Reduction of ferrate(VI) and oxidation of cyanate in a Fe(VI)-TiO2-UV-NCO- system.

PubMed

Winkelmann, Kurt; Sharma, Virender K; Lin, Yekaterina; Shreve, Katherine A; Winkelmann, Catherine; Hoisington, Laura J; Yngard, Ria A

2008-08-01

The aqueous photocatalytic degradation of cyanate (NCO(-)), which is a long-lived neurotoxin formed during the remediation of cyanide in industrial waste streams, was studied in the ferrate(VI)-UV-TiO2-NCO(-) system. Kinetics measurements of the photocatalytic reduction of ferrate(VI) were carried out as a function of [NCO(-)], [ferrate(VI)], [O(2)], light intensity (I(o)), and amount of TiO2 in suspensions at pH 9.0. The photocatalytic reduction rate of ferrate(VI) in the studied system can be expressed as -d[Fe(VI)]/dt=kI(o)(0.5) [NCO(-)] [TiO2]. The rate of photocatalytic oxidation of cyanate with ferrate(VI) was greater than the rate in the analogous system without ferrate(VI). The possibility of involvement of reactive ferrate(V) species for this enhancement was determined by studying the reactivity of ferrate(V) with NCO(-) in a homogeneous solution using a premix pulse radiolysis technique. The rate constant for the reaction of ferrate(V) and NCO(-) in alkaline medium was estimated to be (9.60+/-0.07) x 10(2) M(-1) s(-1), which is much slower than the ferrate(VI) self-decomposition reaction (k approximately 10(7) M(-1) s(-1)). An analysis of the kinetic data in the Fe(VI)-UV-TiO2-NCO(-) system suggests that ferrate(V) is not directly participating in the oxidation of cyanate. Possible reactions in the system are presented to explain results of ferrate(VI) reduction and oxidation of cyanate.

29 CFR 1915.1026 - Chromium (VI).

Code of Federal Regulations, 2012 CFR

2012-07-01

... a specific process, operation, or activity involving chromium cannot release dusts, fumes, or mists... 29 Labor 7 2012-07-01 2012-07-01 false Chromium (VI). 1915.1026 Section 1915.1026 Labor... § 1915.1026 Chromium (VI). (a) Scope. (1) This standard applies to occupational exposures to chromium (VI...

29 CFR 1915.1026 - Chromium (VI).

Code of Federal Regulations, 2011 CFR

2011-07-01

... a specific process, operation, or activity involving chromium cannot release dusts, fumes, or mists... 29 Labor 7 2011-07-01 2011-07-01 false Chromium (VI). 1915.1026 Section 1915.1026 Labor... § 1915.1026 Chromium (VI). (a) Scope. (1) This standard applies to occupational exposures to chromium (VI...

29 CFR 1915.1026 - Chromium (VI).

Code of Federal Regulations, 2013 CFR

2013-07-01

... a specific process, operation, or activity involving chromium cannot release dusts, fumes, or mists... 29 Labor 7 2013-07-01 2013-07-01 false Chromium (VI). 1915.1026 Section 1915.1026 Labor... § 1915.1026 Chromium (VI). (a) Scope. (1) This standard applies to occupational exposures to chromium (VI...

29 CFR 1915.1026 - Chromium (VI).

Code of Federal Regulations, 2014 CFR

2014-07-01

... a specific process, operation, or activity involving chromium cannot release dusts, fumes, or mists... 29 Labor 7 2014-07-01 2014-07-01 false Chromium (VI). 1915.1026 Section 1915.1026 Labor... § 1915.1026 Chromium (VI). (a) Scope. (1) This standard applies to occupational exposures to chromium (VI...

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 ...

29 CFR 1926.1126 - Chromium (VI).

Code of Federal Regulations, 2010 CFR

2010-07-01

... is present or is likely to be present from skin or eye contact with chromium (VI), the employer shall... cleaned in a manner that minimizes skin or eye contact with chromium (VI) and effectively prevents the... CFR 1926.51 Where skin contact with chromium (VI) occurs, the employer shall provide washing...

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.

Oxidation of octylphenol by ferrate(VI).

PubMed

Anquandah, George A K; Sharma, Virender K

2009-01-01

The rates of the oxidation of octylphenols (OP) by potassium ferrate(VI) (K(2)FeO(4)) in water were determined as a function of pH (8.0-10.9) at 25 degrees C. The rate law for the oxidation of OP by Fe(VI) was found to be first order with each reactant. The observed second-order rate constants, k(obs), for the oxidation of alkylphenols decreased with an increase in pH. The speciation of Fe(VI) (HFeO(4)(-) and FeO(4)(2 -)) and OP (OP-OH and OP-O(-)) species were used to determine individual rate constants of the reactions. Comparison of rate constants and half-lives of oxidation of OP by Fe(VI) with nonylphenol (NP) and bisphenol-A (BPA) were conducted to demonstrate that Fe(VI) efficiently oxidizes environmentally relevant alkylphenols in water.

The biomineralization process of uranium(VI) by Saccharomyces cerevisiae - transformation from amorphous U(VI) to crystalline chernikovite.

PubMed

Shen, Yanghao; Zheng, Xinyan; Wang, Xiaoyu; Wang, Tieshan

2018-05-01

Microorganisms play a significant role in uranium(VI) biogeochemistry and influence U(VI) transformation through biomineralization. In the present work, the process of uranium mineralization was investigated by Saccharomyces cerevisiae. The toxicity experiments showed that the viability of cell was not significantly affected by 100 mg L -1 U(VI) under 4 days of exposure time. The batch experiments showed that the phosphate concentration and pH value increased over time during U(VI) adsorption. Meanwhile, thermodynamic calculations demonstrated that the adsorption system was supersaturated with respect to UO 2 HPO 4 . The X-ray powder diffraction spectroscopy (XRD), field emission scanning electron microscopy (FE-SEM) equipped with energy dispersive spectroscopy (EDX), Fourier transform infrared spectroscopy (FTIR), and X-ray photoelectron spectroscopy (XPS) analyses indicated that the U(VI) was first attached onto the cell surface and reacted with hydroxyl, carboxyl, and phosphate groups through electrostatic interactions and complexation. As the immobilization of U(VI) transformed it from the ionic to the amorphous state, lamellar uranium precipitate was formed on the cell surface. With the prolongation of time, the amorphous uranium compound disappeared, and there were some crystalline substances observed extracellularly, which were well-characterized as tetragonal-chernikovite. Furthermore, the size of chernikovite was regulated at nano-level by cells, and the perfect crystal was formed finally. These findings provided an understanding of the non-reductive transformation process of U(VI) from the amorphous to crystalline state within microbe systems, which would be beneficial for the U(VI) treatment and reuse of nuclides and heavy metals.

Robotic Lobectomy Utilizing the Robotic Stapler.

PubMed

Pearlstein, Daryl Phillip

2016-12-01

A drawback of robotic lobectomy is the inability of the operating surgeon to perform stapler division of the pulmonary vessels and bronchi. With the advent of the robotic stapler, the surgeon is able to control this instrument from the console. The robotic stapler presents certain challenges. This article outlines techniques to use the robotic stapler for the safe and predictable performance of lobectomies. Copyright © 2016 The Society of Thoracic Surgeons. Published by Elsevier Inc. All rights reserved.

Towards cybernetic surgery: robotic and augmented reality-assisted liver segmentectomy.

PubMed

Pessaux, Patrick; Diana, Michele; Soler, Luc; Piardi, Tullio; Mutter, Didier; Marescaux, Jacques

2015-04-01

Augmented reality (AR) in surgery consists in the fusion of synthetic computer-generated images (3D virtual model) obtained from medical imaging preoperative workup and real-time patient images in order to visualize unapparent anatomical details. The 3D model could be used for a preoperative planning of the procedure. The potential of AR navigation as a tool to improve safety of the surgical dissection is outlined for robotic hepatectomy. Three patients underwent a fully robotic and AR-assisted hepatic segmentectomy. The 3D virtual anatomical model was obtained using a thoracoabdominal CT scan with a customary software (VR-RENDER®, IRCAD). The model was then processed using a VR-RENDER® plug-in application, the Virtual Surgical Planning (VSP®, IRCAD), to delineate surgical resection planes including the elective ligature of vascular structures. Deformations associated with pneumoperitoneum were also simulated. The virtual model was superimposed to the operative field. A computer scientist manually registered virtual and real images using a video mixer (MX 70; Panasonic, Secaucus, NJ) in real time. Two totally robotic AR segmentectomy V and one segmentectomy VI were performed. AR allowed for the precise and safe recognition of all major vascular structures during the procedure. Total time required to obtain AR was 8 min (range 6-10 min). Each registration (alignment of the vascular anatomy) required a few seconds. Hepatic pedicle clamping was never performed. At the end of the procedure, the remnant liver was correctly vascularized. Resection margins were negative in all cases. The postoperative period was uneventful without perioperative transfusion. AR is a valuable navigation tool which may enhance the ability to achieve safe surgical resection during robotic hepatectomy.

Generic robot architecture

DOEpatents

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

2010-09-21

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

Molecular Robots Obeying Asimov's Three Laws of Robotics.

PubMed

Kaminka, Gal A; Spokoini-Stern, Rachel; Amir, Yaniv; Agmon, Noa; Bachelet, Ido

2017-01-01

Asimov's three laws of robotics, which were shaped in the literary work of Isaac Asimov (1920-1992) and others, define a crucial code of behavior that fictional autonomous robots must obey as a condition for their integration into human society. While, general implementation of these laws in robots is widely considered impractical, limited-scope versions have been demonstrated and have proven useful in spurring scientific debate on aspects of safety and autonomy in robots and intelligent systems. In this work, we use Asimov's laws to examine these notions in molecular robots fabricated from DNA origami. We successfully programmed these robots to obey, by means of interactions between individual robots in a large population, an appropriately scoped variant of Asimov's laws, and even emulate the key scenario from Asimov's story "Runaround," in which a fictional robot gets into trouble despite adhering to the laws. Our findings show that abstract, complex notions can be encoded and implemented at the molecular scale, when we understand robots on this scale on the basis of their interactions.

Technology-derived storage solutions for stabilizing insulin in extreme weather conditions I: the ViViCap-1 device.

PubMed

Pfützner, Andreas; Pesach, Gidi; Nagar, Ron

2017-06-01

Injectable life-saving drugs should not be exposed to temperatures <4°C/39°F or >30°C/86°F. Frequently, weather conditions exceed these temperature thresholds in many countries. Insulin is to be kept at 4-8°C/~ 39-47°F until use and once opened, is supposed to be stable for up to 31 days at room temperature (exception: 42 days for insulin levemir). Extremely hot or cold external temperature can lead to insulin degradation in a very short time with loss of its glucose-lowering efficacy. Combined chemical and engineering solutions for heat protection are employed in ViViCap-1 for disposable insulin pens. The device works based on vacuum insulation and heat consumption by phase-change material. Laboratory studies with exposure of ViViCap-1 to hot outside conditions were performed to evaluate the device performance. ViViCap-1 keeps insulin at an internal temperature < 29°C/84.2°F for a minimum of 12 h without external power requirement, even when constantly exposed to an outside temperature of 37.8°C/100°F. Bringing the device into an ambient temperature < 26°C/78.8°F reverses the phase-change process and 'recharges' the device for further use. ViViCap-1 performed within its specifications. The small and convenient device maintains the efficacy and safety of using insulin even when carried under hot weather conditions.

The Vi conjugate typhoid vaccine is safe, elicits protective levels of IgG anti-Vi, and is compatible with routine infant vaccines.

PubMed

Thiem, Vu Dinh; Lin, Feng-Ying C; Canh, Do Gia; Son, Nguyen Hong; Anh, Dang Duc; Mao, Nguyen Duc; Chu, Chiayung; Hunt, Steven W; Robbins, John B; Schneerson, Rachel; Szu, Shousun C

2011-05-01

Typhoid fever remains a serious problem in developing countries. Current vaccines are licensed for individuals who are 5 years old or older. A conjugate of the capsular polysaccharide (CP) of Salmonella enterica serovar Typhi (Vi) bound to recombinant exoprotein A of Pseudomonas aeruginosa (Vi-rEPA) enhanced Vi immunogenicity and protected 2- to 5-year-olds in Vietnam. In this study, Vi-rEPA was evaluated for use in infants. A total of 301 full-term Vietnamese infants received Expanded Program on Immunization (EPI) vaccines alone or with Vi-rEPA or Haemophilus influenzae type b-tetanus toxoid conjugate (Hib-TT) at 2, 4, and 6 months and Vi-rEPA or Hib-TT alone at 12 months. Infants were visited 6, 24, and 48 h after each injection to monitor adverse reactions. Maternal, cord, and infant sera were assayed for IgG anti-Vi and for IgG antibodies to Hib CP and the diphtheria, tetanus, and pertussis toxins at 7, 12, and 13 months. No vaccine-related serious adverse reactions occurred. In the Vi-rEPA group, the IgG anti-Vi geometric mean (GM) increased from the cord level of 0.66 to 17.4 enzyme-linked immunosorbent assay units (EU) at 7 months, declined to 4.76 EU at 12 months, and increased to 50.1 EU 1 month after the 4th dose (95% of infants had levels of ≥ 3.5 EU, the estimated protective level). Controls had no increase of the IgG anti-Vi GM. Infants with cord anti-Vi levels of <3.5 EU responded with significantly higher IgG anti-Vi levels than those with levels of ≥ 3.5 EU. Anti-diphtheria, -tetanus, and -pertussis toxin levels were similar in all groups. Vi-rEPA was safe, induced protective anti-Vi levels, and was compatible with EPI vaccines, and it can be used in infants. High cord IgG anti-Vi levels partially suppressed infant responses to Vi-rEPA.

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)

Factors Affecting Formation of Incomplete Vi Antibody in Mice

PubMed Central

Gaines, Sidney; Currie, Julius A.; Tully, Joseph G.

1965-01-01

Gaines, Sidney (Walter Reed Army Institute of Research, Washington, D.C.), Julius A. Currie, and Joseph G. Tully. Factors affecting formation of incomplete Vi antibody in mice. J. Bacteriol. 90:635–642. 1965.—Single immunizing doses of purified Vi antigen elicited complete and incomplete Vi antibodies in BALB/c mice, but only incomplete antibody in Cinnamon mice. Three of six other mouse strains tested responded like BALB/c mice; the remaining three, like Cinnamon mice. Varying the quantity of antigen injected or the route of administration failed to stimulate the production of detectable complete Vi antibody in Cinnamon mice. Such antibody was evoked in these animals by multiple injections of Vi antigen or by inoculating them with Vi-containing bacilli or Vi-coated erythrocytes. The early protection afforded by serum from Vi-immunized BALB/c mice coincided with the appearance of incomplete Vi antibody, 1 day prior to the advent of complete antibody. Persistence of incomplete as well as complete antibody in the serum of immunized mice was demonstrated for at least 56 days after injection of 10 μg of Vi antigen. Incomplete Vi antibody was shown to have blocking ability, in vitro bactericidal activity, and the capability of protecting mice against intracerebral as well as intraperitoneal challenge with virulent typhoid bacilli. Production of incomplete and complete Vi antibodies was adversely affected by immunization with partially depolymerized Vi antigens. PMID:16562060

Effect of uranium(VI) speciation on simultaneous microbial reduction of uranium(VI) and iron(III).

PubMed

Stewart, Brandy D; Amos, Richard T; Fendorf, Scott

2011-01-01

Uranium is a pollutant of concern to both human and ecosystem health. Uranium's redox state often dictates whether it will reside in the aqueous or solid phase and thus plays an integral role in the mobility of uranium within the environment. In anaerobic environments, the more oxidized and mobile form of uranium (UO2(2+) and associated species) may be reduced, directly or indirectly, by microorganisms to U(IV) with subsequent precipitation of UO. However, various factors within soils and sediments, such as U(VI) speciation and the presence of competitive electron acceptors, may limit biological reduction of U(VI). Here we examine simultaneous dissimilatory reduction of Fe(III) and U(VI) in batch systems containing dissolved uranyl acetate and ferrihydrite-coated sand. Varying amounts of calcium were added to induce changes in aqueous U(VI) speciation. The amount of uranium removed from solution during 100 h of incubation with S. putrefaciens was 77% in absence of Ca or ferrihydrite, but only 24% (with ferrihydrite) and 14% (without ferrihydrite) were removed for systems with 0.8 mM Ca. Dissimilatory reduction of Fe(III) and U(VI) proceed through different enzyme pathways within one type of organism. We quantified the rate coefficients for simultaneous dissimilatory reduction of Fe(III) and U(VI) in systems varying in Ca concecentration (0-0.8 mM). The mathematical construct, implemented with the reactive transport code MIN3P, reveals predominant factors controlling rates and extent of uranium reduction in complex geochemical systems.

Robotics: An Introduction to Today’s Robot and Future Trends.

DTIC Science & Technology

1983-07-01

trial applications." What qualities define a machine as a robot? The Robot Institute of Amer- ica defines a robot as follows: "A robot is a reprogrammable ...manufactures a robot with a spin- ning wrist. Second, and this is the key feature, robots are reprogrammable and hence versatile. An automatic lathe is not...robot spot-welds an automobile frame. In Figure 8, a single robot transferring a transmission case is shown, but a total of eight robots are

Modelling of industrial robot in LabView Robotics

NASA Astrophysics Data System (ADS)

Banas, W.; Cwikła, G.; Foit, K.; Gwiazda, A.; Monica, Z.; Sekala, A.

2017-08-01

Currently can find many models of industrial systems including robots. These models differ from each other not only by the accuracy representation parameters, but the representation range. For example, CAD models describe the geometry of the robot and some even designate a mass parameters as mass, center of gravity, moment of inertia, etc. These models are used in the design of robotic lines and sockets. Also systems for off-line programming use these models and many of them can be exported to CAD. It is important to note that models for off-line programming describe not only the geometry but contain the information necessary to create a program for the robot. Exports from CAD to off-line programming system requires additional information. These models are used for static determination of reachability points, and testing collision. It’s enough to generate a program for the robot, and even check the interaction of elements of the production line, or robotic cell. Mathematical models allow robots to study the properties of kinematic and dynamic of robot movement. In these models the geometry is not so important, so are used only selected parameters such as the length of the robot arm, the center of gravity, moment of inertia. These parameters are introduced into the equations of motion of the robot and motion parameters are determined.

77 FR 52116 - Title VI; Final Circular

Federal Register 2010, 2011, 2012, 2013, 2014

2012-08-28

... DEPARTMENT OF TRANSPORTATION Federal Transit Administration [Docket No. FTA-2011-0054] Title VI... Web site, guidance in the form of a Circular to assist grantees in complying with Title VI of the... Title VI regulations (49 CFR part 21). DATES: Effective Date: The effective date of the Circular is...

Soft Robotics: New Perspectives for Robot Bodyware and Control

PubMed Central

Laschi, Cecilia; Cianchetti, Matteo

2014-01-01

The remarkable advances of robotics in the last 50 years, which represent an incredible wealth of knowledge, are based on the fundamental assumption that robots are chains of rigid links. The use of soft materials in robotics, driven not only by new scientific paradigms (biomimetics, morphological computation, and others), but also by many applications (biomedical, service, rescue robots, and many more), is going to overcome these basic assumptions and makes the well-known theories and techniques poorly applicable, opening new perspectives for robot design and control. The current examples of soft robots represent a variety of solutions for actuation and control. Though very first steps, they have the potential for a radical technological change. Soft robotics is not just a new direction of technological development, but a novel approach to robotics, unhinging its fundamentals, with the potential to produce a new generation of robots, in the support of humans in our natural environments. PMID:25022259

Kinetic investigations of quinoline oxidation by ferrate(VI).

PubMed

Luo, Zhiyong; Li, Xueming; Zhai, Jun

2016-01-01

Quinoline is considered as one of the most toxic and carcinogenic compounds and is commonly found in industrial wastewaters, which require treatment before being discharged. Removal of quinoline by the use of an environmentally friendly oxidant, potassium ferrate(VI) (K2FeO4), was assessed by studying the kinetics of the oxidation of quinoline by ferrate(VI) (Fe(VI)) as a function of pH (8.53-10.53) and temperature (21-36°C) in this work. The reaction of quinoline with Fe(VI) was found to be first order in Fe(VI), half order in quinoline, and 1.5 order overall. The observed rate constant at 28°C decreased non-linearly from 0.5334 to 0.2365 M(-0.5) min(-1) with an increase in pH from 8.53 to 10.03. Considering the equilibria of Fe(VI) and quinoline, the reaction between quinoline and Fe(VI) contained two parallel reactions under the given pH conditions. The individual rate constants of these two reactions were determined. The results indicate that the protonated species of Fe(VI) reacts more quickly with quinoline than the deprotonated form of Fe(VI). The reaction activation energy Ea was obtained to be 51.44 kJ·mol(-1), and it was slightly lower than that of conventional chemical reaction. It reveals that the oxidation of quinoline by Fe(VI) is feasible in the routine water treatment.

Identifying the need for a multidisciplinary approach for early recognition of mucopolysaccharidosis VI (MPS VI).

PubMed

Choy, Yew Sing; Bhattacharya, Kaustuv; Balasubramaniam, Shanti; Fietz, Michael; Fu, Antony; Inwood, Anita; Jin, Dong-Kyu; Kim, Ok-Hwa; Kosuga, Motomichi; Kwun, Young Hee; Lin, Hsiang-Yu; Lin, Shuan-Pei; Mendelsohn, Nancy J; Okuyama, Torayuki; Samion, Hasri; Tan, Adeline; Tanaka, Akemi; Thamkunanon, Verasak; Thong, Meow-Keong; Toh, Teck-Hock; Yang, Albert D; McGill, Jim

2015-05-01

Mucopolysaccharidosis VI (MPS VI, Maroteaux-Lamy syndrome) is caused by deficient activity of the enzyme, N-acetylgalactosamine-4-sulfatase, resulting in impaired degradation of the glycosaminoglycan dermatan sulfate. Patients experience a range of manifestations including joint contractures, short stature, dysostosis multiplex, coarse facial features, decreased pulmonary function, cardiac abnormalities, corneal clouding and shortened life span. Recently, clinicians from institutions in the Asia-Pacific region met to discuss the occurrence and implications of delayed diagnosis and misdiagnosis of MPS VI in the patients they have managed. Eighteen patients (44% female) were diagnosed. The most common sign presented by the patients was bone deformities in 11 patients (65%). Delays to diagnosis occurred due to the lack of or distance to diagnostic facilities for four patients (31%), alternative diagnoses for two patients (15%), and misleading symptoms experienced by two patients (15%). Several patients experienced manifestations that were subtler than would be expected and were subsequently overlooked. Several cases highlighted the unique challenges associated with diagnosing MPS VI from the perspective of different specialties and provide insights into how these patients initially present, which may help to elucidate strategies to improve the diagnosis of MPS VI. Copyright © 2015 Elsevier Inc. All rights reserved.

Immunization with the conjugate vaccine Vi-CRM₁₉₇ against Salmonella typhi induces Vi-specific mucosal and systemic immune responses in mice.

PubMed

Fiorino, Fabio; Ciabattini, Annalisa; Rondini, Simona; Pozzi, Gianni; Martin, Laura B; Medaglini, Donata

2012-09-21

Typhoid fever is a public health problem, especially among young children in developing countries. To address this need, a glycoconjugate vaccine Vi-CRM₁₉₇, composed of the polysaccharide antigen Vi covalently conjugated to the non-toxic mutant of diphtheria toxin CRM₁₉₇, is under development. Here, we assessed the antibody and cellular responses, both local and systemic, following subcutaneous injection of Vi-CRM₁₉₇. The glycoconjugate elicited Vi-specific serum IgG titers significantly higher than unconjugated Vi, with prevalence of IgG1 that persisted for at least 60 days after immunization. Vi-specific IgG, but not IgA, were present in intestinal washes. Lymphocytes proliferation after restimulation with Vi-CRM₁₉₇ was observed in spleen and mesenteric lymph nodes. These data confirm the immunogenicity of Vi-CRM₁₉₇ and demonstrate that the vaccine-specific antibody and cellular immune responses are present also in the intestinal tract, thus strengthening the suitability of Vi-CRM₁₉₇ as a promising candidate vaccine against Salmonella Typhi. Copyright © 2012 Elsevier Ltd. All rights reserved.

Soft Robotics.

PubMed

Whitesides, George M

2018-04-09

This description of "soft robotics" is not intended to be a conventional review, in the sense of a comprehensive technical summary of a developing field. Rather, its objective is to describe soft robotics as a new field-one that offers opportunities to chemists and materials scientists who like to make "things" and to work with macroscopic objects that move and exert force. It will give one (personal) view of what soft actuators and robots are, and how this class of soft devices fits into the more highly developed field of conventional "hard" robotics. It will also suggest how and why soft robotics is more than simply a minor technical "tweak" on hard robotics and propose a unique role for chemistry, and materials science, in this field. Soft robotics is, at its core, intellectually and technologically different from hard robotics, both because it has different objectives and uses and because it relies on the properties of materials to assume many of the roles played by sensors, actuators, and controllers in hard robotics. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

Electrochemical alkaline Fe(VI) water purification and remediation.

PubMed

Licht, Stuart; Yu, Xingwen

2005-10-15

Fe(VI) is an unusual and strongly oxidizing form of iron, which provides a potentially less hazardous water-purifying agent than chlorine. A novel on-line electrochemical Fe(VI) water purification methodology is introduced. Fe(VI) addition had been a barrier to its effective use in water remediation, because solid Fe(VI) salts require complex (costly) syntheses steps and solutions of Fe(VI) decompose. Online electrochemical Fe(VI) water purification avoids these limitations, in which Fe(VI) is directly prepared in solution from an iron anode as the FeO42- ion, and is added to the contaminant stream. Added FeO42- decomposes, by oxidizing a wide range of water contaminants including sulfides (demonstrated in this study) and other sulfur-containing compounds, cyanides (demonstrated in this study), arsenic (demonstrated in this study), ammonia and other nitrogen-containing compounds (previously demonstrated), a wide range of organics (phenol demonstrated in this study), algae, and viruses (each previously demonstrated).

Robotic surgery.

PubMed

Stoianovici, D

2000-09-01

The industrial revolution demonstrated the capability of robotic systems to facilitate and improve manufacturing. As a result, robotics extended to various other domains, including the delivery of health care. Hence, robots have been developed to assist hospital staff, to facilitate laboratory analyses, to augment patient rehabilitation, and even to advance surgical performance. As robotics lead usefulness and gain wider acceptance among the surgical community, the urologist should become familiar with this new interdisciplinary field and its "URobotics" subset: robotics applied to urology. This article reviews the current applications and experience, issues and debates in surgical robotics, and highlights future directions in the field.

Myosin VI facilitates connexin 43 gap junction accretion.

PubMed

Waxse, Bennett J; Sengupta, Prabuddha; Hesketh, Geoffrey G; Lippincott-Schwartz, Jennifer; Buss, Folma

2017-03-01

In this study, we demonstrate myosin VI enrichment at Cx43 (also known as GJA1)-containing gap junctions (GJs) in heart tissue, primary cardiomyocytes and cell culture models. In primary cardiac tissue and in fibroblasts from the myosin VI-null mouse as well as in tissue culture cells transfected with siRNA against myosin VI, we observe reduced GJ plaque size with a concomitant reduction in intercellular communication, as shown by fluorescence recovery after photobleaching (FRAP) and a new method of selective calcein administration. Analysis of the molecular role of myosin VI in Cx43 trafficking indicates that myosin VI is dispensable for the delivery of Cx43 to the cell surface and connexon movement in the plasma membrane. Furthermore, we cannot corroborate clathrin or Dab2 localization at gap junctions and we do not observe a function for the myosin-VI-Dab2 complex in clathrin-dependent endocytosis of annular gap junctions. Instead, we found that myosin VI was localized at the edge of Cx43 plaques by using total internal reflection fluorescence (TIRF) microscopy and use FRAP to identify a plaque accretion defect as the primary manifestation of myosin VI loss in Cx43 homeostasis. A fuller understanding of this derangement may explain the cardiomyopathy or gliosis associated with the loss of myosin VI. © 2017. Published by The Company of Biologists Ltd.

Biosorption of Cr(VI) by coconut coir: spectroscopic investigation on the reaction mechanism of Cr(VI) with lignocellulosic material.

PubMed

Shen, Ying-Shuian; Wang, Shan-Li; Huang, Shiuh-Tsuen; Tzou, Yu-Min; Huang, Jang-Hung

2010-07-15

In this study, the removal mechanism of Cr(VI) from water by coconut coir (CC) was investigated using X-ray photoelectron spectroscopy (XPS), Cr K-edge X-ray absorption near edge structure (XANES) and FTIR spectroscopy. The results showed that, upon reaction with CC at pH 3, Cr(VI) was reduced to Cr(III), which was either bound to CC or released back into solution. As revealed by the FTIR spectra of CC before and after reacting with Cr(VI), the phenolic methoxyl and hydroxyl groups of lignin in CC are the dominant drivers of Cr(VI) reduction, giving rise to carbonyl and carboxyl groups on CC. These functional groups can subsequently provide binding sites for Cr(III) resulting from Cr(VI) reduction. In conjunction with forming complexes with carbonyl and carboxyl groups, the formation of Cr(III) hydroxide precipitate could also readily occur as revealed by the linear combination fitting of the Cr K-edge XANES spectrum using a set of reference compounds. The phenolic groups in lignin are responsible for initiating Cr(VI) reduction, so lignocellulosic materials containing a higher amount of phenolic groups are expected to be more effective scavengers for removal of Cr(VI) from the environment. 2010 Elsevier B.V. All rights reserved.

Interactive Exploration Robots: Human-Robotic Collaboration and Interactions

NASA Technical Reports Server (NTRS)

Fong, Terry

2017-01-01

For decades, NASA has employed different operational approaches for human and robotic missions. Human spaceflight missions to the Moon and in low Earth orbit have relied upon near-continuous communication with minimal time delays. During these missions, astronauts and mission control communicate interactively to perform tasks and resolve problems in real-time. In contrast, deep-space robotic missions are designed for operations in the presence of significant communication delay - from tens of minutes to hours. Consequently, robotic missions typically employ meticulously scripted and validated command sequences that are intermittently uplinked to the robot for independent execution over long periods. Over the next few years, however, we will see increasing use of robots that blend these two operational approaches. These interactive exploration robots will be remotely operated by humans on Earth or from a spacecraft. These robots will be used to support astronauts on the International Space Station (ISS), to conduct new missions to the Moon, and potentially to enable remote exploration of planetary surfaces in real-time. In this talk, I will discuss the technical challenges associated with building and operating robots in this manner, along with lessons learned from research conducted with the ISS and in the field.

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

Miniature in vivo robotics and novel robotic surgical platforms.

PubMed

Shah, Bhavin C; Buettner, Shelby L; Lehman, Amy C; Farritor, Shane M; Oleynikov, Dmitry

2009-05-01

Robotic surgical systems, such as the da Vinci Surgical System (Intuitive Surgical, Inc., Sunnyvale, California), have revolutionized laparoscopic surgery but are limited by large size, increased costs, and limitations in imaging. Miniature in vivo robots are being developed that are inserted entirely into the peritoneal cavity for laparoscopic and natural orifice transluminal endoscopic surgical (NOTES) procedures. In the future, miniature camera robots and microrobots should be able to provide a mobile viewing platform. This article discusses the current state of miniature robotics and novel robotic surgical platforms and the development of future robotic technology for general surgery and urology.

Cooperating mobile robots

DOEpatents

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

2004-02-03

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

Title VI Summary 2000-2001.

ERIC Educational Resources Information Center

Huskey, Barton

Title VI provides federal funds to states under the Elementary and Secondary Education Act of 1965. This document describes Title VI programs and the use of funds in the Austin Independent School District (AISD), Texas for 2000-2001. The AISD allocation of $481,559 was based on the May 2000 projected school enrollment, including projected…

The adsorption behavior of U(VI) on granite.

PubMed

Fan, Q H; Hao, L M; Wang, C L; Zheng, Z; Liu, C L; Wu, W S

2014-03-01

The effects of pH, counter ions and temperature on the adsorption of U(VI) on Beishan granite (BsG) were investigated in the presence and absence of fulvic acid (FA) and humic acid (HA). The adsorption edge of U(VI) on BsG suggested that U(VI) adsorption was mainly controlled by ion exchange and outer-sphere complexation at low pH, whereas inner-sphere complex was the dominant adsorption species in the pH range of 4.0-9.0. Above pH 9.0, Na2U2O7 might play an important role in the rise of U(VI) adsorption again. Counter ions such as Cl(-), SO4(2-) and PO4(3-) can provoke U(VI) adsorption on BsG to some extent, which was directly correlated to the complexing ability of U(VI)-ligand. More noticeably, the large enhancement of U(VI) adsorption in the presence of phosphate can be attributed to the ternary complex formation (BsG-PO4-UO2), precipitation ((UO2)3(PO4)2(s)) and secondary phase (Na-autunite). Both FA and HA can slightly increase U(VI) adsorption at low pH, whereas they strongly inhibited U(VI) adsorption at high pH range. Artificial synthesized granite (AsG) prepared in the laboratory is impossible to use as an analogue of natural granite because of the large difference in the adsorption and surface properties.

Reactivity of nitrido complexes of ruthenium(VI), osmium(VI), and manganese(V) bearing Schiff base and simple anionic ligands.

PubMed

Man, Wai-Lun; Lam, William W Y; Lau, Tai-Chu

2014-02-18

Nitrido complexes (M≡N) may be key intermediates in chemical and biological nitrogen fixation and serve as useful reagents for nitrogenation of organic compounds. Osmium(VI) nitrido complexes bearing 2,2':6',2″-terpyridine (terpy), 2,2'-bipyridine (bpy), or hydrotris(1-pyrazolyl)borate anion (Tp) ligands are highly electrophilic: they can react with a variety of nucleophiles to generate novel osmium(IV)/(V) complexes. This Account describes our recent results studying the reactivity of nitridocomplexes of ruthenium(VI), osmium(VI), and manganese(V) that bear Schiff bases and other simple anionic ligands. We demonstrate that these nitrido complexes exhibit rich chemical reactivity. They react with various nucleophiles, activate C-H bonds, undergo N···N coupling, catalyze the oxidation of organic compounds, and show anticancer activities. Ruthenium(VI) nitrido complexes bearing Schiff base ligands, such as [Ru(VI)(N)(salchda)(CH3OH)](+) (salchda = N,N'-bis(salicylidene)o-cyclohexyldiamine dianion), are highly electrophilic. This complex reacts readily at ambient conditions with a variety of nucleophiles at rates that are much faster than similar reactions using Os(VI)≡N. This complex also carries out unique reactions, including the direct aziridination of alkenes, C-H bond activation of alkanes and C-N bond cleavage of anilines. The addition of ligands such as pyridine can enhance the reactivity of [Ru(VI)(N)(salchda)(CH3OH)](+). Therefore researchers can tune the reactivity of Ru≡N by adding a ligand L trans to nitride: L-Ru≡N. Moreover, the addition of various nucleophiles (Nu) to Ru(VI)≡N initially generate the ruthenium(IV) imido species Ru(IV)-N(Nu), a new class of hydrogen-atom transfer (HAT) reagents. Nucleophiles also readily add to coordinated Schiff base ligands in Os(VI)≡N and Ru(VI)≡N complexes. These additions are often stereospecific, suggesting that the nitrido ligand has a directing effect on the incoming nucleophile. M≡N is also

[Robotics].

PubMed

Bier, J

2000-05-01

Content of this paper is the current state of the art of robots in surgery and the ongoing work on the field of surgical robotics at the Clinic for Maxillofacial Surgery at the Charité. Robots in surgery allows the surgeon to transform the accuracy of the imaging systems directly during the intervention and to plan an intervention beforehand. In this paper firstly the state of the art is described. Subsequently the scientific work at the clinic is described in detail. The paper closes with a outlook for future applications of robotics systems in maxillofacial surgery.

Robot-Aided Neurorehabilitation: A Robot for Wrist Rehabilitation

PubMed Central

Krebs, Hermano Igo; Volpe, Bruce T.; Williams, Dustin; Celestino, James; Charles, Steven K.; Lynch, Daniel; Hogan, Neville

2009-01-01

In 1991, a novel robot, MIT-MANUS, was introduced to study the potential that robots might assist in and quantify the neuro-rehabilitation of motor function. MIT-MANUS proved an excellent tool for shoulder and elbow rehabilitation in stroke patients, showing in clinical trials a reduction of impairment in movements confined to the exercised joints. This successful proof of principle as to additional targeted and intensive movement treatment prompted a test of robot training examining other limb segments. This paper focuses on a robot for wrist rehabilitation designed to provide three rotational degrees-of-freedom. The first clinical trial of the device will enroll 200 stroke survivors. Ultimately 160 stroke survivors will train with both the proximal shoulder and elbow MIT-MANUS robot, as well as with the novel distal wrist robot, in addition to 40 stroke survivor controls. So far 52 stroke patients have completed the robot training (ongoing protocol). Here, we report on the initial results on 36 of these volunteers. These results demonstrate that further improvement should be expected by adding additional training to other limb segments. PMID:17894265

Robot-aided neurorehabilitation: a robot for wrist rehabilitation.

PubMed

Krebs, Hermano Igo; Volpe, Bruce T; Williams, Dustin; Celestino, James; Charles, Steven K; Lynch, Daniel; Hogan, Neville

2007-09-01

In 1991, a novel robot, MIT-MANUS, was introduced to study the potential that robots might assist in and quantify the neuro-rehabilitation of motor function. MIT-MANUS proved an excellent tool for shoulder and elbow rehabilitation in stroke patients, showing in clinical trials a reduction of impairment in movements confined to the exercised joints. This successful proof of principle as to additional targeted and intensive movement treatment prompted a test of robot training examining other limb segments. This paper focuses on a robot for wrist rehabilitation designed to provide three rotational degrees-of-freedom. The first clinical trial of the device will enroll 200 stroke survivors. Ultimately 160 stroke survivors will train with both the proximal shoulder and elbow MIT-MANUS robot, as well as with the novel distal wrist robot, in addition to 40 stroke survivor controls. So far 52 stroke patients have completed the robot training (ongoing protocol). Here, we report on the initial results on 36 of these volunteers. These results demonstrate that further improvement should be expected by adding additional training to other limb segments.

Ferrate(VI) oxidation of cyanide in water.

PubMed

Costarramone, N; Kneip, A; Castetbon, A

2004-08-01

Experiments were conducted to test removal of cyanide (free cyanide and several cyanide complexes) in water, under alkaline medium (pH > or = 11), by a new potassium ferrate salt. The removal rate of free cyanide by oxidation with Fe(VI) was greater at pH 11.0 than at pH 12.0. A complete oxidation was obtained with a 2.67 Fe(VI)/CN ratio at pH 11.0. In these conditions, the rate of cyanide oxidation by Fe(VI) was slow, with a reaction rate constant estimated at 0.95 +/- 0.10 s(-1) l mol(-1) at pH 11.0 and 19.6 degrees C in this study. This study revealed that Fe(VI) did not decompose all cyanide complexes. Copper, cadmium and zinc complexes were removed efficiently by Fe(VI). Moreover, these metals were also removed from the solution by coagulation effect of Fe(OH)3, the Fe(VI) product of reaction. A particular behaviour was reported with copper, as a rapid oxidation of cyanide was observed in the presence of this metal. On the contrary, oxidation of nickel and silver complexes was incomplete.

Mechanisms of chromium (VI)-induced apoptosis in anterior pituitary cells.

