembly tasks, we developed autonomous capabilities for Momaro. Our robot perceives and maps previously unknown, uneven terrain using a 3D laser scanner. Based on the generated height map, we assess drivability, plan navigation paths, and execute them using the omnidirectional drive. Using its four legs, the robot adapts to the slope of the terrain. Momaro perceives objects with cameras, estimates their pose, and manipulates them with its two arms autonomously. For specifying missions, monitoring mission progress, on-the-fly reconfiguration, and teleoperation, we developed a ground station with suitable operator interfaces. To handle network communication interruptions and latencies between robot and ground station, we implemented a robust network layer for the ROS middleware. With the developed system, our team NimbRo Explorer solved all tasks of the DLR SpaceBot Camp 2015. We also discuss the lessons learned from this demonstration.

  8. Adding navigation, artificial audition and vital sign monitoring capabilities to a telepresence mobile robot for remote home care applications.

    Science.gov (United States)

    Laniel, Sebastien; Letourneau, Dominic; Labbe, Mathieu; Grondin, Francois; Polgar, Janice; Michaud, Francois

    2017-07-01

    A telepresence mobile robot is a remote-controlled, wheeled device with wireless internet connectivity for bidirectional audio, video and data transmission. In health care, a telepresence robot could be used to have a clinician or a caregiver assist seniors in their homes without having to travel to these locations. Many mobile telepresence robotic platforms have recently been introduced on the market, bringing mobility to telecommunication and vital sign monitoring at reasonable costs. What is missing for making them effective remote telepresence systems for home care assistance are capabilities specifically needed to assist the remote operator in controlling the robot and perceiving the environment through the robot's sensors or, in other words, minimizing cognitive load and maximizing situation awareness. This paper describes our approach adding navigation, artificial audition and vital sign monitoring capabilities to a commercially available telepresence mobile robot. This requires the use of a robot control architecture to integrate the autonomous and teleoperation capabilities of the platform.

  9. 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.

  10. 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

  11. Providing haptic feedback in robot-assisted minimally invasive surgery: a direct optical force-sensing solution for haptic rendering of deformable bodies.

    Science.gov (United States)

    Ehrampoosh, Shervin; Dave, Mohit; Kia, Michael A; Rablau, Corneliu; Zadeh, Mehrdad H

    2013-01-01

    This paper presents an enhanced haptic-enabled master-slave teleoperation system which can be used to provide force feedback to surgeons in minimally invasive surgery (MIS). One of the research goals was to develop a combined-control architecture framework that included both direct force reflection (DFR) and position-error-based (PEB) control strategies. To achieve this goal, it was essential to measure accurately the direct contact forces between deformable bodies and a robotic tool tip. To measure the forces at a surgical tool tip and enhance the performance of the teleoperation system, an optical force sensor was designed, prototyped, and added to a robot manipulator. The enhanced teleoperation architecture was formulated by developing mathematical models for the optical force sensor, the extended slave robot manipulator, and the combined-control strategy. Human factor studies were also conducted to (a) examine experimentally the performance of the enhanced teleoperation system with the optical force sensor, and (b) study human haptic perception during the identification of remote object deformability. The first experiment was carried out to discriminate deformability of objects when human subjects were in direct contact with deformable objects by means of a laparoscopic tool. The control parameters were then tuned based on the results of this experiment using a gain-scheduling method. The second experiment was conducted to study the effectiveness of the force feedback provided through the enhanced teleoperation system. The results show that the force feedback increased the ability of subjects to correctly identify materials of different deformable types. In addition, the virtual force feedback provided by the teleoperation system comes close to the real force feedback experienced in direct MIS. The experimental results provide design guidelines for choosing and validating the control architecture and the optical force sensor.

  12. 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 ...

  13. Robot Aesthetics

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

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

  14. Filigree Robotics

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  15. Experimental evaluation of magnified haptic feedback for robot-assisted needle insertion and palpation.

    Science.gov (United States)

    Meli, Leonardo; Pacchierotti, Claudio; Prattichizzo, Domenico

    2017-12-01

    Haptic feedback has been proven to play a key role in enhancing the performance of teleoperated medical procedures. However, due to safety issues, commercially-available medical robots do not currently provide the clinician with haptic feedback. This work presents the experimental evaluation of a teleoperation system for robot-assisted medical procedures able to provide magnified haptic feedback to the clinician. Forces registered at the operating table are magnified and provided to the clinician through a 7-DoF haptic interface. The same interface is also used to control the motion of a 6-DoF slave robotic manipulator. The safety of the system is guaranteed by a time-domain passivity-based control algorithm. Two experiments were carried out on stiffness discrimination (during palpation and needle insertion) and one experiment on needle guidance. Our haptic-enabled teleoperation system improved the performance with respect to direct hand interaction of 80%, 306%, and 27% in stiffness discrimination through palpation, stiffness discrimination during needle insertion, and guidance, respectively. Copyright © 2017 John Wiley & Sons, Ltd.

  16. A novel optimal coordinated control strategy for the updated robot system for single port surgery.

    Science.gov (United States)

    Bai, Weibang; Cao, Qixin; Leng, Chuntao; Cao, Yang; Fujie, Masakatsu G; Pan, Tiewen

    2017-09-01

    Research into robotic systems for single port surgery (SPS) has become widespread around the world in recent years. A new robot arm system for SPS was developed, but its positioning platform and other hardware components were not efficient. Special features of the developed surgical robot system make good teleoperation with safety and efficiency difficult. A robot arm is combined and used as new positioning platform, and the remote center motion is realized by a new method using active motion control. A new mapping strategy based on kinematics computation and a novel optimal coordinated control strategy based on real-time approaching to a defined anthropopathic criterion configuration that is referred to the customary ease state of human arms and especially the configuration of boxers' habitual preparation posture are developed. The hardware components, control architecture, control system, and mapping strategy of the robotic system has been updated. A novel optimal coordinated control strategy is proposed and tested. The new robot system can be more dexterous, intelligent, convenient and safer for preoperative positioning and intraoperative adjustment. The mapping strategy can achieve good following and representation for the slave manipulator arms. And the proposed novel control strategy can enable them to complete tasks with higher maneuverability, lower possibility of self-interference and singularity free while teleoperating. Copyright © 2017 John Wiley & Sons, Ltd.

  17. Human-Multi-Robot Teleoperation for Cooperative Manipulation Tasks using Wearable Haptic Devices

    DEFF Research Database (Denmark)

    Chinello, Francesco

    2017-01-01

    . Control inputs for both subtasks are provided by the human. The inputs are projected onto the space of subtasks using a forward mapping strategy. Measured wrenches are projected onto the feedback signals provided to the human via wearable fingertip haptic devices through a feedback mapping strategy...

  18. Update on radiation-hardened microcomputers for robotics and teleoperated systems

    International Nuclear Information System (INIS)

    Sias, F.R. Jr.; Tulenko, J.S.

    1993-01-01

    Since many programs sponsored by the Department of Defense are being canceled, it is important to select carefully radiation-hardened microprocessors for projects that will mature (or will require continued support) several years in the future. At the present time there are seven candidate 32-bit processors that should be considered for long-range planning for high-performance radiation-hardened computer systems. For Department of Energy applications it is also important to consider efforts at standardization that require the use of the VxWorks operating system and hardware based on the VMEbus. Of the seven processors, one has been delivered and is operating and other systems are scheduled to be delivered late in 1993 or early in 1994. At the present time the Honeywell-developed RH32, the Harris RH-3000 and the Harris RHC-3000 are leading contenders for meeting DOE requirements for a radiation-hardened advanced 32-bit microprocessor. These are all either compatible with or are derivatives of the MIPS R3000 Reduced Instruction Set Computer. It is anticipated that as few as two of the seven radiation-hardened processors will be supported by the space program in the long run

  19. A robotic system to characterize soft tailings deposits

    Energy Technology Data Exchange (ETDEWEB)

    Lipsett, M.G.; Dwyer, S.C. [Alberta Univ., Edmonton, AB (Canada). Dept. of Mechanical Engineering

    2009-07-01

    A robotic system for characterizing soft tailings deposits was discussed in this presentation. The system was developed to reduce variability in feedstocks and process performance as well as to improve the trafficability of composite tailings (CT). The method was designed to reliably sample different locations of a soft deposit. Sensors were used to determine water content, clay content, organic matter, and strength. The system included an autonomous rover with a sensor package and teleoperation capability. The system was also designed to be used without automatic controls. The wheeled mobile robot was used to conduct ground contact and soil measurements. The gas-powered robot included on-board microcontrollers and a host computer. The system also featured traction control and fault recovery sub-systems. Wheel contact was used to estimate soil parameters. It was concluded that further research is needed to improve traction control and soil parameter estimation testing capabilities. Overall system block diagrams were included. tabs., figs.

  20. Robonaut: a robot designed to work with humans in space

    Science.gov (United States)

    Bluethmann, William; Ambrose, Robert; Diftler, Myron; Askew, Scott; Huber, Eric; Goza, Michael; Rehnmark, Fredrik; Lovchik, Chris; Magruder, Darby

    2003-01-01

    The Robotics Technology Branch at the NASA Johnson Space Center is developing robotic systems to assist astronauts in space. One such system, Robonaut, is a humanoid robot with the dexterity approaching that of a suited astronaut. Robonaut currently has two dexterous arms and hands, a three degree-of-freedom articulating waist, and a two degree-of-freedom neck used as a camera and sensor platform. In contrast to other space manipulator systems, Robonaut is designed to work within existing corridors and use the same tools as space walking astronauts. Robonaut is envisioned as working with astronauts, both autonomously and by teleoperation, performing a variety of tasks including, routine maintenance, setting up and breaking down worksites, assisting crew members while outside of spacecraft, and serving in a rapid response capacity.

  1. Stability Control of Force-Reflected Nonlinear Multilateral Teleoperation System under Time-Varying Delays

    Directory of Open Access Journals (Sweden)

    Da Sun

    2016-01-01

    Full Text Available A novel control algorithm based on the modified wave-variable controllers is proposed to achieve accurate position synchronization and reasonable force tracking of the nonlinear single-master-multiple-slave teleoperation system and simultaneously guarantee overall system’s stability in the presence of large time-varying delays. The system stability in different scenarios of human and environment situations has been analyzed. The proposed method is validated through experimental work based on the 3-DOF trilateral teleoperation system consisting of three different manipulators. The experimental results clearly demonstrate the feasibility of the proposed algorithm to achieve high transparency and robust stability in nonlinear single-master-multiple-slave teleoperation system in the presence of time-varying delays.

  2. Haptic feedback designs in teleoperation systems for minimal invasive surgery

    NARCIS (Netherlands)

    Font, I.; Weiland, S.; Franken, M.; Steinbuch, M.; Rovers, A.F.

    2004-01-01

    One of the major shortcomings of state-of-the-art robotic systems for minimal invasive surgery is the lack of haptic feedback for the surgeon. In order to provide haptic information, sensors and actuators have to be added to the master and slave device. A control system should process the data and

  3. A Classification of Human-to-Human Communication during the Use of Immersive Teleoperation Interfaces

    DEFF Research Database (Denmark)

    Kraus, Martin; Kibsgaard, Martin

    2015-01-01

    We propose a new classification of the human-to-human communication during the use of immersive teleoperation interfaces based on real-life examples. While a large body of research is concerned with communication in collaborative virtual environments (CVEs), less research focuses on cases where...... of the proposed classification to real environments can offer useful reference cases. Using this extended classification not only allows us to discuss and understand differences and similarities of various forms of communication in a more systematic way, but it also provides guidelines and reference cases...... for the design of immersive teleoperation interfaces that support human-to-human communication....

  4. Graphical programming: On-line robot simulation for telerobotic control

    International Nuclear Information System (INIS)

    McDonald, M.J.; Palmquist, R.D.

    1993-01-01

    Sandia has developed an advanced operational control system approach, caged Graphical Programming, to design and operate robotic waste cleanup and other hazardous duty robotic systems. The Graphical Programming approach produces robot systems that are faster to develop and use, safer in operation, and cheaper overall than altemative teleoperation or autonomous robot control systems. The Graphical Programming approach uses 3-D visualization and simulation software with intuitive operator interfaces for the programming and control of complex robotic systems. Graphical Programming Supervisor software modules allow an operator to command and simulate complex tasks in a graphic preview mode and, when acceptable, command the actual robots and monitor their motions with the graphic system. Graphical Progranuning Supervisors maintain registration with the real world and allow the robot to perform tasks that cannot be accurately represented with models alone by using a combination of model and sensor-based control. This paper describes the Graphical Programming approach, several example control systems that use Graphical Programming, and key features necessary for implementing successful Graphical Programming systems

  5. Robots cut maintenance costs at PSE and G

    International Nuclear Information System (INIS)

    Roman, H.T.

    1992-01-01

    This paper reports that teleoperated robots are routinely used for cleaning, sampling, and remote inspections at PSE and G's nuclear and fossil power plants. Robots are rapidly becoming a strategic technology in the electric utility industry. Since 1983, more than 200 applications of these devices have been documented, often resulting in significant time and manpower savings. In nuclear plants, these devices have reduced radiation exposure to human workers. Public Service Electric and Gas Co. (PSE and G) has been evaluating, testing, and applying robotic technology since 1984. The work has been characterized by a two-step approach - interdepartmental task forces identify and assess potential applications, then five-year plans are developed to introduce the technology, apply it, and measure cost effectiveness. Throughout this effort, PSE and G has maintained a strong partnership with robot vendors/developers, making them an integral part of the program. Work on robotics at PSE and G's Salem and Hope Creek plants has been a pioneering effort. From 1987 through 1991, in the company's first five-year plan, it spent $1.6 million on robotic applications. Savings to date exceed $5 million, Figure 1. It is projected that by 1993 the savings will increase to $6-7 million. Applications for the next five-year plan, 1992-1996, are being finalized. These will concentrate on the development of robots for operation and maintenance applications. The first five-year plan concentrated on inspection, surveillance, and monitoring tasks

  6. SRT project: tele-robotics maintenance of nuclear power plants

    International Nuclear Information System (INIS)

    Gomez-Santamaria, J.; Calleja, J.M.; Carmena, P.; Avello, A.; Rubio, Y.A.

    2001-01-01

    The main aim of the SRT project was to develop a family of robots to help in the operation of nuclear power plants. Four robotic systems were developed and this paper focuses on three of them: ANAES -a steam leak detector through noise analysis-, MALIBA -a master-slave tele-operation system with force feedback- and ROBICEN -a compact pneumatic wall climbing robot-. ANAES (the Spanish acronym of spectrum analysis) consists of a set of sensor heads attached to a computer. Each head has two microphones and a video camera installed on it, and a DC motor that rotates the head. The heads are shielded with lead and boron steel, especially near the video camera. The noise generated by the plant is recorded every day at the same time and the software compares the recorded noise with the mean values of past records. The system can discern whether the noise has remarkably changed and, through phase analysis of the sound recorded by both microphones, identifies the direction of arrival (DOA) of the new noise, probably a steam leak. Using several heads, the new noise source can be identified. The video camera can be used to ease the location of the steam leaks. The stationariness of the measured noise has been tested in C.N. Cofrentes -a Spanish BWR-6 reactor-. A finished system with six heads has recently been installed in the MSR (moisture separator reheater) of the same plant. MALIBA is a master-slave tele-operated system with force feedback. It consists of two robots: a Stewart platform used as master robot and an open chain robot used as slave. The slave robot follows faithfully the movements of the master, and the master robot can reflect a force proportional to the force exerted by the slave on the environment. Three tools have been developed for the slave robot: a robot hand that includes a small video camera, a pneumatic drill and a rectifier. The results obtained have shown its effectiveness for the designed operations. ROBICEN is a lightweight pneumatic robot

  7. SRT project: tele-robotics maintenance of nuclear power plants

    Energy Technology Data Exchange (ETDEWEB)

    Gomez-Santamaria, J. [Iberdrola SA, Madrid (Spain); Calleja, J.M.; Carmena, P. [Endesa, Madrid (Spain); Avello, A.; Rubio, Y.A. [CEIT-Centro de Estudias e Investigaciones Tecnicas de Guipuzcoa, San Sebastian (Spain)

    2001-07-01

    The main aim of the SRT project was to develop a family of robots to help in the operation of nuclear power plants. Four robotic systems were developed and this paper focuses on three of them: ANAES -a steam leak detector through noise analysis-, MALIBA -a master-slave tele-operation system with force feedback- and ROBICEN -a compact pneumatic wall climbing robot-. ANAES (the Spanish acronym of spectrum analysis) consists of a set of sensor heads attached to a computer. Each head has two microphones and a video camera installed on it, and a DC motor that rotates the head. The heads are shielded with lead and boron steel, especially near the video camera. The noise generated by the plant is recorded every day at the same time and the software compares the recorded noise with the mean values of past records. The system can discern whether the noise has remarkably changed and, through phase analysis of the sound recorded by both microphones, identifies the direction of arrival (DOA) of the new noise, probably a steam leak. Using several heads, the new noise source can be identified. The video camera can be used to ease the location of the steam leaks. The stationariness of the measured noise has been tested in C.N. Cofrentes -a Spanish BWR-6 reactor-. A finished system with six heads has recently been installed in the MSR (moisture separator reheater) of the same plant. MALIBA is a master-slave tele-operated system with force feedback. It consists of two robots: a Stewart platform used as master robot and an open chain robot used as slave. The slave robot follows faithfully the movements of the master, and the master robot can reflect a force proportional to the force exerted by the slave on the environment. Three tools have been developed for the slave robot: a robot hand that includes a small video camera, a pneumatic drill and a rectifier. The results obtained have shown its effectiveness for the designed operations. ROBICEN is a lightweight pneumatic robot

  8. 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

  9. Physical Embodiment can Produce Robot Operator’s Pseudo Presence

    Directory of Open Access Journals (Sweden)

    Kazuaki eTanaka

    2015-05-01

    Full Text Available Recent studies have focused on humanoid robots for improving distant communication. When a user talks with a remote conversation partner through a humanoid robot, the user can see the remote partner’s body motions with physical embodiment but not the partner’s current appearance. The physical embodiment existing in the same room with the user is the main feature of humanoid robots, but the effects on social telepresence, i.e. the sense of resembling face-to-face interaction, had not yet been well demonstrated. To find the effects, we conducted an experiment in which subjects talked with a partner through robots and various existing communication media (e.g. voice, avatar and video chats. As a result, we found that the physical embodiment enhances social telepresence. However, in terms of the degree of social telepresence, the humanoid robot remained at the same level as the partner’s live-video, since presenting partner’s appearance also enhances social telepresence. To utilize the anonymity of a humanoid robot, we proposed the way that produces pseudo presence that is the sense of interacting with a remote partner when they are actually interacting with an autonomous robot. Through the second experiment, we discovered that the subjects tended to evaluate the degree of pseudo presence of a remote partner based on their prior experience of watching the partner’s body motions reproduced by a robot. When a subject interacted with an autonomous robot after interacting with a teleoperated robot (i.e., a remote operator that is identical with the autonomous robot, the subjects tended to feel as if they were talking with a remote operator.

