WorldWideScience

Sample records for video extendable robot

  1. [Robotic pylorus-preserving pancreaticoduodenectomy : Video article].

    Science.gov (United States)

    Aselmann, H; Egberts, J Hendrik; Beckmann, J Henrik; Stein, H; Schafmayer, C; Hinz, S; Reichert, B; Becker, T

    2017-05-01

    Pylorus-preserving pancreaticoduodenectomy is one of the most complex procedures in general surgery. Laparoscopic pancreaticoduodenectomy was initially described in 1994; however, its worldwide distribution is so far limited to only a few specialist centers. Robotic surgery using the DaVinci® system can overcome many limitations of laparoscopic surgery. The system is a promising tool for a more widespread introduction of minimally invasive surgery for pancreatic diseases. Mortality rates of 0-5% and pancreatic fistula rates of 0-35% are described in the literature; therefore, thorough complication management is crucial in the postoperative course. The video presents a robotic pylorus-preserving pancreaticoduodenectomy for periampullary carcinoma in a female patient.

  2. Perioperative outcomes of video- and robot-assisted segmentectomies.

    Science.gov (United States)

    Rinieri, Philippe; Peillon, Christophe; Salaün, Mathieu; Mahieu, Julien; Bubenheim, Michael; Baste, Jean-Marc

    2016-02-01

    Video-assisted thoracic surgery appears to be technically difficult for segmentectomy. Conversely, robotic surgery could facilitate the performance of segmentectomy. The aim of this study was to compare the early results of video- and robot-assisted segmentectomies. Data were collected prospectively on videothoracoscopy from 2010 and on robotic procedures from 2013. Fifty-one patients who were candidates for minimally invasive segmentectomy were included in the study. Perioperative outcomes of video-assisted and robotic segmentectomies were compared. The minimally invasive segmentectomies included 32 video- and 16 robot-assisted procedures; 3 segmentectomies (2 video-assisted and 1 robot-assisted) were converted to lobectomies. Four conversions to thoracotomy were necessary for anatomical reason or arterial injury, with no uncontrolled bleeding in the robotic arm. There were 7 benign or infectious lesions, 9 pre-invasive lesions, 25 lung cancers, and 10 metastatic diseases. Patient characteristics, type of segment, conversion to thoracotomy, conversion to lobectomy, operative time, postoperative complications, chest tube duration, postoperative stay, and histology were similar in the video and robot groups. Estimated blood loss was significantly higher in the video group (100 vs. 50 mL, p = 0.028). The morbidity rate of minimally invasive segmentectomy was low. The short-term results of video-assisted and robot-assisted segmentectomies were similar, and more data are required to show any advantages between the two techniques. Long-term oncologic outcomes are necessary to evaluate these new surgical practices. © The Author(s) 2016.

  3. Socially assistive robots : a comprehensive approach to extending independent living

    NARCIS (Netherlands)

    Johnson, D.O.; Cuijpers, R.H.; Juola, J.F.; Torta, E.; Simonov, M.; Frisiello, A.; Bazzani, M.; Yan, W.; Weber, C.; Wermter, S.; Meins, N.; Oberzaucher, J.; Panek, P. (Paul); Edelmayer, G.; Mayer, P.; Beck, C.

    2014-01-01

    Demographic developments have challenged our research on how to assist elderly people by using robots. The KSERA (Knowledgeable SErvice Robots for Aging) project integrates smart home technology and a socially-assistive robot to extend independent living for elderly people, in particular those with

  4. Prior video game exposure does not enhance robotic surgical performance.

    Science.gov (United States)

    Harper, Jonathan D; Kaiser, Stefan; Ebrahimi, Kamyar; Lamberton, Gregory R; Hadley, H Roger; Ruckle, Herbert C; Baldwin, D Duane

    2007-10-01

    Prior research has demonstrated that counterintuitive laparoscopic surgical skills are enhanced by experience with video games. A similar relation with robotic surgical skills has not been tested. The purpose of this study was to determine whether prior video-game experience enhances the acquisition of robotic surgical skills. A series of 242 preclinical medical students completed a self-reported video-game questionnaire detailing the frequency, duration, and peak playing time. The 10 students with the highest and lowest video-game exposure completed a follow-up questionnaire further quantifying video game, sports, musical instrument, and craft and hobby exposure. Each subject viewed a training video demonstrating the use of the da Vinci surgical robot in tying knots, followed by 3 minutes of proctored practice time. Subjects then tied knots for 5 minutes while an independent blinded observer recorded the number of knots tied, missed knots, frayed sutures, broken sutures, and mechanical errors. The mean playing time for the 10 game players was 15,136 total hours (range 5,840-30,000 hours). Video-game players tied fewer knots than nonplayers (5.8 v 9.0; P = 0.04). Subjects who had played sports for at least 4 years had fewer mechanical errors (P = 0.04), broke fewer sutures (P = 0.01), and committed fewer total errors (P = 0.01). Similarly, those playing musical instruments longer than 5 years missed fewer knots (P = 0.05). In the extremes of video-game experience tested in this study, game playing was inversely correlated with the ability to learn robotic suturing. This study suggests that advanced surgical skills such as robotic suturing may be learned more quickly by athletes and musicians. Prior extensive video-game exposure had a negative impact on robotic performance.

  5. Mechanical Design of Odin, an Extendable Heterogeneous Deformable Modular Robot

    DEFF Research Database (Denmark)

    Lyder, Andreas; Garcia, Ricardo Franco Mendoza; Støy, Kasper

    2008-01-01

    Highly sophisticated animals consist of a set of heterogenous modules decided by nature so that they can survive in a complex environment. In this paper we present a new modular robot inspired by biology called Odin. The Odin robot is based on a deformable lattice and consists of an extendable se...... of heterogeneous modules. We present the design and implementation of a cubic closed-packed (CCP) joint module, a telescoping link, and a flexible connection mechanism. The developed robot is highly versatile and opens up for a wide range of new research in modular robotics.......Highly sophisticated animals consist of a set of heterogenous modules decided by nature so that they can survive in a complex environment. In this paper we present a new modular robot inspired by biology called Odin. The Odin robot is based on a deformable lattice and consists of an extendable set...

  6. Localization of Wheeled Mobile Robot Based on Extended Kalman Filtering

    Directory of Open Access Journals (Sweden)

    Li Guangxu

    2015-01-01

    Full Text Available A mobile robot localization method which combines relative positioning with absolute orientation is presented. The code salver and gyroscope are used for relative positioning, and the laser radar is used to detect absolute orientation. In this paper, we established environmental map, multi-sensor information fusion model, sensors and robot motion model. The Extended Kalman Filtering (EKF is adopted as multi-sensor data fusion technology to realize the precise localization of wheeled mobile robot.

  7. Live video monitoring robot controlled by web over internet

    Science.gov (United States)

    Lokanath, M.; Akhil Sai, Guruju

    2017-11-01

    Future is all about robots, robot can perform tasks where humans cannot, Robots have huge applications in military and industrial area for lifting heavy weights, for accurate placements, for repeating the same task number of times, where human are not efficient. Generally robot is a mix of electronic, electrical and mechanical engineering and can do the tasks automatically on its own or under the supervision of humans. The camera is the eye for robot, call as robovision helps in monitoring security system and also can reach into the places where the human eye cannot reach. This paper presents about developing a live video streaming robot controlled from the website. We designed the web, controlling for the robot to move left, right, front and back while streaming video. As we move to the smart environment or IoT (Internet of Things) by smart devices the system we developed here connects over the internet and can be operated with smart mobile phone using a web browser. The Raspberry Pi model B chip acts as heart for this system robot, the sufficient motors, surveillance camera R pi 2 are connected to Raspberry pi.

  8. Mechanical Design of Odin, an Extendable Heterogeneous Deformable Modular Robot

    DEFF Research Database (Denmark)

    Lyder, Andreas; Garcia, Ricardo Franco Mendoza; Støy, Kasper

    2008-01-01

    Highly sophisticated animals consist of a set of heterogenous modules decided by nature so that they can survive in a complex environment. In this paper we present a new modular robot inspired by biology called Odin. The Odin robot is based on a deformable lattice and consists of an extendable se...

  9. Extended image differencing for change detection in UAV video mosaics

    Science.gov (United States)

    Saur, Günter; Krüger, Wolfgang; Schumann, Arne

    2014-03-01

    Change detection is one of the most important tasks when using unmanned aerial vehicles (UAV) for video reconnaissance and surveillance. We address changes of short time scale, i.e. the observations are taken in time distances from several minutes up to a few hours. Each observation is a short video sequence acquired by the UAV in near-nadir view and the relevant changes are, e.g., recently parked or moved vehicles. In this paper we extend our previous approach of image differencing for single video frames to video mosaics. A precise image-to-image registration combined with a robust matching approach is needed to stitch the video frames to a mosaic. Additionally, this matching algorithm is applied to mosaic pairs in order to align them to a common geometry. The resulting registered video mosaic pairs are the input of the change detection procedure based on extended image differencing. A change mask is generated by an adaptive threshold applied to a linear combination of difference images of intensity and gradient magnitude. The change detection algorithm has to distinguish between relevant and non-relevant changes. Examples for non-relevant changes are stereo disparity at 3D structures of the scene, changed size of shadows, and compression or transmission artifacts. The special effects of video mosaicking such as geometric distortions and artifacts at moving objects have to be considered, too. In our experiments we analyze the influence of these effects on the change detection results by considering several scenes. The results show that for video mosaics this task is more difficult than for single video frames. Therefore, we extended the image registration by estimating an elastic transformation using a thin plate spline approach. The results for mosaics are comparable to that of single video frames and are useful for interactive image exploitation due to a larger scene coverage.

  10. Automation of pharmaceutical warehouse using groups robots with remote climate control and video surveillance

    OpenAIRE

    Zhuravska, I. M.; Popel, M. I.

    2015-01-01

    In this paper, we present a complex solution for automation pharmaceutical warehouse, including the implementation of climate-control, video surveillance with remote access to video, robotics selection of medicine with the optimization of the robot motion. We describe all the elements of local area network (LAN) necessary to solve all these problems.

  11. An extended framework for adaptive playback-based video summarization

    Science.gov (United States)

    Peker, Kadir A.; Divakaran, Ajay

    2003-11-01

    In our previous work, we described an adaptive fast playback framework for video summarization where we changed the playback rate using the motion activity feature so as to maintain a constant "pace." This method provides an effective way of skimming through video, especially when the motion is not too complex and the background is mostly still, such as in surveillance video. In this paper, we present an extended summarization framework that, in addition to motion activity, uses semantic cues such as face or skin color appearance, speech and music detection, or other domain dependent semantically significant events to control the playback rate. The semantic features we use are computationally inexpensive and can be computed in compressed domain, yet are robust, reliable, and have a wide range of applicability across different content types. The presented framework also allows for adaptive summaries based on preference, for example, to include more dramatic vs. action elements, or vice versa. The user can switch at any time between the skimming and the normal playback modes. The continuity of the video is preserved, and complete omission of segments that may be important to the user is avoided by using adaptive fast playback instead of skipping over long segments. The rule-set and the input parameters can be further modified to fit a certain domain or application. Our framework can be used by itself, or as a subsequent presentation stage for a summary produced by any other summarization technique that relies on generating a sub-set of the content.

  12. Extending NGOMSL Model for Human-Humanoid Robot Interaction in the Soccer Robotics Domain

    Directory of Open Access Journals (Sweden)

    Rajesh Elara Mohan

    2008-01-01

    Full Text Available In the field of human-computer interaction, the Natural Goals, Operators, Methods, and Selection rules Language (NGOMSL model is one of the most popular methods for modelling knowledge and cognitive processes for rapid usability evaluation. The NGOMSL model is a description of the knowledge that a user must possess to operate the system represented as elementary actions for effective usability evaluations. In the last few years, mobile robots have been exhibiting a stronger presence in commercial markets and very little work has been done with NGOMSL modelling for usability evaluations in the human-robot interaction discipline. This paper focuses on extending the NGOMSL model for usability evaluation of human-humanoid robot interaction in the soccer robotics domain. The NGOMSL modelled human-humanoid interaction design of Robo-Erectus Junior was evaluated and the results of the experiments showed that the interaction design was able to find faults in an average time of 23.84 s. Also, the interaction design was able to detect the fault within the 60 s in 100% of the cases. The Evaluated Interaction design was adopted by our Robo-Erectus Junior version of humanoid robots in the RoboCup 2007 humanoid soccer league.

  13. Speaker detection for conversational robots using synchrony between audio and video

    NARCIS (Netherlands)

    Noulas, A.; Englebienne, G.; Terwijn, B.; Kröse, B.; Hanheide, M.; Zender, H.

    2010-01-01

    This paper compares different methods for detecting the speaking person when multiple persons are interacting with a robot. We evaluate the state-of-the-art speaker detection methods on the iCat robot. These methods use the synchrony between audio and video to locate the most probable speaker. We

  14. Systematic Analysis of Video Data from Different Human-Robot Interaction Studies: A Categorisation of Social Signals During Error Situations

    OpenAIRE

    Manuel eGiuliani; Nicole eMirnig; Gerald eStollnberger; Susanne eStadler; Roland eBuchner; Manfred eTscheligi

    2015-01-01

    Human?robot interactions are often affected by error situations that are caused by either the robot or the human. Therefore, robots would profit from the ability to recognize when error situations occur. We investigated the verbal and non-verbal social signals that humans show when error situations occur in human?robot interaction experiments. For that, we analyzed 201 videos of five human?robot interaction user studies with varying tasks from four independent projects. The analysis shows tha...

  15. Robotic radical perineal cystectomy and extended pelvic lymphadenectomy: initial investigation using a purpose-built single-port robotic system.

    Science.gov (United States)

    Maurice, Matthew J; Kaouk, Jihad H

    2017-12-01

    To assess the feasibility of radical perineal cystoprostatectomy using the latest generation purpose-built single-port robotic surgical system. In two male cadavers the da Vinci ® SP1098 Surgical System (Intuitive Surgical, Sunnyvale, CA, USA) was used to perform radical perineal cystoprostatectomy and bilateral extended pelvic lymph node dissection (ePLND). New features in this model include enhanced high-definition three-dimensional optics, improved instrument manoeuvrability, and a real-time instrument tracking and guidance system. The surgery was accomplished through a 3-cm perineal incision via a novel robotic single-port system, which accommodates three double-jointed articulating robotic instruments, an articulating camera, and an accessory laparoscopic instrument. The primary outcomes were technical feasibility, intraoperative complications, and total robotic operative time. The cases were completed successfully without conversion. There were no accidental punctures or lacerations. The robotic operative times were 197 and 202 min. In this preclinical model, robotic radical perineal cystoprostatectomy and ePLND was feasible using the SP1098 robotic platform. Further investigation is needed to assess the feasibility of urinary diversion using this novel approach and new technology. © 2017 The Authors BJU International © 2017 BJU International Published by John Wiley & Sons Ltd.

  16. Prior video game utilization is associated with improved performance on a robotic skills simulator.

    Science.gov (United States)

    Harbin, Andrew C; Nadhan, Kumar S; Mooney, James H; Yu, Daohai; Kaplan, Joshua; McGinley-Hence, Nora; Kim, Andrew; Gu, Yiming; Eun, Daniel D

    2017-09-01

    Laparoscopic surgery and robotic surgery, two forms of minimally invasive surgery (MIS), have recently experienced a large increase in utilization. Prior studies have shown that video game experience (VGE) may be associated with improved laparoscopic surgery skills; however, similar data supporting a link between VGE and proficiency on a robotic skills simulator (RSS) are lacking. The objective of our study is to determine whether volume or timing of VGE had any impact on RSS performance. Pre-clinical medical students completed a comprehensive questionnaire detailing previous VGE across several time periods. Seventy-five subjects were ultimately evaluated in 11 training exercises on the daVinci Si Skills Simulator. RSS skill was measured by overall score, time to completion, economy of motion, average instrument collision, and improvement in Ring Walk 3 score. Using the nonparametric tests and linear regression, these metrics were analyzed for systematic differences between non-users, light, and heavy video game users based on their volume of use in each of the following four time periods: past 3 months, past year, past 3 years, and high school. Univariate analyses revealed significant differences between heavy and non-users in all five performance metrics. These trends disappeared as the period of VGE went further back. Our study showed a positive association between video game experience and robotic skills simulator performance that is stronger for more recent periods of video game use. The findings may have important implications for the evolution of robotic surgery training.

  17. Video Game Device Haptic Interface for Robotic Arc Welding

    Energy Technology Data Exchange (ETDEWEB)

    Corrie I. Nichol; Milos Manic

    2009-05-01

    Recent advances in technology for video games have made a broad array of haptic feedback devices available at low cost. This paper presents a bi-manual haptic system to enable an operator to weld remotely using the a commercially available haptic feedback video game device for the user interface. The system showed good performance in initial tests, demonstrating the utility of low cost input devices for remote haptic operations.

  18. Design and evaluation of a continuum robot with extendable balloons

    Directory of Open Access Journals (Sweden)

    E. Y. Yarbasi

    2018-02-01

    Full Text Available This article presents the design and preliminary evaluation of a novel continuum robot actuated by two extendable balloons. Extendable balloons are utilized as the actuation mechanism of the robot, and they are attached to the tip from their slack sections. These balloons can extend very much in length without having a significant change in diameter. Employing two balloons in an axially extendable, radially rigid flexible shaft, radial strain becomes constricted, allowing high elongation. As inflated, the balloons apply a force on the wall of the tip, pushing it forward. This force enables the robot to move forward. The air is supplied to the balloons by an air compressor and its flow rate to each balloon can be independently controlled. Changing the air volumes differently in each balloon, when they are radially constricted, orients the robot, allowing navigation. Elongation and force generation capabilities and pressure data are measured for different balloons during inflation and deflation. Afterward, the robot is subjected to open field and maze-like environment navigation tests. The contribution of this study is the introduction of a novel actuation mechanism for soft robots to have extreme elongation (2000 % in order to be navigated in substantially long and narrow environments.

  19. Extended Kalman filtering applied to a two-axis robotic arm with flexible links

    Energy Technology Data Exchange (ETDEWEB)

    Lertpiriyasuwat, V.; Berg, M.C.; Buffinton, K.W.

    2000-03-01

    An industrial robot today uses measurements of its joint positions and models of its kinematics and dynamics to estimate and control its end-effector position. Substantially better end-effector position estimation and control performance would be obtainable if direct measurements of its end-effector position were also used. The subject of this paper is extended Kalman filtering for precise estimation of the position of the end-effector of a robot using, in addition to the usual measurements of the joint positions, direct measurements of the end-effector position. The estimation performances of extended Kalman filters are compared in applications to a planar two-axis robotic arm with very flexible links. The comparisons shed new light on the dependence of extended Kalman filter estimation performance on the quality of the model of the arm dynamics that the extended Kalman filter operates with.

  20. [Implementation of a robotic video-assisted thoracic surgical program].

    Science.gov (United States)

    Baste, J-M; Riviera, C; Nouhaud, F-X; Rinieri, P; Melki, J; Peillon, C

    2016-03-01

    Recent publications from North America have shown the benefits of robot-assisted thoracic surgery. We report here the process of setting up such a program in a French university centre and early results in a unit with an average treatment volume. Retrospective review of a single institution database. The program was launched after a 6-month preparation period. From January 2012 to January 2013, totally endoscopic, full robot-assisted procedures were performed on 30 patients (17 males). Median age was 54 [Q1-Q3, 48-63] years and ASA score 2 [1,2]. Operative procedures included thymectomy (9 ; 30%), lobectomy with nodes resection (11 ; 38%), segmentectomy (4 ; 14%), lymphadenectomy (3 ; 10%), Bronchogenic cyst (2, 5%) and posterior mediastinal mass resection (1 ; 3%). No conversion was required. Median blood loss was 50mL [10-100]. Median operating time was 135 min (105-165) including 30 min [20-40] for docking, 90min for robot-assisted operating [70-120] and 15 min [10-15] for lesion extraction. CO2 insufflation was used in 28 cases (93%). Hospital stay was 4 days [4-6] with 6 minor complications (20%) (Grade 1 according to the Clavien-Dindo classification). After a median 4 months follow-up [2-7], all patients were alive and demonstrated a good quality of life. This series suggests that full robotic thoracic procedures are safe and effective treatment for various pathologies, with low morbidity and without a significant learning curve, even in a lower volume centre. This technology should accompany the development of minimally invasive thoracic surgery. The importance of robotic training should be emphasized to optimize procedures and costs. Copyright © 2015 SPLF. Published by Elsevier Masson SAS. All rights reserved.

  1. Impact of current video game playing on robotic simulation skills among medical students.

    Science.gov (United States)

    Öge, Tufan; Borahay, Mostafa A; Achjian, Tamar; Kılıç, Sami Gökhan

    2015-01-01

    To evaluate the impact of current and prior video game playing on initial robotic simulation skill acquisition. This cross-sectional descriptive study (Canadian Task Force Classification II-1) was conducted at a medical university training center. The study subjects were medical students who currently played video games (Group I) and those who had not played video games in the last 2 years (Group II). The robotic skills of both groups were assessed using simulation. Twenty-two students enrolled in this study; however, only 21 completed it. The median age of the participants was 23 (22-24) years and 24 (23-26) years in Groups I and II, respectively. Among the participants, 15 (71.4%) were male and 6 (28.5%) were female, and 90.4% of the students started playing video games in primary school. When the 2 groups were compared according to the completion time of each exercise, Group I finished more quickly than Group II in the Peg Board-1 exercise (p>0.05), whereas Group II had better results in 3 exercises including Pick and Place, Ring and Rail, and Thread the Rings-1. However, none of the differences were found to be statistically significant (p>.05), and according to the overall scores based on the time to complete exercises, economy of motion, instrument collision, use of excessive instrument force, instruments out of view, and master workspace range, the scores were not statistically different between Groups I and II (p>.05). According to the basic robotic simulation exercise results, there was no difference between medical students who used to play video games and those who still played video games. Studies evaluating baseline visuospatial skills with larger sample sizes are needed.

  2. Development of Vision Control Scheme of Extended Kalman filtering for Robot's Position Control

    International Nuclear Information System (INIS)

    Jang, W. S.; Kim, K. S.; Park, S. I.; Kim, K. Y.

    2003-01-01

    It is very important to reduce the computational time in estimating the parameters of vision control algorithm for robot's position control in real time. Unfortunately, the batch estimation commonly used requires too murk computational time because it is iteration method. So, the batch estimation has difficulty for robot's position control in real time. On the other hand, the Extended Kalman Filtering(EKF) has many advantages to calculate the parameters of vision system in that it is a simple and efficient recursive procedures. Thus, this study is to develop the EKF algorithm for the robot's vision control in real time. The vision system model used in this study involves six parameters to account for the inner(orientation, focal length etc) and outer (the relative location between robot and camera) parameters of camera. Then, EKF has been first applied to estimate these parameters, and then with these estimated parameters, also to estimate the robot's joint angles used for robot's operation. finally, the practicality of vision control scheme based on the EKF has been experimentally verified by performing the robot's position control

  3. Detection and Localization of Robotic Tools in Robot-Assisted Surgery Videos Using Deep Neural Networks for Region Proposal and Detection.

    Science.gov (United States)

    Sarikaya, Duygu; Corso, Jason J; Guru, Khurshid A

    2017-07-01

    Video understanding of robot-assisted surgery (RAS) videos is an active research area. Modeling the gestures and skill level of surgeons presents an interesting problem. The insights drawn may be applied in effective skill acquisition, objective skill assessment, real-time feedback, and human-robot collaborative surgeries. We propose a solution to the tool detection and localization open problem in RAS video understanding, using a strictly computer vision approach and the recent advances of deep learning. We propose an architecture using multimodal convolutional neural networks for fast detection and localization of tools in RAS videos. To the best of our knowledge, this approach will be the first to incorporate deep neural networks for tool detection and localization in RAS videos. Our architecture applies a region proposal network (RPN) and a multimodal two stream convolutional network for object detection to jointly predict objectness and localization on a fusion of image and temporal motion cues. Our results with an average precision of 91% and a mean computation time of 0.1 s per test frame detection indicate that our study is superior to conventionally used methods for medical imaging while also emphasizing the benefits of using RPN for precision and efficiency. We also introduce a new data set, ATLAS Dione, for RAS video understanding. Our data set provides video data of ten surgeons from Roswell Park Cancer Institute, Buffalo, NY, USA, performing six different surgical tasks on the daVinci Surgical System (dVSS) with annotations of robotic tools per frame.

  4. A Comparison of Avatar, Video, and Robot-Mediated Interaction on Users' Trust in Expertise

    Directory of Open Access Journals (Sweden)

    Ye ePan

    2016-03-01

    Full Text Available Communication technologies are becoming increasingly diverse in form and functionality. A central concern is the ability to detect whether others are trustworthy. Judgments of trustworthiness rely, in part, on assessments of nonverbal cues, which are affected by media representations. In this research, we compared trust formation on three media representations. We presented 24 participants with advisors represented by two of three alternate formats: video, avatar, or robot. Unknown to the participants, one was an expert and the other was a non-expert. We observed participants' advice seeking behaviour under risk as an indicator of their trust in the advisor. We found that most participants preferred seeking advice from the expert, but we also found a tendency for seeking robot or video advice. Avatar advice, in contrast, was more rarely sought. Users' self-reports support these findings. These results suggest that when users make trust assessments the physical presence of the robot representation might compensate for the lack of identity cues.

  5. Shuttlecock detection system for fully-autonomous badminton robot with two high-speed video cameras

    Science.gov (United States)

    Masunari, T.; Yamagami, K.; Mizuno, M.; Une, S.; Uotani, M.; Kanematsu, T.; Demachi, K.; Sano, S.; Nakamura, Y.; Suzuki, S.

    2017-02-01

    Two high-speed video cameras are successfully used to detect the motion of a flying shuttlecock of badminton. The shuttlecock detection system is applied to badminton robots that play badminton fully autonomously. The detection system measures the three dimensional position and velocity of a flying shuttlecock, and predicts the position where the shuttlecock falls to the ground. The badminton robot moves quickly to the position where the shuttle-cock falls to, and hits the shuttlecock back into the opponent's side of the court. In the game of badminton, there is a large audience, and some of them move behind a flying shuttlecock, which are a kind of background noise and makes it difficult to detect the motion of the shuttlecock. The present study demonstrates that such noises can be eliminated by the method of stereo imaging with two high-speed cameras.

  6. Systematic analysis of video data from different human–robot interaction studies: a categorization of social signals during error situations

    Science.gov (United States)

    Giuliani, Manuel; Mirnig, Nicole; Stollnberger, Gerald; Stadler, Susanne; Buchner, Roland; Tscheligi, Manfred

    2015-01-01

    Human–robot interactions are often affected by error situations that are caused by either the robot or the human. Therefore, robots would profit from the ability to recognize when error situations occur. We investigated the verbal and non-verbal social signals that humans show when error situations occur in human–robot interaction experiments. For that, we analyzed 201 videos of five human–robot interaction user studies with varying tasks from four independent projects. The analysis shows that there are two types of error situations: social norm violations and technical failures. Social norm violations are situations in which the robot does not adhere to the underlying social script of the interaction. Technical failures are caused by technical shortcomings of the robot. The results of the video analysis show that the study participants use many head movements and very few gestures, but they often smile, when in an error situation with the robot. Another result is that the participants sometimes stop moving at the beginning of error situations. We also found that the participants talked more in the case of social norm violations and less during technical failures. Finally, the participants use fewer non-verbal social signals (for example smiling, nodding, and head shaking), when they are interacting with the robot alone and no experimenter or other human is present. The results suggest that participants do not see the robot as a social interaction partner with comparable communication skills. Our findings have implications for builders and evaluators of human–robot interaction systems. The builders need to consider including modules for recognition and classification of head movements to the robot input channels. The evaluators need to make sure that the presence of an experimenter does not skew the results of their user studies. PMID:26217266

  7. Systematic analysis of video data from different human-robot interaction studies: a categorization of social signals during error situations.

    Science.gov (United States)

    Giuliani, Manuel; Mirnig, Nicole; Stollnberger, Gerald; Stadler, Susanne; Buchner, Roland; Tscheligi, Manfred

    2015-01-01

    Human-robot interactions are often affected by error situations that are caused by either the robot or the human. Therefore, robots would profit from the ability to recognize when error situations occur. We investigated the verbal and non-verbal social signals that humans show when error situations occur in human-robot interaction experiments. For that, we analyzed 201 videos of five human-robot interaction user studies with varying tasks from four independent projects. The analysis shows that there are two types of error situations: social norm violations and technical failures. Social norm violations are situations in which the robot does not adhere to the underlying social script of the interaction. Technical failures are caused by technical shortcomings of the robot. The results of the video analysis show that the study participants use many head movements and very few gestures, but they often smile, when in an error situation with the robot. Another result is that the participants sometimes stop moving at the beginning of error situations. We also found that the participants talked more in the case of social norm violations and less during technical failures. Finally, the participants use fewer non-verbal social signals (for example smiling, nodding, and head shaking), when they are interacting with the robot alone and no experimenter or other human is present. The results suggest that participants do not see the robot as a social interaction partner with comparable communication skills. Our findings have implications for builders and evaluators of human-robot interaction systems. The builders need to consider including modules for recognition and classification of head movements to the robot input channels. The evaluators need to make sure that the presence of an experimenter does not skew the results of their user studies.

  8. Transitioning from video-assisted thoracic surgical lobectomy to robotics for lung cancer: are there outcomes advantages?

    Science.gov (United States)

    Lee, Benjamin E; Korst, Robert J; Kletsman, Elaine; Rutledge, John R

    2014-02-01

    To determine if there are advantages to transitioning to robotics by a surgeon who is already proficient in performing video-assisted thoracic surgical (VATS) lobectomy. A single surgeon proficient in VATS lobectomy initiated a robotic lobectomy program, and a retrospective review was conducted of his patients undergoing minimally invasive lobectomy (robotics or VATS) for lung cancer between 2011 and 2012. Data collected included patient/tumor characteristics, morbidity, mortality, operative times, and length of hospital stay. Over a 24-month period, a total of 69 patients underwent minimally invasive lobectomy (35 robotic, 34 VATS). Patients in each group were similar in age and clinical stage. Robotic upper lobectomy operative times were longer than VATS (172 vs 134 minutes; P = .001), with no significant difference in lower lobectomies noted (140 vs 123 minutes; P = .1). Median length of stay was 3 days in both groups, and the median number of lymph nodes harvested was 18 (robotic) versus 16 (VATS; P = .42). Morbidity and mortality for robotic versus VATS were 11% versus 18% (P = .46) and 0% versus 3% (P = .49), respectively. There does not seem to be a significant advantage for an established VATS lobectomy surgeon to transition to robotics based on clinical outcomes. The learning curve for robotic upper lobectomies seems to be more significant than that for lower lobectomies. Copyright © 2014 The American Association for Thoracic Surgery. Published by Mosby, Inc. All rights reserved.

  9. Supinator Extender (SUE): a pneumatically actuated robot for forearm/wrist rehabilitation after stroke.

    Science.gov (United States)

    Allington, James; Spencer, Steven J; Klein, Julius; Buell, Meghan; Reinkensmeyer, David J; Bobrow, James

    2011-01-01

    The robot described in this paper, SUE (Supinator Extender), adds forearm/wrist rehabilitation functionality to the UCI BONES exoskeleton robot and to the ArmeoSpring rehabilitation device. SUE is a 2-DOF serial chain that can measure and assist forearm supination-pronation and wrist flexion-extension. The large power to weight ratio of pneumatic actuators allows SUE to achieve the forces needed for rehabilitation therapy while remaining lightweight enough to be carried by BONES and ArmeoSpring. Each degree of freedom has a range of 90 degrees, and a nominal torque of 2 ft-lbs. The cylinders are mounted away from the patient's body on the lateral aspect of the arm. This is to prevent the danger of a collision and maximize the workspace of the arm robot. The rotation axis used for supination-pronation is a small bearing just below the subject's wrist. The flexion-extension motion is actuated by a cantilevered pneumatic cylinder, which allows the palm of the hand to remain open. Data are presented that demonstrate the ability of SUE to measure and cancel forearm/wrist passive tone, thereby extending the active range of motion for people with stroke.

  10. Robotics and remote systems applications

    International Nuclear Information System (INIS)

    Rabold, D.E.

    1996-01-01

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

  11. Rancang Bangun Sistem Transfer Video Real – Time Menggunakan Jaringan Mobile Ad hoc Pada Robot ITS - 01

    Directory of Open Access Journals (Sweden)

    Yorisan Permana Baginda

    2013-03-01

    Full Text Available Pengembangan robot monitoring dan surveylance banyak dikembangkan untuk memenuhi kebutuhan keamanan, pertahanan. Robot tersebut dihubungkan menggunakan standar wireless-LAN 802.11g sebagai media komunikasi data. Implementasi jaringan adhoc ditujukan untuk memberdayakan masing-masing robot dapat berfungsi sebagai router, sehingga memungkinkan untuk melakukan komunikasi multihop dari robot satu yang terdekat dengan stasiun pengontrol ke robot selanjutnya yang sudah keluar jangkauan stasiun pengontrol. Dengan demikian cakupan operasi robot monitoring menjadi semakin luas. Sistem transfer video real-time dalam pelenelitian ini dibangun menggunakan KinectTCP yang di modifikasi untuk menerima data dari robot berupa RGB,Depth dan Skeleton. Evaluasi performansi  dilakukan pada topologi single hop dan multihop dengan mengukur parameter throughput, FPS, packet loss, packet delay dan jitter. Hasil pengujian menunjukkan topologi multihop dapat mendukung operasional robot dalam gedung meskipun mengalami penurunan  parameter Throughput dan FPS rata-rata sebesar 82,86%, dan mengalami pertambahan delay rata-rata sebesar 149,73%.

  12. Peritoneal Tuberculosis After Robot-Assisted Laparoscopic Prostatectomy with Extended Lymph Node Dissection.

    Science.gov (United States)

    Saito, Suruga; Ito, Katsuhiro; Matsumoto, Keiyu; Tajima, Motofumi; Goto, Takayuki; Ito, Haruki; Manabe, Yumi; Mishina, Mutsuki; Okuno, Hiroshi

    2018-01-01

    Background: Peritoneal tuberculosis (TB) is a relatively uncommon presentation of extrapulmonary TB. Early diagnosis of peritoneal TB is difficult because of its nonspecific clinical manifestation such as abdominal pain, fever, or ascites. Especially early after surgery of abdomen or pelvis, these symptoms can be misdiagnosed as septic peritonitis. There are few reports of peritoneal TB as a postoperative complication of laparoscopic surgery. Here, we describe a first case of peritoneal TB after robot-assisted laparoscopic prostatectomy (RALP) with extended lymph node dissection. Case Presentation: A 78-year-old man presented 25 days after this surgery with fever and abdominal distension. Ultrasonography and computed tomography (CT) revealed massive abdominal ascites. Ascites sample was cloudy, with increased white blood cells and normal creatinine level. No anastomotic leak was found. Bacterial infection of a lymphocele was considered, and cefmetazole 2 g/day for 3 days was prescribed. Despite antibacterial therapy, fever persisted. Polymerase chain reaction testing of ascitic fluid was positive for Mycobacterium tuberculosis . The patient was effectively treated with anti-TB therapy. Conclusion: This is the first report of peritoneal TB as a postoperative complication of RALP with extended lymph node dissection. His preoperative chest CT showed granular shadows in left upper lung, indicating his old asymptomatic TB infection. Flare-up of TB can happen even after robot-assisted laparoscopic surgery, which is minimally invasive. Peritoneal TB must be considered especially when there is unexplained ascites unresponsive to antibiotics.

  13. Extending parental mentoring using an event-triggered video intervention in rural teen drivers.

    Science.gov (United States)

    McGehee, Daniel V; Raby, Mireille; Carney, Cher; Lee, John D; Reyes, Michelle L

    2007-01-01

    Teen drivers are at high risk for car crashes, especially during their first years of licensure. Providing novice teen drivers and their parents with a means of identifying their risky driving maneuvers may help them learn from their mistakes, thereby reducing their crash propensity. During the initial phase of learning, adult or parental supervision often provides such guidance. However, once teens obtain their license, adult supervision is no longer mandated, and teens are left to themselves to continue the learning process. This study is the first of its type to enhance this continued learning process using an event-triggered video device. By pairing this new technology with parental feedback in the form of a weekly video review and graphical report card, we extend parents' ability to teach their teens even after they begin driving independently. Twenty-six 16- to 17-year-old drivers were recruited from a small U.S. Midwestern rural high school. We equipped their vehicles with an event-triggered video device, designed to capture 20-sec clips of the forward and cabin views whenever the vehicle exceeded lateral or forward threshold accelerations. Preliminary findings suggest that combining this emerging technology with parental weekly review of safety-relevant incidents resulted in a significant decrease in events for the more at-risk teen drivers. Implications for how such an intervention could be implemented within GDL are also discussed.