PubMed

Quinteros, Fernanda A; Machiavelli, Leticia I; Miler, Eliana A; Cabilla, Jimena P; Duvilanski, Beatriz H

2008-07-30

Hexavalent chromium (Cr (VI)) is a highly toxic metal. Exposure to Cr (VI) compounds may affect reproductive functions. Due to the importance of anterior pituitary hormones on reproductive physiology we have studied the effects of Cr (VI) on anterior pituitary. We previously demonstrated that, after in vivo Cr (VI) administration, Cr accumulates in the pituitary gland and affects prolactin secretion. In vitro, Cr (VI) causes apoptosis in anterior pituitary cells due to oxidative stress generation. To better understand the mechanisms involved in Cr (VI)-induced apoptosis we studied: (a) whether Cr (VI) affects the intracellular antioxidant response and (b) which of the apoptotic factors participates in Cr (VI) effect. Our results show that Cr (VI) treatment induces a decrease in catalase and glutathione peroxidase (GPx) activity but does not modify glutathione reductase (GR) activity. Cr (VI) exposure causes an increase of GSH levels. p53 and Bax mRNA are also upregulated by the metal. Pifithrin alpha, a p53 transcriptional inhibitor, increases Cr (VI) cytotoxicity, suggesting a role of p53 as a survival molecule. The antioxidant N-acetyl-cysteine (NAC) could prevent Bax mRNA increase and caspase 3 activation, confirming that Cr (VI)-induced apoptosis involves oxidative stress generation.

Emissions of chromium (VI) from arc welding.

PubMed

Heung, William; Yun, Myoung-Jin; Chang, Daniel P Y; Green, Peter G; Halm, Chris

2007-02-01

The presence of Cr in the +6 oxidation state (Cr[VI]) is still observed in ambient air samples in California despite steps taken to reduce emissions from plating operations. One known source of emission of Cr(VI) is welding, especially with high Cr-content materials, such as stainless steels. An experimental effort was undertaken to expand and update Cr(VI) emission factors by conducting tests on four types of arc-welding operations: gas-metal arc welding (GMAW), shielded metal arc welding (SMAW), fluxcore arc welding, and pulsed GMAW. Standard American Welding Society hood results were compared with a total enclosure method that permitted isokinetic sampling for particle size-cut measurement, as well as total collection of the aerosol. The fraction of Cr(VI) emitted per unit mass of Cr electrode consumed was determined. Consistent with AP-42 data, initial results indicate that a significant fraction of the total Cr in the aerosol is in the +6 oxidation state. The fraction of Cr(VI) and total aerosol mass produced by the different arc welding methods varies with the type of welding process used. Self-shielded electrodes that do not use a shield gas, for example, SMAW, produce greater amounts of Cr(VI) per unit mass of electrode consumed. The formation of Cr(VI) from standard electrode wires used for welding mild steel was below the method detection limit after eliminating an artifact in the analytical method used.

Robotic intelligence kernel

DOEpatents

Bruemmer, David J [Idaho Falls, ID

2009-11-17

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

Initial Work Toward a Robotically Assisted EVA Glove

NASA Technical Reports Server (NTRS)

Rogers, J.; Peters, B.; McBryan, E.; Laske, E.

2016-01-01

The Space Suit RoboGlove is a device designed to provide additional grasp strength or endurance for an EVA crew member since gloved hand performance is a fraction of what the unencumbered human hand can achieve. There have been past efforts to approach this problem by employing novel materials and construction techniques to the glove design, as well as integrating powered assistance devices. This application of the NASA/GM RoboGlove technology uses a unique approach to integrate the robotic actuators and sensors into a Phase VI EVA glove. This design provides grasp augmentation to the glove user while active, but can also function as a normal glove when disabled. Care was taken to avoid adding excessive bulk to the glove or affecting tactility by choosing low-profile sensors and extrinsically locating the actuators. Conduits are used to guide robotic tendons from linear actuators, across the wrist, and to the fingers. The second generation of the SSRG includes updated electronics, sensors, and actuators to improve performance. The following discusses the electromechanical design, softgoods integration, and control system of the SSRG. It also presents test results from the first integration of a powered mobility element onto a space suit, the NASA Mark III. Early results show that sensor integration did not impact tactile feedback in the glove and the actuators show potential for reduction in grasp fatigue over time.

ETS-VI multibeam satellite communications systems

NASA Astrophysics Data System (ADS)

Kawai, Makoto; Tanaka, Masayoshi; Ohtomo, Isao

1989-10-01

The fixed and mobile satellite communications systems of the Japanese Engineering Test Satellite-VI (ETS-VI) are described. The system requirements are outlined along with the system configuration. The ETS-VI multibeam system employs three frequency bands. When used for Ka-band fixed communications, it covers the Japanese main islands with thirteen 0.3-degree-wide spot beam. Four of the beams are active for ETS-VI. When used for S-band mobile communications, five beams cover the area within 200 nautical miles from the Japanese coast. The C-band beam for fixed communications covers the central area of the Japanese main islands with a single beam. The onboard antenna system is described along with the transponders and their associated onboard systems. A discussion of the system technology follows, covering the TDMA transmisssion system, the relay function, rainfall compensation, and the antenna and propagation performance.

The climbing crawling robot (a unique cable robot for space and Earth)

NASA Technical Reports Server (NTRS)

Kerley, James J.; May, Edward; Eklund, Wayne

1991-01-01

Some of the greatest concerns in robotic designs have been the high center of gravity of the robot, the irregular or flat surface that the robot has to work on, the weight of the robot that has to handle heavy weights or use heavy forces, and the ability of the robot to climb straight up in the air. This climbing crawling robot handles these problems well with magnets, suction cups, or actuators. The cables give body to the robot and it performs very similar to a caterpillar. The computer program is simple and inexpensive as is the robot. One of the important features of this system is that the robot can work in pairs or triplets to handle jobs that would be extremely difficult for single robots. The light weight of the robot allows it to handle quite heavy weights. The number of feet give the robot many roots where a simple set of feet would give it trouble.

Robotic surgery: new robots and finally some real competition!

PubMed

Rao, Pradeep P

2018-04-01

For the last 20 years, the predominant robot used in laparoscopic surgery has been Da Vinci by Intuitive Surgical. This monopoly situation has led to rising costs and relatively slow innovation. This article aims to discuss the two new robotic devices for laparoscopic surgery which have received regulatory approval for human use in different parts of the world. A short description of the Senhance Surgical Robotic System and the REVO-I Robot Platform and their pros and cons compared to the Da Vinci system is presented. A discussion about the differences between the three robotic systems now in the market is presented, as well as a short review of the present state of robotic assistance in surgery and where we are headed.

Vi-da: vitiligo diagnostic assistance mobile application

NASA Astrophysics Data System (ADS)

Nugraha, G. A.; Nurhudatiana, A.; Bahana, R.

2018-03-01

Vitiligo is a skin disorder in which white patches of depigmentation appear on different parts of the body. Usually, patients come to hospitals or clinics to have their vitiligo conditions assessed. This can be very tiring to the patients, as vitiligo treatments usually take a relatively long period of time, which can range from months to years. To address this challenge, we present in this paper a prototype of an Android-based mobile application called Vi-DA, which stands for Vitiligo Diagnostic Assistance. Vi-DA consists of three subsystems, which are user sign-up subsystem, camera and image analysis subsystem, and progress report subsystem. The mobile application was developed in Java programming language and uses MySQL as the database system. Vi-DA adopts a vitiligo segmentation algorithm to segment input image into normal skin area, vitiligo skin area, and non-skin area. Results showed that Vi-DA gave comparable results to the previous system implemented in Matlab. User acceptance testing results also showed that all respondents agreed on the usefulness of the system and agreed to use Vi-DA again in the future. Vi-DA benefits both dermatologists and patients as not only a computer-aided diagnosis (CAD) tool but also as a smart application that can be used for self-assessment at home.

ViA: a perceptual visualization assistant

NASA Astrophysics Data System (ADS)

Healey, Chris G.; St. Amant, Robert; Elhaddad, Mahmoud S.

2000-05-01

This paper describes an automated visualized assistant called ViA. ViA is designed to help users construct perceptually optical visualizations to represent, explore, and analyze large, complex, multidimensional datasets. We have approached this problem by studying what is known about the control of human visual attention. By harnessing the low-level human visual system, we can support our dual goals of rapid and accurate visualization. Perceptual guidelines that we have built using psychophysical experiments form the basis for ViA. ViA uses modified mixed-initiative planning algorithms from artificial intelligence to search of perceptually optical data attribute to visual feature mappings. Our perceptual guidelines are integrated into evaluation engines that provide evaluation weights for a given data-feature mapping, and hints on how that mapping might be improved. ViA begins by asking users a set of simple questions about their dataset and the analysis tasks they want to perform. Answers to these questions are used in combination with the evaluation engines to identify and intelligently pursue promising data-feature mappings. The result is an automatically-generated set of mappings that are perceptually salient, but that also respect the context of the dataset and users' preferences about how they want to visualize their data.

Flexible robotic actuators

DOE Office of Scientific and Technical Information (OSTI.GOV)

Morin, Stephen A.; Shepherd, Robert F.; Stokes, Adam

Systems and methods for providing flexible robotic actuators are disclosed. Some embodiments of the disclosed subject matter include a soft robot capable of providing a radial deflection motions; a soft tentacle actuator capable of providing a variety of motions and providing transportation means for various types of materials; and a hybrid robotic system that retains desirable characteristics of both soft robots and hard robots. Some embodiments of the disclosed subject matter also include methods for operating the disclosed robotic systems.

Cranial mononeuropathy VI

MedlinePlus

... palsy; Cranial nerve VI palsy; Sixth nerve palsy; Neuropathy - sixth nerve ... with: Brain aneurysms Nerve damage from diabetes( diabetic neuropathy ) Gradenigo syndrome (which also causes discharge from the ...

Uranium(VI) Reduction by Anaeromyxobacter dehalogenans Strain 2CP-C

PubMed Central

Wu, Qingzhong; Sanford, Robert A.; Löffler, Frank E.

2006-01-01

Previous studies demonstrated growth of Anaeromyxobacter dehalogenans strain 2CP-C with acetate or hydrogen as the electron donor and Fe(III), nitrate, nitrite, fumarate, oxygen, or ortho-substituted halophenols as electron acceptors. In this study, we explored and characterized U(VI) reduction by strain 2CP-C. Cell suspensions of fumarate-grown 2CP-C cells reduced U(VI) to U(IV). More-detailed growth studies demonstrated that hydrogen was the required electron donor for U(VI) reduction and could not be replaced by acetate. The addition of nitrate to U(VI)-reducing cultures resulted in a transitory increase in U(VI) concentration, apparently caused by the reoxidation of reduced U(IV), but U(VI) reduction resumed following the consumption of N-oxyanions. Inhibition of U(VI) reduction occurred in cultures amended with Fe(III) citrate, or citrate. In the presence of amorphous Fe(III) oxide, U(VI) reduction proceeded to completion but the U(VI) reduction rates decreased threefold compared to control cultures. Fumarate and 2-chlorophenol had no inhibitory effects on U(VI) reduction, and both electron acceptors were consumed concomitantly with U(VI). Since cocontaminants (e.g., nitrate, halogenated compounds) and bioavailable ferric iron are often encountered at uranium-impacted sites, the metabolic versatility makes Anaeromyxobacter dehalogenans a promising model organism for studying the complex interaction of multiple electron acceptors in U(VI) reduction and immobilization. PMID:16672509

Multi-robot control interface

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bruemmer, David J; Walton, Miles C

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

Robot-assisted Ivor-Lewis esophagectomy with intrathoracic robot-sewn anastomosis.

PubMed

Jin, Runsen; Xiang, Jie; Han, Dingpei; Zhang, Yajie; Li, Hecheng

2017-11-01

This video clip demonstrated a performance of robot-assisted Ivor-Lewis esophagectomy with intrathoracic robot-sewn anastomosis. The patient had an esophageal mass located approximately 33 cm away from incisor, and robot-assisted Ivor-Lewis esophagectomy was applied for him. Importantly, a double-layer esophago-gastric anastomosis was made by robotic hand-sewn suture. Our early experience demonstrated that the robot-sewn intrathoracic anastomosis is feasible and safe with a lower complication rate and the absence of anastomotic leakage.

23 CFR 200.7 - FHWA Title VI policy.

Code of Federal Regulations, 2010 CFR

2010-04-01

... 23 Highways 1 2010-04-01 2010-04-01 false FHWA Title VI policy. 200.7 Section 200.7 Highways FEDERAL HIGHWAY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION CIVIL RIGHTS TITLE VI PROGRAM AND RELATED STATUTES-IMPLEMENTATION AND REVIEW PROCEDURES § 200.7 FHWA Title VI policy. It is the policy of the FHWA to...

23 CFR 200.7 - FHWA Title VI policy.

Code of Federal Regulations, 2011 CFR

2011-04-01

... 23 Highways 1 2011-04-01 2011-04-01 false FHWA Title VI policy. 200.7 Section 200.7 Highways FEDERAL HIGHWAY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION CIVIL RIGHTS TITLE VI PROGRAM AND RELATED STATUTES-IMPLEMENTATION AND REVIEW PROCEDURES § 200.7 FHWA Title VI policy. It is the policy of the FHWA to...

23 CFR 200.7 - FHWA Title VI policy.

Code of Federal Regulations, 2014 CFR

2014-04-01

... 23 Highways 1 2014-04-01 2014-04-01 false FHWA Title VI policy. 200.7 Section 200.7 Highways FEDERAL HIGHWAY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION CIVIL RIGHTS TITLE VI PROGRAM AND RELATED STATUTES-IMPLEMENTATION AND REVIEW PROCEDURES § 200.7 FHWA Title VI policy. It is the policy of the FHWA to...

23 CFR 200.7 - FHWA Title VI policy.

Code of Federal Regulations, 2013 CFR

2013-04-01

... 23 Highways 1 2013-04-01 2013-04-01 false FHWA Title VI policy. 200.7 Section 200.7 Highways FEDERAL HIGHWAY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION CIVIL RIGHTS TITLE VI PROGRAM AND RELATED STATUTES-IMPLEMENTATION AND REVIEW PROCEDURES § 200.7 FHWA Title VI policy. It is the policy of the FHWA to...

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – Students from Hagerty High School in Oviedo, Fla., participants in FIRST Robotics, show off their robots' capabilities at the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Replication profile of Saccharomyces cerevisiae chromosome VI.

PubMed

Friedman, K L; Brewer, B J; Fangman, W L

1997-11-01

An understanding of the replication programme at the genome level will require the identification and characterization of origins of replication through large, contiguous regions of DNA. As a step toward this goal, origin efficiencies and replication times were determined for 10 ARSs spanning most of the 270 kilobase (kb) chromosome VI of Saccharomyces cerevisiae. Chromosome VI shows a wide variation in the percentage of cell cycles in which different replication origins are utilized. Most of the origins are activated in only a fraction of cells, suggesting that the pattern of origin usage on chromosome VI varies greatly within the cell population. The replication times of fragments containing chromosome VI origins show a temporal pattern that has been recognized on other chromosomes--the telomeres replicate late in S phase, while the central region of the chromosome replicates early. As demonstrated here for chromosome VI, analysis of the direction of replication fork movement along a chromosome and determination of replication time by measuring a period of hemimethylation may provide an efficient means of surveying origin activity over large regions of the genome.

1. COMPARISON OF PLANS, SHOWING KONGENSGADE 6 (see photograph VI50 ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

1. COMPARISON OF PLANS, SHOWING KONGENSGADE 6 (see photograph VI-50 50-2 for elevation), KONGENSGADE 8 (see photograph VI-50-3 for elevation), KONGENSGADE 9 (see photograph VI-50-3 for elevation), KONGENSGADE 17 (see photograph VI-50-5 for elevation), KONGENSGADE 56 (see photograph VI-50-8 for elevation), & KONGENSGADE 57 (see photograph VI-50-9 for elevation) - King Street Area Study, Kongensgade 5-18, 36, 37B, 51-58 (Houses), 5-18, 36-37B, 51-58 King Street, Frederiksted, St. Croix, VI

Robotic virtual reality simulation plus standard robotic orientation versus standard robotic orientation alone: a randomized controlled trial.

PubMed

Vaccaro, Christine M; Crisp, Catrina C; Fellner, Angela N; Jackson, Christopher; Kleeman, Steven D; Pavelka, James

2013-01-01

The objective of this study was to compare the effect of virtual reality simulation training plus robotic orientation versus robotic orientation alone on performance of surgical tasks using an inanimate model. Surgical resident physicians were enrolled in this assessor-blinded randomized controlled trial. Residents were randomized to receive either (1) robotic virtual reality simulation training plus standard robotic orientation or (2) standard robotic orientation alone. Performance of surgical tasks was assessed at baseline and after the intervention. Nine of 33 modules from the da Vinci Skills Simulator were chosen. Experts in robotic surgery evaluated each resident's videotaped performance of the inanimate model using the Global Rating Scale (GRS) and Objective Structured Assessment of Technical Skills-modified for robotic-assisted surgery (rOSATS). Nine resident physicians were enrolled in the simulation group and 9 in the control group. As a whole, participants improved their total time, time to incision, and suture time from baseline to repeat testing on the inanimate model (P = 0.001, 0.003, <0.001, respectively). Both groups improved their GRS and rOSATS scores significantly (both P < 0.001); however, the GRS overall pass rate was higher in the simulation group compared with the control group (89% vs 44%, P = 0.066). Standard robotic orientation and/or robotic virtual reality simulation improve surgical skills on an inanimate model, although this may be a function of the initial "practice" on the inanimate model and repeat testing of a known task. However, robotic virtual reality simulation training increases GRS pass rates consistent with improved robotic technical skills learned in a virtual reality environment.

Evolutionary Developmental Robotics: Improving Morphology and Control of Physical Robots.

PubMed

Vujovic, Vuk; Rosendo, Andre; Brodbeck, Luzius; Iida, Fumiya

2017-01-01

Evolutionary algorithms have previously been applied to the design of morphology and control of robots. The design space for such tasks can be very complex, which can prevent evolution from efficiently discovering fit solutions. In this article we introduce an evolutionary-developmental (evo-devo) experiment with real-world robots. It allows robots to grow their leg size to simulate ontogenetic morphological changes, and this is the first time that such an experiment has been performed in the physical world. To test diverse robot morphologies, robot legs of variable shapes were generated during the evolutionary process and autonomously built using additive fabrication. We present two cases with evo-devo experiments and one with evolution, and we hypothesize that the addition of a developmental stage can be used within robotics to improve performance. Moreover, our results show that a nonlinear system-environment interaction exists, which explains the nontrivial locomotion patterns observed. In the future, robots will be present in our daily lives, and this work introduces for the first time physical robots that evolve and grow while interacting with the environment.

29 CFR 1915.1026 - Chromium (VI).

Code of Federal Regulations, 2010 CFR

2010-07-01

... present from skin or eye contact with chromium (VI), the employer shall provide appropriate personal... clothing and equipment should be laundered or cleaned in a manner that minimizes skin or eye contact with... shall provide change rooms in conformance with 29 CFR 1910.141. Where skin contact with chromium (VI...

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – Students gather to watch as a DARwin-OP miniature humanoid robot from Virginia Tech Robotics demonstrates its soccer abilities at the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – A child gets an up-close look at Charli, an autonomous walking robot developed by Virginia Tech Robotics, during the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Characterization of Amoeba proteus myosin VI immunoanalog.

PubMed

Dominik, Magdalena; Kłopocka, Wanda; Pomorski, Paweł; Kocik, Elzbieta; Redowicz, Maria Jolanta

2005-07-01

Amoeba proteus, the highly motile free-living unicellular organism, has been widely used as a model to study cell motility. However, molecular mechanisms underlying its unique locomotion and intracellular actin-based-only trafficking remain poorly understood. A search for myosin motors responsible for vesicular transport in these giant cells resulted in detection of 130-kDa protein interacting with several polyclonal antibodies against different tail regions of human and chicken myosin VI. This protein was binding to actin in the ATP-dependent manner, and immunoprecipitated with anti-myosin VI antibodies. In order to characterize its possible functions in vivo, its cellular distribution and colocalization with actin filaments and dynamin II during migration and pinocytosis were examined. In migrating amoebae, myosin VI immunoanalog localized to vesicular structures, particularly within the perinuclear and sub-plasma membrane areas, and colocalized with dynamin II immunoanalog and actin filaments. The colocalization was even more evident in pinocytotic cells as proteins concentrated within pinocytotic pseudopodia. Moreover, dynamin II and myosin VI immunoanalogs cosedimented with actin filaments, and were found on the same isolated vesicles. Blocking endogenous myosin VI immunoanalog with anti-myosin VI antibodies inhibited the rate of pseudopodia protrusion (about 19% decrease) and uroidal retraction (about 28% decrease) but did not affect cell morphology and the manner of cell migration. Treatment with anti-human dynamin II antibodies led to changes in directionality of amebae migration and affected the rate of only uroidal translocation (about 30% inhibition). These results indicate that myosin VI immunoanalog is expressed in protist Amoeba proteus and may be involved in vesicle translocation and cell locomotion.

Put Your Robot In, Put Your Robot Out: Sequencing through Programming Robots in Early Childhood

ERIC Educational Resources Information Center

Kazakoff, Elizabeth R.; Bers, Marina Umaschi

2014-01-01

This article examines the impact of programming robots on sequencing ability in early childhood. Thirty-four children (ages 4.5-6.5 years) participated in computer programming activities with a developmentally appropriate tool, CHERP, specifically designed to program a robot's behaviors. The children learned to build and program robots over three…

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – A miniature humanoid robot known as DARwin-OP, from Virginia Tech Robotics, plays soccer with a red tennis ball for a crowd of students at the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Robot-sewn ileoileal anastomosis during robot-assisted cystectomy.

PubMed

Loertzer, P; Siemer, S; Stöckle, M; Ohlmann, C H

2018-07-01

To analyze the feasibility and perioperative results of patients undergoing robot-assisted cystectomy with intracorporeal urinary diversion and robot-sewn ileoileal anastomosis. This is a mono-centric analysis of perioperative data from 48 consecutive patients undergoing robot-assisted cystectomy with intracorporeal urinary diversion and robot-sewn ileoileal anastomosis. Data include the preoperative variables, operative and postoperative course and complication rates related to bowel anastomosis. End points were time spent for anastomosis and intra- and postoperative complication rates. Median operating time was 23.0 (13-60) min for the ileoileal anastomosis. Median overall operating time was 295 (200-780) min, with a median of 282 (200-418) min and 414.0 (225-780) min for the ileum conduit (N = 35) and ileal neobladder (N = 13). Two patients developed paralytic ileus; in another patient acute peritonitis occurred, but was caused by urinary leakage and therefore unrelated to the bowel anastomosis. No anastomotic leakage was noticed. Costs for the robot-sewn anastomosis was 8€ compared to 1250€ for a stapled anastomosis which was performed in previous cases. Limitations are the non-comparative nature of the analysis and the limited number of patients. Robot-sewn ileoileal anastomosis is feasible with low complication rates. Compared to the stapled anastomosis, a robot-sewn ileoileal anastomosis may serve as an alternative and cost-saving approach.

40 CFR Appendix Vi to Part 266 - Stack Plume Rise

Code of Federal Regulations, 2011 CFR

2011-07-01

... 40 Protection of Environment 27 2011-07-01 2011-07-01 false Stack Plume Rise VI Appendix VI to Part 266 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) SOLID WASTES (CONTINUED... FACILITIES Pt. 266, App. VI Appendix VI to Part 266—Stack Plume Rise [Estimated Plume Rise (in Meters) Based...

19 CFR Annex Vi to Part 351 - Countervailing Investigations Timeline

Code of Federal Regulations, 2010 CFR

2010-04-01

... 19 Customs Duties 3 2010-04-01 2010-04-01 false Countervailing Investigations Timeline VI Annex VI to Part 351 Customs Duties INTERNATIONAL TRADE ADMINISTRATION, DEPARTMENT OF COMMERCE ANTIDUMPING AND COUNTERVAILING DUTIES Pt. 351, Annex VI Annex VI to Part 351—Countervailing Investigations Timeline ER19MY97.000 ...

19 CFR Annex Vi to Part 351 - Countervailing Investigations Timeline

Code of Federal Regulations, 2013 CFR

2013-04-01

... 19 Customs Duties 3 2013-04-01 2013-04-01 false Countervailing Investigations Timeline VI Annex VI to Part 351 Customs Duties INTERNATIONAL TRADE ADMINISTRATION, DEPARTMENT OF COMMERCE ANTIDUMPING AND COUNTERVAILING DUTIES Pt. 351, Annex VI Annex VI to Part 351—Countervailing Investigations Timeline ER19MY97.000 ...

19 CFR Annex Vi to Part 351 - Countervailing Investigations Timeline

Code of Federal Regulations, 2014 CFR

2014-04-01

... 19 Customs Duties 3 2014-04-01 2014-04-01 false Countervailing Investigations Timeline VI Annex VI to Part 351 Customs Duties INTERNATIONAL TRADE ADMINISTRATION, DEPARTMENT OF COMMERCE ANTIDUMPING AND COUNTERVAILING DUTIES Pt. 351, Annex VI Annex VI to Part 351—Countervailing Investigations Timeline ER19MY97.000 ...

19 CFR Annex Vi to Part 351 - Countervailing Investigations Timeline

Code of Federal Regulations, 2012 CFR

2012-04-01

... 19 Customs Duties 3 2012-04-01 2012-04-01 false Countervailing Investigations Timeline VI Annex VI to Part 351 Customs Duties INTERNATIONAL TRADE ADMINISTRATION, DEPARTMENT OF COMMERCE ANTIDUMPING AND COUNTERVAILING DUTIES Pt. 351, Annex VI Annex VI to Part 351—Countervailing Investigations Timeline ER19MY97.000 ...

19 CFR Annex Vi to Part 351 - Countervailing Investigations Timeline

Code of Federal Regulations, 2011 CFR

2011-04-01

... 19 Customs Duties 3 2011-04-01 2011-04-01 false Countervailing Investigations Timeline VI Annex VI to Part 351 Customs Duties INTERNATIONAL TRADE ADMINISTRATION, DEPARTMENT OF COMMERCE ANTIDUMPING AND COUNTERVAILING DUTIES Pt. 351, Annex VI Annex VI to Part 351—Countervailing Investigations Timeline ER19MY97.000 ...

40 CFR Appendix Vi to Part 266 - Stack Plume Rise

Code of Federal Regulations, 2010 CFR

2010-07-01

... 40 Protection of Environment 26 2010-07-01 2010-07-01 false Stack Plume Rise VI Appendix VI to Part 266 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) SOLID WASTES (CONTINUED... FACILITIES Pt. 266, App. VI Appendix VI to Part 266—Stack Plume Rise [Estimated Plume Rise (in Meters) Based...

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.

Robot Wars: US Empire and geopolitics in the robotic age

PubMed Central

Shaw, Ian GR

2017-01-01

How will the robot age transform warfare? What geopolitical futures are being imagined by the US military? This article constructs a robotic futurology to examine these crucial questions. Its central concern is how robots – driven by leaps in artificial intelligence and swarming – are rewiring the spaces and logics of US empire, warfare, and geopolitics. The article begins by building a more-than-human geopolitics to de-center the role of humans in conflict and foreground a worldly understanding of robots. The article then analyzes the idea of US empire, before speculating upon how and why robots are materializing new forms of proxy war. A three-part examination of the shifting spaces of US empire then follows: (1) Swarm Wars explores the implications of miniaturized drone swarming; (2) Roboworld investigates how robots are changing US military basing strategy and producing new topological spaces of violence; and (3) The Autogenic Battle-Site reveals how autonomous robots will produce emergent, technologically event-ful sites of security and violence – revolutionizing the battlespace. The conclusion reflects on the rise of a robotic US empire and its consequences for democracy. PMID:29081605

Robot Wars: US Empire and geopolitics in the robotic age.

PubMed

Shaw, Ian Gr

2017-10-01

How will the robot age transform warfare? What geopolitical futures are being imagined by the US military? This article constructs a robotic futurology to examine these crucial questions. Its central concern is how robots - driven by leaps in artificial intelligence and swarming - are rewiring the spaces and logics of US empire, warfare, and geopolitics. The article begins by building a more-than-human geopolitics to de-center the role of humans in conflict and foreground a worldly understanding of robots. The article then analyzes the idea of US empire, before speculating upon how and why robots are materializing new forms of proxy war. A three-part examination of the shifting spaces of US empire then follows: (1) Swarm Wars explores the implications of miniaturized drone swarming; (2) Roboworld investigates how robots are changing US military basing strategy and producing new topological spaces of violence; and (3) The Autogenic Battle-Site reveals how autonomous robots will produce emergent, technologically event-ful sites of security and violence - revolutionizing the battlespace. The conclusion reflects on the rise of a robotic US empire and its consequences for democracy.

Dynamics of Chromium(VI) Removal from Drinking Water by Iron Electrocoagulation.

PubMed

Pan, Chao; Troyer, Lyndsay D; Catalano, Jeffrey G; Giammar, Daniel E

2016-12-20

The potential for new U.S. regulations for Cr(VI) in drinking water have spurred strong interests in improving technologies for Cr(VI) removal. This study examined iron electrocoagulation for Cr(VI) removal at conditions directly relevant to drinking water treatment. Cr(VI) is chemically reduced to less soluble Cr(III) species by the Fe(II) produced from an iron anode, and XANES spectra indicate that the Cr is entirely Cr(III) in solid-phases produced in electrocoagulation. The dynamics of Cr(VI) removal in electrocoagulation at pH 6 and pH 8 at both oxic and anoxic conditions can be described by a new model that incorporates Fe(II) release from the anode and heterogeneous and homogeneous reduction of Cr(VI) by Fe(II). Heterogeneous Cr(VI) reduction by adsorbed Fe(II) was critical to interpreting Cr(VI) removal at pH 6, and the Fe- and Cr-containing EC product was found to catalyze the redox reaction. Dissolved oxygen (DO) did not observably inhibit Cr(VI) removal because Fe(II) reacts with DO more slowly than it does with Cr(VI), and Cr(VI) removal was faster at higher pH. Even in the presence of common groundwater solutes, iron electrocoagulation lowered Cr(VI) concentrations to levels well below California's 10 μg/L.

INL Multi-Robot Control Interface

DOE Office of Scientific and Technical Information (OSTI.GOV)

2005-03-30

The INL Multi-Robot Control Interface controls many robots through a single user interface. The interface includes a robot display window for each robot showing the robot’s condition. More than one window can be used depending on the number of robots. The user interface also includes a robot control window configured to receive commands for sending to the respective robot and a multi-robot common window showing information received from each robot.

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);…

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…

Mobile robot knowledge base

NASA Astrophysics Data System (ADS)

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

2005-05-01

Robot technology is developing at a rapid rate for both commercial and Department of Defense (DOD) applications. As a result, the task of managing both technology and experience information is growing. In the not-to-distant past, tracking development efforts of robot platforms, subsystems and components was not too difficult, expensive, or time consuming. To do the same today is a significant undertaking. The Mobile Robot Knowledge Base (MRKB) provides the robotics community with a web-accessible, centralized resource for sharing information, experience, and technology to more efficiently and effectively meet the needs of the robot system user. The resource includes searchable information on robot components, subsystems, mission payloads, platforms, and DOD robotics programs. In addition, the MRKB website provides a forum for technology and information transfer within the DOD robotics community and an interface for the Robotic Systems Pool (RSP). The RSP manages a collection of small teleoperated and semi-autonomous robotic platforms, available for loan to DOD and other qualified entities. The objective is to put robots in the hands of users and use the test data and fielding experience to improve robot systems.

Kinetics of microbial reduction of Solid phase U(VI).

PubMed

Liu, Chongxuan; Jeon, Byong-Hun; Zachara, John M; Wang, Zheming; Dohnalkova, Alice; Fredrickson, James K

2006-10-15

Sodium boltwoodite (NaUO2SiO3OH x 1.5 H2O) was used to assess the kinetics of microbial reduction of solid-phase U(VI) by a dissimilatory metal-reducing bacterium (DMRB), Shewanella oneidensis strain MR-1. The bioreduction kinetics was studied with Na-boltwoodite in suspension or within alginate beads in a nongrowth medium with lactate as electron donor at pH 6.8 buffered with PIPES. Concentrations of U(VI)tot and cell number were varied to evaluate the coupling of U(VI) dissolution, diffusion, and microbial activity. Microscopic and spectroscopic analyses with transmission electron microscopy (TEM), energy dispersive spectroscopy (EDS), and laser-induced fluorescence spectroscopy (LIFS) collectively indicated that solid-phase U(VI) was first dissolved and diffused out of grain interiors before it was reduced on bacterial surfaces and/or within the periplasm. The kinetics of solid-phase U(VI) bioreduction was well described by a coupled model of bicarbonate-promoted dissolution of Na-boltwoodite, intragrain uranyl diffusion, and Monod type bioreduction kinetics with respect to dissolved U(VI) concentration. The results demonstrated that microbial reduction of solid-phase U(VI) is controlled by coupled biological, chemical, and physical processes.

Self-Reconfigurable Robots

DOE Office of Scientific and Technical Information (OSTI.GOV)

HENSINGER, DAVID M.; JOHNSTON, GABRIEL A.; HINMAN-SWEENEY, ELAINE M.

2002-10-01

A distributed reconfigurable micro-robotic system is a collection of unlimited numbers of distributed small, homogeneous robots designed to autonomously organize and reorganize in order to achieve mission-specified geometric shapes and functions. This project investigated the design, control, and planning issues for self-configuring and self-organizing robots. In the 2D space a system consisting of two robots was prototyped and successfully displayed automatic docking/undocking to operate dependently or independently. Additional modules were constructed to display the usefulness of a self-configuring system in various situations. In 3D a self-reconfiguring robot system of 4 identical modules was built. Each module connects to its neighborsmore » using rotating actuators. An individual component can move in three dimensions on its neighbors. We have also built a self-reconfiguring robot system consisting of 9-module Crystalline Robot. Each module in this robot is actuated by expansion/contraction. The system is fully distributed, has local communication (to neighbors) capabilities and it has global sensing capabilities.« less

Influence of calcium on microbial reduction of solid phase uranium(VI).

PubMed

Liu, Chongxuan; Jeon, Byong-Hun; Zachara, John M; Wang, Zheming

2007-08-15

The effect of calcium on the dissolution and microbial reduction of a representative solid phase uranyl [U(VI)], sodium boltwoodite (NaUO(2)SiO(3)OH . 1.5H(2)O), was investigated to evaluate the rate-limiting step of microbial reduction of the solid phase U(VI). Microbial reduction experiments were performed in a culture of a dissimilatory metal-reducing bacterium (DMRB), Shewanella oneidensis strain MR-1, in a bicarbonate medium with lactate as electron donor at pH 6.8 buffered with PIPES. Calcium increased the rate of Na-boltwoodite dissolution and U(VI) bioavailability by increasing its solubility through the formation of a ternary aqueous calcium-uranyl-carbonate species. The ternary species, however, decreased the rates of microbial reduction of aqueous U(VI). Laser-induced fluorescence spectroscopy (LIFS) and transmission electron microscopy (TEM) collectively revealed that microbial reduction of solid phase U(VI) was a sequentially coupled process of Na-boltwoodite dissolution, U(VI) aqueous speciation, and microbial reduction of dissolved U(VI) to U(IV) that accumulated on bacterial surfaces/periplasm. Under studied experimental conditions, the overall rate of microbial reduction of solid phase U(VI) was limited by U(VI) dissolution reactions in solutions without calcium and limited by microbial reduction in solutions with calcium. Generally, the overall rate of microbial reduction of solid phase U(VI) was determined by the coupling of solid phase U(VI) dissolution, U(VI) aqueous speciation, and microbial reduction of dissolved U(VI) that were all affected by calcium. (c) 2007 Wiley Periodicals, Inc.

Robot geometry calibration

NASA Technical Reports Server (NTRS)

Hayati, Samad; Tso, Kam; Roston, Gerald

1988-01-01

Autonomous robot task execution requires that the end effector of the robot be positioned accurately relative to a reference world-coordinate frame. The authors present a complete formulation to identify the actual robot geometric parameters. The method applies to any serial link manipulator with arbitrary order and combination of revolute and prismatic joints. A method is also presented to solve the inverse kinematic of the actual robot model which usually is not a so-called simple robot. Experimental results performed by utilizing a PUMA 560 with simple measurement hardware are presented. As a result of this calibration a precision move command is designed and integrated into a robot language, RCCL, and used in the NASA Telerobot Testbed.

40 CFR Appendixes Vi-Vii to Part 600 - [Reserved

Code of Federal Regulations, 2010 CFR

2010-07-01

... 40 Protection of Environment 29 2010-07-01 2010-07-01 false [Reserved] VI Appendixes VI-VII to Part 600 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) ENERGY POLICY FUEL ECONOMY AND CARBON-RELATED EXHAUST EMISSIONS OF MOTOR VEHICLES Appendixes VI-VII to Part 600 [Reserved] ...

40 CFR Appendixes Vi-Vii to Part 600 - [Reserved

Code of Federal Regulations, 2011 CFR

2011-07-01

... 40 Protection of Environment 30 2011-07-01 2011-07-01 false [Reserved] VI Appendixes VI-VII to Part 600 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) ENERGY POLICY FUEL ECONOMY AND CARBON-RELATED EXHAUST EMISSIONS OF MOTOR VEHICLES Appendixes VI-VII to Part 600 [Reserved] ...

An overview of artificial intelligence and robotics. Volume 2: Robotics

NASA Technical Reports Server (NTRS)

Gevarter, W. B.

1982-01-01

This report provides an overview of the rapidly changing field of robotics. The report incorporates definitions of the various types of robots, a summary of the basic concepts, utilized in each of the many technical areas, review of the state of the art and statistics of robot manufacture and usage. Particular attention is paid to the status of robot development, the organizations involved, their activities, and their funding.

Lack of Collagen VI Promotes Wound-Induced Hair Growth.

PubMed

Chen, Peiwen; Cescon, Matilde; Bonaldo, Paolo

2015-10-01

Collagen VI is an extracellular matrix molecule that is abundantly expressed in the skin. However, the role of collagen VI in hair follicle growth is unknown. Here, we show that collagen VI is strongly deposited in hair follicles, and is markedly upregulated by skin wounding. Lack of collagen VI in Col6a1(-/-) mice delays hair cycling and growth under physiological conditions, but promotes wound-induced hair regrowth without affecting skin regeneration. Conversely, addition of purified collagen VI rescues the abnormal wound-induced hair regrowth in Col6a1(-/-) mice. Mechanistic studies revealed that the increased wound-induced hair regrowth of Col6a1(-/-) mice is triggered by activation of the Wnt/β-catenin signaling pathway, and is abolished by inhibition of this pathway. These findings highlight the essential relationships between extracellular matrix (ECM) and hair follicle regeneration, and suggest that collagen VI could be a potential therapeutic target for hair loss and other skin-related diseases.

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.

Advanced robot locomotion.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry

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

Human-Robot Interaction

NASA Technical Reports Server (NTRS)

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

2015-01-01

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

Trigonal Cu2-II-Sn-VI4 (II = Ba, Sr and VI = S, Se) quaternary compounds for earth-abundant photovoltaics.

PubMed

Hong, Feng; Lin, Wenjun; Meng, Weiwei; Yan, Yanfa

2016-02-14

We propose trigonal Cu2-II-Sn-VI4 (II = Ba, Sr and VI = S, Se) quaternary compounds for earth-abundant solar cell applications. Through density functional theory calculations, we show that these compounds exhibit similar electronic and optical properties to kesterite Cu2ZnSnS4 (CZTS): high optical absorption with band gaps suitable for efficient single-junction solar cell applications. However, the trigonal Cu2-II-Sn-VI4 compounds exhibit defect properties more suitable for photovoltaic applications than those of CZTS. In CZTS, the dominant defects are the deep acceptors, Cu substitutions on Zn sites, which cause non-radiative recombination and limit the open-circuit voltages of CZTS solar cells. On the contrary, the dominant defects in trigonal Cu2-II-Sn-VI4 are the shallow acceptors, Cu vacancies, similar to those in CuInSe2. Our results suggest that the trigonal Cu2-II-Sn-VI4 quaternary compounds could be promising candidates for efficient earth-abundant thin-film solar cell and photoeletrochemical water-splitting applications.