  10. Healthcare Robotics

    OpenAIRE

    Riek, Laurel D.

    2017-01-01

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

  11. 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…

  12. 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

  13. A multimodal interface for real-time soldier-robot teaming

    Science.gov (United States)

    Barber, Daniel J.; Howard, Thomas M.; Walter, Matthew R.

    2016-05-01

    Recent research and advances in robotics have led to the development of novel platforms leveraging new sensing capabilities for semantic navigation. As these systems becoming increasingly more robust, they support highly complex commands beyond direct teleoperation and waypoint finding facilitating a transition away from robots as tools to robots as teammates. Supporting future Soldier-Robot teaming requires communication capabilities on par with human-human teams for successful integration of robots. Therefore, as robots increase in functionality, it is equally important that the interface between the Soldier and robot advances as well. Multimodal communication (MMC) enables human-robot teaming through redundancy and levels of communications more robust than single mode interaction. Commercial-off-the-shelf (COTS) technologies released in recent years for smart-phones and gaming provide tools for the creation of portable interfaces incorporating MMC through the use of speech, gestures, and visual displays. However, for multimodal interfaces to be successfully used in the military domain, they must be able to classify speech, gestures, and process natural language in real-time with high accuracy. For the present study, a prototype multimodal interface supporting real-time interactions with an autonomous robot was developed. This device integrated COTS Automated Speech Recognition (ASR), a custom gesture recognition glove, and natural language understanding on a tablet. This paper presents performance results (e.g. response times, accuracy) of the integrated device when commanding an autonomous robot to perform reconnaissance and surveillance activities in an unknown outdoor environment.

  14. 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.

  15. Soldier Cognitive Processes: Supporting Teleoperated Ground Vehicle Operations

    Science.gov (United States)

    2014-12-01

    They also examined training materials available to train robotic operators. Materials came from a pilot SUGV Master Trainer Course as well as from the...Allocation of Scarce Mental Resources. It is increasingly difficult to multitask if the similarity of the mental resources used in each task...1984). If separate tasks are not competing as much for the same mental resources, multitasking can be accomplished more effectively. Further, when

  16. A Generalized Visual Aid System for Teleoperation Applied to Satellite Servicing

    Directory of Open Access Journals (Sweden)

    Guoliang Zhang

    2014-02-01

    Full Text Available This paper presents the latest results of a newly developed visual aid system for direct teleoperation. This method is extended to visual control to make an efficient teleoperation system by combining direct teleoperation and automatic control. On the one hand, an operator can conduct direct teleoperation with 3D graphic prediction simulation established by the VR technique. In order to remove inconsistencies between the virtual and real environments, a practical model-matching method is investigated. On the other hand, to realize real-time visual servoing control, a particular object recognition and pose estimation algorithm based on polygonal approximation is investigated to ensure a low computational cost for image processing. To avoid undesired forces involved in contact operation, 3D visual servoing incorporating a compliant control based on impedance control is developed. Finally, in a representative laboratory environment, a typical satellite servicing experiment is carried out based on this combined system. Experimental results demonstrate the feasibility and the effectiveness of the proposed method.

  17. Slave-side devices for micromanipulation in a haptic teleoperation scenario

    NARCIS (Netherlands)

    Estevez Castillo, P.

    2012-01-01

    Haptic teleoperation is a promising approach for dealing with the manipulation of micro-objects, fabricated in small series or as prototypes, and in processes which are novel or uncertain. Human operators provide their ability to plan, understand and react when faced with unexpected situations

  18. Bilateral teleoperation of underactuated unmanned aerial vehicles: The virtual slave concept

    NARCIS (Netherlands)

    Mersha, A.Y.; Stramigioli, Stefano; Carloni, Raffaella

    In this paper, we present haptic teleoperation of underactuated unmanned aerial vehicles by providing a multidimensional generalization of the virtual slave concept. The proposed control architecture is composed of high-level and low-level controllers. The high-level controller commands the vehicle

  19. Shared control on lunar spacecraft teleoperation rendezvous operations with large time delay

    Science.gov (United States)

    Ya-kun, Zhang; Hai-yang, Li; Rui-xue, Huang; Jiang-hui, Liu

    2017-08-01

    Teleoperation could be used in space on-orbit serving missions, such as object deorbits, spacecraft approaches, and automatic rendezvous and docking back-up systems. Teleoperation rendezvous and docking in lunar orbit may encounter bottlenecks for the inherent time delay in the communication link and the limited measurement accuracy of sensors. Moreover, human intervention is unsuitable in view of the partial communication coverage problem. To solve these problems, a shared control strategy for teleoperation rendezvous and docking is detailed. The control authority in lunar orbital maneuvers that involves two spacecraft as rendezvous and docking in the final phase was discussed in this paper. The predictive display model based on the relative dynamic equations is established to overcome the influence of the large time delay in communication link. We discuss and attempt to prove via consistent, ground-based simulations the relative merits of fully autonomous control mode (i.e., onboard computer-based), fully manual control (i.e., human-driven at the ground station) and shared control mode. The simulation experiments were conducted on the nine-degrees-of-freedom teleoperation rendezvous and docking simulation platform. Simulation results indicated that the shared control methods can overcome the influence of time delay effects. In addition, the docking success probability of shared control method was enhanced compared with automatic and manual modes.

  20. Improving the performance of DTP2 bilateral teleoperation control system with haptic augmentation

    International Nuclear Information System (INIS)

    Viinikainen, Mikko; Tuominen, Janne; Alho, Pekka; Mattila, Jouni

    2014-01-01

    Highlights: •An experimental haptic shared control system, called CAT developed at the DTP2. •We investigate how the system integrates with the ITER compliant DTP2 RHCS. •The effect of CAT experimentally assessed in an ITER relevant maintenance scenario. -- Abstract: The remote maintenance of the ITER divertor is largely dependent on the usage of haptically teleoperated manipulators and man-in-the-loop operations. These maintenance operations are very demanding for the manipulator operators, yet vital for the success of the whole ITER experiment. Haptic shared control of the maintenance manipulators offers a promising solution for assisting the teleoperators in the maintenance tasks. A shared control system assists the operator by generating artificial guiding force effects and overlaying them on top of the haptic feedback from the teleoperation environment. An experimental haptic shared control system, called the Computer Assisted Teleoperation (CAT) has been developed at the Divertor Test Platform 2 (DTP2). In this paper, we investigate the design of the system and how the system integrates with the ITER compliant DTP2 prototype Remote Handling Control System (RHCS). We also experimentally assess the effect of the guidance to the operator performance in an ITER-relevant maintenance scenario using the Water Hydraulic MANipulator (WHMAN), which is specially designed for the divertor maintenance. The result of the experiment gives suggestive indication that the CAT system improves the performance of the operators of the system

  1. Robot Futures

    DEFF Research Database (Denmark)

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

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

  2. Robotics education

    International Nuclear Information System (INIS)

    Benton, O.

    1984-01-01

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

  3. Intelligent control system for nuclear power plant mobile robot

    International Nuclear Information System (INIS)

    Koenig, A.; Lecoeur-Taibi, I.; Crochon, E.; Vacherand, F.

    1991-01-01

    In order to fully optimize the efficiency of the perception and navigation components available on a mobile robot, the upper level of a mobile robot control requires intelligence support to unload the work of the teleoperator. This knowledge-based system has to manage a priori data such as the map of the workspace, the mission, the characteristics of sensors and robot, but also, the current environment state and the running mission. It has to issue a plan to drive the sensors to focus on relevant objects or to scan the environment and to select the best algorithms depending on the current situation. The environment workspace is a nuclear power plant building. The teleoperated robot is a mobile wheeled or legged vehicle that moves inside the different floors of the building. There are three types of mission: radio-activity survey, inspection and intervention. To perform these goals the robot must avoid obstacles, pass through doors, possibly climb stairs and recognize valves and pipes. The perception control system has to provide the operator with a synthetic view of the surroundings. It manages background tasks such as obstacle detection and free space map building, and specific tasks such as beacon recognition for odometry relocalization and valve detection for maintenance. To do this, the system solves perception resources conflicts, taking into account the current states of the sensors and the current conditions such as lightness or darkness, cluttered scenes, sensor failure. A perception plan is issued from the mission goals, planned path, relocalization requirements and available perception resources. Basically, the knowledge-based system is implemented on a blackboard architecture which includes two parts: a top-down planning part and a bottom-up perception part. The results of the perception are continuously sent to the operator who can trigger new perception actions. (author)

  4. Web based educational tool for neural network robot control

    Directory of Open Access Journals (Sweden)

    Jure Čas

    2007-05-01

    Full Text Available Abstract— This paper describes the application for teleoperations of the SCARA robot via the internet. The SCARA robot is used by students of mehatronics at the University of Maribor as a remote educational tool. The developed software consists of two parts i.e. the continuous neural network sliding mode controller (CNNSMC and the graphical user interface (GUI. Application is based on two well-known commercially available software packages i.e. MATLAB/Simulink and LabVIEW. Matlab/Simulink and the DSP2 Library for Simulink are used for control algorithm development, simulation and executable code generation. While this code is executing on the DSP-2 Roby controller and through the analog and digital I/O lines drives the real process, LabVIEW virtual instrument (VI, running on the PC, is used as a user front end. LabVIEW VI provides the ability for on-line parameter tuning, signal monitoring, on-line analysis and via Remote Panels technology also teleoperation. The main advantage of a CNNSMC is the exploitation of its self-learning capability. When friction or an unexpected impediment occurs for example, the user of a remote application has no information about any changed robot dynamic and thus is unable to dispatch it manually. This is not a control problem anymore because, when a CNNSMC is used, any approximation of changed robot dynamic is estimated independently of the remote’s user. Index Terms—LabVIEW; Matlab/Simulink; Neural network control; remote educational tool; robotics

  5. Tactile Sensing for Dexterous Robotic Hands

    Science.gov (United States)

    Martin, Toby B.

    2000-01-01

    Robotic systems will be used as precursors to human exploration to explore the solar system and expand our knowledge of planetary surfaces. Robotic systems will also be used to build habitats and infrastructure required for human presence in space and on other planetary surfaces . Such robots will require a high level of intelligence and automation. The ability to flexibly manipulate their physical environment is one characteristic that makes humans so effective at these building and exploring tasks . The development of a generic autonomous grasp ing capability will greatly enhance the efficiency and ability of robotics to build, maintain and explore. To tele-operate a robot over vast distances of space, with long communication delays, has proven to be troublesome. Having an autonomous grasping capability that can react in real-time to disturbances or adapt to generic objects, without operator intervention, will reduce the probability of mishandled tools and samples and reduce the number of re-grasp attempts due to dropping. One aspect that separates humans from machines is a rich sensor set. We have the ability to feel objects and respond to forces and textures. The development of touch or tactile sensors for use on a robot that emulates human skin and nerves is the basis for this discussion. We will discuss the use of new piezo-electric and resistive materials that have emerged on the market with the intention of developing a touch sensitive sensor. With viable tacti le sensors we will be one step closer to developing an autonomous grasping capability.

  6. Analysis of human-in-the-loop tele-operated maintenance inspection tasks using VR

    International Nuclear Information System (INIS)

    Boessenkool, H.; Abbink, D.A.; Heemskerk, C.J.M.; Steinbuch, M.; Baar, M.R. de; Wildenbeest, J.G.W.; Ronden, D.; Koning, J.F.

    2013-01-01

    Highlights: ► Execution of tele-operated inspection tasks for ITER maintenance was analyzed. ► Human factors experiments using Virtual Reality showed to be a valuable approach. ► A large variation in time performance and number of collisions was found. ► Results indicate significant room for improvement for teleoperated free space tasks. ► A promising solution is haptic shared control: assist operator with guiding forces. -- Abstract: One of the challenges in future fusion plants such as ITER is the remote maintenance of the plant. Foreseen human-in-the-loop tele-operation is characterized by limited visual and haptic feedback from the environment, which results in degraded task performance and increased operator workload. For improved tele-operated task performance it is required to get insight in the expected tasks and problems during maintenance at ITER. By means of an exploratory human factor experiment, this paper analyses problems and bottlenecks during the execution of foreseen tele-operated maintenance at ITER, identifying most promising areas of improvement. The focus of this paper is on free space (sub)tasks where contact with the environment needs to be avoided. A group of 5 subjects was asked to carry-out an ITER related free space task (visual inspection), using a six degree of freedom master device connected to a simulated hot cell environment. The results show large variation in time performance between subjects and an increasing number of collisions for more difficult tasks, indicating room for improvement for free space (sub)tasks. The results will be used in future research on the haptic guidance strategies in the ITER Remote Handling framework

  7. Analysis of human-in-the-loop tele-operated maintenance inspection tasks using VR

    Energy Technology Data Exchange (ETDEWEB)

    Boessenkool, H., E-mail: h.boessenkool@differ.nl [FOM Institute DIFFER (Dutch Institute for Fundamental Energy Research), Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster, PO Box 1207, 3430 BE Nieuwegein (Netherlands); Eindhoven University of Technology, Department of Mechanical Engineering, Dynamics and Control Group, PO Box 513, 5600 MB Eindhoven (Netherlands); Abbink, D.A. [Delft University of Technology, Faculty of 3mE, BioMechanical Engineering Department, Mekelweg 2, 2628 CD Delft (Netherlands); Heemskerk, C.J.M. [Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands); Steinbuch, M. [Eindhoven University of Technology, Department of Mechanical Engineering, Dynamics and Control Group, PO Box 513, 5600 MB Eindhoven (Netherlands); Baar, M.R. de [FOM Institute DIFFER (Dutch Institute for Fundamental Energy Research), Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster, PO Box 1207, 3430 BE Nieuwegein (Netherlands); Eindhoven University of Technology, Department of Mechanical Engineering, Dynamics and Control Group, PO Box 513, 5600 MB Eindhoven (Netherlands); Wildenbeest, J.G.W. [Delft University of Technology, Faculty of 3mE, BioMechanical Engineering Department, Mekelweg 2, 2628 CD Delft (Netherlands); Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands); Ronden, D. [FOM Institute DIFFER (Dutch Institute for Fundamental Energy Research), Association EURATOM-FOM, Partner in the Trilateral Euregio Cluster, PO Box 1207, 3430 BE Nieuwegein (Netherlands); Koning, J.F. [Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands)

    2013-10-15

    Highlights: ► Execution of tele-operated inspection tasks for ITER maintenance was analyzed. ► Human factors experiments using Virtual Reality showed to be a valuable approach. ► A large variation in time performance and number of collisions was found. ► Results indicate significant room for improvement for teleoperated free space tasks. ► A promising solution is haptic shared control: assist operator with guiding forces. -- Abstract: One of the challenges in future fusion plants such as ITER is the remote maintenance of the plant. Foreseen human-in-the-loop tele-operation is characterized by limited visual and haptic feedback from the environment, which results in degraded task performance and increased operator workload. For improved tele-operated task performance it is required to get insight in the expected tasks and problems during maintenance at ITER. By means of an exploratory human factor experiment, this paper analyses problems and bottlenecks during the execution of foreseen tele-operated maintenance at ITER, identifying most promising areas of improvement. The focus of this paper is on free space (sub)tasks where contact with the environment needs to be avoided. A group of 5 subjects was asked to carry-out an ITER related free space task (visual inspection), using a six degree of freedom master device connected to a simulated hot cell environment. The results show large variation in time performance between subjects and an increasing number of collisions for more difficult tasks, indicating room for improvement for free space (sub)tasks. The results will be used in future research on the haptic guidance strategies in the ITER Remote Handling framework.

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

    Energy Technology Data Exchange (ETDEWEB)

    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.

