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Sample records for interventional robotics part

  1. [Overview of the vascular interventional surgery robot].

    PubMed

    Li, Shenglin; Shen, Jie; Yan, Yonghua; Chen, Daguo

    2013-03-01

    In vascular invasive surgery procedures, because doctors suffered from a large number of X-ray radiation, and it is difficult to manipulate catheter, so vascular interventional robot has been rapidly developed. On the basis of analysis of vascular surgical intervention process, key technologies of vascular interventional surgical robots are provided. The image navigation system, the mechanical structure, control systems and force feedback are also analyzed. PMID:23777068

  2. MRI-powered Actuators for Robotic Interventions

    PubMed Central

    Vartholomeos, Panagiotis; Qin, Lei; Dupont, Pierre E.

    2012-01-01

    This paper presents a novel actuation technology for robotically assisted MRI-guided interventional procedures. Compact and wireless, the actuators are both powered and controlled by the MRI scanner. The design concept and performance limits are described and derived analytically. Simulation and experiments in a clinical MR scanner are used to validate the analysis and to demonstrate the capability of the approach for needle biopsies. The concepts of actuator locking mechanisms and multi-axis control are also introduced. PMID:22287082

  3. Marking parts to aid robot vision

    NASA Technical Reports Server (NTRS)

    Bales, J. W.; Barker, L. K.

    1981-01-01

    The premarking of parts for subsequent identification by a robot vision system appears to be beneficial as an aid in the automation of certain tasks such as construction in space. A simple, color coded marking system is presented which allows a computer vision system to locate an object, calculate its orientation, and determine its identity. Such a system has the potential to operate accurately, and because the computer shape analysis problem has been simplified, it has the ability to operate in real time.

  4. [Principles of MR-guided interventions, surgery, navigation, and robotics].

    PubMed

    Melzer, A

    2010-08-01

    The application of magnetic resonance imaging (MRI) as an imaging technique in interventional and surgical techniques provides a new dimension of soft tissue-oriented precise procedures without exposure to ionizing radiation and nephrotoxic allergenic, iodine-containing contrast agents. The technical capabilities of MRI in combination with interventional devices and systems, navigation, and robotics are discussed. PMID:20700775

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

    PubMed Central

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

    2011-01-01

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

  6. Robotics Programming Competition Spheres, Russian Part

    NASA Astrophysics Data System (ADS)

    Sadovski, Andrei; Kukushkina, Natalia; Biryukova, Natalia

    2016-07-01

    Spheres" such name was done to Russian part of the Zero Robotics project which is a student competition devoted to programming of SPHERES (SPHERES - Synchronized Position Hold Engage and Reorient Experimental Satellites are the experimental robotics devices which are capable of rotation and translation in all directions, http://ssl.mit.edu/spheres/), which perform different operations on the board of International Space Station. Competition takes place online on http://zerorobotics.mit.edu. The main goal is to develop a program for SPHERES to solve an annual challenge. The end of the tournament is the real competition in microgravity on the board of ISS with a live broadcast. The Russian part of the tournament has only two years history but the problems, organization and specific are useful for the other educational projects especially for the international ones. We introduce the history of the competition, its scientific and educational goals in Russia and describe the participation of Russian teams in 2014 and 2015 tournaments. Also we discuss the organizational problems.

  7. “MRI Stealth” robot for prostate interventions

    PubMed Central

    STOIANOVICI, DAN; SONG, DANNY; PETRISOR, DORU; URSU, DANIEL; MAZILU, DUMITRU; MUTENER, MICHAEL; SCHAR, MICHAEL; PATRICIU, ALEXANDRU

    2011-01-01

    The paper reports an important achievement in MRI instrumentation, a pneumatic, fully actuated robot located within the scanner alongside the patient and operating under remote control based on the images. Previous MRI robots commonly used piezoelectric actuation limiting their compatibility. Pneumatics is an ideal choice for MRI compatibility because it is decoupled from electromagnetism, but pneumatic actuators were hardly controllable. This achievement was possible due to a recent technology breakthrough, the invention of a new type of pneumatic motor, PneuStep (1), designed for the robot reported here with uncompromised MRI compatibility, high-precision, and medical safety. MrBot is one of the “MRI stealth” robots today (the second is described in this issue by Zangos et al.). Both of these systems are also multi-imager compatible, being able to operate with the imager of choice or cross-imaging modalities. For MRI compatibility the robot is exclusively constructed of nonmagnetic and dielectric materials such as plastics, ceramics, crystals, rubbers and is electricity free. Light-based encoding is used for feedback, so that all electric components are distally located outside the imager’s room. MRI robots are modern, digital medical instruments in line with advanced imaging equipment and methods. These allow for accessing patients within closed bore scanners and performing interventions under direct (in scanner) imaging feedback. MRI robots could allow e.g. to biopsy small lesions imaged with cutting edge cancer imaging methods, or precisely deploy localized therapy at cancer foci. Our robot is the first to show the feasibility of fully automated in-scanner interventions. It is customized for the prostate and operates transperineally for needle interventions. It can accommodate various needle drivers for different percutaneous procedures such as biopsy, thermal ablations, or brachytherapy. The first needle driver is customized for fully automated low

  8. Robotic burnishing system for solid film lubricant coated parts

    SciTech Connect

    Fureigh, M.L.

    1986-05-01

    A robotic burnishing system in the Painting Department reduced the operation average standard hour content by 64% and maintains a good part-to-part quality level for a group of parts coated with solid film lubricant. Required to be safe and simple to operate, the system uses a small PUMA 260 robot to process coated axisymmetrical pieceparts. Special tooling and seven pairs of robotic fingers were designed and built to handle 24 different small pieceparts. Individual robotic programs were created for each part and stored on 5-1/4 in. floppy disks with backup copies in Numerical Control. The operators and the manufacturing department readily accepted the robotic system. Additional part geometries will be developed for robotic processing. 12 figs.

  9. Robotic Image-Guided Needle Interventions of the Prostate

    PubMed Central

    Mozer, Pierre C; Partin, Alan W; Stoianovici, Dan

    2009-01-01

    Prostate biopsy and needle-directed prostate therapies are currently performed free-handed or with needle external templates under ultrasound guidance. Direct image-guided intervention robots are modern instruments that have the potential to substantially enhance these procedures. These may increase the accuracy and repeatability with which needles are placed in the gland. The authors’ group has developed a robot for precise prostate targeting that operates remotely alongside the patient in the magnetic resonance imaging scanner, as guided according to the image. PMID:19390670

  10. A parallel wire robot for epicardial interventions.

    PubMed

    Costanza, Adam D; Wood, Nathan A; Passineau, Michael J; Moraca, Robert J; Bailey, Stephen H; Yoshizumi, Tomo; Riviere, Cameron N

    2014-01-01

    This paper describes the design and preliminary testing of a planar parallel wire robot that adheres to the surface of the beating heart and provides a stable platform for minimally invasive epicardial therapies. The device is deployed through a small subxiphoid skin incision and attaches to the heart using suction. This methodology obviates mechanical stabilization and lung deflation, which are typically required during minimally invasive beating-heart surgery. The prototype design involves three vacuum chambers connected by two flexible arms. The chambers adhere to the epicardium, forming the vertices of a triangular base structure. Three cables connect a movable end-effector head to the three bases; the cables then pass out of the body to external actuators. The surgical tool moves within the triangular workspace to perform injections, ablation, or other tasks on the beating heart. Tests in vitro and in vivo were conducted to demonstrate the capabilities of the system. Tests in vivo successfully demonstrated the ability to deploy through a subxiphoid incision, adhere to the surface of the beating heart, move the surgical tool head within the robot's workspace, and perform injections into the myocardium. PMID:25571402

  11. Safety issues in robotic handling of nuclear weapon parts

    SciTech Connect

    Drotning, W.; Wapman, W.; Fahrenholtz, J.

    1993-12-31

    Robotic systems are being developed by the Intelligent Systems and Robotics Center at Sandia National Laboratories to perform automated handling tasks with radioactive weapon parts. These systems will reduce the occupational radiation exposure to workers by automating operations that are currently performed manually. The robotic systems at Sandia incorporate several levels of mechanical, electrical, and software safety for handling hazardous materials. For example, tooling used by the robot to handle radioactive parts has been designed with mechanical features that allow the robot to release its payload only at designated locations in the robotic workspace. In addition, software processes check for expected and unexpected situations throughout the operations. Incorporation of features such as these provides multiple levels of safety for handling hazardous or valuable payloads with automated intelligent systems.

  12. A Parallel Wire Robot for Epicardial Interventions

    PubMed Central

    Costanza, Adam D.; Wood, Nathan A.; Passineau, Michael J.; Moraca, Robert J.; Bailey, Stephen H.; Yoshizumi, Tomo; Riviere, Cameron N.

    2015-01-01

    This paper describes the design and preliminary testing of a planar parallel wire robot that adheres to the surface of the beating heart and provides a stable platform for minimally invasive epicardial therapies. The device is deployed through a small subxiphoid skin incision and attaches to the heart using suction. This methodology obviates mechanical stabilization and lung deflation, which are typically required during minimally invasive beating-heart surgery. The prototype design involves three vacuum chambers connected by two flexible arms. The chambers adhere to the epicardium, forming the vertices of a triangular base structure. Three cables connect a movable end-effector head to the three bases; the cables then pass out of the body to external actuators. The surgical tool moves within the triangular workspace to perform injections, ablation, or other tasks on the beating heart. Tests in vitro and in vivo were conducted to demonstrate the capabilities of the system. Tests in vivo successfully demonstrated the ability to deploy through a subxiphoid incision, adhere to the surface of the beating heart, move the surgical tool head within the robot’s workspace, and perform injections into the myocardium. PMID:25571402

  13. An affordable compact humanoid robot for Autism Spectrum Disorder interventions in children.

    PubMed

    Dickstein-Fischer, Laurie; Alexander, Elizabeth; Yan, Xiaoan; Su, Hao; Harrington, Kevin; Fischer, Gregory S

    2011-01-01

    Autism Spectrum Disorder impacts an ever-increasing number of children. The disorder is marked by social functioning that is characterized by impairment in the use of nonverbal behaviors, failure to develop appropriate peer relationships and lack of social and emotional exchanges. Providing early intervention through the modality of play therapy has been effective in improving behavioral and social outcomes for children with autism. Interacting with humanoid robots that provide simple emotional response and interaction has been shown to improve the communication skills of autistic children. In particular, early intervention and continuous care provide significantly better outcomes. Currently, there are no robots capable of meeting these requirements that are both low-cost and available to families of autistic children for in-home use. This paper proposes the piloting the use of robotics as an improved diagnostic and early intervention tool for autistic children that is affordable, non-threatening, durable, and capable of interacting with an autistic child. This robot has the ability to track the child with its 3 degree of freedom (DOF) eyes and 3-DOF head, open and close its 1-DOF beak and 1-DOF each eyelids, raise its 1-DOF each wings, play sound, and record sound. These attributes will give it the ability to be used for the diagnosis and treatment of autism. As part of this project, the robot and the electronic and control software have been developed, and integrating semi-autonomous interaction, teleoperation from a remote healthcare provider and initiating trials with children in a local clinic are in progress. PMID:22255539

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

    ERIC Educational Resources Information Center

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

    2010-01-01

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

  15. Preliminary study for motion scaling based control in minimally invasive vascular interventional robot.

    PubMed

    Feng, Zhen-Qiu; Bian, Gui-Bin; Xie, Xiao-Liang; Hao, Jian-Long; Gao, Zhan-Jie; Hou, Zeng-Guang

    2015-08-01

    Robot-assisted vascular interventions present promising trend for reducing the X-ray radiation to the surgeon during the operation. However, the control methods in the current vascular interventional robots only repeat the manipulation of the surgeon. While under certain circumstances, it is necessary to scale the manipulation of the surgeon to obtain a higher precision or a shorter manipulation time. A novel control method based on motion scaling for vascular interventional robot is proposed in this paper. The main idea of the method is to change the motion speed ratios between the master and the slave side. The motion scaling based control method is implemented in the vascular interventional robot we've developed before, so the operator can deliver the interventional devices under different motion scaling factors. Experiment studies verify the effectiveness of the motion scaling based control. PMID:26737390

  16. [Locomotion and control study on autonomous interventional diagnostic micro-robots].

    PubMed

    Gu, Da-qiang; Zhou, Yong

    2008-09-01

    This paper introduces the locomotion control and the research status of the autonomous interventional diagnostic micro-robots in detail, outlines technical problems and difficulties now existing, and discusses the developing trend of locomotion control. PMID:19119659

  17. Part identification in robotic assembly using vision system

    NASA Astrophysics Data System (ADS)

    Balabantaray, Bunil Kumar; Biswal, Bibhuti Bhusan

    2013-12-01

    Machine vision system acts an important role in making robotic assembly system autonomous. Identification of the correct part is an important task which needs to be carefully done by a vision system to feed the robot with correct information for further processing. This process consists of many sub-processes wherein, the image capturing, digitizing and enhancing, etc. do account for reconstructive the part for subsequent operations. Interest point detection of the grabbed image, therefore, plays an important role in the entire image processing activity. Thus it needs to choose the correct tool for the process with respect to the given environment. In this paper analysis of three major corner detection algorithms is performed on the basis of their accuracy, speed and robustness to noise. The work is performed on the Matlab R2012a. An attempt has been made to find the best algorithm for the problem.

  18. Medical robotics and computer-integrated interventional medicine

    NASA Astrophysics Data System (ADS)

    Taylor, Russell H.

    2012-02-01

    Computer-Integrated Interventional Medicine (CIIM) promises to have a profound impact on health care in the next 20 years, much as and for many of the same reasons that the marriage of computers and information processing methods with other technology have had on manufacturing, transportation, and other sectors of our society. Our basic premise is that the steps of creating patient-specific computational models, using these models for planning, registering the models and plans with the actual patient in the operating room, and using this information with appropriate technology to assist in carrying out and monitoring the intervention are best viewed as part of a complete patient-specific intervention process that occurs over many time scales. Further, the information generated in computer-integrated interventions can be captured and analyzed statistically to improve treatment processes. This paper will explore these themes briefly, using examples drawn from our work at the Engineering Research Center for Computer-Integrated Surgical Systems and Technology (CISST ERC).

  19. A Fully Sensorized Cooperative Robotic System for Surgical Interventions

    PubMed Central

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

    2012-01-01

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

  20. Fast and Efficient Radiological Interventions via a Graphical User Interface Commanded Magnetic Resonance Compatible Robotic Device

    PubMed Central

    Özcan, Alpay; Christoforou, Eftychios; Brown, Daniel; Tsekos, Nikolaos

    2011-01-01

    The graphical user interface for an MR compatible robotic device has the capability of displaying oblique MR slices in 2D and a 3D virtual environment along with the representation of the robotic arm in order to swiftly complete the intervention. Using the advantages of the MR modality the device saves time and effort, is safer for the medical staff and is more comfortable for the patient. PMID:17946067

  1. Child disaster mental health interventions, part II

    PubMed Central

    Pfefferbaum, Betty; Sweeton, Jennifer L.; Newman, Elana; Varma, Vandana; Noffsinger, Mary A.; Shaw, Jon A.; Chrisman, Allan K.; Nitiéma, Pascal

    2015-01-01

    This review summarizes current knowledge on the timing of child disaster mental health intervention delivery, the settings for intervention delivery, the expertise of providers, and therapeutic approaches. Studies have been conducted on interventions delivered during all phases of disaster management from pre event through many months post event. Many interventions were administered in schools which offer access to large numbers of children. Providers included mental health professionals and school personnel. Studies described individual and group interventions, some with parent involvement. The next generation of interventions and studies should be based on an empirical analysis of a number of key areas. PMID:26295009

  2. Long-term interventions effects of robotic training on patients after anterior cruciate ligament reconstruction

    PubMed Central

    Hu, Chunying; Huang, Qiuchen; Yu, Lili; Zhou, Yue; Gu, Rui; Ye, Miao; Ge, Meng; Xu, Yanfeng; Liu, Jianfeng

    2016-01-01

    [Purpose] The aim of this study was to examine the long-term interventions effects of robot-assisted therapy rehabilitation on functional activity levels after anterior cruciate ligament reconstruction. [Subjects and Methods] The subjects were 8 patients (6 males and 2 females) who received anterior cruciate ligament reconstruction. The subjects participated in robot-assisted therapy lasting for one month. The Timed Up-and-Go test, 10-Meter Walk test, Functional Reach Test, surface electromyography of the vastus lateralis and vastus medialis, and extensor strength of isokinetic movement of the knee joint were evaluated before and after the intervention. [Results] The average value of the of vastus medialis EMG, Functional Reach Test, and the maximum and average extensor strength of the knee joint isokinetic movement increased significantly, and the time of the 10-Meter Walk test decreased significantly. [Conclusion] These results suggest that walking ability and muscle strength can be improved by robotic walking training as a long-term intervention.

  3. Real-Time Control of Humanoid Robots Considering External Forces on Upper Part of the Body

    NASA Astrophysics Data System (ADS)

    Inomata, Kentaro; Shigemori, Yo; Uchimura, Yutaka

    Recently, the demand for the practical use of service robots has risen significantly because of acceleration of demographic aging, and a humanoid robot is one of the promising form factors of service robots. When a humanoid robot is used by a human in a real environment, the robot needs to be designed by taking into account the various external forces that act on the robot. Thus far, most of the walking humanoid robots have been mainly controlled by the conventional ZMP method to maintain a stable walking posture. However, the conventional ZMP method can not be used to handle the various external forces that act on the upper part of the humanoid robot body. To overcome these problems, in this paper, we propose a novel control method, which we called 3DZMP and pZMP, for a humanoid robot to react to the external force on the upper part of the body. The 3DZMP is defined as the point in three-dimensional space at which the moment about all axes is zero. 3DZMP can prevent the rotation of a humanoid robot. The pZMP is defined as the point corresponding to the orthographic projection of the 3DZMP on a plane. pZMP is used to evaluate the stability of 3DZMP. We implemented the proposed method on a prototype robot and verified that the robot gained the capability to react to external forces that could not be handled by the conventional ZMP method.

  4. Energy Efficient Legged Robotics at Sandia Labs, Part 2

    SciTech Connect

    Buerger, Steve; Mazumdar, Ani; Spencer, Steve

    2015-06-02

    Sandia is developing energy efficient actuation and drive train technologies to dramatically improve the charge life of legged robots. The work is supported by DARPA, and Sandia will demonstrate an energy efficient bipedal robot at the technology exposition section of the DARPA Robotics Challenge Finals in June, 2015. This video, the second in a series, describes the continued development and integration of the Sandia Transmission Efficient Prototype Promoting Research (STEPPR) robot.

  5. Advancements in magnetic resonance-guided robotic interventions in the prostate.

    PubMed

    Macura, Katarzyna J; Stoianovici, Dan

    2008-12-01

    Magnetic resonance imaging (MRI) provides more detailed anatomical images of the prostate compared with the transrectal ultrasound imaging. Therefore, for the purpose of intervention in the prostate gland, diagnostic or therapeutic, MRI guidance offers a possibility of more precise targeting that may be crucial to the success of prostate interventions. However, access within the scanner is limited for manual instrument handling and the MR environment is most demanding among all imaging equipment with respect to the instrumentation used. A solution to this problem is the use of MR-compatible robots purposely designed to operate in the space and environmental restrictions inside the MR scanner allowing real-time interventions. Building an MRI-compatible robot is a very challenging engineering task because, in addition to the material restrictions that MRI instruments have, the robot requires actuators and sensors that limit the type of energies that can be used. Several important design problems have to be overcome before a successful MR-compatible robot application can be built. A number of MR-compatible robots, ranging from a simple manipulator to a fully automated system, have been developed, proposing ingenious solutions to the design challenge. Several systems have been already tested clinically for prostate biopsy and brachytherapy. As technology matures, precise image guidance for prostate interventions performed or assisted by specialized MR-compatible robotic devices may provide a uniquely accurate solution for guiding the intervention directly based on MR findings and feedback. Such an instrument would become a valuable clinical tool for biopsies directly targeting imaged tumor foci and delivering tumor-centered focal therapy. PMID:19512852

  6. Advancements in Magnetic Resonance–Guided Robotic Interventions in the Prostate

    PubMed Central

    Macura, Katarzyna J.; Stoianovici, Dan

    2011-01-01

    Magnetic resonance imaging (MRI) provides more detailed anatomical images of the prostate compared with the transrectal ultrasound imaging. Therefore, for the purpose of intervention in the prostate gland, diagnostic or therapeutic, MRI guidance offers a possibility of more precise targeting that may be crucial to the success of prostate interventions. However, access within the scanner is limited for manual instrument handling and the MR environment is most demanding among all imaging equipment with respect to the instrumentation used. A solution to this problem is the use of MR-compatible robots purposely designed to operate in the space and environmental restrictions inside the MR scanner allowing real-time interventions. Building an MRI-compatible robot is a very challenging engineering task because, in addition to the material restrictions that MRI instruments have, the robot requires actuators and sensors that limit the type of energies that can be used. Several important design problems have to be overcome before a successful MR-compatible robot application can be built. A number of MR-compatible robots, ranging from a simple manipulator to a fully automated system, have been developed, proposing ingenious solutions to the design challenge. Several systems have been already tested clinically for prostate biopsy and brachytherapy. As technology matures, precise image guidance for prostate interventions performed or assisted by specialized MR-compatible robotic devices may provide a uniquely accurate solution for guiding the intervention directly based on MR findings and feedback. Such an instrument would become a valuable clinical tool for biopsies directly targeting imaged tumor foci and delivering tumor-centered focal therapy. PMID:19512852

  7. Designing HRD Interventions for Employee-Robot Interaction

    ERIC Educational Resources Information Center

    Heo, Se Jin

    2011-01-01

    The purpose of this study was to identify critical causes of work stress and job satisfaction of nurses, which can contribute to find appropriate organizational supports to help nurses effectively work with a surgical robot. Delphi method was employed to identify the critical stressors and the key causes of job satisfaction of nurses working with…

  8. The immediate intervention effects of robotic training in patients after anterior cruciate ligament reconstruction.

    PubMed

    Hu, Chunying; Huang, Qiuchen; Yu, Lili; Ye, Miao

    2016-07-01

    [Purpose] The purpose of this study was to examine the immediate effects of robot-assisted therapy on functional activity level after anterior cruciate ligament reconstruction. [Subjects and Methods] Participants included 10 patients (8 males and 2 females) following anterior cruciate ligament reconstruction. The subjects participated in robot-assisted therapy and treadmill exercise on different days. The Timed Up-and-Go test, Functional Reach Test, surface electromyography of the vastus lateralis and vastus medialis, and maximal extensor strength of isokinetic movement of the knee joint were evaluated in both groups before and after the experiment. [Results] The results for the Timed Up-and-Go Test and the 10-Meter Walk Test improved in the robot-assisted rehabilitation group. Surface electromyography of the vastus medialis muscle showed significant increases in maximum and average discharge after the intervention. [Conclusion] The results suggest that walking ability and muscle strength can be improved by robotic training. PMID:27512258

  9. The immediate intervention effects of robotic training in patients after anterior cruciate ligament reconstruction

    PubMed Central

    Hu, Chunying; Huang, Qiuchen; Yu, Lili; Ye, Miao

    2016-01-01

    [Purpose] The purpose of this study was to examine the immediate effects of robot-assisted therapy on functional activity level after anterior cruciate ligament reconstruction. [Subjects and Methods] Participants included 10 patients (8 males and 2 females) following anterior cruciate ligament reconstruction. The subjects participated in robot-assisted therapy and treadmill exercise on different days. The Timed Up-and-Go test, Functional Reach Test, surface electromyography of the vastus lateralis and vastus medialis, and maximal extensor strength of isokinetic movement of the knee joint were evaluated in both groups before and after the experiment. [Results] The results for the Timed Up-and-Go Test and the 10-Meter Walk Test improved in the robot-assisted rehabilitation group. Surface electromyography of the vastus medialis muscle showed significant increases in maximum and average discharge after the intervention. [Conclusion] The results suggest that walking ability and muscle strength can be improved by robotic training. PMID:27512258

  10. Child disaster mental health interventions, part I

    PubMed Central

    Pfefferbaum, Betty; Sweeton, Jennifer L.; Newman, Elana; Varma, Vandana; Nitiéma, Pascal; Shaw, Jon A; Chrisman, Allan K.; Noffsinger, Mary A

    2015-01-01

    This review of child disaster mental health intervention studies describes the techniques used in the interventions and the outcomes addressed, and it provides a preliminary evaluation of the field. The interventions reviewed here used a variety of strategies such as cognitive behavioral approaches, exposure and narrative techniques, relaxation, coping skill development, social support, psychoeducation, eye movement desensitization and reprocessing, and debriefing. A diagnosis of posttraumatic stress disorder (PTSD) and/or posttraumatic stress reactions were the most commonly addressed outcomes although other reactions such as depression, anxiety, behavior problems, fear, and/or traumatic grief also were examined. Recommendations for future research are outlined. PMID:25914863

  11. EFSUMB Guidelines on Interventional Ultrasound (INVUS), Part II.

    PubMed

    Sidhu, P S; Brabrand, K; Cantisani, V; Correas, J M; Cui, X W; D'Onofrio, M; Essig, M; Freeman, S; Gilja, O H; Gritzmann, N; Havre, R F; Ignee, A; Jenssen, C; Kabaalioğlu, A; Lorentzen, T; Mohaupt, M; Nicolau, C; Nolsøe, C P; Nürnberg, D; Radzina, M; Saftoiu, A; Serra, C; Spârchez, Z; Sporea, I; Dietrich, C F

    2015-12-01

    This is the second part of the series on interventional ultrasound guidelines of the Federation of Societies for Ultrasound in Medicine and Biology (EFSUMB). It deals with the diagnostic interventional procedure. General points are discussed which are pertinent to all patients, followed by organ-specific imaging that will allow the correct pathway and planning for the interventional procedure. This will allow for the appropriate imaging workup for each individual interventional procedure (Long version). PMID:26669871

  12. Precision instrument placement using a 4-DOF robot with integrated fiducials for minimally invasive interventions

    NASA Astrophysics Data System (ADS)

    Stenzel, Roland; Lin, Ralph; Cheng, Peng; Kronreif, Gernot; Kornfeld, Martin; Lindisch, David; Wood, Bradford J.; Viswanathan, Anand; Cleary, Kevin

    2007-03-01

    Minimally invasive procedures are increasingly attractive to patients and medical personnel because they can reduce operative trauma, recovery times, and overall costs. However, during these procedures, the physician has a very limited view of the interventional field and the exact position of surgical instruments. We present an image-guided platform for precision placement of surgical instruments based upon a small four degree-of-freedom robot (B-RobII; ARC Seibersdorf Research GmbH, Vienna, Austria). This platform includes a custom instrument guide with an integrated spiral fiducial pattern as the robot's end-effector, and it uses intra-operative computed tomography (CT) to register the robot to the patient directly before the intervention. The physician can then use a graphical user interface (GUI) to select a path for percutaneous access, and the robot will automatically align the instrument guide along this path. Potential anatomical targets include the liver, kidney, prostate, and spine. This paper describes the robotic platform, workflow, software, and algorithms used by the system. To demonstrate the algorithmic accuracy and suitability of the custom instrument guide, we also present results from experiments as well as estimates of the maximum error between target and instrument tip.