New generation ion-imprinted nanocarrier for removal of Cr(VI) from wastewater

NASA Astrophysics Data System (ADS)

Uygun, Murat; Feyzioğlu, Esra; Özçalışkan, Emir; Caka, Müşerref; Ergen, Aygen; Akgöl, Sinan; Denizli, Adil

2013-08-01

The purpose of this study was to prepare a novel ion-imprinted nanoparticle to remove Cr(VI) ions from waste water. For this, Cr(VI) ions were complexed with 2-methacryloylamido histidine (MAH) and then Cr(VI)-imprinted poly(HEMAH) nanoparticles were synthesized by surfactant-free emulsion polymerization technique. The templates, Cr(VI) ions, were removed from the nanoparticles using 0.1 M of HNO3 solution. The specific surface area of the Cr(VI)-imprinted poly(HEMAH) nanoparticles was found to be 1,397.85 m2/g, and the particle size was calculated as 155.3 nm. These Cr(VI)-imprinted nanoparticles were used for the adsorption/desorption of Cr(VI) ions from its aqueous solutions. The effects of initial Cr(VI) concentration and medium pH on the Cr(VI) adsorption capacity were also studied. The maximum adsorbed amount of Cr(VI) on the imprinted nanoparticles was found to be 3,830.58 mg/g nanoparticle in pH 4.0. In order to investigate the selectivity of the imprinted nanoparticle, adsorption studies were repeated using Cr(III) ions. The selectivity results demonstrated that Cr(VI)-imprinted poly(HEMAH) nanoparticles showed high affinity for the Cr(VI) ions than Cr(III). The Cr(VI)-imprinted nanoparticles were used several times without decreasing their Cr(VI) adsorption capacities.

Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

PubMed Central

Knaepen, Kristel; Mierau, Andreas; Swinnen, Eva; Fernandez Tellez, Helio; Michielsen, Marc; Kerckhofs, Eric; Lefeber, Dirk; Meeusen, Romain

2015-01-01

In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support). Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force) and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning. PMID:26485148

Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

PubMed

Knaepen, Kristel; Mierau, Andreas; Swinnen, Eva; Fernandez Tellez, Helio; Michielsen, Marc; Kerckhofs, Eric; Lefeber, Dirk; Meeusen, Romain

2015-01-01

In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support). Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force) and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.

A history of robots: from science fiction to surgical robotics.

PubMed

Hockstein, N G; Gourin, C G; Faust, R A; Terris, D J

2007-01-01

Surgical robotics is an evolving field with great advances having been made over the last decade. The origin of robotics was in the science-fiction literature and from there industrial applications, and more recently commercially available, surgical robotic devices have been realized. In this review, we examine the field of robotics from its roots in literature to its development for clinical surgical use. Surgical mills and telerobotic devices are discussed, as are potential future developments.

Rheology of water ices V and VI

USGS Publications Warehouse

Durham, W.B.; Stern, L.A.; Kirby, S.H.

1996-01-01

We have measured the mechanical strength (??) of pure water ices V and VI under steady state deformation conditions. Constant displacement rate compressional tests were conducted in a gas apparatus at confining pressures from 400 250 K. Ices V and VI are thus Theologically distinct but by coincidence have approximately the same strength under the conditions chosen for these experiments. To avoid misidentification, these tests are therefore accompanied by careful observations of the occurrences and characteristics of phase changes. One sample each of ice V and VI was quenched at pressure to metastably retain the high-pressure phase and the acquired deformation microstructures; X ray diffraction analysis of these samples confirmed the phase identification. Surface replicas of the deformed and quenched samples suggest that ice V probably deforms largely by dislocation creep, while ice VI deforms by a more complicated process involving substantial grain size reduction through recrystallization.

Robot Deception and Squirrel Behavior: A Case Study in Bio-inspired Robotics

DTIC Science & Technology

2014-08-01

employed by doctors/ nurses among others. It is important to focus on this aspect when we consider a robot’s deceptive capabilities in human- robot ... Robot Deception and Squirrel Behavior: A Case Study in Bio-inspired Robotics Jaeeun Shim and Ronald C. Arkin Mobile Robot ...Abstract A common behavior in animals and human beings is deception. Deceptive behavior in robotics is potentially beneficial in several domains

Hydrocarbon oxidation by beta-halogenated dioxoruthenium(VI) porphyrin complexes: effect of reduction potential (RuVI/V) and C-H bond-dissociation energy on rate constants.

PubMed

Che, Chi-Ming; Zhang, Jun-Long; Zhang, Rui; Huang, Jie-Sheng; Lai, Tat-Shing; Tsui, Wai-Man; Zhou, Xiang-Ge; Zhou, Zhong-Yuan; Zhu, Nianyong; Chang, Chi Kwong

2005-11-18

beta-Halogenated dioxoruthenium(VI) porphyrin complexes [Ru(VI)(F(28)-tpp)O(2)] [F(28)-tpp=2,3,7,8,12,13, 17,18-octafluoro-5,10,15,20-tetrakis(pentafluorophenyl)porphyrinato(2-)] and [Ru(VI)(beta-Br(8)-tmp)O(2)] [beta-Br(8)-tmp=2,3,7,8,12,13,17,18-octabromo-5,10,15,20- tetrakis(2,4,6-trimethylphenyl)porphyrinato(2-)] were prepared from reactions of [Ru(II)(por)(CO)] [por=porphyrinato(2-)] with m-chloroperoxybenzoic acid in CH(2)Cl(2). Reactions of [Ru(VI)(por)O(2)] with excess PPh(3) in CH(2)Cl(2) gave [Ru(II)(F(20)-tpp)(PPh(3))(2)] [F(20)-tpp=5,10,15,20-tetrakis(pentafluorophenyl)porphyrinato(2-)] and [Ru(II)(F(28)-tpp)(PPh(3))(2)]. The structures of [Ru(II)(por)(CO)(H(2)O)] and [Ru(II)(por)(PPh(3))(2)] (por=F(20)-tpp, F(28)-tpp) were determined by X-ray crystallography, revealing the effect of beta-fluorination of the porphyrin ligand on the coordination of axial ligands to ruthenium atom. The X-ray crystal structure of [Ru(VI)(F(20)-tpp)O(2)] shows a Ru=O bond length of 1.718(3) A. Electrochemical reduction of [Ru(VI)(por)O(2)] (Ru(VI) to Ru(V)) is irreversible or quasi-reversible, with the E(p,c)(Ru(VI/V)) spanning -0.31 to -1.15 V versus Cp(2)Fe(+/0). Kinetic studies were performed for the reactions of various [Ru(VI)(por)O(2)], including [Ru(VI)(F(28)-tpp)O(2)] and [Ru(VI)(beta-Br(8)-tmp)O(2)], with para-substituted styrenes p-X-C(6)H(4)CH=CH(2) (X=H, F, Cl, Me, MeO), cis- and trans-beta-methylstyrene, cyclohexene, norbornene, ethylbenzene, cumene, 9,10-dihydroanthracene, xanthene, and fluorene. The second-order rate constants (k(2)) obtained for the hydrocarbon oxidations by [Ru(VI)(F(28)-tpp)O(2)] are up to 28-fold larger than by [Ru(VI)(F(20)-tpp)O(2)]. Dual-parameter Hammett correlation implies that the styrene oxidation by [Ru(VI)(F(28)-tpp)O(2)] should involve rate-limiting generation of a benzylic radical intermediate, and the spin delocalization effect is more important than the polar effect. The k(2) values for the oxidation of styrene and

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.

Multigait soft robot

PubMed Central

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

2011-01-01

This manuscript describes a unique class of locomotive robot: A soft robot, composed exclusively of soft materials (elastomeric polymers), which is inspired by animals (e.g., squid, starfish, worms) that do not have hard internal skeletons. Soft lithography was used to fabricate a pneumatically actuated robot capable of sophisticated locomotion (e.g., fluid movement of limbs and multiple gaits). This robot is quadrupedal; it uses no sensors, only five actuators, and a simple pneumatic valving system that operates at low pressures (< 10 psi). A combination of crawling and undulation gaits allowed this robot to navigate a difficult obstacle. This demonstration illustrates an advantage of soft robotics: They are systems in which simple types of actuation produce complex motion. PMID:22123978

Oxidation of trimethoprim by ferrate(VI): kinetics, products, and antibacterial activity.

PubMed

Anquandah, George A K; Sharma, Virender K; Knight, D Andrew; Batchu, Sudha Rani; Gardinali, Piero R

2011-12-15

Kinetics, stoichiometry, and products of the oxidation of trimethoprim (TMP), one of the most commonly detected antibacterial agents in surface waters and municipal wastewaters, by ferrate(VI) (Fe(VI)) were determined. The pH dependent second-order rate constants of the reactions of Fe(VI) with TMP were examined using acid-base properties of Fe(VI) and TMP. The kinetics of reactions of diaminopyrimidine (DAP) and trimethoxytoluene (TMT) with Fe(VI) were also determined to understand the reactivity of Fe(VI) with TMP. Oxidation products of the reactions of Fe(VI) with TMP and DAP were identified by liquid chromatography-tandem mass spectrometry (LC-MS/MS). Reaction pathways of oxidation of TMP by Fe(VI) are proposed to demonstrate the cleavage of the TMP molecule to ultimately result in 3,4,5,-trimethoxybenzaldehyde and 2,4-dinitropyrimidine as among the final identified products. The oxidized products mixture exhibited no antibacterial activity against E. coli after complete consumption of TMP. Removal of TMP in the secondary effluent by Fe(VI) was achieved.

Robotics in endoscopy.

PubMed

Klibansky, David; Rothstein, Richard I

2012-09-01

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

TROTER's (Tiny Robotic Operation Team Experiment): A new concept of space robots

NASA Technical Reports Server (NTRS)

Su, Renjeng

1990-01-01

In view of the future need of automation and robotics in space and the existing approaches to the problem, we proposed a new concept of robots for space construction. The new concept is based on the basic idea of decentralization. Decentralization occurs, on the one hand, in using teams of many cooperative robots for construction tasks. Redundancy and modular design are explored to achieve high reliability for team robotic operations. Reliability requirement on individual robots is greatly reduced. Another area of decentralization is manifested by the proposed control hierarchy which eventually includes humans in the loop. The control strategy is constrained by various time delays and calls for different levels of abstraction of the task dynamics. Such technology is needed for remote control of robots in an uncertain environment. Thus, concerns of human safety around robots are relaxed. This presentation also introduces the required technologies behind the new robotic concept.

Kinetics of Microbial Reduction of Solid Phase U(VI)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Liu, Chongxuan; Jeon, Byong Hun; Zachara, John M.

2006-10-01

Sodium boltwoodite (NaUO2SiO3OH ?1.5H2O) was used to assess the kinetics of microbial reduction of solid phase U(VI) by a dissimilatory metal-reducing bacterium (DMRB), Shewanella oneidensis strain MR-1. The bioreduction kinetics was studied with Na-boltwoodite in suspension or within alginate beads. Concentrations of U(VI)tot and cell number were varied to evaluate the coupling of U(VI) dissolution, diffusion, and microbial activity. Batch experiments were performed in a non-growth medium with lactate as electron donor at pH 6.8 buffered with PIPES. Microscopic and spectroscopic analyses with transmission electron microscopy (TEM), energy dispersive spectroscopy (EDS), and laser-induced fluorescence spectroscopy (LIFS) collectively indicated that solidmore » phase U(VI) was first dissolved and diffused out of grain interiors before it was reduced on bacterial surfaces and/or within the periplasm. The kinetics of solid phase U(VI) bioreduction was well described by a coupled model of bicarbonate-promoted dissolution of Na-boltwoodite, intraparticle uranyl diffusion, and Monod type bioreduction kinetics with respect to dissolved U(VI) concentration. The results demonstrated the intimate coupling of biological, chemical, and physical processes in microbial reduction of solid phase U(VI).« less

The FUSE Survey of 0 VI in the Galactic Halo

NASA Technical Reports Server (NTRS)

Sonneborn, George; Savage, B. D.; Wakker, B. P.; Sembach, K. R.; Jenkins, E. B.; Moos, H. W.; Shull, J. M.

2003-01-01

This paper summarizes the results of the Far-Ultraviolet Spectroscopic Explorer (FUSE) program to study 0 VI in the Milky Way halo. Spectra of 100 extragalactic objects and two distant halo stars are analyzed to obtain measures of O VI absorption along paths through the Milky Way thick disk/halo. Strong O VI absorption over the velocity range from -100 to 100 km/s reveals a widespread but highly irregular distribution of O VI, implying the existence of substantial amounts of hot gas with T approx. 3 x 10(exp 5) K in the Milky Way thick disk/halo. The overall distribution of O VI is not well described by a symmetrical plane-parallel layer of patchy O VI absorption. The simplest departure from such a model that provides a reasonable fit to the observations is a plane-parallel patchy absorbing layer with an average O VI mid-plane density of n(sub 0)(O VI) = 1.7 x 10(exp -2)/cu cm, a scale height of approx. 2.3 kpc, and a approx. 0.25 dex excess of O VI in the northern Galactic polar region. The distribution of O VI over the sky is poorly correlated with other tracers of gas in the halo, including low and intermediate velocity H I, Ha emission from the warm ionized gas at approx. l0(exp 4) K, and hot X-ray emitting gas at approx. l0(exp 6) K . The O VI has an average velocity dispersion, b approx. 60 km/s and standard deviation of 15 km/s. Thermal broadening alone cannot explain the large observed profile widths. A combination of models involving the radiative cooling of hot fountain gas, the cooling of supernova bubbles in the halo, and the turbulent mixing of warm and hot halo gases is required to explain the presence of O VI and other highly ionized atoms found in the halo. The preferential venting of hot gas from local bubbles and superbubbles into the northern Galactic polar region may explain the enhancement of O VI in the North.

Design, baseline characteristics, and early findings of the MPS VI (mucopolysaccharidosis VI) Clinical Surveillance Program (CSP).

PubMed

Hendriksz, Christian J; Giugliani, Roberto; Harmatz, Paul; Lampe, Christina; Martins, Ana Maria; Pastores, Gregory M; Steiner, Robert D; Leão Teles, Elisa; Valayannopoulos, Vassili

2013-03-01

To outline the design, baseline data, and 5-year follow-up data of patients with mucopolysaccharidosis (MPS) VI enrolled in the Clinical Surveillance Program (CSP), a voluntary, multinational, observational program. The MPS VI CSP was opened in 2005 to collect, for at least 15 years, observational data from standard clinical and laboratory assessments of patients with MPS VI. Baseline and follow-up data are documented by participating physicians in electronic case report forms. Between September 2005 and March 2010 the CSP enrolled 132 patients, including 123 who received enzyme replacement therapy (ERT) with galsulfase. Median age at enrolment was 13 years (range 1-59). Mean baseline data showed impaired growth, hepatosplenomegaly, and reduced endurance and pulmonary function. The most common findings were heart valve disease (90%), reduced visual acuity (79%), impaired hearing (59%), and hepatosplenomegaly (54%). Follow-up data up to 5 years in patients with pre- and post-ERT measurements showed a decrease in urinary glycosaminoglycans and increases in height and weight in patients <16 years and suggested reductions in liver and spleen size and improvements in endurance and pulmonary function after ERT was started. Vision, hearing, and cardiac function were unchanged. Safety data were in line with previous reports. The CSP represents the largest cross-sectional study of MPS VI to date. This first report provides information on the design and implementation of the program and population statistics for several clinical variables in patients with MPS VI. Data collected over 5 years suggest that ERT provides clinical benefit and is well-tolerated with no new safety concerns.

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – Andrew Nick of Kennedy Space Center's Swamp Works shows off RASSOR, a robotic miner, at the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Integrating robotic partial nephrectomy to an existing robotic surgery program.

PubMed

Yuh, Bertram; Muldrew, Shantel; Menchaca, Anita; Yip, Wesley; Lau, Clayton; Wilson, Timothy; Josephson, David

2012-04-01

As more centers develop robotic proficiency, progressing to a successful robot-assisted partial nephrectomy (RAPN) program depends on a number of factors. We describe our technique, results, and analysis of program setup for RAPN. Between 2005 and 2011, 92 RAPNs were performed following maturation of a robotic prostatectomy program. Operating rooms and supply rooms were outfitted for efficient robotic throughput. Tilepro and intraoperative ultrasound were used for all cases. Training and experiential learning for surgeons, anesthesia and nursing staff was a high priority. An onsite robotic technician helped troubleshoot, prepare the room and staff prior to starting surgery, and provide assistance with different robotic models. Average operative time decreased over time from 235 min to 199 min (p = .03). Warm ischemia time decreased from 26 minutes to 23 minutes (p = .02) despite an increased complexity of tumors and operations on multiple tumors. Median estimated blood loss was 150 mL. Average length of hospital stay was 3 days (range 1-9). Average size of lesions was 2.7 cm (range 0.7-8.6). Final pathology demonstrated 71 (77%) malignant lesions and 21 (23%) benign lesions. The addition of a robot-assisted partial nephrectomy program to an institutional robotic program can be coordinated with several key steps. Outcomes from an operational, oncologic, and renal functional standpoint are acceptable. Despite increased complexity of tumors and treatment of multiple lesions, operative and warm ischemia times showed a decrease over time. An organizational model that involves the surgeons, anesthesia, nursing staff, and possibly a robotic technical specialist helps to overcome the learning curve.

Robotic equipment malfunction during robotic prostatectomy: a multi-institutional study.

PubMed

Lavery, Hugh J; Thaly, Rahul; Albala, David; Ahlering, Thomas; Shalhav, Arieh; Lee, David; Fagin, Randy; Wiklund, Peter; Dasgupta, Prokar; Costello, Anthony J; Tewari, Ashutosh; Coughlin, Geoff; Patel, Vipul R

2008-09-01

Robotic-assisted laparoscopic prostatectomy (RALP) is growing in popularity as a treatment option for prostate cancer. As a new technology, little is known regarding the reliability of the da Vinci robotic system. Intraoperative robotic equipment malfunction may force the surgeon to convert the procedure to an open or pure laparoscopic procedure, or possibly even abort the procedure. We report the first large-scale, multi-institutional review of robotic equipment malfunction. A questionnaire was designed to evaluate the rate of perioperative robotic malfunction during RALP. High-volume, experienced surgeons were asked to complete this evaluation based on the analysis of their data. Questions included the overall number of RALPs performed, the number of equipment malfunctions, the number of procedures that had to be converted or aborted, and the part of the robotic system that malfunctioned. Eleven institutions participated in the study with a median surgeon volume of 700 cases, accounting for a total case volume of 8240. Critical failure occurred in 34 cases (0.4%) leading to the cancellation of 24 cases prior to the procedure, and the conversion to two laparoscopic and eight open procedures. The most common components of the robot to malfunction were the arms and optical system. Critical robotic equipment malfunction is extremely rare in institutions that perform high volumes of RALPs, with a nonrecoverable malfunction rate of only 0.4%.

Robotic surgery update.

PubMed

Jacobsen, G; Elli, F; Horgan, S

2004-08-01

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

[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.

Evolution of robotic arms.

PubMed

Moran, Michael E

2007-01-01

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

[History of robotics: from archytas of tarentum until Da Vinci robot. (Part II)].

PubMed

Sánchez-Martín, F M; Jiménez Schlegl, P; Millán Rodríguez, F; Salvador-Bayarri, J; Monllau Font, V; Palou Redorta, J; Villavicencio Mavrich, H

2007-03-01

Robotic surgery is a reality. In order to to understand how new robots work is interesting to know the history of ancient (see part i) and modern robotics. The desire to design automatic machines imitating humans continued for more than 4000 years. Archytas of Tarentum (at around 400 a.C.), Heron of Alexandria, Hsieh-Fec, Al-Jazari, Bacon, Turriano, Leonardo da Vinci, Vaucanson o von Kempelen were robot inventors. At 1942 Asimov published the three robotics laws. Mechanics, electronics and informatics advances at XXth century developed robots to be able to do very complex self governing works. At 1985 the robot PUMA 560 was employed to introduce a needle inside the brain. Later on, they were designed surgical robots like World First, Robodoc, Gaspar o Acrobot, Zeus, AESOP, Probot o PAKI-RCP. At 2000 the FDA approved the da Vinci Surgical System (Intuitive Surgical Inc, Sunnyvale, CA, USA), a very sophisticated robot to assist surgeons. Currently urological procedures like prostatectomy, cystectomy and nephrectomy are performed with the da Vinci, so urology has become a very suitable speciality to robotic surgery.

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – A visitor to the Robot Rocket Rally takes an up-close look at RASSOR, a robotic miner developed by NASA Kennedy Space Center's Swamp Works. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – Students observe as Otherlab shows off a life-size, inflatable robot from its "" program. The demonstration was one of several provided during the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Robotics for Human Exploration

NASA Technical Reports Server (NTRS)

Fong, Terrence; Deans, Mathew; Bualat, Maria

2013-01-01

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

The Tactile Ethics of Soft Robotics: Designing Wisely for Human-Robot Interaction.

PubMed

Arnold, Thomas; Scheutz, Matthias

2017-06-01

Soft robots promise an exciting design trajectory in the field of robotics and human-robot interaction (HRI), promising more adaptive, resilient movement within environments as well as a safer, more sensitive interface for the objects or agents the robot encounters. In particular, tactile HRI is a critical dimension for designers to consider, especially given the onrush of assistive and companion robots into our society. In this article, we propose to surface an important set of ethical challenges for the field of soft robotics to meet. Tactile HRI strongly suggests that soft-bodied robots balance tactile engagement against emotional manipulation, model intimacy on the bonding with a tool not with a person, and deflect users from personally and socially destructive behavior the soft bodies and surfaces could normally entice.

Tandem robot control system and method for controlling mobile robots in tandem

DOEpatents

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

2002-01-01

A control system for controlling mobile robots provides a way to control mobile robots, connected in tandem with coupling devices, to navigate across difficult terrain or in closed spaces. The mobile robots can be controlled cooperatively as a coupled system in linked mode or controlled individually as separate robots.

Modelling biological Cr(VI) reduction in aquifer microcosm column systems.

PubMed

Molokwane, Pulane E; Chirwa, Evans M N

2013-01-01

Several chrome processing facilities in South Africa release hexavalent chromium (Cr(VI)) into groundwater resources. Pump-and-treat remediation processes have been implemented at some of the sites but have not been successful in reducing contamination levels. The current study is aimed at developing an environmentally friendly, cost-effective and self-sustained biological method to curb the spread of chromium at the contaminated sites. An indigenous Cr(VI)-reducing mixed culture of bacteria was demonstrated to reduce high levels of Cr(VI) in laboratory samples. The effect of Cr(VI) on the removal rate was evaluated at concentrations up to 400 mg/L. Following the detailed evaluation of fundamental processes for biological Cr(VI) reduction, a predictive model for Cr(VI) breakthrough through aquifer microcosm reactors was developed. The reaction rate in batch followed non-competitive rate kinetics with a Cr(VI) inhibition threshold concentration of approximately 99 mg/L. This study evaluates the application of the kinetic parameters determined in the batch reactors to the continuous flow process. The model developed from advection-reaction rate kinetics in a porous media fitted best the effluent Cr(VI) concentration. The model was also used to elucidate the logistic nature of biomass growth in the reactor systems.

Diverse functions of myosin VI elucidated by an isoform-specific α-helix domain.

PubMed

Wollscheid, Hans-Peter; Biancospino, Matteo; He, Fahu; Magistrati, Elisa; Molteni, Erika; Lupia, Michela; Soffientini, Paolo; Rottner, Klemens; Cavallaro, Ugo; Pozzoli, Uberto; Mapelli, Marina; Walters, Kylie J; Polo, Simona

2016-04-01

Myosin VI functions in endocytosis and cell motility. Alternative splicing of myosin VI mRNA generates two distinct isoform types, myosin VI(short) and myosin VI(long), which differ in the C-terminal region. Their physiological and pathological roles remain unknown. Here we identified an isoform-specific regulatory helix, named the α2-linker, that defines specific conformations and hence determines the target selectivity of human myosin VI. The presence of the α2-linker structurally defines a new clathrin-binding domain that is unique to myosin VI(long) and masks the known RRL interaction motif. This finding is relevant to ovarian cancer, in which alternative myosin VI splicing is aberrantly regulated, and exon skipping dictates cell addiction to myosin VI(short) in tumor-cell migration. The RRL interactor optineurin contributes to this process by selectively binding myosin VI(short). Thus, the α2-linker acts like a molecular switch that assigns myosin VI to distinct endocytic (myosin VI(long)) or migratory (myosin VI(short)) functional roles.

32 CFR 2003.6 - Voting (Article VI).

Code of Federal Regulations, 2014 CFR

2014-07-01

... 32 National Defense 6 2014-07-01 2014-07-01 false Voting (Article VI). 2003.6 Section 2003.6 National Defense Other Regulations Relating to National Defense INFORMATION SECURITY OVERSIGHT OFFICE...) BYLAWS, RULES, AND APPEAL PROCEDURES Bylaws § 2003.6 Voting (Article VI). (a) Motions. When the Panel is...

32 CFR 2003.6 - Voting (Article VI).

Code of Federal Regulations, 2013 CFR

2013-07-01

... 32 National Defense 6 2013-07-01 2013-07-01 false Voting (Article VI). 2003.6 Section 2003.6 National Defense Other Regulations Relating to National Defense INFORMATION SECURITY OVERSIGHT OFFICE...) BYLAWS, RULES, AND APPEAL PROCEDURES Bylaws § 2003.6 Voting (Article VI). (a) Motions. When the Panel is...

Robot-assisted general surgery.

PubMed

Hazey, Jeffrey W; Melvin, W Scott

2004-06-01

With the initiation of laparoscopic techniques in general surgery, we have seen a significant expansion of minimally invasive techniques in the last 16 years. More recently, robotic-assisted laparoscopy has moved into the general surgeon's armamentarium to address some of the shortcomings of laparoscopic surgery. AESOP (Computer Motion, Goleta, CA) addressed the issue of visualization as a robotic camera holder. With the introduction of the ZEUS robotic surgical system (Computer Motion), the ability to remotely operate laparoscopic instruments became a reality. US Food and Drug Administration approval in July 2000 of the da Vinci robotic surgical system (Intuitive Surgical, Sunnyvale, CA) further defined the ability of a robotic-assist device to address limitations in laparoscopy. This includes a significant improvement in instrument dexterity, dampening of natural hand tremors, three-dimensional visualization, ergonomics, and camera stability. As experience with robotic technology increased and its applications to advanced laparoscopic procedures have become more understood, more procedures have been performed with robotic assistance. Numerous studies have shown equivalent or improved patient outcomes when robotic-assist devices are used. Initially, robotic-assisted laparoscopic cholecystectomy was deemed safe, and now robotics has been shown to be safe in foregut procedures, including Nissen fundoplication, Heller myotomy, gastric banding procedures, and Roux-en-Y gastric bypass. These techniques have been extrapolated to solid-organ procedures (splenectomy, adrenalectomy, and pancreatic surgery) as well as robotic-assisted laparoscopic colectomy. In this chapter, we review the evolution of robotic technology and its applications in general surgical procedures.

Robot Design

NASA Technical Reports Server (NTRS)

1988-01-01

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

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – A visitor to the Robot Rocket Rally tries his hand at virtual reality in a demonstration of the Oculus Rift technology, provided by the Open Source Robotics Foundation. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Distribution and Kinematics of O VI in the Galactic Halo

NASA Astrophysics Data System (ADS)

Savage, B. D.; Sembach, K. R.; Wakker, B. P.; Richter, P.; Meade, M.; Jenkins, E. B.; Shull, J. M.; Moos, H. W.; Sonneborn, G.

2003-05-01

Far-Ultraviolet Spectroscopic Explorer (FUSE) spectra of 100 extragalactic objects and two distant halo stars are analyzed to obtain measures of O VI λλ1031.93, 1037.62 absorption along paths through the Milky Way thick disk/halo. Strong O VI absorption over the velocity range from -100 to 100 km s-1 reveals a widespread but highly irregular distribution of O VI, implying the existence of substantial amounts of hot gas with T~3×105 K in the Milky Way thick disk/halo. The integrated column density, log[N(O VI) cm-2], ranges from 13.85 to 14.78 with an average value of 14.38 and a standard deviation of 0.18. Large irregularities in the gas distribution are found to be similar over angular scales extending from <1° to 180°, implying a considerable amount of small- and large-scale structure in the absorbing gas. The overall distribution of O VI is not well described by a symmetrical plane-parallel layer of patchy O VI absorption. The simplest departure from such a model that provides a reasonable fit to the observations is a plane-parallel patchy absorbing layer with an average O VI midplane density of n0(O VI)=1.7×10-8 cm-3, a scale height of ~2.3 kpc, and a ~0.25 dex excess of O VI in the northern Galactic polar region. The distribution of O VI over the sky is poorly correlated with other tracers of gas in the halo, including low- and intermediate-velocity H I, Hα emission from the warm ionized gas at ~104 K, and hot X-ray-emitting gas at ~106 K. The O VI has an average velocity dispersion, b~60 km s-1, and standard deviation of 15 km s-1. Thermal broadening alone cannot explain the large observed profile widths. The average O VI absorption velocities toward high-latitude objects (|b|>45deg) range from -46 to 82 km s-1, with a high-latitude sample average of 0 km s-1 and a standard deviation of 21 km s-1. High positive velocity O VI absorbing wings extending from ~100 to ~250 km s-1 observed along 21 lines of sight may be tracing the flow of O VI into the halo

Principles of robotics: regulating robots in the real world

NASA Astrophysics Data System (ADS)

Boden, Margaret; Bryson, Joanna; Caldwell, Darwin; Dautenhahn, Kerstin; Edwards, Lilian; Kember, Sarah; Newman, Paul; Parry, Vivienne; Pegman, Geoff; Rodden, Tom; Sorrell, Tom; Wallis, Mick; Whitby, Blay; Winfield, Alan

2017-04-01

This paper proposes a set of five ethical principles, together with seven high-level messages, as a basis for responsible robotics. The Principles of Robotics were drafted in 2010 and published online in 2011. Since then the principles have influenced, and continue to influence, a number of initiatives in robot ethics but have not, to date, been formally published. This paper remedies that omission.

Supersmart Robots: The Next Generation of Robots Has Evolutionary Capabilities

ERIC Educational Resources Information Center

Simkins, Michael

2008-01-01

Robots that can learn new behaviors. Robots that can reproduce themselves. Science fiction? Not anymore. Roboticists at Cornell's Computational Synthesis Lab have developed just such engineered creatures that offer interesting implications for education. The team, headed by Hod Lipson, was intrigued by the question, "How can you get robots to be…

Degradation of chloramphenicol by potassium ferrate (VI) oxidation: kinetics and products.

PubMed

Zhou, Jia-Heng; Chen, Kai-Bo; Hong, Qian-Kun; Zeng, Fan-Cheng; Wang, Hong-Yu

2017-04-01

The oxidation of chloramphenicol (CAP) by potassium ferrate (VI) in test solution was studied in this paper. A series of jar tests were performed at bench scale with pH of 5-9 and molar ratio [VI/CAP] of 16.3:1-81.6:1. Results showed that raising VI dose could improve the treatment performance and the influence of solution pH was significant. VI is more reactive in neutral conditions, presenting the highest removal efficiency of CAP. The rate law for the oxidation of CAP by VI was first order with respect to each reactant, yielding an overall second-order reaction. Furthermore, five oxidation products were observed during CAP oxidation by VI. Results revealed that VI attacked the amide group of CAP, leading to the cleavage of the group, while benzene ring remained intact.

Fundamentals of soft robot locomotion

PubMed Central

2017-01-01

Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human–robot interaction and locomotion. Although field applications have emerged for soft manipulation and human–robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics. PMID:28539483

Fundamentals of soft robot locomotion.

PubMed

Calisti, M; Picardi, G; Laschi, C

2017-05-01

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

Home care robot for socially supporting the elderly: focus group studies in three European countries to screen user attitudes and requirements.

PubMed

Zsiga, Katalin; Edelmayer, Georg; Rumeau, Pierre; Péter, Orsolya; Tóth, András; Fazekas, Gábor

2013-12-01

The growing number of elderly individuals presents new challenges for society. Many elderly individuals have physical or cognitive impairments and require support from caregivers. An attempt to overcome the limitations caused by the lack of human caregivers is the inclusion of assistive technology such as socially active robots. The Domeo-project of the Ambient Assisted Living Joint Programme of the European Union aims to develop a new companion robotic system that would allow assistance to the elderly. The requirements and attitude of the potential users and caregivers have been assessed in Austria, France and Hungary. The robot functions were demonstrated to the participants. Three focus groups were formed: potential end users, older caregivers and younger caregivers. The discussions were recorded and processed according to six aspects: (i) acceptability and privacy, (ii) pertinence of services, (iii) possible obstacles, (iv) motivation level to use the proposed services, (v) organizational issues and (vi) recommendations. Minor differences were observed between the countries, but there were considerable differences regarding the age of the participants. The younger caregivers want to be assured of the safety of their client and to receive immediate notification in case of an emergency. As for the elderly, the most important aspect is to gain a companion and a physical helper. Many of the recommendations can be taken into consideration during robot development, but some of them are not realistic at present.

Exploring TeleRobotics: A Radio-Controlled Robot

ERIC Educational Resources Information Center

Deal, Walter F., III; Hsiung, Steve C.

2007-01-01

Robotics is a rich and exciting multidisciplinary area to study and learn about electronics and control technology. The interest in robotic devices and systems provides the technology teacher with an excellent opportunity to make many concrete connections between electronics, control technology, and computers and science, engineering, and…

Advancing the Strategic Messages Affecting Robot Trust Effect: The Dynamic of User- and Robot-Generated Content on Human-Robot Trust and Interaction Outcomes.

PubMed

Liang, Yuhua Jake; Lee, Seungcheol Austin

2016-09-01

Human-robot interaction (HRI) will soon transform and shift the communication landscape such that people exchange messages with robots. However, successful HRI requires people to trust robots, and, in turn, the trust affects the interaction. Although prior research has examined the determinants of human-robot trust (HRT) during HRI, no research has examined the messages that people received before interacting with robots and their effect on HRT. We conceptualize these messages as SMART (Strategic Messages Affecting Robot Trust). Moreover, we posit that SMART can ultimately affect actual HRI outcomes (i.e., robot evaluations, robot credibility, participant mood) by affording the persuasive influences from user-generated content (UGC) on participatory Web sites. In Study 1, participants were assigned to one of two conditions (UGC/control) in an original experiment of HRT. Compared with the control (descriptive information only), results showed that UGC moderated the correlation between HRT and interaction outcomes in a positive direction (average Δr = +0.39) for robots as media and robots as tools. In Study 2, we explored the effect of robot-generated content but did not find similar moderation effects. These findings point to an important empirical potential to employ SMART in future robot deployment.

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

PubMed

Nakadate, Ryu; Arata, Jumpei; Hashizume, Makoto

2015-02-01

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

Humanlike robots: the upcoming revolution in robotics

NASA Astrophysics Data System (ADS)

Bar-Cohen, Yoseph

2009-08-01

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

Humanlike Robots - The Upcoming Revolution in Robotics

NASA Technical Reports Server (NTRS)

Bar-Cohen, Yoseph

2009-01-01

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

Flex Robotic System in transoral robotic surgery: The first 40 patients.

PubMed

Mattheis, Stefan; Hasskamp, Pia; Holtmann, Laura; Schäfer, Christina; Geisthoff, Urban; Dominas, Nina; Lang, Stephan

2017-03-01

The Flex Robotic System is a new robotic device specifically developed for transoral robotic surgery (TORS). We performed a prospective clinical study, assessing the safety and efficacy of the Medrobotics Flex Robotic System. A total of 40 patients required a surgical procedure for benign lesions (n = 30) or T1 and T2 carcinomas (n = 10). Access and visualization of different anatomic subsites were individually graded by the surgeon. Setup times, access and visualization times, surgical results, as well as adverse events were documented intraoperatively. The lesions could be exposed and visualized properly in 38 patients (95%) who went on to have a surgical procedure performed with the Flex Robotic System, which were intraoperatively evaluated as successful. No serious adverse events occurred. Lesions in the oropharynx, hypopharynx, or supraglottic larynx could be successfully resected using the Flex Robotic System, thus making the system a safe and effective tool in transoral robotic surgery. © 2016 Wiley Periodicals, Inc. Head Neck 39: 471-475, 2017. © 2016 Wiley Periodicals, Inc.

Inverse kinematic solution for near-simple robots and its application to robot calibration

NASA Technical Reports Server (NTRS)

Hayati, Samad A.; Roston, Gerald P.

1986-01-01

This paper provides an inverse kinematic solution for a class of robot manipulators called near-simple manipulators. The kinematics of these manipulators differ from those of simple-robots by small parameter variations. Although most robots are by design simple, in practice, due to manufacturing tolerances, every robot is near-simple. The method in this paper gives an approximate inverse kinematics solution for real time applications based on the nominal solution for these robots. The validity of the results are tested both by a simulation study and by applying the algorithm to a PUMA robot.

Competencies Identification for Robotics Training.

ERIC Educational Resources Information Center

Tang, Le D.

A study focused on the task of identifying competencies for robotics training. The level of robotics training was limited to that of robot technicians. Study objectives were to obtain a list of occupational competencies; to rank their order of importance; and to compare opinions from robot manufacturers, robot users, and robotics educators…

Fish and robots swimming together: attraction towards the robot demands biomimetic locomotion.

PubMed

Marras, Stefano; Porfiri, Maurizio

2012-08-07

The integration of biomimetic robots in a fish school may enable a better understanding of collective behaviour, offering a new experimental method to test group feedback in response to behavioural modulations of its 'engineered' member. Here, we analyse a robotic fish and individual golden shiners (Notemigonus crysoleucas) swimming together in a water tunnel at different flow velocities. We determine the positional preference of fish with respect to the robot, and we study the flow structure using a digital particle image velocimetry system. We find that biomimetic locomotion is a determinant of fish preference as fish are more attracted towards the robot when its tail is beating rather than when it is statically immersed in the water as a 'dummy'. At specific conditions, the fish hold station behind the robot, which may be due to the hydrodynamic advantage obtained by swimming in the robot's wake. This work makes a compelling case for the need of biomimetic locomotion in promoting robot-animal interactions and it strengthens the hypothesis that biomimetic robots can be used to study and modulate collective animal behaviour.

Promoting Interactions Between Humans and Robots Using Robotic Emotional Behavior.

PubMed

Ficocelli, Maurizio; Terao, Junichi; Nejat, Goldie

2016-12-01

The objective of a socially assistive robot is to create a close and effective interaction with a human user for the purpose of giving assistance. In particular, the social interaction, guidance, and support that a socially assistive robot can provide a person can be very beneficial to patient-centered care. However, there are a number of research issues that need to be addressed in order to design such robots. This paper focuses on developing effective emotion-based assistive behavior for a socially assistive robot intended for natural human-robot interaction (HRI) scenarios with explicit social and assistive task functionalities. In particular, in this paper, a unique emotional behavior module is presented and implemented in a learning-based control architecture for assistive HRI. The module is utilized to determine the appropriate emotions of the robot to display, as motivated by the well-being of the person, during assistive task-driven interactions in order to elicit suitable actions from users to accomplish a given person-centered assistive task. A novel online updating technique is used in order to allow the emotional model to adapt to new people and scenarios. Experiments presented show the effectiveness of utilizing robotic emotional assistive behavior during HRI scenarios.

