WorldWideScience

Sample records for video-based inspection robots

  1. Robotic Platform for Internal Inspection

    OpenAIRE

    Cope, Brian Alexander

    2013-01-01

    This thesis describes the design of a robotic inspection tool which is based on a differential track-drive platform. The robotic inspection tool is a one man-portable UGV that has been developed for the purpose of non-destructive evaluation (NDE) and internal inspection of environments where human penetration may be difficult or hazardous. Various NDE and sensing techniques are described in this paper but the focus is on the mechanical and electrical design of the platform itself. The platfor...

  2. Development of inspection robots for bridge cables.

    Science.gov (United States)

    Yun, Hae-Bum; Kim, Se-Hoon; Wu, Liuliu; Lee, Jong-Jae

    2013-01-01

    This paper presents the bridge cable inspection robot developed in Korea. Two types of the cable inspection robots were developed for cable-suspension bridges and cable-stayed bridge. The design of the robot system and performance of the NDT techniques associated with the cable inspection robot are discussed. A review on recent advances in emerging robot-based inspection technologies for bridge cables and current bridge cable inspection methods is also presented.

  3. Development of Inspection Robots for Bridge Cables

    Directory of Open Access Journals (Sweden)

    Hae-Bum Yun

    2013-01-01

    Full Text Available This paper presents the bridge cable inspection robot developed in Korea. Two types of the cable inspection robots were developed for cable-suspension bridges and cable-stayed bridge. The design of the robot system and performance of the NDT techniques associated with the cable inspection robot are discussed. A review on recent advances in emerging robot-based inspection technologies for bridge cables and current bridge cable inspection methods is also presented.

  4. 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

  5. ROBOTIC TANK INSPECTION END EFFECTOR

    Energy Technology Data Exchange (ETDEWEB)

    Rachel Landry

    1999-10-01

    The objective of this contract between Oceaneering Space Systems (OSS) and the Department of Energy (DOE) was to provide a tool for the DOE to inspect the inside tank walls of underground radioactive waste storage tanks in their tank farms. Some of these tanks are suspected to have leaks, but the harsh nature of the environment within the tanks precludes human inspection of tank walls. As a result of these conditions only a few inspection methods can fulfill this task. Of the methods available, OSS chose to pursue Alternating Current Field Measurement (ACFM), because it does not require clean surfaces for inspection, nor any contact with the Surface being inspected, and introduces no extra by-products in the inspection process (no coupling fluids or residues are left behind). The tool produced by OSS is the Robotic Tank Inspection End Effector (RTIEE), which is initially deployed on the tip of the Light Duty Utility Arm (LDUA). The RTEE combines ACFM with a color video camera for both electromagnetic and visual inspection The complete package consists of an end effector, its corresponding electronics and software, and a user's manual to guide the operator through an inspection. The system has both coarse and fine inspection modes and allows the user to catalog defects and suspected areas of leakage in a database for further examination, which may lead to emptying the tank for repair, decommissioning, etc.. The following is an updated report to OSS document OSS-21100-7002, which was submitted in 1995. During the course of the contract, two related subtasks arose, the Wall and Coating Thickness Sensor and the Vacuum Scarifying and Sampling Tool Assembly. The first of these subtasks was intended to evaluate the corrosion and wall thinning of 55-gallon steel drums. The second was retrieved and characterized the waste material trapped inside the annulus region of the underground tanks on the DOE's tank farms. While these subtasks were derived from the original

  6. Autonomous Robotic Inspection in Tunnels

    Science.gov (United States)

    Protopapadakis, E.; Stentoumis, C.; Doulamis, N.; Doulamis, A.; Loupos, K.; Makantasis, K.; Kopsiaftis, G.; Amditis, A.

    2016-06-01

    In this paper, an automatic robotic inspector for tunnel assessment is presented. The proposed platform is able to autonomously navigate within the civil infrastructures, grab stereo images and process/analyse them, in order to identify defect types. At first, there is the crack detection via deep learning approaches. Then, a detailed 3D model of the cracked area is created, utilizing photogrammetric methods. Finally, a laser profiling of the tunnel's lining, for a narrow region close to detected crack is performed; allowing for the deduction of potential deformations. The robotic platform consists of an autonomous mobile vehicle; a crane arm, guided by the computer vision-based crack detector, carrying ultrasound sensors, the stereo cameras and the laser scanner. Visual inspection is based on convolutional neural networks, which support the creation of high-level discriminative features for complex non-linear pattern classification. Then, real-time 3D information is accurately calculated and the crack position and orientation is passed to the robotic platform. The entire system has been evaluated in railway and road tunnels, i.e. in Egnatia Highway and London underground infrastructure.

  7. An automated miniature robotic vehicle inspection system

    Energy Technology Data Exchange (ETDEWEB)

    Dobie, Gordon; Summan, Rahul; MacLeod, Charles; Pierce, Gareth; Galbraith, Walter [Centre for Ultrasonic Engineering, University of Strathclyde, 204 George Street, Glasgow, G1 1XW (United Kingdom)

    2014-02-18

    A novel, autonomous reconfigurable robotic inspection system for quantitative NDE mapping is presented. The system consists of a fleet of wireless (802.11g) miniature robotic vehicles, each approximately 175 × 125 × 85 mm with magnetic wheels that enable them to inspect industrial structures such as storage tanks, chimneys and large diameter pipe work. The robots carry one of a number of payloads including a two channel MFL sensor, a 5 MHz dry coupled UT thickness wheel probe and a machine vision camera that images the surface. The system creates an NDE map of the structure overlaying results onto a 3D model in real time. The authors provide an overview of the robot design, data fusion algorithms (positioning and NDE) and visualization software.

  8. Caltrans bridge inspection aerial robot.

    Science.gov (United States)

    2008-10-01

    The California Department of Transportation (Caltrans) project resulted in the development of a twin-motor, : single duct, electric-powered Aerobot designed of carrying video cameras up to 200 feet in elevation to enable : close inspection of bridges...

  9. An intelligent inspection and survey robot

    Energy Technology Data Exchange (ETDEWEB)

    Byrd, J.S. [Univ. of South Carolina, Columbia, SC (United States)

    1995-10-01

    Large quantities of mixed and low-level radioactive waste contained in 55-, 85-, and 110-gallon steel drums are stored at Department of Energy (DOE) warehouses located throughout the United States. The steel drums are placed on pallets and stacked on top of one another, forming a column of drums ranging in heights of one to four drums and up to 16 feet high. The columns of drums are aligned in rows forming an aisle approximately three feet wide between the rows of drums. Tens of thousands of drums are stored in these warehouses throughout the DOE complex. ARIES (Autonomous Robotic Inspection Experimental System) is under development for the DOE to survey and inspect these drums. The robot will navigate through the aisles and perform an inspection operation, typically performed by a human operator, making decisions about the condition of the drums and maintaining a data of pertinent information about each drum.

  10. From wired to wireless: a miniature robot for intestinal inspection.

    Science.gov (United States)

    Chi, Dongxiang; Yan, Guozheng

    2003-01-01

    Increasingly more robots are used for various medical purposes, one of which is for intestinal inspection. A prototype robotic endoscope is presented along with a locomotion mechanism and relative experiment. Image, pH, pressure and temperature, etc. can be measured by the robot, which is very helpful in diagnoses. A wired robot will be replaced by a wireless robot because it is not comfortable for subjects and the wired robot cannot advance further into the small intestine because of too many folds and projections in the intestine. Key obstacles of the future wireless robot for intestinal inspection are discussed in detail and a reversed tracking method is provided.

  11. Development of inspection/maintenance robot for underground pipes

    Energy Technology Data Exchange (ETDEWEB)

    Yoon, Ji Sup; Cho, M.W.; Kim, Y.H.; Park, B.S. [Korea Atomic Energy Research Institute, Taejon (Korea)

    1998-11-01

    A sewage inspection/maintenance robot is developed which inspects physical defects of inner walls of sewage pipes as well as effectively repairs these defects. The robot system consists of a cutting robot, a inspection robot, and a packer robot. The cutting robot removes the branch pipes extruded into a main pipe as well as grinds the surface of defected parts. Unlike other sewage cutting robots, the developed cutting robot is equipped with two cutting tools whose position can be easily changed each other by remote operations. The inspection robot is equipped with a rotary type inspection module which utilizes laser sensors and automatically inspects defects. Also, image processing technology is applied to this robot so that the identification of accurate geometry of the defects is made possible by combining the displacement data from laser sensor and a image data from the Ccd camera. The inspection robot can be autonomously navigates by utilizing a gyro compass as a navigation sensor and the velocity difference between left and right wheels. The packer robot fills the cracks or holes of inner wall by expending its rubber tube inside the pipes. 20 refs., 166 figs., 30 tabs. (Author)

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1999-10-01

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

  13. Video-based convolutional neural networks for activity recognition from robot-centric videos

    Science.gov (United States)

    Ryoo, M. S.; Matthies, Larry

    2016-05-01

    In this evaluation paper, we discuss convolutional neural network (CNN)-based approaches for human activity recognition. In particular, we investigate CNN architectures designed to capture temporal information in videos and their applications to the human activity recognition problem. There have been multiple previous works to use CNN-features for videos. These include CNNs using 3-D XYT convolutional filters, CNNs using pooling operations on top of per-frame image-based CNN descriptors, and recurrent neural networks to learn temporal changes in per-frame CNN descriptors. We experimentally compare some of these different representatives CNNs while using first-person human activity videos. We especially focus on videos from a robots viewpoint, captured during its operations and human-robot interactions.

  14. Robotics for waste storage inspection: A user`s perspective

    Energy Technology Data Exchange (ETDEWEB)

    Hazen, F.B.

    1994-06-23

    Self-navigating robotic vehicles are now commercially available, and the technology supporting other important system components has also matured. Higher reliability and the obtainability of system support now make it practical to consider robotics as a way of addressing the growing operational requirement for the periodic inspection and maintenance of radioactive, hazardous, and mixed waste inventories. This paper describes preparations for the first field deployment of an autonomous container inspection robot at a Department of Energy (DOE) site. The Stored Waste Autonomous Mobile Inspector (SWAMI) is presently being completed by engineers at the Savannah River Technology Center (SRTC). It is a modified version of a commercially available robot. It has been outfitted with sensor suites and cognition that allow it to perform inspections of drum inventories and their storage facilities.

  15. Vision Based Autonomous Robotic Control for Advanced Inspection and Repair

    Science.gov (United States)

    Wehner, Walter S.

    2014-01-01

    The advanced inspection system is an autonomous control and analysis system that improves the inspection and remediation operations for ground and surface systems. It uses optical imaging technology with intelligent computer vision algorithms to analyze physical features of the real-world environment to make decisions and learn from experience. The advanced inspection system plans to control a robotic manipulator arm, an unmanned ground vehicle and cameras remotely, automatically and autonomously. There are many computer vision, image processing and machine learning techniques available as open source for using vision as a sensory feedback in decision-making and autonomous robotic movement. My responsibilities for the advanced inspection system are to create a software architecture that integrates and provides a framework for all the different subsystem components; identify open-source algorithms and techniques; and integrate robot hardware.

  16. Research on the inspection robot for cable tunnel

    Science.gov (United States)

    Xin, Shihao

    2017-03-01

    Robot by mechanical obstacle, double end communication, remote control and monitoring software components. The mechanical obstacle part mainly uses the tracked mobile robot mechanism, in order to facilitate the design and installation of the robot, the other auxiliary swing arm; double side communication part used a combination of communication wire communication with wireless communication, great improve the communication range of the robot. When the robot is controlled by far detection range, using wired communication control, on the other hand, using wireless communication; remote control part mainly completes the inspection robot walking, navigation, positioning and identification of cloud platform control. In order to improve the reliability of its operation, the preliminary selection of IPC as the control core the movable body selection program hierarchical structure as a design basis; monitoring software part is the core part of the robot, which has a definite diagnosis Can be instead of manual simple fault judgment, instead the robot as a remote actuators, staff as long as the remote control can be, do not have to body at the scene. Four parts are independent of each other but are related to each other, the realization of the structure of independence and coherence, easy maintenance and coordination work. Robot with real-time positioning function and remote control function, greatly improves the IT operation. Robot remote monitor, to avoid the direct contact with the staff and line, thereby reducing the accident casualties, for the safety of the inspection work has far-reaching significance.

  17. Tecnology Development for Robotic Surface Inspection

    Science.gov (United States)

    Volpe, Richard; Balaram, J. Bob

    1994-01-01

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

  18. Pipelines inspection robots; Robos para inspecao de linhas de servico

    Energy Technology Data Exchange (ETDEWEB)

    Archila Diaz, John Faber; Dutra, Max Suell [Universidade Federal do Rio de Janeiro (UFRJ), RJ (Brazil). Coordenacao dos Programas de Pos-graduacao de Engenharia (COPPE). Lab. de Robotica

    2008-07-01

    One of the problems existing in the area of maintenance of systems for the transport of mass and / or energy is to examine the integrity of the lines of service in the basic infrastructure of cities and industries. For the development of maintenance, whether predictive, preventive or corrective is necessary to conduct the inspection of these lines. To carry out this task is necessary count on help of appropriate technological tools. The main tools for inspection of service lines come from the area of external inspection of pipelines and are also in development, the problem happens when we need to achieve internal or external failures in places of difficult access, and move the inspection equipment to places where it's going to fail. In these cases it is necessary to the use of mechatronic systems, more specifically robotic systems, which may be developed for inspection. This paper aims to present the main robotic systems used for inspection, especially for internal inspection of pipelines. These systems have been developed by the research groups in Brazil, Japan, and Belgium among others, giving up a classification of robots for inspection of pipelines and the main features necessary for its project. (author)

  19. Hydro-Quebec inspection robot for PHTS feeder pipes supports

    Energy Technology Data Exchange (ETDEWEB)

    Lessard, J.; Lavoie, E.; Beauregard, S.; Cote, J.; Houde, R.; Lapierre, D. [Institut de recherche d' Hydro-Quebec, Varennes, Quebec (Canada); April, A.; Drolet, A.; Gauthier, P. [Hydro-Quebec, Centrale Nucleaire Gentilly-2, Gentilly, Quebec (Canada)

    2000-07-01

    This paper will briefly present Gentilly-2 Inspection program for the PHTS feeder pipes supports. The focus of the paper will be on the Inspection Robot technology developed by Hydro Quebec for that purpose and on highlights of the '97 to 2000 outage inspection campaigns. The Inspection Robot consists of a probe installed at the end of a positioning arm with 5 degrees of freedom (d.o.f.) operating up to 45m (150') from the control and data-recording station. The control station provides the robot operator with auxiliary camera viewpoints and position feedback of the robotic arm. A typical probe has 2 axes of rotation and is equipped with a video colour camera, powerful lighting and optionally a laser to do point to point measurements. The modular design enables to reconfigure the positioning arm to meet the requirements of a new inspection site. The main advantages of using this equipment is a major reduction in radiation exposure, the high quality of the data collected and inspection data archiving for further analysis and reports. (author)

  20. Design of a Micro Cable Tunnel Inspection Robot

    Science.gov (United States)

    Song, Wei; Liu, Lei; Zhou, Xiaolong; Wang, Chengjiang

    2016-11-01

    As the ventilation system in cable tunnel is not perfect and the environment is closed, it is easy to accumulate toxic and harmful gas. It is a serious threat to the life safety of inspection staff. Therefore, a micro cable tunnel inspection robot is designed. The whole design plan mainly includes two parts: mechanical structure design and control system design. According to the functional requirements of the tunnel inspection robot, a wheel arm structure with crawler type is proposed. Some sensors are used to collect temperature, gas and image and transmit the information to the host computer in real time. The result shows the robot with crawler wheel arm structure has the advantages of small volume, quick action and high performance-price ratio. Besides, it has high obstacle crossing and avoidance ability and can adapt to a variety of complex cable tunnel environment.

  1. An intelligent inspection and survey robot. Volume 1

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-12-15

    ARIES {number_sign}1 (Autonomous Robotic Inspection Experimental System), has been developed for the Department of Energy to survey and inspect drums containing low-level radioactive waste stored in warehouses at DOE facilities. The drums are typically stacked four high and arranged in rows with three-foot aisle widths. The robot will navigate through the aisles and perform an inspection operation, typically performed by a human operator, making decisions about the condition of the drums and maintaining a database of pertinent information about each drum. A new version of the Cybermotion series of mobile robots is the base mobile vehicle for ARIES. The new Model K3A consists of an improved and enhanced mobile platform and a new turret that will permit turning around in a three-foot aisle. Advanced sonar and lidar systems were added to improve navigation in the narrow drum aisles. Onboard computer enhancements include a VMEbus computer system running the VxWorks real-time operating system. A graphical offboard supervisory UNIX workstation is used for high-level planning, control, monitoring, and reporting. A camera positioning system (CPS) includes primitive instructions for the robot to use in referencing and positioning the payload. The CPS retracts to a more compact position when traveling in the open warehouse. During inspection, the CPS extends up to deploy inspection packages at different heights on the four-drum stacks of 55-, 85-, and 110-gallon drums. The vision inspection module performs a visual inspection of the waste drums. This system will locate and identify each drum, locate any unique visual features, characterize relevant surface features of interest and update a data-base containing the inspection data.

  2. Underwater robot for the inspection of dams; Robot sous-marin pour l'inspection de barrages

    Energy Technology Data Exchange (ETDEWEB)

    Houde, R.; Croteau, A.; Beauregard, S.; Lemire, R.; Sarraillon, S.; Blain, M. [Hydro-Quebec, Montreal, PQ (Canada)

    2006-07-01

    The use of an underwater robot by Hydro-Quebec to inspect its 550 dams was discussed. In order to ensure the safety and durability of its installations, Hydro-Quebec must inspect, evaluate and intervene on a timely basis. A research and development team from Hydro-Quebec has developed a robot named Maski that can be adapted to the particularities of each site. Scuba divers have often been limited in their inspection due to safety reasons such as deep waters, unknown areas, and poor visibility. The pilot of the robot can make use of CAD 3D installation for inspection and determination of auto-distance and auto-depth along a programmable trajectory. The robot also uses software to facilitate the examination of submerged infrastructures, to inspect, treat and archive data (photos, video images, positions, measurements, written and verbal commentaries) which makes pinpointing more accurate. This unique robot can be submerged up to 300 metres and be underwater for several hours at a time. The system can be easily transported and used where needed. Since 2000, divers have used this robot as a complimentary tool to conventional diving. Thus far, more than 50 inspections have been conducted at an estimated savings of 5 million dollars for Hydro-Quebec. The use of remotely operated vehicles (ROV) have also improved the quality of acquired information. The system has the added advantage of using divers who can intervene when needed. The prototype has been used from 2002 to 2005 and the industrial version has been used since spring 2006. Certain aspects of the ROV still needs improvement because of the nature of risks near dams. Concerns regarding loss of control due to high current activity and the wedging of the ROV's umbilical cord are among the probable risks. 5 figs.

  3. Towards an automated checked baggage inspection system augmented with robots

    Science.gov (United States)

    DeDonato, Matthew P.; Dimitrov, Velin; Padır, Taskin

    2014-05-01

    We present a novel system for enhancing the efficiency and accuracy of checked baggage screening process at airports. The system requirements address the identification and retrieval of objects of interest that are prohibited in a checked luggage. The automated testbed is comprised of a Baxter research robot designed by Rethink Robotics for luggage and object manipulation, and a down-looking overhead RGB-D sensor for inspection and detection. We discuss an overview of current system implementations, areas of opportunity for improvements, robot system integration challenges, details of the proposed software architecture and experimental results from a case study for identifying various kinds of lighters in checked bags.

  4. Dynamic Replanning in Uncertain Environments for a Sewer Inspection Robot

    Directory of Open Access Journals (Sweden)

    Oliver Adria

    2004-03-01

    Full Text Available The sewer inspection robot MAKRO is an autonomous multi-segment robot with worm-like shape driven by wheels. It is currently under development in the project MAKRO-PLUS. The robot has to navigate autonomously within sewer systems. Its first tasks will be to take water probes, analyze it onboard, and measure positions of manholes and pipes to detect polluted-loaded sewage and to improve current maps of sewer systems. One of the challenging problems is the controller software, which should enable the robot to navigate in the sewer system and perform the inspection tasks autonomously, not inflicting any self-damage. This paper focuses on the route planning and replanning aspect of the robot. The robot's software has four different levels, of which the planning system is the highest level, and the remaining three are controller levels each with a different degree of abstraction. The planner coordinates the sequence of actions that are to be successively executed by the robot.

  5. Modeling and control of a flying robot for contact inspection

    NARCIS (Netherlands)

    Fumagalli, Matteo; Naldi, R.; Macchelli, A.; Carloni, Raffaella; Stramigioli, Stefano; Marconi, L.

    2012-01-01

    This paper focuses on the modeling and control of a flying robot. The complete system, composed of a quadrotor unmanned aerial vehicle and a custom-made manipulator, has been designed for remote inspection by contact of industrial plants. The goal of this paper is to show the dynamical

  6. Development of inspection/maintenance robot for underground pipes

    Energy Technology Data Exchange (ETDEWEB)

    Yoon, Ji Sup; Oh, S. C.; Park, B. S.; Kim, S. H.; Cho, M. W. [Korea Atomic Energy Research Institute, Taejon (Korea)

    1998-08-01

    A multifunctional robot is developed that can perform detailed inspection of physical conditions of sewage pipes as well as can effectively repair the damaged portions of the inner walls. The vehicle part of the robot is configured as caterpillar in order to realize superb obstacle passing capability. Unlike other sewage repair robots, this system is equipped with two cutting tools whose configurations easily be replaced trough remote operations. Also, a particular R and D effort is given to develop and on-board inspection module, which comprises cameras, laser sensors and rotary potentiometer. By combining and processing the multiple sensory data, the identification of accurate geometry of the damage is made possible. Also, an additional camera with an articulated pan-tilt device is developed for surveillance of navigation path and the parts of the sewages being repaired. 19 refs., 136 figs., 28 tabs. (Author)

  7. Dynamic replanning in uncertain environments for a sewer inspection robot

    Directory of Open Access Journals (Sweden)

    Oliver Adria

    2008-11-01

    Full Text Available The sewer inspection robot MAKRO is an autonomous multi-segment robot with worm-like shape driven by wheels. It is currently under development in the project MAKRO-PLUS. The robot has to navigate autonomously within sewer systems. Its first tasks will be to take water probes, analyze it onboard, and measure positions of manholes and pipes to detect polluted-loaded sewage and to improve current maps of sewer systems. One of the challenging problems is the controller software, which should enable the robot to navigate in the sewer system and perform the inspection tasks autonomously, not inflicting any self-damage. This paper focuses on the route planning and replanning aspect of the robot. The robot�s software has four different levels, of which the planning system is the highest level, and the remaining three are controller levels each with a different degree of abstraction. The planner coordinates the sequence of actions that are to be successively executed by the robot.

  8. Applying Energy Autonomous Robots for Dike Inspection

    NARCIS (Netherlands)

    Dresscher, Douwe; de Vries, Theodorus J.A.; Stramigioli, Stefano

    2015-01-01

    This article presents an exploratory study of an energy-autonomous robot that can be deployed on the Dutch dykes. Based on theory in energy harvesting from sun and wind and the energy-cost of locomotion an analytic expression to determine the feasible daily operational time of such a vehicle is

  9. A Cable-tunnel Inspecting Robot for Dangerous Environment

    Directory of Open Access Journals (Sweden)

    Fu Zhuang

    2008-11-01

    Full Text Available This paper presents a kind of mobile robot used for inspecting the cable tunnel online in the dangerous environment. Usually, the calble tunnel is full of poisonous gases after fire, such as CO,CH4, CO2 and so on. Then, the mobile robot is able to tell us whether the tunnel environment is safe or not. In this paper the architecture of the robot is designed at first to meet the motion requirement in the tunnel. These characteristics distinguish the mobile robot from others like compact structure,small size,little weight and easily being carried. Next, the moving mechanism and its kinematics are described. And thus, the operating procedure and experiments are introuduced to validate its reliablity.

  10. Walking Posture Control of Transmission Line Single Arm Inspection Robot

    Science.gov (United States)

    Yan, Yu; Liu, Xiaqing; Li, Jinliang; Ou, Yuexiong

    2017-07-01

    To control the walking posture according to transmission line single arm inspection robot, the robot is divided into normal walking and climbing walking two state, and gives the definition, then based on the state space method of state variable feedback and PD control method is used to control the two states, two kinds of control method of simulation by using Matlab, in the end, the two control methods proposed is validated in the actual circuit structures. The results show that, the proposed control method is rapid and effective, and can meet the needs of practical application.

  11. An intelligent inspection and survey robot. Volume 2

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-12-15

    Radioactive materials make up a significant part of the hazardous-material inventory of the 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. This report examines several scenarios, the damage that may be inflicted, and methods that may be used to protect radiation-hardened robot control systems. Commercial sources of components and microcomputers that can withstand high radiation exposure are identified.

  12. Path-tracking Algorithm for Aircraft Fuel Tank Inspection Robots

    OpenAIRE

    Niu Guochen; Wang Li; Gao Qingji; Hu Dandan

    2014-01-01

    A 3D path-tracking algorithm based on end- point approximation is proposed to implement the path traversal of robots designed to inspect aircraft fuel tanks. Kinematic models of single-joint segments and multiple- joint segments were created. First, each joint segment of the path was divided into many equal sections and the rotation angle was computed. The rotation angle was found for the plane determined by one divided point and the secondary terminal joint segment. Second, the shortest dist...

  13. Thermal tracking in mobile robots for leak inspection activities.

    Science.gov (United States)

    Ibarguren, Aitor; Molina, Jorge; Susperregi, Loreto; Maurtua, Iñaki

    2013-10-09

    Maintenance tasks are crucial for all kind of industries, especially in extensive industrial plants, like solar thermal power plants. The incorporation of robots is a key issue for automating inspection activities, as it will allow a constant and regular control over the whole plant. This paper presents an autonomous robotic system to perform pipeline inspection for early detection and prevention of leakages in thermal power plants, based on the work developed within the MAINBOT (http://www.mainbot.eu) European project. Based on the information provided by a thermographic camera, the system is able to detect leakages in the collectors and pipelines. Beside the leakage detection algorithms, the system includes a particle filter-based tracking algorithm to keep the target in the field of view of the camera and to avoid the irregularities of the terrain while the robot patrols the plant. The information provided by the particle filter is further used to command a robot arm, which handles the camera and ensures that the target is always within the image. The obtained results show the suitability of the proposed approach, adding a tracking algorithm to improve the performance of the leakage detection system.

  14. Thermal Tracking in Mobile Robots for Leak Inspection Activities

    Directory of Open Access Journals (Sweden)

    Iñaki Maurtua

    2013-10-01

    Full Text Available Maintenance tasks are crucial for all kind of industries, especially in extensive industrial plants, like solar thermal power plants. The incorporation of robots is a key issue for automating inspection activities, as it will allow a constant and regular control over the whole plant. This paper presents an autonomous robotic system to perform pipeline inspection for early detection and prevention of leakages in thermal power plants, based on the work developed within the MAINBOT (http://www.mainbot.eu European project. Based on the information provided by a thermographic camera, the system is able to detect leakages in the collectors and pipelines. Beside the leakage detection algorithms, the system includes a particle filter-based tracking algorithm to keep the target in the field of view of the camera and to avoid the irregularities of the terrain while the robot patrols the plant. The information provided by the particle filter is further used to command a robot arm, which handles the camera and ensures that the target is always within the image. The obtained results show the suitability of the proposed approach, adding a tracking algorithm to improve the performance of the leakage detection system.

  15. Research on Walking Wheel Slippage Control of Live Inspection Robot

    Science.gov (United States)

    Yan, Yu; Liu, Xiaqing; Guo, Hao; Li, Jinliang; Liu, Lanlan

    2017-07-01

    To solve the problem of walking wheel slippage of a live inspection robot during walking or climbing, this paper analyzes the climbing capacity of the robot with a statics method, designs a pressing wheel mechanism, and presents a method of indirectly identifying walking wheel slippage by reading speed of the pressing wheel due to the fact that the linear speed of the pressing wheel and the walking wheel at the contract point is the same; and finds that the slippage state can not be controlled through accurate mathematical models after identifying the slippage state, whereas slippage can be controlled with fuzzy control. The experiment results indicate that due to design of the pressing wheel mechanism, friction force of the walking wheel is increased, and the climbing capability of the robot is improved. Within the range of climbing capability of the robot, gradient is the key factor that has influence on slippage of robot, and slippage can be effectively eliminated through the fuzzy control method proposed in this paper.

  16. SAFIRE - a robotic inspection system for CANDU feeders

    Energy Technology Data Exchange (ETDEWEB)

    Buckingham, R. [OC Robotics, Bristol (United Kingdom)

    2011-07-01

    The condition of primary circuit feeder pipes in CANDU reactors is relevant to the commercial viability and plant life. One known wear mechanism is external fretting between feeder pipes and adjacent services or support structures, particularly within the Upper Feeder Cabinet (UFC). Fretting leads to wall thinning which must not exceed certain agreed limits. Chafe shields have been added to protect the feeder pipes. Regular inspections are required of the chafe shields, feeder pipes and other structures that may cause feeder damage. Historically, the dose received by inspectors conducting this work has been significant. For this reason Ontario Power Generation has invested in a remotely operated robot system to conduct visual inspections within the UFC. This system, called SAFIRE for 'Snake-Arm Feeder Inspection Robot Equipment' has been deployed at Pickering during 2010 and 2011 and has been used to inspect areas that are extremely difficult to inspect with existing manual techniques. The 2011 scope of work included inspection of a total of 660 feeder pipes in three UFC quadrants, in two reactors. The full scope was completed over a one-month period in Autumn 2011 in which SAFIRE was used during 23, twelve hour shifts. This included two periods each of 72 hours of continuous operation using multiple teams of operators. SAFIRE is remote controlled delivery system for multiple cameras to record still images and video. The main system elements include a snake-arm robot mounted on a mobile vehicle. It can be controlled from up to 500m away using a fibre/copper connection. The snake-arm is 2.2m long, 25mm wide and has 18 degrees of freedom. It is designed to snake between the rows of feeder pipes to inspect feeder/hanger interfaces, both above and below the feeder cabinet catwalks. Future upgrades offer the potential to add additional tools to increase functionality. This paper describes the SAFIRE development process from inception to operational experience

  17. Small, Untethered, Mobile Robots for Inspecting Gas Pipes

    Science.gov (United States)

    Wilcox, Brian

    2003-01-01

    Small, untethered mobile robots denoted gas-pipe explorers (GPEXs) have been proposed for inspecting the interiors of pipes used in the local distribution natural gas. The United States has network of gas-distribution pipes with a total length of approximately 109 m. These pipes are often made of iron and steel and some are more than 100 years old. As this network ages, there is a need to locate weaknesses that necessitate repair and/or preventive maintenance. The most common weaknesses are leaks and reductions in thickness, which are caused mostly by chemical reactions between the iron in the pipes and various substances in soil and groundwater. At present, mobile robots called pigs are used to inspect and clean the interiors of gas-transmission pipelines. Some carry magnetic-flux-leakage (MFL) sensors for measuring average wall thicknesses, some capture images, and some measure sizes and physical conditions. The operating ranges of pigs are limited to fairly straight sections of wide transmission- type (as distinguished from distribution- type) pipes: pigs are too large to negotiate such obstacles as bends with radii comparable to or smaller than pipe diameters, intrusions of other pipes at branch connections, and reductions in diameter at valves and meters. The GPEXs would be smaller and would be able to negotiate sharp bends and other obstacles that typically occur in gas-distribution pipes.

  18. A remote telepresence robotic system for inspection and maintenance of a nuclear power plant

    Energy Technology Data Exchange (ETDEWEB)

    Crane, C.D. III; Tulenko, J.S.

    1993-02-01

    Progress in reported in the areas of environmental hardening; database/world modeling; man-machine interface; development of the Advanced Liquid Metal Reactor (ALMR) maintenance inspection robot design; and Articulated Transporter/Manipulator System (ATMS) development.

  19. Fault Tree Analysis for an Inspection Robot in a Nuclear Power Plant

    Science.gov (United States)

    Ferguson, Thomas A.; Lu, Lixuan

    2017-09-01

    The life extension of current nuclear reactors has led to an increasing demand on inspection and maintenance of critical reactor components that are too expensive to replace. To reduce the exposure dosage to workers, robotics have become an attractive alternative as a preventative safety tool in nuclear power plants. It is crucial to understand the reliability of these robots in order to increase the veracity and confidence of their results. This study presents the Fault Tree (FT) analysis to a coolant outlet piper snake-arm inspection robot in a nuclear power plant. Fault trees were constructed for a qualitative analysis to determine the reliability of the robot. Insight on the applicability of fault tree methods for inspection robotics in the nuclear industry is gained through this investigation.

  20. A Robotic System for Inspection and Repair of Small Diameter Pipelines

    Directory of Open Access Journals (Sweden)

    S. A. Vorotnikov

    2015-01-01

    Full Text Available This paper deals with the construction and control system of miniature robotic system that is designed to move and make inspection inside small diameter pipelines. It gives an overview of ways to move a microsize robotic system inside the small diameter pipe. The proposed design consists of information module and three traction modules, including modules for fixing, linear moving and angular positioning. This paper describes the design and operation of a robotic system and its different modules. Also are shown the structure of the robot control system, the basic calculations of construct and some simulation results of the individual modules of the robot.

  1. Design and construction of an in-pipe robot for inspection and maintenance

    KAUST Repository

    Sibai, Fadi N.

    2012-12-01

    Inspection and maintenance of aging pipelines is crucial to the reliable and continued distribution of hydrocarbons. In this paper, we describe the design and construction of a robotic platform for inspection and minor maintenance of pipelines. The 7.5 kg robotic platform was demonstrated to move straight inside 12″ to 16″ diameter pipes in a forward or backward direction, and either horizontally or vertically. The experimental robotic platform has three sets of two wheels, and three driving motors. The equations governing the mechanical frame\\'s component sizes are presented and the robotic frame component dimensions derived. The paper also discusses the construction and testing of the robot. Future work includes adding sensors, controls for turning, a microcontroller board, and a robotic arm for performing maintenance tasks. © 2012 IEEE.

  2. Path-tracking Algorithm for Aircraft Fuel Tank Inspection Robots

    Directory of Open Access Journals (Sweden)

    Niu Guochen

    2014-05-01

    Full Text Available A 3D path-tracking algorithm based on end-point approximation is proposed to implement the path traversal of robots designed to inspect aircraft fuel tanks. Kinematic models of single-joint segments and multiple-joint segments were created. First, each joint segment of the path was divided into many equal sections and the rotation angle was computed. The rotation angle was found for the plane determined by one divided point and the secondary terminal joint segment. Second, the shortest distance search strategy was used to calculate the bending angle of the joint segment. The main advantage of the algorithm was that only the terminal joint segment variables needed to be solved, the joint variables of other joint segments were copied from the adjacent front-end joint segment variables in turn. Finally, evaluation indexes of path tracking performance were proposed to evaluate the effect of the algorithm. Simulations of planar and space path tracking were carried out using MATLAB, and the effectiveness and stability of the tracking algorithm were verified.

  3. Development of Pipe Holding Mechanism for Pipe Inspection Robot Using Flexible Pneumatic Cylinder

    Directory of Open Access Journals (Sweden)

    Choi Kyujun

    2016-01-01

    Full Text Available A pipe inspection robot is useful to reduce the inspection cost. In the previous study, a novel pipe inspection robot using a flexible pneumatic cylinder that can move forward along to the pipe by changing the robot’s body naturally was proposed and tested. In this paper, to improve its mobility for a corner of a pipe, the thin pipe holding mechanism using pneumatic bellows was proposed and tested. As a result of its driving test, the holding performance of the mechanism was confirmed.

  4. Flexible integration of robotics, ultrasonics and metrology for the inspection of aerospace components

    Science.gov (United States)

    Mineo, Carmelo; MacLeod, Charles; Morozov, Maxim; Pierce, S. Gareth; Summan, Rahul; Rodden, Tony; Kahani, Danial; Powell, Jonathan; McCubbin, Paul; McCubbin, Coreen; Munro, Gavin; Paton, Scott; Watson, David

    2017-02-01

    Improvements in performance of modern robotic manipulators have in recent years allowed research aimed at development of fast automated non-destructive testing (NDT) of complex geometries. Contemporary robots are well adaptable to new tasks. Several robotic inspection prototype systems and a number of commercial products have been developed worldwide. This paper describes the latest progress in research focused at large composite aerospace components. A multi-robot flexible inspection cell is used to take the fundamental research and the feasibility studies to higher technology readiness levels, all set for the future industrial exploitation. The robot cell is equipped with high accuracy and high payload robots, mounted on 7 meter tracks, and an external rotary axis. A robotically delivered photogrammetry technique is first used to assess the position of the components placed within the robot working envelope and their deviation to CAD. Offline programming is used to generate a scan path for phased array ultrasonic testing (PAUT). PAUT is performed using a conformable wheel probe, with high data rate acquisition from PAUT controller. Real-time robot path-correction, based on force-torque control (FTC), is deployed to achieve the optimum ultrasonic coupling and repeatable data quality. New communication software is developed that enabled simultaneous control of the multiple robots performing different tasks and the acquisition of accurate positional data. All aspects of the system are controlled through a purposely developed graphic user interface that enables the flexible use of the unique set of hardware resources, the data acquisition, visualization and analysis.

  5. Development of an amphibious robot for visual inspection of APR1400 Npp IRWST strainer

    Energy Technology Data Exchange (ETDEWEB)

    Jang, You Hyun; Kim, Jong Seog [Korea Hydro Nuclear Power Central Research Institute, Daejeon (Korea, Republic of)

    2014-06-15

    An amphibious inspection robot system (hereafter AIROS) is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST) strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of installing sole

  6. DEVELOPMENT OF AN AMPHIBIOUS ROBOT FOR VISUAL INSPECTION OF APR1400 NPP IRWST STRAINER ASSEMBLY

    Directory of Open Access Journals (Sweden)

    YOU HYUN JANG

    2014-06-01

    Full Text Available An amphibious inspection robot system (hereafter AIROS is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of

  7. Robotized Inspection of Vertical Structures of a Solar Power Plant Using NDT Techniques

    Directory of Open Access Journals (Sweden)

    Torsten Felsch

    2015-03-01

    Full Text Available Concentrated solar power (CSP plants are expansive facilities that require substantial inspection and maintenance. A fully automated inspection robot increases the efficiency of maintenance work, reduces operating and maintenance costs, and improves safety and work conditions for service technicians. This paper describes a climbing robot that is capable of performing inspection and maintenance on vertical surfaces of solar power plants, e.g., the tubes of the receiver in a central tower CSP plant. Specifically, the service robot’s climbing mechanism is explained and the results of the nondestructive inspection methods are reviewed. The robot moves on the panels of the receiver in the tower and aligns the sensors correctly for inspection. The vertical movement of the climbing kinematics is synchronized with the movement of the tower’s crane. Various devices that detect surface defects and thickness losses inside the tube were integrated into the robot. Since the tubes are exposed to very high radiation, they need to be inspected regularly.

  8. [A novel miniature robotic endoscope design for intestinal inspection].

    Science.gov (United States)

    Chi, Dong-xiang; Yan, Guo-zheng; Lin, Liang-ming

    2002-03-01

    This paper makes a comparison between the traditional endoscope system and the active robotic endoscope system, discusses the human intestine-working conditions of the robotic endoscope system in detail and its design requirements. An active robotic endoscope system based on earthworn-locomotion principles is proposed here and besides, its structure and locomotion mechanism are analyzed. A new method of human intestinal intervention is brought out and it can prevent the robotic endoscope guided by a cone-shaped guide pipe from being jammed or damaged.

  9. Video-based rendering

    CERN Document Server

    Magnor, Marcus A

    2005-01-01

    Driven by consumer-market applications that enjoy steadily increasing economic importance, graphics hardware and rendering algorithms are a central focus of computer graphics research. Video-based rendering is an approach that aims to overcome the current bottleneck in the time-consuming modeling process and has applications in areas such as computer games, special effects, and interactive TV. This book offers an in-depth introduction to video-based rendering, a rapidly developing new interdisciplinary topic employing techniques from computer graphics, computer vision, and telecommunication en

  10. Accurately Localize and Recognize Instruments with Substation Inspection Robot in Complex Environments

    Directory of Open Access Journals (Sweden)

    Hui Song

    2014-07-01

    Full Text Available This paper designs and develops an automatic detection system in the substation environment where complex and multi-inspecting objects exist. The inspection robot is able to fix and identify the objects quickly using a visual servo control system. This paper focuses on the analysis of fast lockup and recognition method of the substation instruments based on an improved Adaboost algorithm. The robot adjusts its position to the best view point and best resolution for the instrument in real-time. The dial and pointer of the instruments are detected with an improved Hough algorithm, and the angle of the pointer is converted to the corresponding readings. The experimental results indicate that the inspection robot can fix and identify the substation instruments quickly, and has a wide range of practical applications.

  11. Inspection Robot Based Mobile Sensing and Power Line Tracking for Smart Grid

    Directory of Open Access Journals (Sweden)

    Bat-erdene Byambasuren

    2016-02-01

    Full Text Available Smart sensing and power line tracking is very important in a smart grid system. Illegal electricity usage can be detected by remote current measurement on overhead power lines using an inspection robot. There is a need for accurate detection methods of illegal electricity usage. Stable and correct power line tracking is a very prominent issue. In order to correctly track and make accurate measurements, the swing path of a power line should be previously fitted and predicted by a mathematical function using an inspection robot. After this, the remote inspection robot can follow the power line and measure the current. This paper presents a new power line tracking method using parabolic and circle fitting algorithms for illegal electricity detection. We demonstrate the effectiveness of the proposed tracking method by simulation and experimental results.

  12. Inspection Robot Based Mobile Sensing and Power Line Tracking for Smart Grid.

    Science.gov (United States)

    Byambasuren, Bat-Erdene; Kim, Donghan; Oyun-Erdene, Mandakh; Bold, Chinguun; Yura, Jargalbaatar

    2016-02-19

    Smart sensing and power line tracking is very important in a smart grid system. Illegal electricity usage can be detected by remote current measurement on overhead power lines using an inspection robot. There is a need for accurate detection methods of illegal electricity usage. Stable and correct power line tracking is a very prominent issue. In order to correctly track and make accurate measurements, the swing path of a power line should be previously fitted and predicted by a mathematical function using an inspection robot. After this, the remote inspection robot can follow the power line and measure the current. This paper presents a new power line tracking method using parabolic and circle fitting algorithms for illegal electricity detection. We demonstrate the effectiveness of the proposed tracking method by simulation and experimental results.

  13. A Low-Cost, Light-Weight Climbing Robot for Inspection of Class Curtains

    Directory of Open Access Journals (Sweden)

    Ran Liang

    2014-07-01

    Full Text Available This paper presents design of a climbing robot for inspection of glass curtain walls. The double-chamber structure enables the robot to climb over grooves on the glasses. In order to reduce the weight, both number and shape of the chambers are specially considered, and the pressure structure is optimized by FEA method. The statics models of different adsorption situations are also analyzed and deduced for the operational safety. In addition, design of the working arm and the wireless control system are introduced in detail. Finally, experiments of the robot are illustrated, including adsorption on different surfaces, vertical and horizontal groove-crossing as well as glass inspection. These experiments fully prove the theoretical analysis and demonstrate the climbing performance of the robot.

  14. 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.

  15. Selection of Shear Horizontal Wave Transducers for Robotic Nondestructive Inspection in Harsh Environments

    Directory of Open Access Journals (Sweden)

    Sungho Choi

    2016-12-01

    Full Text Available Harsh environments and confined spaces require that nondestructive inspections be conducted with robotic systems. Ultrasonic guided waves are well suited for robotic systems because they can provide efficient volumetric coverage when inspecting for various types of damage, including cracks and corrosion. Shear horizontal guided waves are especially well suited for robotic inspection because they are sensitive to cracks oriented perpendicular or parallel to the wave propagation direction and can be generated with electromagnetic acoustic transducers (EMATs and magnetostrictive transducers (MSTs. Both types of transducers are investigated for crack detection in a stainless steel plate. The MSTs require the robot to apply a compressive normal force that creates frictional force coupling. However, the coupling is observed to be very dependent upon surface roughness and surface debris. The EMATs are coupled through the Lorentz force and are thus noncontact, although they depend on the lift off between transducer and substrate. After comparing advantages and disadvantages of each transducer for robotic inspection the EMATs are selected for application to canisters that store used nuclear fuel.

  16. Image acquisition device of inspection robot based on adaptive rotation regulation of polarizer

    Science.gov (United States)

    Dong, Maoqi; Wang, Xingguang; Liang, Tao; Yang, Guoqing; Zhang, Chuangyou; Gao, Faqin

    2017-12-01

    An image processing device of inspection robot with adaptive polarization adjustment is proposed, that the device includes the inspection robot body, the image collecting mechanism, the polarizer and the polarizer automatic actuating device. Where, the image acquisition mechanism is arranged at the front of the inspection robot body for collecting equipment image data in the substation. Polarizer is fixed on the automatic actuating device of polarizer, and installed in front of the image acquisition mechanism, and that the optical axis of the camera vertically goes through the polarizer and the polarizer rotates with the optical axis of the visible camera as the central axis. The simulation results show that the system solves the fuzzy problems of the equipment that are caused by glare, reflection of light and shadow, and the robot can observe details of the running status of electrical equipment. And the full coverage of the substation equipment inspection robot observation target is achieved, which ensures the safe operation of the substation equipment.

  17. Autonomous Inspection Robot for Power Transmission Lines Maintenance While Operating on the Overhead Ground Wires

    OpenAIRE

    Zheng Li; Yi Ruan

    2011-01-01

    This paper describes the development of a mobile robot capable of clearing such obstacles as counterweights, anchor clamps, and torsion tower. The mobile robot walks on overhead ground wires in 500KV power tower. Its ultimate purpose is to automate to inspect the defect of power transmission line. The robot with 13 motors is composed of two arms, two wheels, two claws, two wrists, etc. Each arm has 4 degree of freedom. Claws are also mounted on the arms. An embedded computer based on PC/104 i...