  13. A networked modular hardware and software system for MRI-guided robotic prostate interventions

    NASA Astrophysics Data System (ADS)

    Su, Hao; Shang, Weijian; Harrington, Kevin; Camilo, Alex; Cole, Gregory; Tokuda, Junichi; Hata, Nobuhiko; Tempany, Clare; Fischer, Gregory S.

    2012-02-01

    Magnetic resonance imaging (MRI) provides high resolution multi-parametric imaging, large soft tissue contrast, and interactive image updates making it an ideal modality for diagnosing prostate cancer and guiding surgical tools. Despite a substantial armamentarium of apparatuses and systems has been developed to assist surgical diagnosis and therapy for MRI-guided procedures over last decade, the unified method to develop high fidelity robotic systems in terms of accuracy, dynamic performance, size, robustness and modularity, to work inside close-bore MRI scanner still remains a challenge. In this work, we develop and evaluate an integrated modular hardware and software system to support the surgical workflow of intra-operative MRI, with percutaneous prostate intervention as an illustrative case. Specifically, the distinct apparatuses and methods include: 1) a robot controller system for precision closed loop control of piezoelectric motors, 2) a robot control interface software that connects the 3D Slicer navigation software and the robot controller to exchange robot commands and coordinates using the OpenIGTLink open network communication protocol, and 3) MRI scan plane alignment to the planned path and imaging of the needle as it is inserted into the target location. A preliminary experiment with ex-vivo phantom validates the system workflow, MRI-compatibility and shows that the robotic system has a better than 0.01mm positioning accuracy.

  14. Robotics.

    ERIC Educational Resources Information Center

    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)

  15. Ultrasound guided chronic pain interventions (Part II).

    PubMed

    Akkaya, Taylan; Alptekin, Alp; Özkan, Derya

    2016-04-01

    Henceforth, ultrasonography (US) is an indispensible imaging technique in regional anesthesia practice. With the guidance of US, various invasive interventions in chronic pain pathologies of the musculoskeletal system, peripheral and neuroaxial pathologies has become possible. The management includes diagnostic blocks as weel as radiofrequency ablation and institution of neurolythic agents. During these algologic interventions we are able to see the target tissue, the dispersion of the drug and all nearby vascular structures. Besides these the US also protects the team from ionic radiation that one encounters when using flouroscopy of computed tomography. Latest publication in this field show that applicability of US in chronic pain syndromes is rapidly expanding with a good future. The additional equipment (echogenic needles, 3-D US etc.) will also expands its applications in algology practice. This review highlights different applications of US in chronic pain conditions. PMID:27225734

  16. Pneumatically Operated MRI-Compatible Needle Placement Robot for Prostate Interventions

    PubMed Central

    Fischer, Gregory S.; Iordachita, Iulian; Csoma, Csaba; Tokuda, Junichi; Mewes, Philip W.; Tempany, Clare M.; Hata, Nobuhiko; Fichtinger, Gabor

    2011-01-01

    Magnetic Resonance Imaging (MRI) has potential to be a superior medical imaging modality for guiding and monitoring prostatic interventions. The strong magnetic field prevents the use of conventional mechatronics and the confined physical space makes it extremely challenging to access the patient. We have designed a robotic assistant system that overcomes these difficulties and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot performs needle insertion under real-time 3T MR image guidance; workspace requirements, MR compatibility, and workflow have been evaluated on phantoms. The paper explains the robot mechanism and controller design and presents results of preliminary evaluation of the system. PMID:21686038

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

    PubMed

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

    2013-03-01

    Emerging technology, especially robotic technology, has been shown to be appealing to children with autism spectrum disorders (ASD). Such interest may be leveraged to provide repeatable, accurate and individualized intervention services to young children with ASD based on quantitative metrics. However, existing robot-mediated systems tend to have limited adaptive capability that may impact individualization. Our current work seeks to bridge this gap by developing an adaptive and individualized robot-mediated technology for children with ASD. The system is composed of a humanoid robot with its vision augmented by a network of cameras for real-time head tracking using a distributed architecture. Based on the cues from the child's head movement, the robot intelligently adapts itself in an individualized manner to generate prompts and reinforcements with potential to promote skills in the ASD core deficit area of early social orienting. The system was validated for feasibility, accuracy, and performance. Results from a pilot usability study involving six children with ASD and a control group of six typically developing (TD) children are presented. PMID:23221831

  18. A Step Towards Developing Adaptive Robot-Mediated Intervention Architecture (ARIA) for Children With Autism

    PubMed Central

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

    2013-01-01

    Emerging technology, especially robotic technology, has been shown to be appealing to children with autism spectrum disorders (ASD). Such interest may be leveraged to provide repeatable, accurate and individualized intervention services to young children with ASD based on quantitative metrics. However, existing robot-mediated systems tend to have limited adaptive capability that may impact individualization. Our current work seeks to bridge this gap by developing an adaptive and individualized robot-mediated technology for children with ASD. The system is composed of a humanoid robot with its vision augmented by a network of cameras for real-time head tracking using a distributed architecture. Based on the cues from the child’s head movement, the robot intelligently adapts itself in an individualized manner to generate prompts and reinforcements with potential to promote skills in the ASD core deficit area of early social orienting. The system was validated for feasibility, accuracy, and performance. Results from a pilot usability study involving six children with ASD and a control group of six typically developing (TD) children are presented. PMID:23221831

  19. [History of robotics: from Archytas of Tarentum until da Vinci robot. (Part I)].

    PubMed

    Sánchez Martín, F M; Millán Rodríguez, F; Salvador Bayarri, J; Palou Redorta, J; Rodríguez Escovar, F; Esquena Fernández, S; Villavicencio Mavrich, H

    2007-02-01

    Robotic surgery is the newst technologic option in urology. To understand how new robots work is interesting to know their history. The desire to design machines imitating humans continued for more than 4000 years. There are references to King-su Tse (clasic China) making up automaton at 500 a. C. Archytas of Tarentum (at around 400 a.C.) is considered the father of mechanical engineering, and one of the occidental robotics classic referents. Heron of Alexandria, Hsieh-Fec, Al-Jazari, Roger Bacon, Juanelo Turriano, Leonardo da Vinci, Vaucanson o von Kempelen were robot inventors in the middle age, renaissance and classicism. At the XIXth century, automaton production underwent a peak and all engineering branches suffered a great development. At 1942 Asimov published the three robotics laws, based on mechanics, electronics and informatics advances. At XXth century robots able to do very complex self governing works were developed, like da Vinci Surgical System (Intuitive Surgical Inc, Sunnyvale, CA, USA), a very sophisticated robot to assist surgeons. PMID:17645084

  20. Visual servoing of robot manipulators -- Part 1: Projective kinematics

    SciTech Connect

    Ruf, A.; Horaud, R.

    1999-11-01

    Visual servoing of robot manipulators is a key technique where the appearance of an object in the image plane is used to control the velocity of the end-effector such that the desired position is reached in the scene. The vast majority of visual servoing methods proposed so far uses calibrated robots in conjunction with calibrated cameras. It has been shown that the behavior of visual control loops does not degrade too much in the presence of calibration errors. Nevertheless, camera and robot calibration are complex and time-consuming processes requiring special-purpose mechanical devices, such as theodolites and calibration jigs. In this paper, the authors, suggest formulating a visual servoing control loop in nonmetric space, which in this case amounts to the projective space in which a triangulation of the scene using an uncalibrated stereo rig is expressed. The major consequence of controlling the robot in nonmetric space rather than in Euclidean space is that both the robot's direct kinematic map and the robot's Jacobian matrix must be defined in this space as well. Finally, they provide a practical method to estimate the projective kinematic model and they describe some preliminary simulated experiments that use this nonmetric model to perform stereo-based servoing. Nevertheless, in-depth analysis of projective control will be the topic of a forthcoming paper.

  1. EFSUMB Guidelines on Interventional Ultrasound (INVUS), Part II.

    PubMed

    Sidhu, P S; Brabrand, K; Cantisani, V; Correas, J M; Cui, X W; D'Onofrio, M; Essig, M; Freeman, S; Gilja, O H; Gritzmann, N; Havre, R F; Ignee, A; Jenssen, C; Kabaalioğlu, A; Lorentzen, T; Mohaupt, M; Nicolau, C; Nolsøe, C P; Nürnberg, D; Radzina, M; Saftoiu, A; Serra, C; Spârchez, Z; Sporea, I; Dietrich, C F

    2015-12-01

    This is the second part of the series on interventional ultrasound guidelines of the Federation of Societies for Ultrasound in Medicine and Biology (EFSUMB). It deals with the diagnostic interventional procedure. General points are discussed which are pertinent to all patients, followed by organ-specific imaging that will allow the correct pathway and planning for the interventional procedure. This will allow for the appropriate imaging workup for each individual interventional procedure (Long version/ short version; the long version is published online). PMID:26669869

  2. Low-cost explosive ordnance disposal robot using off-the-shelf parts

    NASA Astrophysics Data System (ADS)

    Czop, Andrew; Hacker, Kurt; Murphy, James; Zimmerman, Todd

    2005-05-01

    The continuing military operations in Iraq and Afghanistan have resulted in a rapidly growing demand for mobile robots to be used during Explosive Ordnance Disposal operations. These robots are predominately used by EOD technicians for surveillance and neutralization of explosive threats from a safe standoff distance. The hazardous nature of the mission these vehicles help perform requires them to be expendable. Current commercially available systems, however, although capable of performing the mission, are costly and are not currently available in the large quantities needed by EOD technicians. The Naval EOD Technology Division (NAVEODTECHDIV) proposes an alternative; a low cost, mobile robot using Commercial Off-The-Shelf (COTS) parts that is specifically tailored to perform hazardous EOD missions. The main functions of this robot are efficient surveillance and explosive threat neutralization. The use of COTS parts allows for streamlined field supportability and repair. A proposed speed of five miles per hour is a drastic improvement over many existing EOD robots and will allow EOD teams to quickly survey and assess potentially dangerous situations. The manipulator will be capable of precision placement of neutralization charges. The cost of this proposed robot is 10,000. Current commercial robots capable of performing these EOD tasks range in price from 40,000 to over $150,000. This conference paper will describe the robot design and prototyping process, from gathering requirements to fabrication and testing.

  3. Human vs. robot operator error in a needle-based navigation system for percutaneous liver interventions

    NASA Astrophysics Data System (ADS)

    Maier-Hein, Lena; Walsh, Conor J.; Seitel, Alexander; Hanumara, Nevan C.; Shepard, Jo-Anne; Franz, A. M.; Pianka, F.; Müller, Sascha A.; Schmied, Bruno; Slocum, Alexander H.; Gupta, Rajiv; Meinzer, Hans-Peter

    2009-02-01

    Computed tomography (CT) guided percutaneous punctures of the liver for cancer diagnosis and therapy (e.g. tumor biopsy, radiofrequency ablation) are well-established procedures in clinical routine. One of the main challenges related to these interventions is the accurate placement of the needle within the lesion. Several navigation concepts have been introduced to compensate for organ shift and deformation in real-time, yet, the operator error remains an important factor influencing the overall accuracy of the developed systems. The aim of this study was to investigate whether the operator error and, thus, the overall insertion error of an existing navigation system could be further reduced by replacing the user with the medical robot Robopsy. For this purpose, we performed navigated needle insertions in a static abdominal phantom as well as in a respiratory liver motion simulator and compared the human operator error with the targeting error performed by the robot. According to the results, the Robopsy driven needle insertion system is able to more accurately align the needle and insert it along its axis compared to a human operator. Integration of the robot into the current navigation system could thus improve targeting accuracy in clinical use.

  4. Participation Patterns among Families Receiving Part C Early Intervention Services

    ERIC Educational Resources Information Center

    Khetani, Mary Alunkal

    2010-01-01

    Participation in the natural settings of home and community is one of four major goals for families receiving Part C early intervention services. While participation has been formally recognized as an important service-related outcome, there is a need to build knowledge about its key features to adequately apply the concept in practice. The need…

  5. Master device for teleoperated needle insertion-type interventional robotic system.

    PubMed

    Woo, Hyun Soo; Cho, Jang Ho; Kim, Chul Seung; Lee, Hyuk Jin

    2015-08-01

    This paper proposes a new master device for teleoperated needle insertion-type interventional robotic system. The 5-DOF master device is optimally designed based on the newly defined interventional procedures and the physicians' requirements. It comprises a 2-DOF rotational mechanism for adjustment of needle orientation, a 2-DOF translational mechanism for fine-tuning of needle entry point, and a handle assembly. The handle assembly includes a 1-DOF translational mechanism for needle insertion and buttons for operation mode selection. The passive actuation modules of the rotational mechanism and the active actuation modules of the translational mechanism are controlled appropriately for the selected mode according to the procedure phase. The needle insertion mechanism also warns the user by vibrating the shaft when the needle reaches the dangerous region. PMID:26737379

  6. Low-cost EOD robot using off-the-shelf parts: revisions and performance testing results

    NASA Astrophysics Data System (ADS)

    Czop, Andrew; Hacker, Kurt; Murphy, James; Zimmerman, Todd

    2006-05-01

    With the large number of Improvised Explosive Devices (IEDs) and Unexploded Ordnance (UXO) being encountered during recent military operations, there exists a need for Explosive Ordnance Disposal (EOD) mobile robots. These robots are predominately used for surveillance and neutralization of these explosive threats from a safe distance. The nature of the mission means that these vehicles are prone to being damaged or destroyed. Current commercially available systems, although capable of performing the mission, are costly and in too short of supply to be lost or damaged in large numbers. At last year's SPIE conference the NAVEODTECHDIV proposed an alternative: a low cost, mobile robot which used commercial off-the-shelf (COTS) parts and was tailored to the types of missions that EOD soldiers commonly perform. The prototype of this low-cost robot, the RAMBOT (Readily Available Maintainable Robot), has been continuously improved over the past year. There have been significant improvements to the original design in the areas of communication, manipulation, and electronics. The result of this work is a final prototype design, which is currently undergoing extensive testing to characterize its capabilities. Some of these tests include vehicle characteristics such as vehicle speed and mobility, vehicle weight and size, as well as maximum effective communication range, susceptibility to temperature, manipulator load limitations, and battery longevity. This conference paper will present the design changes to the robot and fully report on the results from the test series conducted thus far.

  7. A new AS-display as part of the MIRO lightweight robot for surgical applications

    NASA Astrophysics Data System (ADS)

    Grossmann, Christoph M.

    2010-02-01

    The DLR MIRO is the second generation of versatile robot arms for surgical applications, developed at the Institute for Robotics and Mechatronics at Deutsche Zentrum für Luft- und Raumfahrt (DLR) in Oberpfaffenhofen, Germany. With its low weight of 10 kg and dimensions similar to those of the human arm, the MIRO robot can assist the surgeon directly at the operating table where space is scarce. The planned scope of applications of this robot arm ranges from guiding a laser unit for the precise separation of bone tissue in orthopedics to positioning holes for bone screws, robot assisted endoscope guidance and on to the multi-robot concept for endoscopic minimally invasive surgery. A stereo-endoscope delivers two full HD video streams that can even be augmented with information, e.g vectors indicating the forces that act on the surgical tool at any given moment. SeeFront's new autostereoscopic 3D display SF 2223, being a part of the MIRO assembly, will let the surgeon view the stereo video stream in excellent quality, in real time and without the need for any viewing aids. The presentation is meant to provide an insight into the principles at the basis of the SeeFront 3D technology and how they allow the creation of autostereoscopic display solutions ranging from smallest "stamp-sized" displays to 30" desktop versions, which all provide comfortable freedom of movement for the viewer along with excellent 3D image quality.

  8. Quality of life after percutaneous coronary intervention: part 1.

    PubMed

    Cassar, Stephen; R Baldacchino, Donia

    Quality of life (QOL) is a complex concept comprised of biopsychosocial, spiritual and environmental dimensions. However, the majority of research addresses only its physical function perspectives. This two-part series examines the holistic perspective of QOL of patients after percutaneous coronary intervention (PCI). Part 1 explains the research process of a cross-sectional descriptive study and its limitations. Data were collected by a mailed WHOQOL-BREF questionnaire in Maltese from a systematic sample of patients who had undergone PCI; the response rate was 64% (n=228; males n=169, females n=59, age 40-89 years). Part 1 also considers limitations, such as its cross-sectional design and retrospective data collection. The hierarchy of human needs theory (Maslow, 1999) guided the study. Part 2 gives the findings on the holistic view of QOL. Having social and family support, as a characteristic of Maltese culture appeared to contribute towards a better QOL. PMID:23123651

  9. MRI-guided robotics at the U of Houston: evolving methodologies for interventions and surgeries.

    PubMed

    Tsekos, Nikolaos V

    2009-01-01

    Currently, we witness the rapid evolution of minimally invasive surgeries (MIS) and image guided interventions (IGI) for offering improved patient management and cost effectiveness. It is well recognized that sustaining and expand this paradigm shift would require new computational methodology that integrates sensing with multimodal imaging, actively controlled robotic manipulators, the patient and the operator. Such approach would include (1) assessing in real-time tissue deformation secondary to the procedure and physiologic motion, (2) monitoring the tool(s) in 3D, and (3) on-the-fly update information about the pathophysiology of the targeted tissue. With those capabilities, real time image guidance may facilitate a paradigm shift and methodological leap from "keyhole" visualization (i.e. endoscopy or laparoscopy) to one that uses a volumetric and informational rich perception of the Area of Operation (AoO). This capability may eventually enable a wider range and level of complexity IGI and MIS. PMID:19964404

  10. Diagnostic and interventional musculoskeletal ultrasound: part 2. Clinical applications.

    PubMed

    Smith, Jay; Finnoff, Jonathan T

    2009-02-01

    Musculoskeletal ultrasound involves the use of high-frequency sound waves to image soft tissues and bony structures in the body for the purposes of diagnosing pathology or guiding real-time interventional procedures. Recently, an increasing number of physicians have integrated musculoskeletal ultrasound into their practices to facilitate patient care. Technological advancements, improved portability, and reduced costs continue to drive the proliferation of ultrasound in clinical medicine. This increased interest creates a need for education pertaining to all aspects of musculoskeletal ultrasound. The primary purpose of this article is to review diagnostic ultrasound technology and its potential clinical applications in the evaluation and treatment of patients with neurological and musculoskeletal disorders. After reviewing this article, physicians should be able to (1) list the advantages and disadvantages of ultrasound compared to other available imaging modalities; (2) describe how ultrasound machines produce images using sound waves; (3) discuss the steps necessary to acquire and optimize an ultrasound image; (4) understand the difference ultrasound appearances of tendons, nerves, muscles, ligaments, blood vessels, and bones; and (5) identify multiple applications for diagnostic and interventional musculoskeletal ultrasound. Part 2 of this 2-part article will focus on the clinical applications of musculoskeletal ultrasound in clinical practice, including the ultrasonographic appearance of normal and abnormal tissues as well as specific diagnostic and interventional applications in major body regions. PMID:19627890

  11. Diagnostic and interventional musculoskeletal ultrasound: part 1. Fundamentals.

    PubMed

    Smith, Jay; Finnoff, Jonathan T

    2009-01-01

    Musculoskeletal ultrasound involves the use of high-frequency sound waves to image soft tissues and bony structures in the body for the purposes of diagnosing pathology or guiding real-time interventional procedures. Recently, an increasing number of physicians have integrated musculoskeletal ultrasound into their practices to facilitate patient care. Technological advancements, improved portability, and reduced costs continue to drive the proliferation of ultrasound in clinical medicine. This increased interest creates a need for education pertaining to all aspects of musculoskeletal ultrasound. The primary purpose of this article is to review diagnostic ultrasound technology and its potential clinical applications in the evaluation and treatment of patients with neurologic and musculoskeletal disorders. After reviewing this article, physicians should be able to (1) list the advantages and disadvantages of ultrasound compared with other available imaging modalities, (2) describe how ultrasound machines produce images using sound waves, (3) discuss the steps necessary to acquire and optimize an ultrasound image, (4) understand the different ultrasound appearances of tendons, nerves, muscles, ligaments, blood vessels, and bones, and (5) identify multiple applications for diagnostic and interventional musculoskeletal ultrasound in musculoskeletal practice. Part 1 of this 2-part article reviews the fundamentals of clinical ultrasonographic imaging, including relevant physics, equipment, training, image optimization, and scanning principles for diagnostic and interventional purposes. PMID:19627875

  12. Design of an MRI-compatible robotic stereotactic device for minimally invasive interventions in the breast.

    PubMed

    Larson, Blake T; Erdman, Arthur G; Tsekos, Nikolaos V; Yacoub, Essa; Tsekos, Panagiotis V; Koutlas, Ioannis G

    2004-08-01

    The objective of this work was to develop a robotic device to perform biopsy and therapeutic interventions in the breast with real-time magnetic resonance imaging (MRI) guidance. The device was designed to allow for (i) stabilization of the breast by compression, (ii) definition of the interventional probe trajectory by setting the height and pitch of a probe insertion apparatus, and (iii) positioning of an interventional probe by setting the depth of insertion. The apparatus is fitted with five computer-controlled degrees of freedom for delivering an interventional procedure. The entire device is constructed of MR compatible materials, i.e. nonmagnetic and non-conductive, to eliminate artifacts and distortion of the MR images. The apparatus is remotely controlled by means of ultrasonic motors and a graphical user interface, providing real-time MR-guided planning and monitoring of the operation. Joint motion measurements found probe placement in less than 50 s and sub-millimeter repeatability of the probe tip for same-direction point-to-point movements. However, backlash in the rotation joint may incur probe tip positional errors of up to 5 mm at a distance of 40 mm from the rotation axis, which may occur for women with large breasts. The imprecision caused by this backlash becomes negligible as the probe tip nears the rotation axis. Real-time MR-guidance will allow the physician to correct this error Compatibility of the device within the MR environment was successfully tested on a 4 Tesla MR human scanner PMID:15543863

  13. Experiments in Aligning Threaded Parts Using a Robot Hand

    NASA Technical Reports Server (NTRS)

    Diftler, M. A.; Walker, I. D.

    1999-01-01

    Techniques for determining and correcting threaded part alignment using force and angular position data are developed to augment currently limited techniques for align- ing threaded parts. These new techniques are based on backspinning a nut with respect to a bolt and measuring the force change that occurs when the bolt "falls" into the nut. Kinematic models that describe the relationship between threaded parts during backspinning are introduced and are used to show how angular alignment may be determined. The models indicate how to distinguish between the aligned and misaligned cases of a bolt and a nut connection by using axial force data only. In addition, by tracking the in-plane relative attitude of the bolt during spinning, data can be obtained on the direction of the angular misalignment which, in turn, is used to correct the misalignment. Results from experiments using a bolt held in a specialized fixture and a three fingers Stanford/JPL hand are presented.

  14. Intelligent robots; Proceedings of the Third International Conference on Robot Vision and Sensory Controls RoViSeC3, Cambridge, MA, November 7-10, 1983. Parts 1 & 2

    NASA Astrophysics Data System (ADS)

    Casasent, D. P.; Hall, E. L.

    1984-01-01

    Aspects of pattern recognition for intelligent robots are discussed, taking into account linear algebra based object recognition algorithms for computer vision, planar object recognition by the computer vision method, real time textured-image segmentation based on noncausal Markovian random field models, model driven vision to control a surface finishing robot, robotic acquisition of jumbled parts from bins by visual and tactile guidance, and imaging using eddy current sensors. Other subjects explored are related to curved object recognition for robot vision, robot image understanding, robot applications, three-dimensional measurements for robot vision, robot vision, tactile and multirobot sensors, and precision robot vision measurements. Attention is given to mode locked lasers in modulation rangefinders, advanced architectures for factory vision, hierarchical contour coding and generalization of shape, problems in three-dimensional imaging, a vision system to identify car body types for a spray painting robot, and an adaptive gas metal arc welder.

  15. Intelligent robots. Proceedings of the Third International Conference on Robot Vision and Sensory Controls RoViSeC3, Cambridge, MA, November 7-10, 1983. Parts 1 and 2

    SciTech Connect

    Casasent, D.P.; Hall, E.L.

    1984-01-01

    Aspects of pattern recognition for intelligent robots are discussed, taking into account linear algebra based object recognition algorithms for computer vision, planar object recognition by the computer vision method, real time textured-image segmentation based on noncausal Markovian random field models, model driven vision to control a surface finishing robot, robotic acquisition of jumbled parts from bins by visual and tactile guidance, and imaging using eddy current sensors. Other subjects explored are related to curved object recognition for robot vision, robot image understanding, robot applications, three-dimensional measurements for robot vision, robot vision, tactile and multirobot sensors, and precision robot vision measurements. Attention is given to mode locked lasers in modulation rangefinders, advanced architectures for factory vision, hierarchical contour coding and generalization of shape, problems in three-dimensional imaging, a vision system to identify car body types for a spray painting robot, and an adaptive gas metal arc welder.

  16. Treatment and technical intervention time analysis of a robotic stereotactic radiotherapy system.

    PubMed

    Crop, F; Lacornerie, T; Szymczak, H; Felin, A; Bailleux, C; Mirabel, X; Lartigau, E

    2014-02-01

    The purpose of this study is to obtain a better operational knowledge of Stereotactic Body Radiotherapy (SBRT) treatments with CyberKnife(r). An analysis of both In-room Times (IRT) and technical interventions of 5 years of treatments was performed, during which more than 1600 patients were treated for various indications, including liver (21%), lung (29%), intracranial (13%), head and neck (11%) and prostate (7%). Technical interventions were recorded along with the time of the failure, time to the intervention, and the complexity and duration of the repair. Analyses of Time Between Failures (TBF) and Service Disrupting TBF(disr) were performed. Treatment time data and variability per indication and following different system upgrades were evaluated. Large variations of IRTs were found between indications, but also large variations for each indication. The combination of the time reduction Tool (using Iris(r)) and Improved Stop Handling was of major impact to shortening of treatment times. The first implementation of the Iris collimator alone did not lead to significantly shorter IRTs for us except during prostate treatments. This was mostly due to the addition at the same time of larger rotational compensation for prostate treatments (58 instead of 1.58). Significant differences of duration between the first fraction and following fractions of a treatment, representing the necessity of defining imaging parameters and explanation to patients, were found for liver (12 min) and lung treatments using Xsight(r) Spine (5 min). Liver and lung treatments represent the longest IRT's and involve the largest variability's in IRT. The malfunction rate of the system followed a Weibull distribution with the shape and scale parameters of 0.8 and 39.7. Mean TBF(disr) was 68 work hours. 60 to 80% of the service disrupting interventions were resolved within 30-60 min, 5% required external intervention and 30% occurred in the morning. The presented results can be applied in the

  17. Interactive autonomy and robotic skills

    NASA Technical Reports Server (NTRS)

    Kellner, A.; Maediger, B.

