Analysis of forward scattering of an acoustical zeroth-order Bessel beam from rigid complicated (aspherical) structures

NASA Astrophysics Data System (ADS)

Li, Wei; Chai, Yingbin; Gong, Zhixiong; Marston, Philip L.

2017-10-01

The forward scattering from rigid spheroids and endcapped cylinders with finite length (even with a large aspect ratio) immersed in a non-viscous fluid under the illumination of an idealized zeroth-order acoustical Bessel beam (ABB) with arbitrary angles of incidence is calculated and analyzed in the implementation of the T-matrix method (TTM). Based on the present method, the incident coefficients of expansion for the incident ABB are derived and simplifying methods are proposed for the numerical accuracy and computational efficiency according to the geometrical symmetries. A home-made MATLAB software package is constructed accordingly, and then verified and validated for the ABB scattering from rigid aspherical obstacles. Several numerical examples are computed for the forward scattering from both rigid spheroids and finite cylinder, with particular emphasis on the aspect ratios, the half-cone angles of ABBs, the incident angles and the dimensionless frequencies. The rectangular patterns of target strength in the (β, θs) domain (where β is the half-cone angle of the ABB and θs is the scattered polar angle) and local/total forward scattering versus dimensionless frequency are exhibited, which could provide new insights into the physical mechanisms of Bessel beam scattering by rigid spheroids and finite cylinders. The ray diagrams in geometrical models for the scattering in the forward half-space and the optical cross-section theorem help to interpret the scattering mechanisms of ABBs. This research work may provide an alternative for the partial wave series solution under certain circumstances interacting with ABBs for complicated obstacles and benefit some related works in optics and electromagnetics.

Children's Understanding of Addition and Subtraction Concepts

ERIC Educational Resources Information Center

Robinson, Katherine M.; Dube, Adam K.

2009-01-01

After the onset of formal schooling, little is known about the development of children's understanding of the arithmetic concepts of inversion and associativity. On problems of the form a+b-b (e.g., 3+26-26), if children understand the inversion concept (i.e., that addition and subtraction are inverse operations), then no calculations are needed…

β-Amyloid accumulation in the human brain after one night of sleep deprivation.

PubMed

Shokri-Kojori, Ehsan; Wang, Gene-Jack; Wiers, Corinde E; Demiral, Sukru B; Guo, Min; Kim, Sung Won; Lindgren, Elsa; Ramirez, Veronica; Zehra, Amna; Freeman, Clara; Miller, Gregg; Manza, Peter; Srivastava, Tansha; De Santi, Susan; Tomasi, Dardo; Benveniste, Helene; Volkow, Nora D

2018-04-24

The effects of acute sleep deprivation on β-amyloid (Aβ) clearance in the human brain have not been documented. Here we used PET and 18 F-florbetaben to measure brain Aβ burden (ABB) in 20 healthy controls tested after a night of rested sleep (baseline) and after a night of sleep deprivation. We show that one night of sleep deprivation, relative to baseline, resulted in a significant increase in Aβ burden in the right hippocampus and thalamus. These increases were associated with mood worsening following sleep deprivation, but were not related to the genetic risk (APOE genotype) for Alzheimer's disease. Additionally, baseline ABB in a range of subcortical regions and the precuneus was inversely associated with reported night sleep hours. APOE genotyping was also linked to subcortical ABB, suggesting that different Alzheimer's disease risk factors might independently affect ABB in nearby brain regions. In summary, our findings show adverse effects of one-night sleep deprivation on brain ABB and expand on prior findings of higher Aβ accumulation with chronic less sleep. Copyright © 2018 the Author(s). Published by PNAS.

Impact of workstations on criticality analyses at ABB combustion engineering

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

Tarko, L.B.; Freeman, R.S.; O'Donnell, P.F.