  9. 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

  10. Middle-Ear Microsurgery Simulation to Improve New Robotic Procedures

    Directory of Open Access Journals (Sweden)

    Guillaume Kazmitcheff

    2014-01-01

    Full Text Available Otological microsurgery is delicate and requires high dexterity in bad ergonomic conditions. To assist surgeons in these indications, a teleoperated system, called RobOtol, is developed. This robot enhances gesture accuracy and handiness and allows exploration of new procedures for middle ear surgery. To plan new procedures that exploit the capacities given by the robot, a surgical simulator is developed. The simulation reproduces with high fidelity the behavior of the anatomical structures and can also be used as a training tool for an easier control of the robot for surgeons. In the paper, we introduce the middle ear surgical simulation and then we perform virtually two challenging procedures with the robot. We show how interactive simulation can assist in analyzing the benefits of robotics in the case of complex manipulations or ergonomics studies and allow the development of innovative surgical procedures. New robot-based microsurgical procedures are investigated. The improvement offered by RobOtol is also evaluated and discussed.

  11. Modified impedance control for robotic saw cutting: Simulation and implementation in three degrees of freedom

    International Nuclear Information System (INIS)

    Kriikku, E.M.; Reynolds, D.L.; Carroll, J.J.; Dawson, D.M.

    1993-01-01

    The Savannah River Site (SRS) production and decommissioning operations produce solid radioactive transuranic (TRU) waste. This waste must be repackaged and sent to the Waste Isolation Pilot Plant (WIPP) for permanent disposal. The Savannah River Technology Center (SRTC) built a test facility to demonstrate simulated waste processing. The test facility use's a CIMCORP multi-axis robot system, a CIMROC trademark II robot controller, and an electric circular saw to remotely open and size reduce plywood crates. The robot can either be teleoperated using joysticks or autonomously controlled via the, CIMROC trademark II. Both methods are inadequate for circular saw cutting of plywood crates due to frequent saw blade binding. Blade binding results from the current commercial robot controller limitations. The limitations are overcome by incorporating additional sensor information into the existing controller structure. In this paper we utilize a force sensor and a frequency counter to implement a modified impedance controller which prevents saw blade binding

  12. Robustly stable adaptive control of a tandem of master-slave robotic manipulators with force reflection by using a multiestimation scheme.

    Science.gov (United States)

    Ibeas, Asier; de la Sen, Manuel

    2006-10-01

    The problem of controlling a tandem of robotic manipulators composing a teleoperation system with force reflection is addressed in this paper. The final objective of this paper is twofold: 1) to design a robust control law capable of ensuring closed-loop stability for robots with uncertainties and 2) to use the so-obtained control law to improve the tracking of each robot to its corresponding reference model in comparison with previously existing controllers when the slave is interacting with the obstacle. In this way, a multiestimation-based adaptive controller is proposed. Thus, the master robot is able to follow more accurately the constrained motion defined by the slave when interacting with an obstacle than when a single-estimation-based controller is used, improving the transparency property of the teleoperation scheme. The closed-loop stability is guaranteed if a minimum residence time, which might be updated online when unknown, between different controller parameterizations is respected. Furthermore, the analysis of the teleoperation and stability capabilities of the overall scheme is carried out. Finally, some simulation examples showing the working of the multiestimation scheme complete this paper.

  13. Robotic buildings(s)

    NARCIS (Netherlands)

    Bier, H.H.

    2014-01-01

    Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic building to be in the last decade prototypically implemented. In this context, robotic building implies both physically built robotic environments and robotically

  14. The Effect of Trial-by-trial Adaptation on Conflicts in Haptic Shared Control for Free-Air Teleoperation Tasks

    NARCIS (Netherlands)

    de Jonge, A. W.; Wildenbeest, J. G. W.; Boessenkool, H.; Abbink, D. A.

    2016-01-01

    Haptic shared control can improve execution of teleoperation and driving tasks. However, shared control designs may suffer from conflicts between individual human operators and constant haptic assistance when their desired trajectories differ, leading to momentarily increased forces, discomfort or

  15. Myoelectric Control Techniques for a Rehabilitation Robot

    Directory of Open Access Journals (Sweden)

    Alan Smith

    2011-01-01

    Full Text Available This work examines two different types of myoelectric control schemes for the purpose of rehabilitation robot applications. The first is a commonly used technique based on a Gaussian classifier. It is implemented in real time for healthy subjects in addition to a subject with Central Cord Syndrome (CCS. The myoelectric control scheme is used to control three degrees of freedom (DOF on a robot manipulator which corresponded to the robot's elbow joint, wrist joint, and gripper. The classes of motion controlled include elbow flexion and extension, wrist pronation and supination, hand grasping and releasing, and rest. Healthy subjects were able to achieve 90% accuracy. Single DOF controllers were first tested on the subject with CCS and he achieved 100%, 96%, and 85% accuracy for the elbow, gripper, and wrist controllers respectively. Secondly, he was able to control the three DOF controller at 68% accuracy. The potential applications for this scheme are rehabilitation and teleoperation. To overcome limitations in the pattern recognition based scheme, a second myoelectric control scheme is also presented which is trained using electromyographic (EMG data derived from natural reaching motions in the sagittal plane. This second scheme is based on a time delayed neural network (TDNN which has the ability to control multiple DOF at once. The controller tracked a subject's elbow and shoulder joints in the sagittal plane. Results showed an average error of 19° for the two joints. This myoelectric control scheme has the potential of being used in the development of exoskeleton and orthotic rehabilitation applications.

  16. 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.

  17. 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.

  18. 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).

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

    International Nuclear Information System (INIS)

    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

    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)

  20. Development of a control algorithm for teleoperation of DFDF(IMEF/M6 hot cell) maintenance equipment

    Energy Technology Data Exchange (ETDEWEB)

    Oh, Chae Youn; Kwon, Hyuk Jo; Kim, Hak Duck; Jun, Ji Myung; Oh, Hee Geun [Chonbuk National University, Chonju (Korea)

    2002-03-01

    Teleoperation has been used for separating operators from the working environment. Thus, it is usually used to perform a work in an inaccessible place such as space, deep sea, etc. Also, it is used to perform a work in an accessible but a very poor working environment such as explosive, poison gas, radioactive area, etc. It is one of the advanced technology-intensive research areas. It has potentially big economical and industrial value. There is a tendency to avoid working in a difficult, dirty or dangerous place, particularly, in a high radioactive area since there always exist a possibility to be in a very dangerous situation. Thus, developing and utilizing of a teleoperation system will minimize the possibility to be exposed in such a extreme situation directly. Recently, there has been many researches on reflecting force information occurring in teleoperation to the operator in addition to visual information. The reflected force information is used to control the teleoperation system bilaterally. It will contribute a lot to improve teleoperation's safety and working efficiency. This study developed a bilateral force reflecting control algorithm. It may be used as a key technology of a teleoperation system for maintaining, repairing and dismantling facilities exposed in a high radioactive. 42 refs., 71 figs., 12 tabs. (Author)

  1. Augmented reality user interface for mobile ground robots with manipulator arms

    Science.gov (United States)

    Vozar, Steven; Tilbury, Dawn M.

    2011-01-01

    Augmented Reality (AR) is a technology in which real-world visual data is combined with an overlay of computer graphics, enhancing the original feed. AR is an attractive tool for teleoperated UGV UIs as it can improve communication between robots and users via an intuitive spatial and visual dialogue, thereby increasing operator situational awareness. The successful operation of UGVs often relies upon both chassis navigation and manipulator arm control, and since existing literature usually focuses on one task or the other, there is a gap in mobile robot UIs that take advantage of AR for both applications. This work describes the development and analysis of an AR UI system for a UGV with an attached manipulator arm. The system supplements a video feed shown to an operator with information about geometric relationships within the robot task space to improve the operator's situational awareness. Previous studies on AR systems and preliminary analyses indicate that such an implementation of AR for a mobile robot with a manipulator arm is anticipated to improve operator performance. A full user-study can determine if this hypothesis is supported by performing an analysis of variance on common test metrics associated with UGV teleoperation.

  2. Robot-assisted ultrasound imaging: overview and development of a parallel telerobotic system.

    Science.gov (United States)

    Monfaredi, Reza; Wilson, Emmanuel; Azizi Koutenaei, Bamshad; Labrecque, Brendan; Leroy, Kristen; Goldie, James; Louis, Eric; Swerdlow, Daniel; Cleary, Kevin

    2015-02-01

    Ultrasound imaging is frequently used in medicine. The quality of ultrasound images is often dependent on the skill of the sonographer. Several researchers have proposed robotic systems to aid in ultrasound image acquisition. In this paper we first provide a short overview of robot-assisted ultrasound imaging (US). We categorize robot-assisted US imaging systems into three approaches: autonomous US imaging, teleoperated US imaging, and human-robot cooperation. For each approach several systems are introduced and briefly discussed. We then describe a compact six degree of freedom parallel mechanism telerobotic system for ultrasound imaging developed by our research team. The long-term goal of this work is to enable remote ultrasound scanning through teleoperation. This parallel mechanism allows for both translation and rotation of an ultrasound probe mounted on the top plate along with force control. Our experimental results confirmed good mechanical system performance with a positioning error of < 1 mm. Phantom experiments by a radiologist showed promising results with good image quality.

  3. Robotics Inspection Vehicle for Advanced Storages

    Energy Technology Data Exchange (ETDEWEB)

    Ruiz, Emilio; Renaldi, Graziano; Puig, David; Franzetti, Michele; Correcher, Carlos [European Commission, Ispra (Italy). Inst. for the Protection and Security of the Citizen

    2003-05-01

    After the dismantling of nuclear weapons and the probable release of large quantities of weapon graded materials under international verification regimes, there will be a wide interest in unmanned, highly automated and secure storage areas. In such circumstances, robotics technologies can provide an effective answer to the problem of securing, manipulating and inventorying all stored materials. In view of this future application JRC's NPNS started the development and construction of an advanced robotics prototype and demonstration system, named Robotics Inspection Vehicle (RIV), for remote inspection, surveillance and remote handling in those areas. The system was designed to meet requirements of reliability, security, high availability, robustness against radiation effects, self-maintainability (i.e., auto-repair capability), and easy installation. Due to its innovative holonomic design, RIV is a highly maneuverable and agile platform able to move in any direction, including sideways. The platform carries on-board a five degree of freedom manipulator arm. The high maneuverability and operation modes take into account the needs for accessing in the most easy way materials in the storage area. The platform is prepared to operate in one of three modes: i) manual tele-operation, ii) semiautonomous and iii) fully autonomous. The paper describes RIV's main design features, and details its GENERIS based control software [JRC's software architecture for robotics] and embedded sensors (i.e., 3D laser range, transponder antenna, ultra-sound, vision-based robot guidance, force-torque sensors, etc.). RIV was designed to incorporate several JRC innovative surveillance and inspection technologies and reveals that the current state of technology is mature to effectively provide a solution to novel storage solutions. The system is available for demonstration at JRC's Rialto Laboratory.

  4. External Force Estimation for Teleoperation Based on Proprioceptive Sensors

    Directory of Open Access Journals (Sweden)

    Enrique del Sol

    2014-03-01

    Full Text Available This paper establishes an approach to external force estimation for telerobotic control in radioactive environments by the use of an identified manipulator model and pressure sensors, without employing a force/torque sensor. The advantages of - and need for - force feedback have been well-established in the field of telerobotics, where electrical and back-drivable manipulators have traditionally been used. This research proposes a methodology employing hydraulic robots for telerobotics tasks based on a model identification scheme. Comparative results of a force sensor and the proposed approach using a hydraulic telemanipulator are presented under different conditions. This approach not only presents a cost effective solution but also a methodology for force estimation in radioactive environments, where the dose rates limit the use of electronic devices such as sensing equipment.

  5. Robotics 101

    Science.gov (United States)

    Sultan, Alan

    2011-01-01

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

  6. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

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

  7. 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...

  8. Robot vision

    International Nuclear Information System (INIS)

    Hall, E.L.

    1984-01-01

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

  9. Social Robots

    DEFF Research Database (Denmark)

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

  10. Robotic seeding

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  11. Multi-Robot Remote Interaction with FS-MAS

    Directory of Open Access Journals (Sweden)

    Yunliang Jiang

    2013-02-01

    Full Text Available The need to reduce bandwidth, improve productivity, autonomy and the scalability in multi-robot teleoperation has been recognized for a long time. In this article we propose a novel finite state machine mobile agent based on the network interaction service model, namely FS-MAS. This model consists of three finite state machines, namely the Finite State Mobile Agent (FS-Agent, which is the basic service module. The Service Content Finite State Machine (Content-FS, using the XML language to define workflow, to describe service content and service computation process. The Mobile Agent computation model Finite State Machine (MACM-FS, used to describe the service implementation. Finally, we apply this service model to the multi-robot system, the initial realization completing complex tasks in the form of multi-robot scheduling. This demonstrates that the robot has greatly improved intelligence, and provides a wide solution space for critical issues such as task division, rational and efficient use of resource and multi-robot collaboration.

  12. DOE/NE University Program in robotics for advanced reactors

    International Nuclear Information System (INIS)

    Sweeney, F.J.; Gonzalez, R.C.; Trivedi, M.M.; Wehe, D.K.

    1990-05-01

    The US Department of Energy has provided support to four universities and the Oak Ridge National Laboratory in order to pursue research leading to the development and deployment of advanced robotic systems capable of performing tasks that are hazardous to humans, that generate significant occupational radiation exposure, and/or whose execution times can be reduced if performed by an automated system. The goal is to develop a generation of advanced robotic systems capable of economically performing surveillance, maintenance, and repair tasks in nuclear facilities and other hazardous environments. The approach to achieving the program objective is a transition from teleoperation to the capability of autonomous operation within three successive generations of robotic systems. The strategy adopted in order to achieve the program goals in an efficient and timely manner consists in utilizing, and advancing where required, state-of-the-art robotics technology through close interaction between the universities and the manufacturers and operators of nuclear power plants. There is a potentially broad range of applications for the robotic systems developed in the course of this project. Therefore, it is expected that efforts to obtain additional support from other agencies, e.g., DOD and NASA, will be successful. Areas of cooperation with other nations (e.g., Japan, France, Germany) are being explored. This Program features a unique teaming arrangement among the Universities of Florida, Michigan, Tennessee, Texas, and the Oak Ridge National Laboratory, and their industrial partners, Odetics, Gulf State Utilities, Florida Power and Light Company, Remotec, and Telerobotics International

  13. Intelligent Robot-assisted Humanitarian Search and Rescue System

    Directory of Open Access Journals (Sweden)

    Henry Y. K. Lau

    2009-11-01

    Full Text Available The unprecedented scale and number of natural and man-made disasters in the past decade has urged international emergency search and rescue communities to seek for novel technology to enhance operation efficiency. Tele-operated search and rescue robots that can navigate deep into rubble to search for victims and to transfer critical field data back to the control console has gained much interest among emergency response institutions. In response to this need, a low-cost autonomous mini robot equipped with thermal sensor, accelerometer, sonar, pin-hole camera, microphone, ultra-bright LED and wireless communication module is developed to study the control of a group of decentralized mini search and rescue robots. The robot can navigate autonomously between voids to look for living body heat and can send back audio and video information to allow the operator to determine if the found object is a living human. This paper introduces the design and control of a low-cost robotic search and rescue system based on an immuno control framework developed for controlling decentralized systems. Design and development of the physical prototype and the immunity-based control system are described in this paper.

  14. Intelligent Robot-Assisted Humanitarian Search and Rescue System

    Directory of Open Access Journals (Sweden)

    Albert W. Y. Ko

    2009-06-01

    Full Text Available The unprecedented scale and number of natural and man-made disasters in the past decade has urged international emergency search and rescue communities to seek for novel technology to enhance operation efficiency. Tele-operated search and rescue robots that can navigate deep into rubble to search for victims and to transfer critical field data back to the control console has gained much interest among emergency response institutions. In response to this need, a low-cost autonomous mini robot equipped with thermal sensor, accelerometer, sonar, pin-hole camera, microphone, ultra-bright LED and wireless communication module is developed to study the control of a group of decentralized mini search and rescue robots. The robot can navigate autonomously between voids to look for living body heat and can send back audio and video information to allow the operator to determine if the found object is a living human. This paper introduces the design and control of a low-cost robotic search and rescue system based on an immuno control framework developed for controlling decentralized systems. Design and development of the physical prototype and the immunity-based control system are described in this paper.

  15. Micro intelligence robot

    International Nuclear Information System (INIS)

    Jeon, Yon Ho

    1991-07-01

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

  16. An Intelligent Robot Programing

    Energy Technology Data Exchange (ETDEWEB)

    Hong, Seong Yong

    2012-01-15

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

  17. An Intelligent Robot Programing

    International Nuclear Information System (INIS)

    Hong, Seong Yong

    2012-01-01

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

  18. Detection of Nuclear Sources by UAV Teleoperation Using a Visuo-Haptic Augmented Reality Interface

    OpenAIRE

    Jacopo Aleotti; Giorgio Micconi; Stefano Caselli; Giacomo Benassi; Nicola Zambelli; Manuele Bettelli; Andrea Zappettini

    2017-01-01

    A visuo-haptic augmented reality (VHAR) interface is presented enabling an operator to teleoperate an unmanned aerial vehicle (UAV) equipped with a custom CdZnTe-based spectroscopic gamma-ray detector in outdoor environments. The task is to localize nuclear radiation sources, whose location is unknown to the user, without the close exposure of the operator. The developed detector also enables identification of the localized nuclear sources. The aim of the VHAR interface is to increase the sit...