Chromium(VI) generation in vadose zone soils and alluvial sediments of the southwestern Sacramento Valley, California: a potential source of geogenic Cr(VI) to groundwater

USGS Publications Warehouse

Mills, Christopher T.; Morrison, Jean M.; Goldhaber, Martin B.; Ellefsen, Karl J.

2011-01-01

Concentrations of geogenic Cr(VI) in groundwater that exceed the World Health Organization’s maximum contaminant level for drinking water (50 μg L−1) occur in several locations globally. The major mechanism for mobilization of this Cr(VI) at these sites is the weathering of Cr(III) from ultramafic rocks and its subsequent oxidation on Mn oxides. This process may be occurring in the southern Sacramento Valley of California where Cr(VI) concentrations in groundwater can approach or exceed 50 μg L−1. To characterize Cr geochemistry in the area, samples from several soil auger cores (approximately 4 m deep) and drill cores (approximately 25 m deep) were analyzed for total concentrations of 44 major, minor and trace elements, Cr associated with labile Mn and Fe oxides, and Cr(VI). Total concentrations of Cr in these samples ranged from 140 to 2220 mg per kg soil. Between 9 and 70 mg per kg soil was released by selective extractions that target Fe oxides, but essentially no Cr was associated with the abundant reactive Mn oxides (up to ~1000 mg hydroxylamine-reducible Mn per kg soil was present). Both borehole magnetic susceptibility surveys performed at some of the drill core sites and relative differences between Cr released in a 4-acid digestion versus total Cr (lithium metaborate fusion digestion) suggest that the majority of total Cr in the samples is present in refractory chromite minerals transported from ultramafic exposures in the Coast Range Mountains. Chromium(VI) in the samples studied ranged from 0 to 42 μg kg−1, representing a minute fraction of total Cr. Chromium(VI) content was typically below detection in surface soils (top 10 cm) where soil organic matter was high, and increased with increasing depth in the soil auger cores as organic matter decreased. Maximum concentrations of Cr(VI) were up to 3 times greater in the deeper drill core samples than the shallow auger cores. Although Cr(VI) in these vadose zone soils and sediments was only a

Stabilization of Cr(VI) from fine ferrochrome dust using exfoliated vermiculite.

PubMed

Mulange Wa Mulange, Delphin; Garbers-Craig, Andrie Mariana

2012-07-15

This study proved that vermiculite, a natural occurring mineral, can effectively remove and stabilize Cr(VI) from fine ferrochrome dust leachate. Batch adsorption studies were carried out to determine the effect of pH, contact time and adsorbent dose on the removal of Cr(VI). The process was found to be highly pH dependent. The optimum conditions for the Cr(VI) removal are at a pH of 1.5, contact time of 2h and adsorbent dose of 10gL(-1). The stability of the Cr(VI)-loaded vermiculite remained unchanged after 12 months, when the vermiculite was evaluated with the ASTM and TCLP Cr(VI) leach methods. However, Cr(VI) desorption did take place when the Acid Rain Test was used. The adsorption kinetic data fits the pseudo-second order model, while the equilibrium data of Cr(VI) adsorption onto vermiculite are best described by the Langmuir isotherm. The presence of hydrobiotite and biotite in the industrial vermiculite slightly decreased the degree of adsorption of Cr(VI). Copyright © 2012 Elsevier B.V. All rights reserved.

Evolution of robots throughout history from Hephaestus to Da Vinci Robot.

PubMed

Iavazzo, Christos; Gkegke, Xanthi-Ekaterini D; Iavazzo, Paraskevi-Evangelia; Gkegkes, Ioannis D

2014-01-01

Da Vinci robot is increasingly used for operations adding the advantages of robots to the favor of medicine. This is a historical article with the aim to present the evolution of robots in the medical area from the time of ancient myths to Renaissance and finally to the current revolutionary applications. We endeavored to collect several elegant narratives on the topic. The use of imagination could help the reader to find similarities. A trip from the Greek myths of Hephaestus through Aristotle and Leonardo Da Vinci to the robots of Karel Capek and Isaac Asimov and finally the invention of the medical robots is presented.

[Rehabilitation and nursing-care robots].

PubMed

Hachisuka, Kenji

2016-04-01

In the extremely aged society, rehabilitation staff will be required to provide ample rehabilitation training for more stroke patients and more aged people with disabilities despite limitations in human resources. A nursing-care robot is one potential solution from the standpoint of rehabilitation. The nursing-care robot is defined as a robot which assists aged people and persons with disabilities in daily life and social life activities. The nursing-care robot consists of an independent support robot, caregiver support robot, and life support robot. Although many nursing-care robots have been developed, the most appropriate robot must be selected according to its features and the needs of patients and caregivers in the field of nursing-care.

Evidence for robots.

PubMed

Shenoy, Ravikiran; Nathwani, Dinesh

2017-01-01

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

Evidence for robots

PubMed Central

Shenoy, Ravikiran; Nathwani, Dinesh

2017-01-01

Robots have been successfully used in commercial industry and have enabled humans to perform tasks which are repetitive, dangerous and requiring extreme force. Their role has evolved and now includes many aspects of surgery to improve safety and precision. Orthopaedic surgery is largely performed on bones which are rigid immobile structures which can easily be performed by robots with great precision. Robots have been designed for use in orthopaedic surgery including joint arthroplasty and spine surgery. Experimental studies have been published evaluating the role of robots in arthroscopy and trauma surgery. In this article, we will review the incorporation of robots in orthopaedic surgery looking into the evidence in their use. PMID:28534472

Hitchhiking Robots: A Collaborative Approach for Efficient Multi-Robot Navigation in Indoor Environments.

PubMed

Ravankar, Abhijeet; Ravankar, Ankit A; Kobayashi, Yukinori; Emaru, Takanori

2017-08-15

Hitchhiking is a means of transportation gained by asking other people for a (free) ride. We developed a multi-robot system which is the first of its kind to incorporate hitchhiking in robotics, and discuss its advantages. Our method allows the hitchhiker robot to skip redundant computations in navigation like path planning, localization, obstacle avoidance, and map update by completely relying on the driver robot. This allows the hitchhiker robot, which performs only visual servoing, to save computation while navigating on the common path with the driver robot. The driver robot, in the proposed system performs all the heavy computations in navigation and updates the hitchhiker about the current localized positions and new obstacle positions in the map. The proposed system is robust to recover from `driver-lost' scenario which occurs due to visual servoing failure. We demonstrate robot hitchhiking in real environments considering factors like service-time and task priority with different start and goal configurations of the driver and hitchhiker robots. We also discuss the admissible characteristics of the hitchhiker, when hitchhiking should be allowed and when not, through experimental results.

Educational Robotics as Mindtools

ERIC Educational Resources Information Center

Mikropoulos, Tassos A.; Bellou, Ioanna

2013-01-01

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

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.

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.

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.

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.

Cranial nerve VI palsy after dural-arachnoid puncture.

PubMed

Hofer, Jennifer E; Scavone, Barbara M

2015-03-01

In this article, we provide a literature review of cranial nerve (CN) VI injury after dural-arachnoid puncture. CN VI injury is rare and ranges in severity from diplopia to complete lateral rectus palsy with deviated gaze. The proposed mechanism of injury is cerebrospinal fluid leakage causing intracranial hypotension and downward displacement of the brainstem. This results in traction on CN VI leading to stretch and neural demyelination. Symptoms may present 1 day to 3 weeks after dural-arachnoid puncture and typically are associated with a postdural puncture (spinal) headache. Resolution of symptoms may take weeks to months. Use of small-gauge, noncutting spinal needles may decrease the risk of intracranial hypotension and subsequent CN VI injury. When ocular symptoms are present, early administration of an epidural blood patch may decrease morbidity or prevent progression of ocular symptoms.

Hopping Robot with Wheels

NASA Technical Reports Server (NTRS)

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

2003-01-01

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

Human-robot interaction tests on a novel robot for gait assistance.

PubMed

Tagliamonte, Nevio Luigi; Sergi, Fabrizio; Carpino, Giorgio; Accoto, Dino; Guglielmelli, Eugenio

2013-06-01

This paper presents tests on a treadmill-based non-anthropomorphic wearable robot assisting hip and knee flexion/extension movements using compliant actuation. Validation experiments were performed on the actuators and on the robot, with specific focus on the evaluation of intrinsic backdrivability and of assistance capability. Tests on a young healthy subject were conducted. In the case of robot completely unpowered, maximum backdriving torques were found to be in the order of 10 Nm due to the robot design features (reduced swinging masses; low intrinsic mechanical impedance and high-efficiency reduction gears for the actuators). Assistance tests demonstrated that the robot can deliver torques attracting the subject towards a predicted kinematic status.

Robot environment expert system

NASA Technical Reports Server (NTRS)

Potter, J. L.

1985-01-01

The Robot Environment Expert System uses a hexidecimal tree data structure to model a complex robot environment where not only the robot arm moves, but also the robot itself and other objects may move. The hextree model allows dynamic updating, collision avoidance and path planning over time, to avoid moving objects.

Vi-CRM 197 as a new conjugate vaccine against Salmonella Typhi.

PubMed

Micoli, F; Rondini, S; Pisoni, I; Proietti, D; Berti, F; Costantino, P; Rappuoli, R; Szu, S; Saul, A; Martin, L B

2011-01-17

An efficacious, low cost vaccine against typhoid fever, especially for young children, would make a major impact on disease burden in developing countries. The virulence capsular polysaccharide of Salmonella Typhi (Vi) coupled to recombinant mutant Pseudomonas aeruginosa exoprotein A (Vi-rEPA) has been shown to be highly efficacious. We investigated the use of carrier proteins included in infant vaccines, standardized the conjugation process and developed key assays required for routine lot release at production scale. Vi from a BSL1 organism, Citrobacter freundii, strain WR7011, was used as an alternative to Vi from S. Typhi. We showed that Vi conjugated to CRM(197), a non-toxic mutant of diphtheria toxin, widely used in commercial vaccines, was produced at high yield. Vi-CRM(197) proved immunogenic in animal studies, even without adjuvant. Thus, Vi-CRM(197) appears to be a suitable candidate for the development of a commercially viable, effective typhoid vaccine for developing countries. Copyright © 2010 Elsevier Ltd. All rights reserved.

Hazardous Environment Robotics

NASA Technical Reports Server (NTRS)

1996-01-01

Jet Propulsion Laboratory (JPL) developed video overlay calibration and demonstration techniques for ground-based telerobotics. Through a technology sharing agreement with JPL, Deneb Robotics added this as an option to its robotics software, TELEGRIP. The software is used for remotely operating robots in nuclear and hazardous environments in industries including automotive and medical. The option allows the operator to utilize video to calibrate 3-D computer models with the actual environment, and thus plan and optimize robot trajectories before the program is automatically generated.

Robot-Aided Neurorehabilitation

PubMed Central

Krebs, Hermano Igo; Hogan, Neville; Aisen, Mindy L.; Volpe, Bruce T.

2009-01-01

Our goal is to apply robotics and automation technology to assist, enhance, quantify, and document neurorehabilitation. This paper reviews a clinical trial involving 20 stroke patients with a prototype robot-aided rehabilitation facility developed at the Massachusetts Institute of Technology, Cambridge, (MIT) and tested at Burke Rehabilitation Hospital, White Plains, NY. It also presents our approach to analyze kinematic data collected in the robot-aided assessment procedure. In particular, we present evidence 1) that robot-aided therapy does not have adverse effects, 2) that patients tolerate the procedure, and 3) that peripheral manipulation of the impaired limb may influence brain recovery. These results are based on standard clinical assessment procedures. We also present one approach using kinematic data in a robot-aided assessment procedure. PMID:9535526

Coordinated Control Of Mobile Robotic Manipulators

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1995-01-01

Computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Applicable to variety of mobile robotic manipulators, including robots that move along tracks (typically, painting and welding robots), robots mounted on gantries and capable of moving in all three dimensions, wheeled robots, and compound robots (consisting of robots mounted on other robots). Theoretical basis discussed in several prior articles in NASA Tech Briefs, including "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes With Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).

Forensic investigation of a chromium(VI) groundwater plume in Thiva, Greece.

PubMed

Panagiotakis, I; Dermatas, D; Vatseris, C; Chrysochoou, M; Papassiopi, N; Xenidis, A; Vaxevanidou, K

2015-01-08

A forensic investigation was conducted with the aim of decoupling the contribution of geogenic and anthropogenic Cr(VI) sources in the wider area of Thiva. Groundwater and topsoil samples were collected from two Cr(VI) groundwater plumes of 160 μg/L and 75 μg/L. A series of evidence support the view that the origin of Cr(VI) detected in groundwater is mainly geogenic. These are: (a) the presence of Cr in topsoil of the wider area, (b) the moderate Cr(VI) groundwater concentrations, (c) the high Ni levels within the Cr(VI) plumes, (d) the predominance of Mn(IV), which is a prerequisite for Cr(III) oxidation to Cr(VI), and (e) the absence of co-contaminants. The present study also revealed that, although both Cr(VI) plumes are clearly of geogenic origin, the plume with the elevated Cr(VI) values, in the north of Thiva town, exhibits also an anthropogenic component, which can potentially be attributed to the alkaline environment associated with the old uncontrolled landfill of Thiva and the industrial cluster located in this area. Copyright © 2014 Elsevier B.V. All rights reserved.

Developing a successful robotics program.

PubMed

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

2012-01-01

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

Influence of Calcium on Microbial Reduction of Solid Phase Uranium (VI)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Liu, Chongxuan; Jeon, Byong-Hun; Zachara, John M.

2007-06-27

The effect of calcium on microbial reduction of a solid phase U(VI), sodium boltwoodite (NaUO2SiO3OH ∙1.5H2O), was evaluated in a culture of a dissimilatory metal-reducing bacterium (DMRB), Shewanella oneidensis strain MR-1. Batch experiments were performed in a non-growth bicarbonate medium with lactate as electron donor at pH 7 buffered with PIPES. Calcium increased both the rate and extent of Na-boltwoodite dissolution by increasing its solubility through the formation of a ternary aqueous calcium-uranyl-carbonate species. The ternary species, however, decreased the rates of microbial reduction of aqueous U(VI). Laser-induced fluorescence spectroscopy (LIFS) and transmission electron microscopy (TEM) revealed that microbial reductionmore » of solid phase U(VI) is a sequentially coupled process of Na-boltwoodite dissolution, U(VI) aqueous speciation, and microbial reduction of dissolved U(VI) to U(IV) that accumulated on bacterial surfaces/periplasm. The overall rates of microbial reduction of solid phase U(VI) can be described by the coupled rates of dissolution and microbial reduction that were both influenced by calcium. The results demonstrated that dissolved U(VI) concentration during microbial reduction was a complex function of solid phase U(VI) dissolution kinetics, aqueous U(VI) speciation, and microbial activity.« less

Singular Instantons and Painlevé VI

NASA Astrophysics Data System (ADS)

Muñiz Manasliski, Richard

2016-06-01

We consider a two parameter family of instantons, which is studied in [Sadun L., Comm. Math. Phys. 163 (1994), 257-291], invariant under the irreducible action of SU_2 on S^4, but which are not globally defined. We will see that these instantons produce solutions to a one parameter family of Painlevé VI equations (P_VI}) and we will give an explicit expression of the map between instantons and solutions to P_{VI}. The solutions are algebraic only for that values of the parameters which correspond to the instantons that can be extended to all of S^4. This work is a generalization of [Muñiz Manasliski R., Contemp. Math., Vol. 434, Amer. Math. Soc., Providence, RI, 2007, 215-222] and [Muñiz Manasliski R., J. Geom. Phys. 59 (2009), 1036-1047, arXiv:1602.07221], where instantons without singularities are studied.

Formic acid interaction with the uranyl(VI) ion: structural and photochemical characterization.

PubMed

Lucks, Christian; Rossberg, André; Tsushima, Satoru; Foerstendorf, Harald; Fahmy, Karim; Bernhard, Gert

2013-10-07

Complex formation between the uranyl(VI) ion and formic acid was studied by infrared absorption (IR) and X-ray absorption (EXAFS) spectroscopy as well as density functional theory (DFT) calculations. In contrast to the acetate ion which forms exclusively a bidentate complex with uranyl(VI), the formate ion binds to uranyl(VI) in a unidentate fashion. The photochemistry of the uranyl(VI)-formic acid system was explored by DFT calculations and photoreduction of uranyl(VI) in the presence of formic acid was found to occur via an intermolecular process, that is, hydrogen abstraction from hydrogenformate by the photo-excited uranyl(VI). There is no photo-induced decarboxylation of uranyl(VI) formate via an intramolecular process, presumably due to lack of a C=C double bond.

Hitchhiking Robots: A Collaborative Approach for Efficient Multi-Robot Navigation in Indoor Environments

PubMed Central

Ravankar, Abhijeet; Ravankar, Ankit A.; Kobayashi, Yukinori; Emaru, Takanori

2017-01-01

Hitchhiking is a means of transportation gained by asking other people for a (free) ride. We developed a multi-robot system which is the first of its kind to incorporate hitchhiking in robotics, and discuss its advantages. Our method allows the hitchhiker robot to skip redundant computations in navigation like path planning, localization, obstacle avoidance, and map update by completely relying on the driver robot. This allows the hitchhiker robot, which performs only visual servoing, to save computation while navigating on the common path with the driver robot. The driver robot, in the proposed system performs all the heavy computations in navigation and updates the hitchhiker about the current localized positions and new obstacle positions in the map. The proposed system is robust to recover from ‘driver-lost’ scenario which occurs due to visual servoing failure. We demonstrate robot hitchhiking in real environments considering factors like service-time and task priority with different start and goal configurations of the driver and hitchhiker robots. We also discuss the admissible characteristics of the hitchhiker, when hitchhiking should be allowed and when not, through experimental results. PMID:28809803

U(VI) adsorption on aquifer sediments at the Hanford Site.

PubMed

Um, Wooyong; Serne, R Jeffrey; Brown, Christopher F; Last, George V

2007-08-15

Aquifer sediments collected via split-spoon sampling in two new groundwater wells in the 200-UP-1 operable unit at the Hanford Site were characterized and showed typical Ringold Unit E Formation properties dominated by gravel and sand. High iron-oxide content in Fe oxide/clay coatings caused the highest U(VI) adsorption as quantified by batch K(d) values, indicating iron oxides are the key solid adsorbent in the 200-UP-1 sediments that affect U(VI) fate and mobility. Even though U(VI) adsorption on the gravel-sized fraction of the sediments is considered to be negligible, careful characterization should be conducted to determine U(VI) adsorption on gravel, because of presence of Fe oxides coatings and diffusion-controlled adsorption into the gravel particles' interior surfaces. A linear adsorption isotherm was observed up to 10(-6) M (238 microg/L) of total U(VI) concentration in batch U(VI) adsorption tests with varying total U(VI) concentrations in spiked groundwater. U(VI) adsorption decreased with increasing concentrations of dissolved carbonate, because strong anionic aqueous uranium-carbonate complexes formed at high pH and high alkalinity conditions. Noticeable uranium desorption hysteresis was observed in a flow-through column experiment, suggesting that desorption K(d) values for aged uranium-contaminated sediments at the Hanford Site can be larger than adsorption K(d) values determined in short-term laboratory experiments and slow uranium release from contaminated sediments into the groundwater is expected.

Robotics in medicine

NASA Astrophysics Data System (ADS)

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

2015-11-01

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

Evolution of robotics in surgery and implementing a perioperative robotics nurse specialist role.

PubMed

Francis, Paula

2006-03-01

Use of robotics is expanding rapidly in the medical arena. Not only are a growing number of facilities purchasing robotic systems, but the number of surgeons using them also is increasing, which creates many challenges (eg, cost, training, safety). The evolution of robotics in surgery is presented within the context of virtual reality, telepresence, telemanipulation, and passive (ie, master-slave) robotic surgical systems. A new perioperative nursing role, the robotics nurse specialist, was developed and implemented at one facility. The need for a robotics nurse specialist and how this role can help the entire surgical team promote positive patient and facility outcomes also is discussed.

Robot Handcontroller

NASA Technical Reports Server (NTRS)

1992-01-01

The PER-Force robotic handcontroller provides a sense of touch or "feel" to an operator manipulating robots. The force simulation and wide range of motion greatly enhances the efficiency of robotic and computer operations. The handcontroller was developed for the Space Station by Cybernet Systems Corporation under a Small Business Innovation Research (SBIR) contract. Commercial applications include underwater use, underground excavations, research laboratories, hazardous waste handling and in manufacturing operations in which it is unsafe or impractical for humans to work.

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

PubMed

Sabanović, Selma

2014-06-01

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

ROBOTIC SURGERY: BIOETHICAL ASPECTS

PubMed Central

SIQUEIRA-BATISTA, Rodrigo; SOUZA, Camila Ribeiro; MAIA, Polyana Mendes; SIQUEIRA, Sávio Lana

2016-01-01

ABSTRACT Introduction: The use of robots in surgery has been increasingly common today, allowing the emergence of numerous bioethical issues in this area. Objective: To present review of the ethical aspects of robot use in surgery. Method: Search in Pubmed, SciELO and Lilacs crossing the headings "bioethics", "surgery", "ethics", "laparoscopy" and "robotic". Results: Of the citations obtained, were selected 17 articles, which were used for the preparation of the article. It contains brief presentation on robotics, its inclusion in health and bioethical aspects, and the use of robots in surgery. Conclusion: Robotic surgery is a reality today in many hospitals, which makes essential bioethical reflection on the relationship between health professionals, automata and patients. PMID:28076489

Remediation of Cr(VI)-Contaminated Soil Using the Acidified Hydrazine Hydrate.

PubMed

Ma, Yameng; Li, Fangfang; Jiang, Yuling; Yang, Weihua; Lv, Lv; Xue, Haotian; Wang, Yangyang

2016-09-01

Acidified hydrazine hydrate was used to remediate Cr(VI)-contaminated soil. The content of water-soluble Cr(VI) in contaminated soil was 4977.53 mg/kg. The optimal initial pH of hydrazine hydrate solution, soil to solution ratio and molar ratio of Cr(VI) to hydrazine hydrate for remediation of Cr(VI)-contaminated soil were 5.0, 3:1 and 1:3, respectively. Over 99.50 % of water-soluble Cr(VI) in the contaminated soil was reduced at the optimal condition within 30 min. The remediated soil can keep stable within 4 months. Meanwhile the total phosphorus increased from 0.47 to 4.29 g/kg, indicating that using of acidified hydrazine hydrate is an effective method to remediate Cr(VI)-contaminated soil.

Robotic arm

DOEpatents

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.

Detection and Persistence of Vi Antigen in Tissues of Actively Immunized Mice1

PubMed Central

Gaines, Sidney; Currie, Julius A.; Tully, Joseph G.

1965-01-01

Gaines, Sidney (Walter Reed Army Institute of Research, Washington, D.C.), Julius A. Currie, and Joseph G. Tully. Detection and persistence of Vi antigen in tissues of actively immunized mice. J. Bacteriol. 89:776–781. 1965.—The presence, distribution, and persistence of Vi antigen in mouse tissue was determined by means of active immunization tests with tissue extracts. Mice were injected intraperitoneally with purified Vi antigen or Vi-containing bacilli. At appropriate intervals, animals were killed, and saline extracts of their tissues were prepared. Mice were immunized with these extracts and challenged 6 days later with 10 ld50 of Salmonella typhosa Ty2. Protection was afforded by tissue extracts from Vi-injected mice, but not by normal tissue extracts. That the immunizing capacity of tissue extracts from Vi-injected mice was attributable to Vi antigen was affirmed by the demonstration that these extracts stimulated the production of Vi antibody in mice, coated erythrocytes for agglutination by Vi antiserum, and inhibited agglutination of Vi-sensitized red blood cells by known Vi antisera. Vi antigen could be detected in the liver and spleen of mice injected with as little as 1 μg. In mice given 150 μg, the antigen was still present in liver tissue 231 days later. PMID:14273660

Toward cognitive robotics

NASA Astrophysics Data System (ADS)

Laird, John E.

2009-05-01

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

Robotic Follow Algorithm

DOE Office of Scientific and Technical Information (OSTI.GOV)

2005-03-30

The Robotic Follow Algorithm enables allows any robotic vehicle to follow a moving target while reactively choosing a route around nearby obstacles. The robotic follow behavior can be used with different camera systems and can be used with thermal or visual tracking as well as other tracking methods such as radio frequency tags.

[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.

Simultaneous Cr(VI) bio-reduction and methane production by anaerobic granular sludge.

PubMed

Hu, Qian; Sun, Jiaji; Sun, Dezhi; Tian, Lan; Ji, Yanan; Qiu, Bin

2018-08-01

Wastewater containing toxic hexavalent chromium (Cr(VI)) were treated with well-organized anaerobic granular sludge in this study. Results showed that the anaerobic granular sludge rapidly removed Cr(VI), and 2000 µg·L -1 Cr(VI) was completely eliminated within 6 min, which was much faster than the reported duration of removal by reported artificial materials. Sucrose added as a carbon source acted as an initial electron donor to reduce Cr(VI) to Cr(III). This process was considered as the main mechanism of Cr(VI) removal. Methane production by anaerobic granular sludge was improved by the addition of Cr(VI) at a concentration lower than 500 µg·L -1 . Anaerobic granular sludge had a well-organized structure, which presented good resistance against toxic Cr(VI). Trichoccus accelerated the degradation of organic substances to generate acetates with a low Cr(VI) concentration, thereby enhancing methane production by acetotrophic methanogens. Copyright © 2018 Elsevier Ltd. All rights reserved.

Continuum limbed robots for locomotion

NASA Astrophysics Data System (ADS)

Mutlu, Alper

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

Re-examination of immune response and estimation of anti-Vi IgG protective threshold against typhoid fever-based on the efficacy trial of Vi conjugate in young children.

PubMed

Szu, Shousun C; Klugman, Keith P; Hunt, Steven

2014-04-25

The capsular polysaccharide of Salmonella enterica serovar Typhi, Vi antigen, is an essential virulence factor and a protective antigen. Similar to other polysaccharide vaccines, the protective action of Vi, both to the polysaccharide alone or when presented as a conjugate, is mediated by serum IgG Vi antibodies. The evaluation of Vi capsular polysaccharide based vaccines to prevent typhoid fever would be significantly facilitated by the identification of a "protective level" of serum antibodies to Vi antigen. The protective level of anti-Vi IgG against typhoid fever was derived from the protective efficacy and immune response of a Vi-rEPA conjugate vaccine efficacy trial. The estimation was derived by two methods: correlation of the percent efficacy and the antibody distribution profile in the vaccine group at a given period of observation, and use of the relative ratio of anti-Vi IgG levels between the vaccine and placebo groups greater or equal to the Relative Risk of typhoid fever used in the efficacy determination. Both methods predicted a similar range of a minimum protective level of anti-Vi IgG between 1.4 and 2.0μg/ml (short term threshold). When applying a protective threshold of 10μg/ml at 6 months post immunization, an IgG level in excess of 1.4μg/ml was achieved by 90% of children at 46 months post immunization, consistent with an 89% level of protection over the duration of the study. We thus suggest that the proportion of children with Vi IgG>10μg/ml (long term threshold) 6 months after immunization may reflect the proportion protected over at least a 4 year period. The current assignment of an anti-Vi IgG protective level may be of value when evaluating vaccine performance of future Vi conjugate vaccines. Published by Elsevier Ltd.

Re-examination of immune response and estimation of anti-Vi IgG protective threshold against typhoid fever-based on the efficacy trial of Vi conjugate in young children

PubMed Central

Szu, Shousun C.; Klugman, Keith P.; Hunt, Steven

2014-01-01

Background The capsular polysaccharide of Salmonella enterica serovar Typhi, Vi antigen, is an essential virulence factor and a protective antigen. Similar to other polysaccharide vaccines, the protective action of Vi, both to the polysaccharide alone or when presented as a conjugate, is mediated by serum IgG Vi antibodies. The evaluation of Vi capsular polysaccharide based vaccines to prevent typhoid fever would be significantly facilitated by the identification of a “protective level” of serum antibodies to Vi antigen. Methods The protective level of anti-Vi IgG against typhoid fever was derived from the protective efficacy and immune response of a Vi-rEPA conjugate vaccine efficacy trial. The estimation was derived by two methods: correlation of the percent efficacy and the antibody distribution profile in the vaccine group at a given period of observation, and use of the relative ratio of anti-Vi IgG levels between the vaccine and placebo groups greater or equal to the Relative Risk of typhoid fever used in the efficacy determination. Results Both methods predicted a similar range of a minimum protective level of anti-Vi IgG between 1.4 and 2.0 μg/ml (short term threshold). When applying a protective threshold of 10 μg/ml at 6 months post immunization, an IgG level in excess of 1.4 μg/ml was achieved by 90% of children at 46 months post immunization, consistent with an 89% level of protection over the duration of the study. We thus suggest that the proportion of children with Vi IgG > 10 μg/ml (long term threshold) 6 months after immunization may reflect the proportion protected over at least a 4 year period. Conclusion The current assignment of an anti-Vi IgG protective level may be of value when evaluating vaccine performance of future Vi conjugate vaccines. PMID:24630869

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.

[Robotic laparoscopic cholecystectomy].

PubMed

Langer, D; Pudil, J; Ryska, M

2006-09-01

Laparoscopic approach profusely utilized in many surgical fields was enhanced by da Vinci robotic surgical system in range of surgery wards, imprimis in the United States today. There was multispecialized robotic centre program initiated in the Central Military Hospital in Prague in December 2005. Within the scope of implementing the da Vinci robotic system to clinical practice we executed robotic-assisted laparoscopic cholecystectomy. We have accomplished elective laparoscopic cholecystectomy using the da Vinci robotic surgical system. Operating working group (two doctors, two scrub nurses) had completed certificated foreign training. Both of the surgeons have many years experience of laparoscopic cholecystectomy. Operator controlled instruments from the surgeon's console, assistant placed clips on ends of cystic duct and cystic artery from auxiliary port after capnoperitoneum installation. We evacuated gallbladder in plastic bag from abdominal cavity in place of original paraumbilical port. We were exploiting three working arms in all our cases, holding surgical camera, electrocautery hook and Cadiere forceps. We had been observing procedure time, technical complications connected with robotic system, length of hospital stay and complication incidence rate. We managed to finish all operations in laparoscopic way. Group of our patients formed 11 male patients (35.5%) and 20 women (64.5%), mean aged 52.5 years in range of 27 77 years. The average operation procedure lasted 100 minutes, in the group of last 11 patients only 69 minutes. We recorded paraumbilical wound infections in 3 (9.7 %) patients. We had not experienced any technical problems with robotic surgical system. Length of hospital stay was 3 days. Considering our initial experience with robotic lasparoscopic cholecystectomy we evaluate da Vinci robotic surgical system to be safe and sophisticated operating manipulator which however does not substitute the surgeon key-role of controlling position and

Mergeable nervous systems for robots.

PubMed

Mathews, Nithin; Christensen, Anders Lyhne; O'Grady, Rehan; Mondada, Francesco; Dorigo, Marco

2017-09-12

Robots have the potential to display a higher degree of lifetime morphological adaptation than natural organisms. By adopting a modular approach, robots with different capabilities, shapes, and sizes could, in theory, construct and reconfigure themselves as required. However, current modular robots have only been able to display a limited range of hardwired behaviors because they rely solely on distributed control. Here, we present robots whose bodies and control systems can merge to form entirely new robots that retain full sensorimotor control. Our control paradigm enables robots to exhibit properties that go beyond those of any existing machine or of any biological organism: the robots we present can merge to form larger bodies with a single centralized controller, split into separate bodies with independent controllers, and self-heal by removing or replacing malfunctioning body parts. This work takes us closer to robots that can autonomously change their size, form and function.Robots that can self-assemble into different morphologies are desired to perform tasks that require different physical capabilities. Mathews et al. design robots whose bodies and control systems can merge and split to form new robots that retain full sensorimotor control and act as a single entity.

Open Issues in Evolutionary Robotics.

PubMed

Silva, Fernando; Duarte, Miguel; Correia, Luís; Oliveira, Sancho Moura; Christensen, Anders Lyhne

2016-01-01

One of the long-term goals in evolutionary robotics is to be able to automatically synthesize controllers for real autonomous robots based only on a task specification. While a number of studies have shown the applicability of evolutionary robotics techniques for the synthesis of behavioral control, researchers have consistently been faced with a number of issues preventing the widespread adoption of evolutionary robotics for engineering purposes. In this article, we review and discuss the open issues in evolutionary robotics. First, we analyze the benefits and challenges of simulation-based evolution and subsequent deployment of controllers versus evolution on real robotic hardware. Second, we discuss specific evolutionary computation issues that have plagued evolutionary robotics: (1) the bootstrap problem, (2) deception, and (3) the role of genomic encoding and genotype-phenotype mapping in the evolution of controllers for complex tasks. Finally, we address the absence of standard research practices in the field. We also discuss promising avenues of research. Our underlying motivation is the reduction of the current gap between evolutionary robotics and mainstream robotics, and the establishment of evolutionary robotics as a canonical approach for the engineering of autonomous robots.

Evolving self-assembly in autonomous homogeneous robots: experiments with two physical robots.

PubMed

Ampatzis, Christos; Tuci, Elio; Trianni, Vito; Christensen, Anders Lyhne; Dorigo, Marco

2009-01-01

This research work illustrates an approach to the design of controllers for self-assembling robots in which the self-assembly is initiated and regulated by perceptual cues that are brought forth by the physical robots through their dynamical interactions. More specifically, we present a homogeneous control system that can achieve assembly between two modules (two fully autonomous robots) of a mobile self-reconfigurable system without a priori introduced behavioral or morphological heterogeneities. The controllers are dynamic neural networks evolved in simulation that directly control all the actuators of the two robots. The neurocontrollers cause the dynamic specialization of the robots by allocating roles between them based solely on their interaction. We show that the best evolved controller proves to be successful when tested on a real hardware platform, the swarm-bot. The performance achieved is similar to the one achieved by existing modular or behavior-based approaches, also due to the effect of an emergent recovery mechanism that was neither explicitly rewarded by the fitness function, nor observed during the evolutionary simulation. Our results suggest that direct access to the orientations or intentions of the other agents is not a necessary condition for robot coordination: Our robots coordinate without direct or explicit communication, contrary to what is assumed by most research works in collective robotics. This work also contributes to strengthening the evidence that evolutionary robotics is a design methodology that can tackle real-world tasks demanding fine sensory-motor coordination.

[Robotics in pediatric surgery].

PubMed

Camps, J I

2011-10-01

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

Robotic Colorectal Surgery

PubMed Central

2008-01-01

Robotic colorectal surgery has gradually been performed more with the help of the technological advantages of the da Vinci® system. Advanced technological advantages of the da Vinci® system compared with standard laparoscopic colorectal surgery have been reported. These are a stable camera platform, three-dimensional imaging, excellent ergonomics, tremor elimination, ambidextrous capability, motion scaling, and instruments with multiple degrees of freedom. However, despite these technological advantages, most studies did not report the clinical advantages of robotic colorectal surgery compared to standard laparoscopic colorectal surgery. Only one study recently implies the real benefits of robotic rectal cancer surgery. The purpose of this review article is to outline the early concerns of robotic colorectal surgery using the da Vinci® system, to present early clinical outcomes from the most current series, and to discuss not only the safety and the feasibility but also the real benefits of robotic colorectal surgery. Moreover, this article will comment on the possible future clinical advantages and limitations of the da Vinci® system in robotic colorectal surgery. PMID:19108010

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

PubMed

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

2014-07-01

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

Fish and robots swimming together: attraction towards the robot demands biomimetic locomotion

PubMed Central

Marras, Stefano; Porfiri, Maurizio

2012-01-01

The integration of biomimetic robots in a fish school may enable a better understanding of collective behaviour, offering a new experimental method to test group feedback in response to behavioural modulations of its ‘engineered’ member. Here, we analyse a robotic fish and individual golden shiners (Notemigonus crysoleucas) swimming together in a water tunnel at different flow velocities. We determine the positional preference of fish with respect to the robot, and we study the flow structure using a digital particle image velocimetry system. We find that biomimetic locomotion is a determinant of fish preference as fish are more attracted towards the robot when its tail is beating rather than when it is statically immersed in the water as a ‘dummy’. At specific conditions, the fish hold station behind the robot, which may be due to the hydrodynamic advantage obtained by swimming in the robot's wake. This work makes a compelling case for the need of biomimetic locomotion in promoting robot–animal interactions and it strengthens the hypothesis that biomimetic robots can be used to study and modulate collective animal behaviour. PMID:22356819

[Robot-aided training in rehabilitation].

PubMed

Hachisuka, Kenji

2010-02-01

Recently, new training techniques that involve the use of robots have been used in the rehabilitation of patients with hemiplegia and paraplegia. Robots used for training the arm include the MIT-MANUS, Arm Trainer, mirror-image motion enabler (MIME) robot, and the assisted rehabilitation and measurement (ARM) Guide. Robots that are used for lower-limb training are the Rehabot, Gait Trainer, Lokomat, LOPES Exoskeleton Robot, and Gait Assist Robot. Robot-aided therapy has enabled the functional training of the arm and the lower limbs in an effective, easy, and comfortable manner. Therefore, with this type of therapy, the patients can repeatedly undergo sufficient and accurate training for a prolonged period. However, evidence of the benefits of robot-aided training has not yet been established.

Current status of robotic simulators in acquisition of robotic surgical skills.

PubMed

Kumar, Anup; Smith, Roger; Patel, Vipul R

2015-03-01

This article provides an overview of the current status of simulator systems in robotic surgery training curriculum, focusing on available simulators for training, their comparison, new technologies introduced in simulation focusing on concepts of training along with existing challenges and future perspectives of simulator training in robotic surgery. The different virtual reality simulators available in the market like dVSS, dVT, RoSS, ProMIS and SEP have shown face, content and construct validity in robotic skills training for novices outside the operating room. Recently, augmented reality simulators like HoST, Maestro AR and RobotiX Mentor have been introduced in robotic training providing a more realistic operating environment, emphasizing more on procedure-specific robotic training . Further, the Xperience Team Trainer, which provides training to console surgeon and bed-side assistant simultaneously, has been recently introduced to emphasize the importance of teamwork and proper coordination. Simulator training holds an important place in current robotic training curriculum of future robotic surgeons. There is a need for more procedure-specific augmented reality simulator training, utilizing advancements in computing and graphical capabilities for new innovations in simulator technology. Further studies are required to establish its cost-benefit ratio along with concurrent and predictive validity.

Oxidation of Oil Sands Process-Affected Water by Potassium Ferrate(VI).

PubMed

Wang, Chengjin; Klamerth, Nikolaus; Huang, Rongfu; Elnakar, Haitham; Gamal El-Din, Mohamed

2016-04-19

This paper investigates the oxidation of oil sands process-affected water (OSPW) by potassium ferrate(VI). Due to the selectivity of ferrate(VI) oxidation, two-ring and three-ring fluorescing aromatics were preferentially removed at doses <100 mg/L Fe(VI), and one-ring aromatics were removed only at doses ≥100 mg/L Fe(VI). Ferrate(VI) oxidation achieved 64.0% and 78.4% removal of naphthenic acids (NAs) at the dose of 200 mg/L and 400 mg/L Fe(VI) respectively, and NAs with high carbon number and ring number were removed preferentially. (1)H nuclear magnetic resonance ((1)H NMR) spectra indicated that the oxidation of fluorescing aromatics resulted in the opening of some aromatic rings. Electron paramagnetic resonance (EPR) analysis detected signals of organic radical intermediates, indicating that one-electron transfer is one of the probable mechanisms in the oxidation of NAs. The inhibition effect of OSPW on Vibrio fischeri and the toxicity effect on goldfish primary kidney macrophages (PKMs) were both reduced after ferrate(VI) oxidation. The fluorescing aromatics in OSPW were proposed to be an important contributor to this acute toxicity. Degradation of model compounds with ferrate(VI) was also investigated and the results confirmed our findings in OSPW study.