    1994-01-01

    Current concepts of robot-supported operations for space laboratories (payload servicing, inspection, repair, and ORU exchange) are mainly based on the concept of 'interactive autonomy' which implies autonomous behavior of the robot according to predefined timelines, predefined sequences of elementary robot operations and within predefined world models supplying geometrical and other information for parameter instantiation on the one hand, and the ability to override and change the predefined course of activities by human intervention on the other hand. Although in principle a very powerful and useful concept, in practice the confinement of the robot to the abstract world models and predefined activities appears to reduce the robot's stability within real world uncertainties and its applicability to non-predefined parts of the world, calling for frequent corrective interaction by the operator, which in itself may be tedious and time-consuming. Methods are presented to improve this situation by incorporating 'robotic skills' into the concept of interactive autonomy.

  18. Preclinical evaluation of an MRI-compatible pneumatic robot for angulated needle placement in transperineal prostate interventions

    PubMed Central

    Tokuda, Junichi; Song, Sang-Eun; Fischer, Gregory S.; Iordachita, Iulian; Seifabadi, Reza; Cho, Bong Joon; Tuncali, Kemal; Fichtinger, Gabor; Tempany, Clare M.; Hata, Nobuhiko

    2013-01-01

    Purpose To evaluate the targeting accuracy of a small profile MRI-compatible pneumatic robot for needle placement that can angulate a needle insertion path into a large accessible target volume. Methods We extended our MRI-compatible pneumatic robot for needle placement to utilize its four degrees-of-freedom (4-DOF) mechanism with two parallel triangular structures and support transperineal prostate biopsies in a closed-bore magnetic resonance imaging (MRI) scanner. The robot is designed to guide a needle towards a lesion so that a radiologist can manually insert it in the bore. The robot is integrated with navigation software that allows an operator to plan angulated needle insertion by selecting a target and an entry point. The targeting error was evaluated while the angle between the needle insertion path and the static magnetic field was between −5.7° and 5.7° horizontally and between −5.7° and 4.3° vertically in the MRI scanner after sterilizing and draping the device. Results The robot positioned the needle for angulated insertion as specified on the navigation software with overall targeting error of 0.8 ± 0.5 mm along the horizontal axis and 0.8 ± 0.8 mm along the vertical axis. The two-dimensional root-mean-square targeting error on the axial slices as containing the targets was 1.4 mm. Conclusions Our preclinical evaluation demonstrated that the MRI-compatible pneumatic robot for needle placement with the capability to angulate the needle insertion path provides targeting accuracy feasible for clinical MRI-guided prostate interventions. The clinical feasibility has to be established in a clinical study. PMID:22678723

  19. Development and Evaluation of an Actuated MRI-Compatible Robotic System for MRI-Guided Prostate Intervention.

    PubMed

    Krieger, Axel; Song, Sang-Eun; Cho, Nathan B; Iordachita, Iulian; Guion, Peter; Fichtinger, Gabor; Whitcomb, Louis L

    2012-09-12

    This paper reports the design, development, and magnetic resonance imaging (MRI) compatibility evaluation of an actuated transrectal prostate robot for MRI-guided needle intervention in the prostate. The robot performs actuated needle MRI-guidance with the goals of providing (i) MRI compatibility, (ii) MRI-guided needle placement with accuracy sufficient for targeting clinically significant prostate cancer foci, (iii) reducing interventional procedure times (thus increasing patient comfort and reducing opportunity for needle targeting error due to patient motion), (iv) enabling real-time MRI monitoring of interventional procedures, and (v) reducing the opportunities for error that arise in manually actuated needle placement. The design of the robot, employing piezo-ceramic-motor actuated needle guide positioning and manual needle insertion, is reported. Results of a MRI compatibility study show no reduction of MRI signal-to-noise-ratio (SNR) with the motors disabled. Enabling the motors reduces the SNR by 80% without RF shielding, but SNR is only reduced by 40% to 60% with RF shielding. The addition of radio-frequency shielding is shown to significantly reduce image SNR degradation caused by the presence of the robotic device. An accuracy study of MRI-guided biopsy needle placements in a prostate phantom is reported. The study shows an average in-plane targeting error of 2.4 mm with a maximum error of 3.7 mm. These data indicate the system's needle targeting accuracy is similar to that obtained with a previously reported manually actuated system, and is sufficient to reliably sample clinically significant prostate cancer foci under MRI-guidance. PMID:23326181

  20. Development and Evaluation of an Actuated MRI-Compatible Robotic System for MRI-Guided Prostate Intervention

    PubMed Central

    Krieger, Axel; Song, Sang-Eun; Cho, Nathan B.; Iordachita, Iulian; Guion, Peter; Fichtinger, Gabor; Whitcomb, Louis L.

    2012-01-01

    This paper reports the design, development, and magnetic resonance imaging (MRI) compatibility evaluation of an actuated transrectal prostate robot for MRI-guided needle intervention in the prostate. The robot performs actuated needle MRI-guidance with the goals of providing (i) MRI compatibility, (ii) MRI-guided needle placement with accuracy sufficient for targeting clinically significant prostate cancer foci, (iii) reducing interventional procedure times (thus increasing patient comfort and reducing opportunity for needle targeting error due to patient motion), (iv) enabling real-time MRI monitoring of interventional procedures, and (v) reducing the opportunities for error that arise in manually actuated needle placement. The design of the robot, employing piezo-ceramic-motor actuated needle guide positioning and manual needle insertion, is reported. Results of a MRI compatibility study show no reduction of MRI signal-to-noise-ratio (SNR) with the motors disabled. Enabling the motors reduces the SNR by 80% without RF shielding, but SNR is only reduced by 40% to 60% with RF shielding. The addition of radio-frequency shielding is shown to significantly reduce image SNR degradation caused by the presence of the robotic device. An accuracy study of MRI-guided biopsy needle placements in a prostate phantom is reported. The study shows an average in-plane targeting error of 2.4 mm with a maximum error of 3.7 mm. These data indicate the system’s needle targeting accuracy is similar to that obtained with a previously reported manually actuated system, and is sufficient to reliably sample clinically significant prostate cancer foci under MRI-guidance. PMID:23326181

  1. Modelling of a biologically inspired robotic fish driven by compliant parts.

    PubMed

    El Daou, Hadi; Salumäe, Taavi; Chambers, Lily D; Megill, William M; Kruusmaa, Maarja

    2014-03-01

    Inspired by biological swimmers such as fish, a robot composed of a rigid head, a compliant body and a rigid caudal fin was built. It has the geometrical properties of a subcarangiform swimmer of the same size. The head houses a servo-motor which actuates the compliant body and the caudal fin. It achieves this by applying a concentrated moment on a point near the compliant body base. In this paper, the dynamics of the compliant body driving the robotic fish is modelled and experimentally validated. Lighthill's elongated body theory is used to define the hydrodynamic forces on the compliant part and Rayleigh proportional damping is used to model damping. Based on the assumed modes method, an energetic approach is used to write the equations of motion of the compliant body and to compute the relationship between the applied moment and the resulting lateral deflections. Experiments on the compliant body were carried out to validate the model predictions. The results showed that a good match was achieved between the measured and predicted deformations. A discussion of the swimming motions between the real fish and the robot is presented. PMID:24451164

  2. Brief Report: Development of a Robotic Intervention Platform for Young Children with ASD

    ERIC Educational Resources Information Center

    Warren, Zachary; Zheng, Zhi; Das, Shuvajit; Young, Eric M.; Swanson, Amy; Weitlauf, Amy; Sarkar, Nilanjan

    2015-01-01

    Increasingly researchers are attempting to develop robotic technologies for children with autism spectrum disorder (ASD). This pilot study investigated the development and application of a novel robotic system capable of dynamic, adaptive, and autonomous interaction during imitation tasks with embedded real-time performance evaluation and…

  3. Brief Report: Development of a Robotic Intervention Platform for Young Children with ASD.

    PubMed

    Warren, Zachary; Zheng, Zhi; Das, Shuvajit; Young, Eric M; Swanson, Amy; Weitlauf, Amy; Sarkar, Nilanjan

    2015-12-01

    Increasingly researchers are attempting to develop robotic technologies for children with autism spectrum disorder (ASD). This pilot study investigated the development and application of a novel robotic system capable of dynamic, adaptive, and autonomous interaction during imitation tasks with embedded real-time performance evaluation and feedback. The system was designed to incorporate both a humanoid robot and a human examiner. We compared child performance within system across these conditions in a sample of preschool children with ASD (n = 8) and a control sample of typically developing children (n = 8). The system was well-tolerated in the sample, children with ASD exhibited greater attention to the robotic system than the human administrator, and for children with ASD imitation performance appeared superior during the robotic interaction. PMID:25503680

  4. Robotics

    NASA Technical Reports Server (NTRS)

    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

  5. Improving Collaborative Play Between Children with Autism Spectrum Disorders and Their Siblings: The Effectiveness of a Robot-Mediated Intervention Based on Lego® Therapy.

    PubMed

    Huskens, Bibi; Palmen, Annemiek; Van der Werff, Marije; Lourens, Tino; Barakova, Emilia

    2015-11-01

    The aim of the study was to investigate the effectiveness of a brief robot-mediated intervention based on Lego(®) therapy on improving collaborative behaviors (i.e., interaction initiations, responses, and play together) between children with ASD and their siblings during play sessions, in a therapeutic setting. A concurrent multiple baseline design across three child-sibling pairs was in effect. The robot-intervention resulted in no statistically significant changes in collaborative behaviors of the children with ASD. Despite limited effectiveness of the intervention, this study provides several practical implications and directions for future research. PMID:25428293

  6. Robotics

    NASA Technical Reports Server (NTRS)

    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.

  7. Integration and evaluation of a needle-positioning robot with volumetric microcomputed tomography image guidance for small animal stereotactic interventions

    SciTech Connect

    Waspe, Adam C.; McErlain, David D.; Pitelka, Vasek; Holdsworth, David W.; Lacefield, James C.; Fenster, Aaron

    2010-04-15

    Purpose: Preclinical research protocols often require insertion of needles to specific targets within small animal brains. To target biologically relevant locations in rodent brains more effectively, a robotic device has been developed that is capable of positioning a needle along oblique trajectories through a single burr hole in the skull under volumetric microcomputed tomography (micro-CT) guidance. Methods: An x-ray compatible stereotactic frame secures the head throughout the procedure using a bite bar, nose clamp, and ear bars. CT-to-robot registration enables structures identified in the image to be mapped to physical coordinates in the brain. Registration is accomplished by injecting a barium sulfate contrast agent as the robot withdraws the needle from predefined points in a phantom. Registration accuracy is affected by the robot-positioning error and is assessed by measuring the surface registration error for the fiducial and target needle tracks (FRE and TRE). This system was demonstrated in situ by injecting 200 {mu}m tungsten beads into rat brains along oblique trajectories through a single burr hole on the top of the skull under micro-CT image guidance. Postintervention micro-CT images of each skull were registered with preintervention high-field magnetic resonance images of the brain to infer the anatomical locations of the beads. Results: Registration using four fiducial needle tracks and one target track produced a FRE and a TRE of 96 and 210 {mu}m, respectively. Evaluation with tissue-mimicking gelatin phantoms showed that locations could be targeted with a mean error of 154{+-}113 {mu}m. Conclusions: The integration of a robotic needle-positioning device with volumetric micro-CT image guidance should increase the accuracy and reduce the invasiveness of stereotactic needle interventions in small animals.

  8. Basic Robotics.

    ERIC Educational Resources Information Center

    Mullen, Frank

    This curriculum outline consists of instructional materials and information concerning resources for use in teaching a course in robotics. Addressed in the individual sections of the outline are the following topics: the nature of an industrial robot; the parts of an industrial robot (the manipulator, the power structure, and the control system);…

  9. Operation and force analysis of the guide wire in a minimally invasive vascular interventional surgery robot system

    NASA Astrophysics Data System (ADS)

    Yang, Xue; Wang, Hongbo; Sun, Li; Yu, Hongnian

    2015-03-01

    To develop a robot system for minimally invasive surgery is significant, however the existing minimally invasive surgery robots are not applicable in practical operations, due to their limited functioning and weaker perception. A novel wire feeder is proposed for minimally invasive vascular interventional surgery. It is used for assisting surgeons in delivering a guide wire, balloon and stenting into a specific lesion location. By contrasting those existing wire feeders, the motion methods for delivering and rotating the guide wire in blood vessel are described, and their mechanical realization is presented. A new resistant force detecting method is given in details. The change of the resistance force can help the operator feel the block or embolism existing in front of the guide wire. The driving torque for rotating the guide wire is developed at different positions. Using the CT reconstruction image and extracted vessel paths, the path equation of the blood vessel is obtained. Combining the shapes of the guide wire outside the blood vessel, the whole bending equation of the guide wire is obtained. That is a risk criterion in the delivering process. This process can make operations safer and man-machine interaction more reliable. A novel surgery robot for feeding guide wire is designed, and a risk criterion for the system is given.

  10. Robot assisted radical prostatectomy: how I do it. Part I: Patient preparation and positioning.

    PubMed

    Valdivieso, Roger F; Hueber, Pierre-Alain; Zorn, Kevin C

    2013-10-01

    Radical prostatectomy remains the standard treatment for long term cure of clinically localized prostate cancer, offering excellent oncologic outcomes, with cancer-specific survival approaching 95% at 15 years after surgery. The introduction of the "da Vinci Robotic Surgical System" (Intuitive Surgical, Sunnyvale, CA, USA) has been another important step toward a minimally invasive approach to radical prostatectomy. Technologic peculiarities, such as three-dimensional vision, wristed instrumentation with seven degrees of freedom of motion, lack of tremor, a 10x-magnification and a comfortable seated position for the surgeon has added value to the surgeon and patient. In this first part of a two article series, we describe preoperative patient preparation and positioning protocols for robot assisted radical prostatectomy (RARP) that are currently used in our institution (University of Montreal Hospital Center (CHUM)-Hopital St-Luc). We use the four-arm da Vinci Si Surgical System. Our experience with RARP is now over 250 cases with the senior surgeon having performed over 1200 RARPs and we have continually refined our technique to improve patient outcomes. PMID:24128839

  11. Design of micro robots with microgrippers for manipulation of micro-parts

    NASA Astrophysics Data System (ADS)

    Nah, Siew Kuan; Zhong, Zhaowei

    2005-04-01

    In this paper, a design of a micro-robot system with microgrippers for the purpose of manipulation of micro-parts is proposed. The methodology includes the integration of micro-actuators for micromanipulation tasks of requirements that will involve small size, low weight, high resolution, high linearity and high accuracy. The combination of micro-assembly stages and microgrippers with CNC technology will allow the fixing of a microgripper onto a CNC robot. In order to minimize the size of the microgripper, the structure is fabricated as a monolithic piece with elastic flexure hinges. The microgripper mechanism consists of flexure notch hinges and parallel movement of the gripping arms. These elements transmit the gripping force and gripping motion and realize a good mechanical advantage ratio. The compliant mechanism system of the microgrippers is analyzed using a theoretical pseudo-rigid-body model and flexural hinge equation to investigate and predict the displacement and force relationships between the inputs and the outputs. In addition, a finite element study is done on the mechanism model to compare with the theoretical results.

  12. An Occupation and Participation Approach to Reading Intervention (OPARI) Part II: Pilot Clinical Application

    ERIC Educational Resources Information Center

    Grajo, Lenin C.; Candler, Catherine

    2016-01-01

    The Occupation and Participation Approach to Reading Intervention (OPARI) is an intervention approach for children with reading difficulties that emphasizes reading as an important occupation of children. Part I presented the theoretical basis of the OPARI. Part II describes a pilot clinical application of the OPARI. Guided by Schkade and…

  13. Empirically Supported Interventions and School Psychology: Rationale and Methodological Issues--Part II.

    ERIC Educational Resources Information Center

    Kratochwill, Thomas R.; Stoiber, Karen Callan

    2000-01-01

    This paper, part two of a two-part article, presents conceptual and practice issues on the use of empirically supported interventions in school and community settings. Discusses the essential practice issues, given the dual goal of advancing research in empirically supported interventions and of producing a knowledge base that has direct meaning…

  14. Diet and psoriasis, part I: Impact of weight loss interventions.

    PubMed

    Debbaneh, Maya; Millsop, Jillian W; Bhatia, Bhavnit K; Koo, John; Liao, Wilson

    2014-07-01

    One of the most frequently asked questions by patients with psoriasis is whether dietary changes can improve their condition. Included in this discussion is whether dietary weight loss can benefit their skin disease. Obesity has been associated with a proinflammatory state and several studies have demonstrated a relationship between body mass index and psoriasis severity. However, the question of whether weight loss interventions can impact psoriasis outcome is less clear. Here, we review the literature to examine the efficacy of weight loss interventions, both dietary and surgical, on psoriasis disease course. PMID:24709272

  15. Task-level robot programming: Integral part of evolution from teleoperation to autonomy

    NASA Technical Reports Server (NTRS)

    Reynolds, James C.

    1987-01-01

    An explanation is presented of task-level robot programming and of how it differs from the usual interpretation of task planning for robotics. Most importantly, it is argued that the physical and mathematical basis of task-level robot programming provides inherently greater reliability than efforts to apply better known concepts from artificial intelligence (AI) to autonomous robotics. Finally, an architecture is presented that allows the integration of task-level robot programming within an evolutionary, redundant, and multi-modal framework that spans teleoperation to autonomy.

  16. So Long, Robot Reader! A Superhero Intervention Plan for Improving Fluency

    ERIC Educational Resources Information Center

    Marcell, Barclay; Ferraro, Christine

    2013-01-01

    This article presents an engaging means for turning disfluent readers into prosody superstars. Each week students align with Poetry Power Man and his superhero friends to battle the evil Robot Reader and his sidekicks. The Fluency Foursome helps students adhere to the multidimensional aspects of fluency where expression and comprehension are…

  17. Reducing Youth Gun Violence. Part One--An Overview [and] Part Two--Prevention and Intervention Programs.

    ERIC Educational Resources Information Center

    McEvoy, Alan, Ed.

    1996-01-01

    This document contains two issues of a journal on reducing youth gun violence, reprinted from a report by the U.S. Department of Justice. The first issue, part one, provides an overview of programs and initiatives. The second issue, part two, describes prevention and intervention programs. To reduce violence and build healthy communities requires…

  18. A Model Based Approach to Increase the Part Accuracy in Robot Based Incremental Sheet Metal Forming

    SciTech Connect

    Meier, Horst; Laurischkat, Roman; Zhu Junhong

    2011-01-17

    One main influence on the dimensional accuracy in robot based incremental sheet metal forming results from the compliance of the involved robot structures. Compared to conventional machine tools the low stiffness of the robot's kinematic results in a significant deviation of the planned tool path and therefore in a shape of insufficient quality. To predict and compensate these deviations offline, a model based approach, consisting of a finite element approach, to simulate the sheet forming, and a multi body system, modeling the compliant robot structure, has been developed. This paper describes the implementation and experimental verification of the multi body system model and its included compensation method.

  19. Improving Collaborative Play between Children with Autism Spectrum Disorders and Their Siblings: The Effectiveness of a Robot-Mediated Intervention Based on Lego® Therapy

    ERIC Educational Resources Information Center

    Huskens, Bibi; Palmen, Annemiek; Van der Werff, Marije; Lourens, Tino; Barakova, Emilia

    2015-01-01

    The aim of the study was to investigate the effectiveness of a brief robot-mediated intervention based on Lego® therapy on improving collaborative behaviors (i.e., interaction initiations, responses, and play together) between children with ASD and their siblings during play sessions, in a therapeutic setting. A concurrent multiple baseline design…

  20. Robotic intelligence kernel

    SciTech Connect

    Bruemmer, David J.

    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.

  1. 3D geometrical inspection of complex geometry parts using a novel laser triangulation sensor and a robot.

    PubMed

    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. PMID:22346569

  2. 3D Geometrical Inspection of Complex Geometry Parts Using a Novel Laser Triangulation Sensor and a Robot

    PubMed Central

    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. PMID:22346569

  3. Integrating socially assistive robotics into mental healthcare interventions: applications and recommendations for expanded use.

    PubMed

    Rabbitt, Sarah M; Kazdin, Alan E; Scassellati, Brian

    2015-02-01

    As a field, mental healthcare is faced with major challenges as it attempts to close the huge gap between those who need services and those who receive services. In recent decades, technological advances have provided exciting new resources in this battle. Socially assistive robotics (SAR) is a particularly promising area that has expanded into several exciting mental healthcare applications. Indeed, a growing literature highlights the variety of clinically relevant functions that these robots can serve, from companion to therapeutic play partner. This paper reviews the ways that SAR have already been used in mental health service and research and discusses ways that these applications can be expanded. We also outline the challenges and limitations associated with further integrating SAR into mental healthcare. SAR is not proposed as a replacement for specially trained and knowledgeable professionals nor is it seen as a panacea for all mental healthcare needs. Instead, robots can serve as clinical tools and assistants in a wide range of settings. Given the dramatic growth in this area, now is a critical moment for individuals in the mental healthcare community to become engaged in this research and steer it toward our field's most pressing clinical needs. PMID:25462112

  4. A MR-conditional High-torque Pneumatic Stepper Motor for MRI-guided and Robot-assisted Intervention

    PubMed Central

    Chen, Yue; Kwok, Ka-Wai; Tse, Zion Tsz Ho

    2015-01-01

    Magnetic Resonance Imaging allows for visualizing detailed pathological and morphological changes of soft tissue. This increasingly attracts attention on MRI-guided intervention; hence, MR-conditional actuations have been widely investigated for development of image-guided and robot-assisted surgical devices under the MRI. This paper presents a simple design of MR-conditional stepper motor which can provide precise and high-torque actuation without adversely affecting the MR image quality. This stepper motor consists of two MR-conditional pneumatic cylinders and the corresponding supporting structures. Alternating the pressurized air can drive the motor to rotate each step in 3.6° with the motor coupled to a planetary gearbox. Experimental studies were conducted to validate its dynamics performance. Maximum 800mNm output torque can be achieved. The motor accuracy independently varied by two factors: motor operating speed and step size, was also investigated. The motor was tested within a Siemens 3T MRI scanner. The image artifact and the signal-to-noise ratio (SNR) were evaluated in order to study its MRI compliancy. The results show that the presented pneumatic stepper motor generated 2.35% SNR reduction in MR images and no observable artifact was presented besides the motor body itself. The proposed motor test also demonstrates a standard to evaluate the motor capability for later incorporation with motorized devices used in robot-assisted surgery under MRI. PMID:24957635

  5. Design and characteristics evaluation of a novel teleoperated robotic catheterization system with force feedback for vascular interventional surgery.

    PubMed

    Guo, Jian; Guo, Shuxiang; Yu, Yang

    2016-10-01

    In this paper, we proposed a novel master-slave robotic catheterization system with force feedback for VIS (Vascular Interventional Surgery). The force feedback to the operator on the master side is the key factor to improve the safety during VIS. The developed system used the MR (magneto rheological) fluid to realize force feedback, and it used the developed multidimensional monitoring interface to realize the visualization of force feedback, the developed multidimensional monitoring interface can monitor the motion information of the catheter and contact force between catheter tip or side wall and blood vessel wall, and the motion data of the catheter was collected and generated diagram for reference to surgeon. We have developed a force sensor array to detect the contact force between catheter tip or side wall and blood vessel wall. The force information was detected by the developed contact force sensor array when the catheter contacted with the blood vessel. The force feedback and multidimensional information monitoring interface evaluation experiments were done, the tracking characteristic evaluation experiments were also carried out, the experimental results indicated that the developed novel robotic catheterization system with force feedback and visualization of force feedback is effective for VIS, it can improve the safety during VIS. PMID:27499092

  6. EFSUMB Guidelines on Interventional Ultrasound (INVUS), Part I. General Aspects (long Version).

    PubMed

    Lorentzen, T; Nolsøe, C P; Ewertsen, C; Nielsen, M B; Leen, E; Havre, R F; Gritzmann, N; Brkljacic, B; Nürnberg, D; Kabaalioglu, A; Strobel, D; Jenssen, C; Piscaglia, F; Gilja, O H; Sidhu, P S; Dietrich, C F

    2015-10-01

    This is the first part of the Guidelines on Interventional Ultrasound of the European Federation of Societies for Ultrasound in Medicine and Biology (EFSUMB) and covers all general aspects of ultrasound-guided procedures (long version). PMID:26468774

  7. EFSUMB Guidelines on Interventional Ultrasound (INVUS), Part III - Abdominal Treatment Procedures (Short Version).

    PubMed

    Dietrich, C F; Lorentzen, T; Appelbaum, L; Buscarini, E; Cantisani, V; Correas, J M; Cui, X W; D'Onofrio, M; Gilja, O H; Hocke, M; Ignee, A; Jenssen, C; Kabaalioğlu, A; Leen, E; Nicolau, C; Nolsøe, C P; Radzina, M; Serra, C; Sidhu, P S; Sparchez, Z; Piscaglia, F

    2016-02-01

    The third part of the European Federation of Societies for Ultrasound in Medicine and Biology (EFSUMB) Guidelines on Interventional Ultrasound assesses the evidence for ultrasound-guided and assisted interventions in abdominal treatment procedures. Recommendations for clinical practice are presented covering indications, contraindications, safety and efficacy of the broad variety of these techniques. In particular, drainage of abscesses and fluid collections, interventional tumor ablation techniques, interventional treatment of symptomatic cysts and echinococcosis, percutaneous transhepatic cholangiography and drainage, percutaneous gastrostomy, urinary bladder drainage, and nephrostomy are addressed (short version; a long version is published online). PMID:26871408

  8. EFSUMB Guidelines on Interventional Ultrasound (INVUS), Part III - Abdominal Treatment Procedures (Long Version).

    PubMed

    Dietrich, C F; Lorentzen, T; Appelbaum, L; Buscarini, E; Cantisani, V; Correas, J M; Cui, X W; D'Onofrio, M; Gilja, O H; Hocke, M; Ignee, A; Jenssen, C; Kabaalioğlu, A; Leen, E; Nicolau, C; Nolsøe, C P; Radzina, M; Serra, C; Sidhu, P S; Sparchez, Z; Piscaglia, F

    2016-02-01

    The third part of the European Federation of Societies for Ultrasound in Medicine and Biology (EFSUMB) Guidelines on Interventional Ultrasound (INVUS) assesses the evidence for ultrasound-guided and assisted interventions in abdominal treatment procedures. Recommendations for clinical practice are presented covering indications, contraindications, and safe and effective performance of the broad variety of these techniques. In particular, drainage of abscesses and fluid collections, interventional tumor ablation techniques, interventional treatment of symptomatic cysts and echinococcosis, percutaneous transhepatic cholangiography and drainage, percutaneous gastrostomy, urinary bladder drainage, and nephrostomy are addressed (long version). PMID:26670019

  9. 75 FR 68613 - Part C Early Intervention Services Grant

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-11-08

    ... be transferring Ryan White HIV/AIDS Program, Part C funds as a Non-Competitive Replacement Award, to... treatment services and avoid a disruption of HIV/AIDS clinical care to clients in East and Central Harlem... Health will receive $577,174 of fiscal year (FY) 2010 funds to ensure ongoing clinical HIV/ AIDS...