  19. Development of a piezo-actuated micro-teleoperation system for cell manipulation.

    Science.gov (United States)

    Zareinejad, M; Rezaei, S M; Abdullah, A; Shiry Ghidary, S

    2009-03-01

    Intracytoplasmic sperm injection (ICSI) requires long training and has low success rates, primarily due to poor control over the injection force. Making force feedback available to the operator will improve the success rate of the injection task. A macro-micro-teleoperation system bridges the gap between the task performed at the micro-level and the macroscopic movements of the operator. The teleoperation slave manipulator should accurately position a needle to precisely penetrate a cell membrane. Piezoelectric actuators are widely used in micromanipulation applications; however, hysteresis non-linearity limits the accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in a feedforward scheme to cancel out this non-linearity. To deal with the influence of parametric uncertainties, unmodelled dynamics and PI identification error, a perturbation term is added to the slave model and applies a sliding mode-based impedance control with perturbation estimation. The stability of entire system is guaranteed by Llewellyn's absolute stability criterion. The performance of the proposed controller was investigated through experiments for cell membrane penetration. The experimental results verified the accurate position tracking in free motion and simultaneous position and force tracking in contact with a low stiffness environment.

  20. Status of the Advanced Teleoperation Project in the French A.R.A. program

    International Nuclear Information System (INIS)

    Andre, G.; Fournier, R.

    1987-01-01

    This paper reports the research and development work carried out in the French advanced teleoperation project. The successful achievement of significant progress, in recent years, allows to considerably advance the state of the art so that it objectively constitutes the foundation of a new generation of remote systems. After briefly recalling the organization of this project, the authors outline the basic concepts related to the evolution of teleoperation with regard to the notions of flexibility, adaptivity, autonomy, transparency. The authors present the overall architecture of the computer aided teleoperation system. The following sections deal with fundamental studies which have been realized and key subsystems which have been developed. The authors emphasize on the computer control system which includes: generalized bilateral control and supervisory control. Secondly, they underline the role of sophisticated technologies: sensory system, computer graphics. . ., for generating adaptive control functions and for providing new interfaces. Thirdly, they describe the integrated experimental site and, a set of generic experiments in nuclear applications. The paper ends with future perspectives

  1. A teleoperation training simulator with visual and kinesthetic force virtual reality

    Science.gov (United States)

    Kim, Won S.; Schenker, Paul

    1992-01-01

    A force-reflecting teleoperation training simulator with a high-fidelity real-time graphics display has been developed for operator training. A novel feature of this simulator is that it enables the operator to feel contact forces and torques through a force-reflecting controller during the execution of the simulated peg-in-hole task, providing the operator with the feel of visual and kinesthetic force virtual reality. A peg-in-hole task is used in our simulated teleoperation trainer as a generic teleoperation task. A quasi-static analysis of a two-dimensional peg-in-hole task model has been extended to a three-dimensional model analysis to compute contact forces and torques for a virtual realization of kinesthetic force feedback. The simulator allows the user to specify force reflection gains and stiffness (compliance) values of the manipulator hand for both the three translational and the three rotational axes in Cartesian space. Three viewing modes are provided for graphics display: single view, two split views, and stereoscopic view.

  2. Operator-in-the-loop simulation of a redundant manipulator under teleoperation

    International Nuclear Information System (INIS)

    Yae, K.H.; Lin, T.C.; Chern, S.T.

    1993-01-01

    For an interactive simulation of 7 degree-of-freedom redundant manipulator under teleoperation, this paper describes an iterative form of resolved-motion rate control in which the constraint Jacobian is constructed on-line in real time and used in the pseudoinverse method as the manipulator is teleoperated. The manipulator's tasks may involve trajectory following in free space and frequent contact with the environment through pick-and-put operation. The operator's command is interpreted as a series of increments in Cartesian space, and then the constraint Jacobian is developed between two successive increments by viewing the predecessor as the initial configuration and the successor as the target configuration. The pseudoinverse of the constraint Jacobian then generates necessary changes in joint variables and subsequently joint torque. The Jacobian constructed in this way enables us to treat both free motion and environmental contact in the same way. The simulator is built on a two-processor IRIS workstation, with one processor for graphics and the other for dynamics and control analysis. This simulator has a potential for training the teleoperator, developing operational scenarios through visualization of the simulation, and testing the design of operator-machine interface

  3. Evaluation of modular robot system for maintenance tasks in hot cell

    Energy Technology Data Exchange (ETDEWEB)

    Pagala, Prithvi Sekhar, E-mail: ps.pagala@upm.es [Centre for Automation and Robotics UPM-CSIC (Spain); Ferre, Manuel, E-mail: m.ferre@upm.es [Centre for Automation and Robotics UPM-CSIC (Spain); Orona, Luis, E-mail: l.orona@gsi.de [GSI Helmholtzzentrum für Schwerionenforschung (Germany)

    2014-10-15

    Highlights: •Modular robot deployment inside hot cell for remote manipulation evaluated. •Flexible and adaptable system for variety of tasks presented. •Uses in large workspaces and evolving requirements shown. -- Abstract: This work assesses the use of a modular robot system to perform maintenance and inspection tasks such as, remote flexible inspection, manipulation and cooperation with deployed systems inside the hot cell. A flexible modular solution for the inclusion in maintenance operations is presented. The proposed heterogeneous modular robotic system is evaluated using simulations of the prototype across selected robot configuration to perform tasks. Results obtained show the advantages and ability of the modular robot to perform the necessary tasks as well as its ability to adapt and evolve depending on the need. The simulation test case inside hot cell shows modular robot configuration, a two modular arm to perform tele-operation tasks in the workspace and a wheeled platform for inspection collaborating to perform tasks. The advantage of using re-configurable modular robot over conventional robot platforms is shown.

  4. Gesture-Based Robot Control with Variable Autonomy from the JPL Biosleeve

    Science.gov (United States)

    Wolf, Michael T.; Assad, Christopher; Vernacchia, Matthew T.; Fromm, Joshua; Jethani, Henna L.

    2013-01-01

    This paper presents a new gesture-based human interface for natural robot control. Detailed activity of the user's hand and arm is acquired via a novel device, called the BioSleeve, which packages dry-contact surface electromyography (EMG) and an inertial measurement unit (IMU) into a sleeve worn on the forearm. The BioSleeve's accompanying algorithms can reliably decode as many as sixteen discrete hand gestures and estimate the continuous orientation of the forearm. These gestures and positions are mapped to robot commands that, to varying degrees, integrate with the robot's perception of its environment and its ability to complete tasks autonomously. This flexible approach enables, for example, supervisory point-to-goal commands, virtual joystick for guarded teleoperation, and high degree of freedom mimicked manipulation, all from a single device. The BioSleeve is meant for portable field use; unlike other gesture recognition systems, use of the BioSleeve for robot control is invariant to lighting conditions, occlusions, and the human-robot spatial relationship and does not encumber the user's hands. The BioSleeve control approach has been implemented on three robot types, and we present proof-of-principle demonstrations with mobile ground robots, manipulation robots, and prosthetic hands.

  5. Virtual Reality Robotic Operation Simulations Using MEMICA Haptic System

    Science.gov (United States)

    Bar-Cohen, Y.; Mavroidis, C.; Bouzit, M.; Dolgin, B.; Harm, D. L.; Kopchok, G. E.; White, R.

    2000-01-01

    There is an increasing realization that some tasks can be performed significantly better by humans than robots but, due to associated hazards, distance, etc., only a robot can be employed. Telemedicine is one area where remotely controlled robots can have a major impact by providing urgent care at remote sites. In recent years, remotely controlled robotics has been greatly advanced. The robotic astronaut, "Robonaut," at NASA Johnson Space Center is one such example. Unfortunately, due to the unavailability of force and tactile feedback capability the operator must determine the required action using only visual feedback from the remote site, which limits the tasks that Robonaut can perform. There is a great need for dexterous, fast, accurate teleoperated robots with the operator?s ability to "feel" the environment at the robot's field. Recently, we conceived a haptic mechanism called MEMICA (Remote MEchanical MIrroring using Controlled stiffness and Actuators) that can enable the design of high dexterity, rapid response, and large workspace system. Our team is developing novel MEMICA gloves and virtual reality models to allow the simulation of telesurgery and other applications. The MEMICA gloves are designed to have a high dexterity, rapid response, and large workspace and intuitively mirror the conditions at a virtual site where a robot is simulating the presence of the human operator. The key components of MEMICA are miniature electrically controlled stiffness (ECS) elements and Electrically Controlled Force and Stiffness (ECFS) actuators that are based on the sue of Electro-Rheological Fluids (ERF). In this paper the design of the MEMICA system and initial experimental results are presented.

  6. Remote technology review: mobile robots continue to march (and crawl, roll, walk, slither, climb and swim) into action

    International Nuclear Information System (INIS)

    Meieran, H.

    1991-01-01

    Mobile robots are performing an increasing range of tasks in nuclear power plants and other nuclear facilities as well as in a wide spectrum of other hazardous industries and environments. The total number of such systems, many of which can be used in the nuclear industry, that have been, are being or will be built, now exceeds 350 separate units manufactured by more than 168 suppliers in 19 countries. In addition to being used in nuclear power plants themselves, they are being, or can be, employed in a variety of other nuclear applications, including hot cells, fuel reprocessing facilities, research establishments, waste sites, uranium mines, and decommissioning projects. The survey results reported here provide current statistics regarding terrestrial based mobile robots and remote teleoperator controlled vehicles (referred to collectively as mobile robots), underwater crawling and swimming robots (the latter known as remotely operated vehicles (ROVs)) and pipecrawlers. (author)

  7. The evolution of the application of mobile robotics to nuclear facility operations and maintenance

    International Nuclear Information System (INIS)

    Carlton, R.E.; Bartholet, S.J.

    1987-01-01

    Application of the concept of mobile robotics to the operation and maintenance of nuclear facilities has evolved over the last four years due, in part, to the efforts of Odetics in the creation of the teleoperated legged transporter. The first step in this evolutionary process was the demonstration of the legged transporter technology, which was accomplished with the design, fabrication and testing of the Odex I functionoid. A second generation ODEX, delivered to the Robotics Technology Group at Savannah River Laboratories, represents the experimental phase of the process. This machine consists of a basic ODEX I transporter body with a unique manipulator arm mounted on a service turret. Currently, the prototype phase of the mobile robotic development effort is underway with the design of the ODEX III which includes enhanced mobility and dexterity, increased intelligence and greater strength in the manipulator arm and transporter

  8. NASA's Robotics Mining Competition Provides Undergraduates Full Life Cycle Systems Engineering Experience

    Science.gov (United States)

    Stecklein, Jonette

    2017-01-01

    NASA has held an annual robotic mining competition for teams of university/college students since 2010. This competition is yearlong, suitable for a senior university engineering capstone project. It encompasses the full project life cycle from ideation of a robot design to actual tele-operation of the robot in simulated Mars conditions mining and collecting simulated regolith. A major required element for this competition is a Systems Engineering Paper in which each team describes the systems engineering approaches used on their project. The score for the Systems Engineering Paper contributes 25% towards the team's score for the competition's grand prize. The required use of systems engineering on the project by this competition introduces the students to an intense practical application of systems engineering throughout a full project life cycle.

  9. Space Robotics Challenge

    Data.gov (United States)

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

  10. Robotic arm

    International Nuclear Information System (INIS)

    Kwech, H.

    1989-01-01

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

  11. Robotic surgery

    Science.gov (United States)

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

  12. Robotic parathyroidectomy.

    Science.gov (United States)

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

    2015-09-01

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

  13. Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper; Palima, Darwin

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

  14. Robotic arm

    Science.gov (United States)

    Kwech, Horst

    1989-04-18

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

  15. A Lunar L2-Farside Exploration and Science Mission Concept with the ORion Multi-Purpose Crew Vehicle and a Teleoperated Lander/Rover

    Science.gov (United States)

    Burns, Jack O.; Kring, David; Norris, Scott; Hopkins, Josh; Lazio, Joseph; Kasper, Justin

    2012-01-01

    A novel concept is presented in this paper for a human mission to the lunar L2 (Lagrange) point that would be a proving ground for future exploration missions to deep space while also overseeing scientifically important investigations. In an L2 halo orbit above the lunar farside, the astronauts would travel 15% farther from Earth than did the Apollo astronauts and spend almost three times longer in deep space. Such missions would validate the Orion MPCV's life support systems, would demonstrate the high-speed re-entry capability needed for return from deep space, and would measure astronauts' radiation dose from cosmic rays and solar flares to verify that Orion would provide sufficient protection, as it is designed to do. On this proposed mission, the astronauts would teleoperate landers and rovers on the unexplored lunar farside, which would obtain samples from the geologically interesting farside and deploy a low radio frequency telescope. Sampling the South Pole-Aitkin basin (one of the oldest impact basins in the solar system) is a key science objective of the 2011 Planetary Science Decadal Survey. Observations of the Universe's first stars/galaxies at low radio frequencies are a priority of the 2010 Astronomy & Astrophysics Decadal Survey. Such telerobotic oversight would also demonstrate capability for human and robotic cooperation on future, more complex deep space missions.

  16. 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

  17. Imposing motion constraints to a force reflecting tele-robot through real-time simulation of a virtual mechanism

    International Nuclear Information System (INIS)

    Joly, L.; Andriot, C.

    1995-01-01

    In a tele-operation system, assistance can be given to the operator by constraining the tele-robot position to remain within a restricted subspace of its workspace. A new approach to motion constraint is presented in this paper. The control law is established simulating a virtual ideal mechanism acting as a jig, and connected to the master and slave arms via springs and dampers. Using this approach, it is possible to impose any (sufficiently smooth) motion constraint to the system, including non linear constraints (complex surfaces) involving coupling between translations and rotations and physical equivalence ensures that the controller is passive. Experimental results obtained with a 6-DOF tele-operation system are given. Other applications of the virtual mechanism concept include hybrid position-force control and haptic interfaces. (authors). 11 refs., 7 figs

  18. Imposing motion constraints to a force reflecting tele-robot through real-time simulation of a virtual mechanism

    Energy Technology Data Exchange (ETDEWEB)

    Joly, L.; Andriot, C.

    1995-12-31

    In a tele-operation system, assistance can be given to the operator by constraining the tele-robot position to remain within a restricted subspace of its workspace. A new approach to motion constraint is presented in this paper. The control law is established simulating a virtual ideal mechanism acting as a jig, and connected to the master and slave arms via springs and dampers. Using this approach, it is possible to impose any (sufficiently smooth) motion constraint to the system, including non linear constraints (complex surfaces) involving coupling between translations and rotations and physical equivalence ensures that the controller is passive. Experimental results obtained with a 6-DOF tele-operation system are given. Other applications of the virtual mechanism concept include hybrid position-force control and haptic interfaces. (authors). 11 refs., 7 figs.

  19. Robotic dismantlement systems at the CP-5 reactor D and D project

    International Nuclear Information System (INIS)

    Seifert, L. S.

    1998-01-01

    The Chicago Pile 5 (CP-5) Research Reactor Facility is currently undergoing decontamination and decommissioning (D and D) at the Argonne National Laboratory (ANL) Illinois site. CP-5 was the principle nuclear reactor used to produce neutrons for scientific research at Argonne from 1954 to 1979. The CP-5 reactor was a heavy-water cooled and moderated, enriched uranium-fueled reactor with a graphite reflector. The CP-5 D and D project includes the disassembly, segmentation and removal of all the radioactive components, equipment and structures associated with the CP-5 facility. The Department of Energy's Robotics Technology Development Program and the Federal Energy Technology Center, Morgantown Office provided teleoperated, remote systems for use in the dismantlement of the CP-5 reactor assembly for tasks requiring remote dismantlement as part of the EM-50 Large-Scale Demonstration Program (LSDP). The teleoperated systems provided were the Dual Arm Work Platform (DAWP), the Rosie Mobile Teleoperated Robot Work System (ROSIE), and a remotely-operated crane control system with installed swing-reduction control system. Another remotely operated apparatus, a Brokk BM250, was loaned to ANL by the Princeton Plasma Physics Laboratory (PPPL). This machine is not teleoperated and was not part of the LSDP, but deserves some mention in this discussion. The DAWP is a robotic dismantlement system that includes a pair of Schilling Robotic Systems Titan III hydraulic manipulator arms mounted to a specially designed support platform: a hydraulic power unit (HPU) and a remote operator console. The DAWP is designed to be crane-suspended for remote positioning. ROSIE, developed by RedZone Robotics, Inc. is a mobile, electro-hydraulic, omnidirectional platform with a heavy-duty telescoping boom mounted to the platform's deck. The work system includes the mobile platform (locomotor), a power distribution unit (PDU) and a remote operator console. ROSIE moves about the reactor building

  20. Multimodal interaction for human-robot teams

    Science.gov (United States)

    Burke, Dustin; Schurr, Nathan; Ayers, Jeanine; Rousseau, Jeff; Fertitta, John; Carlin, Alan; Dumond, Danielle

    2013-05-01

    Unmanned ground vehicles have the potential for supporting small dismounted teams in mapping facilities, maintaining security in cleared buildings, and extending the team's reconnaissance and persistent surveillance capability. In order for such autonomous systems to integrate with the team, we must move beyond current interaction methods using heads-down teleoperation which require intensive human attention and affect the human operator's ability to maintain local situational awareness and ensure their own safety. This paper focuses on the design, development and demonstration of a multimodal interaction system that incorporates naturalistic human gestures, voice commands, and a tablet interface. By providing multiple, partially redundant interaction modes, our system degrades gracefully in complex environments and enables the human operator to robustly select the most suitable interaction method given the situational demands. For instance, the human can silently use arm and hand gestures for commanding a team of robots when it is important to maintain stealth. The tablet interface provides an overhead situational map allowing waypoint-based navigation for multiple ground robots in beyond-line-of-sight conditions. Using lightweight, wearable motion sensing hardware either worn comfortably beneath the operator's clothing or integrated within their uniform, our non-vision-based approach enables an accurate, continuous gesture recognition capability without line-of-sight constraints. To reduce the training necessary to operate the system, we designed the interactions around familiar arm and hand gestures.