Robotic follow system and method

DOEpatents

Bruemmer, David J [Idaho Falls, ID; Anderson, Matthew O [Idaho Falls, ID

2007-05-01

Robot platforms, methods, and computer media are disclosed. The robot platform includes perceptors, locomotors, and a system controller, which executes instructions for a robot to follow a target in its environment. The method includes receiving a target bearing and sensing whether the robot is blocked front. If the robot is blocked in front, then the robot's motion is adjusted to avoid the nearest obstacle in front. If the robot is not blocked in front, then the method senses whether the robot is blocked toward the target bearing and if so, sets the rotational direction opposite from the target bearing, and adjusts the rotational velocity and translational velocity. If the robot is not blocked toward the target bearing, then the rotational velocity is adjusted proportional to an angle of the target bearing and the translational velocity is adjusted proportional to a distance to the nearest obstacle in front.

Sorption characteristic of uranium(VI) ion onto K-feldspar.

PubMed

Gao, Xiaoqing; Bi, Mingliang; Shi, Keliang; Chai, Zhifang; Wu, Wangsuo

2017-10-01

The effect of pH, contact time, temperature, ionic strength and initial U(VI) concentration on U(VI) sorption onto K-feldspar was investigated using batch techniques. The sorption kinetics was evaluated and the activation energy was obtained based on the rate constants at different temperature. Graphical correlations of sorption isotherm models have been evaluated and applied for U(VI) uptake by K-feldspar. Various thermodynamic parameters, such as, Gibb's free energy, entropy and enthalpy of the on-going sorption process have been calculated and the possible sorption mechanism of U(VI) was deduced. The results are expected to help better understand the migration of uranium in the host materials of granite. Copyright © 2017 Elsevier Ltd. All rights reserved.

Combined virtual and real robotic test-bed for single operator control of multiple robots

NASA Astrophysics Data System (ADS)

Lee, Sam Y.-S.; Hunt, Shawn; Cao, Alex; Pandya, Abhilash

2010-04-01

Teams of heterogeneous robots with different dynamics or capabilities could perform a variety of tasks such as multipoint surveillance, cooperative transport and explorations in hazardous environments. In this study, we work with heterogeneous robots of semi-autonomous ground and aerial robots for contaminant localization. We developed a human interface system which linked every real robot to its virtual counterpart. A novel virtual interface has been integrated with Augmented Reality that can monitor the position and sensory information from video feed of ground and aerial robots in the 3D virtual environment, and improve user situational awareness. An operator can efficiently control the real multi-robots using the Drag-to-Move method on the virtual multi-robots. This enables an operator to control groups of heterogeneous robots in a collaborative way for allowing more contaminant sources to be pursued simultaneously. The advanced feature of the virtual interface system is guarded teleoperation. This can be used to prevent operators from accidently driving multiple robots into walls and other objects. Moreover, the feature of the image guidance and tracking is able to reduce operator workload.

Microstructural analyses of Cr(VI) speciation in chromite ore processing Residue (COPR)

DOE Office of Scientific and Technical Information (OSTI.GOV)

CHRYSOCHOOU, MARIA; FAKRA, SIRINE C .; Marcus, Matthew A.

2010-03-01

The speciation and distribution of Cr(VI) in the solid phase was investigated for two types of chromite ore processing residue (COPR) found at two deposition sites in the United States: gray-black (GB) granular and hard brown (HB) cemented COPR. COPR chemistry and mineralogy were investigated using micro-X-ray absorption spectroscopy and micro-X-ray diffraction, complemented by laboratory analyses. GB COPR contained 30percent of its total Cr(VI) (6000 mg/kg) as large crystals(>20 ?m diameter) of a previously unreported Na-rich analog of calcium aluminum chromate hydrates. These Cr(VI)-rich phases are thought to be vulnerable to reductive and pH treatments. More than 50percent of themore » Cr(VI) was located within nodules, not easily accessible to dissolved reductants, and bound to Fe-rich hydrogarnet, hydrotalcite, and possibly brucite. These phases are stable over a large pH range, thus harder to dissolve. Brownmilleritewasalso likely associated with physical entrapment of Cr(VI) in the interior of nodules. HB COPR contained no Cr(VI)-rich phases; all Cr(VI) was diffuse within the nodules and absent from the cementing matrix, with hydrogarnet and hydrotalcite being the main Cr(VI) binding phases. Treatment ofHBCOPRis challenging in terms of dissolving the acidity-resistant, inaccessible Cr(VI) compounds; the same applies to ~;;50percent of Cr(VI) in GB COPR.« less

KC-135 materials handling robotics

NASA Technical Reports Server (NTRS)

Workman, Gary L.

1991-01-01

Robot dynamics and control will become an important issue for implementing productive platforms in space. Robotic operations will become necessary for man-tended stations and for efficient performance of routine operations in a manned platform. The current constraints on the use of robotic devices in a microgravity environment appears to be due to an anticipated increase in acceleration levels due to manipulator motion and for safety concerns. The objective of this study will be to provide baseline data to meet that need. Most texts and papers dealing with the kinematics and dynamics of robots assume that the manipulator is composed of joints separated by rigid links. However, in recent years several groups have begun to study the dynamics of flexible manipulators, primarily for applying robots in space and for improving the efficiency and precision of robotic systems. Robotic systems which are being planned for implementation in space have a number of constraints to overcome. Additional concepts which have to be worked out in any robotic implementation for a space platform include teleoperation and degree of autonomous control. Some significant results in developing a robotic workcell for performing robotics research on the KC-135 aircraft in preperation for space-based robotics applications in the future were generated. In addition, it was shown that TREETOPS can be used to simulate the dynamics of robot manipulators for both space and ground-based applications.

A Human-Robot Interaction Perspective on Assistive and Rehabilitation Robotics.

PubMed

Beckerle, Philipp; Salvietti, Gionata; Unal, Ramazan; Prattichizzo, Domenico; Rossi, Simone; Castellini, Claudio; Hirche, Sandra; Endo, Satoshi; Amor, Heni Ben; Ciocarlie, Matei; Mastrogiovanni, Fulvio; Argall, Brenna D; Bianchi, Matteo

2017-01-01

Assistive and rehabilitation devices are a promising and challenging field of recent robotics research. Motivated by societal needs such as aging populations, such devices can support motor functionality and subject training. The design, control, sensing, and assessment of the devices become more sophisticated due to a human in the loop. This paper gives a human-robot interaction perspective on current issues and opportunities in the field. On the topic of control and machine learning, approaches that support but do not distract subjects are reviewed. Options to provide sensory user feedback that are currently missing from robotic devices are outlined. Parallels between device acceptance and affective computing are made. Furthermore, requirements for functional assessment protocols that relate to real-world tasks are discussed. In all topic areas, the design of human-oriented frameworks and methods is dominated by challenges related to the close interaction between the human and robotic device. This paper discusses the aforementioned aspects in order to open up new perspectives for future robotic solutions.

Human-robot skills transfer interfaces for a flexible surgical robot.

PubMed

Calinon, Sylvain; Bruno, Danilo; Malekzadeh, Milad S; Nanayakkara, Thrishantha; Caldwell, Darwin G

2014-09-01

In minimally invasive surgery, tools go through narrow openings and manipulate soft organs to perform surgical tasks. There are limitations in current robot-assisted surgical systems due to the rigidity of robot tools. The aim of the STIFF-FLOP European project is to develop a soft robotic arm to perform surgical tasks. The flexibility of the robot allows the surgeon to move within organs to reach remote areas inside the body and perform challenging procedures in laparoscopy. This article addresses the problem of designing learning interfaces enabling the transfer of skills from human demonstration. Robot programming by demonstration encompasses a wide range of learning strategies, from simple mimicking of the demonstrator's actions to the higher level imitation of the underlying intent extracted from the demonstrations. By focusing on this last form, we study the problem of extracting an objective function explaining the demonstrations from an over-specified set of candidate reward functions, and using this information for self-refinement of the skill. In contrast to inverse reinforcement learning strategies that attempt to explain the observations with reward functions defined for the entire task (or a set of pre-defined reward profiles active for different parts of the task), the proposed approach is based on context-dependent reward-weighted learning, where the robot can learn the relevance of candidate objective functions with respect to the current phase of the task or encountered situation. The robot then exploits this information for skills refinement in the policy parameters space. The proposed approach is tested in simulation with a cutting task performed by the STIFF-FLOP flexible robot, using kinesthetic demonstrations from a Barrett WAM manipulator. Copyright © 2014 Elsevier Ireland Ltd. All rights reserved.

76 FR 62148 - Title VI; Proposed Circular, Environmental Justice; Proposed Circular

Federal Register 2010, 2011, 2012, 2013, 2014

2011-10-06

...-0055] Title VI; Proposed Circular, Environmental Justice; Proposed Circular AGENCY: Federal Transit... the September 29, 2011, Federal Register Notices titled ``Title VI; Proposed Circular'' and... September 29, 2011, Federal Register Notices titled ``Title VI; Proposed Circular'' (76 FR 60593) and...

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-15

Intrepid Systems robot, foreground, and the University of Waterloo (Canada) robot, take to the practice field on Friday, June 15, 2012 at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. Robot teams will compete for a $1.5 million NASA prize in the NASA-WPI Sample Return Robot Centennial Challenge at WPI. Teams have been challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Robotic-assisted repair of iatrogenic ureteral ligation following robotic-assisted hysterectomy.

PubMed

Kalisvaart, Jonathan F; Finley, David S; Ornstein, David K

2008-01-01

Ureteral injuries, while rare, do occur during gynecologic procedures. The expansion of laparoscopic and robotic pelvic surgical procedures increases the risk of ureteral injury from these procedures and suggests a role for minimally invasive approaches to the delayed repair of ureteral injuries. We present, to our knowledge, the first case of delayed robotic-assisted ureteral deligation and ureterolysis following iatrogenic ureteral injury occurring during a robotic abdominal hysterectomy. We present a case report and review of the literature. A 57-year-old female underwent a seemingly uncomplicated robotic-assisted laparoscopic total abdominal hysterectomy and bilateral oophorectomy for symptomatic fibroids. On postoperative day 8, she presented with persistent right flank pain. Imaging studies revealed high-grade ureteral obstruction consistent with suture ligation of the right ureter. She underwent successful robotic-assisted ureteral deligation and ureterolysis. Her postoperative course was unremarkable, and she was discharged home on postoperative day 1 from the deligation. Robotic-assisted management of complications from urologic or gynecologic surgery is technically feasible. This can potentially preserve the advantages to the patient that are being seen from the initial less-invasive surgery.

A Survey of Space Robotics

NASA Technical Reports Server (NTRS)

Pedersen, L.; Kortenkamp, D.; Wettergreen, D.; Nourbakhsh, I.; Korsmeyer, David (Technical Monitor)

2003-01-01

In this paper we summarize a survey conducted by NASA to determine the state-of-the-art in space robotics and to predict future robotic capabilities under either nominal and intensive development effort. The space robotics assessment study examined both in-space operations including assembly, inspection, and maintenance and planetary surface operations like mobility and exploration. Applications of robotic autonomy and human-robot cooperation were considered. The study group devised a decomposition of robotic capabilities and then suggested metrics to specify the technical challenges associated with each. The conclusion of this paper identifies possible areas in which investment in space robotics could lead to significant advances of important technologies.

EPSRC Principles of Robotics: commentary on safety, robots as products, and responsibility

NASA Astrophysics Data System (ADS)

Boddington, Paula

2017-04-01

The EPSRC Principles of Robotics refer to safety. How safety is understood is relative to how tasks are characterised and identified. But the exact task(s) a robot plays within a complex system of agency may be hard to identify. If robots are seen as products, it is nonetheless vital that the safety and other implications of their use in situ must also be considered carefully, and they must be fit for purpose. The Principles identify humans as responsible, rather than robots. We must thus understand how the replacement of human agency by robotic agency may impact upon attributions of responsibility. The Principles seek to fit into existing systems of law and ethics. But these may need development, and in certain context, attention to more local regulations is also needed. A distinction between ethical issues related to the design of robotics, and to their use, may be needed in the Principles.

Service Oriented Robotic Architecture for Space Robotics: Design, Testing, and Lessons Learned

NASA Technical Reports Server (NTRS)

Fluckiger, Lorenzo Jean Marc E; Utz, Hans Heinrich

2013-01-01

This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at the NASA Ames Research Center. SORA relies on proven software engineering methods and technologies applied to space robotics. Based on a Service Oriented Architecture and robust middleware, SORA encompasses on-board robot control and a full suite of software tools necessary for remotely operated exploration missions. SORA has been eld tested in numerous scenarios of robotic lunar and planetary exploration. The experiments conducted by IRG with SORA exercise a large set of the constraints encountered in space applications: remote robotic assets, ight relevant science instruments, distributed operations, high network latencies and unreliable or intermittent communication links. In this paper, we present the results of these eld tests in regard to the developed architecture, and discuss its bene ts and limitations.

Urologic robots and future directions.

PubMed

Mozer, Pierre; Troccaz, Jocelyne; Stoianovici, Dan

2009-01-01

Robot-assisted laparoscopic surgery in urology has gained immense popularity with the daVinci system, but a lot of research teams are working on new robots. The purpose of this study is to review current urologic robots and present future development directions. Future systems are expected to advance in two directions: improvements of remote manipulation robots and developments of image-guided robots. The final goal of robots is to allow safer and more homogeneous outcomes with less variability of surgeon performance, as well as new tools to perform tasks on the basis of medical transcutaneous imaging, in a less invasive way, at lower costs. It is expected that improvements for a remote system could be augmented in reality, with haptic feedback, size reduction, and development of new tools for natural orifice translumenal endoscopic surgery. The paradigm of image-guided robots is close to clinical availability and the most advanced robots are presented with end-user technical assessments. It is also notable that the potential of robots lies much further ahead than the accomplishments of the daVinci system. The integration of imaging with robotics holds a substantial promise, because this can accomplish tasks otherwise impossible. Image-guided robots have the potential to offer a paradigm shift.

UROLOGIC ROBOTS AND FUTURE DIRECTIONS

PubMed Central

Mozer, Pierre; Troccaz, Jocelyne; Stoianovici, Dan

2009-01-01

Purpose of review Robot-assisted laparoscopic surgery in urology has gained immense popularity with the Da Vinci system but a lot of research teams are working on new robots. The purpose of this paper is to review current urologic robots and present future developments directions. Recent findings Future systems are expected to advance in two directions: improvements of remote manipulation robots and developments of image-guided robots. Summary The final goal of robots is to allow safer and more homogeneous outcomes with less variability of surgeon performance, as well as new tools to perform tasks based on medical transcutaneous imaging, in a less invasive way, at lower costs. It is expected that improvements for remote system could be augmented reality, haptic feed back, size reduction and development of new tools for NOTES surgery. The paradigm of image-guided robots is close to a clinical availability and the most advanced robots are presented with end-user technical assessments. It is also notable that the potential of robots lies much further ahead than the accomplishments of the daVinci system. The integration of imaging with robotics holds a substantial promise, because this can accomplish tasks otherwise impossible. Image guided robots have the potential to offer a paradigm shift. PMID:19057227

Synthesis of surface Cr (VI)-imprinted magnetic nanoparticles for selective dispersive solid-phase extraction and determination of Cr (VI) in water samples.

PubMed

Qi, Xue; Gao, Shuang; Ding, Guosheng; Tang, An-Na

2017-01-01

A facile, rapid and selective magnetic dispersed solid-phase extraction (dSPE) method for the extraction and enrichment of Cr (VI) prior to flame atomic absorption spectrometry (AAS) was introduced. For highly selective and efficient extraction, magnetic Cr (VI)-imprinted nanoparticles (Fe 3 O 4 @ Cr (VI) IIPs) were prepared by hyphenating surface ion-imprinted with sol-gel techniques. In the preparation process, chromate (Cr(VI)) was used as the template ion; vinylimidazole and 3-aminopropyltriethoxysilane were selected as organic functional monomer and co-monomer respectively. Another reagent, methacryloxypropyltrimethoxysilane was adopted as coupling agent to form the stable covalent bonding between organic and inorganic phases. The effects of various parameters on the extraction efficiency, such as pH of sample solution, the amount of adsorbent, extraction time, the type and concentration of eluent were systematically investigated. Furthermore, the thermodynamic and kinetic properties of the adsorption process were studied to explore the internal adsorption mechanism. Under optimized conditions, the preconcentration factor, limit of detection and linear range of the established dSPE-AAS method for Cr (VI) were found to be 98, 0.29μgL -1 and 4-140μgL -1 , respectively. The developed method was also successfully applied to the analysis of Cr (VI) in different water samples with satisfactory results, proving its reliability and feasibility in real sample analysis. Copyright © 2016 Elsevier B.V. All rights reserved.

[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.

Robotic hand with modular extensions

DOE Office of Scientific and Technical Information (OSTI.GOV)

Salisbury, Curt Michael; Quigley, Morgan

A robotic device is described herein. The robotic device includes a frame that comprises a plurality of receiving regions that are configured to receive a respective plurality of modular robotic extensions. The modular robotic extensions are removably attachable to the frame at the respective receiving regions by way of respective mechanical fuses. Each mechanical fuse is configured to trip when a respective modular robotic extension experiences a predefined load condition, such that the respective modular robotic extension detaches from the frame when the load condition is met.

Ferrate(VI) oxidation of weak-acid dissociable cyanides

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ria A. Yngard; Virender K. Sharma; Jan Filip

2008-04-15

Cyanide is commonly found in electroplating, mining, coal gasification, and petroleum refining effluents, which require treatment before being discharged. Cyanide in effluents exists either as free cyanide or as a metal complex. The kinetics of the oxidation of weak-acid dissociable cyanides by an environmentally friendly oxidant, ferrate, were studied as a function of pH (9.1-10.5) and temperature (15-45{sup o}C) using a stopped-flow technique. The weak-acid dissociable cyanides were Cd(CN){sub 4}{sup 2-} and Ni(CN){sub 4}{sup 2-}, and the rate-laws for the oxidation may be -d(Fe(VI))/dt = k (Fe(VI))(M(CN){sub 4}{sup 2-}){sup n} where n = 0.5 and 1 for Cd(CN){sub 4}{sup 2-}more » and Ni(CN){sub 4}{sup 2-}, respectively. The rates decreased with increasing pH and were mostly related to a decrease in concentration of the reactive protonated Fe(VI) species, HFeO{sub 4}{sup -}. The stoichiometries with Fe(VI) were determined to be: 4HFeO{sub 4}{sup -} + M(CN){sub 4}{sup 2-} + 6H{sub 2}O {yields} 4Fe(OH){sub 3} + M{sup 2+} + 4NCO{sup -} + O{sub 2} + 4OH{sup -}. Mechanisms are proposed that agree with the observed reaction rate-laws and stoichiometries of the oxidation of weak-acid dissociable cyanides by Fe(VI). Results indicate that Fe(VI) is effective in removing cyanide in coke oven plant effluent, where organics are also present. 27 refs., 3 figs., 2 tabs.« less

Industrial robots on the line

NASA Astrophysics Data System (ADS)

Ayres, R.; Miller, S.

1982-06-01

The characteristics, applications, and operational capabilities of currently available robots are examined. Designed to function at tasks of a repetitive, hazardous, or uncreative nature, robot appendages are controlled by microprocessors which permit some simple decision-making on-the-job, and have served for sample gathering on the Mars Viking lander. Critical developmental areas concern active sensors at the robot grappler-object interface, where sufficient data must be gathered for the central processor to which the robot is attached to conclude the state of completion and suitability of the workpiece. Although present robots must be programmed through every step of a particular industrial process, thus limiting each robot to specialized tasks, the potential for closed cells of batch-processing robot-run units is noted to be close to realization. Finally, consideration is given to methods for retraining the human workforce that robots replace

Robotics research projects report

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hsia, T.C.

The research results of the Robotics Research Laboratory are summarized. Areas of research include robotic control, a stand-alone vision system for industrial robots, and sensors other than vision that would be useful for image ranging, including ultrasonic and infra-red devices. One particular project involves RHINO, a 6-axis robotic arm that can be manipulated by serial transmission of ASCII command strings to its interfaced controller. (LEW)

Tool Changer For Robot

NASA Technical Reports Server (NTRS)

Voellmer, George M.

1992-01-01

Mechanism enables robot to change tools on end of arm. Actuated by motion of robot: requires no additional electrical or pneumatic energy to make or break connection between tool and wrist at end of arm. Includes three basic subassemblies: wrist interface plate attached to robot arm at wrist, tool interface plate attached to tool, and holster. Separate tool interface plate and holster provided for each tool robot uses.

Why Robots Should Be Social: Enhancing Machine Learning through Social Human-Robot Interaction.

PubMed

de Greeff, Joachim; Belpaeme, Tony

2015-01-01

Social learning is a powerful method for cultural propagation of knowledge and skills relying on a complex interplay of learning strategies, social ecology and the human propensity for both learning and tutoring. Social learning has the potential to be an equally potent learning strategy for artificial systems and robots in specific. However, given the complexity and unstructured nature of social learning, implementing social machine learning proves to be a challenging problem. We study one particular aspect of social machine learning: that of offering social cues during the learning interaction. Specifically, we study whether people are sensitive to social cues offered by a learning robot, in a similar way to children's social bids for tutoring. We use a child-like social robot and a task in which the robot has to learn the meaning of words. For this a simple turn-based interaction is used, based on language games. Two conditions are tested: one in which the robot uses social means to invite a human teacher to provide information based on what the robot requires to fill gaps in its knowledge (i.e. expression of a learning preference); the other in which the robot does not provide social cues to communicate a learning preference. We observe that conveying a learning preference through the use of social cues results in better and faster learning by the robot. People also seem to form a "mental model" of the robot, tailoring the tutoring to the robot's performance as opposed to using simply random teaching. In addition, the social learning shows a clear gender effect with female participants being responsive to the robot's bids, while male teachers appear to be less receptive. This work shows how additional social cues in social machine learning can result in people offering better quality learning input to artificial systems, resulting in improved learning performance.

Inhibition of nitrate reduction by chromium (VI) in anaerobic soil microcosms

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kourtev, P. S.; Nakatsu, C. H.; Konopka, Allan

2009-10-01

Chromium (VI) is often found as a co-contaminant at sites polluted with organic compounds. We used microcosms amended with glucose or protein, nitrate and increasing concentrations of chromium to study nitrate reduction in Cr(VI) polluted soils. Organic carbon stimulated bacterial activity, but the addition of Cr(VI) caused a lag and then slower rates 5 of CO2 accumulation. Nitrate reduction only occurred after Cr(VI) had been reduced. Bacterial activity was again inhibited when Cr(VI) was added a second time; thus not all Cr-sensitive bacteria were removed in the first phase. Glucose and protein selected for relatively similar bacterial communities, as assayedmore » by PCR-DGGE of the 16S rRNA gene; this selection was modified by the addition of 10 Cr(VI). Cr-resistant bacteria isolated from microcosms were closely related to members of Bacillus, Enterococcus and Propionibacterium sp. Our results indicate that carbon utilization and nitrate reduction in these soils in the presence of Cr(VI) are contingent upon the reduction of the added heavy metal by a limited subset of the bacterial community. The amount of Cr(VI) required to inhibit nitrate reduction was 10-fold less than for aerobic catabolism of the same 15 substrate. We hypothesize that the resistance level of a microbial process is directly related to the diversity of microbes capable of conducting it.« less

Robot Tracer with Visual Camera

NASA Astrophysics Data System (ADS)

Jabbar Lubis, Abdul; Dwi Lestari, Yuyun; Dafitri, Haida; Azanuddin

2017-12-01

Robot is a versatile tool that can function replace human work function. The robot is a device that can be reprogrammed according to user needs. The use of wireless networks for remote monitoring needs can be utilized to build a robot that can be monitored movement and can be monitored using blueprints and he can track the path chosen robot. This process is sent using a wireless network. For visual robot using high resolution cameras to facilitate the operator to control the robot and see the surrounding circumstances.

Perspectives future space on robotics

NASA Technical Reports Server (NTRS)

Lavery, Dave

1994-01-01

Last year's flight of the German ROTEX robot flight experiment heralded the start of a new era for space robotics. ROTEX is the first of at least 10 new robotic systems and experiments that will fly before 2000. These robots will augment astronaut on-orbit capabilities and extend virtual human presence to lunar and planetary surfaces. The robotic systems to be flown in the next five years fall into three categories: extravehicular robotic (EVR) servicers, science payload servicers, and planetary surface rovers. A description of the work on these systems is presented.

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

Intrepid Systems Team member Mark Curry, left, talks with NASA Deputy Administrator Lori Garver and NASA Chief Technologist Mason Peck, right, about his robot named "MXR - Mark's Exploration Robot" on Saturday, June 16, 2012 at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. Curry's robot team was one of the final teams participating in the NASA-WPI Sample Return Robot Centennial Challenge at WPI. Teams were challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-15

Intrepid Systems robot "MXR - Mark's Exploration Robot" takes to the practice field and tries to capture the white object in the foreground on Friday, June 15, 2012 at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. Intrepid Systems' robot team will compete for a $1.5 million NASA prize in the NASA-WPI Sample Return Robot Centennial Challenge at WPI. Teams have been challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

Children visiting the Worcester Polytechnic Institute (WPI) "TouchTomorrow" education and outreach event try to catch basketballs being thrown by a robot from FIRST Robotics at Burncoat High School (Mass.) on Saturday, June 16, 2012 at WPI in Worcester, Mass. The TouchTomorrow event was held in tandem with the NASA-WPI Sample Return Robot Centennial Challenge. The NASA-WPI challenge tasked robotic teams to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-15

Intrepid Systems Team member Mark Curry, right, answers questions from 8th grade Sullivan Middle School (Mass.) students about his robot named "MXR - Mark's Exploration Robot" on Friday, June 15, 2012, at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. Curry's robot team will compete for a $1.5 million NASA prize in the NASA-WPI Sample Return Robot Centennial Challenge at WPI. Teams have been challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Guarded Motion for Mobile Robots

DOE Office of Scientific and Technical Information (OSTI.GOV)

2005-03-30

The Idaho National Laboratory (INL) has created codes that ensure that a robot will come to a stop at a precise, specified distance from any obstacle regardless of the robot's initial speed, its physical characteristics, and the responsiveness of the low-level motor control schema. This Guarded Motion for Mobile Robots system iteratively adjusts the robot's action in response to information about the robot's environment.

Robotic Thumb Assembly

NASA Technical Reports Server (NTRS)

Ihrke, Chris A. (Inventor); Bridgwater, Lyndon (Inventor); Platt, Robert (Inventor); Wampler, II, Charles W. (Inventor); Goza, S. Michael (Inventor)

2013-01-01

An improved robotic thumb for a robotic hand assembly is provided. According to one aspect of the disclosure, improved tendon routing in the robotic thumb provides control of four degrees of freedom with only five tendons. According to another aspect of the disclosure, one of the five degrees of freedom of a human thumb is replaced in the robotic thumb with a permanent twist in the shape of a phalange. According to yet another aspect of the disclosure, a position sensor includes a magnet having two portions shaped as circle segments with different center points. The magnet provides a linearized output from a Hall effect sensor.

Robotic hair restoration.

PubMed

Rose, Paul T; Nusbaum, Bernard

2014-01-01

The latest innovation to hair restoration surgery has been the introduction of a robotic system for harvesting grafts. This system uses the follicular unit extraction/follicular isolation technique method for harvesting follicular units, which is particularly well suited to the abilities of a robotic technology. The ARTAS system analyzes images of the donor area and then a dual-chamber needle and blunt dissecting punch are used to harvest the follicular units. The robotic technology is now being used in various locations around the world. This article discusses the use of the robotic system, its capabilities, and the advantages and disadvantages of the system. Copyright © 2014 Elsevier Inc. All rights reserved.

30 Years of Robotic Surgery.

PubMed

Leal Ghezzi, Tiago; Campos Corleta, Oly

2016-10-01

The idea of reproducing himself with the use of a mechanical robot structure has been in man's imagination in the last 3000 years. However, the use of robots in medicine has only 30 years of history. The application of robots in surgery originates from the need of modern man to achieve two goals: the telepresence and the performance of repetitive and accurate tasks. The first "robot surgeon" used on a human patient was the PUMA 200 in 1985. In the 1990s, scientists developed the concept of "master-slave" robot, which consisted of a robot with remote manipulators controlled by a surgeon at a surgical workstation. Despite the lack of force and tactile feedback, technical advantages of robotic surgery, such as 3D vision, stable and magnified image, EndoWrist instruments, physiologic tremor filtering, and motion scaling, have been considered fundamental to overcome many of the limitations of the laparoscopic surgery. Since the approval of the da Vinci(®) robot by international agencies, American, European, and Asian surgeons have proved its factibility and safety for the performance of many different robot-assisted surgeries. Comparative studies of robotic and laparoscopic surgical procedures in general surgery have shown similar results with regard to perioperative, oncological, and functional outcomes. However, higher costs and lack of haptic feedback represent the major limitations of current robotic technology to become the standard technique of minimally invasive surgery worldwide. Therefore, the future of robotic surgery involves cost reduction, development of new platforms and technologies, creation and validation of curriculum and virtual simulators, and conduction of randomized clinical trials to determine the best applications of robotics.

Mechanochemically Active Soft Robots.

PubMed

Gossweiler, Gregory R; Brown, Cameron L; Hewage, Gihan B; Sapiro-Gheiler, Eitan; Trautman, William J; Welshofer, Garrett W; Craig, Stephen L

2015-10-14

The functions of soft robotics are intimately tied to their form-channels and voids defined by an elastomeric superstructure that reversibly stores and releases mechanical energy to change shape, grip objects, and achieve complex motions. Here, we demonstrate that covalent polymer mechanochemistry provides a viable mechanism to convert the same mechanical potential energy used for actuation in soft robots into a mechanochromic, covalent chemical response. A bis-alkene functionalized spiropyran (SP) mechanophore is cured into a molded poly(dimethylsiloxane) (PDMS) soft robot walker and gripper. The stresses and strains necessary for SP activation are compatible with soft robot function. The color change associated with actuation suggests opportunities for not only new color changing or camouflaging strategies, but also the possibility for simultaneous activation of latent chemistry (e.g., release of small molecules, change in mechanical properties, activation of catalysts, etc.) in soft robots. In addition, mechanochromic stress mapping in a functional robotic device might provide a useful design and optimization tool, revealing spatial and temporal force evolution within the robot in a way that might be coupled to autonomous feedback loops that allow the robot to regulate its own activity. The demonstration motivates the simultaneous development of new combinations of mechanophores, materials, and soft, active devices for enhanced functionality.

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – Bruce Yost of NASA's Ames Research Center discusses a small satellite, known as PhoneSat, during the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – Ron Diftler of NASA's Johnson Space Center in Houston demonstrates the leg movements of Robonaut 2 during the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Roboter in der Raumfahrt

NASA Astrophysics Data System (ADS)

Hirzinger, G.

(Robots in space)—The paper emphasizes the enormous automation impact in industry caused by microelectronics, a "byproduct" of space-technology. The evolutionary stages of robotic are outlined and it is shown that there are a lot of reasons for more automation, artificial intelligence and robotic in space, too. The telemanipulator concept is compared with the industrial robot concept, both showing up an increasing degree of similarity. The state of the art in sensory systems is discussed. By hand of the typical operations needed in space as rendezvous, assembly and docking the required robot skill is indicated. As a conclusion it is stated that the basic technologies available with industrial robots today could solve a lot of space problems. What remains to do—apart of course from ongoing research—is better integration and adaption of industrial techniques to the need of space technology.

Applying robotics to HAZMAT

NASA Technical Reports Server (NTRS)

Welch, Richard V.; Edmonds, Gary O.

1994-01-01

The use of robotics in situations involving hazardous materials can significantly reduce the risk of human injuries. The Emergency Response Robotics Project, which began in October 1990 at the Jet Propulsion Laboratory, is developing a teleoperated mobile robot allowing HAZMAT (hazardous materials) teams to remotely respond to incidents involving hazardous materials. The current robot, called HAZBOT III, can assist in locating characterizing, identifying, and mitigating hazardous material incidents without risking entry team personnel. The active involvement of the JPL Fire Department HAZMAT team has been vital in developing a robotic system which enables them to perform remote reconnaissance of a HAZMAT incident site. This paper provides a brief review of the history of the project, discusses the current system in detail, and presents other areas in which robotics can be applied removing people from hazardous environments/operations.

Effect of phosphate on U(VI) sorption to montmorillonite: Ternary complexation and precipitation barriers

NASA Astrophysics Data System (ADS)

Troyer, Lyndsay D.; Maillot, Fabien; Wang, Zheming; Wang, Zimeng; Mehta, Vrajesh S.; Giammar, Daniel E.; Catalano, Jeffrey G.

2016-02-01

Phosphate addition is a potential treatment method to lower the solubility of U(VI) in soil and groundwater systems by causing U(VI) phosphate precipitation as well as enhancing adsorption. Previous work has shown that iron oxide surfaces may facilitate the nucleation of U(VI) phosphate minerals and, that under weakly acidic conditions, phosphate also enhances U(VI) adsorption to such phases. Like iron oxides, clays are important reactive phases in the subsurface but little is known about the interaction of U(VI) and phosphate with these minerals. The effect of aqueous phosphate on U(VI) binding to Wyoming montmorillonite (SWy-2) in air-equilibrated systems was investigated. Equilibrium U(VI) uptake to montmorillonite was determined at pH 4, 6 and 8 at discrete initial phosphate concentrations between 0 and 100 μM. The observed behavior of U(VI) indicates a transition from adsorption to precipitation with increasing total uranium and phosphate concentrations at all pH values. At the highest phosphate concentration examined at each pH value, a barrier to U(VI) phosphate nucleation is observed. At lower concentrations, phosphate has no effect on macroscopic U(VI) adsorption. To assess the mechanisms of U(VI)-phosphate interactions on smectite surfaces, U(VI) speciation was investigated under selected conditions using laser-induced fluorescence spectroscopy (LIFS) and extended X-ray absorption fine-structure (EXAFS) spectroscopy. Samples above the precipitation threshold display EXAFS and LIFS spectral signatures consistent with the autunite family of U(VI) phosphate minerals. However, at lower U(VI) concentrations, changes in LIFS spectra upon phosphate addition suggest that U(VI)-phosphate ternary surface complexes form on the montmorillonite surface at pH 4 and 6 despite the lack of a macroscopic effect on adsorption. The speciation of solid-associated U(VI) below the precipitation threshold at pH 8 is dominated by U(VI)-carbonate surface complexes. This work

Effect of Phosphate on U(VI) Sorption to Montmorillonite: Ternary Complexation and Precipitation Barriers

DOE Office of Scientific and Technical Information (OSTI.GOV)

Troyer, Lyndsay D.; Maillot, Fabien; Wang, Zheming

Phosphate addition is a potential treatment method to lower the solubility of U(VI) in soil and groundwater systems by causing U(VI) phosphate precipitation as well as enhancing adsorption. Previous work has shown that iron oxide surfaces may facilitate the nucleation of U(VI) phosphate minerals and, that under weakly acidic conditions, phosphate also enhances U(VI) adsorption to such phases. Like iron oxides, clays are important reactive phases in the subsurface but little is known about the interaction of U(VI) and phosphate with these minerals. The effect of aqueous phosphate on U(VI) binding to Wyoming montmorillonite (SWy-2) in air-equilibrated systems was investigated.more » Equilibrium U(VI) uptake to montmorillonite was determined at pH 4, 6 and 8 at discrete initial phosphate concentrations between 0 and 100 μM. The observed behavior of U(VI) indicates a transition from adsorption to precipitation with increasing total uranium and phosphate concentrations at all pH values. At the highest phosphate concentration examined at each pH value, a barrier to U(VI) phosphate nucleation is observed. At lower concentrations, phosphate has no effect on macroscopic U(VI) adsorption. To assess the mechanisms of U(VI)-phosphate interactions on smectite surfaces, U(VI) speciation was investigated under selected conditions using laser-induced fluorescence spectroscopy (LIFS) and extended X-ray absorption fine-structure (EXAFS) spectroscopy. Samples above the precipitation threshold display EXAFS and LIFS spectral signatures consistent with the autunite family of U(VI) phosphate minerals. However, at lower U(VI) concentrations, changes in LIFS spectra upon phosphate addition suggest that U(VI)-phosphate ternary surface complexes form on the montmorillonite surface at pH 4 and 6 despite the lack of a macroscopic effect on adsorption. The speciation of solid-associated U(VI) below the precipitation threshold at pH 8 is dominated by U(VI)-carbonate surface complexes. This

Robotic technology in urology

PubMed Central

Murphy, D; Challacombe, B; Khan, M S; Dasgupta, P

2006-01-01

Urology has increasingly become a technology‐driven specialty. The advent of robotic surgical systems in the past 10 years has led to urologists becoming the world leaders in the use of such technology. In this paper, we review the history and current status of robotic technology in urology. From the earliest uses of robots for transurethral resection of the prostate, to robotic devices for manipulating laparoscopes and to the current crop of master–slave devices for robotic‐assisted laparoscopic surgery, the evolution of robotics in the urology operating theatre is presented. Future possibilities, including the prospects for nanotechnology in urology, are awaited. PMID:17099094

The MK VI - A second generation attitude control system

NASA Astrophysics Data System (ADS)

Meredith, P. J.

1986-10-01

The MK VI, a new multipurpose attitude control system for the exoatmospheric attitude control of sounding rocket payloads, is described. The system employs reprogrammable microcomputer memory for storage of basic control logic and for specific mission event control data. The paper includes descriptions of MK VI specifications and configuration; sensor characteristics; the electronic, analog, and digital sections; the pneumatic system; ground equipment; the system operation; and software. A review of the MK VI performance for the Comet Halley flight is presented. Block diagrams are included.

Robotic systems in spine surgery.

PubMed

Onen, Mehmet Resid; Naderi, Sait

2014-01-01

Surgical robotic systems have been available for almost twenty years. The first surgical robotic systems were designed as supportive systems for laparoscopic approaches in general surgery (the first procedure was a cholecystectomy in 1987). The da Vinci Robotic System is the most common system used for robotic surgery today. This system is widely used in urology, gynecology and other surgical disciplines, and recently there have been initial reports of its use in spine surgery, for transoral access and anterior approaches for lumbar inter-body fusion interventions. SpineAssist, which is widely used in spine surgery, and Renaissance Robotic Systems, which are considered the next generation of robotic systems, are now FDA approved. These robotic systems are designed for use as guidance systems in spine instrumentation, cement augmentations and biopsies. The aim is to increase surgical accuracy while reducing the intra-operative exposure to harmful radiation to the patient and operating team personnel during the intervention. We offer a review of the published literature related to the use of robotic systems in spine surgery and provide information on using robotic systems.

Tandem mobile robot system

DOEpatents

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

2003-01-01

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

Systematic review of operative outcomes of robotic surgical procedures performed with endoscopic linear staplers or robotic staplers.

