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Sample records for robot telecontrol system

  1. Robot and robot system

    NASA Technical Reports Server (NTRS)

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

    2011-01-01

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

  2. 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.

  3. Robotic system

    NASA Technical Reports Server (NTRS)

    Ambrose, Robert O. (Inventor)

    2003-01-01

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

  4. Multiple robot systems in space

    NASA Technical Reports Server (NTRS)

    Bejczy, Antal K.

    1987-01-01

    Viewgraphs from a presentation on multiple robot systems in space are included. Topics covered include categories of robots in space; scenarios of robot applications in space; some characteristics of robots in space; and some interesting problems and issues.

  5. 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.

  6. Robotics and remote systems applications

    SciTech Connect

    Rabold, D.E.

    1996-05-01

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

  7. Industrial robot's vision systems

    NASA Astrophysics Data System (ADS)

    Iureva, Radda A.; Raskin, Evgeni O.; Komarov, Igor I.; Maltseva, Nadezhda K.; Fedosovsky, Michael E.

    2016-03-01

    Due to the improved economic situation in the high technology sectors, work on the creation of industrial robots and special mobile robotic systems are resumed. Despite this, the robotic control systems mostly remained unchanged. Hence one can see all advantages and disadvantages of these systems. This is due to lack of funds, which could greatly facilitate the work of the operator, and in some cases, completely replace it. The paper is concerned with the complex machine vision of robotic system for monitoring of underground pipelines, which collects and analyzes up to 90% of the necessary information. Vision Systems are used to identify obstacles to the process of movement on a trajectory to determine their origin, dimensions and character. The object is illuminated in a structured light, TV camera records projected structure. Distortions of the structure uniquely determine the shape of the object in view of the camera. The reference illumination is synchronized with the camera. The main parameters of the system are the basic distance between the generator and the lights and the camera parallax angle (the angle between the optical axes of the projection unit and camera).

  8. 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.

  9. Robotic follow system and method

    SciTech Connect

    Bruemmer, David J; Anderson, Matthew O

    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.

  10. Robotic Waterjet System

    NASA Technical Reports Server (NTRS)

    1996-01-01

    NASA needed a way to safely strip old paint and thermal protection material from reusable components from the Space Shuttle; to meet this requirement, Marshall Space Flight Center teamed with United Technologies' USBI Company and developed a stripping system based on hydroblasting. United Technology spun off a new company, Waterjet Systems, to commercialize and market the technology. The resulting ARMS (Automated Robotic Maintenance Systems), employ waterblasts at 55,000 pounds per square inch controlled by target-sensitive robots. The systems are used on aircraft and engine parts, and the newest application is on ships, where it not only strips but catches the ensuing wastewater. This innovation results in faster, cheaper stripping with less clean-up and reduced environmental impact.

  11. Multisensor robot navigation system

    NASA Astrophysics Data System (ADS)

    Persa, Stelian; Jonker, Pieter P.

    2002-02-01

    Almost all robot navigation systems work indoors. Outdoor robot navigation systems offer the potential for new application areas. The biggest single obstacle to building effective robot navigation systems is the lack of accurate wide-area sensors for trackers that report the locations and orientations of objects in an environment. Active (sensor-emitter) tracking technologies require powered-device installation, limiting their use to prepared areas that are relative free of natural or man-made interference sources. The hybrid tracker combines rate gyros and accelerometers with compass and tilt orientation sensor and DGPS system. Sensor distortions, delays and drift required compensation to achieve good results. The measurements from sensors are fused together to compensate for each other's limitations. Analysis and experimental results demonstrate the system effectiveness. The paper presents a field experiment for a low-cost strapdown-IMU (Inertial Measurement Unit)/DGPS combination, with data processing for the determination of 2-D components of position (trajectory), velocity and heading. In the present approach we have neglected earth rotation and gravity variations, because of the poor gyroscope sensitivities of our low-cost ISA (Inertial Sensor Assembly) and because of the relatively small area of the trajectory. The scope of this experiment was to test the feasibility of an integrated DGPS/IMU system of this type and to develop a field evaluation procedure for such a combination.

  12. Robotic systems in orthopaedic surgery.

    PubMed

    Lang, J E; Mannava, S; Floyd, A J; Goddard, M S; Smith, B P; Mofidi, A; Seyler, T M; Jinnah, R H

    2011-10-01

    Robots have been used in surgery since the late 1980s. Orthopaedic surgery began to incorporate robotic technology in 1992, with the introduction of ROBODOC, for the planning and performance of total hip replacement. The use of robotic systems has subsequently increased, with promising short-term radiological outcomes when compared with traditional orthopaedic procedures. Robotic systems can be classified into two categories: autonomous and haptic (or surgeon-guided). Passive surgery systems, which represent a third type of technology, have also been adopted recently by orthopaedic surgeons. While autonomous systems have fallen out of favour, tactile systems with technological improvements have become widely used. Specifically, the use of tactile and passive robotic systems in unicompartmental knee replacement (UKR) has addressed some of the historical mechanisms of failure of non-robotic UKR. These systems assist with increasing the accuracy of the alignment of the components and produce more consistent ligament balance. Short-term improvements in clinical and radiological outcomes have increased the popularity of robot-assisted UKR. Robot-assisted orthopaedic surgery has the potential for improving surgical outcomes. We discuss the different types of robotic systems available for use in orthopaedics and consider the indication, contraindications and limitations of these technologies. PMID:21969424

  13. Robot computer problem solving system

    NASA Technical Reports Server (NTRS)

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

    1974-01-01

    The conceptual, experimental, and practical aspects of the development of a robot computer problem solving system were investigated. The distinctive characteristics were formulated of the approach taken in relation to various studies of cognition and robotics. Vehicle and eye control systems were structured, and the information to be generated by the visual system is defined.

  14. Robotic Welding and Inspection System

    SciTech Connect

    H. B. Smartt; D. P. Pace; E. D. Larsen; T. R. McJunkin; C. I. Nichol; D. E. Clark; K. L. Skinner; M. L. Clark; T. G. Kaser; C. R. Tolle

    2008-06-01

    This paper presents a robotic system for GTA welding of lids on cylindrical vessels. The system consists of an articulated robot arm, a rotating positioner, end effectors for welding, grinding, ultrasonic and eddy current inspection. Features include weld viewing cameras, modular software, and text-based procedural files for process and motion trajectories.

  15. 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.

  16. Robot computer problem solving system

    NASA Technical Reports Server (NTRS)

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

    1974-01-01

    The conceptual, experimental, and practical phases of developing a robot computer problem solving system are outlined. Robot intelligence, conversion of the programming language SAIL to run under the THNEX monitor, and the use of the network to run several cooperating jobs at different sites are discussed.

  17. Robot, computer problem solving system

    NASA Technical Reports Server (NTRS)

    Becker, J. D.

    1972-01-01

    The development of a computer problem solving system is reported that considers physical problems faced by an artificial robot moving around in a complex environment. Fundamental interaction constraints with a real environment are simulated for the robot by visual scan and creation of an internal environmental model. The programming system used in constructing the problem solving system for the simulated robot and its simulated world environment is outlined together with the task that the system is capable of performing. A very general framework for understanding the relationship between an observed behavior and an adequate description of that behavior is included.

  18. Smart robots: a handbook of intelligent robotic systems

    SciTech Connect

    Hunt, V.D.

    1985-01-01

    Smart robots, designed to improve the quality and increase both the productivity and profitability of manufactured goods, are discussed in detail. Attention is focused on: (1) artificial intelligence for smart robots, (2) smart robot systems, (3) sensor-controlled robots, (4) machine vision systems, (5) robot manipulators, (6) locomotion, (7) natural languagae processing, (8) expert systems, and (9) computer integrated manufacturing. Photographs, charts and diagrams illustrate the systems covered. Areas of successful application to date include the automobile industry, textiles, forging, die casting and electronics. 110 references.

  19. Robotic System For Greenhouse Or Nursery

    NASA Technical Reports Server (NTRS)

    Gill, Paul; Montgomery, Jim; Silver, John; Heffelfinger, Neil; Simonton, Ward; Pease, Jim

    1993-01-01

    Report presents additional information about robotic system described in "Robotic Gripper With Force Control And Optical Sensors" (MFS-28537). "Flexible Agricultural Robotics Manipulator System" (FARMS) serves as prototype of robotic systems intended to enhance productivities of agricultural assembly-line-type facilities in large commercial greenhouses and nurseries.

  20. Brachytherapy next generation: robotic systems.

    PubMed

    Popescu, Tiberiu; Kacsó, Alex Cristian; Pisla, Doina; Kacsó, Gabriel

    2015-12-01

    In a field dominated by external beam radiation therapy (EBRT), both the therapeutic and technical possibilities of brachytherapy (BT) are underrated, shadowed by protons and intensity modulated radiotherapy. Decreasing expertise and indications, as well as increasing lack of specific BT training for radiation therapy (RT) residents led to the real need of shortening its learning curve and making it more popular. Developing robotic BT devices can be a way to mitigate the above issues. There are many teams working at custom-made robotic BT platforms to perfect and overcome the limitations of the existing systems. This paper provides a picture of the current state-of-the-art in robotic assisted BT, as it also conveys the author's solution to the problem, a parallel robot that uses CT-guidance. PMID:26816510

  1. Brachytherapy next generation: robotic systems

    PubMed Central

    Popescu, Tiberiu; Kacsó, Alex Cristian; Pisla, Doina

    2015-01-01

    In a field dominated by external beam radiation therapy (EBRT), both the therapeutic and technical possibilities of brachytherapy (BT) are underrated, shadowed by protons and intensity modulated radiotherapy. Decreasing expertise and indications, as well as increasing lack of specific BT training for radiation therapy (RT) residents led to the real need of shortening its learning curve and making it more popular. Developing robotic BT devices can be a way to mitigate the above issues. There are many teams working at custom-made robotic BT platforms to perfect and overcome the limitations of the existing systems. This paper provides a picture of the current state-of-the-art in robotic assisted BT, as it also conveys the author's solution to the problem, a parallel robot that uses CT-guidance. PMID:26816510

  2. Tinning/Trimming Robot System

    SciTech Connect

    Fureigh, M.L.

    1993-02-01

    In a new surface mount assembly area at AlliedSignal Inc., Kansas City Division (KCD), a tinning/trimming robot system tins and trims the gold-plated leads of surface mount technology (SMT) transistors. The KCD-designed system uses a Unimation PUMA 260 robot, a General Production Devices SP-2000 solder pot; water-soluble Blackstone No. 2508 flux; and a Virtual Industries high-temperature, ESD-conductive, miniature suction cup. After the manual cleaning operation, the processed SMT transistors go to the QUADSTAR Automated Component Placement System for a Radar Logic Assembly. The benefits are reductions in the cost of nonconformance, worker fatigue, and standard hours.

  3. The Human-Robot Interaction Operating System

    NASA Technical Reports Server (NTRS)

    Fong, Terrence; Kunz, Clayton; Hiatt, Laura M.; Bugajska, Magda

    2006-01-01

    In order for humans and robots to work effectively together, they need to be able to converse about abilities, goals and achievements. Thus, we are developing an interaction infrastructure called the "Human-Robot Interaction Operating System" (HRI/OS). The HRI/OS provides a structured software framework for building human-robot teams, supports a variety of user interfaces, enables humans and robots to engage in task-oriented dialogue, and facilitates integration of robots through an extensible API.

  4. A two wheeled robot control system

    SciTech Connect

    Boskovich, S.M.

    1995-12-31

    The purpose of this project was to design, build and test a control system that controls two motors for a two wheeled robot. By implementing the control system, the robot will maintain a straight path under normal conditions. Without such a control system, the robot`s path would deviate from the specified direction. To implement the control system for the robot a two wheeled platform was built. Each wheel was interfaced to a microcontroller where the microcontroller performed a controlling routine stored in software. By implementing this design, the robot is able to correct for deviations.

  5. Robot, computer problem solving system

    NASA Technical Reports Server (NTRS)

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

    1973-01-01

    The TENEX computer system, the ARPA network, and computer language design technology was applied to support the complex system programs. By combining the pragmatic and theoretical aspects of robot development, an approach is created which is grounded in realism, but which also has at its disposal the power that comes from looking at complex problems from an abstract analytical point of view.

  6. Execution monitoring for a mobile robot system

    NASA Technical Reports Server (NTRS)

    Miller, David P.

    1990-01-01

    Due to sensor errors, uncertainty, incomplete knowledge, and a dynamic world, robot plans will not always be executed exactly as planned. This paper describes an implemented robot planning system that enhances the traditional sense-think-act cycle in ways that allow the robot system monitor its behavior and react in emergencies in real-time. A proposal on how robot systems can completely break away from the traditional three-step cycle is also made.

  7. Robotics/Automated Systems Technicians.

    ERIC Educational Resources Information Center

    Doty, Charles R.

    Major resources exist that can be used to develop or upgrade programs in community colleges and technical institutes that educate robotics/automated systems technicians. The first category of resources is Economic, Social, and Education Issues. The Office of Technology Assessment (OTA) report, "Automation and the Workplace," presents analyses of…

  8. 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.

  9. Teleoperated robotic sorting system

    DOEpatents

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

    2008-06-24

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

  10. Teleoperated robotic sorting system

    SciTech Connect

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

    2000-01-01

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

  11. Communications Systems for Mobile Robotics

    SciTech Connect

    Futterman, J A; Pao, H

    2003-12-08

    Performance Confirmation is the activity by which the Yucca Mountain Project confirms that the engineered and natural containment barriers of this national nuclear waste repository are performing as predicted, so that an eventual decision to close the repository can be made. This activity involves systems that must be inspected and, in some cases, serviced by mobile robots. This paper discusses systems for underground mobile robot communications, including requirements, environments, options, issues, and down-select criteria. We reviewed a variety of systems, including Slotted Waveguide, Powerline Carrier, Leaky Feeder, Photonic Bandgap Fiber, Free-Space Optics, Millimeter Waves, Terahertz Systems, and RF Systems (including IEEE 802.11 a,b, and g, and Ultra-Wideband radio).

  12. Autonomous Systems, Robotics, and Computing Systems Capability Roadmap: NRC Dialogue

    NASA Technical Reports Server (NTRS)

    Zornetzer, Steve; Gage, Douglas

    2005-01-01

    Contents include the following: Introduction. Process, Mission Drivers, Deliverables, and Interfaces. Autonomy. Crew-Centered and Remote Operations. Integrated Systems Health Management. Autonomous Vehicle Control. Autonomous Process Control. Robotics. Robotics for Solar System Exploration. Robotics for Lunar and Planetary Habitation. Robotics for In-Space Operations. Computing Systems. Conclusion.

  13. Modular Track System For Positioning Mobile Robots

    NASA Technical Reports Server (NTRS)

    Miller, Jeff

    1995-01-01

    Conceptual system for positioning mobile robotic manipulators on large main structure includes modular tracks and ancillary structures assembled easily along with main structure. System, called "tracked robotic location system" (TROLS), originally intended for application to platforms in outer space, but TROLS concept might also prove useful on Earth; for example, to position robots in factories and warehouses. T-cross-section rail keeps mobile robot on track. Bar codes mark locations along track. Each robot equipped with bar-code-recognizing circuitry so it quickly finds way to assigned location.

  14. Robot motion tracking system with multiple views

    NASA Astrophysics Data System (ADS)

    Yamano, Hiroshi; Saito, Hideo

    2001-10-01

    In such a space where human workers and industrial robots work together, it has become necessary to monitor a robot motion for the safety. For such robot surveillance, we propose a robot tracking system from multiple view images. In this system, we treat tracking robot movement problem as an estimation problem of each pose parameter through all frames. This tracking algorithm consists of four stages, image generating stage, estimation stage, parameter searching stage, and prediction stage. At the first stage, robot area of real image is extracted by background subtraction. Here, Yuv color system is used because of reducing the change of lighting condition. By calibrating extrinsic and intrinsic parameters of all cameras with Tsai's method, we can project 3D model of the robot onto each camera. In the next stage, correlation of the input image and projected model image is calculated, which is defined by the area of robots in real and 3D images. At third stage, the pose parameters of the robot are estimated by maximizing the correlation. For computational efficiency, a high dimensional pose parameter space is divided into many low dimensional sub-spaces in accordance with the predicted pose parameters in the previous flame. We apply the proposed system for pose estimation of 5-axis robot manipulator. The estimated pose parameters are successfully matched with the actual pose of the robots.

  15. A graphical, rule based robotic interface system

    NASA Technical Reports Server (NTRS)

    Mckee, James W.; Wolfsberger, John

    1988-01-01

    The ability of a human to take control of a robotic system is essential in any use of robots in space in order to handle unforeseen changes in the robot's work environment or scheduled tasks. But in cases in which the work environment is known, a human controlling a robot's every move by remote control is both time consuming and frustrating. A system is needed in which the user can give the robotic system commands to perform tasks but need not tell the system how. To be useful, this system should be able to plan and perform the tasks faster than a telerobotic system. The interface between the user and the robot system must be natural and meaningful to the user. A high level user interface program under development at the University of Alabama, Huntsville, is described. A graphical interface is proposed in which the user selects objects to be manipulated by selecting representations of the object on projections of a 3-D model of the work environment. The user may move in the work environment by changing the viewpoint of the projections. The interface uses a rule based program to transform user selection of items on a graphics display of the robot's work environment into commands for the robot. The program first determines if the desired task is possible given the abilities of the robot and any constraints on the object. If the task is possible, the program determines what movements the robot needs to make to perform the task. The movements are transformed into commands for the robot. The information defining the robot, the work environment, and how objects may be moved is stored in a set of data bases accessible to the program and displayable to the user.

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

    PubMed

    Clotet, Eduard; Martínez, Dani; Moreno, Javier; Tresanchez, Marcel; Palacín, Jordi

    2016-01-01

    This paper presents the technical description, mechanical design, electronic components, software implementation and possible applications of a tele-operated mobile robot designed as an assisted living tool. This robotic concept has been named Assistant Personal Robot (or APR for short) and has been designed as a remotely telecontrolled robotic platform built to provide social and assistive services to elderly people and those with impaired mobility. The APR features a fast high-mobility motion system adapted for tele-operation in plain indoor areas, which incorporates a high-priority collision avoidance procedure. This paper presents the mechanical architecture, electrical fundaments and software implementation required in order to develop the main functionalities of an assistive robot. The APR uses a tablet in order to implement the basic peer-to-peer videoconference and tele-operation control combined with a tactile graphic user interface. The paper also presents the development of some applications proposed in the framework of an assisted living robot. PMID:27136552

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

    PubMed Central

    Clotet, Eduard; Martínez, Dani; Moreno, Javier; Tresanchez, Marcel; Palacín, Jordi

    2016-01-01

    This paper presents the technical description, mechanical design, electronic components, software implementation and possible applications of a tele-operated mobile robot designed as an assisted living tool. This robotic concept has been named Assistant Personal Robot (or APR for short) and has been designed as a remotely telecontrolled robotic platform built to provide social and assistive services to elderly people and those with impaired mobility. The APR features a fast high-mobility motion system adapted for tele-operation in plain indoor areas, which incorporates a high-priority collision avoidance procedure. This paper presents the mechanical architecture, electrical fundaments and software implementation required in order to develop the main functionalities of an assistive robot. The APR uses a tablet in order to implement the basic peer-to-peer videoconference and tele-operation control combined with a tactile graphic user interface. The paper also presents the development of some applications proposed in the framework of an assisted living robot. PMID:27136552

  18. Robotic system for glovebox size reduction

    SciTech Connect

    KWOK,KWAN S.; MCDONALD,MICHAEL J.

    2000-03-02

    The Intelligent Systems and Robotics Center (ISRC) at Sandia National Laboratories (SNL) is developing technologies for glovebox size reduction in the DOE nuclear complex. A study was performed for Kaiser-Hill (KH) at the Rocky Flats Environmental Technology Site (RFETS) on the available technologies for size reducing the glovebox lines that require size reduction in place. Currently, the baseline approach to these glovebox lines is manual operations using conventional mechanical cutting methods. The study has been completed and resulted in a concept of the robotic system for in-situ size reduction. The concept makes use of commercially available robots that are used in the automotive industry. The commercially available industrial robots provide high reliability and availability that are required for environmental remediation in the DOE complex. Additionally, the costs of commercial robots are about one-fourth that of the custom made robots for environmental remediation. The reason for the lower costs and the higher reliability is that there are thousands of commercial robots made annually, whereas there are only a few custom robots made for environmental remediation every year. This paper will describe the engineering analysis approach used in the design of the robotic system for glovebox size reduction.

  19. 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.

  20. 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.

  1. ASBESTOS PIPE-INSULATION REMOVAL ROBOT SYSTEM

    SciTech Connect

    Unknown

    2000-09-15

    This final topical report details the development, experimentation and field-testing activities for a robotic asbestos pipe-insulation removal robot system developed for use within the DOE's weapon complex as part of their ER and WM program, as well as in industrial abatement. The engineering development, regulatory compliance, cost-benefit and field-trial experiences gathered through this program are summarized.

  2. Regolith Advanced Surface Systems Operations Robot Excavator

    NASA Technical Reports Server (NTRS)

    Mueller, Robert P.; Smith, Jonathan D.; Ebert, Thomas; Cox, Rachel; Rahmatian, Laila; Wood, James; Schuler, Jason; Nick, Andrew

    2013-01-01

    The Regolith Advanced Surface Systems Operations Robot (RASSOR) excavator robot is a teleoperated mobility platform with a space regolith excavation capability. This more compact, lightweight design (<50 kg) has counterrotating bucket drums, which results in a net-zero reaction horizontal force due to the self-cancellation of the symmetrical, equal but opposing, digging forces.

  3. Stereofluoroscopic image-guided robotic biopsy system

    NASA Astrophysics Data System (ADS)

    Shi, Minyan; Liu, Hong; Tao, Gang; Fajardo, Laurie L.

    1999-07-01

    This paper presents the key techniques of a stereo- fluoroscopic image-guided robotic biopsy system: 3D position reconstruction, 3D path planning, path registration and robot trajectory control with safety considerations. This system automatically adjusts the needle inserting path according to a real-time 3D position error feedback. This system is particularly applicable to the soft tissue and organ biopsy, with advantages of increased accuracy, short completion time and minimum invasiveness to the patient. Simulation shows the safety and accuracy of this robotic biopsy system.

  4. Designing vision systems for robotic applications

    SciTech Connect

    Trivedi, M.M.

    1988-01-01

    Intelligent robotic systems utilize sensory information to perceive the nature of their work environment. Of the many sensor modalities, vision is recognized as one of the most important and cost-effective sensors utilized in practical systems. In this paper, we address the problem of designing vision systems to perform a variety of robotic inspection and manipulation tasks. We describe the nature and characteristics of the robotic task domain and discuss the computational hierarchy governing the process of scene interpretation. We also present a case study illustrating the design of a specific vision system developed for performing inspection and manipulation tasks associated with a control panel. 27 refs., 6 figs.

  5. Robotic guarded motion system and method

    SciTech Connect

    Bruemmer, David J.

    2010-02-23

    A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for repeating, on each iteration through an event timing loop, the acts of defining an event horizon, detecting a range to obstacles around the robot, and testing for an event horizon intrusion. Defining the event horizon includes determining a distance from the robot that is proportional to a current velocity of the robot and testing for the event horizon intrusion includes determining if any range to the obstacles is within the event horizon. Finally, on each iteration through the event timing loop, the method includes reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.