  14. Reactions to a remote-controlled video-communication robot in seniors' homes: a pilot study of feasibility and acceptance.

    Science.gov (United States)

    Seelye, Adriana M; Wild, Katherine V; Larimer, Nicole; Maxwell, Shoshana; Kearns, Peter; Kaye, Jeffrey A

    2012-12-01

    Remote telepresence provided by tele-operated robotics represents a new means for obtaining important health information, improving older adults' social and daily functioning and providing peace of mind to family members and caregivers who live remotely. In this study we tested the feasibility of use and acceptance of a remotely controlled robot with video-communication capability in independently living, cognitively intact older adults. A mobile remotely controlled robot with video-communication ability was placed in the homes of eight seniors. The attitudes and preferences of these volunteers and those of family or friends who communicated with them remotely via the device were assessed through survey instruments. Overall experiences were consistently positive, with the exception of one user who subsequently progressed to a diagnosis of mild cognitive impairment. Responses from our participants indicated that in general they appreciated the potential of this technology to enhance their physical health and well-being, social connectedness, and ability to live independently at home. Remote users, who were friends or adult children of the participants, were more likely to test the mobility features and had several suggestions for additional useful applications. Results from the present study showed that a small sample of independently living, cognitively intact older adults and their remote collaterals responded positively to a remote controlled robot with video-communication capabilities. Research is needed to further explore the feasibility and acceptance of this type of technology with a variety of patients and their care contacts.

  15. Video-based peer feedback through social networking for robotic surgery simulation: a multicenter randomized controlled trial.

    Science.gov (United States)

    Carter, Stacey C; Chiang, Alexander; Shah, Galaxy; Kwan, Lorna; Montgomery, Jeffrey S; Karam, Amer; Tarnay, Christopher; Guru, Khurshid A; Hu, Jim C

    2015-05-01

    To examine the feasibility and outcomes of video-based peer feedback through social networking to facilitate robotic surgical skill acquisition. The acquisition of surgical skills may be challenging for novel techniques and/or those with prolonged learning curves. Randomized controlled trial involving 41 resident physicians performing the Tubes (Da Vinci Intuitive Surgical, Sunnyvale, CA) simulator exercise with versus without peer feedback of video-recorded performance through a social networking Web page. Data collected included simulator exercise score, time to completion, and comfort and satisfaction with robotic surgery simulation. There were no baseline differences between the intervention group (n = 20) and controls (n = 21). The intervention group showed improvement in mean scores from session 1 to sessions 2 and 3 (60.7 vs 75.5, P feedback subjects were more comfortable with robotic surgery than controls (90% vs 62%, P = 0.021) and expressed greater satisfaction with the learning experience (100% vs 67%, P = 0.014). Of the intervention subjects, 85% found that peer feedback was useful and 100% found it effective. Video-based peer feedback through social networking appears to be an effective paradigm for surgical education and accelerates the robotic surgery learning curve during simulation.

  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 Bioinspired Neural Model Based Extended Kalman Filter for Robot SLAM

    Directory of Open Access Journals (Sweden)

    Jianjun Ni

    2014-01-01

    Full Text Available Robot simultaneous localization and mapping (SLAM problem is a very important and challenging issue in the robotic field. The main tasks of SLAM include how to reduce the localization error and the estimated error of the landmarks and improve the robustness and accuracy of the algorithms. The extended Kalman filter (EKF based method is one of the most popular methods for SLAM. However, the accuracy of the EKF based SLAM algorithm will be reduced when the noise model is inaccurate. To solve this problem, a novel bioinspired neural model based SLAM approach is proposed in this paper. In the proposed approach, an adaptive EKF based SLAM structure is proposed, and a bioinspired neural model is used to adjust the weights of system noise and observation noise adaptively, which can guarantee the stability of the filter and the accuracy of the SLAM algorithm. The proposed approach can deal with the SLAM problem in various situations, for example, the noise is in abnormal conditions. Finally, some simulation experiments are carried out to validate and demonstrate the efficiency of the proposed approach.

  18. Video Game Acceptance: A Meta-Analysis of the Extended Technology Acceptance Model.

    Science.gov (United States)

    Wang, Xiaohui; Goh, Dion Hoe-Lian

    2017-11-01

    The current study systematically reviews and summarizes the existing literature of game acceptance, identifies the core determinants, and evaluates the strength of the relationships in the extended technology acceptance model. Moreover, this study segments video games into two categories: hedonic and utilitarian and examines player acceptance of these two types separately. Through a meta-analysis of 50 articles, we find that perceived ease of use (PEOU), perceived usefulness (PU), and perceived enjoyment (PE) significantly associate with attitude and behavioral intention. PE is the dominant predictor of hedonic game acceptance, while PEOU and PU are the main determinants of utilitarian game acceptance. Furthermore, we find that respondent type and game platform are significant moderators. Findings of this study provide critical insights into the phenomenon of game acceptance and suggest directions for future research.

  19. [A comparative study of Da Vinci robot system with video-assisted thoracoscopy in the surgical treatment of mediastinal lesions].

    Science.gov (United States)

    Ding, Renquan; Tong, Xiangdong; Xu, Shiguang; Zhang, Dakun; Gao, Xin; Teng, Hong; Qu, Jiaqi; Wang, Shumin

    2014-07-20

    In recent years, Da Vinci robot system applied in the treatment of intrathoracic surgery mediastinal diseases become more mature. The aim of this study is to summarize the clinical data about mediastinal lesions of General Hospital of Shenyang Military Region in the past 4 years, then to analyze the treatment effect and promising applications of da Vinci robot system in the surgical treatment of mediastinal lesions. 203 cases of mediastinal lesions were collected from General Hospital of Shenyang Military Region between 2010 and 2013. These patients were divided into two groups da Vinci and video-assisted thoracoscopic surgery (VATS) according to the selection of the treatments. The time in surgery, intraoperative blood loss, postoperative drainage amount within three days after surgery, the period of bearing drainage tubes, hospital stays and hospitalization expense were then compared. All patients were successfully operated, the postoperative recovery is good and there is no perioperative death. The different of the time in surgery between two groups is Robots group 82 (20-320) min and thoracoscopic group 89 (35-360) min (P>0.05). The intraoperative blood loss between two groups is robot group 10 (1-100) mL and thoracoscopic group 50 (3-1,500) mL. The postoperative drainage amount within three days after surgery between two groups is robot group 215 (0-2,220) mL and thoracoscopic group 350 (50-1,810) mL. The period of bearing drainage tubes after surgery between two groups is robot group 3 (0-10) d and thoracoscopic group: 5 (1-18) d. The difference of hospital stays between two groups is robot group 7 (2-15) d and thoracoscopic group 9 (2-50) d. The hospitalization expense between two groups is robot group (18,983.6±4,461.2) RMB and thoracoscopic group (9,351.9±2,076.3) RMB (All Pda Vinci robot system is safe and efficient in the treatment of mediastinal lesions compared with video-assisted thoracoscopic approach, even though its expense is higher.

  20. Defining the cost of care for lobectomy and segmentectomy: a comparison of open, video-assisted thoracoscopic, and robotic approaches.

    Science.gov (United States)

    Deen, Shaun A; Wilson, Jennifer L; Wilshire, Candice L; Vallières, Eric; Farivar, Alexander S; Aye, Ralph W; Ely, Robson E; Louie, Brian E

    2014-03-01

    Knowledge about the cost of open, video-assisted thoracoscopic (VATS), or robotic lung resection and drivers of cost is crucial as the cost of care comes under scrutiny. This study aims to define the cost of anatomic lung resection and evaluate potential cost-saving measures. A retrospective review of patients who had anatomic resection for early stage lung cancer, carcinoid, or metastatic foci between 2008 and 2012 was performed. Direct hospital cost data were collected from 10 categories. Capital depreciation was separated for the robotic and VATS cases. Key costs were varied in a sensitivity analysis. In all, 184 consecutive patients were included: 69 open, 57 robotic, and 58 VATS. Comorbidities and complication rates were similar. Operative time was statistically different among the three modalities, but length of stay was not. There was no statistically significant difference in overall cost between VATS and open cases (Δ = $1,207) or open and robotic cases (Δ = $1,975). Robotic cases cost $3,182 more than VATS (p depreciation. The main opportunities to reduce cost in open cases were the intensive care unit, respiratory therapy, and laboratories. Lowering operating time and supply costs were targets for VATS and robotic cases. VATS is the least expensive surgical approach. Robotic cases must be shorter in operative time or reduce supply costs, or both, to be competitive. Lessening operating time, eradicating unnecessary laboratory work, and minimizing intensive care unit stays will help decrease direct hospital costs. Copyright © 2014 The Society of Thoracic Surgeons. Published by Elsevier Inc. All rights reserved.

  1. Extending Mechanical Construction Kits to Incorporate Passive and Compliant Elements for Educational Robotics

    DEFF Research Database (Denmark)

    Assaf, Dorit; Larsen, Jørgen Christian; Reichardt, Markus

    2012-01-01

    artificial intelligence and biomechanics to students with different backgrounds. The robots we use both for research and education are usually built incorporating compliant materials as well as passive dynamics. These kind of properties are often not available in classical robot kits or mechanical...... construction kits. In this paper we describe some of the robots we use for education. So far we built the robots using 3D printing technology which is convenient but too expensive for class use. Our aim is to find cheaper, commercially available solutions. After a short review on educational robot kits...

  2. Robot-Assisted Thoracoscopic Surgery versus Video-Assisted Thoracoscopic Surgery for Lung Lobectomy: Can a Robotic Approach Improve Short-Term Outcomes and Operative Safety?

    Science.gov (United States)

    Mahieu, Julien; Rinieri, Philippe; Bubenheim, Michael; Calenda, Emile; Melki, Jean; Peillon, Christophe; Baste, Jean-Marc

    2016-06-01

    Background Minimally invasive surgery has been recently recommended for treatment of early-stage non-small cell lung cancer. Despite the recent increase of robotic surgery, the place and potential advantages of the robot in thoracic surgery has not been well defined until now. Methods We reviewed our prospective database for retrospective comparison of our first 28 video-assisted thoracoscopic surgery lobectomies (V group) and our first 28 robotic lobectomies (R group). Results No significant difference was shown in median operative time between the two groups (185 vs. 190 minutes, p = 0.56). Median preincision time was significantly longer in the R group (80 vs. 60 minutes, P < 0.0001). The rate of emergency conversion for uncontrolled bleeding was lower in the R group (one vs. four). Median length of stay was comparable (6 days in the R group vs. 7 days in the V group, p = 0.4) with no significant difference in the rate of postoperative complications (eight Grade I in both groups, four Grade III or IV in the V group vs. six in the R group, according to the Clavien-Dindo classification, p = 0.93). No postoperative cardiac morbidity was observed in the R group. Median drainage time was similar (5 days, p = 0.78), with a rate of prolonged air leak slightly higher in the R group (25 vs. 17.8%, p = 0.74). Conclusion Perioperative outcomes are similar even in the learning period but robotic approach seems to offer more operative safety with fewer conversions for uncontrolled bleeding. Georg Thieme Verlag KG Stuttgart · New York.

  3. Robotics

    International Nuclear Information System (INIS)

    Scheide, A.W.

    1983-01-01

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

  4. Action video game players' visual search advantage extends to biologically relevant stimuli.

    Science.gov (United States)

    Chisholm, Joseph D; Kingstone, Alan

    2015-07-01

    Research investigating the effects of action video game experience on cognition has demonstrated a host of performance improvements on a variety of basic tasks. Given the prevailing evidence that these benefits result from efficient control of attentional processes, there has been growing interest in using action video games as a general tool to enhance everyday attentional control. However, to date, there is little evidence indicating that the benefits of action video game playing scale up to complex settings with socially meaningful stimuli - one of the fundamental components of our natural environment. The present experiment compared action video game player (AVGP) and non-video game player (NVGP) performance on an oculomotor capture task that presented participants with face stimuli. In addition, the expression of a distractor face was manipulated to assess if action video game experience modulated the effect of emotion. Results indicate that AVGPs experience less oculomotor capture than NVGPs; an effect that was not influenced by the emotional content depicted by distractor faces. It is noteworthy that this AVGP advantage emerged despite participants being unaware that the investigation had to do with video game playing, and participants being equivalent in their motivation and treatment of the task as a game. The results align with the notion that action video game experience is associated with superior attentional and oculomotor control, and provides evidence that these benefits can generalize to more complex and biologically relevant stimuli. Copyright © 2015 Elsevier B.V. All rights reserved.

  5. Snapshots of Student Thinking: An Exploration of Video Cases for Extending Prospective Teachers' Knowledge

    Science.gov (United States)

    Pitts Bannister, Vanessa R.; Mariano, Gina J.

    2013-01-01

    The purpose of this article is to explore the relationships between prospective teachers' content knowledge, student understanding, and pedagogy using video cases. The emphasis was on the extent to which the participants utilized constructs of Technology Pedagogy And Content Knowledge. Ten prospective teachers viewed video cases of students…

  6. Soft robotics: a review and progress towards faster and higher torque actuators (presentation video)

    Science.gov (United States)

    Shepherd, Robert

    2014-03-01

    Last year, nearly 160,000 industrial robots were shipped worldwide—into a total market valued at 26 Bn (including hardware, software, and peripherals).[1] Service robots for professional (e.g., defense, medical, agriculture) and personal (e.g., household, handicap assistance, toys, and education) use accounted for 16,000 units, 3.4 Bn and 3,000,000 units, $1.2 Bn respectively.[1] The vast majority of these robotic systems use fully actuated, rigid components that take little advantage of passive dynamics. Soft robotics is a field that is taking advantage of compliant actuators and passive dynamics to achieve several goals: reduced design, manufacturing and control complexity, improved energy efficiency, more sophisticated motions, and safe human-machine interactions to name a few. The potential for societal impact is immense. In some instances, soft actuators have achieved commercial success; however, large scale adoption will require improved methods of controlling non-linear systems, greater reliability in their function, and increased utility from faster and more forceful actuation. In my talk, I will describe efforts from my work in the Whitesides group at Harvard to prove sophisticated motions in these machines using simple controls, as well capabilities unique to soft machines. I will also describe the potential for combinations of different classes of soft actuators (e.g., electrically and pneumatically actuated systems) to improve the utility of soft robots. 1. World Robotics - Industrial Robots 2013, 2013, International Federation of Robotics.

  7. Robotic Versus Video-assisted Lobectomy/Segmentectomy for Lung Cancer: A Meta-analysis.

    Science.gov (United States)

    Liang, Hengrui; Liang, Wenhua; Zhao, Lei; Chen, Difei; Zhang, Jianrong; Zhang, Yiyin; Tang, Shiyan; He, Jianxing

    2017-06-16

    : Objective: To compare the safety/efficacy of the robotic-assisted lobectomy/segmentectomy (RAL/S) with the video-assisted lobectomy/segmentectomy (VAL/S) for radical lung cancer resection. It remains uncertain whether the newly developed RAL/S is comparable with the VAL/S. A comprehensive search of online databases was performed. Perioperative outcomes were synthesized. Cumulative meta-analysis was performed to evaluate the temporal trend of pooled outcomes. Specific subgroups (propensity score matching studies, pure lobectomy studies) were examined. Analysis of 14 studies including a total of 7438 patients was performed. RAL/S was performed on 3239 patients, whereas the other 4199 patients underwent VAL/S. The 30-day mortality [0.7% vs 1.1%; odds ratio (OR) 0.53, P = 0.045] and conversion rate to open surgery (10.3% vs 11.9%; OR 0.57, P < 0.001) were significantly lower in patients who underwent RAL/S than VAL/S. Meanwhile, the postoperative complications (27.5% vs 28.2%; OR 0.95, P = 0.431), operation time [176.63 vs 162.74 min; standardized mean difference (SMD) 0.30, P = 0.086], duration of hospitalization (4.90 vs 5.23 days; SMD -0.08, P = 0.292), days to tube removal (4.10 vs 3.53 days; SMD 0.25, P = 0.120), retrieved lymph node (11.96 vs 10.67; SMD 0.46, P = 0.381), and retrieved lymph node station (4.98 vs 4.32; SMD 0.83, P = 0.261) were similar between the 2 groups. The cumulative meta-analyses suggested that the relative effects between 2 groups have already stabilized. All outcomes of subgroup and overall analyses were similar. This up-to-date meta-analysis confirms that RAL/S is a feasible and safe alternative to VAL/S for radical resection of lung cancer. Future studies should focus on the long-term benefits and cost effectiveness of RAL/S compared with VAL/S.

  8. Extended Kalman filtering for model-based sensor fusion in robotics

    International Nuclear Information System (INIS)

    Fujii, Yuji; Wehe, D.K.; Lee, J.C.

    1990-01-01

    Remote surveillance and maintenance in advanced nuclear power plants will benefit from the increased utilization of mobile robotic systems. For these robotic systems to function most effectively in hazardous environments, they should be able to make decisions and take necessary actions with minimal human supervision. To accomplish this, the robot must be able to construct an accurate model of the power plant environment from diverse sensory data and a priori maps. In this paper, the authors demonstrate how a recursive parameter estimation technique known as Kalman filtering can integrate noisy data from various sensors to construct a consistent representation of the sensed environment

  9. 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.

  10. Extending an Industrial Robot Controller-Implementation and Applications of a Fast Open Sensor Interface

    OpenAIRE

    Blomdell, Anders; Bolmsjö, Gunnar; Brogårdh, Torgny; Cederberg, Per; Isaksson, Mats; Johansson, Rolf; Haage, Mathias; Nilsson, Klas; Olsson, Magnus; Olsson, Tomas; Robertsson, Anders; Wang, Jianjun

    2005-01-01

    Many promising robotics research results were obtained during the late 1970s and early 1980s. Some examples include Cartesian force control and advanced motion planning. Now, 20 years and many research projects later, many technologies still have not reached industrial usage. An important question to consider is how this situation can be improved for future deployment of necessary technologies. Today, modern robot control systems used in industry provide highly optimized motion control that w...

  11. Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing

    Directory of Open Access Journals (Sweden)

    Yuan Xu

    2013-11-01

    Full Text Available In order to reduce the estimated errors of the inertial navigation system (INS/Wireless sensor network (WSN-integrated navigation for mobile robots indoors, this work proposes an on-line iterated extended Rauch-Tung-Striebel smoothing (IERTSS utilizing inertial measuring units (IMUs and an ultrasonic positioning system. In this mode, an iterated Extended Kalman filter (IEKF is used in forward data processing of the Extended Rauch-Tung-Striebel smoothing (ERTSS to improve the accuracy of the filtering output for the smoother. Furthermore, in order to achieve the on-line smoothing, IERTSS is embedded into the average filter. For verification, a real indoor test has been done to assess the performance of the proposed method. The results show that the proposed method is effective in reducing the errors compared with the conventional schemes.

  12. Robotic surgery, video-assisted thoracic surgery, and open surgery for early stage lung cancer: comparison of costs and outcomes at a single institute.

    Science.gov (United States)

    Novellis, Pierluigi; Bottoni, Edoardo; Voulaz, Emanuele; Cariboni, Umberto; Testori, Alberto; Bertolaccini, Luca; Giordano, Laura; Dieci, Elisa; Granato, Lorenzo; Vanni, Elena; Montorsi, Marco; Alloisio, Marco; Veronesi, Giulia

    2018-02-01

    Robotic surgery is increasingly used to resect lung cancer. However costs are high. We compared costs and outcomes for robotic surgery, video-assisted thoracic surgery (VATS), and open surgery, to treat non-small cell lung cancer (NSCLC). We retrospectively assessed 103 consecutive patients given lobectomy or segmentectomy for clinical stage I or II NSCLC. Three surgeons could choose VATS or open, the fourth could choose between all three techniques. Between-group differences were assessed by Fisher's exact, two-way analysis of variance (ANOVA), and Wilcoxon-Mann-Whitney test. P values open surgery. Age, physical status, pulmonary function, comorbidities, stage, and perioperative complications did not differ between the groups. Pathological tumor size was greater in the open than VATS and robotic groups (P=0.025). Duration of surgery was 150, 191 and 116 minutes, by robotic, VATS and open approaches, respectively (Popen groups. Estimated costs were 82%, 68% and 69%, respectively, of the regional health service reimbursement for robotic, VATS and open approaches. Robotic surgery for early lung cancer was associated with shorter stay and more extensive lymph node dissection than VATS and open surgery. Duration of surgery was shorter for robotic than VATS. Although the cost of robotic thoracic surgery is high, the hospital makes a profit.

  13. Extending JPEG-LS for low-complexity scalable video coding

    DEFF Research Database (Denmark)

    Ukhanova, Anna; Sergeev, Anton; Forchhammer, Søren

    2011-01-01

    JPEG-LS, the well-known international standard for lossless and near-lossless image compression, was originally designed for non-scalable applications. In this paper we propose a scalable modification of JPEG-LS and compare it with the leading image and video coding standards JPEG2000 and H.264/SVC...

  14. Localization of Mobile Robots Using an Extended Kalman Filter in a LEGO NXT

    Science.gov (United States)

    Pinto, M.; Moreira, A. P.; Matos, A.

    2012-01-01

    The inspiration for this paper comes from a successful experiment conducted with students in the "Mobile Robots" course in the fifth year of the integrated Master's program in the Department of Electrical and Computer Engineering, Faculty of Engineering, University of Porto (FEUP), Porto, Portugal. One of the topics in this Mobile Robots…

  15. CRUSER 2015, TechCon, Robots in the Roses, Robo-Ethics [video

    OpenAIRE

    2015-01-01

    CRUSER 2015 events Technical Consortium Robots in the Roses Robo-Ethics Ray Buettner, CRUSER Director Tim Chung, CRUSER Deputy Director LT Raymond Davis, Systems Engineering student LT Patrick Livesay, Systems Engineering student LT Eric Beaty, National Security Affairs student Matt Kiefer, recent distance learning graduate

  16. 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 ...

  17. Pose Estimation of a Mobile Robot Based on Fusion of IMU Data and Vision Data Using an Extended Kalman Filter.

    Science.gov (United States)

    Alatise, Mary B; Hancke, Gerhard P

    2017-09-21

    Using a single sensor to determine the pose estimation of a device cannot give accurate results. This paper presents a fusion of an inertial sensor of six degrees of freedom (6-DoF) which comprises the 3-axis of an accelerometer and the 3-axis of a gyroscope, and a vision to determine a low-cost and accurate position for an autonomous mobile robot. For vision, a monocular vision-based object detection algorithm speeded-up robust feature (SURF) and random sample consensus (RANSAC) algorithms were integrated and used to recognize a sample object in several images taken. As against the conventional method that depend on point-tracking, RANSAC uses an iterative method to estimate the parameters of a mathematical model from a set of captured data which contains outliers. With SURF and RANSAC, improved accuracy is certain; this is because of their ability to find interest points (features) under different viewing conditions using a Hessain matrix. This approach is proposed because of its simple implementation, low cost, and improved accuracy. With an extended Kalman filter (EKF), data from inertial sensors and a camera were fused to estimate the position and orientation of the mobile robot. All these sensors were mounted on the mobile robot to obtain an accurate localization. An indoor experiment was carried out to validate and evaluate the performance. Experimental results show that the proposed method is fast in computation, reliable and robust, and can be considered for practical applications. The performance of the experiments was verified by the ground truth data and root mean square errors (RMSEs).

  18. Efficient Stereoscopic Video Matching and Map Reconstruction for a Wheeled Mobile Robot

    Directory of Open Access Journals (Sweden)

    Oscar Montiel-Ross

    2012-10-01

    Full Text Available This paper presents a novel method to achieve stereoscopic vision for mobile robot (MR navigation with the advantage of not needing camera calibration for depth (distance estimation measurements. It uses the concept of the adaptive candidate matching window for stereoscopic correspondence for block matching, resulting in improvements in efficiency and accuracy. An average of 40% of time reduction in the calculation process is obtained. All the algorithms for navigation, including the stereoscopic vision module, were implemented using an original computer architecture for the Virtex 5 FPGA, where a distributed multicore processor system was embedded and coordinated using the Message Passing Interface.

  19. Adaptive Iterated Extended Kalman Filter and Its Application to Autonomous Integrated Navigation for Indoor Robot

    Directory of Open Access Journals (Sweden)

    Yuan Xu

    2014-01-01

    Full Text Available As the core of the integrated navigation system, the data fusion algorithm should be designed seriously. In order to improve the accuracy of data fusion, this work proposed an adaptive iterated extended Kalman (AIEKF which used the noise statistics estimator in the iterated extended Kalman (IEKF, and then AIEKF is used to deal with the nonlinear problem in the inertial navigation systems (INS/wireless sensors networks (WSNs-integrated navigation system. Practical test has been done to evaluate the performance of the proposed method. The results show that the proposed method is effective to reduce the mean root-mean-square error (RMSE of position by about 92.53%, 67.93%, 55.97%, and 30.09% compared with the INS only, WSN, EKF, and IEKF.

  20. Initial experience with a robotically operated video optical telescopic-microscope in cranial neurosurgery: feasibility, safety, and clinical applications.

    Science.gov (United States)

    Gonen, Lior; Chakravarthi, Srikant S; Monroy-Sosa, Alejandro; Celix, Juanita M; Kojis, Nathaniel; Singh, Maharaj; Jennings, Jonathan; Fukui, Melanie B; Rovin, Richard A; Kassam, Amin B

    2017-05-01

    OBJECTIVE The move toward better, more effective optical visualization in the field of neurosurgery has been a focus of technological innovation. In this study, the authors' objectives are to describe the feasibility and safety of a new robotic optical platform, namely, the robotically operated video optical telescopic-microscope (ROVOT-m), in cranial microsurgical applications. METHODS A prospective database comprising patients who underwent a cranial procedure between April 2015 and September 2016 was queried, and the first 200 patients who met the inclusion criteria were selected as the cohort for a retrospective chart review. Only adults who underwent microsurgical procedures in which the ROVOT-m was used were considered for the study. Preoperative, intraoperative, and postoperative data were retrieved from electronic medical records. The authors address the feasibility and safety of the ROVOT-m by studying various intraoperative variables and by reporting perioperative morbidity and mortality, respectively. To assess the learning curve, cranial procedures were categorized into 6 progressively increasing complexity groups. The main categories of pathology were I) intracerebral hemorrhages (ICHs); II) intraaxial tumors involving noneloquent regions or noncomplex extraaxial tumors; III) intraaxial tumors involving eloquent regions; IV) skull base pathologies; V) intraventricular lesions; and VI) cerebrovascular lesions. In addition, the entire cohort was evenly divided into early and late cohorts. RESULTS The patient cohort comprised 104 female (52%) and 96 male (48%) patients with a mean age of 56.7 years. The most common pathological entities encountered were neoplastic lesions (153, 76.5%), followed by ICH (20, 10%). The distribution of cases by complexity categories was 11.5%, 36.5%, 22%, 20%, 3.5%, and 6.5% for Categories I, II, II, IV, V, and VI, respectively. In all 200 cases, the surgical goal was achieved without the need for intraoperative conversion

  1. Placement of 125I implants with the da Vinci robotic system after video-assisted thoracoscopic wedge resection: A feasibility study

    International Nuclear Information System (INIS)

    Pisch, Julianna; Belsley, Scott J.; Ashton, Robert; Wang Lin; Woode, Rudolph; Connery, Cliff

    2004-01-01

    Purpose: To evaluate the feasibility of using the da Vinci robotic system for radioactive seed placement in the wedge resection margin of pigs' lungs. Methods and materials: Video-assisted thoracoscopic wedge resection was performed in the upper and lower lobes in pigs. Dummy 125 I seeds embedded in absorbable sutures were sewn into the resection margin with the aid of the da Vinci robotic system without complications. In the 'loop technique,' the seeds were placed in a cylindrical pattern; in the 'longitudinal,' they were above and lateral to the resection margin. Orthogonal radiographs were taken in the operating room. For dose calculation, Variseed 66.7 (Build 11312) software was used. Results: With looping seed placement, in the coronal view, the dose at 1 cm from the source was 97.0 Gy; in the lateral view it was 107.3 Gy. For longitudinal seed placement, the numbers were 89.5 Gy and 70.0 Gy, respectively. Conclusion: Robotic technology allows direct placement of radioactive seeds into the resection margin by endoscopic surgery. It overcomes the technical difficulties of manipulating in the narrow chest cavity. With the advent of robotic technology, new options in the treatment of lung cancer, as well as other malignant tumors, will become available

  2. Centre of Gravity (C.O.G)-Based Analysis on the Dynamics of the Extendable Double-Link Two-Wheeled Mobile Robot

    International Nuclear Information System (INIS)

    Rahman, M T Abdul; Ahmad, S; Akmeliawati, R; Altalmas, T; Aula, A

    2013-01-01

    This paper discusses about the analysis on the centre of gravity (C.O.G) in affecting the input reference of the motion control of the extendable double-link of two-wheeled mobile robot. The proposed system mimics double inverted pendulum, where the angular position of the first link (Link1) is to be varied depends on the value of the angular position of the second link (Link2) and the elongation of the extendable-link (Link3) that is attached to Link2 with different payload. The two-wheeled mobile robot together with the extendable link on Link2 makes that system become more flexible but yet, the system has become more unstable. The inclination of extendable link at any interest angle will affect the C.O.G of the system especially when the payload is having a significant weight. This two-wheeled mobile robot can be balanced on the condition that the system's center of gravity must be located on the centre of the wheels. Therefore the input reference of Link1 will be determined from the C.O.G analysis of the system with the payload. Preliminary results show that the angular position of Link1 can be set at suitable degree based on C.O.G analysis that is used for motion control

  3. Influence of complementing a robotic upper limb rehabilitation system with video games on the engagement of the participants: a study focusing on muscle activities.

    Science.gov (United States)

    Li, Chong; Rusák, Zoltán; Horváth, Imre; Ji, Linhong

    2014-12-01

    Efficacious stroke rehabilitation depends not only on patients' medical treatment but also on their motivation and engagement during rehabilitation exercises. Although traditional rehabilitation exercises are often mundane, technology-assisted upper-limb robotic training can provide engaging and task-oriented training in a natural environment. The factors that influence engagement, however, are not fully understood. This paper therefore studies the relationship between engagement and muscle activities as well as the influencing factors of engagement. To this end, an experiment was conducted using a robotic upper limb rehabilitation system with healthy individuals in three training exercises: (a) a traditional exercise, which is typically used for training the grasping function, (b) a tracking exercise, currently used in robot-assisted stroke patient rehabilitation for fine motor movement, and (c) a video game exercise, which is a proliferating approach of robot-assisted rehabilitation enabling high-level active engagement of stroke patients. These exercises differ not only in the characteristics of the motion that they use but also in their method of triggering engagement. To measure the level of engagement, we used facial expressions, motion analysis of the arm movements, and electromyography. The results show that (a) the video game exercise could engage the participants for a longer period than the other two exercises, (b) the engagement level decreased when the participants became too familiar with the exercises, and (c) analysis of normalized root mean square in electromyographic data indicated that muscle activities were more intense when the participants are engaged. This study shows that several sub-factors on engagement, such as versatility of feedback, cognitive tasks, and competitiveness, may influence engagement more than the others. To maintain a high level of engagement, the rehabilitation system needs to be adaptive, providing different exercises to

  4. Augmented reality during robot-assisted laparoscopic partial nephrectomy: toward real-time 3D-CT to stereoscopic video registration.

    Science.gov (United States)

    Su, Li-Ming; Vagvolgyi, Balazs P; Agarwal, Rahul; Reiley, Carol E; Taylor, Russell H; Hager, Gregory D

    2009-04-01

    To investigate a markerless tracking system for real-time stereo-endoscopic visualization of preoperative computed tomographic imaging as an augmented display during robot-assisted laparoscopic partial nephrectomy. Stereoscopic video segments of a patient undergoing robot-assisted laparoscopic partial nephrectomy for tumor and another for a partial staghorn renal calculus were processed to evaluate the performance of a three-dimensional (3D)-to-3D registration algorithm. After both cases, we registered a segment of the video recording to the corresponding preoperative 3D-computed tomography image. After calibrating the camera and overlay, 3D-to-3D registration was created between the model and the surgical recording using a modified iterative closest point technique. Image-based tracking technology tracked selected fixed points on the kidney surface to augment the image-to-model registration. Our investigation has demonstrated that we can identify and track the kidney surface in real time when applied to intraoperative video recordings and overlay the 3D models of the kidney, tumor (or stone), and collecting system semitransparently. Using a basic computer research platform, we achieved an update rate of 10 Hz and an overlay latency of 4 frames. The accuracy of the 3D registration was 1 mm. Augmented reality overlay of reconstructed 3D-computed tomography images onto real-time stereo video footage is possible using iterative closest point and image-based surface tracking technology that does not use external navigation tracking systems or preplaced surface markers. Additional studies are needed to assess the precision and to achieve fully automated registration and display for intraoperative use.

  5. Robotic devices for nuclear plant

    Energy Technology Data Exchange (ETDEWEB)

    Abel, E

    1986-05-01

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

  6. Effects of realism on extended violent and nonviolent video game play on aggressive thoughts, feelings, and physiological arousal.

    Science.gov (United States)

    Barlett, Christopher P; Rodeheffer, Christopher

    2009-01-01

    Previous research has shown that playing violent video game exposure can increase aggressive thoughts, aggressive feelings, and physiological arousal. This study compared the effects that playing a realistic violent, unrealistic violent, or nonviolent video game for 45 min has on such variables. For the purpose of this study, realism was defined as the probability of seeing an event in real life. Participants (N=74; 39 male, 35 female) played either a realistic violent, unrealistic violent, or nonviolent video game for 45 min. Aggressive thoughts and aggressive feelings were measured four times (every 15 min), whereas arousal was measured continuously. The results showed that, though playing any violent game stimulated aggressive thoughts, playing a more realistic violent game stimulated significantly more aggressive feelings and arousal over the course of play. Copyright 2009 Wiley-Liss, Inc.

  7. 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.

  8. Cost-Benefit Performance of Robotic Surgery Compared with Video-Assisted Thoracoscopic Surgery under the Japanese National Health Insurance System.

    Science.gov (United States)

    Kajiwara, Naohiro; Patrick Barron, James; Kato, Yasufumi; Kakihana, Masatoshi; Ohira, Tatsuo; Kawate, Norihiko; Ikeda, Norihiko

    2015-01-01

    Medical economics have significant impact on the entire country. The explosion in surgical techniques has been accompanied by questions regarding actual improvements in outcome and cost-effectiveness, such as the da Vinci(®) Surgical System (dVS) compared with conventional video-assisted thoracic surgery (VATS). To establish a medical fee system for robot-assisted thoracic surgery (RATS), which is a system not yet firmly established in Japan. This study examines the cost benefit performance (CBP) based on medical fees compared with VATS and RATS under the Japanese National Health Insurance System (JNHIS) introduced in 2012. The projected (but as yet undecided) price in the JNHIS would be insufficient if institutions have less than even 200 dVS cases per year. Only institutions which perform more than 300 dVS operations per year would obtain a positive CBP with the projected JNHIS reimbursement. Thus, under the present conditions, it is necessary to perform at least 300 dVS operations per year in each institution with a dVS system to avoid financial deficit with current robotic surgical management. This may hopefully encourage a downward price revision of the dVS equipment by the manufacture which would result in a decrease in the cost per procedure.

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

    Science.gov (United States)

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

    2011-01-01

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

  10. Video-assisted thoracic surgery for left upper lobectomy for complex lesions: how to extend the indication with optimal safety?