1993-01-01

During 1991, ABB Combustion Engineering (ABB C-E) made the transition from a CDC Cyber 990 mainframe for nuclear criticality safety analyses to Hewlett Packard (HP)/Apollo workstations. The primary motivation for this change was improved economics of the workstation and maintaining state-of-the-art technology. The Cyber 990 utilized the NOS operating system with a 60-bit word size. The CPU memory size was limited to 131 100 words of directly addressable memory with an extended 250000 words available. The Apollo workstation environment at ABB consists of HP/Apollo-9000/400 series desktop units used by most application engineers, networked with HP/Apollo DN10000 platforms that use 32-bitmore » word size and function as the computer servers and network administrative CPUS, providing a virtual memory system.« less

AbbVie Ltd., Barceloneta, PR Amended Permit

EPA Pesticide Factsheets

The United States Environmental Protection Agency's Region 2 Office (EPA) received an October 11,2017 submittal from the law firm of Toro, Colon, Mullet, Rivera & Sifre, P.S.c. on behalf of AbbVieLtd.

--No Title--

Science.gov Websites

-user-select: none; -moz-user-select: none; -ms-user-select: none; user-select: none; } #text-abb { font -size: 14px; } #text-abb text { font-family: Arial, Helvetica, sans-serif; } #map_base svg { max-height

Postoperative groin pain and success rates following transobturator midurethral sling placement: TVT ABBREVO® system versus TVT™ obturator system.

PubMed

Canel, Virginie; Thubert, Thibault; Wigniolle, Ingrid; Fernandez, Hervé; Deffieux, Xavier

2015-10-01

Placement of a transobturator midurethral sling (MUS) is the standard surgical treatment for stress urinary incontinence. Most recent MUS procedures have been poorly evaluated. We compared the results using a "new" device expected to reduce postoperative pain, the TVT ABBREVO® system (TVT-Abb), with those using the TVT™ obturator system (TVT-O). This was a retrospective study comparing the use of the TVT-Abb (in 50 patients) and the TVT-O (in 50 patients). The main outcomes were the amount of postoperative pain, the success rate (no reported urinary leakage and negative cough test) with both MUS procedures, and the prevalence of complications. The mean follow-up time was 12 months. The preoperative characteristics of the two groups were comparable. There was less postoperative pain (VAS, 0 to 100) in the TVT-Abb group than in the TVT-O group (12.2 vs. 24.4, p < 0.01). However, at 6 weeks after surgery there was no significant difference between the two groups (p = 0.32). The incidence of de novo bladder outlet obstruction symptoms was similar in the TVT-Abb group and the TVT-O group (8 % vs. 12 %, p = 0.74). The prevalences of perioperative and postoperative complications (bladder/urethral injury, haemorrhage) in the two groups were equal. The success rates were similar at 12 months after surgery (88 % vs. 78 %, p = 0.29). The success rates with TVT-Abb and TVT-O were equal at 12 months after surgery, but there was less immediate postoperative pain with TVT-Abb.

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

Albrecht H. Mayer

Asea Brown Boveri (ABB) has completed its technology based program. The results developed under Work Breakdown Structure (WBS) 8, concentrated on technology development and demonstration have been partially implemented in newer turbine designs. A significant improvement in heat rate and power output has been demonstrated. ABB will use the knowledge gained to further improve the efficiency of its Advanced Cycle System, which has been developed and introduced into the marked out side ABB's Advanced Turbine System (ATS) activities. The technology will lead to a power plant design that meets the ATS performance goals of over 60% plant efficiency, decreased electricitymore » costs to consumers and lowest emissions.« less

Effect of Impact Damage on the Fatigue Response of TiAl Alloy-ABB-2

NASA Technical Reports Server (NTRS)

Draper, S. L.; Lerch, B. A.; Pereira, J. M.; Nathal, M. V.; Nazmy, M. Y.; Staubli, M.; Clemens, D. R.