  10. Systematic review of occupational therapy-related interventions for people with multiple sclerosis: part 2. Impairment.

    PubMed

    Yu, Chih-Huang; Mathiowetz, Virgil

    2014-01-01

    This article is the second part of a systematic review of studies on occupational therapy-related intervention for people with multiple sclerosis (MS). The objective of this systematic review was to critically appraise and synthesize the applicable findings to address the following focused question: What is the evidence for the effectiveness of interventions within the scope of occupational therapy practice for people with multiple sclerosis? Part 1 (Yu & Mathiowetz, 2014) reviewed evidence for the effectiveness of activity- and participation-based interventions for people with MS. In contrast to the top-down approach, enabling occupational performance can be achieved through remediating impaired personal abilities. Therefore, Part 2 focuses on occupational therapy interventions targeting impairment. Studies included in this review focused on improving client factors and performance skills in people with MS, including cognition, emotional regulation, and motor and praxis skills. PMID:24367953

  11. Concept for practical exercises for studying autonomous flying robots in a university environment: Part I

    NASA Astrophysics Data System (ADS)

    Band, Ricardo; Pleban, Johann; Schön, Stefan; Creutzburg, Reiner; Fischer, Arno

    2013-03-01

    The aim of this paper is to demonstrate the usefulness of a concept of practical exercises for studying autonomous flying robots for computer science students in a university environment. It will show how students may assemble, program, fly, network and apply autonomous flying robots i.e. drones, quadrocopters, hexacopters, octocopters, helicopters, helicams, bugbots in different exercises, improve their skills, theoretical and practical knowledge in different aspects.

  12. An Occupation and Participation Approach to Reading Intervention (OPARI) Part I: Defining Reading as an Occupation

    ERIC Educational Resources Information Center

    Grajo, Lenin C.; Candler, Catherine

    2016-01-01

    This is the first of two papers that explore a role that occupational therapy can play in supporting children with reading challenges. Part I presents the grounding framework for an occupation and participation approach to reading intervention (OPARI) and serves to introduce the clinical application of the approach presented in Part II. In this…

  13. Towards explaining the health impacts of residential energy efficiency interventions - A realist review. Part 1: Pathways.

    PubMed

    Willand, Nicola; Ridley, Ian; Maller, Cecily

    2015-05-01

    This paper is Part 1 of a realist review that tries to explain the impacts of residential energy efficiency interventions (REEIs) on householder health. According to recent systematic reviews residential energy efficiency interventions may benefit health. It is argued that home energy improvement are complex interventions and that a better understanding of the latent mechanisms and contextual issues that may shape the outcome of interventions is needed for effective intervention design. This realist review synthesises the results of 28 energy efficiency improvement programmes. This first part provides a review of the explanatory factors of the three key pathways, namely warmth in the home, affordability of fuel and psycho-social factors, and the pitfall of inadequate indoor air quality. The review revealed that REEIs improved winter warmth and lowered relative humidity with benefits for cardiovascular and respiratory health. In addition, residential energy efficiency improvements consolidated the meaning of the home as a safe haven, strengthened the householder's perceived autonomy and enhanced social status. Although satisfaction with the home proved to be an important explanation for positive mental health outcomes, financial considerations seemed to have played a secondary role. Evidence for negative impacts was rare but the risk should not be dismissed. Comprehensive refurbishments were not necessarily more effective than thermal retrofits or upgrades. A common protocol for the quantitative and qualitative evaluation of interventions would facilitate the synthesis of future studies. Householder and contextual influences are addressed in Part 2. PMID:25687402

  14. Personalized, relevance-based Multimodal Robotic Imaging and augmented reality for Computer Assisted Interventions.

    PubMed

    Navab, Nassir; Fellow, Miccai; Hennersperger, Christoph; Frisch, Benjamin; Fürst, Bernhard

    2016-10-01

    In the last decade, many researchers in medical image computing and computer assisted interventions across the world focused on the development of the Virtual Physiological Human (VPH), aiming at changing the practice of medicine from classification and treatment of diseases to that of modeling and treating patients. These projects resulted in major advancements in segmentation, registration, morphological, physiological and biomechanical modeling based on state of art medical imaging as well as other sensory data. However, a major issue which has not yet come into the focus is personalizing intra-operative imaging, allowing for optimal treatment. In this paper, we discuss the personalization of imaging and visualization process with particular focus on satisfying the challenging requirements of computer assisted interventions. We discuss such requirements and review a series of scientific contributions made by our research team to tackle some of these major challenges. PMID:27475417

  15. Parents' Judgments of the Acceptability and Importance of Socially Interactive Robots for Intervening with Young Children with Disabilities. Social Robots Research Reports, Number 1

    ERIC Educational Resources Information Center

    Dunst, Carl J.; Trivette, Carol M.; Prior, Jeremy; Hamby, Deborah W.; Embler, Davon

    2013-01-01

    A number of different types of socially interactive robots are being used as part of interventions with young children with disabilities to promote their joint attention and language skills. Parents' judgments of two dimensions (acceptance and importance) of the social validity of four different social robots were the focus of the study described…

  16. Child Factors Associated with Enrollment in Part C Early Intervention among Children Adopted from China

    ERIC Educational Resources Information Center

    Bruder, Mary Beth; Dunst, Carl J.; Mogro-Wilson, Cristina

    2009-01-01

    The provision of services under Part C of the Individuals With Disabilities Education Act is built on a premise that children benefit from early intervention. This article presents findings from a study of children adopted from China. Given information obtained from a survey, the researchers grouped children as (a) those who received early…

  17. EFSUMB Guidelines on Interventional Ultrasound (INVUS), Part I. General Aspects (Short Version).

    PubMed

    Lorentzen, T; Nolsøe, C P; Ewertsen, C; Nielsen, M B; Leen, E; Havre, R F; Gritzmann, N; Brkljacic, B; Nürnberg, D; Kabaalioglu, A; Strobel, D; Jenssen, C; Piscaglia, F; Gilja, O H; Sidhu, P S; Dietrich, C F

    2015-10-01

    This is the first part of the Guidelines on Interventional Ultrasound of the European Federation of Societies for Ultrasound in Medicine and Biology (EFSUMB) and covers all general aspects of ultrasound-guided procedures (short version; the long version is published online). PMID:26468772

  18. Design of a decoupled MRI-compatible force sensor using fiber bragg grating sensors for robot-assisted prostate interventions

    NASA Astrophysics Data System (ADS)

    Monfaredi, Reza; Seifabadi, Reza; Fichtinger, Gabor; Iordachita, Iulian

    2013-03-01

    During prostate needle insertion, the gland rotates and displaces resulting in needle placement inaccuracy. To compensate for this error, we proposed master-slave needle steering under real-time MRI in a previous study. For MRI-compatibility and accurate motion control, the master (and the slave) robot uses piezo actuators. These actuators however, are non-backdrivable. To cope with this issue, force sensor is required. Force sensor is also required at the slave side to reflect the insertion force to clinician's hand through the master robot. Currently, there is no MRI-compatible force sensor commercially available. In order to generate a combination of linear and rotary motions for needle steering, this study is seeking to develop a MRI-compatible 2 Degrees of Freedom (DOF) force/torque sensor. Fiber Brag Grating (FBG) strain measuring sensors which are proven to be MRI-compatible are used. The active element is made of phosphor-bronze and other parts are made of brass. The force and torque measurements are designed to be entirely decoupled. The sensor measures -20 to 20 N axial force with 0.1 N resolution, and -200 to 200 Nmm axial torque with 1 Nmm resolution. Analytical and Finite Element (FE) analyses are performed to ensure the strains are within the measurable range of the FBG sensors. The sensor is designed to be compact (diameter =15 mm, height =20 mm) and easy to handle and install. The proposed sensor is fabricated and calibrated using a commercial force/torque sensor.

  19. An MRI-compatible robotic system with hybrid tracking for MRI-guided prostate intervention.

    PubMed

    Krieger, Axel; Iordachita, Iulian I; Guion, Peter; Singh, Anurag K; Kaushal, Aradhana; Ménard, Cynthia; Pinto, Peter A; Camphausen, Kevin; Fichtinger, Gabor; Whitcomb, Louis L

    2011-11-01

    This paper reports the development, evaluation, and first clinical trials of the access to the prostate tissue (APT) II system-a scanner independent system for magnetic resonance imaging (MRI)-guided transrectal prostate interventions. The system utilizes novel manipulator mechanics employing a steerable needle channel and a novel six degree-of-freedom hybrid tracking method, comprising passive fiducial tracking for initial registration and subsequent incremental motion measurements. Targeting accuracy of the system in prostate phantom experiments and two clinical human-subject procedures is shown to compare favorably with existing systems using passive and active tracking methods. The portable design of the APT II system, using only standard MRI image sequences and minimal custom scanner interfacing, allows the system to be easily used on different MRI scanners. PMID:22009867

  20. An MRI-Compatible Robotic System With Hybrid Tracking for MRI-Guided Prostate Intervention

    PubMed Central

    Krieger, Axel; Iordachita, Iulian I.; Guion, Peter; Singh, Anurag K.; Kaushal, Aradhana; Ménard, Cynthia; Pinto, Peter A.; Camphausen, Kevin; Fichtinger, Gabor

    2012-01-01

    This paper reports the development, evaluation, and first clinical trials of the access to the prostate tissue (APT) II system—a scanner independent system for magnetic resonance imaging (MRI)-guided transrectal prostate interventions. The system utilizes novel manipulator mechanics employing a steerable needle channel and a novel six degree-of-freedom hybrid tracking method, comprising passive fiducial tracking for initial registration and subsequent incremental motion measurements. Targeting accuracy of the system in prostate phantom experiments and two clinical human-subject procedures is shown to compare favorably with existing systems using passive and active tracking methods. The portable design of the APT II system, using only standard MRI image sequences and minimal custom scanner interfacing, allows the system to be easily used on different MRI scanners. PMID:22009867

  1. Low-cost high-performance mobile robot design utilizing off-the-shelf parts and the Beowulf concept: the Beobot project

    NASA Astrophysics Data System (ADS)

    Mundhenk, Terrell N.; Ackerman, Christopher; Chung, Daesu; Dhavale, Nitin; Hudson, Brian; Hirata, Ried; Pichon, Eric; Shi, Zhan; Tsui, April; Itti, Laurent

    2003-10-01

    Utilizing off the shelf low cost parts, we have constructed a robot that is small, light, powerful and relatively inexpensive (< $3900). The system is constructed around the Beowulf concept of linking multiple discrete computing units into a single cooperative system. The goal of this project is to demonstrate a new robotics platform with sufficient computing resources to run biologically-inspired vision algorithms in real-time. This is accomplished by connecting two dual-CPU embedded PC motherboards using fast gigabit Ethernet. The motherboards contain integrated Firewire, USB and serial connections to handle camera, servomotor, GPS and other miscellaneous inputs/outputs. Computing systems are mounted on a servomechanism-controlled off-the-shelf "Off Road" RC car. Using the high performance characteristics of the car, the robot can attain relatively high speeds outdoors. The robot is used as a test platform for biologically-inspired as well as traditional robotic algorithms, in outdoor navigation and exploration activities. Leader following using multi blob tracking and segmentation, and navigation using statistical information and decision inference from image spectral information are discussed. The design of the robot is open-source and is constructed in a manner that enhances ease of replication. This is done to facilitate construction and development of mobile robots at research institutions where large financial resources may not be readily available as well as to put robots into the hands of hobbyists and help lead to the next stage in the evolution of robotics, a home hobby robot with potential real world applications.

  2. Robot assisted radical prostatectomy: how I do it. Part II: Surgical technique.

    PubMed

    Valdivieso, Roger F; Hueber, Pierre-Alain; Zorn, Kevin C

    2013-12-01

    The introduction of the "da Vinci Robotic Surgical System" (Intuitive Surgical, Sunnyvale, CA, USA) has been an important step towards a minimally invasive approach to radical prostatectomy. Technologic peculiarities, such as three-dimensional vision, wristed instrumentation with seven degrees of freedom of motion, lack of tremor, a 10x-magnification and a comfortable seated position for the surgeon has added value to the procedure for the surgeon and the patient. In this article, we describe the 9 step surgical technique for robot assisted radical prostatectomy (RARP) that is currently used in our institution (University of Montreal Hospital Center (CHUM) - Hopital St-Luc). We use the four-arm da Vinci Surgical System. Our experience with RARP is now over 250 cases with the senior surgeon having performed over 1200 RARPs and we have continually refined our technique to improve patient outcomes. PMID:24331353

  3. Simple robust control laws for robot manipulators. Part 1: Non-adaptive case

    NASA Technical Reports Server (NTRS)

    Wen, J. T.; Bayard, D. S.

    1987-01-01

    A new class of exponentially stabilizing control laws for joint level control of robot arms is introduced. It has been recently recognized that the nonlinear dynamics associated with robotic manipulators have certain inherent passivity properties. More specifically, the derivation of the robotic dynamic equations from the Hamilton's principle gives rise to natural Lyapunov functions for control design based on total energy considerations. Through a slight modification of the energy Lyapunov function and the use of a convenient lemma to handle third order terms in the Lyapunov function derivatives, closed loop exponential stability for both the set point and tracking control problem is demonstrated. The exponential convergence property also leads to robustness with respect to frictions, bounded modeling errors and instrument noise. In one new design, the nonlinear terms are decoupled from real-time measurements which completely removes the requirement for on-line computation of nonlinear terms in the controller implementation. In general, the new class of control laws offers alternatives to the more conventional computed torque method, providing tradeoffs between robustness, computation and convergence properties. Furthermore, these control laws have the unique feature that they can be adapted in a very simple fashion to achieve asymptotically stable adaptive control.

  4. 78 FR 25458 - Ryan White HIV/AIDS Program, Part C Early Intervention Services Grant Under the Ryan White HIV...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-05-01

    ... HUMAN SERVICES Health Resources and Services Administration Ryan White HIV/AIDS Program, Part C Early Intervention Services Grant Under the Ryan White HIV/AIDS Program AGENCY: Health Resources and Services Administration (HRSA), HHS. ACTION: Notice of Ryan White HIV/AIDS Program Part C Early Intervention Services...

  5. Concept for practical exercises for studying autonomous flying robots in a university environment: part II

    NASA Astrophysics Data System (ADS)

    Gageik, Nils; Dilger, Erik; Montenegro, Sergio; Schön, Stefan; Wildenhein, Rico; Creutzburg, Reiner; Fischer, Arno

    2015-03-01

    The present paper demonstrates the application of quadcopters as educational material for students in aerospace computer science, as it is already in usage today. The work with quadrotors teaches students theoretical and practical knowledge in the fields of robotics, control theory, aerospace and electrical engineering as well as embedded programming and computer science. For this the material, concept, realization and future view of such a course is discussed in this paper. Besides that, the paper gives a brief overview of student research projects following the course, which are related to the research and development of fully autonomous quadrotors.

  6. Potential impact of pharmacist interventions to reduce cost for Medicare Part D beneficiaries.

    PubMed

    Thatcher, Erin E; Vanwert, Elizabeth M; Erickson, Steven R

    2013-06-01

    The objective was to determine the impact of simulated pharmacist interventions on out-of-pocket cost, time to coverage gap, and cost per patient to the Medicare Part D program using actual patient cases from an adult general medicine clinic. Medication profiles of 100 randomly selected Medicare-eligible patients from a university-affiliated general internal medicine clinic were reviewed by a pharmacist to identify opportunities to cost-maximize the patients' therapies based on the plan. An online Part-D calculator, Aetna Medicare Rx Essentials, was used as the standard plan to determine medication cost and time to gap. The primary analysis was comparison of the patients' pre-review and post-review out-of-pocket cost, time to coverage gap, and cost to Medicare. A total of 65 patients had at least 1 simulated pharmacist cost intervention. The most common intervention was substituting for a less costly generic, followed by substituting a generic for a brand name. Projected patient cost savings was $476 per year. The average time to coverage gap was increased by 0.7 ±1.2 months. This study illustrates that the pharmacists may be able to reduce cost to some patients as well as to the Medicare Part D program. PMID:23178417

  7. Simple robust control laws for robot manipulators. Part 2: Adaptive case

    NASA Technical Reports Server (NTRS)

    Bayard, D. S.; Wen, J. T.

    1987-01-01

    A new class of asymptotically stable adaptive control laws is introduced for application to the robotic manipulator. Unlike most applications of adaptive control theory to robotic manipulators, this analysis addresses the nonlinear dynamics directly without approximation, linearization, or ad hoc assumptions, and utilizes a parameterization based on physical (time-invariant) quantities. This approach is made possible by using energy-like Lyapunov functions which retain the nonlinear character and structure of the dynamics, rather than simple quadratic forms which are ubiquitous to the adaptive control literature, and which have bound the theory tightly to linear systems with unknown parameters. It is a unique feature of these results that the adaptive forms arise by straightforward certainty equivalence adaptation of their nonadaptive counterparts found in the companion to this paper (i.e., by replacing unknown quantities by their estimates) and that this simple approach leads to asymptotically stable closed-loop adaptive systems. Furthermore, it is emphasized that this approach does not require convergence of the parameter estimates (i.e., via persistent excitation), invertibility of the mass matrix estimate, or measurement of the joint accelerations.

  8. Combining psychological and engineering approaches to utilizing social robots with children with autism.

    PubMed

    Dickstein-Fischer, Laurie; Fischer, Gregory S

    2014-01-01

    It is estimated that Autism Spectrum Disorder (ASD) affects 1 in 68 children. Early identification of an ASD is exceedingly important to the introduction of an intervention. We are developing a robot-assisted approach that will serve as an improved diagnostic and early intervention tool for children with autism. The robot, named PABI® (Penguin for Autism Behavioral Interventions), is a compact humanoid robot taking on an expressive cartoon-like embodiment. The robot is affordable, durable, and portable so that it can be used in various settings including schools, clinics, and the home. Thus enabling significantly enhanced and more readily available diagnosis and continuation of care. Through facial expressions, body motion, verbal cues, stereo vision-based tracking, and a tablet computer, the robot is capable of interacting meaningfully with an autistic child. Initial implementations of the robot, as part of a comprehensive treatment model (CTM), include Applied Behavioral Analysis (ABA) therapy where the child interacts with a tablet computer wirelessly interfaced with the robot. At the same time, the robot makes meaningful expressions and utterances and uses stereo cameras in eyes to track the child, maintain eye contact, and collect data such as affect and gaze direction for charting of progress. In this paper we present the clinical justification, anticipated usage with corresponding requirements, prototype development of the robotic system, and demonstration of a sample application for robot-assisted ABA therapy. PMID:25570078

  9. A research synthesis of therapeutic interventions for whiplash-associated disorder (WAD): Part 4 – noninvasive interventions for chronic WAD

    PubMed Central

    Teasell, Robert W; McClure, J Andrew; Walton, David; Pretty, Jason; Salter, Katherine; Meyer, Matthew; Sequeira, Keith; Death, Barry

    2010-01-01

    Whiplash-associated disorder (WAD) represents a significant public health problem, resulting in substantial social and economic costs throughout the industrialized world. While many treatments have been advocated for patients with WAD, scientific evidence supporting their effectiveness is often lacking. A systematic review was conducted to evaluate the strength of evidence for various WAD therapies. Multiple databases (including Web of Science, EMBASE and PubMed) were searched to identify all studies published from January 1980 through March 2009 that evaluated the effectiveness of any clearly defined treatment for acute (less than two weeks), subacute (two to 12 weeks) or chronic (longer than 12 weeks) WAD. The present article, the fourth in a five-part series, evaluates the evidence for noninvasive interventions initiated during the chronic phase of WAD. Twenty-two studies that met the inclusion criteria were identified, 12 of which were randomized controlled trials with ‘good’ overall methodological quality (median Physiotherapy Evidence Database score of 6). For the treatment of chronic WAD, there is evidence to suggest that exercise programs are effective in relieving whiplash-related pain, at least over the short term. While the majority of a subset of nine studies supported the effectiveness of interdisciplinary interventions, the two randomized controlled trials provided conflicting results. Finally, there was limited evidence, consisting of one supportive case series each, that both manual joint manipulation and myofeedback training may provide some benefit. Based on the available research, exercise programs were the most effective noninvasive treatment for patients with chronic WAD, although many questions remain regarding the relative effectiveness of various exercise regimens. PMID:21038010

  10. Evaluation of short term effects of the IROMEC robotic toy for children with developmental disabilities.

    PubMed

    Klein, Tanja; Gelderblom, Gert Jan; de Witte, Luc; Vanstipelen, Silvie

    2011-01-01

    Research shows a reduced playfulness in children with developmental disabilities. This is a barrier for participation and children's health and wellbeing. IROMEC is a purposely designed robot to support play in impaired children. The reported study evaluates short-term effects of the IROMEC robot toy supporting play in an occupational therapy intervention for children with developmental disabilities. Two types of play intervention (standard occupational therapy versus robot-facilitated play intervention) were compared regarding their effect on the level of playfulness, on children's general functional development, goal achievement as well as the therapist's evaluation of the added value of a robot-facilitated play intervention. Three young children took part in this single-subject design study. Evaluation was performed through Test of Playfulness (ToP), the IROMEC evaluation questionnaire and qualitative evaluation by the therapists. Results confirmed the IROMEC robot did partly meet the needs of the children and therapists, and positive impact on TOP results was found with two children. This suggests robotic toys can support children with developmental disabilities in enriching play. Long term effect evaluation should verify these positive indications resulting from use of this innovative social robot for children with developmental disabilities. But it also became clear further development of the robot is required. PMID:22275609

  11. A Review of CAM for Procedural Pain in Infancy: Part II. Other Interventions.

    PubMed

    Tsao, Jennie C I; Evans, Subhadra; Meldrum, Marcia; Altman, Tamara; Zeltzer, Lonnie K

    2008-12-01

    This article is the second in a two-part series reviewing the empirical evidence for complementary and alternative medicine (CAM) approaches for the management of pain related to medical procedures in infants up to 6 weeks of age. Part I of this series investigated the effects of sucrose with or without non-nutritive sucking (NNS). The present article examines other CAM interventions for procedural pain including music-based interventions, olfactory stimulation, kangaroo care and swaddling. Computerized databases were searched for relevant studies including prior reviews and primary trials. Preliminary support was revealed for the analgesic effects of the CAM modalities reviewed. However, the overall quality of the evidence for these approaches remains relatively weak. Additional well-designed trials incorporating rigorous methodology are required. Such investigations will assist in the development of evidence-based guidelines on the use of CAM interventions either alone or in concert with conventional approaches to provide safe, reliable analgesia for infant procedural pain. PMID:18955254

  12. From training to robot behavior: towards custom scenarios for robotics in training programs for ASD.

    PubMed

    Gillesen, J C C; Barakova, E I; Huskens, B E B M; Feijs, L M G

    2011-01-01

    Successful results have been booked with using robotics in therapy interventions for autism spectrum disorders (ASD). However, to make the best use of robots, the behavior of the robot needs to be tailored to the learning objectives and personal characteristics of each unique individual with ASD. Currently training practices include adaptation of the training programs to the condition of each individual client, based on the particular learning goals or the mood of the client. To include robots in such training will imply that the trainers are enabled to control a robot through an intuitive interface. For this purpose we use a visual programming environment called TiViPE as an interface between robot and trainer, where scenarios for specific learning objectives can easily be put together as if they were graphical LEGO-like building blocks. This programming platform is linked to the NAO robot from Aldebaran Robotics. A process flow for converting trainers' scenarios was developed to make sure the gist of the original scenarios was kept intact. We give an example of how a scenario is processed, and implemented into the clinical setting, and how detailed parts of a scenario can be developed. PMID:22275585

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

    SciTech Connect

    1994-09-01

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

  14. Effects of a Socially Interactive Robot on the Conversational Turns between Parents and Their Young Children with Autism. Social Robots Research Reports, Number 6

    ERIC Educational Resources Information Center

    Dunst, Carl J.; Hamby, Deborah W.; Trivette, Carol M.; Prior, Jeremy; Derryberry, Graham

    2013-01-01

    The effects of a socially interactive robot on the conversational turns between four young children with autism and their mothers were investigated as part of the intervention study described in this research report. The interventions with each child were conducted over 4 or 5 days in the children's homes where a practitioner facilitated…

  15. Exploratorium: Robots.

    ERIC Educational Resources Information Center

    Brand, Judith, Ed.

    2002-01-01

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

  16. Minimizing Human Intervention for Constructing Korean Part-of-Speech Tagged Corpus

    NASA Astrophysics Data System (ADS)

    Lee, Do-Gil; Hong, Gumwon; Lee, Seok Kee; Rim, Hae-Chang

    The construction of annotated corpora requires considerable manual effort. This paper presents a pragmatic method to minimize human intervention for the construction of Korean part-of-speech (POS) tagged corpus. Instead of focusing on improving the performance of conventional automatic POS taggers, we devise a discriminative POS tagger which can selectively produce either a single analysis or multiple analyses based on the tagging reliability. The proposed approach uses two decision rules to judge the tagging reliability. Experimental results show that the proposed approach can effectively control the quality of corpus and the amount of manual annotation by the threshold value of the rule.

  17. 32 CFR Appendix E to Part 57 - DoD-CC on Early Intervention, Special Education, and Related Services

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 32 National Defense 1 2014-07-01 2014-07-01 false DoD-CC on Early Intervention, Special Education... SERVICES TO ELIGIBLE DOD DEPENDENTS Pt. 57, App. E Appendix E to Part 57—DoD-CC on Early Intervention, Special Education, and Related Services A. Committee Membership The DoD-CC shall meet at least yearly...

  18. 32 CFR Appendix E to Part 57 - DoD-CC on Early Intervention, Special Education, and Related Services

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 32 National Defense 1 2013-07-01 2013-07-01 false DoD-CC on Early Intervention, Special Education... SERVICES TO ELIGIBLE DOD DEPENDENTS Pt. 57, App. E Appendix E to Part 57—DoD-CC on Early Intervention, Special Education, and Related Services A. Committee Membership The DoD-CC shall meet at least yearly...

  19. 32 CFR Appendix E to Part 57 - DoD-CC on Early Intervention, Special Education, and Related Services

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 32 National Defense 1 2011-07-01 2011-07-01 false DoD-CC on Early Intervention, Special Education... SERVICES TO ELIGIBLE DOD DEPENDENTS Pt. 57, App. E Appendix E to Part 57—DoD-CC on Early Intervention, Special Education, and Related Services A. Committee Membership The DoD-CC shall meet at least yearly...

  20. 32 CFR Appendix E to Part 57 - DoD-CC on Early Intervention, Special Education, and Related Services

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 32 National Defense 1 2012-07-01 2012-07-01 false DoD-CC on Early Intervention, Special Education... SERVICES TO ELIGIBLE DOD DEPENDENTS Pt. 57, App. E Appendix E to Part 57—DoD-CC on Early Intervention, Special Education, and Related Services A. Committee Membership The DoD-CC shall meet at least yearly...