    Science.gov (United States)

    Bayard, Nathanaël Frank; Barnett, Stephen Arthur; Rinieri, Philippe; Melki, Jean; Peillon, Christophe; Baste, Jean Marc

    2016-08-01

    The feasibility of extending the VATS approach to locally advanced NSCLC has been described with good clinical outcome. These complex resections are still technically challenging and patient safety must remain the highest priority. In this article, we describe our routine VATS approach for left upper lobectomy in proximal, locally advanced lesions. Both surgical and anaesthesiology teams are trained during simulation sessions to respond rapidly in case of urgent thoracotomy. Encircling arterial and venous vessels allow control of inadvertent bleeding during difficult dissection. Also, whenever needed the double vessel control technique is a time saver waiting for conversion to thoracotomy.

  11. A novel semi-automatic snake robot for natural orifice transluminal endoscopic surgery: preclinical tests in animal and human cadaver models (with video).

    Science.gov (United States)

    Son, Jaebum; Cho, Chang Nho; Kim, Kwang Gi; Chang, Tae Young; Jung, Hyunchul; Kim, Sung Chun; Kim, Min-Tae; Yang, Nari; Kim, Tae-Yun; Sohn, Dae Kyung

    2015-06-01

    Natural orifice transluminal endoscopic surgery (NOTES) is an emerging surgical technique. We aimed to design, create, and evaluate a new semi-automatic snake robot for NOTES. The snake robot employs the characteristics of both a manual endoscope and a multi-segment snake robot. This robot is inserted and retracted manually, like a classical endoscope, while its shape is controlled using embedded robot technology. The feasibility of a prototype robot for NOTES was evaluated in animals and human cadavers. The transverse stiffness and maneuverability of the snake robot appeared satisfactory. It could be advanced through the anus as far as the peritoneal cavity without any injury to adjacent organs. Preclinical tests showed that the device could navigate the peritoneal cavity. The snake robot has advantages of high transverse force and intuitive control. This new robot may be clinically superior to conventional tools for transanal NOTES.

  12. '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...

  13. 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...

  14. Measuring Attitudes Towards Telepresence Robots

    OpenAIRE

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

    2011-01-01

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

  15. Clustering of spontaneous recurrent seizures separated by long seizure-free periods: An extended video-EEG monitoring study of a pilocarpine mouse model.

    Science.gov (United States)

    Lim, Jung-Ah; Moon, Jangsup; Kim, Tae-Joon; Jun, Jin-Sun; Park, Byeongsu; Byun, Jung-Ick; Sunwoo, Jun-Sang; Park, Kyung-Il; Lee, Soon-Tae; Jung, Keun-Hwa; Jung, Ki-Young; Kim, Manho; Jeon, Daejong; Chu, Kon; Lee, Sang Kun

    2018-01-01

    Seizure clustering is a common and significant phenomenon in patients with epilepsy. The clustering of spontaneous recurrent seizures (SRSs) in animal models of epilepsy, including mouse pilocarpine models, has been reported. However, most studies have analyzed seizures for a short duration after the induction of status epilepticus (SE). In this study, we investigated the detailed characteristics of seizure clustering in the chronic stage of a mouse pilocarpine-induced epilepsy model for an extended duration by continuous 24/7 video-EEG monitoring. A seizure cluster was defined as the occurrence of one or more seizures per day for at least three consecutive days and at least five seizures during the cluster period. We analyzed the cluster duration, seizure-free period, cluster interval, and numbers of seizures within and outside the seizure clusters. The video-EEG monitoring began 84.5±33.7 days after the induction of SE and continued for 53.7±20.4 days. Every mouse displayed seizure clusters, and 97.0% of the seizures occurred within a cluster period. The seizure clusters were followed by long seizure-free periods of 16.3±6.8 days, showing a cyclic pattern. The SRSs also occurred in a grouped pattern within a day. We demonstrate that almost all seizures occur in clusters with a cyclic pattern in the chronic stage of a mouse pilocarpine-induced epilepsy model. The seizure-free periods between clusters were long. These findings should be considered when performing in vivo studies using this animal model. Furthermore, this model might be appropriate for studying the unrevealed mechanism of ictogenesis.

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

    OpenAIRE

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

    2012-01-01

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

  17. Towards Versatile Robots Through Open Heterogeneous Modular Robots

    OpenAIRE

    Lyder, Andreas

    2010-01-01

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

  18. Training in urological robotic surgery. Future perspectives.

    Science.gov (United States)

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

    2018-01-01

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

  19. 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…

  20. Towards Versatile Robots Through Open Heterogeneous Modular Robots

    DEFF Research Database (Denmark)

    Lyder, Andreas

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

  1. Perceptions of a Soft Robotic Tentacle in Interaction

    DEFF Research Database (Denmark)

    Jørgensen, Jonas

    2018-01-01

    Soft robotics technology has been proposed for a number of applications that involve human-robot interaction. This video documents a platform created to explore human perceptions of soft robots in interaction. The video presents select footage from an interaction experiment conducted...

  2. A Video Game-Based Framework for Analyzing Human-Robot Interaction: Characterizing Interface Design in Real-Time Interactive Multimedia Applications

    Science.gov (United States)

    2006-01-01

    segments video game interaction into domain-independent components which together form a framework that can be used to characterize real-time interactive...multimedia applications in general and HRI in particular. We provide examples of using the components in both the video game and the Unmanned Aerial

  3. 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...

  4. 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...

  5. Robot-laser system

    International Nuclear Information System (INIS)

    Akeel, H.A.

    1987-01-01

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

  6. Survival of falling robots

    Science.gov (United States)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-01-01

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

  7. Survival of falling robots

    Science.gov (United States)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-02-01

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

  8. A Video Game-Based Framework for Analyzing Human-Robot Interaction: Characterizing Interface Design in Real-Time Interactive Multimedia Applications

    National Research Council Canada - National Science Library

    Richer, Justin; Drury, Jill L

    2006-01-01

    .... This paper segments video game interaction into domain-independent components which together form a framework that can be used to characterize real-time interactive multimedia applications in general...

  9. Human-Robot Interaction

    Science.gov (United States)

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

    2015-01-01

    frame of reference. The first study investigated the effects of inclusion and exclusion of the robot chassis along with superimposing a simple arrow overlay onto the video feed of operator task performance during teleoperation of a mobile robot in a driving task. In this study, the front half of the robot chassis was made visible through the use of three cameras, two side-facing and one forward-facing. The purpose of the second study was to compare operator performance when teleoperating a robot from an egocentric-only and combined (egocentric plus exocentric camera) view. Camera view parameters that are found to be beneficial in these laboratory experiments can be implemented on NASA rovers and tested in a real-world driving and navigation scenario on-site at the Johnson Space Center.

  10. 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.

  11. 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.

  12. Video self-modeling in children with autism: a pilot study validating prerequisite skills and extending the utilization of VSM across skill sets.

    Science.gov (United States)

    Williamson, Robert L; Casey, Laura B; Robertson, Janna Siegel; Buggey, Tom

    2013-01-01

    Given the recent interest in the use of video self-modeling (VSM) to provide instruction within iPod apps and other pieces of handheld mobile assistive technologies, investigating appropriate prerequisite skills for effective use of this intervention is particularly timely and relevant. To provide additional information regarding the efficacy of VSM for students with autism and to provide insights into any possible prerequisite skills students may require for such efficacy, the authors investigated the use of VSM in increasing the instances of effective initiations of interpersonal greetings for three students with autism that exhibited different pre-intervention abilities. Results showed that only one of the three participants showed an increase in self-initiated greetings following the viewing of videos edited to show each participant self-modeling a greeting when entering his or her classroom. Due to the differences in initial skill sets between the three children, this finding supports anecdotally observed student prerequisite abilities mentioned in previous studies that may be required to effectively utilize video based teaching methods.

  13. Reviews Book: The Babylonian Theorem Video Game: BrainBox360 (Physics Edition) Book: Teaching and Learning Science: Towards a Personalized Approach Book: Good Practice in Science Teaching: What Research Has to Say Equipment: PAPERSHOW Equipment: SEP Steady State Bottle Kit Equipment: Sciencescope Datalogging Balance Equipment: USB Robot Arm Equipment: Sciencescope Spectrophotometer Web Watch

    Science.gov (United States)

    2010-07-01

    WE RECOMMEND Good Practice in Science Teaching: What Research Has to Say Book explores and summarizes the research Steady State Bottle Kit Another gem from SEP Sciencescope Datalogging Balance Balance suits everyday use Sciencescope Spectrophotometer Device displays clear spectrum WORTH A LOOK The Babylonian Theorem Text explains ancient Egyptian mathematics BrainBox360 (Physics Edition) Video game tests your knowledge Teaching and Learning Science: Towards a Personalized Approach Book reveals how useful physics teachers really are PAPERSHOW Gadget kit is useful but has limitations Robotic Arm Kit with USB PC Interface Robot arm teaches programming WEB WATCH Simple applets teach complex topics

  14. Real-Time Control System for Improved Precision and Throughput in an Ultrafast Carbon Fiber Placement Robot Using a SoC FPGA Extended Processing Platform

    Directory of Open Access Journals (Sweden)

    Gilberto Ochoa-Ruiz

    2017-01-01

    Full Text Available We present an architecture for accelerating the processing and execution of control commands in an ultrafast fiber placement robot. The system consists of a robotic arm designed by Coriolis Composites whose purpose is to move along a surface, on which composite fibers are deposed, via an independently controlled head. In first system implementation, the control commands were sent via Profibus by a PLC, limiting the reaction time and thus the precision of the fiber placement and the maximum throughput. Therefore, a custom real-time solution was imperative in order to ameliorate the performance and to meet the stringent requirements of the target industry (avionics, aeronautical systems. The solution presented in this paper is based on the use of a SoC FPGA processing platform running a real-time operating system (FreeRTOS, which has enabled an improved comamnd retrieval mechanism. The system’s placement precision was improved by a factor of 20 (from 1 mm to 0.05 mm, while the maximum achievable throughput was 1 m/s, compared to the average 30 cm/s provided by the original solution, enabling fabricating more complex and larger pieces in a significant fraction of the time.

  15. Hybrid laparoscopic-robotic management of type IVa choledochal cyst in the setting of prior Roux-en-Y gastric bypass: video case report and review of the literature.

    Science.gov (United States)

    Chang, Julietta; Walsh, R Matthew; El-Hayek, Kevin

    2015-06-01

    Choledochal cysts are rare congenital disease of the biliary system. The recommended treatment of these lesions is surgical excision with biliary enteric reconstruction. In patients with normal anatomy, Roux-en-Y hepaticojejunostomy is preferred. However, different options in biliary reconstruction must be entertained in those with abnormal anatomy. Our patient is a 39-year-old female, who during workup for bariatric surgery two years prior to presentation, was found to have a 6 cm dilation of her common bile duct. She underwent a laparoscopic Roux-en-Y gastric bypass (LRYGB) in 2011 at an outside facility, with no planned intervention on her biliary tree. Ultimately, she developed right upper quadrant pain two years following her RYGB. Upon further workup including right upper quadrant ultrasound, an extrahepatic choledochal cyst was confirmed and she was referred to our institution for definitive care. The patient was taken to the operating room for resection of the choledochal cyst with hepatoenteric reconstruction. The dissection and resection of the cyst commenced laparoscopically. After performing a generous Kocher maneuver, we demonstrated that there was adequate mobilization of the duodenum to perform a tension free hepaticoduodenostomy, which was performed robotically. Her postoperative course was uneventful, and she was discharged home on postoperative day 3. At one month follow up, the patient was doing well with symptom resolution. Her final pathology revealed a choledochal cyst which was negative for dysplasia or carcinoma. Long-term follow up has been recommended with yearly alkaline phosphatase levels. Here we present a video of the technical considerations during a robot-assisted laparoscopic biliary reconstruction in a patient with a prior Roux-en-Y gastric bypass with a type IVA choledochal cyst.

  16. Infrared Beacons based Localization of Mobile Robot

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, Stanislav

    2012-01-01

    Roč. 117, č. 1 (2012), s. 17-22 ISSN 1392-1215 Institutional research plan: CEZ:AV0Z20760514 Keywords : mobile robot localization * extended Kalman filter * autonomous mobile robot Subject RIV: JD - Computer Applications, Robotics Impact factor: 0.411, year: 2012 http://www.eejournal.ktu.lt/index.php/elt/article/view/1046

  17. Can young children learn words from a robot?

    OpenAIRE

    Moriguchi, Yusuke; Kanda, Takayuki; Ishiguro, Hiroshi; Shimada, Yoko; Itakura, Shoji

    2011-01-01

    Young children generally learn words from other people. Recent research has shown that children can learn new actions and skills from nonhuman agents. This study examines whether young children could learn words from a robot. Preschool children were shown a video in which either a woman (human condition) or a mechanical robot (robot condition) labeled novel objects. Then the children were asked to select the objects according to the names used in the video. The results revealed that children ...

  18. Evolutionary robotics

    Indian Academy of Sciences (India)

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

  19. 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....

  20. 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....

  1. 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

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

    Science.gov (United States)

    Nakadate, Ryu; Arata, Jumpei; Hashizume, Makoto

    2015-02-01

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

  3. Robotics and general surgery.

    Science.gov (United States)

    Jacob, Brian P; Gagner, Michel

    2003-12-01

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

  4. Robots and humans: synergy in planetary exploration

    Science.gov (United States)

    Landis, Geoffrey A.

    2004-01-01

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

  5. Biological Soft Robotics.

    Science.gov (United States)

    Feinberg, Adam W

    2015-01-01

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

  6. Dashboard Videos

    Science.gov (United States)

    Gleue, Alan D.; Depcik, Chris; Peltier, Ted

    2012-01-01

    Last school year, I had a web link emailed to me entitled "A Dashboard Physics Lesson." The link, created and posted by Dale Basier on his "Lab Out Loud" blog, illustrates video of a car's speedometer synchronized with video of the road. These two separate video streams are compiled into one video that students can watch and analyze. After seeing…

  7. Video microblogging

    DEFF Research Database (Denmark)

    Bornoe, Nis; Barkhuus, Louise

    2010-01-01

    Microblogging is a recently popular phenomenon and with the increasing trend for video cameras to be built into mobile phones, a new type of microblogging has entered the arena of electronic communication: video microblogging. In this study we examine video microblogging, which is the broadcasting...... of short videos. A series of semi-structured interviews offers an understanding of why and how video microblogging is used and what the users post and broadcast....

  8. Surgery with cooperative robots.

    Science.gov (United States)

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

    2008-03-01

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

  9. Video demystified

    CERN Document Server

    Jack, Keith

    2004-01-01

    This international bestseller and essential reference is the "bible" for digital video engineers and programmers worldwide. This is by far the most informative analog and digital video reference available, includes the hottest new trends and cutting-edge developments in the field. Video Demystified, Fourth Edition is a "one stop" reference guide for the various digital video technologies. The fourth edition is completely updated with all new chapters on MPEG-4, H.264, SDTV/HDTV, ATSC/DVB, and Streaming Video (Video over DSL, Ethernet, etc.), as well as discussions of the latest standards throughout. The accompanying CD-ROM is updated to include a unique set of video test files in the newest formats. *This essential reference is the "bible" for digital video engineers and programmers worldwide *Contains all new chapters on MPEG-4, H.264, SDTV/HDTV, ATSC/DVB, and Streaming Video *Completely revised with all the latest and most up-to-date industry standards.

  10. Thoracoscopic versus robotic approaches: advantages and disadvantages.

    Science.gov (United States)

    Wei, Benjamin; D'Amico, Thomas A

    2014-05-01

    The overall advantages of thoracoscopy over thoracotomy in terms of patient recovery have been fairly well established. The use of robotics, however, is a newer and less proven modality in the realm of thoracic surgery. Robotics offers distinct advantages and disadvantages in comparison with video-assisted thoracoscopic surgery. Robotic technology is now used for a variety of complex cardiac, urologic, and gynecologic procedures including mitral valve repair and microsurgical treatment of male infertility. This article addresses the potential benefits and limitations of using the robotic platform for the performance of a variety of thoracic operations. Copyright © 2014 Elsevier Inc. All rights reserved.

  11. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

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

  12. Video pedagogy

    OpenAIRE

    Länsitie, Janne; Stevenson, Blair; Männistö, Riku; Karjalainen, Tommi; Karjalainen, Asko

    2016-01-01

    The short film is an introduction to the concept of video pedagogy. The five categories of video pedagogy further elaborate how videos can be used as a part of instruction and learning process. Most pedagogical videos represent more than one category. A video itself doesn’t necessarily define the category – the ways in which the video is used as a part of pedagogical script are more defining factors. What five categories did you find? Did you agree with the categories, or are more...

  13. 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...

  14. Microsurgical Clipping of an Anterior Communicating Artery Aneurysm Using a Novel Robotic Visualization Tool in Lieu of the Binocular Operating Microscope: Operative Video.

    Science.gov (United States)

    Klinger, Daniel R; Reinard, Kevin A; Ajayi, Olaide O; Delashaw, Johnny B

    2018-01-01

    The binocular operating microscope has been the visualization instrument of choice for microsurgical clipping of intracranial aneurysms for many decades. To discuss recent technological advances that have provided novel visualization tools, which may prove to be superior to the binocular operating microscope in many regards. We present an operative video and our operative experience with the BrightMatterTM Servo System (Synaptive Medical, Toronto, Ontario, Canada) during the microsurgical clipping of an anterior communicating artery aneurysm. To the best of our knowledge, the use of this device for the microsurgical clipping of an intracranial aneurysm has never been described in the literature. The BrightMatterTM Servo System (Synaptive Medical) is a surgical exoscope which avoids many of the ergonomic constraints of the binocular operating microscope, but is associated with a steep learning curve. The BrightMatterTM Servo System (Synaptive Medical) is a maneuverable surgical exoscope that is positioned with a directional aiming device and a surgeon-controlled foot pedal. While utilizing this device comes with a steep learning curve typical of any new technology, the BrightMatterTM Servo System (Synaptive Medical) has several advantages over the conventional surgical microscope, which include a relatively unobstructed surgical field, provision of high-definition images, and visualization of difficult angles/trajectories. This device can easily be utilized as a visualization tool for a variety of cranial and spinal procedures in lieu of the binocular operating microscope. We anticipate that this technology will soon become an integral part of the neurosurgeon's armamentarium. Copyright © 2017 by the Congress of Neurological Surgeons

  15. 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…

  16. PEAR: Prototyping Expressive Animated Robots - A framework for social robot prototyping

    OpenAIRE

    Balit , Etienne; Vaufreydaz , Dominique; Reignier , Patrick

    2018-01-01

    International audience; Social robots are transitioning from lab experiments to commercial products, creating new needs for proto-typing and design tools. In this paper, we present a framework to facilitate the prototyping of expressive animated robots. For this, we start by reviewing the design of existing social robots in order to define a set of basic components of social robots. We then show how to extend an existing 3D animation software to enable the animation of these components. By co...

  17. 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.

  18. To Err Is Robot: How Humans Assess and Act toward an Erroneous Social Robot

    Directory of Open Access Journals (Sweden)

    Nicole Mirnig

    2017-05-01

    Full Text Available We conducted a user study for which we purposefully programmed faulty behavior into a robot’s routine. It was our aim to explore if participants rate the faulty robot different from an error-free robot and which reactions people show in interaction with a faulty robot. The study was based on our previous research on robot errors where we detected typical error situations and the resulting social signals of our participants during social human–robot interaction. In contrast to our previous work, where we studied video material in which robot errors occurred unintentionally, in the herein reported user study, we purposefully elicited robot errors to further explore the human interaction partners’ social signals following a robot error. Our participants interacted with a human-like NAO, and the robot either performed faulty or free from error. First, the robot asked the participants a set of predefined questions and then it asked them to complete a couple of LEGO building tasks. After the interaction, we asked the participants to rate the robot’s anthropomorphism, likability, and perceived intelligence. We also interviewed the participants on their opinion about the interaction. Additionally, we video-coded the social signals the participants showed during their interaction with the robot as well as the answers they provided the robot with. Our results show that participants liked the faulty robot significantly better than the robot that interacted flawlessly. We did not find significant differences in people’s ratings of the robot’s anthropomorphism and perceived intelligence. The qualitative data confirmed the questionnaire results in showing that although the participants recognized the robot’s mistakes, they did not necessarily reject the erroneous robot. The annotations of the video data further showed that gaze shifts (e.g., from an object to the robot or vice versa and laughter are typical reactions to unexpected robot behavior

  19. 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....

  20. 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

  1. From Virtual Creatures to Feasible Robots

    DEFF Research Database (Denmark)

    Faina, Andres; Souto, Daniel; Orjales, Félix

    with the main objective of obtaining feasible and manufacturable robots. To this end, a modular architecture has been defined and implemented [2], which faces real hardware issues and promotes the evolvability of the robotic structures by considering heterogeneous modules with a large number of connection faces......This paper provides a brief description of the robots obtained using the evolutionary design system called EDHMoR (Evolutionary Designer of Heterogeneous Modular Robots) that are displayed in the corresponding video [1]. This system is based on the coevolution of morphology and control...... per module. These modules constitute the building blocks the EDHMoR system uses to design the robots. Moreover, an evaluation methodology is proposed as a key element of EDMHoR, which is based on modifications in the environment that can produce more useful and realistic robots without limiting...

  2. Fast Aerial Video Stitching

    Directory of Open Access Journals (Sweden)

    Jing Li

    2014-10-01

    Full Text Available The highly efficient and robust stitching of aerial video captured by unmanned aerial vehicles (UAVs is a challenging problem in the field of robot vision. Existing commercial image stitching systems have seen success with offline stitching tasks, but they cannot guarantee high-speed performance when dealing with online aerial video sequences. In this paper, we present a novel system which has an unique ability to stitch high-frame rate aerial video at a speed of 150 frames per second (FPS. In addition, rather than using a high-speed vision platform such as FPGA or CUDA, our system is running on a normal personal computer. To achieve this, after the careful comparison of the existing invariant features, we choose the FAST corner and binary descriptor for efficient feature extraction and representation, and present a spatial and temporal coherent filter to fuse the UAV motion information into the feature matching. The proposed filter can remove the majority of feature correspondence outliers and significantly increase the speed of robust feature matching by up to 20 times. To achieve a balance between robustness and efficiency, a dynamic key frame-based stitching framework is used to reduce the accumulation errors. Extensive experiments on challenging UAV datasets demonstrate that our approach can break through the speed limitation and generate an accurate stitching image for aerial video stitching tasks.

  3. Energy Systems Integration Facility Videos | Energy Systems Integration

    Science.gov (United States)

    Facility | NREL Energy Systems Integration Facility Videos Energy Systems Integration Facility Integration Facility NREL + SolarCity: Maximizing Solar Power on Electrical Grids Redefining What's Possible for Renewable Energy: Grid Integration Robot-Powered Reliability Testing at NREL's ESIF Microgrid

  4. Extending Teach and Repeat to Pivoting Wheelchairs

    Directory of Open Access Journals (Sweden)

    Guillermo Del Castillo

    2003-02-01

    Full Text Available The paper extends the teach-and-repeat paradigm that has been successful for the control of holonomic robots to nonholonomic wheelchairs which may undergo pivoting action over the course of their taught movement. Due to the nonholonomic nature of the vehicle kinematics, estimation is required -- in the example given herein, based upon video detection of wall-mounted cues -- both in the teaching and the tracking events. In order to accommodate motion that approaches pivoting action as well as motion that approaches straight-line action, the estimation equations of the Extended Kalman Filter and the control equations are formulated using two different definitions of a nontemporal independent variable. The paper motivates the need for pivoting action in real-life settings by reporting extensively on the abilities and limitations of estimation-based teach-and-repeat action where pivoting and near-pivoting action is disallowed. Following formulation of the equations in the near-pivot mode, the paper reports upon experiments where taught trajectories which entail a seamless mix of near-straight and near-pivot action are tracked.

  5. 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

  6. Immersive video

    Science.gov (United States)

    Moezzi, Saied; Katkere, Arun L.; Jain, Ramesh C.

    1996-03-01

    Interactive video and television viewers should have the power to control their viewing position. To make this a reality, we introduce the concept of Immersive Video, which employs computer vision and computer graphics technologies to provide remote users a sense of complete immersion when viewing an event. Immersive Video uses multiple videos of an event, captured from different perspectives, to generate a full 3D digital video of that event. That is accomplished by assimilating important information from each video stream into a comprehensive, dynamic, 3D model of the environment. Using this 3D digital video, interactive viewers can then move around the remote environment and observe the events taking place from any desired perspective. Our Immersive Video System currently provides interactive viewing and `walkthrus' of staged karate demonstrations, basketball games, dance performances, and typical campus scenes. In its full realization, Immersive Video will be a paradigm shift in visual communication which will revolutionize television and video media, and become an integral part of future telepresence and virtual reality systems.

  7. Rugged Walking Robot

    Science.gov (United States)

    Larimer, Stanley J.; Lisec, Thomas R.; Spiessbach, Andrew J.

    1990-01-01

    Proposed walking-beam robot simpler and more rugged than articulated-leg walkers. Requires less data processing, and uses power more efficiently. Includes pair of tripods, one nested in other. Inner tripod holds power supplies, communication equipment, computers, instrumentation, sampling arms, and articulated sensor turrets. Outer tripod holds mast on which antennas for communication with remote control site and video cameras for viewing local and distant terrain mounted. Propels itself by raising, translating, and lowering tripods in alternation. Steers itself by rotating raised tripod on turntable.

  8. Video games and surgical ability: a literature review.

    Science.gov (United States)

    Lynch, Jeremy; Aughwane, Paul; Hammond, Toby M

    2010-01-01

    Surgical training is rapidly evolving because of reduced training hours and the reduction of training opportunities due to patient safety concerns. There is a popular conception that video game usage might be linked to improved operating ability especially those techniques involving endoscopic modalities. If true this might suggest future directions for training. A search was made of the MEDLINE databases for the MeSH term, "Video Games," combined with the terms "Surgical Procedures, Operative," "Endoscopy," "Robotics," "Education," "Learning," "Simulators," "Computer Simulation," "Psychomotor Performance," and "Surgery, Computer-Assisted,"encompassing all journal articles before November 2009. References of articles were searched for further studies. Twelve relevant journal articles were discovered. Video game usage has been studied in relationship to laparoscopic, gastrointestinal endoscopic, endovascular, and robotic surgery. Video game users acquire endoscopic but not robotic techniques quicker, and training on video games appears to improve performance. Copyright (c) 2010 Association of Program Directors in Surgery. Published by Elsevier Inc. All rights reserved.

  9. 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.

  10. Video games

    OpenAIRE

    Kolář, Vojtěch

    2012-01-01

    This thesis is based on a detailed analysis of various topics related to the question of whether video games can be art. In the first place it analyzes the current academic discussion on this subject and confronts different opinions of both supporters and objectors of the idea, that video games can be a full-fledged art form. The second point of this paper is to analyze the properties, that are inherent to video games, in order to find the reason, why cultural elite considers video games as i...

  11. 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.

  12. Robotics 101

    Science.gov (United States)

    Sultan, Alan

    2011-01-01

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

  13. 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...

  14. Pointing with a One-Eyed Cursor for Supervised Training in Minimally Invasive Robotic Surgery

    DEFF Research Database (Denmark)

    Kibsgaard, Martin; Kraus, Martin

    2016-01-01

    Pointing in the endoscopic view of a surgical robot is a natural and effcient way for instructors to communicate with trainees in robot-assisted minimally invasive surgery. However, pointing in a stereo-endoscopic view can be limited by problems such as video delay, double vision, arm fatigue......-day training units in robot- assisted minimally invasive surgery on anaesthetised pigs....

  15. Akademisk video

    DEFF Research Database (Denmark)

    Frølunde, Lisbeth

    2017-01-01

    Dette kapitel har fokus på metodiske problemstillinger, der opstår i forhold til at bruge (digital) video i forbindelse med forskningskommunikation, ikke mindst online. Video har længe været benyttet i forskningen til dataindsamling og forskningskommunikation. Med digitaliseringen og internettet ...

  16. Aerial service robots: an overview of the AIRobots activity

    NARCIS (Netherlands)

    Marconi, L.; Naldi, R.; Torre, A.; Nikolic, J.; Huerzeler, C.; Caprari, G.; Zwicker, E.; Siciliano, B.; Lippiello, V.; Carloni, Raffaella; Stramigioli, Stefano

    This video paper outlines some of the results achieved during the first two years of the ongoing European project AIRobots (Innovative Aerial Service Robots for Remote Inspection by Contact, www.airobots.eu). Goal of AIRobots is to develop a new generation of aerial service robots capable of

  17. 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...

  18. 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

  19. 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...

  20. 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....

  1. Autonomous Robot Navigation In Public Nature Park

    DEFF Research Database (Denmark)

    Andersen, Jens Christian; Andersen, Nils Axel; Ravn, Ole

    2005-01-01

    This extended abstract describes a project to make a robot travel autonomously across a public nature park. The challenge is to detect and follow the right path across junctions and open squares avoiding people and obstacles. The robot is equipped with a laser scanner, a (low accuracy) GPS, wheel...

  2. How to Build an Intentional Android: Infants' Imitation of a Robot's Goal-Directed Actions

    Science.gov (United States)

    Itakura, Shoji; Ishida, Hiraku; Kanda, Takayuki; Shimada, Yohko; Ishiguro, Hiroshi; Lee, Kang

    2008-01-01

    This study examined whether young children are able to imitate a robot's goal-directed actions. Children (24-35 months old) viewed videos showing a robot attempting to manipulate an object (e.g., putting beads inside a cup) but failing to achieve its goal (e.g., beads fell outside the cup). In 1 video, the robot made eye contact with a human…

  3. Micro intelligence robot

    International Nuclear Information System (INIS)

    Jeon, Yon Ho

    1991-07-01

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

  4. An Intelligent Robot Programing

    Energy Technology Data Exchange (ETDEWEB)

    Hong, Seong Yong

    2012-01-15

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

  5. An Intelligent Robot Programing

    International Nuclear Information System (INIS)

    Hong, Seong Yong

    2012-01-01

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

  6. A Review of Mobile Robotic Telepresence

    Directory of Open Access Journals (Sweden)

    Annica Kristoffersson

    2013-01-01

    Full Text Available Mobile robotic telepresence (MRP systems incorporate video conferencing equipment onto mobile robot devices which can be steered from remote locations. These systems, which are primarily used in the context of promoting social interaction between people, are becoming increasingly popular within certain application domains such as health care environments, independent living for the elderly, and office environments. In this paper, an overview of the various systems, application areas, and challenges found in the literature concerning mobile robotic telepresence is provided. The survey also proposes a set terminology for the field as there is currently a lack of standard terms for the different concepts related to MRP systems. Further, this paper provides an outlook on the various research directions for developing and enhancing mobile robotic telepresence systems per se, as well as evaluating the interaction in laboratory and field settings. Finally, the survey outlines a number of design implications for the future of mobile robotic telepresence systems for social interaction.

  7. Mission Reliability Estimation for Repairable Robot Teams

    Science.gov (United States)

    Trebi-Ollennu, Ashitey; Dolan, John; Stancliff, Stephen

    2010-01-01

    current design paradigm of building a minimal number of highly robust robots may not be the best way to design robots for extended missions.

  8. Learning from Narrated Instruction Videos.

    Science.gov (United States)

    Alayrac, Jean-Baptiste; Bojanowski, Piotr; Agrawal, Nishant; Sivic, Josef; Laptev, Ivan; Lacoste-Julien, Simon

    2017-09-05

    Automatic assistants could guide a person or a robot in performing new tasks, such as changing a car tire or repotting a plant. Creating such assistants, however, is non-trivial and requires understanding of visual and verbal content of a video. Towards this goal, we here address the problem of automatically learning the main steps of a task from a set of narrated instruction videos. We develop a new unsupervised learning approach that takes advantage of the complementary nature of the input video and the associated narration. The method sequentially clusters textual and visual representations of a task, where the two clustering problems are linked by joint constraints to obtain a single coherent sequence of steps in both modalities. To evaluate our method, we collect and annotate a new challenging dataset of real-world instruction videos from the Internet. The dataset contains videos for five different tasks with complex interactions between people and objects, captured in a variety of indoor and outdoor settings. We experimentally demonstrate that the proposed method can automatically discover, learn and localize the main steps of a task input videos.

  9. Deep video deblurring

    KAUST Repository

    Su, Shuochen

    2016-11-25

    Motion blur from camera shake is a major problem in videos captured by hand-held devices. Unlike single-image deblurring, video-based approaches can take advantage of the abundant information that exists across neighboring frames. As a result the best performing methods rely on aligning nearby frames. However, aligning images is a computationally expensive and fragile procedure, and methods that aggregate information must therefore be able to identify which regions have been accurately aligned and which have not, a task which requires high level scene understanding. In this work, we introduce a deep learning solution to video deblurring, where a CNN is trained end-to-end to learn how to accumulate information across frames. To train this network, we collected a dataset of real videos recorded with a high framerate camera, which we use to generate synthetic motion blur for supervision. We show that the features learned from this dataset extend to deblurring motion blur that arises due to camera shake in a wide range of videos, and compare the quality of results to a number of other baselines.

  10. Video Podcasts

    DEFF Research Database (Denmark)

    Nortvig, Anne Mette; Sørensen, Birgitte Holm

    2016-01-01

    This project’s aim was to support and facilitate master’s students’ preparation and collaboration by making video podcasts of short lectures available on YouTube prior to students’ first face-to-face seminar. The empirical material stems from group interviews, from statistical data created through...... YouTube analytics and from surveys answered by students after the seminar. The project sought to explore how video podcasts support learning and reflection online and how students use and reflect on the integration of online activities in the videos. Findings showed that students engaged actively...

  11. Video games.

    Science.gov (United States)

    Funk, Jeanne B

    2005-06-01

    The video game industry insists that it is doing everything possible to provide information about the content of games so that parents can make informed choices; however, surveys indicate that ratings may not reflect consumer views of the nature of the content. This article describes some of the currently popular video games, as well as developments that are on the horizon, and discusses the status of research on the positive and negative impacts of playing video games. Recommendations are made to help parents ensure that children play games that are consistent with their values.

  12. Survey of utility robotic applications (1990)

    International Nuclear Information System (INIS)

    1991-08-01

    This special report presents the results of a survey to identify areas of usage where utilities have found robotics to be most beneficial. The survey, which was conducted by U/M RUG, an ad hoc robotics group, should be of interest to all utilities interested in proven applications. The survey shows that robotics are finding increasing use in maintenance tasks, and in cleanup applications. Extended usage of precision positioning, dexterity, intelligence and mobility is not yet apparent. Improvements in these areas would greatly aid maintenance applications of robotics. 7 figs

  13. Workspace Analysis for Parallel Robot

    Directory of Open Access Journals (Sweden)

    Ying Sun

    2013-05-01

    Full Text Available As a completely new-type of robot, the parallel robot possesses a lot of advantages that the serial robot does not, such as high rigidity, great load-carrying capacity, small error, high precision, small self-weight/load ratio, good dynamic behavior and easy control, hence its range is extended in using domain. In order to find workspace of parallel mechanism, the numerical boundary-searching algorithm based on the reverse solution of kinematics and limitation of link length has been introduced. This paper analyses position workspace, orientation workspace of parallel robot of the six degrees of freedom. The result shows: It is a main means to increase and decrease its workspace to change the length of branch of parallel mechanism; The radius of the movement platform has no effect on the size of workspace, but will change position of workspace.

  14. 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...

  15. 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

  16. 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: ...

  17. 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.

  18. 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...

  19. 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.

  20. Video Comparator

    International Nuclear Information System (INIS)

    Rose, R.P.