  18. Development of an inspection robot for small diameter gas distribution mains

    NARCIS (Netherlands)

    Dertien, Edwin Christian; Stramigioli, Stefano; Pulles, Kees

    2011-01-01

    This paper discusses the design of a mechanical structure of a miniature pipe inspection robot capable of moving through very small pipes (down to 41 mm inner diameter). The requirement to negotiate bends, T-joints and steep inclinations pose another set of strict design constraints. The proposed

  19. Completion of development of robotics systems for inspecting unpiggable transmission pipelines.

    Science.gov (United States)

    2013-02-01

    This document presents the final report for a program focusing on the completion of the : research, development and demonstration effort, which was initiated in 2001, for the : development of two robotic systems for the in-line, live inspection of un...

  20. Basic maneuvers for an inspection robot for small diameter gas distribution mains

    NARCIS (Netherlands)

    Dertien, Edwin Christian; Stramigioli, Stefano

    2011-01-01

    This video shows the design of a mechanical structure of a miniature pipe inspection robot (MPR) capable of moving trough very small pipes (up to 41 mm inner diameter) as well as a wide range of diameters (63 to 125 mm outer diameter). The requirement to negotiate bends, T-joints and steep

  1. Analysis and optimization on in-vessel inspection robotic system for EAST

    Energy Technology Data Exchange (ETDEWEB)

    Zhang, Weijun, E-mail: zhangweijun@sjtu.edu.cn; Zhou, Zeyu; Yuan, Jianjun; Du, Liang; Mao, Ziming

    2015-12-15

    Since China has successfully built her first Experimental Advanced Superconducting TOKAMAK (EAST) several years ago, great interest and demand have been increasing in robotic in-vessel inspection/operation systems, by which an observation of in-vessel physical phenomenon, collection of visual information, 3D mapping and localization, even maintenance are to be possible. However, it has been raising many challenges to implement a practical and robust robotic system, due to a lot of complex constraints and expectations, e.g., high remanent working temperature (100 °C) and vacuum (10{sup −3} pa) environment even in the rest interval between plasma discharge experiments, close-up and precise inspection, operation efficiency, besides a general kinematic requirement of D shape irregular vessel. In this paper we propose an upgraded robotic system with redundant degrees of freedom (DOF) manipulator combined with a binocular vision system at the tip and a virtual reality system. A comprehensive comparison and discussion are given on the necessity and main function of the binocular vision system, path planning for inspection, fast localization, inspection efficiency and success rate in time, optimization of kinematic configuration, and the possibility of underactuated mechanism. A detailed design, implementation, and experiments of the binocular vision system together with the recent development progress of the whole robotic system are reported in the later part of the paper, while, future work and expectation are described in the end.

  2. Design and implementation of motion planning of inspection and maintenance robot for ITER-like vessel

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Hesheng; Lai, Yinping [Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Chen, Weidong, E-mail: wdchen@sjtu.edu.cn [Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Cao, Qixin [Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240 (China)

    2015-12-15

    Robot motion planning is a fundamental problem to ensure the robot executing the task without clashes, fast and accurately in a special environment. In this paper, a motion planning of a 12 DOFs remote handling robot used for inspecting the working state of the ITER-like vessel and maintaining key device components is proposed and implemented. Firstly, the forward and inverse kinematics are given by analytic method. The work space and posture space of this manipulator are both considered. Then the motion planning is divided into three stages: coming out of the cassette mover, moving along the in-vessel center line, and inspecting the D-shape section. Lastly, the result of experiments verified the performance of the motion design method. In addition, the task of unscrewing/screwing the screw demonstrated the feasibility of system in function.

  3. Autonomous navigation system for mobile robots of inspection; Sistema de navegacion autonoma para robots moviles de inspeccion

    Energy Technology Data Exchange (ETDEWEB)

    Angulo S, P. [ITT, Metepec, Estado de Mexico (Mexico); Segovia de los Rios, A. [ININ, 52045 Ocoyoacac, Estado de Mexico (Mexico)]. e-mail: pedrynteam@hotmail.com

    2005-07-01

    One of the goals in robotics is the human personnel's protection that work in dangerous areas or of difficult access, such it is the case of the nuclear industry where exist areas that, for their own nature, they are inaccessible for the human personnel, such as areas with high radiation level or high temperatures; it is in these cases where it is indispensable the use of an inspection system that is able to carry out a sampling of the area in order to determine if this areas can be accessible for the human personnel. In this situation it is possible to use an inspection system based on a mobile robot, of preference of autonomous navigation, for the realization of such inspection avoiding by this way the human personnel's exposure. The present work proposes a model of autonomous navigation for a mobile robot Pioneer 2-D Xe based on the algorithm of wall following using the paradigm of fuzzy logic. (Author)

  4. Autonomous Inspection Robot for Power Transmission Lines Maintenance While Operating on the Overhead Ground Wires

    Directory of Open Access Journals (Sweden)

    Zheng Li

    2010-12-01

    Full Text Available This paper describes the development of a mobile robot capable of clearing such obstacles as counterweights, anchor clamps, and torsion tower. The mobile robot walks on overhead ground wires in 500KV power tower. Its ultimate purpose is to automate to inspect the defect of power transmission line. The robot with 13 motors is composed of two arms, two wheels, two claws, two wrists, etc. Each arm has 4 degree of freedom. Claws are also mounted on the arms. An embedded computer based on PC/104 is chosen as the core of control system. Visible light and thermal infrared cameras are installed to obtain the video and temperature information, and the communication system is based on wireless LAN TCP/IP protocol. A prototype robot was developed with careful considerations of mobility. The new sensor configuration is used for the claw to grasp the overhead ground wires. The bridge is installed in the torsion tower for the robot easy to cross obstacles. The new posture plan is proposed for obstacles cleaning in the torsion tower. Results of experiments demonstrate that the robot can be applied to execute the navigation and inspection tasks.

  5. Autonomous Inspection Robot for Power Transmission Lines Maintenance While Operating on the Overhead Ground Wires

    Directory of Open Access Journals (Sweden)

    Zheng Li

    2011-01-01

    Full Text Available This paper describes the development of a mobile robot capable of clearing such obstacles as counterweights, anchor clamps, and torsion tower. The mobile robot walks on overhead ground wires in 500KV power tower. Its ultimate purpose is to automate to inspect the defect of power transmission line. The robot with 13 motors is composed of two arms, two wheels, two claws, two wrists, etc. Each arm has 4 degree of freedom. Claws are also mounted on the arms. An embedded computer based on PC/104 is chosen as the core of control system. Visible light and thermal infrared cameras are installed to obtain the video and temperature information, and the communication system is based on wireless LAN TCP/IP protocol. A prototype robot was developed with careful considerations of mobility. The new sensor configuration is used for the claw to grasp the overhead ground wires. The bridge is installed in the torsion tower for the robot easy to cross obstacles. The new posture plan is proposed for obstacles cleaning in the torsion tower. Results of experiments demonstrate that the robot can be applied to execute the navigation and inspection tasks.

  6. Development of the robot for pressurizer electric heater inspection and repairing

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seung Ho; Kim, Seung Ho; Su, Yong Chil

    1999-01-01

    In this study a robot system has been developed for inspection and maintenance of the pressurizer and the rod heaters. The developed robot system consists of four parts: two links, a support frame, a movable gripper, and a controller box. The robot is attached on the support frame, which is attached at the man-way flange of the pressurizer such that the robot is positioned inside pressurizer. To access arbitrary heater, at first two links horizontally rotate, and then the gripper suspended by two steel wires moves up and down by turing wire drum because the rod heaters are located about 8 meters under the robot and are arranged in two circular rows. The robot must be designed under several constraints such as its weight and collision with pressurized wall or spray nozzle because the robot is positioned and moves inside the pressurizer. To verify that the designed robot is free from collision during installation procedure and it can access any desired rod heater, it is simulated by 3-dimensional graphic software (RobCAD). For evaluating stress of the support frame finite element analysis is performed by using the ANSYS code.

  7. Development of the robot for pressurizer electric heater inspection and repairing

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seung Ho; Kim, Seung Ho; Su, Yong Chil

    1998-01-01

    In this study a robot system has been developed for inspection and maintenance of the pressurizer and the rod heater. The developed robot system consists of four parts: two links, a support frame, a movable gripper, and a controller box. The robot is attached on the support frame, which is attached at the man-way flange of the pressurizer such that the robot is positioned inside pressurizer. To access arbitrary heater, at first two links horizontally rotate, and then the gripper suspended by two steel wires moves up and down by turing wire drum because the rod heaters are located about 8 meters under the robot and are arranged in two circular rows. The robot must be designed under several constraint such as its weight and collision with pressurizer wall or spray nozzle because the robot is positioned and moves inside the pressurizer. To verify that the designed robot is free from collision during installation procedure and it can access any desired rod heater, it is simulated by 3-dimensional graphic software (RobCAD). For evaluating stress of the support frame finite element analysis is performed by using the ANSYS code. For gripping the rod heater the passive self-locking mechanism is adopted, which is made up three balls and springs. Because the mechanism is very simple, it is very hardly defected than that adopted motor. (author). 11 refs., 8 tabs., 13 figs

  8. A Vision-Based Self-Calibration Method for Robotic Visual Inspection Systems

    Directory of Open Access Journals (Sweden)

    Shibin Yin

    2013-12-01

    Full Text Available A vision-based robot self-calibration method is proposed in this paper to evaluate the kinematic parameter errors of a robot using a visual sensor mounted on its end-effector. This approach could be performed in the industrial field without external, expensive apparatus or an elaborate setup. A robot Tool Center Point (TCP is defined in the structural model of a line-structured laser sensor, and aligned to a reference point fixed in the robot workspace. A mathematical model is established to formulate the misalignment errors with kinematic parameter errors and TCP position errors. Based on the fixed point constraints, the kinematic parameter errors and TCP position errors are identified with an iterative algorithm. Compared to the conventional methods, this proposed method eliminates the need for a robot-based-frame and hand-to-eye calibrations, shortens the error propagation chain, and makes the calibration process more accurate and convenient. A validation experiment is performed on an ABB IRB2400 robot. An optimal configuration on the number and distribution of fixed points in the robot workspace is obtained based on the experimental results. Comparative experiments reveal that there is a significant improvement of the measuring accuracy of the robotic visual inspection system.

  9. A remote telepresence robotic system for inspection and maintenance of a nuclear power plant. Annual research status report

    Energy Technology Data Exchange (ETDEWEB)

    Crane, C.D. III; Tulenko, J.S.

    1993-02-01

    Progress in reported in the areas of environmental hardening; database/world modeling; man-machine interface; development of the Advanced Liquid Metal Reactor (ALMR) maintenance inspection robot design; and Articulated Transporter/Manipulator System (ATMS) development.

  10. Control system of the inspection robots group applying auctions and multi-criteria analysis for task allocation

    Science.gov (United States)

    Panfil, Wawrzyniec; Moczulski, Wojciech

    2017-10-01

    In the paper presented is a control system of a mobile robots group intended for carrying out inspection missions. The main research problem was to define such a control system in order to facilitate a cooperation of the robots resulting in realization of the committed inspection tasks. Many of the well-known control systems use auctions for tasks allocation, where a subject of an auction is a task to be allocated. It seems that in the case of missions characterized by much larger number of tasks than number of robots it will be better if robots (instead of tasks) are subjects of auctions. The second identified problem concerns the one-sided robot-to-task fitness evaluation. Simultaneous assessment of the robot-to-task fitness and task attractiveness for robot should affect positively for the overall effectiveness of the multi-robot system performance. The elaborated system allows to assign tasks to robots using various methods for evaluation of fitness between robots and tasks, and using some tasks allocation methods. There is proposed the method for multi-criteria analysis, which is composed of two assessments, i.e. robot's concurrency position for task among other robots and task's attractiveness for robot among other tasks. Furthermore, there are proposed methods for tasks allocation applying the mentioned multi-criteria analysis method. The verification of both the elaborated system and the proposed tasks' allocation methods was carried out with the help of simulated experiments. The object under test was a group of inspection mobile robots being a virtual counterpart of the real mobile-robot group.

  11. A robotic inspection experimental system (ARIES) and BOA

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1998-02-01

    ARIES consists of a 6-wheeled K3A mobile platform, a compact subturret, a sonar imaging system, a laser-based light detection and ranging (lidar) navigation beacon system, and a camera positioning system. It has a sonar imaging system used in navigation and collision avoidance and an automatic docking/charging system. Drum-referencing algorithms and camera-positioning algorithms have been included in the primitive instruction set for the robot. The robot`s navigation is based on Synchro-Drive, a patented design that utilizes concentric shafts to distribute drive and steering power to the six wheels simultaneously. ARIES uses a virtual path concept in which only a limited amount of information needs to be provided to the control computer in order to get the vehicle moving. The safety and health evaluation, during the human factors assessment, found several areas of concern including ergonomics, laser hazards, tripping hazards, fall-from-above and struck-by hazards, electrical hazards, and decontamination of the system. BOA is a self-propelled automated mini-enclosure, able to remove insulation from installed pipes, primarily of 4 inch nominal outside diameter. The system is designed for two operators: one oversees the abatement head operation from a distance of 10 or 15 feet using a pendant control and the other bags the debris at a cyclonic bagging station that is attached by a vacuum hose to the cutting head. Since the abatement head is its own enclosure, there may be no need for further enclosures to be built. The system wets and removes asbestos insulation automatically, cutting the debris into consistent chunks and moving the wave under a strong vacuum to a bagging machine. Prior to reaching the bagging operation, the material passes through a water separator which greatly reduces the weight of the debris and allows recirculation of water, after sufficient filtration. The safety and health evaluation, during the human factors assessment, focused on: noise, dust

  12. Iterative CT reconstruction on limited angle trajectories applied to robotic inspection

    Science.gov (United States)

    Banjak, H.; Costin, M.; Vienne, C.; Guillamet, R.; Kaftandjian, V.

    2017-02-01

    Robotic inspection is one of the acknowledged new trends in X-ray Non Destructive testing (NDT) since it allows more flexibility in the acquisition trajectory and therefore a valued adaptability to object and environment constraints. In this context, we are developing an advanced Computed Tomography (CT) robotic platform consisting of two robots equipped, with a micro-focus X-ray tube and a flat panel detector, respectively. In parallel to the equipment installation, we propose to address the new challenges brought by this robotic inspection. In particular we focus on 3D iterative reconstruction algorithms that deal with few and limited-angle data. For this purpose, we consider regularized algebraic methods. In particular, we propose two algorithms named SART-FISTA-TV and DART-FISTA-TV. The first one is based on the common used SART [1] algorithm and the second is based on Discrete Algebraic Reconstruction Technique (DART) [2] which is an algebraic algorithm that incorporates prior knowledge about the different materials (attenuation coefficient) of the scanned object into the reconstruction process. The two proposed algorithms use Total Variation (TV) regularization and Fast Iterative Shrinkage-Thresholding Algorithm (FISTA) to increase the convergence speed. For performance evaluation, we illustrate a numerical comparison of these algorithms from both complete (noiseless and noisy) and truncated data generated on a reverse helix of angular range limited to 150 degrees. CIVA [3] software is used to simulate these projection data. We also show reconstruction results using the robotic inspection platform with a view angle limited to 150 degrees and a reduced number of projections.

  13. Autonomous navigation method for substation inspection robot based on travelling deviation

    Science.gov (United States)

    Yang, Guoqing; Xu, Wei; Li, Jian; Fu, Chongguang; Zhou, Hao; Zhang, Chuanyou; Shao, Guangting

    2017-06-01

    A new method of edge detection is proposed in substation environment, which can realize the autonomous navigation of the substation inspection robot. First of all, the road image and information are obtained by using an image acquisition device. Secondly, the noise in the region of interest which is selected in the road image, is removed with the digital image processing algorithm, the road edge is extracted by Canny operator, and the road boundaries are extracted by Hough transform. Finally, the distance between the robot and the left and the right boundaries is calculated, and the travelling distance is obtained. The robot's walking route is controlled according to the travel deviation and the preset threshold. Experimental results show that the proposed method can detect the road area in real time, and the algorithm has high accuracy and stable performance.

  14. A Mobile Robotic System for the Inspection and Repair of SG Tubes in NPPs

    Directory of Open Access Journals (Sweden)

    Yong-Chil Seo

    2016-04-01

    Full Text Available The reliability and performance of a steam generator (SG is one of the serious concerns in the operation of pressurized water nuclear power plants. Because of high levels of radiation, robotic systems have been used to inspect and repair SG tubes. In this paper, we present a mobile robotic system that positions the inspection and repair tools while hanging down from the tube sheets where the tubes are fixed. All of the driving mechanisms of the mobile robot are actuated by electric motors to start its works, providing that the electric power is prepared without the additional need for an on-site air services. A special tube-holding mechanism with a high holding force has been developed to prevent falling from the tube sheets, even in the case of an electric power failure. We have also developed a quick installation guide device that guides the mobile robot to desired initial positions in the tube sheet exactly and quickly, which helps to reduce the radiation exposure of human workers during the installation work. This paper also provides on-site experimental results and lessons learned.

  15. Development of a light weighted mobile robot for SG tube inspection in NPP

    Energy Technology Data Exchange (ETDEWEB)

    Seo, Yong Chil; Jeong, Kyung Min; Shin, Hochul; Gweng, Jung Ju; Lee, Sung Uk; Jeong, Seung Ho; Choi, Young Soo; Kim, Seung Ho [KAERI, Daejeon (Korea, Republic of); Shin, Chun Sup; Park, Ki Tae [Korea Plant Service and Engineering, Busan (Korea, Republic of)

    2012-10-15

    Steam generators (SG) are among the most critical components of pressurized water Nuclear Power Plants (NPP). SG tubes must provide a reliable pressure boundary between the primary and secondary cooling water, because any leakage from tube defects could result in the release of radioactivity to the environment. Thus degradations of steam generators tubes should be monitored and inspected periodically under nuclear regulation. In service inspections of SG tubes are carried out using eddy current test (ECT) and the defected tubes are usually plugged. Because the radioactivity in the internal SG chambers limits free access of human workers, remote manipulators are required. In South Korea, Manipulators such as the Zet ec SM series and the Westinghouse ROSA series have bee used. Such manipulators are rigidly mounted to man ways or tube sheets of SG. Confusions of the inspected tubes may occur from deflection of the manipulators. To reduce the deflections of the manipulators for covering the large working areas of tube sheets, sufficient rigidity is required and that leads to an increase of the weight. Such weight increase results in some difficulties for handling and more radiation exposure of human workers. Recently light weighed mobile robots have been introduced by Westinghouse and Zet ec. The robots can move keeping in contact with the tube sheets using devices which are commonly called cam locks. They are easier to handle and provide no confusion for the position of the inspected tubes. But when the clamping forces are loosed accidentally, they can be fall down and light repair works can be performed. This paper provides the design results for a lightweight mobile robot which is being developed in cooperation of our institutes.

  16. Design and implementation of visual inspection system handed in tokamak flexible in-vessel robot

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Hesheng; Xu, Lifei [Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Chen, Weidong, E-mail: wdchen@sjtu.edu.cn [Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China)

    2016-05-15

    In-vessel viewing system (IVVS) is a fundamental tool among the remote handling systems for ITER, which is used to providing information on the status of the in-vessel components. The basic functional requirement of in-vessel visual inspection system is to perform a fast intervention with adequate optical resolution. In this paper, we present the software and hardware solution, which is designed and implemented for tokamak in-vessel viewing system that installed on end-effector of flexible in-vessel robot working under vacuum and high temperature. The characteristic of our in-vessel viewing system consists of two parts: binocular heterogeneous vision inspection tool and first wall scene emersion based augment virtuality. The former protected with water-cooled shield is designed to satisfy the basic functional requirement of visual inspection system, which has the capacity of large field of view and high-resolution for detection precision. The latter, achieved by overlaying first wall tiles images onto virtual first wall scene model in 3D virtual reality simulation system, is designed for convenient, intuitive and realistic-looking visual inspection instead of viewing the status of first wall only by real-time monitoring or off-line images sequences. We present the modular division of system, each of them in smaller detail, and go through some of the design choices according to requirements of in-vessel visual inspection task.

  17. Long-Range Untethered Real-Time Live Gas Main Robotic Inspection System

    Energy Technology Data Exchange (ETDEWEB)

    Hagen Schempf; Daphne D' Zurko

    2004-10-31

    Under funding from the Department of Energy (DOE) and the Northeast Gas Association (NGA), Carnegie Mellon University (CMU) developed an untethered, wireless remote controlled inspection robot dubbed Explorer. The project entailed the design and prototyping of a wireless self-powered video-inspection robot capable of accessing live 6- and 8-inch diameter cast-iron and steel mains, while traversing turns and Ts and elbows under real-time control with live video feedback to an operator. The design is that of a segmented actively articulated and wheel-leg powered robot design, with fisheye imaging capability and self-powered battery storage and wireless real-time communication link. The prototype was functionally tested in an above ground pipe-network, in order to debug all mechanical, electrical and software subsystems, and develop the necessary deployment and retrieval, as well as obstacle-handling scripts. A pressurized natural gas test-section was used to certify it for operation in natural gas at up to 60 psig. Two subsequent live-main field-trials in both cast-iron and steel pipe, demonstrated its ability to be safely launched, operated and retrieved under real-world conditions. The system's ability to safely and repeatably exidrecover from angled and vertical launchers, traverse multi-thousand foot long pipe-sections, make T and varied-angle elbow-turns while wirelessly sending live video and handling command and control messages, was clearly demonstrated. Video-inspection was clearly shown to be a viable tool to understand the state of this critical buried infrastructure, irrespective of low- (cast-iron) or high-pressure (steel) conditions. This report covers the different aspects of specifications, requirements, design, prototyping, integration and testing and field-trialing of the Explorer platform.

  18. Robotized system for in-pipe inspection using pressure tolerant electronics technique

    Energy Technology Data Exchange (ETDEWEB)

    Costa, Ramon R.; Hsu, Liu; Peixoto, Alessandro J.; Gomes, Luiz P.C.S. [Coordenacao dos Programas de Pos-graduacao de Engenharia (UFRJ/COPPE), Rio de Janeiro, RJ (Brazil). Programa de Engenharia Eletrica. Grupo de Simulacao e Controle em Automacao e Robotica (GSCAR)]. E-mail: ramon, liu, jacoud, lpgomes@coep.ufrj.br; Reis, Ney R.S. dos [PETROBRAS S.A., Rio de Janeiro, RJ (Brazil). Centro de Pesquisas. Lab. de Robotica]. E-mail: salvireis@cenpes.petrobras.com.br

    2003-07-01

    This paper reports the development and experimental evaluation of a robotized system devised to perform two kinds of measurements inside a pipeline: the thickness of the internal wall painting layer and the internal radius. The thickness measurement allows the inspection of the painting layer quality and by measuring several radii it is possible to estimate the pipeline transversal section shape. The proposed scheme is shown to yield very satisfactory results on an actual 14'' (inches) pipeline in a real site. (author)

  19. Towards Autonomous Inspection of Space Systems Using Mobile Robotic Sensor Platforms

    Science.gov (United States)

    Wong, Edmond; Saad, Ashraf; Litt, Jonathan S.

    2007-01-01

    The space transportation systems required to support NASA's Exploration Initiative will demand a high degree of reliability to ensure mission success. This reliability can be realized through autonomous fault/damage detection and repair capabilities. It is crucial that such capabilities are incorporated into these systems since it will be impractical to rely upon Extra-Vehicular Activity (EVA), visual inspection or tele-operation due to the costly, labor-intensive and time-consuming nature of these methods. One approach to achieving this capability is through the use of an autonomous inspection system comprised of miniature mobile sensor platforms that will cooperatively perform high confidence inspection of space vehicles and habitats. This paper will discuss the efforts to develop a small scale demonstration test-bed to investigate the feasibility of using autonomous mobile sensor platforms to perform inspection operations. Progress will be discussed in technology areas including: the hardware implementation and demonstration of robotic sensor platforms, the implementation of a hardware test-bed facility, and the investigation of collaborative control algorithms.

  20. Design of an Infrared Imaging System for Robotic Inspection of Gas Leaks in Industrial Environments

    Directory of Open Access Journals (Sweden)

    Ramon Barber

    2015-03-01

    Full Text Available Gas detection can become a critical task in dangerous environments that involve hazardous or contaminant gases, and the use of imaging sensors provides an important tool for leakage location. This paper presents a new design for remote sensing of gas leaks based on infrared (IR imaging techniques. The inspection system uses an uncooled microbolometer detector, operating over a wide spectral bandwidth, that features both low size and low power consumption. This equipment is boarded on a robotic platform, so that wide objects or areas can be scanned. The detection principle is based on the use of active imaging techniques, where the use of external IR illumination enhances the detection limit and allows the proposed system to operate in most cases independently from environmental conditions, unlike passive commercial approaches. To illustrate this concept, a fully radiometric description of the detection problem has been developed; CO2 detection has been demonstrated; and simulations of typical gas detection scenarios have been performed, showing that typical industrial leaks of CH4 are well within the detection limits. The mobile platform where the gas sensing system is going to be implemented is a robot called TurtleBot. The control of the mobile base and of the inspection device is integrated in ROS architecture. The exploration system is based on the technique of Simultaneous Localization and Mapping (SLAM that makes it possible to locate the gas leak in the map.

  1. A Custom Robotic System for Inspecting HEPA Filters in the Payload Changeout Room at the NASA Kennedy Space Center

    Science.gov (United States)

    Spencer, James E., Jr.; Looney, Joe

    1994-01-01

    In this paper, the prime objective is to describe a custom 4-dof (degree-of-freedom) robotic arm capable of autonomously or telerobotically performing systematic HEPA filter inspection and certification in the Shuttle Launch Pad Payload Changeout Rooms (PCR's) on pads A and B at the Kennedy Space Center, Florida. This HEPA filter inspection robot (HFIR) has been designed to be easily deployable and is equipped with the necessary sensory devices, control hardware, software and man-machine interfaces needed to implement HEPA filter inspection reliably and efficiently without damaging the filters or colliding with existing PCR structures or filters. The main purpose of the HFIR is to implement an automated positioning system to move special inspection sensors in pre-defined or manual patterns for the purpose of verifying filter integrity and efficiency. This will ultimately relieve NASA Payload Operations from significant problems associated with time, cost and personnel safety, impacts realized during non-automated PCR HFIR filter certification.

  2. AERCam Autonomy: Intelligent Software Architecture for Robotic Free Flying Nanosatellite Inspection Vehicles

    Science.gov (United States)

    Fredrickson, Steven E.; Duran, Steve G.; Braun, Angela N.; Straube, Timothy M.; Mitchell, Jennifer D.

    2006-01-01

    The NASA Johnson Space Center has developed a nanosatellite-class Free Flyer intended for future external inspection and remote viewing of human spacecraft. The Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) technology demonstration unit has been integrated into the approximate form and function of a flight system. The spherical Mini AERCam Free Flyer is 7.5 inches in diameter and weighs approximately 10 pounds, yet it incorporates significant additional capabilities compared to the 35-pound, 14-inch diameter AERCam Sprint that flew as a Shuttle flight experiment in 1997. Mini AERCam hosts a full suite of miniaturized avionics, instrumentation, communications, navigation, power, propulsion, and imaging subsystems, including digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations, including automatic stationkeeping, point-to-point maneuvering, and waypoint tracking. The Mini AERCam Free Flyer is accompanied by a sophisticated control station for command and control, as well as a docking system for automated deployment, docking, and recharge at a parent spacecraft. Free Flyer functional testing has been conducted successfully on both an airbearing table and in a six-degree-of-freedom closed-loop orbital simulation with avionics hardware in the loop. Mini AERCam aims to provide beneficial on-orbit views that cannot be obtained from fixed cameras, cameras on robotic manipulators, or cameras carried by crewmembers during extravehicular activities (EVA s). On Shuttle or International Space Station (ISS), for example, Mini AERCam could support external robotic operations by supplying orthogonal views to the intravehicular activity (IVA) robotic operator, supply views of EVA operations to IVA and/or ground crews monitoring the EVA, and carry out independent visual inspections of areas of interest around the spacecraft. To enable these future benefits

  3. 3D Inspection for quality control with Robot Manipulator - Using open source software and freeware to make an automatic 3D scanning application

    OpenAIRE

    Seines, Magnus Molaug

    2017-01-01

    As modern industry is automated the need for robots performing complex tasks increases. To achieve fully automated production both making the product and inspecting it for quality assurance needs to be automated. Robotic manufacturing processes have been around for a long time and has greatly increased the efficiency of modern industry. In this thesis existing framework for automatic 3D inspection is examined, and an attempt at making a working 3D inspection implementation is made. The wo...

  4. Outer navigation of a inspection robot by means of feedback of global guidance; Navegacion exterior de un robot de inspeccion mediante retroalimentacion de la orientacion global

    Energy Technology Data Exchange (ETDEWEB)

    Segovia de los R, A.; Bucio V, F. [ININ, 52750 La Marquesa, Estado de Mexico (Mexico); Garduno G, M. [Instituto Tecnologico de Toluca, Av. Instituto Tecnologico s/n, Metepec, Estado de Mexico 52140 (Mexico)]. e-mail: asegovia@nuclear.inin.mx

    2008-07-01

    The objective of this article is the presentation of an inspection system to mobile robot navigating in exteriors by means of the employment of a feedback of instantaneous guidance with respect to a global reference throughout moment of the displacement. The robot evolves obeying the commands coming from the one tele operator which indicates the diverse addresses by means of the operation console that the robot should take using for it information provided by an electronic compass. The mobile robot employee in the experimentations is a Pioneer 3-AT, which counts with a sensor series required to obtain an operation of more autonomy. The electronic compass offers geographical information coded in a format SPI, reason for which a micro controller ({mu}C) economic of general use has been an employee for to transfer the information to the format RS-232, originally used by the Pioneer 3-AT. The orientation information received by the robot by means of their serial port RS-232 secondary it is forwarded to the computer hostess in the one which a program Java is used to generate the commands for the robot navigation control and to deploy one graphic interface user utilized to receive the order of the operator. This research is part of an ambitious project in which it is tried to count on an inspection system and monitoring of sites in which risks of high radiation levels could exist, thus a navigation systems in exteriors could be very useful. The complete system will count besides the own sensors of the robot, with certain numbers of agree sensors to the variables that are desired to monitor. The resulting values of such measurements will be visualized in real time in the graphic interface user, thanks to a bidirectional wireless communication among the station of operation and the mobile robot. (Author)

  5. Wireless Self-powered Visual and NDE Robotic Inspection System for Live Gas Distribution Mains

    Energy Technology Data Exchange (ETDEWEB)

    Susan Burkett; Hagen Schempf

    2006-01-31

    Carnegie Mellon University (CMU) under contract from Department of Energy/National Energy Technology Laboratory (DoE/NETL) and co-funding from the Northeast Gas Association (NGA), has completed the overall system design of the next-generation Explorer-II (X-II) live gas main NDE and visual inspection robot platform. The design is based on the Explorer-I prototype which was built and field-tested under a prior (also DoE- and NGA co-funded) program, and served as the validation that self-powered robots under wireless control could access and navigate live natural gas distribution mains. The X-II system design ({approx}8 ft. and 66 lbs.) was heavily based on the X-I design, yet was substantially expanded to allow the addition of NDE sensor systems (while retaining its visual inspection capability), making it a modular system, and expanding its ability to operate at pressures up to 750 psig (high-pressure and unpiggable steel-pipe distribution mains). A new electronics architecture and on-board software kernel were added to again improve system performance. A locating sonde system was integrated to allow for absolute position-referencing during inspection (coupled with external differential GPS) and emergency-locating. The power system was upgraded to utilize lithium-based battery-cells for an increase in mission-time. The system architecture now relies on a dual set of end camera-modules to house the 32-bit processors (Single-Board Computer or SBC) as well as the imaging and wireless (off-board) and CAN-based (on-board) communication hardware and software systems (as well as the sonde-coil and -electronics). The drive-module (2 ea.) are still responsible for bracing (and centering) to drive in push/pull fashion the robot train into and through the pipes and obstacles. The steering modules and their arrangement, still allow the robot to configure itself to perform any-angle (up to 90 deg) turns in any orientation (incl. vertical), and enable the live launching and

  6. DESIGN, CONSTRUCTION AND FIELD DEMONSTRATION OF EXPLORER: A LONG-RANGE UNTETHERED LIVE GASLINE INSPECTION ROBOT SYSTEM

    Energy Technology Data Exchange (ETDEWEB)

    George C. Vradis, Hagen Schempf

    2004-04-01

    This program is undertaken in order to construct and field-demonstrate EXPLORER, a modular, remotely controllable, self-powered, untethered robot system for the inspection of live gas distribution 150 mm (6-inch) to 200 mm (8-inch) diameter mains. The modular design of the system allows it to accommodate various components intended to accomplish different inspection, repair, sample retrieval, and other in-pipe tasks. The prototype system being built under this project will include all the basic modules needed, i.e. the locomotor, power storage, wireless communication, and camera. The camera, a solid-state fisheye-type, is used to transmit real-time video to the operator that allows for the live inspection of gas distribution pipes. The system under development significantly advances the state of the art in inspection systems for gas distribution mains, which presently consist of tethered systems of limited range (about 500 ft form the point of launch) and limited inspection views. Also current inspection systems have no ability to incorporate additional modules to expand their functionality. This development program is a joint effort among the Northeast Gas Association (formerly New York Gas Group), the Jet Propulsion Laboratory (JPL), the Johnson Space Center (JSC), Carnegie Mellon University's (CMU) National Robotics Engineering Consortium (NREC), and the US Department of Energy (DOE) through the National Energy Technology Laboratory (NETL) The present report summarizes the accomplishments of the project during its fifth six-month period. The project has in general achieved its goals for this period as outlined in the report. The prototype robot is undergoing extensive endurance testing in order to prepare for the field demonstrations planned for June 2004.

  7. DESIGN, CONSTRUCTION AND FIELD DEMONSTRATION OF EXPLORER: A LONG-RANGE UNTETHERED LIVE GASOLINE INSPECTION ROBOT SYSTEM

    Energy Technology Data Exchange (ETDEWEB)

    George C. Vradis; Hagen Schempf

    2004-10-01

    This program is undertaken in order to construct and field-demonstrate ''EXPLORER'', a modular, remotely controllable, self-powered, untethered robot system for the inspection of live gas distribution 150 mm (6-inch) to 200 mm (8-inch) diameter mains. The modular design of the system allows it to accommodate various components intended to accomplish different inspection, repair, sample retrieval, and other in-pipe tasks. The prototype system being built under this project will include all the basic modules needed, i.e. the locomotor, power storage, wireless communication, and camera. The camera, a solid-state fisheye-type, is used to transmit real-time video to the operator that allows for the live inspection of gas distribution pipes. The system under development significantly advances the state of the art in inspection systems for gas distribution mains, which presently consist of tethered systems of limited range (about 500 ft form the point of launch) and limited inspection views. Also current inspection systems have no ability to incorporate additional modules to expand their functionality. This development program is a joint effort among the Northeast Gas Association (formerly New York Gas Group), the Jet Propulsion Laboratory (JPL), the Johnson Space Center (JSC), Carnegie Mellon University's (CMU) National Robotics Engineering Consortium (NREC), and the US Department of Energy (DOE) through the National Energy Technology Laboratory (NETL) The present report summarizes the accomplishments of the project during its sixth six-month period. The project has in general achieved its goals for this period as outlined in the report. The prototype robot completed its first field demonstration in June 2004 and is undergoing further extensive endurance testing and some minor modifications in order to prepare for the second and last field demonstration planned for October 2004.

  8. Design of a micro-robot with an electro-pneumatic servo-actuator for the intra-pipe inspection; Conception d'un micro robot a actionneur asservi electropneumatique pour l'inspection intratubulaire

    Energy Technology Data Exchange (ETDEWEB)

    Anthierens, C

    1999-12-01

    Micro Electro Mechanical Systems (MEMS) are integrated in many current products and are not only the concern of military defence or medicine. Nowadays micro actuators are diversified by using different kind of energy, and creating different motions. Several applications require small systems to inspect confined and hostile places. Vapour generators in nuclear plants are composed with 3000 to 5000 vertical pipes of 17 mm diameter. These pipes endure high mechanical constraints and have to be inspected to detect eventual cracks. Our study is based on the design, modelling and implementation of a micro-robot enable to move up and carry sensors in these pipes. It moves as an inchworm and then is composed by 2 blocking modules that brace the robot on the pipe sides, and one stretching module that creates a step. This actuator is pneumatic and composed by metal bellows. By this original design, the micro-robot have a good power to volume ratio and thus it can carry a load higher than 1 kg. Its good positioning accuracy is proved with a 90 mm course where the error of positioning is less than 60{mu}m. A PID control law is used to control the robot but state feed back control law is planed. (author)

  9. Development and Evaluation of Compact Robot Imitating a Hermit Crab for Inspecting the Outer Surface of Pipes

    Directory of Open Access Journals (Sweden)

    Naoto Imajo

    2015-01-01

    Full Text Available Terrestrial hermit crabs which are a type of hermit crabs live on land, whereas typical hermit crabs inhabit the sea. They have an ability of climbing a tree vertically. Their claws allow them to hang on the tree. In this study, an outer-pipe inspection robot was developed. Its locomotion mechanism was developed in imitation of the terrestrial hermit crab’s claws. It is equipped with two rimless wheels. Each of the spokes is tipped with a neodymium magnet, which allows the robot to remain attached to even a vertical steel pipe. Moreover, the robot has a mechanism for adjusting the camber angle of the right and left wheels, allowing it to tightly grip pipes with different diameters. Experiments were conducted to check the performance of the robot using steel pipes with different diameters, placed horizontally, vertically, or obliquely. The robot attempted to move a certain distance along a pipe, and its success rate was measured. It was found that the robot could successfully travel along pipes with vertical orientations, although it sometimes fell from oblique or horizontal pipes. The most likely reason for this is identified and discussed. Certain results were obtained in laboratory. Further experiments in actual environment are required.

  10. The conceptual design of the sensing system for patrolling and inspecting a nuclear facility by the intelligent robot

    Energy Technology Data Exchange (ETDEWEB)

    Ebihara, Ken-ichi [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment

    1993-11-01

    Supposing that an intelligent robot, instead of a human worker, patrols and inspects nuclear facilities, it is indispensable for such robot to be capable of moving with avoiding obstacles and recognizing various abnormal conditions, carrying out some ordered works based on information from sensors mounted on the robot. The present robots being practically used in nuclear facilities, however, have the limited capability such as identifying a few specific abnormal conditions using data detected by specific sensors on them. Hence, a conceptual design of a sensor-fusion-based system, which is named `sensing system`, has been performed to collect various kinds of information required for patrol and inspection. This sensing system combines a visual sensor, which consists of a monocular camera and a range finder by the active stereopsis method, an olfactory, acoustic and dose sensors. This report describes the hardware configuration and the software function for processing sensed data. An idea of sensor fusion and the preliminary consideration in respect of applying the neural network to image data processing are also described. (author).

  11. Surface shape description of 3D data from under vehicle inspection robot

    Science.gov (United States)

    Sukumar, Sreenivas R.; Page, David L.; Gribok, Andrei V.; Koschan, Andreas F.; Abidi, Mongi A.; Gorsich, David J.; Gerhart, Grant R.

    2005-05-01

    Our research efforts focus on the deployment of 3D sensing capabilities to a multi-modal under vehicle inspection robot. In this paper, we outline the various design challenges towards the automation of the 3D scene modeling task. We employ laser-based range imaging techniques to extract the geometry of a vehicle's undercarriage and present our results after range integration. We perform shape analysis on the digitized triangle mesh models by segmenting them into smooth surface patches based on the curvedness of the surface. Using a region-growing procedure, we then obtain the patch adjacency. On each of these patches, we apply our definition of the curvature variation measure (CVM) as a descriptor of surface shape complexity. We base the information-theoretic CVM on shape curvature, and extract shape information as the entropic measure of curvature to represent a component as a graph network of patches. The CVM at the nodes of the graph describe the surface patch. We then demonstrate our algorithm with results on automotive components. With apriori manufacturer information about the CAD models in the undercarriage we approach the technical challenge of threat detection with our surface shape description algorithm on the laser scanned geometry.

  12. DESIGN, CONSTRUCTION AND FIELD DEMONSTRATION OF EXPLORER: A LONG-RANGE UNTETHERED LIVE GASLINE INSPECTION ROBOT SYSTEM

    Energy Technology Data Exchange (ETDEWEB)

    Hagen Schempf

    2003-10-01

    This program is undertaken in order to construct and field-demonstrate ''EXPLORER'', a modular, remotely controllable, self-powered, untethered robot system for the inspection of live gas distribution 150 mm (6- inch) to 200 mm (8-inch) diameter mains. The modular design of the system allows it to accommodate various components intended to accomplish different inspection, repair, sample retrieval, and other in-pipe tasks. The prototype system being built under this project will include all the basic modules needed, i.e. the locomotor, power storage, wireless communication, and camera. The camera, a solid-state fisheye-type, is used to transmit real-time video to the operator that allows for the live inspection of gas distribution pipes. The system under development significantly advances the state of the art in inspection systems for gas distribution mains, which presently consist of tethered systems of limited range (about 500 ft form the point of launch) and limited inspection views. Also current inspection systems have no ability to incorporate additional modules to expand their functionality. This development program is a joint effort among the Northeast Gas Association (formerly New York Gas Group), the Jet Propulsion Laboratory (JPL), the Johnson Space Center (JSC), Carnegie Mellon University's (CMU) National Robotics Engineering Consortium (NREC), and the US Department of Energy (DOE) through the National Energy Technology Laboratory (NETL) The present report summarizes the accomplishments of the project during its fourth six-month period. The project has in general achieved its goals for this period as outlined in the report. The fabrication of the prototype is complete and is now been tested in the laboratory mainly focusing on endurance testing and testing of launching procedures. Testing of the prototype in the lab is expected to be completed by Fall 2003, to be followed by two field demonstrations in Winter 2003-2004.

  13. Autonomy and manual operation in a small robotic system for under-vehicle inspections at security checkpoints

    Science.gov (United States)

    Smuda, William; Muench, Paul L.; Gerhart, Grant R.; Moore, Kevin L.

    2002-07-01

    Unmanned ground vehicle (UGV) technology can be used in a number of ways to assist in counter-terrorism activities. In addition to the conventional uses of tele-operated robots for unexploded ordinance handling and disposal, water cannons and other crowd control devices, robots can also be employed for a host of terrorism deterrence and detection applications. In previous research USU developed a completely autonomous prototype robot for performing under- vehicle inspections in parking areas (ODIS). Testing of this prototype and discussions with the user community indicated that neither the technology nor the users are ready for complete autonomy. In this paper we present a robotic system based on ODIS that balances the users' desire/need for tele- operation with a limited level of autonomy that enhances the performance of the robot. The system can be used by both civilian law enforcement and military police to replace the traditional mirror on a stick system of looking under cars for bombs and contraband.

  14. DESIGN, CONSTRUCTION AND FIELD DEMONSTRATION OF EXPLORER: A LONG-RANGE UNTETHERED LIVE GASLINE INSPECTION ROBOT SYSTEM

    Energy Technology Data Exchange (ETDEWEB)

    Dr. George C. Vradis; Dr. Hagen Schempf

    2002-05-01

    The goal of this program is to construct and demonstrate EXPLORER, a modular, remotely controllable, self-powered, untethered robot system for the inspection of live gas distribution 150 mm (6-inch) to 200 mm (8-inch) diameter mains. The system, which was designed in an earlier effort, is built in a modular fashion in order to accommodate various components intended to accomplish different inspection, repair, sample retrieval, and other in-pipe tasks. The prototype system to be built under this project will include all the basic modules needed by the system, i.e. the locomotion, power storage, wireless communication, and camera. The camera, a solid-state fisheye-type, is used to transmit real-time video to the operator that allows for the live inspection of gas distribution pipes. This module, which incorporates technology developed by NASA, has been designed, constructed and tested in the earlier effort. In the current effort, the full prototype system will be tested in the laboratory followed by two field demonstrations in real applications in NYGAS member utilities' pipes. The purpose for EXPLORER is to be able to access live gas mains, insert the system in the piping network, and remotely ''drive'' it within the gas main and its laterals through distances of five to ten thousand feet. Its adaptable locomotion system allows the robot to function through varying diameter pipes (150 - 200 mm or 6- to 8-inches) and is powered via on-board battery-banks. The presence of fish-eye cameras in both ends of the robot allows the operator to view the forward and circumferential views of the internals live using an above-ground TV. Communication takes place via wireless link between the robot and the launch-chamber used to insert/retrieve the system. This link is based on commercial technology presently employed in wireless telecommunication networks. Communication over long distances as well as battery re-charging will be accomplished without

  15. Mechanical Implementation and Simulation of MoboLab, A Mobile Robot for Inspection of Power Transmission Lines

    Directory of Open Access Journals (Sweden)

    Mostafa Nayyerloo

    2007-09-01

    Full Text Available This paper describes the first phase in development of a mobile robot that can navigate aerial power transmission lines completely unattended by human operator. Its ultimate purpose is to automate inspection of power transmission lines and their equipments. The authors have developed a scaled functional model of such a mobile robot with a preliminary simple computer based on-off controller. MoboLab (Mobile Laboratory navigates a power transmission line between two strain towers. It can maneuver over obstructions created by line equipments such as insulators, warning spheres, dampers, and spacer dampers. It can also easily negotiate the towers by its three flexible arms. MoboLab has an internal main screw which enables the robot to move itself or its two front and rear arms independently through changing gripped points. When the front arm gets close to an obstacle, the arm detaches from the line and goes down, the robot moves forward, the arm passes the obstacle and grippes the line again. In a same way another arms pass the obstacle.