  6. Augmented Robotics Dialog System for Enhancing Human-Robot Interaction.

    PubMed

    Alonso-Martín, Fernando; Castro-González, Aĺvaro; Luengo, Francisco Javier Fernandez de Gorostiza; Salichs, Miguel Ángel

    2015-01-01

    Augmented reality, augmented television and second screen are cutting edge technologies that provide end users extra and enhanced information related to certain events in real time. This enriched information helps users better understand such events, at the same time providing a more satisfactory experience. In the present paper, we apply this main idea to human-robot interaction (HRI), to how users and robots interchange information. The ultimate goal of this paper is to improve the quality of HRI, developing a new dialog manager system that incorporates enriched information from the semantic web. This work presents the augmented robotic dialog system (ARDS), which uses natural language understanding mechanisms to provide two features: (i) a non-grammar multimodal input (verbal and/or written) text; and (ii) a contextualization of the information conveyed in the interaction. This contextualization is achieved by information enrichment techniques that link the extracted information from the dialog with extra information about the world available in semantic knowledge bases. This enriched or contextualized information (information enrichment, semantic enhancement or contextualized information are used interchangeably in the rest of this paper) offers many possibilities in terms of HRI. For instance, it can enhance the robot's pro-activeness during a human-robot dialog (the enriched information can be used to propose new topics during the dialog, while ensuring a coherent interaction). Another possibility is to display additional multimedia content related to the enriched information on a visual device. This paper describes the ARDS and shows a proof of concept of its applications. PMID:26151202

  7. Augmented Robotics Dialog System for Enhancing Human–Robot Interaction

    PubMed Central

    Alonso-Martín, Fernando; Castro-González, Aívaro; de Gorostiza Luengo, Francisco Javier Fernandez; Salichs, Miguel Ángel

    2015-01-01

    Augmented reality, augmented television and second screen are cutting edge technologies that provide end users extra and enhanced information related to certain events in real time. This enriched information helps users better understand such events, at the same time providing a more satisfactory experience. In the present paper, we apply this main idea to human–robot interaction (HRI), to how users and robots interchange information. The ultimate goal of this paper is to improve the quality of HRI, developing a new dialog manager system that incorporates enriched information from the semantic web. This work presents the augmented robotic dialog system (ARDS), which uses natural language understanding mechanisms to provide two features: (i) a non-grammar multimodal input (verbal and/or written) text; and (ii) a contextualization of the information conveyed in the interaction. This contextualization is achieved by information enrichment techniques that link the extracted information from the dialog with extra information about the world available in semantic knowledge bases. This enriched or contextualized information (information enrichment, semantic enhancement or contextualized information are used interchangeably in the rest of this paper) offers many possibilities in terms of HRI. For instance, it can enhance the robot's pro-activeness during a human–robot dialog (the enriched information can be used to propose new topics during the dialog, while ensuring a coherent interaction). Another possibility is to display additional multimedia content related to the enriched information on a visual device. This paper describes the ARDS and shows a proof of concept of its applications. PMID:26151202

  8. Automated retinal robotic laser system.

    PubMed

    Barrett, S F; Wright, C H; Jerath, M R; Lewis, R S; Dillard, B C; Rylander, H G; Welch, A J

    1995-01-01

    Researchers at the University of Texas and the USAF Academy have worked toward the development of a retinal robotic laser system. The overall goal of this ongoing project is to precisely place and control the depth of laser lesions for the treatment of various retinal diseases such as diabetic retinopathy and retinal tears. Separate low speed prototype subsystems have been developed to control lesion depth using lesion reflectance feedback parameters and lesion placement using retinal vessels as tracking landmarks. Both subsystems have been successfully demonstrated in vivo on pigmented rabbits using an argon continuous wave laser. Recent efforts have concentrated on combining the two subsystems into a single prototype capable of simultaneously controlling both lesion depth and placement. We have designated this combined system CALOSOS for Computer Aided Laser Optics System for Ophthalmic Surgery. Following the dual-use concept, this system is being adapted for clinical use as a retinal treatment system as well as a research tool for military laser-tissue interaction studies. PMID:7654990

  9. Knowledge representation system for assembly using robots

    NASA Technical Reports Server (NTRS)

    Jain, A.; Donath, M.

    1987-01-01

    Assembly robots combine the benefits of speed and accuracy with the capability of adaptation to changes in the work environment. However, an impediment to the use of robots is the complexity of the man-machine interface. This interface can be improved by providing a means of using a priori-knowledge and reasoning capabilities for controlling and monitoring the tasks performed by robots. Robots ought to be able to perform complex assembly tasks with the help of only supervisory guidance from human operators. For such supervisory quidance, it is important to express the commands in terms of the effects desired, rather than in terms of the motion the robot must undertake in order to achieve these effects. A suitable knowledge representation can facilitate the conversion of task level descriptions into explicit instructions to the robot. Such a system would use symbolic relationships describing the a priori information about the robot, its environment, and the tasks specified by the operator to generate the commands for the robot.

  10. ROBOSIM, a simulator for robotic systems

    NASA Technical Reports Server (NTRS)

    Hinman, Elaine M.; Fernandez, Ken; Cook, George E.

    1991-01-01

    ROBOSIM, a simulator for robotic systems, was developed by NASA to aid in the rapid prototyping of automation. ROBOSIM has allowed the development of improved robotic systems concepts for both earth-based and proposed on-orbit applications while significantly reducing development costs. In a cooperative effort with an area university, ROBOSIM was further developed for use in the classroom as a safe and cost-effective way of allowing students to study robotic systems. Students have used ROBOSIM to study existing robotic systems and systems which they have designed in the classroom. Since an advanced simulator/trainer of this type is beneficial not only to NASA projects and programs but industry and academia as well, NASA is in the process of developing this technology for wider public use. An update on the simulators's new application areas, the improvements made to the simulator's design, and current efforts to ensure the timely transfer of this technology are presented.

  11. Prototype Optical Correlator For Robotic Vision System

    NASA Technical Reports Server (NTRS)

    Scholl, Marija S.

    1993-01-01

    Known and unknown images fed in electronically at high speed. Optical correlator and associated electronic circuitry developed for vision system of robotic vehicle. System recognizes features of landscape by optical correlation between input image of scene viewed by video camera on robot and stored reference image. Optical configuration is Vander Lugt correlator, in which Fourier transform of scene formed in coherent light and spatially modulated by hologram of reference image to obtain correlation.

  12. Robotic Mounted Detection System: robotics for route clearance

    NASA Astrophysics Data System (ADS)

    Hutchison, John; Klager, Gene; McCoy, Edward; Fite, David; Frederick, Brian

    2010-04-01

    Robotic Mounted Detection System (RMDS) is a government program to enable robotic control of a Husky route clearance vehicle with a mine detection sensor payload. The goal is for the operator to control the Husky and mine detection sensor from another vehicle. This program will provide the user with standard tele-operation control of the vehicle as well as semi-autonomous modes including cruise control, precision waypoint navigation with operator error correction and a visual mode allowing the operator to enter waypoints in the current video feed. The use of autonomy will be tailored to give the operator maximum control of the robotic vehicle's path while minimizing the effort required to maintain the desired route. Autonomous alterations of the path would conflict with the goal of route clearance, so waypoint navigation will allow the operator to supply offsets to counteract location errors. While following a waypoint path, the Husky will be capable of controlling its speed to maintain an operator specified distance from the control vehicle. Obstacle avoidance will be limited to protecting the mine detection sensor, leaving any decision to leave the path up to the operator. Video will be the primary navigational sensor feed to the operator, who will use an augmented steering wheel controller and computer display to control the Husky. A LADAR system will be used to detect obstacles that could damage the mine sensor and to maintain the optimal sensor orientation while the vehicle is moving. Practical issues and lessons learned during integration will be presented.

  13. Safety assessment of high consequence robotics system

    SciTech Connect

    Robinson, D.G.; Atcitty, C.B.

    1996-08-01

    This paper outlines the use of a failure modes and effects analysis for the safety assessment of a robotic system being developed at Sandia National Laboratories. The robotic system, the weigh and leak check system, is to replace a manual process for weight and leakage of nuclear materials at the DOE Pantex facility. Failure modes and effects analyses were completed for the robotics process to ensure that safety goals for the systems have been met. Due to the flexible nature of the robot configuration, traditional failure modes and effects analysis (FMEA) were not applicable. In addition, the primary focus of safety assessments of robotics systems has been the protection of personnel in the immediate area. In this application, the safety analysis must account for the sensitivities of the payload as well as traditional issues. A unique variation on the classical FMEA was developed that permits an organized and quite effective tool to be used to assure that safety was adequately considered during the development of the robotic system. The fundamental aspects of the approach are outlined in the paper.

  14. A capaciflector-based robotic system

    NASA Technical Reports Server (NTRS)

    Nguyen, Charles C.; Uribe, Paulo F.

    1993-01-01

    This report presents preliminary results obtained from a research grant entitled 'Capaciflector-based Control and Imaging,' with Grant Number NAG 5-780, for the period between February 1, 1993 and August 1, 1993. This report deals with the development of a robotic system which is used to evaluate the feasibility of servicing and repairing the Hubble Space Telescope (HST) using robots. In particular, the task of opening the HST's toolbox is considered in this report. First the main components of the robotic system will be introduced. Then each component will be described in detail from low-level to high-level. Finally tasks that have been accomplished during the reporting period for the development of the robotic system will be presented. Listings of source codes for the accomplished tasks are given at the end of the report.

  15. An automated miniature robotic vehicle inspection system

    SciTech Connect

    Dobie, Gordon; Summan, Rahul; MacLeod, Charles; Pierce, Gareth; Galbraith, Walter

    2014-02-18

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

  16. Ubiquitous Robotic Technology for Smart Manufacturing System

    PubMed Central

    Zhu, Xiaoxiao; Wang, Liyu; Qiu, Qiang; Cao, Qixin

    2016-01-01

    As the manufacturing tasks become more individualized and more flexible, the machines in smart factory are required to do variable tasks collaboratively without reprogramming. This paper for the first time discusses the similarity between smart manufacturing systems and the ubiquitous robotic systems and makes an effort on deploying ubiquitous robotic technology to the smart factory. Specifically, a component based framework is proposed in order to enable the communication and cooperation of the heterogeneous robotic devices. Further, compared to the service robotic domain, the smart manufacturing systems are often in larger size. So a hierarchical planning method was implemented to improve the planning efficiency. A test bed of smart factory is developed. It demonstrates that the proposed framework is suitable for industrial domain, and the hierarchical planning method is able to solve large problems intractable with flat methods. PMID:27446206

  17. Ubiquitous Robotic Technology for Smart Manufacturing System.

    PubMed

    Wang, Wenshan; Zhu, Xiaoxiao; Wang, Liyu; Qiu, Qiang; Cao, Qixin

    2016-01-01

    As the manufacturing tasks become more individualized and more flexible, the machines in smart factory are required to do variable tasks collaboratively without reprogramming. This paper for the first time discusses the similarity between smart manufacturing systems and the ubiquitous robotic systems and makes an effort on deploying ubiquitous robotic technology to the smart factory. Specifically, a component based framework is proposed in order to enable the communication and cooperation of the heterogeneous robotic devices. Further, compared to the service robotic domain, the smart manufacturing systems are often in larger size. So a hierarchical planning method was implemented to improve the planning efficiency. A test bed of smart factory is developed. It demonstrates that the proposed framework is suitable for industrial domain, and the hierarchical planning method is able to solve large problems intractable with flat methods. PMID:27446206

  18. An automated miniature robotic vehicle inspection system

    NASA Astrophysics Data System (ADS)

    Dobie, Gordon; Summan, Rahul; MacLeod, Charles; Pierce, Gareth; Galbraith, Walter

    2014-02-01

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

  19. Space environment robot vision system

    NASA Technical Reports Server (NTRS)

    Wood, H. John; Eichhorn, William L.

    1990-01-01

    A prototype twin-camera stereo vision system for autonomous robots has been developed at Goddard Space Flight Center. Standard charge coupled device (CCD) imagers are interfaced with commercial frame buffers and direct memory access to a computer. The overlapping portions of the images are analyzed using photogrammetric techniques to obtain information about the position and orientation of objects in the scene. The camera head consists of two 510 x 492 x 8-bit CCD cameras mounted on individually adjustable mounts. The 16 mm efl lenses are designed for minimum geometric distortion. The cameras can be rotated in the pitch, roll, and yaw (pan angle) directions with respect to their optical axes. Calibration routines have been developed which automatically determine the lens focal lengths and pan angle between the two cameras. The calibration utilizes observations of a calibration structure with known geometry. Test results show the precision attainable is plus or minus 0.8 mm in range at 2 m distance using a camera separation of 171 mm. To demonstrate a task needed on Space Station Freedom, a target structure with a movable I beam was built. The camera head can autonomously direct actuators to dock the I-beam to another one so that they could be bolted together.

  20. Parametric uncertain identification of a robotic system

    NASA Astrophysics Data System (ADS)

    Angel, L.; Viola, J.; Hernández, C.

    2016-07-01

    This paper presents the parametric uncertainties identification of a robotic system of one degree of freedom. A MSC-ADAMS / MATLAB co-simulation model was built to simulate the uncertainties that affect the robotic system. For a desired trajectory, a set of dynamic models of the system was identified in presence of variations in the mass, length and friction of the system employing least squares method. Using the input-output linearization technique a linearized model plant was defined. Finally, the maximum multiplicative uncertainty of the system was modelled giving the controller desired design conditions to achieve a robust stability and performance of the closed loop system.

  1. Dual arm robotic system with sensory input

    NASA Technical Reports Server (NTRS)

    Ozguner, U.

    1987-01-01

    The need for dual arm robots in space station assembly and satellite maintainance is of increasing significance. Such robots will be in greater demand in the future when numerous tasks will be assigned to them to relieve the direct intervention of humans in space. Technological demands from these robots will be high. They will be expected to perform high speed tasks with a certain degree of autonomy. Various levels of sensing will have to be used in a sophisticated control scheme. Ongoing research in control, sensing and real-time software to produce a two-arm robotic system than can accomplish generic assembly tasks is discussed. The control hierarchy and the specific control approach are discussed. A decentralized implementation of model-reference adaptive control using Variable Structure controllers and the incorporation of tactile feedback is considered.

  2. Fault diagnostic system for a mobile robot

    NASA Astrophysics Data System (ADS)

    Nikam, Umesh; Hall, Ernest L.

    1997-09-01

    This paper describes the development of a robot fault diagnosis system (RFDS). Though designed ostensibly for the University of Cincinnati's autonomous, unmanned, mobile robot for a national competition, it has the flexibility to be adapted for industrial applications as well. Using a top-down approach the robot is sub-divided into different functional units, such as the vision guidance system, the ultrasonic obstacle avoidance system, the steering mechanism, the speed control system, the braking system and the power unit. The techniques of potential failure mode and effects analysis (PFMEA) are used to analyze faults, their visible symptoms, and probable causes and remedies. The relationships obtained therefrom are mapped in a database framework. This is then coded in a user-friendly interactive Visual BasicTM program that guides the user to the likely cause(s) of failure through a question-answer format. A provision is made to ensure better accuracy of the system by incorporating historical data on failures as it becomes available. The RFDS thus provides a handy trouble-shooting tool that cuts down the time involved in diagnosing failures in the complex robot consisting of mechanical, electric, electronic and optical systems. This has been of great help in diagnosing failures and ensuring maximum performance from the robot during the contest in the face of pressure of the competition and the outdoor conditions.

  3. Towards a sustainable modular robot system for planetary exploration

    NASA Astrophysics Data System (ADS)

    Hossain, S. G. M.

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

  4. System for exchanging tools and end effectors on a robot

    DOEpatents

    Burry, D.B.; Williams, P.M.

    1991-02-19

    A system and method for exchanging tools and end effectors on a robot permits exchange during a programmed task. The exchange mechanism is located off the robot, thus reducing the mass of the robot arm and permitting smaller robots to perform designated tasks. A simple spring/collet mechanism mounted on the robot is used which permits the engagement and disengagement of the tool or end effector without the need for a rotational orientation of the tool to the end effector/collet interface. As the tool changing system is not located on the robot arm no umbilical cords are located on robot. 12 figures.

  5. System for exchanging tools and end effectors on a robot

    DOEpatents

    Burry, David B.; Williams, Paul M.

    1991-02-19

    A system and method for exchanging tools and end effectors on a robot permits exchange during a programmed task. The exchange mechanism is located off the robot, thus reducing the mass of the robot arm and permitting smaller robots to perform designated tasks. A simple spring/collet mechanism mounted on the robot is used which permits the engagement and disengagement of the tool or end effector without the need for a rotational orientation of the tool to the end effector/collet interface. As the tool changing system is not located on the robot arm no umbilical cords are located on robot.

  6. Robust tuning of robot control systems

    NASA Technical Reports Server (NTRS)

    Minis, I.; Uebel, M.

    1992-01-01

    The computed torque control problem is examined for a robot arm with flexible, geared, joint drive systems which are typical in many industrial robots. The standard computed torque algorithm is not directly applicable to this class of manipulators because of the dynamics introduced by the joint drive system. The proposed approach to computed torque control combines a computed torque algorithm with torque controller at each joint. Three such control schemes are proposed. The first scheme uses the joint torque control system currently implemented on the robot arm and a novel form of the computed torque algorithm. The other two use the standard computed torque algorithm and a novel model following torque control system based on model following techniques. Standard tasks and performance indices are used to evaluate the performance of the controllers. Both numerical simulations and experiments are used in evaluation. The study shows that all three proposed systems lead to improved tracking performance over a conventional PD controller.

  7. System design for robot agent team

    NASA Astrophysics Data System (ADS)

    Young, Stuart H.; Nguyen, Hung M.

    2002-07-01

    Small air and ground physical agents (robots) will be ubiquitous on the battlefield of the 21st century, principally to lower the exposure to harm of our ground forces in urban and open terrain. Teams of small collaborating physical agents conducting tasks such as Reconnaissance, Surveillance, and Target Acquisition (RSTA), intelligence, chemical and biological agent detection, logistics, decoy, sentry, and communications relay will have advanced sensors, communications, and mobility characteristics. The Army Research Laboratory (ARL) is conducting research in sensor fusion, communications, and processing on small mobile robotic platforms principally in the urban environment in support of Military Operations in Urban Terrain (MOUT). This paper discusses on-going research at ARL that supports the development of multi-robot collaboration. Commercial ATRV-2 and Urban Robot platforms are being utilized along with advanced battlefield visualization tools and other tools to effectively command and control teams of collaborating physical agents and present the gathered information in a manner that is useful to the commander. The software architecture and the modular packaging designs will be the focus of the paper, which also consider mother ship concepts. Additionally, work that has been conducted with PM Soldier Systems to integrate robotic platforms (Robot Warrior) with the Land Warrior (LW) ensemble to create a Scout Warrior will be discussed.

  8. Developing stereo image based robot control system

    SciTech Connect

    Suprijadi,; Pambudi, I. R.; Woran, M.; Naa, C. F; Srigutomo, W.

    2015-04-16

    Application of image processing is developed in various field and purposes. In the last decade, image based system increase rapidly with the increasing of hardware and microprocessor performance. Many fields of science and technology were used this methods especially in medicine and instrumentation. New technique on stereovision to give a 3-dimension image or movie is very interesting, but not many applications in control system. Stereo image has pixel disparity information that is not existed in single image. In this research, we proposed a new method in wheel robot control system using stereovision. The result shows robot automatically moves based on stereovision captures.

  9. Petri net controllers for distributed robotic systems

    NASA Technical Reports Server (NTRS)

    Lefebvre, D. R.; Saridis, George N.

    1992-01-01

    Petri nets are a well established modelling technique for analyzing parallel systems. When coupled with an event-driven operating system, Petri nets can provide an effective means for integrating and controlling the functions of distributed robotic applications. Recent work has shown that Petri net graphs can also serve as remarkably intuitive operator interfaces. In this paper, the advantages of using Petri nets as high-level controllers to coordinate robotic functions are outlined, the considerations for designing Petri net controllers are discussed, and simple Petri net structures for implementing an interface for operator supervision are presented. A detailed example is presented which illustrates these concepts for a sensor-based assembly application.

  10. Self maintenance robot system using physical information learning for mobile robot with visual sensors

    NASA Astrophysics Data System (ADS)

    Sekiguchi, Naohiro; Tanaka, Takayuki; Kaneko, Shun'ichi

    2005-12-01

    We propose self-maintenance robot system as a method which realizes work for a long time without maintenance by the human workers. This system absorbs the change which occurs in robot's hardware by learning, and maintains working ability. We propose the two methods of learning changes in the physical information of the robot as methods which realizes the maintenance-free robot system. One is a method to learn robot's physical information based on the input and output information in the task practice from the no physical information of the robot by using a neural network which has a task common layer and a task independence layer. We use a neural network which has a task common layer and a task independence layer to learning. Other is a method to learn robot's physical information based on the difference in hoping action and actual action. In this report, we verify of these learning system by the computer simulation.

  11. A Novel Teaching System for Industrial Robots

    PubMed Central

    Lin, Hsien-I; Lin, Yu-Hsiang

    2014-01-01

    The most important tool for controlling an industrial robotic arm is a teach pendant, which controls the robotic arm movement in work spaces and accomplishes teaching tasks. A good teaching tool should be easy to operate and can complete teaching tasks rapidly and effortlessly. In this study, a new teaching system is proposed for enabling users to operate robotic arms and accomplish teaching tasks easily. The proposed teaching system consists of the teach pen, optical markers on the pen, a motion capture system, and the pen tip estimation algorithm. With the marker positions captured by the motion capture system, the pose of the teach pen is accurately calculated by the pen tip algorithm and used to control the robot tool frame. In addition, Fitts' Law is adopted to verify the usefulness of this new system, and the results show that the system provides high accuracy, excellent operation performance, and a stable error rate. In addition, the system maintains superior performance, even when users work on platforms with different inclination angles. PMID:24681669

  12. A novel teaching system for industrial robots.

    PubMed

    Lin, Hsien-I; Lin, Yu-Hsiang

    2014-01-01

    The most important tool for controlling an industrial robotic arm is a teach pendant, which controls the robotic arm movement in work spaces and accomplishes teaching tasks. A good teaching tool should be easy to operate and can complete teaching tasks rapidly and effortlessly. In this study, a new teaching system is proposed for enabling users to operate robotic arms and accomplish teaching tasks easily. The proposed teaching system consists of the teach pen, optical markers on the pen, a motion capture system, and the pen tip estimation algorithm. With the marker positions captured by the motion capture system, the pose of the teach pen is accurately calculated by the pen tip algorithm and used to control the robot tool frame. In addition, Fitts' Law is adopted to verify the usefulness of this new system, and the results show that the system provides high accuracy, excellent operation performance, and a stable error rate. In addition, the system maintains superior performance, even when users work on platforms with different inclination angles. PMID:24681669

  13. Robotics virtual rail system and method

    DOEpatents

    Bruemmer, David J.; Few, Douglas A.; Walton, Miles C.

    2011-07-05

    A virtual track or rail system and method is described for execution by a robot. A user, through a user interface, generates a desired path comprised of at least one segment representative of the virtual track for the robot. Start and end points are assigned to the desired path and velocities are also associated with each of the at least one segment of the desired path. A waypoint file is generated including positions along the virtual track representing the desired path with the positions beginning from the start point to the end point including the velocities of each of the at least one segment. The waypoint file is sent to the robot for traversing along the virtual track.

  14. Intelligent safety systems for industrial robots

    SciTech Connect

    Rogers, G.; Graham, J.

    1996-12-31

    A major factor which has limited the application of robots in industrial settings has been the lack of robust sensing and control algorithms for detection and prevention of collision which could harm a person and cause damage to an expensive robot. This paper discusses an approach for an industrial robot safety system that uses the combined technologies of neural networks and fuzzy logic to accomplish real-time sensor data fusion and decision making. A three level safety architecture is presented which consists of (1) the sensing level, (2) the integration level, and (3) the safety decision-making level. The integration level is implemented by a set of neural networks, and the decision-making of this architecture is that it requires little or no changes to existing code when new sensors are added.

  15. Research on Human-Robot Joint System for Lunar Exploration

    NASA Astrophysics Data System (ADS)

    Zhang, Wei

    The lunar exploration in China is in progress. In order to reduce human workload and costs, and conduct researches more effectively and efficiently, human-robot joint systems are necessary for lunar exploration. The concept of human-robot joint system for lunar exploration is studied in this paper. The possible collaborative ways between human and robots and the collaborative activities which can be conducted for lunar exploration are discussed. Moreover, the preliminary configuration of a human-robot joint system is presented.

  16. An expert system for automated robotic grasping

    SciTech Connect

    Stansfield, S.A.

    1990-05-10

    Many DOE sites and facilities will be environmentally remediated during the next several decades. A number of the restoration activities (decontamination and decommissioning of inactive nuclear facilities is an example) can only be carried out by remote means and will be manipulation-intensive tasks. Experience has shown that manipulation tasks are especially slow and fatiguing for the human operator of a remote manipulator. In this paper, we present a rule-based expert system for automated, dextrous robotic grasping. This system reasons about the features of an object to generate hand shaping and wrist orientation for a robot hand and arm. The system can be used in several different ways to lessen the demands on the human operator of a remote manipulation system --- either as a fully autonomous grasping system or one which generates grasping options for a human operator and which then automatically carries out the one selected. This paper examines these systems. 2 figs.

  17. Robots, systems, and methods for hazard evaluation and visualization

    DOEpatents

    Nielsen, Curtis W.; Bruemmer, David J.; Walton, Miles C.; Hartley, Robert S.; Gertman, David I.; Kinoshita, Robert A.; Whetten, Jonathan

    2013-01-15

    A robot includes a hazard sensor, a locomotor, and a system controller. The robot senses a hazard intensity at a location of the robot, moves to a new location in response to the hazard intensity, and autonomously repeats the sensing and moving to determine multiple hazard levels at multiple locations. The robot may also include a communicator to communicate the multiple hazard levels to a remote controller. The remote controller includes a communicator for sending user commands to the robot and receiving the hazard levels from the robot. A graphical user interface displays an environment map of the environment proximate the robot and a scale for indicating a hazard intensity. A hazard indicator corresponds to a robot position in the environment map and graphically indicates the hazard intensity at the robot position relative to the scale.

  18. Viewing and controlling a mobile robot with common Web technologies

    NASA Astrophysics Data System (ADS)

    Colon, Eric; Baudoin, Yvan

    1998-08-01

    Despite enthusiastic researches all over the world, completely autonomous robots are yet today an utopia. But pure teleoperated Robotics System, as generally used in unknown or dangerous environment, have also their limitations and drawbacks. The introduction of a partial autonomy, where appropriate, could greatly enhance the performances of the man-machine systems. The interactive autonomy objective is to hide sophisticated systems behind simple interfaces and to transparently provide help to the user. These principles can be implemented to control a manipulation arm or a mobile vehicle. Telecontrol is generally associated with video images, nevertheless in specific applications or under special circumstances, the images have a poor quality, can be degraded when using the systems or are not available. This implies the introduction of a 3D model that can be used as stand alone or as augmented reality display. Existing internet technologies can be used for interfacing the real and the virtual worlds. VRML provides the 3D aspects, Java is the unifying language between different computer system, browsers and plug-ins are completing the team. Using these technologies we have developed a multi client/server application to remotely view and control a mobile robot. In this paper we give the description of this application and we provide a basic presentation of the tools.