    1978-01-01

    The Video Comparator is a comparative gage that uses electronic images from two sources, a standard and an unknown. Two matched video cameras are used to obtain the electronic images. The video signals are mixed and displayed on a single video receiver (CRT). The video system is manufactured by ITP of Chatsworth, CA and is a Tele-Microscope II, Model 148. One of the cameras is mounted on a toolmaker's microscope stand and produces a 250X image of a cast. The other camera is mounted on a stand and produces an image of a 250X template. The two video images are mixed in a control box provided by ITP and displayed on a CRT. The template or the cast can be moved to align the desired features. Vertical reference lines are provided on the CRT, and a feature on the cast can be aligned with a line on the CRT screen. The stage containing the casts can be moved using a Boeckleler micrometer equipped with a digital readout, and a second feature aligned with the reference line and the distance moved obtained from the digital display

  1. Review of emerging surgical robotic technology.

    Science.gov (United States)

    Peters, Brian S; Armijo, Priscila R; Krause, Crystal; Choudhury, Songita A; Oleynikov, Dmitry

    2018-04-01

    The use of laparoscopic and robotic procedures has increased in general surgery. Minimally invasive robotic surgery has made tremendous progress in a relatively short period of time, realizing improvements for both the patient and surgeon. This has led to an increase in the use and development of robotic devices and platforms for general surgery. The purpose of this review is to explore current and emerging surgical robotic technologies in a growing and dynamic environment of research and development. This review explores medical and surgical robotic endoscopic surgery and peripheral technologies currently available or in development. The devices discussed here are specific to general surgery, including laparoscopy, colonoscopy, esophagogastroduodenoscopy, and thoracoscopy. Benefits and limitations of each technology were identified and applicable future directions were described. A number of FDA-approved devices and platforms for robotic surgery were reviewed, including the da Vinci Surgical System, Sensei X Robotic Catheter System, FreeHand 1.2, invendoscopy E200 system, Flex® Robotic System, Senhance, ARES, the Single-Port Instrument Delivery Extended Research (SPIDER), and the NeoGuide Colonoscope. Additionally, platforms were reviewed which have not yet obtained FDA approval including MiroSurge, ViaCath System, SPORT™ Surgical System, SurgiBot, Versius Robotic System, Master and Slave Transluminal Endoscopic Robot, Verb Surgical, Miniature In Vivo Robot, and the Einstein Surgical Robot. The use and demand for robotic medical and surgical platforms is increasing and new technologies are continually being developed. New technologies are increasingly implemented to improve on the capabilities of previously established systems. Future studies are needed to further evaluate the strengths and weaknesses of each robotic surgical device and platform in the operating suite.

  2. Extended objects

    International Nuclear Information System (INIS)

    Creutz, M.

    1976-01-01

    After some disconnected comments on the MIT bag and string models for extended hadrons, I review current understanding of extended objects in classical conventional relativistic field theories and their quantum mechanical interpretation

  3. The Virtual Robotics Laboratory

    Energy Technology Data Exchange (ETDEWEB)

    Kress, R.L.; Love, L.J.

    1999-09-01

    The growth of the Internet has provided a unique opportunity to expand research collaborations between industry, universities, and the national laboratories. The Virtual Robotics Laboratory (VRL) is an innovative program at Oak Ridge National Laboratory (ORNL) that is focusing on the issues related to collaborative research through controlled access of laboratory equipment using the World Wide Web. The VRL will provide different levels of access to selected ORNL laboratory secondary education programs. In the past, the ORNL Robotics and Process Systems Division has developed state-of-the-art robotic systems for the Army, NASA, Department of Energy, Department of Defense, as well as many other clients. After proof of concept, many of these systems sit dormant in the laboratories. This is not out of completion of all possible research topics. but from completion of contracts and generation of new programs. In the past, a number of visiting professors have used this equipment for their own research. However, this requires that the professor, and possibly his/her students, spend extended periods at the laboratory facility. In addition, only a very exclusive group of faculty can gain access to the laboratory and hardware. The VRL is a tool that enables extended collaborative efforts without regard to geographic limitations.

  4. The Virtual Robotics Laboratory

    International Nuclear Information System (INIS)

    Kress, R.L.; Love, L.J.

    1997-01-01

    The growth of the Internet has provided a unique opportunity to expand research collaborations between industry, universities, and the national laboratories. The Virtual Robotics Laboratory (VRL) is an innovative program at Oak Ridge National Laboratory (ORNL) that is focusing on the issues related to collaborative research through controlled access of laboratory equipment using the World Wide Web. The VRL will provide different levels of access to selected ORNL laboratory equipment to outside universities, industrial researchers, and elementary and secondary education programs. In the past, the ORNL Robotics and Process Systems Division (RPSD) has developed state-of-the-art robotic systems for the Army, NASA, Department of Energy, Department of Defense, as well as many other clients. After proof of concept, many of these systems sit dormant in the laboratories. This is not out of completion of all possible research topics, but from completion of contracts and generation of new programs. In the past, a number of visiting professors have used this equipment for their own research. However, this requires that the professor, and possibly his students, spend extended periods at the laboratory facility. In addition, only a very exclusive group of faculty can gain access to the laboratory and hardware. The VRL is a tool that enables extended collaborative efforts without regard to geographic limitations

  5. Flocking and rendezvous in distributed robotics

    CERN Document Server

    Francis, Bruce A

    2016-01-01

    This brief describes the coordinated control of groups of robots using only sensory input – and no direct external commands. Furthermore, each robot employs the same local strategy, i.e., there are no leaders, and the text also deals with decentralized control, allowing for cases in which no single robot can sense all the others. One can get intuition for the problem from the natural world, for example, flocking birds. How do they achieve and maintain their flying formation? Recognizing their importance as the most basic coordination tasks for mobile robot networks, the brief details flocking and rendezvous. They are shown to be physical illustrations of emergent behaviors with global consensus arising from local interactions. The authors extend the consideration of these fundamental ideas to describe their operation in flying robots and prompt readers to pursue further research in the field.  Flocking and Rendezvous in Distributed Robotics will provide graduate students a firm grounding in the subject, w...

  6. Visual Measurement of Suture Strain for Robotic Surgery

    Directory of Open Access Journals (Sweden)

    John Martell

    2011-01-01

    Full Text Available Minimally invasive surgical procedures offer advantages of smaller incisions, decreased hospital length of stay, and rapid postoperative recovery to the patient. Surgical robots improve access and visualization intraoperatively and have expanded the indications for minimally invasive procedures. A limitation of the DaVinci surgical robot is a lack of sensory feedback to the operative surgeon. Experienced robotic surgeons use visual interpretation of tissue and suture deformation as a surrogate for tactile feedback. A difficulty encountered during robotic surgery is maintaining adequate suture tension while tying knots or following a running anastomotic suture. Displaying suture strain in real time has potential to decrease the learning curve and improve the performance and safety of robotic surgical procedures. Conventional strain measurement methods involve installation of complex sensors on the robotic instruments. This paper presents a noninvasive video processing-based method to determine strain in surgical sutures. The method accurately calculates strain in suture by processing video from the existing surgical camera, making implementation uncomplicated. The video analysis method was developed and validated using video of suture strain standards on a servohydraulic testing system. The video-based suture strain algorithm is shown capable of measuring suture strains of 0.2% with subpixel resolution and proven reliability under various conditions.

  7. 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

  8. Navigation control of a multi-functional eye robot

    International Nuclear Information System (INIS)

    Ali, F.A.M.; Hashmi, B.; Younas, A.; Abid, B.

    2016-01-01

    The advancement in robotic field is enhanced rigorously in the past Few decades. Robots are being used in different fields of science as well as warfare. The research shows that in the near future, robots would be able to serve in fighting wars. Different countries and their armies have already deployed several military robots. However, there exist some drawbacks of robots like their inefficiency and inability to work under abnormal conditions. Ascent of artificial intelligence may resolve this issue in the coming future. The main focus of this paper is to provide a low cost and long range most efficient mechanical as well as software design of an Eye Robot. Using a blend of robotics and image processing with an addition of artificial intelligence path navigation techniques, this project is designed and implemented by controlling the robot (including robotic arm and camera) through a 2.4 GHz RF module manually. Autonomous function of the robot includes navigation based on the path assigned to the robot. The path is drawn on a VB based application and then transferred to the robot wirelessly or through serial port. A Wi-Fi based Optical Character Recognition (OCR) implemented video streaming can also be observed at remote devices like laptops. (author)

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

    NARCIS (Netherlands)

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

    2015-01-01

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

  10. VIP - A Framework-Based Approach to Robot Vision

    Directory of Open Access Journals (Sweden)

    Gerd Mayer

    2008-11-01

    Full Text Available For robot perception, video cameras are very valuable sensors, but the computer vision methods applied to extract information from camera images are usually computationally expensive. Integrating computer vision methods into a robot control architecture requires to balance exploitation of camera images with the need to preserve reactivity and robustness. We claim that better software support is needed in order to facilitate and simplify the application of computer vision and image processing methods on autonomous mobile robots. In particular, such support must address a simplified specification of image processing architectures, control and synchronization issues of image processing steps, and the integration of the image processing machinery into the overall robot control architecture. This paper introduces the video image processing (VIP framework, a software framework for multithreaded control flow modeling in robot vision.

  11. VIP - A Framework-Based Approach to Robot Vision

    Directory of Open Access Journals (Sweden)

    Hans Utz

    2006-03-01

    Full Text Available For robot perception, video cameras are very valuable sensors, but the computer vision methods applied to extract information from camera images are usually computationally expensive. Integrating computer vision methods into a robot control architecture requires to balance exploitation of camera images with the need to preserve reactivity and robustness. We claim that better software support is needed in order to facilitate and simplify the application of computer vision and image processing methods on autonomous mobile robots. In particular, such support must address a simplified specification of image processing architectures, control and synchronization issues of image processing steps, and the integration of the image processing machinery into the overall robot control architecture. This paper introduces the video image processing (VIP framework, a software framework for multithreaded control flow modeling in robot vision.

  12. Video surveillance using distance maps

    Science.gov (United States)

    Schouten, Theo E.; Kuppens, Harco C.; van den Broek, Egon L.

    2006-02-01

    Human vigilance is limited; hence, automatic motion and distance detection is one of the central issues in video surveillance. Hereby, many aspects are of importance, this paper specially addresses: efficiency, achieving real-time performance, accuracy, and robustness against various noise factors. To obtain fully controlled test environments, an artificial development center for robot navigation is introduced in which several parameters can be set (e.g., number of objects, trajectories and type and amount of noise). In the videos, for each following frame, movement of stationary objects is detected and pixels of moving objects are located from which moving objects are identified in a robust way. An Exact Euclidean Distance Map (E2DM) is utilized to determine accurately the distances between moving and stationary objects. Together with the determined distances between moving objects and the detected movement of stationary objects, this provides the input for detecting unwanted situations in the scene. Further, each intelligent object (e.g., a robot), is provided with its E2DM, allowing the object to plan its course of action. Timing results are specified for each program block of the processing chain for 20 different setups. So, the current paper presents extensive, experimentally controlled research on real-time, accurate, and robust motion detection for video surveillance, using E2DMs, which makes it a unique approach.

  13. Video Golf

    Science.gov (United States)

    1995-01-01

    George Nauck of ENCORE!!! invented and markets the Advanced Range Performance (ARPM) Video Golf System for measuring the result of a golf swing. After Nauck requested their assistance, Marshall Space Flight Center scientists suggested video and image processing/computing technology, and provided leads on commercial companies that dealt with the pertinent technologies. Nauck contracted with Applied Research Inc. to develop a prototype. The system employs an elevated camera, which sits behind the tee and follows the flight of the ball down range, catching the point of impact and subsequent roll. Instant replay of the video on a PC monitor at the tee allows measurement of the carry and roll. The unit measures distance and deviation from the target line, as well as distance from the target when one is selected. The information serves as an immediate basis for making adjustments or as a record of skill level progress for golfers.

  14. 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.

  15. 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.

  16. 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.

  17. Future of robotic surgery in urology.

    Science.gov (United States)

    Rassweiler, Jens J; Autorino, Riccardo; Klein, Jan; Mottrie, Alex; Goezen, Ali Serdar; Stolzenburg, Jens-Uwe; Rha, Koon H; Schurr, Marc; Kaouk, Jihad; Patel, Vipul; Dasgupta, Prokar; Liatsikos, Evangelos

    2017-12-01

    To provide a comprehensive overview of the current status of the field of robotic systems for urological surgery and discuss future perspectives. A non-systematic literature review was performed using PubMed/Medline search electronic engines. Existing patents for robotic devices were researched using the Google search engine. Findings were also critically analysed taking into account the personal experience of the authors. The relevant patents for the first generation of the da Vinci platform will expire in 2019. New robotic systems are coming onto the stage. These can be classified according to type of console, arrangement of robotic arms, handles and instruments, and other specific features (haptic feedback, eye-tracking). The Telelap ALF-X robot uses an open console with eye-tracking, laparoscopy-like handles with haptic feedback, and arms mounted on separate carts; first clinical trials with this system were reported in 2016. The Medtronic robot provides an open console using three-dimensional high-definition video technology and three arms. The Avatera robot features a closed console with microscope-like oculars, four arms arranged on one cart, and 5-mm instruments with six degrees of freedom. The REVO-I consists of an open console and a four-arm arrangement on one cart; the first experiments with this system were published in 2016. Medicaroid uses a semi-open console and three robot arms attached to the operating table. Clinical trials of the SP 1098-platform using the da Vinci Xi for console-based single-port surgery were reported in 2015. The SPORT robot has been tested in animal experiments for single-port surgery. The SurgiBot represents a bedside solution for single-port surgery providing flexible tube-guided instruments. The Avicenna Roboflex has been developed for robotic flexible ureteroscopy, with promising early clinical results. Several console-based robots for laparoscopic multi- and single-port surgery are expected to come to market within the

  18. 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.

  19. 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.

  20. 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

  1. 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...

  2. 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...

  3. OAS :: Videos

    Science.gov (United States)

    subscriptions Videos Photos Live Webcast Social Media Facebook @oasofficial Facebook Twitter @oas_official Audios Photos Social Media Facebook Twitter Newsletters Press and Communications Department Contact us at Rights Actions against Corruption C Children Civil Registry Civil Society Contact Us Culture Cyber

  4. Extended Emotions

    DEFF Research Database (Denmark)

    Krueger, Joel; Szanto, Thomas

    2016-01-01

    beyond the neurophysiological confines of organisms; some even argue that emotions can be socially extended and shared by multiple agents. Call this the extended emotions thesis (ExE). In this article, we consider different ways of understanding ExE in philosophy, psychology, and the cognitive sciences...

  5. 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.

  6. 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)

  7. Mechanical design for a hydraulically actuated quadruped robot

    OpenAIRE

    Erkekli, Koray

    2017-01-01

    Considerable amount of research efforts are spent on the field of legged robotics in the past 60 years. Studies in this area extend from running on one leg to humanoid robots, from four legged robots (quadruped) to multi-legged bug-inspired robots. The advantage of four legged structure is that it is more balanced compared structures with less legs. This feature makes four legged robots candidates rough terrain conditions and for dangerous tasks. Because of the high power-to-weight ratio and ...

  8. Differential evolution to enhance localization of mobile robots

    DEFF Research Database (Denmark)

    Lisowski, Michal; Fan, Zhun; Ravn, Ole

    2011-01-01

    . In addition, a novel mechanism for effective robot kidnap detection was proposed. Experiments were performed using computer simulations based on the odometer data and laser range finder measurements collected in advance by a robot in real-life. Experimental results showed that integrating DE enables MCL...... to provide more accurate robot pose estimations in shorter time while using fewer particles.......This paper focuses on the mobile robot localization problems: pose tracking, global localization and robot kidnap. Differential Evolution (DE) applied to extend Monte Carlo Localization (MCL) was investigated to better solve localization problem by increasing localization reliability and speed...

  9. 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…

  10. Real-Time Augmented Reality for Robotic-Assisted Surgery

    DEFF Research Database (Denmark)

    Jørgensen, Martin Kibsgaard; Kraus, Martin

    2015-01-01

    Training in robotic-assisted minimally invasive surgery is crucial, but the training with actual surgery robots is relatively expensive. Therefore, improving the efficiency of this training is of great interest in robotic surgical education. One of the current limitations of this training is the ......-dimensional computer graphics in real time. Our system makes it possible to easily deploy new user interfaces for robotic-assisted surgery training. The system has been positively evaluated by two experienced instructors in robot-assisted surgery....... is the limited visual communication between the instructor and the trainee. As the trainee's view is limited to that of the surgery robot's camera, even a simple task such as pointing is difficult. We present a compact system to overlay the video streams of the da Vinci surgery systems with interactive three...

  11. Welding robot package; Arc yosetsu robot package

    Energy Technology Data Exchange (ETDEWEB)

    Nishikawa, S. [Yaskawa Electric Corp., Kitakyushu (Japan)

    1998-09-01

    For the conventional high-speed welding robot, the welding current was controlled mainly for reducing the spatters during short circuits and for stabilizing the beads by the periodic short circuits. However, an increase of deposition amount in response to the speed is required for the high-speed welding. Large-current low-spatter welding current region control was added. Units were integrated into a package by which the arc length is kept in short without dispersion of arc length for welding without defects such as undercut and unequal beads. In automobile industry, use of aluminum parts is extended for the light weight. The welding is very difficult, and automation is not so progressing in spite of the poor environment. Buckling of welding wire is easy to occur, and supply of wire is obstructed by the deposition of chipped powders on the torch cable, which stay within the contact chip resulting in the deposition. Dislocation of locus is easy to occur at the corner of rectangular pipe during the welding. By improving these troubles, an aluminum MIG welding robot package has been developed. 13 figs.

  12. Robots could assist scientists working in Greenland

    Science.gov (United States)

    Showstack, Randy

    2011-07-01

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

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

    NARCIS (Netherlands)

    Leenes, R.E.; Lucivero, F.

    2015-01-01

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

  14. Message Encryption in Robot Operating System: Collateral Effects of Hardening Mobile Robots

    Directory of Open Access Journals (Sweden)

    Francisco J. Rodríguez-Lera

    2018-03-01

    Full Text Available In human–robot interaction situations, robot sensors collect huge amounts of data from the environment in order to characterize the situation. Some of the gathered data ought to be treated as private, such as medical data (i.e., medication guidelines, personal, and safety information (i.e., images of children, home habits, alarm codes, etc.. However, most robotic software development frameworks are not designed for securely managing this information. This paper analyzes the scenario of hardening one of the most widely used robotic middlewares, Robot Operating System (ROS. The study investigates a robot’s performance when ciphering the messages interchanged between ROS nodes under the publish/subscribe paradigm. In particular, this research focuses on the nodes that manage cameras and LIDAR sensors, which are two of the most extended sensing solutions in mobile robotics, and analyzes the collateral effects on the robot’s achievement under different computing capabilities and encryption algorithms (3DES, AES, and Blowfish to robot performance. The findings present empirical evidence that simple encryption algorithms are lightweight enough to provide cyber-security even in low-powered robots when carefully designed and implemented. Nevertheless, these techniques come with a number of serious drawbacks regarding robot autonomy and performance if they are applied randomly. To avoid these issues, we define a taxonomy that links the type of ROS message, computational units, and the encryption methods. As a result, we present a model to select the optimal options for hardening a mobile robot using ROS.

  15. Robots Conquering the Homeland of the Vikings

    DEFF Research Database (Denmark)

    Agger Nielsen, Jeppe; Sigh, Anne; Andersen, Kim Normann

    The movement of robots from the production line to the service sector provides a protein solution to innovate and transform public service delivery. However, although robots increasingly are adopted in public service delivery (e.g., in healthcare and eldercare) as an alternative to traditional...... labor intensive services, little is known about their impact on organizations work processes, and how key stakeholders react toward robots. On this backdrop, this single case study investigates implementation and use of robot vacuum cleaners in Danish eldercare at the local government level. Using...... an extended version of the technological frame concept, this paper illustrates how technologist, managers, frontline staff and clients have different perceptions towards robot vacuum cleaning. The technologist and managers praise the new innovation for facilitating savings on the current accounts. By contrast...

  16. Cooperative robots and sensor networks 2014

    CERN Document Server

    Khelil, Abdelmajid

    2014-01-01

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

  17. Proficiency training on a virtual reality robotic surgical skills curriculum.

    Science.gov (United States)

    Bric, Justin; Connolly, Michael; Kastenmeier, Andrew; Goldblatt, Matthew; Gould, Jon C

    2014-12-01

    The clinical application of robotic surgery is increasing. The skills necessary to perform robotic surgery are unique from those required in open and laparoscopic surgery. A validated laparoscopic surgical skills curriculum (Fundamentals of Laparoscopic Surgery or FLS™) has transformed the way surgeons acquire laparoscopic skills. There is a need for a similar skills training and assessment tool for robotic surgery. Our research group previously developed and validated a robotic training curriculum in a virtual reality (VR) simulator. We hypothesized that novice robotic surgeons could achieve proficiency levels defined by more experienced robotic surgeons on the VR robotic curriculum, and that this would result in improved performance on the actual daVinci Surgical System™. 25 medical students with no prior robotic surgery experience were recruited. Prior to VR training, subjects performed 2 FLS tasks 3 times each (Peg Transfer, Intracorporeal Knot Tying) using the daVinci Surgical System™ docked to a video trainer box. Task performance for the FLS tasks was scored objectively. Subjects then practiced on the VR simulator (daVinci Skills Simulator) until proficiency levels on all 5 tasks were achieved before completing a post-training assessment of the 2 FLS tasks on the daVinci Surgical System™ in the video trainer box. All subjects to complete the study (1 dropped out) reached proficiency levels on all VR tasks in an average of 71 (± 21.7) attempts, accumulating 164.3 (± 55.7) minutes of console training time. There was a significant improvement in performance on the robotic FLS tasks following completion of the VR training curriculum. Novice robotic surgeons are able to attain proficiency levels on a VR simulator. This leads to improved performance in the daVinci surgical platform on simulated tasks. Training to proficiency on a VR robotic surgery simulator is an efficient and viable method for acquiring robotic surgical skills.

  18. Multiprocessor development for robot control

    International Nuclear Information System (INIS)

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

    1990-01-01

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

  19. 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...

  20. 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.

  1. 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

  2. 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...

  3. Development of a K3A robot for deployment in radioactive environments

    International Nuclear Information System (INIS)

    Sias, F.R. Jr.

    1996-01-01

    Radioactive materials make up a significant part of the hazardous-material inventory of the United States Department of Energy. Much of the radioactive material will be inspected or handled by robotic systems that contain electronic circuits that may be damaged by gamma radiation and other particles emitted from radioactive material. To use a mobile robot in the vicinity of high-level gamma radiation requires a special design. Since materials and electronic circuits can withstand some radiation without failure, the simplest approach would be simply to use an unmodified commercial mobile robot in the radioactive environment but remove it before failure occurs. Unpowered backup is another method of extending system lifetime in an ionizing radiation environment. When the primary system fails or degrades sufficiently, the backup system can be switched in to maintain system operation. By careful design and production-lot testing, systems can be designed to meet moderate doses of radiation; however, randomly-selected off- the-shelf commercial parts cannot be guaranteed to meet a specified total-dose tolerance. We can define the Basic Radiation-Hardened System to be a teleoperated K3A transport capable of deploying a radiation-hardened video camera for initial entry and inspection applications. The electronics in the K3A mobile base has three essential modules: MA-2 Motor Amplifier Circuit, DC-I Drive Control Computer, and DC/DC Converter for powering the electronics. Design of the system will be discussed

  4. Specialized video systems for use in waste tanks

    International Nuclear Information System (INIS)

    Anderson, E.K.; Robinson, C.W.; Heckendorn, F.M.

    1992-01-01

    The Robotics Development Group at the Savannah River Site is developing a remote video system for use in underground radioactive waste storage tanks at the Savannah River Site, as a portion of its site support role. Viewing of the tank interiors and their associated annular spaces is an extremely valuable tool in assessing their condition and controlling their operation. Several specialized video systems have been built that provide remote viewing and lighting, including remotely controlled tank entry and exit. Positioning all control components away from the facility prevents the potential for personnel exposure to radiation and contamination. The SRS waste tanks are nominal 4.5 million liter (1.3 million gallon) underground tanks used to store liquid high level radioactive waste generated by the site, awaiting final disposal. The typical waste tank (Figure 1) is of flattened shape (i.e. wider than high). The tanks sit in a dry secondary containment pan. The annular space between the tank wall and the secondary containment wall is continuously monitored for liquid intrusion and periodically inspected and documented. The latter was historically accomplished with remote still photography. The video systems includes camera, zoom lens, camera positioner, and vertical deployment. The assembly enters through a 125 mm (5 in) diameter opening. A special attribute of the systems is they never get larger than the entry hole during camera aiming etc. and can always be retrieved. The latest systems are easily deployable to a remote setup point and can extend down vertically 15 meters (50ft). The systems are expected to be a valuable asset to tank operations

  5. Vision-Based Recognition of Activities by a Humanoid Robot

    Directory of Open Access Journals (Sweden)

    Mounîm A. El-Yacoubi

    2015-12-01

    Full Text Available We present an autonomous assistive robotic system for human activity recognition from video sequences. Due to the large variability inherent to video capture from a non-fixed robot (as opposed to a fixed camera, as well as the robot's limited computing resources, implementation has been guided by robustness to this variability and by memory and computing speed efficiency. To accommodate motion speed variability across users, we encode motion using dense interest point trajectories. Our recognition model harnesses the dense interest point bag-of-words representation through an intersection kernel-based SVM that better accommodates the large intra-class variability stemming from a robot operating in different locations and conditions. To contextually assess the engine as implemented in the robot, we compare it with the most recent approaches of human action recognition performed on public datasets (non-robot-based, including a novel approach of our own that is based on a two-layer SVM-hidden conditional random field sequential recognition model. The latter's performance is among the best within the recent state of the art. We show that our robot-based recognition engine, while less accurate than the sequential model, nonetheless shows good performances, especially given the adverse test conditions of the robot, relative to those of a fixed camera.

  6. Fast-track video-assisted thoracoscopic surgery

    DEFF Research Database (Denmark)

    Holbek, Bo Laksafoss; Petersen, René Horsleben; Kehlet, Henrik

    2016-01-01

    Objectives To provide a short overview of fast-track video-assisted thoracoscopic surgery (VATS) and to identify areas requiring further research. Design A literature search was made using key words including: fast-track, enhanced recovery, video-assisted thoracoscopic surgery, robot......-assisted thoracoscopic surgery (RATS), robotic, thoracotomy, single-incision, uniportal, natural orifice transluminal endoscopic surgery (NOTES), chest tube, air-leak, digital drainage, pain management, analgesia, perioperative management, anaesthesia and non-intubated. References from articles were screened for further...

  7. Biofeedback for robotic gait rehabilitation

    Directory of Open Access Journals (Sweden)

    Colombo Gery

    2007-01-01

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

  8. 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...

  9. Surgical gesture classification from video and kinematic data.

    Science.gov (United States)

    Zappella, Luca; Béjar, Benjamín; Hager, Gregory; Vidal, René

    2013-10-01

    Much of the existing work on automatic classification of gestures and skill in robotic surgery is based on dynamic cues (e.g., time to completion, speed, forces, torque) or kinematic data (e.g., robot trajectories and velocities). While videos could be equally or more discriminative (e.g., videos contain semantic information not present in kinematic data), they are typically not used because of the difficulties associated with automatic video interpretation. In this paper, we propose several methods for automatic surgical gesture classification from video data. We assume that the video of a surgical task (e.g., suturing) has been segmented into video clips corresponding to a single gesture (e.g., grabbing the needle, passing the needle) and propose three methods to classify the gesture of each video clip. In the first one, we model each video clip as the output of a linear dynamical system (LDS) and use metrics in the space of LDSs to classify new video clips. In the second one, we use spatio-temporal features extracted from each video clip to learn a dictionary of spatio-temporal words, and use a bag-of-features (BoF) approach to classify new video clips. In the third one, we use multiple kernel learning (MKL) to combine the LDS and BoF approaches. Since the LDS approach is also applicable to kinematic data, we also use MKL to combine both types of data in order to exploit their complementarity. Our experiments on a typical surgical training setup show that methods based on video data perform equally well, if not better, than state-of-the-art approaches based on kinematic data. In turn, the combination of both kinematic and video data outperforms any other algorithm based on one type of data alone. Copyright © 2013 Elsevier B.V. All rights reserved.

  10. A real time tracking vision system and its application to robotics

    International Nuclear Information System (INIS)

    Inoue, Hirochika

    1994-01-01

    Among various sensing channels the vision is most important for making robot intelligent. If provided with a high speed visual tracking capability, the robot-environment interaction becomes dynamic instead of static, and thus the potential repertoire of robot behavior becomes very rich. For this purpose we developed a real-time tracking vision system. The fundamental operation on which our system based is the calculation of correlation between local images. Use of special chip for correlation and the multi-processor configuration enable the robot to track more than hundreds cues in full video rate. In addition to the fundamental visual performance, applications for robot behavior control are also introduced. (author)

  11. Remote measurements of radioactivity distribution with BROKK robotic system - 16147

    International Nuclear Information System (INIS)

    Ivanov, Oleg; Danilovich, Alexey; Stepanov, Vyacheslav; Smirnov, Sergey; Potapov, Victor

    2009-01-01

    Robotic system for the remote measurement of radioactivity in the reactor areas was developed. The BROKK robotic system replaces hand-held radiation measuring tools. The system consists of a collimated gamma detector, a standard gamma detector, color CCD video camera and searchlights, all mounted on a robotic platform (BROKK). The signals from the detectors are coupled with the video signals and are transferred to an operator's console via a radio channel or a cable. Operator works at a safe position. The video image of the object with imposed exposure dose rate from the detectors generates an image on the monitor screen, and the images are recorded for subsequent analysis. Preliminary work has started for the decommissioning of a research reactor at the RRC 'Kurchatov Institute'. Results of the remote radioactivity measurements with new system during radiation inspection waste storage of this reactor are presented and discussed. (authors)

  12. Extended thermodynamics

    CERN Document Server

    Müller, Ingo

    1993-01-01

    Physicists firmly believe that the differential equations of nature should be hyperbolic so as to exclude action at a distance; yet the equations of irreversible thermodynamics - those of Navier-Stokes and Fourier - are parabolic. This incompatibility between the expectation of physicists and the classical laws of thermodynamics has prompted the formulation of extended thermodynamics. After describing the motifs and early evolution of this new branch of irreversible thermodynamics, the authors apply the theory to mon-atomic gases, mixtures of gases, relativistic gases, and "gases" of phonons and photons. The discussion brings into perspective the various phenomena called second sound, such as heat propagation, propagation of shear stress and concentration, and the second sound in liquid helium. The formal mathematical structure of extended thermodynamics is exposed and the theory is shown to be fully compatible with the kinetic theory of gases. The study closes with the testing of extended thermodynamics thro...

  13. 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

  14. Video processing for human perceptual visual quality-oriented video coding.

    Science.gov (United States)

    Oh, Hyungsuk; Kim, Wonha

    2013-04-01

    We have developed a video processing method that achieves human perceptual visual quality-oriented video coding. The patterns of moving objects are modeled by considering the limited human capacity for spatial-temporal resolution and the visual sensory memory together, and an online moving pattern classifier is devised by using the Hedge algorithm. The moving pattern classifier is embedded in the existing visual saliency with the purpose of providing a human perceptual video quality saliency model. In order to apply the developed saliency model to video coding, the conventional foveation filtering method is extended. The proposed foveation filter can smooth and enhance the video signals locally, in conformance with the developed saliency model, without causing any artifacts. The performance evaluation results confirm that the proposed video processing method shows reliable improvements in the perceptual quality for various sequences and at various bandwidths, compared to existing saliency-based video coding methods.

  15. Automatic blood detection in capsule endoscopy video

    Czech Academy of Sciences Publication Activity Database

    Novozámský, Adam; Flusser, Jan; Tachecí, I.; Sulík, L.; Bureš, J.; Krejcar, O.

    2016-01-01

    Roč. 21, č. 12 (2016), s. 1-8, č. článku 126007. ISSN 1083-3668 R&D Projects: GA ČR GA15-16928S Institutional support: RVO:67985556 Keywords : Automatic blood detection * capsule endoscopy video Subject RIV: JD - Computer Applications, Robotics Impact factor: 2.530, year: 2016 http://library.utia.cas.cz/separaty/2016/ZOI/flusser-0466936.pdf

  16. 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.

  17. In good company? Perception of movement synchrony of a non-anthropomorphic robot.

    Science.gov (United States)

    Lehmann, Hagen; Saez-Pons, Joan; Syrdal, Dag Sverre; Dautenhahn, Kerstin

    2015-01-01

    Recent technological developments like cheap sensors and the decreasing costs of computational power have brought the possibility of robotic home companions within reach. In order to be accepted it is vital for these robots to be able to participate meaningfully in social interactions with their users and to make them feel comfortable during these interactions. In this study we investigated how people respond to a situation where a companion robot is watching its user. Specifically, we tested the effect of robotic behaviours that are synchronised with the actions of a human. We evaluated the effects of these behaviours on the robot's likeability and perceived intelligence using an online video survey. The robot used was Care-O-bot3, a non-anthropomorphic robot with a limited range of expressive motions. We found that even minimal, positively synchronised movements during an object-oriented task were interpreted by participants as engagement and created a positive disposition towards the robot. However, even negatively synchronised movements of the robot led to more positive perceptions of the robot, as compared to a robot that does not move at all. The results emphasise a) the powerful role that robot movements in general can have on participants' perception of the robot, and b) that synchronisation of body movements can be a powerful means to enhance the positive attitude towards a non-anthropomorphic robot.

  18. In good company? Perception of movement synchrony of a non-anthropomorphic robot.

    Directory of Open Access Journals (Sweden)

    Hagen Lehmann

    Full Text Available Recent technological developments like cheap sensors and the decreasing costs of computational power have brought the possibility of robotic home companions within reach. In order to be accepted it is vital for these robots to be able to participate meaningfully in social interactions with their users and to make them feel comfortable during these interactions. In this study we investigated how people respond to a situation where a companion robot is watching its user. Specifically, we tested the effect of robotic behaviours that are synchronised with the actions of a human. We evaluated the effects of these behaviours on the robot's likeability and perceived intelligence using an online video survey. The robot used was Care-O-bot3, a non-anthropomorphic robot with a limited range of expressive motions. We found that even minimal, positively synchronised movements during an object-oriented task were interpreted by participants as engagement and created a positive disposition towards the robot. However, even negatively synchronised movements of the robot led to more positive perceptions of the robot, as compared to a robot that does not move at all. The results emphasise a the powerful role that robot movements in general can have on participants' perception of the robot, and b that synchronisation of body movements can be a powerful means to enhance the positive attitude towards a non-anthropomorphic robot.

  19. 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...

  20. An Efficient Solution for Hand Gesture Recognition from Video Sequence

    Directory of Open Access Journals (Sweden)

    PRODAN, R.-C.

    2012-08-01

    Full Text Available The paper describes a system of hand gesture recognition by image processing for human robot interaction. The recognition and interpretation of the hand postures acquired through a video camera allow the control of the robotic arm activity: motion - translation and rotation in 3D - and tightening/releasing the clamp. A gesture dictionary was defined and heuristic algorithms for recognition were developed and tested. The system can be used for academic and industrial purposes, especially for those activities where the movements of the robotic arm were not previously scheduled, for training the robot easier than using a remote control. Besides the gesture dictionary, the novelty of the paper consists in a new technique for detecting the relative positions of the fingers in order to recognize the various hand postures, and in the achievement of a robust system for controlling robots by postures of the hands.

  1. A Layered Middleware Architecture for Automated Robot Services

    OpenAIRE

    Choi, Jongsun; Cho, Yongseong; Choi, Jaeyoung; Choi, Jongmyung

    2014-01-01

    These days, using robots has gradually been extending from the limited industrial areas in factories to service areas for the general public in everyday life. It is possible to imagine that end users easily control robots and they define new services by themselves as they wish in the near future. However, there are three issues to resolve to realize the future. Firstly, it is required to abstract robots’ behaviors from primitive robot functions, and secondly, we need context awareness in orde...

  2. 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.

  3. 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...

  4. Pre-Schoolers' Interest and Caring Behaviour around a Humanoid Robot

    Science.gov (United States)

    Ioannou, Andri; Andreou, Emily; Christofi, Maria

    2015-01-01

    This exploratory case study involved a humanoid robot, NAO, and four pre-schoolers. NAO was placed in an indoor playground together with other toys and appeared as a peer who played, talked, danced and said stories. Analysis of video recordings focused on children's behaviour around NAO and how the robot gained children's attention and…

  5. Field Study of a Physical Game for Older Adults Based on an Autonomous, Mobile Robot

    DEFF Research Database (Denmark)

    Hansen, Søren Tranberg; Rasmussen, Dorte Malig; Bak, Thomas

    2012-01-01

    an open, exploratory approach. An analysis of the interaction is made based on video recordings, observations and qualitative interviews focusing on the potential of the robot as a rehabilitative application. The primary goal of the study is to observe seniors’ acceptance of the robot, to obtain knowledge...... about their game play patterns and get ideas about future improvements of the game....