  1. Robotic surgery

    MedlinePlus

    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 ...

  2. An overview of artificial intelligence and robotics. Volume 1: Artificial intelligence. Part B: Applications

    NASA Technical Reports Server (NTRS)

    Gevarter, W. B.

    1983-01-01

    Artificial Intelligence (AI) is an emerging technology that has recently attracted considerable attention. Many applications are now under development. This report, Part B of a three part report on AI, presents overviews of the key application areas: Expert Systems, Computer Vision, Natural Language Processing, Speech Interfaces, and Problem Solving and Planning. The basic approaches to such systems, the state-of-the-art, existing systems and future trends and expectations are covered.

  3. Robotic technology in cardiovascular medicine.

    PubMed

    Bonatti, Johannes; Vetrovec, George; Riga, Celia; Wazni, Oussama; Stadler, Petr

    2014-05-01

    Robotic technology has been used in cardiovascular medicine since the late 1990s. Interventional cardiology, electrophysiology, endovascular surgery, minimally invasive cardiac surgery, and laparoscopic vascular surgery are all fields of application. Robotic devices enable endoscopic reconstructive surgery in narrow spaces and fast, very precise placement of catheters and devices in catheter-based interventions. In all robotic systems, the operator manipulates the robotic arms from a control station or console. In the field of cardiac surgery, mitral valve repair, CABG surgery, atrial septal defect repair, and myxoma resection can be achieved using robotic technology. Furthermore, vascular surgeons can perform a variety of robotically assisted operations to treat aortic, visceral, and peripheral artery disease. In electrophysiology, ablation procedures for atrial fibrillation can be carried out with robotic support. In the past few years, robotically assisted percutaneous coronary intervention and abdominal aortic endovascular surgery techniques have been developed. The basic feasibility and safety of robotic approaches in cardiovascular medicine has been demonstrated, but learning curves and the high costs associated with this technology have limited its widespread use. Nonetheless, increased procedural speed, accuracy, and reduced exposure to radiation and contrast agent in robotically assisted catheter-based interventions, as well as reduced surgical trauma and shortened patient recovery times after robotic cardiovascular surgery are promising achievements in the field. PMID:24663088

  4. Robot Tools

    NASA Technical Reports Server (NTRS)

    1996-01-01

    Mecanotron, now division of Robotics and Automation Corporation, developed a quick-change welding method called the Automatic Robotics Tool-change System (ARTS) under Marshall Space Flight Center and Rockwell International contracts. The ARTS system has six tool positions ranging from coarse sanding disks and abrasive wheels to cloth polishing wheels with motors of various horsepower. The system is used by fabricators of plastic body parts for the auto industry, by Texas Instruments for making radar domes, and for advanced composites at Aerospatiale in France.

  5. Human Factors in Automated and Robotic Space Systems: Proceedings of a symposium. Part 1

    NASA Technical Reports Server (NTRS)

    Sheridan, Thomas B. (Editor); Kruser, Dana S. (Editor); Deutsch, Stanley (Editor)

    1987-01-01

    Human factors research likely to produce results applicable to the development of a NASA space station is discussed. The particular sessions covered in Part 1 include: (1) system productivity -- people and machines; (2) expert systems and their use; (3) language and displays for human-computer communication; and (4) computer aided monitoring and decision making. Papers from each subject area are reproduced and the discussions from each area are summarized.

  6. Human Factors in Automated and Robotic Space Systems: Proceedings of a symposium. Part 2

    NASA Technical Reports Server (NTRS)

    1987-01-01

    Human factors research likely to produce results applicable to the development of a NASA space station is discussed. The particular sessions covered in Part 2 include: (1) computer aided monitoring and decision making; (2) telepresence and supervisory control; (3) social factors in productivity and performance; and (4) the human role in space systems. Papers from each subject area are reproduced and the discussions from each area are summarized.

  7. 32 CFR Appendix E to Part 57 - DoD-CC on Early Intervention, Special Education, and Related Services

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 32 National Defense 1 2010-07-01 2010-07-01 false DoD-CC on Early Intervention, Special Education, and Related Services E Appendix E to Part 57 National Defense Department of Defense OFFICE OF THE... SERVICES TO ELIGIBLE DOD DEPENDENTS Pt. 57, App. E Appendix E to Part 57—DoD-CC on Early...

  8. Hard-to-Reach or Out-of-Reach? Reasons Why Women Refuse to Take Part in Early Interventions

    ERIC Educational Resources Information Center

    Barlow, Jane; Kirkpatrick, Sue; Stewart-Brown, Sarah; Davis, Hilton

    2005-01-01

    The aim of this study was to explore the reasons why vulnerable women refuse to take part in early interventions. In-depth interviews were conducted with 19 women who refused to take part in an evaluation of an intensive home visiting programme. A number of themes were identified including perceptions about vulnerability, misperceptions about the…

  9. Industrial robots and robotics

    SciTech Connect

    Kafrissen, S.; Stephens, M.

    1984-01-01

    This book discusses the study of robotics. It provides information of hardware, software, applications and economics. Eleven chapters examine the following: Minicomputers, Microcomputers, and Microprocessors; The Servo-Control System; The Activators; Robot Vision Systems; and Robot Workcell Environments. Twelve appendices supplement the data.

  10. Systematic review of occupational therapy-related interventions for people with multiple sclerosis: part 1. Activity and participation.

    PubMed

    Yu, Chih-Huang; Mathiowetz, Virgil

    2014-01-01

    This article is the first part of a systematic review of studies on occupational therapy-related intervention for people with multiple sclerosis (MS). The objective of this systematic review was to critically appraise and synthesize the applicable findings to address the following focused question: What is the evidence for the effectiveness of interventions within the scope of occupational therapy practice for people with multiple sclerosis? This article focuses on occupational therapy interventions aimed at activity and participation, including programs (e.g., inpatient and outpatient rehabilitation) in which an occupational therapy practitioner was one member of the team. Part 2 (Yu & Mathiowetz, 2014) focuses on interventions within the scope of occupational therapy to remediate impairment (e.g., exercise, cognition, emotional regulation). PMID:24367952

  11. Robotic surgery

    MedlinePlus

    Robot-assisted surgery; Robotic-assisted laparoscopic surgery; Laparoscopic surgery with robotic assistance ... Robotic surgery is similar to laparoscopic surgery. It can be performed through smaller cuts than open surgery. ...

  12. Randomization in robot tasks

    NASA Technical Reports Server (NTRS)

    Erdmann, Michael

    1992-01-01

    This paper investigates the role of randomization in the solution of robot manipulation tasks. One example of randomization is shown by the strategy of shaking a bin holding a part in order to orient the part in a desired stable state with some high probability. Randomization can be useful for mobile robot navigation and as a means of guiding the design process.

  13. Going Green Robots

    ERIC Educational Resources Information Center

    Nelson, Jacqueline M.

    2011-01-01

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

  14. Space robotics in Japan

    NASA Technical Reports Server (NTRS)

    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.

  15. Space robotics in Japan

    NASA Astrophysics Data System (ADS)

    Whittaker, William; Lowrie, James W.; McCain, Harry; Bejczy, Antal; Sheridan, Tom; Kanade, Takeo; Allen, Peter

    1994-03-01

    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.

  16. Effectiveness of brief interventions as part of the Screening, Brief Intervention and Referral to Treatment (SBIRT) model for reducing the nonmedical use of psychoactive substances: a systematic review

    PubMed Central

    2014-01-01

    Background The purpose of this systematic review is to assess the effectiveness of brief interventions (BIs) as part of the Screening, Brief Intervention, and Referral to Treatment (SBIRT) model for reducing the nonmedical use of psychoactive substances. Methods Bibliographic databases (including MEDLINE, Embase, The Cochrane Library, CINAHL, and PsycINFO to April 2012) and gray literature sources were searched. We included randomized controlled trials that opportunistically screened adolescents or adults and then provided a one-to-one, verbal BI to those at risk of substance-use harm. Of interest was the nonmedical use of psychoactive substances (for example, drugs prohibited by international law), excluding alcohol, nicotine, and caffeine. Interventions comprised four or fewer sessions and were compared with no/delayed intervention or provision of information only. Studies were assessed for bias using the Cochrane risk of bias tool. Results were synthesized narratively. Evidence was interpreted according to the GRADE framework. Results We identified 8,836 records. Of these, five studies met our inclusion criteria. Two studies compared BI with no BI, and three studies compared BI with information only. Studies varied in characteristics such as substances targeted, screening procedures, and BI administered. Outcomes were mostly reported by a single study, leading to limited or uncertain confidence in effect estimates. Conclusions Insufficient evidence exists as to whether BIs, as part of SBIRT, are effective or ineffective for reducing the use of, or harms associated with nonmedical use of, psychoactive substances when these interventions are administered to nontreatment-seeking, screen-detected populations. Updating this review with emerging evidence will be important. Trial registration CRD42012002414 PMID:24887418

  17. Patients with atrial fibrillation undergoing percutaneous coronary intervention: current concepts and concerns: part II.

    PubMed

    Dzeshka, Mikhail S; Brown, Richard A; Lip, Gregory Y H

    2015-01-01

    Atrial fibrillation (AF) and coronary artery disease (CAD) often present concomitantly. Given the increased risk of thrombotic complications with either of them but different pathogenesis of clot formation, combined antithrombotic therapy is necessary in patients developing acute coronary syndrome and/or undergoing percutaneous coronary intervention (PCI). Different antithrombotic regimens in this group of patients have been summarized and discussed earlier. Triple therapy remains the treatment of choice in these patients despite the increased risk of hemorrhagic complications. Given the absence of evidence from randomized controlled trials, balancing the risk of stroke and stent thrombosis against the risk of major bleeding is a challenge. Precise stroke and bleeding risk assessment is an essential part of the decision making process regarding antithrombotic management. Continuing the discussion of current concepts and concerns of antithrombotic management in AF patients undergoing PCI, we emphasize the importance of various strategies to reduce bleeding in the modern era, namely, radial access combined with careful selection of a P2Y₁₂ receptor inhibitor, use of newer drug-eluting stents, and uninterrupted anticoagulation for patients undergoing procedures. We also focus on the role of the non-vitamin K oral anticoagulants (novel oral anticoagulants, eg, dabigatran, rivaroxaban, apixaban, and edoxaban) which are increasingly used for stroke prevention in AF. Finally, recent recommendations on the management of antithrombotic therapy in AF patients presenting with acute coronary syndrome and/or undergoing PCI as well as ongoing clinical trials and future directions are highlighted. PMID:25534093

  18. Restricting state part C eligibility policy is associated with lower early intervention utilization.

    PubMed

    McManus, Beth M; Magnusson, Dawn; Rosenberg, Steven

    2014-05-01

    To examine if state differences in early intervention (EI) utilization can be explained by recent restrictions on EI state eligibility policy. The sample (n = 923), derived from the 2009/10 National Survey of Children with Special Health Care Needs, included CSHCN who were ages 0-3 with a developmental delay or disability that affected their function. Multi-level logistic modeling was used to describe state differences in EI utilization and to determine if narrower state eligibility policy explained these differences. EI utilization ranged from 6 to 87 % across states. Having a severe condition (β = 0.99, SE = 0.28) and a usual source of care (β = 0.01, SE = 0.001) was associated with higher odds of utilizing EI. Compared to a diagnosed disability, having a developmental delay (β = -0.61, SE = 0.20) was associated with lower odds of utilizing EI. Living in a state with narrow and narrower state eligibility policy (β = -0.18, SE = 0.06) was significantly associated with lower odds of EI utilization, and this effect was strongest for children with the most severe functional impairments. Significant state variation in EI rates exists that can be explained, in part, by the restrictiveness of state eligibility criteria. Children with the most severe functional impairments appear to be least likely to utilize EI in states with the most restrictive eligibility policies. PMID:23929559

  19. [Robotic surgery in gynecology].

    PubMed

    Csorba, Roland

    2012-06-24

    Minimally invasive surgery has revolutionized gynecological interventions over the past 30 years. The introduction of the da Vinci robotic surgery in 2005 has resulted in large changes in surgical management. The robotic platform allows less experienced laparoscopic surgeons to perform more complex procedures. It can be utilized mainly in general gynecology and reproductive gynecology. The robot is being increasingly used for procedures such as hysterectomy, myomectomy, adnexal surgery, and tubal anastomosis. In urogynecology, the robot is being utilized for sacrocolopexy as well. In the field of gynecologic oncology, the robot is being increasingly used for hysterectomy and lymphadenectomy in oncologic diseases. Despite the rapid and widespread adaption of robotic surgery in gynecology, there are no randomized trials comparing its efficacy and safety to other traditional surgical approaches. This article presents the development, technical aspects and indications of robotic surgery in gynecology, based on the previously published reviews. Robotic surgery can be highly advantageous with the right amount of training, along with appropriate patient selection. Patients will have less blood loss, less post-operative pain, faster recovery, and fewer complications compared to open surgery and laparoscopy. However, until larger randomized control trials are completed which report long-term outcomes, robotic surgery cannot be stated to have priority over other surgical methods. PMID:22714030

  20. Research and Evaluations of the Health Aspects of Disasters, Part VI: Interventional Research and the Disaster Logic Model.

    PubMed

    Birnbaum, Marvin L; Daily, Elaine K; O'Rourke, Ann P; Kushner, Jennifer

    2016-04-01

    . Birnbaum ML , Daily EK , O'Rourke AP , Kushner J . Research and evaluations of the health aspects of disasters, part VI: interventional research and the Disaster Logic Model. Prehosp Disaster Med. 2016;31(2):181-194. PMID:26830875

  1. Ground operation of robotics on Space Station Freedom

    NASA Technical Reports Server (NTRS)

    Wojcik, Z. Alex; Hunter, David G.; Cantin, Marc R.

    1993-01-01

    This paper reflects work carried out on Ground Operated Telerobotics (GOT) in 1992 to refine further the ideas, procedures, and technologies needed to test the procedures in a high latency environment, and to integrate GOT into Space Station Freedom operations. Space Station Freedom (SSF) will be in operation for 30 years, and will depend on robots to carry out a significant part of the assembly, maintenance, and utilization workload. Current plans call for on-orbit robotics to be operated by on-board crew members. This approach implies that on-orbit robotics operations use up considerable crew time, and that these operations cannot be carried out when SSF is unmanned. GOT will allow robotic operations to be operated from the ground, with on-orbit crew interventions only when absolutely required. The paper reviews how GOT would be implemented, how GOT operations would be planned and supported, and reviews GOT issues, critical success factors, and benefits.

  2. Facts, fallacies, and politics of comparative effectiveness research: Part 2 - implications for interventional pain management.

    PubMed

    Manchikanti, Laxmaiah; Falco, Frank J E; Boswell, Mark V; Hirsch, Joshua A

    2010-01-01

    times it becomes an orphan. Part 2 of this comprehensive review will provide facts, fallacies, and politics of CER along with discussion of potential outcomes, impact of CER on health care delivery, and implications for interventional pain management in the United States. PMID:20119475

  3. Human-Like Behavior Generation Based on Head-Arms Model for Robot Tracking External Targets and Body Parts.

    PubMed

    Zhang, Zhijun; Beck, Aryel; Magnenat-Thalmann, Nadia

    2015-08-01

    Facing and pointing toward moving targets is a usual and natural behavior in daily life. Social robots should be able to display such coordinated behaviors in order to interact naturally with people. For instance, a robot should be able to point and look at specific objects. This is why, a scheme to generate coordinated head-arm motion for a humanoid robot with two degrees-of-freedom for the head and seven for each arm is proposed in this paper. Specifically, a virtual plane approach is employed to generate the analytical solution of the head motion. A quadratic program (QP)-based method is exploited to formulate the coordinated dual-arm motion. To obtain the optimal solution, a simplified recurrent neural network is used to solve the QP problem. The effectiveness of the proposed scheme is demonstrated using both computer simulation and physical experiments. PMID:25252290

  4. Robot and robot system

    NASA Technical Reports Server (NTRS)

    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.

  5. 78 FR 10183 - Ryan White HIV/AIDS Program, Part C Early Intervention Services Grant Under the Ryan White HIV...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-02-13

    ... HUMAN SERVICES Health Resources and Services Administration Ryan White HIV/AIDS Program, Part C Early Intervention Services Grant Under the Ryan White HIV/AIDS Program AGENCY: Health Resources and Services... prevent a lapse in comprehensive primary care services for persons living with HIV/AIDS, HRSA will...

  6. 78 FR 18989 - Ryan White HIV/AIDS Program, Part C Early Intervention Services Grant Under the Ryan White HIV...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-03-28

    ... HUMAN SERVICES Health Resources and Services Administration Ryan White HIV/AIDS Program, Part C Early Intervention Services Grant Under the Ryan White HIV/AIDS Program AGENCY: Health Resources and Services Administration (HRSA), Department of Health and Human Services. ACTION: Notice of Ryan White HIV/AIDS...

  7. 78 FR 31568 - Ryan White HIV/AIDS Program, Part C Early Intervention Services Grant Under the Ryan White HIV...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-05-24

    ... HUMAN SERVICES Health Resources and Services Administration Ryan White HIV/AIDS Program, Part C Early Intervention Services Grant Under the Ryan White HIV/AIDS Program AGENCY: Health Resources and Services Administration (HRSA), Department of Health and Human Services. ACTION: Notice of Ryan White HIV/AIDS...

  8. 78 FR 10183 - Ryan White HIV/AIDS Program, Part C Early Intervention Services Grant Under the Ryan White HIV...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-02-13

    ... HUMAN SERVICES Health Resources and Services Administration Ryan White HIV/AIDS Program, Part C Early Intervention Services Grant Under the Ryan White HIV/AIDS Program AGENCY: Health Resources and Services... a lapse in comprehensive primary care services for persons living with HIV/AIDS, HRSA will...

  9. 75 FR 5603 - Part C Early Intervention Services Grant Under the Ryan White HIV/AIDS Program

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-02-03

    ... From the Federal Register Online via the Government Publishing Office DEPARTMENT OF HEALTH AND HUMAN SERVICES Health Resources and Services Administration Part C Early Intervention Services Grant Under the Ryan White HIV/AIDS Program AGENCY: Health Resources and Services Administration (HRSA),...

  10. 78 FR 10182 - Ryan White HIV/AIDS Program, Part C Early Intervention Services Grant Under the Ryan White HIV...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-02-13

    ... HUMAN SERVICES Health Resources and Services Administration Ryan White HIV/AIDS Program, Part C Early Intervention Services Grant Under the Ryan White HIV/AIDS Program AGENCY: Health Resources and Services Administration (HRSA), Department of Health and Human Services. ACTION: Notice of Ryan White HIV/AIDS...

  11. 78 FR 78976 - Ryan White HIV/AIDS Program Part C Early Intervention Services Grant Under the Ryan White HIV...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-12-27

    ... HUMAN SERVICES Health Resources and Services Administration Ryan White HIV/AIDS Program Part C Early Intervention Services Grant Under the Ryan White HIV/AIDS Program AGENCY: Health Resources and Services Administration (HRSA), Department of Health and Human Services. ACTION: Notice of Ryan White HIV/AIDS...

  12. 78 FR 10183 - Ryan White HIV/AIDS Program, Part C Early Intervention Services Grant Under the Ryan White HIV...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-02-13

    ... HUMAN SERVICES Health Resources and Services Administration Ryan White HIV/AIDS Program, Part C Early Intervention Services Grant Under the Ryan White HIV/AIDS Program AGENCY: Health Resources and Services Administration (HRSA), Department of Health and Human Services. ACTION: Notice of Ryan White HIV/AIDS...

  13. An Eligibility Determination Algorithm for Part C Early Intervention Enrollment. TRACE Practice Guide, Volume 1, Number 1

    ERIC Educational Resources Information Center

    Dunst, Carl J.

    2006-01-01

    Procedures for using a decision algorithm for determining whether an infant or toddler is eligible for Part C early intervention is the focus of this eligibility determination practice guideline. An algorithm is a step-by-step problem-solving procedure or decision-making process that results in a solution or accurate decision in a finite number of…

  14. Drink Refusal Training as Part of a Combined Behavioral Intervention: Effectiveness and Mechanisms of Change

    ERIC Educational Resources Information Center

    Witkiewitz, Katie; Donovan, Dennis M.; Hartzler, Bryan

    2012-01-01

    Objective: Many trials have demonstrated the effectiveness of cognitive behavioral interventions for alcohol dependence, yet few studies have examined why particular treatments are effective. This study was designed to evaluate whether drink refusal training was an effective component of a combined behavioral intervention (CBI) and whether change…

  15. Self-Administered Behavioral Family Intervention for Parents of Toddlers: Part 1. Efficacy

    ERIC Educational Resources Information Center

    Morawska, Alina; Sanders, Matthew R.

    2006-01-01

    This study examined the efficacy of a self-administered behavioral family intervention for 126 parents of toddlers. The effects of 2 different levels of intensity of the self-administered intervention were contrasted (self-administered alone or self-administered plus brief therapist telephone assistance). The results provide support for the…

  16. Implementation of a two-part unit-based multiple intervention: moving evidence-based practice into action.

    PubMed

    Rashotte, Judy; Thomas, Margot; Grégoire, Diane; Ledoux, Sheila

    2008-06-01

    This study examined the impact of a 2-part unit-based multiple intervention on the use by pediatric critical care nurses of best practice guidelines for pressure-ulcer prevention. A total of 23 nurses participated in a repeated-measures design pre- and post-intervention to address 2 questions: Is there a difference in nurses' evidence-based practices following implementation of an educational intervention only versus implementation of both an educational and an innovative intervention? Are the changes sustained 6 months after completion of the intervention? A significant change occurred in the implementation of 2 of 11 recommended practices following both interventions: assessment of risk of pressure ulcers using an age-appropriate tool (p < or = 0.001), and the documentation of same (p < or = 0.001). These changes may have been sustained. The findings bring to light the real challenges encountered when attempting to implement and evaluate multiple knowledge translation strategies associated with complex best practice guidelines in clinical practice. PMID:18714900

  17. An MR-conditional high-torque pneumatic stepper motor for MRI-guided and robot-assisted intervention.

    PubMed

    Chen, Yue; Kwok, Ka-Wai; Tse, Zion Tsz Ho

    2014-09-01

    Magnetic resonance imaging allows for visualizing detailed pathological and morphological changes of soft tissue. MR-conditional actuations have been widely investigated for development of image-guided and robot-assisted surgical devices under the Magnetic resonance imaging (MRI). This paper presents a simple design of MR-conditional stepper motor which can provide precise and high-torque actuation without adversely affecting the MR image quality. This stepper motor consists of two MR-conditional pneumatic cylinders and the corresponding supporting structures. Alternating the pressurized air can drive the motor to rotate each step in 3.6° with the motor coupled to a planetary gearbox. Experimental studies were conducted to validate its dynamics performance. Maximum 800 mN m output torque is achieved. The motor accuracy independently varied by two factors: motor operating speed and step size, was also investigated. The motor was tested within a 3T Siemens MRI scanner (MAGNETOM Skyra, Siemens Medical Solutions, Erlangen, Germany) and a 3T GE MRI scanner (GE SignaHDx, GE Healthcare, Milwaukee, WI, USA). The image artifact and the signal-to-noise ratio (SNR) were evaluated for study of its MRI compliancy. The results show that the presented pneumatic stepper motor generated 2.35% SNR reduction in MR images. No observable artifact was presented besides the motor body itself. The proposed motor test also demonstrates a standard to evaluate the pneumatic motor capability for later incorporation with motorized devices used under MRI. PMID:24957635

  18. [Robotics in oral and maxillofacial surgery. Possibilities, chances, risks].

    PubMed

    Hassfeld, S; Raczkowsky, J; Bohner, P; Hofele, C; Holler, C; Mühling, J; Rembold, U

    1997-11-01

    Robot systems are being tested in stereotactic neurosurgical interventions, orthopedic surgery of the hip or knee and advancal endoscopic systems for minimally invasive surgery. In contrast to most industrially manufactured products, objects for medical treatment are characterized by plasticity as well as by complex and individual forms. Thus, features of robots in this field have to be further developed in terms of advanced sensory and specific micromotoric systems. Safety and cooperation between surgeon and robot on the patient in the operating room have to be guaranteed. Extensive three-dimensional diagnosis, computer-aided planning and simulation of the intervention as well as sensory systems that monitor the actual performance of the operation are mandatory parts of this concept. In our interdisciplinary study, we aim to examine whether a robot-given a complete preoperative planning and simulation procedure-is able to perform certain surgical operations more precisely than the surgeon. Examples are drilling with depth control, shaping of bone surface by milling, sawing with defined depth in cranial osteotomies, defined preparation of implant sites and the positioning and insertion of dental and other surgical implants, whereby autonomous employment of the robot is not that which is aspired to in these interventions but rather the interactive support of the surgeon. PMID:9490216

  19. Predicting the long-term effects of human-robot interaction: a reflection on responsibility in medical robotics.

    PubMed

    Datteri, Edoardo

    2013-03-01

    This article addresses prospective and retrospective responsibility issues connected with medical robotics. It will be suggested that extant conceptual and legal frameworks are sufficient to address and properly settle most retrospective responsibility problems arising in connection with injuries caused by robot behaviours (which will be exemplified here by reference to harms occurred in surgical interventions supported by the Da Vinci robot, reported in the scientific literature and in the press). In addition, it will be pointed out that many prospective responsibility issues connected with medical robotics are nothing but well-known robotics engineering problems in disguise, which are routinely addressed by roboticists as part of their research and development activities: for this reason they do not raise particularly novel ethical issues. In contrast with this, it will be pointed out that novel and challenging prospective responsibility issues may emerge in connection with harmful events caused by normal robot behaviours. This point will be illustrated here in connection with the rehabilitation robot Lokomat. PMID:21800171

  20. Robotic servicing of EOS instruments

    NASA Technical Reports Server (NTRS)

    Razzaghi, Andrea I.; Juberts, Maris

    1990-01-01

    This paper addresses robotic servicing of the Earth Observing Satellite (EOS) instruments. The goals of implementing a robotic servicing system on EOS would be to maintain the instruments throughout the required mission life and minimize life-cycle costs. To address robot servicing, an initial design concept has been developed which will be applied to a representative EOS instrument. This instrument will be used as a model for determining the most practical level of servicing of its parts, and how to design these parts for robot servicing. Using this representative EOS instrument as a model, a generic design scheme will be developed that can be applied to all EOS instruments. The first task is to determine how to identify which parts must be designed for robot servicing. Next, the requirements imposed on the instruments and the servicing robot when designing for robot serviceability must be examined.

  1. [Robots and intellectual property].