  16. Mechanical Implementation and Simulation of MoboLab, A Mobile Robot for Inspection of Power Transmission Lines

    Directory of Open Access Journals (Sweden)

    Mahmud Saadat Foumani

    2008-11-01

    Full Text Available This paper describes the first phase in development of a mobile robot that can navigate aerial power transmission lines completely unattended by human operator. Its ultimate purpose is to automate inspection of power transmission lines and their equipments. The authors have developed a scaled functional model of such a mobile robot with a preliminary simple computer based on-off controller. MoboLab (Mobile Laboratory navigates a power transmission line between two strain towers. It can maneuver over obstructions created by line equipments such as insulators, warning spheres, dampers, and spacer dampers. It can also easily negotiate the towers by its three flexible arms. MoboLab has an internal main screw which enables the robot to move itself or its two front and rear arms independently through changing gripped points. When the front arm gets close to an obstacle, the arm detaches from the line and goes down, the robot moves forward, the arm passes the obstacle and grippes the line again. In a same way another arms pass the obstacle.

  17. Intelligent fuzzy-neural pattern generation and control of a quadrupedal bionic inspection robot

    Science.gov (United States)

    Sayfeddine, D.; Bulgakov, A. G.

    2017-02-01

    This paper represents a case study on ‘single leg single step’ pattern generation and control of quadrupedal bionic robot movement using intelligent fuzzy-neural approaches. The aim is to set up a flip-flop mechanical configuration allowing the robot to move one step forward. The same algorithm can be integrated to develop a full trajectory pattern as an interconnected task of global path planning for autonomous quadrupedal robots.

  18. DESIGN, CONSTRUCTION AND FIELD DEMONSTRATION OF EXPLORER: A LONG-RANGE UNTETHERED LIVE GASLINE INSPECTION ROBOT SYSTEM

    Energy Technology Data Exchange (ETDEWEB)

    Dr. George C. Vradis; Dr. Hagen Schempf

    2003-04-01

    This program is undertaken in order to construct and field-demonstrate EXPLORER, a modular, remotely controllable, self-powered, untethered robot system for the inspection of live gas distribution 150 mm (6-inch) to 200 mm (8-inch) diameter mains. The modular design of the system allows it to accommodate various components intended to accomplish different inspection, repair, sample retrieval, and other in-pipe tasks. The prototype system being built under this project will include all the basic modules needed, i.e. the locomotor, power storage, wireless communication, and camera. The camera, a solid-state fisheye-type, is used to transmit real-time video to the operator that allows for the live inspection of gas distribution pipes. This module, which incorporates technology developed by NASA, has already been designed, constructed and tested, having exceeded performance expectations. The full prototype system will be comprehensively tested in the laboratory followed by two field demonstrations in real applications in NGA member utilities' pipes. The system under development significantly advances the state of the art in inspection systems for gas distribution mains, which presently consist of tethered systems of limited range (about 500 ft form the point of launch) and limited inspection views. Also current inspection systems have no ability to incorporate additional modules to expand their functionality. The present report summarizes the accomplishments of the project during its third six-month period. The project has in general achieved its goals for this period as outlined in the report. The fabrication of the prototype is complete and is now been tested in the laboratory mainly focusing on the last system integration issues and on software development for the turning and launching routines. Testing of the prototype in the lab is expected to be completed by Summer 2003, to be followed by two field demonstrations in early Fall 2003.

  19. JACoW A dual arms robotic platform control for navigation, inspection and telemanipulation

    CERN Document Server

    Di Castro, Mario; Ferre, Manuel; Gilardoni, Simone; Losito, Roberto; Lunghi, Giacomo; Masi, Alessandro

    2018-01-01

    High intensity hadron colliders and fixed target experiments require an increasing amount of robotic tele-manipulation to prevent excessive exposure of maintenance personnel to the radioactive environment. Telemanipulation tasks are often required on old radioactive devices not conceived to be maintained and handled using standard industrial robotic solutions. Robotic platforms with a level of dexterity that often require the use of two robotic arms with a minimum of six degrees of freedom are instead needed for these purposes. In this paper, the control of a novel robust robotic platform able to host and to carry safely a dual robotic arm system is presented. The control of the arms is fully integrated with the vehicle control in order to guarantee simplicity to the operators during the realization of the robotic tasks. A novel high-level control architecture for the new robot is shown, as well as a novel low level safety layer for anti-collision and recovery scenarios. Preliminary results of the system comm...

  20. DESIGN, CONSTRUCTION AND FIELD DEMONSTRATION OF EXPLORER: A LONG-RANGE UNTETHERED LIVE GASLINE INSPECTION ROBOT SYSTEM

    Energy Technology Data Exchange (ETDEWEB)

    Dr. George C. Vradis; Dr. Hagen Schempf

    2002-10-01

    This program is undertaken in order to construct and field-demonstrate EXPLORER, a modular, remotely controllable, self-powered, untethered robot system for the inspection of live gas distribution 150 mm (6- inch) to 200 mm (8-inch) diameter mains. The modular design of the system allows it to accommodate various components intended to accomplish different inspection, repair, sample retrieval, and other in-pipe tasks. The prototype system being built under this project will include all the basic modules needed, i.e. the locomotor, power storage, wireless communication, and camera. The camera, a solid-state fisheye-type, is used to transmit real-time video to the operator that allows for the live inspection of gas distribution pipes. This module, which incorporates technology developed by NASA, has already been designed, constructed and tested, having exceeded performance expectations. The full prototype system will be comprehensively tested in the laboratory followed by two field demonstrations in real applications in NYGAS member utilities' pipes. The system under development significantly advances the state of the art in inspection systems for gas distribution mains, which presently consist of tethered systems of limited range (about 500 ft form the point of launch) and limited inspection views. Also current inspection systems have no ability to incorporate additional modules to expand their functionality. This development program is a joint effort among the New York Gas Group (NYGAS; a trade association of the publicly owned gas utilities in New York State), the Jet Propulsion Laboratory (JPL), the Johnson Space Center (JSC), Carnegie Mellon University's (CMU) National Robotics Engineering Consortium (NREC), and the US Department of Energy (DOE) through the National Energy Technology Laboratory (NETL). The DOE's contribution to this current phase of the project is $499,023 out of a total of $780,735 (not including NASA's contribution). The

  1. 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

    Carnegie Mellon University (CMU) under contract from Department of Energy/National Energy Technology Laboratory (DoE/NETL) and co-funding from the Northeast Gas Association (NGA), has completed the overall system design, field-trial and Magnetic Flux Leakage (MFL) sensor evaluation program for the next-generation Explorer-II (X-II) live gas main Non-destructive Evaluation (NDE) and visual inspection robot platform. The design is based on the Explorer-I prototype which was built and field-tested under a prior (also DoE- and NGA co-funded) program, and served as the validation that self-powered robots under wireless control could access and navigate live natural gas distribution mains. The X-II system design ({approx}8 ft. and 66 lbs.) was heavily based on the X-I design, yet was substantially expanded to allow the addition of NDE sensor systems (while retaining its visual inspection capability), making it a modular system, and expanding its ability to operate at pressures up to 750 psig (high-pressure and unpiggable steel-pipe distribution mains). A new electronics architecture and on-board software kernel were added to again improve system performance. A locating sonde system was integrated to allow for absolute position-referencing during inspection (coupled with external differential GPS) and emergency-locating. The power system was upgraded to utilize lithium-based battery-cells for an increase in mission-time. The resulting robot-train system with CAD renderings of the individual modules. The system architecture now relies on a dual set of end camera-modules to house the 32-bit processors (Single-Board Computer or SBC) as well as the imaging and wireless (off-board) and CAN-based (on-board) communication hardware and software systems (as well as the sonde-coil and -electronics). The drive-module (2 ea.) are still responsible for bracing (and centering) to drive in push/pull fashion the robot train into and through the pipes and obstacles. The steering modules

  2. Robotics.

    Science.gov (United States)

    Waddell, Steve; Doty, Keith L.

    1999-01-01

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

  3. An Automated Sensing System for Steel Bridge Inspection Using GMR Sensor Array and Magnetic Wheels of Climbing Robot

    Directory of Open Access Journals (Sweden)

    Rui Wang

    2016-01-01

    Full Text Available Corrosion is one of the main causes of deterioration of steel bridges. It may cause metal loss and fatigue cracks in the steel components, which would lead to the collapse of steel bridges. This paper presents an automated sensing system to detect corrosion, crack, and other kinds of defects using a GMR (Giant Magnetoresistance sensor array. Defects will change the relative permeability and electrical conductivity of the material. As a result, magnetic field density generated by ferromagnetic material and the magnetic wheels will be changed. The defects are able to be detected by using GMR sensor array to measure the changes of magnetic flux density. In this study, magnetic wheels are used not only as the adhesion device of the robot, but also as an excitation source to provide the exciting magnetic field for the sensing system. Furthermore, compared to the eddy current method and the MFL (magnetic flux leakage method, this sensing system suppresses the noise from lift-off value fluctuation by measuring the vertical component of induced magnetic field that is perpendicular to the surface of the specimen in the corrosion inspection. Simulations and experimental results validated the feasibility of the system for the automated defect inspection.

  4. Design of a robot for in-pipe inspection using omnidirectional wheels and active stabilization

    NARCIS (Netherlands)

    Dertien, Edwin Christian; Mozaffari Foumashi, M.; Pulles, Kees; Stramigioli, Stefano

    This paper discusses the design of a vehicle for in-pipe inspection using omnidirectional wheels and active stabilizing control. A novel propulsion mechanism is discussed using omnidirectional wheels (or omni-wheels) is presented which allows direct control of the orientation in the pipe. This paper

  5. Pirate, the development of an autonomous gas distribution system inspection robot

    NARCIS (Netherlands)

    Pulles, C.; Dertien, Edwin Christian; van de Pol, H.J.; Nispeling, R.

    2008-01-01

    A consortium of four companies is developing an autonomous inspection system for small diameter, low pressure gas distribution mains. Such a system could eventually replace the current practice of leak survey and improve the assessment of the quality of the mains, being able to investigate the mains

  6. Merge Fuzzy Visual Servoing and GPS-Based Planning to Obtain a Proper Navigation Behavior for a Small Crop-Inspection Robot

    Directory of Open Access Journals (Sweden)

    José M. Bengochea-Guevara

    2016-02-01

    Full Text Available The concept of precision agriculture, which proposes farming management adapted to crop variability, has emerged in recent years. To effectively implement precision agriculture, data must be gathered from the field in an automated manner at minimal cost. In this study, a small autonomous field inspection vehicle was developed to minimise the impact of the scouting on the crop and soil compaction. The proposed approach integrates a camera with a GPS receiver to obtain a set of basic behaviours required of an autonomous mobile robot to inspect a crop field with full coverage. A path planner considered the field contour and the crop type to determine the best inspection route. An image-processing method capable of extracting the central crop row under uncontrolled lighting conditions in real time from images acquired with a reflex camera positioned on the front of the robot was developed. Two fuzzy controllers were also designed and developed to achieve vision-guided navigation. A method for detecting the end of a crop row using camera-acquired images was developed. In addition, manoeuvres necessary for the robot to change rows were established. These manoeuvres enabled the robot to autonomously cover the entire crop by following a previously established plan and without stepping on the crop row, which is an essential behaviour for covering crops such as maize without damaging them.

  7. Merge Fuzzy Visual Servoing and GPS-Based Planning to Obtain a Proper Navigation Behavior for a Small Crop-Inspection Robot.

    Science.gov (United States)

    Bengochea-Guevara, José M; Conesa-Muñoz, Jesus; Andújar, Dionisio; Ribeiro, Angela

    2016-02-24

    The concept of precision agriculture, which proposes farming management adapted to crop variability, has emerged in recent years. To effectively implement precision agriculture, data must be gathered from the field in an automated manner at minimal cost. In this study, a small autonomous field inspection vehicle was developed to minimise the impact of the scouting on the crop and soil compaction. The proposed approach integrates a camera with a GPS receiver to obtain a set of basic behaviours required of an autonomous mobile robot to inspect a crop field with full coverage. A path planner considered the field contour and the crop type to determine the best inspection route. An image-processing method capable of extracting the central crop row under uncontrolled lighting conditions in real time from images acquired with a reflex camera positioned on the front of the robot was developed. Two fuzzy controllers were also designed and developed to achieve vision-guided navigation. A method for detecting the end of a crop row using camera-acquired images was developed. In addition, manoeuvres necessary for the robot to change rows were established. These manoeuvres enabled the robot to autonomously cover the entire crop by following a previously established plan and without stepping on the crop row, which is an essential behaviour for covering crops such as maize without damaging them.

  8. Merge Fuzzy Visual Servoing and GPS-Based Planning to Obtain a Proper Navigation Behavior for a Small Crop-Inspection Robot

    Science.gov (United States)

    Bengochea-Guevara, José M.; Conesa-Muñoz, Jesus; Andújar, Dionisio; Ribeiro, Angela

    2016-01-01

    The concept of precision agriculture, which proposes farming management adapted to crop variability, has emerged in recent years. To effectively implement precision agriculture, data must be gathered from the field in an automated manner at minimal cost. In this study, a small autonomous field inspection vehicle was developed to minimise the impact of the scouting on the crop and soil compaction. The proposed approach integrates a camera with a GPS receiver to obtain a set of basic behaviours required of an autonomous mobile robot to inspect a crop field with full coverage. A path planner considered the field contour and the crop type to determine the best inspection route. An image-processing method capable of extracting the central crop row under uncontrolled lighting conditions in real time from images acquired with a reflex camera positioned on the front of the robot was developed. Two fuzzy controllers were also designed and developed to achieve vision-guided navigation. A method for detecting the end of a crop row using camera-acquired images was developed. In addition, manoeuvres necessary for the robot to change rows were established. These manoeuvres enabled the robot to autonomously cover the entire crop by following a previously established plan and without stepping on the crop row, which is an essential behaviour for covering crops such as maize without damaging them. PMID:26927102

  9. Signal sensing of the internal ducts inspection robot: GIRINO (Get Inside Robot to Impel Normal Operation); Sensoriamento de sinais do robo de inspecao interna de dutos: GIRINO (Gabarito Interno Robotizado de Incidencia Normal ao Oleoduto)

    Energy Technology Data Exchange (ETDEWEB)

    Panta, Pedro G.; Dutra, Max S. [Universidade Federal do Rio de Janeiro (UFRJ), RJ (Brazil). Coordenacao dos Programas de Pos-graduacao de Engenharia (COPPE); Santos, Auderi V.; Ferreira, Rodrigo C. [Pontificia Univ. Catolica do Rio de Janeiro (PUC-Rio), RJ (Brazil). Centro de Estudos em Telecomunicacoes; Reis, Ney S. [PETROBRAS, Rio de Janeiro, RJ (Brazil). Centro de Pesquisas

    2004-07-01

    One of the major challenges in the operation field of subway oil pipelines is the presence of blockades caused by paraffin and hydrates accumulation. The maintenance and inspection inside pipelines practiced until now imply complicated risky processes for people and equipment involved in daily operational activities. The Get Inside Robot to Impel Normal Operation (G.I.R.I.N.O.) is a robot developed by the Robotic Laboratory of PETROBRAS Research Center, that aims at looking for less risky ways in internal inspection process of pipelines which displacement movements are generated by hydraulic energy. In order to get the inspection and displacement functions, the G.I.R.I.N.O. needs a constant internal movement monitoring that is made by its several parts; the interaction with the environment in diverse processes. This paper has the objective of proposing a monitoring system for the 14 inch duct G.I.R.I.N.O. For this end, a study of available components for receiving , signal processing and visualization used in the industry that fulfill the basic requirements of the robot's performance was done. The choice of the proposed devices considers these main features: size, power consumption and marinization capability. (author)

  10. Interactivity in video-based models

    OpenAIRE

    Wouters, Pieter; Tabbers, Huib; Paas, Fred

    2007-01-01

    textabstractIn this review we argue that interactivity can be effective in video-based models to engage learners in relevant cognitive processes. We do not treat modeling as an isolated instructional method but adopted the social cognitive model of sequential skill acquisition in which learners start with observation and finish with independent, self-regulated performance. Moreover, we concur with the notion that interactivity should emphasize the cognitive processes that learners engage in w...

  11. Inspection of Pipe Inner Surface using Advanced Pipe Crawler Robot with PVDF Sensor based Rotating Probe

    Directory of Open Access Journals (Sweden)

    Vimal AGARWAL

    2011-04-01

    Full Text Available Due to corrosive environment, pipes used for transportation of water and gas at the plants often get damaged. Defects caused by corrosion and cracking may cause serious accidents like leakage, fire and blasts. It also reduces the life of the transportation system substantially. In order to inspect such defects, a Polyvinyledene Fluoride (PVDF based cantilever smart probe is developed to scan the surface quality of the pipes. The smart probe, during rotation, touches the inner surface of the pipe and experience a broad-band excitation in the absence of surface features. On the other hand, whenever the probe comes across any surface projection, there is a change in vibration pattern of the probe, which causes a high voltage peak/pulse. Such peaks/pulses could give useful information about the location and nature of a defect. Experiments are carried out on different patterns, sizes and shapes of surface projections artificially constructed inside the pipe. The sensor system has reliably predicted the presence and distribution of projections in every case. It is envisaged that the new sensing system could be used effectively for pipe health monitoring.

  12. Robotics

    Indian Academy of Sciences (India)

    explaining how the robot functioning is controlled. A brief description of the measurements involved is also discussed. Introduction. Basically, the developments in two other related subjects, in- strumentation and control engineering played a major role in aiding the rapid development of the field of robotics. By instru-.

  13. A close inspection and vibration sensing aerial robot for steel structures with an EPM-based landing device

    Science.gov (United States)

    Takeuchi, Kazuya; Masuda, Arata; Akahori, Shunsuke; Higashi, Yoshiyuki; Miura, Nanako

    2017-04-01

    This paper proposes an aerial robot that can land on and cling to a steel structure using electric permanent magnets to be- have as a vibration sensor probe for use in vibration-based structural health monitoring. In the last decade, structural health monitoring techniques have been studied intensively to tackle with serious social issues that most of the infrastructures in advanced countries are being deteriorated. In the typical concept of the structural health monitoring, vibration sensors like accelerometers are installed in the structure to continuously collect the dynamical response of the operating structure to find a symptom of the structural damage. It is unreasonable, however, to permanently deploy the sensors to numerous infrastructures because most of the infrastructures except for those of primary importance do not need continuous measurement and evaluation. In this study, the aerial robot plays a role of a mobile detachable sensor unit. The design guidelines of the aerial robot that performs the vibration measurement from the analysis model of the robot is shown. Experiments to evaluate the frequency response function of the acceleration measured by the robot with respect to the acceleration at the point where the robot adheres are carried out. And the experimental results show that the prototype robot can measure the acceleration of the host structure accurately up to 150 Hz.

  14. Video-based lectures: An emerging paradigm for teaching human ...

    African Journals Online (AJOL)

    Video-based teaching material is a rich and powerful medium being used in computer assisted learning. This paper aimed to assess the learning outcomes and student nurses' acceptance and satisfaction with the video-based lectures versus the traditional method of teaching human anatomy and physiology courses.

  15. 3D geometrical inspection of complex geometry parts using a novel laser triangulation sensor and a robot

    National Research Council Canada - National Science Library

    Brosed, Francisco Javier; Aguilar, Juan José; Guillomía, David; Santolaria, Jorge

    This article discusses different non contact 3D measuring strategies and presents a model for measuring complex geometry parts, manipulated through a robot arm, using a novel vision system consisting...

  16. 3D geometrical inspection of complex geometry parts using a novel laser triangulation sensor and a robot.

    Science.gov (United States)

    Brosed, Francisco Javier; Aguilar, Juan José; Guillomía, David; Santolaria, Jorge

    2011-01-01

    This article discusses different non contact 3D measuring strategies and presents a model for measuring complex geometry parts, manipulated through a robot arm, using a novel vision system consisting of a laser triangulation sensor and a motorized linear stage. First, the geometric model incorporating an automatic simple module for long term stability improvement will be outlined in the article. The new method used in the automatic module allows the sensor set up, including the motorized linear stage, for the scanning avoiding external measurement devices. In the measurement model the robot is just a positioning of parts with high repeatability. Its position and orientation data are not used for the measurement and therefore it is not directly "coupled" as an active component in the model. The function of the robot is to present the various surfaces of the workpiece along the measurement range of the vision system, which is responsible for the measurement. Thus, the whole system is not affected by the robot own errors following a trajectory, except those due to the lack of static repeatability. For the indirect link between the vision system and the robot, the original model developed needs only one first piece measuring as a "zero" or master piece, known by its accurate measurement using, for example, a Coordinate Measurement Machine. The strategy proposed presents a different approach to traditional laser triangulation systems on board the robot in order to improve the measurement accuracy, and several important cues for self-recalibration are explored using only a master piece. Experimental results are also presented to demonstrate the technique and the final 3D measurement accuracy.

  17. 3D Geometrical Inspection of Complex Geometry Parts Using a Novel Laser Triangulation Sensor and a Robot

    Directory of Open Access Journals (Sweden)

    David Guillomía

    2010-12-01

    Full Text Available This article discusses different non contact 3D measuring strategies and presents a model for measuring complex geometry parts, manipulated through a robot arm, using a novel vision system consisting of a laser triangulation sensor and a motorized linear stage. First, the geometric model incorporating an automatic simple module for long term stability improvement will be outlined in the article. The new method used in the automatic module allows the sensor set up, including the motorized linear stage, for the scanning avoiding external measurement devices. In the measurement model the robot is just a positioning of parts with high repeatability. Its position and orientation data are not used for the measurement and therefore it is not directly “coupled” as an active component in the model. The function of the robot is to present the various surfaces of the workpiece along the measurement range of the vision system, which is responsible for the measurement. Thus, the whole system is not affected by the robot own errors following a trajectory, except those due to the lack of static repeatability. For the indirect link between the vision system and the robot, the original model developed needs only one first piece measuring as a “zero” or master piece, known by its accurate measurement using, for example, a Coordinate Measurement Machine. The strategy proposed presents a different approach to traditional laser triangulation systems on board the robot in order to improve the measurement accuracy, and several important cues for self-recalibration are explored using only a master piece. Experimental results are also presented to demonstrate the technique and the final 3D measurement accuracy.

  18. TENTube: A video-based connection tool supporting competence development

    NARCIS (Netherlands)

    Angehrn, Albert; Maxwell, Katrina

    2008-01-01

    Angehrn, A. A., & Maxwell, K. (2008). TENTube: A video-based connection tool supporting competence development. In H. W. Sligte & R. Koper (Eds.), Proceedings of the 4th TENCompetence Open Workshop. Empowering Learners for Lifelong Competence Development: pedagogical, organisational and

  19. Feasibility of Robotics and Machine Vision in Military Combat Ration Inspection (Short Term Project STP No. 11)

    Science.gov (United States)

    1994-06-01

    January 1989. [11] Burdea G and Zhuang J. Dextrous telerobotics with force feedback - an overview - part 2: Control and implementation. Robotica , UK, 9...291-298, 1991. [12] Burdea G. and Zhuang J. Dextrous telerobotics with force feedback - an overview, part 1: Human I factors. Robotica , UK, 9:171-178...trans- planting workcell. In American Society of Agricultural Engineering, St. Joseph, MI, 1991. I [26] Frost A.R. Robotic milking: a review. Robotica

  20. Development of the hull inspection robot (RTV-SHIP); Sentai kensayo suichu robot (RTV-SHIP) no kaihatsu (atarashii sentai kensaho no ichiteian)

    Energy Technology Data Exchange (ETDEWEB)

    Nakata, Y.; Otsuka, M.; Ozawa, H.; Konosu, M. [Mitsui Engineering and Shipbuilding Co. Ltd., Tokyo (Japan)

    1997-08-01

    A compact and lightweight underwater RTV robot (RTV-SHIP) that enables the remote sensing in the double-shell structure of a tanker and the six-freedom motion control was developed based on the technology of the conventional portable underwater robot. The motion performance test in a water tank showed that the RTV-SHIP can freely access the manhole in the double-shell structure of a tanker and completely satisfies the thrust and swing force required for movement and measurement in a tank. The in-tank function confirmation test also shows that the main measurement items such as positioning in the tank, large deflection of panels, and plate thickness have a satisfactory measurement accuracy and that the RTV-SHIP has the same tone discrimination function as for a visual check. The method of inputting the tank shape during measurement and miniaturizing the recording unit should be improved until the RTV-SHIP is put to practical use. This system can be widely used by improving the above points according to the result of a future measurement test for the actual ships. 1 ref., 9 figs.

  1. Robotics

    Science.gov (United States)

    Ambrose, Robert O.

    2007-01-01

    Lunar robotic functions include: 1. Transport of crew and payloads on the surface of the moon; 2. Offloading payloads from a lunar lander; 3. Handling the deployment of surface systems; with 4. Human commanding of these functions from inside a lunar vehicle, habitat, or extravehicular (space walk), with Earth-based supervision. The systems that will perform these functions may not look like robots from science fiction. In fact, robotic functions may be automated trucks, cranes and winches. Use of this equipment prior to the crew s arrival or in the potentially long periods without crews on the surface, will require that these systems be computer controlled machines. The public release of NASA's Exploration plans at the 2nd Space Exploration Conference (Houston, December 2006) included a lunar outpost with as many as four unique mobility chassis designs. The sequence of lander offloading tasks involved as many as ten payloads, each with a unique set of geometry, mass and interface requirements. This plan was refined during a second phase study concluded in August 2007. Among the many improvements to the exploration plan were a reduction in the number of unique mobility chassis designs and a reduction in unique payload specifications. As the lunar surface system payloads have matured, so have the mobility and offloading functional requirements. While the architecture work continues, the community can expect to see functional requirements in the areas of surface mobility, surface handling, and human-systems interaction as follows: Surface Mobility 1. Transport crew on the lunar surface, accelerating construction tasks, expanding the crew s sphere of influence for scientific exploration, and providing a rapid return to an ascent module in an emergency. The crew transport can be with an un-pressurized rover, a small pressurized rover, or a larger mobile habitat. 2. Transport Extra-Vehicular Activity (EVA) equipment and construction payloads. 3. Transport habitats and

  2. Robotics

    Science.gov (United States)

    Rothschild, Lynn J.

    2012-01-01

    Earth's upper atmosphere is an extreme environment: dry, cold, and irradiated. It is unknown whether our aerobiosphere is limited to the transport of life, or there exist organisms that grow and reproduce while airborne (aerophiles); the microenvironments of suspended particles may harbor life at otherwise uninhabited altitudes[2]. The existence of aerophiles would significantly expand the range of planets considered candidates for life by, for example, including the cooler clouds of a hot Venus-like planet. The X project is an effort to engineer a robotic exploration and biosampling payload for a comprehensive survey of Earth's aerobiology. While many one-shot samples have been retrieved from above 15 km, their results are primarily qualitative; variations in method confound comparisons, leaving such major gaps in our knowledge of aerobiology as quantification of populations at different strata and relative species counts[1]. These challenges and X's preliminary solutions are explicated below. X's primary balloon payload is undergoing a series of calibrations before beginning flights in Spring 2012. A suborbital launch is currently planned for Summer 2012. A series of ground samples taken in Winter 2011 is being used to establish baseline counts and identify likely background contaminants.

  3. Vision-based online vibration estimation of the in-vessel inspection flexible robot with short-time Fourier transformation

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Hesheng [Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Chen, Weidong, E-mail: wdchen@sjtu.edu.cn [Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Xu, Lifei; He, Tao [Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China)

    2015-10-15

    Highlights: • Vision-based online vibration estimation method for a flexible arm is proposed. • The vibration signal is obtained by image processing in unknown environments. • Vibration parameters are estimated by short-time Fourier transformation. - Abstract: The vibration should be suppressed if it happens during the motion of a flexible robot or under the influence of external disturbance caused by its structural features and material properties, because the vibration may affect the positioning accuracy and image quality. In Tokamak environment, we need to get the real-time vibration information on vibration suppression of robotic arm, however, some sensors are not allowed in the extreme Tokamak environment. This paper proposed a vision-based method for online vibration estimation of a flexible manipulator, which is achieved by utilizing the environment image information from the end-effector camera to estimate its vibration. Short-time Fourier Transformation with adaptive window length method is used to estimate vibration parameters of non-stationary vibration signals. Experiments with one-link flexible manipulator equipped with camera are carried out to validate the feasibility of this method in this paper.

  4. A Course in Heterogeneous Catalysis Involving Video-Based Seminars.

    Science.gov (United States)

    White, Mark G.

    1984-01-01

    A video-based format was used during a graduate seminar course designed to educate students on the nature of catalysis, to help transfer information among students working on similar problems, and to improve communication skills. The mechanics of and student reaction to this seminar course are discussed. (JN)

  5. Complementing Operating Room Teaching With Video-Based Coaching.

    Science.gov (United States)

    Hu, Yue-Yung; Mazer, Laura M; Yule, Steven J; Arriaga, Alexander F; Greenberg, Caprice C; Lipsitz, Stuart R; Gawande, Atul A; Smink, Douglas S

    2017-04-01

    Surgical expertise demands technical and nontechnical skills. Traditionally, surgical trainees acquired these skills in the operating room; however, operative time for residents has decreased with duty hour restrictions. As in other professions, video analysis may help maximize the learning experience. To develop and evaluate a postoperative video-based coaching intervention for residents. In this mixed methods analysis, 10 senior (postgraduate year 4 and 5) residents were videorecorded operating with an attending surgeon at an academic tertiary care hospital. Each video formed the basis of a 1-hour one-on-one coaching session conducted by the operative attending; although a coaching framework was provided, participants determined the specific content collaboratively. Teaching points were identified in the operating room and the video-based coaching sessions; iterative inductive coding, followed by thematic analysis, was performed. Teaching points made in the operating room were compared with those in the video-based coaching sessions with respect to initiator, content, and teaching technique, adjusting for time. Among 10 cases, surgeons made more teaching points per unit time (63.0 vs 102.7 per hour) while coaching. Teaching in the video-based coaching sessions was more resident centered; attendings were more inquisitive about residents' learning needs (3.30 vs 0.28, P = .04), and residents took more initiative to direct their education (27% [198 of 729 teaching points] vs 17% [331 of 1977 teaching points], P coaching is a novel and feasible modality for supplementing intraoperative learning. Objective evaluation demonstrates that video-based coaching may be particularly useful for teaching higher-level concepts, such as decision making, and for individualizing instruction and feedback to each resident.

  6. Direct Observation vs. Video-Based Assessment in Flexible Cystoscopy

    DEFF Research Database (Denmark)

    Dagnaes-Hansen, Julia; Mahmood, Oria; Bube, Sarah

    2018-01-01

    OBJECTIVE: Direct observation in assessment of clinical skills is prone to bias, demands the observer to be present at a certain location at a specific time, and is time-consuming. Video-based assessment could remove the risk of bias, increase flexibility, and reduce the time spent on assessment....... This study investigated if video-based assessment was a reliable tool for cystoscopy and if direct observers were prone to bias compared with video-raters. DESIGN: This study was a blinded observational trial. Twenty medical students and 9 urologists were recorded during 2 cystoscopies and rated by a direct...... observer and subsequently by 2 blinded video-raters on a global rating scale (GRS) for cystoscopy. Both intrarater and interrater reliability were explored. Furthermore, direct observer bias was explored by a paired samples t-test. RESULTS: Intrarater reliability calculated by Pearson's r was 0...

  7. Using Concept Mapping in Video-Based Learning

    Directory of Open Access Journals (Sweden)

    Ömer Faruk VURAL

    2010-12-01

    Full Text Available Video-based learning has been extensively incorporated to enhance instruction. The advanced communication technology has greatly increased the possibilities and relative value of delivering instructional video content in onlineeducation applications. Simple watching instructional video often results in poor learning outcomes. Therefore, current video-based learning resources are used in combination with other teaching methods. Concept mapping, one of teaching methods, can provide another form of this type of interactivity and may enhance the active learning capacity. The new learning tool, which consisted of video viewer, supporting text, and interactive concept map, was developed to investigate the effect of time spent interacting with the learning tool by creating concept maps relate to student achievement. The study results showed that there was no relationship found between student achievement and time spent interacting with the learning tool

  8. Video-based patient decision aids: A scoping review.

    Science.gov (United States)

    Winston, Karin; Grendarova, Petra; Rabi, Doreen

    2017-10-18

    This study reviews the published literature on the use of video-based decision aids (DA) for patients. The authors describe the areas of medicine in which video-based patient DA have been evaluated, the medical decisions targeted, their reported impact, in which countries studies are being conducted, and publication trends. The literature review was conducted systematically using Medline, Embase, CINAHL, PsychInfo, and Pubmed databases from inception to 2016. References of identified studies were reviewed, and hand-searches of relevant journals were conducted. 488 studies were included and organized based on predefined study characteristics. The most common decisions addressed were cancer screening, risk reduction, advance care planning, and adherence to provider recommendations. Most studies had sample sizes of fewer than 300, and most were performed in the United States. Outcomes were generally reported as positive. This field of study was relatively unknown before 1990s but the number of studies published annually continues to increase. Videos are largely positive interventions but there are significant remaining knowledge gaps including generalizability across populations. Clinicians should consider incorporating video-based DA in their patient interactions. Future research should focus on less studied areas and the mechanisms underlying effective patient decision aids. Copyright © 2017 Elsevier B.V. All rights reserved.

  9. Video-based eye tracking for neuropsychiatric assessment.

    Science.gov (United States)

    Adhikari, Sam; Stark, David E

    2017-01-01

    This paper presents a video-based eye-tracking method, ideally deployed via a mobile device or laptop-based webcam, as a tool for measuring brain function. Eye movements and pupillary motility are tightly regulated by brain circuits, are subtly perturbed by many disease states, and are measurable using video-based methods. Quantitative measurement of eye movement by readily available webcams may enable early detection and diagnosis, as well as remote/serial monitoring, of neurological and neuropsychiatric disorders. We successfully extracted computational and semantic features for 14 testing sessions, comprising 42 individual video blocks and approximately 17,000 image frames generated across several days of testing. Here, we demonstrate the feasibility of collecting video-based eye-tracking data from a standard webcam in order to assess psychomotor function. Furthermore, we were able to demonstrate through systematic analysis of this data set that eye-tracking features (in particular, radial and tangential variance on a circular visual-tracking paradigm) predict performance on well-validated psychomotor tests. © 2017 New York Academy of Sciences.

  10. Advances in inspection automation

    Science.gov (United States)

    Weber, Walter H.; Mair, H. Douglas; Jansen, Dion; Lombardi, Luciano

    2013-01-01

    This new session at QNDE reflects the growing interest in inspection automation. Our paper describes a newly developed platform that makes the complex NDE automation possible without the need for software programmers. Inspection tasks that are tedious, error-prone or impossible for humans to perform can now be automated using a form of drag and drop visual scripting. Our work attempts to rectify the problem that NDE is not keeping pace with the rest of factory automation. Outside of NDE, robots routinely and autonomously machine parts, assemble components, weld structures and report progress to corporate databases. By contrast, components arriving in the NDT department typically require manual part handling, calibrations and analysis. The automation examples in this paper cover the development of robotic thickness gauging and the use of adaptive contour following on the NRU reactor inspection at Chalk River.

  11. Novel sensors for underground robotics

    CSIR Research Space (South Africa)

    Green, JJ

    2012-08-01

    Full Text Available . Robotics seems an obvious solution. An autonomous robotic system to inspect the mine ceiling (hanging wall) is being developed at the Center for Mining Innovation as an initial robotic application for South African deep gold mines. A number of the key...

  12. An Aerial Robot for Rice Farm Quality Inspection With Type-2 Fuzzy Neural Networks Tuned by Particle Swarm Optimization-Sliding Mode Control Hybrid Algorithm

    DEFF Research Database (Denmark)

    Camci, Efe; Kripalan, Devesh Raju; Ma, Linlu

    2017-01-01

    Agricultural robots, or agrobots, have been increasingly adopted in every aspect of farming from surveillance to fruit harvesting in order to improve the overall productivity over the last few decades. Motivated by compelling growth of agricultural robots in modern farms, in this work...

  13. EUREKA EU 191 - an inspection toolkit for an advanced ROV

    Energy Technology Data Exchange (ETDEWEB)

    Smith, B.J. (AEA Petroleum Services, Harwell (United Kingdom)); Wedgwood, F.A.; Siva, K.

    1992-01-01

    This paper is concerned specifically with a Work and Inspection Robot (WIR) which is an intelligent ROV intended to carry out remote inspection, maintenance and repair of underwater structures. (author).

  14. Video-based face recognition via convolutional neural networks

    Science.gov (United States)

    Bao, Tianlong; Ding, Chunhui; Karmoshi, Saleem; Zhu, Ming

    2017-06-01

    Face recognition has been widely studied recently while video-based face recognition still remains a challenging task because of the low quality and large intra-class variation of video captured face images. In this paper, we focus on two scenarios of video-based face recognition: 1)Still-to-Video(S2V) face recognition, i.e., querying a still face image against a gallery of video sequences; 2)Video-to-Still(V2S) face recognition, in contrast to S2V scenario. A novel method was proposed in this paper to transfer still and video face images to an Euclidean space by a carefully designed convolutional neural network, then Euclidean metrics are used to measure the distance between still and video images. Identities of still and video images that group as pairs are used as supervision. In the training stage, a joint loss function that measures the Euclidean distance between the predicted features of training pairs and expanding vectors of still images is optimized to minimize the intra-class variation while the inter-class variation is guaranteed due to the large margin of still images. Transferred features are finally learned via the designed convolutional neural network. Experiments are performed on COX face dataset. Experimental results show that our method achieves reliable performance compared with other state-of-the-art methods.

  15. Multiresolution coding for video-based service applications

    Science.gov (United States)

    Gharavi, Hami

    1995-12-01

    The video coding and distribution approach presented in this paper has two key characteristics that make it ideal for integration of video communication services over common broadband digital networks. The modular multi-resolution nature of the coding scheme provides the necessary flexibility to accommodate future advances in video technology as well as robust distribution over various network environments. This paper will present an efficient and scalable coding scheme for video communications. The scheme is capable of encoding and decoding video signals in a hierarchical, multilayer fashion to provide video at differing quality grades. Subsequently, the utilization of this approach to enable efficient bandwidth sharing and robust distribution of video signals in multipoint communications is presented. Coding and distribution architectures are discussed which include multi-party communications in a multi-window fashion within ATM environments. Furthermore, under the limited capabilities typical of wideband/broadband access networks, this architecture accommodates important video-based service applications such as Interactive Distance Learning.

  16. TENTube: A Video-based Connection Tool Supporting Competence Development

    Directory of Open Access Journals (Sweden)

    Albert A Angehrn

    2008-07-01

    Full Text Available The vast majority of knowledge management initiatives fail because they do not take sufficiently into account the emotional, psychological and social needs of individuals. Only if users see real value for themselves will they actively use and contribute their own knowledge to the system, and engage with other users. Connection dynamics can make this easier, and even enjoyable, by connecting people and bringing them closer through shared experiences such as playing a game together. A higher connectedness of people to other people, and to relevant knowledge assets, will motivate them to participate more actively and increase system usage. In this paper, we describe the design of TENTube, a video-based connection tool we are developing to support competence development. TENTube integrates rich profiling and network visualization and navigation with agent-enhanced game-like connection dynamics.

  17. Automatic Video-based Analysis of Human Motion

    DEFF Research Database (Denmark)

    Fihl, Preben

    The human motion contains valuable information in many situations and people frequently perform an unconscious analysis of the motion of other people to understand their actions, intentions, and state of mind. An automatic analysis of human motion will facilitate many applications and thus has...... received great interest from both industry and research communities. The focus of this thesis is on video-based analysis of human motion and the thesis presents work within three overall topics, namely foreground segmentation, action recognition, and human pose estimation. Foreground segmentation is often...... the first important step in the analysis of human motion. By separating foreground from background the subsequent analysis can be focused and efficient. This thesis presents a robust background subtraction method that can be initialized with foreground objects in the scene and is capable of handling...

  18. 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...

  19. Inspection Database

    Data.gov (United States)

    U.S. Department of Health & Human Services — FDA is disclosing the final inspection classification for inspections related to currently marketed FDA-regulated products. The disclosure of this information is not...

  20. Design and Implementation of a Video-based Clinical Examination.

    Science.gov (United States)

    Valdez, Connie A; Paulsen, Susan

    2007-12-01

    To (1) describe the development of a Video-based Clinical Examination (VCE) as a formal testing format to evaluate student ability to make an accurate pharmaceutical assessment and recommendation, and (2) determine student perception of the VCE testing format. Descriptive study of first-year pharmacy students. One hundred and twenty-nine students were included in the study. Students perceived that the VCE testing format provided a real life/interactive environment but felt rushed as the video segments of the patient/pharmacist interaction occurred quickly. Based on the findings of this project, we will continue to pursue further research related to validity, reliability and application of VCEs. However, the University of Colorado will continue to incorporate VCEs in the performance based evaluations in the Professional Skills Development 1 course, as it appears to be an effective stepping-stone for first-year students to begin developing their active listening, higher level learning and problem-solving skills. Results of this project will be shared with the faculty and curriculum committee at the University of Colorado School of Pharmacy to encourage further use and research of VCEs in other courses.

  1. Analysis of unstructured video based on camera motion

    Science.gov (United States)

    Abdollahian, Golnaz; Delp, Edward J.

    2007-01-01

    Although considerable work has been done in management of "structured" video such as movies, sports, and television programs that has known scene structures, "unstructured" video analysis is still a challenging problem due to its unrestricted nature. The purpose of this paper is to address issues in the analysis of unstructured video and in particular video shot by a typical unprofessional user (i.e home video). We describe how one can make use of camera motion information for unstructured video analysis. A new concept, "camera viewing direction," is introduced as the building block of home video analysis. Motion displacement vectors are employed to temporally segment the video based on this concept. We then find the correspondence between the camera behavior with respect to the subjective importance of the information in each segment and describe how different patterns in the camera motion can indicate levels of interest in a particular object or scene. By extracting these patterns, the most representative frames, keyframes, for the scenes are determined and aggregated to summarize the video sequence.

  2. Video-based measurements for wireless capsule endoscope tracking

    Science.gov (United States)

    Spyrou, Evaggelos; Iakovidis, Dimitris K.

    2014-01-01

    The wireless capsule endoscope is a swallowable medical device equipped with a miniature camera enabling the visual examination of the gastrointestinal (GI) tract. It wirelessly transmits thousands of images to an external video recording system, while its location and orientation are being tracked approximately by external sensor arrays. In this paper we investigate a video-based approach to tracking the capsule endoscope without requiring any external equipment. The proposed method involves extraction of speeded up robust features from video frames, registration of consecutive frames based on the random sample consensus algorithm, and estimation of the displacement and rotation of interest points within these frames. The results obtained by the application of this method on wireless capsule endoscopy videos indicate its effectiveness and improved performance over the state of the art. The findings of this research pave the way for a cost-effective localization and travel distance measurement of capsule endoscopes in the GI tract, which could contribute in the planning of more accurate surgical interventions.

  3. The development of radiation hardened robot for nuclear facility; development of ultrasonic guided wave evaluation technology for the in-service/post-repair inspection of steam generator tubings

    Energy Technology Data Exchange (ETDEWEB)

    Cho, Youn Ho [Inje University, Kimhae (Korea)

    2002-04-01

    The Potential of Ultrasonic Guided Waves which can propagate along the geometry of structures was explored for the inspection of such various components of nuclear power plants as tubings, pipings and plate-like structures etc. In this project, the fundamental research on the various aspects of guided wave modal characteristics was carried out to provide physically based guidelines which are essential to implement the guided waves as a promising inspection tool in the near future. The efforts for guided wave research include both theoretical and experimental works to make it possible to transfer the technology to power industry beyond the scope of pure academic subject. In the theoretical works, the softwares for the dispersion curves and wave structures of both layered structures and cylindrical ones were developed in the aims of mode identification and determination of probe design parameters. 40 refs., 92 figs., 14 tabs. (Author)

  4. In Pipe Robot with Hybrid Locomotion System

    Directory of Open Access Journals (Sweden)

    Cristian Miclauş

    2015-06-01

    Full Text Available The first part of the paper covers aspects concerning in pipe robots and their components, such as hybrid locomotion systems and the adapting mechanisms used. The second part describes the inspection robot that was developed, which combines tracked and wheeled locomotion (hybrid locomotion. The end of the paper presents the advantages and disadvantages of the proposed robot.

  5. System for leaks inspection in a nuclear plant by means of a mobile robot; Sistema para inspeccion de fugas en una planta nuclear por medio de un robot movil

    Energy Technology Data Exchange (ETDEWEB)

    Ramirez S, R.; Segovia de los Rios, J.A. [ININ, Km. 36.5 Carretera Mexico-Toluca, Salazar, Edo. de Mexico (Mexico)]. E-mail: ramses@nuclear.inin.mx

    2004-07-01

    In this work a supervision system that could allow to carry out the detection of leaks of vapor in pipe lines, using a mobile robot Pioneer 2 -D Xe, which is controlled by means of an external micro controller 68HC912B32 programmed in Forth and using diffuse control to travel a road by means of the one to follow one lines painted in the floor is described. The robot takes in his superior part, a thermographic camera that allows to determine if leaks of vapor exist in pipes and a dosemeter to measure the present radiation levels in the place, besides a video camera. This way, the personnel, can make sure of having a propitious situation to make the maintenance of the facilities. (Author)

  6. 241-AY-102 Leak Detection Pit Drain Line Inspection Report

    Energy Technology Data Exchange (ETDEWEB)

    Boomer, Kayle D. [Hanford Site (HNF), Richland, WA (United States); Engeman, Jason K. [Hanford Site (HNF), Richland, WA (United States); Gunter, Jason R. [Hanford Site (HNF), Richland, WA (United States); Joslyn, Cameron C. [Hanford Site (HNF), Richland, WA (United States); Vazquez, Brandon J. [Hanford Site (HNF), Richland, WA (United States); Venetz, Theodore J. [Hanford Site (HNF), Richland, WA (United States); Garfield, John S. [AEM Consulting, Richland, WA (United States)

    2014-01-20

    This document provides a description of the design components, operational approach, and results from the Tank AY-102 leak detection pit drain piping visual inspection. To perform this inspection a custom robotic crawler with a deployment device was designed, built, and operated by IHI Southwest Technologies, Inc. for WRPS to inspect the 6-inch leak detection pit drain line.