2001-01-01

The ability of gamma-TiAl to withstand potential foreign or domestic object damage is a technical risk to the implementation of gamma-TiAl in low pressure turbine (LPT) blade applications. In the present study, the impact resistance of TiAl alloy ABB-2 was determined and compared to the impact resistance of Ti(48)Al(2)Nb(2)Cr. Specimens were impacted with four different impact conditions with impact energies ranging from 0.22 to 6.09 J. After impacting, the impact damage was characterized by crack lengths on both the front and backside of the impact. Due to the flat nature of gamma-TiAl's S-N (stress vs. cycles to failure) curve, step fatigue tests were used to determine the fatigue strength after impacting. Impact damage increased with increasing impact energy and led to a reduction in the fatigue strength of the alloy. For similar crack lengths, the fatigue strength of impacted ABB-2 was similar to the fatigue strength of impacted Ti(48)Al(2)Nb(2)Cr, even though the tensile properties of the two alloys are significantly different. Similar to Ti(48)Al(2)Nb(2)Cr, ABB-2 showed a classical mean stress dependence on fatigue strength. The fatigue strength of impacted ABB-2 could be accurately predicted using a threshold analysis.

78 FR 23220 - Foreign-Trade Zone 22-Chicago, Illinois, Authorization of Production Activity, Abbott...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-04-18

... DEPARTMENT OF COMMERCE Foreign-Trade Zones Board [B-91-2012] Foreign-Trade Zone 22--Chicago, Illinois, Authorization of Production Activity, Abbott Laboratories, Inc., AbbVie, Inc. (Pharmaceutical Production), North Chicago, Illinois, Area On December 14, 2012, Abbott Laboratories, Inc., and AbbVie, Inc...

Inverse Abbe-method for observing small refractive index changes in liquids.

PubMed

Räty, Jukka; Peiponen, Kai-Erik

2015-05-01

This study concerns an optical method for the detection of minuscule refractive index changes in the liquid phase. The proposed method reverses the operation of the traditional Abbe refractometer and thus utilizes the light dispersion properties of materials, i.e. it involves the dependence of the refractive index on light wavelength. In practice, the method includes the detection of light reflection spectra in the visible spectral range. This inverse Abbe method is suitable for liquid quality studies e.g. for monitoring water purity. Tests have shown that the method reveals less than per mil NaCl or ethanol concentrations in water. Copyright © 2015 Elsevier B.V. All rights reserved.

The "Spectacle de la Nature" in Eighteenth-Century Spain: From French Households to Spanish Workshops

ERIC Educational Resources Information Center

Serrano, Elena

2012-01-01

This paper analyzes the Spanish appropriation of one of the great French eighteenth-century best-sellers, the "Spectacle de la Nature" (1732-1750) by the "abbe" Antoine Noel Pluche. In eight volumes, the "abbe" discussed current issues in natural philosophy, such as Newtonianism, the origin of fossils, artisan…

Monothermal caloric screening test performance: a relative operating characteristic curve analysis.

PubMed

Murnane, Owen D; Akin, Faith W; Lynn, Susan G; Cyr, David G

2009-06-01

The objective of the present study was to evaluate the performance of the monothermal caloric screening test in a large sample of patients. A retrospective analysis of the medical records of 1002 consecutive patients who had undergone vestibular assessment at the Mayo Clinic during the years 1989 and 1990 was conducted. Patients with incomplete alternate binaural bithermal (ABB) caloric testing, congenital or periodic alternating nystagmus, or bilateral vestibular loss were excluded from the study. Clinical decision theory analyses (relative operating characteristic curves) were used to determine the accuracy with which the monothermal warm (MWST) and monothermal cool (MCST) caloric screening tests predicted the results of the ABB caloric test. Cumulative distributions were constructed as a function of the cutoff points for monothermal interear difference (IED) to select the cutoff point associated with any combination of true-positive and false-positive rates. Both MWST and MCST performed well above chance level. The test performance for the MWST was significantly better than that of the MCST for three of the four ABB gold standards. A 10% IED cutoff point for the MWST yielded a false-negative rate of either 1% (UW >or=25%) or 3% (UW >or=20%). The use of a 10% IED (UW >or=25%) for the MWST would have resulted in a 40% reduction (N = 294) in the number of ABB caloric tests performed on patients without a unilateral weakness. The results of this study indicated that the MWST decreases test time without sacrificing the sensitivity of the ABB caloric test.