    PubMed

    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. PMID:24558740

  2. Beyond Part C: Reducing Middle School Special Education for Early Intervention Children with Developmental Delays

    ERIC Educational Resources Information Center

    Ullery, Mary Anne; Katz, Lynne

    2016-01-01

    This study examined the rates of special education placement during middle school grades (sixth through eighth) among children who participated in the Linda Ray Intervention Program (LRIP) center-based and home-based learning modalities. The study sample included 113 children in Miami Dade County Public Schools who had gestational cocaine exposure…

  3. An Effective Psychoeducational Intervention for Early Childhood Caries Prevention: Part I

    PubMed Central

    Weber-Gasparoni, Karin; Reeve, Johnmarshall; Ghosheh, Natalie; Warren, Joh J.; Drake, David R.; Kramer, Katherine W.O.; Dawson, Deborah V.

    2016-01-01

    Purpose The purpose was to compare whether mothers exposed to an autonomy-supportive psychoeducational videotaped message, informed by the self-determination theory (SDT), demonstrated greater changes in oral health knowledge and behavioral intentions as a preventive means for early childhood caries (ECC) than mothers exposed to a neutral message delivered by brochure. Methods Data were collected at baseline, one-, and six-month follow-ups from 415 12- to 49-month-old WIC-enrolled children and their mothers: 283 in the video intervention group and 132 in the brochure control group. Mothers completed questionnaires on maternal knowledge and behavioral intentions for oral health care. Chi-square, Wilcoxon rank-sum, and Mann-Whitney tests were used to analyze data (P<.05). Results Relative to their baseline scores, the intervention group showed a greater increase in knowledge than the control group, both at one-month (P=.002) and six-month follow-ups (P<.001). The video group also demonstrated a greater increase in behavioral intentions than controls, both at one-month (P<.05) and six-month follow-ups (P<.001). Knowledge and behavioral intention levels at six-month follow-up did not differ significantly from those at one-month follow-up, indicating that intervention-based increases in these measures were maintained over time. Conclusions Data provided evidence of the effectiveness of the autonomy-supportive psychoeducational intervention for ECC prevention relative to a neutral brochure. PMID:23756308

  4. Psychoeducational Interventions with Pediatric Cancer Patients: Part I. Patient Information and Knowledge

    ERIC Educational Resources Information Center

    Bradlyn, Andrew S.; Beale, Ivan L.; Kato, Pamela M.

    2003-01-01

    We present a systematic review of published research on psychoeducational interventions for children with cancer. The current lack of an organizational model for this literature makes it difficult to form a coherent picture of the scattered literature and draw nomothetic conclusions. A model is described that is based on functional concepts from…

  5. The Burden of Disaster: Part II. Applying Interventions Across the Child’s Social Ecology

    PubMed Central

    Pfefferbaum, Rose L.; Pfefferbaum, Betty; Jacobs, Anne K.; Noffsinger, Mary A.; Sherrieb, Kathleen; Norris, Fran H.

    2014-01-01

    This second of two articles describes the application of disaster mental health interventions within the context of the child’s social ecology consisting of (he Micro-, Meso-, Exo-, and Macrosystems. Microsystem interventions involving parents, siblings, and close friends include family preparedness planning and practice, psychoeducation, role modeling, emotional support, and redirection. Mesosystem interventions provided by schools and faith-based organizations include safety and support, assessment, referral, and counseling. Exosystem interventions include those provided through community-based mental health programs, healthcare organizations, the workplace, the media, local volunteer disaster organizations, and other local organizations. Efforts to build community resilience to disasters are likely to have influence through the Exosystem. The Macrosystem – including the laws, history, cultural and subcultural characteristics, and economic and social conditions that underlie the other systems – affects the child indirectly through public policies and disaster programs and services that become available in the child’s Exosystem in the aftermath of a disaster. The social ecology paradigm, described more fully in a companion article (Noffsinger, Pfefferbaum, Pfefferbaum, Sherrieb, & Norris,2012), emphasizes relationships among systems and can guide the development and delivery of services embedded in naturally-occurring structures in the child’s environment. PMID:23894798

  6. Empirically Supported Interventions and School Psychology: Rationale and Methodological Issues--Part I.

    ERIC Educational Resources Information Center

    Stoiber, Karen Callan; Kratochwill, Thomas R.

    2000-01-01

    Presents historical, contextual, and methodological perspectives on the use of empirically supported interventions in school and community settings. Historical advances are reviewed within the context of scientist-practitioner model, psychosocial outcome research, meta-analysis, and the development of criteria and practice guidelines for…

  7. Health Care Policy and Part H Services: Early Intervention as a Concept (Not a Separate Program).

    ERIC Educational Resources Information Center

    Shonkoff, Jack P.

    This paper argues that there is a critical need to reframe the fundamental policy questions which fragment early childhood intervention services and health care, in order to construct an integrated system of comprehensive services that includes basic health care and developmental support for all children and their families and that provides…

  8. ARIES NDA Robot operators` manual

    SciTech Connect

    Scheer, N.L.; Nelson, D.C.

    1998-05-01

    The ARIES NDA Robot is an automation device for servicing the material movements for a suite of Non-destructive assay (NDA) instruments. This suite of instruments includes a calorimeter, a gamma isotopic system, a segmented gamma scanner (SGS), and a neutron coincidence counter (NCC). Objects moved by the robot include sample cans, standard cans, and instrument plugs. The robot computer has an RS-232 connection with the NDA Host computer, which coordinates robot movements and instrument measurements. The instruments are expected to perform measurements under the direction of the Host without operator intervention. This user`s manual describes system startup, using the main menu, manual operation, and error recovery.

  9. Dynamics and Control of Constrained Multibody Systems modeled with Maggi's equation: Application to Differential Mobile Robots Part I

    NASA Astrophysics Data System (ADS)

    Amengonu, Yawo H.; Kakad, Yogendra P.

    2014-07-01

    Quasivelocity techniques such as Maggi's and Boltzmann-Hamel's equations eliminate Lagrange multipliers from the beginning as opposed to the Euler-Lagrange method where one has to solve for the n configuration variables and the multipliers as functions of time when there are m nonholonomic constraints. Maggi's equation produces n second-order differential equations of which (n-m) are derived using (n-m) independent quasivelocities and the time derivative of the m kinematic constraints which add the remaining m second order differential equations. This technique is applied to derive the dynamics of a differential mobile robot and a controller which takes into account these dynamics is developed.

  10. A naturalistic study of psychotherapy for bulimia nervosa, part 2: therapeutic interventions in the community.

    PubMed

    Thompson-Brenner, Heather; Westen, Drew

    2005-09-01

    Data from naturalistic samples provide an important complement to findings from randomized trials of psychotherapy. A random national sample of US clinicians provided data on 145 completed treatments of patients with bulimic symptoms. We attempted to characterize the nature of treatments in the community and to examine the relation between treatment variables and outcome. Clinicians of all theoretical orientations report using interventions with polysymptomatic cases designed to address clinically significant personality characteristics and interpersonal patterns. Whereas cognitive-behavioral therapy is associated with more rapid remission of eating symptoms, psychodynamic interventions and increased treatment length predict better global outcome across treatment modalities, suggesting the importance of integrative treatments for the broad range of pathology seen in patients with bulimic symptoms. PMID:16131941

  11. An Effective Psychoeducational Intervention for Early Childhood Caries Prevention: Part II

    PubMed Central

    Weber-Gasparoni, Karin; Warren, John J.; Reeve, Johnmarshall; Drake, David R.; Kramer, Katherine W.O.; Marshall, Teresa A.; Dawson, Deborah V.

    2016-01-01

    Purpose The purpose was to compare whether mothers exposed to an autonomy-supportive psychoeducational videotaped message, informed by self-determination theory (SDT), demonstrated greater changes in behavior concerning their children's oral health than mothers exposed to a neutral message delivered by brochure. Methods Data were collected at baseline, one- and six-month follow-ups from 415 12- to 49- month-old WIC-enrolled children and their mothers: 283 in the video intervention group and 132 in the brochure control group. Mothers completed questionnaires regarding their child's dietary/oral hygiene habits. Chi-square, Wilcoxon Signed Rank, Mann-Whitney, and McNemar tests were used to analyze data (P<0.05). Results Significantly more positive changes were observed for dietary/oral hygiene behaviors among the intervention group mothers at one- and six-month follow-ups than for the controls. Significantly fewer mothers in the intervention group shared dining ware with their child at both one- (P=0.0046) and six-month follow-ups (P<0.0001); this practice was decreased only at six-months for the control group mothers (P=0.05). Restricting consideration only to mothers who were not checking for white spot lesions at baseline, a significantly greater proportion of mothers in the intervention group performed this behavior at six-months (P=0.0044). Conclusions Data provided evidence of the effectiveness of the SDT videotaped oral health message relative to a neutral brochure. PMID:23756309

  12. Pharmacological Interventions Including Medical Injections for Neck Pain: An Overview as Part of the ICON§ Project

    PubMed Central

    Peloso, Paul M; Khan, Mahweesh; Gross, Anita R; Carlesso, Lisa; Santaguida, Lina; Lowcock, Janet; MacDermid, Joy C; Walton, Dave; Goldsmith, Charlie H; Langevin, Pierre; Shi, Qiyun

    2013-01-01

    Objectives: To conduct an overview (review-of-reviews) on pharmacological interventions for neck pain. Search Strategy: Computerized databases and grey literature were searched from 2006 to 2012. Selection Criteria: Systematic reviews of randomized controlled trials (RCT) in adults with acute to chronic neck pain reporting effects of pharmacological interventions including injections on pain, function/disability, global perceived effect, quality of life and patient satisfaction. Data Collection & Analysis: Two independent authors selected articles, assessed risk of bias and extracted data The GRADE tool was used to evaluate the body of evidence and an external panel provided critical review. Main Results: We found 26 reviews reporting on 47 RCTs. Most pharmacological interventions had low to very low quality methodologic evidence with three exceptions. For chronic neck pain, there was evidence of: a small immediate benefit for eperison hydrochloride (moderate GRADE, 1 trial, 157 participants);no short-term pain relieving benefit for botulinum toxin-A compared to saline (strong GRADE; 5 trial meta-analysis, 258 participants) nor for subacute/chronic whiplash (moderate GRADE; 4 trial meta-analysis, 183 participants) including reduced pain, disability or global perceived effect; andno long-term benefit for medial branch block of facet joints with steroids (moderate GRADE; 1 trial, 120 participants) over placebo to reduce pain or disability; Reviewers' Conclusions: While in general there is a lack of evidence for most pharmacological interventions, current evidence is against botulinum toxin-A for chronic neck pain or subacute/chronic whiplash; against medial branch block with steroids for chronic facet joint pain; but in favour of the muscle relaxant eperison hydrochloride for chronic neck pain. PMID:24155805

  13. Socially intelligent robots: dimensions of human-robot interaction.

    PubMed

    Dautenhahn, Kerstin

    2007-04-29

    Social intelligence in robots has a quite recent history in artificial intelligence and robotics. However, it has become increasingly apparent that social and interactive skills are necessary requirements in many application areas and contexts where robots need to interact and collaborate with other robots or humans. Research on human-robot interaction (HRI) poses many challenges regarding the nature of interactivity and 'social behaviour' in robot and humans. The first part of this paper addresses dimensions of HRI, discussing requirements on social skills for robots and introducing the conceptual space of HRI studies. In order to illustrate these concepts, two examples of HRI research are presented. First, research is surveyed which investigates the development of a cognitive robot companion. The aim of this work is to develop social rules for robot behaviour (a 'robotiquette') that is comfortable and acceptable to humans. Second, robots are discussed as possible educational or therapeutic toys for children with autism. The concept of interactive emergence in human-child interactions is highlighted. Different types of play among children are discussed in the light of their potential investigation in human-robot experiments. The paper concludes by examining different paradigms regarding 'social relationships' of robots and people interacting with them. PMID:17301026

  14. Ericksonian Approach to Experiential Education, Part 1: Developing the Stance of the Practitioner; Part 2: Tailoring Interventions; Part 3: Applying Specific Ericksonian Techniques.

    ERIC Educational Resources Information Center

    Itin, Christian

    This three-part workshop presentation explores the ideas of Milton Erickson on the therapeutic relationship and the therapeutic use of metaphor, and applies these ideas to experiential education and adventure therapy. Part 1 introduces the practitioner to the core philosophy within an Ericksonian approach: "utilization" of a client's behavior and…

  15. Consensus on timing of intervention for common congenital heart diseases: part II - cyanotic heart defects.

    PubMed

    Rao, P Syamasundar

    2013-08-01

    The purpose of this review/editorial is to discuss how and when to treat the most common cyanotic congenital heart defects (CHDs); the discussion of acyanotic heart defects was presented in a previous editorial. By and large, the indications and timing of intervention are decided by the severity of the lesion. While some patients with acyanotic CHD may not require surgical or transcatheter intervention because of spontaneous resolution of the defect or mildness of the defect, the majority of cyanotic CHD will require intervention, mostly surgical. Total surgical correction is the treatment of choice for tetralogy of Fallot patients although some patients may need to be palliated initially by performing a modified Blalock-Taussig shunt. For transposition of the great arteries, arterial switch (Jatene) procedure is the treatment of choice, although Rastelli procedure is required for patients who have associated ventricular septal defect (VSD) and pulmonary stenosis (PS). Some of these babies may require Prostaglandin E1 infusion and/or balloon atrial septostomy prior to corrective surgery. In tricuspid atresia patients, most babies require palliation at presentation either with a modified Blalock-Taussig shunt or pulmonary artery banding followed later by staged Fontan (bidirectional Glenn followed later by extracardiac conduit Fontan conversion usually with fenestration). Truncus arteriosus babies are treated by closure of VSD along with right ventricle to pulmonary artery conduit; palliative banding of the pulmonary artery is no longer recommended. Total anomalous pulmonary venous connection babies require anastomosis of the common pulmonary vein with the left atrium at presentation. Other defects should also be addressed by staged correction or complete repair depending upon the anatomy/physiology. Feasibility, safety and effectiveness of treatment of cyanotic CHD with currently available medical, transcatheter and surgical methods are well established and should

  16. Flexible control for welding robots

    SciTech Connect

    Mangold, V.L. Jr.

    1994-12-31

    The single limiting characteristic of robot welding applications that typically impairs the success and functionality of a robot welding work cell is workpiece or process-specific variances. Nearly as problematic for most robot arc welding applications in the near term, and potentially a larger problem in the future, is the compatibility of control systems utilized with industrial robots. The robot industry has developed over time in a manner that is significantly different than a related capital equipment genre, metal cutting machine tools. The robot industry, impacted by the overwhelming dominance of Japanese and European producers, have tended toward proprietary control systems that utilized application software that is nonstandard in nature and nontransportable from one robot product to another. This presentation discusses the use of standard platform controls with transportable welding software written in C or C++ code that can greatly increase the flexibility of robot welding operations. The presentation discusses the use of an Adept 1, Allen Bradley and Giddings and Lewis control system interchangeably with the same 6-axis arm robot for arc welding purposes. The flexibility of pin compatible control systems and software that is transportable from one robot line to another will greatly improve robot system performance. The long term maintenance cost and ultimately the financial viability of job shop, small parts robotic arc welding applications will also be enhanced.

  17. Randomized controlled trials in industrial low back pain. Part 3. Subacute/chronic pain interventions.

    PubMed

    Scheer, S J; Watanabe, T K; Radack, K L

    1997-04-01

    The most significant costs attributed to settlement of workplace back injury claims are related to chronic low back pain (LBP). Unfortunately, our knowledge of this fact has not led to a reduction of the considerable costs paid out annually by employers and insurers to deal with the chronic pain syndrome. This article is the third in a series of reviews on randomized controlled trials found in the English language medical literature between 1975 and 1993. Of more than 4,000 LBP citations, 35 studies met-the selection criteria of randomization, reasonable concurrent controls and work return comparisons. This review focuses on the 12 studies utilizing nonsurgical interventions for subacute and chronic LBP, including multidisciplinary pain clinics, exercise, cognitive-behavioral strategies, and others. A 26-point quality system was again used to compare the methodologic rigor of each study. The majority of prospective studies investigating return to work after chronic LBP have methodological limitations; additional research is clearly needed to more confidently answer the question of what interventions improve work capacity in patients with chronic LBP. PMID:9111463

  18. Nonstandard drugs and feasible new interventions for autoimmune hepatitis: part II.

    PubMed

    Czaja, Albert J

    2012-10-01

    Molecular, cellular, and genetic interventions are now feasible for autoimmune hepatitis because of improved understanding of pathogenic mechanisms, advances in recombinant technology, and previous successes in animal models and humans with other immune-mediated inflammatory diseases. Non-mitogenic monoclonal antibodies to CD3 promote apoptosis of cytotoxic T lymphocytes, inhibit production of pro-inflammatory cytokines, improve the function of regulatory T cells, and induce a durable remission in mouse models and humans with autoimmune diabetes. Monoclonal antibodies to CD20 deplete B lymphocytes, modify antibody-dependent and cell-mediated cytotoxic pathways, enhance regulatory T cell function, and improve isolated cases of autoimmune hepatitis with B-cell disorders. Recombinant cytotoxic T lymphocyte antigen-4 fused with immunoglobulin can block the second co-stimulatory signal required for lymphocyte activation, and it has been licensed for use in rheumatoid arthritis but not tried in autoimmune hepatitis. Other considerations on the distant horizon are monoclonal antibodies against inhibitory receptors on regulatory T cells, adoptive transfer of fresh regulatory T cells, tailored glycolipids that strengthen the immunosuppressive activity of natural killer T cells, small inhibitory ribonucleic acid molecules that silence promoter genes supporting disease activity, and mesenchymal stem cell transplantation to re-constitute immune homeostasis and support the damaged liver. Development of these feasible new interventions for autoimmune hepatitis requires therapeutic animal models, societal support, and a collaborative network of investigators to conduct rigorous clinical trials. PMID:22563780

  19. Robotics: A Bridge for Education and Technology.

    ERIC Educational Resources Information Center

    Warnat, Winifred I.

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

  20. Feasibility of using a humanoid robot to elicit communicational response in children with mild autism

    NASA Astrophysics Data System (ADS)

    Malik, Norjasween Abdul; Shamsuddin, Syamimi; Yussof, Hanafiah; Azfar Miskam, Mohd; Che Hamid, Aminullah

    2013-12-01

    Research evidences are accumulating with regards to the potential use of robots for the rehabilitation of children with autism. The purpose of this paper is to elaborate on the results of communicational response in two children with autism during interaction with the humanoid robot NAO. Both autistic subjects in this study have been diagnosed with mild autism. Following the outcome from our first pilot study; the aim of this current experiment is to explore the application of NAO robot to engage with a child and further teach about emotions through a game-centered and song-based approach. The experiment procedure involved interaction between humanoid robot NAO with each child through a series of four different modules. The observation items are based on ten items selected and referenced to GARS-2 (Gilliam Autism Rating Scale-second edition) and also input from clinicians and therapists. The results clearly indicated that both of the children showed optimistic response through the interaction. Negative responses such as feeling scared or shying away from the robot were not detected. Two-way communication between the child and robot in real time significantly gives positive impact in the responses towards the robot. To conclude, it is feasible to include robot-based interaction specifically to elicit communicational response as a part of the rehabilitation intervention of children with autism.

  1. Yakson touch as a part of early intervention in the Neonatal Intensive Care Unit: A systematic narrative review.

    PubMed

    Parashar, Preeti; Samuel, Asir John; Bansal, Arpna; Aranka, Vencita Priyanka

    2016-06-01

    Yakson is a Korean therapeutic touch given to neonates and infants by caressing their abdomen with one hand while the other hand is placed on the back of the neonate\\infant either to relieve their pain or to calm them down. It was traditionally used by Koreans by caressing the aching body part of their children with a belief that it would relieve their pain. In spite of clinical evidence of its usefulness, there is limited literature available on Yakson touch. A systematic narrative review (SNR) was undertaken on studies that were carried out on the effectiveness of Yakson touch on infants and neonates. Only seven studies were detected from five major electronic databases, searched with the keywords: "Yakson," "Yakson touch," and "Yakson in neonates". One of the studies has been included in two Cochrane reviews by the same group of researchers published in 2011 and 2015, respectively, and also in a literature review. The evidence from these articles suggests that Yakson touch is able to increase the sleep scores of infants, affects their behavioral response, decreases the stress levels, increases maternal attachment, and has calming effects on them. However, the number of studies is limited, and thus the efficacy of this intervention has not been sufficiently established. Hence, there is a definite need for future studies to prove the efficacy of Yakson to include it in the early intervention programs. This SNR is aimed at compiling the studies which determined to prove the efficacy of the intervention of Yakson. PMID:27390459

  2. MITOCHONDRIAL DISEASES PART III: THERAPEUTIC INTERVENTIONS IN MOUSE MODELS OF OXPHOS DEFICIENCIES

    PubMed Central

    Peralta, Susana; Torraco, Alessandra; Iommarini, Luisa; Diaz, Francisca

    2015-01-01

    Mitochondrial defects are the cause of numerous disorders affecting the oxidative phosphorylation system (OXPHOS) in humans leading predominantly to neurological and muscular degeneration. The molecular origin, manifestations, and progression of mitochondrial diseases have a broad spectrum, which makes very challenging to find a globally effective therapy. The study of the molecular mechanisms underlying the mitochondrial dysfunction indicates that there is a wide range of pathways, enzymes and molecules that could be potentially targeted for therapeutic purpose. Therefore, focusing on the pathology of the disease is essential to design new treatments. In this review, we will summarize and discuss the different therapeutic interventions tested in some mouse models of mitochondrial diseases laying emphasis on the molecular mechanisms of action and their potential applications. PMID:25638392

  3. An occupational therapy approach to persons with chronic fatigue syndrome: part two, assessment and intervention.

    PubMed

    Taylor, Renee R; Kielhofner, Gary W

    2003-01-01

    Chronic Fatigue Syndrome (CFS) is a highly disabling condition that significantly interferes with occupational life. Occupational therapy services are very relevant for this population. Yet, information about the assessment and treatment of CFS is almost absent from occupational therapy literature. As a result, few occupational therapists possess expertise in evaluating and providing therapy for this complex condition. This paper describes an approach to evaluating and providing services for individuals with CFS according to the Model of Human Occupation. This model offers an integrative means of understanding the synergistic and evolving relationships between motivation, values, roles, habits, functional capabilities, and the environment as they influence individuals with CFS, and it provides a framework for the types of changes required in these different domains during the rehabilitation process. A case study illustrates recommended assessment and intervention approaches. PMID:23944638

  4. Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation, volume 2, part 1. Appendix A: Software documentation

    NASA Technical Reports Server (NTRS)

    Lowrie, J. W.; Fermelia, A. J.; Haley, D. C.; Gremban, K. D.; Vanbaalen, J.; Walsh, R. W.

    1982-01-01

    Documentation of the preliminary software developed as a framework for a generalized integrated robotic system simulation is presented. The program structure is composed of three major functions controlled by a program executive. The three major functions are: system definition, analysis tools, and post processing. The system definition function handles user input of system parameters and definition of the manipulator configuration. The analysis tools function handles the computational requirements of the program. The post processing function allows for more detailed study of the results of analysis tool function executions. Also documented is the manipulator joint model software to be used as the basis of the manipulator simulation which will be part of the analysis tools capability.

  5. The Maiden Voyage of a Kinematics Robot

    NASA Astrophysics Data System (ADS)

    Greenwolfe, Matthew L.

    2015-04-01

    In a Montessori preschool classroom, students work independently on tasks that absorb their attention in part because the apparatus are carefully designed to make mistakes directly observable and limit exploration to one aspect or dimension. Control of error inheres in the apparatus itself, so that teacher intervention can be minimal.1 Inspired by this example, I created a robotic kinematics apparatus that also shapes the inquiry experience. Students program the robot by drawing kinematic graphs on a computer and then observe its motion. Exploration is at once limited to constant velocity and constant acceleration motion, yet open to complex multi-segment examples difficult to achieve in the lab in other ways. The robot precisely and reliably produces the motion described by the students' graphs, so that the apparatus itself provides immediate visual feedback about whether their understanding is correct as they are free to explore within the hard-coded limits. In particular, the kinematic robot enables hands-on study of multi-segment constant velocity situations, which lays a far stronger foundation for the study of accelerated motion. When correction is anonymous—just between one group of lab partners and their robot—students using the kinematic robot tend to flow right back to work because they view the correction as an integral part of the inquiry learning process. By contrast, when correction occurs by the teacher and/or in public (e.g., returning a graded assignment or pointing out student misconceptions during class), students all too often treat the event as the endpoint to inquiry. Furthermore, quantitative evidence shows a large gain from pre-test to post-test scores using the Test of Understanding Graphs in Kinematics (TUG-K).

  6. CASSY Robot

    NASA Astrophysics Data System (ADS)

    Pittman, Anna; Wright, Ann; Rice, Aaron; Shyaka, Claude

    2014-03-01

    The CASSY Robot project involved two square robots coded in RobotC. The goal was to code a robot to do a certain set of tasks autonomously. To begin with, our task was to code the robot so that it would roam a certain area, marked off by black tape. When the robot hit the black tape, it knew to back up and turn around. It was able to do this thanks to the light sensor that was attached to the bottom of the robot. Also, whenever the robot hit an obstacle, it knew to stop, back up, and turn around. This was primarily to prevent the robot from hurting itself if it hit an obstacle. This was accomplished by using touch sensors set up as bumpers. Once that was accomplished, we attached sonar sensors and created code so that one robot was able to find and track the other robot in a sort of intruder/police scenario. The overall goal of this project was to code the robot so that we can test it against a robot coded exactly the same, but using Layered Mode Selection Logic. Professor.

  7. The Effects of Rhythm and Robotic Interventions on the Imitation/Praxis, Interpersonal Synchrony, and Motor Performance of Children with Autism Spectrum Disorder (ASD): A Pilot Randomized Controlled Trial.

    PubMed

    Srinivasan, Sudha M; Kaur, Maninderjit; Park, Isabel K; Gifford, Timothy D; Marsh, Kerry L; Bhat, Anjana N

    2015-01-01

    We assessed the effects of three interventions, rhythm, robotic, and standard-of-care, on the imitation/praxis, interpersonal synchrony, and overall motor performance of 36 children with Autism Spectrum Disorder (ASD) between 5 and 12 years of age. Children were matched on age, level of functioning, and services received, prior to random assignment to one of the three groups. Training was provided for 8 weeks with 4 sessions provided each week. We assessed generalized changes in motor skills from the pretest to the posttest using a standardized test of motor performance, the Bruininks-Oseretsky Test of Motor Proficiency, 2nd edition (BOT-2). We also assessed training-specific changes in imitation/praxis and interpersonal synchrony during an early and a late session. Consistent with the training activities practiced, the rhythm and robot groups improved on the body coordination composite of the BOT-2, whereas the comparison group improved on the fine manual control composite of the BOT-2. All three groups demonstrated improvements in imitation/praxis. The rhythm and robot groups also showed improved interpersonal synchrony performance from the early to the late session. Overall, socially embedded movement-based contexts are valuable in promoting imitation/praxis, interpersonal synchrony, and motor performance and should be included within the standard-of-care treatment for children with ASD. PMID:26793394

  8. The Effects of Rhythm and Robotic Interventions on the Imitation/Praxis, Interpersonal Synchrony, and Motor Performance of Children with Autism Spectrum Disorder (ASD): A Pilot Randomized Controlled Trial

    PubMed Central

    Srinivasan, Sudha M.; Kaur, Maninderjit; Park, Isabel K.; Gifford, Timothy D.; Marsh, Kerry L.; Bhat, Anjana N.