  1. Pioneer Robot Testing Program and Status

    International Nuclear Information System (INIS)

    Herndon, J.N.

    2001-01-01

    The U.S. Department of Energy (USDOE) and Ukraine established a joint program in 1997 to address the need for remotely operated systems for unstructured environments in Ukraine such as the highly hazardous conditions inside the failed Chernobyl Nuclear Power Plant (ChNPP) Unit 4, or Shelter Object. The environment inside Shelter Object is extremely hazardous due to ionizing radiation fields, high airborne contamination, and major industrial safety issues. Although Ukrainian workers have explored and mapped much of the internals of Unit 4 in the time since the accident during the morning hours of April 26, 1986, there remain areas where humans have not entered to this date. Based on the agreement between USDOE and Ukraine, the USDOE, in cooperation with the U.S. National Aeronautics and Space Administration (NASA), developed the Pioneer Robot and has provided it to the ChNPP within the framework of international technical assistance. Pioneer is capable of mobile platform movement and manipulation under teleoperated control, 3-dimensional mapping, and environmental data collection. The Pioneer is radiation hardened for conditions like those of Shelter Object. Pioneer has been evaluated on site in Ukraine for use in both the Shelter Object environment and the more general conditions of ChNPP decommissioning. This paper summarizes the results of these testing activities and describes the status and near-term activities in support of the Pioneer Robot integration into Ukraine

  2. Advanced robotics technology applied to mixed waste characterization, sorting and treatment

    International Nuclear Information System (INIS)

    Wilhelmsen, K.; Hurd, R.; Grasz, E.

    1994-04-01

    There are over one million cubic meters of radioactively contaminated hazardous waste, known as mixed waste, stored at Department of Energy facilities. Researchers at Lawrence Livermore National Laboratory (LLNL) are developing methods to safely and efficiently treat this type of waste. LLNL has automated and demonstrated a means of segregating items in a mixed waste stream. This capability incorporates robotics and automation with advanced multi-sensor information for autonomous and teleoperational handling of mixed waste items with previously unknown characteristics. The first phase of remote waste stream handling was item singulation; the ability to remove individual items of heterogeneous waste directly from a drum, box, bin, or pile. Once objects were singulated, additional multi-sensory information was used for object classification and segregation. In addition, autonomous and teleoperational surface cleaning and decontamination of homogeneous metals has been demonstrated in processing mixed waste streams. The LLNL waste stream demonstration includes advanced technology such as object classification algorithms, identification of various metal types using active and passive gamma scans and RF signatures, and improved teleoperational and autonomous grasping of waste objects. The workcell control program used an off-line programming system as a server to perform both simulation control as well as actual hardware control of the workcell. This paper will discuss the motivation for remote mixed waste stream handling, the overall workcell layout, sensor specifications, workcell supervisory control, 3D vision based automated grasp planning and object classification algorithms

  3. Mobile app for human-interaction with sitter robots

    Science.gov (United States)

    Das, Sumit Kumar; Sahu, Ankita; Popa, Dan O.

    2017-05-01

    Human environments are often unstructured and unpredictable, thus making the autonomous operation of robots in such environments is very difficult. Despite many remaining challenges in perception, learning, and manipulation, more and more studies involving assistive robots have been carried out in recent years. In hospital environments, and in particular in patient rooms, there are well-established practices with respect to the type of furniture, patient services, and schedule of interventions. As a result, adding a robot into semi-structured hospital environments is an easier problem to tackle, with results that could have positive benefits to the quality of patient care and the help that robots can offer to nursing staff. When working in a healthcare facility, robots need to interact with patients and nurses through Human-Machine Interfaces (HMIs) that are intuitive to use, they should maintain awareness of surroundings, and offer safety guarantees for humans. While fully autonomous operation for robots is not yet technically feasible, direct teleoperation control of the robot would also be extremely cumbersome, as it requires expert user skills, and levels of concentration not available to many patients. Therefore, in our current study we present a traded control scheme, in which the robot and human both perform expert tasks. The human-robot communication and control scheme is realized through a mobile tablet app that can be customized for robot sitters in hospital environments. The role of the mobile app is to augment the verbal commands given to a robot through natural speech, camera and other native interfaces, while providing failure mode recovery options for users. Our app can access video feed and sensor data from robots, assist the user with decision making during pick and place operations, monitor the user health over time, and provides conversational dialogue during sitting sessions. In this paper, we present the software and hardware framework that

  4. Mobile robots for the nuclear industry - A 1990 status report

    International Nuclear Information System (INIS)

    Meieran, H.B.

    1990-01-01

    Mobile robots with and without manipulating arms have been available for use in radioactive environments for almost 30 yr. Their use commenced in the early 1960s with a family of mobile robots manufactured by the PAR Corporation (now the PAR division of CIMCORP). It was a tethered, two-tracked teleoperator-controlled vehicle that supported one master-slave manipulating arm. The durability of this device is continuing to be demonstrated by HERMAN, which is currently on standby availability at the Oak Ridge National Laboratory (ORNL) to respond to emergency situations by supporting mitigating actions at scenes of incidents that involve the release of radioactive material. Mobile robots are being employed in a spectrum of locations in many reactors and other nuclear installations. This paper presents the current status of the use of mobile robots in the nuclear industry and describes currently contemplated missions, with examples, that are being or will be conducted on terrestrial surfaces, underwater, in pipeline locations, and through the air

  5. 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.

  6. Rehabilitation robotics.

    Science.gov (United States)

    Krebs, H I; Volpe, B T

    2013-01-01

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

  7. Medical robotics.

    Science.gov (United States)

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

    2011-01-01

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

  8. A novel control framework for nonlinear time-delayed dual-master/single-slave teleoperation.

    Science.gov (United States)

    Ghorbanian, A; Rezaei, S M; Khoogar, A R; Zareinejad, M; Baghestan, K

    2013-03-01

    A novel trilateral control architecture for the Dual-master/Single-slave teleoperation is proposed in this paper. This framework has been used in surgical training and rehabilitation applications. In this structure, the slave motion has been controlled by weighted summation of signals transmitted by the operator referring to task control authority through the dominance factors. The nonlinear dynamics for telemanipulators are considered which were considered as disregarded issues in previous studies of this field. Bounded variable time-delay has been considered which affects the transmitted signals in the communication channels. Two types of controllers have been offered and an appropriate stability analysis for each controller has been demonstrated. The first controller includes Proportional with dissipative gains (P+d). The second one contains Proportional and Derivative with dissipative gains (PD+d). In both cases, the stability of the trilateral control framework is preserved by choosing appropriate controller's gains. It is shown that these controllers attempt to coordinate the positions of telemanipulators in the free motion condition. The stability of the Dual-master/Single-slave teleoperation has been proved by an appropriate Lyapunov like function and the stability conditions have been studied. In addition the proposed PD+d control architecture is modified for trilateral teleoperation with internet communication between telemanipulators that caused such communication complications as packet loss, data duplication and swapping. A number of experiments have been conducted with various levels of dominance factor to validate the effectiveness of the new control architecture. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

  9. Stabilizing impacts in force-reflecting teleoperation using distance-to-impact estimates

    International Nuclear Information System (INIS)

    McAree, P.R.; Daniel, R.W.

    2000-01-01

    The level of force that can be stably reflected to the human operator in a force-reflecting teleoperator is constrained by the dynamics of impact between the slave arm and its environment. This paper models the underlying dynamics of impact and describes how the impact effects can be minimized using estimates of the distance between the slave and objects in its workspace. The approach is based on stochastic variational principles and seeks to limit the momentum of the slave arm at impact. Preliminary experimental results show that the approach allows extension of the range of frequencies that can be stably reflected to the human operator

  10. Generic robot architecture

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

    2010-09-21

    The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.

  11. 'Filigree Robotics'

    DEFF Research Database (Denmark)

    2016-01-01

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

  12. Cloud Robotics Platforms

    Directory of Open Access Journals (Sweden)

    Busra Koken

    2015-01-01

    Full Text Available Cloud robotics is a rapidly evolving field that allows robots to offload computation-intensive and storage-intensive jobs into the cloud. Robots are limited in terms of computational capacity, memory and storage. Cloud provides unlimited computation power, memory, storage and especially collaboration opportunity. Cloud-enabled robots are divided into two categories as standalone and networked robots. This article surveys cloud robotic platforms, standalone and networked robotic works such as grasping, simultaneous localization and mapping (SLAM and monitoring.

  13. Medical robotics

    CERN Document Server

    Troccaz, Jocelyne

    2013-01-01

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

  14. Service Robots

    DEFF Research Database (Denmark)

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

    The position presented in this paper is that in order to understand how service robots shape, and are being shaped by, the physical and social contexts in which they are used, we need to consider both work/organizational analysis and interaction design. We illustrate this with qualitative data...... and personal experiences to generate discussion about how to link these two traditions. This paper presents selected results from a case study that investigated the implementation and use of robot vacuum cleaners in Danish eldercare. The study demonstrates interpretive flexibility with variation...

  15. Robot Choreography

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Heath, Damith

    2016-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Hooman Samani

    2013-12-01

    Full Text Available In this paper, we have investigated the concept of “Cultural Robotics” with regard to the evolution of social into cultural robots in the 21st Century. By defining the concept of culture, the potential development of a culture between humans and robots is explored. Based on the cultural values of the robotics developers, and the learning ability of current robots, cultural attributes in this regard are in the process of being formed, which would define the new concept of cultural robotics. According to the importance of the embodiment of robots in the sense of presence, the influence of robots in communication culture is anticipated. The sustainability of robotics culture based on diversity for cultural communities for various acceptance modalities is explored in order to anticipate the creation of different attributes of culture between robots and humans in the future.

  17. Robot vision for nuclear advanced robot

    International Nuclear Information System (INIS)

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

    1991-01-01

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

  18. Control of Multiple Robotic Sentry Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Feddema, J.; Klarer, P.; Lewis, C.

    1999-04-01

    As part of a project for the Defense Advanced Research Projects Agency, Sandia National Laboratories is developing and testing the feasibility of using of a cooperative team of robotic sentry vehicles to guard a perimeter and to perform surround and diversion tasks. This paper describes on-going activities in the development of these robotic sentry vehicles. To date, we have developed a robotic perimeter detection system which consists of eight ''Roving All Terrain Lunar Explorer Rover'' (RATLER{trademark}) vehicles, a laptop-based base-station, and several Miniature Intrusion Detection Sensors (MIDS). A radio frequency receiver on each of the RATLER vehicles alerts the sentry vehicles of alarms from the hidden MIDS. When an alarm is received, each vehicle decides whether it should investigate the alarm based on the proximity of itself and the other vehicles to the alarm. As one vehicle attends an alarm, the other vehicles adjust their position around the perimeter to better prepare for another alarm. We have also demonstrated the ability to drive multiple vehicles in formation via tele-operation or by waypoint GPS navigation. This is currently being extended to include mission planning capabilities. At the base-station, the operator can draw on an aerial map the goal regions to be surrounded and the repulsive regions to be avoided. A potential field path planner automatically generates a path from the vehicles' current position to the goal regions while avoiding the repulsive regions and the other vehicles. This path is previewed to the operator before the regions are downloaded to the vehicles. The same potential field path planner resides on the vehicle, except additional repulsive forces from on-board proximity sensors guide the vehicle away from unplanned obstacles.

  19. Robotic Surgery

    Science.gov (United States)

    Childress, Vincent W.

    2007-01-01

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

  20. Detection of Nuclear Sources by UAV Teleoperation Using a Visuo-Haptic Augmented Reality Interface

    Directory of Open Access Journals (Sweden)

    Jacopo Aleotti

    2017-09-01

    Full Text Available A visuo-haptic augmented reality (VHAR interface is presented enabling an operator to teleoperate an unmanned aerial vehicle (UAV equipped with a custom CdZnTe-based spectroscopic gamma-ray detector in outdoor environments. The task is to localize nuclear radiation sources, whose location is unknown to the user, without the close exposure of the operator. The developed detector also enables identification of the localized nuclear sources. The aim of the VHAR interface is to increase the situation awareness of the operator. The user teleoperates the UAV using a 3DOF haptic device that provides an attractive force feedback around the location of the most intense detected radiation source. Moreover, a fixed camera on the ground observes the environment where the UAV is flying. A 3D augmented reality scene is displayed on a computer screen accessible to the operator. Multiple types of graphical overlays are shown, including sensor data acquired by the nuclear radiation detector, a virtual cursor that tracks the UAV and geographical information, such as buildings. Experiments performed in a real environment are reported using an intense nuclear source.

  1. Objective evaluation of situation awareness for dynamic decision makers in teleoperations

    Science.gov (United States)

    Endsley, Mica R.

    1991-01-01

    Situation awareness, a current mental mode of the environment, is critical to the ability of operators to perform complex and dynamic tasks. This should be particularly true for teleoperators, who are separated from the situation they need to be aware of. The design of the man-machine interface must be guided by the goal of maintaining and enhancing situation awareness. The objective of this work has been to build a foundation upon which research in the area can proceed. A model of dynamic human decision making which is inclusive of situation awareness will be presented, along with a definition of situation awareness. A method for measuring situation awareness will also be presented as a tool for evaluating design concepts. The Situation Awareness Global Assessment Technique (SAGAT) is an objective measure of situation awareness originally developed for the fighter cockpit environment. The results of SAGAT validation efforts will be presented. Implications of this research for teleoperators and other operators of dynamic systems will be discussed.

  2. Robust Stability of Scaled-Four-Channel Teleoperation with Internet Time-Varying Delays

    Directory of Open Access Journals (Sweden)

    Emma Delgado

    2016-04-01

    Full Text Available We describe the application of a generic stability framework for a teleoperation system under time-varying delay conditions, as addressed in a previous work, to a scaled-four-channel (γ-4C control scheme. Described is how varying delays are dealt with by means of dynamic encapsulation, giving rise to mu-test conditions for robust stability and offering an appealing frequency technique to deal with the stability robustness of the architecture. We discuss ideal transparency problems and we adapt classical solutions so that controllers are proper, without single or double differentiators, and thus avoid the negative effects of noise. The control scheme was fine-tuned and tested for complete stability to zero of the whole state, while seeking a practical solution to the trade-off between stability and transparency in the Internet-based teleoperation. These ideas were tested on an Internet-based application with two Omni devices at remote laboratory locations via simulations and real remote experiments that achieved robust stability, while performing well in terms of position synchronization and force transparency.

  3. Detection of Nuclear Sources by UAV Teleoperation Using a Visuo-Haptic Augmented Reality Interface.

    Science.gov (United States)

    Aleotti, Jacopo; Micconi, Giorgio; Caselli, Stefano; Benassi, Giacomo; Zambelli, Nicola; Bettelli, Manuele; Zappettini, Andrea

    2017-09-29

    A visuo-haptic augmented reality (VHAR) interface is presented enabling an operator to teleoperate an unmanned aerial vehicle (UAV) equipped with a custom CdZnTe-based spectroscopic gamma-ray detector in outdoor environments. The task is to localize nuclear radiation sources, whose location is unknown to the user, without the close exposure of the operator. The developed detector also enables identification of the localized nuclear sources. The aim of the VHAR interface is to increase the situation awareness of the operator. The user teleoperates the UAV using a 3DOF haptic device that provides an attractive force feedback around the location of the most intense detected radiation source. Moreover, a fixed camera on the ground observes the environment where the UAV is flying. A 3D augmented reality scene is displayed on a computer screen accessible to the operator. Multiple types of graphical overlays are shown, including sensor data acquired by the nuclear radiation detector, a virtual cursor that tracks the UAV and geographical information, such as buildings. Experiments performed in a real environment are reported using an intense nuclear source.

  4. Robust Stability of Scaled-Four-Channel Teleoperation with Internet Time-Varying Delays.

    Science.gov (United States)

    Delgado, Emma; Barreiro, Antonio; Falcón, Pablo; Díaz-Cacho, Miguel

    2016-04-26

    We describe the application of a generic stability framework for a teleoperation system under time-varying delay conditions, as addressed in a previous work, to a scaled-four-channel (γ-4C) control scheme. Described is how varying delays are dealt with by means of dynamic encapsulation, giving rise to mu-test conditions for robust stability and offering an appealing frequency technique to deal with the stability robustness of the architecture. We discuss ideal transparency problems and we adapt classical solutions so that controllers are proper, without single or double differentiators, and thus avoid the negative effects of noise. The control scheme was fine-tuned and tested for complete stability to zero of the whole state, while seeking a practical solution to the trade-off between stability and transparency in the Internet-based teleoperation. These ideas were tested on an Internet-based application with two Omni devices at remote laboratory locations via simulations and real remote experiments that achieved robust stability, while performing well in terms of position synchronization and force transparency.

  5. Expanding to teleoperation of a tight modular workshop for dismantling radioactive components

    International Nuclear Information System (INIS)

    Gasc, B.