  19. An expert system for automated robotic grasping

    SciTech Connect

    Stansfield, S.A. )

    1990-01-01

    Many US Department of Energy sites and facilities will be environmentally remediated during the next several decades. A number of the restoration activities (e.g., decontamination and decommissioning of inactive nuclear facilities) can only be carried out by remote means and will be manipulation-intensive tasks. Experience has shown that manipulation tasks are especially slow and fatiguing for the human operator of a remote manipulator. In this paper, the authors present a rule-based expert system for automated, dextrous robotic grasping. This system interprets the features of an object to generate hand shaping and wrist orientation for a robot hand and arm. The system can be used in several different ways to lessen the demands on the human operator of a remote manipulation system - either as a fully autonomous grasping system or one that generates grasping options for a human operator and then automatically carries out the selected option.

  20. Development Of A Vision Guided Robot System

    NASA Astrophysics Data System (ADS)

    Torfeh-Isfahani, Mohammad; Yeung, Kim F.

    1987-10-01

    This paper presents the development of an intelligent vision guided system through the integration of a vision system into a robot. Systems like the one described in this paper are able to work alone. They can be used in many automated assembly operations. Such systems can do repetitive tasks more efficiently and accurately than human operators because of the immunity of machines to human factors such as boredom, fatigue, and stress. In order to better understand the capabilities of such systems, this paper will highlight what can be accomplished by such systems by detailing the development of such a system. This system is already built and functional.

  1. A hazard control system for robot manipulators

    NASA Technical Reports Server (NTRS)

    Carter, Ruth Chiang; Rad, Adrian

    1991-01-01

    A robot for space applications will be required to complete a variety of tasks in an uncertain, harsh environment. This fact presents unusual and highly difficult challenges to ensuring the safety of astronauts and keeping the equipment they depend on from becoming damaged. The systematic approach being taken to control hazards that could result from introducing robotics technology in the space environment is described. First, system safety management and engineering principles, techniques, and requirements are discussed as they relate to Shuttle payload design and operation in general. The concepts of hazard, hazard category, and hazard control, as defined by the Shuttle payload safety requirements, is explained. Next, it is shown how these general safety management and engineering principles are being implemented on an actual project. An example is presented of a hazard control system for controlling one of the hazards identified for the Development Test Flight (DTF-1) of NASA's Flight Telerobotic Servicer, a teleoperated space robot. How these schemes can be applied to terrestrial robots is discussed as well. The same software monitoring and control approach will insure the safe operation of a slave manipulator under teleoperated or autonomous control in undersea, nuclear, or manufacturing applications where the manipulator is working in the vicinity of humans or critical hardware.

  2. Robotically assisted MRgFUS system

    NASA Astrophysics Data System (ADS)

    Jenne, Jürgen W.; Krafft, Axel J.; Maier, Florian; Rauschenberg, Jaane; Semmler, Wolfhard; Huber, Peter E.; Bock, Michael

    2010-03-01

    Magnetic resonance imaging guided focus ultrasound surgery (MRgFUS) is a highly precise method to ablate tissue non-invasively. The objective of this ongoing work is to establish an MRgFUS therapy unit consisting of a specially designed FUS applicator as an add-on to a commercial robotic assistance system originally designed for percutaneous needle interventions in whole-body MRI systems. The fully MR compatible robotic assistance system InnoMotion™ (Synthes Inc., West Chester, USA; formerly InnoMedic GmbH, Herxheim, Germany) offers six degrees of freedom. The developed add-on FUS treatment applicator features a fixed focus ultrasound transducer (f = 1.7 MHz; f' = 68 mm, NA = 0.44, elliptical shaped -6-dB-focus: 8.1 mm length; O/ = 1.1 mm) embedded in a water-filled flexible bellow. A Mylar® foil is used as acoustic window encompassed by a dedicated MRI loop coil. For FUS application, the therapy unit is directly connected to the head of the robotic system, and the treatment region is targeted from above. A newly in-house developed software tool allowed for complete remote control of the MRgFUS-robot system and online analysis of MRI thermometry data. The system's ability for therapeutic relevant focal spot scanning was tested in a closed-bore clinical 1.5 T MR scanner (Magnetom Symphony, Siemens AG, Erlangen, Germany) in animal experiments with pigs. The FUS therapy procedure was performed entirely under MRI guidance including initial therapy planning, online MR-thermometry, and final contrast enhanced imaging for lesion detection. In vivo trials proved the MRgFUS-robot system as highly MR compatible. MR-guided focal spot scanning experiments were performed and a well-defined pattern of thermal tissue lesions was created. A total in vivo positioning accuracy of the US focus better than 2 mm was estimated which is comparable to existing MRgFUS systems. The newly developed FUS-robotic system offers an accurate, highly flexible focus positioning. With its access

  3. Mobile robot on-board vision system

    SciTech Connect

    McClure, V.W.; Nai-Yung Chen.

    1993-06-15

    An automatic robot system is described comprising: an AGV transporting and transferring work piece, a control computer on board the AGV, a process machine for working on work pieces, a flexible robot arm with a gripper comprising two gripper fingers at one end of the arm, wherein the robot arm and gripper are controllable by the control computer for engaging a work piece, picking it up, and setting it down and releasing it at a commanded location, locating beacon means mounted on the process machine, wherein the locating beacon means are for locating on the process machine a place to pick up and set down work pieces, vision means, including a camera fixed in the coordinate system of the gripper means, attached to the robot arm near the gripper, such that the space between said gripper fingers lies within the vision field of said vision means, for detecting the locating beacon means, wherein the vision means provides the control computer visual information relating to the location of the locating beacon means, from which information the computer is able to calculate the pick up and set down place on the process machine, wherein said place for picking up and setting down work pieces on the process machine is a nest means and further serves the function of holding a work piece in place while it is worked on, the robot system further comprising nest beacon means located in the nest means detectable by the vision means for providing information to the control computer as to whether or not a work piece is present in the nest means.

  4. Navigation of robotic system using cricket motes

    NASA Astrophysics Data System (ADS)

    Patil, Yogendra J.; Baine, Nicholas A.; Rattan, Kuldip S.

    2011-06-01

    This paper presents a novel algorithm for self-mapping of the cricket motes that can be used for indoor navigation of autonomous robotic systems. The cricket system is a wireless sensor network that can provide indoor localization service to its user via acoustic ranging techniques. The behavior of the ultrasonic transducer on the cricket mote is studied and the regions where satisfactorily distance measurements can be obtained are recorded. Placing the motes in these regions results fine-grain mapping of the cricket motes. Trilateration is used to obtain a rigid coordinate system, but is insufficient if the network is to be used for navigation. A modified SLAM algorithm is applied to overcome the shortcomings of trilateration. Finally, the self-mapped cricket motes can be used for navigation of autonomous robotic systems in an indoor location.

  5. Design of a Robotic Welding System

    SciTech Connect

    H. B. Smartt; E.D. Larsen; D. P. Pace; R. J. Bitsoi; C. R. Tolle

    2006-08-01

    Canisters for long term storage or disposal of waste materials are normally closed by welding one or more lids to the top of the canister. This paper describes the development of a conceptual design of a control architecture for a robotic system for welding lids on canisters in a remote welding cell. This work extended over several years and included development of control systems for three machines.

  6. Zoom Vision System For Robotic Welding

    NASA Technical Reports Server (NTRS)

    Gilbert, Jeffrey L.; Hudyma, Russell M.

    1990-01-01

    Rugged zoom lens subsystem proposed for use in along-the-torch vision system of robotic welder. Enables system to adapt, via simple mechanical adjustments, to gas cups of different lengths, electrodes of different protrusions, and/or different distances between end of electrode and workpiece. Unnecessary to change optical components to accommodate changes in geometry. Easy to calibrate with respect to object in view. Provides variable focus and variable magnification.

  7. Intelligent Robotic Systems Study (IRSS), phase 4

    NASA Technical Reports Server (NTRS)

    1991-01-01

    Under the Intelligent Robotics Systems Study (IRSS), a generalized robotic control architecture was developed for use with the ProtoFlight Manipulator Arm (PFMA). Based upon the NASREM system design concept, the controller built for the PFMA provides localized position based force control, teleoperation, and advanced path recording and playback capabilities. The PFMA has six computer controllable degrees of freedom (DOF) plus a 7th manually indexable DOF, making the manipulator a pseudo 7 DOF mechanism. Joints on the PFMA are driven via 7 pulse width modulated amplifiers. Digital control of the PFMA is implemented using a variety of single board computers. There were two major activities under the IRSS phase 4 study: (1) enhancement of the PFMA control system software functionality; and (2) evaluation of operating modes via a teleoperation performance study. These activities are described and results are given.

  8. Laboratory robotics systems at the Savannah River Laboratory

    SciTech Connect

    Dyches, G M; Burkett, S D

    1983-01-01

    Many analytical chemistry methods normally used at the Savannah River site require repetitive procedures and handling of radioactive and other hazardous solutions. Robotics is being investigated as a method of reducing personnel fatigue and radiation exposure and also increasing product quality. Several applications of various commercially available robot systems are discussed involving cold (nonradioactive) and hot (radioactive) sample preparations and glovebox waste removal. Problems encountered in robot programming, parts fixturing, design of special robot hands and other support equipment, glovebox operation, and operator-system interaction are discussed. A typical robot system cost analysis for one application is given.

  9. An intelligent robotic system based on a fuzzy approach

    SciTech Connect

    Fukuda, Toshio; Kubota, Naoyuki

    1999-09-01

    This paper deals with a fuzzy-based intelligent robotic system that requires various capabilities normally associated with intelligence. It acquires skills and knowledge through interaction with a dynamic environment. Recently, subsumption architectures, behavior-based artificial intelligence, and behavioral engineering for robotic systems have been discussed as new technologies for intelligent robotic systems. This paper proposes a robotic system with structured intelligence. The authors focus on a mobile robotic system with a fuzzy controller and propose a sensory network that allows the robot to perceive its environment. An evolutionary approach improves the robot's performance. Furthermore, the authors discuss the effectiveness of the proposed method through computer simulations of collision avoidance and path-planning problems.

  10. 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)

  11. Fuzzy control system for a mobile robot

    SciTech Connect

    Hai Quan Dai; Dalton, G.R.; Tulenko, J. )

    1992-01-01

    Since the first fuzzy logic control system was proposed by Mamdani, many studies have been carried out on industrial process and real-time controls. The key problem for the application of fuzzy logic control is to find a suitable set of fuzzy control rules. Three common modes of deriving fuzzy control rules are often distinguished and mentioned: (1) expert experience and knowledge; (2) modeling operator control actions; and (3) modeling a process. In cases where an operator's skill is important, it is very useful to derive fuzzy control rules by modeling an operator's control actions. It is possible to model an operator's control behaviors in terms of fuzzy implications using the input-output data concerned with his/her control actions. The authors use the model obtained in this way as the basis for a fuzzy controller. The authors use a finite number of fuzzy or approximate control rules. To control a robot in a cluttered reactor environment, it is desirable to combine all the methods. In this paper, the authors describe a general algorithm for a mobile robot control system with fuzzy logic reasoning. They discuss the way that knowledge of fuzziness will be represented in this control system. They also describe a simulation program interface to the K2A Cybermation mobile robot to be used to demonstrate the control system.

  12. Study of robotics systems applications to the space station program

    NASA Technical Reports Server (NTRS)

    Fox, J. C.

    1983-01-01

    Applications of robotics systems to potential uses of the Space Station as an assembly facility, and secondarily as a servicing facility, are considered. A typical robotics system mission is described along with the pertinent application guidelines and Space Station environmental assumptions utilized in developing the robotic task scenarios. A functional description of a supervised dual-robot space structure construction system is given, and four key areas of robotic technology are defined, described, and assessed. Alternate technologies for implementing the more routine space technology support subsystems that will be required to support the Space Station robotic systems in assembly and servicing tasks are briefly discussed. The environmental conditions impacting on the robotic configuration design and operation are reviewed.

  13. Autonomous Robot System for Sensor Characterization

    SciTech Connect

    David Bruemmer; Douglas Few; Frank Carney; Miles Walton; Heather Hunting; Ron Lujan

    2004-03-01

    This paper discusses an innovative application of new Markov localization techniques that combat the problem of odometry drift, allowing a novel control architecture developed at the Idaho National Engineering and Environmental Laboratory (INEEL) to be utilized within a sensor characterization facility developed at the Remote Sensing Laboratory (RSL) in Nevada. The new robotic capability provided by the INEEL will allow RSL to test and evaluate a wide variety of sensors including radiation detection systems, machine vision systems, and sensors that can detect and track heat sources (e.g. human bodies, machines, chemical plumes). By accurately moving a target at varying speeds along designated paths, the robotic solution allows the detection abilities of a wide variety of sensors to be recorded and analyzed.

  14. Stereoscopic Vision System For Robotic Vehicle

    NASA Technical Reports Server (NTRS)

    Matthies, Larry H.; Anderson, Charles H.

    1993-01-01

    Distances estimated from images by cross-correlation. Two-camera stereoscopic vision system with onboard processing of image data developed for use in guiding robotic vehicle semiautonomously. Combination of semiautonomous guidance and teleoperation useful in remote and/or hazardous operations, including clean-up of toxic wastes, exploration of dangerous terrain on Earth and other planets, and delivery of materials in factories where unexpected hazards or obstacles can arise.

  15. Network protocols for mobile robot systems

    NASA Astrophysics Data System (ADS)

    Gage, Douglas W.

    1998-01-01

    Communications and communications protocols will play an important role in mobile robot systems able to address real world applications. A poorly integrated 'stack' of communications protocols, or protocols which are poorly matched to the functional and performance characteristics of the underlying physical communications links, can greatly reduce the effectiveness of an otherwise well implemented robotic or networked sensors system. The proliferation of Internet-like networks in military as well as civilian domains has motivated research to address some of the performance limitations TCP suffers when using RF and other media with long bandwidth-delay, dynamic connectivity, and error-prone links. Beyond these performance issues, however, TCP is poorly matched to the requirements of mobile robot and other quasi-autonomous systems: it is oriented to providing a continuous data stream, rather than discrete messages, and the canonical 'socket' interface conceals short losses of communications connectivity, but simply gives up and forces the application layer software to deal with longer losses. For the multipurpose security and surveillance mission platform project, a software applique is being developed that will run on top of user datagram protocol to provide a reliable message-based transport service. In addition, a session layer protocol is planned to support the effective transfer of control of multiple platforms among multiple stations.

  16. Three-Dimensional Robotic Vision System

    NASA Technical Reports Server (NTRS)

    Nguyen, Thinh V.

    1989-01-01

    Stereoscopy and motion provide clues to outlines of objects. Digital image-processing system acts as "intelligent" automatic machine-vision system by processing views from stereoscopic television cameras into three-dimensional coordinates of moving object in view. Epipolar-line technique used to find corresponding points in stereoscopic views. Robotic vision system analyzes views from two television cameras to detect rigid three-dimensional objects and reconstruct numerically in terms of coordinates of corner points. Stereoscopy and effects of motion on two images complement each other in providing image-analyzing subsystem with clues to natures and locations of principal features.

  17. Cooperative Environment Scans Based on a Multi-Robot System

    PubMed Central

    Kwon, Ji-Wook

    2015-01-01

    This paper proposes a cooperative environment scan system (CESS) using multiple robots, where each robot has low-cost range finders and low processing power. To organize and maintain the CESS, a base robot monitors the positions of the child robots, controls them, and builds a map of the unknown environment, while the child robots with low performance range finders provide obstacle information. Even though each child robot provides approximated and limited information of the obstacles, CESS replaces the single LRF, which has a high cost, because much of the information is acquired and accumulated by a number of the child robots. Moreover, the proposed CESS extends the measurement boundaries and detects obstacles hidden behind others. To show the performance of the proposed system and compare this with the numerical models of the commercialized 2D and 3D laser scanners, simulation results are included. PMID:25789491

  18. Key technology issues for space robotic systems

    NASA Technical Reports Server (NTRS)

    Schappell, Roger T.

    1987-01-01

    Robotics has become a key technology consideration for the Space Station project to enable enhanced crew productivity and to maximize safety. There are many robotic functions currently being studied, including Space Station assembly, repair, and maintenance as well as satellite refurbishment, repair, and retrieval. Another area of concern is that of providing ground based experimenters with a natural interface that they might directly interact with their hardware onboard the Space Station or ancillary spacecraft. The state of the technology is such that the above functions are feasible; however, considerable development work is required for operation in this gravity-free vacuum environment. Furthermore, a program plan is evolving within NASA that will capitalize on recent government, university, and industrial robotics research and development (R and D) accomplishments. A brief summary is presented of the primary technology issues and physical examples are provided of the state of the technology for the initial operational capability (IOC) system as well as for the eventual final operational capability (FOC) Space Station.

  19. Multi-view coordinate system transformation based on robot

    NASA Astrophysics Data System (ADS)

    Song, Li-mei; Wang, Peng-qiang; Xi, Jiang-tao; Guo, Qing-hua; Tang, Huan; Li, Jing; Li, Xiao-jie; Zhu, Teng-da

    2015-11-01

    The registration of point cloud is important for large object measurement. A measurement method for coordinate system transformation based on robot is proposed in this paper. Firstly, for obtaining extrinsic parameters, the robot moves to three different positions to capture the images of three targets. Then the transformation matrix X between camera and tool center point (TCP) coordinate systems can be calculated by using the known parameters of robot and the extrinsic parameters, and finally the multi-view coordinate system can be transformed into robot coordinate system by the transformation matrix X. With the help of robot, the multi-view point cloud can be easily transformed into a unified coordinate system. By using robot, the measurement doesn't need any mark. Experimental results show that the method is effective.

  20. A Robot Based Automatic Paint Inspection System

    NASA Astrophysics Data System (ADS)

    Atkinson, R. M.; Claridge, J. F.

    1988-06-01

    The final inspection of manufactured goods is a labour intensive activity. The use of human inspectors has a number of potential disadvantages; it can be expensive, the inspection standard applied is subjective and the inspection process can be slow compared with the production process. The use of automatic optical and electronic systems to perform the inspection task is now a growing practice but, in general, such systems have been applied to small components which are accurately presented. Recent advances in vision systems and robot control technology have made possible the installation of an automated paint inspection system at the Austin Rover Group's plant at Cowley, Oxford. The automatic inspection of painted car bodies is a particularly difficult problem, but one which has major benefits. The pass line of the car bodies is ill-determined, the surface to be inspected is of varying surface geometry and only a short time is available to inspect a large surface area. The benefits, however, are due to the consistent standard of inspection which should lead to lower levels of customer complaints and improved process feedback. The Austin Rover Group initiated the development of a system to fulfil this requirement. Three companies collaborated on the project; Austin Rover itself undertook the production line modifications required for body presentation, Sira Ltd developed the inspection cameras and signal processing system and Unimation (Europe) Ltd designed, supplied and programmed the robot system. Sira's development was supported by a grant from the Department of Trade and Industry.

  1. Intelligent manipulation technique for multi-branch robotic systems

    NASA Technical Reports Server (NTRS)

    Chen, Alexander Y. K.; Chen, Eugene Y. S.

    1990-01-01

    New analytical development in kinematics planning is reported. The INtelligent KInematics Planner (INKIP) consists of the kinematics spline theory and the adaptive logic annealing process. Also, a novel framework of robot learning mechanism is introduced. The FUzzy LOgic Self Organized Neural Networks (FULOSONN) integrates fuzzy logic in commands, control, searching, and reasoning, the embedded expert system for nominal robotics knowledge implementation, and the self organized neural networks for the dynamic knowledge evolutionary process. Progress on the mechanical construction of SRA Advanced Robotic System (SRAARS) and the real time robot vision system is also reported. A decision was made to incorporate the Local Area Network (LAN) technology in the overall communication system.

  2. A Modular Robotic System with Applications to Space Exploration

    NASA Technical Reports Server (NTRS)

    Hancher, Matthew D.; Hornby, Gregory S.

    2006-01-01

    Modular robotic systems offer potential advantages as versatile, fault-tolerant, cost-effective platforms for space exploration, but a sufficiently mature system is not yet available. We describe the possible applications of such a system, and present prototype hardware intended as a step in the right direction. We also present elements of an automated design and optimization framework aimed at making modular robots easier to design and use, and discuss the results of applying the system to a gait optimization problem. Finally, we discuss the potential near-term applications of modular robotics to terrestrial robotics research.

  3. A collision avoidance algorithm for the mobile robot and the robot manipulator in multi-robot system

    NASA Astrophysics Data System (ADS)

    Jih, Yeung-Jaw Joe

    1991-08-01

    As the modern, highly automated factory becomes more and more complicated, the collision avoidance between robots and other obstacles in the work space becomes increasingly important as well. A local collision avoidance algorithm which was developed based on the general structure of the Artificial Potential Field Force along with the Strategy Force and the Pseudo Distance Function is presented. In this algorithm, a goal attracting force is defined in order to drive the robot from the starting position to the goal position. When the distance between a robot and obstacle becomes smaller than a pre-defined effective avoidance distance, an artificial repulsion force is generated as a function of the distance resulting in repulsion between the two closing objects. The commanding force (by combining goal attracting force and the repulsion force) drives the robot toward the goal position without colliding with other objects in the work space. Since the repulsion force, developed here, depends on the distance only, the complicated geometric function for the object model is less important in the algorithm used in this dissertation. The simplicity of this improved artificial force collision algorithm would make it possible to be used on a real-time basis within a time variant environment. Further improvement is realized by introducing a Strategy Force within the Artificial Force whenever a locking situation is detected. The Euclidean distance between the objects normally used in this algorithm is also replaced by a defined Pseudo Distance calculated by a Pseudo Distance Function. The Pseudo Distance Function uses basic geometric information between two objects to calculate the Pseudo Distance. The Pseudo Distance is always smaller than the true minimum distance. This greatly simplified robot collision avoidance algorithm is applicable not only on a two-dimensional mobile robot system but on a three-dimensional multi-robot system as well. Simulations are performed on both

  4. Robotic System for Transapical Aortic Valve Replacement with MRI Guidance

    PubMed Central

    Li, Ming; Mazilu, Dumitru; Horvath, Keith A.

    2009-01-01

    This paper reports our work on developing a robotic surgical system for transapical beating heart aortic valve replacement (AVR) under interactive real-time magnetic resonance imaging (rtMRI) guidance. Our system integrates a real-time MRI system, a compound MRI robot, as well as an interface for the surgeon to plan the procedure and manipulate the robot. The compound robot consists of a positioning module and a valve delivery module. A 5-DOF Inno-motion positioning arm provides and maintains direct access to the native aortic valve. A newly developed 3-DOF robotic valve delivery module allows the surgeon to remotely control bioprosthetic valve delivery with MRI guidance. Preliminary evaluation of the parameters of the robotic system demonstrates it can provide sufficient capability to successfully assist the surgeon. PMID:18982639

  5. Aerial robotic data acquisition system

    SciTech Connect

    Hofstetter, K.J.; Hayes, D.W.; Pendergast, M.M.; Corban, J.E.

    1993-12-31

    A small, unmanned aerial vehicle (UAV), equipped with sensors for physical and chemical measurements of remote environments, is described. A miniature helicopter airframe is used as a platform for sensor testing and development. The sensor output is integrated with the flight control system for real-time, interactive, data acquisition and analysis. Pre-programmed flight missions will be flown with several sensors to demonstrate the cost-effective surveillance capabilities of this new technology.

  6. Teleoperator and robotics system analysis

    NASA Technical Reports Server (NTRS)

    Teoh, William

    1987-01-01

    The Orbital Maneuvering Vehicle (OMV) was designed to operate as a remotely controlled space teleoperator. The design and implementation of OMM (a mathematical model of the OMV) are discussed. The State Vector Transformation Module (SVX), an interface between the OMV simulation model and the mobile base (TOM-B) of the flat floor simulation system is described. A summary of testing procedures and conclusions are presented together with the test data obtained.

  7. Control system of warehouse robots' position

    NASA Astrophysics Data System (ADS)

    Maruev, Ivan A.; Lebedko, Eugene G.; Nikulin, Anton V.

    2015-05-01

    Development of robotic vehicles allowed to carry out massively introduction of their different spheres of activity. But often a necessary condition for the functioning of such systems is the presence of the control of their movement. The opto-electronic system control the spatial position of vehicles, such as mobile robots, describes in this paper. The system consists of reference marks installed on the vehicle and cameras for watching it. The paper presents a mathematical description of the system, the method of determining the coordinates of objects based on their photographic projections using the camcorder. The layout system was developed for testing algorithms having two cameras observe the movement of the layout of the vehicle, realized on the platform Rover 5 Chaisis. The reference mark, which consists of four LEDs, was fixed on the vehicle. The configuration of the LEDs has been presented in the form of vertices of the cube. In the course of the study was found that error does not exceed a value of 1 mm at the distance of 2 meters.