PubMed

Gutierrez, Mario; Ditto, Richard; Roy, Sanjoy

2018-05-09

A comprehensive review of operative outcomes of robotic surgical procedures performed with the da Vinci robotic system using either endoscopic linear staplers (ELS) or robotic staplers is not available in the published literature. We conducted a literature search to identify publications of robotic surgical procedures in all specialties performed with either ELS or robotic staplers. Twenty-nine manuscripts and six abstracts with relevant information on operative outcomes published from January 2011 to September 2017 were identified. Given the relatively recent market release of robotic staplers in 2014, comparative perioperative clinical outcomes data on the performance of ELS vs. robotic staplers in robotic surgery is very sparse in the published literature. Only three comparative studies of surgeries with the da Vinci robotic system plus ELS vs. da Vinci plus robotic staplers were identified; two in robotic colorectal surgery and the other in robotic gastric bypass surgery. These comparative studies illustrate some nuances in device design and usability, which may impact outcomes and cost, and therefore may be important to consider when selecting the appropriate stapling technologies/technique for different robotic surgeries. Comparative perioperative data on the use of ELS vs. robotic staplers in robotic surgery is scarce (three studies), and current literature identifies both types of devices as safe and effective. Given the longer clinical history of ELS and its relatively more robust evidence base, there may be trade-offs to consider before switching to robotic staplers in certain robotic procedures. However, this literature review may serve as an initial reference for future research.

Full autonomous microline trace robot

NASA Astrophysics Data System (ADS)

Yi, Deer; Lu, Si; Yan, Yingbai; Jin, Guofan

2000-10-01

Optoelectric inspection may find applications in robotic system. In micro robotic system, smaller optoelectric inspection system is preferred. However, as miniaturizing the size of the robot, the number of the optoelectric detector becomes lack. And lack of the information makes the micro robot difficult to acquire its status. In our lab, a micro line trace robot has been designed, which autonomous acts based on its optoelectric detection. It has been programmed to follow a black line printed on the white colored ground. Besides the optoelectric inspection, logical algorithm in the microprocessor is also important. In this paper, we propose a simply logical algorithm to realize robot's intelligence. The robot's intelligence is based on a AT89C2051 microcontroller which controls its movement. The technical details of the micro robot are as follow: dimension: 30mm*25mm*35*mm; velocity: 60mm/s.

Robotic comfort zones

NASA Astrophysics Data System (ADS)

Likhachev, Maxim; Arkin, Ronald C.

2000-10-01

The paper investigates how the psychological notion of comfort can be useful in the design of robotic systems. A review of the existing study of human comfort, especially regarding its presence in infants, is conducted with the goal being to determine the relevant characteristics for mapping it onto the robotics domain. Focus is place on the identification of the salient features in the environment that affect the comfort level. Factors involved include current state familiarity, working conditions, the amount and location of available resources, etc. As part of our newly developed comfort function theory, the notion of an object as a psychological attachment for a robot is also introduced, as espoused in Bowlby's theory of attachment. The output space of the comfort function and its dependency on the comfort level are analyzed. The results of the derivation of this comfort function are then presented in terms of the impact they have on robotic behavior. Justification for the use of the comfort function are then presented in terms of the impact they have on robotic behavior. Justification for the use of the comfort function in the domain of robotics is presented with relevance for real-world operations. Also, a transformation of the theoretical discussion into a mathematical framework suitable for implementation within a behavior-based control system is presented. The paper concludes with results of simulation studies and real robot experiments using the derived comfort function.

Rehabilitation robotics

PubMed Central

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

2015-01-01

This chapter focuses on rehabilitation robotics which can be used to augment the clinician’s toolbox in order to deliver meaningful restorative therapy for an aging population, as well as on advances in orthotics to augment an individual’s functional abilities beyond neurorestoration potential. The interest in rehabilitation robotics and orthotics is increasing steadily with marked growth in the last 10 years. This growth is understandable in view of the increased demand for caregivers and rehabilitation services escalating apace with the graying of the population. We will provide an overview on improving function in people with a weak limb due to a neurological disorder who cannot properly control it to interact with the environment (orthotics); we will then focus on tools to assist the clinician in promoting rehabilitation of an individual so that s/he can interact with the environment unassisted (rehabilitation robotics). We will present a few clinical results occurring immediately poststroke as well as during the chronic phase that demonstrate superior gains for the upper extremity when employing rehabilitation robotics instead of usual care. These include the landmark VA-ROBOTICS multisite, randomized clinical study which demonstrates clinical gains for chronic stroke that go beyond usual care at no additional cost. PMID:23312648

Rehabilitation robotics.

PubMed

Krebs, H I; Volpe, B T

2013-01-01

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

Kandinsky's "Composition VI": Heideggerian Poetry in Noah's Ark

ERIC Educational Resources Information Center

Hall, Joshua M.

2012-01-01

The author will begin his investigation of Wassily Kandinsky's painting "Composition VI" with Kandinsky's own commentary on the painting. He will then turn to the analysis of Kandinsky and the "Compositions" in John Sallis's book "Shades." Using this analysis as his point of departure, the author will consider how "Composition VI" resonates with…

Quantifying Cr(VI) Production and Export from Serpentine Soil of the California Coast Range.

PubMed

McClain, Cynthia N; Fendorf, Scott; Webb, Samuel M; Maher, Kate

2017-01-03

Hexavalent chromium (Cr(VI)) is generated in serpentine soils and exported to surface and groundwaters at levels above health-based drinking water standards. Although Cr(VI) concentrations are elevated in serpentine soil pore water, few studies have reported field evidence documenting Cr(VI) production rates and fluxes that govern Cr(VI) transport from soil to water sources. We report Cr speciation (i) in four serpentine soil depth profiles derived from the California Coast Range serpentinite belt and (ii) in local surface waters. Within soils, we detected Cr(VI) in the same horizons where Cr(III)-minerals are colocated with biogenic Mn(III/IV)-oxides, suggesting Cr(VI) generation through oxidation by Mn-oxides. Water-extractable Cr(VI) concentrations increase with depth constituting a 7.8 to 12 kg/km 2 reservoir of Cr(VI) in soil. Here, Cr(VI) is produced at a rate of 0.3 to 4.8 kg Cr(VI)/km 2 /yr and subsequently flushed from soil during water infiltration, exporting 0.01 to 3.9 kg Cr(VI)/km 2 /yr at concentrations ranging from 25 to 172 μg/L. Although soil-derived Cr(VI) is leached from soil at concentrations exceeding 10 μg/L, due to reduction and dilution during transport to streams, Cr(VI) levels measured in local surface waters largely remain below California's drinking water limit.

A Human–Robot Interaction Perspective on Assistive and Rehabilitation Robotics

PubMed Central

Beckerle, Philipp; Salvietti, Gionata; Unal, Ramazan; Prattichizzo, Domenico; Rossi, Simone; Castellini, Claudio; Hirche, Sandra; Endo, Satoshi; Amor, Heni Ben; Ciocarlie, Matei; Mastrogiovanni, Fulvio; Argall, Brenna D.; Bianchi, Matteo

2017-01-01

Assistive and rehabilitation devices are a promising and challenging field of recent robotics research. Motivated by societal needs such as aging populations, such devices can support motor functionality and subject training. The design, control, sensing, and assessment of the devices become more sophisticated due to a human in the loop. This paper gives a human–robot interaction perspective on current issues and opportunities in the field. On the topic of control and machine learning, approaches that support but do not distract subjects are reviewed. Options to provide sensory user feedback that are currently missing from robotic devices are outlined. Parallels between device acceptance and affective computing are made. Furthermore, requirements for functional assessment protocols that relate to real-world tasks are discussed. In all topic areas, the design of human-oriented frameworks and methods is dominated by challenges related to the close interaction between the human and robotic device. This paper discusses the aforementioned aspects in order to open up new perspectives for future robotic solutions. PMID:28588473

Removal of chromium (VI) from aqueous solution using walnut hull.

PubMed

Wang, Xue Song; Li, Zhi Zhong; Tao, Sheng Rong

2009-02-01

In this study, removal of chromium (VI) from aqueous solution by walnut hull (a local low-cost adsorbent) was studied. The extent of adsorption was investigated as a function of solution pH, contact time, adsorbent and adsorbate concentration, reaction temperature and supporting electrolyte (sodium chloride). The Cr (VI) removal was pH-dependent, reaching a maximum (97.3%) at pH 1.0. The kinetic experimental data were fitted to the first-order, modified Freundlich, intraparticle diffusion and Elovich models and the corresponding parameters were obtained. A 102.78 kJ/mol Ea (activation energy) for the reaction of chromium (VI) adsorption onto walnut indicated that the rate-limiting step in this case might be a chemically controlled process. Both the Langmuir and Freundlich isotherms were suitable for describing the biosorption of chromium (VI) onto walnut hull. The uptake of chromium (VI) per weight of adsorbent increased with increasing initial chromium (VI) concentration up to 240-480 mg/L, and decreased sharply with increasing adsorbent concentration ranging from 1.0 to 5.0 g/L. An increase in sodium chloride (as supporting electrolyte) concentration was found to induce a negative effect while an increase in temperature was found to give rise to a positive effect on the chromium (VI) adsorption process. Compared to the various other adsorbents reported in the literature, the walnut hull in this study shows very good promise for practical applicability.

Kinetic evaluation of chromium(VI) sorption by water lettuce (Pistia).

PubMed

Chakraborty, Rupa; Karmakar, Sukalpa; Mukherjee, Somnath; Kumar, Sunil

2014-01-01

An investigation was performed to evaluate the uptake capacity of Pistia in living condition for adsorptive removal of chromium(VI) from spiked solution for examining a remedial measure for disposal of chrome-laden wastewater in an urban wetland system. Kinetics results show about 78% removal was achieved for 3 mg/L initial concentration of Cr(VI). Experimental data showed that the root portion absorbed more Cr(VI) (28.54 μg/g) compared to accumulation in leaf (5.73 μg/g). It was also noted that the plant could effectively remove Cr(VI) from the solution with minor damage up to an initial Cr(VI) concentration of 3 mg/L, for which the adsorption isotherm studies were conducted. The maximum uptake capacity of the plant was recorded as 0.05 mg/g of Cr(VI) at the equilibrium level after a contact period of 7 days for an initial concentration of 8 mg /L, although severe physiological damage occurred. The experimental results were plotted in Langmuir and Freundlich isotherm models and both were found to be well fitted (r(2) = 0.979 and r(2) = 0.974 respectively). The high value of n (2.16) reveals a strong bond between the plant root and dissolved Cr(VI), which favours the adsorption process. The order of the reaction was also examined on the basis of uptake capacity and it was found that the second order model fitted best.

75 FR 80818 - Funding Availability for Title VI Grant Applications; Extension

Federal Register 2010, 2011, 2012, 2013, 2014

2010-12-23

... DEPARTMENT OF HEALTH AND HUMAN SERVICES Administration on Aging Funding Availability for Title VI... Administration on Aging is extending the date for which the Title VI grants applications for the grant period... on March 31, 2011. Funding Opportunity Title/Program Name: Older Americans Act (OAA), Title VI, Part...

ROBOTIC ASSISTED SINGLE SITE FOR BILATERAL INGUINAL HERNIA REPAIR.

PubMed

Bosi, Henrique Rasia; Guimarães, José Ricardo; Cavazzola, Leandro Totti

2016-01-01

The inguinal hernia is one of the most frequent surgical diseases, being frequent procedure and surgeon´s everyday practice. To present technical details in making hernioplasty using robotic equipment on bilateral inguinal hernia repair with single port and preliminary results with the method. The bilateral inguinal hernia repair was performed by using the Single-Site(c) Da Vinci Surgical Access Platform to the abdominal cavity and the placement of clamps. This technique proved to be effective for inguinal hernia and have more aesthetic result when compared to other techniques. Inguinal hernia repair robot-assisted with single-trocar is feasible and effective. However, still has higher costs needing surgical team special training. A hérnia inguinal é uma das doenças cirúrgicas mais frequentes, tornando-a procedimento frequente e do cotidiano do cirurgião. Apresentar detalhes da técnica da hernioplastia inguinal bilateral robótica por single-site e resultados preliminares com o método. Foi realizada hernioplastia inguinal bilateral assistida por robô, utilizando-se da Vinci Single-Site(c) Surgical Platform para acesso a cavidade abdominal e colocação das pinças. Esta técnica demonstrou-se efetiva para correção da hérnia inguinal, além de apresentar melhor resultado estético quando comparado às outras técnicas. A hernioplastia inguinal assistida por robô com trocarte único é viável e eficaz. Contudo, ainda apresenta custos mais elevados e necessidade de treinamento especial por parte da equipe cirúrgica.

Multi-Robot Assembly Strategies and Metrics.

PubMed

Marvel, Jeremy A; Bostelman, Roger; Falco, Joe

2018-02-01

We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies.

Multi-Robot Assembly Strategies and Metrics

PubMed Central

MARVEL, JEREMY A.; BOSTELMAN, ROGER; FALCO, JOE

2018-01-01

We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies. PMID:29497234

GWM-VI: groundwater management with parallel processing for multiple MODFLOW versions

USGS Publications Warehouse

Banta, Edward R.; Ahlfeld, David P.

2013-01-01

Groundwater Management–Version Independent (GWM–VI) is a new version of the Groundwater Management Process of MODFLOW. The Groundwater Management Process couples groundwater-flow simulation with a capability to optimize stresses on the simulated aquifer based on an objective function and constraints imposed on stresses and aquifer state. GWM–VI extends prior versions of Groundwater Management in two significant ways—(1) it can be used with any version of MODFLOW that meets certain requirements on input and output, and (2) it is structured to allow parallel processing of the repeated runs of the MODFLOW model that are required to solve the optimization problem. GWM–VI uses the same input structure for files that describe the management problem as that used by prior versions of Groundwater Management. GWM–VI requires only minor changes to the input files used by the MODFLOW model. GWM–VI uses the Joint Universal Parameter IdenTification and Evaluation of Reliability Application Programming Interface (JUPITER-API) to implement both version independence and parallel processing. GWM–VI communicates with the MODFLOW model by manipulating certain input files and interpreting results from the MODFLOW listing file and binary output files. Nearly all capabilities of prior versions of Groundwater Management are available in GWM–VI. GWM–VI has been tested with MODFLOW-2005, MODFLOW-NWT (a Newton formulation for MODFLOW-2005), MF2005-FMP2 (the Farm Process for MODFLOW-2005), SEAWAT, and CFP (Conduit Flow Process for MODFLOW-2005). This report provides sample problems that demonstrate a range of applications of GWM–VI and the directory structure and input information required to use the parallel-processing capability.

Intelligent Articulated Robot

NASA Astrophysics Data System (ADS)

Nyein, Aung Kyaw; Thu, Theint Theint

2008-10-01

In this paper, an articulated type of industrial used robot is discussed. The robot is mainly intended to be used in pick and place operation. It will sense the object at the specified place and move it to a desired location. A peripheral interface controller (PIC16F84A) is used as the main controller of the robot. Infrared LED and IR receiver unit for object detection and 4-bit bidirectional universal shift registers (74LS194) and high current and high voltage Darlington transistors arrays (ULN2003) for driving the arms' motors are used in this robot. The amount of rotation for each arm is regulated by the limit switches. The operation of the robot is very simple but it has the ability of to overcome resetting position after power failure. It can continue its work from the last position before the power is failed without needing to come back to home position.

Integrated Cr(VI) removal using constructed wetlands and composting.

PubMed

Sultana, Mar-Yam; Chowdhury, Abu Khayer Md Muktadirul Bari; Michailides, Michail K; Akratos, Christos S; Tekerlekopoulou, Athanasia G; Vayenas, Dimitrios V

2015-01-08

The present work was conducted to study integrated chromium removal from aqueous solutions in horizontal subsurface (HSF) constructed wetlands. Two pilot-scale HSF constructed wetlands (CWs) units were built and operated. One unit was planted with common reeds (Phragmites australis) and one was kept unplanted. Influent concentrations of Cr(VI) ranged from 0.5 to 10mg/L. The effect of temperature and hydraulic residence time (8-0.5 days) on Cr(VI) removal were studied. Temperature was proved to affect Cr(VI) removal in both units. In the planted unit maximum Cr(VI) removal efficiencies of 100% were recorded at HRT's of 1 day with Cr(VI) concentrations of 5, 2.5 and 1mg/L, while a significantly lower removal rate was recorded in the unplanted unit. Harvested reed biomass from the CWs was co-composted with olive mill wastes. The final product had excellent physicochemical characteristics (C/N: 14.1-14.7, germination index (GI): 145-157%, Cr: 8-10mg/kg dry mass), fulfills EU requirements and can be used as a fertilizer in organic farming. Copyright © 2014 Elsevier B.V. All rights reserved.

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – Two young visitors get an up-close look at an engineering model of Robonaut 2, complete with a set of legs, during the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

NASA Deputy Administrator Lori Garver, left, listens as Worcester Polytechnic Institute (WPI) Robotics Resource Center Director and NASA-WPI Sample Return Robot Centennial Challenge Judge Ken Stafford points out how the robots navigate the playing field during the challenge on Saturday, June 16, 2012 in Worcester, Mass. Teams were challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

NASA Deputy Administrator Lori Garver, right, listens as Worcester Polytechnic Institute (WPI) Robotics Resource Center Director and NASA-WPI Sample Return Robot Centennial Challenge Judge Ken Stafford points out how the robots navigate the playing field during the challenge on Saturday, June 16, 2012 in Worcester, Mass. Teams were challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-15

University of Waterloo (Canada) Robotics Team members test their robot on the practice field one day prior to the NASA-WPI Sample Return Robot Centennial Challenge, Friday, June 15, 2012 at the Worcester Polytechnic Institute in Worcester, Mass. Teams will compete for a $1.5 million NASA prize to build an autonomous robot that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-14

A University of Waterloo Robotics Team member tests their robot on the practice field two days prior to the NASA-WPI Sample Return Robot Centennial Challenge, Thursday, June 14, 2012 at the Worcester Polytechnic Institute in Worcester, Mass. Teams will compete for a $1.5 million NASA prize to build an autonomous robot that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Design-Oriented Enhanced Robotics Curriculum

ERIC Educational Resources Information Center

Yilmaz, M.; Ozcelik, S.; Yilmazer, N.; Nekovei, R.

2013-01-01

This paper presents an innovative two-course, laboratory-based, and design-oriented robotics educational model. The robotics curriculum exposed senior-level undergraduate students to major robotics concepts, and enhanced the student learning experience in hybrid learning environments by incorporating the IEEE Region-5 annual robotics competition…

A conceptual cognitive architecture for robots to learn behaviors from demonstrations in robotic aid area.

PubMed

Tan, Huan; Liang, Chen

2011-01-01

This paper proposes a conceptual hybrid cognitive architecture for cognitive robots to learn behaviors from demonstrations in robotic aid situations. Unlike the current cognitive architectures, this architecture puts concentration on the requirements of the safety, the interaction, and the non-centralized processing in robotic aid situations. Imitation learning technologies for cognitive robots have been integrated into this architecture for rapidly transferring the knowledge and skills between human teachers and robots.

Survival of falling robots

NASA Astrophysics Data System (ADS)

Cameron, Jonathan M.; Arkin, Ronald C.

1992-02-01

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

Survival of falling robots

NASA Technical Reports Server (NTRS)

Cameron, Jonathan M.; Arkin, Ronald C.

1992-01-01

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

Basic Operational Robotics Instructional System

NASA Technical Reports Server (NTRS)

Todd, Brian Keith; Fischer, James; Falgout, Jane; Schweers, John

2013-01-01

The Basic Operational Robotics Instructional System (BORIS) is a six-degree-of-freedom rotational robotic manipulator system simulation used for training of fundamental robotics concepts, with in-line shoulder, offset elbow, and offset wrist. BORIS is used to provide generic robotics training to aerospace professionals including flight crews, flight controllers, and robotics instructors. It uses forward kinematic and inverse kinematic algorithms to simulate joint and end-effector motion, combined with a multibody dynamics model, moving-object contact model, and X-Windows based graphical user interfaces, coordinated in the Trick Simulation modeling environment. The motivation for development of BORIS was the need for a generic system for basic robotics training. Before BORIS, introductory robotics training was done with either the SRMS (Shuttle Remote Manipulator System) or SSRMS (Space Station Remote Manipulator System) simulations. The unique construction of each of these systems required some specialized training that distracted students from the ideas and goals of the basic robotics instruction.

The Power of Educational Robotics

NASA Astrophysics Data System (ADS)

Cummings, Timothy

The purpose of this action research project was to investigate the impact a students' participation in educational robotics has on his or her performance in the STEM subjects. This study attempted to utilize educational robotics as a method for increasing student achievement and engagement in STEM subjects. Over the course of 12 weeks, an after-school robotics program was offered to students. Guided by the standards and principles of VEX IQ, a leading resource in educational robotics, students worked in collaboration on creating a design for their robot, building and testing their robot, and competing in the VEX IQ Crossover Challenge. Student data was gathered through a pre-participation survey, observations from the work they performed in robotics club, their performance in STEM subject classes, and the analysis of their end-of-the-year report card. Results suggest that the students who participate in robotics club experienced a positive impact on their performance in STEM subject classes.

Pediatric robotic urologic surgery-2014

PubMed Central

Kearns, James T.; Gundeti, Mohan S.

2014-01-01

We seek to provide a background of the current state of pediatric urologic surgery including a brief history, procedural outcomes, cost considerations, future directions, and the state of robotic surgery in India. Pediatric robotic urology has been shown to be safe and effective in cases ranging from pyeloplasty to bladder augmentation with continent urinary diversion. Complication rates are in line with other methods of performing the same procedures. The cost of robotic surgery continues to decrease, but setting up pediatric robotic urology programs can be costly in terms of both monetary investment and the training of robotic surgeons. The future directions of robot surgery include instrument and system refinements, augmented reality and haptics, and telesurgery. Given the large number of children in India, there is huge potential for growth of pediatric robotic urology in India. Pediatric robotic urologic surgery has been established as safe and effective, and it will be an important tool in the future of pediatric urologic surgery worldwide. PMID:25197187

A survey with Copernicus of interstellar O VI absorption

NASA Technical Reports Server (NTRS)

Jenkins, E. B.; Meloy, D. A.

1974-01-01

The presence of broad, shallow absorptions caused by O VI ions were revealed from UV spectra observations recorded by the Copernicus satellite for thirty-two stars. A table lists survey data on the stars observed for which values of the O VI column densities or their upper limits are extracted. Interstellar rather than circumstellar origin is evident from observation of the lack of correspondence between radical velocities of the stars and those of the O VI profiles. The presence of a low-density high-temperature phase of interstellar gas produced by supernova explosions is suggested.

Experimental Monitoring of Cr(VI) Bio-reduction Using Electrochemical Geophysics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Birsen Canan; Gary R. Olhoeft; William A. Smith

2007-09-01

Many Department of Energy (DOE) sites are contaminated with highly carcinogenic hexavalent chromium (Cr(VI)). In this research, we explore the feasibility of applying complex resistivity to the detection and monitoring of microbially-induced reduction of hexavalent chromium (Cr(VI)) to a less toxic form (Cr(III)). We hope to measure the change in ionic concentration that occurs during this reduction reaction. This form of reduction promises to be an attractive alternative to more expensive remedial treatment methods. The specific goal of this research is to define the minimum and maximum concentration of the chemical and biological compounds in contaminated samples for which themore » Cr(VI) - Cr(III) reduction processes could be detected via complex resistivity. There are three sets of experiments, each comprised of three sample columns. The first experiment compares three concentrations of Cr(VI) at the same bacterial cell concentration. The second experiment establishes background samples with, and without, Cr(VI) and bacterial cells. The third experiment examines the influence of three different bacterial cell counts on the same concentration of Cr(VI). A polarization relaxation mechanism was observed between 10 and 50 Hz. The polarization mechanism, unfortunately, was not unique to bio-chemically active samples. Spectral analysis of complex resistivity data, however, showed that the frequency where the phase minimum occurred was not constant for bio-chemically active samples throughout the experiment. A significant shifts in phase minima occurred between 10 to 20 Hz from the initiation to completion of Cr(VI) reduction. This phenomena was quantified using the Cole-Cole model and the Marquardt-Levenberg nonlinear least square minimization method. The data suggests that the relaxation time and the time constant of this relaxation are the Cole-Cole parameters most sensitive to changes in biologically-induced reduction of Cr(VI).« less

40 CFR Appendix Vi to Part 1039 - Nonroad Compression-ignition Composite Transient Cycle

Code of Federal Regulations, 2010 CFR

2010-07-01

... 40 Protection of Environment 32 2010-07-01 2010-07-01 false Nonroad Compression-ignition Composite Transient Cycle VI Appendix VI to Part 1039 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY... ENGINES Pt. 1039, App. VI Appendix VI to Part 1039—Nonroad Compression-ignition Composite Transient Cycle...

When a robot is social: spatial arrangements and multimodal semiotic engagement in the practice of social robotics.

PubMed

Alac, Morana; Movellan, Javier; Tanaka, Fumihide

2011-12-01

Social roboticists design their robots to function as social agents in interaction with humans and other robots. Although we do not deny that the robot's design features are crucial for attaining this aim, we point to the relevance of spatial organization and coordination between the robot and the humans who interact with it. We recover these interactions through an observational study of a social robotics laboratory and examine them by applying a multimodal interactional analysis to two moments of robotics practice. We describe the vital role of roboticists and of the group of preverbal infants, who are involved in a robot's design activity, and we argue that the robot's social character is intrinsically related to the subtleties of human interactional moves in laboratories of social robotics. This human involvement in the robot's social agency is not simply controlled by individual will. Instead, the human-machine couplings are demanded by the situational dynamics in which the robot is lodged.

Delineation and Diagnostic Criteria of Oral-Facial-Digital Syndrome Type VI

PubMed Central

2012-01-01

Oral-Facial-Digital Syndrome type VI (OFD VI) represents a rare phenotypic subtype of Joubert syndrome and related disorders (JSRD). In the original report polydactyly, oral findings, intellectual disability, and absence of the cerebellar vermis at post-mortem characterized the syndrome. Subsequently, the molar tooth sign (MTS) has been found in patients with OFD VI, prompting the inclusion of OFD VI in JSRD. We studied the clinical, neurodevelopmental, neuroimaging, and genetic findings in a cohort of 16 patients with OFD VI. We derived the following inclusion criteria from the literature: 1) MTS and one oral finding and polydactyly, or 2) MTS and more than one typical oral finding. The OFD VI neuroimaging pattern was found to be more severe than in other JSRD subgroups and includes severe hypoplasia of the cerebellar vermis, hypoplastic and dysplastic cerebellar hemispheres, marked enlargement of the posterior fossa, increased retrocerebellar collection of cerebrospinal fluid, abnormal brainstem, and frequently supratentorial abnormalities that occasionally include characteristic hypothalamic hamartomas. Additionally, two new JSRD neuroimaging findings (ascending superior cerebellar peduncles and fused thalami) have been identified. Tongue hamartomas, additional frenula, upper lip notch, and mesoaxial polydactyly are specific findings in OFD VI, while cleft lip/palate and other types of polydactyly of hands and feet are not specific. Involvement of other organs may include ocular findings, particularly colobomas. The majority of the patients have absent motor development and profound cognitive impairment. In OFD VI, normal cognitive functions are possible, but exceptional. Sequencing of known JSRD genes in most patients failed to detect pathogenetic mutations, therefore the genetic basis of OFD VI remains unknown. Compared with other JSRD subgroups, the neurological findings and impairment of motor development and cognitive functions in OFD VI are significantly

Referees check robots after qualifying match at regional robotic competition at KSC

NASA Technical Reports Server (NTRS)

1999-01-01

Referees check the robots on the floor of the playing field after a qualifying match of the 1999 Southeastern Regional robotic competition at Kennedy Space Center Visitor Complex . Thirty schools from around the country have converged at KSC for the event that pits gladiator robots against each other in an athletic-style competition. The robots have to retrieve pillow- like disks from the floor, as well as climb onto the platform (with flags) and raise the cache of pillows to a height of eight feet. KSC is hosting the event being sponsored by the nonprofit organization For Inspiration and Recognition of Science and Technology, known as FIRST. The FIRST robotics competition is designed to provide students with a hands-on, inside look at engineering and other professional careers.

Robots: An Impact on Education.

ERIC Educational Resources Information Center

Blaesi, LaVon; Maness, Marion

1984-01-01

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

Quantifying Cr(VI) Production and Export from Serpentine Soil of the California Coast Range

DOE PAGES

McClain, Cynthia N.; Fendorf, Scott; Webb, Samuel M.; ...

2016-11-22

Here, hexavalent chromium (Cr(VI)) is generated in serpentine soils and exported to surface and groundwaters at levels above health-based drinking water standards. Although Cr(VI) concentrations are elevated in serpentine soil pore water, few studies have reported field evidence documenting Cr(VI) production rates and fluxes that govern Cr(VI) transport from soil to water sources. We report Cr speciation (i) in four serpentine soil depth profiles derived from the California Coast Range serpentinite belt and (ii) in local surface waters. Within soils, we detected Cr(VI) in the same horizons where Cr(III)-minerals are colocated with biogenic Mn(III/IV)-oxides, suggesting Cr(VI) generation through oxidation bymore » Mn-oxides. Water-extractable Cr(VI) concentrations increase with depth constituting a 7.8 to 12 kg/km 2 reservoir of Cr(VI) in soil. Here, Cr(VI) is produced at a rate of 0.3 to 4.8 kg Cr(VI)/km 2/yr and subsequently flushed from soil during water infiltration, exporting 0.01 to 3.9 kg Cr(VI)/km 2/yr at concentrations ranging from 25 to 172 μg/L. Although soil-derived Cr(VI) is leached from soil at concentrations exceeding 10 μg/L, due to reduction and dilution during transport to streams, Cr(VI) levels measured in local surface waters largely remain below California’s drinking water limit.« less

Robots are not just tools

NASA Astrophysics Data System (ADS)

Prescott, Tony J.

2017-04-01

The EPSRC principles of robotics make a number of commitments about the ontological status of robots such as that robots are "just tools" or can give only "an impression or real intelligence". This commentary proposes that this assumes, all too easily, that we know the boundary conditions of future robotics development, and argues that progress towards a more useful set of principles could begin by thinking carefully about the ontological status of robots. Whilst most robots are currently little more than tools, we are entering an era where there will be new kinds of entities that combine some of the properties of tools with psychological capacities that we had previously thought were reserved for complex biological organisms such as humans. The ontological status of robots might be best described as liminal - neither living nor simply mechanical. There is also evidence that people will treat robots as more than just tools regardless of the extent to which their machine nature is transparent. Ethical principles need to be developed that recognise these ontological and psychological issues around the nature of robots and how they are perceived.

[Treatment of wastewater containing Cr(VI) by LDH synthesizing in situ].

PubMed

Chen, Tian-hu; Feng, You-liang; Xu, Hui-fang; Peng, Shu-chuan; Huang, Chuan-hui; Tang, Shu-pei

2004-03-01

The objective of this work was to investigate the efficiency and factors impacting of removal Cr(VI) from wastewater by layer double hydroxide synthesizing in situ. Principle of the method may be described as follow: Mg2+ and Al3+ hydrolysis and forms Mg/Al-LDH by adding Mg2+, Al3+ and NaOH into wastewater containing Cr(VI), Cr(VI) anions are selectively intercalated into interlayer of LDH to balance positive structural charge. While Mg2+ and Al3+ co-precipitates and forms LDH, the Cr(VI) in wastewater is removal by settle of LDH synthesizing in situ, which are confirmed by analysis of X-ray diffraction on settle and chemical analysis on aqueous. The results indicate that factors of impacting on efficiency of removal Cr(VI) include in amount of adding Mg2+ and Al3+, Mg/Al ratio, pH and concentration of Cr(VI) in wastewater. The maximal removal efficiency of Cr(VI) can be reached when pH values are between 8.5 and 9, and Mg/Al ratios are between 1:1 and 2:1, meanwhile, Mg and Al added can be taken good use of. This technology has present extraordinary efficiency of wastewater treatment.

Hand-held medical robots.

PubMed

Payne, Christopher J; Yang, Guang-Zhong

2014-08-01

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

Future of robotic surgery.

PubMed

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

2013-01-01

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

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

PubMed Central

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

2017-01-01

A critical construct related to human-robot interaction (HRI) is autonomy, which varies widely across robot platforms. Levels of robot autonomy (LORA), ranging from teleoperation to fully autonomous systems, influence the way in which humans and robots may interact with one another. Thus, there is a need to understand HRI by identifying variables that influence – and are influenced by – robot autonomy. Our overarching goal is to develop a framework for levels of robot autonomy in HRI. To reach this goal, the framework draws links between HRI and human-automation interaction, a field with a long history of studying and understanding human-related variables. The construct of autonomy is reviewed and redefined within the context of HRI. Additionally, the framework proposes a process for determining a robot’s autonomy level, by categorizing autonomy along a 10-point taxonomy. The framework is intended to be treated as guidelines to determine autonomy, categorize the LORA along a qualitative taxonomy, and consider which HRI variables (e.g., acceptance, situation awareness, reliability) may be influenced by the LORA. PMID:29082107

Human-Robot Planetary Exploration Teams

NASA Technical Reports Server (NTRS)

Tyree, Kimberly

2004-01-01

The EVA Robotic Assistant (ERA) project at NASA Johnson Space Center studies human-robot interaction and robotic assistance for future human planetary exploration. Over the past four years, the ERA project has been performing field tests with one or more four-wheeled robotic platforms and one or more space-suited humans. These tests have provided experience in how robots can assist humans, how robots and humans can communicate in remote environments, and what combination of humans and robots works best for different scenarios. The most efficient way to understand what tasks human explorers will actually perform, and how robots can best assist them, is to have human explorers and scientists go and explore in an outdoor, planetary-relevant environment, with robots to demonstrate what they are capable of, and roboticists to observe the results. It can be difficult to have a human expert itemize all the needed tasks required for exploration while sitting in a lab: humans do not always remember all the details, and experts in one arena may not even recognize that the lower level tasks they take for granted may be essential for a roboticist to know about. Field tests thus create conditions that more accurately reveal missing components and invalid assumptions, as well as allow tests and comparisons of new approaches and demonstrations of working systems. We have performed field tests in our local rock yard, in several locations in the Arizona desert, and in the Utah desert. We have tested multiple exploration scenarios, such as geological traverses, cable or solar panel deployments, and science instrument deployments. The configuration of our robot can be changed, based on what equipment is needed for a given scenario, and the sensor mast can even be placed on one of two robot bases, each with different motion capabilities. The software architecture of our robot is also designed to be as modular as possible, to allow for hardware and configuration changes. Two focus

Dynamic photogrammetric calibration of industrial robots

NASA Astrophysics Data System (ADS)

Maas, Hans-Gerd

1997-07-01

Today's developments in industrial robots focus on aims like gain of flexibility, improvement of the interaction between robots and reduction of down-times. A very important method to achieve these goals are off-line programming techniques. In contrast to conventional teach-in-robot programming techniques, where sequences of actions are defined step-by- step via remote control on the real object, off-line programming techniques design complete robot (inter-)action programs in a CAD/CAM environment. This poses high requirements to the geometric accuracy of a robot. While the repeatability of robot poses in the teach-in mode is often better than 0.1 mm, the absolute pose accuracy potential of industrial robots is usually much worse due to tolerances, eccentricities, elasticities, play, wear-out, load, temperature and insufficient knowledge of model parameters for the transformation from poses into robot axis angles. This fact necessitates robot calibration techniques, including the formulation of a robot model describing kinematics and dynamics of the robot, and a measurement technique to provide reference data. Digital photogrammetry as an accurate, economic technique with realtime potential offers itself for this purpose. The paper analyzes the requirements posed to a measurement technique by industrial robot calibration tasks. After an overview on measurement techniques used for robot calibration purposes in the past, a photogrammetric robot calibration system based on off-the- shelf lowcost hardware components will be shown and results of pilot studies will be discussed. Besides aspects of accuracy, reliability and self-calibration in a fully automatic dynamic photogrammetric system, realtime capabilities are discussed. In the pilot studies, standard deviations of 0.05 - 0.25 mm in the three coordinate directions could be achieved over a robot work range of 1.7 X 1.5 X 1.0 m3. The realtime capabilities of the technique allow to go beyond kinematic robot

Thermodynamic analysis of Cr(VI) extraction using TOPO impregnated membranes.

PubMed

Praveen, Prashant; Loh, Kai-Chee

2016-08-15

Solid/liquid extraction of Cr(VI) was accomplished using trioctylphosphine oxide impregnated polypropylene hollow fiber membranes. Extraction of 100-500mg/L Cr(VI) by the extractant impregnated membranes (EIM) was characterized by high uptake rate and capacity, and equilibrium was attained within 45min of contact. Extraction equilibrium was pH-dependent (at an optimal pH 2), whereas stripping using 0.2M sodium hydroxide yielded the highest recovery of 98% within 60min. The distribution coefficient was independent of initial Cr(VI) concentration, and the linear distribution equilibrium isotherm could be modeled using Freundlich isotherm. The mass transfer kinetics of Cr(VI) was examined using pseudo-second-order and intraparticle diffusion models and a mass transfer mechanism was deduced. The distribution coefficient increased with temperature, which indicated endothermic nature of the reaction. Enthalpy and entropy change during Cr(VI) extraction were positive and varied in the range of 37-49kJ/mol and 114-155J/mol, respectively. The free energy change was negative, confirming the feasibility and spontaneity of the mass transfer process. Results obtained suggest that EIMs are efficient and sustainable for extraction of Cr(VI) from wastewater. Copyright © 2016 Elsevier B.V. All rights reserved.

Robots As Intentional Agents: Using Neuroscientific Methods to Make Robots Appear More Social.

PubMed

Wiese, Eva; Metta, Giorgio; Wykowska, Agnieszka

2017-01-01

Robots are increasingly envisaged as our future cohabitants. However, while considerable progress has been made in recent years in terms of their technological realization, the ability of robots to interact with humans in an intuitive and social way is still quite limited. An important challenge for social robotics is to determine how to design robots that can perceive the user's needs, feelings, and intentions, and adapt to users over a broad range of cognitive abilities. It is conceivable that if robots were able to adequately demonstrate these skills, humans would eventually accept them as social companions. We argue that the best way to achieve this is using a systematic experimental approach based on behavioral and physiological neuroscience methods such as motion/eye-tracking, electroencephalography, or functional near-infrared spectroscopy embedded in interactive human-robot paradigms. This approach requires understanding how humans interact with each other, how they perform tasks together and how they develop feelings of social connection over time, and using these insights to formulate design principles that make social robots attuned to the workings of the human brain. In this review, we put forward the argument that the likelihood of artificial agents being perceived as social companions can be increased by designing them in a way that they are perceived as intentional agents that activate areas in the human brain involved in social-cognitive processing. We first review literature related to social-cognitive processes and mechanisms involved in human-human interactions, and highlight the importance of perceiving others as intentional agents to activate these social brain areas. We then discuss how attribution of intentionality can positively affect human-robot interaction by (a) fostering feelings of social connection, empathy and prosociality, and by (b) enhancing performance on joint human-robot tasks. Lastly, we describe circumstances under which

Robots As Intentional Agents: Using Neuroscientific Methods to Make Robots Appear More Social

PubMed Central

Wiese, Eva; Metta, Giorgio; Wykowska, Agnieszka

2017-01-01

Robots are increasingly envisaged as our future cohabitants. However, while considerable progress has been made in recent years in terms of their technological realization, the ability of robots to interact with humans in an intuitive and social way is still quite limited. An important challenge for social robotics is to determine how to design robots that can perceive the user’s needs, feelings, and intentions, and adapt to users over a broad range of cognitive abilities. It is conceivable that if robots were able to adequately demonstrate these skills, humans would eventually accept them as social companions. We argue that the best way to achieve this is using a systematic experimental approach based on behavioral and physiological neuroscience methods such as motion/eye-tracking, electroencephalography, or functional near-infrared spectroscopy embedded in interactive human–robot paradigms. This approach requires understanding how humans interact with each other, how they perform tasks together and how they develop feelings of social connection over time, and using these insights to formulate design principles that make social robots attuned to the workings of the human brain. In this review, we put forward the argument that the likelihood of artificial agents being perceived as social companions can be increased by designing them in a way that they are perceived as intentional agents that activate areas in the human brain involved in social-cognitive processing. We first review literature related to social-cognitive processes and mechanisms involved in human–human interactions, and highlight the importance of perceiving others as intentional agents to activate these social brain areas. We then discuss how attribution of intentionality can positively affect human–robot interaction by (a) fostering feelings of social connection, empathy and prosociality, and by (b) enhancing performance on joint human–robot tasks. Lastly, we describe circumstances under

RHOBOT: Radiation hardened robotics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bennett, P.C.; Posey, L.D.