  6. The Development and Real-World Deployment of FROG, the Fun Robotic Outdoor Guide

    NARCIS (Netherlands)

    Evers, Vanessa; Menezes, Nuno; Merino, Luis; Gavrilla, Dariu; Nabais, Fernando; Pantic, Maja; Alvito, Paulo; Karreman, Daphne Eleonora

    2014-01-01

    This video details the development of an intelligent outdoor Guide robot. The main objective is to deploy an innovative robotic guide which is not only able to show information, but to react to the affective states of the users, and to offer location-based services using augmented reality. The

  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. Construction Tele-Robotics System with AR Presentation

    International Nuclear Information System (INIS)

    Ootsubo, K; Kawamura, T; Yamada, H

    2013-01-01

    Tele-Robotics system using bilateral control is an effective tool for task in disaster scenes, and also in extreme environments. The conventional systems are equipped with a few color video cameras captures view of the task field, and their video images are sent to the operator via some network. Usually, the images are captured only from some fixed angles. So the operator cannot obtain intuitively 3D-sense of the task field. In our previous study, we proposed a construction tele-robotics system based on VR presentation. The operator intuits the geometrical states of the robot presented by CG, but the information of the surrounding environment is not included like a video image. So we thought that the task efficiency could be improved by appending the CG image to the video image. In this study, we developed a new presentation system based on augmented reality (AR). In this system, the CG image, which represents 3D geometric information for the task, is overlaid on the video image. In this study, we confirmed the effectiveness of the system experimentally. Additionally, we verified its usefulness to reduction of the communication delay associated with a tele-robotics system.

  9. Remote radiation mapping and preliminary intervention using collaborating (European and Russian) mobile robots

    International Nuclear Information System (INIS)

    Piotrowski, L.; Trouville, B.; Halbach, M.; Sidorkin, N.

    1996-12-01

    The primary objective of the IMPACT project is to develop a light-weight and inexpensive mobile robot that can be used for rapid inspection missions within nuclear power plants. These interventions are to cover normal, incident and accident situations and aim at primary reconnaissance (or 'data collecting') missions. The IMPACT robot was demonstrated (April 1996) in a realistic mission at the Russian nuclear plant SMOLENSK. The demonstration, composed of 2 independent but consecutive missions, was held in a radioactive zone near turbine ≠ 4 of Unit 2: remote radiation mapping with localisation of radioactive sources by the IMPACT robot equipped with a (Russian) gamma-radiation sensor; deployment of a Russian intervention robot for the construction of a protective lead shield around one of the identified sources and verification that the ambient radiation level has been reduce. This mission was executed remotely by 2 mobile robots working in collaboration: a NIKIMT robot equipped with a manipulator arm and carrying leads bricks and the IMPACT robot of mission I (radiation measurements and 'side-observer'). This manuscript describes (a) the technical characteristics of the IMPACT reconnaissance robot (3-segmented, caterpillar-tracked body; 6 video cameras placed around the mobile platform with simultaneous presentation of up to 4 video images at the control post; ability to detach remotely one of the robot's segments (i.e. the robot can divide itself into 2 separate mobile robots)) and (b) the SMOLENSK demonstration. (author)

  10. Extending Puppet

    CERN Document Server

    Franceschi, Alessandro

    2014-01-01

    This book is a clear, detailed and practical guide to learn about designing and deploying you puppet architecture, with informative examples to highlight and explain concepts in a focused manner. This book is designed for users who already have good experience with Puppet, and will surprise experienced users with innovative topics that explore how to design, implement, adapt, and deploy a Puppet architecture. The key to extending Puppet is the development of types and providers, for which you must be familiar with Ruby.

  11. Simulation of Robot Kinematics Using Interactive Computer Graphics.

    Science.gov (United States)

    Leu, M. C.; Mahajan, R.

    1984-01-01

    Development of a robot simulation program based on geometric transformation softwares available in most computer graphics systems and program features are described. The program can be extended to simulate robots coordinating with external devices (such as tools, fixtures, conveyors) using geometric transformations to describe the…

  12. Web-based remote video monitoring system implemented using Java technology

    Science.gov (United States)

    Li, Xiaoming

    2012-04-01

    A HTTP based video transmission system has been built upon the p2p(peer to peer) network structure utilizing the Java technologies. This makes the video monitoring available to any host which has been connected to the World Wide Web in any method, including those hosts behind firewalls or in isolated sub-networking. In order to achieve this, a video source peer has been developed, together with the client video playback peer. The video source peer can respond to the video stream request in HTTP protocol. HTTP based pipe communication model is developed to speeding the transmission of video stream data, which has been encoded into fragments using the JPEG codec. To make the system feasible in conveying video streams between arbitrary peers on the web, a HTTP protocol based relay peer is implemented as well. This video monitoring system has been applied in a tele-robotic system as a visual feedback to the operator.

  13. 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…

  14. 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

  15. 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.

  16. Intelligent Surveillance Robot with Obstacle Avoidance Capabilities Using Neural Network

    Directory of Open Access Journals (Sweden)

    Widodo Budiharto

    2015-01-01

    Full Text Available For specific purpose, vision-based surveillance robot that can be run autonomously and able to acquire images from its dynamic environment is very important, for example, in rescuing disaster victims in Indonesia. In this paper, we propose architecture for intelligent surveillance robot that is able to avoid obstacles using 3 ultrasonic distance sensors based on backpropagation neural network and a camera for face recognition. 2.4 GHz transmitter for transmitting video is used by the operator/user to direct the robot to the desired area. Results show the effectiveness of our method and we evaluate the performance of the system.

  17. Control of complex physically simulated robot groups

    Science.gov (United States)

    Brogan, David C.

    2001-10-01

    Actuated systems such as robots take many forms and sizes but each requires solving the difficult task of utilizing available control inputs to accomplish desired system performance. Coordinated groups of robots provide the opportunity to accomplish more complex tasks, to adapt to changing environmental conditions, and to survive individual failures. Similarly, groups of simulated robots, represented as graphical characters, can test the design of experimental scenarios and provide autonomous interactive counterparts for video games. The complexity of writing control algorithms for these groups currently hinders their use. A combination of biologically inspired heuristics, search strategies, and optimization techniques serve to reduce the complexity of controlling these real and simulated characters and to provide computationally feasible solutions.

  18. International Conference on Computational Vision and Robotics

    CERN Document Server

    2015-01-01

    Computer Vision and Robotic is one of the most challenging areas of 21st century. Its application ranges from Agriculture to Medicine, Household applications to Humanoid, Deep-sea-application to Space application, and Industry applications to Man-less-plant. Today’s technologies demand to produce intelligent machine, which are enabling applications in various domains and services. Robotics is one such area which encompasses number of technology in it and its application is widespread. Computational vision or Machine vision is one of the most challenging tools for the robot to make it intelligent.   This volume covers chapters from various areas of Computational Vision such as Image and Video Coding and Analysis, Image Watermarking, Noise Reduction and Cancellation, Block Matching and Motion Estimation, Tracking of Deformable Object using Steerable Pyramid Wavelet Transformation, Medical Image Fusion, CT and MRI Image Fusion based on Stationary Wavelet Transform. The book also covers articles from applicati...

  19. Airborne Video Surveillance

    National Research Council Canada - National Science Library

    Blask, Steven

    2002-01-01

    The DARPA Airborne Video Surveillance (AVS) program was established to develop and promote technologies to make airborne video more useful, providing capabilities that achieve a UAV force multiplier...

  20. 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....

  1. Progress in video immersion using Panospheric imaging

    Science.gov (United States)

    Bogner, Stephen L.; Southwell, David T.; Penzes, Steven G.; Brosinsky, Chris A.; Anderson, Ron; Hanna, Doug M.

    1998-09-01

    Having demonstrated significant technical and marketplace advantages over other modalities for video immersion, PanosphericTM Imaging (PI) continues to evolve rapidly. This paper reports on progress achieved since AeroSense 97. The first practical field deployment of the technology occurred in June-August 1997 during the NASA-CMU 'Atacama Desert Trek' activity, where the Nomad mobile robot was teleoperated via immersive PanosphericTM imagery from a distance of several thousand kilometers. Research using teleoperated vehicles at DRES has also verified the exceptional utility of the PI technology for achieving high levels of situational awareness, operator confidence, and mission effectiveness. Important performance enhancements have been achieved with the completion of the 4th Generation PI DSP-based array processor system. The system is now able to provide dynamic full video-rate generation of spatial and computational transformations, resulting in a programmable and fully interactive immersive video telepresence. A new multi- CCD camera architecture has been created to exploit the bandwidth of this processor, yielding a well-matched PI system with greatly improved resolution. While the initial commercial application for this technology is expected to be video tele- conferencing, it also appears to have excellent potential for application in the 'Immersive Cockpit' concept. Additional progress is reported in the areas of Long Wave Infrared PI Imaging, Stereo PI concepts, PI based Video-Servoing concepts, PI based Video Navigation concepts, and Foveation concepts (to merge localized high-resolution views with immersive views).

  2. [Digital imaging and robotics in endoscopic surgery].

    Science.gov (United States)

    Go, P M

    1998-05-23

    The introduction of endoscopical surgery has among other things influenced technical developments in surgery. Owing to digitalisation, major progress will be made in imaging and in the sophisticated technology sometimes called robotics. Digital storage makes the results of imaging diagnostics (e.g. the results of radiological examination) suitable for transmission via video conference systems for telediagnostic purposes. The availability of digital video technique renders possible the processing, storage and retrieval of moving images as well. During endoscopical operations use may be made of a robot arm which replaces the camera man. The arm does not grow tired and provides a stable image. The surgeon himself can operate or address the arm and it can remember fixed image positions to which it can return if ordered to do so. The next step is to carry out surgical manipulations via a robot arm. This may make operations more patient-friendly. A robot arm can also have remote control: telerobotics. At the Internet site of this journal a number of supplements to this article can be found, for instance three-dimensional (3D) illustrations (which is the purpose of the 3D spectacles enclosed with this issue) and a quiz (http:@appendix.niwi. knaw.nl).

  3. 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

  4. Robots with language

    Directory of Open Access Journals (Sweden)

    Domenico Parisi

    2010-11-01

    Full Text Available Trying to understand human language by constructing robots that have language necessarily implies an embodied view of language, where the meaning of linguistic expressions is derived from the physical interactions of the organism with the environment. The paper describes a neural model of language according to which the robot’s behaviour is controlled by a neural network composed of two sub-networks, one dedicated to the non-linguistic interactions of the robot with the environment and the other one to processing linguistic input and producing linguistic output. We present the results of a number of simulations using the model and we suggest how the model can be used to account for various language-related phenomena such as disambiguation, the metaphorical use of words, the pervasive idiomaticity of multi-word expressions, and mental life as talking to oneself.. The model implies a view of the meaning of words and multi-word expressions as a temporal process that takes place in the entire brain and has no clearly defined boundaries. The model can also be extended to emotional words if we assume that an embodied view of language includes not only the interactions of the robot’s brain with the external environment but also the interactions of the brain with what is inside the body.

  5. Control of a Robot Dancer for Enhancing Haptic Human-Robot Interaction in Waltz.

    Science.gov (United States)

    Hongbo Wang; Kosuge, K

    2012-01-01

    Haptic interaction between a human leader and a robot follower in waltz is studied in this paper. An inverted pendulum model is used to approximate the human's body dynamics. With the feedbacks from the force sensor and laser range finders, the robot is able to estimate the human leader's state by using an extended Kalman filter (EKF). To reduce interaction force, two robot controllers, namely, admittance with virtual force controller, and inverted pendulum controller, are proposed and evaluated in experiments. The former controller failed the experiment; reasons for the failure are explained. At the same time, the use of the latter controller is validated by experiment results.

  6. Physics and Video Analysis

    Science.gov (United States)

    Allain, Rhett

    2016-05-01

    We currently live in a world filled with videos. There are videos on YouTube, feature movies and even videos recorded with our own cameras and smartphones. These videos present an excellent opportunity to not only explore physical concepts, but also inspire others to investigate physics ideas. With video analysis, we can explore the fantasy world in science-fiction films. We can also look at online videos to determine if they are genuine or fake. Video analysis can be used in the introductory physics lab and it can even be used to explore the make-believe physics embedded in video games. This book covers the basic ideas behind video analysis along with the fundamental physics principles used in video analysis. The book also includes several examples of the unique situations in which video analysis can be used.

  7. NEI You Tube Videos: Amblyopia

    Medline Plus

    Full Text Available ... YouTube Videos » NEI YouTube Videos: Amblyopia Listen NEI YouTube Videos YouTube Videos Home Age-Related Macular Degeneration ... Retinopathy of Prematurity Science Spanish Videos Webinars NEI YouTube Videos: Amblyopia Embedded video for NEI YouTube Videos: ...

  8. Compensating for telecommunication delays during robotic telerehabilitation.

    Science.gov (United States)

    Consoni, Leonardo J; Siqueira, Adriano A G; Krebs, Hermano I

    2017-07-01

    Rehabilitation robotic systems may afford better care and telerehabilitation may extend the use and benefits of robotic therapy to the home. Data transmissions over distance are bound by intrinsic communication delays which can be significant enough to deem the activity unfeasible. Here we describe an approach that combines unilateral robotic telerehabilitation and serious games. This approach has a modular and distributed design that permits different types of robots to interact without substantial code changes. We demonstrate the approach through an online multiplayer game. Two users can remotely interact with each other with no force exchanges, while a smoothing and prediction algorithm compensates motions for the delay in the Internet connection. We demonstrate that this approach can successfully compensate for data transmission delays, even when testing between the United States and Brazil. This paper presents the initial experimental results, which highlight the performance degradation with increasing delays as well as improvements provided by the proposed algorithm, and discusses planned future developments.

  9. A video authentication technique

    International Nuclear Information System (INIS)

    Johnson, C.S.

    1987-01-01

    Unattended video surveillance systems are particularly vulnerable to the substitution of false video images into the cable that connects the camera to the video recorder. New technology has made it practical to insert a solid state video memory into the video cable, freeze a video image from the camera, and hold this image as long as desired. Various techniques, such as line supervision and sync detection, have been used to detect video cable tampering. The video authentication technique described in this paper uses the actual video image from the camera as the basis for detecting any image substitution made during the transmission of the video image to the recorder. The technique, designed for unattended video systems, can be used for any video transmission system where a two-way digital data link can be established. The technique uses similar microprocessor circuitry at the video camera and at the video recorder to select sample points in the video image for comparison. The gray scale value of these points is compared at the recorder controller and if the values agree within limits, the image is authenticated. If a significantly different image was substituted, the comparison would fail at a number of points and the video image would not be authenticated. The video authentication system can run as a stand-alone system or at the request of another system

  10. 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.

  11. 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

  12. Tactile surface classification for limbed robots using a pressure sensitive robot skin

    International Nuclear Information System (INIS)

    Shill, Jacob J; Collins Jr, Emmanuel G; Coyle, Eric; Clark, Jonathan

    2015-01-01

    This paper describes an approach to terrain identification based on pressure images generated through direct surface contact using a robot skin constructed around a high-resolution pressure sensing array. Terrain signatures for classification are formulated from the magnitude frequency responses of the pressure images. The initial experimental results for statically obtained images show that the approach yields classification accuracies >98%. The methodology is extended to accommodate the dynamic pressure images anticipated when a robot is walking or running. Experiments with a one-legged hopping robot yield similar identification accuracies ≈99%. In addition, the accuracies are independent with respect to changing robot dynamics (i.e., when using different leg gaits). The paper further shows that the high-resolution capabilities of the sensor enables similarly textured surfaces to be distinguished. A correcting filter is developed to accommodate for failures or faults that inevitably occur within the sensing array with continued use. Experimental results show using the correcting filter can extend the effective operational lifespan of a high-resolution sensing array over 6x in the presence of sensor damage. The results presented suggest this methodology can be extended to autonomous field robots, providing a robot with crucial information about the environment that can be used to aid stable and efficient mobility over rough and varying terrains. (paper)

  13. 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

  14. 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

  15. Consciousness extended

    DEFF Research Database (Denmark)

    Carrara-Augustenborg, Claudia

    2012-01-01

    There is no consensus yet regarding a conceptualization of consciousness able to accommodate all the features of such complex phenomenon. Different theoretical and empirical models lend strength to both the occurrence of a non-accessible informational broadcast, and to the mobilization of specific...... brain areas responsible for the emergence of the individual´s explicit and variable access to given segments of such broadcast. Rather than advocating one model over others, this chapter proposes to broaden the conceptualization of consciousness by letting it embrace both mechanisms. Within...... such extended framework, I propose conceptual and functional distinctions between consciousness (global broadcast of information), awareness (individual´s ability to access the content of such broadcast) and unconsciousness (focally isolated neural activations). My hypothesis is that a demarcation in terms...

  16. 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...

  17. 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...

  18. 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.

  19. Extending the range of low energy electron diffraction (LEED) surface structure determination: Co-adsorbed molecules, incommensurate overlayers and alloy surface order studied by new video and electron counting LEED techniques

    International Nuclear Information System (INIS)

    Ogletree, D.F.

    1986-11-01

    LEED multiple scattering theory is briefly summarized, and aspects of electron scattering with particular significance to experimental measurements such as electron beam coherence, instrument response and phonon scattering are analyzed. Diffuse LEED experiments are discussed. New techniques that enhance the power of LEED are described, including a real-time video image digitizer applied to LEED intensity measurements, along with computer programs to generate I-V curves. The first electron counting LEED detector using a ''wedge and strip'' position sensitive anode and digital electronics is described. This instrument uses picoampere incident beam currents, and its sensitivity is limited only by statistics and counting times. Structural results on new classes of surface systems are presented. The structure of the c(4 x 2) phase of carbon monoxide adsorbed on Pt(111) has been determined, showing that carbon monoxide molecules adsorb in both top and bridge sites, 1.85 +- 0.10 A and 1.55 +- 0.10 A above the metal surface, respectively. The structure of an incommensurate graphite overlayer on Pt(111) is analyzed. The graphite layer is 3.70 +- 0.05 A above the metal surface, with intercalated carbon atoms located 1.25 +- 0.10 A above hollow sites supporting it. The (2√3 x 4)-rectangular phase of benzene and carbon monoxide coadsorbed on Pt(111) is analyzed. Benzene molecules adsorb in bridge sites parallel to and 2.10 +- 0.10 A above the surface. The carbon ring is expanded, with an average C-C bond length of 1.72 +- 0.15 A. The carbon monoxide molecules also adsorb in bridge sites. The structure of the (√3 x √3) reconstruction on the (111) face of the α-CuAl alloy has been determined

  20. Extending the range of low energy electron diffraction (LEED) surface structure determination: Co-adsorbed molecules, incommensurate overlayers and alloy surface order studied by new video and electron counting LEED techniques

    Energy Technology Data Exchange (ETDEWEB)

    Ogletree, D.F.

    1986-11-01

    LEED multiple scattering theory is briefly summarized, and aspects of electron scattering with particular significance to experimental measurements such as electron beam coherence, instrument response and phonon scattering are analyzed. Diffuse LEED experiments are discussed. New techniques that enhance the power of LEED are described, including a real-time video image digitizer applied to LEED intensity measurements, along with computer programs to generate I-V curves. The first electron counting LEED detector using a ''wedge and strip'' position sensitive anode and digital electronics is described. This instrument uses picoampere incident beam currents, and its sensitivity is limited only by statistics and counting times. Structural results on new classes of surface systems are presented. The structure of the c(4 x 2) phase of carbon monoxide adsorbed on Pt(111) has been determined, showing that carbon monoxide molecules adsorb in both top and bridge sites, 1.85 +- 0.10 A and 1.55 +- 0.10 A above the metal surface, respectively. The structure of an incommensurate graphite overlayer on Pt(111) is analyzed. The graphite layer is 3.70 +- 0.05 A above the metal surface, with intercalated carbon atoms located 1.25 +- 0.10 A above hollow sites supporting it. The (2..sqrt..3 x 4)-rectangular phase of benzene and carbon monoxide coadsorbed on Pt(111) is analyzed. Benzene molecules adsorb in bridge sites parallel to and 2.10 +- 0.10 A above the surface. The carbon ring is expanded, with an average C-C bond length of 1.72 +- 0.15 A. The carbon monoxide molecules also adsorb in bridge sites. The structure of the (..sqrt..3 x ..sqrt..3) reconstruction on the (111) face of the ..cap alpha..-CuAl alloy has been determined.

  1. Robotic laparoscopic surgery: cost and training.

    Science.gov (United States)

    Amodeo, A; Linares Quevedo, A; Joseph, J V; Belgrano, E; Patel, H R H

    2009-06-01

    The advantages of minimally invasive surgery are well accepted. Shorter hospital stays, decreased postoperative pain, rapid return to preoperative activity, decreased postoperative ileus, and preserved immune function are among the benefits of the laparoscopic approach. However, the instruments of laparoscopy afford surgeons limited precision and poor ergonomics, and their use is associated with a significant learning curve and the amount of time and energy necessary to develop and maintain such advanced laparoscopic skills is not insignificant. The robotic surgery allows all laparoscopists to perform advanced laparoscopic procedures with greater ease. The potential advantages of surgical robotic systems include making advanced laparoscopic surgical procedures accessible to surgeons who do not have advanced video endoscopic training and broadening the scope of surgical procedures that can be performed using the laparoscopic method. The wristed instruments, x10 magnifications, tremor filtering, scaling of movements and three-dimensional view allow the urologist to perform the intricate dissection and anastomosis with high precision. The robot is not, however, without significant disadvantages as compared with traditional laparoscopy. These include greater expense and consumption of operating room resources such as space and the availability of skilled technical staff, complete elimination of tactile feedback, and more limited options for trocar placement. The current cost of the da Vinci system is $ 1.2 million and annual maintenance is $ 138000. Many studies suggest that depreciation and maintenance costs can be minimised if the number of robotic cases is increased. The high cost of purchasing and maintaining the instruments of the robotic system is one of its many disadvantages. The availability of the robotic systems to only a limited number of centres reduces surgical training opportunities. Hospital administrators and surgeons must define the reasons for

  2. 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...

  3. Whole-body impedance control of wheeled humanoid robots

    CERN Document Server

    Dietrich, Alexander

    2016-01-01

    Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment. After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian impedance is extended to the case of mobile robots. All of these tasks are then combined and integrated into an overall, priority-based control law. Besides the experimental validation of the approach, the formal proof of asymptotic stability for this hierarchical controller is presented. By interconnecting the whole-body ...

  4. The Virtual Robotics Laboratory; TOPICAL

    International Nuclear Information System (INIS)

    Kress, R.L.; Love, L.J.

    1999-01-01

    The growth of the Internet has provided a unique opportunity to expand research collaborations between industry, universities, and the national laboratories. The Virtual Robotics Laboratory (VRL) is an innovative program at Oak Ridge National Laboratory (ORNL) that is focusing on the issues related to collaborative research through controlled access of laboratory equipment using the World Wide Web. The VRL will provide different levels of access to selected ORNL laboratory secondary education programs. In the past, the ORNL Robotics and Process Systems Division has developed state-of-the-art robotic systems for the Army, NASA, Department of Energy, Department of Defense, as well as many other clients. After proof of concept, many of these systems sit dormant in the laboratories. This is not out of completion of all possible research topics. but from completion of contracts and generation of new programs. In the past, a number of visiting professors have used this equipment for their own research. However, this requires that the professor, and possibly his/her students, spend extended periods at the laboratory facility. In addition, only a very exclusive group of faculty can gain access to the laboratory and hardware. The VRL is a tool that enables extended collaborative efforts without regard to geographic limitations

  5. Field Tested Service Oriented Robotic Architecture: Case Study

    Science.gov (United States)

    Flueckiger, Lorenzo; Utz, Hanz

    2012-01-01

    This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at NASA Ames Research Center. SORA relies on proven software methods and technologies applied to the robotic world. Based on a Service Oriented Architecture and robust middleware, SORA extends its reach beyond the on-board robot controller and supports the full suite of software tools used during mission scenarios from ground control to remote robotic sites. SORA has been field tested in numerous scenarios of robotic lunar and planetary exploration. The results of these high fidelity experiments are illustrated through concrete examples that have shown the benefits of using SORA as well as its limitations.

  6. Rare Disease Video Portal

    OpenAIRE

    Sánchez Bocanegra, Carlos Luis

    2011-01-01

    Rare Disease Video Portal (RD Video) is a portal web where contains videos from Youtube including all details from 12 channels of Youtube. Rare Disease Video Portal (RD Video) es un portal web que contiene los vídeos de Youtube incluyendo todos los detalles de 12 canales de Youtube. Rare Disease Video Portal (RD Video) és un portal web que conté els vídeos de Youtube i que inclou tots els detalls de 12 Canals de Youtube.

  7. 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.

  8. 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....

  9. Reviews Book: Extended Project Student Guide Book: My Inventions Book: ASE Guide to Research in Science Education Classroom Video: The Science of Starlight Software: SPARKvue Book: The Geek Manifesto Ebook: A Big Ball of Fire Apps

    Science.gov (United States)

    2014-05-01

    WE RECOMMEND Level 3 Extended Project Student Guide A non-specialist, generally useful and nicely put together guide to project work ASE Guide to Research in Science Education Few words wasted in this handy introduction and reference The Science of Starlight Slow but steady DVD covers useful ground SPARKvue Impressive software now available as an app WORTH A LOOK My Inventions and Other Writings Science, engineering, autobiography, visions and psychic phenomena mixed in a strange but revealing concoction The Geek Manifesto: Why Science Matters More enthusiasm than science, but a good motivator and interesting A Big Ball of Fire: Your questions about the Sun answered Free iTunes download made by and for students goes down well APPS Collider visualises LHC experiments ... Science Museum app enhances school trips ... useful information for the Cambridge Science Festival

  10. Application of robotics to distribution systems

    Energy Technology Data Exchange (ETDEWEB)

    Ramsbottom, W

    1986-06-01

    Robotic technology has been recognized as having potential application in lifeline maintenance and repair. A study was conducted to investigate the feasibility of utilizing robotics for this purpose, and to prepare a general design of appropriate equipment. Four lifeline tasks were selected as representative of the majority of work. Based on a detailed task decomposition, subtasks were rated on amenability to robot completion. All tasks are feasible, but in some cases special tooling is required. Based on today's robotics, it is concluded that a force reflecting master/slave telemanipulator, augmented by automatic robot tasks under a supervisory control system, provides the optimal approach. No commercially available products are currently adequate for lifeline work. A general design of the telemanipulator, which has been named the SKYARM has been developed, addressing all subsystems such as the manipulator, video, control power and insulation. The baseline system is attainable using today's technology. Improved performance and lower cost will be achieved through developments in artificial intelligence, machine vision, supervisory control and dielectrics. Immediate benefits to utilities include increased safety, better service and savings on a subset of maintenance tasks. In 3-5 years, the SKYARM will prove cost effective as a general purpose lifeline tool. 7 refs., 26 figs., 3 tabs.

  11. Review of surgical robotics user interface: what is the best way to control robotic surgery?

    Science.gov (United States)

    Simorov, Anton; Otte, R Stephen; Kopietz, Courtni M; Oleynikov, Dmitry

    2012-08-01

    As surgical robots begin to occupy a larger place in operating rooms around the world, continued innovation is necessary to improve our outcomes. A comprehensive review of current surgical robotic user interfaces was performed to describe the modern surgical platforms, identify the benefits, and address the issues of feedback and limitations of visualization. Most robots currently used in surgery employ a master/slave relationship, with the surgeon seated at a work-console, manipulating the master system and visualizing the operation on a video screen. Although enormous strides have been made to advance current technology to the point of clinical use, limitations still exist. A lack of haptic feedback to the surgeon and the inability of the surgeon to be stationed at the operating table are the most notable examples. The future of robotic surgery sees a marked increase in the visualization technologies used in the operating room, as well as in the robots' abilities to convey haptic feedback to the surgeon. This will allow unparalleled sensation for the surgeon and almost eliminate inadvertent tissue contact and injury. A novel design for a user interface will allow the surgeon to have access to the patient bedside, remaining sterile throughout the procedure, employ a head-mounted three-dimensional visualization system, and allow the most intuitive master manipulation of the slave robot to date.

  12. 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

  13. 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...

  14. 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.

  15. The research on visual industrial robot which adopts fuzzy PID control algorithm

    Science.gov (United States)

    Feng, Yifei; Lu, Guoping; Yue, Lulin; Jiang, Weifeng; Zhang, Ye

    2017-03-01

    The control system of six degrees of freedom visual industrial robot based on the control mode of multi-axis motion control cards and PC was researched. For the variable, non-linear characteristics of industrial robot`s servo system, adaptive fuzzy PID controller was adopted. It achieved better control effort. In the vision system, a CCD camera was used to acquire signals and send them to video processing card. After processing, PC controls the six joints` motion by motion control cards. By experiment, manipulator can operate with machine tool and vision system to realize the function of grasp, process and verify. It has influence on the manufacturing of the industrial robot.

  16. 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...

  17. 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....

  18. 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...

  19. 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

  20. Robotic pancreas drainage procedure for chronic pancreatitis: robotic lateral pancreaticojejunostomy (Puestow procedure).

    Science.gov (United States)

    Khan, Adeel S; Siddiqui, Imran; Vrochides, Dionisios; Martinie, John B

    2018-01-01

    Lateral pancreaticojejunostomy (LPJ), also known as the Puestow procedure, is a complex surgical procedure reserved for patients with refractory chronic pancreatitis (CP) and a dilated pancreatic duct. Traditionally, this operation is performed through an open incision, however, recent advancements in minimally invasive techniques have made it possible to perform the surgery using laparoscopic and robotic techniques with comparable safety. Though we do not have enough data yet to prove superiority of one over the other, the robotic approach appears to have an advantage over the laparoscopic technique in better visualization through 3-dimensional (3D) imaging and availability of wristed instruments for more precise actions, which may translate into superior outcomes. This paper is a description of our technique for robotic LPJ in patients with refractory CP. Important principles of patient selection, preoperative workup, surgical technique and post-operative management are discussed. A short video with a case presentation and highlights of the important steps of the surgery is included.

  1. 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.

  2. 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.

  3. 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

  4. 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...

  5. 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.

  6. 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...

  7. 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

  8. 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...

  9. 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,…

  10. 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...

  11. 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.

  12. 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

  13. 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

  14. 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.

  15. Comparison of the Effects of Video Modeling with Narration vs. Video Modeling on the Functional Skill Acquisition of Adolescents with Autism

    Science.gov (United States)

    Smith, Molly; Ayres, Kevin; Mechling, Linda; Smith, Katie

    2013-01-01

    The purpose of this study was to compare the effects of two forms of video modeling: video modeling that includes narration (VMN) and video models without narration (VM) on skill acquisition of four adolescent boys with a primary diagnosis of autism enrolled in an Extended School Year (ESY) summer program. An adapted alternating treatment design…

  16. Anthropomimetic Robots: Concept, Construction and Modelling

    Directory of Open Access Journals (Sweden)

    Alan Diamond

    2012-11-01

    Full Text Available An anthropomimetic robot is one that closely copies the mechanics of the human body by having a human-like jointed skeleton moved by compliant muscle-like actuators. This paper describes the progress achieved in building anthropomimetic torsos in two projects, CRONOS and ECCEROBOT. In each, the bones were hand-moulded in a thermoplastic and the muscles were implemented by DC motors shortening and extending elastic tendons. Anthropomimetic robots differ from conventionally engineered robots by having complex joints and compliant tendon driven actuation that can cross more than one joint. Taken together, these characteristics make the robots unsuitable for control by standard methods, and so the ability to model them is important for developing heuristic methods of control and also for providing forward models. The robots were modelled using physics-based techniques which enable the study of the generation of movements and also of interactions with arbitrary objects. The lightweight and compliant structure of the robots was found to be safe for human proximity and contact.

  17. Range-Measuring Video Sensors

    Science.gov (United States)

    Howard, Richard T.; Briscoe, Jeri M.; Corder, Eric L.; Broderick, David

    2006-01-01

    Optoelectronic sensors of a proposed type would perform the functions of both electronic cameras and triangulation- type laser range finders. That is to say, these sensors would both (1) generate ordinary video or snapshot digital images and (2) measure the distances to selected spots in the images. These sensors would be well suited to use on robots that are required to measure distances to targets in their work spaces. In addition, these sensors could be used for all the purposes for which electronic cameras have been used heretofore. The simplest sensor of this type, illustrated schematically in the upper part of the figure, would include a laser, an electronic camera (either video or snapshot), a frame-grabber/image-capturing circuit, an image-data-storage memory circuit, and an image-data processor. There would be no moving parts. The laser would be positioned at a lateral distance d to one side of the camera and would be aimed parallel to the optical axis of the camera. When the range of a target in the field of view of the camera was required, the laser would be turned on and an image of the target would be stored and preprocessed to locate the angle (a) between the optical axis and the line of sight to the centroid of the laser spot.

  18. Solar-based navigation for robotic explorers

    Science.gov (United States)

    Shillcutt, Kimberly Jo

    2000-12-01

    This thesis introduces the application of solar position and shadowing information to robotic exploration. Power is a critical resource for robots with remote, long-term missions, so this research focuses on the power generation capabilities of robotic explorers during navigational tasks, in addition to power consumption. Solar power is primarily considered, with the possibility of wind power also contemplated. Information about the environment, including the solar ephemeris, terrain features, time of day, and surface location, is incorporated into a planning structure, allowing robots to accurately predict shadowing and thus potential costs and gains during navigational tasks. By evaluating its potential to generate and expend power, a robot can extend its lifetime and accomplishments. The primary tasks studied are coverage patterns, with a variety of plans developed for this research. The use of sun, terrain and temporal information also enables new capabilities of identifying and following sun-synchronous and sun-seeking paths. Digital elevation maps are combined with an ephemeris algorithm to calculate the altitude and azimuth of the sun from surface locations, and to identify and map shadows. Solar navigation path simulators use this information to perform searches through two-dimensional space, while considering temporal changes. Step by step simulations of coverage patterns also incorporate time in addition to location. Evaluations of solar and wind power generation, power consumption, area coverage, area overlap, and time are generated for sets of coverage patterns, with on-board environmental information linked to the simulations. This research is implemented on the Nomad robot for the Robotic Antarctic Meteorite Search. Simulators have been developed for coverage pattern tests, as well as for sun-synchronous and sun-seeking path searches. Results of field work and simulations are reported and analyzed, with demonstrated improvements in efficiency

  19. Outcomes from the Delphi process of the Thoracic Robotic Curriculum Development Committee.

    Science.gov (United States)

    Veronesi, Giulia; Dorn, Patrick; Dunning, Joel; Cardillo, Giuseppe; Schmid, Ralph A; Collins, Justin; Baste, Jean-Marc; Limmer, Stefan; Shahin, Ghada M M; Egberts, Jan-Hendrik; Pardolesi, Alessandro; Meacci, Elisa; Stamenkovic, Sasha; Casali, Gianluca; Rueckert, Jens C; Taurchini, Mauro; Santelmo, Nicola; Melfi, Franca; Toker, Alper

    2018-06-01

    As the adoption of robotic procedures becomes more widespread, additional risk related to the learning curve can be expected. This article reports the results of a Delphi process to define procedures to optimize robotic training of thoracic surgeons and to promote safe performance of established robotic interventions as, for example, lung cancer and thymoma surgery. In June 2016, a working panel was spontaneously created by members of the European Society of Thoracic Surgeons (ESTS) and European Association for Cardio-Thoracic Surgery (EACTS) with a specialist interest in robotic thoracic surgery and/or surgical training. An e-consensus-finding exercise using the Delphi methodology was applied requiring 80% agreement to reach consensus on each question. Repeated iterations of anonymous voting continued over 3 rounds. Agreement was reached on many points: a standardized robotic training curriculum for robotic thoracic surgery should be divided into clearly defined sections as a staged learning pathway; the basic robotic curriculum should include a baseline evaluation, an e-learning module, a simulation-based training (including virtual reality simulation, Dry lab and Wet lab) and a robotic theatre (bedside) observation. Advanced robotic training should include e-learning on index procedures (right upper lobe) with video demonstration, access to video library of robotic procedures, simulation training, modular console training to index procedure, transition to full-procedure training with a proctor and final evaluation of the submitted video to certified independent examiners. Agreement was reached on a large number of questions to optimize and standardize training and education of thoracic surgeons in robotic activity. The production of the content of the learning material is ongoing.