    1990-01-01

    The CEA (French Nuclear Energy Commission) in connection with TECHNICATOME developed a tight modular workshop for the dismantling of AT1 plant facilities in LA HAGUE. This workshop constructed of reusable stainless steel panels assembled by bolting provides a tight and decontaminable working zone compatible with any building configuration. This being the case, the operators bearing ventilated suits may work under the best safety conditions on alpha-contaminated materials. For the purpose of expanding the working capacities of this workshop it was decided to develop special components for teleoperation from the outside as in a conventional cell. To meet this objective which is within the scope of the contract signed with the CEC, the following components were developed and constructed: - manipulator holder panel, - swivelling hatch panel, - wall equipment sealed transfer device and, - modular biological protection. The design, construction and tests of these new components led to their qualification and further incorporation in the list of components of the modular workshop liable to be used for teleoperation procedures

  6. Performance experiments with alternative advanced teleoperator control modes for a simulated solar maximum satellite repair

    Science.gov (United States)

    Das, H.; Zak, H.; Kim, W. S.; Bejczy, A. K.; Schenker, P. S.

    1992-01-01

    Experiments are described which were conducted at the JPL Advanced Teleoperator Lab to demonstrate and evaluate the effectiveness of various teleoperator control modes in the performance of a simulated Solar Max Satellite Repair (SMSR) task. THe SMSR was selected as a test because it is very rich in performance capability requirements and it actually has been performed by two EVA astronauts in the Space Shuttle Bay in 1984. The main subtasks are: thermal blanket removal; installation of a hinge attachment for electrical panel opening; opening of electrical panel; removal of electrical connectors; relining of cable bundles; replacement of electrical panel; securing parts and cables; re-mate electrical connectors; closing of electrical panel; and reinstating thermal blanket. The current performance experiments are limited to thermal blanket cutting, electrical panel unbolting and handling electrical bundles and connectors. In one formal experiment even different control modes were applied to the unbolting and reinsertion of electrical panel screws subtasks. The seven control modes are alternative combinations of manual position and rate control with force feedback and remote compliance referenced to force-torque sensor information. Force-torque sensor and end effector position data and task completion times were recorded for analysis and quantification of operator performance.

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

    NARCIS (Netherlands)

    Leenes, R.E.; Lucivero, F.

    2015-01-01

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

  8. A fully omnidirectional wheeled assembly for robotic vehicles

    International Nuclear Information System (INIS)

    Killough, S.M.; Pin, F.G.

    1990-01-01

    A large number of wheeled or tracked platform mechanisms have been studied and developed to provide their mobility capability to teleoperated and autonomous robot vehicles. This paper presents an original wheeled platform based on an orthogonal wheel assembly that provides a full (three-degrees-of-freedom) omnidirectionality of the platform without wheel slippage and with the capability for simultaneous motions in rotation and translation (including sideways movements). A schematic of the basic wheel assembly is shown. The motion of the assembly is unconstrained (freewheeling) in the direction parallel to the main assembly shaft, while it is constrained in the direction perpendicular to the shaft, being driven in this direction by rotation of the shaft. A prototype platform was constructed to demonstrate the feasibility of this new concept

  9. ASI's space automation and robotics programs: The second step

    Science.gov (United States)

    Dipippo, Simonetta

    1994-01-01

    The strategic decisions taken by ASI in the last few years in building up the overall A&R program, represent the technological drivers for other applications (i.e., internal automation of the Columbus Orbital Facility in the ESA Manned Space program, applications to mobile robots both in space and non-space environments, etc...). In this context, the main area of application now emerging is the scientific missions domain. Due to the broad range of applications of the developed technologies, both in the in-orbit servicing and maintenance of space structures and scientific missions, ASI foresaw the need to have a common technological development path, mainly focusing on: (1) control; (2) manipulation; (3) on-board computing; (4) sensors; and (5) teleoperation. Before entering into new applications in the scientific missions field, a brief overview of the status of the SPIDER related projects is given, underlining also the possible new applications for the LEO/GEO space structures.

  10. Micro Robotics Lab

    Data.gov (United States)

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

  11. Robots of the Future

    Indian Academy of Sciences (India)

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

  12. Presentation robot Advee

    Czech Academy of Sciences Publication Activity Database

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

    2012-01-01

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

  13. Towards Sociable Robots

    DEFF Research Database (Denmark)

    Ngo, Trung Dung

    This thesis studies aspects of self-sufficient energy (energy autonomy) for truly autonomous robots and towards sociable robots. Over sixty years of history of robotics through three developmental ages containing single robot, multi-robot systems, and social (sociable) robots, the main objective...... of roboticists mostly focuses on how to make a robotic system function autonomously and further, socially. However, such approaches mostly emphasize behavioural autonomy, rather than energy autonomy which is the key factor for not only any living machine, but for life on the earth. Consequently, self......-sufficient energy is one of the challenges for not only single robot or multi-robot systems, but also social and sociable robots. This thesis is to deal with energy autonomy for multi-robot systems through energy sharing (trophallaxis) in which each robot is equipped with two capabilities: self-refueling energy...

  14. Cloud Robotics Model

    OpenAIRE

    Mester, Gyula

    2015-01-01

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

  15. 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)

  16. Preliminary Research on Possibilities of Drilling Process Robotization

    Science.gov (United States)

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

    2017-12-01

    Nowadays, drilling & blasting is crucial technique for deposit excavation using in hard rock mining. Unfortunately, such approach requires qualified staff to perform, and consequently there is a serious risk related to rock mechanics when using explosives. Negative influence of explosives usage on safety issues of underground mine is a main cause of mining demands related to elimination of people from production area. Other aspects worth taking into consideration are drilling precision according to drilling pattern, blasting effectiveness, improvement of drilling tool reliability etc. In the literature different drilling support solutions are well-known in terms of positioning support systems, anti-jamming systems or cavity detection systems. For many years, teleoperation of drilling process is also developed. Unfortunately, available technologies have so far not fully met the industries expectation in hard rock. Mine of the future is expected to incorporate robotic system instead of current approaches. In this paper we present preliminary research related to robotization of drilling process and possibilities of its application in underground mine condition. A test rig has been proposed. To simulate drilling process several key assumptions have been accepted. As a result, algorithms for automation of drilling process have been proposed and tested on the test rig. Experiences gathered so far underline that there is a need for further developing robotic system for drilling process.

  17. Robot Programming.

    Science.gov (United States)

    1982-12-01

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

  18. Desarrollo de un robot móvil compacto integrado en el middleware ROS

    Directory of Open Access Journals (Sweden)

    André Araújo

    2014-07-01

    Full Text Available Resumen: En este trabajo se presenta el robot TraxBot y su integración completa en el Robot Operating System (ROS. El TraxBot es una plataforma de robótica móvil, desarrollada y ensamblada en el Instituto de Sistemas y Robótica (ISR Coimbra. El objetivo de este trabajo es reducir drásticamente el tiempo de desarrollo, proporcionando abstracción de hardware y modos de operación intuitiva, permitiendo a los investigadores centrarse en sus motivaciones principales de investigación, por ejemplo, la búsqueda y rescate con múltiples robots o robótica de enjambres. Se describen las potencialidades del TraxBot, que combinado con un controlador de ROS específicamente desarrollado, facilita el uso de varias herramientas para el análisis de datos y la interacción entre múltiples robots, sensores y dispositivos de teleoperación. Para validar el sistema, se llevaron a cabo diversas pruebas experimentales utilizando robots reales y virtuales. Abstract: This paper presents the TraxBot robot and its full integration in the Robotic Operating System (ROS. The TraxBot is a compact mobile robotic platform developed and assembled at the Institute of Systems and Robots (ISR Coimbra. The goal in this work is to drastically decrease the development time, providing hardware abstraction and intuitive operation modes, allowing researchers to focus in their main research motivations, e.g., search and rescue, multi-robot surveillance or swarm robotics. The potentialities of the TraxBot are described which, combined with the ROS driver developed, provide several tools for data analysis and easiness of interaction between multiple robots, sensors and tele-operation devices. To validate the approach, diverse experimental tests using real and virtual simulated robots were conducted. Palabras clave: ROS, robot móvil, sistemas embebidos, diseño, middleware, montaje y test., Keywords: ROS, mobile robot, Arduino, embedded system, design, assembling and testing.

  19. Friendly network robotics; Friendly network robotics

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-03-01

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

  20. Advanced robotics handling and controls applied to Mixed Waste characterization, segregation and treatment

    International Nuclear Information System (INIS)

    Grasz, E.; Huber, L.; Horvath, J.; Roberson, P.; Wilhelmsen, K.; Ryon, R.

    1994-11-01

    At Lawrence Livermore National Laboratory under the Mixed Waste Operations program of the Department of Energy Robotic Technology Development Program (RTDP), a key emphasis is developing a total solution to the problem of characterizing, handling and treating complex and potentially unknown mixed waste objects. LLNL has been successful at looking at the problem from a system perspective and addressing some of the key issues including non-destructive evaluation of the waste stream prior to the materials entering the handling workcell, the level of automated material handling required for effective processing of the waste stream objects (both autonomous and tele-operational), and the required intelligent robotic control to carry out the characterization, segregation, and waste treating processes. These technologies were integrated and demonstrated in a prototypical surface decontamination workcell this past year

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

    Science.gov (United States)

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

    2011-06-01

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

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

    International Nuclear Information System (INIS)

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

    1987-01-01

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

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

    International Nuclear Information System (INIS)

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

    1987-01-01

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

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

    OpenAIRE

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

    2013-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-06-01

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

  6. Two-Channel Transparency-Optimized Control Architectures in Bilateral Teleoperation With Time Delay.

    Science.gov (United States)

    Kim, Jonghyun; Chang, Pyung Hun; Park, Hyung-Soon

    2013-01-01

    This paper introduces transparency-optimized control architectures (TOCAs) using two communication channels. Two classes of two-channel TOCAs are found, thereby showing that two channels are sufficient to achieve transparency. These TOCAs achieve a greater level of transparency but poorer stability than three-channel TOCAs and four-channel TOCAs. Stability of the two-channel TOCAs has been enhanced while minimizing transparency degradation by adding a filter; and a combined use of the two classes of two-channel TOCAs is proposed for both free space and constrained motion, which involve switching between two TOCAs for transition between free space and constrained motions. The stability condition of the switched teleoperation system is derived for practical applications. Through the one degree-of-freedom (DOF) experiment, the proposed two-channel TOCAs were shown to operate stably, while achieving better transparency under time delay than the other TOCAs.

  7. Two-Channel Transparency-Optimized Control Architectures in Bilateral Teleoperation With Time Delay

    Science.gov (United States)

    Kim, Jonghyun; Chang, Pyung Hun; Park, Hyung-Soon

    2013-01-01

    This paper introduces transparency-optimized control architectures (TOCAs) using two communication channels. Two classes of two-channel TOCAs are found, thereby showing that two channels are sufficient to achieve transparency. These TOCAs achieve a greater level of transparency but poorer stability than three-channel TOCAs and four-channel TOCAs. Stability of the two-channel TOCAs has been enhanced while minimizing transparency degradation by adding a filter; and a combined use of the two classes of two-channel TOCAs is proposed for both free space and constrained motion, which involve switching between two TOCAs for transition between free space and constrained motions. The stability condition of the switched teleoperation system is derived for practical applications. Through the one degree-of-freedom (DOF) experiment, the proposed two-channel TOCAs were shown to operate stably, while achieving better transparency under time delay than the other TOCAs. PMID:23833548

  8. Time domain passivity controller for 4-channel time-delay bilateral teleoperation.

    Science.gov (United States)

    Rebelo, Joao; Schiele, Andre

    2015-01-01

    This paper presents an extension of the time-domain passivity control approach to a four-channel bilateral controller under the effects of time delays. Time-domain passivity control has been used successfully to stabilize teleoperation systems with position-force and position-position controllers; however, the performance with such control architectures is sub-optimal both with and without time delays. This work extends the network representation of the time-domain passivity controller to the four-channel architecture, which provides perfect transparency to the user without time delay. The proposed architecture is based on modelling the controllers as dependent voltage sources and using only series passivity controllers. The obtained results are shown on a one degree-of-freedom setup and illustrate the stabilization behaviour of the proposed controller when time delay is present in the communication channel.

  9. Robust and Transparent Multi-Degree-of-Freedom Bilateral Teleoperation with Time-Delay

    NARCIS (Netherlands)

    Pinto Rebelo, J.L.

    2015-01-01

    Robots are particularly well suited for executing tasks that take place in locations which are too dangerous or inaccessible to human operators. For robot manipulators to execute complex activities in unknown, unstructured environments, despite the recent increases in computation power, human input

  10. Calibration of Robot Reference Frames for Enhanced Robot Positioning Accuracy

    OpenAIRE

    Cheng, Frank Shaopeng

    2008-01-01

    This chapter discussed the importance and methods of conducting robot workcell calibration for enhancing the accuracy of the robot TCP positions in industrial robot applications. It shows that the robot frame transformations define the robot geometric parameters such as joint position variables, link dimensions, and joint offsets in an industrial robot system. The D-H representation allows the robot designer to model the robot motion geometry with the four standard D-H parameters. The robot k...

  11. Collision avoidance during teleoperation using whole arm proximity sensors coupled to a virtual environment

    International Nuclear Information System (INIS)

    Novak, J.L.; Feddema, J.T.; Miner, N.E.; Stansfield, S.A.

    1993-01-01

    Much of the current robotics effort at the US DOE is directed toward remote handling of hazardous waste. Telerobotic systems are being developed to remotely inspect, characterize, and process waste. This paper describes a collision avoidance system using Whole Arm Proximity (WHAP) sensors on an articulated robot arm. The capacitance-based sensors generate electric fields which completely encompass the robot arm and detect obstacles as they approach from any direction. The robot is moved through the workspace using a velocity command generated either by an operator through a force-sensing input device or a preprogrammed sequence of motions. The directional obstacle information gathered by the WHAP sensors is then used in a matrix column maximization algorithm that automatically selects the sensor closest to an obstacle during each robot controller cycle. The distance from this sensor to the obstacle is used to reduce the component of the command input velocity along the normal axis of the sensor, allowing graceful perturbation of the velocity command to prevent a collision. By scaling only the component of the velocity vector in the direction of the nearest obstacle, the control system restricts motion in the direction of an obstacle while permitting unconstrained motion in other directions. The actual robot joint positions and the WHAP sensor readings are communicated to an operator interface consisting of a graphical model of the Puma robot and its environment. Circles are placed on the graphical robot surface at positions corresponding to the locations of the WHAP sensor. As the individual sensors detect obstacles, the associated circles change color, providing the operator with visual feedback as to the location and relative size of the obstacle. At the same time, the graphical robot position is updated to reflect the actual state of the robot. This information permits the operator to plan alternative paths around unmodeled, but sensed, obstacles

  12. The OTD Robotics Waste Minimization Program

    International Nuclear Information System (INIS)

    Couture, S.A.

    1992-04-01

    The danger to human health and safety posed by exposure to transuranic (TRU) and Pu contaminated materials necessitates remote processing in confined environments. Currently these operations are carried out in gloveboxes and hot-cells by human operators using lead- lined gloves or teleoperated manipulators. Protective clothing worn by operators during gloved operations has contributed significantly to the waste problems currently facing site remediators. The DOE Environmental Restoration and Waste Management (ER/WM) Program is in the process of developing and demonstrating technologies to assist in the remediation of sites that have accumulated wastes generated using these processes over the past five decades. Recognizing that continued use of existing production, recovery and waste treatment systems will compound the remediation problem, DOE has made a commitment to waste minimization. To reduce waste generation during weapons production and waste processing operations, automated processes are being developed and demonstrated for use in future DOE processing facilities as part of OTD's Robotics Technology Development Program. These technologies are currently being applied to pyrochemical processing systems to demonstrate conversion of plutonium oxide to metal. However, these technologies are expected to have applications in a variety of waste processing systems including those used to treat high-level tank wastes, buried wastes requiring remote processing, mixed wastes, and unknown hazardous materials. In addition to reducing the future waste burden of DOE, automated processes are an effective way to comply with existing and anticipated federal, state, and local regulations related to personal health and safety and the health of the environment

  13. A Novel Telemanipulated Robotic Assistant for Surgical Endoscopy: Preclinical Application to ESD.

    Science.gov (United States)

    Zorn, Lucile; Nageotte, Florent; Zanne, Philippe; Legner, Andras; Dallemagne, Bernard; Marescaux, Jacques; de Mathelin, Michel

    2018-04-01

    Minimally invasive surgical interventions in the gastrointestinal tract, such as endoscopic submucosal dissection (ESD), are very difficult for surgeons when performed with standard flexible endoscopes. Robotic flexible systems have been identified as a solution to improve manipulation. However, only a few such systems have been brought to preclinical trials as of now. As a result, novel robotic tools are required. We developed a telemanipulated robotic device, called STRAS, which aims to assist surgeons during intraluminal surgical endoscopy. This is a modular system, based on a flexible endoscope and flexible instruments, which provides 10 degrees of freedom (DoFs). The modularity allows the user to easily set up the robot and to navigate toward the operating area. The robot can then be teleoperated using master interfaces specifically designed to intuitively control all available DoFs. STRAS capabilities have been tested in laboratory conditions and during preclinical experiments. We report 12 colorectal ESDs performed in pigs, in which large lesions were successfully removed. Dissection speeds are compared with those obtained in similar conditions with the manual Anubiscope platform from Karl Storz. We show significant improvements ( ). These experiments show that STRAS (v2) provides sufficient DoFs, workspace, and force to perform ESD, that it allows a single surgeon to perform all the surgical tasks and those performances are improved with respect to manual systems. The concepts developed for STRAS are validated and could bring new tools for surgeons to improve comfort, ease, and performances for intraluminal surgical endoscopy.