    2015-01-01

    We assessed the effects of three interventions, rhythm, robotic, and standard-of-care, on the imitation/praxis, interpersonal synchrony, and overall motor performance of 36 children with Autism Spectrum Disorder (ASD) between 5 and 12 years of age. Children were matched on age, level of functioning, and services received, prior to random assignment to one of the three groups. Training was provided for 8 weeks with 4 sessions provided each week. We assessed generalized changes in motor skills from the pretest to the posttest using a standardized test of motor performance, the Bruininks-Oseretsky Test of Motor Proficiency, 2nd edition (BOT-2). We also assessed training-specific changes in imitation/praxis and interpersonal synchrony during an early and a late session. Consistent with the training activities practiced, the rhythm and robot groups improved on the body coordination composite of the BOT-2, whereas the comparison group improved on the fine manual control composite of the BOT-2. All three groups demonstrated improvements in imitation/praxis. The rhythm and robot groups also showed improved interpersonal synchrony performance from the early to the late session. Overall, socially embedded movement-based contexts are valuable in promoting imitation/praxis, interpersonal synchrony, and motor performance and should be included within the standard-of-care treatment for children with ASD. PMID:26793394

  9. Feasibility and Acceptance of a Robotic Surgery Ergonomic Training Program

    PubMed Central

    Craven, Renatta; Mosaly, Prithima; Gehrig, Paola A.

    2014-01-01

    Background and Objectives: Assessment of ergonomic strain during robotic surgery indicates there is a need for intervention. However, limited data exist detailing the feasibility and acceptance of ergonomic training (ET) for robotic surgeons. This prospective, observational pilot study evaluates the implementation of an evidence-based ET module. Methods: A two-part survey was conducted. The first survey assessed robotic strain using the Nordic Musculoskeletal Questionnaire (NMQ). Participants were given the option to participate in either an online or an in-person ET session. The ET was derived from Occupational Safety and Health Administration guidelines and developed by a human factors engineer experienced with health care ergonomics. After ET, a follow-up survey including the NMQ and an assessment of the ET were completed. Results: The survey was sent to 67 robotic surgeons. Forty-two (62.7%) responded, including 18 residents, 8 fellows, and 16 attending physicians. Forty-five percent experienced strain resulting from performing robotic surgery and 26.3% reported persistent strain. Only 16.6% of surgeons reported prior ET in robotic surgery. Thirty-five (78%) surgeons elected to have in-person ET, which was successfully arranged for 32 surgeons (91.4%). Thirty-seven surgeons (88.1%) completed the follow-up survey. All surgeons participating in the in-person ET found it helpful and felt formal ET should be standard, 88% changed their practice as a result of the training, and 74% of those reporting strain noticed a decrease after their ET. Conclusion: Thus, at a high-volume robotics center, evidence-based ET was easily implemented, well-received, changed some surgeons' practice, and decreased self-reported strain related to robotic surgery. PMID:25489213

  10. Human-robot coordination using scripts

    NASA Astrophysics Data System (ADS)

    Barnes, Laura E.; Murphy, Robin R.; Craighead, Jeffrey D.

    2006-05-01

    This paper describes an extension of scripts, which have been used to control sequences of robot behavior, to facilitate human-robot coordination. The script mechanism permits the human to both conduct expected, complementary activities with the robot and to intervene opportunistically taking direct control. Scripts address the six major issues associated with human-robot coordination. They allow the human to visualize the robot's mental model of the situation and build a better overall understanding of the situation and what level of autonomy or intervention is needed. It also maintains synchronization of the world and robot models so that control can be seamlessly transferred between human and robot while eliminating "coordination surprise". The extended script mechanism and its implementation in Java on an Inuktun micro-VGTV robot for the technical search task in urban search and rescue is described.

  11. Robot Grasps Rotating Object

    NASA Technical Reports Server (NTRS)

    Wilcox, Brian H.; Tso, Kam S.; Litwin, Todd E.; Hayati, Samad A.; Bon, Bruce B.

    1991-01-01

    Experimental robotic system semiautomatically grasps rotating object, stops rotation, and pulls object to rest in fixture. Based on combination of advanced techniques for sensing and control, constructed to test concepts for robotic recapture of spinning artificial satellites. Potential terrestrial applications for technology developed with help of system includes tracking and grasping of industrial parts on conveyor belts, tracking of vehicles and animals, and soft grasping of moving objects in general.

  12. Effects of Individual and Group Contingency Interventions on Attendance in Adolescent Part-Time Employees

    ERIC Educational Resources Information Center

    Berkovits, Shira Melody; Sturmey, Peter; Alvero, Alicia M.

    2012-01-01

    This study examined the effects of individual and group monetary contingencies on the attendance of adolescent part-time employees. Attendance increased in both individual and group contingency phases; however staff questionnaire responses indicated a preference for the individual contingencies. Future research should consider staff acceptability…

  13. Assistance to States for the Education of Children with Disabilities and the Early Intervention Program for Infants and Toddlers with Disabilities. Final Regulations. Federal Register, Part II, Department of Education, 34 CFR Parts 300 and 303.

    ERIC Educational Resources Information Center

    Federal Register, 1999

    1999-01-01

    This document presents final regulations for the Assistance to States for Education of Children with Disabilities program under Part B of the Individuals with Disabilities Act (IDEA Part B) and the Early Intervention Program for Infants and Toddlers with Disabilities under Part C of the Act. These regulations are needed to implement changes made…

  14. [Determinants of health and health policy. Part 3. From intervention of quality of life].

    PubMed

    Zácek, A

    2000-03-29

    Effectiveness of outputs of a qualified intervention can be valued by several positive criteria corresponding to the "quality of life" conception, which is based on the feeling of the health and contentment. The finding that great differences in the income among different social groups in conditions of the liberal market society correlate with several health and social problems brought about to the hypothesis that the decrease of the differences in the income, accompanied by strengthening of various forms of the social cohesion, civic solidarity, legitimate equality, and ethical justice may substantially improve the health status of the population. The hypothesis has been verified in many epidemiological studies and found to be valid enough for the health policy and far-seeing economy. Analytics of the World Bank recommend to governments primary invest into the health of socially week groups in order to decrease their poverty and to keep social conciliation. World Health Organization (WHO) sets in its new program for Europe called "21 Goals for the 21st Century" that differences in the health status among the European states should diminish till 2020 by one third and within the countries by one quarter at least. Both goals should be achieved by a substantial improvement of the health status of the ill-adapted social groups and by significant improvement of those socioeconomical conditions which may have adverse effects namely on the differences in incomes, education and opportunities for employment. PMID:10916199

  15. Saliency detection and model-based tracking: a two part vision system for small robot navigation in forested environment

    NASA Astrophysics Data System (ADS)

    Roberts, Richard; Ta, Duy-Nguyen; Straub, Julian; Ok, Kyel; Dellaert, Frank

    2012-06-01

    Towards the goal of fast, vision-based autonomous flight, localization, and map building to support local planning and control in unstructured outdoor environments, we present a method for incrementally building a map of salient tree trunks while simultaneously estimating the trajectory of a quadrotor flying through a forest. We make significant progress in a class of visual perception methods that produce low-dimensional, geometric information that is ideal for planning and navigation on aerial robots, while directing computational resources using motion saliency, which selects objects that are important to navigation and planning. By low-dimensional geometric information, we mean coarse geometric primitives, which for the purposes of motion planning and navigation are suitable proxies for real-world objects. Additionally, we develop a method for summarizing past image measurements that avoids expensive computations on a history of images while maintaining the key non-linearities that make full map and trajectory smoothing possible. We demonstrate results with data from a small, commercially-available quad-rotor flying in a challenging, forested environment.

  16. Industrial Robots.

    ERIC Educational Resources Information Center

    Reed, Dean; Harden, Thomas K.

    Robots are mechanical devices that can be programmed to perform some task of manipulation or locomotion under automatic control. This paper discusses: (1) early developments of the robotics industry in the United States; (2) the present structure of the industry; (3) noneconomic factors related to the use of robots; (4) labor considerations…

  17. Nutritional interventions to prevent and treat osteoarthritis. Part II: focus on micronutrients and supportive nutraceuticals.

    PubMed

    Lopez, Hector L

    2012-05-01

    Osteoarthritis (OA) is the most common cause of musculoskeletal disability in the elderly, and it places an enormous economic burden on society, which will remain a major health care challenge with an aging population. Management of OA is primarily focused on palliative relief using agents such as nonsteroidal anti-inflammatory drugs (NSAID) and analgesics. However, such an approach is limited by a narrow therapeutic focus that fails to address the progressive and multimodal nature of OA. Given the favorable safety profile of most nutritional interventions, identifying disease-modifying pharmaconutrients capable of improving symptoms and also preventing, slowing, or even reversing the degenerative process in OA should remain an important paradigm in translational and clinical research. The goals of pharmaconutrition for metabolic optimization are to drive biochemical reactions in a desired direction and to meet health condition-specific metabolic demands. Applying advances in nutritional science to musculoskeletal medicine remains challenging, given the fluid and dynamic nature of the field, along with a rapidly developing regulatory climate over manufacturing and commerce requirements. The purpose of this article is to review the available literature on effectiveness and potential mechanism for OA of micronutrient vitamins; minerals; glycosaminoglycans; avocado-soybean unsaponifiable fractions; methylsulfonylmethane; s-adenosylmethionine; undenatured and hydrolyzed collagen preparations; phytoflavonoid compounds found in fruits, vegetables, spices, teas, and nuts; and other nutrients on the horizon. There also is a discussion on the concept of rational polysupplementation via the strategic integration of multiple nutraceuticals with potential complementary mechanisms for improving outcomes in OA. As applied nutritional science evolves, it will be important to stay on the forefront of proteomics, metabolomics, epigenetics, and nutrigenomics, because they hold

  18. Control of robot manipulator compliance

    NASA Technical Reports Server (NTRS)

    Nguyen, Charles C.; Pooran, Farhad J.; Premack, Timothy

    1986-01-01

    Robotic assembly operations such as mating and fastening of parts are more successful if the robot manipulator compliance can be controlled so that various coordinates are free to comply with external constraints. This paper presents the design of a hybrid controller to provide active compliance to a six-degree-of-freedom robot built at NASA/GSFC using force and position feedback. Simulation results of a 2 degree-of-freedom model is presented and discussed.

  19. Association of a Full-Day versus Part-Day Preschool Intervention with School Readiness, Attendance, and Parent Involvement

    PubMed Central

    Reynolds, Arthur J.; Richardson, Brandt A.; Hayakawa, C. Momoko; Lease, Erin M.; Warner-Richter, Mallory; Englund, Michelle M.; Ou, Suh-Ruu; Sullivan, Molly

    2015-01-01

    Importance Early childhood interventions have demonstrated many positive effects on well-being. Whether attending for the full day vs part day improves outcomes is unknown. Objective To evaluate the association between a school-based full- and part-day early childhood development program and multiple indicators of school readiness, attendance, and parent involvement for a large cohort of low-income children. Design, Setting, and Participants End-of-preschool follow-up of a nonrandomized, matched-group cohort of predominantly low-income, ethnic minority children who enrolled in the Child-Parent Centers for the full school day (7 hours; n = 409) or part of the day (3 hours on average; n = 573) in the fall of 2012 in 11 schools in Chicago, Ill. Interventions The Midwest Child-Parent Center Education Program provides comprehensive education, family-support, and health services from preschool to third grade in high-poverty neighborhoods. In the preschool component assessed in this study, 3- and 4-year-olds in enrolled in the program for full- or part-day. Main Outcomes and Measures School readiness skills in 6 domains and on a total score at the end of the year, attendance and chronic absences, and parental involvement. Mean raw scores and the number of items for readiness domains were as follows: literacy (57.1, 12 items), language (37.8, 6), math (36.3, 7), cognitive (57.6, 10), socioemotional (55.4, 9), physical health (33.8, 5), and the total (278.0; 49). Results Full-day preschool participants had higher scores than part-day peers in the same schools on socioemotional development (58.6 vs. 54.5; diff. = 4.1; P = .025; 95% CI = 0.5, 7.6), language (39.9 vs. 37.3; diff = 2.6; P =.010; 95% CI = 0.6, 4.6), math (40.0 vs. 36.4; diff. = 3.6; P = .022; 95% CI = 0.5, 6.7), and physical health (35.5 vs. 33.6; diff. = 1.9; P = .006; 95% CI = 0.5, 3.2) but not parent involvement in school (3.95 vs. 4.65; diff. = -0.70; P = .170; 95% CI = -1.7, 3.0). The full-day group also

  20. Yakson touch as a part of early intervention in the Neonatal Intensive Care Unit: A systematic narrative review

    PubMed Central

    Parashar, Preeti; Samuel, Asir John; Bansal, Arpna; Aranka, Vencita Priyanka

    2016-01-01

    Yakson is a Korean therapeutic touch given to neonates and infants by caressing their abdomen with one hand while the other hand is placed on the back of the neonate\\infant either to relieve their pain or to calm them down. It was traditionally used by Koreans by caressing the aching body part of their children with a belief that it would relieve their pain. In spite of clinical evidence of its usefulness, there is limited literature available on Yakson touch. A systematic narrative review (SNR) was undertaken on studies that were carried out on the effectiveness of Yakson touch on infants and neonates. Only seven studies were detected from five major electronic databases, searched with the keywords: “Yakson,“ “Yakson touch,” and “Yakson in neonates”. One of the studies has been included in two Cochrane reviews by the same group of researchers published in 2011 and 2015, respectively, and also in a literature review. The evidence from these articles suggests that Yakson touch is able to increase the sleep scores of infants, affects their behavioral response, decreases the stress levels, increases maternal attachment, and has calming effects on them. However, the number of studies is limited, and thus the efficacy of this intervention has not been sufficiently established. Hence, there is a definite need for future studies to prove the efficacy of Yakson to include it in the early intervention programs. This SNR is aimed at compiling the studies which determined to prove the efficacy of the intervention of Yakson. PMID:27390459

  1. FIRST Robotics Kickoff

    NASA Technical Reports Server (NTRS)

    2007-01-01

    NASA engineers Scott Olive (left) and Bo Clarke answer questions during the 2007 FIRST (For Inspiration and Recognition of Science and Technology) Robotics Competition regional kickoff event held Saturday, Jan. 6, 2007, at StenniSphere, the visitor center at NASA Stennis Space Center near Bay St. Louis, Miss. The SSC employees and FIRST Robotics volunteer mentors are standing near a mock-up of the playing field for the FIRST Robotics' 2007 `Rack n' Roll' challenge. Roughly 300 students and adult volunteers - representing 29 high schools from four states - attended the kickoff to hear the rules of `Rack n' Roll.' The teams will spend the next six weeks building and programming robots from parts kits they received Saturday, then battle their creations at regional spring competitions in New Orleans, Houston, Atlanta and other cities around the nation. FIRST aims to inspire students in the pursuit of engineering and technology studies and careers.

  2. Fathers' and Mothers' Experiences with Participation in Part C of the Individuals with Disabilities Education Act Early Intervention Process

    ERIC Educational Resources Information Center

    Baden, Kristin Marie

    2012-01-01

    Part C of the Individuals with Disabilities Education Act (IDEA) includes a provision for states to provide early intervention (EI) for infants and toddlers demonstrating developmental challenges. Limited data identify how parents, and especially fathers, feel about their experiences participating in Part C EI. This study investigated how fathers…

  3. Robot Technicians: Is There a Need?

    ERIC Educational Resources Information Center

    Minty, Gordon

    1987-01-01

    The study attempted to determine needs for training robotic technicians in Michigan. The survey had three parts: (1) needed technical specialities, (2) current problems with robot maintenance and repair, and (3) number of robots needed to keep a full-time technician occupied. (CH)

  4. Hexapod Robot

    NASA Technical Reports Server (NTRS)

    Begody, Ericka

    2016-01-01

    right or up and down. The hexapod will eventually be able to track the object moving its head and body in sync with on another and being able to rotate its body at 360 degrees. This is the plans and possible end results for the hexapod robot I will be working on during my summer internship at NASA Johnson Space Center. Since working on the hexapod project I have gained an increase interest in robotics. I enjoy the process of critical thinking. Also will working on this project I was challenged in a way that made more passionate to strive even more to become an engineer. I've learned that asking questions is an important part of the learning process. Also I learn that much more is accomplished when teamwork is applied.

  5. Rotorcraft and Enabling Robotic Rescue

    NASA Technical Reports Server (NTRS)

    Young, Larry A.

    2010-01-01

    This paper examines some of the issues underlying potential robotic rescue devices (RRD) in the context where autonomous or manned rotorcraft deployment of such robotic systems is a crucial attribute for their success in supporting future disaster relief and emergency response (DRER) missions. As a part of this discussion, work related to proof-of-concept prototyping of two notional RRD systems is summarized.

  6. Mobile robotics research at Sandia National Laboratories

    SciTech Connect

    Morse, W.D.

    1998-09-01

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

  7. Nitric Oxide and Redox Regulation in the Liver: Part II Redox biology in Pathologic Hepatocytes and Implications for intervention

    PubMed Central

    Diesen, Diana L.; Kuo, Paul C.

    2009-01-01

    Reactive oxygen species (ROS) and reactive nitrogen species (RNS) are created in normal hepatocytes and are critical for normal physiological processes including oxidative respiration, growth, regeneration, apoptosis, and microsomal defense. When the levels of oxidation products exceed the capacity of normal antioxidant systems, oxidative stress occurs. This type of stress, in the form of ROS and RNS, can be damaging to all liver cells, including hepatocytes, Kupffer cells, stellate cells, and endothelial cells, through induction of inflammation, ischemia, fibrosis, necrosis, apoptosis, or through malignant transformation by damaging lipids, proteins, and/or DNA. In part I of this review, we will discuss basic redox biology in the liver, including a review of ROS, RNS, and antioxidants, with a focus on nitric oxide as a common source of RNS. We will then review the evidence for oxidative stress as a mechanism of liver injury in hepatitis (alcoholic, viral, non-alcoholic). In part II of this review, we will review oxidative stress in common pathophysiological conditions including ischemia/reperfusion injury, fibrosis, hepatocellular carcinoma, iron overload, Wilson’s disease, sepsis and acetaminophen overdose. Finally, biomarkers, proteomic, and antioxidant therapies will be discussed as areas for future therapeutic interventions. PMID:20400112

  8. A deformable spherical planet exploration robot

    NASA Astrophysics Data System (ADS)

    Liang, Yi-shan; Zhang, Xiu-li; Huang, Hao; Yang, Yan-feng; Jin, Wen-tao; Sang, Zhong-xun

    2013-03-01

    In this paper, a deformable spherical planet exploration robot has been introduced to achieve the task of environmental detection in outer space or extreme conditions. The robot imitates the morphology structure and motion mechanism of tumbleweeds. The robot is wind-driven. It consists of an axle, a spherical steel skeleton and twelve airbags. The axle is designed as two parts. The robot contracts by contracting the two-part axle. The spherical robot installs solar panels to provide energy for its control system.

  9. Oak Ridge National Laboratory Technology Logic Diagram. Volume 3, Technology evaluation data sheets: Part C, Robotics/automation, Waste management

    SciTech Connect

    Not Available

    1993-09-01

    The Oak Ridge National Laboratory Technology Logic Diagram (TLD) was developed to provide a decision support tool that relates environmental restoration (ER) and waste management (WM) problems at Oak Ridge National Laboratory (ORNL) to potential technologies that can remediate these problems. The TLD identifies the research, development, demonstration testing, and evaluation needed to develop these technologies to a state that allows technology transfer and application to decontamination and decommissioning (D&D), remedial action (RA), and WM activities. The TLD consists of three fundamentally separate volumes: Vol. 1, Technology Evaluation; Vol. 2, Technology Logic Diagram and Vol. 3, Technology EvaLuation Data Sheets. Part A of Vols. 1 and 2 focuses on RA. Part B of Vols. 1 and 2 focuses on the D&D of contaminated facilities. Part C of Vols. 1 and 2 focuses on WM. Each part of Vol. 1 contains an overview of the TM, an explanation of the problems facing the volume-specific program, a review of identified technologies, and rankings of technologies applicable to the site. Volume 2 (Pts. A. B. and C) contains the logic linkages among EM goals, environmental problems, and the various technologies that have the potential to solve these problems. Volume 3 (Pts. A. B, and C) contains the TLD data sheets. This volume provides the technology evaluation data sheets (TEDS) for ER/WM activities (D&D, RA and WM) that are referenced by a TEDS code number in Vol. 2 of the TLD. Each of these sheets represents a single logic trace across the TLD. These sheets contain more detail than is given for the technologies in Vol. 2.

  10. Robot goniophotometry at PTB

    NASA Astrophysics Data System (ADS)

    Lindemann, M.; Maass, R.; Sauter, G.

    2015-04-01

    The total luminous flux of a light source is the complete integration of its spectral radiance distribution weighted with the photopic observer and taken over all parts of its surface and over the full solid angle of emittance. The spatial distributions are measured with various types of goniophotometers and the PTB robot goniophotometer is a new type with many unique features. It is built as an arrangement of three robots with arms of more than 6 m in length and with 7 degrees of freedom each. The extreme flexibility of the robots allows computer controlled tracks with variable radii and speeds up to 3 m and 1 m s-1, respectively. One robot aligns the light source and the two other robots move photometers and array spectrometers in their hemispheres simultaneously measuring planar illuminance and the related relative spectral distribution. The robot goniophotometer is optimized for the realisation of the luminous flux unit, the lumen and it is completely characterized in this report. The relevant properties and correction factors are explained, as well as the implementation of techniques for synchronisation and stabilisation of spatially resolved or integrated photometric and colorimetric quantities. Finally, all contributions are combined in the model of evaluation for the (total) luminous flux value and the measurement uncertainty associated with that value is evaluated in the presented uncertainty budget. The goniophotometric determination of the values for colorimetric quantities is explained for the total luminous flux and the spatially distributed radiant power.

  11. PIR-1 and PIRPL. A Project in Robotics Education. Revised.

    ERIC Educational Resources Information Center

    Schultz, Charles P.

    This paper presents the results of a project in robotics education that included: (1) designing a mobile robot--the Personal Instructional Robot-1 (PIR-1); (2) providing a guide to the purchase and assembly of necessary parts; (3) providing a way to interface the robot with common classroom microcomputers; and (4) providing a language by which the…

  12. Robotics research

    SciTech Connect

    Brady, M.; Paul, R.

    1984-01-01

    Organized around a view of robotics as ''the intelligent connection of perception to action,'' the fifty-three contributions collected in this book present leading current research in one of the fastest moving fields of artificial intelligence. Readings Include: Hand-Eye Coordination in Rope Handling; 3-D Balance Using 2-D algorithms. A Model Driven Visual Inspection Module: Stereo Vision: Complexity and Constraints; Interpretation of Contact Geometers from Force Measurement; The Utah MIT Dextrous Hand: Work in Progress; Hierarchical Nonlinear Control for Robots; VAL-11; A Robot Programming Language and Control System; Technological Barriers in Robotics: A Perspective from Industry.

  13. Robotic Surgery

    PubMed Central

    Lanfranco, Anthony R.; Castellanos, Andres E.; Desai, Jaydev P.; Meyers, William C.

    2004-01-01

    Objective: To review the history, development, and current applications of robotics in surgery. Background: Surgical robotics is a new technology that holds significant promise. Robotic surgery is often heralded as the new revolution, and it is one of the most talked about subjects in surgery today. Up to this point in time, however, the drive to develop and obtain robotic devices has been largely driven by the market. There is no doubt that they will become an important tool in the surgical armamentarium, but the extent of their use is still evolving. Methods: A review of the literature was undertaken using Medline. Articles describing the history and development of surgical robots were identified as were articles reporting data on applications. Results: Several centers are currently using surgical robots and publishing data. Most of these early studies report that robotic surgery is feasible. There is, however, a paucity of data regarding costs and benefits of robotics versus conventional techniques. Conclusions: Robotic surgery is still in its infancy and its niche has not yet been well defined. Its current practical uses are mostly confined to smaller surgical procedures. PMID:14685095

  14. Hopping robot

    DOEpatents

    Spletzer, Barry L.; Fischer, Gary J.; Marron, Lisa C.; Martinez, Michael A.; Kuehl, Michael A.; Feddema, John T.

    2001-01-01

    The present invention provides a hopping robot that includes a misfire tolerant linear actuator suitable for long trips, low energy steering and control, reliable low energy righting, miniature low energy fuel control. The present invention provides a robot with hopping mobility, capable of traversing obstacles significant in size relative to the robot and capable of operation on unpredictable terrain over long range. The present invention further provides a hopping robot with misfire-tolerant combustion actuation, and with combustion actuation suitable for use in oxygen-poor environments.

  15. Grasping-Force Sensor For Robot Hand

    NASA Technical Reports Server (NTRS)

    Scheinman, Victor D.; Bejczy, Antal K.; Primus, Howard K.

    1991-01-01

    Grasping-force sensor designed for use on robot hand including interdigitating claws required to remain in alignment. Sensor integral part of grasping claw assembly on robot hand. Base frames deflect elastically, partly in manner of cantilever beam and partly in manner of parallelogram linkage. Strain gauges measure grasping forces by measuring deflections. Operator feels initial contact between claws and object and modifies motions of robot arm, hand and claws accordingly.

  16. Towards a sustainable modular robot system for planetary exploration

    NASA Astrophysics Data System (ADS)

    Hossain, S. G. M.

    This thesis investigates multiple perspectives of developing an unmanned robotic system suited for planetary terrains. In this case, the unmanned system consists of unit-modular robots. This type of robot has potential to be developed and maintained as a sustainable multi-robot system while located far from direct human intervention. Some characteristics that make this possible are: the cooperation, communication and connectivity among the robot modules, flexibility of individual robot modules, capability of self-healing in the case of a failed module and the ability to generate multiple gaits by means of reconfiguration. To demonstrate the effects of high flexibility of an individual robot module, multiple modules of a four-degree-of-freedom unit-modular robot were developed. The robot was equipped with a novel connector mechanism that made self-healing possible. Also, design strategies included the use of series elastic actuators for better robot-terrain interaction. In addition, various locomotion gaits were generated and explored using the robot modules, which is essential for a modular robot system to achieve robustness and thus successfully navigate and function in a planetary environment. To investigate multi-robot task completion, a biomimetic cooperative load transportation algorithm was developed and simulated. Also, a liquid motion-inspired theory was developed consisting of a large number of robot modules. This can be used to traverse obstacles that inevitably occur in maneuvering over rough terrains such as in a planetary exploration. Keywords: Modular robot, cooperative robots, biomimetics, planetary exploration, sustainability.