  20. Mechatronics Design of an Autonomous Pipe-Inspection Robot

    Directory of Open Access Journals (Sweden)

    Abdellatif Mohamed

    2018-01-01

    Full Text Available Pipelines require periodical inspection to detect corrosion, deformation and congestion with obstacles in the network. Autonomous mobile robots are good solutions for this task. Visual information from the pipe interior associated with a location stamp is needed for inspection. In this paper, the previous designs of autonomous robots are reviewed and a new robot is developed to ensure simple design and smooth motion. Images are processed online to detect irregularity in pipe and then start capturing high resolution pictures to conserve the limited memory size. The new robot moves in pipes and provides video stream of pipe interior with location stamp. The visual information can later be processed offline to extract more information of pipeline condition to make maintenance decisions.

  1. Reconstructing Interlaced High-Dynamic-Range Video Using Joint Learning.

    Science.gov (United States)

    Inchang Choi; Seung-Hwan Baek; Kim, Min H

    2017-11-01

    For extending the dynamic range of video, it is a common practice to capture multiple frames sequentially with different exposures and combine them to extend the dynamic range of each video frame. However, this approach results in typical ghosting artifacts due to fast and complex motion in nature. As an alternative, video imaging with interlaced exposures has been introduced to extend the dynamic range. However, the interlaced approach has been hindered by jaggy artifacts and sensor noise, leading to concerns over image quality. In this paper, we propose a data-driven approach for jointly solving two specific problems of deinterlacing and denoising that arise in interlaced video imaging with different exposures. First, we solve the deinterlacing problem using joint dictionary learning via sparse coding. Since partial information of detail in differently exposed rows is often available via interlacing, we make use of the information to reconstruct details of the extended dynamic range from the interlaced video input. Second, we jointly solve the denoising problem by tailoring sparse coding to better handle additive noise in low-/high-exposure rows, and also adopt multiscale homography flow to temporal sequences for denoising. We anticipate that the proposed method will allow for concurrent capture of higher dynamic range video frames without suffering from ghosting artifacts. We demonstrate the advantages of our interlaced video imaging compared with the state-of-the-art high-dynamic-range video methods.

  2. Video-Aided GPS/INS Positioning and Attitude Determination

    National Research Council Canada - National Science Library

    Brown, Alison; Silva, Randy

    2006-01-01

    ... precise positioning and attitude information to be maintained, even during periods of extended GPS dropouts. This relies on information extracted from the video images of reference points and features to continue to update the inertial navigation solution. In this paper, the principles of the video-update method aredescribed.

  3. Asteroid Redirect Robotic Mission: Robotic Boulder Capture Option Overview

    Science.gov (United States)

    Mazanek, Daniel D.; Merrill, Raymond G.; Belbin, Scott P.; Reeves, David M.; Earle, Kevin D.; Naasz, Bo J.; Abell, Paul A.

    2014-01-01

    The National Aeronautics and Space Administration (NASA) is currently studying an option for the Asteroid Redirect Robotic Mission (ARRM) that would capture a multi-ton boulder (typically 2-4 meters in size) from the surface of a large (is approximately 100+ meter) Near-Earth Asteroid (NEA) and return it to cislunar space for subsequent human and robotic exploration. This alternative mission approach, designated the Robotic Boulder Capture Option (Option B), has been investigated to determine the mission feasibility and identify potential differences from the initial ARRM concept of capturing an entire small NEA (4-10 meters in size), which has been designated the Small Asteroid Capture Option (Option A). Compared to the initial ARRM concept, Option B allows for centimeter-level characterization over an entire large NEA, the certainty of target NEA composition type, the ability to select the boulder that is captured, numerous opportunities for mission enhancements to support science objectives, additional experience operating at a low-gravity planetary body including extended surface contact, and the ability to demonstrate future planetary defense strategies on a hazardous-size NEA. Option B can leverage precursor missions and existing Agency capabilities to help ensure mission success by targeting wellcharacterized asteroids and can accommodate uncertain programmatic schedules by tailoring the return mass.

  4. Strategy for robot motion and path planning in robot taping

    Science.gov (United States)

    Yuan, Qilong; Chen, I.-Ming; Lembono, Teguh Santoso; Landén, Simon Nelson; Malmgren, Victor

    2016-06-01

    Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering strategy and proper attachment of the masking tape for an efficient surface protection. We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platform, a 3D scanner and specially designed taping end-effectors. This paper mainly talks about the surface covering strategies for different classes of geometries. The methods and corresponding taping tools are introduced for taping of following classes of surfaces: Cylindrical/extended surfaces, freeform surfaces with no grooves, surfaces with grooves, and rotational symmetrical surfaces. A collision avoidance algorithm is introduced for the robot taping manipulation. With further improvements on segmenting surfaces of taping parts and tape cutting mechanisms, such taping solution with the taping tool and the taping methodology can be combined as a very useful and practical taping package to assist humans in this tedious and time costly work.

  5. Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU.

    Science.gov (United States)

    Zhao, Xu; Dou, Lihua; Su, Zhong; Liu, Ning

    2018-03-16

    A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot's motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS) Inertial-Measurement-Unit (IMU). First, it studies the snake robot's motion characteristics, builds the kinematics model, and then analyses the motion constraint characteristics and motion error propagation properties. Second, it explores the snake robot's navigation layout, proposes a constraint criterion and the fixed relationship, and makes zero-state constraints based on the motion features and control modes of a snake robot. Finally, it realizes autonomous navigation positioning based on the Extended-Kalman-Filter (EKF) position estimation method under the constraints of its motion characteristics. With the self-developed snake robot, the test verifies the proposed method, and the position error is less than 5% of Total-Traveled-Distance (TDD). In a short-distance environment, this method is able to meet the requirements of a snake robot in order to perform autonomous navigation and positioning in traditional applications and can be extended to other familiar multi-link robots.

  6. [Robotics in pediatric surgery].

    Science.gov (United States)

    Camps, J I

    2011-10-01

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

  7. Low cost submarine robot

    Directory of Open Access Journals (Sweden)

    Ponlachart Chotikarn

    2010-10-01

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

  8. Advances in robot kinematics

    CERN Document Server

    Khatib, Oussama

    2014-01-01

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

  9. Web-video-mining-supported workflow modeling for laparoscopic surgeries.

    Science.gov (United States)

    Liu, Rui; Zhang, Xiaoli; Zhang, Hao

    2016-11-01

    As quality assurance is of strong concern in advanced surgeries, intelligent surgical systems are expected to have knowledge such as the knowledge of the surgical workflow model (SWM) to support their intuitive cooperation with surgeons. For generating a robust and reliable SWM, a large amount of training data is required. However, training data collected by physically recording surgery operations is often limited and data collection is time-consuming and labor-intensive, severely influencing knowledge scalability of the surgical systems. The objective of this research is to solve the knowledge scalability problem in surgical workflow modeling with a low cost and labor efficient way. A novel web-video-mining-supported surgical workflow modeling (webSWM) method is developed. A novel video quality analysis method based on topic analysis and sentiment analysis techniques is developed to select high-quality videos from abundant and noisy web videos. A statistical learning method is then used to build the workflow model based on the selected videos. To test the effectiveness of the webSWM method, 250 web videos were mined to generate a surgical workflow for the robotic cholecystectomy surgery. The generated workflow was evaluated by 4 web-retrieved videos and 4 operation-room-recorded videos, respectively. The evaluation results (video selection consistency n-index ≥0.60; surgical workflow matching degree ≥0.84) proved the effectiveness of the webSWM method in generating robust and reliable SWM knowledge by mining web videos. With the webSWM method, abundant web videos were selected and a reliable SWM was modeled in a short time with low labor cost. Satisfied performances in mining web videos and learning surgery-related knowledge show that the webSWM method is promising in scaling knowledge for intelligent surgical systems. Copyright © 2016 Elsevier B.V. All rights reserved.

  10. Properties of dissimilar bilateral robots

    International Nuclear Information System (INIS)

    Cotsaftis, M.; Vibet, C.

    1987-01-01

    Developments in modern technology are pointing toward extension of personnel involvement in inaccessible environments; either hostile, such as space or deep-water offshore exploration, or dangerous, such as in chemical and nuclear plants. Telemanipulators then need to be used that should be designed to extend human dexterity safely. The general properties of similar or dissimilar telemanipulators and their related control laws are obtained by considering a master/slave robot as a three-terminal nonlinear element. A differential reciprocity concept - equivalent to the introduction of potential energy considerations - is used in connection with a telemanipulator's equilibrium equations

  11. Playful Interaction with Voice Sensing Modular Robots

    DEFF Research Database (Denmark)

    Heesche, Bjarke; MacDonald, Ewen; Fogh, Rune

    2013-01-01

    This paper describes a voice sensor, suitable for modular robotic systems, which estimates the energy and fundamental frequency, F0, of the user’s voice. Through a number of example applications and tests with children, we observe how the voice sensor facilitates playful interaction between child...... children and two different robot configurations. In future work, we will investigate if such a system can motivate children to improve voice control and explore how to extend the sensor to detect emotions in the user’s voice....

  12. 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

  13. Acoustic Neuroma Educational Video

    Medline Plus

    Full Text Available ... for me? Find a Group Upcoming Events Video Library Photo Gallery One-on-One Support ANetwork Peer ... me? Find a group Back Upcoming events Video Library Photo Gallery One-on-One Support Back ANetwork ...

  14. Videos, Podcasts and Livechats

    Medline Plus

    Full Text Available ... Doctor Find a Provider Meet the Team Blog Articles & Stories News Resources Links Videos Podcasts Webinars For ... Doctor Find a Provider Meet the Team Blog Articles & Stories News Provider Directory Donate Resources Links Videos ...

  15. Robots and lattice automata

    CERN Document Server

    Adamatzky, Andrew

    2015-01-01

    The book gives a comprehensive overview of the state-of-the-art research and engineering in theory and application of Lattice Automata in design and control of autonomous Robots. Automata and robots share the same notional meaning. Automata (originated from the latinization of the Greek word “αυτόματον”) as self-operating autonomous machines invented from ancient years can be easily considered the first steps of robotic-like efforts. Automata are mathematical models of Robots and also they are integral parts of robotic control systems. A Lattice Automaton is a regular array or a collective of finite state machines, or automata. The Automata update their states by the same rules depending on states of their immediate neighbours. In the context of this book, Lattice Automata are used in developing modular reconfigurable robotic systems, path planning and map exploration for robots, as robot controllers, synchronisation of robot collectives, robot vision, parallel robotic actuators. All chapters are...

  16. Development of the first force-controlled robot for otoneurosurgery.

    Science.gov (United States)

    Federspil, Philipp A; Geisthoff, Urban W; Henrich, Dominik; Plinkert, Peter K

    2003-03-01

    In some surgical specialties (eg, orthopedics), robots are already used in the operating room for bony milling work. Otological surgery and otoneurosurgery may also greatly benefit from the enhanced precision of robotics. Experimental study on robotic milling of oak wood and human temporal bone specimen. A standard industrial robot with a six-degrees-of-freedom serial kinematics was used, with force feedback to proportionally control the robot speed. Different milling modes and characteristic path parameters were evaluated to generate milling paths based on computer-aided design (CAD) geometry data of a cochlear implant and an implantable hearing system. The best-suited strategy proved to be the spiral horizontal milling mode with the burr held perpendicular to the temporal bone surface. To reduce groove height, the distance between paths should equal half the radius of the cutting burr head. Because of the vibration of the robot's own motors, a high oscillation of the SD of forces was encountered. This oscillation dropped drastically to nearly 0 Newton (N) when the burr head made contact with the dura mater, because of its damping characteristics. The cutting burr could be kept in contact with the dura mater for an extended period without damaging it, because of the burr's blunt head form. The robot moved the burr smoothly according to the encountered resistances. The study reports the first development of a functional robotic milling procedure for otoneurosurgery with force-based speed control. Future plans include implementation of ultrasound-based local navigation and performance of robotic mastoidectomy.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2007-04-15

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

  18. Marine Robot Autonomy

    CERN Document Server

    2013-01-01

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

  19. Take-home video for adult literacy

    Science.gov (United States)

    Yule, Valerie

    1996-01-01

    In the past, it has not been possible to "teach oneself to read" at home, because learners could not read the books to teach them. Videos and interactive compact discs have changed that situation and challenge current assumptions of the pedagogy of literacy. This article describes an experimental adult literacy project using video technology. The language used is English, but the basic concepts apply to any alphabetic or syllabic writing system. A half-hour cartoon video can help adults and adolescents with learning difficulties. Computer-animated cartoon graphics are attractive to look at, and simplify complex material in a clear, lively way. This video technique is also proving useful for distance learners, children, and learners of English as a second language. Methods and principles are to be extended using interactive compact discs.

  20. Walking Pattern Generation of Dual-Arm Mobile Robot Using Preview Controller

    OpenAIRE

    P. Wu; W. Wu

    2012-01-01

    Based on the stability request of robot’s moving on the ground, the motion planning of dual-arm mobile robot when moving on the ground is studied and the preview control system is applied in the robot walking pattern generation. Direct question of robot kinematics in the extended task space is analyzed according to Degrees of Freedom configuration of the dual-arm mobile robot. It is proved that the preview control system could be used in the generation of robot Center of Mass forward trajecto...

  1. Video Design Games

    DEFF Research Database (Denmark)

    Smith, Rachel Charlotte; Christensen, Kasper Skov; Iversen, Ole Sejer

    We introduce Video Design Games to train educators in teaching design. The Video Design Game is a workshop format consisting of three rounds in which participants observe, reflect and generalize based on video snippets from their own practice. The paper reports on a Video Design Game workshop...... in which 25 educators as part of a digital fabrication and design program were able to critically reflect on their teaching practice....

  2. Fibrillar Adhesive for Climbing Robots

    Science.gov (United States)

    Pamess, Aaron; White, Victor E.

    2013-01-01

    A climbing robot needs to use its adhesive patches over and over again as it scales a slope. Replacing the adhesive at each step is generally impractical. If the adhesive or attachment mechanism cannot be used repeatedly, then the robot must carry an extra load of this adhesive to apply a fresh layer with each move. Common failure modes include tearing, contamination by dirt, plastic deformation of fibers, and damage from loading/ unloading. A gecko-like fibrillar adhesive has been developed that has been shown useful for climbing robots, and may later prove useful for grasping, anchoring, and medical applications. The material consists of a hierarchical fibrillar structure that currently contains two levels, but may be extended to three or four levels in continuing work. The contacting level has tens of thousands of microscopic fibers made from a rubberlike material that bend over and create intimate contact with a surface to achieve maximum van der Waals forces. By maximizing the real area of contact that these fibers make and minimizing the bending energy necessary to achieve that contact, the net amount of adhesion has been improved dramatically.

  3. Automation and robotics human performance

    Science.gov (United States)

    Mah, Robert W.

    1990-01-01

    The scope of this report is limited to the following: (1) assessing the feasibility of the assumptions for crew productivity during the intra-vehicular activities and extra-vehicular activities; (2) estimating the appropriate level of automation and robotics to accomplish balanced man-machine, cost-effective operations in space; (3) identifying areas where conceptually different approaches to the use of people and machines can leverage the benefits of the scenarios; and (4) recommending modifications to scenarios or developing new scenarios that will improve the expected benefits. The FY89 special assessments are grouped into the five categories shown in the report. The high level system analyses for Automation & Robotics (A&R) and Human Performance (HP) were performed under the Case Studies Technology Assessment category, whereas the detailed analyses for the critical systems and high leverage development areas were performed under the appropriate operations categories (In-Space Vehicle Operations or Planetary Surface Operations). The analysis activities planned for the Science Operations technology areas were deferred to FY90 studies. The remaining activities such as analytic tool development, graphics/video demonstrations and intelligent communicating systems software architecture were performed under the Simulation & Validations category.

  4. The Children's Video Marketplace.

    Science.gov (United States)

    Ducey, Richard V.

    This report examines a growing submarket, the children's video marketplace, which comprises broadcast, cable, and video programming for children 2 to 11 years old. A description of the tremendous growth in the availability and distribution of children's programming is presented, the economics of the children's video marketplace are briefly…

  5. Video Self-Modeling

    Science.gov (United States)

    Buggey, Tom; Ogle, Lindsey

    2012-01-01

    Video self-modeling (VSM) first appeared on the psychology and education stage in the early 1970s. The practical applications of VSM were limited by lack of access to tools for editing video, which is necessary for almost all self-modeling videos. Thus, VSM remained in the research domain until the advent of camcorders and VCR/DVD players and,…

  6. Autonomous stair-climbing with miniature jumping robots.

    Science.gov (United States)

    Stoeter, Sascha A; Papanikolopoulos, Nikolaos

    2005-04-01

    The problem of vision-guided control of miniature mobile robots is investigated. Untethered mobile robots with small physical dimensions of around 10 cm or less do not permit powerful onboard computers because of size and power constraints. These challenges have, in the past, reduced the functionality of such devices to that of a complex remote control vehicle with fancy sensors. With the help of a computationally more powerful entity such as a larger companion robot, the control loop can be closed. Using the miniature robot's video transmission or that of an observer to localize it in the world, control commands can be computed and relayed to the inept robot. The result is a system that exhibits autonomous capabilities. The framework presented here solves the problem of climbing stairs with the miniature Scout robot. The robot's unique locomotion mode, the jump, is employed to hop one step at a time. Methods for externally tracking the Scout are developed. A large number of real-world experiments are conducted and the results discussed.

  7. General surgery training and robotics: Are residents improving their skills?

    Science.gov (United States)

    Finnerty, Brendan M; Afaneh, Cheguevara; Aronova, Anna; Fahey, Thomas J; Zarnegar, Rasa

    2016-02-01

    While robotic-assisted operations have become more prevalent, many general surgery residencies do not have a formal robotic training curriculum. We sought to ascertain how well current general surgery training permits acquisition of robotic skills by comparing robotic simulation performance across various training levels. Thirty-six participants were categorized by level of surgical training: eight medical students (MS), ten junior residents (JR), ten mid-level residents (MLR), and eight senior residents (SR). Participants performed three simulation tasks on the da Vinci (®) Skills Simulator (MatchBoard, EnergyDissection, SutureSponge). Each task's scores (0-100) and cumulative scores (0-300) were compared between groups. There were no differences in sex, hand dominance, video gaming history, or prior robotic experience between groups; however, SR was the oldest (p Robotic skillsets acquired during general surgery residency show minimal improvement during the course of training, although laparoscopic experience is correlated with advanced robotic task performance. Changes in residency curricula or pursuit of fellowship training may be warranted for surgeons seeking proficiency.

  8. Removal of proprioception by BCI raises a stronger body ownership illusion in control of a humanlike robot

    OpenAIRE

    Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

    2016-01-01

    Body ownership illusions provide evidence that our sense of self is not coherent and can be extended to non-body objects. Studying about these illusions gives us practical tools to understand the brain mechanisms that underlie body recognition and the experience of self. We previously introduced an illusion of body ownership transfer (BOT) for operators of a very humanlike robot. This sensation of owning the robot?s body was confirmed when operators controlled the robot either by performing t...

  9. 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.

  10. A remotely operated robot for decontamination tasks

    International Nuclear Information System (INIS)

    Dudar, A.M.; Vandewalle, R.C.

    1994-01-01

    Engineers in the Robotics Development Group at the Westinghouse Savannah River Company (WSRC) have developed a robot which will be used to decontaminate a pipe gallery of a tank farm used for nuclear waste storage. Personnel access is required into this pipe gallery to inspect existing pipes and perform repairs to secondary containment walls around the tank farm. Presently, the pipe gallery is littered with debris of various sizes and its surface is contaminated with activity levels up to 2.5E6 DPM (disintegrations per minute) alpha and exposure levels as high as 20 Rad/hr. Cleaning up this pipe gallery win be the mission of an all-hydraulic robotic vehicle developed in-house at WSRC caged the ''Remote Decon'' robot. The Remote Decon is a tracked vehicle which utilizes skid steering and features a six-degree-of-freedom (DOF) manipulator arm, a five-DOF front end loader type bucket with a rotating brush for scrubbing and decontaminating surfaces, and a three-DOF pan/tilt mechanism with cameras and lights. The Remote Decon system is connected to a control console via a 200 foot tethered cable. The control console was designed with ergonomics and simplicity as the main design factors and features three joysticks, video monitors, LED panels, and audible alarms

  11. Influence of robotic shoal size, configuration, and activity on zebrafish behavior in a free-swimming environment.

    Science.gov (United States)

    Butail, Sachit; Polverino, Giovanni; Phamduy, Paul; Del Sette, Fausto; Porfiri, Maurizio

    2014-12-15

    In animal studies, robots have been recently used as a valid tool for testing a wide spectrum of hypotheses. These robots often exploit visual or auditory cues to modulate animal behavior. The propensity of zebrafish, a model organism in biological studies, toward fish with similar color patterns and shape has been leveraged to design biologically inspired robots that successfully attract zebrafish in preference tests. With an aim of extending the application of such robots to field studies, here, we investigate the response of zebrafish to multiple robotic fish swimming at different speeds and in varying arrangements. A soft real-time multi-target tracking and control system remotely steers the robots in circular trajectories during the experimental trials. Our findings indicate a complex behavioral response of zebrafish to biologically inspired robots. More robots produce a significant change in salient measures of stress, with a fast robot swimming alone causing more freezing and erratic activity than two robots swimming slowly together. In addition, fish spend more time in the proximity of a robot when they swim far apart than when the robots swim close to each other. Increase in the number of robots also significantly alters the degree of alignment of fish motion with a robot. Results from this study are expected to advance our understanding of robot perception by live animals and aid in hypothesis-driven studies in unconstrained free-swimming environments. Copyright © 2014 Elsevier B.V. All rights reserved.

  12. Robotically enhanced rubber hand illusion.

    Science.gov (United States)

    Arata, Jumpei; Hattori, Masashi; Ichikawa, Shohei; Sakaguchi, Masamichi

    2014-01-01

    The rubber hand illusion is a well-known multisensory illusion. In brief, watching a rubber hand being stroked by a paintbrush while one's own unseen hand is synchronously stroked causes the rubber hand to be attributed to one's own body and to "feel like it's my hand." The rubber hand illusion is thought to be triggered by the synchronized tactile stimulation of both the subject's hand and the fake hand. To extend the conventional rubber hand illusion, we introduce robotic technology in the form of a master-slave telemanipulator. The developed one degree-of-freedom master-slave system consists of an exoskeleton master equipped with an optical encoder that is worn on the subject's index finger and a motor-actuated index finger on the rubber hand, which allows the subject to perform unilateral telemanipulation. The moving rubber hand illusion has been studied by several researchers in the past with mechanically connected rigs between the subject's body and the fake limb. The robotic instruments let us investigate the moving rubber hand illusion with less constraints, thus behaving closer to the classic rubber hand illusion. In addition, the temporal delay between the body and the fake limb can be precisely manipulated. The experimental results revealed that the robotic instruments significantly enhance the rubber hand illusion. The time delay is significantly correlated with the effect of the multisensory illusion, and the effect significantly decreased at time delays over 100 ms. These findings can potentially contribute to the investigations of neural mechanisms in the field of neuroscience and of master-slave systems in the field of robotics.

  13. VBR video traffic models

    CERN Document Server

    Tanwir, Savera

    2014-01-01

    There has been a phenomenal growth in video applications over the past few years. An accurate traffic model of Variable Bit Rate (VBR) video is necessary for performance evaluation of a network design and for generating synthetic traffic that can be used for benchmarking a network. A large number of models for VBR video traffic have been proposed in the literature for different types of video in the past 20 years. Here, the authors have classified and surveyed these models and have also evaluated the models for H.264 AVC and MVC encoded video and discussed their findings.

  14. Advanced video coding systems

    CERN Document Server

    Gao, Wen

    2015-01-01

    This comprehensive and accessible text/reference presents an overview of the state of the art in video coding technology. Specifically, the book introduces the tools of the AVS2 standard, describing how AVS2 can help to achieve a significant improvement in coding efficiency for future video networks and applications by incorporating smarter coding tools such as scene video coding. Topics and features: introduces the basic concepts in video coding, and presents a short history of video coding technology and standards; reviews the coding framework, main coding tools, and syntax structure of AV

  15. Intelligent video surveillance systems

    CERN Document Server

    Dufour, Jean-Yves

    2012-01-01

    Belonging to the wider academic field of computer vision, video analytics has aroused a phenomenal surge of interest since the current millennium. Video analytics is intended to solve the problem of the incapability of exploiting video streams in real time for the purpose of detection or anticipation. It involves analyzing the videos using algorithms that detect and track objects of interest over time and that indicate the presence of events or suspect behavior involving these objects.The aims of this book are to highlight the operational attempts of video analytics, to identify possi

  16. 11th International Workshop on the Algorithmic Foundations of Robotics

    CERN Document Server

    Amato, Nancy; Isler, Volkan; Stappen, A

    2015-01-01

    This carefully edited volume is the outcome of the eleventh edition of the Workshop on Algorithmic Foundations of Robotics (WAFR), which is the premier venue showcasing cutting edge research in algorithmic robotics. The eleventh WAFR, which was held August 3-5, 2014 at Boğaziçi University in Istanbul, Turkey continued this tradition. This volume contains extended versions of the 42 papers presented at WAFR. These contributions highlight the cutting edge research in classical robotics problems (e.g.  manipulation, motion, path, multi-robot and kinodynamic planning), geometric and topological computation in robotics as well novel applications such as informative path planning, active sensing and surgical planning.  This book - rich by topics and authoritative contributors - is a unique reference on the current developments and new directions in the field of algorithmic foundations.  

  17. Non-manufacturing applications of robotics

    International Nuclear Information System (INIS)

    Dauchez, P.

    2000-12-01

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

  18. Decentralized neural control application to robotics

    CERN Document Server

    Garcia-Hernandez, Ramon; Sanchez, Edgar N; Alanis, Alma y; Ruz-Hernandez, Jose A

    2017-01-01

    This book provides a decentralized approach for the identification and control of robotics systems. It also presents recent research in decentralized neural control and includes applications to robotics. Decentralized control is free from difficulties due to complexity in design, debugging, data gathering and storage requirements, making it preferable for interconnected systems. Furthermore, as opposed to the centralized approach, it can be implemented with parallel processors. This approach deals with four decentralized control schemes, which are able to identify the robot dynamics. The training of each neural network is performed on-line using an extended Kalman filter (EKF). The first indirect decentralized control scheme applies the discrete-time block control approach, to formulate a nonlinear sliding manifold. The second direct decentralized neural control scheme is based on the backstepping technique, approximated by a high order neural network. The third control scheme applies a decentralized neural i...

  19. Evolution of robotic arms.

    Science.gov (United States)

    Moran, Michael E

    2007-01-01

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

  20. Is Ethics of Robotics about Robots? Philosophy of Robotics Beyond Realism and Individualilsm.

    NARCIS (Netherlands)

    Coeckelbergh, Mark

    2011-01-01

    If we are doing ethics of robotics, what exactly is the object of our inquiry? This paper challenges 'individualist' robot ontology and 'individualist' social philosophy of robots. It is argued that ethics of robotics should not study and evaluate robotics exclusively in terms of individual

  1. Flip Video for Dummies

    CERN Document Server

    Hutsko, Joe

    2010-01-01

    The full-color guide to shooting great video with the Flip Video camera. The inexpensive Flip Video camera is currently one of the hottest must-have gadgets. It's portable and connects easily to any computer to transfer video you shoot onto your PC or Mac. Although the Flip Video camera comes with a quick-start guide, it lacks a how-to manual, and this full-color book fills that void! Packed with full-color screen shots throughout, Flip Video For Dummies shows you how to shoot the best possible footage in a variety of situations. You'll learn how to transfer video to your computer and then edi

  2. 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

  3. Realistic generation of natural phenomena based on video synthesis

    Science.gov (United States)

    Wang, Changbo; Quan, Hongyan; Li, Chenhui; Xiao, Zhao; Chen, Xiao; Li, Peng; Shen, Liuwei

    2009-10-01

    Research on the generation of natural phenomena has many applications in special effects of movie, battlefield simulation and virtual reality, etc. Based on video synthesis technique, a new approach is proposed for the synthesis of natural phenomena, including flowing water and fire flame. From the fire and flow video, the seamless video of arbitrary length is generated. Then, the interaction between wind and fire flame is achieved through the skeleton of flame. Later, the flow is also synthesized by extending the video textures using an edge resample method. Finally, we can integrate the synthesized natural phenomena into a virtual scene.

  4. 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.

  5. Humanlike Robots - The Upcoming Revolution in Robotics

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-01-01

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

  6. Humanlike robots: the upcoming revolution in robotics

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2009-08-01

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

  7. Evolutionary robotics – A review

    Indian Academy of Sciences (India)

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

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

  8. Grasping in Robotics

    CERN Document Server

    2013-01-01

    Grasping in Robotics contains original contributions in the field of grasping in robotics with a broad multidisciplinary approach. This gives the possibility of addressing all the major issues related to robotized grasping, including milestones in grasping through the centuries, mechanical design issues, control issues, modelling achievements and issues, formulations and software for simulation purposes, sensors and vision integration, applications in industrial field and non-conventional applications (including service robotics and agriculture).   The contributors to this book are experts in their own diverse and wide ranging fields. This multidisciplinary approach can help make Grasping in Robotics of interest to a very wide audience. In particular, it can be a useful reference book for researchers, students and users in the wide field of grasping in robotics from many different disciplines including mechanical design, hardware design, control design, user interfaces, modelling, simulation, sensors and hum...

  9. Robot Games for Elderly

    DEFF Research Database (Denmark)

    Hansen, Søren Tranberg

    2011-01-01

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

  10. Robotic surgery update.

    Science.gov (United States)

    Jacobsen, G; Elli, F; Horgan, S

    2004-08-01

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

  11. Mobile robot prototype detector of gamma radiation

    International Nuclear Information System (INIS)

    Vazquez C, R.M.; Duran V, M. D.; Jardon M, C. I.

    2014-10-01

    In this paper the technological development of a mobile robot prototype detector of gamma radiation is shown. This prototype has been developed for the purpose of algorithms implementation for the applications of terrestrial radiation monitoring of exposed sources, search for missing radioactive sources, identification and delineation of radioactive contamination areas and distribution maps generating of radioactive exposure. Mobile robot detector of radiation is an experimental technology development platform to operate in laboratory environment or flat floor facilities. The prototype integrates a driving section of differential configuration robot on wheels, a support mechanism and rotation of shielded detector, actuator controller cards, acquisition and processing of sensor data, detection algorithms programming and control actuators, data recording (Data Logger) and data transmission in wireless way. The robot in this first phase is remotely operated in wireless way with a range of approximately 150 m line of sight and can extend that range to 300 m or more with the use of signal repeaters. The gamma radiation detection is performed using a Geiger detector shielded. Scan detection is performed at various time sampling periods and diverse positions of discrete or continuous angular orientation on the horizon. The captured data are geographical coordinates of robot GPS (latitude and longitude), orientation angle of shield, counting by sampling time, date, hours, minutes and seconds. The data is saved in a file in the Micro Sd memory on the robot. They are also sent in wireless way by an X Bee card to a remote station that receives for their online monitoring on a laptop through an acquisition program by serial port on Mat Lab. Additionally a voice synthesizing card with a horn, both in the robot, periodically pronounced in Spanish, data length, latitude, orientation angle of shield and detected accounts. (Author)

  12. Fundamentals of soft robot locomotion

    OpenAIRE

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

    2017-01-01

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

  13. Human-Robot Site Survey and Sampling for Space Exploration

    Science.gov (United States)

    Fong, Terrence; Bualat, Maria; Edwards, Laurence; Flueckiger, Lorenzo; Kunz, Clayton; Lee, Susan Y.; Park, Eric; To, Vinh; Utz, Hans; Ackner, Nir

    2006-01-01

    NASA is planning to send humans and robots back to the Moon before 2020. In order for extended missions to be productive, high quality maps of lunar terrain and resources are required. Although orbital images can provide much information, many features (local topography, resources, etc) will have to be characterized directly on the surface. To address this need, we are developing a system to perform site survey and sampling. The system includes multiple robots and humans operating in a variety of team configurations, coordinated via peer-to-peer human-robot interaction. In this paper, we present our system design and describe planned field tests.

  14. Moving android: on social robots and body-in-interaction.

    Science.gov (United States)

    Alac, Morana

    2009-08-01

    Social robotics studies embodied technologies designed for social interaction. This paper examines the implied idea of embodiment using as data a sequence in which practitioners of social robotics are involved in designing a robot's movement. The moments of learning and work in the laboratory enact the social body as material, dynamic, and multiparty: the body-in-interaction. In describing subject-object reconfigurations, the paper explores how the well-known ideas of extending the body with instruments can be applied to a technology designed to function as our surrogate.

  15. A Fuzzy Control Based Stair-Climbing Service Robot

    OpenAIRE

    Wang, Ming-Shyan

    2010-01-01

    In the chapter, we have developed a stair-climbing robot to provide service for the elders and completed two walking experiments of moving up and down stairs with the rise/depth of 120/400 mm and 175/280 mm. The third experiment of object tracking, capturing, and loading by the arm have been shown in the taped pictures from videos to verify the proposed design. In fact, we will show the arm may capture the specific object during climbing up and down in the future. In addition, the robot will ...

  16. Motor modules in robot-aided walking

    Directory of Open Access Journals (Sweden)

    Gizzi Leonardo

    2012-10-01

    Full Text Available Abstract Background It is hypothesized that locomotion is achieved by means of rhythm generating networks (central pattern generators and muscle activation generating networks. This modular organization can be partly identified from the analysis of the muscular activity by means of factorization algorithms. The activity of rhythm generating networks is described by activation signals whilst the muscle intervention generating network is represented by motor modules (muscle synergies. In this study, we extend the analysis of modular organization of walking to the case of robot-aided locomotion, at varying speed and body weight support level. Methods Non Negative Matrix Factorization was applied on surface electromyographic signals of 8 lower limb muscles of healthy subjects walking in gait robotic trainer at different walking velocities (1 to 3km/h and levels of body weight support (0 to 30%. Results The muscular activity of volunteers could be described by low dimensionality (4 modules, as for overground walking. Moreover, the activation signals during robot-aided walking were bursts of activation timed at specific phases of the gait cycle, underlying an impulsive controller, as also observed in overground walking. This modular organization was consistent across the investigated speeds, body weight support level, and subjects. Conclusions These results indicate that walking in a Lokomat robotic trainer is achieved by similar motor modules and activation signals as overground walking and thus supports the use of robotic training for re-establishing natural walking patterns.

  17. Robotic liver surgery

    Science.gov (United States)

    Leung, Universe

    2014-01-01

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

  18. Robotized transcranial magnetic stimulation

    CERN Document Server

    Richter, Lars

    2014-01-01

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

  19. Raspberry Pi robotics projects

    CERN Document Server

    Grimmett, Richard

    2015-01-01

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

  20. Robots as Confederates

    DEFF Research Database (Denmark)

    Fischer, Kerstin

    2016-01-01

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

  1. 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...

  2. Robotic hand project

    OpenAIRE

    Karaçizmeli, Cengiz; Çakır, Gökçe; Tükel, Dilek

    2014-01-01

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

  3. Perspectives of construction robots

    Science.gov (United States)

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

    2018-03-01

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

  4. Robots de servicio

    OpenAIRE

    Aracil, Rafael; Balaguer, Carlos; Armada, Manuel

    2008-01-01

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

  5. Advanced robot locomotion.

    Energy Technology Data Exchange (ETDEWEB)

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

    2007-01-01

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

  6. Robotic assisted laparoscopic colectomy.

    LENUS (Irish Health Repository)

    Pandalai, S

    2010-06-01

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

  7. Autonomous military robotics

    CERN Document Server

    Nath, Vishnu

    2014-01-01

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

  8. Soft-Material Robotics

    OpenAIRE

    Wang, L; Nurzaman, SG; Iida, Fumiya

    2017-01-01

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

  9. Robotics for nuclear facilities

    International Nuclear Information System (INIS)

    Abe, Akira; Nakayama, Ryoichi; Kubo, Katsumi

    1988-01-01

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

  10. Increasing Robotic Science Applications

    Data.gov (United States)

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

  11. DSLs in robotics

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  12. Virtually numbed: immersive video gaming alters real-life experience.