  14. Educational Robotics as Mindtools

    Science.gov (United States)

    Mikropoulos, Tassos A.; Bellou, Ioanna

    2013-01-01

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

  15. ROILA : RObot Interaction LAnguage

    NARCIS (Netherlands)

    Mubin, O.

    2011-01-01

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

  16. Robotic Hand

    Science.gov (United States)

    1993-01-01

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

  17. Modular Robotic Wearable

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2009-01-01

    In this concept paper we trace the contours and define a new approach to robotic systems, composed of interactive robotic modules which are somehow worn on the body. We label such a field as Modular Robotic Wearable (MRW). We describe how, by using modular robotics for creating wearable....... Finally, by focusing on the intersection of the combination modular robotic systems, wearability, and bodymind we attempt to explore the theoretical characteristics of such approach and exploit the possible playware application fields....

  18. Hexapod Robot

    Science.gov (United States)

    Begody, Ericka

    2016-01-01

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

  19. How operator admittance affects the response of a teleoperation system to assistive forces – A model analytic study and simulation

    International Nuclear Information System (INIS)

    Wildenbeest, J.G.W.; Abbink, D.A.; Boessenkool, H.; Heemskerk, C.J.M.; Koning, J.F.

    2013-01-01

    Highlights: ► We developed a computational model of a human operator controlling a teleoperation system based on feedforward control, while performing a free-space motion. ► We studied how assistive forces affect the response of the combined system of telemanipulator and operator, when operator admittance changes due to task instruction or arm configuration. ► Inappropriate assistive forces can lead to assistive forces that are either not perceived, or deflect the combined system; assistive forces should be tailored to operator admittance. ► It is required to study, measure and quantitatively model operator behavior for teleoperated tasks in more detail. -- Abstract: Haptic shared control is a promising approach to increase the effectiveness of remote handling operations. While in haptic shared control the operator is continuously guided with assistive forces, the operator's response to forces is not fully understood. This study describes the development of a computational model of a human operator controlling a teleoperation system based on feedforward control. In a simulation, the operator's response to repulsive forces in free-space motions was modeled for two degrees of freedom, for two operator endpoint admittances (estimated by means of closed-loop identification techniques). The simulation results show that similar repulsive forces lead to substantial discrepancies in response when admittance settings mismatch; wrongly estimated operator admittances can lead to assistive forces that are either not perceived, or deflect the combined system of human operator and telemanipulator. It is concluded that assistive forces should be tailored to the arm configuration and the type of task performed. In order to utilize haptic shared control to its full potential, it is required to study, measure and quantitatively model operator behavior for teleoperated tasks in more detail

  20. How operator admittance affects the response of a teleoperation system to assistive forces – A model analytic study and simulation

    Energy Technology Data Exchange (ETDEWEB)

    Wildenbeest, J.G.W., E-mail: j.g.w.wildenbeest@tudelft.nl [Department of Biomechanical Engineering, Delft University of Technology, Mekelweg 2, 2626 CD Delft (Netherlands); Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands); Abbink, D.A. [Department of Biomechanical Engineering, Delft University of Technology, Mekelweg 2, 2626 CD Delft (Netherlands); Boessenkool, H. [FOM Institute DIFFER (Dutch Institute of Fundamental Energy Research), Association EUROTOM-FOM, Partner in the Trilateral Eurogio Cluster, P.O. Box 1207, 3430 BE Nieuwegein (Netherlands); Heemskerk, C.J.M.; Koning, J.F. [Heemskerk Innovative Technology B.V., Jonckerweg 12, 2201 DZ Noordwijk (Netherlands); FOM Institute DIFFER (Dutch Institute of Fundamental Energy Research), Association EUROTOM-FOM, Partner in the Trilateral Eurogio Cluster, P.O. Box 1207, 3430 BE Nieuwegein (Netherlands)

    2013-10-15

    Highlights: ► We developed a computational model of a human operator controlling a teleoperation system based on feedforward control, while performing a free-space motion. ► We studied how assistive forces affect the response of the combined system of telemanipulator and operator, when operator admittance changes due to task instruction or arm configuration. ► Inappropriate assistive forces can lead to assistive forces that are either not perceived, or deflect the combined system; assistive forces should be tailored to operator admittance. ► It is required to study, measure and quantitatively model operator behavior for teleoperated tasks in more detail. -- Abstract: Haptic shared control is a promising approach to increase the effectiveness of remote handling operations. While in haptic shared control the operator is continuously guided with assistive forces, the operator's response to forces is not fully understood. This study describes the development of a computational model of a human operator controlling a teleoperation system based on feedforward control. In a simulation, the operator's response to repulsive forces in free-space motions was modeled for two degrees of freedom, for two operator endpoint admittances (estimated by means of closed-loop identification techniques). The simulation results show that similar repulsive forces lead to substantial discrepancies in response when admittance settings mismatch; wrongly estimated operator admittances can lead to assistive forces that are either not perceived, or deflect the combined system of human operator and telemanipulator. It is concluded that assistive forces should be tailored to the arm configuration and the type of task performed. In order to utilize haptic shared control to its full potential, it is required to study, measure and quantitatively model operator behavior for teleoperated tasks in more detail.

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

    Science.gov (United States)

    Doroodgar, Barzin; Liu, Yugang; Nejat, Goldie

    2014-12-01

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

  2. Control Suite and Teleoperator Interface for Whole-Body Mobile Manipulators, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Robots that can move about in terrestrial environments and manipulate large and small objects serve a critical role in NASA's Moon/Mars initiative. Such systems will...

  3. Research project RoboGas{sup Inspector}. Gas leak detection with autonomous mobile robots; Forschungsprojekt RoboGas{sup Inspector}. Gaslecksuche mit autonomen mobilen Robotern

    Energy Technology Data Exchange (ETDEWEB)

    Habib, Abdelkarim [BAM Bundesanstalt fuer Materialforschung und -pruefung, Berlin (Germany); Bonow, Gero; Kroll, Andreas [Fachgebiet Mess- und Regelungstechnik, Universitaet Kassel, Kassel (Germany); Hegenberg, Jens; Schmidt, Ludger [Fachgebiet Mensch-Maschine-Systemtechnik, Universitaet Kassel, Kassel (Germany); Barz, Thomas; Schulz, Dirk [Fraunhofer FKIE, Unbemannte Systeme, Wachtberg (Germany)

    2013-05-15

    As part of the promotional program AUTONOMIK of the Federal Ministry of Economics and Technology (Berlin, Federal Republic of Germany) a consortium of nine project partners developed a prototype of an autonomous mobile robot looking for gas leaks in extended industrial equipment. The autonomous mobility of the system for any systems was implemented using different types of sensors for self-localization and navigation. The tele-operation enables a manual intervention in the process. The robot performs inspection tasks in industrial plants by means of video technology and remote gas measurement technology without driving into the possible risk areas and without the presence of humans. The robot can be used for routine inspections of facilities or for the targeted inspection of specific plant components. Thanks to the remote sensing technique also plant components can be inspected which are difficult to be inspected due to their limited accessibility by conventional measurement techniques.

  4. Next generation light robotic

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  5. Distributed Robotics Education

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2011-01-01

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

  6. An Adaptive Robot Game

    DEFF Research Database (Denmark)

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

    2010-01-01

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

  7. Robotic membranes

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette

    2008-01-01

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

  8. Consumers' willingness to buy food through the internet

    DEFF Research Database (Denmark)

    Grunert, Klaus G.; Ramus, Kim

    2005-01-01

    the internet. Practical implications: The literature review suggests that concepts combining convenience and an emphasis on information intensive food products will be most successful, and that consumers having a "wired lifestyle" are the most likely users. However, much more detailed insights will be possible......Purpose: The purpose of this paper is to review literature on factors that may have an impact on consumers' probability to buy food over the internet, and to suggest a model that can guide future research. Design/methodology/approach: Determinants of consumer intention to buy food via the internet...... of scattered evidence is available, there is a need for a coherent, operational, theory-based model that can summarize findings and guide future research. Research limitations/implications: The proposed model is operational and can be used in future empirical research on consumers' food shopping via...

  9. job hunting by through the internet: the experiences of some ...

    African Journals Online (AJOL)

    Admin

    graduates are increasingly using the Internet as a veritable source of job opportunities. However, job- .... Answering adverts in professional or trade journals. There is a 7% success rate ..... New York: United Nations Development. Programme.

  10. Extensive reading through the Internet: is it worth the while?

    Directory of Open Access Journals (Sweden)

    Juan Pino Silva

    2009-12-01

    Full Text Available Reading materials written in English is the prime goal of many reading programs around the world. Extensive reading (ER has for years aided new students at my institution to gradually acquire large vocabularies and other sub-skills that are needed to read fluently. To continue to do that effectively, a new scheme involving the use of internet - called w-ERP- was set in place in collaboration with the students. The main focus of this article is to describe the 3-phase, gradual process that led to the current design of the web-based ER scheme. The paper begins with a brief discussion of ER, reading on line (RO and self-directed learning as part of the rationale for the new scheme. Participants’ preliminary data on the benefits and potentials for learning to read and reading for learning other things are discussed.

  11. Sustainability of Marketing Food Crops through the Internet in Lagos ...

    African Journals Online (AJOL)

    Purposive sampling technique was used to select 85 questionnaire respondents and communication officer of an online farm produce shopping mall while snowball was adopted for agricultural engineers. The data collected through questionnaire were analysed using descriptive and inferential statistics while the interviews ...

  12. Exchanging Medical Information with Eastern Europe through the Internet.

    Science.gov (United States)

    Daniels, Julie K.; Cronje, Ruth J.; Sokolowski, Beth C.

    1998-01-01

    Interviews foreign Information Coordinators who facilitate exchange of medical information over the Internet between healthcare providers in America and eastern Europe to learn how Internet technologies are being introduced, disseminated, and adopted in their institutions. Applies diffusion of innovations theory for interpretation. Shows technical…

  13. Science through the Internet: Researching, Evaluating and Citing Websites

    Directory of Open Access Journals (Sweden)

    Misser E

    1999-01-01

    Full Text Available This article attempts to convey the joys and frustrations of skimming the Internet trying to find relevant information concerning an academic's work as a scientist, a student or an instructor. A brief overview of the Internet and the "do's and don'ts" for the neophyte as well for the more seasoned "navigator" are given. Some guidelines of "what works and what does not" and "what is out there" are provided for the scientist with specific emphasis for biologists, as well as for all others having an interest in science but with little interest in spending countless hours "surfing the net". An extensive but not exhaustive list of related websites is provided.

  14. Sustainability of Marketing Food Crops through the Internet in Lagos ...

    African Journals Online (AJOL)

    abdulaphyz

    Key Words: Marketing food crop, internet marketing in Nigeria .... have been made easy such that prospective customers are exposed to the varieties via ... earlier found a positive relationship between perceived usefulness and adoption of .... crops, varieties and, easy and personalized experience devised as encouraging ...

  15. Fathers online: learning about fatherhood through the internet.

    Science.gov (United States)

    Stgeorge, Jennifer M; Fletcher, Richard J

    2011-01-01

    In the transition to fatherhood, men face numerous challenges. Opportunities to learn new practices and gain support are limited, although the provisions of father-specific spaces such as fathers' antenatal classes or "responsible fathering" programs are important advances. This article explores how men use the social space of a father-specific Internet chat room to learn about fathering. Messages to an Australian-hosted, father-specific chat room (for fathers of infants or young children) were examined, and three overlapping themes illustrated men's perceptions of their transition to fatherhood. The themes concerned recognition of and response to a lack of social space, services, and support for new fathers. The implications for fathers' perinatal education are discussed.

  16. Bridging the eye health information gap through the internet

    Directory of Open Access Journals (Sweden)

    Sally Parsley

    2004-10-01

    Full Text Available The internet connects millions of computers around the world. Once connected, the eye health worker can use internet services to: * access the most up-to-date information at a fraction of the traditional cost of journal subscription via the new Open Access publishing model * communicate with colleagues, reducing the sense of professional isolation which comes from geographical separation * engage in a two way process of communication between health information providers and users * publish locally appropriate material more easily.

  17. Consumers' willingness to buy food through the internet

    DEFF Research Database (Denmark)

    Grunert, Klaus G.; Ramus, Kim

    2005-01-01

    Purpose: The purpose of this paper is to review literature on factors that may have an impact on consumers' probability to buy food over the internet, and to suggest a model that can guide future research. Design/methodology/approach: Determinants of consumer intention to buy food via the internet...... are sorted into the categories medium, product, consumer, firm, and environment. In order to draw the various results together and provide a coherent framework for future research, a model is proposed that combines the theory of planned behaviour and the lifestyle construct. Findings: While a lot...... of scattered evidence is available, there is a need for a coherent, operational, theory-based model that can summarize findings and guide future research. Research limitations/implications: The proposed model is operational and can be used in future empirical research on consumers' food shopping via...

  18. Agri-business for elderly people through the Internet

    Directory of Open Access Journals (Sweden)

    Kenji Hashimoto

    2014-03-01

    Full Text Available The leaf business of Irodori is an example of a successful enterprise realized by connecting elderly people and local agricultural resources in a peripheral area with an aging population. In the process of developing the business, Irodori has overcome three difficulties with regard to information systems. Firstly, it overcame the distances between the peripheral producing regions and the consumer markets in urban areas. Secondly, it overcame the disadvantageous condition of being based in a mountain village with a low population density, where it is difficult to develop a communications infrastructure. Thirdly, it overcame the difficulty and burden that elderly people felt regarding the use of a personal computer and the Internet. The example of Irodori can be considered as a model case when considering the exploitation of regional resources and strategies for utilizing them through 'informatization'.

  19. Image selection in static telepathology through the Internet.

    Science.gov (United States)

    Della Mea, V; Cataldi, P; Boi, S; Finato, N; Della Palma, P; Beltrami, C A

    1998-01-01

    A telepathology study was carried out to examine the differences occurring when the images were selected by an experienced pathologist, a junior pathologist and a first-year resident. One hundred and fifty-five consecutive frozen-section pathology cases were collected and sent for consultation to a remote experienced pathologist using multimedia email. Local diagnoses (as reported in the files of the Institute, not from the image selector) and remote diagnoses (based on the images) were compared with those performed on paraffin-embedded sections. Acquisition time and number of selected images were recorded for each case and used to compare the different behaviour of the three local pathologists. Of the 155 cases sent by telepathology, four were considered insufficient for a diagnosis by the remote pathologist and thus the diagnosis was postponed. In the remaining 151 cases, the overall diagnostic agreement between remote and definitive diagnosis was 96.7%. The results indicate that in the routine diagnostic work of a frozen-section service, an inexperienced pathologist can select images which are sufficiently informative for a remote diagnosis, in a sufficiently short time.

  20. Science through the Internet: Researching, Evaluating and Citing Websites.

    Science.gov (United States)

    Lee, L EJ; Misser, E

    1999-01-08

    This article attempts to convey the joys and frustrations of skimming the Internet trying to find relevant information concerning an academic's work as a scientist, a student or an instructor. A brief overview of the Internet and the "do's and don'ts" for the neophyte as well for the more seasoned "navigator" are given. Some guidelines of "what works and what does not" and "what is out there" are provided for the scientist with specific emphasis for biologists, as well as for all others having an interest in science but with little interest in spending countless hours "surfing the net". An extensive but not exhaustive list of related websites is provided.

  1. Smart city networks through the internet of things

    CERN Document Server

    Pardalos, Panos

    2017-01-01

    This book both analyzes and synthesizes new cutting-edge theories and methods for future design implementations in smart cities through interdisciplinary synergizing of architecture, technology, and the Internet of Things (IoT). Implementation of IoT enables the collection and data exchange of objects embedded with electronics, software, sensors, and network connectivity. Recently IoT practices have moved into uniquely identifiable objects that are able to transfer data directly into networks. This book features new technologically advanced ideas, highlighting properties of smart future city networks. Chapter contributors include theorists, computer scientists, mathematicians, and interdisciplinary planners, who currently work on identifying theories, essential elements, and practices where the IoT can impact the formation of smart cities and sustainability via optimization, network analyses, data mining, mathematical modeling and engineering. Moreover, this book includes research-based theories and real wo...

  2. Robotics Potential Fields

    Directory of Open Access Journals (Sweden)

    Jordi Lucero

    2009-01-01

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

  3. Designing Emotionally Expressive Robots

    DEFF Research Database (Denmark)

    Tsiourti, Christiana; Weiss, Astrid; Wac, Katarzyna

    2017-01-01

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

  4. Advanced mechanics in robotic systems

    CERN Document Server

    Nava Rodríguez, Nestor Eduardo

    2011-01-01

    Illustrates original and ambitious mechanical designs and techniques for the development of new robot prototypes Includes numerous figures, tables and flow charts Discusses relevant applications in robotics fields such as humanoid robots, robotic hands, mobile robots, parallel manipulators and human-centred robots

  5. Cutaneous Feedback of Fingertip Deformation and Vibration for Palpation in Robotic Surgery.

    Science.gov (United States)

    Pacchierotti, Claudio; Prattichizzo, Domenico; Kuchenbecker, Katherine J

    2016-02-01

    Despite its expected clinical benefits, current teleoperated surgical robots do not provide the surgeon with haptic feedback largely because grounded forces can destabilize the system's closed-loop controller. This paper presents an alternative approach that enables the surgeon to feel fingertip contact deformations and vibrations while guaranteeing the teleoperator's stability. We implemented our cutaneous feedback solution on an Intuitive Surgical da Vinci Standard robot by mounting a SynTouch BioTac tactile sensor to the distal end of a surgical instrument and a custom cutaneous display to the corresponding master controller. As the user probes the remote environment, the contact deformations, dc pressure, and ac pressure (vibrations) sensed by the BioTac are directly mapped to input commands for the cutaneous device's motors using a model-free algorithm based on look-up tables. The cutaneous display continually moves, tilts, and vibrates a flat plate at the operator's fingertip to optimally reproduce the tactile sensations experienced by the BioTac. We tested the proposed approach by having eighteen subjects use the augmented da Vinci robot to palpate a heart model with no haptic feedback, only deformation feedback, and deformation plus vibration feedback. Fingertip deformation feedback significantly improved palpation performance by reducing the task completion time, the pressure exerted on the heart model, and the subject's absolute error in detecting the orientation of the embedded plastic stick. Vibration feedback significantly improved palpation performance only for the seven subjects who dragged the BioTac across the model, rather than pressing straight into it.