  7. An Articulated Inspection Arm for fusion purposes

    Energy Technology Data Exchange (ETDEWEB)

    Villedieu, E., E-mail: eric.villedieu@cea.fr [CEA-IRFM, 13108 Saint Paul lez Durance (France); Bruno, V.; Pastor, P.; Gargiulo, L. [CEA-IRFM, 13108 Saint Paul lez Durance (France); Song, Y.T.; Cheng, Y.; Feng, H. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Liu, C. [CEA-IRFM, 13108 Saint Paul lez Durance (France); Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Shi, S.S. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China)

    2016-11-01

    Highlights: • Requirements for in vacuum tokamak inspection are presented. • Development of a prototype of the Articulated Inspection Arm is described. • The upgrade of the prototype to convert it into a fully operational device is detailed. • Future applications of inspection robots in the new fusion reactors is discussed. - Abstract: Fusion Tokamaks are complex machines which require special conditions for their operation, in particular, high vacuum inside the vessel and high temperature of the vessel walls. During plasma phases, the first wall components are highly stressed and a control is necessary in case of doubt about their condition. To be able to make safely such an inspection in a short period of time is a great advantage. The Articulated Inspection Arm (AIA) developed by the CEA provides the capability for fast inspections of the first wall overall surface keeping the vacuum and temperature conditions of the vessel. The robot prototype was validated in Tore Supra in 2008. In the frame of a joint laboratory, CEA/IRFM and ASIPP have decided to upgrade the existing AIA prototype to use it routinely in the EAST and WEST tokamaks. The robot has followed an important upgrade program in 2013 and 2014. The document presents the various upgrades made on the mechanics, the sensors, the electronics, the control station and the integration adaptation for the operation on EAST. From the AIA experience, thoughts for future inspection robots are given.

  8. An operator interface design for a telerobotic inspection system

    Science.gov (United States)

    Kim, Won S.; Tso, Kam S.; Hayati, Samad

    1993-01-01

    The operator interface has recently emerged as an important element for efficient and safe interactions between human operators and telerobotics. Advances in graphical user interface and graphics technologies enable us to produce very efficient operator interface designs. This paper describes an efficient graphical operator interface design newly developed for remote surface inspection at NASA-JPL. The interface, designed so that remote surface inspection can be performed by a single operator with an integrated robot control and image inspection capability, supports three inspection strategies of teleoperated human visual inspection, human visual inspection with automated scanning, and machine-vision-based automated inspection.

  9. Robotic surgery

    Science.gov (United States)

    Robot-assisted surgery; Robotic-assisted laparoscopic surgery; Laparoscopic surgery with robotic assistance ... computer station and directs the movements of a robot. Small surgical tools are attached to the robot's ...

  10. Detection of upscale-crop and partial manipulation in surveillance video based on sensor pattern noise

    National Research Council Canada - National Science Library

    Hyun, Dai-Kyung; Ryu, Seung-Jin; Lee, Hae-Yeoun; Lee, Heung-Kyu

    2013-01-01

    .... Nevertheless, there is little research being done on forgery of surveillance videos. This paper proposes a forensic technique to detect forgeries of surveillance video based on sensor pattern noise (SPN...

  11. Pyrotechnic robot - constructive design and command

    Directory of Open Access Journals (Sweden)

    Ionel A. Staretu

    2013-10-01

    Full Text Available Pyrotechnic robots are service robots used to reduce the time for intervention of pyrotechnic troops and to diminish the danger for the operators. Pyrotechnic robots are used to inspect dangerous areas or/and to remove and to distroy explosive or suspicious devices/objects. These robots can be used to make corridors through mined battle fields, for manipulation and neutralization of unexploded ammunition, for inspection of vehicles, trains, airplanes and buildings. For these robots, a good functional activity is determined with regard to work space dimensions,, robotic arm kinematics and gripper characteristics. The paper shows the structural, kinematic, static synthesis and analysis as well as the design and functional simulation of the robotic arm and the grippers attached on the pyrotechnic robot designed by the authors.

  12. Hopping Robot with Wheels

    Science.gov (United States)

    Barlow, Edward; Marzwell, Nevellie; Fuller, Sawyer; Fionni, Paolo; Tretton, Andy; Burdick, Joel; Schell, Steve

    2003-01-01

    A small prototype mobile robot is capable of (1) hopping to move rapidly or avoid obstacles and then (2) moving relatively slowly and precisely on the ground by use of wheels in the manner of previously reported exploratory robots of the "rover" type. This robot is a descendant of a more primitive hopping robot described in "Minimally Actuated Hopping Robot" (NPO- 20911), NASA Tech Briefs, Vol. 26, No. 11 (November 2002), page 50. There are many potential applications for robots with hopping and wheeled-locomotion (roving) capabilities in diverse fields of endeavor, including agriculture, search-and-rescue operations, general military operations, removal or safe detonation of land mines, inspection, law enforcement, and scientific exploration on Earth and remote planets. The combination of hopping and roving enables this robot to move rapidly over very rugged terrain, to overcome obstacles several times its height, and then to position itself precisely next to a desired target. Before a long hop, the robot aims itself in the desired hopping azimuth and at a desired takeoff angle above horizontal. The robot approaches the target through a series of hops and short driving operations utilizing the steering wheels for precise positioning.

  13. Robot maps, robot moves, robot avoids

    OpenAIRE

    Farrugia, Claire

    2014-01-01

    Robotics is a cornerstone for this century’s innovations. From robot nurses to your own personal assistant, most robots need to know: ‘where is it?’ ‘Where should it go?’ And ‘how to get there?’ Without answers to these questions a robot cannot do much. http://www.um.edu.mt/think/robot-maps-robot-moves-robot-avoids/

  14. Hospital Inspections

    Data.gov (United States)

    U.S. Department of Health & Human Services — Welcome to hospitalinspections.org, a website run by the Association of Health Care Journalists (AHCJ) that aims to make federal hospital inspection reports easier...

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

    OpenAIRE

    HARIK, el Houssein Chouaib; Guérin, François; Guinand, Frédéric; Brethé, Jean-François; Pelvillain, Hervé

    2014-01-01

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

  16. Industrial applications of shearography for inspection of aircraft components

    Energy Technology Data Exchange (ETDEWEB)

    Krupka, R.; Walz, T.; Ettemeyer, A. [Ettemeyer AG, Elchingen (Germany)

    2003-07-01

    Shearography has been validated as fast and reliable inspection technique for aerospace components. Following several years phase of evaluation of the technique, meanwhile, shearography has entered the industrial production inspection. The applications basically range from serial inspection in the production line to field inspection in assembly and to applications in the maintenance and repair area. In all applications, the main advantages of shearography, as very fast and full field inspection and high sensitivity even on very complex on composite materials have led to the decision for laser shearography as inspection tool. In this paper, we present some highlights of industrial shearography inspection. One of the first industrial installations of laser shearography in Europe was a fully automatic inspection system for helicopter rotorblades. Complete rotor blades are inspected within 10 minutes on delaminations and debondings in the composite structure. In case of more complex components, robotic manipulation of the shearography camera has proven to be the optimal solution. An industry 6-axis robot gives utmost flexibility to position the camera in any angle and distance. Automatic defect marking systems have also been introduced to indicate the exact position of the defect directly on the inspected component. Other applications are shearography inspection systems for abradable seals in jet engines and portable shearography inspection systems for maintenance and repair inspection in the field. In this paper, recent installations of automatic inspection systems in aerospace industries are presented.

  17. 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...

  18. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

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

  19. The Coverage Problem in Video-Based Wireless Sensor Networks: A Survey

    Directory of Open Access Journals (Sweden)

    Luiz Affonso Guedes

    2010-09-01

    Full Text Available Wireless sensor networks typically consist of a great number of tiny low-cost electronic devices with limited sensing and computing capabilities which cooperatively communicate to collect some kind of information from an area of interest. When wireless nodes of such networks are equipped with a low-power camera, visual data can be retrieved, facilitating a new set of novel applications. The nature of video-based wireless sensor networks demands new algorithms and solutions, since traditional wireless sensor networks approaches are not feasible or even efficient for that specialized communication scenario. The coverage problem is a crucial issue of wireless sensor networks, requiring specific solutions when video-based sensors are employed. In this paper, it is surveyed the state of the art of this particular issue, regarding strategies, algorithms and general computational solutions. Open research areas are also discussed, envisaging promising investigation considering coverage in video-based wireless sensor networks.

  20. The coverage problem in video-based wireless sensor networks: a survey.

    Science.gov (United States)

    Costa, Daniel G; Guedes, Luiz Affonso

    2010-01-01

    Wireless sensor networks typically consist of a great number of tiny low-cost electronic devices with limited sensing and computing capabilities which cooperatively communicate to collect some kind of information from an area of interest. When wireless nodes of such networks are equipped with a low-power camera, visual data can be retrieved, facilitating a new set of novel applications. The nature of video-based wireless sensor networks demands new algorithms and solutions, since traditional wireless sensor networks approaches are not feasible or even efficient for that specialized communication scenario. The coverage problem is a crucial issue of wireless sensor networks, requiring specific solutions when video-based sensors are employed. In this paper, it is surveyed the state of the art of this particular issue, regarding strategies, algorithms and general computational solutions. Open research areas are also discussed, envisaging promising investigation considering coverage in video-based wireless sensor networks.

  1. Industrial applications of shearography for inspections of aircraft components

    Science.gov (United States)

    Krupka, Rene; Waltz, T.; Ettemeyer, Andreas

    2003-05-01

    Shearography has been validated as fast and reliable inspection technique for aerospace components. Following several years phase of evaluation of the technique, meanwhile, shearography has entered the industrial production inspection. The applications basically range from serial inspection in the production line to field inspection in assembly and to applications in the maintenance and repair area. In all applications, the main advantages of shearography, as very fast and full field inspection and high sensitivity even on very complex composite materials have led to the decision for laser shearography as inspection tool. In this paper, we present examples of recent industrial shearography inspection systems in the field of aerospace. One of the first industrial installations of laser shearography in Europe was a fully automatic inspection system for helicopter rotorblades. Complete rotor blades are inspected within 10 minutes on delaminations and debondings in the composite structure. In case of more complex components, robotic manipulation of the shearography camera has proven to be the optimum solution. An industry 6-axis robot gives utmost flexibility to position the camera in any angle and distance. Automatic defect marking systems have also been introduced to indicate the exact position of the defect directly on the inspected component. Other applications cover the inspection of abradable seals in jet engines and portable shearography inspection systems for maintenance and repair inspection in the field.

  2. Industrial applications of shearography for inspection of aircraft components

    Science.gov (United States)

    Krupka, Rene; Walz, Thomas; Ettemeyer, Andreas

    2005-04-01

    Shearography has been validated as fast and reliable inspection technique for aerospace components. Following several years phase of evaluation of the technique, meanwhile, shearography has entered the industrial production inspection. The applications basically range from serial inspection in the production line to field inspection in assembly and to applications in the maintenance and repair area. In all applications, the main advantages of shearography, as very fast and full field insection and high sensitivity even on very complex on composite materials have led to the decision for laser shearography as inspection tool. In this paper, we present some highlights of industrial shearography inspection. One of the first industrial installations of laser shearography in Europe was a fully automatic inspection system for helicopter rotorblades. Complete rotor blades are inspected within 10 minutes on delaminations and debondingg in the composite structure. In case of more complex components, robotic manipulation of the shearography camera has proven to be the optimal solution. An industry 6-axis robot give utmost flexibility to position the camera in any angle and distance. Automatic defect marking systems have also been introduced to indicate the exact position of the defect directly on the inspected component. Other applications are shearography inspection systems for abradable seals in jet engines and portable shearography inspection systems for maintenance and repair inspection in the field. In this paper, recent installations of automatice inspection systems in aerospace industries are presented.

  3. Robot and robot system

    Science.gov (United States)

    Behar, Alberto E. (Inventor); Marzwell, Neville I. (Inventor); Wall, Jonathan N. (Inventor); Poole, Michael D. (Inventor)

    2011-01-01

    A robot and robot system that are capable of functioning in a zero-gravity environment are provided. The robot can include a body having a longitudinal axis and having a control unit and a power source. The robot can include a first leg pair including a first leg and a second leg. Each leg of the first leg pair can be pivotally attached to the body and constrained to pivot in a first leg pair plane that is substantially perpendicular to the longitudinal axis of the body.

  4. Customs Inspection

    Science.gov (United States)

    1977-05-01

    toilet known or suspected not to be entitled to duty-free articles), entry is found in a member’s accompanied *R. No more than 50 cigars or 200 ciga...responsibility of the oper. junction with or following, required mortuary ator of the air or ocean terminal having juris- inspections. Examination, to include

  5. Systematic Review of Video-Based Instruction Component and Parametric Analyses

    Science.gov (United States)

    Bennett, Kyle D.; Aljehany, Mashal Salman; Altaf, Enas Mohammednour

    2017-01-01

    Video-based instruction (VBI) has a substantial amount of research supporting its use with individuals with autism spectrum disorder and other developmental disabilities. However, it has typically been implemented as a treatment package containing multiple interventions. Additionally, there are procedural variations of VBI. Thus, it is difficult…

  6. Assessing Perceptions of Interpersonal Behavior with a Video-Based Situational Judgment Test

    Science.gov (United States)

    Golubovich, Juliya; Seybert, Jacob; Martin-Raugh, Michelle; Naemi, Bobby; Vega, Ronald P.; Roberts, Richard D.

    2017-01-01

    Accurate appraisal of others' behavior is critical for the production of skilled interpersonal behavior. We used an ecologically valid methodology, a video-based situational judgment test with true-false items, to assess the accuracy with which students (N = 947) perceive the interpersonal behavior of actors involved in workplace situations.…

  7. Open-Ended Interaction in Cooperative Pro-to-typing: A Video-based Analysis

    DEFF Research Database (Denmark)

    Bødker, Susanne; Grønbæk, Kaj; Trigg, Randal

    1991-01-01

    on a fine-grained video-based analysis of a single prototyping session, and focuses on the effects of an open-ended style of interaction between users and designers around a prototype. An analysis of focus shifts, initiative and storytelling during the session is brought to bear on the question of whether...

  8. Supporting Online Video-Based Correction for Language Learning through Markup-Based Video Editing.

    Science.gov (United States)

    Hada, Yoshiaki; Ogata, Hiroaki; Yano, Yoneo

    This paper focuses on an online video based correction system for language learning. The prototype system using the proposed model supports learning between a native English teacher and a non-native learner using a videoconference system. It extends the videoconference system so that it can record the conversation of a learning scene. If a teacher…

  9. The Impact of Video-Based Materials on Chinese-Speaking Learners' English Text Comprehension

    Science.gov (United States)

    Lin, Lu-Fang

    2016-01-01

    This study investigated whether video-based materials can facilitate second language learners' text comprehension at the levels of macrostructure and microstructure. Three classes inclusive of 98 Chinese-speaking university students joined this study. The three classes were randomly assigned to three treatment groups: on-screen text (T Group),…

  10. Validation of a Video-based Game-Understanding Test Procedure in Badminton.

    Science.gov (United States)

    Blomqvist, Minna T.; Luhtanen, Pekka; Laakso, Lauri; Keskinen, Esko

    2000-01-01

    Reports the development and validation of video-based game-understanding tests in badminton for elementary and secondary students. The tests included different sequences that simulated actual game situations. Players had to solve tactical problems by selecting appropriate solutions and arguments for their decisions. Results suggest that the test…

  11. Student Activity and Profile Datasets from an Online Video-Based Collaborative Learning Experience

    Science.gov (United States)

    Martín, Estefanía; Gértrudix, Manuel; Urquiza-Fuentes, Jaime; Haya, Pablo A.

    2015-01-01

    This paper describes two datasets extracted from a video-based educational experience using a social and collaborative platform. The length of the trial was 3 months. It involved 111 students from two different courses. Twenty-nine came from Computer Engineering (CE) course and 82 from Media and Communication (M&C) course. They were organised…

  12. Methodological Contributions to Video-Based Studies of Classroom Teaching and Learning: A Commentary

    Science.gov (United States)

    Borko, Hilda

    2016-01-01

    In the past decade, there has been important progress in the development and validation of video-based instruments that enable the systematic assessment of teaching competence with large samples of teachers, across multiple settings and populations, and by researchers other than the developers. This commentary focuses on the methodological…

  13. Emotional Impact of a Video-Based Suicide Prevention Program on Suicidal Viewers and Suicide Survivors

    Science.gov (United States)

    Bryan, Craig J.; Dhillon-Davis, Luther E.; Dhillon-Davis, Kieran K.

    2009-01-01

    In light of continuing concerns about iatrogenic effects associated with suicide prevention efforts utilizing video-based media, the impact of emotionally-charged videos on two vulnerable subgroups--suicidal viewers and suicide survivors--was explored. Following participation in routine suicide education as a part of the U.S. Air Force Suicide…

  14. Receiving Video-Based Feedback in Elite Ice-Hockey: A Player's Perspective

    Science.gov (United States)

    Nelson, Lee J.; Potrac, Paul; Groom, Ryan

    2014-01-01

    The aim of this paper was to provide some rich insights into how an elite ice-hockey player responded to his coaches' pedagogical delivery of video-based feedback sessions. Data for this study were gathered through a series of in-depth, semi-structured interviews and a reflective log relating to those interviews. The interviews were transcribed…

  15. Improving Secondary School Students' Achievement and Retention in Biology through Video-Based Multimedia Instruction

    Science.gov (United States)

    Gambari, Amosa Isiaka; Yaki, Akawo Angwal; Gana, Eli S.; Ughovwa, Queen Eguono

    2014-01-01

    The study examined the effects of video-based multimedia instruction on secondary school students' achievement and retention in biology. In Nigeria, 120 students (60 boys and 60 girls) were randomly selected from four secondary schools assigned either into one of three experimental groups: Animation + Narration; Animation + On-screen Text;…

  16. Video-Based Interaction, Negotiation for Comprehensibility, and Second Language Speech Learning: A Longitudinal Study

    Science.gov (United States)

    Saito, Kazuya; Akiyama, Yuka

    2017-01-01

    This study examined the impact of video-based conversational interaction on the longitudinal development (one academic semester) of second language production by college-level Japanese English-as-a-foreign-language learners. Students in the experimental group engaged in weekly dyadic conversation exchanges with native speakers in the United States…

  17. Feedback in formative OSCEs: comparison between direct observation and video-based formats

    Directory of Open Access Journals (Sweden)

    Noëlle Junod Perron

    2016-11-01

    Full Text Available Introduction: Medical students at the Faculty of Medicine, University of Geneva, Switzerland, have the opportunity to practice clinical skills with simulated patients during formative sessions in preparation for clerkships. These sessions are given in two formats: 1 direct observation of an encounter followed by verbal feedback (direct feedback and 2 subsequent review of the videotaped encounter by both student and supervisor (video-based feedback. The aim of the study was to evaluate whether content and process of feedback differed between both formats. Methods: In 2013, all second- and third-year medical students and clinical supervisors involved in formative sessions were asked to take part in the study. A sample of audiotaped feedback sessions involving supervisors who gave feedback in both formats were analyzed (content and process of the feedback using a 21-item feedback scale. Results: Forty-eight audiotaped feedback sessions involving 12 supervisors were analyzed (2 direct and 2 video-based sessions per supervisor. When adjusted for the length of feedback, there were significant differences in terms of content and process between both formats; the number of communication skills and clinical reasoning items addressed were higher in the video-based format (11.29 vs. 7.71, p=0.002 and 3.71 vs. 2.04, p=0.010, respectively. Supervisors engaged students more actively during the video-based sessions than during direct feedback sessions (self-assessment: 4.00 vs. 3.17, p=0.007; active problem-solving: 3.92 vs. 3.42, p=0.009. Students made similar observations and tended to consider that the video feedback was more useful for improving some clinical skills. Conclusion: Video-based feedback facilitates discussion of clinical reasoning, communication, and professionalism issues while at the same time actively engaging students. Different time and conceptual frameworks may explain observed differences. The choice of feedback format should depend on

  18. A Benchmark Dataset and Saliency-guided Stacked Autoencoders for Video-based Salient Object Detection.

    Science.gov (United States)

    Li, Jia; Xia, Changqun; Chen, Xiaowu

    2017-10-12

    Image-based salient object detection (SOD) has been extensively studied in past decades. However, video-based SOD is much less explored due to the lack of large-scale video datasets within which salient objects are unambiguously defined and annotated. Toward this end, this paper proposes a video-based SOD dataset that consists of 200 videos. In constructing the dataset, we manually annotate all objects and regions over 7,650 uniformly sampled keyframes and collect the eye-tracking data of 23 subjects who free-view all videos. From the user data, we find that salient objects in a video can be defined as objects that consistently pop-out throughout the video, and objects with such attributes can be unambiguously annotated by combining manually annotated object/region masks with eye-tracking data of multiple subjects. To the best of our knowledge, it is currently the largest dataset for videobased salient object detection. Based on this dataset, this paper proposes an unsupervised baseline approach for video-based SOD by using saliencyguided stacked autoencoders. In the proposed approach, multiple spatiotemporal saliency cues are first extracted at the pixel, superpixel and object levels. With these saliency cues, stacked autoencoders are constructed in an unsupervised manner that automatically infers a saliency score for each pixel by progressively encoding the high-dimensional saliency cues gathered from the pixel and its spatiotemporal neighbors. In experiments, the proposed unsupervised approach is compared with 31 state-of-the-art models on the proposed dataset and outperforms 30 of them, including 19 imagebased classic (unsupervised or non-deep learning) models, six image-based deep learning models, and five video-based unsupervised models. Moreover, benchmarking results show that the proposed dataset is very challenging and has the potential to boost the development of video-based SOD.

  19. Snake Robots Modelling, Mechatronics, and Control

    CERN Document Server

    Liljebäck, Pål; Stavdahl, Øyvind; Gravdahl, Jan Tommy

    2013-01-01

    Snake Robots is a novel treatment of theoretical and practical topics related to snake robots: robotic mechanisms designed to move like biological snakes and able to operate in challenging environments in which human presence is either undesirable or impossible. Future applications of such robots include search and rescue, inspection and maintenance, and subsea operations. Locomotion in unstructured environments is a focus for this book. The text targets the disparate muddle of approaches to modelling, development and control of snake robots in current literature, giving a unified presentation of recent research results on snake robot locomotion to increase the reader’s basic understanding of these mechanisms and their motion dynamics and clarify the state of the art in the field. The book is a complete treatment of snake robotics, with topics ranging from mathematical modelling techniques, through mechatronic design and implementation, to control design strategies. The development of two snake robots is de...

  20. Sensor integration for robotic laser welding processes

    NARCIS (Netherlands)

    Iakovou, D.; Aarts, Ronald G.K.M.; Meijer, J.; Ostendorf, A; Hoult, A.; Lu, Y.

    2005-01-01

    The use of robotic laser welding is increasing among industrial applications, because of its ability to weld objects in three dimensions. Robotic laser welding involves three sub-processes: seam detection and tracking, welding process control, and weld seam inspection. Usually, for each sub-process,

  1. Underground mining robot: a CSIR project

    CSIR Research Space (South Africa)

    Green, JJ

    2012-11-01

    Full Text Available The Council for Scientific and Industrial Research (CSIR) in South Africa is currently developing a robot for the inspection of the ceiling (hanging-wall) in an underground gold mine. The robot autonomously navigates the 30 meter long by 3 meter...

  2. Aerial service robotics: the AIRobots perspective

    NARCIS (Netherlands)

    Marconi, L.; Basile, F.; Caprari, G.; Carloni, Raffaella; Chiacchio, P.; Hurzeler, C.; Lippiello, V.; Naldi, R.; Siciliano, B.; Stramigioli, Stefano; Zwicker, E.

    This paper presents the main vision and research activities of the ongoing European project AIRobots (Innova- tive Aerial Service Robot for Remote Inspection by Contact, www.airobots.eu). The goal of AIRobots is to develop a new generation of aerial service robots capable of supporting human beings

  3. Aerial service robotics : The AIRobots perspective

    NARCIS (Netherlands)

    Marconi, L.; Basile, F.; Caprari, G.; Carloni, R.; Chiacchio, P.; Hurzeler, C.; Lippiello, V.; Naldi, R.; Nikolic, J.; Siciliano, B.; Stramigioli, S.; Zwicker, E.

    2012-01-01

    This paper presents the main vision and research activities of the ongoing European project AIRobots (Innovative Aerial Service Robot for Remote Inspection by Contact, www.airobots.eu). The goal of AIRobots is to develop a new generation of aerial service robots capable of supporting human beings in

  4. Inspection technology for high pressure pipes

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Jae H.; Lee, Jae C.; Eum, Heung S.; Choi, Yu R.; Moon, Soon S.; Jang, Jong H

    2000-02-01

    Various kinds of defects are likely to be occurred in the welds of high pressure pipes in nuclear power plants. Considering the recent accident of Zuruga nuclear power plant in Japan, reasonable policy is strongly requested for the high pressure pipe integrity. In this study, we developed the technologies to inspect pipe welds automatically. After development of scanning robot prototype in the first research year, we developed and implemented the algorithm of automatic tracking of the scanning robot along the weld line of the pipes. We use laser slit beam on weld area and capture the image using digital camera. Through processing of the captures image, we finally determine the weld line automatically. In addition, we investigated a new technology on micro systems for developing micro scanning robotic inspection of the pipe welds. The technology developed in this study is being transferred to the industry. (author)

  5. Final Environmental Assessment: Proposed Composite Aircraft Inspection Facilities, Hill Air Force Base, Utah

    Science.gov (United States)

    2008-10-02

    with a 28,000 square foot footprint. Included technologies would be robotic x-ray technology, ultrasonics, laser shearography , and digital...large aircraft components (two ultrasonic inspection bays, two laser shearography inspection bays, and two digital radiography inspection bays

  6. Video-Based Self-Observation as a Component of Developmental Teacher Evaluation

    Directory of Open Access Journals (Sweden)

    Leonardo A. Mercado

    2014-09-01

    Full Text Available In this paper, we explore the benefits to teacher evaluation when video-based self-observation is done by teachers as a vehicle for individual, reflective practice. We explore how it was applied systematically at the Instituto Cultural Peruano Norteamericano (ICPNA bi-national center in Lima, Peru among hundreds of English as a foreign language (EFL teachers in two institution-wide initiatives that have relied on self-observation through video professional development. In these cases, we provide a descriptive framework for each initiative as well as information on what was ultimately achieved by teachers, supervisors and the institution as a whole. We conclude with recommendations for implementing video-based self-evaluation.

  7. Strategies to reduce PWR inspection time

    Energy Technology Data Exchange (ETDEWEB)

    Guerra, J.; Gonzalez, E. [TECNATOM SA, Madrid (Spain)

    2001-07-01

    During last few years, a constant reduction in inspection time was clearly demanded by most nuclear plant owners. This requirement has to be accomplished without any impact in inspection quality that, in general, has also to be improved. All this in a market with increasing competition that forces price reductions. Under these new demands from our customers, Tecnatom reoriented its development efforts to improve his products and services to meet this challenges. Two of our main inspection activities that have clear impact in outage duration are Steam Generator and Vessel inspections. This paper describes the improvements made in these two activities as an example of the reorientation of our development efforts with a focus on the technical improvements made on the software and robotic tools applied as in the data acquisition and analysis systems. In the Steam Generator inspections, new robots with dual guide tubes are commonly used. New eddy current instruments and software were developed to keep up with the data rates produced by the faster acquisition system. Use of automatic analysis software is also helping to improve speed while reducing cost and improving overall job quality. Production rates are close to double from the previous inspection system. (author)

  8. Robotic platform for traveling on vertical piping network

    Science.gov (United States)

    Nance, Thomas A; Vrettos, Nick J; Krementz, Daniel; Marzolf, Athneal D

    2015-02-03

    This invention relates generally to robotic systems and is specifically designed for a robotic system that can navigate vertical pipes within a waste tank or similar environment. The robotic system allows a process for sampling, cleaning, inspecting and removing waste around vertical pipes by supplying a robotic platform that uses the vertical pipes to support and navigate the platform above waste material contained in the tank.

  9. A video-based eye pupil detection system for diagnosing bipolar disorder

    OpenAIRE

    AKINCI, Gökay; Polat, Ediz; Koçak, Orhan Murat

    2012-01-01

    Eye pupil detection systems have become increasingly popular in image processing and computer vision applications in medical systems. In this study, a video-based eye pupil detection system is developed for diagnosing bipolar disorder. Bipolar disorder is a condition in which people experience changes in cognitive processes and abilities, including reduced attentional and executive capabilities and impaired memory. In order to detect these abnormal behaviors, a number of neuropsychologi...

  10. Video-Based Surgical Learning: Improving Trainee Education and Preparation for Surgery.

    Science.gov (United States)

    Mota, Paulo; Carvalho, Nuno; Carvalho-Dias, Emanuel; João Costa, Manuel; Correia-Pinto, Jorge; Lima, Estevão

    2017-10-11

    Since the end of the XIX century, teaching of surgery has remained practically unaltered until now. With the dawn of video-assisted laparoscopy, surgery has faced new technical and learning challenges. Due to technological advances, from Internet access to portable electronic devices, the use of online resources is part of the educational armamentarium. In this respect, videos have already proven to be effective and useful, however the best way to benefit from these tools is still not clearly defined. To assess the importance of video-based learning, using an electronic questionnaire applied to residents and specialists of different surgical fields. Importance of video-based learning was assessed in a sample of 141 subjects, using a questionnaire distributed by a GoogleDoc online form. We found that 98.6% of the respondents have already used videos to prepare for surgery. When comparing video sources by formation status, residents were found to use Youtube significantly more often than specialists (p didactic illustrations and procedure narration than specialists (p < 0.001). On the other hand, specialists prized surgeon's technical skill and the presence of tips and tricks much more than residents (p < 0.001). Video-based learning is currently a hallmark of surgical preparation among residents and specialists working in Portugal. Based on these findings we believe that the creation of quality and scientifically accurate videos, and subsequent compilation in available video-libraries appears to be the future landscape for video-based learning. Copyright © 2017 Association of Program Directors in Surgery. Published by Elsevier Inc. All rights reserved.

  11. A Benchmark and Comparative Study of Video-Based Face Recognition on COX Face Database.

    Science.gov (United States)

    Huang, Zhiwu; Shan, Shiguang; Wang, Ruiping; Zhang, Haihong; Lao, Shihong; Kuerban, Alifu; Chen, Xilin

    2015-12-01

    Face recognition with still face images has been widely studied, while the research on video-based face recognition is inadequate relatively, especially in terms of benchmark datasets and comparisons. Real-world video-based face recognition applications require techniques for three distinct scenarios: 1) Videoto-Still (V2S); 2) Still-to-Video (S2V); and 3) Video-to-Video (V2V), respectively, taking video or still image as query or target. To the best of our knowledge, few datasets and evaluation protocols have benchmarked for all the three scenarios. In order to facilitate the study of this specific topic, this paper contributes a benchmarking and comparative study based on a newly collected still/video face database, named COX(1) Face DB. Specifically, we make three contributions. First, we collect and release a largescale still/video face database to simulate video surveillance with three different video-based face recognition scenarios (i.e., V2S, S2V, and V2V). Second, for benchmarking the three scenarios designed on our database, we review and experimentally compare a number of existing set-based methods. Third, we further propose a novel Point-to-Set Correlation Learning (PSCL) method, and experimentally show that it can be used as a promising baseline method for V2S/S2V face recognition on COX Face DB. Extensive experimental results clearly demonstrate that video-based face recognition needs more efforts, and our COX Face DB is a good benchmark database for evaluation.

  12. Is Video-Based Education an Effective Method in Surgical Education? A Systematic Review.

    Science.gov (United States)

    Ahmet, Akgul; Gamze, Kus; Rustem, Mustafaoglu; Sezen, Karaborklu Argut

    2018-02-12

    Visual signs draw more attention during the learning process. Video is one of the most effective tool including a lot of visual cues. This systematic review set out to explore the influence of video in surgical education. We reviewed the current evidence for the video-based surgical education methods, discuss the advantages and disadvantages on the teaching of technical and nontechnical surgical skills. This systematic review was conducted according to the guidelines defined in the preferred reporting items for systematic reviews and meta-analyses statement. The electronic databases: the Cochrane Library, Medline (PubMED), and ProQuest were searched from their inception to the 30 January 2016. The Medical Subject Headings (MeSH) terms and keywords used were "video," "education," and "surgery." We analyzed all full-texts, randomised and nonrandomised clinical trials and observational studies including video-based education methods about any surgery. "Education" means a medical resident's or student's training and teaching process; not patients' education. We did not impose restrictions about language or publication date. A total of nine articles which met inclusion criteria were included. These trials enrolled 507 participants and the total number of participants per trial ranged from 10 to 172. Nearly all of the studies reviewed report significant knowledge gain from video-based education techniques. The findings of this systematic review provide fair to good quality studies to demonstrate significant gains in knowledge compared with traditional teaching. Additional video to simulator exercise or 3D animations has beneficial effects on training time, learning duration, acquisition of surgical skills, and trainee's satisfaction. Video-based education has potential for use in surgical education as trainees face significant barriers in their practice. This method is effective according to the recent literature. Video should be used in addition to standard techniques

  13. Two-Stream Transformer Networks for Video-based Face Alignment.

    Science.gov (United States)

    Liu, Hao; Lu, Jiwen; Feng, Jianjiang; Zhou, Jie

    2017-08-01

    In this paper, we propose a two-stream transformer networks (TSTN) approach for video-based face alignment. Unlike conventional image-based face alignment approaches which cannot explicitly model the temporal dependency in videos and motivated by the fact that consistent movements of facial landmarks usually occur across consecutive frames, our TSTN aims to capture the complementary information of both the spatial appearance on still frames and the temporal consistency information across frames. To achieve this, we develop a two-stream architecture, which decomposes the video-based face alignment into spatial and temporal streams accordingly. Specifically, the spatial stream aims to transform the facial image to the landmark positions by preserving the holistic facial shape structure. Accordingly, the temporal stream encodes the video input as active appearance codes, where the temporal consistency information across frames is captured to help shape refinements. Experimental results on the benchmarking video-based face alignment datasets show very competitive performance of our method in comparisons to the state-of-the-arts.

  14. 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....

  15. 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....

  16. Effects of (in)accurate empathy and situational valence on attitudes towards robots

    NARCIS (Netherlands)

    Cramer, H.; Goddijn, J.; Wielinga, B.; Evers, V.

    2010-01-01

    Empathy has great potential in human-robot interaction. However, the challenging nature of assessing the user's emotional state points to the importance of also understanding the effects of empathic behaviours incongruent with users' affective experience. A 3x2 between-subject video-based survey

  17. Knowing me knowing you: Exploring effects of culture and context on perception of robot personality

    NARCIS (Netherlands)

    Weiss, A.; van Dijk, Elisabeth M.A.G.; Evers, Vanessa

    We carry out a set of experiments to assess collaboration between human users and robots in a cross-cultural setting. This paper describes the study design and deployment of a video-based study to investigate task-dependence and cultural-background dependence of the personality trait attribution on

  18. Remote inspection system for hazardous sites

    Energy Technology Data Exchange (ETDEWEB)

    Redd, J.; Borst, C.; Volz, R.A.; Everett, L.J. [Texas A and M Univ., College Station, TX (United States). Computer Science Dept.

    1999-04-01

    Long term storage of special nuclear materials poses a number of problems. One of these is a need to inspect the items being stored from time to time. Yet the environment is hostile to man, with significant radiation exposure resulting from prolonged presence in the storage facility. This paper describes research to provide a remote inspection capability, which could lead to eliminating the need for humans to enter a nuclear storage facility. While there are many ways in which an RI system might be created, this paper describes the development of a prototype remote inspection system, which utilizes virtual reality technology along with robotics. The purpose of this system is to allow the operator to establish a safe and realistic telepresence in a remote environment. In addition, it was desired that the user interface for the system be as intuitive to use as possible, thus eliminating the need for extensive training. The goal of this system is to provide a robotic platform with two cameras, which are capable of providing accurate and reliable stereographic images of the remote environment. One application for the system is that it might be driven down the corridors of a nuclear storage facility and utilized to inspect the drums inside, all without the need for physical human presence. Thus, it is not a true virtual reality system providing simulated graphics, but rather an augmented reality system, which performs remote inspection of an existing, real environment.

  19. Effects of a Short Video-Based Resident-as-Teacher Training Toolkit on Resident Teaching.

    Science.gov (United States)

    Ricciotti, Hope A; Freret, Taylor S; Aluko, Ashley; McKeon, Bri Anne; Haviland, Miriam J; Newman, Lori R

    2017-10-01

    To pilot a short video-based resident-as-teacher training toolkit and assess its effect on resident teaching skills in clinical settings. A video-based resident-as-teacher training toolkit was previously developed by educational experts at Beth Israel Deaconess Medical Center, Harvard Medical School. Residents were recruited from two academic hospitals, watched two videos from the toolkit ("Clinical Teaching Skills" and "Effective Clinical Supervision"), and completed an accompanying self-study guide. A novel assessment instrument for evaluating the effect of the toolkit on teaching was created through a modified Delphi process. Before and after the intervention, residents were observed leading a clinical teaching encounter and scored using the 15-item assessment instrument. The primary outcome of interest was the change in number of skills exhibited, which was assessed using the Wilcoxon signed-rank test. Twenty-eight residents from two academic hospitals were enrolled, and 20 (71%) completed all phases of the study. More than one third of residents who volunteered to participate reported no prior formal teacher training. After completing two training modules, residents demonstrated a significant increase in the median number of teaching skills exhibited in a clinical teaching encounter, from 7.5 (interquartile range 6.5-9.5) to 10.0 (interquartile range 9.0-11.5; Passessed, there were significant improvements in asking for the learner's perspective (P=.01), providing feedback (P=.005), and encouraging questions (P=.046). Using a resident-as-teacher video-based toolkit was associated with improvements in teaching skills in residents from multiple specialties.

  20. Development opportunities of emotional intelligence with reflective strategies using video-based training

    Directory of Open Access Journals (Sweden)

    Andrea Pokorná

    2015-12-01

    Full Text Available Background: Within nursing, Emotional intelligence (EI means the ability of nurses or nursing students to understand not only their own feelings and reactions, but also, and more importantly, the feelings and reactions of the patients in their care. EI plays an important part in forming successful human relationships as a part of emotional labour. Emotional labour is important in establishing therapeutic nurse–patient relationships but carries the risk of ‘burnout’ if prolonged or intense. Objective/Purpose: The assessment of students' views and perceptions of video-based training as an opportunity to develop emotional intelligence. Material and methods: Data about the video-based training in relation to EI were collected, after the completion of the reflection assignments, using semi-structured interviews and reflective sheets (ALACT model /acronym of the basic phases and steps/ - Action, Looking back on the action, Awareness of essential aspects, Creating alternative methods of action, Trial. The study included 46 students in total (post-graduate student Intensive care nurses in two sequential academic years (2012/13 n = 15 and 2013/14 n = 31. Results: The results showed that students in both cohorts considered video as an effective tool for carrying out self-evaluations and development of EI. The usefulness of video and peer-feedback for other reflection processes differed in students' view. Most students (80% appreciated the opportunity of viewing some unusual situations from clinical practice and appropriate ways of communicating. Some students (17% stated that they needed more time for similar teaching activities. Conclusion: 80% of all the students considered video-based training generally useful for all the reflection processes and improvement of EI; however they also indicated some limitations (i.e. time consuming teaching method. The study demonstrated that student-centric pedagogies and reflective activities on student learning

  1. Online video-based resistance training improves the physical capacity of junior basketball athletes.

    Science.gov (United States)

    Klusemann, Markus J; Pyne, David B; Fay, Tristan S; Drinkwater, Eric J

    2012-10-01

    Junior basketball athletes require a well-designed resistance training program to improve their physical development. Lack of expert supervision and resistance training in junior development pathways may be overcome by implementing an online video-based program. The aim of this study was to compare the magnitude of improvement (change) in physical performance and strength and functional movement patterns of junior basketball athletes using either a fully supervised or an online video-based resistance training program. Thirty-eight junior basketball athletes (males, n = 17; age, 14 ± 1 year; height, 1.79 ± 0.10 m; mass, 67 ± 12 kg; females, n = 21; age, 15 ± 1 year; height, 1.70 ± 0.07 m; mass, 62 ± 8 kg) were randomly assigned into a supervised resistance training group (SG, n = 13), video training group (VG, n = 13) or control group (CG, n = 12) and participated in a 6-week controlled experimental trial. Pre- and posttesting included measures of physical performance (20-m sprint, step-in vertical jump, agility, sit and reach, line drill, and Yo-Yo intermittent recovery level 1), strength (15 s push-up and pull-up), and functional movement screening (FMS). Both SG and VG achieved 3-5% ± 2-4% (mean ± 90% confidence limits) greater improvements in several physical performance measures (vertical jump height, 20-m sprint time, and Yo-Yo endurance performance) and a 28 ± 21% greater improvement in push-up strength compared with the CG. The SG attained substantially larger gains in FMS scores over both the VG (12 ± 10%) and CG (13 ± 8%). Video-based training appears to be a viable option to improve physical performance and strength in junior basketball athletes. Qualified supervision is recommended to improve functional movement patterns in junior athletes.

  2. Visual servo simulation of EAST articulated maintenance arm robot

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Yang, E-mail: yangyang@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland)

    2016-03-15

    For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

  3. A video-based system for hand-driven stop-motion animation.

    Science.gov (United States)

    Han, Xiaoguang; Fu, Hongbo; Zheng, Hanlin; Liu, Ligang; Wang, Jue

    2013-01-01

    Stop-motion is a well-established animation technique but is often laborious and requires craft skills. A new video-based system can animate the vast majority of everyday objects in stop-motion style, more flexibly and intuitively. Animators can perform and capture motions continuously instead of breaking them into increments and shooting one still picture per increment. More important, the system permits direct hand manipulation without resorting to rigs, achieving more natural object control for beginners. The system's key component is two-phase keyframe-based capturing and processing, assisted by computer vision techniques. With this system, even amateurs can generate high-quality stop-motion animations.

  4. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

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

  5. Robots' Safety

    OpenAIRE

    Pirttilahti, Juho

    2016-01-01

    Human-robot-collaboration is considered one of the answers to the flexible needs of more and more customizing manufacturing. Its purpose is to fit together the best qualities of both human and robots to reduce the cost and time of manufacturing. One of the key questions in this area is safety. The purpose of this thesis was to define the required safety functionality of cartesian, delta and articulated robots based on the current machine needs. Using the future robotic concepts investigat...

  6. Cuspidal Robots

    OpenAIRE

    Wenger, Philippe

    2016-01-01

    This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then been fascinating a lot of researchers. After a brief history of cuspidal robots, the chapter provides the main features of cuspidal robots: explanation of the non-singular change of posture, uniqueness domains, regions of feasible paths, identification and cla...

  7. Machinima and Video-Based Soft-Skills Training for Frontline Healthcare Workers.

    Science.gov (United States)

    Conkey, Curtis A; Bowers, Clint; Cannon-Bowers, Janis; Sanchez, Alicia

    2013-02-01

    Multimedia training methods have traditionally relied heavily on video-based technologies, and significant research has shown these to be very effective training tools. However, production of video is time and resource intensive. Machinima technologies are based on videogaming technology. Machinima technology allows videogame technology to be manipulated into unique scenarios based on entertainment or training and practice applications. Machinima is the converting of these unique scenarios into video vignettes that tell a story. These vignettes can be interconnected with branching points in much the same way that education videos are interconnected as vignettes between decision points. This study addressed the effectiveness of machinima-based soft-skills education using avatar actors versus the traditional video teaching application using human actors in the training of frontline healthcare workers. This research also investigated the difference between presence reactions when using avatar actor-produced video vignettes as compared with human actor-produced video vignettes. Results indicated that the difference in training and/or practice effectiveness is statistically insignificant for presence, interactivity, quality, and the skill of assertiveness. The skill of active listening presented a mixed result indicating the need for careful attention to detail in situations where body language and facial expressions are critical to communication. This study demonstrates that a significant opportunity exists for the exploitation of avatar actors in video-based instruction.

  8. Determining the Onset of Turbulent Flow Using Video Based Motion Analysis

    Science.gov (United States)

    Barton, Robert; Lemley, Corey; French, Paul

    2007-04-01

    Recent advancements in computing technology have drastically improved the interface between computers and video equipment, thus allowing for the improvement of video-based motion analysis. However, analysis of video data remains susceptible to errors caused by lens distortion, angular distortion, descaling, and discretization. In previous work, methods were developed to correct for some of these errors. This paper presents several improvements to these corrections, as well as additional methods to increase accuracy, including: 1) improvement of the measurement of lens distortion, 2) automation of the lens distortion correction technique, 3) a simulation method to test the correction of lens distortion error, 4) creation of an algorithm to correct for angular distortion, and 5) refinement of a two camera system to correct for descaling error. The methods were tested in the context of the measurement of the air resistance force on a high-speed projectile. This allowed for the determination of the onset of turbulent flow. These significant improvements in accuracy have made video-based analysis an even more powerful tool for the study of motion.