    Science.gov (United States)

    Weger, Ulrich W; Loughnan, Stephen

    2014-04-01

    As actors in a highly mechanized environment, we are citizens of a world populated not only by fellow humans, but also by virtual characters (avatars). Does immersive video gaming, during which the player takes on the mantle of an avatar, prompt people to adopt the coldness and rigidity associated with robotic behavior and desensitize them to real-life experience? In one study, we correlated participants' reported video-gaming behavior with their emotional rigidity (as indicated by the number of paperclips that they removed from ice-cold water). In a second experiment, we manipulated immersive and nonimmersive gaming behavior and then likewise measured the extent of the participants' emotional rigidity. Both studies yielded reliable impacts, and thus suggest that immersion into a robotic viewpoint desensitizes people to real-life experiences in oneself and others.

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

    CERN Document Server

    Veiga, Germano; Natale, Ciro

    2014-01-01

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

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

    CERN Document Server

    Veiga, Germano; Natale, Ciro

    2014-01-01

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

  15. Autonomous mobile robotic system for supporting counterterrorist and surveillance operations

    Science.gov (United States)

    Adamczyk, Marek; Bulandra, Kazimierz; Moczulski, Wojciech

    2017-10-01

    Contemporary research on mobile robots concerns applications to counterterrorist and surveillance operations. The goal is to develop systems that are capable of supporting the police and special forces by carrying out such operations. The paper deals with a dedicated robotic system for surveillance of large objects such as airports, factories, military bases, and many others. The goal is to trace unauthorised persons who try to enter to the guarded area, document the intrusion and report it to the surveillance centre, and then warn the intruder by sound messages and eventually subdue him/her by stunning through acoustic effect of great power. The system consists of several parts. An armoured four-wheeled robot assures required mobility of the system. The robot is equipped with a set of sensors including 3D mapping system, IR and video cameras, and microphones. It communicates with the central control station (CCS) by means of a wideband wireless encrypted system. A control system of the robot can operate autonomously, and under remote control. In the autonomous mode the robot follows the path planned by the CCS. Once an intruder has been detected, the robot can adopt its plan to allow tracking him/her. Furthermore, special procedures of treatment of the intruder are applied including warning about the breach of the border of the protected area, and incapacitation of an appropriately selected very loud sound until a patrol of guards arrives. Once getting stuck the robot can contact the operator who can remotely solve the problem the robot is faced with.

  16. Development of a mobile robot for remote radiation measurement

    International Nuclear Information System (INIS)

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

    2016-01-01

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

  17. A simulation and training environment for robotic radiosurgery

    Energy Technology Data Exchange (ETDEWEB)

    Schlaefer, Alexander [University of Luebeck, Institute for Robotics and Cognitive Systems, Luebeck (Germany); Stanford University, Department of Radiation Oncology, Stanford, CA (United States); Gill, Jakub; Schweikard, Achim [University of Luebeck, Institute for Robotics and Cognitive Systems, Luebeck (Germany)

    2008-09-15

    To provide a software environment for simulation of robotic radiosurgery, particularly to study the effective robot workspace with respect to the treatment plan quality, and to illustrate the concepts of robotic radiosurgery. A simulation environment for a robotic radiosurgery system was developed using Java and Java3D. The kinematics and the beam characteristics were modeled and linked to a treatment planning module. Simulations of different robot workspace parameters for two example radiosurgical patient cases were performed using the novel software tool. The first case was an intracranial lesion near the left inner ear, the second case was a spinal lesion. The planning parameters for both cases were visualized with the novel simulation environment. An incremental extension of the robot workspace had limited effect for the intracranial case, where the original workspace already covered the left side of the patient. For the spinal case, a larger workspace resulted in a noticeable improvement in plan quality and a large portion of the beams being delivered from the extended workspace. The new software environment is useful to simulate and analyze parameters and configurations for robotic radiosurgery. An enlarged robot workspace may result in improved plan quality depending on the location of the target region. (orig.)

  18. A simulation and training environment for robotic radiosurgery

    International Nuclear Information System (INIS)

    Schlaefer, Alexander; Gill, Jakub; Schweikard, Achim

    2008-01-01

    To provide a software environment for simulation of robotic radiosurgery, particularly to study the effective robot workspace with respect to the treatment plan quality, and to illustrate the concepts of robotic radiosurgery. A simulation environment for a robotic radiosurgery system was developed using Java and Java3D. The kinematics and the beam characteristics were modeled and linked to a treatment planning module. Simulations of different robot workspace parameters for two example radiosurgical patient cases were performed using the novel software tool. The first case was an intracranial lesion near the left inner ear, the second case was a spinal lesion. The planning parameters for both cases were visualized with the novel simulation environment. An incremental extension of the robot workspace had limited effect for the intracranial case, where the original workspace already covered the left side of the patient. For the spinal case, a larger workspace resulted in a noticeable improvement in plan quality and a large portion of the beams being delivered from the extended workspace. The new software environment is useful to simulate and analyze parameters and configurations for robotic radiosurgery. An enlarged robot workspace may result in improved plan quality depending on the location of the target region. (orig.)

  19. Training value of laparoscopic colorectal videos on the World Wide Web: a pilot study on the educational quality of laparoscopic right hemicolectomy videos.

    Science.gov (United States)

    Celentano, V; Browning, M; Hitchins, C; Giglio, M C; Coleman, M G

    2017-11-01

    Instructive laparoscopy videos with appropriate exposition could be ideal for initial training in laparoscopic surgery, but unfortunately there are no guidelines for annotating these videos or agreed methods to measure the educational content and the safety of the procedure presented. Aim of this study is to systematically search the World Wide Web to determine the availability of laparoscopic colorectal surgery videos and to objectively establish their potential training value. A search for laparoscopic right hemicolectomy videos was performed on the three most used English language web search engines Google.com, Bing.com, and Yahoo.com; moreover, a survey among 25 local trainees was performed to identify additional websites for inclusion. All laparoscopic right hemicolectomy videos with an English language title were included. Videos of open surgery, single incision laparoscopic surgery, robotic, and hand-assisted surgery were excluded. The safety of the demonstrated procedure was assessed with a validated competency assessment tool specifically designed for laparoscopic colorectal surgery and data on the educational content of the video were extracted. Thirty-one websites were identified and 182 surgical videos were included. One hundred and seventy-three videos (95%) detailed the year of publication; this demonstrated a significant increase in the number of videos published per year from 2009. Characteristics of the patient were rarely presented, only 10 videos (5.4%) reported operating time and only 6 videos (3.2%) reported 30-day morbidity; 34 videos (18.6%) underwent a peer-review process prior to publication. Formal case presentation, the presence of audio narration, the use of diagrams, and snapshots and a step-by-step approach are all characteristics of peer-reviewed videos but no significant difference was found in the safety of the procedure. Laparoscopic videos can be a useful adjunct to operative training. There is a large and increasing amount of

  20. Storage, access, and retrieval of endoscopic and laparoscopic video

    Science.gov (United States)

    Bellaire, Gunter; Steines, Daniel; Graschew, Georgi; Thiel, Andreas; Bernarding, Johannes; Tolxdorff, Thomas; Schlag, Peter M.

    1999-05-01

    The system presented here enhances documentation and data- secured, second-opinion facilities by integrating video into DICOM3.0. Digital stereoscopic video sequences (DSVS) are especially in demand for surgery (laparoscopy, microsurgery, surgical microscopy, second opinion, virtual reality). Therefore DSVS are also integrated into the DICOM video concept. We present an implementation for a medical video server extended by a DICOM interface. Security mechanisms conforming with DICOM are integrated to enable secure internet access. Digital (stereoscopic) video sequences relevant for surgery should be examined regarding the clip length necessary for diagnosis and documentation and the clip size manageable with today's hardware. Methods for DSVS compression are described, implemented, and tested. Image sources relevant for this paper include, among others, a stereoscopic laparoscope and a monoscopic endoscope. Additionally, an approach is presented to analyze the motion of the endoscopic camera for future automatic video- cutting.

  1. Video control system for a drilling in furniture workpiece

    Science.gov (United States)

    Khmelev, V. L.; Satarov, R. N.; Zavyalova, K. V.

    2018-05-01

    During last 5 years, Russian industry has being starting to be a robotic, therefore scientific groups got new tasks. One of new tasks is machine vision systems, which should solve problem of automatic quality control. This type of systems has a cost of several thousand dollars each. The price is impossible for regional small business. In this article, we describe principle and algorithm of cheap video control system, which one uses web-cameras and notebook or desktop computer as a computing unit.

  2. Video Toroid Cavity Imager

    Energy Technology Data Exchange (ETDEWEB)

    Gerald, Rex E. II; Sanchez, Jairo; Rathke, Jerome W.

    2004-08-10

    A video toroid cavity imager for in situ measurement of electrochemical properties of an electrolytic material sample includes a cylindrical toroid cavity resonator containing the sample and employs NMR and video imaging for providing high-resolution spectral and visual information of molecular characteristics of the sample on a real-time basis. A large magnetic field is applied to the sample under controlled temperature and pressure conditions to simultaneously provide NMR spectroscopy and video imaging capabilities for investigating electrochemical transformations of materials or the evolution of long-range molecular aggregation during cooling of hydrocarbon melts. The video toroid cavity imager includes a miniature commercial video camera with an adjustable lens, a modified compression coin cell imager with a fiat circular principal detector element, and a sample mounted on a transparent circular glass disk, and provides NMR information as well as a video image of a sample, such as a polymer film, with micrometer resolution.

  3. Digital Video in Research

    DEFF Research Database (Denmark)

    Frølunde, Lisbeth

    2012-01-01

    Is video becoming “the new black” in academia, if so, what are the challenges? The integration of video in research methodology (for collection, analysis) is well-known, but the use of “academic video” for dissemination is relatively new (Eriksson and Sørensen). The focus of this paper is academic......). In the video, I appear (along with other researchers) and two Danish film directors, and excerpts from their film. My challenges included how to edit the academic video and organize the collaborative effort. I consider video editing as a semiotic, transformative process of “reassembling” voices....... In the discussion, I review academic video in terms of relevance and implications for research practice. The theoretical background is social constructivist, combining social semiotics (Kress, van Leeuwen, McCloud), visual anthropology (Banks, Pink) and dialogic theory (Bakhtin). The Bakhtinian notion of “voices...

  4. Reflections on academic video

    Directory of Open Access Journals (Sweden)

    Thommy Eriksson

    2012-11-01

    Full Text Available As academics we study, research and teach audiovisual media, yet rarely disseminate and mediate through it. Today, developments in production technologies have enabled academic researchers to create videos and mediate audiovisually. In academia it is taken for granted that everyone can write a text. Is it now time to assume that everyone can make a video essay? Using the online journal of academic videos Audiovisual Thinking and the videos published in it as a case study, this article seeks to reflect on the emergence and legacy of academic audiovisual dissemination. Anchoring academic video and audiovisual dissemination of knowledge in two critical traditions, documentary theory and semiotics, we will argue that academic video is in fact already present in a variety of academic disciplines, and that academic audiovisual essays are bringing trends and developments that have long been part of academic discourse to their logical conclusion.

  5. Multi-robot control interface

    Science.gov (United States)

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

    2011-12-06

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

  6. Pleasant to the Touch: By Emulating Nature, Scientists Hope to Find Innovative New Uses for Soft Robotics in Health-Care Technology.

    Science.gov (United States)

    Cianchetti, Matteo; Laschi, Cecilia

    2016-01-01

    Open your Internet browser and search for videos showing the most advanced humanoid robots. Look at how they move and walk. Observe their motion and their interaction with the environment (the ground, users, target objects). Now, search for a video of your favorite sports player. Despite the undoubtedly great achievements of modern robotics, it will become quite evident that a lot of work still remains.

  7. Sound for digital video

    CERN Document Server

    Holman, Tomlinson

    2013-01-01

    Achieve professional quality sound on a limited budget! Harness all new, Hollywood style audio techniques to bring your independent film and video productions to the next level.In Sound for Digital Video, Second Edition industry experts Tomlinson Holman and Arthur Baum give you the tools and knowledge to apply recent advances in audio capture, video recording, editing workflow, and mixing to your own film or video with stunning results. This fresh edition is chockfull of techniques, tricks, and workflow secrets that you can apply to your own projects from preproduction

  8. Translational control of a graphically simulated robot arm by kinematic rate equations that overcome elbow joint singularity

    Science.gov (United States)

    Barker, L. K.; Houck, J. A.; Carzoo, S. W.

    1984-01-01

    An operator commands a robot hand to move in a certain direction relative to its own axis system by specifying a velocity in that direction. This velocity command is then resolved into individual joint rotational velocities in the robot arm to effect the motion. However, the usual resolved-rate equations become singular when the robot arm is straightened. To overcome this elbow joint singularity, equations were developed which allow continued translational control of the robot hand even though the robot arm is (or is nearly) fully extended. A feature of the equations near full arm extension is that an operator simply extends and retracts the robot arm to reverse the direction of the elbow bend (difficult maneuver for the usual resolved-rate equations). Results show successful movement of a graphically simulated robot arm.

  9. An underwater robot controls water tanks in nuclear power plants

    International Nuclear Information System (INIS)

    Lardiere, C.

    2015-01-01

    The enterprises Newton Research Labs and IHI Southwest Technologies have developed a robot equipped with sensors to inspect the inside walls (partially) and bottom of water tanks without being obliged to empty them. The robot called 'Inspector' is made up of 4 main components: a chassis with 4 independent steering wheels, a camera video system able to provide a 360 degree view, various non-destructive testing devices such as underwater laser scanners, automated ultra-sound or Foucault current probes and an operation system for both driving the robot and controlling the testing. The Inspector robot has been used to inspect the inside bottom of an operating condensate tank at the Palo Verde nuclear station. The robot was able to check all the welds joining the bottom plates and the welds between the walls and the bottom. The robot is also able to come back to the exact place where a defect was detected during a previous inspection. (A.C.)

  10. Audio-Visual Perception System for a Humanoid Robotic Head

    Directory of Open Access Journals (Sweden)

    Raquel Viciana-Abad

    2014-05-01

    Full Text Available One of the main issues within the field of social robotics is to endow robots with the ability to direct attention to people with whom they are interacting. Different approaches follow bio-inspired mechanisms, merging audio and visual cues to localize a person using multiple sensors. However, most of these fusion mechanisms have been used in fixed systems, such as those used in video-conference rooms, and thus, they may incur difficulties when constrained to the sensors with which a robot can be equipped. Besides, within the scope of interactive autonomous robots, there is a lack in terms of evaluating the benefits of audio-visual attention mechanisms, compared to only audio or visual approaches, in real scenarios. Most of the tests conducted have been within controlled environments, at short distances and/or with off-line performance measurements. With the goal of demonstrating the benefit of fusing sensory information with a Bayes inference for interactive robotics, this paper presents a system for localizing a person by processing visual and audio data. Moreover, the performance of this system is evaluated and compared via considering the technical limitations of unimodal systems. The experiments show the promise of the proposed approach for the proactive detection and tracking of speakers in a human-robot interactive framework.

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

    International Nuclear Information System (INIS)

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

    1989-01-01

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

  12. Biomass feeds vegetarian robot; Biomassa voedt vegetarische robot

    Energy Technology Data Exchange (ETDEWEB)

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

    2009-09-15

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

  13. Design of multifunction anti-terrorism robotic system based on police dog

    Science.gov (United States)

    You, Bo; Liu, Suju; Xu, Jun; Li, Dongjie

    2007-11-01

    Aimed at some typical constraints of police dogs and robots used in the areas of reconnaissance and counterterrorism currently, the multifunction anti-terrorism robotic system based on police dog has been introduced. The system is made up of two parts: portable commanding device and police dog robotic system. The portable commanding device consists of power supply module, microprocessor module, LCD display module, wireless data receiving and dispatching module and commanding module, which implements the remote control to the police dogs and takes real time monitor to the video and images. The police dog robotic system consists of microprocessor module, micro video module, wireless data transmission module, power supply module and offence weapon module, which real time collects and transmits video and image data of the counter-terrorism sites, and gives military attack based on commands. The system combines police dogs' biological intelligence with micro robot. Not only does it avoid the complexity of general anti-terrorism robots' mechanical structure and the control algorithm, but it also widens the working scope of police dog, which meets the requirements of anti-terrorism in the new era.

  14. Can we trust robots?

    NARCIS (Netherlands)

    Coeckelbergh, Mark

    2011-01-01

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

  15. Robotics in endoscopy.

    Science.gov (United States)

    Klibansky, David; Rothstein, Richard I

    2012-09-01

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

  16. Neuronal nets in robotics

    International Nuclear Information System (INIS)

    Jimenez Sanchez, Raul

    1999-01-01

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

  17. Modelling of Hydraulic Robot

    DEFF Research Database (Denmark)

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

    1997-01-01

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

  18. Robots that care

    NARCIS (Netherlands)

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

    2010-01-01

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

  19. Robotics and Industrial Arts.

    Science.gov (United States)

    Edmison, Glenn A.; And Others

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

  20. Robotics in medicine

    Science.gov (United States)

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

    2015-11-01

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

  1. Multi-robot caravanning

    KAUST Repository

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

    2013-01-01

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

  2. Going Green Robots

    Science.gov (United States)

    Nelson, Jacqueline M.

    2011-01-01

    In looking at the interesting shapes and sizes of old computer parts, creating robots quickly came to the author's mind. In this article, she describes how computer parts can be used creatively. Students will surely enjoy creating their very own robots while learning about the importance of recycling in the society. (Contains 1 online resource.)

  3. Reflection on robotic intelligence

    NARCIS (Netherlands)

    Bartneck, C.

    2006-01-01

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

  4. Robots Cannot Lie

    DEFF Research Database (Denmark)

    Borggreen, Gunhild

    2014-01-01

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

  5. Intelligent robot action planning

    Energy Technology Data Exchange (ETDEWEB)

    Vamos, T; Siegler, A

    1982-01-01

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

  6. Robot Vision Library

    Science.gov (United States)

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

    2009-01-01

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

  7. Innovations in robotic surgery.

    Science.gov (United States)

    Gettman, Matthew; Rivera, Marcelino

    2016-05-01

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

  8. Specialized video systems for use in underground storage tanks

    International Nuclear Information System (INIS)

    Heckendom, F.M.; Robinson, C.W.; Anderson, E.K.; Pardini, A.F.

    1994-01-01

    The Robotics Development Groups at the Savannah River Site and the Hanford site have developed remote video and photography systems for deployment in underground radioactive waste storage tanks at Department of Energy (DOE) sites as a part of the Office of Technology Development (OTD) program within DOE. Figure 1 shows the remote video/photography systems in a typical underground storage tank environment. Viewing and documenting the tank interiors and their associated annular spaces is an extremely valuable tool in characterizing their condition and contents and in controlling their remediation. Several specialized video/photography systems and robotic End Effectors have been fabricated that provide remote viewing and lighting. All are remotely deployable into and from the tank, and all viewing functions are remotely operated. Positioning all control components away from the facility prevents the potential for personnel exposure to radiation and contamination. Overview video systems, both monaural and stereo versions, include a camera, zoom lens, camera positioner, vertical deployment system, and positional feedback. Each independent video package can be inserted through a 100 mm (4 in.) diameter opening. A special attribute of these packages is their design to never get larger than the entry hole during operation and to be fully retrievable. The End Effector systems will be deployed on the large robotic Light Duty Utility Arm (LDUA) being developed by other portions of the OTD-DOE programs. The systems implement a multi-functional ''over the coax'' design that uses a single coaxial cable for all data and control signals over the more than 900 foot cable (or fiber optic) link

  9. Extending Mobile Security Robots to Force Protection Missions

    National Research Council Canada - National Science Library

    Carroll, Daniel

    2002-01-01

    ...) sites for physical security and automated inventory missions MDARS was initiated in 1989 to improve the effectiveness of a shrinking guard force, but was quickly expanded to address the intensive...

  10. Crowdsourcing: a valid alternative to expert evaluation of robotic surgery skills.

    Science.gov (United States)

    Polin, Michael R; Siddiqui, Nazema Y; Comstock, Bryan A; Hesham, Helai; Brown, Casey; Lendvay, Thomas S; Martino, Martin A

    2016-11-01

    Robotic-assisted gynecologic surgery is common, but requires unique training. A validated assessment tool for evaluating trainees' robotic surgery skills is Robotic-Objective Structured Assessments of Technical Skills. We sought to assess whether crowdsourcing can be used as an alternative to expert surgical evaluators in scoring Robotic-Objective Structured Assessments of Technical Skills. The Robotic Training Network produced the Robotic-Objective Structured Assessments of Technical Skills, which evaluate trainees across 5 dry lab robotic surgical drills. Robotic-Objective Structured Assessments of Technical Skills were previously validated in a study of 105 participants, where dry lab surgical drills were recorded, de-identified, and scored by 3 expert surgeons using the Robotic-Objective Structured Assessments of Technical Skills checklist. Our methods-comparison study uses these previously obtained recordings and expert surgeon scores. Mean scores per participant from each drill were separated into quartiles. Crowdworkers were trained and calibrated on Robotic-Objective Structured Assessments of Technical Skills scoring using a representative recording of a skilled and novice surgeon. Following this, 3 recordings from each scoring quartile for each drill were randomly selected. Crowdworkers evaluated the randomly selected recordings using Robotic-Objective Structured Assessments of Technical Skills. Linear mixed effects models were used to derive mean crowdsourced ratings for each drill. Pearson correlation coefficients were calculated to assess the correlation between crowdsourced and expert surgeons' ratings. In all, 448 crowdworkers reviewed videos from 60 dry lab drills, and completed a total of 2517 Robotic-Objective Structured Assessments of Technical Skills assessments within 16 hours. Crowdsourced Robotic-Objective Structured Assessments of Technical Skills ratings were highly correlated with expert surgeon ratings across each of the 5 dry lab drills

  11. Robot skills for manufacturing

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  12. Robotics at Savannah River

    International Nuclear Information System (INIS)

    Byrd, J.S.

    1983-01-01

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

  13. Evidence for robots.

    Science.gov (United States)

    Shenoy, Ravikiran; Nathwani, Dinesh

    2017-01-01

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

  14. Robotics: The next step?

    Science.gov (United States)

    Broeders, Ivo A M J

    2014-02-01

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

  15. A user interface for mobile robotized tele-echography

    International Nuclear Information System (INIS)

    Triantafyllidis, G.A.; Thomos, N.; Canero, C.; Vieyres, P.; Strintzis, M.G.

    2006-01-01

    Ultrasound imaging allows the evaluation of the degree of emergency of a patient. However, in many situations no experienced sonographer is available to perform such echography. To cope with this issue, the OTELO project 'mObile Tele-Echography using an ultra-Light rObot' (OTELO) aims to develop a fully integrated end-to-end mobile tele-echography system using an ultralight, remotely controlled six degree-of-freedom (DOF) robot. In this context, this paper deals with the user interface environment of the OTELO system, composed by the following parts: an ultrasound video transmission system providing real-time images of the scanned area at each moment, an audio/video conference to communicate with the paramedical assistant and the patient, and finally a virtual reality environment, providing visual and haptic feedback to the expert, while capturing the expert's hand movements with a one-DOF hand free input device

  16. FroboMind, proposing a conceptual architecture for agricultural field robot navigation

    DEFF Research Database (Denmark)

    Jensen, Kjeld; Bøgild, Anders; Nielsen, Søren Hundevadt

    2011-01-01

    The aim of this work is to propose a conceptual system architecture Field Robot Cognitive System Architecture (FroboMind). which can provide the flexibility and extend ability required for further research and development within cognition based navigation of plant nursing robots....

  17. Interaction with Soft Robotic Tentacles

    DEFF Research Database (Denmark)

    Jørgensen, Jonas

    2018-01-01

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

  18. Robots: An Impact on Education.

    Science.gov (United States)

    Blaesi, LaVon; Maness, Marion

    1984-01-01

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

  19. Remote controlled data collector robot

    Directory of Open Access Journals (Sweden)

    Jozsef Suto

    2012-06-01

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

  20. Assistance System for Disabled People: A Robot Controlled by Blinking and Wireless Link

    Science.gov (United States)

    Del Val, Lara; Jiménez, María I.; Alonso, Alonso; de La Rosa, Ramón; Izquierdo, Alberto; Carrera, Albano

    Disabled people already profit from a lot of technical assistance that improves their quality of life. This article presents a system which will allow interaction between a physically disabled person and his environment. This system is controlled by voluntary muscular movements, particularly those of face muscles. These movements will be translated into machine-understandable instructions, and they will be sent by means of a wireless link to a mobile robot that will execute them. Robot includes a video camera, in order to show the user the environment of the route that the robot follows. This system gives a greater personal autonomy to people with reduced mobility.

  1. What do we do with all this video? Better understanding public engagement for image and video annotation

    Science.gov (United States)

    Wiener, C.; Miller, A.; Zykov, V.

    2016-12-01

    Advanced robotic vehicles are increasingly being used by oceanographic research vessels to enable more efficient and widespread exploration of the ocean, particularly the deep ocean. With cutting-edge capabilities mounted onto robotic vehicles, data at high resolutions is being generated more than ever before, enabling enhanced data collection and the potential for broader participation. For example, high resolution camera technology not only improves visualization of the ocean environment, but also expands the capacity to engage participants remotely through increased use of telepresence and virtual reality techniques. Schmidt Ocean Institute is a private, non-profit operating foundation established to advance the understanding of the world's oceans through technological advancement, intelligent observation and analysis, and open sharing of information. Telepresence-enabled research is an important component of Schmidt Ocean Institute's science research cruises, which this presentation will highlight. Schmidt Ocean Institute is one of the only research programs that make their entire underwater vehicle dive series available online, creating a collection of video that enables anyone to follow deep sea research in real time. We encourage students, educators and the general public to take advantage of freely available dive videos. Additionally, other SOI-supported internet platforms, have engaged the public in image and video annotation activities. Examples of these new online platforms, which utilize citizen scientists to annotate scientific image and video data will be provided. This presentation will include an introduction to SOI-supported video and image tagging citizen science projects, real-time robot tracking, live ship-to-shore communications, and an array of outreach activities that enable scientists to interact with the public and explore the ocean in fascinating detail.

  2. Processing Decoded Video for Backlight Dimming

    DEFF Research Database (Denmark)

    Burini, Nino; Korhonen, Jari

    rendition of the signals, particularly in the case of LCDs with dynamic local backlight. This thesis shows that it is possible to model LCDs with dynamic backlight to design algorithms that improve the visual quality of 2D and 3D content, and that digital video coding artifacts like blocking or ringing can......Quality of digital image and video signals on TV screens is aected by many factors, including the display technology and compression standards. An accurate knowledge of the characteristics of the display andof the video signals can be used to develop advanced algorithms that improve the visual...... be reduced with post-processing. LCD screens with dynamic local backlight are modeled in their main aspects, like pixel luminance, light diusion and light perception. Following the model, novel algorithms based on optimization are presented and extended, then reduced in complexity, to produce backlights...

  3. The Video Generation.

    Science.gov (United States)

    Provenzo, Eugene F., Jr.

    1992-01-01

    Video games are neither neutral nor harmless but represent very specific social and symbolic constructs. Research on the social content of today's video games reveals that sex bias and gender stereotyping are widely evident throughout the Nintendo games. Violence and aggression also pervade the great majority of the games. (MLF)

  4. SECRETS OF SONG VIDEO

    Directory of Open Access Journals (Sweden)

    Chernyshov Alexander V.

    2014-04-01

    Full Text Available The article focuses on the origins of the song videos as TV and Internet-genre. In addition, it considers problems of screen images creation depending on the musical form and the text of a songs in connection with relevant principles of accent and phraseological video editing and filming techniques as well as with additional frames and sound elements.

  5. Reviews in instructional video

    NARCIS (Netherlands)

    van der Meij, Hans

    2017-01-01

    This study investigates the effectiveness of a video tutorial for software training whose construction was based on a combination of insights from multimedia learning and Demonstration-Based Training. In the videos, a model of task performance was enhanced with instructional features that were

  6. Videos - The National Guard

    Science.gov (United States)

    Legislative Liaison Small Business Programs Social Media State Websites Videos Featured Videos On Every Front 2:17 Always Ready, Always There National Guard Bureau Diversity and Inclusion Play Button 1:04 National Guard Bureau Diversity and Inclusion The ChalleNGe Ep.5 [Graduation] Play Button 3:51 The

  7. 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

  8. Intelligent lead: a novel HRI sensor for guide robots.

    Science.gov (United States)

    Cho, Keum-Bae; Lee, Beom-Hee

    2012-01-01

    This paper addresses the introduction of a new Human Robot Interaction (HRI) sensor for guide robots. Guide robots for geriatric patients or the visually impaired should follow user's control command, keeping a certain desired distance allowing the user to work freely. Therefore, it is necessary to acquire control commands and a user's position on a real-time basis. We suggest a new sensor fusion system to achieve this objective and we will call this sensor the "intelligent lead". The objective of the intelligent lead is to acquire a stable distance from the user to the robot, speed-control volume and turn-control volume, even when the robot platform with the intelligent lead is shaken on uneven ground. In this paper we explain a precise Extended Kalman Filter (EKF) procedure for this. The intelligent lead physically consists of a Kinect sensor, the serial linkage attached with eight rotary encoders, and an IMU (Inertial Measurement Unit) and their measurements are fused by the EKF. A mobile robot was designed to test the performance of the proposed sensor system. After installing the intelligent lead in the mobile robot, several tests are conducted to verify that the mobile robot with the intelligent lead is capable of achieving its goal points while maintaining the appropriate distance between the robot and the user. The results show that we can use the intelligent lead proposed in this paper as a new HRI sensor joined a joystick and a distance measure in the mobile environments such as the robot and the user are moving at the same time.

  9. An Exploratory Investigation into the Effects of Adaptation in Child-Robot Interaction

    Science.gov (United States)

    Salter, Tamie; Michaud, François; Létourneau, Dominic

    The work presented in this paper describes an exploratory investigation into the potential effects of a robot exhibiting an adaptive behaviour in reaction to a child’s interaction. In our laboratory we develop robotic devices for a diverse range of children that differ in age, gender and ability, which includes children that are diagnosed with cognitive difficulties. As all children vary in their personalities and styles of interaction, it would follow that adaptation could bring many benefits. In this abstract we give our initial examination of a series of trials which explore the effects of a fully autonomous rolling robot exhibiting adaptation (through changes in motion and sound) compared to it exhibiting pre-programmed behaviours. We investigate sensor readings on-board the robot that record the level of ‘interaction’ that the robot receives when a child plays with it and also we discuss the results from analysing video footage looking at the social aspect of the trial.

  10. Study of Robust Position Recognition System of a Mobile Robot Using Multiple Cameras and Absolute Space Coordinates

    International Nuclear Information System (INIS)

    Mo, Se Hyun; Jeon, Young Pil; Park, Jong Ho; Chong, Kil To

    2017-01-01

    With the development of ICT technology, the indoor utilization of robots is increasing. Research on transportation, cleaning, guidance robots, etc., that can be used now or increase the scope of future use will be advanced. To facilitate the use of mobile robots in indoor spaces, the problem of self-location recognition is an important research area to be addressed. If an unexpected collision occurs during the motion of a mobile robot, the position of the mobile robot deviates from the initially planned navigation path. In this case, the mobile robot needs a robust controller that enables the mobile robot to accurately navigate toward the goal. This research tries to address the issues related to self-location of the mobile robot. A robust position recognition system was implemented; the system estimates the position of the mobile robot using a combination of encoder information of the mobile robot and the absolute space coordinate transformation information obtained from external video sources such as a large number of CCTVs installed in the room. Furthermore, vector field histogram method of the pass traveling algorithm of the mobile robot system was applied, and the results of the research were confirmed after conducting experiments.

  11. Study of Robust Position Recognition System of a Mobile Robot Using Multiple Cameras and Absolute Space Coordinates

    Energy Technology Data Exchange (ETDEWEB)

    Mo, Se Hyun [Amotech, Seoul (Korea, Republic of); Jeon, Young Pil [Samsung Electronics Co., Ltd. Suwon (Korea, Republic of); Park, Jong Ho [Seonam Univ., Namwon (Korea, Republic of); Chong, Kil To [Chon-buk Nat' 1 Univ., Junju (Korea, Republic of)

    2017-07-15

    With the development of ICT technology, the indoor utilization of robots is increasing. Research on transportation, cleaning, guidance robots, etc., that can be used now or increase the scope of future use will be advanced. To facilitate the use of mobile robots in indoor spaces, the problem of self-location recognition is an important research area to be addressed. If an unexpected collision occurs during the motion of a mobile robot, the position of the mobile robot deviates from the initially planned navigation path. In this case, the mobile robot needs a robust controller that enables the mobile robot to accurately navigate toward the goal. This research tries to address the issues related to self-location of the mobile robot. A robust position recognition system was implemented; the system estimates the position of the mobile robot using a combination of encoder information of the mobile robot and the absolute space coordinate transformation information obtained from external video sources such as a large number of CCTVs installed in the room. Furthermore, vector field histogram method of the pass traveling algorithm of the mobile robot system was applied, and the results of the research were confirmed after conducting experiments.

  12. The Northwest Indiana Robotic Telescope

    Science.gov (United States)

    Slavin, Shawn D.; Rengstorf, A. W.; Aros, J. C.; Segally, W. B.

    2011-01-01

    The Northwest Indiana Robotic (NIRo) Telescope is a remote, automated observing facility recently built by Purdue University Calumet (PUC) at a site in Lowell, IN, approximately 30 miles from the PUC campus. The recently dedicated observatory will be used for broadband and narrowband optical observations by PUC students and faculty, as well as pre-college students through the implementation of standards-based, middle-school modules developed by PUC astronomers and education faculty. The NIRo observatory and its web portal are the central technical elements of a project to improve astronomy education at Purdue Calumet and, more broadly, to improve science education in middle schools of the surrounding region. The NIRo Telescope is a 0.5-meter (20-inch) Ritchey-Chrétien design on a Paramount ME robotic mount, featuring a seven-position filter wheel (UBVRI, Hα, Clear), Peltier (thermoelectrically) cooled CCD camera with 3056 x 3056, square, 12 μm pixels, and off-axis guiding. It provides a coma-free imaging field of 0.5 degrees square, with a plate scale of 0.6 arcseconds per pixel. The observatory has a wireless internet connection, local weather station which publishes data to an internet weather site, and a suite of CCTV security cameras on an IP-based, networked video server. Control of power to every piece of instrumentation is maintained via internet-accessible power distribution units. The telescope can be controlled on-site, or off-site in an attended fashion via an internet connection, but will be used primarily in an unattended mode of automated observation, where queued observations will be scheduled daily from a database of requests. Completed observational data from queued operation will be stored on a campus-based server, which also runs the web portal and observation database. Partial support for this work was provided by the National Science Foundation's Course, Curriculum, and Laboratory Improvement (CCLI) program under Award No. 0736592.

  13. Rheumatoid Arthritis Educational Video Series

    Medline Plus

    Full Text Available ... Patient Webcasts / Rheumatoid Arthritis Educational Video Series Rheumatoid Arthritis Educational Video Series This series of five videos ... member of our patient care team. Managing Your Arthritis Managing Your Arthritis Managing Chronic Pain and Depression ...

  14. Rheumatoid Arthritis Educational Video Series

    Science.gov (United States)

    ... Corner / Patient Webcasts / Rheumatoid Arthritis Educational Video Series Rheumatoid Arthritis Educational Video Series This series of five videos ... Your Arthritis Managing Chronic Pain and Depression in Arthritis Nutrition & Rheumatoid Arthritis Arthritis and Health-related Quality of Life ...

  15. NEI You Tube Videos: Amblyopia

    Medline Plus

    Full Text Available ... YouTube Videos: Amblyopia Embedded video for NEI YouTube Videos: Amblyopia ... *PDF files require the free Adobe® Reader® software for viewing. This website is maintained by the ...

  16. NEI You Tube Videos: Amblyopia

    Medline Plus

    Full Text Available ... questions Clinical Studies Publications Catalog Photos and Images Spanish Language Information Grants and Funding Extramural Research Division ... Low Vision Refractive Errors Retinopathy of Prematurity Science Spanish Videos Webinars NEI YouTube Videos: Amblyopia Embedded video ...