  6. Robotics_MobileRobot Navigation, Phase I

    Data.gov (United States)

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

  7. Robots Social Embodiment in Autonomous Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Brian Duffy

    2008-11-01

    Full Text Available This work aims at demonstrating the inherent advantages of embracing a strong notion of social embodiment in designing a real-world robot control architecture with explicit ?intelligent? social behaviour between a collective of robots. It develops the current thinking on embodiment beyond the physical by demonstrating the importance of social embodiment. A social framework develops the fundamental social attributes found when more than one robot co-inhabit a physical space. The social metaphors of identity, character, stereotypes and roles are presented and implemented within a real-world social robot paradigm in order to facilitate the realisation of explicit social goals.

  8. Method and associated apparatus for capturing, servicing, and de-orbiting earth satellites using robotics

    Science.gov (United States)

    Cepollina, Frank J. (Inventor); Burns, Richard D. (Inventor); Holz, Jill M. (Inventor); Corbo, James E. (Inventor); Jedhrich, Nicholas M. (Inventor)

    2009-01-01

    This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR; and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time, as well as the ability to intervene using manual override to teleoperate the robot.In one embodiment, a vehicle used for carrying out the method of this invention comprises an ejection module, which includes the robot, and a de-orbit module. Once servicing is completed by the robot, the ejection module separates from the de-orbit module, leaving the de-orbit module attached to the satellite for de-orbiting the same at a future time. Upon separation, the ejection module can either de-orbit itself or rendezvous with another satellite for servicing. The ability to de-orbit a spacecraft further allows the opportunity to direct the landing of the spent satellite in a safe location away from population centers, such as the ocean.

  9. The importance of shared mental models and shared situation awareness for transforming robots from tools to teammates

    Science.gov (United States)

    Ososky, Scott; Schuster, David; Jentsch, Florian; Fiore, Stephen; Shumaker, Randall; Lebiere, Christian; Kurup, Unmesh; Oh, Jean; Stentz, Anthony

    2012-06-01

    Current ground robots are largely employed via tele-operation and provide their operators with useful tools to extend reach, improve sensing, and avoid dangers. To move from robots that are useful as tools to truly synergistic human-robot teaming, however, will require not only greater technical capabilities among robots, but also a better understanding of the ways in which the principles of teamwork can be applied from exclusively human teams to mixed teams of humans and robots. In this respect, a core characteristic that enables successful human teams to coordinate shared tasks is their ability to create, maintain, and act on a shared understanding of the world and the roles of the team and its members in it. The team performance literature clearly points towards two important cornerstones for shared understanding of team members: mental models and situation awareness. These constructs have been investigated as products of teams as well; amongst teams, they are shared mental models and shared situation awareness. Consequently, we are studying how these two constructs can be measured and instantiated in human-robot teams. In this paper, we report results from three related efforts that are investigating process and performance outcomes for human robot teams. Our investigations include: (a) how human mental models of tasks and teams change whether a teammate is human, a service animal, or an advanced automated system; (b) how computer modeling can lead to mental models being instantiated and used in robots; (c) how we can simulate the interactions between human and future robotic teammates on the basis of changes in shared mental models and situation assessment.

  10. Space applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 4: Application of ARAMIS capabilities to space project functional elements

    Science.gov (United States)

    Miller, R. H.; Minsky, M. L.; Smith, D. B. S.

    1982-01-01

    Applications of automation, robotics, and machine intelligence systems (ARAMIS) to space activities and their related ground support functions are studied, so that informed decisions can be made on which aspects of ARAMIS to develop. The specific tasks which will be required by future space project tasks are identified and the relative merits of these options are evaluated. The ARAMIS options defined and researched span the range from fully human to fully machine, including a number of intermediate options (e.g., humans assisted by computers, and various levels of teleoperation). By including this spectrum, the study searches for the optimum mix of humans and machines for space project tasks.

  11. Low-cost teleoperator-controlled vehicle for damage assessment and radiation dose measurement

    International Nuclear Information System (INIS)

    Tyree, W.H.

    1991-01-01

    A low-cost, disposable, radio-controlled, remote-reading, ionizing radiation and surveillance teleoperator re-entry vehicle has been built. The vehicle carries equipment, measures radiation levels, and evaluates building conditions. The basic vehicle, radio control with amplifiers, telemetry, elevator, and video camera with monitor cost less than $2500. Velcro-mounted alpha, beta-gamma, and neutron sensing equipment is used in the present system. Many types of health physics radiation measuring equipment may be substituted on the vehicle. The system includes a black-and-white video camera to observe the environment surrounding the vehicle. The camera is mounted on a vertical elevator extendible to 11 feet above the floor. The present vehicle uses a video camera with an umbilical cord between the vehicle and the operators. Preferred operation would eliminate the umbilical. Video monitoring equipment is part of the operator control system. Power for the vehicle equipment is carried on board and supplied by sealed lead-acid batteries. Radios are powered by 9-V alkaline batteries. The radio control receiver, servo drivers, high-power amplifier and 49-MHz FM transceivers were irradiated at moderate rates with neutron and gamma doses to 3000 Rem and 300 Rem, respectively, to ensure system operation

  12. The inspection of a radiologically contaminated pipeline using a teleoperated pipe crawler

    International Nuclear Information System (INIS)

    Fogle, R.F.; Kuelske, K.; Kellner, R.A.

    1995-01-01

    In the 1950s, the Savannah River Site built an open, unlined retention basin to temporarily store potentially radionuclide contaminated cooling water from a chemical separations process and storm water drainage from a nearby waste management facility that stored large quantities of nuclear fission byproducts in carbon steel tanks. The retention basin was retired from service in 1972 when a new, lined basin was completed. In 1978, the old retention basin was excavated, backfilled with uncontaminated dirt, and covered with grass. At the same time, much of the underground process pipeline leading to the basin was abandoned. Since the closure of the retention basin, new environmental regulations require that the basin undergo further assessment to determine whether additional remediation is required. A visual and radiological inspection of the pipeline was necessary to aid in the remediation decision making process for the retention basin system. A teleoperated pipe crawler inspection system was developed to survey the abandoned sections of underground pipelines leading to the retired retention basin. This paper will describe the background to this project, the scope of the investigation, the equipment requirements, and the results of the pipeline inspection

  13. TAO-2/SPARTE, a language-enhanced computer aided teleoperation system

    International Nuclear Information System (INIS)

    Gravez, P.; Fournier, R.

    1991-01-01

    TAO-2 is a computer system designed by CEA/DTA/UR for the remote control of nuclear servicing servomanipulators. It results from several years of research which have led to the current availability of an industrial product featuring highly advanced performances. For undersea applications, a development has also been carried out with CYBERNETIX for controlling the new hydraulic arm built by this company. An integral element of TAO-2 is the SPARTE language which deals with off-line task programming and focuses on combined manual, automatic and mixed control modes. Additionally, it takes into account the on-line part of the human operator relative to adjustment, monitoring and incident recovery. Other promising features are hybrid control specification, mechanisms for the management of external events and 'learning by touching' capabilities. The present paper describes the basic principles of TAO-2. It first recalls the fundamentals of Computer Aided Teleoperation (CAT). The functional and hardware architectures which implement the TAO-2 CAT concepts are then outlined. The next parts emphasize the original characteristics of the SPARTE control and programming language. The paper ends with a brief presentation of our approach for CAT symbolic control

  14. Design considerations for teleoperation systems operating in gas-tight argon cells

    Directory of Open Access Journals (Sweden)

    Seungnam Yu

    2017-12-01

    Full Text Available In the nuclear industry, mechanical engineers spend a significant portion of their time designing equipment such as manipulators, bogies, mechanical grippers, and so on. Some customized designs can be considered as standard mechanical equipment in this area, although it is not unusual to find that an existing design cannot simply be copied from one project to another. Varied performance requirements can dictate that redesign, often quite extensive redesign, is required. However, if something similar has been done before, engineers could use that as a starting point for the new project. In this regard, this study presents several guidelines inspired by previous design knowledge for similar development cases. Moreover, this study presents more detailed suggestions such as design guidelines for an argon-based hot cell atmosphere and design experience for a large-scale practical hot cell facility. Design considerations and case studies dealt with in this study are dedicated to teleoperation manipulators that are used at a large-scale argon cell facility for pyroprocess integrated inactive demonstration (PRIDE, at the Korea Atomic Energy Research Institute. In particular, for case studies to support the suggested recommendations, a fabricated telemanipulator system for PRIDE is introduced, and several kinds of experimental results associated with it are presented.

  15. Wearable computer for mobile augmented-reality-based controlling of an intelligent robot

    Science.gov (United States)

    Turunen, Tuukka; Roening, Juha; Ahola, Sami; Pyssysalo, Tino

    2000-10-01

    An intelligent robot can be utilized to perform tasks that are either hazardous or unpleasant for humans. Such tasks include working in disaster areas or conditions that are, for example, too hot. An intelligent robot can work on its own to some extent, but in some cases the aid of humans will be needed. This requires means for controlling the robot from somewhere else, i.e. teleoperation. Mobile augmented reality can be utilized as a user interface to the environment, as it enhances the user's perception of the situation compared to other interfacing methods and allows the user to perform other tasks while controlling the intelligent robot. Augmented reality is a method that combines virtual objects into the user's perception of the real world. As computer technology evolves, it is possible to build very small devices that have sufficient capabilities for augmented reality applications. We have evaluated the existing wearable computers and mobile augmented reality systems to build a prototype of a future mobile terminal- the CyPhone. A wearable computer with sufficient system resources for applications, wireless communication media with sufficient throughput and enough interfaces for peripherals has been built at the University of Oulu. It is self-sustained in energy, with enough operating time for the applications to be useful, and uses accurate positioning systems.

  16. Command and Control Architectures for Autonomous Micro-Robotic Forces - FY-2000 Project Report

    Energy Technology Data Exchange (ETDEWEB)

    Dudenhoeffer, Donald Dean

    2001-04-01

    Advances in Artificial Intelligence (AI) and micro-technologies will soon give rise to production of large-scale forces of autonomous micro-robots with systems of innate behaviors and with capabilities of self-organization and real world tasking. Such organizations have been compared to schools of fish, flocks of birds, herds of animals, swarms of insects, and military squadrons. While these systems are envisioned as maintaining a high degree of autonomy, it is important to understand the relationship of man with such machines. In moving from research studies to the practical deployment of large-scale numbers of robots, one of critical pieces that must be explored is the command and control architecture for humans to re-task and also inject global knowledge, experience, and intuition into the force. Tele-operation should not be the goal, but rather a level of adjustable autonomy and high-level control. If a herd of sheep is comparable to the collective of robots, then the human element is comparable to the shepherd pulling in strays and guiding the herd in the direction of greener pastures. This report addresses the issues and development of command and control for largescale numbers of autonomous robots deployed as a collective force.

  17. Nuclear power plant steam pipes repairing with TIRANT 3 robot system

    International Nuclear Information System (INIS)

    Soto Tomas, Marcelo; Curiel Nieva, Marceliano; Monzo Blasco, Enrique; Rodriguez, Salvador Pineda; Vaquer Perez, Juan I.

    2011-01-01

    A typical application functions covering the steam pipes inner surface in coal-fired power station and nuclear power plants. The results of this process are spectacular in terms of protection against corrosion and abrasion, but its application has conditioning factors, such as: Severe application conditions for workers. Due to the postural position (usually kneeling) in small diameter pipes and working with fireproof clothing and masks with outdoor air supplying, due to fumes, sparks and molten metal particles, radiological contamination, confined space, poor lighting... Coating uniformity. As metallization is a manual process, the carried out measurements show small variations in the thickness of the coating, always within the tolerance limits established by the applicable regulations and quality assurance. For all these reasons, Grupo Dominguis has developed the TIRANT 3 robot, a worldwide innovative system, for metallization of steam pipes inner surface. TIRANT 3 robot is teleoperated from outside of the pipe, so that human intervention is reduced to the operations of robot positioning and change of metallization wire. As it is an independent system of the human factor, metallization process performance is significantly increased by reducing rest periods due only to the robot maintenance. Likewise, TIRANT 3 system permits to increase resulting coating uniformity, and thus its resistance, keeping selected parameters constant depending on required type and thickness of wire. TIRANT 3 system has successfully worked in 2010 during the stops refueling of the Units I and II of Laguna Verde nuclear power plant in Mexico. (author)

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

    Science.gov (United States)

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

    2015-05-01

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

  19. Human Assisted Robotic Vehicle Studies - A conceptual end-to-end mission architecture

    Science.gov (United States)

    Lehner, B. A. E.; Mazzotta, D. G.; Teeney, L.; Spina, F.; Filosa, A.; Pou, A. Canals; Schlechten, J.; Campbell, S.; Soriano, P. López

    2017-11-01

    With current space exploration roadmaps indicating the Moon as a proving ground on the way to human exploration of Mars, it is clear that human-robotic partnerships will play a key role for successful future human space missions. This paper details a conceptual end-to-end architecture for an exploration mission in cis-lunar space with a focus on human-robot interactions, called Human Assisted Robotic Vehicle Studies (HARVeSt). HARVeSt will build on knowledge of plant growth in space gained from experiments on-board the ISS and test the first growth of plants on the Moon. A planned deep space habitat will be utilised as the base of operations for human-robotic elements of the mission. The mission will serve as a technology demonstrator not only for autonomous tele-operations in cis-lunar space but also for key enabling technologies for future human surface missions. The successful approach of the ISS will be built on in this mission with international cooperation. Mission assets such as a modular rover will allow for an extendable mission and to scout and prepare the area for the start of an international Moon Village.

  20. 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...

  1. Project ROBOTICS 2008

    DEFF Research Database (Denmark)

    Conrad, Finn

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

  2. Project Tasks in Robotics

    DEFF Research Database (Denmark)

    Sørensen, Torben; Hansen, Poul Erik

    1998-01-01

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

  3. CMS cavern inspection robot

    CERN Document Server

    Ibrahim, Ibrahim

    2017-01-01

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

  4. RHOBOT: Radiation hardened robotics

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-10-01

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

  5. Micro robot bible

    International Nuclear Information System (INIS)

    Yoon, Jin Yeong

    2000-08-01

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

  6. RHOBOT: Radiation hardened robotics

    International Nuclear Information System (INIS)

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

    1997-10-01

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

  7. Two Legged Walking Robot

    OpenAIRE

    Kraus, V.

    2015-01-01

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

  8. Micro robot bible

    Energy Technology Data Exchange (ETDEWEB)

    Yoon, Jin Yeong

    2000-08-15

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

  9. Robots at Work

    OpenAIRE

    Graetz, Georg; Michaels, Guy

    2015-01-01

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

  10. Robots in the Roses

    OpenAIRE

    2014-01-01

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

  11. Modular robot

    International Nuclear Information System (INIS)

    Ferrante, T.A.

    1997-01-01

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

  12. 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...

  13. Building a Better Robot

    Science.gov (United States)

    Navah, Jan

    2012-01-01

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

  14. Open middleware for robotics

    CSIR Research Space (South Africa)

    Namoshe, M

    2008-12-01

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

  15. Learning robotics using Python

    CERN Document Server

    Joseph, Lentin

    2015-01-01

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

  16. Robots de servicio

    Directory of Open Access Journals (Sweden)

    Rafael Aracil

    2008-04-01

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

  17. Beyond Speculative Robot Ethics

    NARCIS (Netherlands)

    Smits, M.; Van der Plas, A.

    2010-01-01

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

  18. Robotic hand and fingers

    Science.gov (United States)

    Salisbury, Curt Michael; Dullea, Kevin J.

    2017-06-06

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

  19. 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

  20. Autonomy and manual operation in a small robotic system for under-vehicle inspections at security checkpoints

    Science.gov (United States)

    Smuda, William; Muench, Paul L.; Gerhart, Grant R.; Moore, Kevin L.

    2002-07-01

    Unmanned ground vehicle (UGV) technology can be used in a number of ways to assist in counter-terrorism activities. In addition to the conventional uses of tele-operated robots for unexploded ordinance handling and disposal, water cannons and other crowd control devices, robots can also be employed for a host of terrorism deterrence and detection applications. In previous research USU developed a completely autonomous prototype robot for performing under- vehicle inspections in parking areas (ODIS). Testing of this prototype and discussions with the user community indicated that neither the technology nor the users are ready for complete autonomy. In this paper we present a robotic system based on ODIS that balances the users' desire/need for tele- operation with a limited level of autonomy that enhances the performance of the robot. The system can be used by both civilian law enforcement and military police to replace the traditional mirror on a stick system of looking under cars for bombs and contraband.