  8. An intelligent robotic aid system for human services

    NASA Technical Reports Server (NTRS)

    Kawamura, K.; Bagchi, S.; Iskarous, M.; Pack, R. T.; Saad, A.

    1994-01-01

    The long term goal of our research at the Intelligent Robotic Laboratory at Vanderbilt University is to develop advanced intelligent robotic aid systems for human services. As a first step toward our goal, the current thrusts of our R&D are centered on the development of an intelligent robotic aid called the ISAC (Intelligent Soft Arm Control). In this paper, we describe the overall system architecture and current activities in intelligent control, adaptive/interactive control and task learning.

  9. Robotic burnishing system for solid film lubricant coated parts

    SciTech Connect

    Fureigh, M.L.

    1986-05-01

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

  10. Meeting the challenges of installing a mobile robotic system

    NASA Technical Reports Server (NTRS)

    Decorte, Celeste

    1994-01-01

    The challenges of integrating a mobile robotic system into an application environment are many. Most problems inherent to installing the mobile robotic system fall into one of three categories: (1) the physical environment - location(s) where, and conditions under which, the mobile robotic system will work; (2) the technological environment - external equipment with which the mobile robotic system will interact; and (3) the human environment - personnel who will operate and interact with the mobile robotic system. The successful integration of a mobile robotic system into these three types of application environment requires more than a good pair of pliers. The tools for this job include: careful planning, accurate measurement data (as-built drawings), complete technical data of systems to be interfaced, sufficient time and attention of key personnel for training on how to operate and program the robot, on-site access during installation, and a thorough understanding and appreciation - by all concerned - of the mobile robotic system's role in the security mission at the site, as well as the machine's capabilities and limitations. Patience, luck, and a sense of humor are also useful tools to keep handy during a mobile robotic system installation. This paper will discuss some specific examples of problems in each of three categories, and explore approaches to solving these problems. The discussion will draw from the author's experience with on-site installations of mobile robotic systems in various applications. Most of the information discussed in this paper has come directly from knowledge learned during installations of Cybermotion's SR2 security robots. A large part of the discussion will apply to any vehicle with a drive system, collision avoidance, and navigation sensors, which is, of course, what makes a vehicle autonomous. And it is with these sensors and a drive system that the installer must become familiar in order to foresee potential trouble areas in the

  11. A robot-assisted orthopedic telesurgery system.

    PubMed

    Kong, M; Du, Z; Sun, L; Fu, L; Jia, Z; Wu, D

    2005-01-01

    A robot-assisted orthopedic telesurgery system, named HIT-RAOTS, has been developed according to Chinese conventional operation method. Its main function includes obtaining images with information of position and orientation of fracture, providing fracture information for doctors, assisting the doctors to complete the reposition of fracture and locking operation of intramedullary nail. In this system, a 6-dof force-reflecting master device, with a pantographic parallelogram mechanisms driven by harmonic DC servomotors, is used to control the slave manipulator movement and to translate the force from the operating room to the surgeon console; A slave robot system integrated a 6-dof force sensor, with a parallel manipulator actuated by six AC servomotors, is applied for the accurate repositioning; A virtual simulation system and human-machine interface are also developed. PI controller based on local network is used to realize the teleoperation. Only little irradiation is issued during the reposition. It can assist surgeons to perform bone-setting more safely by reducing irradiation damage to both surgeries and patients, more easily by releasing the surgeons from the heavy operation and more perfect by improving accuracy of reposition. PMID:17282120

  12. BOA: Pipe asbestos insulation removal robot system

    SciTech Connect

    Schempf, H.; Bares, J.; Schnorr, W.

    1995-12-31

    The BOA system is a mobile pipe-external robotic crawler used to remotely strip and bag asbestos-containing lagging and insulation materials (ACLIM) from various diameter pipes in (primarily) industrial installations. Steam and process lines within the DOE weapons complex warrant the use of a remote device due to the high labor costs and high level of radioactive contamination, making manual removal extremely costly and highly inefficient. Currently targeted facilities for demonstration and remediation are Fernald in Ohio and Oak Ridge in Tennessee.

  13. Transformers: Shape-Changing Space Systems Built with Robotic Textiles

    NASA Technical Reports Server (NTRS)

    Stoica, Adrian

    2013-01-01

    Prior approaches to transformer-like robots had only very limited success. They suffer from lack of reliability, ability to integrate large surfaces, and very modest change in overall shape. Robots can now be built from two-dimensional (2D) layers of robotic fabric. These transformers, a new kind of robotic space system, are dramatically different from current systems in at least two ways. First, the entire transformer is built from a single, thin sheet; a flexible layer of a robotic fabric (ro-fabric); or robotic textile (ro-textile). Second, the ro-textile layer is foldable to small volume and self-unfolding to adapt shape and function to mission phases.

  14. Overhead robot system for remote HEPA filter replacement

    SciTech Connect

    Wiesener, R.W.

    1988-01-01

    A high-efficiency particulate air (HEPA) filter system for facility exhaust air filtraction of radioactive particles has been designed that utilizes a modified industrial gantry robot to remotely replace filter elements. The system filtration design capacity can be readily changed by increasing or decreasing the number of plenums, which only affects the cell length and robot bridge travel. The parallel flow plenum design incorporates remote HEPA filter housings, which are commercially available. Filter removal and replacement is accomplished with the robot under sequenced program control. A custom-designed robot control console, which interfaces with the standard gantry robot power center controller, minimizes operator training. Critical sequence steps are operator verified, using closed-circuit television (CCTV), before proceeding to the next programmed stop point. The robot can be operated in a teleoperator mode to perform unstructured maintenance tasks, such as replacing filter housing components and cell lights.

  15. Development control systems takeover: subject robotic arm on the example anthropomorhic robot AR-601

    NASA Astrophysics Data System (ADS)

    Sirazetdinov, R.; Devaev, V.; Zakirzyanova, G.

    2016-06-01

    It is proposed the formation software architecture of complex motion for robotic systems in the form of sets of behavior - patterns - similar to the motor reflexes of living organisms. To form patterns of behavior of the robot teh authors used a methodology of structural analysis of complex systems IDEF0, then developed types of elementary algorithms (patterns) that make up the dynamics of the anthropomorphic robot jump. The work is performed according to the Russian Government Program of Competitive Growth of Kazan Federal University.

  16. Digital redesign of the control system for the Robotics Research Corporation model K-1607 robot

    NASA Technical Reports Server (NTRS)

    Carroll, Robert L.

    1989-01-01

    The analog control system for positioning each link of the Robotics Research Corporation Model K-1607 robot manipulator was redesigned for computer control. In order to accomplish the redesign, a linearized model of the dynamic behavior of the robot was developed. The parameters of the model were determined by examination of the input-output data collected in closed-loop operation of the analog control system. The robot manipulator possesses seven degrees of freedom in its motion. The analog control system installed by the manufacturer of the robot attempts to control the positioning of each link without feedback from other links. Constraints on the design of a digital control system include: the robot cannot be disassembled for measurement of parameters; the digital control system must not include filtering operations if possible, because of lack of computer capability; and criteria of goodness of control system performing is lacking. The resulting design employs sampled-data position and velocity feedback. The criteria of the design permits the control system gain margin and phase margin, measured at the same frequencies, to be the same as that provided by the analog control system.

  17. A multi-sensor system for robotics proximity operations

    NASA Technical Reports Server (NTRS)

    Cheatham, J. B.; Wu, C. K.; Weiland, P. L.; Cleghorn, T. F.

    1988-01-01

    Robots without sensors can perform only simple repetitive tasks and cannot cope with unplanned events. A multi-sensor system is needed for a robot to locate a target, move into its neighborhood and perform operations in contact with the object. Systems that can be used for such tasks are described.

  18. A Segway RMP-based robotic transport system

    NASA Astrophysics Data System (ADS)

    Nguyen, Hoa G.; Kogut, Greg; Barua, Ripan; Burmeister, Aaron; Pezeshkian, Narek; Powell, Darren; Farrington, Nathan; Wimmer, Matt; Cicchetto, Brett; Heng, Chana; Ramirez, Velia

    2004-12-01

    In the area of logistics, there currently is a capability gap between the one-ton Army robotic Multifunction Utility/Logistics and Equipment (MULE) vehicle and a soldier"s backpack. The Unmanned Systems Branch at Space and Naval Warfare Systems Center (SPAWAR Systems Center, or SSC), San Diego, with the assistance of a group of interns from nearby High Tech High School, has demonstrated enabling technologies for a solution that fills this gap. A small robotic transport system has been developed based on the Segway Robotic Mobility Platform (RMP). We have demonstrated teleoperated control of this robotic transport system, and conducted two demonstrations of autonomous behaviors. Both demonstrations involved a robotic transporter following a human leader. In the first demonstration, the transporter used a vision system running a continuously adaptive mean-shift filter to track and follow a human. In the second demonstration, the separation between leader and follower was significantly increased using Global Positioning System (GPS) information. The track of the human leader, with a GPS unit in his backpack, was sent wirelessly to the transporter, also equipped with a GPS unit. The robotic transporter traced the path of the human leader by following these GPS breadcrumbs. We have additionally demonstrated a robotic medical patient transport capability by using the Segway RMP to power a mock-up of the Life Support for Trauma and Transport (LSTAT) patient care platform, on a standard NATO litter carrier. This paper describes the development of our demonstration robotic transport system and the various experiments conducted.

  19. Automatic rendezvous system testing at the Flight Robotics Laboratory

    NASA Technical Reports Server (NTRS)

    Tobbe, Patrick A.; Naumann, Charles B.

    1991-01-01

    The Flight Robotics Laboratory of MSFC provides sophisticated real time simulation capability in the study of human/system interactions of remote systems. This paper will describe the Flight Robotics Facility of NASA/MSFC, the hardware-in-the-loop simulation configuration, and test results.

  20. Robot vision system programmed in Prolog

    NASA Astrophysics Data System (ADS)

    Batchelor, Bruce G.; Hack, Ralf

    1995-10-01

    This is the latest in a series of publications which develop the theme of programming a machine vision system using the artificial intelligence language Prolog. The article states the long-term objective of the research program of which this work forms part. Many but not yet all of the goals laid out in this plan have already been achieved in an integrated system, which uses a multi-layer control hierarchy. The purpose of the present paper is to demonstrate that a system based upon a Prolog controller is capable of making complex decisions and operating a standard robot. The authors chose, as a vehicle for this exercise, the task of playing dominoes against a human opponent. This game was selected for this demonstration since it models a range of industrial assembly tasks, where parts are to be mated together. (For example, a 'daisy chain' of electronic equipment and the interconnecting cables/adapters may be likened to a chain of dominoes.)

  1. Concurrent algorithms for a mobile robot vision system

    SciTech Connect

    Jones, J.P.; Mann, R.C.

    1988-01-01

    The application of computer vision to mobile robots has generally been hampered by insufficient on-board computing power. The advent of VLSI-based general purpose concurrent multiprocessor systems promises to give mobile robots an increasing amount of on-board computing capability, and to allow computation intensive data analysis to be performed without high-bandwidth communication with a remote system. This paper describes the integration of robot vision algorithms on a 3-dimensional hypercube system on-board a mobile robot developed at Oak Ridge National Laboratory. The vision system is interfaced to navigation and robot control software, enabling the robot to maneuver in a laboratory environment, to find a known object of interest and to recognize the object's status based on visual sensing. We first present the robot system architecture and the principles followed in the vision system implementation. We then provide some benchmark timings for low-level image processing routines, describe a concurrent algorithm with load balancing for the Hough transform, a new algorithm for binary component labeling, and an algorithm for the concurrent extraction of region features from labeled images. This system analyzes a scene in less than 5 seconds and has proven to be a valuable experimental tool for research in mobile autonomous robots. 9 refs., 1 fig., 3 tabs.

  2. Improved OTEC System for a Submarine Robot

    NASA Technical Reports Server (NTRS)

    Chao, Yi; Jones, Jack; Valdez, Thomas

    2010-01-01

    An ocean thermal energy conversion (OTEC), now undergoing development, is a less-massive, more-efficient means of exploiting the same basic principle as that of the proposed system described in "Alternative OTEC Scheme for a Submarine Robot" (NPO-43500), NASA Tech Briefs, Vol. 33, No. 1 (January 2009), page 50. The proposed system as described previously would be based on the thawing-expansion/freezing-contraction behavior of a wax or perhaps another suitable phase-change material (PCM). The power generated by the system would be used to recharge the batteries in a battery- powered unmanned underwater vehicle [UUV (essentially, a small exploratory submarine robot)] of a type that has been deployed in large numbers in research pertaining to global warming. A UUV of this type travels between the ocean surface and depths, measuring temperature and salinity. At one phase of its operational cycle, the previously proposed system would utilize the surface ocean temperature (which lies between 15 and 30 C over most of the Earth) to melt a PCM that has a melting/freezing temperature of about 10 C. At the opposite phase of its operational cycle, the system would utilize the lower ocean temperature at depth (e.g., between 4 and 7 C at a depth of 300 m) to freeze the PCM. The melting or freezing would cause the PCM to expand or contract, respectively, by about 9 volume percent. The PCM would be contained in tubes that would be capable of expanding and contracting with the PCM. The PCM-containing tubes would be immersed in a hydraulic fluid. The expansion and contraction would drive a flow of the hydraulic fluid against a piston that, in turn, would push a rack-and-pinion gear system to spin a generator to charge a battery.

  3. RASSOR - Regolith Advanced Surface Systems Operations Robot

    NASA Technical Reports Server (NTRS)

    Gill, Tracy R.; Mueller, Rob

    2015-01-01

    The Regolith Advanced Surface Systems Operations Robot (RASSOR) is a lightweight excavator for mining in reduced gravity. RASSOR addresses the need for a lightweight (<100 kg) robot that is able to overcome excavation reaction forces while operating in reduced gravity environments such as the moon or Mars. A nominal mission would send RASSOR to the moon to operate for five years delivering regolith feedstock to a separate chemical plant, which extracts oxygen from the regolith using H2 reduction methods. RASSOR would make 35 trips of 20 kg loads every 24 hours. With four RASSORs operating at one time, the mission would achieve 10 tonnes of oxygen per year (8 t for rocket propellant and 2 t for life support). Accessing craters in space environments may be extremely hard and harsh due to volatile resources - survival is challenging. New technologies and methods are required. RASSOR is a product of KSC Swamp Works which establishes rapid, innovative and cost effective exploration mission solutions by leveraging partnerships across NASA, industry and academia.

  4. Survey of Command Execution Systems for NASA Spacecraft and Robots

    NASA Technical Reports Server (NTRS)

    Verma, Vandi; Jonsson, Ari; Simmons, Reid; Estlin, Tara; Levinson, Rich

    2005-01-01

    NASA spacecraft and robots operate at long distances from Earth Command sequences generated manually, or by automated planners on Earth, must eventually be executed autonomously onboard the spacecraft or robot. Software systems that execute commands onboard are known variously as execution systems, virtual machines, or sequence engines. Every robotic system requires some sort of execution system, but the level of autonomy and type of control they are designed for varies greatly. This paper presents a survey of execution systems with a focus on systems relevant to NASA missions.

  5. 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.

  6. Implementation of a robotic flexible assembly system

    NASA Technical Reports Server (NTRS)

    Benton, Ronald C.

    1987-01-01

    As part of the Intelligent Task Automation program, a team developed enabling technologies for programmable, sensory controlled manipulation in unstructured environments. These technologies include 2-D/3-D vision sensing and understanding, force sensing and high speed force control, 2.5-D vision alignment and control, and multiple processor architectures. The subsequent design of a flexible, programmable, sensor controlled robotic assembly system for small electromechanical devices is described using these technologies and ongoing implementation and integration efforts. Using vision, the system picks parts dumped randomly in a tray. Using vision and force control, it performs high speed part mating, in-process monitoring/verification of expected results and autonomous recovery from some errors. It is programmed off line with semiautomatic action planning.

  7. Intelligent Robotic Systems Study (IRSS), phase 2

    NASA Technical Reports Server (NTRS)

    1990-01-01

    Under the Intelligent Robotics System Study (IRSS) contract, a generalized robotic control architecture was developed for use with the ProtoFlight Manipulator Arm (PFMA). The controller built for the PFMA provides localized position based force control, teleoperation and advanced path recording and playback capabilities. Various hand controllers can be used with the system in conjunction with a synthetic time delay capability to provide a realistic test bed for typical satellite servicing tasks. The configuration of the IRSS system is illustrated and discussed. The PFMA has six computer controllable degrees of freedom (DOF) plus a seventh manually indexable DOF, making the manipulator a pseudo 7 DOF mechanism. Because the PFMA was not developed to operate in a gravity field, but rather in space, it is counter balanced at the shoulder, elbow and wrist and a spring counterbalance has been added near the wrist to provide additional support. Built with long slender intra-joint linkages, the PFMA has a workspace nearly 2 meters deep and possesses sufficient dexterity to perform numerous satellite servicing tasks. The manipulator is arranged in a shoulder-yaw, pitch, elbow-pitch, and wrist-pitch, yaw, roll configuration, with an indexable shoulder roll joint. Digital control of the PFMA is implemented using a variety of single board computers developed by Heurikon Corporation and other manufacturers. The IRSS controller is designed to be a multi-rate, multi-tasking system. Independent joint servos run at a 134 Hz rate and position based impedance control functions at 67 Hz. Autonomous path generation and hand controller inputs are processed at a 33 Hz.

  8. The JPL Serpentine Robot: A 12 DOF System for Inspection

    NASA Technical Reports Server (NTRS)

    Paljug, E.; Ohm, T.; Hayati, S.

    1995-01-01

    The Serpentine Robot is a prototype hyper-redundant (snake-like) manipulator system developed at the Jet Propulsion Laboratory. It is designed to navigate and perform tasks in obstructed and constrained environments in which conventional 6 DOF manipulators cannot function. Described are the robot mechanical design, a joint assembly low level inverse kinematic algorithm, control development, and applications.

  9. A Fully Sensorized Cooperative Robotic System for Surgical Interventions

    PubMed Central

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

    2012-01-01

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

  10. A modular real-time vision system for humanoid robots

    NASA Astrophysics Data System (ADS)

    Trifan, Alina L.; Neves, António J. R.; Lau, Nuno; Cunha, Bernardo

    2012-01-01

    Robotic vision is nowadays one of the most challenging branches of robotics. In the case of a humanoid robot, a robust vision system has to provide an accurate representation of the surrounding world and to cope with all the constraints imposed by the hardware architecture and the locomotion of the robot. Usually humanoid robots have low computational capabilities that limit the complexity of the developed algorithms. Moreover, their vision system should perform in real time, therefore a compromise between complexity and processing times has to be found. This paper presents a reliable implementation of a modular vision system for a humanoid robot to be used in color-coded environments. From image acquisition, to camera calibration and object detection, the system that we propose integrates all the functionalities needed for a humanoid robot to accurately perform given tasks in color-coded environments. The main contributions of this paper are the implementation details that allow the use of the vision system in real-time, even with low processing capabilities, the innovative self-calibration algorithm for the most important parameters of the camera and its modularity that allows its use with different robotic platforms. Experimental results have been obtained with a NAO robot produced by Aldebaran, which is currently the robotic platform used in the RoboCup Standard Platform League, as well as with a humanoid build using the Bioloid Expert Kit from Robotis. As practical examples, our vision system can be efficiently used in real time for the detection of the objects of interest for a soccer playing robot (ball, field lines and goals) as well as for navigating through a maze with the help of color-coded clues. In the worst case scenario, all the objects of interest in a soccer game, using a NAO robot, with a single core 500Mhz processor, are detected in less than 30ms. Our vision system also includes an algorithm for self-calibration of the camera parameters as well

  11. A macroscopic analytical model of collaboration in distributed robotic systems.

    PubMed

    Lerman, K; Galstyan, A; Martinoli, A; Ijspeert, A

    2001-01-01

    In this article, we present a macroscopic analytical model of collaboration in a group of reactive robots. The model consists of a series of coupled differential equations that describe the dynamics of group behavior. After presenting the general model, we analyze in detail a case study of collaboration, the stick-pulling experiment, studied experimentally and in simulation by Ijspeert et al. [Autonomous Robots, 11, 149-171]. The robots' task is to pull sticks out of their holes, and it can be successfully achieved only through the collaboration of two robots. There is no explicit communication or coordination between the robots. Unlike microscopic simulations (sensor-based or using a probabilistic numerical model), in which computational time scales with the robot group size, the macroscopic model is computationally efficient, because its solutions are independent of robot group size. Analysis reproduces several qualitative conclusions of Ijspeert et al.: namely, the different dynamical regimes for different values of the ratio of robots to sticks, the existence of optimal control parameters that maximize system performance as a function of group size, and the transition from superlinear to sublinear performance as the number of robots is increased. PMID:11911788

  12. ROBOSIM: An intelligent simulator for robotic systems

    NASA Technical Reports Server (NTRS)

    Fernandez, Kenneth R.; Cook, George E.; Biegl, Csaba; Springfield, James F.

    1993-01-01

    The purpose of this paper is to present an update of an intelligent robotics simulator package, ROBOSIM, first introduced at Technology 2000 in 1990. ROBOSIM is used for three-dimensional geometrical modeling of robot manipulators and various objects in their workspace, and for the simulation of action sequences performed by the manipulators. Geometric modeling of robot manipulators has an expanding area of interest because it can aid the design and usage of robots in a number of ways, including: design and testing of manipulators, robot action planning, on-line control of robot manipulators, telerobotic user interface, and training and education. NASA developed ROBOSIM between 1985-88 to facilitate the development of robotics, and used the package to develop robotics for welding, coating, and space operations. ROBOSIM has been further developed for academic use by its co-developer Vanderbilt University, and has been in both classroom and laboratory environments for teaching complex robotic concepts. Plans are being formulated to make ROBOSIM available to all U.S. engineering/engineering technology schools (over three hundred total with an estimated 10,000+ users per year).

  13. Computer guidance system for single-incision bimanual robotic surgery.

    PubMed

    Carbone, Marina; Turini, Giuseppe; Petroni, Gianluigi; Niccolini, Marta; Menciassi, Arianna; Ferrari, Mauro; Mosca, Franco; Ferrari, Vincenzo

    2012-01-01

    The evolution of surgical robotics is following the progress of developments in Minimally Invasive Surgery (MIS), which is moving towards Single-Incision Laparoscopic Surgery (SILS) procedures. The complexity of these techniques has favored the introduction of robotic surgical systems. New bimanual robots, which are completely inserted into the patient's body, have been proposed in order to enhance the surgical gesture in SILS procedures. However, the limited laparoscopic view and the focus on the end-effectors, together with the use of complex robotic devices inside the patient's abdomen, may lead to unexpected collisions, e.g., between the surrounding anatomical organs not involved in the intervention and the surgical robot. This paper describes a computer guidance system, based on patient-specific data, designed to provide intraoperative navigation and assistance in SILS robotic interventions. The navigator has been tested in simulations of some of the surgical tasks involved in a cholecystectomy, using a synthetic anthropomorphic mannequin. The results demonstrate the usability and efficacy of the navigation system, underlining the importance of avoiding unwanted collisions between the robot arms and critical organs. The proposed computer guidance software is able to integrate any bimanual surgical robot design. PMID:22687053

  14. Safety assessment of a robotic system handling nuclear material

    SciTech Connect

    Atcitty, C.B.; Robinson, D.G.

    1996-02-01

    This paper outlines the use of a Failure Modes and Effects Analysis for the safety assessment of a robotic system being developed at Sandia National Laboratories. The robotic system, The Weigh and Leak Check System, is to replace a manual process at the Department of Energy facility at Pantex by which nuclear material is inspected for weight and leakage. Failure Modes and Effects Analyses were completed for the robotics process to ensure that safety goals for the system had been meet. These analyses showed that the risks to people and the internal and external environment were acceptable.

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

    NASA Astrophysics Data System (ADS)

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

    2014-05-01

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

  16. Calibration technology in application of robot-laser scanning system

    NASA Astrophysics Data System (ADS)

    Ren, YongJie; Yin, ShiBin; Zhu, JiGui

    2012-11-01

    A system composed of laser sensor and 6-DOF industrial robot is proposed to obtain complete three-dimensional (3-D) information of the object surface. Suitable for the different combining ways of laser sensor and robot, a new method to calibrate the position and pose between sensor and robot is presented. By using a standard sphere with known radius as a reference tool, the rotation and translation matrices between the laser sensor and robot are computed, respectively in two steps, so that many unstable factors introduced in conventional optimization methods can be avoided. The experimental results show that the accuracy of the proposed calibration method can be achieved up to 0.062 mm. The calibration method is also implemented into the automated robot scanning system to reconstruct a car door panel.

  17. Robotics

    NASA Technical Reports Server (NTRS)

    Ambrose, Robert O.