  17. The ROMPS robot in HitchHiker

    NASA Technical Reports Server (NTRS)

    Voellmer, George

    1992-01-01

    The Robotics Branch of the Goddard Space Flight Center has under development a robot that fits inside a Get Away Special can. In the RObotic Materials Processing System (ROMPS) HitchHiker experiment, this robot is used to transport pallets containing wafers of different materials from their storage rack to a halogen lamp furnace for rapid thermal processing in a microgravity environment. It then returns them to their storage rack. A large part of the mechanical design of the robot dealt with the potential misalignment between the various components that are repeatedly mated and demated. A system of tapered guides and compliant springs was designed to work within the robot's force and accuracy capabilities. This paper discusses the above and other robot design issues in detail, and presents examples of ROMPS robot analyses that are applicable to other HitcherHiker materials handling missions.

  18. The ROMPS robot in HitchHiker

    NASA Astrophysics Data System (ADS)

    Voellmer, George

    1992-10-01

    The Robotics Branch of the Goddard Space Flight Center has under development a robot that fits inside a Get Away Special can. In the RObotic Materials Processing System (ROMPS) HitchHiker experiment, this robot is used to transport pallets containing wafers of different materials from their storage rack to a halogen lamp furnace for rapid thermal processing in a microgravity environment. It then returns them to their storage rack. A large part of the mechanical design of the robot dealt with the potential misalignment between the various components that are repeatedly mated and demated. A system of tapered guides and compliant springs was designed to work within the robot's force and accuracy capabilities. This paper discusses the above and other robot design issues in detail, and presents examples of ROMPS robot analyses that are applicable to other HitcherHiker materials handling missions.

  19. Robotics 101

    ERIC Educational Resources Information Center

    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…

  20. Robotic system

    NASA Technical Reports Server (NTRS)

    Ambrose, Robert O. (Inventor)

    2003-01-01

    A robot having a plurality of interconnected sections is disclosed. Each of the sections includes components which are moveable relative to components of an adjacent section. A plurality of electric motors are operably connected to at least two of said relatively moveable components to effect relative movement. A fitted, removable protective covering surrounds the sections to protect the robot.

  1. Robotic Surgery

    NASA Technical Reports Server (NTRS)

    2000-01-01

    The Automated Endoscopic System for Optimal Positioning, or AESOP, was developed by Computer Motion, Inc. under a SBIR contract from the Jet Propulsion Lab. AESOP is a robotic endoscopic positioning system used to control the motion of a camera during endoscopic surgery. The camera, which is mounted at the end of a robotic arm, previously had to be held in place by the surgical staff. With AESOP the robotic arm can make more precise and consistent movements. AESOP is also voice controlled by the surgeon. It is hoped that this technology can be used in space repair missions which require precision beyond human dexterity. A new generation of the same technology entitled the ZEUS Robotic Surgical System can make endoscopic procedures even more successful. ZEUS allows the surgeon control various instruments in its robotic arms, allowing for the precision the procedure requires.

  2. Controlling robots with spoken commands

    SciTech Connect

    Beugelsdijk, T.; Phelan, P.

    1987-10-01

    A robotic system for handling radioactive materials has been developed at Los Alamos National Laboratory. Because of safety considerations, the robot must be under the control of a human operator continuously. In this paper we describe the implementation of a voice-recognition system that makes such control possible, yet permits the robot to perform preprogrammed manipulations without the operator's intervention. We also describe the training given both the operator and the voice recognition-system, as well as practical problems encountered during routine operation. A speech synthesis unit connected to the robot's control computer provides audible feedback to the operator. Thus, when a task is completed or if an emergency develops, the computer provides an appropriate spoken message. Implementation and operation of this commercially available hardware are discussed.

  3. Can Robotic Interaction Improve Joint Attention Skills?

    PubMed

    Warren, Zachary E; Zheng, Zhi; Swanson, Amy R; Bekele, Esubalew; Zhang, Lian; Crittendon, Julie A; Weitlauf, Amy F; Sarkar, Nilanjan

    2015-11-01

    Although it has often been argued that clinical applications of advanced technology may hold promise for addressing impairments associated with autism spectrum disorder (ASD), relatively few investigations have indexed the impact of intervention and feedback approaches. This pilot study investigated the application of a novel robotic interaction system capable of administering and adjusting joint attention prompts to a small group (n = 6) of children with ASD. Across a series of four sessions, children improved in their ability to orient to prompts administered by the robotic system and continued to display strong attention toward the humanoid robot over time. The results highlight both potential benefits of robotic systems for directed intervention approaches as well as potent limitations of existing humanoid robotic platforms. PMID:24014194

  4. Can Robotic Interaction Improve Joint Attention Skills?

    PubMed Central

    Zheng, Zhi; Swanson, Amy R.; Bekele, Esubalew; Zhang, Lian; Crittendon, Julie A.; Weitlauf, Amy F.; Sarkar, Nilanjan

    2013-01-01

    Although it has often been argued that clinical applications of advanced technology may hold promise for addressing impairments associated with autism spectrum disorder (ASD), relatively few investigations have indexed the impact of intervention and feedback approaches. This pilot study investigated the application of a novel robotic interaction system capable of administering and adjusting joint attention prompts to a small group (n = 6) of children with ASD. Across a series of four sessions, children improved in their ability to orient to prompts administered by the robotic system and continued to display strong attention toward the humanoid robot over time. The results highlight both potential benefits of robotic systems for directed intervention approaches as well as potent limitations of existing humanoid robotic platforms. PMID:24014194

  5. Early Intervention and Maltreated Children: A Current Look at the Child Abuse Prevention and Treatment Act and Part C

    ERIC Educational Resources Information Center

    Moxley, Kathleen M.; Squires, Jane; Lindstrom, Lauren

    2012-01-01

    Current literature regarding the prevalence of child abuse and neglect, resulting developmental impacts on children, and early intervention services for children and families involved in the child welfare system is summarized. While early intervention eligibility referrals are mandated for this population under the Child Abuse Prevention and…

  6. Robotic transportation.

    PubMed

    Lob, W S

    1990-09-01

    Mobile robots perform fetch-and-carry tasks autonomously. An intelligent, sensor-equipped mobile robot does not require dedicated pathways or extensive facility modification. In the hospital, mobile robots can be used to carry specimens, pharmaceuticals, meals, etc. between supply centers, patient areas, and laboratories. The HelpMate (Transitions Research Corp.) mobile robot was developed specifically for hospital environments. To reach a desired destination, Help-Mate navigates with an on-board computer that continuously polls a suite of sensors, matches the sensor data against a pre-programmed map of the environment, and issues drive commands and path corrections. A sender operates the robot with a user-friendly menu that prompts for payload insertion and desired destination(s). Upon arrival at its selected destination, the robot prompts the recipient for a security code or physical key and awaits acknowledgement of payload removal. In the future, the integration of HelpMate with robot manipulators, test equipment, and central institutional information systems will open new applications in more localized areas and should help overcome difficulties in filling transport staff positions. PMID:2208684

  7. Artificial heart for humanoid robot

    NASA Astrophysics Data System (ADS)

    Potnuru, Akshay; Wu, Lianjun; Tadesse, Yonas

    2014-03-01

    A soft robotic device inspired by the pumping action of a biological heart is presented in this study. Developing artificial heart to a humanoid robot enables us to make a better biomedical device for ultimate use in humans. As technology continues to become more advanced, the methods in which we implement high performance and biomimetic artificial organs is getting nearer each day. In this paper, we present the design and development of a soft artificial heart that can be used in a humanoid robot and simulate the functions of a human heart using shape memory alloy technology. The robotic heart is designed to pump a blood-like fluid to parts of the robot such as the face to simulate someone blushing or when someone is angry by the use of elastomeric substrates and certain features for the transport of fluids.

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

    NASA Astrophysics Data System (ADS)

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

    2014-04-01

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

  9. [Robotic surgery].

    PubMed

    Sándor, József; Haidegger, Tamás; Kormos, Katalin; Ferencz, Andrea; Csukás, Domokos; Bráth, Endre; Szabó, Györgyi; Wéber, György

    2013-10-01

    Due to the fast spread of laparoscopic cholecystectomy, surgical procedures have been changed essentially. The new techniques applied for both abdominal and thoracic procedures provided the possibility for minimally invasive access with all its advantages. Robots - originally developed for industrial applications - were retrofitted for laparoscopic procedures. The currently prevailing robot-assisted surgery is ergonomically more advantageous for the surgeon, as well as for the patient through the more precise preparative activity thanks to the regained 3D vision. The gradual decrease of costs of robotic surgical systems and development of new generations of minimally invasive devices may lead to substantial changes in routine surgical procedures. PMID:24144815

  10. Development of an Interactive Augmented Environment and Its Application to Autonomous Learning for Quadruped Robots

    NASA Astrophysics Data System (ADS)

    Kobayashi, Hayato; Osaki, Tsugutoyo; Okuyama, Tetsuro; Gramm, Joshua; Ishino, Akira; Shinohara, Ayumi

    This paper describes an interactive experimental environment for autonomous soccer robots, which is a soccer field augmented by utilizing camera input and projector output. This environment, in a sense, plays an intermediate role between simulated environments and real environments. We can simulate some parts of real environments, e.g., real objects such as robots or a ball, and reflect simulated data into the real environments, e.g., to visualize the positions on the field, so as to create a situation that allows easy debugging of robot programs. The significant point compared with analogous work is that virtual objects are touchable in this system owing to projectors. We also show the portable version of our system that does not require ceiling cameras. As an application in the augmented environment, we address the learning of goalie strategies on real quadruped robots in penalty kicks. We make our robots utilize virtual balls in order to perform only quadruped locomotion in real environments, which is quite difficult to simulate accurately. Our robots autonomously learn and acquire more beneficial strategies without human intervention in our augmented environment than those in a fully simulated environment.

  11. Definition of Compartment Based Radical Surgery in Uterine Cancer—Part I: Therapeutic Pelvic and Periaortic Lymphadenectomy by Michael Höckel Translated to Robotic Surgery

    PubMed Central

    Kimmig, Rainer; Iannaccone, Antonella; Buderath, Paul; Aktas, Bahriye; Wimberger, Pauline; Heubner, Martin

    2013-01-01

    Objective. To define compartment based therapeutic pelvic and periaortic lymphadenectomy in cervical and endometrial cancer. Compartment based oncologic surgery appears to be favorable for patients in terms of radicality as well as complication rates, and the same appears to be true for robotic surgery. We describe a method of robotically assisted compartment based lymphadenectomy step by step in uterine cancer and demonstrate feasibility data from 35 patients. Methods. Patients with the diagnosis of endometrial (n = 16) or cervical (n = 19) cancer were included. Patients were treated by rTMMR (robotic total mesometrial resection) or rPMMR (robotic peritoneal mesometrial resection) and pelvic or pelvic/periaortic rtLNE (robotic therapeutic lymphadenectomy) with cervical cancer FIGO IB-IIA or endometrial cancer FIGO I-III. Results. No transition to open surgery was necessary. Complication rates were 13% for endometrial cancer and 21% for cervical cancer. Within follow-up time median (22/20) month we noted 1 recurrence of cervical cancer and 2 endometrial cancer recurrences. Conclusions. We conclude that compartment based rtLNE is a feasible and safe technique for the treatment of uterine cancers and is favorable in aspects of radicality and complication rates. It should be analyzed in multicenter studies with extended followup on the basis of the described technique. PMID:23589777

  12. Can Text Messages Reach the Parts Other Process Measures Cannot Reach: An Evaluation of a Behavior Change Intervention Delivered by Mobile Phone?

    PubMed Central

    Irvine, Linda; Falconer, Donald W.; Jones, Claire; Ricketts, Ian W.; Williams, Brian; Crombie, Iain K.

    2012-01-01

    Background Process evaluation is essential in developing, piloting and evaluating complex interventions. This often involves observation of intervention delivery and interviews with study participants. Mobile telephone interventions involve no face to face contact, making conventional process evaluation difficult. This study assesses the utility of novel techniques for process evaluation involving no face to face contact. Methods Text messages were delivered to 34 disadvantaged men as part of a feasibility study of a brief alcohol intervention. Process evaluation focused on delivery of the text messages and responses received from study participants. The computerized delivery system captured data on receipt of the messages. The text messages, delivered over 28 days, included nine which asked questions. Responses to these questions served as one technique for process evaluation by ascertaining the nature of engagement with the study and with steps on the causal chain to behavior change. Results A total of 646 SMS text messages were sent to participants. Of these, 613 messages (95%) were recorded as delivered to participants’ telephones. 88% of participants responded to messages that asked questions. There was little attenuation in responses to the questions across the intervention period. Content analysis of the responses revealed that participants engaged with text messages, thought deeply about their content and provided carefully considered personal responses to the questions. Conclusions Socially disadvantaged men, a hard to reach population, engaged in a meaningful way over a sustained period with an interactive intervention delivered by text message. The novel process measures used in the study are unobtrusive, low cost and collect real-time data on all participants. They assessed the fidelity of delivery of the intervention and monitored retention in the study. They measured levels of engagement and identified participants’ reactions to components of the

  13. Development of autonomous eating mechanism for biomimetic robots

    NASA Astrophysics Data System (ADS)

    Jeong, Kil-Woong; Cho, Ik-Jin; Lee, Yun-Jung

    2005-12-01

    Most of the recently developed robots are human friendly robots which imitate animals or humans such as entertainment robot, bio-mimetic robot and humanoid robot. Interest for these robots are being increased because the social trend is focused on health, welfare, and graying. Autonomous eating functionality is most unique and inherent behavior of pets and animals. Most of entertainment robots and pet robots make use of internal-type battery. Entertainment robots and pet robots with internal-type battery are not able to operate during charging the battery. Therefore, if a robot has an autonomous function for eating battery as its feeds, the robot is not only able to operate during recharging energy but also become more human friendly like pets. Here, a new autonomous eating mechanism was introduced for a biomimetic robot, called ELIRO-II(Eating LIzard RObot version 2). The ELIRO-II is able to find a food (a small battery), eat and evacuate by itself. This work describe sub-parts of the developed mechanism such as head-part, mouth-part, and stomach-part. In addition, control system of autonomous eating mechanism is described.

  14. Robotic vehicle

    DOEpatents

    Box, W.D.

    1998-08-11

    A robotic vehicle is described for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendible appendages, each of which is radially extendible relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendible members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle. 20 figs.

  15. Robotic vehicle

    DOEpatents

    Box, W.D.

    1997-02-11

    A robotic vehicle is described for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle. 20 figs.

  16. Robotic vehicle

    DOEpatents

    Box, W. Donald

    1998-01-01

    A robotic vehicle for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle.

  17. Robotic vehicle

    DOEpatents

    Box, W. Donald

    1997-01-01

    A robotic vehicle for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle.

  18. Robotic arm

    SciTech Connect

    Kwech, H.

    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 is disclosed. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel. 23 figs.

  19. Robotic arm

    SciTech Connect

    Kwech, Horst

    1989-04-18

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

  20. Intelligent robots and computer vision VIII: Algorithms and techniques; Proceedings of the Meeting, Philadelphia, PA, Nov. 6-10, 1989. Parts 1 2

    SciTech Connect

    Casasent, D.P.

    1990-01-01

    Theoretical and practical aspects of computer-vision systems for robotics applications are discussed in reviews and reports. Sections are devoted to pattern recognition for intelligent robots and computer vision; segmentation, image processing, and feature extraction; three-dimensional shape determination and representation; color and range image processing; and neural networks and associative processors for advanced vision processing. Also considered are the biological basis for machine vision, fuzzy logic in intelligent systems and computer vision, image understanding and analysis, time-sequential image processing, and polar exponential grid processing for synthetic vision systems. Extensive diagrams, graphs, and sample images are provided.

  1. Current approaches to treatments for schizophrenia spectrum disorders, part II: psychosocial interventions and patient-focused perspectives in psychiatric care

    PubMed Central

    Chien, Wai Tong; Leung, Sau Fong; Yeung, Frederick KK; Wong, Wai Kit

    2013-01-01

    Schizophrenia is a disabling psychiatric illness associated with disruptions in cognition, emotion, and psychosocial and occupational functioning. Increasing evidence shows that psychosocial interventions for people with schizophrenia, as an adjunct to medications or usual psychiatric care, can reduce psychotic symptoms and relapse and improve patients’ long-term outcomes such as recovery, remission, and illness progression. This critical review of the literature was conducted to identify the common approaches to psychosocial interventions for people with schizophrenia. Treatment planning and outcomes were also explored and discussed to better understand the effects of these interventions in terms of person-focused perspectives such as their perceived quality of life and satisfaction and their acceptability and adherence to treatments or services received. We searched major health care databases such as EMBASE, MEDLINE, and PsycLIT and identified relevant literature in English from these databases. Their reference lists were screened, and studies were selected if they met the criteria of using a randomized controlled trial or systematic review design, giving a clear description of the interventions used, and having a study sample of people primarily diagnosed with schizophrenia. Five main approaches to psychosocial intervention had been used for the treatment of schizophrenia: cognitive therapy (cognitive behavioral and cognitive remediation therapy), psychoeducation, family intervention, social skills training, and assertive community treatment. Most of these five approaches applied to people with schizophrenia have demonstrated satisfactory levels of short- to medium-term clinical efficacy in terms of symptom control or reduction, level of functioning, and/or relapse rate. However, the comparative effects between these five approaches have not been well studied; thus, we are not able to clearly understand the superiority of any of these interventions. With the

  2. Robot Rescue

    NASA Technical Reports Server (NTRS)

    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.

  3. Evaluation of a Professional Development Workshop on Integration of Robotics into Early Childhood Classrooms

    NASA Astrophysics Data System (ADS)

    Seddighin, Safoura

    According to the previous research, the lack of knowledge about technology and developmentally appropriate pedagogical approaches to bring it to the classrooms, in addition to the low level of sense of self-efficacy, and positive attitude towards teaching with technology, are among the major impediments to the successful integration of new technologies into early childhood classrooms. The focus of this research as part of a three year long NSF funded project, "Ready for Robotics", is to seek strategies to be used towards resolving the problem stated above. The current thesis reports a study in which 32 early childhood educators participated in a professional development workshop on the integration of robotics as an educational intervention into their traditional classrooms. Results show a statistically significant increase in the level of knowledge in all the three areas of technology in general, pedagogy, and robotics content, along with non-numerical positive effects of the workshop.

  4. Parallel Architecture For Robotics Computation

    NASA Technical Reports Server (NTRS)

    Fijany, Amir; Bejczy, Antal K.

    1990-01-01

    Universal Real-Time Robotic Controller and Simulator (URRCS) is highly parallel computing architecture for control and simulation of robot motion. Result of extensive algorithmic study of different kinematic and dynamic computational problems arising in control and simulation of robot motion. Study led to development of class of efficient parallel algorithms for these problems. Represents algorithmically specialized architecture, in sense capable of exploiting common properties of this class of parallel algorithms. System with both MIMD and SIMD capabilities. Regarded as processor attached to bus of external host processor, as part of bus memory.

  5. CANINE: a robotic mine dog

    NASA Astrophysics Data System (ADS)

    Stancil, Brian A.; Hyams, Jeffrey; Shelley, Jordan; Babu, Kartik; Badino, Hernán.; Bansal, Aayush; Huber, Daniel; Batavia, Parag

    2013-01-01

    Neya Systems, LLC competed in the CANINE program sponsored by the U.S. Army Tank Automotive Research Development and Engineering Center (TARDEC) which culminated in a competition held at Fort Benning as part of the 2012 Robotics Rodeo. As part of this program, we developed a robot with the capability to learn and recognize the appearance of target objects, conduct an area search amid distractor objects and obstacles, and relocate the target object in the same way that Mine dogs and Sentry dogs are used within military contexts for exploration and threat detection. Neya teamed with the Robotics Institute at Carnegie Mellon University to develop vision-based solutions for probabilistic target learning and recognition. In addition, we used a Mission Planning and Management System (MPMS) to orchestrate complex search and retrieval tasks using a general set of modular autonomous services relating to robot mobility, perception and grasping.

  6. What is next in robotic urology?

    PubMed

    Cathelineau, Xavier; Sanchez-Salas, Rafael; Sivaraman, Arjun

    2014-12-01

    The application of robotic technology in surgical practice was developed during the past three decades, but its clinical application has made a significant impact during the last 10 years. Urologists have embraced surgical robots throughout their evolution, and robot-assisted urologic surgeries have matured into everyday clinical practice in many parts of the world. Long-term data from robot-assisted radical prostatectomies (RARP), an early robotic urologic surgery, has shown that the results are comparable to contemporary open radical prostatectomy (ORP) cohorts. Robot-assisted partial nephrectomy (RAPN) is largely restricted to high-volume academic centers; comparative studies have demonstrated significant advantages in favor of RAPN over laparoscopic partial nephrectomy (LPN) to achieve adequate warm ischemia time, surgical margins free of cancer cells, and no peri-operative complications. Robot-assisted radical cystectomy shows results that are comparable to contemporary open radical cystectomy. Several authors have reported the feasibility of robotic intracorporeal urinary diversion. The available long-term outcomes of robot-assisted urological surgeries are comparable to conventional open surgical methods and are associated with fewer complications. Surgical robots continue to evolve, and robotic engineers alongside surgeons strive hard to synthesize and evaluate novel robotic platforms, downsize hardware, and develop flexible instruments and newer technologies. Robotic applications available at this point represent the infancy of this technology. Future developments in robotics are profoundly limited to human imagination and can potentially scale to unimaginable heights. We would expect robots coupled with imaging and energies, aiming to provide accurate and reliable treatments which will be finely targeted by biogenetic information. PMID:25341557

  7. Mission Reliability Estimation for Repairable Robot Teams

    NASA Technical Reports Server (NTRS)

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

    2010-01-01

    A mission reliability estimation method has been designed to translate mission requirements into choices of robot modules in order to configure a multi-robot team to have high reliability at minimal cost. In order to build cost-effective robot teams for long-term missions, one must be able to compare alternative design paradigms in a principled way by comparing the reliability of different robot models and robot team configurations. Core modules have been created including: a probabilistic module with reliability-cost characteristics, a method for combining the characteristics of multiple modules to determine an overall reliability-cost characteristic, and a method for the generation of legitimate module combinations based on mission specifications and the selection of the best of the resulting combinations from a cost-reliability standpoint. The developed methodology can be used to predict the probability of a mission being completed, given information about the components used to build the robots, as well as information about the mission tasks. In the research for this innovation, sample robot missions were examined and compared to the performance of robot teams with different numbers of robots and different numbers of spare components. Data that a mission designer would need was factored in, such as whether it would be better to have a spare robot versus an equivalent number of spare parts, or if mission cost can be reduced while maintaining reliability using spares. This analytical model was applied to an example robot mission, examining the cost-reliability tradeoffs among different team configurations. Particularly scrutinized were teams using either redundancy (spare robots) or repairability (spare components). Using conservative estimates of the cost-reliability relationship, results show that it is possible to significantly reduce the cost of a robotic mission by using cheaper, lower-reliability components and providing spares. This suggests that the

  8. Preliminary testing of a compact bone-attached robot for otologic surgery

    NASA Astrophysics Data System (ADS)

    Dillon, Neal P.; Balachandran, Ramya; Motte dit Falisse, Antoine; Wanna, George B.; Labadie, Robert F.; Withrow, Thomas J.; Fitzpatrick, J. Michael; Webster, Robert J.

    2014-03-01

    Otologic surgery often involves a mastoidectomy procedure, in which part of the temporal bone is milled away in order to visualize critical structures embedded in the bone and safely access the middle and inner ear. We propose to automate this portion of the surgery using a compact, bone-attached milling robot. A high level of accuracy is required t o avoid damage to vital anatomy along the surgical path, most notably the facial nerve, making this procedure well-suited for robotic intervention. In this study, several of the design considerations are discussed and a robot design and prototype are presented. The prototype is a 4 degrees-of-freedom robot similar to a four-axis milling machine that mounts to the patient's skull. A positioning frame, containing fiducial markers and attachment points for the robot, is rigidly attached to the skull of the patient, and a CT scan is acquired. The target bone volume is manually segmented in the CT by the surgeon and automatically converted to a milling path and robot trajectory. The robot is then attached to the positioning frame and is used to drill the desired volume. The accuracy of the entire system (image processing, planning, robot) was evaluated at several critical locations within or near the target bone volume with a mean free space accuracy result of 0.50 mm or less at all points. A milling test in a phantom material was then performed to evaluate the surgical workflow. The resulting milled volume did not violate any critical structures.

  9. Preliminary Testing of a Compact, Bone-Attached Robot for Otologic Surgery

    PubMed Central

    Dillon, Neal P.; Balachandran, Ramya; dit Falisse, Antoine Motte; Wanna, George B.; Labadie, Robert F.; Withrow, Thomas J.; Fitzpatrick, J. Michael; Webster, Robert J.

    2014-01-01

    Otologic surgery often involves a mastoidectomy procedure, in which part of the temporal bone is milled away in order to visualize critical structures embedded in the bone and safely access the middle and inner ear. We propose to automate this portion of the surgery using a compact, bone-attached milling robot. A high level of accuracy is required to avoid damage to vital anatomy along the surgical path, most notably the facial nerve, making this procedure well-suited for robotic intervention. In this study, several of the design considerations are discussed and a robot design and prototype are presented. The prototype is a 4 degrees-of-freedom robot similar to a four-axis milling machine that mounts to the patient’s skull. A positioning frame, containing fiducial markers and attachment points for the robot, is rigidly attached to the skull of the patient, and a CT scan is acquired. The target bone volume is manually segmented in the CT by the surgeon and automatically converted to a milling path and robot trajectory. The robot is then attached to the positioning frame and is used to drill the desired volume. The accuracy of the entire system (image processing, planning, robot) was evaluated at several critical locations within or near the target bone volume with a mean free space accuracy result of 0.50 mm or less at all points. A milling test in a phantom material was then performed to evaluate the surgical workflow. The resulting milled volume did not violate any critical structures. PMID:25477726

  10. The TAOS Robotic Observatory

    NASA Astrophysics Data System (ADS)

    Lehner, Matthew; Wen, C.-Y.; Wang, J.-H.; Marshall, S. L.; Schwamb, M. E.; Zhang, Z.-W.; Bianco, F. B.; Gimmarco, J.; Porrata, R.; Alcock, C.; Axelrod, T.; Byun, Y.-I.; Chen, W. P.; Cook, K. H.; Dave, R.; Kim, D.-W.; King, S.-K.; Lee, T.; Lin, H.-C.; Wang, S.-Y.; Yen, W.-L.; Rice, J. A.; de Pater, I.; Szentgyorgyi, A.; Geary, J.; Norton, T.; Reyes-Ruiz, M.

    2011-03-01

    The Taiwanese-American Occultation survey (TAOS) operate four small telescopes in central Taiwan to search for occultations by small (~1 km diameter) Kuiper Belt Objects. The system is fully robotic, requiring human intervention only in the event of hardware failures. However, the status of the system during observations is monitored remotely via smart-phone. A successor survey, the Transneptunian Automated Occultation Survey (TAOS II) is currently being constructed. This next generation survey will be more than one hundred times as sensitive as the earlier survey. In this paper, we summarize the science goals of the surveys, describe the two surveys, and discuss the lessons learned in automating the TAOS observations.