1997-10-01

A survey of robotic applications in radioactive environments has been conducted, and analysis of robotic system components and their response to the varying types and strengths of radiation has been completed. Two specific robotic systems for accident recovery and nuclear fuel movement have been analyzed in detail for radiation hardness. Finally, a general design approach for radiation-hardened robotics systems has been developed and is presented. This report completes this project which was funded under the Laboratory Directed Research and Development program.

Robotic liver surgery

PubMed Central

Leung, Universe

2014-01-01

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

Kinetics of reduction of plutonium(VI) and neptunium(VI) by sulfide in neutral and alkaline solutions

USGS Publications Warehouse

Nash, K.L.; Cleveland, J.M.; Sullivan, J.C.; Woods, M.

1986-01-01

The rate of reduction of plutonium(VI) and neptunium(VI) by bisulfide ion in neutral and mildly alkaline solutions has been investigated by the stopped-flow technique. The reduction of both of these ions to the pentavalent oxidation state appears to occur in an intramolecular reaction involving an unusual actinide(VI)-hydroxide-bisulfide complex. For plutonium the rate of reduction is 27.4 (??4.1) s-1 at 25??C with ??H* = +33.2 (??1.0) kJ/mol and ??S* = -106 (??4) J/(mol K). The apparent stability constant for the transient complex is 4.66 (??0.94) ?? 103 M-1 at 25??C with associated thermodynamic parameters of ??Hc = +27.7 (??0.4) kJ/mol and ??Sc = +163 (??2) J/(mol K). The corresponding rate and stability constants are determined for the neptunium system at 25??C (k3 = 139 (??30) s-1, Kc. = 1.31 (??0.32) ?? 103 M-1), but equivalent parameters cannot be determined at reduced temperatures. The reaction rate is decreased by bicarbonate ion. At pH > 10.5, a second reaction mechanism, also involving a sulfide complex, is indicated. ?? 1986 American Chemical Society.

A highly selective chemiluminescent probe for the detection of chromium(VI)

NASA Astrophysics Data System (ADS)

Jin, Yan; Sun, Yonghua; Li, Chongying; Yang, Chao

2018-03-01

In present work, rhodamine B hydrazide and rhodamine 6G hydrazide were synthesized and the chemiluminescence performance has been investigated. Based on the chemiluminescence of rhodamine 6G hydrazide-chromium(VI), a selective and sensitive method for the direct detection of chromium(VI) was developed. The chemiluminescence intensity was linearly related to the concentration of chromium(VI) in the range of 2.60 × 10- 8-8.00 × 10- 6 mol/L with a correlation coefficient of r = 0.998 and a detection limit of 1.4 × 10- 8 mol/L (S/N = 3). The results indicated rhodamine 6G hydrazide was an excellent chemiluminescent probe for chromium(VI) without reduction of chromium(VI) to chromium(III). A possible mechanism of CL emission was also suggested.

Vulnerable users: deceptive robotics

NASA Astrophysics Data System (ADS)

Collins, Emily C.

2017-07-01

The Principles of Robotics were outlined by the EPSRC in 2010. They are aimed at regulating robots in the real world. This paper represents a response to principle number four which reads: "Robots are manufactured artefacts. They should not be designed in a deceptive way to exploit vulnerable users; instead their machine nature should be transparent". The following critique questions the principle's validity by asking whether it is correct as a statement about the nature of robots, and the relationship between robots and people. To achieve this, the principle is broken down into the following two main component statements: (1) "Robots should not be designed in a deceptive way to exploit vulnerable users", and, (2) "Machine nature should be transparent". It is argued that both of the component statements that make up this principle are fundamentally flawed because of the undefined nature of the critical terms: "deceptive", "vulnerable", and "machine nature", and that as such the principle as a whole is misleading.

Long-term diffusion of U(VI) in bentonite: Dependence on density

DOE PAGES

Joseph, Claudia; Mibus, Jens; Trepte, Paul; ...

2016-10-12

As a contribution to the safety assessment of nuclear waste repositories, U(VI) diffusion through the potential buffer material MX-80 bentonite was investigated at three clay dry densities over six years. Synthetic MX-80 model pore water was used as background electrolyte. Speciation calculations showed that Ca 2UO 2(CO 3) 3(aq) was the main U(VI) species. The in- and out-diffusion of U(VI) was investigated separately. U(VI) diffused about 3 mm, 1.5 mm, and 1 mm into the clay plug at ρ = 1.3, 1.6, and 1.9 g/cm 3, respectively. No through-diffusion of the U(VI) tracer was observed. However, leaching of natural uraniummore » contained in the clay occurred and uranium was detected in all receiving reservoirs. As expected, the effective and apparent diffusion coefficients, D e and D a, decreased with increasing dry density. The D a values for the out-diffusion of natural U(VI) were in good agreement with previously determined values. Surprisingly, D a values for the in-diffusion of U(VI) were about two orders of magnitude lower than values obtained in short-term in-diffusion experiments reported in the literature. Some potential reasons for this behavior that were evaluated are changes of the U(VI) speciation within the clay (precipitation, reduction) or changes of the clay porosity and pore connectivity with time. By applying Archie's law and the extended Archie's law, it was estimated that a significantly smaller effective porosity must be present for the long-term in-diffusion of U(VI). Finally, the results suggest that long-term studies of key transport phenomena may reveal additional processes that can directly impact long-term repository safety assessments.« less

Experiential Learning of Robotics Fundamentals Based on a Case Study of Robot-Assisted Stereotactic Neurosurgery

ERIC Educational Resources Information Center

Faria, Carlos; Vale, Carolina; Machado, Toni; Erlhagen, Wolfram; Rito, Manuel; Monteiro, Sérgio; Bicho, Estela

2016-01-01

Robotics has been playing an important role in modern surgery, especially in procedures that require extreme precision, such as neurosurgery. This paper addresses the challenge of teaching robotics to undergraduate engineering students, through an experiential learning project of robotics fundamentals based on a case study of robot-assisted…

GPS Enabled Semi-Autonomous Robot

DTIC Science & Technology

2017-09-01

equal and the goal has not yet been reached (i.e., any time the robot has reached a local minimum), and direct the robot to travel in a specific...whether the robot was turning or not. The challenge is overcome by ensuring the robot travels at its maximum speed at all times . Further research into...robot’s fixed reference frame was recalculated each time through the control loop. If the encoder data allows for the robot to appear to have travelled

HNO3 modified biochars for uranium (VI) removal from aqueous solution.

PubMed

Jin, Jie; Li, Shiwei; Peng, Xianqiang; Liu, Wei; Zhang, Chenlu; Yang, Yan; Han, Lanfang; Du, Ziwen; Sun, Ke; Wang, Xiangke

2018-05-01

The HNO 3 treatment was used to chemically modify the biochars produced from wheat straw (WH) and cow manure for U(VI) removal from aqueous solution. Macroscopic experiments proved that the enrichment of U(VI) on the biochars was regulated by surface complexation and electrostatic interactions. FTIR and XPS analyses confirmed that the highly efficient adsorption of U(VI) was due to the carboxyl groups on the biochar surfaces. The reducing agents of the R-CH 2 OH groups facilitated U(VI) adsorption on the untreated biochars. Owing to the higher contents of surface COO groups and more negative surface charge, the modified biochars showed enhanced U(VI) adsorption ability than the untreated ones. The maximum adsorption capacity of U(VI) by the oxidized WH was calculated to be 355.6 mg/g at pH 4.5 and 298 K, which was an improvement of 40 times relative to the untreated WH and was higher than that of most carbon-based adsorbents. Copyright © 2018 Elsevier Ltd. All rights reserved.

Medical robotics.

PubMed

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

2011-01-01

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

Robotics in reproductive medicine.

PubMed

Sroga, Julie; Patel, Sejal Dharia; Falcone, Tommaso

2008-01-01

In the past decade, robotic technology has been increasingly incorporated into various industries, including surgery and medicine. This chapter will review the history, development, current applications, and future of robotic technology in reproductive medicine. A literature search was performed for all publications regarding robotic technology in medicine, surgery, reproductive endocrinology, and its role in both surgical education and telepresence surgery. As robotic assisted surgery has emerged, this technology provides a feasible option for minimally invasive surgery, impacts surgical education, and plays a role in telepresence surgery.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from Case Western Reserve University pause with their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from The University of Utah pause with their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from The University of Alabama pause with their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from New York University work on their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from York College CUNY are with their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from the University of Arkansas pause with their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Toward understanding social cues and signals in human-robot interaction: effects of robot gaze and proxemic behavior.

PubMed

Fiore, Stephen M; Wiltshire, Travis J; Lobato, Emilio J C; Jentsch, Florian G; Huang, Wesley H; Axelrod, Benjamin

2013-01-01

As robots are increasingly deployed in settings requiring social interaction, research is needed to examine the social signals perceived by humans when robots display certain social cues. In this paper, we report a study designed to examine how humans interpret social cues exhibited by robots. We first provide a brief overview of perspectives from social cognition in humans and how these processes are applicable to human-robot interaction (HRI). We then discuss the need to examine the relationship between social cues and signals as a function of the degree to which a robot is perceived as a socially present agent. We describe an experiment in which social cues were manipulated on an iRobot Ava(TM) mobile robotics platform in a hallway navigation scenario. Cues associated with the robot's proxemic behavior were found to significantly affect participant perceptions of the robot's social presence and emotional state while cues associated with the robot's gaze behavior were not found to be significant. Further, regardless of the proxemic behavior, participants attributed more social presence and emotional states to the robot over repeated interactions than when they first interacted with it. Generally, these results indicate the importance for HRI research to consider how social cues expressed by a robot can differentially affect perceptions of the robot's mental states and intentions. The discussion focuses on implications for the design of robotic systems and future directions for research on the relationship between social cues and signals.

Robotic aortic surgery.

PubMed

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

2011-01-01

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

Industrial robots: Handbook

NASA Astrophysics Data System (ADS)

Kozyrev, Iu. G.

Topics covered include terms, definitions, and classification; operator-directed manipulators; autooperators as used in automated pressure casting; construction and application of industrial robots; and the operating bases of automated systems. Attention is given to adaptive and interactive robots; gripping mechanisms; applications to foundary production, press-forging plants, heat treatment, welding, and assembly operations. A review of design recommendations includes a determination of fundamental structural and technological indicators for industrial robots and a consideration of drive mechanisms.

The Summer Robotic Autonomy Course

NASA Technical Reports Server (NTRS)

Nourbakhsh, Illah R.

2002-01-01

We offered a first Robotic Autonomy course this summer, located at NASA/Ames' new NASA Research Park, for approximately 30 high school students. In this 7-week course, students worked in ten teams to build then program advanced autonomous robots capable of visual processing and high-speed wireless communication. The course made use of challenge-based curricula, culminating each week with a Wednesday Challenge Day and a Friday Exhibition and Contest Day. Robotic Autonomy provided a comprehensive grounding in elementary robotics, including basic electronics, electronics evaluation, microprocessor programming, real-time control, and robot mechanics and kinematics. Our course then continued the educational process by introducing higher-level perception, action and autonomy topics, including teleoperation, visual servoing, intelligent scheduling and planning and cooperative problem-solving. We were able to deliver such a comprehensive, high-level education in robotic autonomy for two reasons. First, the content resulted from close collaboration between the CMU Robotics Institute and researchers in the Information Sciences and Technology Directorate and various education program/project managers at NASA/Ames. This collaboration produced not only educational content, but will also be focal to the conduct of formative and summative evaluations of the course for further refinement. Second, CMU rapid prototyping skills as well as the PI's low-overhead perception and locomotion research projects enabled design and delivery of affordable robot kits with unprecedented sensory- locomotory capability. Each Trikebot robot was capable of both indoor locomotion and high-speed outdoor motion and was equipped with a high-speed vision system coupled to a low-cost pan/tilt head. As planned, follow the completion of Robotic Autonomy, each student took home an autonomous, competent robot. This robot is the student's to keep, as she explores robotics with an extremely capable tool in the

Enabling Interoperable Space Robots With the Joint Technical Architecture for Robotic Systems (JTARS)

NASA Technical Reports Server (NTRS)

Bradley, Arthur; Dubowsky, Steven; Quinn, Roger; Marzwell, Neville

2005-01-01

Robots that operate independently of one another will not be adequate to accomplish the future exploration tasks of long-distance autonomous navigation, habitat construction, resource discovery, and material handling. Such activities will require that systems widely share information, plan and divide complex tasks, share common resources, and physically cooperate to manipulate objects. Recognizing the need for interoperable robots to accomplish the new exploration initiative, NASA s Office of Exploration Systems Research & Technology recently funded the development of the Joint Technical Architecture for Robotic Systems (JTARS). JTARS charter is to identify the interface standards necessary to achieve interoperability among space robots. A JTARS working group (JTARS-WG) has been established comprising recognized leaders in the field of space robotics including representatives from seven NASA centers along with academia and private industry. The working group s early accomplishments include addressing key issues required for interoperability, defining which systems are within the project s scope, and framing the JTARS manuals around classes of robotic systems.

Treatment of Alkaline Cr(VI)-Contaminated Leachate with an Alkaliphilic Metal-Reducing Bacterium.

PubMed

Watts, Mathew P; Khijniak, Tatiana V; Boothman, Christopher; Lloyd, Jonathan R

2015-08-15

Chromium in its toxic Cr(VI) valence state is a common contaminant particularly associated with alkaline environments. A well-publicized case of this occurred in Glasgow, United Kingdom, where poorly controlled disposal of a cementitious industrial by-product, chromite ore processing residue (COPR), has resulted in extensive contamination by Cr(VI)-contaminated alkaline leachates. In the search for viable bioremediation treatments for Cr(VI), a variety of bacteria that are capable of reduction of the toxic and highly soluble Cr(VI) to the relatively nontoxic and less mobile Cr(III) oxidation state, predominantly under circumneutral pH conditions, have been isolated. Recently, however, alkaliphilic bacteria that have the potential to reduce Cr(VI) under alkaline conditions have been identified. This study focuses on the application of a metal-reducing bacterium to the remediation of alkaline Cr(VI)-contaminated leachates from COPR. This bacterium, belonging to the Halomonas genus, was found to exhibit growth concomitant to Cr(VI) reduction under alkaline conditions (pH 10). Bacterial cells were able to rapidly remove high concentrations of aqueous Cr(VI) (2.5 mM) under anaerobic conditions, up to a starting pH of 11. Cr(VI) reduction rates were controlled by pH, with slower removal observed at pH 11, compared to pH 10, while no removal was observed at pH 12. The reduction of aqueous Cr(VI) resulted in the precipitation of Cr(III) biominerals, which were characterized using transmission electron microscopy and energy-dispersive X-ray analysis (TEM-EDX) and X-ray photoelectron spectroscopy (XPS). The effectiveness of this haloalkaliphilic bacterium for Cr(VI) reduction at high pH suggests potential for its use as an in situ treatment of COPR and other alkaline Cr(VI)-contaminated environments. Copyright © 2015, Watts et al.

Laboratory systems integration: robotics and automation.

PubMed

Felder, R A

1991-01-01

Robotic technology is going to have a profound impact on the clinical laboratory of the future. Faced with increased pressure to reduce health care spending yet increase services to patients, many laboratories are looking for alternatives to the inflexible or "fixed" automation found in many clinical analyzers. Robots are being examined by many clinical pathologists as an attractive technology which can adapt to the constant changes in laboratory testing. Already, laboratory designs are being altered to accommodate robotics and automated specimen processors. However, the use of robotics and computer intelligence in the clinical laboratory is still in its infancy. Successful examples of robotic automation exist in several laboratories. Investigators have used robots to automate endocrine testing, high performance liquid chromatography, and specimen transportation. Large commercial laboratories are investigating the use of specimen processors which combine the use of fixed automation and robotics. Robotics have also reduced the exposure of medical technologists to specimens infected with viral pathogens. The successful examples of clinical robotics applications were a result of the cooperation of clinical chemists, engineers, and medical technologists. At the University of Virginia we have designed and implemented a robotic critical care laboratory. Initial clinical experience suggests that robotic performance is reliable, however, staff acceptance and utilization requires continuing education. We are also developing a robotic cyclosporine which promises to greatly reduce the labor costs of this analysis. The future will bring lab wide automation that will fully integrate computer artificial intelligence and robotics. Specimens will be transported by mobile robots. Specimen processing, aliquotting, and scheduling will be automated.(ABSTRACT TRUNCATED AT 250 WORDS)

A study of the kinetics and isotherms for Cr(VI) adsorption in a binary mixture of Cr(VI)-Ni(II) using hierarchical porous carbon obtained from pig bone.

PubMed

Li, Chengxian; Huang, Zhe; Huang, Bicheng; Liu, Changfeng; Li, Chengming; Huang, Yaqin

2014-01-01

Cr(VI) adsorption in a binary mixture Cr(VI)-Ni(II) using the hierarchical porous carbon prepared from pig bone (HPC) was investigated. The various factors affecting adsorption of Cr(VI) ions from aqueous solutions such as initial concentration, pH, temperature and contact time were analyzed. The results showed excellent efficiency of Cr(VI) adsorption by HPC. The kinetics and isotherms for Cr(VI) adsorption from a binary mixture Cr(VI)-Ni(II) by HPC were studied. The adsorption equilibrium described by the Langmuir isotherm model is better than that described by the Freundlich isotherm model for the binary mixture in this study. The maximum adsorption capacity was reliably found to be as high as 192.68 mg/g in the binary mixture at pH 2. On fitting the experimental data to both pseudo-first- and second-order equations, the regression analysis of the second-order equation gave a better R² value.

Measurement of the Robot Motor Capability of a Robot Motor System: A Fitts's-Law-Inspired Approach

PubMed Central

Lin, Hsien-I; George Lee, C. S.

2013-01-01

Robot motor capability is a crucial factor for a robot, because it affects how accurately and rapidly a robot can perform a motion to accomplish a task constrained by spatial and temporal conditions. In this paper, we propose and derive a pseudo-index of motor performance (pIp) to characterize robot motor capability with robot kinematics, dynamics and control taken into consideration. The proposed pIp provides a quantitative measure for a robot with revolute joints, which is inspired from an index of performance in Fitts's law of human skills. Computer simulations and experiments on a PUMA 560 industrial robot were conducted to validate the proposed pIp for performing a motion accurately and rapidly. PMID:23820745

Measurement of the robot motor capability of a robot motor system: a Fitts's-law-inspired approach.

PubMed

Lin, Hsien-I; Lee, C S George

2013-07-02

Robot motor capability is a crucial factor for a robot, because it affects how accurately and rapidly a robot can perform a motion to accomplish a task constrained by spatial and temporal conditions. In this paper, we propose and derive a pseudo-index of motor performance (pIp) to characterize robot motor capability with robot kinematics, dynamics and control taken into consideration. The proposed pIp provides a quantitative measure for a robot with revolute joints, which is inspired from an index of performance in Fitts's law of human skills. Computer simulations and experiments on a PUMA 560 industrial robot were conducted to validate the proposed pIp for performing a motion accurately and rapidly.

Robotics-inspired biology.

PubMed

Gravish, Nick; Lauder, George V

2018-03-29

For centuries, designers and engineers have looked to biology for inspiration. Biologically inspired robots are just one example of the application of knowledge of the natural world to engineering problems. However, recent work by biologists and interdisciplinary teams have flipped this approach, using robots and physical models to set the course for experiments on biological systems and to generate new hypotheses for biological research. We call this approach robotics-inspired biology; it involves performing experiments on robotic systems aimed at the discovery of new biological phenomena or generation of new hypotheses about how organisms function that can then be tested on living organisms. This new and exciting direction has emerged from the extensive use of physical models by biologists and is already making significant advances in the areas of biomechanics, locomotion, neuromechanics and sensorimotor control. Here, we provide an introduction and overview of robotics-inspired biology, describe two case studies and suggest several directions for the future of this exciting new research area. © 2018. Published by The Company of Biologists Ltd.

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

A judge for the NASA-WPI Sample Return Robot Centennial Challenge follows a robot on the playing field during the challenge on Saturday, June 16, 2012 in Worcester, Mass. Teams were challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Multi-crystalline II-VI based multijunction solar cells and modules

DOEpatents

Hardin, Brian E.; Connor, Stephen T.; Groves, James R.; Peters, Craig H.

2015-06-30

Multi-crystalline group II-VI solar cells and methods for fabrication of same are disclosed herein. A multi-crystalline group II-VI solar cell includes a first photovoltaic sub-cell comprising silicon, a tunnel junction, and a multi-crystalline second photovoltaic sub-cell. A plurality of the multi-crystalline group II-VI solar cells can be interconnected to form low cost, high throughput flat panel, low light concentration, and/or medium light concentration photovoltaic modules or devices.

DARPA Robotics Challenge (DRC) Using Human-Machine Teamwork to Perform Disaster Response with a Humanoid Robot

DTIC Science & Technology

2017-02-01

DARPA ROBOTICS CHALLENGE (DRC) USING HUMAN-MACHINE TEAMWORK TO PERFORM DISASTER RESPONSE WITH A HUMANOID ROBOT FLORIDA INSTITUTE FOR HUMAN AND...AND SUBTITLE DARPA ROBOTICS CHALLENGE (DRC) USING HUMAN-MACHINE TEAMWORK TO PERFORM DISASTER RESPONSE WITH A HUMANOID ROBOT 5a. CONTRACT NUMBER...Human and Machine Cognition (IHMC) from 2012-2016 through three phases of the Defense Advanced Research Projects Agency (DARPA) Robotics Challenge

Integration of Haptics in Agricultural Robotics

NASA Astrophysics Data System (ADS)

Kannan Megalingam, Rajesh; Sreekanth, M. M.; Sivanantham, Vinu; Sai Kumar, K.; Ghanta, Sriharsha; Surya Teja, P.; Reddy, Rajesh G.

2017-08-01

Robots can differentiate with open loop system and closed loop system robots. We face many problems when we do not have a feedback from robots. In this research paper, we are discussing all possibilities to achieve complete closed loop system for Multiple-DOF Robotic Arm, which is used in a coconut tree climbing and cutting robot by introducing a Haptic device. We are working on various sensors like tactile, vibration, force and proximity sensors for getting feedback. For monitoring the robotic arm achieved by graphical user interference software which simulates the working of the robotic arm, send the feedback of all the real time analog values which are produced by various sensors and provide real-time graphs for estimate the efficiency of the Robot.

Uranium(VI) adsorption to ferrihydrite: Application of a surface complexation model

USGS Publications Warehouse

Waite, T.D.; Davis, J.A.; Payne, T.E.; Waychunas, G.A.; Xu, N.

1994-01-01

A study of U(VI) adsorption by ferrihydrite was conducted over a wide range of U(VI) concentrations, pH, and at two partial pressures of carbon dioxide. A two-site (strong- and weak-affinity sites, FesOH and FewOH, respectively) surface complexation model was able to describe the experimental data well over a wide range of conditions, with only one species formed with each site type: an inner-sphere, mononuclear, bidentate complex of the type (FeO2)UO2. The existence of such a surface species was supported by results of uranium EXAFS spectroscopy performed on two samples with U(VI) adsorption density in the upper range observed in this study (10 and 18% occupancy of total surface sites). Adsorption data in the alkaline pH range suggested the existence of a second surface species, modeled as a ternary surface complex with UO2CO30 binding to a bidentate surface site. Previous surface complexation models for U(VI) adsorption have proposed surface species that are identical to the predominant aqueous species, e.g., multinuclear hydrolysis complexes or several U(VI)-carbonate complexes. The results demonstrate that the speciation of adsorbed U(VI) may be constrained by the coordination environment at the surface, giving rise to surface speciation for U(VI) that is significantly less complex than aqueous speciation.

Robust Software Architecture for Robots

NASA Technical Reports Server (NTRS)

Aghazanian, Hrand; Baumgartner, Eric; Garrett, Michael

2009-01-01

Robust Real-Time Reconfigurable Robotics Software Architecture (R4SA) is the name of both a software architecture and software that embodies the architecture. The architecture was conceived in the spirit of current practice in designing modular, hard, realtime aerospace systems. The architecture facilitates the integration of new sensory, motor, and control software modules into the software of a given robotic system. R4SA was developed for initial application aboard exploratory mobile robots on Mars, but is adaptable to terrestrial robotic systems, real-time embedded computing systems in general, and robotic toys.

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-15

Wunderkammer Laboratory Team leader Jim Rothrock, left, answers questions from 8th grade Sullivan Middle School (Mass.) students about his robot named "Cerberus" on Friday, June 15, 2012, at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. Rothrock's robot team will compete for a $1.5 million NASA prize in the NASA-WPI Sample Return Robot Centennial Challenge at WPI. Teams have been challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-15

SpacePRIDE Team members Chris Williamson, right, and Rob Moore, second from right, answer questions from 8th grade Sullivan Middle School (Mass.) students about their robot on Friday, June 15, 2012 at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. SpacePRIDE's robot team will compete for a $1.5 million NASA prize in the NASA-WPI Sample Return Robot Centennial Challenge at WPI. Teams have been challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Robot navigation research using the HERMIES mobile robot

DOE Office of Scientific and Technical Information (OSTI.GOV)

Barnett, D.L.

1989-01-01

In recent years robot navigation has attracted much attention from researchers around the world. Not only are theoretical studies being simulated on sophisticated computers, but many mobile robots are now used as test vehicles for these theoretical studies. Various algorithms have been perfected for navigation in a known static environment; but navigation in an unknown and dynamic environment poses a much more challenging problem for researchers. Many different methodologies have been developed for autonomous robot navigation, but each methodology is usually restricted to a particular type of environment. One important research focus of the Center for Engineering Systems Advanced researchmore » (CESAR) at Oak Ridge National Laboratory, is autonomous navigation in unknown and dynamic environments using the series of HERMIES mobile robots. The research uses an expert system for high-level planning interfaced with C-coded routines for implementing the plans, and for quick processing of data requested by the expert system. In using this approach, the navigation is not restricted to one methodology since the expert system can activate a rule module for the methodology best suited for the current situation. Rule modules can be added the rule base as they are developed and tested. Modules are being developed or enhanced for navigating from a map, searching for a target, exploring, artificial potential-field navigation, navigation using edge-detection, etc. This paper will report on the various rule modules and methods of navigation in use, or under development at CESAR, using the HERMIES-IIB robot as a testbed. 13 refs., 5 figs., 1 tab.« less

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

DOE Office of Scientific and Technical Information (OSTI.GOV)

Not Available

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

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

First-time participants from Saginaw Valley State University pause with their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from York College CUNY make adjustments to their robot miner for its turn in the mining arena on the fourth day of NASA's 9th Robotic Mining Competition, May 17, inside the RobotPits at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from the South Dakota School of Mines & Technology pause with their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Setup

NASA Image and Video Library

2018-05-14

On the first day of NASA's 9th Robotic Mining Competition, set-up day on May 14, college team members work on their robot miner in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Setup

NASA Image and Video Library

2018-05-14

On the first day of NASA's 9th Robotic Mining Competition, set-up day on May 14, team members from Temple University work on their robot miner in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from the University of Colorado Boulder work on their robot miner in the RobotPits in the Educator Resource Center on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

The Robotic Decathlon: Project-Based Learning Labs and Curriculum Design for an Introductory Robotics Course

ERIC Educational Resources Information Center

Cappelleri, D. J.; Vitoroulis, N.

2013-01-01

This paper presents a series of novel project-based learning labs for an introductory robotics course that are developed into a semester-long Robotic Decathlon. The last three events of the Robotic Decathlon are used as three final one-week-long project tasks; these replace a previous course project that was a semester-long robotics competition.…

Robots in Space -Psychological Aspects

NASA Technical Reports Server (NTRS)

Sipes, Walter E.

2006-01-01

A viewgraph presentation on the psychological aspects of developing robots to perform routine operations associated with monitoring, inspection, maintenance and repair in space is shown. The topics include: 1) Purpose; 2) Vision; 3) Current Robots in Space; 4) Ground Based Robots; 5) AERCam; 6) Rotating Bladder Robot (ROBLR); 7) DART; 8) Robonaut; 9) Full Immersion Telepresence Testbed; 10) ERA; and 11) Psychological Aspects

Cooperative Autonomous Robots for Reconnaissance

DTIC Science & Technology

2009-03-06

REPORT Cooperative Autonomous Robots for Reconnaissance 14. ABSTRACT 16. SECURITY CLASSIFICATION OF: Collaborating mobile robots equipped with WiFi ...Cooperative Autonomous Robots for Reconnaissance Report Title ABSTRACT Collaborating mobile robots equipped with WiFi transceivers are configured as a mobile...equipped with WiFi transceivers are configured as a mobile ad-hoc network. Algorithms are developed to take advantage of the distributed processing

Review of emerging surgical robotic technology.

PubMed

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

2018-04-01

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

24 CFR 972.115 - Relationship between required conversions and HOPE VI developments.

Code of Federal Regulations, 2010 CFR

2010-04-01

... conversions and HOPE VI developments. 972.115 Section 972.115 Housing and Urban Development Regulations... Relationship between required conversions and HOPE VI developments. HUD actions to approve or deny proposed HOPE VI revitalization plans must be consistent with the requirements of this subpart. Developments...

Ferrate(VI) oxidation of polychlorinated diphenyl sulfides: Kinetics, degradation, and oxidized products.

PubMed

Chen, Jing; Xu, Xinxin; Zeng, Xiaolan; Feng, Mingbao; Qu, Ruijuan; Wang, Zunyao; Nesnas, Nasri; Sharma, Virender K

2018-06-13

This paper presents oxidation of polychlorinated diphenyl sulfides (PCDPSs), dioxin-like compounds, by ferrate(VI) (Fe VI O 4 2- , Fe(VI)). Kinetics of the reactions of Fe(VI) with seventeen PCDPSs, differ in number and positions of chlorine atoms (from 2 to 7), were investigated at pH 8.0. The second-order rate constants (k, M -1 s -1 ) of the reactions varied with the numbers and positions of chlorine atoms and appeared to be related with standard Gibbs free energy of formation (Δ f G 0 ) of PCDPSs. Degradation experiments in the presence of ions and humic acid demonstrated complete removal of PeCDPS by Fe(VI) in minutes. Pathways of the reaction were investigated by identifying oxidized products (OPs) of the reaction between Fe(VI) and 2,2',3',4,5-pentachlorodiphenyl sulfide (PeCDPS) at pH 8.0. Pathways of oxidation involved major pathway of attack on sulfur(II) by Fe(VI) in steps to yield sulfoxide type products, and subsequent breakage of C-S bond with the formation of sulfonic acid-containing trichloro compound. Minor pathways were hydroxylation of benzene ring and substitution of chlorine atom with hydroxyl group. Estimation of toxicity of OPs of the oxidation of PeCDPS by Fe(VI) suggested the decreased toxicity from the parent contaminant. Copyright © 2018. Published by Elsevier Ltd.

Enhanced Cr(VI) removal by polyethylenimine- and phosphorus-codoped hierarchical porous carbons.

PubMed

Chen, Shixia; Wang, Jun; Wu, Zeliang; Deng, Qiang; Tu, Wenfeng; Dai, Guiping; Zeng, Zheling; Deng, Shuguang

2018-08-01

The amino- and phosphorus-codoped (N,P-codoped) porous carbons derived from oil-tea shells were facilely fabricated through a combination of phosphoric acid (H 3 PO 4 ) activation and amino (polyethylenimine, PEI) modification method. The as-synthesized carbon adsorbents were systematically characterized and evaluated for Cr(VI) removal in aqueous solutions. The relationship between adsorbent properties and adsorption behaviors was illustrated. Moreover, the influences of contact time, initial Cr(VI) concentration, pH, coexisting anions and temperature were also investigated. The adsorption behavior of Cr(VI) could be perfectly described by the pseudo-second-order kinetic model and Sips adsorption model. The maximum adsorption capacity of Cr(VI) on the carbon adsorbents synthesized in this work was 355.0 mg/g, and this excellent Cr(VI) capacity could be sustained with other coexisting anions. In addition to high surface area and suitable pore size distribution, the high Cr(VI) removal capacity is induced by rich heteroatoms incorporation and the Cr(VI) removal mechanism was clearly illustrated. Furthermore, the continuous column breakthrough experiment on obtained N,P-codoped carbon was conducted and well fitted by the Thomas model. This work revealed that PEI modification and P-containing groups could significantly enhance Cr(VI) adsorption capacity and make these N,P-codoped biomass-derived carbons potent adsorbents in practical water treatment applications. Copyright © 2018 Elsevier Inc. All rights reserved.

Robot computer problem solving system

NASA Technical Reports Server (NTRS)

Merriam, E. W.; Becker, J. D.

1973-01-01

A robot computer problem solving system which represents a robot exploration vehicle in a simulated Mars environment is described. The model exhibits changes and improvements made on a previously designed robot in a city environment. The Martian environment is modeled in Cartesian coordinates; objects are scattered about a plane; arbitrary restrictions on the robot's vision have been removed; and the robot's path contains arbitrary curves. New environmental features, particularly the visual occlusion of objects by other objects, were added to the model. Two different algorithms were developed for computing occlusion. Movement and vision capabilities of the robot were established in the Mars environment, using LISP/FORTRAN interface for computational efficiency. The graphical display program was redesigned to reflect the change to the Mars-like environment.

Walking Robot Locomotion System Conception

NASA Astrophysics Data System (ADS)

Ignatova, D.; Abadjieva, E.; Abadjiev, V.; Vatzkitchev, Al.

2014-09-01

This work is a brief analysis on the application and perspective of using the walking robots in different areas in practice. The most common characteristics of walking four legs robots are presented here. The specific features of the applied actuators in walking mechanisms are also shown in the article. The experience of Institute of Mechanics - BAS is illustrated in creation of Spiroid and Helicon1 gears and their assembly in actuation of studied robots. Loading on joints reductors of robot legs is modelled, when the geometrical and the walking parameters of the studied robot are preliminary defined. The obtained results are purposed for designing the control of the loading of reductor type Helicon in the legs of the robot, when it is experimentally tested.

NASA's Intelligent Robotics Group

NASA Image and Video Library

2017-01-06

Shareable video highlighting the Intelligent Robotics Group's 25 years of experience developing tools to allow humans and robots to work as teammates. Highlights the VERVE software, which allows researchers to see a 3D representation of the robot's world and mentions how Nissan is using a version of VERVE in the autonomous vehicle research.

Robotics--The New Silent Majority: Engineering Robot Applications and Education.

ERIC Educational Resources Information Center

Kimbler, D. L.

1984-01-01

The impact of robotics in education is discussed in terms of academic assistance to industry in robotics as well as academic problems in handling the demands put upon it. Some potential solutions that can have lasting impact on educational systems are proposed. (JN)

Vision servo of industrial robot: A review

NASA Astrophysics Data System (ADS)

Zhang, Yujin

2018-04-01

Robot technology has been implemented to various areas of production and life. With the continuous development of robot applications, requirements of the robot are also getting higher and higher. In order to get better perception of the robots, vision sensors have been widely used in industrial robots. In this paper, application directions of industrial robots are reviewed. The development, classification and application of robot vision servo technology are discussed, and the development prospect of industrial robot vision servo technology is proposed.

[Mobile autonomous robots-Possibilities and limits].

PubMed

Maehle, E; Brockmann, W; Walthelm, A

2002-02-01

Besides industrial robots, which today are firmly established in production processes, service robots are becoming more and more important. They shall provide services for humans in different areas of their professional and everyday environment including medicine. Most of these service robots are mobile which requires an intelligent autonomous behaviour. After characterising the different kinds of robots the relevant paradigms of intelligent autonomous behaviour for mobile robots are critically discussed in this paper and illustrated by three concrete examples of robots realized in Lübeck. In addition a short survey of actual kinds of surgical robots as well as an outlook to future developments is given.

Robotic assisted andrological surgery

PubMed Central

Parekattil, Sijo J; Gudeloglu, Ahmet

2013-01-01

The introduction of the operative microscope for andrological surgery in the 1970s provided enhanced magnification and accuracy, unparalleled to any previous visual loop or magnification techniques. This technology revolutionized techniques for microsurgery in andrology. Today, we may be on the verge of a second such revolution by the incorporation of robotic assisted platforms for microsurgery in andrology. Robotic assisted microsurgery is being utilized to a greater degree in andrology and a number of other microsurgical fields, such as ophthalmology, hand surgery, plastics and reconstructive surgery. The potential advantages of robotic assisted platforms include elimination of tremor, improved stability, surgeon ergonomics, scalability of motion, multi-input visual interphases with up to three simultaneous visual views, enhanced magnification, and the ability to manipulate three surgical instruments and cameras simultaneously. This review paper begins with the historical development of robotic microsurgery. It then provides an in-depth presentation of the technique and outcomes of common robotic microsurgical andrological procedures, such as vasectomy reversal, subinguinal varicocelectomy, targeted spermatic cord denervation (for chronic orchialgia) and robotic assisted microsurgical testicular sperm extraction (microTESE). PMID:23241637

Modularity in robotic systems

NASA Technical Reports Server (NTRS)

Tesar, Delbert; Butler, Michael S.

1989-01-01

Most robotic systems today are designed one at a time, at a high cost of time and money. This wasteful approach has been necessary because the industry has not established a foundation for the continued evolution of intelligent machines. The next generation of robots will have to be generic, versatile machines capable of absorbing new technology rapidly and economically. This approach is demonstrated in the success of the personal computer, which can be upgraded or expanded with new software and hardware at virtually every level. Modularity is perceived as a major opportunity to reduce the 6 to 7 year design cycle time now required for new robotic manipulators, greatly increasing the breadth and speed of diffusion of robotic systems in manufacturing. Modularity and its crucial role in the next generation of intelligent machines are the focus of interest. The main advantages that modularity provides are examined; types of modules needed to create a generic robot are discussed. Structural modules designed by the robotics group at the University of Texas at Austin are examined to demonstrate the advantages of modular design.

Contribution of extracellular polymeric substances from Shewanella sp. HRCR-1 biofilms to U(VI) immobilization.

PubMed

Cao, Bin; Ahmed, Bulbul; Kennedy, David W; Wang, Zheming; Shi, Liang; Marshall, Matthew J; Fredrickson, Jim K; Isern, Nancy G; Majors, Paul D; Beyenal, Haluk

2011-07-01

The goal of this study was to quantify the contribution of extracellular polymeric substances (EPS) to U(VI) immobilization by Shewanella sp. HRCR-1. Through comparison of U(VI) immobilization using cells with bound EPS (bEPS) and cells with minimal EPS, we show that (i) bEPS from Shewanella sp. HRCR-1 biofilms contribute significantly to U(VI) immobilization, especially at low initial U(VI) concentrations, through both sorption and reduction; (ii) bEPS can be considered a functional extension of the cells for U(VI) immobilization and they likely play more important roles at lower initial U(VI) concentrations; and (iii) the U(VI) reduction efficiency is dependent upon the initial U(VI) concentration and decreases at lower concentrations. To quantify the relative contributions of sorption and reduction to U(VI) immobilization by EPS fractions, we isolated loosely associated EPS (laEPS) and bEPS from Shewanella sp. HRCR-1 biofilms grown in a hollow fiber membrane biofilm reactor and tested their reactivity with U(VI). We found that, when reduced, the isolated cell-free EPS fractions could reduce U(VI). Polysaccharides in the EPS likely contributed to U(VI) sorption and dominated the reactivity of laEPS, while redox active components (e.g., outer membrane c-type cytochromes), especially in bEPS, possibly facilitated U(VI) reduction.