    2007-01-01

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

  18. A telepresence robot system realized by embedded object concept

    NASA Astrophysics Data System (ADS)

    Vallius, Tero; Röning, Juha

    2006-10-01

    This paper presents the Embedded Object Concept (EOC) and a telepresence robot system which is a test case for the EOC. The EOC utilizes common object-oriented methods used in software by applying them to combined Lego-like software-hardware entities. These entities represent objects in object-oriented design methods, and they are the building blocks of embedded systems. The goal of the EOC is to make the designing embedded systems faster and easier. This concept enables people without comprehensive knowledge in electronics design to create new embedded systems, and for experts it shortens the design time of new embedded systems. We present the current status of a telepresence robot created with second-generation Atomi-objects, which is the name for our implementation of the embedded objects. The telepresence robot is a relatively complex test case for the EOC. The robot has been constructed using incremental device development, which is made possible by the architecture of the EOC. The robot contains video and audio exchange capability and a controlling system for driving with two wheels. The robot is built in two versions, the first consisting of a PC device and Atomi-objects, and the second consisting of only Atomi-objects. The robot is currently incomplete, but most of it has been successfully tested.

  19. System and method for seamless task-directed autonomy for robots

    DOEpatents

    Nielsen, Curtis; Bruemmer, David; Few, Douglas; Walton, Miles

    2012-09-18

    Systems, methods, and user interfaces are used for controlling a robot. An environment map and a robot designator are presented to a user. The user may place, move, and modify task designators on the environment map. The task designators indicate a position in the environment map and indicate a task for the robot to achieve. A control intermediary links task designators with robot instructions issued to the robot. The control intermediary analyzes a relative position between the task designators and the robot. The control intermediary uses the analysis to determine a task-oriented autonomy level for the robot and communicates target achievement information to the robot. The target achievement information may include instructions for directly guiding the robot if the task-oriented autonomy level indicates low robot initiative and may include instructions for directing the robot to determine a robot plan for achieving the task if the task-oriented autonomy level indicates high robot initiative.

  20. Visual perception system and method for a humanoid robot

    NASA Technical Reports Server (NTRS)

    Wells, James W. (Inventor); Mc Kay, Neil David (Inventor); Chelian, Suhas E. (Inventor); Linn, Douglas Martin (Inventor); Wampler, II, Charles W. (Inventor); Bridgwater, Lyndon (Inventor)

    2012-01-01

    A robotic system includes a humanoid robot with robotic joints each moveable using an actuator(s), and a distributed controller for controlling the movement of each of the robotic joints. The controller includes a visual perception module (VPM) for visually identifying and tracking an object in the field of view of the robot under threshold lighting conditions. The VPM includes optical devices for collecting an image of the object, a positional extraction device, and a host machine having an algorithm for processing the image and positional information. The algorithm visually identifies and tracks the object, and automatically adapts an exposure time of the optical devices to prevent feature data loss of the image under the threshold lighting conditions. A method of identifying and tracking the object includes collecting the image, extracting positional information of the object, and automatically adapting the exposure time to thereby prevent feature data loss of the image.

  1. Interactive robot control system and method of use

    NASA Technical Reports Server (NTRS)

    Sanders, Adam M. (Inventor); Reiland, Matthew J. (Inventor); Abdallah, Muhammad E. (Inventor); Linn, Douglas Martin (Inventor); Platt, Robert (Inventor)

    2012-01-01

    A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.

  2. System Design and Locomotion of Superball, an Untethered Tensegrity Robot

    NASA Technical Reports Server (NTRS)

    Sabelhaus, Andrew P.; Bruce, Jonathan; Caluwaerts, Ken; Manovi, Pavlo; Firoozi, Roya Fallah; Dobi, Sarah; Agogino, Alice M.; Sunspiral, Vytas

    2015-01-01

    The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

  3. Distributed Self-Organizing Intelligent Control For Dendritic Robotic Systems

    NASA Astrophysics Data System (ADS)

    Chen, Alexander Y. K.

    1990-02-01

    A new control methodology is presented to effectively operate a robotic system with redundant degrees of freedom. The utilized Decomposed Optimization Technique (DOT) is part of the AISP (An Intelligent Spatial Planner) development. DOT considers the robotic system as several connected subsystems with locally distributed intelligence. Each subsystem has certain degrees of freedom to pursue local optimum state. The resulting parallel distributed processing architecture presents a flexible structure to accommodate sophisticated manipulators with higher level of difficulty. The employed robot dynamics model for each subsystem is generically simple such that the corresponded read-time control scheme can incorporate self-correction mechanism in parameter identification.

  4. A unified teleoperated-autonomous dual-arm robotic system

    NASA Technical Reports Server (NTRS)

    Hayati, Samad; Lee, Thomas S.; Tso, Kam Sing; Backes, Paul G.; Lloyd, John

    1991-01-01

    A description is given of complete robot control facility built as part of a NASA telerobotics program to develop a state-of-the-art robot control environment for performing experiments in the repair and assembly of spacelike hardware to gain practical knowledge of such work and to improve the associated technology. The basic architecture of the manipulator control subsystem is presented. The multiarm Robot Control C Library (RCCL), a key software component of the system, is described, along with its implementation on a Sun-4 computer. The system's simulation capability is also described, and the teleoperation and shared control features are explained.

  5. Intelligent Robotic Systems Study (IRSS), phase 3

    NASA Technical Reports Server (NTRS)

    1991-01-01

    This phase of the Intelligent Robotic Systems Study (IRSS) examines some basic dynamics and control issues for a space manipulator attached to its worksite through a compliant base. One example of this scenario is depicted, which is a simplified, planar representation of the Flight Telerobotic Servicer (FTS) Development Test Flight 2 (DTF-2) experiment. The system consists of 4 major components: (1) dual FTS arms to perform dextrous tasks; (2) the main body to house power and electronics; (3) an Attachment Stabilization and Positioning Subsystem (ASPS) to provide coarse positioning and stabilization of the arms, and (4) the Worksite Attachment Mechanism (WAM) which anchors the system to its worksite, such as a Space Station truss node or Shuttle bay platform. The analysis is limited to the DTF-2 scenario. The goal is to understand the basic interaction dynamics between the arm, the positioner and/or stabilizer, and the worksite. The dynamics and controls simulation model are described. Analysis and simulation results are presented.

  6. An interactive Virtual Reality simulation system for robot control and operator training

    SciTech Connect

    Miner, N.E.; Stansfield, S.A.

    1993-11-01

    Robotic systems are often very complex and difficult to operate, especially as multiple robots are integrated to accomplish difficult tasks. In addition, training the operators of these complex robotic systems is time-consuming and costly. In this paper, a virtual reality based robotic control system is presented. The virtual reality system provides a means by which operators can operate, and be trained to operate, complex robotic systems in an intuitive, cost-effective way. Operator interaction with the robotic system is at a high, task-oriented, level. Continuous state monitoring prevents illegal robot actions and provides interactive feedback to the operator and real-time training for novice users.

  7. Systems and Algorithms for Automated Collaborative Observation Using Networked Robotic Cameras

    ERIC Educational Resources Information Center

    Xu, Yiliang

    2011-01-01

    The development of telerobotic systems has evolved from Single Operator Single Robot (SOSR) systems to Multiple Operator Multiple Robot (MOMR) systems. The relationship between human operators and robots follows the master-slave control architecture and the requests for controlling robot actuation are completely generated by human operators. …

  8. Automated sirulated distillation using an articulated laboratory robot system.

    PubMed

    Berry, W F; Giarrocco, V

    1994-01-01

    An automated method, based on the Hewlett-Packard ORCA (Optimized Robot for Chemical Analysis) system, for sample preparation and analysis of petroleum samples by simulated distillation (SIMDIS) is described. Results obtained for the robotically prepared samples show excellent agreement with those obtained from the same samples prepared manually. The application, based on ASTM method D 2887, is the foundation for a more fully automated system that can perform a variety of SIMDIS samples and methods. PMID:18924992

  9. Lessons from risk assessment of countermine robotic systems

    NASA Astrophysics Data System (ADS)

    Chappell, Isaac; Moses, Franklin L.; Aeillo, Matthew P.

    2011-05-01

    The U.S. Army's desire for increased standoff distances between Soldiers and disguised explosive threats has yielded a complex new technical challenge: augment existing small military robots with state-of-the-art detection and neutralization technology. The magnitude of the challenge is increased by the need for reliable autonomy that allows the robot to operate in different environments (e.g., complex and urban terrains, confined areas, and underground locations). This paper describes lessons learned during efforts in 2008-09 to identify and remediate risks of developing a countermine robot system. It also addresses issues that need attention to achieve total mission success. The work studied three phases of a robotic countermine system: move to a threat area, investigate that area with sensor(s), and neutralize detected threats. Each of these phases is essential, yet attention tends to focus on the third one. The focus of this paper is on risks and lessons pertaining to the first two. What was learned about moving a countermine robot to the area of expected threats? What is necessary for a robot to maneuver sensors and have the maximum probability of detection (Pd) of hazards while minimizing the false alarm rate (FAR)? This paper presents observations during demonstration and test events over the past 2 years. From those observations, lessons learned are summarized as a foundation for realizing a countermine robot and a path forward.

  10. Dynamic electronic institutions in agent oriented cloud robotic systems.

    PubMed

    Nagrath, Vineet; Morel, Olivier; Malik, Aamir; Saad, Naufal; Meriaudeau, Fabrice

    2015-01-01

    The dot-com bubble bursted in the year 2000 followed by a swift movement towards resource virtualization and cloud computing business model. Cloud computing emerged not as new form of computing or network technology but a mere remoulding of existing technologies to suit a new business model. Cloud robotics is understood as adaptation of cloud computing ideas for robotic applications. Current efforts in cloud robotics stress upon developing robots that utilize computing and service infrastructure of the cloud, without debating on the underlying business model. HTM5 is an OMG's MDA based Meta-model for agent oriented development of cloud robotic systems. The trade-view of HTM5 promotes peer-to-peer trade amongst software agents. HTM5 agents represent various cloud entities and implement their business logic on cloud interactions. Trade in a peer-to-peer cloud robotic system is based on relationships and contracts amongst several agent subsets. Electronic Institutions are associations of heterogeneous intelligent agents which interact with each other following predefined norms. In Dynamic Electronic Institutions, the process of formation, reformation and dissolution of institutions is automated leading to run time adaptations in groups of agents. DEIs in agent oriented cloud robotic ecosystems bring order and group intellect. This article presents DEI implementations through HTM5 methodology. PMID:25763310

  11. A fault-tolerant intelligent robotic control system

    NASA Technical Reports Server (NTRS)

    Marzwell, Neville I.; Tso, Kam Sing

    1993-01-01

    This paper describes the concept, design, and features of a fault-tolerant intelligent robotic control system being developed for space and commercial applications that require high dependability. The comprehensive strategy integrates system level hardware/software fault tolerance with task level handling of uncertainties and unexpected events for robotic control. The underlying architecture for system level fault tolerance is the distributed recovery block which protects against application software, system software, hardware, and network failures. Task level fault tolerance provisions are implemented in a knowledge-based system which utilizes advanced automation techniques such as rule-based and model-based reasoning to monitor, diagnose, and recover from unexpected events. The two level design provides tolerance of two or more faults occurring serially at any level of command, control, sensing, or actuation. The potential benefits of such a fault tolerant robotic control system include: (1) a minimized potential for damage to humans, the work site, and the robot itself; (2) continuous operation with a minimum of uncommanded motion in the presence of failures; and (3) more reliable autonomous operation providing increased efficiency in the execution of robotic tasks and decreased demand on human operators for controlling and monitoring the robotic servicing routines.

  12. Total Laparoscopic Hysterectomy Utilizing a Robotic Surgical System

    PubMed Central

    Nelson, Keith H.; Daucher, James A.

    2005-01-01

    Objectives: To describe the use of a robotic surgical system for total laparoscopic hysterectomy. Methods: We report a series of laparoscopic hysterectomies performed using the da Vinci Robotic Surgical System. Participants were women eligible for hysterectomy by standard laparoscopy. Operative times and complications are reported. Results: We completed 10 total laparoscopic hysterectomies between November 2001 and December 2002 with the use of the da Vinci Robotic Surgical System. Operative results were similar to those of standard laparoscopic hysterectomy. Operative time varied from 2 hours 28 minutes to 4 hours 37 minutes. Blood loss varied from 25 mL to 350 mL. Uterine weights varied from 49 g to 227 g. A cystotomy occurred in a patient with a history of a prior cystotomy unrelated to the robotic system. Conclusion: Total laparoscopic hysterectomy is a complex surgical procedure requiring advanced laparoscopic skills. Tasks like lysis of adhesions, suturing, and knot tying were enhanced with the robotic surgical system, thus providing unique advantages over existing standard laparoscopy. Total laparoscopic hysterectomy can be performed using robotic surgical systems. PMID:15791963

  13. Material handling robot system for flow-through storage applications

    NASA Astrophysics Data System (ADS)

    Dill, James F.; Candiloro, Brian; Downer, James; Wiesman, Richard; Fallin, Larry; Smith, Ron

    1999-01-01

    This paper describes the design, development and planned implementation of a system of mobile robots for use in flow through storage applications. The robots are being designed with on-board embedded controls so that they can perform their tasks as semi-autonomous workers distributed within a centrally controlled network. On the storage input side, boxes will be identified by bar-codes and placed into preassigned flow through bins. On the shipping side, orders will be forwarded to the robots from a central order processing station and boxes will be picked from designated storage bins following proper sequencing to permit direct loading into trucks for shipping. Because of the need to maintain high system availability, a distributed control strategy has been selected. When completed, the system will permit robots to be dynamically reassigned responsibilities if an individual unit fails. On-board health diagnostics and condition monitoring will be used to maintain high reliability of the units.

  14. Microfluidic-Based Robotic Sampling System for Radioactive Solutions

    SciTech Connect

    Jack D. Law; Julia L. Tripp; Tara E. Smith; Veronica J. Rutledge; Troy G. Garn; John Svoboda; Larry Macaluso

    2014-02-01

    A novel microfluidic based robotic sampling system has been developed for sampling and analysis of liquid solutions in nuclear processes. This system couples the use of a microfluidic sample chip with a robotic system designed to allow remote, automated sampling of process solutions in-cell and facilitates direct coupling of the microfluidic sample chip with analytical instrumentation. This system provides the capability for near real time analysis, reduces analytical waste, and minimizes the potential for personnel exposure associated with traditional sampling methods. A prototype sampling system was designed, built and tested. System testing demonstrated operability of the microfluidic based sample system and identified system modifications to optimize performance.

  15. A teleoperation system to control the humanoid robot using an RGB-D sensor

    NASA Astrophysics Data System (ADS)

    Shelomentcev, E. E.; Aleksandrova, T. V.

    2016-04-01

    This paper presents a concept design of the work algorithm for a teleoperation control system of a humanoid robot. The humanoid robot control system needs to stabilize the robot in a vertical position in order to prevent the robot from falling. The process of design of the control system includes the design of position filter to detect the unstable positions. The application of such a control system enables to control the humanoid robot using motion capture technology.

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

    NASA Technical Reports Server (NTRS)

    Williams, Robert L., II (Editor)

    1992-01-01

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

  17. Robot and Human Surface Operations on Solar System Bodies

    NASA Technical Reports Server (NTRS)

    Weisbin, C. R.; Easter, R.; Rodriguez, G.

    2001-01-01

    This paper presents a comparison of robot and human surface operations on solar system bodies. The topics include: 1) Long Range Vision of Surface Scenarios; 2) Human and Robots Complement Each Other; 3) Respective Human and Robot Strengths; 4) Need More In-Depth Quantitative Analysis; 5) Projected Study Objectives; 6) Analysis Process Summary; 7) Mission Scenarios Decompose into Primitive Tasks; 7) Features of the Projected Analysis Approach; and 8) The "Getting There Effect" is a Major Consideration. This paper is in viewgraph form.

  18. Mamdani Fuzzy System for Indoor Autonomous Mobile Robot

    NASA Astrophysics Data System (ADS)

    Khan, M. K. A. Ahamed; Rashid, Razif; Elamvazuthi, I.

    2011-06-01

    Several control algorithms for autonomous mobile robot navigation have been proposed in the literature. Recently, the employment of non-analytical methods of computing such as fuzzy logic, evolutionary computation, and neural networks has demonstrated the utility and potential of these paradigms for intelligent control of mobile robot navigation. In this paper, Mamdani fuzzy system for an autonomous mobile robot is developed. The paper begins with the discussion on the conventional controller and then followed by the description of fuzzy logic controller in detail.

  19. Portable and attachable tele-echography robot system: FASTele.

    PubMed

    Ito, Keiichiro; Sugano, Shigeki; Iwata, Hiroyasu

    2010-01-01

    The purpose of this report is to propose portable and attachable tele-echography robot system: FASTele. Focused assessment with sonography for trauma (FAST) is important for patients who have shock by internal bleeding. However, the patient has little time, and transportation to a hospital may take too long. A system which enables FAST more quickly is required. Therefore, we aim to develop a tele-echography (FAST) robot system that can be used by a paramedic easily for shock patient in ambulance or at injury scene. To develop the system, portability and usability (for paramedic) are significant issues. We developed a tele-echography robot system which has 4-DOF. The robot is attached to each roughly FAST areas of patient body (body-based set up) and remotely fine-tuned position by a specialist in a hospital. The robot can control the posture of probe by curvature rails. The mechanism that maintains passively the contact force between the probe and patient's body surface by using springs enables the robot small and lightweight. Feasibility experiments of FAST are reported. PMID:21096306

  20. Acoustic imaging systems (for robotic object acquisition)

    NASA Astrophysics Data System (ADS)

    Richardson, J. M.; Martin, J. F.; Marsh, K. A.; Schoenwald, J. S.

    1985-03-01

    The long-term objective of the effort is to establish successful approaches for 3D acoustic imaging of dense solid objects in air to provide the information required for acquisition and manipulation of these objects by a robotic system. The objective of this first year's work was to achieve and demonstrate the determination of the external geometry (shape) of such objects with a fixed sparse array of sensors, without the aid of geometrical models or extensive training procedures. Conventional approaches for acoustic imaging fall into two basic categories. The first category is used exclusively for dense solid objects. It involves echo-ranging from a large number of sensor positions, achieved either through the use of a larger array of transducers or through extensive physical scanning of a small array. This approach determines the distance to specular reflection points from each sensor position; with suitable processing an image can be inferred. The second category uses the full acoustic waveforms to provide an image, but is strictly applicable only to weak inhomogeneities. The most familiar example is medical imaging of the soft tissue portions of the body where the range of acoustic impedance is relatively small.

  1. Cooperative crossing of traffic intersections in a distributed robot system

    NASA Astrophysics Data System (ADS)

    Rausch, Alexander; Oswald, Norbert; Levi, Paul

    1995-09-01

    In traffic scenarios a distributed robot system has to cope with problems like resource sharing, distributed planning, distributed job scheduling, etc. While travelling along a street segment can be done autonomously by each robot, crossing of an intersection as a shared resource forces the robot to coordinate its actions with those of other robots e.g. by means of negotiations. We discuss the issue of cooperation on the design of a robot control architecture. Task and sensor specific cooperation between robots requires the robots' architectures to be interlinked at different hierarchical levels. Inside each level control cycles are running in parallel and provide fast reaction on events. Internal cooperation may occur between cycles of the same level. Altogether the architecture is matrix-shaped and contains abstract control cycles with a certain degree of autonomy. Based upon the internal structure of a cycle we consider the horizontal and vertical interconnection of cycles to form an individual architecture. Thereafter we examine the linkage of several agents and its influence on an interacting architecture. A prototypical implementation of a scenario, which combines aspects of active vision and cooperation, illustrates our approach. Two vision-guided vehicles are faced with line following, intersection recognition and negotiation.

  2. UXO detection, characterization, and remediation using intelligent robotic systems

    NASA Astrophysics Data System (ADS)

    Amer, Saed; Shirkhodaie, Amir; Rababaah, Haroun

    2008-04-01

    An intelligent robotic system can be distinguished from other machines by its ability to sense, learn, and react to its environment despite various task uncertainties. One of the most powerful sensing modality for robotic system is vision as it enables the robot to see its environment, recognize objects around it and interact with objects to accomplish its task. This paper discusses vision enabling techniques that allows a robot to detect, characterize, classify, and discriminate UneXploded Ordnance (UXO) from clutters in unstructured environments. A soft-computing approach is proposed and validated via indoor and outdoor experiments to measure its performance efficiency and effectiveness in correctly detection and classifying UXO vs. XO and other clutter. The proposed technique has many potential applications for military, homeland security, law enforcement, and in particular, environment UXO remediation and clean-up operations.

  3. An Interactive Astronaut-Robot System with Gesture Control.

    PubMed

    Liu, Jinguo; Luo, Yifan; Ju, Zhaojie

    2016-01-01

    Human-robot interaction (HRI) plays an important role in future planetary exploration mission, where astronauts with extravehicular activities (EVA) have to communicate with robot assistants by speech-type or gesture-type user interfaces embedded in their space suits. This paper presents an interactive astronaut-robot system integrating a data-glove with a space suit for the astronaut to use hand gestures to control a snake-like robot. Support vector machine (SVM) is employed to recognize hand gestures and particle swarm optimization (PSO) algorithm is used to optimize the parameters of SVM to further improve its recognition accuracy. Various hand gestures from American Sign Language (ASL) have been selected and used to test and validate the performance of the proposed system. PMID:27190503

  4. An Interactive Astronaut-Robot System with Gesture Control

    PubMed Central

    Liu, Jinguo; Luo, Yifan; Ju, Zhaojie

    2016-01-01

    Human-robot interaction (HRI) plays an important role in future planetary exploration mission, where astronauts with extravehicular activities (EVA) have to communicate with robot assistants by speech-type or gesture-type user interfaces embedded in their space suits. This paper presents an interactive astronaut-robot system integrating a data-glove with a space suit for the astronaut to use hand gestures to control a snake-like robot. Support vector machine (SVM) is employed to recognize hand gestures and particle swarm optimization (PSO) algorithm is used to optimize the parameters of SVM to further improve its recognition accuracy. Various hand gestures from American Sign Language (ASL) have been selected and used to test and validate the performance of the proposed system. PMID:27190503

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

    PubMed Central

    Viciana-Abad, Raquel; Marfil, Rebeca; Perez-Lorenzo, Jose M.; Bandera, Juan P.; Romero-Garces, Adrian; Reche-Lopez, Pedro

    2014-01-01

    One of the main issues within the field of social robotics is to endow robots with the ability to direct attention to people with whom they are interacting. Different approaches follow bio-inspired mechanisms, merging audio and visual cues to localize a person using multiple sensors. However, most of these fusion mechanisms have been used in fixed systems, such as those used in video-conference rooms, and thus, they may incur difficulties when constrained to the sensors with which a robot can be equipped. Besides, within the scope of interactive autonomous robots, there is a lack in terms of evaluating the benefits of audio-visual attention mechanisms, compared to only audio or visual approaches, in real scenarios. Most of the tests conducted have been within controlled environments, at short distances and/or with off-line performance measurements. With the goal of demonstrating the benefit of fusing sensory information with a Bayes inference for interactive robotics, this paper presents a system for localizing a person by processing visual and audio data. Moreover, the performance of this system is evaluated and compared via considering the technical limitations of unimodal systems. The experiments show the promise of the proposed approach for the proactive detection and tracking of speakers in a human-robot interactive framework. PMID:24878593

  6. Upgrade of a GEP50 robot control system

    NASA Astrophysics Data System (ADS)

    Alounai, Ali T.; Gharsalli, Imed

    2000-03-01

    Recently the ASL at Tennessee Technological University was donated a GEP50 welder. The welding is done via off line point-to-point teaching. A state of the art robot was needed for research but because money was not available to purchase such an expensive item. It was therefore decided to upgrade the GEP50 control system to make the welder a multitasking robot. The robot has five degrees of freedom can be sufficient to pursue some research in robotics control. The problem was that the control system of the welder is limited to point-to-point control, using off-line teaching. To make the GEP50 a multitasking robot that can be controlled using different control strategies, the existing control system of the welder had to be replaced. The upgrade turned to be a low cost operation. This robot is currently in sue to test different advanced control strategies in the ASL. This work discusses all the steps and tasks undertaken during the upgrade operation. The hardware and software required or the upgrade are provided in this paper. The newly developed control system has been implemented and tested successfully.

  7. Audio-visual perception system for a humanoid robotic head.

    PubMed

    Viciana-Abad, Raquel; Marfil, Rebeca; Perez-Lorenzo, Jose M; Bandera, Juan P; Romero-Garces, Adrian; Reche-Lopez, Pedro

    2014-01-01

    One of the main issues within the field of social robotics is to endow robots with the ability to direct attention to people with whom they are interacting. Different approaches follow bio-inspired mechanisms, merging audio and visual cues to localize a person using multiple sensors. However, most of these fusion mechanisms have been used in fixed systems, such as those used in video-conference rooms, and thus, they may incur difficulties when constrained to the sensors with which a robot can be equipped. Besides, within the scope of interactive autonomous robots, there is a lack in terms of evaluating the benefits of audio-visual attention mechanisms, compared to only audio or visual approaches, in real scenarios. Most of the tests conducted have been within controlled environments, at short distances and/or with off-line performance measurements. With the goal of demonstrating the benefit of fusing sensory information with a Bayes inference for interactive robotics, this paper presents a system for localizing a person by processing visual and audio data. Moreover, the performance of this system is evaluated and compared via considering the technical limitations of unimodal systems. The experiments show the promise of the proposed approach for the proactive detection and tracking of speakers in a human-robot interactive framework. PMID:24878593

  8. NASA Center for Intelligent Robotic Systems for Space Exploration

    NASA Technical Reports Server (NTRS)

    1990-01-01

    NASA's program for the civilian exploration of space is a challenge to scientists and engineers to help maintain and further develop the United States' position of leadership in a focused sphere of space activity. Such an ambitious plan requires the contribution and further development of many scientific and technological fields. One research area essential for the success of these space exploration programs is Intelligent Robotic Systems. These systems represent a class of autonomous and semi-autonomous machines that can perform human-like functions with or without human interaction. They are fundamental for activities too hazardous for humans or too distant or complex for remote telemanipulation. To meet this challenge, Rensselaer Polytechnic Institute (RPI) has established an Engineering Research Center for Intelligent Robotic Systems for Space Exploration (CIRSSE). The Center was created with a five year $5.5 million grant from NASA submitted by a team of the Robotics and Automation Laboratories. The Robotics and Automation Laboratories of RPI are the result of the merger of the Robotics and Automation Laboratory of the Department of Electrical, Computer, and Systems Engineering (ECSE) and the Research Laboratory for Kinematics and Robotic Mechanisms of the Department of Mechanical Engineering, Aeronautical Engineering, and Mechanics (ME,AE,&M), in 1987. This report is an examination of the activities that are centered at CIRSSE.