  9. Video-based self-assessment: implementation and evaluation in an undergraduate nursing course.

    Science.gov (United States)

    Yoo, M S; Son, Y J; Kim, Y S; Park, J H

    2009-08-01

    This research was performed to investigate the effects of video-based self-assessment on the ability of nursing students to accurately measure vital signs, their communication skills, and their satisfaction. This research was conducted between March 2007 and June 2007 as a quasi-experimental control-group, pretest-posttest design. The study population was composed of 40 second-year student nurses who enrolled in a fundamentals of nursing course of a college of nursing, Ajou University in Korea. Results of the research indicate that there was a statistically significant difference in exam scores for assessing long-term memory video-review group demonstrating higher scores. Student satisfaction was also significantly higher in the video-review group than in the control group. These results may suggest video-based self-assessment is a beneficial and effective instructional method of training undergraduate nursing students to develop awareness of their strengths and weaknesses, and to improve their clinical and communication skills.

  10. Video-based real-time on-street parking occupancy detection system

    Science.gov (United States)

    Bulan, Orhan; Loce, Robert P.; Wu, Wencheng; Wang, YaoRong; Bernal, Edgar A.; Fan, Zhigang

    2013-10-01

    Urban parking management is receiving significant attention due to its potential to reduce traffic congestion, fuel consumption, and emissions. Real-time parking occupancy detection is a critical component of on-street parking management systems, where occupancy information is relayed to drivers via smart phone apps, radio, Internet, on-road signs, or global positioning system auxiliary signals. Video-based parking occupancy detection systems can provide a cost-effective solution to the sensing task while providing additional functionality for traffic law enforcement and surveillance. We present a video-based on-street parking occupancy detection system that can operate in real time. Our system accounts for the inherent challenges that exist in on-street parking settings, including illumination changes, rain, shadows, occlusions, and camera motion. Our method utilizes several components from video processing and computer vision for motion detection, background subtraction, and vehicle detection. We also present three traffic law enforcement applications: parking angle violation detection, parking boundary violation detection, and exclusion zone violation detection, which can be integrated into the parking occupancy cameras as a value-added option. Our experimental results show that the proposed parking occupancy detection method performs in real-time at 5 frames/s and achieves better than 90% detection accuracy across several days of videos captured in a busy street block under various weather conditions such as sunny, cloudy, and rainy, among others.

  11. Using video-based observation research methods in primary care health encounters to evaluate complex interactions

    Directory of Open Access Journals (Sweden)

    Onur Asan

    2014-08-01

    Full Text Available Objective The purpose of this paper is to describe the use of video-based observation research methods in primary care environment and highlight important methodological considerations and provide practical guidance for primary care and human factors researchers conducting video studies to understand patient–clinician interaction in primary care settings.Methods We reviewed studies in the literature which used video methods in health care research, and we also used our own experience based on the video studies we conducted in primary care settings.Results This paper highlighted the benefits of using video techniques, such as multi-channel recording and video coding, and compared “unmanned” video recording with the traditional observation method in primary care research. We proposed a list that can be followed step by step to conduct an effective video study in a primary care setting for a given problem. This paper also described obstacles, researchers should anticipate when using video recording methods in future studies.Conclusion With the new technological improvements, video-based observation research is becoming a promising method in primary care and HFE research. Video recording has been under-utilised as a data collection tool because of confidentiality and privacy issues. However, it has many benefits as opposed to traditional observations, and recent studies using video recording methods have introduced new research areas and approaches.

  12. Supporting Problem Solving with Case-Stories Learning Scenario and Video-based Collaborative Learning Technology

    Directory of Open Access Journals (Sweden)

    Chun Hu

    2004-04-01

    Full Text Available In this paper, we suggest that case-based resources, which are used for assisting cognition during problem solving, can be structured around the work of narratives in social cultural psychology. Theories and other research methods have proposed structures within narratives and stories which may be useful to the design of case-based resources. Moreover, embedded within cases are stories which are contextually rich, supporting the epistemological groundings of situated cognition. Therefore the purposes of this paper are to discuss possible frameworks of case-stories; derive design principles as to “what” constitutes a good case story or narrative; and suggest how technology can support story-based learning. We adopt video-based Computer-Supported Collaborative Learning (CSCL technology to support problem solving with case-stories learning scenarios. Our hypothesis in this paper is that well-designed case-based resources are able to aid in the cognitive processes undergirding problem solving and meaning making. We also suggest the use of an emerging video-based collaborative learning technology to support such an instructional strategy.

  13. Measuring classroom management expertise (CME of teachers: A video-based assessment approach and statistical results

    Directory of Open Access Journals (Sweden)

    Johannes König

    2015-12-01

    Full Text Available The study aims at developing and exploring a novel video-based assessment that captures classroom management expertise (CME of teachers and for which statistical results are provided. CME measurement is conceptualized by using four video clips that refer to typical classroom management situations in which teachers are heavily challenged (involving the challenges to manage transitions, instructional time, student behavior, and instructional feedback and by applying three cognitive demands posed on respondents when responding to test items related to the video clips (accuracy of perception, holistic perception, and justification of action. Research questions are raised regarding reliability, testlet effects (related to the four video clips applied for measurement, intercorrelations of cognitive demands, and criterion-related validity of the instrument. Evidence is provided that (1 using a video-based assessment CME can be measured in a reliable way, (2 the CME total score represents a general ability that is only slightly influenced by testlet effects related to the four video clips, (3 the three cognitive demands conceptualized for the measurement of CME are highly intercorrelated, and (4 the CME measure is positively correlated with declarative-conceptual general pedagogical knowledge (medium effect size, whereas it shows only small size correlations with non-cognitive teacher variables.

  14. Using video-based observation research methods in primary care health encounters to evaluate complex interactions.

    Science.gov (United States)

    Asan, Onur; Montague, Enid

    2014-01-01

    The purpose of this paper is to describe the use of video-based observation research methods in primary care environment and highlight important methodological considerations and provide practical guidance for primary care and human factors researchers conducting video studies to understand patient-clinician interaction in primary care settings. We reviewed studies in the literature which used video methods in health care research, and we also used our own experience based on the video studies we conducted in primary care settings. This paper highlighted the benefits of using video techniques, such as multi-channel recording and video coding, and compared "unmanned" video recording with the traditional observation method in primary care research. We proposed a list that can be followed step by step to conduct an effective video study in a primary care setting for a given problem. This paper also described obstacles, researchers should anticipate when using video recording methods in future studies. With the new technological improvements, video-based observation research is becoming a promising method in primary care and HFE research. Video recording has been under-utilised as a data collection tool because of confidentiality and privacy issues. However, it has many benefits as opposed to traditional observations, and recent studies using video recording methods have introduced new research areas and approaches.

  15. Robotics research in Chile

    Directory of Open Access Journals (Sweden)

    Javier Ruiz-del-Solar

    2016-12-01

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

  16. Design of a Multi-Segmented Robot for Hull Climbing

    Science.gov (United States)

    2013-09-01

    vessel. The technology is also promising for inspection of tanks and dangerous or hard to reach passageways and voids within maritime vessels. This...inspection of tanks and dangerous or hard to reach passageways and voids within maritime vessels. 2. SYSTEM OVERVIEW The MSMR robot system is composed...software developed specifically for the MSMR runs under Linux on a Gumstix® Overo Fire COM within each robot module. WiFi provided by the Overo Fire COM

  17. Additive Manufacturing Infrared Inspection

    Science.gov (United States)

    Gaddy, Darrell; Nettles, Mindy

    2015-01-01

    The Additive Manufacturing Infrared Inspection Task started the development of a real-time dimensional inspection technique and digital quality record for the additive manufacturing process using infrared camera imaging and processing techniques. This project will benefit additive manufacturing by providing real-time inspection of internal geometry that is not currently possible and reduce the time and cost of additive manufactured parts with automated real-time dimensional inspections which deletes post-production inspections.

  18. 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.

  19. Application of mobile robot localization using sonar

    Energy Technology Data Exchange (ETDEWEB)

    Byrd, J.S.; Hill, K.H.

    1994-12-31

    A sonar-based mobile robot has been developed for inspection of low-level radioactive waste drums. An algorithm was developed which gives the robot the ability to refence itself to cylindrical objects. The drum-following algorithm has been demonstrated in 4-ft drum aisles at the Mobile Robotics Laboratory at the University of South Carolina. The final version has proven to be robust through extensive long-term navigation tests. Future enhancements will employ a narrow-aisle version of the Nav-master to allow navigation in 3-ft drum aisles. The final version of the inspection robot will include the drum-navigation algorithm as a low-level primitive instruction. The onboard management system will be dedicated to more of the high-level functions, such as planning, now provided by the offboard supervisory system.

  20. Autonomous flying robots

    CERN Document Server

    Nonami, Kenzo; Suzuki, Satoshi; Wang, Wei; Nakazawa, Daisuke

    2010-01-01

    Worldwide demand for robotic aircraft such as unmanned aerial vehicles (UAVs) and micro aerial vehicles (MAVs) is surging. Not only military but especially civil applications are being developed at a rapid pace. Unmanned vehicles offer major advantages when used for aerial surveillance, reconnaissance, and inspection in complex and inhospitable environments. UAVs are better suited for dirty or dangerous missions than manned aircraft and are more cost-effective. UAVs can operate in contaminated environments, for example, and at altitudes both lower and higher than those typically traversed by m

  1. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

    Robots are simultaneously real machines and technical images that challenge our sense of self. In the Open Forum I discuss the movie Ex Machina by director Alex Garland. The robot Ava, played by Alicia Vikander, is a rare portrait of what could be interpreted as a feminist robot (and...... there are spoilers ahead for any readers unfamiliar with this movie). Though she apparently is created as the dream of the ‘perfect woman’, sexy and beautiful, she also develops and urges to free herself from the slavery of her creator, Nathan Bateman. She is a robot created along the perfect dimensions...... as a Vitruvian robot but is also a creature which could be interpreted as a human being. However, the point I want to raise is not whether Ava’s reaction to robot slavery is justified or not but how her portrait raises questions about the blurred lines between reality and fiction when we discuss our robotic...

  2. 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....

  3. Kinematic Design Method for Rail-Guided Robotic Arms

    NARCIS (Netherlands)

    Borgerink, Dian; Brouwer, Dannis Michel; Stegenga, Jan; Stramigioli, Stefano

    2016-01-01

    For special purpose robotic arms, such as a rail mounted ballast-water tank inspection arm, specific needs require special designs. Currently, there is no method to efficiently design robotic arms that can handle not quantifiable requirements. In this paper, an efficient method for the design and

  4. Mechatronic design of a robotic manipulator for unmanned aerial vehicles

    NARCIS (Netherlands)

    Fumagalli, Matteo; Stramigioli, Stefano; Carloni, Raffaella

    2016-01-01

    The paper focuses on the mechatronic design of a robotic manipulator that is meant to be mounted on an Unmanned Aerial Vehicle (UAV) and to be used in industrial applications, for both aerial inspection by contact and aerial manipulation. The combination of an UAV and the robotic manipulator

  5. Toward feasible, valid, and reliable video-based assessments of technical surgical skills in the operating room

    DEFF Research Database (Denmark)

    Aggarwal, R.; Grantcharov, T.; Moorthy, K.

    2008-01-01

    Objective: To determine the feasibility, validity, inter-rater, and intertest reliability of 4 previously published video-based rating scales, for technical skills assessment on a benchmark laparoscopic procedure. Summary Background Data: Assessment of technical skills is crucial to the demonstra......Objective: To determine the feasibility, validity, inter-rater, and intertest reliability of 4 previously published video-based rating scales, for technical skills assessment on a benchmark laparoscopic procedure. Summary Background Data: Assessment of technical skills is crucial...... patients within 2 Academic Surgical Departments. All patients had a diagnosis of biliary colic. Surgical technical skills were rated posthoc in a blinded manner by 2 experienced observers on 4 video-based rating scales. The different scales used had been developed to assess generic or procedure...

  6. Robotic surgery.

    Science.gov (United States)

    Diana, M; Marescaux, J

    2015-01-01

    Proficiency in minimally invasive surgery requires intensive and continuous training, as it is technically challenging for unnatural visual and haptic perceptions. Robotic and computer sciences are producing innovations to augment the surgeon's skills to achieve accuracy and high precision during complex surgery. This article reviews the current use of robotically assisted surgery, focusing on technology as well as main applications in digestive surgery, and future perspectives. The PubMed database was interrogated to retrieve evidence-based data on surgical applications. Internal and external consulting with key opinion leaders, renowned robotics laboratories and robotic platform manufacturers was used to produce state-of-the art business intelligence around robotically assisted surgery. Selected digestive procedures (oesophagectomy, gastric bypass, pancreatic and liver resections, rectal resection for cancer) might benefit from robotic assistance, although the current level of evidence is insufficient to support widespread adoption. The surgical robotic market is growing, and a variety of projects have recently been launched at both academic and corporate levels to develop lightweight, miniaturized surgical robotic prototypes. The magnified view, and improved ergonomics and dexterity offered by robotic platforms, might facilitate the uptake of minimally invasive procedures. Image guidance to complement robotically assisted procedures, through the concepts of augmented reality, could well represent a major revolution to increase safety and deal with difficulties associated with the new minimally invasive approaches. © 2015 BJS Society Ltd. Published by John Wiley & Sons Ltd.

  7. Image and video based remote target localization and tracking on smartphones

    Science.gov (United States)

    Wang, Qia; Lobzhanidze, Alex; Jang, Hyun; Zeng, Wenjun; Shang, Yi; Yang, Jingyu

    2012-06-01

    Smartphones are becoming popular nowadays not only because of its communication functionality but also, more importantly, its powerful sensing and computing capability. In this paper, we describe a novel and accurate image and video based remote target localization and tracking system using the Android smartphones, by leveraging its built-in sensors such as camera, digital compass, GPS, etc. Even though many other distance estimation or localization devices are available, our all-in-one, easy-to-use localization and tracking system on low cost and commodity smartphones is first of its kind. Furthermore, smartphones' exclusive user-friendly interface has been effectively taken advantage of by our system to facilitate low complexity and high accuracy. Our experimental results show that our system works accurately and efficiently.

  8. The role of imitation in video-based interventions for children with autism.

    Science.gov (United States)

    Lindsay, C J; Moore, D W; Anderson, A; Dillenburger, K

    2013-08-01

    The aim of this paper is to bridge the gap between the corpus of imitation research and video-based intervention (VBI) research, and consider the impact imitation skills may be having on VBI outcomes and highlight potential areas for improving efficacy. A review of the imitation literature was conducted focusing on imitation skill deficits in children with autism followed by a critical review of the video modelling literature focusing on pre-intervention assessment of imitation skills and the impact imitation deficits may have on VBI outcomes. Children with autism have specific imitation deficits, which may impact VBI outcomes. Imitation training or procedural modifications made to videos may accommodate for these deficits. There are only six studies where VBI researchers have taken pre-intervention imitation assessments using an assortment of imitation measures. More research is required to develop a standardised multi-dimensional imitation assessment battery that can better inform VBI.

  9. Analysis of Video-Based Microscopic Particle Trajectories Using Kalman Filtering

    Science.gov (United States)

    Wu, Pei-Hsun; Agarwal, Ashutosh; Hess, Henry; Khargonekar, Pramod P.; Tseng, Yiider

    2010-01-01

    Abstract The fidelity of the trajectories obtained from video-based particle tracking determines the success of a variety of biophysical techniques, including in situ single cell particle tracking and in vitro motility assays. However, the image acquisition process is complicated by system noise, which causes positioning error in the trajectories derived from image analysis. Here, we explore the possibility of reducing the positioning error by the application of a Kalman filter, a powerful algorithm to estimate the state of a linear dynamic system from noisy measurements. We show that the optimal Kalman filter parameters can be determined in an appropriate experimental setting, and that the Kalman filter can markedly reduce the positioning error while retaining the intrinsic fluctuations of the dynamic process. We believe the Kalman filter can potentially serve as a powerful tool to infer a trajectory of ultra-high fidelity from noisy images, revealing the details of dynamic cellular processes. PMID:20550894

  10. A TBB-CUDA Implementation for Background Removal in a Video-Based Fire Detection System

    Directory of Open Access Journals (Sweden)

    Fan Wang

    2014-01-01

    Full Text Available This paper presents a parallel TBB-CUDA implementation for the acceleration of single-Gaussian distribution model, which is effective for background removal in the video-based fire detection system. In this framework, TBB mainly deals with initializing work of the estimated Gaussian model running on CPU, and CUDA performs background removal and adaption of the model running on GPU. This implementation can exploit the combined computation power of TBB-CUDA, which can be applied to the real-time environment. Over 220 video sequences are utilized in the experiments. The experimental results illustrate that TBB+CUDA can achieve a higher speedup than both TBB and CUDA. The proposed framework can effectively overcome the disadvantages of limited memory bandwidth and few execution units of CPU, and it reduces data transfer latency and memory latency between CPU and GPU.

  11. Temporal and spatial information extraction from videos based on the change in length of the shadow

    Science.gov (United States)

    Wang, Jiayun; Zu, Jian; Wang, Likang

    2017-03-01

    In this paper, considering the atmospheric refractive index, we present an approach to extract the recording date and geo-location from videos, based on the alteration of the shadow length. The paper carefully takes different information (photographed date, the length of the selected object) of the given video into consideration and forms a comprehensive approach to extract the temporal and spatial information of the given video. On the basis of this approach, we analyze the shadow length data of a chosen object from a real video and extract the temporal and spatial information of the video. Compared with the actual information, the error is less than 1%, which proves the validity of our approach.

  12. 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

  13. Robotics in space-age manufacturing

    Science.gov (United States)

    Jones, Chip

    1991-01-01

    Robotics technologies are developed to improve manufacturing of space hardware. The following applications of robotics are covered: (1) welding for the space shuttle and space station Freedom programs; (2) manipulation of high-pressure water for shuttle solid rocket booster refurbishment; (3) automating the application of insulation materials; (4) precision application of sealants; and (5) automation of inspection procedures. Commercial robots are used for these development programs, but they are teamed with advanced sensors, process controls, and computer simulation to form highly productive manufacturing systems. Many of the technologies are also being actively pursued in private sector manufacturing operations.

  14. Delta Robot

    OpenAIRE

    Herder, J.L.; van der Wijk, V.

    2010-01-01

    The invention relates to a delta robot comprising a stationary base (2) and a movable platform (3) that is connected to the base with three chains of links (4,5,6), and comprising a balancing system incorporating at least one pantograph (7) for balancing the robot's center of mass, wherein the at least one pantograph has a first free extremity (10) at which it supports a countermass (13) which is arranged to balance the center of mass of the robot.

  15. Aspects of Inspection Planning

    DEFF Research Database (Denmark)

    Faber, M. H.; Sørensen, John Dalsgaard

    2000-01-01

    Inspection planning for systems is considered with special emphasis to the effect of the quality of inspections on the system reliability and the probability of repair. Inspection quality is described and discussed in terms of inspection reliability and inspection coverage where the latter is set...... in relation to the correlation between the failure modes of the considered system. The inspection planning problem is described in general terms taking basis in the Bayesian decision theory. Practical applicable approaches are derived from the more general but also more involving formulations. The theoretical...... framework for updating of the reliability of components and systems on the basis of inspection results is outlined. Systems representative for inspection planning of different engineering systems subjected to typical deterioration processes are presented. Numerical simulation studies are performed...

  16. The development of radiation hardened robot for nuclear facility

    Energy Technology Data Exchange (ETDEWEB)

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

    2000-04-01

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

  17. The Robotic Edge Finishing Laboratory

    Energy Technology Data Exchange (ETDEWEB)

    Loucks, C.S.; Selleck, C.B.

    1990-08-01

    The Robotic Edge Finishing Laboratory at Sandia National Laboratories is developing four areas of technology required for automated deburring, chamfering, and blending of machined edges: (1) the automatic programming of robot trajectories and deburring processes using information derived from a CAD database, (2) the use of machine vision for locating the workpiece coupled with force control to ensure proper tool contact, (3) robotic deburring, blending, and machining of precision chamfered edges, and (4) in-process automated inspection of the formed edge. The Laboratory, its components, integration, and results from edge finishing experiments to date are described here. Also included is a discussion of the issues regarding implementation of the technology in a production environment. 24 refs., 17 figs.

  18. Robotic Technology Efforts at the NASA/Johnson Space Center

    Science.gov (United States)

    Diftler, Ron

    2017-01-01

    The NASA/Johnson Space Center has been developing robotic systems in support of space exploration for more than two decades. The goal of the Center’s Robotic Systems Technology Branch is to design and build hardware and software to assist astronauts in performing their mission. These systems include: rovers, humanoid robots, inspection devices and wearable robotics. Inspection systems provide external views of space vehicles to search for surface damage and also maneuver inside restricted areas to verify proper connections. New concepts in human and robotic rovers offer solutions for navigating difficult terrain expected in future planetary missions. An important objective for humanoid robots is to relieve the crew of “dull, dirty or dangerous” tasks allowing them more time to perform their important science and exploration missions. Wearable robotics one of the Center’s newest development areas can provide crew with low mass exercise capability and also augment an astronaut’s strength while wearing a space suit.This presentation will describe the robotic technology and prototypes developed at the Johnson Space Center that are the basis for future flight systems. An overview of inspection robots will show their operation on the ground and in-orbit. Rovers with independent wheel modules, crab steering, and active suspension are able to climb over large obstacles, and nimbly maneuver around others. Humanoid robots, including the First Humanoid Robot in Space: Robonaut 2, demonstrate capabilities that will lead to robotic caretakers for human habitats in space, and on Mars. The Center’s Wearable Robotics Lab supports work in assistive and sensing devices, including exoskeletons, force measuring shoes, and grasp assist gloves.

  19. Robotic Technology Efforts at the NASA/Johnson Space Center

    Science.gov (United States)

    Diftler, Ron

    2017-01-01

    The NASA/Johnson Space Center has been developing robotic systems in support of space exploration for more than two decades. The goal of the Center's Robotic Systems Technology Branch is to design and build hardware and software to assist astronauts in performing their mission. These systems include: rovers, humanoid robots, inspection devices and wearable robotics. Inspection systems provide external views of space vehicles to search for surface damage and also maneuver inside restricted areas to verify proper connections. New concepts in human and robotic rovers offer solutions for navigating difficult terrain expected in future planetary missions. An important objective for humanoid robots is to relieve the crew of "dull, dirty or dangerous" tasks allowing them more time to perform their important science and exploration missions. Wearable robotics one of the Center's newest development areas can provide crew with low mass exercise capability and also augment an astronaut's strength while wearing a space suit. This presentation will describe the robotic technology and prototypes developed at the Johnson Space Center that are the basis for future flight systems. An overview of inspection robots will show their operation on the ground and in-orbit. Rovers with independent wheel modules, crab steering, and active suspension are able to climb over large obstacles, and nimbly maneuver around others. Humanoid robots, including the First Humanoid Robot in Space: Robonaut 2, demonstrate capabilities that will lead to robotic caretakers for human habitats in space, and on Mars. The Center's Wearable Robotics Lab supports work in assistive and sensing devices, including exoskeletons, force measuring shoes, and grasp assist gloves.

  20. Robot umanoidi o robot umani?

    Directory of Open Access Journals (Sweden)

    Domenico Parisi

    2009-01-01

    Full Text Available Che cosa e' un robot? A che cosa serve un robot? Un robot e' qualcosa di fisico, costruito da noi, che somiglia a un organismo vivente e si comporta come un organismo vivente. Gli organismi viventi comprendono gli animali e le piante, ma i robot riproducono gli animali piuttosto che le piante, anche se ci sono tentativi di costruire robotpiante. Comportarsi come un animale significa avere degli organi sensoriali con cui ricevere informazioni dall'ambiente e degli organi motori che permettono di spostarsi nell'ambiente o di muovere una qualche parte del proprio corpo, ad esempio la testa o un braccio, in maniera non programmata, ma autonoma, cioe' rispondendo agli stimoli che arrivano momento per momento ai sensori del robot. Questo risponde alla domanda "Che cosa e' un robot?".

  1. Multi-robots to micro-surgery: Selected robotic applications at Sandia National Laboratories

    Energy Technology Data Exchange (ETDEWEB)

    Bennett, P.C. [Sandia National Labs., Albuquerque, NM (United States). Intelligent Systems and Robotics Center

    1996-11-01

    The Intelligent Systems and Robotics Center (ISRC) at Sandia National Laboratories is a multi-program organization, pursuing research, development and applications in a wide range of field. Activities range from large-scale applications such as nuclear facility dismantlement for the US Department of Energy (DOE), to aircraft inspection and refurbishment, to automated script and program generation for robotic manufacturing and assembly, to miniature robotic devices and sensors for remote sensing and micro-surgery. This paper describes six activities in the large and small scale that are underway and either nearing technology transfer stage or seeking industrial partners to continue application development. The topics of the applications include multiple arm coordination for intuitively maneuvering large, ungainly work pieces; simulation, analysis and graphical training capability for CP-5 research reactor dismantlement; miniature robots with volumes of 16 cubic centimeters and less developed for inspection and sensor deployment; and biomedical sensors to enhance automated prosthetic device production and fill laparoscopic surgery information gap.

  2. The Effect of Video-Based Tasks in Listening Comprehension of Iranian Pre-Intermediate EFL Learners

    Science.gov (United States)

    Sarani, Abdullah; Behtash, Esmail Zare; Nezhad Arani, Saieed Moslemi

    2014-01-01

    This study aims at finding the effect of video-based tasks in improving the listening comprehension ability of Iranian pre-intermediate EFL (English Foreign Language) learners. After determining the level of learners, an experimental and control group, each of 20 participants, were nominated to contribute to the study. From the time the pre-test…

  3. Keeping Kids Safe from a Design Perspective: Ethical and Legal Guidelines for Designing a Video-Based App for Children

    Science.gov (United States)

    Zydney, Janet Mannheimer; Hooper, Simon

    2015-01-01

    Educators can use video to gain invaluable information about their students. A concern is that collecting videos online can create an increased security risk for children. The purpose of this article is to provide ethical and legal guidelines for designing video-based apps for mobile devices and the web. By reviewing the literature, law, and code…

  4. Including Students' Diverse Perspectives on Classroom Interactions into Video-Based Professional Development for Teachers

    Science.gov (United States)

    Vogler, Anna-Marietha; Prediger, Susanne

    2017-01-01

    Video is often used in professional development courses to sensitize mathematics teachers to students' thinking and issues of classroom interaction. This article presents an approach that incorporates students' perspectives on mathematics classroom interactions into video-based professional development in order to enhance teachers' reflection on…

  5. Investigating Students' Use and Adoption of "With-Video Assignments": Lessons Learnt for Video-Based Open Educational Resources

    Science.gov (United States)

    Pappas, Ilias O.; Giannakos, Michail N.; Mikalef, Patrick

    2017-01-01

    The use of video-based open educational resources is widespread, and includes multiple approaches to implementation. In this paper, the term "with-video assignments" is introduced to portray video learning resources enhanced with assignments. The goal of this study is to examine the factors that influence students' intention to adopt…

  6. In-person and video-based post-traumatic stress disorder treatment for veterans: a location-allocation model.

    Science.gov (United States)

    Musdal, Hande; Shiner, Brian; Chen, Techieh; Ceyhan, Mehmet E; Watts, Bradley V; Benneyan, James

    2014-02-01

    Post-traumatic stress disorder (PTSD) is associated with poor health but there is a gap between need and receipt of care. It is useful to understand where to optimally locate in-person care and where video-based PTSD care would be most useful to minimize access to care barriers, care outside the Veterans Affairs system, and total costs. We developed a service location systems engineering model based on 2010 to 2020 projected care needs for veterans across New England to help determine where to best locate and use in-person and video-based care. This analysis determined specific locations and capacities of each type of PTSD care relative to patient home locations to help inform allocation of mental health resources. Not surprisingly Massachusetts, Connecticut, and Rhode Island are well suited for in-person care, whereas some rural areas of Maine, Vermont, and New Hampshire where in-patient services are infeasible could be better served by video-based care than external care, if the latter is even available. Results in New England alone suggest a potential $3,655,387 reduction in average annual total costs by shifting 9.73% of care to video-based treatment, with an average 12.6 miles travel distance for the remaining in-person care. Reprint & Copyright © 2014 Association of Military Surgeons of the U.S.

  7. Reduced Mandated Inspection by Remote Field Eddy Current Inspection of Unpiggable Pipelines

    Energy Technology Data Exchange (ETDEWEB)

    Albert Teitsma; Julie Maupin

    2006-09-29

    The Remote Field Eddy Current (RFEC) technique is ideal for inspecting unpiggable pipelines because all of its components can be made much smaller than the diameter of the pipe to be inspected. For this reason, RFEC was chosen as a technology for unpiggable pipeline inspections by DOE-NETL with the support of OTD and PRCI, to be integrated with platforms selected by DOENETL. As part of the project, the RFEC laboratory facilities were upgraded and data collection was made nearly autonomous. The resulting improved data collection speeds allowed GTI to test more variables to improve the performance of the combined RFEC and platform technologies. Tests were conducted on 6-, 8-, and 12-inch seamless and seam-welded pipes. Testing on the 6-inch pipes included using seven exciter coils, each of different geometry with an initial focus on preparing the technology for use on an autonomous robotic platform with limited battery capacity. Reductions in power consumption proved successful. Tests with metal components similar to the Explorer II modules were performed to check for interference with the electromagnetic fields. The results of these tests indicated RFEC would be able to produce quality inspections while on the robot. Mechanical constraints imposed by the platform, power requirements, control and communication protocols, and potential busses and connectors were addressed. Much work went into sensor module design including the mechanics and electronic diagrams and schematics. GTI participated in two Technology Demonstrations for inspection technologies held at Battelle Laboratories. GTI showed excellent detection and sizing abilities for natural corrosion. Following the demonstration, module building commenced but was stopped when funding reductions did not permit continued development for the selected robotic platform. Conference calls were held between GTI and its sponsors to resolve the issue of how to proceed with reduced funding. The project was rescoped for 10

  8. Delta robot

    NARCIS (Netherlands)

    Herder, J.L.; Van der Wijk, V.

    2010-01-01

    The invention relates to a delta robot comprising a stationary base (2) and a movable platform (3) that is connected to the base with three chains of links (4,5,6), and comprising a balancing system incorporating at least one pantograph (7) for balancing the robot's center of mass, wherein the at

  9. 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…

  10. Image enhancement and understanding for remote visual inspection of aircraft surface

    Science.gov (United States)

    Gunatilake, Priyan; Siegel, Mel; Jordan, Angel G.; Podnar, Gregg W.

    1996-11-01

    We describe a library of image enhancement and understanding algorithms developed to enhance and recognize surface defects from remote live imagery of an aircraft surface. Also described are the supporting mobile robot platform that generates the remote stereoscopic imagery and the inspection console containing a graphical user interface, through which the inspector accesses the live imagery for remote inspection. We will discuss initial results of the remote imaging process and the image processing library, and speculate on their future application in aircraft inspection.

  11. 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...

  12. Robot Design

    Science.gov (United States)

    1988-01-01

    Martin Marietta Aero and Naval Systems has advanced the CAD art to a very high level at its Robotics Laboratory. One of the company's major projects is construction of a huge Field Material Handling Robot for the Army's Human Engineering Lab. Design of FMR, intended to move heavy and dangerous material such as ammunition, was a triumph in CAD Engineering. Separate computer problems modeled the robot's kinematics and dynamics, yielding such parameters as the strength of materials required for each component, the length of the arms, their degree of freedom and power of hydraulic system needed. The Robotics Lab went a step further and added data enabling computer simulation and animation of the robot's total operational capability under various loading and unloading conditions. NASA computer program (IAC), integrated Analysis Capability Engineering Database was used. Program contains a series of modules that can stand alone or be integrated with data from sensors or software tools.

  13. 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.

  14. Biologically inspired robots as artificial inspectors

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2002-06-01

    Imagine an inspector conducting an NDE on an aircraft where you notice something is different about him - he is not real but rather he is a robot. Your first reaction would probably be to say 'it's unbelievable but he looks real' just as you would react to an artificial flower that is a good imitation. This science fiction scenario could become a reality at the trend in the development of biologically inspired technologies, and terms like artificial intelligence, artificial muscles, artificial vision and numerous others are increasingly becoming common engineering tools. For many years, the trend has been to automate processes in order to increase the efficiency of performing redundant tasks where various systems have been developed to deal with specific production line requirements. Realizing that some parts are too complex or delicate to handle in small quantities with a simple automatic system, robotic mechanisms were developed. Aircraft inspection has benefitted from this evolving technology where manipulators and crawlers are developed for rapid and reliable inspection. Advancement in robotics towards making them autonomous and possibly look like human, can potentially address the need to inspect structures that are beyond the capability of today's technology with configuration that are not predetermined. The operation of these robots may take place at harsh or hazardous environments that are too dangerous for human presence. Making such robots is becoming increasingly feasible and in this paper the state of the art will be reviewed.

  15. Approaches to probabilistic model learning for mobile manipulation robots

    CERN Document Server

    Sturm, Jürgen

    2013-01-01

    Mobile manipulation robots are envisioned to provide many useful services both in domestic environments as well as in the industrial context. Examples include domestic service robots that implement large parts of the housework, and versatile industrial assistants that provide automation, transportation, inspection, and monitoring services. The challenge in these applications is that the robots have to function under changing, real-world conditions, be able to deal with considerable amounts of noise and uncertainty, and operate without the supervision of an expert. This book presents novel learning techniques that enable mobile manipulation robots, i.e., mobile platforms with one or more robotic manipulators, to autonomously adapt to new or changing situations. The approaches presented in this book cover the following topics: (1) learning the robot's kinematic structure and properties using actuation and visual feedback, (2) learning about articulated objects in the environment in which the robot is operating,...

  16. Wireless Communication Enhancement Methods for Mobile Robots in Radiation Environments

    CERN Document Server

    Nattanmai Parasuraman, Ramviyas; Ferre, Manuel

    In hostile environments such as in scientific facilities where ionising radiation is a dominant hazard, reducing human interventions by increasing robotic operations are desirable. CERN, the European Organization for Nuclear Research, has around 50 km of underground scientific facilities, where wireless mobile robots could help in the operation of the accelerator complex, e.g. in conducting remote inspections and radiation surveys in different areas. The main challenges to be considered here are not only that the robots should be able to go over long distances and operate for relatively long periods, but also the underground tunnel environment, the possible presence of electromagnetic fields, radiation effects, and the fact that the robots shall in no way interrupt the operation of the accelerators. Having a reliable and robust wireless communication system is essential for successful execution of such robotic missions and to avoid situations of manual recovery of the robots in the event that the robot runs ...

  17. Delivery Reliability for Natural Gas--Inspection Technologies

    Energy Technology Data Exchange (ETDEWEB)

    Albert Teitsma; Julie Maupin

    2005-10-01

    The Remote Field Eddy Current (RFEC) technique is ideal for inspecting unpiggable pipelines because all of its components can be made smaller than the diameter of the pipe to be inspected. For these reasons, RFEC was selected as a technology to be integrated with the Explorer II robotic platform for unpiggable pipeline inspections. The research work is a continuation of a prior DOE-NETL project but is now directed towards a seamless integration with the robot. The laboratory set-up has been improved and data collection is nearly autonomous. With the improved collections speeds, GTI has been able to test more variables. Tests have been run on 6-inch and 12-inch seamless and seam-welded pipes. Testing on the 6-inch pipes have included using five exciter coils, each of a different geometry. Two types of sensor coils have been tested. With a focus on preparing the technology for use on the Explorer II, improvements in power consumption have proved successful. Tests with metal components have been performed to check for interference with the electromagnetic field. The results of these tests indicate RFEC will produce quality inspections while on the robot. GTI has also been testing manufactured detection boards currently used for boiler tube inspections. These boards are appropriately compact for use on the Explorer II robot and are able to detect defects at the speed of robot travel. In addition to advanced sensor development, GTI has participated in sensor/platform definition and module design activities. Mechanical constraints, power requirements, limited control and communication protocols, and potential busses and connectors have been addressed. GTI has conducted a proper design process to produce a sound design for the RFEC components to fit into two modules. The remaining work to be performed in the design of the sensor module is packaging and strengthening.

  18. The Role of Focus Group Venue: A Comparative Study of Face-to-Face, Telephone, and Internet Video-Based Venues

    Science.gov (United States)

    Gothberg, June E.

    2012-01-01

    The purpose of this study was to examine the equivalence or non-inferiority for comparisons of telephone focus group venue to face-to-face focus group venue, Internet video-based focus group venue to face-to-face focus group venue, and Internet video-based focus group venue to telephone focus group venue. Research questions examined the…

  19. RCT of a Video-based Intervention Program for Caregivers of Patients with an Eating Disorder.

    Science.gov (United States)

    Quadflieg, Norbert; Schädler, Daniela; Naab, Silke; Fichter, Manfred M

    2017-07-01

    This paper presents the results of a randomized controlled trial measuring the efficacy of a video-based skills training to decrease burden and psychological distress in caregivers of inpatients treated for an eating disorder in specialized hospital units. Two hundred eighty-five caregivers were randomized to either the video intervention (N = 147) or the control group (N = 138). Caregivers' primary outcomes were assessed via Eating Disorder Symptom Impact Scale, Accommodation and Enabling Scale and General Health Questionnaire-12 at baseline and three-months follow-up. Acceptability of the intervention was high. Receiving additional external professional help like psychotherapy or clinical counselling was identified as a moderator contributing to the efficacy of the intervention. Caregivers' burden (Eating Disorder Symptom Impact Scale) and psychological distress (General Health Questionnaire-12) were reduced by the intervention but not caregivers' accommodating behaviours (Accommodation and Enabling Scale). The video training is a promising approach and effective supplement for caregivers of patients with an eating disorder. Additional professional help to caregivers increases the effectiveness of the intervention. Copyright © 2017 John Wiley & Sons, Ltd and Eating Disorders Association. Copyright © 2017 John Wiley & Sons, Ltd and Eating Disorders Association.

  20. Using learning analytics to evaluate a video-based lecture series.

    Science.gov (United States)

    Lau, K H Vincent; Farooque, Pue; Leydon, Gary; Schwartz, Michael L; Sadler, R Mark; Moeller, Jeremy J

    2018-01-01

    The video-based lecture (VBL), an important component of the flipped classroom (FC) and massive open online course (MOOC) approaches to medical education, has primarily been evaluated through direct learner feedback. Evaluation may be enhanced through learner analytics (LA) - analysis of quantitative audience usage data generated by video-sharing platforms. We applied LA to an experimental series of ten VBLs on electroencephalography (EEG) interpretation, uploaded to YouTube in the model of a publicly accessible MOOC. Trends in view count; total percentage of video viewed and audience retention (AR) (percentage of viewers watching at a time point compared to the initial total) were examined. The pattern of average AR decline was characterized using regression analysis, revealing a uniform linear decline in viewership for each video, with no evidence of an optimal VBL length. Segments with transient increases in AR corresponded to those focused on core concepts, indicative of content requiring more detailed evaluation. We propose a model for applying LA at four levels: global, series, video, and feedback. LA may be a useful tool in evaluating a VBL series. Our proposed model combines analytics data and learner self-report for comprehensive evaluation.

  1. Can a video-based hazard perception test used for driver licensing predict crash involvement?

    Science.gov (United States)

    Horswill, Mark S; Hill, Andrew; Wetton, Mark

    2015-09-01

    In 2008, the state of Queensland in Australia introduced a video-based hazard perception test as part of the licensing process for new drivers. A key validity check for such a test is whether scores are associated with crash involvement. We present data demonstrating that drivers who failed the hazard perception test (based on a ROC curve-derived pass mark) were 25% [95% confidence interval (CI) 6%, 48%] more likely to be involved in an active crash (defined as a crash occurring while the driver's vehicle was moving but they were not engaged in parking or reversing) during a one year period following the test (controlling for driving exposure, age, and sex). Failing drivers were also 17% (95% CI 6%, 29%) more likely to have been involved in active crashes prior to the test, in the period since obtaining their provisional license. These data support the proposal that the hazard perception test is a valid measure of crash-related driving performance. Copyright © 2015 Elsevier Ltd. All rights reserved.

  2. Improving Secondary School Students' Achievement and Retention in Biology Through Video-based Multimedia Instruction

    Directory of Open Access Journals (Sweden)

    Amosa Isiaka Gambari, PhD

    2014-08-01

    Full Text Available The study examined the effects of video-based multimedia instruction on secondary school students' achievement and retention in biology. In Nigeria, 120 students (60 boys and 60 girls were randomly selected from four secondary schools assigned either into one of three experimental groups: Animation + Narration; Animation + On-screen Text; Animation + Narration + On-screen Text or a control group. The pretest, posttest experimental, and control group design was adopted. A 50-item multiple-choice objective test termed Biology Achievement Test (BAT was used for collecting data. The validated BAT was tested for reliability using Kuder Richardson (KR20, which yielded 0.89. T-test, analysis of covariance (ANCOVA, and Scheffe’s post-hoc analysis were used in determining the significant differences among the four groups. The results showed that there was no statistically significant difference among the experimental groups. Generally, students under multimedia instruction performed better than their colleagues in the conventional teaching method. However, students in conventional teaching method had better retention than other groups.

  3. Video-Based Eye Tracking in Sex Research: A Systematic Literature Review.

    Science.gov (United States)

    Wenzlaff, Frederike; Briken, Peer; Dekker, Arne

    2015-12-21

    Although eye tracking has been used for decades, it has gained popularity in the area of sex research only recently. The aim of this article is to examine the potential merits of eye tracking for this field. We present a systematic review of the current use of video-based eye-tracking technology in this area, evaluate the findings, and identify future research opportunities. A total of 34 relevant studies published between 2006 and 2014 were identified for inclusion by means of online databases and other methods. We grouped them into three main areas of research: body perception and attractiveness, forensic research, and sexual orientation. Despite the methodological and theoretical differences across the studies, eye tracking has been shown to be a promising tool for sex research. The article suggests there is much potential for further studies to employ this technique because it is noninvasive and yet still allows for the assessment of both conscious and unconscious perceptional processes. Furthermore, eye tracking can be implemented in investigations of various theoretical backgrounds, ranging from biology to the social sciences.

  4. Evaluation of a video-based head motion tracking system for dedicated brain PET

    Science.gov (United States)

    Anishchenko, S.; Beylin, D.; Stepanov, P.; Stepanov, A.; Weinberg, I. N.; Schaeffer, S.; Zavarzin, V.; Shaposhnikov, D.; Smith, M. F.

    2015-03-01

    Unintentional head motion during Positron Emission Tomography (PET) data acquisition can degrade PET image quality and lead to artifacts. Poor patient compliance, head tremor, and coughing are examples of movement sources. Head motion due to patient non-compliance can be an issue with the rise of amyloid brain PET in dementia patients. To preserve PET image resolution and quantitative accuracy, head motion can be tracked and corrected in the image reconstruction algorithm. While fiducial markers can be used, a contactless approach is preferable. A video-based head motion tracking system for a dedicated portable brain PET scanner was developed. Four wide-angle cameras organized in two stereo pairs are used for capturing video of the patient's head during the PET data acquisition. Facial points are automatically tracked and used to determine the six degree of freedom head pose as a function of time. The presented work evaluated the newly designed tracking system using a head phantom and a moving American College of Radiology (ACR) phantom. The mean video-tracking error was 0.99±0.90 mm relative to the magnetic tracking device used as ground truth. Qualitative evaluation with the ACR phantom shows the advantage of the motion tracking application. The developed system is able to perform tracking with accuracy close to millimeter and can help to preserve resolution of brain PET images in presence of movements.

  5. A video-based educational pilot for basal cell carcinoma (BCC) treatment: A randomized controlled trial.

    Science.gov (United States)

    Love, Elyse M; Manalo, Iviensan F; Chen, Suephy C; Chen, Kuang-Ho; Stoff, Benjamin K

    2016-03-01

    Several treatment options exist for uncomplicated basal cell carcinoma. Standardized and effective informed consent is difficult in busy dermatology clinics. We investigated whether an educational video depicting 3 treatment options for uncomplicated basal cell carcinoma-excision, electrodessication and curettage, and topical therapy-before standard in-office informed consent affected patient knowledge and consent time compared with standard in-office consent alone. Patients were randomized to receive video education plus verbal discussion (video) or standard verbal discussion alone (control). Both groups completed baseline and final knowledge assessments. The primary outcome measure was change in knowledge scores between groups. Secondary outcomes were patient satisfaction, physician satisfaction, and informed consent time. In all, 32 eligible patients (16 control, 16 video) from an academic institution and affiliate Department of Veterans Affairs Medical Center dermatology clinics participated. The video group had significantly greater gains in knowledge compared with the control group (mean ± SD: 9 ± 3.6 vs 2.9 ± 2.2) (P = .0048). There was no significant difference in total consent time between groups. Patients and physicians were highly satisfied with the video. Small sample size and slight methodological difference between recruitment sites are limitations. Video-based education for basal cell carcinoma improved patient knowledge with no additional physician time when compared with standard communication. Published by Elsevier Inc.

  6. Video-based eyetracking methods and algorithms in head-mounted displays

    Science.gov (United States)

    Hua, Hong; Krishnaswamy, Prasanna; Rolland, Jannick P.

    2006-05-01

    Head pose is utilized to approximate a user’s line-of-sight for real-time image rendering and interaction in most of the 3D visualization applications using head-mounted displays (HMD). The eye often reaches an object of interest before the completion of most head movements. It is highly desirable to integrate eye-tracking capability into HMDs in various applications. While the added complexity of an eyetracked-HMD (ET-HMD) imposes challenges on designing a compact, portable, and robust system, the integration offers opportunities to improve eye tracking accuracy and robustness. In this paper, based on the modeling of an eye imaging and tracking system, we examine the challenges and identify parametric requirements for video-based pupil-glint tracking methods in an ET-HMD design, and predict how these parameters may affect the tracking accuracy, resolution, and robustness. We further present novel methods and associated algorithms that effectively improve eye-tracking accuracy and extend the tracking range.