Robotics FAQ Index

Science.gov Websites

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Training in urological robotic surgery. Future perspectives.

PubMed

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

2018-01-01

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

Robotic Precursor Missions for Mars Habitats

NASA Technical Reports Server (NTRS)

Huntsberger, Terry; Pirjanian, Paolo; Schenker, Paul S.; Trebi-Ollennu, Ashitey; Das, Hari; Joshi, Sajay

2000-01-01

Infrastructure support for robotic colonies, manned Mars habitat, and/or robotic exploration of planetary surfaces will need to rely on the field deployment of multiple robust robots. This support includes such tasks as the deployment and servicing of power systems and ISRU generators, construction of beaconed roadways, and the site preparation and deployment of manned habitat modules. The current level of autonomy of planetary rovers such as Sojourner will need to be greatly enhanced for these types of operations. In addition, single robotic platforms will not be capable of complicated construction scenarios. Precursor robotic missions to Mars that involve teams of multiple cooperating robots to accomplish some of these tasks is a cost effective solution to the possible long timeline necessary for the deployment of a manned habitat. Ongoing work at JPL under the Mars Outpost Program in the area of robot colonies is investigating many of the technology developments necessary for such an ambitious undertaking. Some of the issues that are being addressed include behavior-based control systems for multiple cooperating robots (CAMPOUT), development of autonomous robotic systems for the rescue/repair of trapped or disabled robots, and the design and development of robotic platforms for construction tasks such as material transport and surface clearing.

Robotics in percutaneous cardiovascular interventions.

PubMed

Pourdjabbar, Ali; Ang, Lawrence; Behnamfar, Omid; Patel, Mitul P; Reeves, Ryan R; Campbell, Paul T; Madder, Ryan D; Mahmud, Ehtisham

2017-11-01

The fundamental technique of performing percutaneous cardiovascular (CV) interventions has remained unchanged and requires operators to wear heavy lead aprons to minimize exposure to ionizing radiation. Robotic technology is now being utilized in interventional cardiology partially as a direct result of the increasing appreciation of the long-term occupational hazards of the field. This review was undertaken to report the clinical outcomes of percutaneous robotic coronary and peripheral vascular interventions. Areas covered: A systematic literature review of percutaneous robotic CV interventions was undertaken. The safety and feasibility of percutaneous robotically-assisted CV interventions has been validated in simple to complex coronary disease, and iliofemoral disease. Studies have shown that robotically-assisted PCI significantly reduces operator exposure to harmful ionizing radiation without compromising procedural success or clinical efficacy. In addition to the operator benefits, robotically-assisted intervention has the potential for patient advantages by allowing more accurate lesion length measurement, precise stent placement and lower patient radiation exposure. However, further investigation is required to fully elucidate these potential benefits. Expert commentary: Incremental improvement in robotic technology and telecommunications would enable treatment of an even broader patient population, and potentially provide remote robotic PCI.

Using insects to drive mobile robots - hybrid robots bridge the gap between biological and artificial systems.

PubMed

Ando, Noriyasu; Kanzaki, Ryohei

2017-09-01

The use of mobile robots is an effective method of validating sensory-motor models of animals in a real environment. The well-identified insect sensory-motor systems have been the major targets for modeling. Furthermore, mobile robots implemented with such insect models attract engineers who aim to avail advantages from organisms. However, directly comparing the robots with real insects is still difficult, even if we successfully model the biological systems, because of the physical differences between them. We developed a hybrid robot to bridge the gap. This hybrid robot is an insect-controlled robot, in which a tethered male silkmoth (Bombyx mori) drives the robot in order to localize an odor source. This robot has the following three advantages: 1) from a biomimetic perspective, the robot enables us to evaluate the potential performance of future insect-mimetic robots; 2) from a biological perspective, the robot enables us to manipulate the closed-loop of an onboard insect for further understanding of its sensory-motor system; and 3) the robot enables comparison with insect models as a reference biological system. In this paper, we review the recent works regarding insect-controlled robots and discuss the significance for both engineering and biology. Copyright © 2017 Elsevier Ltd. All rights reserved.

Transoral robotic supraglottic partial laryngectomy.

PubMed

Kayhan, Fatma Tülin; Kaya, Kamil Hakan; Altintas, Ahmet; Sayin, Ibrahim

2014-07-01

Transoral robotic supraglottic laryngectomy is a new surgical way to perform endolaryngeal resection of supraglottic laryngeal carcinoma. The aim of this report was to present our initial experience about transoral robotic supraglottic laryngectomy for early supraglottic cancer. Subjects with early squamous cell carcinoma (T1-T2) of supraglottic region who managed using transoral robotic surgery in a tertiary referral center were included in the study. The technique of robot-assisted resection, intraoperative blood loss, mean robotic operating time, pathologic margin status, postoperative extubation, need for a tracheotomy, and length of hospitalization, complications, duration of oral nutrition, and neck dissection and radiotherapy needs were evaluated. Thirteen subjects (12 men, 1 woman) with T1-T2 supraglottic carcinoma were successfully operated on with transoral robotic surgery. In all subjects, negative margins were obtained. The mean total robotic surgery time was 31.6 (SD, 16.2) minutes (range, 20-80 minutes). Mean total blood loss was less than 40 mL. Subjects started oral nutrition with a mean of 10.8 (SD, 8.9) days (range, 4-30 days) postoperatively. The mean hospitalization was 15.4 (SD, 10.4) days (range, 7-42 days). Transoral robotic supraglottic laryngectomy with the da Vinci robotic system can be regarded as a feasible, safe, and effective technique. Although short-term results seem discouraging, long-term results are needed to evaluate the oncologic safety.

Inactivation of bacteriophage MS2 with potassium ferrate(VI).

PubMed

Hu, Lanhua; Page, Martin A; Sigstam, Therese; Kohn, Tamar; Mariñas, Benito J; Strathmann, Timothy J

2012-11-06

Ferrate [Fe(VI); FeO(4)(2-)] is an emerging oxidizing agent capable of controlling chemical and microbial water contaminants. Here, inactivation of MS2 coliphage by Fe(VI) was examined. The inactivation kinetics observed in individual batch experiments was well described by a Chick-Watson model with first-order dependences on disinfectant and infective phage concentrations. The inactivation rate constant k(i) at a Fe(VI) dose of 1.23 mgFe/L (pH 7.0, 25 °C) was 2.27(±0.05) L/(mgFe × min), corresponding to 99.99% inactivation at a Ct of ~4 (mgFe × min)/L. Measured k(i) values were found to increase with increasing applied Fe(VI) dose (0.56-2.24 mgFe/L), increasing temperature (5-30 °C), and decreasing pH conditions (pH 6-11). The Fe(VI) dose effect suggested that an unidentified Fe byproduct also contributed to inactivation. Temperature dependence was characterized by an activation energy of 39(±6) kJ mol(-1), and k(i) increased >50-fold when pH decreased from 11 to 6. The pH effect was quantitatively described by parallel reactions with HFeO(4)(-) and FeO(4)(2-). Mass spectrometry and qRT-PCR analyses demonstrated that both capsid protein and genome damage increased with the extent of inactivation, suggesting that both may contribute to phage inactivation. Capsid protein damage, localized in the two regions containing oxidant-sensitive cysteine residues, and protein cleavage in one of the two regions may facilitate genome damage by increasing Fe(VI) access to the interior of the virion.

Research progress in the use of ferrate(VI) for the environmental remediation.

PubMed

Jiang, J Q

2007-07-31

The aim of this paper is to review the research progress of using ferrate(VI) in following fields of environmental remediation: (1) water disinfection; (2) degradation of synthetic organic pollutants; (3) treatment of emerging organic pollutants; (4) oxidation of inorganic pollutants; (5) removing humic substance; (6) wastewater treatment and disinfection; and (7) sewage sludge treatment. Whilst the superior performance of potassium ferrate(VI) as an oxidant/disinfectant for the environmental remediation has been demonstrated in various recent researches, challenges have existed to the implementation of ferrate(VI) technology in full-scale water, wastewater and sewage sludge treatment owing to either the instability property of a ferrate(VI) solution or a high preparation cost of a solid ferrate(VI). In addition to this, there are some fundamental issues which have not yet been studied thoroughly which are crucial for the implementation of ferrate(VI)-these lead to the future research work recommended by this paper.

Student teams maneuver robots in qualifying match at regional robotic competition at KSC

NASA Technical Reports Server (NTRS)

1999-01-01

All four robots, maneuvered by student teams behind protective walls, converge on a corner of the playing field during qualifying matches of the 1999 Southeastern Regional robotic competition at Kennedy Space Center Visitor Complex . Thirty schools from around the country have converged at KSC for the event that pits gladiator robots against each other in an athletic-style competition. The robots have to retrieve pillow- like disks from the floor, as well as climb onto the platform (with flags) and raise the cache of pillows to a height of eight feet. KSC is hosting the event being sponsored by the nonprofit organization For Inspiration and Recognition of Science and Technology, known as FIRST. The FIRST robotics competition is designed to provide students with a hands-on, inside look at engineering and other professional careers.

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect.

PubMed

Ando, Noriyasu; Emoto, Shuhei; Kanzaki, Ryohei

2016-12-19

Robotic odor source localization has been a challenging area and one to which biological knowledge has been expected to contribute, as finding odor sources is an essential task for organism survival. Insects are well-studied organisms with regard to odor tracking, and their behavioral strategies have been applied to mobile robots for evaluation. This "bottom-up" approach is a fundamental way to develop biomimetic robots; however, the biological analyses and the modeling of behavioral mechanisms are still ongoing. Therefore, it is still unknown how such a biological system actually works as the controller of a robotic platform. To answer this question, we have developed an insect-controlled robot in which a male adult silkmoth (Bombyx mori) drives a robot car in response to odor stimuli; this can be regarded as a prototype of a future insect-mimetic robot. In the cockpit of the robot, a tethered silkmoth walked on an air-supported ball and an optical sensor measured the ball rotations. These rotations were translated into the movement of the two-wheeled robot. The advantage of this "hybrid" approach is that experimenters can manipulate any parameter of the robot, which enables the evaluation of the odor-tracking capability of insects and provides useful suggestions for robotic odor-tracking. Furthermore, these manipulations are non-invasive ways to alter the sensory-motor relationship of a pilot insect and will be a useful technique for understanding adaptive behaviors.

Characterization of U(VI)-carbonato ternary complexes on hematite: EXAFS and electrophoretic mobility measurements

USGS Publications Warehouse

Bargar, John R.; Reitmeyer, Rebecca; Lenhart, John J.; Davis, James A.

2000-01-01

We have measured U(VI) adsorption on hematite using EXAFS spectroscopy and electrophoresis under conditions relevant to surface waters and aquifers (0.01 to 10 μM dissolved uranium concentrations, in equilibrium with air, pH 4.5 to 8.5). Both techniques suggest the existence of anionic U(VI)-carbonato ternary complexes. Fits to EXAFS spectra indicate that U(VI) is simultaneously coordinated to surface FeO6 octahedra and carbonate (or bicarbonate) ligands in bidentate fashions, leading to the conclusion that the ternary complexes have an inner-sphere metal bridging (hematite-U(VI)-carbonato) structure. Greater than or equal to 50% of adsorbed U(VI) was comprised of monomeric hematite-U(VI)-carbonato ternary complexes, even at pH 4.5. Multimeric U(VI) species were observed at pH ≥ 6.5 and aqueous U(VI) concentrations approximately an order of magnitude more dilute than the solubility of crystalline β-UO2(OH)2. Based on structural constraints, these complexes were interpreted as dimeric hematite-U(VI)-carbonato ternary complexes. These results suggest that Fe-oxide-U(VI)-carbonato complexes are likely to be important transport-limiting species in oxic aquifers throughout a wide range of pH values.

Why Robots Should Be Social: Enhancing Machine Learning through Social Human-Robot Interaction

PubMed Central

de Greeff, Joachim; Belpaeme, Tony

2015-01-01

Social learning is a powerful method for cultural propagation of knowledge and skills relying on a complex interplay of learning strategies, social ecology and the human propensity for both learning and tutoring. Social learning has the potential to be an equally potent learning strategy for artificial systems and robots in specific. However, given the complexity and unstructured nature of social learning, implementing social machine learning proves to be a challenging problem. We study one particular aspect of social machine learning: that of offering social cues during the learning interaction. Specifically, we study whether people are sensitive to social cues offered by a learning robot, in a similar way to children’s social bids for tutoring. We use a child-like social robot and a task in which the robot has to learn the meaning of words. For this a simple turn-based interaction is used, based on language games. Two conditions are tested: one in which the robot uses social means to invite a human teacher to provide information based on what the robot requires to fill gaps in its knowledge (i.e. expression of a learning preference); the other in which the robot does not provide social cues to communicate a learning preference. We observe that conveying a learning preference through the use of social cues results in better and faster learning by the robot. People also seem to form a “mental model” of the robot, tailoring the tutoring to the robot’s performance as opposed to using simply random teaching. In addition, the social learning shows a clear gender effect with female participants being responsive to the robot’s bids, while male teachers appear to be less receptive. This work shows how additional social cues in social machine learning can result in people offering better quality learning input to artificial systems, resulting in improved learning performance. PMID:26422143

Experiments in autonomous robotics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hamel, W.R.

1987-01-01

The Center for Engineering Systems Advanced Research (CESAR) is performing basic research in autonomous robotics for energy-related applications in hazardous environments. The CESAR research agenda includes a strong experimental component to assure practical evaluation of new concepts and theories. An evolutionary sequence of mobile research robots has been planned to support research in robot navigation, world sensing, and object manipulation. A number of experiments have been performed in studying robot navigation and path planning with planar sonar sensing. Future experiments will address more complex tasks involving three-dimensional sensing, dexterous manipulation, and human-scale operations.

Three laws of robotics and surgery.

PubMed

Moran, Michael

2008-08-01

In 1939, Isaac Asimov solidified the modern science fiction genre of robotics in his short story "Strange Playfellow" but altered our thinking about robots in Runaround in 1942 by formulating the Three Laws. He took an engineer's perspective on advanced robotic technologies. Surgical robots by definition violate the first law, yet his discussions are poignant for our understanding of future potential of robotic urologic surgery. We sought to better understand Asimov's visions by reading his fiction and autobiography. We then sought to place his perceptions of science fact next to the Three Laws (he later added a fourth law, the zeroth). Asimov's Three Laws are often quoted in medical journals during discussions about robotic surgery. His First Law states: "A robot may not injure a human being, or, through inaction, allow a human being to come to harm. " This philosophy would directly conflict with the application in surgery. In fact, most of his robotic stories deal with robots that come into conflicts with the laws. Robots in his cleverly orchestrated works evolve unique solutions to complex hierarchical conflicts with these laws. Asimov anticipated the coming maelstrom of intelligent robotic technologies with prescient unease. Despite his scholarly intuitions, he was able to fathom medical/surgical applications in many of his works. These fictional robotic physicians were able to overcome the first law and aid in the care and management of the sick/injured. Isaac Asimov published over 500 books on topics ranging from Shakespeare to science. Despite his widespread influence, he refused to visit the MIT robotics laboratory to see current, state-of-the-art systems. He managed to lay the foundation of modern robotic control systems with a human-oriented safety mechanism in his laws. "If knowledge can create problems, it is not through ignorance that we can solve them " (I Asimov).

Cr(VI) Adsorption on Red Mud Modified by Lanthanum: Performance, Kinetics and Mechanisms

PubMed Central

Cui, You-Wei; Li, Jie; Du, Zhao-Fu; Peng, Yong-Zhen

2016-01-01

Water pollution caused by the highly toxic metal hexavalent chromium (Cr(VI)) creates significant human health and ecological risks. In this study, a novel adsorbent was used to treat Cr(VI)-containing wastewater; the adsorbent was prepared using red mud (RM) generated from the alumina production industry and the rare earth element lanthanum. This study explored adsorption performance, kinetics, and mechanisms. Results showed that the adsorption kinetics of the RM modified by lanthanum (La-RM), followed the pseudo-second-order model, with a rapid adsorption rate. Cr(VI) adsorption was positively associated with the absorbent dose, pH, temperature, and initial Cr(VI) concentration; coexisting anions had little impact. The maximum Cr(VI) adsorption capacity was 17.35 mg/g. Cr(VI) adsorption on La-RM was a mono-layer adsorption pattern, following the Langmuir isotherm model. Thermodynamic parameters showed the adsorption was spontaneous and endothermic. The adsorption of Cr(VI) on La-RM occurred as a result of LaOCl formation on the RM surface, which in turn further reacted with Cr(VI) in the wastewater. This study highlighted a method for converting industrial waste into a valuable material for wastewater treatment. The novel absorbent could be used as a potential adsorbent for treating Cr(VI)-contaminating wastewater, due to its cost-effectiveness and high adsorption capability. PMID:27658113

Honda humanoid robots development.

PubMed

Hirose, Masato; Ogawa, Kenichi

2007-01-15

Honda has been doing research on robotics since 1986 with a focus upon bipedal walking technology. The research started with straight and static walking of the first prototype two-legged robot. Now, the continuous transition from walking in a straight line to making a turn has been achieved with the latest humanoid robot ASIMO. ASIMO is the most advanced robot of Honda so far in the mechanism and the control system. ASIMO's configuration allows it to operate freely in the human living space. It could be of practical help to humans with its ability of five-finger arms as well as its walking function. The target of further development of ASIMO is to develop a robot to improve life in human society. Much development work will be continued both mechanically and electronically, staying true to Honda's 'challenging spirit'.

Robotic Mining Competition - Setup

NASA Image and Video Library

2018-05-14

On the first day of NASA's 9th Robotic Mining Competition, set-up day on May 14, team members from the University of Minnesota-Twin Cities work on their robot miner in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Setup

NASA Image and Video Library

2018-05-14

On the first day of NASA's 9th Robotic Mining Competition, set-up day on May 14, team members from the South Dakota School of Mines & Technology work on their robot miner in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Setup

NASA Image and Video Library

2018-05-14

On the first day of NASA's 9th Robotic Mining Competition, set-up day on May 14, team members from Montana Tech of the University of Montana work on their robot miner in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members from the University of Arkansas make adjustments to their robot miner for its turn in the mining arena on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. They are in the RobotPits inside the Educator Resource Center. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Setup

NASA Image and Video Library

2018-05-14

On the first day of NASA's 9th Robotic Mining Competition, set-up day on May 14, team members from the Illinois Institute of Technology work on their robot miner in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Setup

NASA Image and Video Library

2018-05-14

On the first day of NASA's 9th Robotic Mining Competition, set-up day on May 14, team members from the University of North Carolina at Charlotte work on their robot miner in the RobotPits in the Educator Resource Center at Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

Team members and their faculty advisor, far left, from The University of North Carolina at Charlotte pause with their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. will use their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Robotic Mining Competition - Activities

NASA Image and Video Library

2018-05-17

First-time participants from the University of Maine, along with their faculty advisor, at far right, are with their robot miner in the RobotPits on the fourth day of NASA's 9th Robotic Mining Competition, May 17, at NASA's Kennedy Space Center Visitor Complex in Florida. More than 40 student teams from colleges and universities around the U.S. are using their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Lunar soil, gravel and rocks, and participate in other competition requirements. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's deep space missions.

Survey of robot lawn mowers

NASA Astrophysics Data System (ADS)

Hicks, Rob W., II; Hall, Ernest L.

2000-10-01

Lawn mowing is considered by many to be one of the most boring and tiring routine household tasks. It is also one of the most promising personal robot applications. Several devices have not been invented and some manufactured products are available for lawn mowing. The purpose of this paper is to survey the state of the art in robotic lawn mowers to highlight the requirements and capabilities of current devices. A brief survey of available robot products, typical patents and some test bed prototypes are presented. Some enabling technologies which could make the devices more capable are also suggested. Some predictions indicate that the robot lawn mower will be the breakthrough device in robotics. The significance of this research lies in the presentation of an overview of a potential major market for personal robots.

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.

Robotic Technology Development at Ames: The Intelligent Robotics Group and Surface Telerobotics

NASA Technical Reports Server (NTRS)

Bualat, Maria; Fong, Terrence

2013-01-01

Future human missions to the Moon, Mars, and other destinations offer many new opportunities for exploration. But, astronaut time will always be limited and some work will not be feasible for humans to do manually. Robots, however, can complement human explorers, performing work autonomously or under remote supervision from Earth. Since 2004, the Intelligent Robotics Group has been working to make human-robot interaction efficient and effective for space exploration. A central focus of our research has been to develop and field test robots that benefit human exploration. Our approach is inspired by lessons learned from the Mars Exploration Rovers, as well as human spaceflight programs, including Apollo, the Space Shuttle, and the International Space Station. We conduct applied research in computer vision, geospatial data systems, human-robot interaction, planetary mapping and robot software. In planning for future exploration missions, architecture and study teams have made numerous assumptions about how crew can be telepresent on a planetary surface by remotely operating surface robots from space (i.e. from a flight vehicle or deep space habitat). These assumptions include estimates of technology maturity, existing technology gaps, and likely operational and functional risks. These assumptions, however, are not grounded by actual experimental data. Moreover, no crew-controlled surface telerobotic system has yet been fully tested, or rigorously validated, through flight testing. During Summer 2013, we conducted a series of tests to examine how astronauts in the International Space Station (ISS) can remotely operate a planetary rover across short time delays. The tests simulated portions of a proposed human-robotic Lunar Waypoint mission, in which astronauts in lunar orbit remotely operate a planetary rover on the lunar Farside to deploy a radio telescope array. We used these tests to obtain baseline-engineering data.

Robotic transthoracic esophagectomy.

PubMed

Puntambekar, Shailesh; Kenawadekar, Rahul; Kumar, Sanjay; Joshi, Saurabh; Agarwal, Geetanjali; Reddy, Sunil; Mallik, Jainul

2015-04-23

We have initially published our experience with the robotic transthoracic esophagectomy in 32 patients from a single institute. The present paper is the extension of our experience with robotic system and to best of our knowledge this represents the largest series of robotic transthoracic esophagectomy worldwide. The objective of this study was to investigate the feasibility of the robotic transthoracic esophagectomy for esophageal cancer in a series of patients from a single institute. A retrospective review of medical records was conducted for 83 esophageal cancer patients who underwent robotic esophagectomy at our institute from December 2009 to December 2012. All patients underwent a thorough clinical examination and pre-operative investigations. All patients underwent robotic esophageal mobilization. En-bloc dissection with lymphadenectomy was performed in all cases with preservation of Azygous vein. Relevant data were gathered from medical records. The study population comprised of 50 men and 33 women with mean age of 59.18 years. The mean operative time was 204.94 mins (range 180 to 300). The mean blood loss was 86.75 ml (range 50 to 200). The mean number of lymph node yield was 18. 36 (range 13 to 24). None of the patient required conversion. The mean ICU stay and hospital stay was 1 day (range 1 to 3) and 10.37 days (range 10 to 13), respectively. A total of 16 (19.28%) complication were reported in these patents. Commonly reported complication included dysphagia, pleural effusion and anastomotic leak. No treatment related mortality was observed. After a median follow-up period of 10 months, 66 patients (79.52%) survived with disease free stage. We found robot-assisted thoracoscopic esophagectomy feasible in cases of esophageal cancer. The procedure allowed precise en-bloc dissection with lymphadenectomy in mediastinum with reduced operative time, blood loss and complications.

Robots for Astrobiology!

NASA Technical Reports Server (NTRS)

Boston, Penelope J.

2016-01-01

The search for life and its study is known as astrobiology. Conducting that search on other planets in our Solar System is a major goal of NASA and other space agencies, and a driving passion of the community of scientists and engineers around the world. We practice for that search in many ways, from exploring and studying extreme environments on Earth, to developing robots to go to other planets and help us look for any possible life that may be there or may have been there in the past. The unique challenges of space exploration make collaborations between robots and humans essential. The products of those collaborations will be novel and driven by the features of wholly new environments. For space and planetary environments that are intolerable for humans or where humans present an unacceptable risk to possible biologically sensitive sites, autonomous robots or telepresence offer excellent choices. The search for life signs on Mars fits within this category, especially in advance of human landed missions there, but also as assistants and tools once humans reach the Red Planet. For planetary destinations where we do not envision humans ever going in person, like bitterly cold icy moons, or ocean worlds with thick ice roofs that essentially make them planetary-sized ice caves, we will rely on robots alone to visit those environments for us and enable us to explore and understand any life that we may find there. Current generation robots are not quite ready for some of the tasks that we need them to do, so there are many opportunities for roboticists of the future to advance novel types of mobility, autonomy, and bio-inspired robotic designs to help us accomplish our astrobiological goals. We see an exciting partnership between robotics and astrobiology continually strengthening as we jointly pursue the quest to find extraterrestrial life.

Cr(VI) remediation by enriched sediment with anthraquinone-2,6-disulfonate as electron shuttles

NASA Astrophysics Data System (ADS)

Chen, Hong; Li, Xiaojuan; Xu, Zhiwei

Hexavalent chromium (Cr(VI)) is a priority pollutant in the USA and many other countries. This study investigated the simultaneous remediation of Cr(VI) in sediment enriched with quinone-reducing microorganisms via a closely coupled, biotic-abiotic pathway. The results showed that Cr(VI) remediation was achieved by sediment adsorption and reduction of quinone-reducing microorganism. Moreover, microorganism reduction of Cr(VI) could be continued when sediment adsorption was saturated after long-term Cr(VI) remediation. The acetate and anthraquinone-2,6-disulfonate (AQDS), which acted as exogenous carbon and electron shuttle, respectively, were two crucial factors. The optimum concentrations of acetate and AQDS were 5 mM and 1 mM when the initial Cr(VI) concentration was 10 mg/L. AQDS was recycled, and it acted in a catalytic-type manner for the bacterial reduction of Cr(VI). Thus, biological humus reduction might provide an extensive pathway for the sequestration and detoxification of Cr(VI) in anaerobic soils, water, and industrial effluents.

Automatic control system generation for robot design validation

NASA Technical Reports Server (NTRS)

Bacon, James A. (Inventor); English, James D. (Inventor)

2012-01-01

The specification and drawings present a new method, system and software product for and apparatus for generating a robotic validation system for a robot design. The robotic validation system for the robot design of a robotic system is automatically generated by converting a robot design into a generic robotic description using a predetermined format, then generating a control system from the generic robotic description and finally updating robot design parameters of the robotic system with an analysis tool using both the generic robot description and the control system.

Intervening O vi Quasar Absorption Systems at Low Redshift: A Significant Baryon Reservoir.

PubMed

Tripp; Savage; Jenkins

2000-05-01

Far-UV echelle spectroscopy of the radio-quiet QSO H1821+643 (zem=0.297), obtained with the Space Telescope Imaging Spectrograph (STIS) at approximately 7 km s-1 resolution, reveals four definite O vi absorption-line systems and one probable O vi absorber at 0.15vi absorbers are located near galaxies and are highly displaced from the quasar in redshift; these are likely intervening systems unrelated to the background QSO. In the case of the strong O vi system at zabs=0.22497, multiple components are detected in Si iii and O vi as well as H i Lyman series lines, and the differing component velocity centroids and b-values firmly establish that this is a multiphase absorption system. A weak O vi absorber is detected at zabs=0.22637, i.e., offset by approximately 340 km s-1 from the zabs=0.22497 system. Lyalpha absorption is detected at zabs=0.22613, but no Lyalpha absorption is significantly detected at 0.22637. Other weak O vi absorbers at zabs=0.24531 and 0.26659 and the probable O vi system at 0.21326 have widely diverse O vi/H i column density ratios with N(O vi)/N(H i) ranging from vi absorbers with rest equivalent width greater than 30 mÅ in the H1821+643 spectrum is remarkably high, dN&solm0;dz approximately 48, which implies with a high (90%) confidence that it is greater than 17 in the low-redshift intergalactic medium. We conservatively estimate that the cosmological mass density of the O vi systems is Omegab(Ovi&parr0; greater, similar0.0008 h-175. With an assumed metallicity of 1/10 solar and a conservative assumption that the fraction of oxygen in the O vi ionization stage is 0.2, we obtain Omegab(Ovi&parr0; greater, similar0.004 h-175. This is comparable to the combined cosmological mass density of stars and cool gas in galaxies and X-ray-emitting gas in galaxy clusters at low redshift.

Conformal Robotic Stereolithography

PubMed Central

Stevens, Adam G.; Oliver, C. Ryan; Kirchmeyer, Matthieu; Wu, Jieyuan; Chin, Lillian; Polsen, Erik S.; Archer, Chad; Boyle, Casey; Garber, Jenna

2016-01-01

Abstract Additive manufacturing by layerwise photopolymerization, commonly called stereolithography (SLA), is attractive due to its high resolution and diversity of materials chemistry. However, traditional SLA methods are restricted to planar substrates and planar layers that are perpendicular to a single-axis build direction. Here, we present a robotic system that is capable of maskless layerwise photopolymerization on curved surfaces, enabling production of large-area conformal patterns and the construction of conformal freeform objects. The system comprises an industrial six-axis robot and a custom-built maskless projector end effector. Use of the system involves creating a mesh representation of the freeform substrate, generation of a triangulated toolpath with curved layers that represents the target object to be printed, precision mounting of the substrate in the robot workspace, and robotic photopatterning of the target object by coordinated motion of the robot and substrate. We demonstrate printing of conformal photopatterns on spheres of various sizes, and construction of miniature three-dimensional objects on spheres without requiring support features. Improvement of the motion accuracy and development of freeform toolpaths would enable construction of polymer objects that surpass the size and support structure constraints imparted by traditional SLA systems. PMID:29577062

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…

Tank-automotive robotics

NASA Astrophysics Data System (ADS)

Lane, Gerald R.

1999-07-01

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

Aerial Explorers and Robotic Ecosystems

NASA Technical Reports Server (NTRS)

Young, Larry A.; Pisanich, Greg

2004-01-01

A unique bio-inspired approach to autonomous aerial vehicle, a.k.a. aerial explorer technology is discussed. The work is focused on defining and studying aerial explorer mission concepts, both as an individual robotic system and as a member of a small robotic "ecosystem." Members of this robotic ecosystem include the aerial explorer, air-deployed sensors and robotic symbiotes, and other assets such as rovers, landers, and orbiters.

Building a Better Robot

ERIC Educational Resources Information Center

Navah, Jan

2012-01-01

Kids love to build robots, letting their imaginations run wild with thoughts of what they might look like and what they could be programmed to do. Yet when students use cereal boxes and found objects to make robots, often the projects look too similar and tend to fall apart. This alternative allows students to "build" robots in a different way,…

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – A torso model of Robonaut 2, identical to R2 already on the International Space Station, is introduced to a crowd of onlookers by Ron Diftler of NASA's Johnson Space Center in Houston. The demonstration was one of several provided during the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Agile Walking Robot

NASA Technical Reports Server (NTRS)

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

1990-01-01

Proposed agile walking robot operates over rocky, sandy, and sloping terrain. Offers stability and climbing ability superior to other conceptual mobile robots. Equipped with six articulated legs like those of insect, continually feels ground under leg before applying weight to it. If leg sensed unexpected object or failed to make contact with ground at expected point, seeks alternative position within radius of 20 cm. Failing that, robot halts, examines area around foot in detail with laser ranging imager, and replans entire cycle of steps for all legs before proceeding.

Beyond speculative robot ethics: a vision assessment study on the future of the robotic caretaker.

PubMed

van der Plas, Arjanna; Smits, Martijntje; Wehrmann, Caroline

2010-11-01

In this article we develop a dialogue model for robot technology experts and designated users to discuss visions on the future of robotics in long-term care. Our vision assessment study aims for more distinguished and more informed visions on future robots. Surprisingly, our experiment also led to some promising co-designed robot concepts in which jointly articulated moral guidelines are embedded. With our model, we think to have designed an interesting response on a recent call for a less speculative ethics of technology by encouraging discussions about the quality of positive and negative visions on the future of robotics.

Contribution of Extracellular Polymeric Substances from Shewanella sp. HRCR-1 Biofilms to U(VI) Immobilization

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cao, Bin; Ahmed, B.; Kennedy, David W.

2011-06-05

The goal of this study was to quantify the contribution of extracellular polymeric substances (EPS) in U(VI) immobilization by Shewanella sp. HRCR-1. Through comparison of U(VI) immobilization using cells with bound EPS (bEPS) and cells without EPS, we showed that i) bEPS from Shewanella sp. HRCR-1 biofilms contributed significantly to U(VI) immobilization, especially at low initial U(VI) concentrations, through both sorption and reduction; ii) bEPS could be considered as a functional extension of the cells for U(VI) immobilization and they likely play more important roles at initial U(VI) concentrations; and iii) U(VI) reduction efficiency was found to be dependent uponmore » initial U(VI) concentration and the efficiency decreased at lower concentrations. To quantify relative contribution of sorption and reduction in U(VI) immobilization by EPS fractions, we isolated loosely associated EPS (laEPS) and bEPS from Shewanella sp. HRCR-1 biofilms grown in a hollow fiber membrane biofilm reactor and tested their reactivity with U(V). We found that, when in reduced form, the isolated cell-free EPS fractions could reduce U(VI). Polysaccharides in the EPS likely contributed to U(VI) sorption and dominated reactivity of laEPS while redox active components (e.g., outer membrane c-type cytochromes), especially in bEPS, might facilitate U(VI) reduction.« less

SOFT ROBOTICS. A 3D-printed, functionally graded soft robot powered by combustion.

PubMed

Bartlett, Nicholas W; Tolley, Michael T; Overvelde, Johannes T B; Weaver, James C; Mosadegh, Bobak; Bertoldi, Katia; Whitesides, George M; Wood, Robert J

2015-07-10

Roboticists have begun to design biologically inspired robots with soft or partially soft bodies, which have the potential to be more robust and adaptable, and safer for human interaction, than traditional rigid robots. However, key challenges in the design and manufacture of soft robots include the complex fabrication processes and the interfacing of soft and rigid components. We used multimaterial three-dimensional (3D) printing to manufacture a combustion-powered robot whose body transitions from a rigid core to a soft exterior. This stiffness gradient, spanning three orders of magnitude in modulus, enables reliable interfacing between rigid driving components (controller, battery, etc.) and the primarily soft body, and also enhances performance. Powered by the combustion of butane and oxygen, this robot is able to perform untethered jumping. Copyright © 2015, American Association for the Advancement of Science.

Equipment and technology in surgical robotics.

PubMed

Sim, Hong Gee; Yip, Sidney Kam Hung; Cheng, Christopher Wai Sam

2006-06-01

Contemporary medical robotic systems used in urologic surgery usually consist of a computer and a mechanical device to carry out the designated task with an image acquisition module. These systems are typically from one of the two categories: offline or online robots. Offline robots, also known as fixed path robots, are completely automated with pre-programmed motion planning based on pre-operative imaging studies where precise movements within set confines are carried out. Online robotic systems rely on continuous input from the surgeons and change their movements and actions according to the input in real time. This class of robots is further divided into endoscopic manipulators and master-slave robotic systems. Current robotic surgical systems have resulted in a paradigm shift in the minimally invasive approach to complex laparoscopic urological procedures. Future developments will focus on refining haptic feedback, system miniaturization and improved augmented reality and telesurgical capabilities.

Bicarbonate Impact on U(VI) Bioreduction in a Shallow Alluvial Aquifer

DOE Office of Scientific and Technical Information (OSTI.GOV)

Long, Philip E.; Williams, Kenneth H.; Davis, James A.

Field-scale biostimulation and desorption tracer experiments conducted in a uranium (U) contaminated, shallow alluvial aquifer have provided insight into the coupling of microbiology, biogeochemistry, and hydrogeology that control U mobility in the subsurface. Initial experiments successfully tested the concept that Fe-reducing bacteria such as Geobacter sp. could enzymatically reduce soluble U(VI) to insoluble U(IV) during in situ electron donor amendment (Anderson et al. 2003, Williams et al. 2011). In parallel, in situ desorption tracer tests using bicarbonate amendment demonstrated rate-limited U(VI) desorption (Fox et al. 2012). These results and prior laboratory studies underscored the importance of enzymatic U(VI)-reduction and suggestedmore » the ability to combine desorption and bioreduction of U(VI). Here we report the results of a new field experiment in which bicarbonate-promoted uranium desorption and acetate amendment were combined and compared to an acetate amendment-only experiment in the same experimental plot. Results confirm that bicarbonate amendment to alluvial aquifer desorbs U(VI) and increases the abundance of Ca-uranyl-carbonato complexes. At the same time, that the rate of acetate-promoted enzymatic U(VI) reduction was greater in the presence of added bicarbonate in spite of the increased dominance of Ca-uranyl-carbonato aqueous complexes. A model-simulated peak rate of U(VI) reduction was ~3.8 times higher during acetate-bicarbonate treatment than under acetate-only conditions. Lack of consistent differences in microbial community structure between acetate-bicarbonate and acetate-only treatments suggest that a significantly higher rate of U(VI) reduction the bicarbonate-impacted sediment may be due to a higher intrinsic rate of microbial reduction induced by elevated concentrations of the bicarbonate oxyanion. The findings indicate that bicarbonate amendment may be useful in improving the engineered bioremediation of uranium in aquifers.« less

Bicarbonate impact on U(VI) bioreduction in a shallow alluvial aquifer

NASA Astrophysics Data System (ADS)

Long, Philip E.; Williams, Kenneth H.; Davis, James A.; Fox, Patricia M.; Wilkins, Michael J.; Yabusaki, Steven B.; Fang, Yilin; Waichler, Scott R.; Berman, Elena S. F.; Gupta, Manish; Chandler, Darrell P.; Murray, Chris; Peacock, Aaron D.; Giloteaux, Ludovic; Handley, Kim M.; Lovley, Derek R.; Banfield, Jillian F.

2015-02-01

Field-scale biostimulation and desorption tracer experiments conducted in a uranium (U) contaminated, shallow alluvial aquifer have provided insight into the coupling of microbiology, biogeochemistry, and hydrogeology that control U mobility in the subsurface. Initial experiments successfully tested the concept that Fe-reducing bacteria such as Geobacter sp. could enzymatically reduce soluble U(VI) to insoluble U(IV) during in situ electron donor amendment (Anderson et al., 2003; Williams et al., 2011). In parallel, in situ desorption tracer tests using bicarbonate amendment demonstrated rate-limited U(VI) desorption (Fox et al., 2012). These results and prior laboratory studies underscored the importance of enzymatic U(VI)-reduction and suggested the ability to combine desorption and bioreduction of U(VI). Here we report the results of a new field experiment in which bicarbonate-promoted uranium desorption and acetate amendment were combined and compared to an acetate amendment-only experiment in the same experimental plot. Results confirm that bicarbonate amendment to alluvial aquifer sediments desorbs U(VI) and increases the abundance of Ca-uranyl-carbonato complexes. At the same time, the rate of acetate-promoted enzymatic U(VI) reduction was greater in the presence of added bicarbonate in spite of the increased dominance of Ca-uranyl-carbonato aqueous complexes. A model-simulated peak rate of U(VI) reduction was ∼3.8 times higher during acetate-bicarbonate treatment than under acetate-only conditions. Lack of consistent differences in microbial community structure between acetate-bicarbonate and acetate-only treatments suggest that a significantly higher rate of U(VI) reduction in the bicarbonate-impacted sediment may be due to a higher intrinsic rate of microbial reduction induced by elevated concentrations of the bicarbonate oxyanion. The findings indicate that bicarbonate amendment may be useful in improving the engineered bioremediation of uranium in