  9. System design for safe robotic handling of nuclear materials

    SciTech Connect

    Drotning, W.; Wapman, W.; Fahrenholtz, J.; Kimberly, H.; Kuhlmann, J.

    1996-03-01

    Robotic systems are being developed by the Intelligent Systems and Robotics Center at Sandia National Laboratories to perform automated handling tasks with radioactive nuclear materials. These systems will reduce the occupational radiation exposure to workers by automating operations which are currently performed manually. Because the robotic systems will handle material that is both hazardous and valuable, the safety of the operations is of utmost importance; assurance must be given that personnel will not be harmed and that the materials and environment will be protected. These safety requirements are met by designing safety features into the system using a layered approach. Several levels of mechanical, electrical and software safety prevent unsafe conditions from generating a hazard, and bring the system to a safe state should an unexpected situation arise. The system safety features include the use of industrial robot standards, commercial robot systems, commercial and custom tooling, mechanical safety interlocks, advanced sensor systems, control and configuration checks, and redundant control schemes. The effectiveness of the safety features in satisfying the safety requirements is verified using a Failure Modes and Effects Analysis. This technique can point out areas of weakness in the safety design as well as areas where unnecessary redundancy may reduce the system reliability.

  10. Task Analysis and Descriptions of Required Job Competencies of Robotics/Automated Systems Technicians. Outlines for New Courses and Modules.

    ERIC Educational Resources Information Center

    Hull, Daniel M.; Lovett, James E.

    The six new robotics and automated systems specialty courses developed by the Robotics/Automated Systems Technician (RAST) project are described in this publication. Course titles are Fundamentals of Robotics and Automated Systems, Automated Systems and Support Components, Controllers for Robots and Automated Systems, Robotics and Automated…

  11. ROBODEXS: multi-robot deployment and extraction system

    NASA Astrophysics Data System (ADS)

    Gray, Jeremy P.; Mason, James R.; Patterson, Michael S.; Skalny, Matthew W.

    2012-06-01

    The importance of Unmanned Ground Vehicles (UGV's) in the Military's operations is continually increasing. All Military branches now rely on advanced robotic technologies to aid in their missions' operations. The integration of these technologies has not only enhanced capabilities, but has increased personnel safety by generating larger standoff distances. Currently most UGV's are deployed by an exposed dismounted Warfighter because the Military possess a limited capability to do so remotely and can only deploy a single UGV. This paper explains the conceptual development of a novel approach to remotely deploy and extract multiple robots from a single host platform. The Robotic Deployment & Extraction System (ROBODEXS) is a result of our development research to improve marsupial robotic deployment at safe standoff distances. The presented solution is modular and scalable, having the ability to deploy anywhere from two to twenty robots from a single deployment mechanism. For larger carrier platforms, multiple sets of ROBODEXS modules may be integrated for deployment and extraction of even greater numbers of robots. Such a system allows mass deployment and extraction from a single manned/unmanned vehicle, which is not currently possible with other deployment systems.

  12. A new method to evaluate human-robot system performance

    NASA Technical Reports Server (NTRS)

    Rodriguez, G.; Weisbin, C. R.

    2003-01-01

    One of the key issues in space exploration is that of deciding what space tasks are best done with humans, with robots, or a suitable combination of each. In general, human and robot skills are complementary. Humans provide as yet unmatched capabilities to perceive, think, and act when faced with anomalies and unforeseen events, but there can be huge potential risks to human safety in getting these benefits. Robots provide complementary skills in being able to work in extremely risky environments, but their ability to perceive, think, and act by themselves is currently not error-free, although these capabilities are continually improving with the emergence of new technologies. Substantial past experience validates these generally qualitative notions. However, there is a need for more rigorously systematic evaluation of human and robot roles, in order to optimize the design and performance of human-robot system architectures using well-defined performance evaluation metrics. This article summarizes a new analytical method to conduct such quantitative evaluations. While the article focuses on evaluating human-robot systems, the method is generally applicable to a much broader class of systems whose performance needs to be evaluated.

  13. A new method to evaluate human-robot system performance.

    PubMed

    Rodriguez, G; Weisbin, C R

    2003-01-01

    One of the key issues in space exploration is that of deciding what space tasks are best done with humans, with robots, or a suitable combination of each. In general, human and robot skills are complementary. Humans provide as yet unmatched capabilities to perceive, think, and act when faced with anomalies and unforeseen events, but there can be huge potential risks to human safety in getting these benefits. Robots provide complementary skills in being able to work in extremely risky environments, but their ability to perceive, think, and act by themselves is currently not error-free, although these capabilities are continually improving with the emergence of new technologies. Substantial past experience validates these generally qualitative notions. However, there is a need for more rigorously systematic evaluation of human and robot roles, in order to optimize the design and performance of human-robot system architectures using well-defined performance evaluation metrics. This article summarizes a new analytical method to conduct such quantitative evaluations. While the article focuses on evaluating human-robot systems, the method is generally applicable to a much broader class of systems whose performance needs to be evaluated. PMID:12703512

  14. A Multimodal Emotion Detection System during Human-Robot Interaction

    PubMed Central

    Alonso-Martín, Fernando; Malfaz, María; Sequeira, João; Gorostiza, Javier F.; Salichs, Miguel A.

    2013-01-01

    In this paper, a multimodal user-emotion detection system for social robots is presented. This system is intended to be used during human–robot interaction, and it is integrated as part of the overall interaction system of the robot: the Robotics Dialog System (RDS). Two modes are used to detect emotions: the voice and face expression analysis. In order to analyze the voice of the user, a new component has been developed: Gender and Emotion Voice Analysis (GEVA), which is written using the Chuck language. For emotion detection in facial expressions, the system, Gender and Emotion Facial Analysis (GEFA), has been also developed. This last system integrates two third-party solutions: Sophisticated High-speed Object Recognition Engine (SHORE) and Computer Expression Recognition Toolbox (CERT). Once these new components (GEVA and GEFA) give their results, a decision rule is applied in order to combine the information given by both of them. The result of this rule, the detected emotion, is integrated into the dialog system through communicative acts. Hence, each communicative act gives, among other things, the detected emotion of the user to the RDS so it can adapt its strategy in order to get a greater satisfaction degree during the human–robot dialog. Each of the new components, GEVA and GEFA, can also be used individually. Moreover, they are integrated with the robotic control platform ROS (Robot Operating System). Several experiments with real users were performed to determine the accuracy of each component and to set the final decision rule. The results obtained from applying this decision rule in these experiments show a high success rate in automatic user emotion recognition, improving the results given by the two information channels (audio and visual) separately. PMID:24240598

  15. Research of smart real-time robot navigation system

    NASA Astrophysics Data System (ADS)

    Rahmani, Budi; Harjoko, A.; Priyambodo, T. K.; Aprilianto, H.

    2016-02-01

    In this paper described how the humanoid robot measures its distance to the orange ball on green floor. We trained the robot camera (CMUcam5) to detect and track the block color of the orange ball. The block color also used to estimate the distance of the camera toward the ball by comparing its block color size when its in the end of field of view and when its near of the camera. Then, using the pythagoras equation we calculate the distance estimation between the whole humanoid robot toward the ball. The distance will be used to estimate how many step the robot must perform to approach the ball and doing another task like kick the ball. The result shows that our method can be used as one of smart navigation system using a camera as the only one sensor to perceive the information of environtment.

  16. Embedded object concept with a telepresence robot system

    NASA Astrophysics Data System (ADS)

    Vallius, Tero; Röning, Juha

    2005-10-01

    This paper presents the Embedded Object Concept (EOC) and a telepresence robot system which is a test case for the EOC. The EOC utilizes common object-oriented methods used in software by applying them to combined Lego-like software-hardware entities. These entities represent objects in object-oriented design methods, and they are the building blocks of embedded systems. The goal of the EOC is to make the designing of embedded systems faster and easier. This concept enables people without comprehensive knowledge in electronics design to create new embedded systems, and for experts it shortens the design time of new embedded systems. We present the current status of the EOC, including two generations of embedded objects named Atomi objects. The first generation of the Atomi objects has been tested with different applications, and found to be functional, but not optimal. The second generation aims to correct the issues found with the first generation, and it is being tested in a relatively complex test case. The test case is a telepresence robot consisting of a two wheeled human height robot and its computer counter part. The robot has been constructed using incremental device development, which is made possible by the architecture of the EOC. The robot contains video and audio exchange capability, and a controlling and balancing system for driving with two wheels. The robot is built in two versions, the first consisting of a PDA device and Atomi objects, and the second consisting of only Atomi objects. The robot is currently incomplete, but for the most part it has been successfully tested.

  17. Virtual Reality Robotic Operation Simulations Using MEMICA Haptic System

    NASA Technical Reports Server (NTRS)

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

    2000-01-01

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

  18. SpRoUTS (Space Robot Universal Truss System): Reversible Robotic Assembly of Deployable Truss Structures of Reconfigurable Length

    NASA Technical Reports Server (NTRS)

    Jenett, Benjamin; Cellucci, Daniel; Cheung, Kenneth

    2015-01-01

    Automatic deployment of structures has been a focus of much academic and industrial work on infrastructure applications and robotics in general. This paper presents a robotic truss assembler designed for space applications - the Space Robot Universal Truss System (SpRoUTS) - that reversibly assembles a truss from a feedstock of hinged andflat-packed components, by folding the sides of each component up and locking onto the assembled structure. We describe the design and implementation of the robot and show that the assembled truss compares favorably with prior truss deployment systems.

  19. System and method for exchanging tools and end effectors on a robot

    SciTech Connect

    Burry, D.B.; Williams, P.M.

    1990-12-31

    This invention is comprised of a system and method for exchanging tools and effectors on a robot permits exchange during a programmed task. The exchange mechanism is located off the robot, thus reducing the mass of the robot arm and permitting smaller robots to perform designated tasks. A simple spring/collet mechanism mounted on the robot is used which permits the engagement and disengagement of the tool or end effector without the need for a rotational orientation of the tool to the end effector/collet interface. As the tool changing system is not located on the robot arm no umbilical cords are located on robot.

  20. System and method for exchanging tools and end effectors on a robot

    SciTech Connect

    Burry, D.B.; Williams, P.M.

    1990-01-01

    This invention is comprised of a system and method for exchanging tools and effectors on a robot permits exchange during a programmed task. The exchange mechanism is located off the robot, thus reducing the mass of the robot arm and permitting smaller robots to perform designated tasks. A simple spring/collet mechanism mounted on the robot is used which permits the engagement and disengagement of the tool or end effector without the need for a rotational orientation of the tool to the end effector/collet interface. As the tool changing system is not located on the robot arm no umbilical cords are located on robot.

  1. Industrial robots and robotics

    SciTech Connect

    Kafrissen, S.; Stephens, M.

    1984-01-01

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

  2. Safeguards and security considerations for automated and robotic systems

    SciTech Connect

    Jordan, S.E.; Jaeger, C.D.

    1994-09-01

    Within the reconfigured Nuclear Weapons Complex there will be a large number of automated and robotic (A&R) systems because of the many benefits derived from their use. To meet the overall security requirements of a facility, consideration must be given to those systems that handle and process nuclear material. Since automation and robotics is a relatively new technology, not widely applied to the Nuclear Weapons Complex, safeguards and security (S&S) issues related to these systems have not been extensively explored, and no guidance presently exists. The goal of this effort is to help integrate S&S into the design of future A&R systems. Towards this, the authors first examined existing A and R systems from a security perspective to identify areas of concern and possible solutions of these problems. They then were able to develop generalized S&S guidance and design considerations for automation and robotics.

  3. Autonomous Robotic Refueling System (ARRS) for rapid aircraft turnaround

    NASA Astrophysics Data System (ADS)

    Williams, O. R.; Jackson, E.; Rueb, K.; Thompson, B.; Powell, K.

    An autonomous robotic refuelling system is being developed to achieve rapid aircraft turnaround, notably during combat operations. The proposed system includes a gantry positioner with sufficient reach to position a robotic arm that performs the refuelling tasks; a six degree of freedom manipulator equipped with a remote center of compliance, torque sensor, and a gripper that can handle standard tools; a computer vision system to locate and guide the refuelling nozzle, inspect the nozzle, and avoid collisions; and an operator interface with video and graphics display. The control system software will include components designed for trajectory planning and generation, collision detection, sensor interfacing, sensory processing, and human interfacing. The robotic system will be designed so that upgrading to perform additional tasks will be relatively straightforward.

  4. Task planning with uncertainty for robotic systems. Thesis

    NASA Technical Reports Server (NTRS)

    Cao, Tiehua

    1993-01-01

    In a practical robotic system, it is important to represent and plan sequences of operations and to be able to choose an efficient sequence from them for a specific task. During the generation and execution of task plans, different kinds of uncertainty may occur and erroneous states need to be handled to ensure the efficiency and reliability of the system. An approach to task representation, planning, and error recovery for robotic systems is demonstrated. Our approach to task planning is based on an AND/OR net representation, which is then mapped to a Petri net representation of all feasible geometric states and associated feasibility criteria for net transitions. Task decomposition of robotic assembly plans based on this representation is performed on the Petri net for robotic assembly tasks, and the inheritance of properties of liveness, safeness, and reversibility at all levels of decomposition are explored. This approach provides a framework for robust execution of tasks through the properties of traceability and viability. Uncertainty in robotic systems are modeled by local fuzzy variables, fuzzy marking variables, and global fuzzy variables which are incorporated in fuzzy Petri nets. Analysis of properties and reasoning about uncertainty are investigated using fuzzy reasoning structures built into the net. Two applications of fuzzy Petri nets, robot task sequence planning and sensor-based error recovery, are explored. In the first application, the search space for feasible and complete task sequences with correct precedence relationships is reduced via the use of global fuzzy variables in reasoning about subgoals. In the second application, sensory verification operations are modeled by mutually exclusive transitions to reason about local and global fuzzy variables on-line and automatically select a retry or an alternative error recovery sequence when errors occur. Task sequencing and task execution with error recovery capability for one and multiple soft

  5. Proceedings of the ROBEXS '86: The second annual workshop on robotics and expert systems

    SciTech Connect

    Not Available

    1986-01-01

    This book presents papers given at a workshop on robots and expert systems. Topics include the following: Natural Language and Artificial Intelligence; Software engineering and expert systems; robots in space; artificial intelligence and the human interface; and Fuzzy Logic Systems.

  6. Automation and robotics technology for intelligent mining systems

    NASA Technical Reports Server (NTRS)

    Welsh, Jeffrey H.

    1989-01-01

    The U.S. Bureau of Mines is approaching the problems of accidents and efficiency in the mining industry through the application of automation and robotics to mining systems. This technology can increase safety by removing workers from hazardous areas of the mines or from performing hazardous tasks. The short-term goal of the Automation and Robotics program is to develop technology that can be implemented in the form of an autonomous mining machine using current continuous mining machine equipment. In the longer term, the goal is to conduct research that will lead to new intelligent mining systems that capitalize on the capabilities of robotics. The Bureau of Mines Automation and Robotics program has been structured to produce the technology required for the short- and long-term goals. The short-term goal of application of automation and robotics to an existing mining machine, resulting in autonomous operation, is expected to be accomplished within five years. Key technology elements required for an autonomous continuous mining machine are well underway and include machine navigation systems, coal-rock interface detectors, machine condition monitoring, and intelligent computer systems. The Bureau of Mines program is described, including status of key technology elements for an autonomous continuous mining machine, the program schedule, and future work. Although the program is directed toward underground mining, much of the technology being developed may have applications for space systems or mining on the Moon or other planets.

  7. The Design, Planning and Control of Robotic Systems in Space

    NASA Technical Reports Server (NTRS)

    Dubowsky, Steven

    1996-01-01

    In the future, robotic systems will be expected to perform important tasks in space, in orbit and in planetary exploration. In orbit, current technology requires that tasks such as the repair, construction and maintenance of space stations and satellites be performed by astronaut Extra Vehicular Activity (EVA). Eliminating the need for astronaut EVA through the use of space manipulators would greatly reduce both mission costs and hazards to astronauts. In planetary exploration, cost and logistical considerations clearly make the use of autonomous and telerobotic systems also very attractive, even in cases where an astronaut explorer might be in the area. However, such applications introduce a number of technical problems not found in conventional earth-bound industrial robots. To design useful and practical systems to meet the needs of future space missions, substantial technical development is required, including in the areas of the design, control and planning. The objectives of this research program were to develop such design paradigms and control and planning algorithms to enable future space robotic systems to meet their proposed mission objectives. The underlying intellectual focus of the program is to construct a set of integrated design, planning and control techniques based on an understanding of the fundamental mechanics of space robotic systems. This work was to build upon the results obtained in our previous research in this area supported by NASA Langley Research Center in which we have made important contributions to the area of space robotics.

  8. Method and System for Controlling a Dexterous Robot Execution Sequence Using State Classification

    NASA Technical Reports Server (NTRS)

    Sanders, Adam M. (Inventor); Platt, Robert J., Jr. (Inventor); Quillin, Nathaniel (Inventor); Permenter, Frank Noble (Inventor); Pfeiffer, Joseph (Inventor)

    2014-01-01

    A robotic system includes a dexterous robot and a controller. The robot includes a plurality of robotic joints, actuators for moving the joints, and sensors for measuring a characteristic of the joints, and for transmitting the characteristics as sensor signals. The controller receives the sensor signals, and is configured for executing instructions from memory, classifying the sensor signals into distinct classes via the state classification module, monitoring a system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the system state. A method for controlling the robot in the above system includes receiving the signals via the controller, classifying the signals using the state classification module, monitoring the present system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the present system state.

  9. 3D vision system for intelligent milking robot automation

    NASA Astrophysics Data System (ADS)

    Akhloufi, M. A.

    2013-12-01

    In a milking robot, the correct localization and positioning of milking teat cups is of very high importance. The milking robots technology has not changed since a decade and is based primarily on laser profiles for teats approximate positions estimation. This technology has reached its limit and does not allow optimal positioning of the milking cups. Also, in the presence of occlusions, the milking robot fails to milk the cow. These problems, have economic consequences for producers and animal health (e.g. development of mastitis). To overcome the limitations of current robots, we have developed a new system based on 3D vision, capable of efficiently positioning the milking cups. A prototype of an intelligent robot system based on 3D vision for real-time positioning of a milking robot has been built and tested under various conditions on a synthetic udder model (in static and moving scenarios). Experimental tests, were performed using 3D Time-Of-Flight (TOF) and RGBD cameras. The proposed algorithms permit the online segmentation of teats by combing 2D and 3D visual information. The obtained results permit the teat 3D position computation. This information is then sent to the milking robot for teat cups positioning. The vision system has a real-time performance and monitors the optimal positioning of the cups even in the presence of motion. The obtained results, with both TOF and RGBD cameras, show the good performance of the proposed system. The best performance was obtained with RGBD cameras. This latter technology will be used in future real life experimental tests.

  10. Sensor-guided parking system for a carlike robot

    NASA Astrophysics Data System (ADS)

    Jiang, Kaichum; Seneviratne, L. D.

    1998-07-01

    This paper presents an automated parking strategy for a car- like mobile robot. The study considers general parking manoeuvre cases for a rectangular robot, including parallel parking. The robot is constructed simulating a conventional car, which is subject to non-holonomic constraints and thus only has two degrees of freedom. The parking space is considered as rectangular, and detected by ultrasonic sensors mounted on the robot. A motion planning algorithm develops a collision-free path for parking, taking into account the non- holonomic constraints acting on the car-like robot. A research into general car maneuvers has been conducted and useful results have been achieved. The motion planning algorithm uses these results, combined with configuration space method, to produce a collision-free path for parallel parking, depending on the parking space detected. A control program in the form of a graphical user interface has been developed for users to operate the system with ease. The strategy is implemented on a modified B12 mobile robot. The strategy presented has the potential for application in automobiles.

  11. Artificial endocrine controller for power management in robotic systems.

    PubMed

    Sauzé, Colin; Neal, Mark

    2013-12-01

    The robots that operate autonomously for extended periods in remote environments are often limited to gather only small amounts of power through photovoltaic solar panels. Such limited power budgets make power management critical to the success of the robot's mission. Artificial endocrine controllers, inspired by the mammalian endocrine system, have shown potential as a method for managing competing demands, gradually switching between behaviors, synchronizing behavior with external events, and maintaining a stable internal state of the robot. This paper reports the results obtained using these methods to manage power in an autonomous sailing robot. Artificial neural networks are used for sail and rudder control, while an artificial endocrine controller modulates the magnitude of actuator movements in response to battery or sunlight levels. Experiments are performed both in simulation and using a real robot. In simulation a 13-fold reduction in median power consumption is achieved; in the robot this is reduced to a twofold reduction because of the limitations of the simulation model. Additional simulations of a long term mission demonstrate the controller's ability to make gradual behavioral transitions and to synchronize behaviors with diurnal and seasonal changes in sunlight levels. PMID:24805216

  12. Brain, mind, body and society: autonomous system in robotics.

    PubMed

    Shimoda, Motomu

    2013-12-01

    In this paper I examine the issues related to the robot with mind. To create a robot with mind aims to recreate neuro function by engineering. The robot with mind is expected not only to process external information by the built-in program and behave accordingly, but also to gain the consciousness activity responding multiple conditions and flexible and interactive communication skills coping with unknown situation. That prospect is based on the development of artificial intelligence in which self-organizing and self-emergent functions have been available in recent years. To date, controllable aspects in robotics have been restricted to data making and programming of cognitive abilities, while consciousness activities and communication skills have been regarded as uncontrollable aspects due to their contingency and uncertainty. However, some researchers of robotics claim that every activity of the mind can be recreated by engineering and is therefore controllable. Based on the development of the cognitive abilities of children and the findings of neuroscience, researchers have attempted to produce the latest artificial intelligence with autonomous learning systems. I conclude that controllability is inconsistent with autonomy in the genuine sense and autonomous robots recreated by engineering cannot be autonomous partners of humans. PMID:24558734

  13. Markerless surgical robotic system for intracerebral hemorrhage surgery.

    PubMed

    Shin, Sangkyun; Cho, Hyunchul; Yoon, Siyeop; Park, Kyusic; Kim, Youngjun; Park, Sehyung; Kim, Laehyun; Lee, Deukhee

    2015-01-01

    Conventional intracerebral hemorrhage (ICH) surgery uses a stereotactic frame to access an intracerebral hematoma. Using a stereotactic frame for ICH surgery requires a long preparation time. In order to resolve this problem, we propose a markerless surgical robotic system. This system uses weighted iterative closest point technology for surface registration, hand-eye calibration for needle insertion, and 3D surface scanning for registration. We need calibration to integrate the technologies: calibration of robot and needle coordinates and calibration of 3D surface scanning and needle coordinates. These calibrations are essential elements of the markerless surgical robotic system. This system has the advantages of being non-invasive, a short total operation time, and low radiation exposure compared to conventional ICH surgery. PMID:26737481

  14. High level language-based robotic control system

    NASA Technical Reports Server (NTRS)

    Rodriguez, Guillermo (Inventor); Kruetz, Kenneth K. (Inventor); Jain, Abhinandan (Inventor)

    1994-01-01

    This invention is a robot control system based on a high level language implementing a spatial operator algebra. There are two high level languages included within the system. At the highest level, applications programs can be written in a robot-oriented applications language including broad operators such as MOVE and GRASP. The robot-oriented applications language statements are translated into statements in the spatial operator algebra language. Programming can also take place using the spatial operator algebra language. The statements in the spatial operator algebra language from either source are then translated into machine language statements for execution by a digital control computer. The system also includes the capability of executing the control code sequences in a simulation mode before actual execution to assure proper action at execution time. The robot's environment is checked as part of the process and dynamic reconfiguration is also possible. The languages and system allow the programming and control of multiple arms and the use of inward/outward spatial recursions in which every computational step can be related to a transformation from one point in the mechanical robot to another point to name two major advantages.