  7. A Video-Based Module for Teaching Communication Skills to Otolaryngology Residents.

    Science.gov (United States)

    Patki, Aniruddha; Puscas, Liana

    2015-01-01

    To determine whether instructional videos modeling examples of "good" and "bad" patient communication skills are useful as an educational tool for improving resident-patient communication. Retrospective study in which resident participants in the module gave survey responses indicating perceived utility of the exercise. Tertiary academic medical center. A total of 11 otolaryngology trainees from postgraduate year 1-5 who attended the course over 2 separate sessions and provided feedback on the benefits of the module. All 11 residents attended both sessions. Of 22 total survey responses, 21 found that the videos were "realistic and engaging" and were a true representation of commonly encountered clinical scenarios. Residents identified multiple themes and behaviors distinguishing "good" vs "bad" communication with patients and felt they could incorporate these into daily practice. A perceived weakness was the lack of opportunity for "role playing" with a video-based module as opposed to standardized patients. Instructional videos, when realistic, are useful for modeling effective patient communication skills for residents. By watching the videos, residents are able to identify specific techniques they can incorporate into their daily practice. Copyright © 2015 Association of Program Directors in Surgery. Published by Elsevier Inc. All rights reserved.

  8. Relative Hidden Markov Models for Video-Based Evaluation of Motion Skills in Surgical Training.

    Science.gov (United States)

    Zhang, Qiang; Li, Baoxin

    2015-06-01

    A proper temporal model is essential to analysis tasks involving sequential data. In computer-assisted surgical training, which is the focus of this study, obtaining accurate temporal models is a key step towards automated skill-rating. Conventional learning approaches can have only limited success in this domain due to insufficient amount of data with accurate labels. We propose a novel formulation termed Relative Hidden Markov Model and develop algorithms for obtaining a solution under this formulation. The method requires only relative ranking between input pairs, which are readily available from training sessions in the target application, hence alleviating the requirement on data labeling. The proposed algorithm learns a model from the training data so that the attribute under consideration is linked to the likelihood of the input, hence supporting comparing new sequences. For evaluation, synthetic data are first used to assess the performance of the approach, and then we experiment with real videos from a widely-adopted surgical training platform. Experimental results suggest that the proposed approach provides a promising solution to video-based motion skill evaluation. To further illustrate the potential of generalizing the method to other applications of temporal analysis, we also report experiments on using our model on speech-based emotion recognition.

  9. A prospective video-based analysis of injury situations in elite male football: football incident analysis.

    Science.gov (United States)

    Arnason, Arni; Tenga, Albin; Engebretsen, Lars; Bahr, Roald

    2004-09-01

    The mechanisms for football injuries are largely unknown. To describe the characteristics of injury situations in elite male football using a video-based method called football incident analysis. Prospective cohort study. During the 1999 season, videotapes from 52 matches in the Icelandic elite football league were reviewed. Incidents (N = 95) were recorded when the match was interrupted by the referee because of a suspected injury. Team physical therapists recorded injuries prospectively (N = 28 time-loss injuries). Duels caused 84 of the incidents, mostly tackling duels (n = 54). The exposed player's attention appeared to be focused away from the opponent in 93% of the cases. The 3 main mechanisms observed were (1) breakdown attacks, tackling from the side or the front, attention focused on the ball (24%); (2) defensive tackling duels, attention focused on the ball or low ball control (20%); and (3) heading duels, attention focused on the ball in the air (13%). Most incidents and injuries occurred during breakdown attacks and when a player was involved in tackling duels. Player attention appeared to be focused mainly on the ball, not on the opponent challenging him to gain ball possession.

  10. 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 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...

  11. Comparative study for chaotic behaviour in fire fighting robot/Estudio comparativo de comportamiento caótico en un robot de combate a incendios

    National Research Council Canada - National Science Library

    Magda Judith Morales Tavera; Omar Lengerke; Max Suell Dutra

    2011-01-01

    .... In this article, the authors have proposed a chaotic control for a mobile robot, in order to do a further inspection in regular spaces, moving it through time with non determinate trajectories...

  12. Investigation In Two Wheels Mobile Robot Movement: Stability and Motion Paths

    Directory of Open Access Journals (Sweden)

    Abdulrahman A.A. Emhemed

    2013-01-01

    Full Text Available This paper deals with the problem of dynamic modelling of inspection robot two wheels. Fuzzy controller based on robotics techniques for optimize of an inspection stability. The target is to enhancement of robot direction and avoids the obstacles. To find collision free area, distance-sensors such as ultra-sonic sensors and laser scanners or vision systems are usually employed. The distance-sensors offer only distance information between mobile robots and obstacles. Also the target are shown can be reached by different directions. The fuzzy logic controller is effect to avoid the abstacles and get ideal direction to “the target box”.

  13. Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper; Palima, Darwin

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

  14. Robotic arm

    Science.gov (United States)

    Kwech, Horst

    1989-04-18

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

  15. Space Robotics

    Directory of Open Access Journals (Sweden)

    Alex Ellery

    2004-09-01

    Full Text Available In this second of three short papers, I introduce some of the basic concepts of space robotics with an emphasis on some specific challenging areas of research that are peculiar to the application of robotics to space infrastructure development. The style of these short papers is pedagogical and the concepts in this paper are developed from fundamental manipulator robotics. This second paper considers the application of space manipulators to on-orbit servicing (OOS, an application which has considerable commercial application. I provide some background to the notion of robotic on-orbit servicing and explore how manipulator control algorithms may be modified to accommodate space manipulators which operate in the micro-gravity of space.

  16. Student perceptions of a video-based blended learning approach for improving pediatric physical examination skills.

    Science.gov (United States)

    Lehmann, Ronny; Seitz, Anke; Bosse, Hans Martin; Lutz, Thomas; Huwendiek, Sören

    2016-11-01

    Physical examination skills are crucial for a medical doctor. The physical examination of children differs significantly from that of adults. Students often have only limited contact with pediatric patients to practice these skills. In order to improve the acquisition of pediatric physical examination skills during bedside teaching, we have developed a combined video-based training concept, subsequently evaluating its use and perception. Fifteen videos were compiled, demonstrating defined physical examination sequences in children of different ages. Students were encouraged to use these videos as preparation for bedside teaching during their pediatric clerkship. After bedside teaching, acceptance of this approach was evaluated using a 10-item survey, asking for the frequency of video use and the benefits to learning, self-confidence, and preparation of bedside teaching as well as the concluding OSCE. N=175 out of 299 students returned survey forms (58.5%). Students most frequently used videos, either illustrating complete examination sequences or corresponding focus examinations frequently assessed in the OSCE. Students perceived the videos as a helpful method of conveying the practical process and preparation for bedside teaching as well as the OSCE, and altogether considered them a worthwhile learning experience. Self-confidence at bedside teaching was enhanced by preparation with the videos. The demonstration of a defined standardized procedural sequence, explanatory comments, and demonstration of infrequent procedures and findings were perceived as particularly supportive. Long video segments, poor alignment with other curricular learning activities, and technical problems were perceived as less helpful. Students prefer an optional individual use of the videos, with easy technical access, thoughtful combination with the bedside teaching, and consecutive standardized practice of demonstrated procedures. Preparation with instructional videos combined with bedside

  17. Developing model-making and model-breaking skills using direct measurement video-based activities

    Science.gov (United States)

    Vonk, Matthew; Bohacek, Peter; Militello, Cheryl; Iverson, Ellen

    2017-12-01

    This study focuses on student development of two important laboratory skills in the context of introductory college-level physics. The first skill, which we call model making, is the ability to analyze a phenomenon in a way that produces a quantitative multimodal model. The second skill, which we call model breaking, is the ability to critically evaluate if the behavior of a system is consistent with a given model. This study involved 116 introductory physics students in four different sections, each taught by a different instructor. All of the students within a given class section participated in the same instruction (including labs) with the exception of five activities performed throughout the semester. For those five activities, each class section was split into two groups; one group was scaffolded to focus on model-making skills and the other was scaffolded to focus on model-breaking skills. Both conditions involved direct measurement videos. In some cases, students could vary important experimental parameters within the video like mass, frequency, and tension. Data collected at the end of the semester indicate that students in the model-making treatment group significantly outperformed the other group on the model-making skill despite the fact that both groups shared a common physical lab experience. Likewise, the model-breaking treatment group significantly outperformed the other group on the model-breaking skill. This is important because it shows that direct measurement video-based instruction can help students acquire science-process skills, which are critical for scientists, and which are a key part of current science education approaches such as the Next Generation Science Standards and the Advanced Placement Physics 1 course.

  18. [Robotic surgery].

    Science.gov (United States)

    Moreno-Portillo, Mucio; Valenzuela-Salazar, Carlos; Quiroz-Guadarrama, César David; Pachecho-Gahbler, Carlos; Rojano-Rodríguez, Martín

    2014-12-01

    Medicine has experienced greater scientific and technological advances in the last 50 years than in the rest of human history. The article describes relevant events, revises concepts and advantages and clinical applications, summarizes published clinical results, and presents some personal reflections without giving dogmatic conclusions about robotic surgery. The Society of American Gastrointestinal and Endoscopic Surgeons (SAGES) defines robotic surgery as a surgical procedure using technology to aid the interaction between surgeon and patient. The objective of the surgical robot is to correct human deficiencies and improve surgical skills. The capacity of repeating tasks with precision and reproducibility has been the base of the robot´s success. Robotic technology offers objective and measurable advantages: - Improving maneuverability and physical capacity during surgery. - Correcting bad postural habits and tremor. - Allowing depth perception (3D images). - Magnifying strength and movement limits. - Offering a platform for sensors, cameras, and instruments. Endoscopic surgery transformed conceptually the way of practicing surgery. Nevertheless in the last decade, robotic assisted surgery has become the next paradigm of our era.

  19. Robot Rescue

    Science.gov (United States)

    Morring, Frank, Jr.

    2004-01-01

    Tests with robots and the high-fidelity Hubble Space Telescope mockup astronauts use to train for servicing missions have convinced NASA managers it may be possible to maintain and upgrade the orbiting observatory without sending a space shuttle to do the job. In a formal request last week, the agency gave bidders until July 16 to sub-mit proposals for a robotic mission to the space telescope before the end of 2007. At a minimum, the mission would attach a rocket motor to deorbit the telescope safely when its service life ends. In the best case, it would use state-of-the- art robotics to prolong its life on orbit and install new instruments. With the space shuttle off-limits for the job under strict post-Columbia safety policies set by Administrator Sean O'Keefe, NASA has designed a "straw- man" robotic mission that would use an Atlas V or Delta N to launch a 20,ooO-lb. "Hubble Robotic Vehicle" to service the telescope. There, a robotic arm would grapple it, much as the shuttle does.

  20. 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.

  1. The development of robot system for pressurizer maintenance in NPPs

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Kim, Chang Hoi; Jung, Seung Ho; Seo, Yong Chil; Lee, Young Kwang; Go, Byung Yung; Lee, Kwang Won; Lee, Sang Ill; Yun, Jong Yeon; Lee, Hyung Soon; Park, Mig Non; Park, Chang Woo; Cheol, Kwon

    1999-12-01

    The pressurizer that controls the pressure variation of primary coolant system, consists of a vessel, electric heaters and a spray, is one of the safety related equipment in nuclear power plants. Therefore it is required to inspect and maintain it regularly. Because the inside of pressurizer os contaminated by radioactivity, when inspection and repairing it, the radiation exposure of workers is inevitable. In this research two robot system has been developed for inspection and maintenance of the pressurizer for the water filled case and the water sunken case. The one robot system for the water filled case consists of two links, movable gripper using wire string, and support frame for the attachment of robot. The other robot is equipped propeller in order to navigate on the water. It also equipped high performance water resistance camera to make inspection possible. The developed robots are designed under several constraints such as its weight and collision with pressurizer wall. To verify the collision free robot link length and accessibility to the any desired rod heater it is simulated by 3-dimensional graphic simulation software(RobCard). For evaluation stress of the support frame finite element analysis is performed by using the ANSYS code. (author)

  2. Student Teachers' Modeling of Acceleration Using a Video-Based Laboratory in Physics Education: A Multimodal Case Study

    Directory of Open Access Journals (Sweden)

    Louis Trudel

    2016-06-01

    Full Text Available This exploratory study intends to model kinematics learning of a pair of student teachers when exposed to prescribed teaching strategies in a video-based laboratory. Two student teachers were chosen from the Francophone B.Ed. program of the Faculty of Education of a Canadian university. The study method consisted of having the participants interact with a video-based laboratory to complete two activities for learning properties of acceleration in rectilinear motion. Time limits were placed on the learning activities during which the researcher collected detailed multimodal information from the student teachers' answers to questions, the graphs they produced from experimental data, and the videos taken during the learning sessions. As a result, we describe the learning approach each one followed, the evidence of conceptual change and the difficulties they face in tackling various aspects of the accelerated motion. We then specify advantages and limits of our research and propose recommendations for further study.

  3. Preparing the foundations for video-based practice-placement support: establishing the role from a students’ perspective

    OpenAIRE

    Taylor, Teri

    2012-01-01

    Currently, many placement-based health programme students within the UK are supported through face-to-face visits from university staff. Whilst cited in literature as being of value, the face-to-face nature of this contact is not supported. Alternatives including video-based communications methods offer the potential for cost effective, environmentally responsible support. However, in order to establish the fitness for purpose of alternative approaches, the content and purpose of current supp...

  4. Video-based training to improve perceptual-cognitive decision-making performance of Australian football umpires.

    Science.gov (United States)

    Larkin, Paul; Mesagno, Christopher; Berry, Jason; Spittle, Michael; Harvey, Jack

    2017-03-04

    Decision-making is a central component of the in-game performance of Australian football umpires; however, current umpire training focuses largely on physiological development with decision-making skills development conducted via explicit lecture-style meetings with limited practice devoted to making actual decisions. Therefore, this study investigated the efficacy of a video-based training programme, aimed to provide a greater amount of contextualised visual experiences without explicit instruction, to improve decision-making skills of umpires. Australian football umpires (n = 52) were recruited from metropolitan and regional Division 1 competitions. Participants were randomly assigned to an intervention or control group and classified according to previous umpire game experience (i.e., experienced; less experienced). The intervention group completed a 12-week video-based decision-making training programme, with decision-making performance assessed at pre-training, and 1-week retention and 3-week retention periods. The control group did not complete any video-based training. Results indicated a significant Group (intervention; Control) × Test interaction (F(1, 100) = 3.98; P = 0.02, partial ῆ(2) = 0.074), with follow-up pairwise comparisons indicating significant within-group differences over time for the intervention group. In addition, decision-making performance of the less experienced umpires in the intervention group significantly improved (F(2, 40) = 5.03, P = 0.01, partial ῆ(2) = 0.201). Thus, video-based training programmes may be a viable adjunct to current training programmes to hasten decision-making development, especially for less experienced umpires.

  5. Video-based feedback combined with reflective enquiry – An interactive model for movement awareness among nursing students

    OpenAIRE

    Sofia Backåberg; Mikael Rask; Christina Gummesson; David Brunt

    2015-01-01

    The aim of this study is to describe an interactive model developed for movement awareness in a practical learning situation and to explore the use of video-based digital feedback and reflective enquiry in this model among nursing students. Sixteen students participated in individual interactive video sessions with a facilitator, who encouraged the students to reflect upon their own movements. Qualitative analysis showed that movement patterns were visualized, and that movement awareness and ...

  6. ssessment of Learner Acceptance and Satisfaction with Video-Based Instructional Materials for Teaching Practical Skills at a Distance

    Directory of Open Access Journals (Sweden)

    Francis Donkor

    2011-06-01

    Full Text Available As video-based instructional materials become available to distance learners to learn practical skills at a distance, it is important to assess the instructional effectiveness of these materials and to understand how students respond to them. This paper is the second part of a larger exploratory study that assessed the instructional effectiveness of video-based instructional materials for teaching distance learners practical skills in block-laying and concreting and how learners respond to these instructional materials. Specifically, this paper aims to assess learners’ acceptance and satisfaction with the materials. It also aims to determine whether levels of learner satisfaction and acceptance differ according to study centres. Data were collected from 71 respondents at three study centres using a self-completion questionnaire comprising 17 Likert-type items. The data were analyzed using descriptive statistics, ANOVA, and Scheffe’s post hoc test at a 0.05 level of significance. Learners appeared positive about their learning experiences with the use of video-based instructional materials to learn practical skills at a distance as they rated highly all the items assessing their acceptance and satisfaction. Results of item-by-item ANOVA regarding learner acceptance indicated that the respondents, categorized according to study centres, exhibited similar levels of acceptance for nine of the ten items. For learner satisfaction, there were no statistically significant differences for six of the seven items. Thus, learners of different study centres exhibited about the same level of acceptance and satisfaction.

  7. 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.

  8. Visual measurement of suture strain for robotic surgery.

    Science.gov (United States)

    Martell, John; Elmer, Thomas; Gopalsami, Nachappa; Park, Young Soo

    2011-01-01

    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.

  9. 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.

  10. Physician assessment and management of complex colon polyps: a multicenter video-based survey study.

    Science.gov (United States)

    Aziz Aadam, A; Wani, Sachin; Kahi, Charles; Kaltenbach, Tonya; Oh, Young; Edmundowicz, Steven; Peng, Jie; Rademaker, Alfred; Patel, Swati; Kushnir, Vladimir; Venu, Mukund; Soetikno, Roy; Keswani, Rajesh N

    2014-09-01

    The management of complex colorectal polyps varies in practice. Accurate descriptions of the endoscopic appearance by using a standardized classification system (Paris classification) and size for complex colon polyps may guide subsequent providers regarding curative endoscopic resection vs. need for surgery. The accuracy of this assessment is not well defined. Furthermore, the factors associated with decisions for endoscopic vs. surgical management are unclear. To characterize the accuracy of physician assessment of polyp morphology, size, and suspicion for malignancy among physician subspecialists performing colonoscopy and colon surgery. In addition, we aimed to assess the influence of these polyp characteristics as well as physician type and patient demographics on recommendations for endoscopic vs. surgical resection of complex colorectal polyps. An online video-based survey was sent to gastroenterologists (GIs) and gastrointestinal surgeons affiliated with six tertiary academic centers. The survey consisted of high-definition video clips (30-60 s) of six complex colorectal polyps (one malignant) and clinical histories. Respondents were blinded to histology. Respondents were queried regarding polyp characteristics, suspicion for malignancy, and recommendations for resection. The survey response rate was 154/317 (49%). Seventy-eight percent of respondents were attending physicians (91 GIs and 29 surgeons) and 22% were GI trainees. Sixteen percent of respondents self-identified as specialists in complex polypectomy. Accurate estimation of polyp size was poor (28.4%) with moderate interobserver agreement (k=0.52). Accuracy for Paris classification was 47.5%, also with moderate interobserver agreement (k=0.48). Specialists in complex polypectomy were most accurate, whereas surgeons were the least accurate in assigning Paris classification (66.0 vs. 28.7%, Ppolyp morphology (polypoid vs. nonpolypoid), polyp location (right vs. left colon), or patient ASA class. In

  11. Video-based self-review: comparing Google Glass and GoPro technologies.

    Science.gov (United States)

    Paro, John A M; Nazareli, Rahim; Gurjala, Anadev; Berger, Aaron; Lee, Gordon K

    2015-05-01

    Professionals in a variety of specialties use video-based review as a method of constant self-evaluation. We believe critical self-reflection will allow a surgical trainee to identify methods for improvement throughout residency and beyond. We have used 2 new popular technologies to evaluate their role in accomplishing the previously mentioned objectives. Our group investigated Google Glass and GoPro cameras. Medical students, residents, and faculty were invited to wear each of the devices during a scheduled operation. After the case, each participant was asked to comment on a number of features of the device including comfort, level of distraction/interference with operating, ease of video acquisition, and battery life. Software and hardware specifications were compiled and compared by the authors. A "proof-of-concept" was also performed using the video-conferencing abilities of Google Glass to perform a simulated flap check. The technical specifications of the 2 cameras favor GoPro over Google Glass. Glass records in 720p with 5-MP still shots, and the GoPro records in 1080p with 12-MP still shots. Our tests of battery life showed more than 2 hours of continuous video with GoPro, and less than 1 hour for Glass. Favorable features of Google Glass included comfort and relative ease of use; they could not comfortably wear loupes while operating, and would have preferred longer hands-free video recording. The GoPro was slightly more cumbersome and required a nonsterile team member to activate all pictures or video; however, loupes could be worn. Google Glass was successfully used in the hospital for a simulated flap check, with overall audio and video being transmitted--fine detail was lost, however. There are benefits and limitations to each of the devices tested. Google Glass is in its infancy and may gain a larger intraoperative role in the future. We plan to use Glass as a way for trainees to easily acquire intraoperative footage as a means to "review tape" and

  12. University of Florida, University research program in robotics. Annual technical progress report

    Energy Technology Data Exchange (ETDEWEB)

    Crane, C.D. III; Tulenko, J.S.

    1994-05-01

    Progress is reported in the areas of environmental hardening, database, world modeling, vision, man-machine interface, advanced liquid metal reactor inspection robot, and articulated transporter/manipulator system (ATMS) development.

  13. Robotic Spent Fuel Monitoring – It is time to improve old approaches and old techniques!

    Energy Technology Data Exchange (ETDEWEB)

    Tobin, Stephen Joseph [Los Alamos National Lab. (LANL), Los Alamos, NM (United States); Dasari, Venkateswara Rao [Los Alamos National Lab. (LANL), Los Alamos, NM (United States); Trellue, Holly Renee [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2016-12-13

    This report describes various approaches and techniques associated with robotic spent fuel monitoring. The purpose of this description is to improve the quality of measured signatures, reduce the inspection burden on the IAEA, and to provide frequent verification.

  14. Rehabilitation robotics.

    Science.gov (United States)

    Krebs, H I; Volpe, B T

    2013-01-01

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

  15. Medical robotics.

    Science.gov (United States)

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

    2011-01-01

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

  16. Rehabilitation robotics

    Science.gov (United States)

    KREBS, H.I.; VOLPE, B.T.

    2015-01-01

    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 will 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 will 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 will 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. PMID:23312648

  17. Phoenix Robotic Arm

    Science.gov (United States)

    2007-01-01

    A vital instrument on NASA's Phoenix Mars Lander is the robotic arm, which will dig into the icy soil and bring samples back to the science deck of the spacecraft for analysis. In September 2006 at a Lockheed Martin Space Systems clean room facility near Denver, spacecraft technician Billy Jones inspects the arm during the assembly phase of the mission. Using the robotic arm -- built by the Jet Propulsion Laboratory, Pasadena -- the Phoenix mission will study the history of water and search for complex organic molecules in the ice-rich soil. The Phoenix mission is led by Principal Investigator Peter H. Smith of the University of Arizona, Tucson, with project management at NASA's Jet Propulsion Laboratory and development partnership with Lockheed Martin Space Systems. International contributions for Phoenix are provided by the Canadian Space Agency, the University of Neuchatel (Switzerland), the University of Copenhagen, and the Max Planck Institute in Germany. JPL is a division of the California Institute of Technology in Pasadena.

  18. Automated Exploration and Inspection: Comparing Two Visual Novelty Detectors

    Directory of Open Access Journals (Sweden)

    Hugo Vieira Neto

    2005-12-01

    Full Text Available Mobile robot applications that involve exploration and inspection of dynamic environments benefit, and often even are dependant on reliable novelty detection algorithms. In this paper we compare and discuss the performance and functionality of two different on-line novelty detection algorithms, one based on incremental Principal Component Analysis and the other on a Grow-When-Required artificial neural network. A series of experiments using visual input obtained by a mobile robot interacting with laboratory and real-world environments demonstrate and measure advantages and disadvantages of each approach.

  19. Automated Exploration and Inspection: Comparing Two Visual Novelty Detectors

    Directory of Open Access Journals (Sweden)

    Hugo Vieira Neto

    2008-11-01

    Full Text Available Mobile robot applications that involve exploration and inspection of dynamic environments benefit, and often even are dependant on reliable novelty detection algorithms. In this paper we compare and discuss the performance and functionality of two different on-line novelty detection algorithms, one based on incremental Principal Component Analysis and the other on a Grow-When-Required artificial neural network. A series of experiments using visual input obtained by a mobile robot interacting with laboratory and real-world environments demonstrate and measure advantages and disadvantages of each approach.

  20. 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.

  1. Space Robotics

    Directory of Open Access Journals (Sweden)

    Alex Ellery

    2004-06-01

    Full Text Available In this first of three short papers, I introduce some of the basic concepts of space engineering with an emphasis on some specific challenging areas of research that are peculiar to the application of robotics to space development and exploration. The style of these short papers is pedagogical and this paper stresses the unique constraints that space application imposes. This first paper is thus a general introduction to the nature of spacecraft engineering and its application to robotic spacecraft. I consider the constraints and metrics used by spacecraft engineers in the design of spacecraft and how these constraints impose challenges to the roboticist. The following two papers consider specific robotics issues in more detail.

  2. 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...... in the perceived nature of technology, technology strategy, and technology use between key stakeholders in eldercare. The case study approach and results is then briefly contrasted to the authors’ first hand experiences with appropriating robot vacuums in the home. The aim is to generate discussion of how...

  3. 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.

  4. Cooperating mobile robots

    Science.gov (United States)

    Harrington, John J.; Eskridge, Steven E.; Hurtado, John E.; Byrne, Raymond H.

    2004-02-03

    A miniature mobile robot provides a relatively inexpensive mobile robot. A mobile robot for searching an area provides a way for multiple mobile robots in cooperating teams. A robotic system with a team of mobile robots communicating information among each other provides a way to locate a source in cooperation. A mobile robot with a sensor, a communication system, and a processor, provides a way to execute a strategy for searching an area.

  5. Automated PCB Inspection System

    Directory of Open Access Journals (Sweden)

    Syed Usama BUKHARI

    2017-05-01

    Full Text Available Development of an automated PCB inspection system as per the need of industry is a challenging task. In this paper a case study is presented, to exhibit, a proposed system for an immigration process of a manual PCB inspection system to an automated PCB inspection system, with a minimal intervention on the existing production flow, for a leading automotive manufacturing company. A detailed design of the system, based on computer vision followed by testing and analysis was proposed, in order to aid the manufacturer in the process of automation.

  6. Runway Inspection by RPAS

    Directory of Open Access Journals (Sweden)

    Stanislav Absolon

    2015-10-01

    Full Text Available This article discusses the use of the RPAS for the inspection of the airport operating areas. The paper compares the current process of the inspection of the airport operating areas by the airport staff with the possibilities which are offered by the use of the modern technology RPAS. The following text also describes how to inspect airport operating areas by the RPAS, specific technical possibilities and the applicable technical solutions. Furthermore there are variants of piloting the RPAS, comparing usable equipment, equipment for video recording and the possibility of using thermal imaging camera in the article.

  7. 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...

  8. 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

  9. Rapid prototyping of robotic platforms

    CSIR Research Space (South Africa)

    De Ronde, Willis

    2016-11-01

    Full Text Available of thickness up to 200mm can be cut to create prototype chassis/ bodies or even the final product. One of the few limitations is the cutting of certain laminated materials, as this tends to produce delaminated cutting edges or even fractures in the case... mine inspection robot (Shongololo). Shongololo’s frame is made from engineering plastics while the chassis of Dassie was made from aluminium and cut using abrasive waterjet machining. The advantage of using abrasive waterjet machining is the speed...

  10. 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.

  11. Collective Modular Underwater Robotic System for Long-Term Autonomous Operation

    DEFF Research Database (Denmark)

    Christensen, David Johan; Andersen, Jens Christian; Blanke, Mogens

    This paper provides a brief overview of an underwater robotic system for autonomous inspection in confined offshore underwater structures. The system, which is currently in development, consist of heterogeneous modular robots able to physically dock and communicate with other robots, transport...... tools and robots, and recharge their batteries while underwater. These properties will provide the system, when fully developed, with unique capabilities such as ability to adapt robotic morphology and function to the current task and tolerate failures leading to long-term autonomous operations....

  12. Signal Station Inspection Reports

    Data.gov (United States)

    National Oceanic and Atmospheric Administration, Department of Commerce — Handwritten reports resulting from detailed inspections of US Army Signal Service Stations, 1871-1889. Features reported included instrument exposure and condition,...

  13. Wheel inspection system environment.

    Science.gov (United States)

    2008-11-18

    International Electronic Machines Corporation (IEM) has developed and is now marketing a state-of-the-art Wheel Inspection System Environment (WISE). WISE provides wheel profile and dimensional measurements, i.e. rim thickness, flange height, flange ...

  14. Nuclear Plant Inspection

    Science.gov (United States)

    1983-01-01

    Engineers from the Power Authority of the State of New York use a Crack Growth Analysis Program supplied by COSMIC (Computer Software Management and Information Center) in one stage of nuclear plant inspection. Welds of the nuclear steam supply system are checked for cracks; radiographs, dye penetration and visual inspections are performed to locate cracks in the metal structure and welds. The software package includes three separate crack growth analysis models and enables necessary repairs to be planned before serious problems develop.

  15. 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…

  16. Robotic membranes

    DEFF Research Database (Denmark)

    Ramsgaard Thomsen, Mette

    2008-01-01

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

  17. 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

  18. Video-Based Physiologic Monitoring During an Acute Hypoxic Challenge: Heart Rate, Respiratory Rate, and Oxygen Saturation.

    Science.gov (United States)

    Addison, Paul S; Jacquel, Dominique; Foo, David M H; Antunes, André; Borg, Ulf R

    2017-09-01

    The physiologic information contained in the video photoplethysmogram is well documented. However, extracting this information during challenging conditions requires new analysis techniques to capture and process the video image streams to extract clinically useful physiologic parameters. We hypothesized that heart rate, respiratory rate, and oxygen saturation trending can be evaluated accurately from video information during acute hypoxia. Video footage was acquired from multiple desaturation episodes during a porcine model of acute hypoxia using a standard visible light camera. A novel in-house algorithm was used to extract photoplethysmographic cardiac pulse and respiratory information from the video image streams and process it to extract a continuously reported video-based heart rate (HRvid), respiratory rate (RRvid), and oxygen saturation (SvidO2). This information was then compared with HR and oxygen saturation references from commercial pulse oximetry and the known rate of respiration from the ventilator. Eighty-eight minutes of data were acquired during 16 hypoxic episodes in 8 animals. A linear mixed-effects regression showed excellent responses relative to a nonhypoxic reference signal with slopes of 0.976 (95% confidence interval [CI], 0.973-0.979) for HRvid; 1.135 (95% CI, 1.101-1.168) for RRvid, and 0.913 (95% CI, 0.905-0.920) for video-based oxygen saturation. These results were obtained while maintaining continuous uninterrupted vital sign monitoring for the entire study period. Video-based monitoring of HR, RR, and oxygen saturation may be performed with reasonable accuracy during acute hypoxic conditions in an anesthetized porcine hypoxia model using standard visible light camera equipment. However, the study was conducted during relatively low motion. A better understanding of the effect of motion and the effect of ambient light on the video photoplethysmogram may help refine this monitoring technology for use in the clinical environment.

  19. DEVELOPMENT OF GENETIC ALGORITHM-BASED METHODOLOGY FOR SCHEDULING OF MOBILE ROBOTS

    DEFF Research Database (Denmark)

    Dang, Vinh Quang

    This thesis addresses the issues of scheduling of mobile robot(s) at operational levels of manufacturing systems. More specifically, two problems of scheduling of a single mobile robot with part-feeding tasks and scheduling of multiple mobile robots with preemptive tasks are taken into account....... For the first scheduling problem, a single mobile robot is considered to collect and transport container of parts and empty them into machine feeders where needed. A limit on carrying capacity of the single mobile robot and hard time windows of part-feeding tasks are considered. The objective of the first...... problem is to minimize the total traveling time of the single mobile robot and thereby increase its availability. For the second scheduling problem, a fleet of mobile robots is considered together with a set of machines to carry out different types of tasks, e.g. pre-assembly or quality inspection. Some...

  20. Robotic system for the servicing of the orbiter thermal protection system

    Science.gov (United States)

    Graham, Todd; Bennett, Richard; Dowling, Kevin; Manouchehri, Davoud; Cooper, Eric; Cowan, Cregg

    1994-01-01

    This paper describes the design and development of a mobile robotic system to process orbiter thermal protection system (TPS) tiles. This work was justified by a TPS automation study which identified tile rewaterproofing and visual inspection as excellent applications for robotic automation.

  1. CSIR Centre for Mining Innovation and the mine safety platform robot

    CSIR Research Space (South Africa)

    Green, JJ

    2012-11-01

    Full Text Available The Council for Scientific and Industrial Research (CSIR) in South Africa is currently developing a robot for the inspection of the ceiling (hanging wall) in an underground gold mine. The robot autonomously navigates the 30 meter long by 3 meter...

  2. Rail-guided robotic end-effector position error due to rail compliance and ship motion

    NARCIS (Netherlands)

    Borgerink, Dian; Stegenga, J.; Brouwer, Dannis Michel; Woertche, H.J.; Stramigioli, Stefano

    2014-01-01

    A rail-guided robotic system is currently being designed for the inspection of ballast water tanks in ships. This robotic system will manipulate sensors toward the interior walls of the tank. In this paper, the influence of rail compliance on the end-effector position error due to ship movement is

  3. Video-based instructions for surgical hand disinfection as a replacement for conventional tuition? A randomised, blind comparative study

    Directory of Open Access Journals (Sweden)

    Weber, Uwe

    2016-08-01

    Full Text Available Introduction: Various different learning methods are available for planning tuition regarding the introduction to surgical hand disinfection. These learning methods should help to organise and deal with this topic. The use of a video film is an alternative to conventional tuition due to the real presentation possibilities of practical demonstration. Objective: This study examines by way of comparison which form of communication is more effective for learning and applying surgical hand disinfection for medical students in their first year of studies: video-based instruction or conventional tuition. Methodology: A total of 50 first-year medical students were randomly allocated either to the “Conventional Instruction” (CI study group or to the “Video-based Instruction” (VI study group. The conventional instruction was carried out by an experienced nurse preceptor/nurse educator for the operating theatre who taught the preparatory measures and the actual procedure in a two-minute lesson. The second group watched a two-minute video sequence with identical content. Afterwards, both groups demonstrated practically the knowledge they had acquired at an individual practical test station. The quality (a of the preparation and (b of the procedure as well as (c the quality of the results was assessed by 6 blind experts using a check list. The acceptability of the respective teaching method was also asked about using a questionnaire.Results: The group performance did not differ either in the preparation (=-78, <0.44 or in the quality (=-99, <0.34. With respect to performance, it was possible to demonstrate a strong treatment effect. In the practical (=-3.33, <0.002, =0.943 and in the total score (=-2.65, <0.011, =0.751, the group with video-based instruction achieved a significantly better result. In response to the question as to which of the two learning methods they would prefer, the significant majority (60.4% of students stated video instruction

  4. DEVELOPMENT OF AN INSPECTION PLATFORM AND A SUITE OF SENSORS FOR ASSESSING CORROSION AND MECHANICAL DAMAGE ON UNPIGGABLE TRANSMISSION MAINS

    Energy Technology Data Exchange (ETDEWEB)

    George C. Vradis; William Leary

    2004-03-01

    The National Energy Technology Laboratory of the US Department of Energy (under Award DE-FC26-02NT41645) and the NYSEARCH Committee of the Northeast Gas Association (previous the New York Gas Group), have sponsored research to develop a robotic pipeline inspection system capable of navigation through the typical physical and operational obstacles that make transmission and distribution pipelines unpiggable. The research contractors, Foster-Miller and GE Oil & Gas (PII North America) have performed an engineering study and developed a conceptual design that meets all the requirements for navigating and inspecting unpiggable transmission pipelines. Based on Foster-Miller's previous efforts developing the Pipe Mouse robot, the RoboScan inspection robot (Figure ES-1) meets the navigational and physical challenges of unpiggable pipelines through an innovative modular platform design, segmented MFL inspection modules and improvements to the inter-module coupling design.

  5. Vision Guided X-Y Table For Inspection

    Science.gov (United States)

    Chen, Michel J.

    1983-05-01

    This paper demonstrates an example of utilization of machine intelligence in automation. A system was developed to perform precision part inspection and automated workpiece handling. This system consists of a robot which is utilized to perform simple pick-and-place function, a MI VS-110 machine vision system which provides a vision library and the functions of masking and programmable image overlay, and an X-Y-θ table. This setup demonstrates a simplified approach to machine vision and automation. In this complete sensorimotor system, BASIC was the programming language to develop and integrate the control software for the inspection process by using the MI DS-100 machine vision development system. By calling vision functions, X-Y-θ table commands and simple robot commands, the task of parts" inspection under high- and low-resolution cameras, sorting, as well as disposition is shown to be easy to conceptualize and implement. This robot system can perform tasks without the necessity of prealigning or jigging workpieces. Numerous other applications can be accomplished by adopting a similar methodology.

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

    Directory of Open Access Journals (Sweden)

    Chika Yinka-Banjo

    2014-01-01

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

  7. Inspection Strategies for Concrete Bridges

    DEFF Research Database (Denmark)

    Sørensen, John Dalsgaard; Thoft-Christensen, Palle

    1989-01-01

    In this paper an optimal inspection strategy for concrete bridges based on periodic routine and detailed inspections is presented. The failure mode considered is corrosion of the reinforcement due to chlorides. A simple modelling of the corrosion and of the inspection strategy is presented....... The optimal inspection strategy is determined from an optimization problem, where the design variables are time intervals between detailed inspections and the concrete cover. The strategy is illustrated on a simple structure, namely a reinforced concrete beam....

  8. 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...

  9. Presentation robot Advee

    Czech Academy of Sciences Publication Activity Database

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

    2012-01-01

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

  10. Tandem mobile robot system

    Science.gov (United States)

    Buttz, James H.; Shirey, David L.; Hayward, David R.

    2003-01-01

    A robotic vehicle system for terrain navigation mobility provides a way to climb stairs, cross crevices, and navigate across difficult terrain by coupling two or more mobile robots with a coupling device and controlling the robots cooperatively in tandem.

  11. 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...

  12. Distributed Robotics Education

    OpenAIRE

    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 distributed educational system as a valuable tool for introducing students to interactive parallel and distributed processing programming as the foundation for distributed robotics and human-robot interaction...

  13. Application of a full body inertial measurement system in alpine skiing: a comparison with an optical video based system.

    Science.gov (United States)

    Krüger, Andreas; Edelmann-Nusser, Jürgen

    2010-11-01

    This study aims at determining the accuracy of a full body inertial measurement system in a real skiing environment in comparison with an optical video based system. Recent studies have shown the use of inertial measurement systems for the determination of kinematical parameters in alpine skiing. However, a quantitative validation of a full body inertial measurement system for the application in alpine skiing is so far not available. For the purpose of this study, a skier performed a test-run equipped with a full body inertial measurement system in combination with a DGPS. In addition, one turn of the test-run was analyzed by an optical video based system. With respect to the analyzed angles, a maximum mean difference of 4.9° was measured. No differences in the measured angles between the inertial measurement system and the combined usage with a DGPS were found. Concerning the determination of the skier's trajectory, an additional system (e.g., DGPS) must be used. As opposed to optical methods, the main advantages of the inertial measurement system are the determination of kinematical parameters without the limitation of restricted capture volume, and small time costs for the measurement preparation and data analysis.

  14. Recommendations to enhance constructivist-based learning in Interprofessional Education using video-based self-assessment

    Directory of Open Access Journals (Sweden)

    Dahmen, Uta

    2016-04-01

    Full Text Available Introduction: Interprofessional collaboration is crucial to the optimization of patient care.Aim: This paper aims to provide recommendations for implementing an innovative constructivist educational concept with the core element of video-based self-assessment.Methodology: A course for students in medicine, physiotherapy, and nursing was developed through interprofessional, cross-institutional collaboration. The course consisted of We evaluated the preparation and implementation of the three courses conducted thus far. Concrete recommendations for implementation were made based on evaluation sheets (students, open discussions (tutors, instructors, institutions and recorded meeting minutes (project managers, project participants.Results: Basic recommendations for implementation include: selecting appropriate criteria for self-assessment and a simulated situation that offers members of each professional group an equal opportunity to act in the role play. In terms of administrative implementation we recommend early coordination among the professions and educational institutions regarding the target groups, scheduling and attendance policy to ensure participant recruitment across all professions. Procedural planning should include developing teaching materials, such as the case vignette and treatment scenario, and providing technical equipment that can be operated intuitively in order to ensure efficient recording.Conclusion: These recommendations serve as an aid for implementing an innovative constructivist educational concept with video-based self-assessment at its core.

  15. An Energy-Efficient and High-Quality Video Transmission Architecture in Wireless Video-Based Sensor Networks

    Science.gov (United States)

    Aghdasi, Hadi S.; Abbaspour, Maghsoud; Moghadam, Mohsen Ebrahimi; Samei, Yasaman

    2008-01-01

    Technological progress in the fields of Micro Electro-Mechanical Systems (MEMS) and wireless communications and also the availability of CMOS cameras, microphones and small-scale array sensors, which may ubiquitously capture multimedia content from the field, have fostered the development of low-cost limited resources Wireless Video-based Sensor Networks (WVSN). With regards to the constraints of video-based sensor nodes and wireless sensor networks, a supporting video stream is not easy to implement with the present sensor network protocols. In this paper, a thorough architecture is presented for video transmission over WVSN called Energy-efficient and high-Quality Video transmission Architecture (EQV-Architecture). This architecture influences three layers of communication protocol stack and considers wireless video sensor nodes constraints like limited process and energy resources while video quality is preserved in the receiver side. Application, transport, and network layers are the layers in which the compression protocol, transport protocol, and routing protocol are proposed respectively, also a dropping scheme is presented in network layer. Simulation results over various environments with dissimilar conditions revealed the effectiveness of the architecture in improving the lifetime of the network as well as preserving the video quality. PMID:27873772

  16. Recommendations to enhance constructivist-based learning in Interprofessional Education using video-based self-assessment.

    Science.gov (United States)

    Dahmen, Uta; Schulze, Christine; Schindler, Claudia; Wick, Katharina; Schwartze, Dominique; Veit, Andrea; Smolenski, Ulrich

    2016-01-01

    Interprofessional collaboration is crucial to the optimization of patient care. This paper aims to provide recommendations for implementing an innovative constructivist educational concept with the core element of video-based self-assessment. A course for students in medicine, physiotherapy, and nursing was developed through interprofessional, cross-institutional collaboration. The course consisted of drawing on prior knowledge about the work done by each professional group in regard to a specific clinical scenario and an interprofessional treatment situation, filming a role play of this treatment situation, and a structured self-assessment of the role play. We evaluated the preparation and implementation of the three courses conducted thus far. Concrete recommendations for implementation were made based on evaluation sheets (students), open discussions (tutors, instructors, institutions) and recorded meeting minutes (project managers, project participants). Basic recommendations for implementation include: selecting appropriate criteria for self-assessment and a simulated situation that offers members of each professional group an equal opportunity to act in the role play. In terms of administrative implementation we recommend early coordination among the professions and educational institutions regarding the target groups, scheduling and attendance policy to ensure participant recruitment across all professions. Procedural planning should include developing teaching materials, such as the case vignette and treatment scenario, and providing technical equipment that can be operated intuitively in order to ensure efficient recording. These recommendations serve as an aid for implementing an innovative constructivist educational concept with video-based self-assessment at its core.

  17. Piping inspection round robin

    Energy Technology Data Exchange (ETDEWEB)

    Heasler, P.G.; Doctor, S.R. [Pacific Northwest National Lab., Richland, WA (United States)

    1996-04-01

    The piping inspection round robin was conducted in 1981 at the Pacific Northwest National Laboratory (PNNL) to quantify the capability of ultrasonics for inservice inspection and to address some aspects of reliability for this type of nondestructive evaluation (NDE). The round robin measured the crack detection capabilities of seven field inspection teams who employed procedures that met or exceeded the 1977 edition through the 1978 addenda of the American Society of Mechanical Engineers (ASME) Section 11 Code requirements. Three different types of materials were employed in the study (cast stainless steel, clad ferritic, and wrought stainless steel), and two different types of flaws were implanted into the specimens (intergranular stress corrosion cracks (IGSCCs) and thermal fatigue cracks (TFCs)). When considering near-side inspection, far-side inspection, and false call rate, the overall performance was found to be best in clad ferritic, less effective in wrought stainless steel and the worst in cast stainless steel. Depth sizing performance showed little correlation with the true crack depths.

  18. A comparison of face to face and video-based education on attitude related to diet and fluids: Adherence in hemodialysis patients.

    Science.gov (United States)

    Karimi Moonaghi, Hossein; Hasanzadeh, Farzaneh; Shamsoddini, Somayyeh; Emamimoghadam, Zahra; Ebrahimzadeh, Saeed

    2012-07-01

    Adherence to diet and fluids is the cornerstone of patients undergoing hemodialysis. By informing hemodialysis patients we can help them have a proper diet and reduce mortality and complications of toxins. Face to face education is one of the most common methods of training in health care system. But advantages of video- based education are being simple and cost-effective, although this method is virtual. Seventy-five hemodialysis patients were divided randomly into face to face and video-based education groups. A training manual was designed based on Orem's self-care model. Content of training manual was same in both the groups. In the face to face group, 2 educational sessions were accomplished during dialysis with a 1-week time interval. In the video-based education group, a produced film, separated to 2 episodes was presented during dialysis with a 1-week time interval. An Attitude questionnaire was completed as a pretest and at the end of weeks 2 and 4. SPSS software version 11.5 was used for analysis. Attitudes about fluid and diet adherence at the end of weeks 2 and 4 are not significantly different in face to face or video-based education groups. The patients' attitude had a significant difference in face to face group between the 3 study phases (pre-, 2, and 4 weeks postintervention). The same results were obtained in 3 phases of video-based education group. Our findings showed that video-based education could be as effective as face to face method. It is recommended that more investment be devoted to video-based education.

  19. 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....... Nanoscale resolutions enable optical scientists to assess ever more accurate information. However, scientific hypothesis testing demands tools, not only for observing nanoscopic phenomena, but also for reaching into and manipulating nanoscale constituents. Taking an applications focus, this book explores...