  17. The Design and Implementation of a Biomimetic Robot Fish

    Directory of Open Access Journals (Sweden)

    Chao Zhou

    2008-11-01

    Full Text Available In this paper, a novel design of a biomimetic robot fish is presented. Based on the propulsion and maneuvering mechanisms of real fishes, a tail mechanical structure with cams and connecting rods for fitting carangiform fish body wave is designed, which provides the main propulsion. Two pectoral fins are mounted, and each pectoral fin can flap separately and rotate freely. Coordinating the movements of the tail and pectoral fins, the robot fish can simulate the movements of fishes in water. In order to obtain the necessary environmental information, several kinds of sensors (video, infrared, temperature, pressure and PH value sensors were mounted. Finally, the realization of the robot fish is presented.

  18. The Design and Implementation of a Biomimetic Robot Fish

    Directory of Open Access Journals (Sweden)

    Chao Zhou

    2008-06-01

    Full Text Available In this paper, a novel design of a biomimetic robot fish is presented. Based on the propulsion and maneuvering mechanisms of real fishes, a tail mechanical structure with cams and connecting rods for fitting carangiform fish body wave is designed, which provides the main propulsion. Two pectoral fins are mounted, and each pectoral fin can flap separately and rotate freely. Coordinating the movements of the tail and pectoral fins, the robot fish can simulate the movements of fishes in water. In order to obtain the necessary environmental information, several kinds of sensors (video, infrared, temperature, pressure and PH value sensors were mounted. Finally, the realization of the robot fish is presented.

  19. REPORT ON FIRST INTERNATIONAL WORKSHOP ON ROBOTIC SURGERY IN THORACIC ONCOLOGY

    Directory of Open Access Journals (Sweden)

    Giulia Veronesi

    2016-10-01

    Full Text Available A workshop of experts from France, Germany, Italy and the United States took place at Humanitas Research Hospital Milan, Italy, on 10-11 February 2016, to examine techniques for and applications of robotic surgery to thoracic oncology. The main topics of presentation and discussion were: robotic surgery for lung resection; robot-assisted thymectomy; minimally invasive surgery for esophageal cancer; new developments in computer-assisted surgery and medical applications of robots; the challenge of costs; and future clinical research in robotic thoracic surgery. The following article summarizes the main contributions to the workshop. The Workshop consensus was that, since video-assisted thoracoscopic surgery (VATS is becoming the mainstream approach to resectable lung cancer in North America and Europe, robotic surgery for thoracic oncology is likely to be embraced by an increasing numbers of thoracic surgeons, since it has technical advantages over VATS, including intuitive movements, tremor filtration, more degrees of manipulative freedom, motion scaling, and high definition stereoscopic vision. These advantages may make robotic surgery more accessible than VATS to trainees and experienced surgeons, and also lead to expanded indications. However the high costs of robotic surgery and absence of tactile feedback remain obstacles to widespread dissemination. A prospective multicentric randomized trial (NCT02804893 to compare robotic and VATS approaches to stage I and II lung cancer will start shortly.

  20. Report on First International Workshop on Robotic Surgery in Thoracic Oncology.

    Science.gov (United States)

    Veronesi, Giulia; Cerfolio, Robert; Cingolani, Roberto; Rueckert, Jens C; Soler, Luc; Toker, Alper; Cariboni, Umberto; Bottoni, Edoardo; Fumagalli, Uberto; Melfi, Franca; Milli, Carlo; Novellis, Pierluigi; Voulaz, Emanuele; Alloisio, Marco

    2016-01-01

    A workshop of experts from France, Germany, Italy, and the United States took place at Humanitas Research Hospital Milan, Italy, on February 10 and 11, 2016, to examine techniques for and applications of robotic surgery to thoracic oncology. The main topics of presentation and discussion were robotic surgery for lung resection; robot-assisted thymectomy; minimally invasive surgery for esophageal cancer; new developments in computer-assisted surgery and medical applications of robots; the challenge of costs; and future clinical research in robotic thoracic surgery. The following article summarizes the main contributions to the workshop. The Workshop consensus was that since video-assisted thoracoscopic surgery (VATS) is becoming the mainstream approach to resectable lung cancer in North America and Europe, robotic surgery for thoracic oncology is likely to be embraced by an increasing numbers of thoracic surgeons, since it has technical advantages over VATS, including intuitive movements, tremor filtration, more degrees of manipulative freedom, motion scaling, and high-definition stereoscopic vision. These advantages may make robotic surgery more accessible than VATS to trainees and experienced surgeons and also lead to expanded indications. However, the high costs of robotic surgery and absence of tactile feedback remain obstacles to widespread dissemination. A prospective multicentric randomized trial (NCT02804893) to compare robotic and VATS approaches to stages I and II lung cancer will start shortly.

  1. Social video content delivery

    CERN Document Server

    Wang, Zhi; Zhu, Wenwu

    2016-01-01

    This brief presents new architecture and strategies for distribution of social video content. A primary framework for socially-aware video delivery and a thorough overview of the possible approaches is provided. The book identifies the unique characteristics of socially-aware video access and social content propagation, revealing the design and integration of individual modules that are aimed at enhancing user experience in the social network context. The change in video content generation, propagation, and consumption for online social networks, has significantly challenged the traditional video delivery paradigm. Given the massive amount of user-generated content shared in online social networks, users are now engaged as active participants in the social ecosystem rather than as passive receivers of media content. This revolution is being driven further by the deep penetration of 3G/4G wireless networks and smart mobile devices that are seamlessly integrated with online social networking and media-sharing s...

  2. Online video examination

    DEFF Research Database (Denmark)

    Qvist, Palle

    have large influence on their own teaching, learning and curriculum. The programme offers streamed videos in combination with other learning resources. It is a concept which offers video as pure presentation - video lectures - but also as an instructional tool which gives the students the possibility...... to construct their knowledge, collaboration and communication. In its first years the programme has used Skype video communication for collaboration and communication within and between groups, group members and their facilitators. Also exams have been mediated with the help of Skype and have for all students......, examiners and external examiners been a challenge and opportunity and has brought new knowledge and experience. This paper brings results from a questionnaire focusing on how the students experience the video examination....

  3. Da Vinci robot-assisted system for thymectomy: experience of 55 patients in China.

    Science.gov (United States)

    Jun, Yi; Hao, Li; Demin, Li; Guohua, Dong; Hua, Jing; Yi, Shen

    2014-09-01

    Da Vinci robot-assisted thymectomy has been used in the past several years in China, however, practical experience in performing this approach in China remains limited. Thus, the study aimed to evaluate the experience of da Vinci robot-assisted thymectomy in China. From June 2010 to December 2012, 55 patients with diseases of the thymus underwent thymectomy using the da Vinci surgical HD robotic system. The clinical data of the da Vinci robot-assisted thymectomies were compared with the data of video-assisted thoracoscopic thymectomies in the same period. All da Vinci robot operations were successful. This is a retrospective analysis which demonstrated that compared with video-assisted thoracoscopic thymectomy in the same period, the clinical outcomes of da Vinci robot-assisted thymectomy were not significantly different. The da Vinci robot-assisted thymectomy is a safe, minimally invasive, and convenient operation, and shows promise for general thoracic surgery in China. Copyright © 2014 John Wiley & Sons, Ltd.

  4. Tactical mobile robots for urban search and rescue

    Science.gov (United States)

    Blitch, John; Sidki, Nahid; Durkin, Tim

    2000-07-01

    Few disasters can inspire more compassion for victims and families than those involving structural collapse. Video clips of children's bodies pulled from earthquake stricken cities and bombing sties tend to invoke tremendous grief and sorrow because of the totally unpredictable nature of the crisis and lack of even the slightest degree of negligence (such as with those who choose to ignore storm warnings). Heartbreaking stories of people buried alive for days provide a visceral and horrific perspective of some of greatest fears ever to be imagined by human beings. Current trends toward urban sprawl and increasing human discord dictates that structural collapse disasters will continue to present themselves at an alarming rate. The proliferation of domestic terrorism, HAZMAT and biological contaminants further complicates the matter further and presents a daunting problem set for Urban Search and Rescue (USAR) organizations around the world. This paper amplifies the case for robot assisted search and rescue that was first presented during the KNOBSAR project initiated at the Colorado School of Mines in 1995. It anticipates increasing technical development in mobile robot technologies and promotes their use for a wide variety of humanitarian assistance missions. Focus is placed on development of advanced robotic systems that are employed in a complementary tool-like fashion as opposed to traditional robotic approaches that portend to replace humans in hazardous tasks. Operational challenges for USAR are presented first, followed by a brief history of mobiles robot development. The paper then presents conformal robotics as a new design paradigm with emphasis on variable geometry and volumes. A section on robot perception follows with an initial attempt to characterize sensing in a volumetric manner. Collaborative rescue is then briefly discussed with an emphasis on marsupial operations and linked mobility. The paper concludes with an emphasis on Human Robot Interface

  5. Extending Science lessons with Virtual Reality

    OpenAIRE

    Minocha, Shailey; Tudor, Ana-Despina; Tilling, Steve; Needham, Richard

    2016-01-01

    The Open University, Field Studies Council and Association for Science Education are conducting research into the use of Google Expeditions and other virtual reality tools to a) augment and extend field work experiences; and b) as an additional tool in the classrooms along with resources such as videos, photographs. \\ud \\ud The following aspects were discussed in this workshop:\\ud \\ud Does the virtual reality technology improve student engagement, and what are the implications for teachers?\\u...

  6. Robotics for nuclear power plants

    International Nuclear Information System (INIS)

    Shiraiwa, Takanori; Watanabe, Atsuo; Miyasawa, Tatsuo

    1984-01-01

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

  7. Robotics for nuclear power plants

    Energy Technology Data Exchange (ETDEWEB)

    Shiraiwa, Takanori; Watanabe, Atsuo; Miyasawa, Tatsuo

    1984-10-01

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

  8. Improving therapeutic outcomes in autism spectrum disorders: Enhancing social communication and sensory processing through the use of interactive robots.

    Science.gov (United States)

    Sartorato, Felippe; Przybylowski, Leon; Sarko, Diana K

    2017-07-01

    For children with autism spectrum disorders (ASDs), social robots are increasingly utilized as therapeutic tools in order to enhance social skills and communication. Robots have been shown to generate a number of social and behavioral benefits in children with ASD including heightened engagement, increased attention, and decreased social anxiety. Although social robots appear to be effective social reinforcement tools in assistive therapies, the perceptual mechanism underlying these benefits remains unknown. To date, social robot studies have primarily relied on expertise in fields such as engineering and clinical psychology, with measures of social robot efficacy principally limited to qualitative observational assessments of children's interactions with robots. In this review, we examine a range of socially interactive robots that currently have the most widespread use as well as the utility of these robots and their therapeutic effects. In addition, given that social interactions rely on audiovisual communication, we discuss how enhanced sensory processing and integration of robotic social cues may underlie the perceptual and behavioral benefits that social robots confer. Although overall multisensory processing (including audiovisual integration) is impaired in individuals with ASD, social robot interactions may provide therapeutic benefits by allowing audiovisual social cues to be experienced through a simplified version of a human interaction. By applying systems neuroscience tools to identify, analyze, and extend the multisensory perceptual substrates that may underlie the therapeutic benefits of social robots, future studies have the potential to strengthen the clinical utility of social robots for individuals with ASD. Copyright © 2017 Elsevier Ltd. All rights reserved.

  9. Toward cognitive robotics

    Science.gov (United States)

    Laird, John E.

    2009-05-01

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

  10. Future of robotic surgery.

    Science.gov (United States)

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

    2013-01-01

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

  11. Building technology platform aimed to develop service robot with embedded personality and enhanced communication with social environment

    Directory of Open Access Journals (Sweden)

    Aleksandar Rodić

    2015-04-01

    Full Text Available The paper is addressed to prototyping of technology platform aimed to develop of ambient-aware human-centric indoor service robot with attributes of emotional intelligence to enhance interaction with social environment. The robot consists of a wheel-based mobile platform with spinal (segmented torso, bi-manual manipulation system with multi-finger robot hands and robot head. Robot prototype was designed to see, hear, speak and use its multimodal interface for enhanced communication with humans. Robot is capable of demonstrating its affective and social behavior by using audio and video interface as well as body gestures. Robot is equipped with advanced perceptive system based on heterogeneous sensorial system, including laser range finder, ultrasonic distance sensors and proximity detectors, 3-axis inertial sensor (accelerometer and gyroscope, stereo vision system, 2 wide-range microphones, and 2 loudspeakers. The device is foreseen to operate autonomously but it may be also operated remotely from a host computer through wireless communication link as well as by use of a smart-phone based on advanced client-server architecture. Robot prototype has embedded attributes of artificial intelligence and utilizes advanced cognitive capabilities such as spatial reasoning, obstacle and collision avoidance, simultaneous localization and mapping, etc. Robot is designed in a manner to enable uploading of new or changing existing algorithms of emotional intelligence that should provide to robot human-like affective and social behavior. The key objective of the project presented in the paper regards to building advanced technology platform for research and development of personal robots aimed to use for different purpose, e.g. robot-entertainer, battler, robot for medical care, security robot, etc. In a word, the designed technology platform is expected to help in development human-centered service robots to be used at home, in the office, public institutions

  12. Mobile robot prototype detector of gamma radiation; Prototipo de robot movil detector de radiacion gamma

    Energy Technology Data Exchange (ETDEWEB)

    Vazquez C, R.M. [ININ, Carretera Mexico-Toluca s/n, 52750 Ocoyoacac, Estado de Mexico (Mexico); Duran V, M. D.; Jardon M, C. I., E-mail: raulmario.vazquez@inin.gob.mx [Tecnologico de Estudios Superiores de Villa Guerrero, Carretera Federal Toluca-Ixtapan de la Sal Km. 64.5, La Finca Villa Guerrero, Estado de Mexico (Mexico)

    2014-10-15

    In this paper the technological development of a mobile robot prototype detector of gamma radiation is shown. This prototype has been developed for the purpose of algorithms implementation for the applications of terrestrial radiation monitoring of exposed sources, search for missing radioactive sources, identification and delineation of radioactive contamination areas and distribution maps generating of radioactive exposure. Mobile robot detector of radiation is an experimental technology development platform to operate in laboratory environment or flat floor facilities. The prototype integrates a driving section of differential configuration robot on wheels, a support mechanism and rotation of shielded detector, actuator controller cards, acquisition and processing of sensor data, detection algorithms programming and control actuators, data recording (Data Logger) and data transmission in wireless way. The robot in this first phase is remotely operated in wireless way with a range of approximately 150 m line of sight and can extend that range to 300 m or more with the use of signal repeaters. The gamma radiation detection is performed using a Geiger detector shielded. Scan detection is performed at various time sampling periods and diverse positions of discrete or continuous angular orientation on the horizon. The captured data are geographical coordinates of robot GPS (latitude and longitude), orientation angle of shield, counting by sampling time, date, hours, minutes and seconds. The data is saved in a file in the Micro Sd memory on the robot. They are also sent in wireless way by an X Bee card to a remote station that receives for their online monitoring on a laptop through an acquisition program by serial port on Mat Lab. Additionally a voice synthesizing card with a horn, both in the robot, periodically pronounced in Spanish, data length, latitude, orientation angle of shield and detected accounts. (Author)

  13. A Novel Biped Pattern Generator Based on Extended ZMP and Extended Cart-Table Model

    Directory of Open Access Journals (Sweden)

    Guangbin Sun

    2015-07-01

    Full Text Available This paper focuses on planning patterns for biped walking on complex terrains. Two problems are solved: ZMP (zero moment point cannot be used on uneven terrain, and the conventional cart-table model does not allow vertical CM (centre of mass motion. For the ZMP definition problem, we propose the extended ZMP (EZMP concept as an extension of ZMP to uneven terrains. It can be used to judge dynamic balance on universal terrains. We achieve a deeper insight into the connection and difference between ZMP and EZMP by adding different constraints. For the model problem, we extend the cart-table model by using a dynamic constraint instead of constant height constraint, which results in a mathematically symmetric set of three equations. In this way, the vertical motion is enabled and the resultant equations are still linear. Based on the extended ZMP concept and extended cart-table model, a biped pattern generator using triple preview controllers is constructed and implemented simultaneously to three dimensions. Using the proposed pattern generator, the Atlas robot is simulated. The simulation results show the robot can walk stably on rather complex terrains by accurately tracking extended ZMP.

  14. Karolinska prostatectomy: a robot-assisted laparoscopic radical prostatectomy technique.

    Science.gov (United States)

    Nilsson, Andreas E; Carlsson, Stefan; Laven, Brett A; Wiklund, N Peter

    2006-01-01

    The last decade has witnessed an increasing trend towards minimally invasive management of prostate cancer, including laparoscopic and, more recently, robot-assisted laparoscopic prostatectomy. Several different laparoscopic approaches have been continuously developed during the last 5 years and it is still unclear which technique yields the best outcome. We present our current technique of robot-assisted laparoscopic radical prostatectomy. The technique described has evolved during the course of >400 robotic prostatectomies performed by the robotic team since the robot-assisted laparoscopic radical prostatectomy program was introduced at Karolinska University Hospital in January 2002. Our procedure comprises several modifications of previously reported ones, and we utilize fewer robotic instruments to reduce costs. An extended posterior dissection is performed to aid in the bladder neck-sparing dissection. In nerve-sparing procedures the vesicles are divided to avoid damage to the erectile nerves. In order to preserve the apical anatomy the dorsal venous complex is incised sharply and is first over-sewn after the apical dissection is completed. Our technique enables a more fluent dissection than previously described robotic techniques. Minimizing changes of instruments and the camera not only cuts costs but also reduces inefficient operating maneuvers, such as switching between 30 degrees and 0 degrees lenses during the procedure. We present a technique which in our hands has achieved excellent functional and oncological results.

  15. The Affordance Template ROS Package for Robot Task Programming

    Science.gov (United States)

    Hart, Stephen; Dinh, Paul; Hambuchen, Kimberly

    2015-01-01

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

  16. Architecture for robot intelligence

    Science.gov (United States)

    Peters, II, Richard Alan (Inventor)

    2004-01-01

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

  17. Robot NAO cantante

    OpenAIRE

    Caballero Pamos, Adrián

    2016-01-01

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

  18. Robots and plant safety

    International Nuclear Information System (INIS)

    Christensen, P.

    1996-02-01

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

  19. Giochiamo con i robot

    Directory of Open Access Journals (Sweden)

    Andrea Bonarini

    2009-01-01

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

  20. Robots in mining

    CSIR Research Space (South Africa)

    Green, J

    2010-09-01

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

  1. Odico Formwork Robotics

    DEFF Research Database (Denmark)

    Søndergaard, Asbjørn

    2014-01-01

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

  2. Next Generation Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper

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

  3. Optical Robotics in Mesoscopia

    DEFF Research Database (Denmark)

    Glückstad, Jesper

    2012-01-01

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

  4. Autonomous mobile robot teams

    Science.gov (United States)

    Agah, Arvin; Bekey, George A.

    1994-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Hidetsugu Suto

    2013-12-01

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

  6. Monocular Vision-Based Robot Localization and Target Tracking

    Directory of Open Access Journals (Sweden)

    Bing-Fei Wu

    2011-01-01

    Full Text Available This paper presents a vision-based technology for localizing targets in 3D environment. It is achieved by the combination of different types of sensors including optical wheel encoders, an electrical compass, and visual observations with a single camera. Based on the robot motion model and image sequences, extended Kalman filter is applied to estimate target locations and the robot pose simultaneously. The proposed localization system is applicable in practice because it is not necessary to have the initializing setting regarding starting the system from artificial landmarks of known size. The technique is especially suitable for navigation and target tracing for an indoor robot and has a high potential extension to surveillance and monitoring for Unmanned Aerial Vehicles with aerial odometry sensors. The experimental results present “cm” level accuracy of the localization of the targets in indoor environment under a high-speed robot movement.

  7. Urologic robotic surgery in Korea: past and present.

    Science.gov (United States)

    Seo, Ill Young

    2015-08-01

    Since 2005 when the da Vinci surgical system was approved as a medical device by the Korean Ministry of Health and Welfare, 51 systems have been installed in 40 institutions as of May 2015. Although robotic surgery is not covered by the national health insurance service in Korea, it has been used in several urologic fields as a less invasive surgery. Since the first robotic-assisted laparoscopic radical prostatectomy in 2005, partial nephrectomy, radical cystectomy, pyeloplasty, and other urologic surgeries have been performed. The following should be considered to extend the indications for robotic surgery: training systems including accreditation, operative outcomes from follow-up results, and cost-effectiveness. In this review, the history and current status of robotic surgeries in Korea are presented.

  8. A new video programme

    CERN Multimedia

    CERN video productions

    2011-01-01

    "What's new @ CERN?", a new monthly video programme, will be broadcast on the Monday of every month on webcast.cern.ch. Aimed at the general public, the programme will cover the latest CERN news, with guests and explanatory features. Tune in on Monday 3 October at 4 pm (CET) to see the programme in English, and then at 4:20 pm (CET) for the French version.   var flash_video_player=get_video_player_path(); insert_player_for_external('Video/Public/Movies/2011/CERN-MOVIE-2011-129/CERN-MOVIE-2011-129-0753-kbps-640x360-25-fps-audio-64-kbps-44-kHz-stereo', 'mms://mediastream.cern.ch/MediaArchive/Video/Public/Movies/2011/CERN-MOVIE-2011-129/CERN-MOVIE-2011-129-Multirate-200-to-753-kbps-640x360-25-fps.wmv', 'false', 480, 360, 'https://mediastream.cern.ch/MediaArchive/Video/Public/Movies/2011/CERN-MOVIE-2011-129/CERN-MOVIE-2011-129-posterframe-640x360-at-10-percent.jpg', '1383406', true, 'Video/Public/Movies/2011/CERN-MOVIE-2011-129/CERN-MOVIE-2011-129-0600-kbps-maxH-360-25-fps-...

  9. Gamifying Video Object Segmentation.

    Science.gov (United States)

    Spampinato, Concetto; Palazzo, Simone; Giordano, Daniela

    2017-10-01

    Video object segmentation can be considered as one of the most challenging computer vision problems. Indeed, so far, no existing solution is able to effectively deal with the peculiarities of real-world videos, especially in cases of articulated motion and object occlusions; limitations that appear more evident when we compare the performance of automated methods with the human one. However, manually segmenting objects in videos is largely impractical as it requires a lot of time and concentration. To address this problem, in this paper we propose an interactive video object segmentation method, which exploits, on one hand, the capability of humans to identify correctly objects in visual scenes, and on the other hand, the collective human brainpower to solve challenging and large-scale tasks. In particular, our method relies on a game with a purpose to collect human inputs on object locations, followed by an accurate segmentation phase achieved by optimizing an energy function encoding spatial and temporal constraints between object regions as well as human-provided location priors. Performance analysis carried out on complex video benchmarks, and exploiting data provided by over 60 users, demonstrated that our method shows a better trade-off between annotation times and segmentation accuracy than interactive video annotation and automated video object segmentation approaches.

  10. Hierarchical video summarization

    Science.gov (United States)

    Ratakonda, Krishna; Sezan, M. Ibrahim; Crinon, Regis J.

    1998-12-01

    We address the problem of key-frame summarization of vide in the absence of any a priori information about its content. This is a common problem that is encountered in home videos. We propose a hierarchical key-frame summarization algorithm where a coarse-to-fine key-frame summary is generated. A hierarchical key-frame summary facilitates multi-level browsing where the user can quickly discover the content of the video by accessing its coarsest but most compact summary and then view a desired segment of the video with increasingly more detail. At the finest level, the summary is generated on the basis of color features of video frames, using an extension of a recently proposed key-frame extraction algorithm. The finest level key-frames are recursively clustered using a novel pairwise K-means clustering approach with temporal consecutiveness constraint. We also address summarization of MPEG-2 compressed video without fully decoding the bitstream. We also propose efficient mechanisms that facilitate decoding the video when the hierarchical summary is utilized in browsing and playback of video segments starting at selected key-frames.

  11. Medical video server construction.

    Science.gov (United States)

    Dańda, Jacek; Juszkiewicz, Krzysztof; Leszczuk, Mikołaj; Loziak, Krzysztof; Papir, Zdzisław; Sikora, Marek; Watza, Rafal

    2003-01-01

    The paper discusses two implementation options for a Digital Video Library, a repository used for archiving, accessing, and browsing of video medical records. Two crucial issues to be decided on are a video compression format and a video streaming platform. The paper presents numerous decision factors that have to be taken into account. The compression formats being compared are DICOM as a format representative for medical applications, both MPEGs, and several new formats targeted for an IP networking. The comparison includes transmission rates supported, compression rates, and at least options for controlling a compression process. The second part of the paper presents the ISDN technique as a solution for provisioning of tele-consultation services between medical parties that are accessing resources uploaded to a digital video library. There are several backbone techniques (like corporate LANs/WANs, leased lines or even radio/satellite links) available, however, the availability of network resources for hospitals was the prevailing choice criterion pointing to ISDN solutions. Another way to provide access to the Digital Video Library is based on radio frequency domain solutions. The paper describes possibilities of both, wireless and cellular network's data transmission service to be used as a medical video server transport layer. For the cellular net-work based solution two communication techniques are used: Circuit Switched Data and Packet Switched Data.

  12. Explorer-II: Wireless Self-Powered Visual and NDE Robotic Inspection System for Live Gas Distribution Mains

    Energy Technology Data Exchange (ETDEWEB)

    Carnegie Mellon University

    2008-09-30

    -pressure environments, and is safely deployable using proper evacuating/purging techniques for operation in the potentially explosive natural gas environment. The test-setting and environment for safety-certification of the X-II robot platform and the launch and recovery procedures, is shown. Field-trials were successfully carried out in a live steel pipeline in Northwestern Pennsylvania. The robot was launched and recovered multiple times, travelling thousands of feet and communicating in real time with video and command-and-control (C&C) data under remote operator control from a laptop, with NDE sensor-data streaming to a second computer for storage, display and post-processing. Representative images of the activities and systems used in the week-long field-trial are shown. CMU also evaluated the ability of the X-II design to be able to integrate an MFL sensor, by adding additional drive-/battery-/steering- and support-modules to extend the X-II train.

  13. Camera network video summarization

    Science.gov (United States)

    Panda, Rameswar; Roy-Chowdhury, Amit K.

    2017-05-01

    Networks of vision sensors are deployed in many settings, ranging from security needs to disaster response to environmental monitoring. Many of these setups have hundreds of cameras and tens of thousands of hours of video. The difficulty of analyzing such a massive volume of video data is apparent whenever there is an incident that requires foraging through vast video archives to identify events of interest. As a result, video summarization, that automatically extract a brief yet informative summary of these videos, has attracted intense attention in the recent years. Much progress has been made in developing a variety of ways to summarize a single video in form of a key sequence or video skim. However, generating a summary from a set of videos captured in a multi-camera network still remains as a novel and largely under-addressed problem. In this paper, with the aim of summarizing videos in a camera network, we introduce a novel representative selection approach via joint embedding and capped l21-norm minimization. The objective function is two-fold. The first is to capture the structural relationships of data points in a camera network via an embedding, which helps in characterizing the outliers and also in extracting a diverse set of representatives. The second is to use a capped l21-norm to model the sparsity and to suppress the influence of data outliers in representative selection. We propose to jointly optimize both of the objectives, such that embedding can not only characterize the structure, but also indicate the requirements of sparse representative selection. Extensive experiments on standard multi-camera datasets well demonstrate the efficacy of our method over state-of-the-art methods.

  14. Video frame processor

    International Nuclear Information System (INIS)

    Joshi, V.M.; Agashe, Alok; Bairi, B.R.

    1993-01-01

    This report provides technical description regarding the Video Frame Processor (VFP) developed at Bhabha Atomic Research Centre. The instrument provides capture of video images available in CCIR format. Two memory planes each with a capacity of 512 x 512 x 8 bit data enable storage of two video image frames. The stored image can be processed on-line and on-line image subtraction can also be carried out for image comparisons. The VFP is a PC Add-on board and is I/O mapped within the host IBM PC/AT compatible computer. (author). 9 refs., 4 figs., 19 photographs

  15. High Dynamic Range Video

    CERN Document Server

    Myszkowski, Karol

    2008-01-01

    This book presents a complete pipeline forHDR image and video processing fromacquisition, through compression and quality evaluation, to display. At the HDR image and video acquisition stage specialized HDR sensors or multi-exposure techniques suitable for traditional cameras are discussed. Then, we present a practical solution for pixel values calibration in terms of photometric or radiometric quantities, which are required in some technically oriented applications. Also, we cover the problem of efficient image and video compression and encoding either for storage or transmission purposes, in

  16. 3D video

    CERN Document Server

    Lucas, Laurent; Loscos, Céline

    2013-01-01

    While 3D vision has existed for many years, the use of 3D cameras and video-based modeling by the film industry has induced an explosion of interest for 3D acquisition technology, 3D content and 3D displays. As such, 3D video has become one of the new technology trends of this century.The chapters in this book cover a large spectrum of areas connected to 3D video, which are presented both theoretically and technologically, while taking into account both physiological and perceptual aspects. Stepping away from traditional 3D vision, the authors, all currently involved in these areas, provide th

  17. Collaborative Video Sketching

    DEFF Research Database (Denmark)

    Henningsen, Birgitte; Gundersen, Peter Bukovica; Hautopp, Heidi

    2017-01-01

    This paper introduces to what we define as a collaborative video sketching process. This process links various sketching techniques with digital storytelling approaches and creative reflection processes in video productions. Traditionally, sketching has been used by designers across various...... findings: 1) They are based on a collaborative approach. 2) The sketches act as a mean to externalizing hypotheses and assumptions among the participants. Based on our analysis we present an overview of factors involved in collaborative video sketching and shows how the factors relate to steps, where...... the participants: shape, record, review and edit their work, leading the participants to new insights about their work....

  18. Categorizing Video Game Audio

    DEFF Research Database (Denmark)

    Westerberg, Andreas Rytter; Schoenau-Fog, Henrik

    2015-01-01

    they can use audio in video games. The conclusion of this study is that the current models' view of the diegetic spaces, used to categorize video game audio, is not t to categorize all sounds. This can however possibly be changed though a rethinking of how the player interprets audio.......This paper dives into the subject of video game audio and how it can be categorized in order to deliver a message to a player in the most precise way. A new categorization, with a new take on the diegetic spaces, can be used a tool of inspiration for sound- and game-designers to rethink how...

  19. Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU

    Directory of Open Access Journals (Sweden)

    Xu Zhao

    2018-03-01

    Full Text Available A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot’s motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS Inertial-Measurement-Unit (IMU. First, it studies the snake robot’s motion characteristics, builds the kinematics model, and then analyses the motion constraint characteristics and motion error propagation properties. Second, it explores the snake robot’s navigation layout, proposes a constraint criterion and the fixed relationship, and makes zero-state constraints based on the motion features and control modes of a snake robot. Finally, it realizes autonomous navigation positioning based on the Extended-Kalman-Filter (EKF position estimation method under the constraints of its motion characteristics. With the self-developed snake robot, the test verifies the proposed method, and the position error is less than 5% of Total-Traveled-Distance (TDD. In a short-distance environment, this method is able to meet the requirements of a snake robot in order to perform autonomous navigation and positioning in traditional applications and can be extended to other familiar multi-link robots.

  20. Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU

    Science.gov (United States)

    Dou, Lihua; Su, Zhong; Liu, Ning

    2018-01-01

    A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot’s motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS) Inertial-Measurement-Unit (IMU). First, it studies the snake robot’s motion characteristics, builds the kinematics model, and then analyses the motion constraint characteristics and motion error propagation properties. Second, it explores the snake robot’s navigation layout, proposes a constraint criterion and the fixed relationship, and makes zero-state constraints based on the motion features and control modes of a snake robot. Finally, it realizes autonomous navigation positioning based on the Extended-Kalman-Filter (EKF) position estimation method under the constraints of its motion characteristics. With the self-developed snake robot, the test verifies the proposed method, and the position error is less than 5% of Total-Traveled-Distance (TDD). In a short-distance environment, this method is able to meet the requirements of a snake robot in order to perform autonomous navigation and positioning in traditional applications and can be extended to other familiar multi-link robots. PMID:29547515

  1. Robotized production systems observed in modern plants

    Science.gov (United States)

    Saverina, A. N.

    1985-09-01

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

  2. Application of robotics in nuclear facilities

    International Nuclear Information System (INIS)

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

    1986-01-01

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

  3. Human-machine Interface for Presentation Robot

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Ondroušek, V.

    2012-01-01

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

  4. Examination of Primary and Secondary School Teachers' Aspects towards Educational Use of Video Sharing Websites

    Science.gov (United States)

    Usta, Ertugrul; Atun, Handan

    2017-01-01

    Daily use of video has increased by televisions, but lately people have been using video sharing websites most frequently. This extended use of video sharing websites has emerged a new era for education; teachers and learners can use them to enhance learning in education. Hence, the purpose of this study is to examine primary and secondary school…

  5. Continuum limbed robots for locomotion

    Science.gov (United States)

    Mutlu, Alper

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

  6. Soft computing in advanced robotics

    CERN Document Server

    Kobayashi, Ichiro; Kim, Euntai

    2014-01-01

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

  7. Fundamentals of soft robot locomotion.

    Science.gov (United States)

    Calisti, M; Picardi, G; Laschi, C

    2017-05-01

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

  8. Conceptions of health service robots

    DEFF Research Database (Denmark)

    Lystbæk, Christian Tang

    2015-01-01

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

  9. Situation Assessment for Mobile Robots

    DEFF Research Database (Denmark)

    Beck, Anders Billesø

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

  10. Automated video surveillance: teaching an old dog new tricks

    Science.gov (United States)

    McLeod, Alastair

    1993-12-01

    The automated video surveillance market is booming with new players, new systems, new hardware and software, and an extended range of applications. This paper reviews available technology, and describes the features required for a good automated surveillance system. Both hardware and software are discussed. An overview of typical applications is also given. A shift towards PC-based hybrid systems, use of parallel processing, neural networks, and exploitation of modern telecomms are introduced, highlighting the evolution modern video surveillance systems.

  11. Sample Return Robot

    Data.gov (United States)

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

  12. Robotic Comfort Zones

    National Research Council Canada - National Science Library

    Likhachev, Maxim; Arkin, Ronald C

    2006-01-01

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

  13. Tank-automotive robotics

    Science.gov (United States)

    Lane, Gerald R.

    1999-07-01

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

  14. DOE Robotics Project

    Energy Technology Data Exchange (ETDEWEB)

    1991-01-01

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

  15. MARYLAND ROBOTICS CENTER

    Data.gov (United States)

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

  16. Introduction to humanoid robotics

    CERN Document Server

    Kajita, Shuuji; Harada, Kensuke; Yokoi, Kazuhito

    2014-01-01

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

  17. Vascular Surgery and Robotics

    Directory of Open Access Journals (Sweden)

    Indrani Sen

    2016-01-01

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

  18. Robotics in Colorectal Surgery

    Science.gov (United States)

    Weaver, Allison; Steele, Scott

    2016-01-01

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

  19. Robotic aortic surgery.

    Science.gov (United States)

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

    2011-01-01

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

  20. Robotic surgical education: a collaborative approach to training postgraduate urologists and endourology fellows.

    Science.gov (United States)

    Mirheydar, Hossein; Jones, Marklyn; Koeneman, Kenneth S; Sweet, Robert M

    2009-01-01

    Currently, robotic training for inexperienced, practicing surgeons is primarily done vis-à-vis industry and/or society-sponsored day or weekend courses, with limited proctorship opportunities. The objective of this study was to assess the impact of an extended-proctorship program at up to 32 months of follow-up. An extended-proctorship program for robotic-assisted laparoscopic radical prostatectomy was established at our institution. The curriculum consisted of 3 phases: (1) completing an Intuitive Surgical 2-day robotic training course with company representatives; (2) serving as assistant to a trained proctor on 5 to 6 cases; and (3) performing proctored cases up to 1 year until confidence was achieved. Participants were surveyed and asked to evaluate on a 5-point Likert scale their operative experience in robotics and satisfaction regarding their training. Nine of 9 participants are currently performing robotic-assisted laparoscopic radical prostatectomy (RALP) independently. Graduates of our program have performed 477 RALP cases. The mean number of cases performed within phase 3 was 20.1 (range, 5 to 40) prior to independent practice. The program received a rating of 4.2/5 for effectiveness in teaching robotic surgery skills. Our robotic program, with extended proctoring, has led to an outstanding take-rate for disseminating robotic skills in a metropolitan community.