  15. High level language-based robotic control system

    NASA Technical Reports Server (NTRS)

    Rodriguez, Guillermo (Inventor); Kreutz, Kenneth K. (Inventor); Jain, Abhinandan (Inventor)

    1996-01-01

    This invention is a robot control system based on a high level language implementing a spatial operator algebra. There are two high level languages included within the system. At the highest level, applications programs can be written in a robot-oriented applications language including broad operators such as MOVE and GRASP. The robot-oriented applications language statements are translated into statements in the spatial operator algebra language. Programming can also take place using the spatial operator algebra language. The statements in the spatial operator algebra language from either source are then translated into machine language statements for execution by a digital control computer. The system also includes the capability of executing the control code sequences in a simulation mode before actual execution to assure proper action at execution time. The robot's environment is checked as part of the process and dynamic reconfiguration is also possible. The languages and system allow the programming and control of multiple arms and the use of inward/outward spatial recursions in which every computational step can be related to a transformation from one point in the mechanical robot to another point to name two major advantages.

  16. Extracting depth by binocular stereo in a robot vision system

    SciTech Connect

    Marapane, S.B.; Trivedi, M.M.

    1988-01-01

    New generation of robotic systems will operate in complex, unstructured environments utilizing sophisticated sensory mechanisms. Vision and range will be two of the most important sensory modalities such a system will utilize to sense their operating environment. Measurement of depth is critical for the success of many robotic tasks such as: object recognition and location; obstacle avoidance and navigation; and object inspection. In this paper we consider the development of a binocular stereo technique for extracting depth information in a robot vision system for inspection and manipulation tasks. Ability to produce precise depth measurements over a wide range of distances and the passivity of the approach make binocular stereo techniques attractive and appropriate for range finding in a robotic environment. This paper describes work in progress towards the development of a region-based binocular stereo technique for a robot vision system designed for inspection and manipulation and presents preliminary experiments designed to evaluate performance of the approach. Results of these studies show promise for the region-based stereo matching approach. 16 refs., 1 fig.

  17. Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms.

    PubMed

    Beom, Jaewon; Koh, Sukgyu; Nam, Hyung Seok; Kim, Wonshik; Kim, Yoonjae; Seo, Han Gil; Oh, Byung-Mo; Chung, Sun Gun; Kim, Sungwan

    2016-01-01

    Mirror therapy has been performed as effective occupational therapy in a clinical setting for functional recovery of a hemiplegic arm after stroke. It is conducted by eliciting an illusion through use of a mirror as if the hemiplegic arm is moving in real-time while moving the healthy arm. It can facilitate brain neuroplasticity through activation of the sensorimotor cortex. However, conventional mirror therapy has a critical limitation in that the hemiplegic arm is not actually moving. Thus, we developed a real-time 2-axis mirror robot system as a simple add-on module for conventional mirror therapy using a closed feedback mechanism, which enables real-time movement of the hemiplegic arm. We used 3 Attitude and Heading Reference System sensors, 2 brushless DC motors for elbow and wrist joints, and exoskeletal frames. In a feasibility study on 6 healthy subjects, robotic mirror therapy was safe and feasible. We further selected tasks useful for activities of daily living training through feedback from rehabilitation doctors. A chronic stroke patient showed improvement in the Fugl-Meyer assessment scale and elbow flexor spasticity after a 2-week application of the mirror robot system. Robotic mirror therapy may enhance proprioceptive input to the sensory cortex, which is considered to be important in neuroplasticity and functional recovery of hemiplegic arms. The mirror robot system presented herein can be easily developed and utilized effectively to advance occupational therapy. PMID:27583794

  18. Real time AI expert system for robotic applications

    NASA Technical Reports Server (NTRS)

    Follin, John F.

    1987-01-01

    A computer controlled multi-robot process cell to demonstrate advanced technologies for the demilitarization of obsolete chemical munitions was developed. The methods through which the vision system and other sensory inputs were used by the artificial intelligence to provide the information required to direct the robots to complete the desired task are discussed. The mechanisms that the expert system uses to solve problems (goals), the different rule data base, and the methods for adapting this control system to any device that can be controlled or programmed through a high level computer interface are discussed.

  19. Determinants of system transparency and its influence on trust in and reliance on unmanned robotic systems

    NASA Astrophysics Data System (ADS)

    Ososky, Scott; Sanders, Tracy; Jentsch, Florian; Hancock, Peter; Chen, Jessie Y. C.

    2014-06-01

    Increasingly autonomous robotic systems are expected to play a vital role in aiding humans in complex and dangerous environments. It is unlikely, however, that such systems will be able to consistently operate with perfect reliability. Even less than 100% reliable systems can provide a significant benefit to humans, but this benefit will depend on a human operator's ability to understand a robot's behaviors and states. The notion of system transparency is examined as a vital aspect of robotic design, for maintaining humans' trust in and reliance on increasingly automated platforms. System transparency is described as the degree to which a system's action, or the intention of an action, is apparent to human operators and/or observers. While the physical designs of robotic systems have been demonstrated to greatly influence humans' impressions of robots, determinants of transparency between humans and robots are not solely robot-centric. Our approach considers transparency as emergent property of the human-robot system. In this paper, we present insights from our interdisciplinary efforts to improve the transparency of teams made up of humans and unmanned robots. These near-futuristic teams are those in which robot agents will autonomously collaborate with humans to achieve task goals. This paper demonstrates how factors such as human-robot communication and human mental models regarding robots impact a human's ability to recognize the actions or states of an automated system. Furthermore, we will discuss the implications of system transparency on other critical HRI factors such as situation awareness, operator workload, and perceptions of trust.

  20. Automatic Tool Path Generation for Robot Integrated Surface Sculpturing System

    NASA Astrophysics Data System (ADS)

    Zhu, Jiang; Suzuki, Ryo; Tanaka, Tomohisa; Saito, Yoshio

    In this paper, a surface sculpturing system based on 8-axis robot is proposed, the CAD/CAM software and tool path generation algorithm for this sculpturing system are presented. The 8-axis robot is composed of a 6-axis manipulator and a 2-axis worktable, it carves block of polystyrene foams by heated cutting tools. Multi-DOF (Degree of Freedom) robot benefits from the faster fashion than traditional RP (Rapid Prototyping) methods and more flexibility than CNC machining. With its flexibility driven from an 8-axis configuration, as well as efficient custom-developed software for rough cutting and finish cutting, this surface sculpturing system can carve sculptured surface accurately and efficiently.

  1. Implementing real-time robotic systems using CHIMERA II

    NASA Technical Reports Server (NTRS)

    Stewart, David B.; Schmitz, Donald E.; Khosla, Pradeep K.

    1990-01-01

    A description is given of the CHIMERA II programming environment and operating system, which was developed for implementing real-time robotic systems. Sensor-based robotic systems contain both general- and special-purpose hardware, and thus the development of applications tends to be a time-consuming task. The CHIMERA II environment is designed to reduce the development time by providing a convenient software interface between the hardware and the user. CHIMERA II supports flexible hardware configurations which are based on one or more VME-backplanes. All communication across multiple processors is transparent to the user through an extensive set of interprocessor communication primitives. CHIMERA II also provides a high-performance real-time kernel which supports both deadline and highest-priority-first scheduling. The flexibility of CHIMERA II allows hierarchical models for robot control, such as NASREM, to be implemented with minimal programming time and effort.

  2. The navigation system of the JPL robot

    NASA Technical Reports Server (NTRS)

    Thompson, A. M.

    1977-01-01

    The control structure of the JPL research robot and the operations of the navigation subsystem are discussed. The robot functions as a network of interacting concurrent processes distributed among several computers and coordinated by a central executive. The results of scene analysis are used to create a segmented terrain model in which surface regions are classified by traversibility. The model is used by a path planning algorithm, PATH, which uses tree search methods to find the optimal path to a goal. In PATH, the search space is defined dynamically as a consequence of node testing. Maze-solving and the use of an associative data base for context dependent node generation are also discussed. Execution of a planned path is accomplished by a feedback guidance process with automatic error recovery.

  3. Regolith Advanced Surface Systems Operations Robot (RASSOR)

    NASA Technical Reports Server (NTRS)

    Mueller, Robert P.; Smith, Jonathan D.; Cox, Rachel E.; Schuler, Jason M.; Ebert, Tom; Nick, Andrew J.

    2012-01-01

    Regolith is abundant on extra-terrestrial surfaces and is the source of many resources such as oxygen, hydrogen, titanium, aluminum, iron, silica and other valuable materials, which can be used to make rocket propellant, consumables for life support, radiation protection barrier shields, landing pads, blast protection berms, roads, habitats and other structures and devices. Recent data from the Moon also indicates that there are substantial deposits of water ice in permanently shadowed crater regions and possibly under an over burden of regolith. The key to being able to use this regolith and acquire the resources, is being able to manipulate it with robotic excavation and hauling machinery that can survive and operate in these very extreme extra-terrestrial surface environments. In addition, the reduced gravity on the Moon, Mars, comets and asteroids poses a significant challenge in that the necessary reaction force for digging cannot be provided by the robot's weight as is typically done on Earth. Space transportation is expensive and limited in capacity, so small, lightweight payloads are desirable, which means large traditional excavation machines are not a viable option. A novel, compact and lightweight excavation robot prototype for manipulating, excavating, acquiring, hauling and dumping regolith on extra-terrestrial surfaces has been developed and tested. Lessons learned and test results will be presented including digging in a variety of lunar regolith simulant conditions including frozen regolith mixed with water ice.

  4. Cooperative Three-Robot System for Traversing Steep Slopes

    NASA Technical Reports Server (NTRS)

    Stroupe, Ashley; Huntsberger, Terrance; Aghazarian, Hrand; Younse, Paulo; Garrett, Michael

    2009-01-01

    Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data

  5. On discrete control of nonlinear systems with applications to robotics

    NASA Technical Reports Server (NTRS)

    Eslami, Mansour

    1989-01-01

    Much progress has been reported in the areas of modeling and control of nonlinear dynamic systems in a continuous-time framework. From implementation point of view, however, it is essential to study these nonlinear systems directly in a discrete setting that is amenable for interfacing with digital computers. But to develop discrete models and discrete controllers for a nonlinear system such as robot is a nontrivial task. Robot is also inherently a variable-inertia dynamic system involving additional complications. Not only the computer-oriented models of these systems must satisfy the usual requirements for such models, but these must also be compatible with the inherent capabilities of computers and must preserve the fundamental physical characteristics of continuous-time systems such as the conservation of energy and/or momentum. Preliminary issues regarding discrete systems in general and discrete models of a typical industrial robot that is developed with full consideration of the principle of conservation of energy are presented. Some research on the pertinent tactile information processing is reviewed. Finally, system control methods and how to integrate these issues in order to complete the task of discrete control of a robot manipulator are also reviewed.

  6. System For Research On Multiple-Arm Robots

    NASA Technical Reports Server (NTRS)

    Backes, Paul G.; Hayati, Samad; Tso, Kam S.; Hayward, Vincent

    1991-01-01

    Kali system of computer programs and equipment provides environment for research on distributed programming and distributed control of coordinated-multiple-arm robots. Suitable for telerobotics research involving sensing and execution of low level tasks. Software and configuration of hardware designed flexible so system modified easily to test various concepts in control and programming of robots, including multiple-arm control, redundant-arm control, shared control, traded control, force control, force/position hybrid control, design and integration of sensors, teleoperation, task-space description and control, methods of adaptive control, control of flexible arms, and human factors.

  7. An infrared/video fusion system for military robotics

    SciTech Connect

    Davis, A.W.; Roberts, R.S.

    1997-08-05

    Sensory information is critical to the telerobotic operation of mobile robots. In particular, visual sensors are a key component of the sensor package on a robot engaged in urban military operations. Visual sensors provide the robot operator with a wealth of information including robot navigation and threat assessment. However, simple countermeasures such as darkness, smoke, or blinding by a laser, can easily neutralize visual sensors. In order to provide a robust visual sensing system, an infrared sensor is required to augment the primary visual sensor. An infrared sensor can acquire useful imagery in conditions that incapacitate a visual sensor. A simple approach to incorporating an infrared sensor into the visual sensing system is to display two images to the operator: side-by-side visual and infrared images. However, dual images might overwhelm the operator with information, and result in degraded robot performance. A better solution is to combine the visual and infrared images into a single image that maximizes scene information. Fusing visual and infrared images into a single image demands balancing the mixture of visual and infrared information. Humans are accustom to viewing and interpreting visual images. They are not accustom to viewing or interpreting infrared images. Hence, the infrared image must be used to enhance the visual image, not obfuscate it.

  8. A Compact Modular Teleoperated Robotic System for Laparoscopic Surgery

    PubMed Central

    Berkelman, Peter; Ma, Ji

    2011-01-01

    Compared with traditional open surgery, minimally invasive surgical procedures reduce patient trauma and recovery time, but the dexterity of the surgeon in laparoscopic surgery is reduced owing to the small incisions, long instruments and limited indirect visibility of the operative site inside the patient. Robotic surgical systems, teleoperated by surgeons from a master control console with joystick-type manipulation interfaces, have been commercially developed yet their adoption into standard practice may be limited owing to their size, complexity, cost and time-consuming setup, maintenance and sterilization procedures. The goal of our research is to improve the effectiveness of robot-assisted surgery by developing much smaller, simpler, modular, teleoperated robotic manipulator systems for minimally invasive surgery. PMID:21743765

  9. Design of active orthoses for a robotic gait rehabilitation system

    NASA Astrophysics Data System (ADS)

    Villa-Parra, A. C.; Broche, L.; Delisle-Rodríguez, D.; Sagaró, R.; Bastos, T.; Frizera-Neto, A.

    2015-09-01

    An active orthosis (AO) is a robotic device that assists both human gait and rehabilitation therapy. This work proposes portable AOs, one for the knee joint and another for the ankle joint. Both AOs will be used to complete a robotic system that improves gait rehabilitation. The requirements for actuator selection, the biomechanical considerations during the AO design, the finite element method, and a control approach based on electroencephalographic and surface electromyographic signals are reviewed. This work contributes to the design of AOs for users with foot drop and knee flexion impairment. However, the potential of the proposed AOs to be part of a robotic gait rehabilitation system that improves the quality of life of stroke survivors requires further investigation.

  10. Robotic Materials Handling in Space: Mechanical Design of the Robot Operated Materials Processing System HitchHiker Experiment

    NASA Technical Reports Server (NTRS)

    Voellmer, George

    1997-01-01

    The Goddard Space Flight Center has developed the Robot Operated Materials Processing System (ROMPS) that flew aboard STS-64 in September, 1994. The ROMPS robot transported pallets containing wafers of different materials from their storage racks to a furnace for thermal processing. A system of tapered guides and compliant springs was designed to deal with the potential misalignments. The robot and all the sample pallets were locked down for launch and landing. The design of the passive lockdown system, and the interplay between it and the alignment system are presented.

  11. Development of an advanced intelligent robot navigation system

    SciTech Connect

    Hai Quan Dai; Dalton, G.R.; Tulenko, J.; Crane, C.C. III )

    1992-01-01

    As part of the US Department of Energy's Robotics for Advanced Reactors Project, the authors are in the process of assembling an advanced intelligent robotic navigation and control system based on previous work performed on this project in the areas of computer control, database access, graphical interfaces, shared data and computations, computer vision for positions determination, and sonar-based computer navigation systems. The system will feature three levels of goals: (1) high-level system for management of lower level functions to achieve specific functional goals; (2) intermediate level of goals such as position determination, obstacle avoidance, and discovering unexpected objects; and (3) other supplementary low-level functions such as reading and recording sonar or video camera data. In its current phase, the Cybermotion K2A mobile robot is not equipped with an onboard computer system, which will be included in the final phase. By that time, the onboard system will play important roles in vision processing and in robotic control communication.

  12. Integrating sensorimotor systems in a robot model of cricket behavior

    NASA Astrophysics Data System (ADS)

    Webb, Barbara H.; Harrison, Reid R.

    2000-10-01

    The mechanisms by which animals manage sensorimotor integration and coordination of different behaviors can be investigated in robot models. In previous work the first author has build a robot that localizes sound based on close modeling of the auditory and neural system in the cricket. It is known that the cricket combines its response to sound with other sensorimotor activities such as an optomotor reflex and reactions to mechanical stimulation for the antennae and cerci. Behavioral evidence suggests some ways these behaviors may be integrated. We have tested the addition of an optomotor response, using an analog VLSI circuit developed by the second author, to the sound localizing behavior and have shown that it can, as in the cricket, improve the directness of the robot's path to sound. In particular it substantially improves behavior when the robot is subject to a motor disturbance. Our aim is to better understand how the insect brain functions in controlling complex combinations of behavior, with the hope that this will also suggest novel mechanisms for sensory integration on robots.

  13. Modular design of a miniaturized surgical robot system.

    PubMed

    Niggemeyer, Martin; Müller, Meiko; Niesche, Annegret; de la Fuente, Matías; Komadinic, Adrian; Radermacher, Klaus

    2012-08-01

    Currently, there are only a small number of robotic systems used in various surgical fields. As modified industrial robot systems have shown significant limitations in the past, specialized kinematic solutions have been proposed for specific surgical applications. The majority of these systems are designed for specific applications in only a limited number of cases. The acquisition and operating costs are high, hindering the dissemination and broad clinical application of such systems. To address this problem, a modular mini-robot system is proposed, which can be easily adapted to different application-specific requirements. Therefore, the requirements of different applications have been categorized and clustered to a standardized requirement profile. Next, a modular robot based on a hybrid kinematic module structure has been developed. This concept has been implemented and tested in in vitro studies for different applications, such as revision total hip replacement and unicondylar knee arthroplasty. User-orientated tests of the intraoperative handling, as well as accuracy tests, proved the feasibility of the concept. PMID:23104834

  14. Cognitive robotic system for learning of complex visual stimuli

    NASA Astrophysics Data System (ADS)

    Potapov, A. S.; Rozhkov, A. S.

    2013-05-01

    The problem of learning of complex visual stimuli in cognitive robotics is considered. These stimuli should be selected on the base of rules supporting arbitrary comparisons of stimulus features with features of other salient objects (context). New perceptual knowledge representation based on the predicate logic is implemented to express such rules. Computable predicates are provided by low-level vision system. The rules are constructed using genetic algorithms on the base of a set of examples obtained by a robot during consequent trials. Dependence between the number of necessary trials and rule complexity is studied.

  15. Virtual Passive Controller for Robot Systems Using Joint Torque Sensors

    NASA Technical Reports Server (NTRS)

    Aldridge, Hal A.; Juang, Jer-Nan

    1997-01-01

    This paper presents a control method based on virtual passive dynamic control that will stabilize a robot manipulator using joint torque sensors and a simple joint model. The method does not require joint position or velocity feedback for stabilization. The proposed control method is stable in the sense of Lyaponov. The control method was implemented on several joints of a laboratory robot. The controller showed good stability robustness to system parameter error and to the exclusion of nonlinear dynamic effects on the joints. The controller enhanced position tracking performance and, in the absence of position control, dissipated joint energy.

  16. Robotic design for an automated uranium solution enrichment system

    SciTech Connect

    Horley, E.C.; Beugelsdijk, T.; Biddle, R.S.; Bronisz, L.E.; Hansen, W.J.; Li, T.K.; Sampson, T.E.; Walton, G.

    1990-01-01

    A method to automate solution enrichment analysis by gamma-ray spectroscopy is being developed at Los Alamos National Laboratory. Both passive and x-ray fluorescence (XRF) analyses will be remotely performed to determine the amounts of {sup 235}U and total uranium in sample containers. A commercial laboratory robot will be used to process up to 40 batch and 8 priority samples in an unattended mode. Samples will be read by a bar-code reader to determine measurement requirements, then assayed by either or both of the gamma-ray and XRF instruments. The robot will be responsible for moving the sample containers and operating all shield doors and shutters. In addition to reducing hardware complexity, this feature will also allow manual operation of the instruments if the robot fails. This automated system will reduce personnel radiation exposure and increase the reliability and repeatability of the measurements.

  17. Space station automation and robotics study. Operator-systems interface

    NASA Technical Reports Server (NTRS)

    1984-01-01

    This is the final report of a Space Station Automation and Robotics Planning Study, which was a joint project of the Boeing Aerospace Company, Boeing Commercial Airplane Company, and Boeing Computer Services Company. The study is in support of the Advanced Technology Advisory Committee established by NASA in accordance with a mandate by the U.S. Congress. Boeing support complements that provided to the NASA Contractor study team by four aerospace contractors, the Stanford Research Institute (SRI), and the California Space Institute. This study identifies automation and robotics (A&R) technologies that can be advanced by requirements levied by the Space Station Program. The methodology used in the study is to establish functional requirements for the operator system interface (OSI), establish the technologies needed to meet these requirements, and to forecast the availability of these technologies. The OSI would perform path planning, tracking and control, object recognition, fault detection and correction, and plan modifications in connection with extravehicular (EV) robot operations.

  18. Task path planning, scheduling and learning for free-ranging robot systems

    NASA Technical Reports Server (NTRS)

    Wakefield, G. Steve

    1987-01-01

    The development of robotics applications for space operations is often restricted by the limited movement available to guided robots. Free ranging robots can offer greater flexibility than physically guided robots in these applications. Presented here is an object oriented approach to path planning and task scheduling for free-ranging robots that allows the dynamic determination of paths based on the current environment. The system also provides task learning for repetitive jobs. This approach provides a basis for the design of free-ranging robot systems which are adaptable to various environments and tasks.

  19. Smart tissue anastomosis robot (STAR): a vision-guided robotics system for laparoscopic suturing.

    PubMed

    Leonard, Simon; Wu, Kyle L; Kim, Yonjae; Krieger, Axel; Kim, Peter C W

    2014-04-01

    This paper introduces the smart tissue anastomosis robot (STAR). Currently, the STAR is a proof-of-concept for a vision-guided robotic system featuring an actuated laparoscopic suturing tool capable of executing running sutures from image-based commands. The STAR tool is designed around a commercially available laparoscopic suturing tool that is attached to a custom-made motor stage and the STAR supervisory control architecture that enables a surgeon to select and track incisions and the placement of stitches. The STAR supervisory-control interface provides two modes: A manual mode that enables a surgeon to specify the placement of each stitch and an automatic mode that automatically computes equally-spaced stitches based on an incision contour. Our experiments on planar phantoms demonstrate that the STAR in either mode is more accurate, up to four times more consistent and five times faster than surgeons using state-of-the-art robotic surgical system, four times faster than surgeons using manual Endo360(°)®, and nine times faster than surgeons using manual laparoscopic tools. PMID:24658254

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

    NASA Technical Reports Server (NTRS)

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

    1994-01-01

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

  1. System safety analysis of an autonomous mobile robot

    SciTech Connect

    Bartos, R.J.

    1994-08-01

    Analysis of the safety of operating and maintaining the Stored Waste Autonomous Mobile Inspector (SWAMI) II in a hazardous environment at the Fernald Environmental Management Project (FEMP) was completed. The SWAMI II is a version of a commercial robot, the HelpMate{trademark} robot produced by the Transitions Research Corporation, which is being updated to incorporate the systems required for inspecting mixed toxic chemical and radioactive waste drums at the FEMP. It also has modified obstacle detection and collision avoidance subsystems. The robot will autonomously travel down the aisles in storage warehouses to record images of containers and collect other data which are transmitted to an inspector at a remote computer terminal. A previous study showed the SWAMI II has economic feasibility. The SWAMI II will more accurately locate radioactive contamination than human inspectors. This thesis includes a System Safety Hazard Analysis and a quantitative Fault Tree Analysis (FTA). The objectives of the analyses are to prevent potentially serious events and to derive a comprehensive set of safety requirements from which the safety of the SWAMI II and other autonomous mobile robots can be evaluated. The Computer-Aided Fault Tree Analysis (CAFTA{copyright}) software is utilized for the FTA. The FTA shows that more than 99% of the safety risk occurs during maintenance, and that when the derived safety requirements are implemented the rate of serious events is reduced to below one event per million operating hours. Training and procedures in SWAMI II operation and maintenance provide an added safety margin. This study will promote the safe use of the SWAMI II and other autonomous mobile robots in the emerging technology of mobile robotic inspection.

  2. Robotic system for remote maintenance of a pulsed nuclear reactor

    SciTech Connect

    Thunborg, S.

    1986-01-01

    Guidelines recently established for occupational radiation exposure specify that exposure should be as low as reasonably achievable. In conformance with these guidelines, SNL has developed a remote maintenance robot (RMR) system for use in the Sandia Pulse Reactor III (SPR III) facility. The RMR should reduce occupational radiation exposure by a factor of 4 and decrease reactor downtime. Other goals include developing a technology base for a more advanced pulse reactor and for the nuclear fuel cycle programs of the US Department of Energy and US Nuclear Regulatory Commission. The RMR has five major subsystems: (a) a chain-driven cart to bring the system into the reactor room; (b) a Puma 560 robot to perform dextrous operations; (c) a programmable turntable to orient the robot to any of the reactor's four sides; (d) a programmable overhead hoist for lifting components weighing up to 400 lb onto or off of the reactor; and (e) a supervisory control console for the system operator. Figure 1 is a schematic diagram of the turntable, hoist, and robot system in position around the SPR III reactor.

  3. Mars Surveyor '98 MVACS Robotic Arm Control System Design Concepts

    NASA Technical Reports Server (NTRS)

    Bonitz, Robert G.