  20. Robot Programming.

    Science.gov (United States)

    1982-12-01

    tools developed within existing APT systems for specifying robot motions. This approach is particularly attractive for domains , such as aircraft...notions. 2. New vs. old. Is it better to design a new language or extend an old one? A new one can be tailored to the need of the new domain . An old one...kinematic, and physical models of other object’s must be provided for each new task, however. The underlying assumption in task-level langauges is that

  1. 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.

  2. Computer-controlled wall servicing robot

    Energy Technology Data Exchange (ETDEWEB)

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

    1995-03-01

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

  3. A 3D-video-based computerized analysis of social and sexual interactions in rats.

    Science.gov (United States)

    Matsumoto, Jumpei; Urakawa, Susumu; Takamura, Yusaku; Malcher-Lopes, Renato; Hori, Etsuro; Tomaz, Carlos; Ono, Taketoshi; Nishijo, Hisao

    2013-01-01

    A large number of studies have analyzed social and sexual interactions between rodents in relation to neural activity. Computerized video analysis has been successfully used to detect numerous behaviors quickly and objectively; however, to date only 2D video recording has been used, which cannot determine the 3D locations of animals and encounters difficulties in tracking animals when they are overlapping, e.g., when mounting. To overcome these limitations, we developed a novel 3D video analysis system for examining social and sexual interactions in rats. A 3D image was reconstructed by integrating images captured by multiple depth cameras at different viewpoints. The 3D positions of body parts of the rats were then estimated by fitting skeleton models of the rats to the 3D images using a physics-based fitting algorithm, and various behaviors were recognized based on the spatio-temporal patterns of the 3D movements of the body parts. Comparisons between the data collected by the 3D system and those by visual inspection indicated that this system could precisely estimate the 3D positions of body parts for 2 rats during social and sexual interactions with few manual interventions, and could compute the traces of the 2 animals even during mounting. We then analyzed the effects of AM-251 (a cannabinoid CB1 receptor antagonist) on male rat sexual behavior, and found that AM-251 decreased movements and trunk height before sexual behavior, but increased the duration of head-head contact during sexual behavior. These results demonstrate that the use of this 3D system in behavioral studies could open the door to new approaches for investigating the neuroscience of social and sexual behavior.

  4. A 3D-video-based computerized analysis of social and sexual interactions in rats.

    Directory of Open Access Journals (Sweden)

    Jumpei Matsumoto

    Full Text Available A large number of studies have analyzed social and sexual interactions between rodents in relation to neural activity. Computerized video analysis has been successfully used to detect numerous behaviors quickly and objectively; however, to date only 2D video recording has been used, which cannot determine the 3D locations of animals and encounters difficulties in tracking animals when they are overlapping, e.g., when mounting. To overcome these limitations, we developed a novel 3D video analysis system for examining social and sexual interactions in rats. A 3D image was reconstructed by integrating images captured by multiple depth cameras at different viewpoints. The 3D positions of body parts of the rats were then estimated by fitting skeleton models of the rats to the 3D images using a physics-based fitting algorithm, and various behaviors were recognized based on the spatio-temporal patterns of the 3D movements of the body parts. Comparisons between the data collected by the 3D system and those by visual inspection indicated that this system could precisely estimate the 3D positions of body parts for 2 rats during social and sexual interactions with few manual interventions, and could compute the traces of the 2 animals even during mounting. We then analyzed the effects of AM-251 (a cannabinoid CB1 receptor antagonist on male rat sexual behavior, and found that AM-251 decreased movements and trunk height before sexual behavior, but increased the duration of head-head contact during sexual behavior. These results demonstrate that the use of this 3D system in behavioral studies could open the door to new approaches for investigating the neuroscience of social and sexual behavior.

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

    OpenAIRE

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

    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...

  6. 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...

  7. Subsea Infrastructure Inspection

    DEFF Research Database (Denmark)

    Mai, Christian; Pedersen, Simon; Hansen, Leif

    2016-01-01

    of the offshore pipeline inspections are currently committed using Towed or Remotely Operated Vehicle (ROV) systems. It is well-known that the ROVs are very time-consuming and expensive to operate, with respect to the fact that they require a relatively large support ship to accommodate the equipment as well...

  8. Pre-Demolition Inspections

    Science.gov (United States)

    A pre-demolition inspection may be one of the most helpful and cost-efficient steps you can take to identify materials that should (or must) be removed from buildings prior to demolition. In some cases it may be required by regulation.

  9. Automatic Inspection During Machining

    Science.gov (United States)

    Ransom, Clyde L.

    1988-01-01

    In experimental manufacturing process, numerically-controlled machine tool temporarily converts into inspection machine by installing electronic touch probes and specially-developed numerical-control software. Software drives probes in paths to and on newly machined parts and collects data on dimensions of parts.

  10. Innovative Inspection Techniques

    Science.gov (United States)

    1993-01-01

    Shearography ...................................... 45 5.14 Vibration M onitoring . ................................ 46 5.15 NDT Summary...41 Figure 15 Acoustic Emissions System for Experiments ..................... 42 Figure 16 X-Ray Test Equipment...equipment needed for a remote video system that could be used in marine inspection. ix Executive Summary This report provides the results of a three phase

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

    Science.gov (United States)

    Technology Teacher, 1990

    1990-01-01

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

  12. Scrape on Endeavour's robotic arm during oxygen leak repairs

    Science.gov (United States)

    2002-01-01

    KENNEDY SPACE CENTER, FLA. -- A piece of the honeycomb shell around Endeavour's robotic arm has been cut to inspect the arm. A scrape of the shell occurred while work platforms were being installed to gain access to repair the oxygen leak in the Shuttle's mid-body. Launch of Endeavour on mission STS-113 has been postponed until no earlier than Nov. 22.

  13. Visual inspection of vessel internals; Visuelle Inspektion von Kerneinbauten

    Energy Technology Data Exchange (ETDEWEB)

    Rabe, G. [Siemens AG KWU, Erlangen (Germany)

    1999-08-01

    Visual inspection has matured to a qualified testing method and has become a standard method for inspection of reactor pressure vessels. Until today, all known defects in RPV internals have been detected by visual inspection. The codes KTA 3204 and DIN 25435-4 describe the framework conditions and requirements for visual inspections, which should be adhered to to the most possible extent. Visual inspections are carried by now at all RPV internals, also at those where access is difficult and limited. The inspection robot SUSI is applied in most cases. The camera and manipulator technology meanwhile has been upgraded to a standard performance quality allowing reliable, fast and easy visual inspection. The personnel is trained accordingly, so as to keep abreast with enhancements. Qualification of the inspection system has been simplified and standardised to a large extent. (orig/CB) [Deutsch] Die Sichtpruefung ist zu einem qualifizierten Pruefverfahren gereift und hat bei der Inspektion der RDB-Einbauten einen festen Platz eingenommen. Bisher wurden alle bekannten Schaeden an den RDB-Einbauten bei der Sichtpruefung festgestellt. In der KTA 3204 und der DIN 25435-4 sind die Rahmenbedingungen und Anforderungen an die Sichtpruefung beschrieben, die es gilt, weitestgehend einzuhalten. Mittlerweile werden an allen RDB-Einbauten, auch an den nur bedingt zugaenglichen, Sichtpruefungen vorgenommen. Dabei hat das Inspektionsfahrzeug SUSI inzwischen den breitesten Raum eingenommen. Die Entwicklung der Kamera- und Manipulatortechnik hat inzwischen einen Stand erreicht, der eine sichere, schnelle und einfache Sichtpruefung zulaesst. Das Pruefpersonal wird laufend fuer die Sichtpruefung geschult und qualifiziert. Die Qualifizierung des Inspektionssystems wurde weitestgehend vereinfacht und standardisiert. (orig.)

  14. Evolutionary Design of a Robotic Material Defect Detection System

    Science.gov (United States)

    Ballard, Gary; Howsman, Tom; Craft, Mike; ONeil, Daniel; Steincamp, Jim; Howell, Joe T. (Technical Monitor)

    2002-01-01

    During the post-flight inspection of SSME engines, several inaccessible regions must be disassembled to inspect for defects such as cracks, scratches, gouges, etc. An improvement to the inspection process would be the design and development of very small robots capable of penetrating these inaccessible regions and detecting the defects. The goal of this research was to utilize an evolutionary design approach for the robotic detection of these types of defects. A simulation and visualization tool was developed prior to receiving the hardware as a development test bed. A small, commercial off-the-shelf (COTS) robot was selected from several candidates as the proof of concept robot. The basic approach to detect the defects was to utilize Cadmium Sulfide (CdS) sensors to detect changes in contrast of an illuminated surface. A neural network, optimally designed utilizing a genetic algorithm, was employed to detect the presence of the defects (cracks). By utilization of the COTS robot and US sensors, the research successfully demonstrated that an evolutionarily designed neural network can detect the presence of surface defects.

  15. Educational Robotics as Mindtools

    Science.gov (United States)

    Mikropoulos, Tassos A.; Bellou, Ioanna

    2013-01-01

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

  16. Evolutionary humanoid robotics

    CERN Document Server

    Eaton, Malachy

    2015-01-01

    This book examines how two distinct strands of research on autonomous robots, evolutionary robotics and humanoid robot research, are converging. The book will be valuable for researchers and postgraduate students working in the areas of evolutionary robotics and bio-inspired computing.

  17. Robotic Hand

    Science.gov (United States)

    1993-01-01

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

  18. Effect of Video-Based versus Personalized Instruction on Errors during Elastic Tubing Exercises for Musculoskeletal Pain

    DEFF Research Database (Denmark)

    Andersen, Kenneth Jay; Schraefel, M. C.; Brandt, M.

    2014-01-01

    Workplace interventions have shown beneficial results of resistance training for chronic pain in the neck, shoulder, and arm. However, studies have relied on experienced exercise instructors, which may not be an available resource at most workplaces. The objective of this study is to evaluate...... the technical performance level of upper limb rehabilitation exercises following video-based versus personalized exercise instruction. We recruited 38 laboratory technicians and office workers with neck/shoulder pain for a two-week exercise training period receiving either (1) personal and video or (2) video...... only instruction in four typical neck/shoulder/arm rehabilitation exercises using elastic tubing. At a 2-week follow-up, the participants' technical execution was assessed by two blinded physical therapists using a reliable error assessment tool. The error assessment was based on ordinal deviation...

  19. Measuring eye movements during locomotion: filtering techniques for obtaining velocity signals from a video-based eye monitor

    Science.gov (United States)

    Das, V. E.; Thomas, C. W.; Zivotofsky, A. Z.; Leigh, R. J.

    1996-01-01

    Video-based eye-tracking systems are especially suited to studying eye movements during naturally occurring activities such as locomotion, but eye velocity records suffer from broad band noise that is not amenable to conventional filtering methods. We evaluated the effectiveness of combined median and moving-average filters by comparing prefiltered and postfiltered records made synchronously with a video eye-tracker and the magnetic search coil technique, which is relatively noise free. Root-mean-square noise was reduced by half, without distorting the eye velocity signal. To illustrate the practical use of this technique, we studied normal subjects and patients with deficient labyrinthine function and compared their ability to hold gaze on a visual target that moved with their heads (cancellation of the vestibulo-ocular reflex). Patients and normal subjects performed similarly during active head rotation but, during locomotion, patients held their eyes more steadily on the visual target than did subjects.

  20. Big Lake Dam Inspection Report

    Data.gov (United States)

    US Fish and Wildlife Service, Department of the Interior — This report summarizes an inspection of the Big Lake Dam that was done in September of 1983. The inspection did not reveal any conditions that constitute and...

  1. Next generation light robotic

    DEFF Research Database (Denmark)

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

    2017-01-01

    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......-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...... proficiently with the collaborative robots...

  2. Video-based heart rate monitoring across a range of skin pigmentations during an acute hypoxic challenge.

    Science.gov (United States)

    Addison, Paul S; Jacquel, Dominique; Foo, David M H; Borg, Ulf R

    2017-11-09

    The robust monitoring of heart rate from the video-photoplethysmogram (video-PPG) during challenging conditions requires new analysis techniques. The work reported here extends current research in this area by applying a motion tolerant algorithm to extract high quality video-PPGs from a cohort of subjects undergoing marked heart rate changes during a hypoxic challenge, and exhibiting a full range of skin pigmentation types. High uptimes in reported video-based heart rate (HRvid) were targeted, while retaining high accuracy in the results. Ten healthy volunteers were studied during a double desaturation hypoxic challenge. Video-PPGs were generated from the acquired video image stream and processed to generate heart rate. HRvid was compared to the pulse rate posted by a reference pulse oximeter device (HRp). Agreement between video-based heart rate and that provided by the pulse oximeter was as follows: Bias = - 0.21 bpm, RMSD = 2.15 bpm, least squares fit gradient = 1.00 (Pearson R = 0.99, p < 0.0001), with a 98.78% reporting uptime. The difference between the HRvid and HRp exceeded 5 and 10 bpm, for 3.59 and 0.35% of the reporting time respectively, and at no point did these differences exceed 25 bpm. Excellent agreement was found between the HRvid and HRp in a study covering the whole range of skin pigmentation types (Fitzpatrick scales I-VI), using standard room lighting and with moderate subject motion. Although promising, further work should include a larger cohort with multiple subjects per Fitzpatrick class combined with a more rigorous motion and lighting protocol.

  3. Guide for Ship Structural Inspections

    Science.gov (United States)

    1990-08-02

    000- 1000, Naval Ship Systems Command, 1968. (7) "IH1 SPAIS - The Shipbuilding Process and Inspection Standard", Ishikawajima - Harima Heavy Industries Co...each subsequent special survey. IHI Japanese shipyard: " Ishikawajima Harima Heavy Industries " "In-Service" Inspection Inspections performed on the...specifying inspections in excess of what is necessary to ensure structural integrity of the completed vessel, an extra heavy cost burden may be imposed

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2014-10-15

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

  5. 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....

  6. Robotic sacrocolpopexy

    Directory of Open Access Journals (Sweden)

    Teresa L Danforth

    2014-01-01

    Full Text Available Pelvic organ prolapse (POP is a prevalent condition with 1 in 9 women seeking surgical treatment by the age of 80 years. Goals of treatment are relief and prevention of symptoms, and restoration of pelvic floor support. The gold standard for surgical treatment of POP has been abdominal sacrocolpopexy (ASC. However, emerging technologies have allowed for more minimally invasive approach including the use of laparoscopic assisted sacrocolpopexy and robotic assisted sacrocolpopexy (RASC. We performed a PubMed literature search for sacrocolpopexy, "robotic sacrocolpopexy" and "RASC" and reviewed all retrospective, prospective and randomized controlled trials. The techniques, objective and subjective outcomes and complications are discussed. The most frequent technique involves a polypropylene Y mesh attached to the anterior and posterior walls of the vagina with the single arm attached to the sacrum. Multiple concomitant procedures have been described including hysterectomy, anti-incontinence procedures and concomitant vaginal prolapse repairs. There are few studies comparing RASC to ASC, with the longest follow-up data showing no difference in subjective and objective outcomes. Anatomic success rates have been reported at 79-100% with up to 9% of patients requiring successive surgery for recurrence. Subjective success is poorly defi ned, but has been reported at 88-97%. Most common complications are urinary retention, urinary tract infection, bladder injury and vaginal mucosal injury. Mesh exposure is reported in up to 10% of patients. RASC allows for a minimally invasive approach to treatment of POP with comparable outcomes and low complication rates.

  7. 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

  8. Robots for Aircraft Maintenance

    Science.gov (United States)

    1993-01-01

    Marshall Space Flight Center charged USBI (now Pratt & Whitney) with the task of developing an advanced stripping system based on hydroblasting to strip paint and thermal protection material from Space Shuttle solid rocket boosters. A robot, mounted on a transportable platform, controls the waterjet angle, water pressure and flow rate. This technology, now known as ARMS, has found commercial applications in the removal of coatings from jet engine components. The system is significantly faster than manual procedures and uses only minimal labor. Because the amount of "substrate" lost is minimal, the life of the component is extended. The need for toxic chemicals is reduced, as is waste disposal and human protection equipment. Users of the ARMS work cell include Delta Air Lines and the Air Force, which later contracted with USBI for development of a Large Aircraft Paint Stripping system (LARPS). LARPS' advantages are similar to ARMS, and it has enormous potential in military and civil aircraft maintenance. The technology may also be adapted to aircraft painting, aircraft inspection techniques and paint stripping of large objects like ships and railcars.

  9. Shape Measurement of a Sewer Pipe Using a Mobile Robot with Computer Vision

    Directory of Open Access Journals (Sweden)

    Kikuhito Kawasue

    2013-01-01

    Full Text Available A mobile robot equipped with two lasers and a CCD camera for pipe inspection is proposed. Circular laser streaks that appeared on the inner surface of the pipe reveal the shape of the pipe. The 3D shape of a sewer pipe can be reconstructed considering the movement of the mobile robot along the pipe. Since the tilt of the mobile robot with respect to the axis of the pipe appears as the deformation between two circular streaks, the shape of a sewer pipe can be measured accurately, regardless of the tilt of the robot.

  10. Overview of the software inspection process

    Energy Technology Data Exchange (ETDEWEB)

    Lane, G.L.; Dabbs, R. [Sandia National Labs., Albuquerque, NM (United States)

    1997-11-01

    This tutorial introduces attendees to the Inspection Process and teaches them how to organize and participate in a software inspection. The tutorial advocates the benefits of inspections and encourages attendees to socialize the inspection process in their organizations.

  11. Track inspection planning and risk measurement analysis.

    Science.gov (United States)

    2014-11-01

    This project models track inspection operations on a railroad network and discusses how the inspection results can : be used to measure the risk of failure on the tracks. In particular, the inspection times of the tracks, inspection frequency of the ...

  12. A robotic end effector for inspection of storage tanks

    Energy Technology Data Exchange (ETDEWEB)

    Hughes, G.; Gittleman, M. [Oceaneering Space Systems, Houston, TX (United States)

    1995-10-01

    The structural integrity of waste storage tanks is of primary importance to the DOE, and is one aspect of the High-Level Waste Tank Remediation focus area. Cracks and/or corrosion damage in the inner tank walls can lead to the release of dangerous substances into the environment. The detection and sizing of corrosion and cracking in steel tank walls through remote non destructive evaluation (NDE) is the primary focus of this work.

  13. Novel Robotic Tools for Piping Inspection and Repair, Phase 1

    Science.gov (United States)

    2014-02-13

    mock piping test track was erected consisting of segments of schedule 40 PVC piping (Figure 3). Figure 3- 3 in. Mock piping Grippers were...Lip seal reinforcement Alternate gripper bag material research During the robot’s lifecycle test the gripper bags were determined to be too

  14. Novel Robotic Tools for Piping Inspection and Repair

    Science.gov (United States)

    2015-01-14

    the SoM and allows for the driving of longer buses with high capacitance . 4. 5V DC-DC converter a. 5V used for SoM power and I2C bus power. 5...rectifier a. Used for polarity protection. 4. Lump capacitance a. 44uF of local energy storage for transient events. Contract N00014-14-C-0072...PCB The camera interface PCB is used for interface to the camera and for generation of the required voltages for the I2C bus, accelerometer and LED

  15. AIRobots: Innovative aerial service robots for remote inspection by contact

    NARCIS (Netherlands)

    Huerzeler, Christoph; Naldi, Roberto; Lippiello, Vincenzo; Carloni, Raffaella; Nikolic, Janosch; Alexis, Kostas; Marconi, Lorenzo; Siegwart, Ronald

    2013-01-01

    This video presents experiments conducted within the final review meeting demonstration session of the AIRobots project. AIRobots started at 2010 and the final review meeting took place on 22 of March, 2013. The presented experiments cover a wide area of the challenges related with aerial industrial

  16. AIRobots : Innovative aerial service robots for remote inspection by contact

    NARCIS (Netherlands)

    Huerzeler, Christoph; Naldi, Roberto; Lippiello, Vincenzo; Carloni, Raffaella; Nikolic, Janosch; Alexis, Kostas; Marconi, Lorenzo; Siegwart, Roland

    2013-01-01

    This video presents experiments conducted within the final review meeting demonstration session of the AIRobots project. AIRobots started at 2010 and the final review meeting took place on 22 of March, 2013. The presented experiments cover a wide area of the challenges related with aerial industrial

  17. Traversability analysis for a mine safety inspection robot

    CSIR Research Space (South Africa)

    Senekal, F

    2013-09-01

    Full Text Available A new fast algorithm for traversability analysis of an arbitrary three-dimensional point cloud is presented. The algorithm segments a three-dimensional point cloud into vertical sections; each of which is clustered into bins and further analysed...

  18. Inspection tester for explosives

    Science.gov (United States)

    Haas, Jeffrey S.; Simpson, Randall L.; Satcher, Joe H.

    2007-11-13

    An inspection tester that can be used anywhere as a primary screening tool by non-technical personnel to determine whether a surface contains explosives. It includes a body with a sample pad. First and second explosives detecting reagent holders and dispensers are operatively connected to the body and the sample pad. The first and second explosives detecting reagent holders and dispensers are positioned to deliver the explosives detecting reagents to the sample pad. A is heater operatively connected to the sample pad.

  19. Simplified Approach to Inspection Planning

    DEFF Research Database (Denmark)

    Bloch, Allan; Sørensen, John Dalsgaard; Faber, Michael Havbro

    2000-01-01

    structural details and thereby develop pre-made inspection plans in tables which depend on relative cost of inspections, repairs and failures. Due to the simplicity of the format of the developed inspection plans the proposed approach has a high potential in code making for the design and maintenance......A simplified and practically applicable approach for risk based inspection planning of fatigue sensitive structural details is presented. The basic idea behind the approach is that the fatigue sensitive details are categorized according to their stress intensity factors and their design fatigue...... of steel structures. The validity of the proposed approach is illustrated through a study regarding inspection planning of offshore structures....

  20. Terahertz Radome Inspection

    Directory of Open Access Journals (Sweden)

    Fabian Friederich

    2018-01-01

    Full Text Available Radomes protecting sensitive radar, navigational, and communications equipment of, e.g., aircraft, are strongly exposed to the environment and have to withstand harsh weather conditions and potential impacts. Besides their significance to the structural integrity of the radomes, it is often crucial to optimize the composite structures for best possible radio performance. Hence, there exists a significant interest in non-destructive testing techniques, which can be used for defect inspection of radomes in field use as well as for quality inspection during the manufacturing process. Contactless millimeter-wave and terahertz imaging techniques provide millimeter resolution and have the potential to address both application scenarios. We report on our development of a three-dimensional (3D terahertz imaging system for radome inspection during industrial manufacturing processes. The system was designed for operation within a machining center for radome manufacturing. It simultaneously gathers terahertz depth information in adjacent frequency ranges, from 70 to 110 GHz and from 110 to 170 GHz by combining two frequency modulated continuous-wave terahertz sensing units into a single measurement device. Results from spiraliform image acquisition of a radome test sample demonstrate the successful integration of the measurement system.

  1. 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.

  2. Humanoid Robot

    Science.gov (United States)

    Linn, Douglas M. (Inventor); Ambrose, Robert O. (Inventor); Diftler, Myron A. (Inventor); Askew, Scott R. (Inventor); Platt, Robert (Inventor); Mehling, Joshua S. (Inventor); Radford, Nicolaus A. (Inventor); Strawser, Phillip A. (Inventor); Bridgwater, Lyndon (Inventor); Wampler, II, Charles W. (Inventor); hide

    2013-01-01

    A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.

  3. Rough terrain motion planning for actively reconfigurable mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Brunner, Michael

    2015-02-05

    In the aftermath of the Tohoku earthquake and the nuclear meltdown at the power plant of Fukushima Daiichi in 2011, reconfigurable robots like the iRobot Packbot were deployed. Instead of humans, the robots were used to investigate contaminated areas. Other incidents are the two major earthquakes in Northern Italy in May 2012. Besides many casualties, a large number of historical buildings was severely damaged. Due to the imminent danger of collapse, it was too dangerous for rescue personnel to enter many of the buildings. Therefore, the sites were inspected by reconfigurable robots, which are able to traverse the rubble and debris of the partially destroyed buildings. This thesis develops a navigation system enabling wheeled and tracked robots to safely traverse rough terrain and challenging structures. It consists of a planning mechanism and a controller. The focus of this thesis, however, is on the contribution to motion planning. The planning scheme employs a hierarchical approach to motion planning for actively reconfigurable robots in rough environments. Using a map of the environment the algorithm estimates the traversability under the consideration of uncertainties. Based on this analysis, an initial path search determines an approximate solution with respect to the robot's operating limits.Subsequently, a detailed planning step refines the initial path where it is required. The refinement step considers the robot's actuators and stability in addition to the quantities of the first search. Determining the robot-terrain interaction is very important in rough terrain. This thesis presents two path refinement approaches: a deterministic and a randomized approach. The experimental evaluation investigates the separate components of the planning scheme, the robot-terrain interaction for instance.In simulation as well as in real world experiments the evaluation demonstrates the necessity of such a planning algorithm in rough terrain and it provides

  4. Biologically inspired robotic inspectors: the engineering reality and future outlook (Keynote address)

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2005-04-01

    Human errors have long been recognized as a major factor in the reliability of nondestructive evaluation results. To minimize such errors, there is an increasing reliance on automatic inspection tools that allow faster and consistent tests. Crawlers and various manipulation devices are commonly used to perform variety of inspection procedures that include C-scan with contour following capability to rapidly inspect complex structures. The emergence of robots has been the result of the need to deal with parts that are too complex to handle by a simple automatic system. Economical factors are continuing to hamper the wide use of robotics for inspection applications however technology advances are increasingly changing this paradigm. Autonomous robots, which may look like human, can potentially address the need to inspect structures with configuration that are not predetermined. The operation of such robots that mimic biology may take place at harsh or hazardous environments that are too dangerous for human presence. Biomimetic technologies such as artificial intelligence, artificial muscles, artificial vision and numerous others are increasingly becoming common engineering tools. Inspired by science fiction, making biomimetic robots is increasingly becoming an engineering reality and in this paper the state-of-the-art will be reviewed and the outlook for the future will be discussed.

  5. Using a Standardized Video-Based Assessment in a University Teacher Education Program to Examine Preservice Teachers Knowledge Related to Effective Teaching

    Science.gov (United States)

    Wiens, Peter D.; Hessberg, Kevin; LoCasale-Crouch, Jennifer; DeCoster, Jamie

    2013-01-01

    The Video Assessment of Interactions and Learning (VAIL), a video-based assessment of teacher understanding of effective teaching strategies and behaviors, was administered to preservice teachers. Descriptive and regression analyzes were conducted to examine trends among participants and identify predictors at the individual level and program…

  6. Learners' Use of Communication Strategies in Text-Based and Video-Based Synchronous Computer-Mediated Communication Environments: Opportunities for Language Learning

    Science.gov (United States)

    Hung, Yu-Wan; Higgins, Steve

    2016-01-01

    This study investigates the different learning opportunities enabled by text-based and video-based synchronous computer-mediated communication (SCMC) from an interactionist perspective. Six Chinese-speaking learners of English and six English-speaking learners of Chinese were paired up as tandem (reciprocal) learning dyads. Each dyad participated…

  7. Construct-driven development of a video-based situational judgment test for integrity : A study in a multi-ethnic police setting

    NARCIS (Netherlands)

    L.A.L. de Meijer (Lonneke); M.Ph. Born (Marise); J. van Zielst (Jaap); H.T. van der Molen (Henk)

    2010-01-01

    textabstractIn a field study conducted in a multi-ethnic selection setting at the Dutch police, we examined the construct validity of a video-based situational judgment test (SJT) aimed to measure the construct of integrity. Integrity is of central importance to productive work performance of police

  8. Comparing Learning Outcomes of Video-Based E-Learning with Face-to-Face Lectures of Agricultural Engineering Courses in Korean Agricultural High Schools

    Science.gov (United States)

    Park, Sung Youl; Kim, Soo-Wook; Cha, Seung-Bong; Nam, Min-Woo

    2014-01-01

    This study investigated the effectiveness of e-learning by comparing the learning outcomes in conventional face-to-face lectures and e-learning methods. Two video-based e-learning contents were developed based on the rapid prototyping model and loaded onto the learning management system (LMS), which was available at http://www.greenehrd.com.…

  9. The Effect of Motion Analysis Activities in a Video-Based Laboratory in Students' Understanding of Position, Velocity and Frames of Reference

    Science.gov (United States)

    Koleza, Eugenia; Pappas, John

    2008-01-01

    In this article, we present the results of a qualitative research project on the effect of motion analysis activities in a Video-Based Laboratory (VBL) on students' understanding of position, velocity and frames of reference. The participants in our research were 48 pre-service teachers enrolled in Education Departments with no previous strong…

  10. Effects of Video-Based Cooperative, Competitive and Individualized Instructional Strategies on the Performance of Senior Secondary Schools Students in Geometry

    Science.gov (United States)

    Gambari, Amosa Isiaka; Shittu, Ahmed Tajudeen; Daramola, Florence Olutunu; James, Moses

    2016-01-01

    This study examined the effects of video-based cooperative, competitive and individualized instructional strategies on the performance of senior secondary schools' students in geometry in Nigeria. It also examined the influence of gender on students' achievement. Pretest, posttest, experimental control group design was adopted for this study.…

  11. Pregnancy Prevention at Her Fingertips: A Text- and Mobile Video-Based Pilot Intervention to Promote Contraceptive Methods among College Women

    Science.gov (United States)

    Walsh-Buhi, Eric R.; Helmy, Hannah; Harsch, Kristin; Rella, Natalie; Godcharles, Cheryl; Ogunrunde, Adejoke; Lopez Castillo, Humberto

    2016-01-01

    Objective: This paper reports on a pilot study evaluating the feasibility and acceptability of a text- and mobile video-based intervention to educate women and men attending college about non-daily contraception, with a particular focus on long-acting reversible contraception (LARC). A secondary objective is to describe the process of intervention…

  12. The Use of Eye Tracking in Research on Video-Based Second Language (L2) Listening Assessment: A Comparison of Context Videos and Content Videos

    Science.gov (United States)

    Suvorov, Ruslan

    2015-01-01

    Investigating how visuals affect test takers' performance on video-based L2 listening tests has been the focus of many recent studies. While most existing research has been based on test scores and self-reported verbal data, few studies have examined test takers' viewing behavior (Ockey, 2007; Wagner, 2007, 2010a). To address this gap, in the…

  13. Major upgrade of the articulated inspection arm control system to fulfill daily operation requirements

    Energy Technology Data Exchange (ETDEWEB)

    Pastor, P., E-mail: patrick.pastor@cea.fr [CEA, IRFM, Institut de Recherche sur la Fusion par confinement Magnétique (France); Villedieu, E.; Allegretti, L.; Vincent, B.; Barbuti, A.; Bruno, V.; Coquillat, P.; Dechelle, C.; Gargiulo, L.; Le, R.; Malard, P.; Martinez, A.; Nouailletas, R. [CEA, IRFM, Institut de Recherche sur la Fusion par confinement Magnétique (France); Yuntao, Song; Yong, Cheng; Chen, Liu; Hansheng, Feng; Shanshuang, Shi [ASIPP, Institute of Plasma Physics, Chinese Academy of Sciences, Hefei, Anhui (China)

    2015-10-15

    Highlights: • We propose an overview of the work which has been done to upgrade the control system of the AIA robot (articulated inspection arm) to fulfill daily operation requirements for tokamak inspection. • The control system is based on the use of new position sensors, new electronics design and new supervisor software. • Final tests are ongoing in the EAST scale 1 tokamak mock-up. Routine operation of the robot at EAST will start in the beginning of 2015. - Abstract: An articulated inspection arm (AIA) has been developed by CEA for visual inspection between pulses inside the Tore Supra tokamak vacuum vessel without breaking temperature and vacuum conditions. The eight meters length robot is composed of a shuttle and six articulated segments with a video camera at its end. A demonstration prototype has been achieved in 2008 at Tore Supra (Gargiulo, 2007; Houry, 2008; Perrot, 2003). A project to upgrade the AIA into a fully operational robot has been undertaken by IRFM and ASIPP in an Associated Laboratory. It will be in operation first in the EAST machine and afterwards in Tore Supra in its WEST (W/Tungsten Environment in Steady-state Tokamak) configuration where it is of paramount importance to survey possible degradation of W component surface. The control system of the robot has been extensively upgraded. The effort has been focused on three areas: (1) improvement of the arm position accuracy, (2) increase of the operational robustness, (3) use of a powerful graphical user interface including simulation of trajectories and robot deployment capabilities in a 3D viewer environment. The aim of this paper is to detail the architecture of the AIA control system.

  14. Robotics for Human Exploration

    Science.gov (United States)

    Fong, Terrence; Deans, Mathew; Bualat, Maria

    2013-01-01

    Robots can do a variety of work to increase the productivity of human explorers. Robots can perform tasks that are tedious, highly repetitive or long-duration. Robots can perform precursor tasks, such as reconnaissance, which help prepare for future human activity. Robots can work in support of astronauts, assisting or performing tasks in parallel. Robots can also perform "follow-up" work, completing tasks designated or started by humans. In this paper, we summarize the development and testing of robots designed to improve future human exploration of space.

  15. Multigait soft robot.

    Science.gov (United States)

    Shepherd, Robert F; Ilievski, Filip; Choi, Wonjae; Morin, Stephen A; Stokes, Adam A; Mazzeo, Aaron D; Chen, Xin; Wang, Michael; Whitesides, George M

    2011-12-20

    This manuscript describes a unique class of locomotive robot: A soft robot, composed exclusively of soft materials (elastomeric polymers), which is inspired by animals (e.g., squid, starfish, worms) that do not have hard internal skeletons. Soft lithography was used to fabricate a pneumatically actuated robot capable of sophisticated locomotion (e.g., fluid movement of limbs and multiple gaits). This robot is quadrupedal; it uses no sensors, only five actuators, and a simple pneumatic valving system that operates at low pressures (robot to navigate a difficult obstacle. This demonstration illustrates an advantage of soft robotics: They are systems in which simple types of actuation produce complex motion.

  16. Soft robotics: a bioinspired evolution in robotics.

    Science.gov (United States)

    Kim, Sangbae; Laschi, Cecilia; Trimmer, Barry

    2013-05-01

    Animals exploit soft structures to move effectively in complex natural environments. These capabilities have inspired robotic engineers to incorporate soft technologies into their designs. The goal is to endow robots with new, bioinspired capabilities that permit adaptive, flexible interactions with unpredictable environments. Here, we review emerging soft-bodied robotic systems, and in particular recent developments inspired by soft-bodied animals. Incorporating soft technologies can potentially reduce the mechanical and algorithmic complexity involved in robot design. Incorporating soft technologies will also expedite the evolution of robots that can safely interact with humans and natural environments. Finally, soft robotics technology can be combined with tissue engineering to create hybrid systems for medical applications. Copyright © 2013 Elsevier Ltd. All rights reserved.

  17. 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

  18. Developmental Robotics: From Babies to Robots

    OpenAIRE

    Cangelosi, A.; Schlesinger, M.

    2015-01-01

    Developmental robotics is a collaborative and interdisciplinary approach to robotics that is directly inspired by the developmental principles and mechanisms observed in children’s cognitive development. It builds on the idea that the robot, using a set of intrinsic developmental principles regulating the real-time interaction of its body, brain, and environment, can autonomously acquire an increasingly complex set of sensorimotor and mental capabilities. This volume, drawing on insights from...

  19. Identification of Dynamic Parameters for Robots with Elastic Joints

    Directory of Open Access Journals (Sweden)

    Loredana Zollo

    2015-02-01

    Full Text Available This paper presents a novel method for identifying dynamic parameters of robot manipulators with elastic joints. A procedure based on the Lagrangianm formulation of the dynamic model is proposed. Each term is inspected to search for a linear relationship with the dynamic parameters, thus enabling the linearization of robot dynamic model. Hence, the torque vector is expressed as the product of a regressor matrix, suitably defined by the vector of dynamic parameters. A parametric identification based on a least-squares technique is applied to determine dynamic parameters of robots with elastic joints. The correctness of the proposed procedure has been tested in simulation on two robotic structures with elastic joints of different complexity, that is, a 2-degree-of-freedom (dof and a 6-dof manipulator, controlled with a PD control in the joint space.

  20. The Comparative Instructional Effectiveness of Print-Based and Video-Based Instructional Materials for Teaching Practical Skills at a Distance

    Directory of Open Access Journals (Sweden)

    Francis Donkor

    2010-03-01

    Full Text Available Print-based instructional materials have been more popular than any other medium for teaching practical skills during the delivery of technical and vocational education and training via distance learning. However, the approach has its shortcomings and in recent times alternatives have been sought. The comparative instructional effectiveness of one such alternative is the focus of this paper. The study sought to examine the instructional effectiveness of video-based instructional materials vis-à-vis traditional print-based instructional materials for teaching distance learners of a Block-Laying and Concreting practical skills programme. An experimental design was used and participants were randomly assigned to two treatment groups: Users of video-based instructional materials or users of print-based instructional materials. A researcher-designed performance test and an achievement test of 20 multiple-choice items were used to collect data from 34 participants who used print-based instructional materials and 35 participants who used video-based instructional materials to learn practical skills. The instruments were based on the instructional objectives of lessons on mortar and wall finish. Pilot test data for the achievement test yielded Cronbach’s alpha of 0.84. Descriptive statistics and t-test at a 0.05 level of significance were used to analyse the data. The results indicated that the two instructional materials were pedagogically equivalent in terms of theoretical knowledge acquired. Practical skills acquired, however, were significantly higher among users of video-based instructional materials. Finally, users of video-based instructional materials displayed significantly superior craftsmanship.

  1. Shell Inspection History and Current CMM Inspection Efforts

    Energy Technology Data Exchange (ETDEWEB)

    Montano, Joshua Daniel [Los Alamos National Lab. (LANL), Los Alamos, NM (United States)

    2017-01-26

    The following report provides a review of past and current CMM Shell Inspection efforts. Calibration of the Sheffield rotary contour gauge has expired and the primary inspector, Matthew Naranjo, has retired. Efforts within the Inspection team are transitioning from maintaining and training new inspectors on Sheffield to off-the-shelf CMM technology. Although inspection of a shell has many requirements, the scope of the data presented in this report focuses on the inner contour, outer contour, radial wall thickness and mass comparisons.

  2. Robotics_MobileRobot Navigation Project

    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...

  3. 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.

  4. Space Robotics: Robotic Rovers for Planetary Exploration

    Directory of Open Access Journals (Sweden)

    Alex Ellery

    2008-11-01

    Full Text Available In this third of three short papers, I introduce some of the basic concepts of planetary rovers with an emphasis on some specific challenging areas of research that are peculiar to planetary robotics and not usually associated with terrestrial mobile robotics. The style of these short papers is pedagogical and this paper stresses the issue of rover-terrain interaction as an important consideration. Soil-vehicle interaction originates from military vehicle research but may be regarded as part of the dynamical approach to mobile robotics. For hostile planetary surfaces, this is essential in order to design a robotic rover with sufficient tractive capability to traverse planetary surfaces.

  5. Comparative study of Palito inspection and MFL Inspection

    Energy Technology Data Exchange (ETDEWEB)

    Araujo, Anne A. de; Miranda, Ivan Vicente Janvrot; Silva, Jose Augusto Pereira da [Pipeway Engenharia, Rio de Janeiro, RJ (Brazil); Guimaraes, Frederico S.; Magalhaes, Joao Alfredo P. [Minds at Work, Rio de Janeiro, RJ (Brazil); Sabino, Joao Marcos [Petroleo Brasileiro S.A. (PETROBRAS/UN-RN/CE), Natal, RN (Brazil). Unidade de Negocios Rio Grande do Norte e Ceara

    2009-07-01

    A 16 inches oil pipeline was surveyed with MFL and Palito pig in 2007. The MFL inspection was performed by Pipeway Engenharia while Palito inspection was performed by PETROBRAS. A comparison between the results of these two ILI inspections has been made to validate Palito Pig and to assess main characteristics and differences between the two techniques. The purpose of this paper is to detail the methodology applied to perform the comparison and to present a comparative study of results registered in the MFL and Palito inspections by Pipeway Engenharia, PETROBRAS/CENPES and CPTI/PUC-Rio. (author)

  6. Panoramic optical annular staring inspection system for evaluating the inner surface of a pipe

    Science.gov (United States)

    Zhao, Liefeng; Feng, Huajun; Bai, Jian; Jin, Hao

    2008-01-01

    There should be flaws and defects on the inner surface during the producing period of a pipe, as well as contaminations and corrosions during the using period of it. A corresponding panoramic optical annular staring inspection system has been developed. It requires no rotating mechanism to exam the whole circumference of a cross section of the inner pipe surface at once, which results high speed inspection. There are two main subsystems in this inspection system, the panoramic optical annular staring imaging subsystem and driving robot subsystem. The Flat Cylinder Perspective (FCP) is the principle to image a panoramic annular view to a flat imagery, i.e. a cylinder of vision imaged is flat. Our imaging subsystem includes a panoramic annular lens (PAL), which is critical and used to implement the FCP, a series of image rotation lenses, a charge-coupled device (CCD) camera, and an illuminating light-emitting diode (LED) ring. The CCD camera sending the signal to a personal computer (PC) via VGA signal results a real time inspection. The driving robot subsystem is a fine designed complicated mechanism including a subassembly of stepper motor. It can drive the inspection system forward and backward continuously in the pipe along the axial direction. The experimental system reported in this paper has the following specifications: average detection resolution of 0.5 mm at the circumference direction and 1.0 mm at the axial direction of a pipe, and inspection speed of 15 mm/s.

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

    Science.gov (United States)

    Erickson, Jon D.

    1994-01-01

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

  8. Lightweight Robotic Excavation Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Lightweight robotic excavators address the need for machines that dig, collect, transport and dump lunar soil. Robust and productive small robots enable mining rich...

  9. Robot skills for manufacturing

    DEFF Research Database (Denmark)

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

    2016-01-01

    Due to a general shift in manufacturing paradigm from mass production towards mass customization, reconfigurable automation technologies, such as robots, are required. However, current industrial robot solutions are notoriously difficult to program, leading to high changeover times when new......-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...... to program the robots to perform a variety of tasks, through the use of simple task-level programming methods. We demonstrate various approaches to this, extensively tested with several people inexperienced in robotics. We validate our findings through several deployments of the complete robot system...

  10. Open middleware for robotics

    CSIR Research Space (South Africa)

    Namoshe, M

    2008-12-01

    Full Text Available Despite advances in recent years, autonomous multi-robot systems remain classed as complex systems, because control and coordination of these systems remain a challenging task. Autonomous mobile robot houses heterogeneous sets of connected modular...

  11. 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...

  12. 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....

  13. Service Robotics in Construction

    OpenAIRE

    Thomas, Bock

    2008-01-01

    Service robots in construction move from cleaning of the construction site and diagnosing of the building fa?ade as security, logistic and assistive robots into the building and apartment and will in the future share urban environment with humans.

  14. TARDEC's robotics laboratory

    Science.gov (United States)

    Gorsich, David J.; Gerhart, Grant R.; Muench, Paul L.

    2001-09-01

    The U.S. Army Tank-Automotive Research, Development, and Engineering Center (TARDEC) recently opened a 5000 square foot robotics laboratory known as the TARDEC Robotics Laboratory. The focus of the lab is on robotics research, both basic and applied, in the area of robot mobility. Mobility is the key problem for light weight robotic systems, and the TARDEC Robotics Lab will develop innovative ways to deal with the mobility issues. The lab will also test and evaluate robotic systems in all aspects of mobility and control. The lab has the highest concentration of senior researchers at TARDEC, and is committed to maintaining in- house research talent so that new combat concepts using robots can be evaluated effectively by the Army. This paper serves as an introduction to the lab, its missions, goals, capabilities and programs.

  15. 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...

  16. Approach and Evaluation of a Mobile Video-Based and Location-Based Augmented Reality Platform for Information Brokerage

    Science.gov (United States)

    Dastageeri, H.; Storz, M.; Koukofikis, A.; Knauth, S.; Coors, V.

    2016-09-01

    Providing mobile location-based information for pedestrians faces many challenges. On one hand the accuracy of localisation indoors and outdoors is restricted due to technical limitations of GPS and Beacons. Then again only a small display is available to display information as well as to develop a user interface. Plus, the software solution has to consider the hardware characteristics of mobile devices during the implementation process for aiming a performance with minimum latency. This paper describes our approach by including a combination of image tracking and GPS or Beacons to ensure orientation and precision of localisation. To communicate the information on Points of Interest (POIs), we decided to choose Augmented Reality (AR). For this concept of operations, we used besides the display also the acceleration and positions sensors as a user interface. This paper especially goes into detail on the optimization of the image tracking algorithms, the development of the video-based AR player for the Android platform and the evaluation of videos as an AR element in consideration of providing a good user experience. For setting up content for the POIs or even generate a tour we used and extended the Open Geospatial Consortium (OGC) standard Augmented Reality Markup Language (ARML).

  17. The use of video-based patient education for shared decision-making in the treatment of prostate cancer.

    Science.gov (United States)

    Gomella, L G; Albertsen, P C; Benson, M C; Forman, J D; Soloway, M S

    2000-08-01

    Increased consumerism, patient empowerment, and autonomy are creating a health care revolution. In recent years, the public has become better informed and more sophisticated. An extraordinary amount of treatment advice from books, the media, and the Internet is available to patients today, although much of it is confusing or conflicting. Consequently, the traditional, paternalistic doctor-patient relationship is yielding to a more consumerist one. The new dynamic is based on a participatory ethic and a change in the balance of power. This shared decision-making creates a true partnership between professionals and patients, in which each contributes equally to decisions about treatment or care. Evidence suggests that in diseases such as prostate cancer, where there may be a number of appropriate treatment options for a particular patient, shared decision-making may lead to improved clinical and quality-of-life outcomes. This article explores the evolving relationship between the physician and patient, the pros and cons of shared decision-making, and the use of video technology in the clinical setting. The authors review the use of medical decision aids, including a video-based educational program called CHOICES, in the treatment of prostate cancer and other diseases.

  18. Preparing the foundations for video-based practice-placement support: establishing the role from a students’ perspective

    Directory of Open Access Journals (Sweden)

    Teri Taylor

    2012-08-01

    Full Text Available Currently, many placement-based health programme students within the UK are supported through face-to-face visits from university staff. Whilst cited in literature as being of value, the face-to-face nature of this contact is not supported. Alternatives including video-based communications methods offer the potential for cost effective, environmentally responsible support. However, in order to establish the fitness for purpose of alternative approaches, the content and purpose of current support needs to be understood. This project aimed to investigate student perceptions of the ideal content and purpose of clinical support visits, and alternatives to the current face-to-face approach. Fifty-six Physiotherapy undergraduate students responded to questionnaires with a further nine participating in a follow-up focus group. Participants emphasised the value of the visit in guiding learning, ensuring progression and resolving arising issues, and highlighted concerns over alternative approaches. Focus group participants discussed the importance of personal and professional confidence in directing requirements for support, and went on to propose a menu of options for methods of communication. Whilst limited in some applications, video technologies may be one of the options. Overall, however, this project supports the need for consideration of individualised learning journeys within curriculum planning.

  19. An Energy-Efficient and High-Quality Video Transmission Architecture in Wireless Video-Based Sensor Networks

    Directory of Open Access Journals (Sweden)

    Yasaman Samei

    2008-08-01

    Full Text Available Technological progress in the fields of Micro Electro-Mechanical Systems (MEMS and wireless communications and also the availability of CMOS cameras, microphones and small-scale array sensors, which may ubiquitously capture multimedia content from the field, have fostered the development of low-cost limited resources Wireless Video-based Sensor Networks (WVSN. With regards to the constraints of videobased sensor nodes and wireless sensor networks, a supporting video stream is not easy to implement with the present sensor network protocols. In this paper, a thorough architecture is presented for video transmission over WVSN called Energy-efficient and high-Quality Video transmission Architecture (EQV-Architecture. This architecture influences three layers of communication protocol stack and considers wireless video sensor nodes constraints like limited process and energy resources while video quality is preserved in the receiver side. Application, transport, and network layers are the layers in which the compression protocol, transport protocol, and routing protocol are proposed respectively, also a dropping scheme is presented in network layer. Simulation results over various environments with dissimilar conditions revealed the effectiveness of the architecture in improving the lifetime of the network as well as preserving the video quality.

  20. An Energy-Efficient and High-Quality Video Transmission Architecture in Wireless Video-Based Sensor Networks.

    Science.gov (United States)

    Aghdasi, Hadi S; Abbaspour, Maghsoud; Moghadam, Mohsen Ebrahimi; Samei, Yasaman

    2008-08-04

    Technological progress in the fields of Micro Electro-Mechanical Systems (MEMS) and wireless communications and also the availability of CMOS cameras, microphones and small-scale array sensors, which may ubiquitously capture multimedia content from the field, have fostered the development of low-cost limited resources Wireless Video-based Sensor Networks (WVSN). With regards to the constraints of videobased sensor nodes and wireless sensor networks, a supporting video stream is not easy to implement with the present sensor network protocols. In this paper, a thorough architecture is presented for video transmission over WVSN called Energy-efficient and high-Quality Video transmission Architecture (EQV-Architecture). This architecture influences three layers of communication protocol stack and considers wireless video sensor nodes constraints like limited process and energy resources while video quality is preserved in the receiver side. Application, transport, and network layers are the layers in which the compression protocol, transport protocol, and routing protocol are proposed respectively, also a dropping scheme is presented in network layer. Simulation results over various environments with dissimilar conditions revealed the effectiveness of the architecture in improving the lifetime of the network as well as preserving the video quality.

  1. Effects of video-based, online education on behavioral and knowledge outcomes in sunscreen use: a randomized controlled trial.

    Science.gov (United States)

    Armstrong, April W; Idriss, Nayla Z; Kim, Randie H

    2011-05-01

    To compare online video and pamphlet education at improving patient comprehension and adherence to sunscreen use, and to assess patient satisfaction with the two educational approaches. In a randomized controlled trial, 94 participants received either online, video-based education or pamphlet-based education that described the importance and proper use of sunscreen. Sun protective knowledge and sunscreen application behaviors were assessed at baseline and 12 weeks after group-specific intervention. Participants in both groups had similar levels of baseline sunscreen knowledge. Post-study analysis revealed significantly greater improvement in the knowledge scores from video group members compared to the pamphlet group (p=0.003). More importantly, video group participants reported greater sunscreen adherence (peducation vehicle more useful and appealing than the pamphlet group (peducational tool for teaching sun protective knowledge and encouraging sunscreen use than written materials. More effective patient educational methods to encourage sun protection activities, such as regular sunscreen use, have the potential to increase awareness and foster positive, preventative health behaviors against skin cancers. Copyright © 2010 Elsevier Ireland Ltd. All rights reserved.

  2. APPROACH AND EVALUATION OF A MOBILE VIDEO-BASED AND LOCATION-BASED AUGMENTED REALITY PLATFORM FOR INFORMATION BROKERAGE

    Directory of Open Access Journals (Sweden)

    H. Dastageeri

    2016-09-01

    Full Text Available Providing mobile location-based information for pedestrians faces many challenges. On one hand the accuracy of localisation indoors and outdoors is restricted due to technical limitations of GPS and Beacons. Then again only a small display is available to display information as well as to develop a user interface. Plus, the software solution has to consider the hardware characteristics of mobile devices during the implementation process for aiming a performance with minimum latency. This paper describes our approach by including a combination of image tracking and GPS or Beacons to ensure orientation and precision of localisation. To communicate the information on Points of Interest (POIs, we decided to choose Augmented Reality (AR. For this concept of operations, we used besides the display also the acceleration and positions sensors as a user interface. This paper especially goes into detail on the optimization of the image tracking algorithms, the development of the video-based AR player for the Android platform and the evaluation of videos as an AR element in consideration of providing a good user experience. For setting up content for the POIs or even generate a tour we used and extended the Open Geospatial Consortium (OGC standard Augmented Reality Markup Language (ARML.

  3. Shape-estimation of human hand using polymer flex sensor and study of its application to control robot arm

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Jin Hyuck; Kim, Dae Hyun [Seoul National University of Technology, Seoul (Korea, Republic of)

    2015-02-15

    Ultrasonic inspection robot systems have been widely researched and developed for the real-time monitoring of structures such as power plants. However, an inspection robot that is operated in a simple pattern has limitations in its application to various structures in a plant facility because of the diverse and complicated shapes of the inspection objects. Therefore, accurate control of the robot is required to inspect complicated objects with high-precision results. This paper presents the idea that the shape and movement information of an ultrasonic inspector's hand could be profitably utilized for the accurate control of robot. In this study, a polymer flex sensor was applied to monitor the shape of a human hand. This application was designed to intuitively control an ultrasonic inspection robot. The movement and shape of the hand were estimated by applying multiple sensors. Moreover, it was successfully shown that a test robot could be intuitively controlled based on the shape of a human hand estimated using polymer flex sensors.

  4. Conception et modélisation d'un bras d'inspection robotisé ultraléger

    OpenAIRE

    Voisembert, Sébastien

    2012-01-01

    One of the major challenges in robotics is the improvement of inspections operations in confined and hazardous area using unmanned remote handling systems. Articulated arm are used in this case to carry some diagnostic tools for the inspection tasks. These long reach multi-link carriers should be characterized by a large workspace and reduced mass. Today, with about ten degrees of freedom and ten meters long they have reached their performance limit. Indeed, for long reach ,the arm should hav...

  5. Evolution of robotic arms

    OpenAIRE

    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 th...

  6. 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.

  7. Waste inspection tomography (WIT)

    Energy Technology Data Exchange (ETDEWEB)

    Bernardi, R.T. [Bio-Imaging Research, Inc., Lincolnshire, IL (United States)

    1995-10-01

    Waste Inspection Tomography (WIT) provides mobile semi-trailer mounted nondestructive examination (NDE) and assay (NDA) for nuclear waste drum characterization. WIT uses various computed tomography (CT) methods for both NDE and NDA of nuclear waste drums. Low level waste (LLW), transuranic (TRU), and mixed radioactive waste can be inspected and characterized without opening the drums. With externally transmitted x-ray NDE techniques, WIT has the ability to identify high density waste materials like heavy metals, define drum contents in two- and three-dimensional space, quantify free liquid volumes through density and x-ray attenuation coefficient discrimination, and measure drum wall thickness. With waste emitting gamma-ray NDA techniques, WIT can locate gamma emitting radioactive sources in two- and three-dimensional space, identify gamma emitting, isotopic species, identify the external activity levels of emitting gamma-ray sources, correct for waste matrix attenuation, provide internal activity approximations, and provide the data needed for waste classification as LLW or TRU.

  8. Sistem Multi-robot Denngan Nxt Mindstorms Robot Menggunakan Bluetooth

    OpenAIRE

    Adriansyah, Andi

    2013-01-01

    Teknologi dan aplikasi robot terus berkembang secara cepat. Pada dekade ini, telah terjadi pergeseran yang signifikan pada bidang fokus penyelidikan tentang robot dimana para peneliti mulai mengarahkan arah penelitiannya, dari investigasi sistem robot tunggal kepada koordinasi sistem multi-robot. Hal ini dikarenakan sistem multi-robot memiliki beberapa kentungan. Dalam konteks sistem multi-robot, komunikasi sistem multi-robot menjadi bagian yang signifikan. Penelitian ini mengimplementasikan ...

  9. 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...

  10. 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,…

  11. 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

  12. Robotic hand and fingers

    Science.gov (United States)

    Salisbury, Curt Michael; Dullea, Kevin J.

    2017-06-06

    Technologies pertaining to a robotic hand are described herein. The robotic hand includes one or more fingers releasably attached to a robotic hand frame. The fingers can abduct and adduct as well as flex and tense. The fingers are releasably attached to the frame by magnets that allow for the fingers to detach from the frame when excess force is applied to the fingers.

  13. 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.

  14. "Integrative Social Robotics"

    DEFF Research Database (Denmark)

    Seibt, Johanna

    2016-01-01

    . On the ISR approach research in social robotics turns on what social robots can and should do--design and development are from the very beginning informed by value-theoretic and cultural research. ISR thus is a form of research organization that integrates robotics with empirical, conceptual, and value...

  15. Introduction to robotics

    CERN Document Server

    Bajd, Tadej; Munih, Marko

    2013-01-01

    This book is focused on geometrical models of robot mechanisms. Rotation and orientation of an object are described by Rodrigues's formula, rotation matrix and quaternions. Pose and displacement of an object are mathematically dealt with homogenous transformation matrices. The geometrical robot model is based on Denavit Hartenberg parameters. Direct and inverse model of six degrees of freedom anthropomorphic industrial robots are also presented.

  16. Scientists Inspect Plant Grown onboard the ISS in 2002

    Science.gov (United States)

    2003-01-01

    The Advanced Astroculture (tm) unit is growing plants on its second flight on the International Space Station. Dr. Weijia Zhou (left), director of the Wisconsin Center for Space Automation and Robotics at the University of Wisconsin-Madison, inspects soybeans grown in the plant growth unit aboard ISS in 2002. Coating technology is used inside the miniature plant greenhouse to remove ethylene, a chemical produced by plant leaves that can cause plants to mature too quickly. This same coating technology is used in a new anthrax-killing device. The Space Station experiment is managed by the Space Partnership Development Program at NASA's Marshall Space Flight Center in Huntsville, Ala.

  17. Mobile robotics application in the nuclear industry

    Energy Technology Data Exchange (ETDEWEB)

    Jones, S.L.; White, J.R. [REMOTEC, Inc., Oak Ridge, TN (United States)

    1995-03-01

    Mobile robots have been developed to perform hazardous operations in place of human workers. Applications include nuclear plant inspection/maintenance, decontamination and decommissioning police/military explosive ordinance disposal (EOD), hostage/terrorist negotiations and fire fighting. Nuclear facilities have proven that robotic applications can be cost-effective solutions to reducing personnel exposure and plant downtime. The first applications of mobile robots in the nuclear industry began in the early 1980`s, with the first vehicles being one of a kind machines or adaptations of commercial EOD robots. These activities included efforts by numerous commercial companies, the U.S. Nuclear Regulatory Commission, EPRI, and several national laboratories. Some of these efforts were driven by the recovery and cleanup activities at TMI which demonstrated the potential and need for a remote means of performing surveillance and maintenance tasks in nuclear plants. The use of these machines is now becoming commonplace in nuclear facilities throughout the world. The hardware maturity and the confidence of the users has progressed to the point where the applications of mobile robots is not longer considered a novelty. These machines are being used in applications where the result is to help achieve more aggressive goals for personnel radiation exposure and plant availability, perform tasks more efficiently, and allow plant operators to retrieve information from areas previously considered inaccessible. Typical examples include surveillance in high radiation areas (during operation and outage activities), radiation surveys, waste handling, and decontamination evolutions. This paper will discuss this evolution including specific applications experiences, examples of currently available technology, and the benefits derived from the use of mobile robotic vehicles in commercial nuclear power facilities.

  18. Kinematic and Dynamic Analysis of a Cable-Climbing Robot

    Directory of Open Access Journals (Sweden)

    Xu Fengyu

    2015-07-01

    Full Text Available To inspect broken cables or a cracked protective layer on cable-stayed bridges, a cable-climbing robot has been proposed and designed. In this paper, the complex 3D obstacles that may be encountered on cables are theoretically described, in order to investigate the obstacle-climbing capability of the cable-climbing robot. A climbing model is then proposed and used to design the robot. In the climbing model, two driven wheels are independently supported with a spring. Kinematics and dynamics models are further derived for the obstacle-climbing capabilities of the driving and driven wheels of the robot. In addition, the robot's obstacle-climbing tracks and its obstacle-climbing performance are simulated. Payload and obstacle-climbing experiments were conducted on the climbing robot in the laboratory. Based on the results of the simulation and the experiments, we obtained the variation of the driving torque in obstacle climbing. The contribution of this paper is intended to provide a basis for the precise motion control of the robot.

  19. Flexible robotic retrograde renoscopy: description of novel robotic device and preliminary laboratory experience.

    Science.gov (United States)

    Desai, Mihir M; Aron, Monish; Gill, Inderbir S; Pascal-Haber, Georges; Ukimura, Osamu; Kaouk, Jihad H; Stahler, Gregory; Barbagli, Federico; Carlson, Christopher; Moll, Fredric

    2008-07-01

    To describe a novel flexible robotic system for performing retrograde intrarenal surgery. Remote robotic flexible ureterorenoscopy was performed bilaterally in 5 acute swine (10 kidneys). A novel 14F robotic catheter system, which manipulated a passive optical fiberscope mounted on a remote catheter manipulator was used. The technical feasibility, efficiency, and reproducibility of accessing all calices were assessed. Additionally, laser lithotripsy of calculi and laser ablation of renal papillae were performed. The robotic catheter system could be introduced de novo in eight ureters; two ureters required balloon dilation. The ureteroscope could be successfully manipulated remotely into 83 (98%) of the 85 calices. The time required to inspect all calices within a given kidney decreased with experience from 15 minutes in the first kidney to 49 seconds in the last (mean 4.6 minutes). On a visual analog scale (1, worst to 10, best), the reproducibility of caliceal access was rated at 8, and instrument tip stability was rated at 10. A renal pelvic perforation constituted the solitary complication. Histologic examination of the ureter showed changes consistent with acute dilation without areas of necrosis. A novel robotic catheter system is described for performing retrograde ureterorenoscopy. The potential advantages compared with conventional manual flexible ureterorenoscopy include an increased range of motion, instrument stability, and improved ergonomics. Ongoing refinement is likely to expand the role of this technology in retrograde intrarenal surgery in the near future.

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1995-07-01

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

  1. Robotics-Instrumentation and Control in Robotics

    Indian Academy of Sciences (India)

    Home; Journals; Resonance – Journal of Science Education; Volume 5; Issue 3. Robotics - Instrumentation and Control in Robotics. J R Vengateswaran. General Article Volume 5 Issue 3 March 2000 pp 66-76. Fulltext. Click here to view fulltext PDF. Permanent link: http://www.ias.ac.in/article/fulltext/reso/005/03/0066-0076 ...

  2. 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.

  3. Robotic technology in urology

    Science.gov (United States)

    Murphy, D; Challacombe, B; Khan, M S; Dasgupta, P

    2006-01-01

    Urology has increasingly become a technology‐driven specialty. The advent of robotic surgical systems in the past 10 years has led to urologists becoming the world leaders in the use of such technology. In this paper, we review the history and current status of robotic technology in urology. From the earliest uses of robots for transurethral resection of the prostate, to robotic devices for manipulating laparoscopes and to the current crop of master–slave devices for robotic‐assisted laparoscopic surgery, the evolution of robotics in the urology operating theatre is presented. Future possibilities, including the prospects for nanotechnology in urology, are awaited. PMID:17099094

  4. [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.

  5. 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.

  6. 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.

  7. Robots and Art

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

    2015-01-01

    We describe the design of an undergraduate course in art and robotics that aims to integrate basic concepts of computer science, robotics and art installation for undergraduate students within the problem-based learning model. Our methodology aims to bridge the gap that separates humanities from...... computer science and engineering education to prepare students to address real world problems in robotics, including human-robotic interaction and HCI. Given the proliferation of interactive, systems-based art works and the continued interest in human-centered factors in robotics research (such...

  8. Advanced communications, tracking, robotic vision technology for space applications

    Science.gov (United States)

    Krishen, Kumar

    1987-01-01

    Recent advancements in the areas of tracking, communications, and robotics vision sensors being pursued within NASA, as applicable to space programs, are presented. Optical and laser-based communications and tracking systems and applications to space programs are discussed. Communication systems for multiple access, broadband, high data rate, and efficient operations are given. Current efforts at 20/30 GHz and millimeter wave bands are summarized. The use of optical data processing in control system applications for rendezvous and docking is presented. Robotics vision, based on television, laser, and microwave sensors for space applications, is discussed. The fusion of these technologies for remote control, station keeping, tracking, inspection, and satellite repair is detailed.

  9. 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...

  10. 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 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...... to the behavior of the interacting person. This paper presents a simple ball game between a single player and a mobile robot platform. The algorithm has been validated using simulation and real world experiments....

  11. Space robotics in Japan

    Science.gov (United States)

    Whittaker, William; Lowrie, James W.; Mccain, Harry; Bejczy, Antal; Sheridan, Tom; Kanade, Takeo; Allen, Peter

    1994-01-01

    Japan has been one of the most successful countries in the world in the realm of terrestrial robot applications. The panel found that Japan has in place a broad base of robotics research and development, ranging from components to working systems for manufacturing, construction, and human service industries. From this base, Japan looks to the use of robotics in space applications and has funded work in space robotics since the mid-1980's. The Japanese are focusing on a clear image of what they hope to achieve through three objectives for the 1990's: developing long-reach manipulation for tending experiments on Space Station Freedom, capturing satellites using a free-flying manipulator, and surveying part of the moon with a mobile robot. This focus and a sound robotics infrastructure is enabling the young Japanese space program to develop relevant systems for extraterrestrial robotics applications.

  12. Cloud Robotics Model

    Directory of Open Access Journals (Sweden)

    Gyula Mester

    2015-01-01

    Full Text Available 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 active research projects around the world. The presentation summarizes the main idea, the definition, the cloud model composed of essential characteristics, service models and deployment models, planning task execution and beyond. Finally some cloud robotics projects are discussed.

  13. Validity and applicability of a video-based animated tool to assess mobility in elderly Latin American populations.

    Science.gov (United States)

    Guerra, Ricardo Oliveira; Oliveira, Bruna Silva; Alvarado, Beatriz Eugenia; Curcio, Carmen Lucia; Rejeski, W Jack; Marsh, Anthony P; Ip, Edward H; Barnard, Ryan T; Guralnik, Jack M; Zunzunegui, Maria Victoria

    2014-10-01

    To assess the reliability and the validity of Portuguese- and Spanish-translated versions of the video-based short-form Mobility Assessment Tool in assessing self-reported mobility, and to provide evidence for the applicability of these videos in elderly Latin American populations as a complement to physical performance measures. The sample consisted of 300 elderly participants (150 from Brazil, 150 from Colombia) recruited at neighborhood social centers. Mobility was assessed with the Mobility Assessment Tool, and compared with the Short Physical Performance Battery score and self-reported functional limitations. Reliability was calculated using intraclass correlation coefficients. Multiple linear regression analyses were used to assess associations among mobility assessment tools and health, and sociodemographic variables. A significant gradient of increasing Mobility Assessment Tool score with better physical function was observed for both self-reported and objective measures, and in each city. Associations between self-reported mobility and health were strong, and significant. Mobility Assessment Tool scores were lower in women at both sites. Intraclass correlation coefficients of the Mobility Assessment Tool were 0.94 (95% confidence interval 0.90-0.97) in Brazil and 0.81 (95% confidence interval 0.66-0.91) in Colombia. Mobility Assessment Tool scores were lower in Manizales than in Natal after adjustment by Short Physical Performance Battery, self-rated health and sex. These results provide evidence for high reliability and good validity of the Mobility Assessment Tool in its Spanish and Portuguese versions used in Latin American populations. In addition, the Mobility Assessment Tool can detect mobility differences related to environmental features that cannot be captured by objective performance measures. © 2013 Japan Geriatrics Society.

  14. Face Puzzle – Two new video-based tasks for measuring explicit and implicit aspects of facial emotion recognition

    Directory of Open Access Journals (Sweden)

    Dorit eKliemann

    2013-06-01

    Full Text Available Recognizing others’ emotional states is crucial for effective social interaction. While most facial emotion recognition tasks use explicit prompts that trigger consciously controlled processing, emotional faces are almost exclusively processed implicitly in real life. Recent attempts in social cognition suggest a dual process perspective, whereby explicit and implicit processes largely operate independently. However, due to differences in methodology the direct comparison of implicit and explicit social cognition has remained a challenge.Here, we introduce a new tool to comparably measure implicit and explicit processing aspects comprising basic and complex emotions in facial expressions. We developed two video-based tasks with similar answer formats to assess performance in respective facial emotion recognition processes: Face Puzzle, implicit and explicit. To assess the tasks’ sensitivity to atypical social cognition and to infer interrelationship patterns between explicit and implicit processes in typical and atypical development, we included healthy adults (NT, n= 24 and adults with autism spectrum disorder (ASD, n = 24.Item analyses yielded good reliability of the new tasks. Group-specific results indicated sensitivity to subtle social impairments in high-functioning ASD. Correlation analyses with established implicit and explicit socio-cognitive measures were further in favor of the tasks’ external validity. Between group comparisons provide first hints of differential relations between implicit and explicit aspects of facial emotion recognition processes in healthy compared to ASD participants. In addition, an increased magnitude of between group differences in the implicit task was found for a speed-accuracy composite measure. The new Face Puzzle tool thus provides two new tasks to separately assess explicit and implicit social functioning, for instance, to measure subtle impairments as well as potential improvements due to social

  15. Development of a video-based education and process change intervention to improve advance cardiopulmonary resuscitation decision-making.

    Science.gov (United States)

    Waldron, Nicholas; Johnson, Claire E; Saul, Peter; Waldron, Heidi; Chong, Jeffrey C; Hill, Anne-Marie; Hayes, Barbara

    2016-10-06

    Advance cardiopulmonary resuscitation (CPR) decision-making and escalation of care discussions are variable in routine clinical practice. We aimed to explore physician barriers to advance CPR decision-making in an inpatient hospital setting and develop a pragmatic intervention to support clinicians to undertake and document routine advance care planning discussions. Two focus groups, which involved eight consultants and ten junior doctors, were conducted following a review of the current literature. A subsequent iterative consensus process developed two intervention elements: (i) an updated 'Goals of Patient Care' (GOPC) form and process; (ii) an education video and resources for teaching advance CPR decision-making and communication. A multidisciplinary group of health professionals and policy-makers with experience in systems development, education and research provided critical feedback. Three key themes emerged from the focus groups and the literature, which identified a structure for the intervention: (i) knowing what to say; (ii) knowing how to say it; (iii) wanting to say it. The themes informed the development of a video to provide education about advance CPR decision-making framework, improving communication and contextualising relevant clinical issues. Critical feedback assisted in refining the video and further guided development and evolution of a medical GOPC approach to discussing and recording medical treatment and advance care plans. Through an iterative process of consultation and review, video-based education and an expanded GOPC form and approach were developed to address physician and systemic barriers to advance CPR decision-making and documentation. Implementation and evaluation across hospital settings is required to examine utility and determine effect on quality of care.

  16. Automated testing of industrial robots using HTC Vive for motion tracking

    OpenAIRE

    Sletten, Kristian

    2017-01-01

    Master's thesis in Cybernetics and signal processing Producers of industrial robots are continuously maintaining and upgrading their software that is running on their robot controllers, to improve and expand the functionalities. Extensive testing is performed to verify that all new and existing features are working as intended before this software can be released. These tests are time consuming and requires an operator to perform, observe, and inspect the results. A failure dur...

  17. Automated testing of industrial robots using HTC Vive for motion tracking

    OpenAIRE

    Sletten, Kristian

    2017-01-01

    Producers of industrial robots are continuously maintaining and upgrading their software that is running on their robot controllers, to improve and expand the functionalities. Extensive testing is performed to verify that all new and existing features are working as intended before this software can be released. These tests are time consuming and requires an operator to perform, observe, and inspect the results. A failure during these tests can result in very time-consuming tro...

  18. The Comparative Instructional Effectiveness of Print-Based and Video-Based Instructional Materials for Teaching Practical Skills at a Distance

    OpenAIRE

    Francis Donkor

    2010-01-01

    Print-based instructional materials have been more popular than any other medium for teaching practical skills during the delivery of technical and vocational education and training via distance learning. However, the approach has its shortcomings and in recent times alternatives have been sought. The comparative instructional effectiveness of one such alternative is the focus of this paper. The study sought to examine the instructional effectiveness of video-based instructional materials vis...

  19. The effects of video-based and activity-based instruction on high school students' knowledge, attitudes, and behavioral intentions related to seat belt use

    Science.gov (United States)

    Jones, Tudor Griffith, III

    The purpose of this study was to determine the effect of video-based science instruction and accompanying activity-based instruction on the knowledge, attitudes, and behavioral intentions of high school students' use of seat belts. Secondarily, the purpose was to determine order effects and interactions between the two treatments used in the study: video-based instruction and hands-on activity-based instruction. The study used Ajzen and Fishbein's theory of reasoned action to investigate the factors influencing high school students' behavioral intentions regarding seat belt use. This study used a pretest-posttest-posttest treatment design. Data were collected on 194 students in high school introductory biology and chemistry classes in Gainesville, Florida. Ten intact high school science classes (eight treatment and two control) took pretests and posttests measuring physics knowledge, attitudes, and behavioral intentions toward seat belt use prior to and after participating in the two treatments. The treatment group students participated in at least 500 minutes of instructional time divided among five lessons over 10 instructional days. All participants were pretested on physics knowledge, attitudes, and behavioral intentions toward seat belt use prior to two treatments. Treatment A was defined as participating in one 50-minute video-based instructional lesson. Treatment B was defined as participating in four hands-on science activities regarding crash-related physics concepts. Cronbach's coefficient alpha was used for analysis of the researcher-designed instruments, and ANOVA was used to analyze the data. The results of the analyses (p behavioral intentions regarding seat belts use. The treatment sequence did not result in significantly greater (p behavioral intentions regarding seat belt use. The results of this study indicate that video-based instruction and activity-based instruction can positively change knowledge and behavioral intentions related to seat belt

  20. Research and development of service robot platform based on artificial psychology

    Science.gov (United States)

    Zhang, Xueyuan; Wang, Zhiliang; Wang, Fenhua; Nagai, Masatake

    2007-12-01

    Some related works about the control architecture of robot system are briefly summarized. According to the discussions above, this paper proposes control architecture of service robot based on artificial psychology. In this control architecture, the robot can obtain the cognition of environment through sensors, and then be handled with intelligent model, affective model and learning model, and finally express the reaction to the outside stimulation through its behavior. For better understanding the architecture, hierarchical structure is also discussed. The control system of robot can be divided into five layers, namely physical layer, drives layer, information-processing and behavior-programming layer, application layer and system inspection and control layer. This paper shows how to achieve system integration from hardware modules, software interface and fault diagnosis. Embedded system GENE-8310 is selected as the PC platform of robot APROS-I, and its primary memory media is CF card. The arms and body of the robot are constituted by 13 motors and some connecting fittings. Besides, the robot has a robot head with emotional facial expression, and the head has 13 DOFs. The emotional and intelligent model is one of the most important parts in human-machine interaction. In order to better simulate human emotion, an emotional interaction model for robot is proposed according to the theory of need levels of Maslom and mood information of Siminov. This architecture has already been used in our intelligent service robot.

  1. 2011 Ground Robotics Capabilities Conference and Exhibition

    Science.gov (United States)

    2011-03-24

    Indoor & Outdoor demos of cutting-edge robotics technologies” ARA Segway Charles Rivier Analytics SPAWAR Harris...RE2, Inc. ReconRobotics, Inc. Roboteam Robotic Research, LLC Robotics Technology Consortium - RTC Schafer Segway Robotics Silvus Technologies...Engineering Center Robotic Research, LLC iRobot Corporation Kairos Autonomi Applied Research Associates Stratom, Inc. Think-A-Move, Ltd. Segway Robotics

  2. Robotic endovascular surgery.

    Science.gov (United States)

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

    2014-01-01

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

  3. Visual inspection for CTBT verification

    Energy Technology Data Exchange (ETDEWEB)

    Hawkins, W.; Wohletz, K.

    1997-03-01

    On-site visual inspection will play an essential role in future Comprehensive Test Ban Treaty (CTBT) verification. Although seismic and remote sensing techniques are the best understood and most developed methods for detection of evasive testing of nuclear weapons, visual inspection can greatly augment the certainty and detail of understanding provided by these more traditional methods. Not only can visual inspection offer ``ground truth`` in cases of suspected nuclear testing, but it also can provide accurate source location and testing media properties necessary for detailed analysis of seismic records. For testing in violation of the CTBT, an offending party may attempt to conceal the test, which most likely will be achieved by underground burial. While such concealment may not prevent seismic detection, evidence of test deployment, location, and yield can be disguised. In this light, if a suspicious event is detected by seismic or other remote methods, visual inspection of the event area is necessary to document any evidence that might support a claim of nuclear testing and provide data needed to further interpret seismic records and guide further investigations. However, the methods for visual inspection are not widely known nor appreciated, and experience is presently limited. Visual inspection can be achieved by simple, non-intrusive means, primarily geological in nature, and it is the purpose of this report to describe the considerations, procedures, and equipment required to field such an inspection.

  4. 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

  5. Delta robotsrobots for high speed manipulation

    OpenAIRE

    Poppeová, Viera; Uríček, Juraj; Bulej, Vladimír; Šindler, Peter

    2011-01-01

    This paper is oriented to parallel kinematic robots definition, description of their specific application, comparison of robots made by different producers and determination of velocity and acceleration parameters, kinematic analysis – inverse and forward kinematic. It brings information about development of Delta robots at Academia, including the University of Žilina and Delta robots in the market. Two models of Delta robots called M-1iA and M-3iA have been developed by FANUC Robotics during...

  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. Space Robotics: Robotic Rovers for Planetary Exploration

    OpenAIRE

    Alex Ellery

    2004-01-01

    In this third of three short papers, I introduce some of the basic concepts of planetary rovers with an emphasis on some specific challenging areas of research that are peculiar to planetary robotics and not usually associated with terrestrial mobile robotics. The style of these short papers is pedagogical and this paper stresses the issue of rover-terrain interaction as an important consideration. Soil-vehicle interaction originates from military vehicle research but may be regarded as part ...

  8. Interactive robot Robot acting on human intentions

    OpenAIRE

    Bremnes, Trym

    2017-01-01

    As the world's population ages, demands for health services continues to increase and robotics can be part of the solutions to this problem. One particular area of medicine, ultrasound, can be helped by robotics, especially for doctors who would otherwise suffer long term health implications. The primary purpose of this study is to construct a system designed to be useful and low cost in the context of an ultrasound procedure. An equally important goal is to determine if the proposed solution...

  9. Mobile Robot Navigation

    DEFF Research Database (Denmark)

    Andersen, Jens Christian

    2007-01-01

    Abstract Robots will soon take part in everyone’s daily life. In industrial production this has been the case for many years, but up to now the use of mobile robots has been limited to a few and isolated applications like lawn mowing, surveillance, agricultural production and military applications....... The research is now progressing towards autonomous robots which will be able to assist us in our daily life. One of the enabling technologies is navigation, and navigation is the subject of this thesis. Navigation of an autonomous robot is concerned with the ability of the robot to direct itself from...... validation of the implemented solutions and the ability of the methods to solve real world problems. The amount of software needed by an autonomous robot can be overwhelming. Software reuse and distributed development are therefore important issues. The thesis describes a new component architecture...

  10. 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...... home shows how the robot operates autonomously in in a real-world scenario although the elderly use different assistive tools. The elderly express a low degree of rejection of playing with the robot and tend to treat it as a living creature, i.e. talking to it as if it was a young boy or a dog...

  11. Grasping in Robotics

    CERN Document Server

    2013-01-01

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

  12. ROBOTIC SURGERY: BIOETHICAL ASPECTS

    Science.gov (United States)

    SIQUEIRA-BATISTA, Rodrigo; SOUZA, Camila Ribeiro; MAIA, Polyana Mendes; SIQUEIRA, Sávio Lana

    2016-01-01

    ABSTRACT Introduction: The use of robots in surgery has been increasingly common today, allowing the emergence of numerous bioethical issues in this area. Objective: To present review of the ethical aspects of robot use in surgery. Method: Search in Pubmed, SciELO and Lilacs crossing the headings "bioethics", "surgery", "ethics", "laparoscopy" and "robotic". Results: Of the citations obtained, were selected 17 articles, which were used for the preparation of the article. It contains brief presentation on robotics, its inclusion in health and bioethical aspects, and the use of robots in surgery. Conclusion: Robotic surgery is a reality today in many hospitals, which makes essential bioethical reflection on the relationship between health professionals, automata and patients. PMID:28076489

  13. Tactile sensing and force control for robotic applications

    Science.gov (United States)

    Korzeniowski, Kelly A.

    1995-12-01

    The purpose of this work is to employ multiple modular control laws to enable a robot to move through a constrained environment and recognize the objects that are encountered. The two major tasks assigned to the robot are data collection for navigation and object recognition. These basic functions are the tasks involved in accomplishing many robotic applications. Data is collected in the work space by sensing the position of objects of interest. The robot has the capability to sense position in two ways. The robot may touch the end effector to a point in the work space and note the position of the contact point. The robot may also identify objects visually through use of a camera. The advantage of the system presented here is the modular design of the controllers. The system may operate using only one or a combination of the sensors. The decision regarding which sensors are appropriate is made according to the environmental conditions and the task requirements. The system makes this decision by computing an associated numerical measure of the confidence of success and processing cost for each sensor. The system is tested using two different experimental situations to show that the decision criteria applies in general. The system determines how to use the sensors to gather data in an inspection experiment and a maze navigation experiment.

  14. A simple 5-DOF walking robot for space station application

    Science.gov (United States)

    Brown, H. Benjamin, Jr.; Friedman, Mark B.; Kanade, Takeo

    1991-01-01

    Robots on the NASA space station have a potential range of applications from assisting astronauts during EVA (extravehicular activity), to replacing astronauts in the performance of simple, dangerous, and tedious tasks; and to performing routine tasks such as inspections of structures and utilities. To provide a vehicle for demonstrating the pertinent technologies, a simple robot is being developed for locomotion and basic manipulation on the proposed space station. In addition to the robot, an experimental testbed was developed, including a 1/3 scale (1.67 meter modules) truss and a gravity compensation system to simulate a zero-gravity environment. The robot comprises two flexible links connected by a rotary joint, with a 2 degree of freedom wrist joints and grippers at each end. The grippers screw into threaded holes in the nodes of the space station truss, and enable it to walk by alternately shifting the base of support from one foot (gripper) to the other. Present efforts are focused on mechanical design, application of sensors, and development of control algorithms for lightweight, flexible structures. Long-range research will emphasize development of human interfaces to permit a range of control modes from teleoperated to semiautonomous, and coordination of robot/astronaut and multiple-robot teams.

  15. 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...

  16. 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

  17. Evidence for robots

    OpenAIRE

    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 sp...

  18. FCJ-210 Falling Robots

    OpenAIRE

    Lian Loke

    2016-01-01

    Falling is not usually viewed as a desirable act for humanoid robots, as it can lead to damage and injury of people, things and the robot itself. This article explores how falling can be viewed as an aesthetic, creative act, through positioning it within dance. Strategies for falling safely in dance are compared with engineering approaches to controlling falling for bipedal robots, through the language of automatic reflex, righting reaction and equilibrium response patterns in relation to gra...

  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. ROBOTIC SURGERY: BIOETHICAL ASPECTS

    OpenAIRE

    SIQUEIRA-BATISTA, Rodrigo; SOUZA, Camila Ribeiro; MAIA, Polyana Mendes; SIQUEIRA, Sávio Lana

    2016-01-01

    ABSTRACT Introduction: The use of robots in surgery has been increasingly common today, allowing the emergence of numerous bioethical issues in this area. Objective: To present review of the ethical aspects of robot use in surgery. Method: Search in Pubmed, SciELO and Lilacs crossing the headings "bioethics", "surgery", "ethics", "laparoscopy" and "robotic". Results: Of the citations obtained, were selected 17 articles, which were used for the preparation of the article. It contains br...

  2. Current Issues regarding Labour Inspection

    Directory of Open Access Journals (Sweden)

    Răzvan Radu POPESCU

    2012-08-01

    Full Text Available Objectives: Labour inspection is the most important specialized organ of the state for intervention and control in the sphere of the work relations. In any state of law, it is impossible for a labour relation to occur, to attempt the eradication of the “black work”, to protect the employees’ interests, to monitor the observance of the legal and/or contractual provisions, without regulating the institution of labour inspection. Prior Work: I've tried to find the new regulation in this domain very important for those who practice labour law. Results: In the Romanian legislation, the enforcement of the court decisions in the matter of labour inspection is viewed by the lawmaker with great care, in certain cases the non-execution of a court decision being considered a felony. Value: We think this article is a small step in the disclosure of the problem eraised by the labour inspection.

  3. Sea bed mapping and inspection

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2006-07-01

    The conference has 24 presentations on the topics: Sea bed mapping, inspection, positioning, hydrography, marine archaeology, remote operation vehicles and computerized simulation technologies, oil field activities and plans, technological experiences and problems. (tk)

  4. Allegheny County Commercial Vehicle Inspections

    Data.gov (United States)

    Allegheny County / City of Pittsburgh / Western PA Regional Data Center — This dataset lists the locations and results of all commercial vehicle inspections performed by the Allegheny County Police Motor Carrier Safety Assistance Program...

  5. Construction inspection manual of procedures

    Science.gov (United States)

    2009-01-01

    This manual provides highway construction personnel with relevant, practical information in order to perform accurate inspections and provide relevant construction procedural information for the various roadway and structures items of work. It is the...

  6. Multifamily Housing Physical Inspection Scores

    Data.gov (United States)

    Department of Housing and Urban Development — HUD's Real Estate Assessment Center conducts physical property inspections of properties that are owned, insured or subsidized by HUD, including public housing and...

  7. Public Housing Physical Inspection Scores

    Data.gov (United States)

    Department of Housing and Urban Development — HUD's Real Estate Assessment Center conducts physical property inspections of properties that are owned, insured or subsidized by HUD, including public housing and...

  8. Robotic Mission Simulation Tool Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Energid Technologies proposes a software tool to predict robotic mission performance and support supervision of robotic missions even when environments and...

  9. 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.

  10. 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.

  11. Human-Robot Interaction

    Science.gov (United States)

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

    2015-01-01

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

  12. 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

  13. Low cost submarine robot

    OpenAIRE

    Ponlachart Chotikarn; Werapong Koedsin; Boonlua Phongdara; Pattara Aiyarak

    2010-01-01

    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-rin...

  14. [Robots and intellectual property].

    Science.gov (United States)

    Larrieu, Jacques

    2013-12-01

    This topic is part of the global issue concerning the necessity to adapt intellectual property law to constant changes in technology. The relationship between robots and IP is dual. On one hand, the robots may be regarded as objects of intellectual property. A robot, like any new machine, could qualify for a protection by a patent. A copyright may protect its appearance if it is original. Its memory, like a database, could be covered by a sui generis right. On the other hand, the question of the protection of the outputs of the robot must be raised. The robots, as the physical embodiment of artificial intelligence, are becoming more and more autonomous. Robot-generated works include less and less human inputs. Are these objects created or invented by a robot copyrightable or patentable? To whom the ownership of these IP rights will be allocated? To the person who manufactured the machine ? To the user of the robot? To the robot itself? All these questions are worth discussing.

  15. Minimally Actuated Serial Robot

    OpenAIRE

    Mann, Moshe P.; Damti, Lior; Zarrouk, David

    2017-01-01

    In this paper, we propose a novel type of serial robot with minimal actuation. The robot is a serial rigid structure consisting of multiple links connected by passive joints and of movable actuators. The novelty of this robot is that the actuators travel over the links to a given joint and adjust the relative angle between the two adjacent links. The joints passively preserve their angles until one of the actuators moves them again. This actuation can be applied to any serial robot with two o...

  16. Weijia Zhou Inspects the Advanced Astroculture plant growth unit

    Science.gov (United States)

    2003-01-01

    Dr. Weijia Zhou, director of the Wisconsin Center for Space Automation and Robotics at the University of Wisconsin-Madison, inspects the Advanced Astroculture(tm) plant growth unit before its first flight last spring. Coating technology is used inside the miniature plant greenhouse to remove ethylene, a chemical produced by plant leaves that can cause plants to mature too quickly. This same coating technology is used in a new anthrax-killing device. The Space Station experiment is managed by the Space Product Development Program at NASA's Marshall Space Flight Center in Huntsville, Ala. DuPont is partnering with NASA and the Wisconsin Center for Space Automation and Robotics (WCSAR) at the University of Wisconsin-Madison to grow soybeans aboard the Space Station to find out if they have improved oil, protein, carbohydrates or secondary metabolites that could benefit farmers and consumers. Principal Investigators: Dr. Tom Corbin, Pioneer Hi-Bred International Inc., a Dupont Company, with headquarters in Des Moines, Iowa, and Dr. Weijia Zhou, Wisconsin Center for Space Automation and Robotics (WCSAR), University of Wisconsin-Madison.

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

    Science.gov (United States)

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

    2017-10-01

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

  18. Task Adaptive Walking Robots for Mars Surface Exploration

    Science.gov (United States)

    Huntsberger, Terry; Hickey, Gregory; Kennedy, Brett; Aghazarian, Hrand

    2000-01-01

    There are exciting opportunities for robot science that lie beyond the reach of current manipulators, rovers, balloons, penetrators, etc. Examples include mobile explorations of the densely cratered Mars highlands, of asteroids, and of moons. These sites are believed to be rich in geologic history and mineralogical detail, but are difficult to robotically access and sample. The surface terrains are rough and changeable, with variable porosity and dust layering; and the small bodies present further challenges of low-temperature, micro-gravity environments. Even the more benign areas of Mars are highly variegated in character (>VL2 rock densities), presenting significant risk to conventional rovers. The development of compact walking robots would have applications to the current mission set for Mars surface exploration, as well as enabling future Mars Outpost missions, asteroid rendezvous missions for the Solar System Exploration Program (SSE) and the mechanical assembly/inspection of large space platforms for the Human Exploration and Development of Spaces (HEDS).

  19. Automatic 3D inspection metrology for high-temperature objects

    Science.gov (United States)

    Han, Liya; Li, Zhongwei; Zhong, Kai; Yi, Jie; Shi, Yusheng; Cheng, Xu; Zhan, Guomin; Chen, Ran

    2017-06-01

    3D Visual Inspection for high-temperature objects has attracted more and more attention in the industrial and manufacture field. Until now it is still difficult to measure the shape of high-temperature objects due to the following problems: 1) the radiation and heat transfer through the air seriously affect both human and measurement equipment, so the manual measurement is not capable in this situation. 2) Because of the difficulties to handle the surfaces of the hot objects, it is hard to use artificial markers to align different pieces of data. In order to solve these problems, an automatic 3D shape measurement system for high-temperature objects is proposed by combing an industrial robot with a structured blue light 3D scanner. In this system, the route for inspection is planned with the cooled object and then executed automatically with the same object in hot state to avoid artificial operations. The route is carefully planned to reduce the exposure time of the measurement equipment under the high-temperature situation. Then different pieces of data are premapped during the planning procedure. In the executing procedure, they can be aligned accurately thanks to the good repeatability of the industrial robot. Finally, different pieces of data are merged without artificial markers and the results are better than methods with traditional hand-eye calibration. Experiments verify that the proposed system can conduct the inspection of forging parts under the temperature of 900°C and the alignment precision is 0.0013rad and 0.28mm.

  20. Distributed cooperating processes in a mobile robot control system

    Science.gov (United States)

    Skillman, Thomas L., Jr.

    1988-01-01

    A mobile inspection robot has been proposed for the NASA Space Station. It will be a free flying autonomous vehicle that will leave a berthing unit to accomplish a variety of inspection tasks around the Space Station, and then return to its berth to recharge, refuel, and transfer information. The Flying Eye robot will receive voice communication to change its attitude, move at a constant velocity, and move to a predefined location along a self generated path. This mobile robot control system requires integration of traditional command and control techniques with a number of AI technologies. Speech recognition, natural language understanding, task and path planning, sensory abstraction and pattern recognition are all required for successful implementation. The interface between the traditional numeric control techniques and the symbolic processing to the AI technologies must be developed, and a distributed computing approach will be needed to meet the real time computing requirements. To study the integration of the elements of this project, a novel mobile robot control architecture and simulation based on the blackboard architecture was developed. The control system operation and structure is discussed.