    1997-01-01

    This paper describes the control system design concepts for the Mars Volatiles and Climate Surveyor (MVACS) Robotic Arm which supports the scientific investigations to be conducted as part of the Mars Surveyor '98 Lander project. Novel solutions are presented to some of the unique problems encountered in this demanding space application with its tight constraints on mass, power, volume, and computing power.

  4. An immune-inspired swarm aggregation algorithm for self-healing swarm robotic systems.

    PubMed

    Timmis, J; Ismail, A R; Bjerknes, J D; Winfield, A F T

    2016-08-01

    Swarm robotics is concerned with the decentralised coordination of multiple robots having only limited communication and interaction abilities. Although fault tolerance and robustness to individual robot failures have often been used to justify the use of swarm robotic systems, recent studies have shown that swarm robotic systems are susceptible to certain types of failure. In this paper we propose an approach to self-healing swarm robotic systems and take inspiration from the process of granuloma formation, a process of containment and repair found in the immune system. We use a case study of a swarm performing team work where previous works have demonstrated that partially failed robots have the most detrimental effect on overall swarm behaviour. We have developed an immune inspired approach that permits the recovery from certain failure modes during operation of the swarm, overcoming issues that effect swarm behaviour associated with partially failed robots. PMID:27178784

  5. Control system design for robotic underground storage tank inspection systems

    SciTech Connect

    Kiebel, G.R.

    1994-09-01

    Control and data acquisition systems for robotic inspection and surveillance systems used in nuclear waste applications must be capable, versatile, and adaptable to changing conditions. The nuclear waste remediation application is dynamic -- requirements change as public policy is constantly re-examined and refocused, and as technology in this area advances. Control and data acquisition systems must adapt to these changing conditions and be able to accommodate future missions, both predictable and unexpected. This paper describes the control and data acquisition system for the Light Duty Utility Arm (LDUA) System that is being developed for remote surveillance and inspection of underground storage tanks at the Hanford Site and other US Department of Energy (DOE) sites. It is a high-performance system which has been designed for future growth. The priority mission at the Hanford site is to retrieve the waste generated by 50 years of production from its present storage and process it for final disposal. The LDUA will help to gather information about the waste and the tanks it is stored in to better plan and execute the cleanup mission.

  6. Regolith Advanced Surface Systems Operations Robot (RASSOR)

    NASA Astrophysics Data System (ADS)

    Mueller, Robert P.; Cox, Rachel E.; Ebert, Tom; Smith, Jonathan D.; Schuler, Jason M.; Nick, Andrew J.

    Regolith is abundant on extra-terrestrial surfaces and is the source of many resources such as oxygen, hydrogen, titanium, aluminum, iron, silica and other valuable materials, which can be used to make rocket propellant, consumables for life support, radiation protection barrier shields, landing pads, blast protection berms, roads, habitats and other structures and devices. Recent data from the Moon also indicates that there are substantial deposits of water ice in permanently shadowed crater regions and possibly under an over burden of regolith. The key to being able to use this regolith and acquire the resources, is being able to manipulate it with robotic excavation and hauling machinery that can survive and operate in these very extreme extra-terrestrial surface environments.

  7. Regolith Advanced Surface Systems Operations Robot (RASSOR) Phase 2 and Smart Autonomous Sand-Swimming Excavator

    NASA Technical Reports Server (NTRS)

    Sandy, Michael

    2015-01-01

    The Regolith Advanced Surface Systems Operations Robot (RASSOR) Phase 2 is an excavation robot for mining regolith on a planet like Mars. The robot is programmed using the Robotic Operating System (ROS) and it also uses a physical simulation program called Gazebo. This internship focused on various functions of the program in order to make it a more professional and efficient robot. During the internship another project called the Smart Autonomous Sand-Swimming Excavator was worked on. This is a robot that is designed to dig through sand and extract sample material. The intern worked on programming the Sand-Swimming robot, and designing the electrical system to power and control the robot.

  8. A real-time robot arm collision detection system

    NASA Technical Reports Server (NTRS)

    Shaffer, Clifford A.; Herb, Gregory M.

    1990-01-01

    A data structure and update algorithm are presented for a prototype real time collision detection safety system for a multi-robot environment. The data structure is a variant of the octree, which serves as a spatial index. An octree recursively decomposes 3-D space into eight equal cubic octants until each octant meets some decomposition criteria. The octree stores cylspheres (cylinders with spheres on each end) and rectangular solids as primitives (other primitives can easily be added as required). These primitives make up the two seven degrees-of-freedom robot arms and environment modeled by the system. Octree nodes containing more than a predetermined number N of primitives are decomposed. This rule keeps the octree small, as the entire environment for the application can be modeled using a few dozen primitives. As robot arms move, the octree is updated to reflect their changed positions. During most update cycles, any given primitive does not change which octree nodes it is in. Thus, modification to the octree is rarely required. Incidents in which one robot arm comes too close to another arm or an object are reported. Cycle time for interpreting current joint angles, updating the octree, and detecting/reporting imminent collisions averages 30 milliseconds on an Intel 80386 processor running at 20 MHz.

  9. Distributed cooperating processes in a mobile robot control system

    NASA Technical Reports Server (NTRS)

    Skillman, Thomas L., Jr.

    1988-01-01

    A mobile inspection robot has been proposed for the NASA Space Station. It will be a free flying autonomous vehicle that will leave a berthing unit to accomplish a variety of inspection tasks around the Space Station, and then return to its berth to recharge, refuel, and transfer information. The Flying Eye robot will receive voice communication to change its attitude, move at a constant velocity, and move to a predefined location along a self generated path. This mobile robot control system requires integration of traditional command and control techniques with a number of AI technologies. Speech recognition, natural language understanding, task and path planning, sensory abstraction and pattern recognition are all required for successful implementation. The interface between the traditional numeric control techniques and the symbolic processing to the AI technologies must be developed, and a distributed computing approach will be needed to meet the real time computing requirements. To study the integration of the elements of this project, a novel mobile robot control architecture and simulation based on the blackboard architecture was developed. The control system operation and structure is discussed.

  10. Automated site characterization for robotic sample acquisition systems

    NASA Technical Reports Server (NTRS)

    Scholl, Marija S.; Eberlein, Susan; Yates, Gigi; Schumate, Michael S.; Majani, Eric; Anderson, Charles H.; Sloan, Jeffrey A.

    1991-01-01

    A mobile, semi-autonomous vehicle with multiple sensors and on-board intelligence is proposed for performing preliminary scientific investigations on extraterrestrial bodies prior to human exploration. Two technologies, a hybrid optical-digital computer system based on optical correlator technology and an image and instrument data analysis system, provide complementary capabilities which might be part of an instrument package for an intelligent robotic vehicle. The hybrid digital-optical vision system could perform real-time image classification tasks using an optical correlator with programmable matched filters under control of a digital microcomputer. The data analysis system would analyze visible and multiband imagery to extract mineral composition and textural information for geologic characterization. Together these technologies would support the site characterization needs of a robotic vehicle for both navigational and scientific purposes.

  11. Development of Advanced Robotic Hand System for space application

    NASA Technical Reports Server (NTRS)

    Machida, Kazuo; Akita, Kenzo; Mikami, Tatsuo; Komada, Satoru

    1994-01-01

    The Advanced Robotic Hand System (ARH) is a precise telerobotics system with a semi dexterous hand for future space application. The ARH will be tested in space as one of the missions of the Engineering Tests Satellite 7 (ETS-7) which will be launched in 1997. The objectives of the ARH development are to evaluate the capability of a possible robot hand for precise and delicate tasks and to validate the related technologies implemented in the system. The ARH is designed to be controlled both from ground as a teleoperation and by locally autonomous control. This paper presents the overall system design and the functional capabilities of the ARH as well as its mission outline as the preliminary design has been completed.

  12. Robotic control architecture development for automated nuclear material handling systems

    SciTech Connect

    Merrill, R.D.; Hurd, R.; Couture, S.; Wilhelmsen, K.

    1995-02-01

    Lawrence Livermore National Laboratory (LLNL) is engaged in developing automated systems for handling materials for mixed waste treatment, nuclear pyrochemical processing, and weapon components disassembly. In support of these application areas there is an extensive robotic development program. This paper will describe the portion of this effort at LLNL devoted to control system architecture development, and review two applications currently being implemented which incorporate these technologies.

  13. Control of a free-flying robot manipulator system

    NASA Technical Reports Server (NTRS)

    Alexander, H.; Cannon, R. H., Jr.

    1985-01-01

    The goal of the research is to develop and test control strategies for a self-contained, free flying space robot. Such a robot would perform operations in space similar to those currently handled by astronauts during extravehicular activity (EVA). The focus of the work is to develop and carry out a program of research with a series of physical Satellite Robot Simulator Vehicles (SRSV's), two-dimensionally freely mobile laboratory models of autonomous free-flying space robots such as might perform extravehicular functions associated with operation of a space station or repair of orbiting satellites. The development of the SRSV and of some of the controller subsystems are discribed. The two-link arm was fitted to the SRSV base, and researchers explored the open-loop characteristics of the arm and thruster actuators. Work began on building the software foundation necessary for use of the on-board computer, as well as hardware and software for a local vision system for target identification and tracking.

  14. Portable robotic platform for handheld landmine detection system

    NASA Astrophysics Data System (ADS)

    Herman, Herman; McMahill, Jeffrey

    2004-09-01

    To support the development of advanced algorithms for hand-held detectors, it is desirable to collect data with a specific sweep rate, height and spacing. In addition, it is also important that the position of each data point produced by the detector is known. Since it is impossible for a human operator to precisely control these sweep parameters, we have developed a semi-autonomous robotic data collection system. It is designed as a portable robot with a 2-axis manipulator that can be used to sweep any hand-held detector at a precise sweep rate, height, and spacing. It is also equipped with an interface to the hand-held detector, so it can log the output data during the sweeping motion. It also tags the output data with the position data from the on-board positioning system. As a result, we can construct an accurate 2-D or 3-D grid of the detector's output as a function of horizontal and vertical position of the detector. The manipulator is also equipped with force sensing capability that can be used to sense terrain height or collision. To increase deployment flexibility, all functions of the robot are controlled through a wireless communication link by a hand-held computer with a maximum operating distance of at least 100m. Through the hand-held computer, the operator can move the robot, and program its behavior using a script based motion sequencer. The robot has been deployed successfully on several data acquisition activities, and successfully produced high-resolution 2-D map of the buried targets.

  15. Development of a 1-m Robotic Telescope System

    NASA Astrophysics Data System (ADS)

    Han, Wonyong; Mack, Peter; Lee, Chung-Uk; Park, Jang-Hyun; Jin, Ho; Kim, Seung-Lee; Kim, Ho-Il; Yuk, In-Soo; Lee, Woo-Baik; Bradstreet, Matthew

    2005-10-01

    Korea Astronomy & Space Science Institute (KASI) has installed a 1-m robotic telescope at Mt. Lemmon, AZ, in collaboration with a company, Astronomical Consultants & Equipment, Inc (ACE). The telescope system is totally designed to make fully robotic observations, and can be operated in both interactive and unattended robotic modes. The telescope is newly designed and manufactured regarding both mechanical and optical parts. The optical system is designed to collect 80% of the incident light within 0.''5 with an f/7.5 Ritchey-Chretien design. The telescope mount is an equatorial fork with a friction drive system, and it allows fully programmable tracking speeds with a typical range of 15'' s-1 and an accuracy of ±5''hr-1. The mount system includes an integral pointing model to correct for mechanical errors and misalignments, and an auto-guide unit is also available. To gather environmental information a weather station and an all sky camera are installed at the site. In this paper we introduce the system design and the performance of the mechanical and optical quality of the telescope system based on the results of test observations using some variable stars.

  16. An approach to software quality assurance for robotic inspection systems

    SciTech Connect

    Kiebel, G.R. )

    1993-01-01

    Software quality assurance (SQA) for robotic systems used in nuclear waste applications is vital to ensure that these systems operate safely and reliably and pose a minimum risk to the environment. This paper describes the approach to be taken for SQA for the control and data acquisition system for a robotic system that is being developed for remote surveillance and inspection of underground storage tanks (USTS) at the Hanford site under the sponsorship of the UST-Integrated Demonstration Program of the U.S. Department of Energy's (DOE's) Office of Technology Development (OTD). The robotic system is called the Light-Duty Utility Arm (LDUA) System. It has a multiaxis arm with a 2.74-M (9-ft) reach and 22.7-kg (50-1b) payload that is mounted on the end of a 13.7-m (45-ft) positioning mast. It is designed to enter a UST through an available 30.5-cm (12-in.) riser. A deployment vehicle carries the positioning equipment to insert the mast and arm into the riser and a containment enclosure to control contamination when the arm is in the tank or being transported from tank to tank. A set of interchangeable end effectors is carried on the end of the arm. These end effectors provide a wide range of observation and measurement functions, such as photographic and video inspection and recording, detailed surface mapping of the tank and surface of the waste, in situ chemical analysis of the waste, etc.

  17. Designing and implementing nervous system simulations on LEGO robots.

    PubMed

    Blustein, Daniel; Rosenthal, Nikolai; Ayers, Joseph

    2013-01-01

    We present a method to use the commercially available LEGO Mindstorms NXT robotics platform to test systems level neuroscience hypotheses. The first step of the method is to develop a nervous system simulation of specific reflexive behaviors of an appropriate model organism; here we use the American Lobster. Exteroceptive reflexes mediated by decussating (crossing) neural connections can explain an animal's taxis towards or away from a stimulus as described by Braitenberg and are particularly well suited for investigation using the NXT platform.(1) The nervous system simulation is programmed using LabVIEW software on the LEGO Mindstorms platform. Once the nervous system is tuned properly, behavioral experiments are run on the robot and on the animal under identical environmental conditions. By controlling the sensory milieu experienced by the specimens, differences in behavioral outputs can be observed. These differences may point to specific deficiencies in the nervous system model and serve to inform the iteration of the model for the particular behavior under study. This method allows for the experimental manipulation of electronic nervous systems and serves as a way to explore neuroscience hypotheses specifically regarding the neurophysiological basis of simple innate reflexive behaviors. The LEGO Mindstorms NXT kit provides an affordable and efficient platform on which to test preliminary biomimetic robot control schemes. The approach is also well suited for the high school classroom to serve as the foundation for a hands-on inquiry-based biorobotics curriculum. PMID:23728477

  18. Part identification in robotic assembly using vision system

    NASA Astrophysics Data System (ADS)

    Balabantaray, Bunil Kumar; Biswal, Bibhuti Bhusan

    2013-12-01

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

  19. A new wheel control system for the omnidirectional HERMIES-III robot

    SciTech Connect

    Reister, D.B.

    1991-04-01

    We have designed, built, and tested a new wheel control system for the HERMIES-III robot. HERMIES-III is a large mobile robot with omnidirectional steering that is designed for human scale experiments. During each cycle (at 20 Hz), the wheel control system moves the robot toward a goal and calculates the current position of the robot. The system has seven modes for moving to a goal and the goal may be changed during motion of the robot. 4 refs., 13 figs., 1 tab.

  20. The Design, Planning and Control of Robotic Systems in Space

    NASA Technical Reports Server (NTRS)

    Dubowsky, Steven

    1996-01-01

    In the future, robotic systems will be expected to perform important tasks in space, in orbit and in planetary exploration. In orbit, current technology requires that tasks such as the repair, construction and maintenance of space stations and satellites be performed by astronaut Extra Vehicular Activity (EVA). Eliminating, the need for astronaut EVA through the use of space manipulators would greatly reduce both mission costs and hazards to astronauts. In planetary exploration, cost and logistical considerations clearly make the use of autonomous and telerobotic systems also very attractive, even in cases where an astronaut explorer might be in the area. However, such applications introduce a number of technical problems not found in conventional earth-bound industrial robots. To design useful and practical systems to meet the needs of future space missions, substantial technical development is required, including in the areas of the design, control and planning. The objectives of this research program were to develop such design paradigms and control and planning algorithms to enable future space robotic systems to meet their proposed mission objectives. The underlying intellectual focus of the program is to construct a set of integrated design, planning and control techniques based on an understanding of the fundamental mechanics of space robotic systems. This work was to build upon the results obtained in our previous research in this area supported by NASA Langley Research Center in which we have made important contributions to the area of space robotics. This program was proposed and accepted as a three year research program, a period of time necessary to make the type of fundamental developments to make a significant contributions to space robotics. Unfortunately, less than a year into the program it became clear that the NASA Langley Research Center would be forced by budgetary constraints to essentially leave this area of research. As a result, the total

  1. Trauma Pod: A Semi-Automated Robotic Surgery System

    SciTech Connect

    Noakes, Mark W; Garcia, Pablo; Rosen, Jacob; Kapoor, Chetan; Elbert, Greg

    2009-01-01

    The Trauma Pod (TP) vision is to develop a rapidly deployable robotic system to perform critical acute stabilization and/or surgical procedures autonomously or in a teleoperative mode on wounded soldiers in the battlefield who might otherwise die before treatment in a combat hospital can be provided. In the first phase of a project pursuing this vision, a robotic TP system was developed and its capability demonstrated by performing select surgical procedures on a patient phantom. The system demonstrates the feasibility of performing acute stabilization procedures with the patient being the only human in the surgical cell. The teleoperated surgical robot is supported by autonomous arms that carry out scrub-nurse and circulating-nurse functions. Tool change and supply delivery are performed automatically and at least as fast as those performed manually by nurses. The TP system also includes tomographic X-ray facility for patient diagnosis and 2-D fluoroscopic data to support interventions. The vast amount of clinical protocols generated in the TP system are recorded automatically. These capabilities form the basis for a more comprehensive acute diagnostic and management platform that will provide life-saving care in environments where surgical personnel are not present.

  2. Robotics

    NASA Technical Reports Server (NTRS)

    Rothschild, Lynn J.

    2012-01-01

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

  3. System Wide Joint Position Sensor Fault Tolerance in Robot Systems Using Cartesian Accelerometers

    NASA Technical Reports Server (NTRS)

    Aldridge, Hal A.; Juang, Jer-Nan

    1997-01-01

    Joint position sensors are necessary for most robot control systems. A single position sensor failure in a normal robot system can greatly degrade performance. This paper presents a method to obtain position information from Cartesian accelerometers without integration. Depending on the number and location of the accelerometers. the proposed system can tolerate the loss of multiple position sensors. A solution technique suitable for real-time implementation is presented. Simulations were conducted using 5 triaxial accelerometers to recover from the loss of up to 4 joint position sensors on a 7 degree of freedom robot moving in general three dimensional space. The simulations show good estimation performance using non-ideal accelerometer measurements.

  4. A reactive coordination scheme for a many-robot system.

    PubMed

    Evans, K S; Unsal, C; Bay, J S

    1997-01-01

    This paper presents a novel approach for coordinating a homogeneous system of mobile robots using implicit communication in the form of broadcasts. The broadcast-based coordination scheme was developed for the Army Ant swarm-a system of small, relatively inexpensive mobile robots that can accomplish complex tasks by cooperating as a team. The primary drawback, however, of the Army Ant system is that the absence of a central supervisor poses difficulty in the coordination and control of the agents. Our coordination scheme provides a global "group dynamic" that controls the actions of each robot using only local interactions. Coordination of the swarm is achieved with signals we call "heartbeats". Each agent broadcasts a unique heartbeat and responds to the collective behavior of all other heartbeats. We generate heartbeats with van der Pol oscillators. In this application, we use the known properties of coupled van der Pol oscillators to create predictable group behavior. Some of the properties and behaviors of coupled van der Pol oscillators are discussed in detail. We emphasize the use of this scheme to allow agents to simultaneously perform an action such as lifting, steering, or changing speed. The results of experiments performed on three actual heartbeat circuits are presented and the behavior of the realized system is compared to simulated results. We also demonstrate the application of the coordination scheme to global speed control. PMID:18255900

  5. Sensor abstractions to support many-robot systems

    NASA Astrophysics Data System (ADS)

    Gage, Douglas W.

    1993-05-01

    The rapid evolution of micromechanical fabrication techniques and other sensor, effector, and processing technologies will soon make it possible to employ large numbers of very inexpensive autonomous mobile robots with fairly limited sensor capabilities to perform real- world missions in the ground, air, space, and underwater environments. One approach to such a system is to realize desired emergent collective group behaviors with simple sensor-based reactive planners. The initial thrust of this effort has been to develop generic ensemble behaviors, such as blanket, barrier, and sweep coverage, and various deployment and recovery modes, which can address a broad spectrum of generic applications, both military and civilian. However, while different applications may require similar group behaviors, the sensor, information, and communications resources available to the participating individual robots may be very different. This paper outlines the many-robot approach to real-world problem solving and discusses the various roles that different types of sensors can play in such systems. Analysis and simulation results are presented to show how useful behavioral algorithms can be designed to make use of diverse information resources, and the area search problem is analyzed to derive both system measures of effectiveness and system design considerations.

  6. Sensor abstractions to support many-robot systems

    NASA Astrophysics Data System (ADS)

    Gage, Douglas W.

    1993-04-01

    The rapid evolution of micromechanical fabrication techniques and other sensor, effector, and processing technologies will soon make it possible to employ large numbers of very inexpensive autonomous mobile robots with fairly limited sensor capabilities to perform real-world missions in ground, air, space, and underwater environments. One approach to such a system is to realize desired emergent collective group behaviors with simple sensor-based reactive planners. The initial thrust of this effort has been to develop generic ensemble behaviors, such as blanket, barrier, and sweep coverage, and various deployment and recovery modes, which can address a broad spectrum of generic applications, both military and civilian. However, while different applications may require similar group behaviors, the sensor, information, and communications resources available to the participating individual robots may be very different. This paper outlines the many-robot approach to real-world problems solving and discusses the various roles that different types of sensors can play in such systems. Analysis and simulation results are presented to show how useful behavioral algorithms can be designed to make use of diverse information resources, and the area search problem is analyzed to derive both system measures of effectiveness and system design considerations.

  7. Automating the control of robotic systems in unstructured environments

    SciTech Connect

    Harrigan, R.W.

    1993-09-01

    The US Department Energy`s Office of Technology Development has sponsored the development of generic robotics technologies for application to a wide range of remote systems. Of primary interest is the development of technologies which enable faster, safer, and cheaper cleanup of hazardous waste sites than is possible using conventional human contact or remote manual approaches. The development of model-based sensor-directed robot control approaches supports these goals by developing modular control technologies which reduce the time and cost of development by allowing reuse of control system software. In addition, the use of computer models improves the safety of remote site cleanup by allowing automated errors detection and recovery while reducing the time for technology development.

  8. A real-time robot arm collision avoidance system

    NASA Technical Reports Server (NTRS)

    Shaffer, Clifford A.; Herb, Gregory M.

    1992-01-01

    A data structure and update algorithm are presented for a prototype real-time collision avoidance safety system simulating a multirobot workspace. The data structure is a variant of the octree, which serves as a spatial index. An octree recursively decomposes 3D space into eight equal cubic octants until each octant meets some decomposition criteria. The N-objects octree, which indexes a collection of 3D primitive solids is used. These primitives make up the two (seven-degrees-of-freedom) robot arms and workspace modeled by the system. As robot arms move, the octree is updated to reflect their changed positions. During most update cycles, any given primitive does not change which octree nodes it is in. Thus, modification to the octree is rarely required. Cycle time for interpreting current arm joint angles, updating the octree to reflect new positions, and detecting/reporting imminent collisions averages 30 ms on an Intel 80386 processor running at 20 MHz.

  9. Systems and Methods of Coordination Control for Robot Manipulation

    NASA Technical Reports Server (NTRS)

    Chang, Chu-Yin (Inventor); English, James (Inventor); Tardella, Neil (Inventor); Bacon, James (Inventor)

    2013-01-01

    Disclosed herein are systems and methods for controlling robotic apparatus having several movable elements or segments coupled by joints. At least one of the movable elements can include one or more mobile bases, while the others can form one or more manipulators. One of the movable elements can be treated as an end effector for which a certain motion is desired. The end effector may include a tool, for example, or represent a robotic hand (or a point thereon), or one or more of the one or more mobile bases. In accordance with the systems and methods disclosed herein, movement of the manipulator and the mobile base can be controlled and coordinated to effect a desired motion for the end effector. In many cases, the motion can include simultaneously moving the manipulator and the mobile base.

  10. Design of a distributed control system for a robotic mannequin

    SciTech Connect

    Gilbert, R.W.; Cheatham, R.L.; Hof, P.J.; Anderson, G.A.

    1987-02-01

    A robotic mannequin with thirty-eight degrees of movement freedom has been designed and is currently being developed by engineers at Pacific Northwest Laboratory. The mannequin will be used to test the effectiveness of protective clothing in hazardous environments. By simulating human movements and positions, the mannequin will be able to test the effectiveness of protective clothing in a realistic, workplace environment. The accuracy afforded by the mannequin has not been possible to date without using human testers. In addition to this realistic environment, reproducible and standardized testing will be achieved by using the mannequin's programmed and repetitive test routines. During testing, special sensors will detect any penetration of the protective clothing by the hostile environment. The robotic mannequin's control system provides the control and monitoring functions necessary to allow coordinated movement of multiple joints and also controls the ancillary systems: breathing, perspiration, skin heating, sampling of chemical reagents, and test data recording.