Retort Upgrading for Surge

DTIC Science & Technology

2008-11-01

Endress & Hauser Analog Level Gauge PV with Sight Glass Minco Temperature Transmitters (2) Steam Pressure Alarm Switch ABB Kent Taylor...Transmitter SV (0-100 psig range) LogTec Pressure Transmitter PV (0-60 psig) Strobe Light Rotor Proximity Switches (3) Endress & Hauser ... Endress & Hauser Analog Level Gauge PV with Sight Glass Minco Temperature Transmitters (2) Steam Pressure Alarm Switch ABB Kent Taylor

75 FR 20384 - ABB, Inc., Including On-Site Leased Workers From Spherion Staffing, Dividend Staffing, Mystaff...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-04-19

...-Site Leased Workers From Spherion Staffing, Dividend Staffing, Mystaff, and Zero Chaos, Wichita Falls... from Spherion Staffing, Dividend Staffing, MyStaff, and Zero Chaos were employed on-site by the Wichita..., Dividend Staffing, MyStaff, and Zero Chaos working on-site at the Wichita Falls, Texas location of ABB, Inc...

76 FR 8785 - ABB Inc.; License Amendment Request for Decommissioning of the ABB Inc., Combustion Engineering...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-02-15

.... Electronic Submissions (E-Filing) All documents filed in NRC adjudicatory proceedings, including a request... accordance with the NRC E-Filing rule (72 FR 49139, August 28, 2007). The E-Filing process requires... requirements of E-FilingFiling, at least ten (10) days prior to the filing deadline, the participant should...

Mergeable nervous systems for robots.

PubMed

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

2017-09-12

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

Anthropomorphic Robot Design and User Interaction Associated with Motion

NASA Technical Reports Server (NTRS)

Ellis, Stephen R.

2016-01-01

Though in its original concept a robot was conceived to have some human-like shape, most robots now in use have specific industrial purposes and do not closely resemble humans. Nevertheless, robots that resemble human form in some way have continued to be introduced. They are called anthropomorphic robots. The fact that the user interface to all robots is now highly mediated means that the form of the user interface is not necessarily connected to the robots form, human or otherwise. Consequently, the unique way the design of anthropomorphic robots affects their user interaction is through their general appearance and the way they move. These robots human-like appearance acts as a kind of generalized predictor that gives its operators, and those with whom they may directly work, the expectation that they will behave to some extent like a human. This expectation is especially prominent for interactions with social robots, which are built to enhance it. Often interaction with them may be mainly cognitive because they are not necessarily kinematically intricate enough for complex physical interaction. Their body movement, for example, may be limited to simple wheeled locomotion. An anthropomorphic robot with human form, however, can be kinematically complex and designed, for example, to reproduce the details of human limb, torso, and head movement. Because of the mediated nature of robot control, there remains in general no necessary connection between the specific form of user interface and the anthropomorphic form of the robot. But their anthropomorphic kinematics and dynamics imply that the impact of their design shows up in the way the robot moves. The central finding of this report is that the control of this motion is a basic design element through which the anthropomorphic form can affect user interaction. In particular, designers of anthropomorphic robots can take advantage of the inherent human-like movement to 1) improve the users direct manual control over robot limbs and body positions, 2) improve users ability to detect anomalous robot behavior which could signal malfunction, and 3) enable users to be better able to infer the intent of robot movement. These three benefits of anthropomorphic design are inherent implications of the anthropomorphic form but they need to be recognized by designers as part of anthropomorphic design and explicitly enhanced to maximize their beneficial impact. Examples of such enhancements are provided in this report. If implemented, these benefits of anthropomorphic design can help reduce the risk of Inadequate Design of Human and Automation Robotic Integration (HARI) associated with the HARI-01 gap by providing efficient and dexterous operator control over robots and by improving operator ability to detect malfunctions and understand the intention of robot movement.

Remedial investigation/feasibility study badger army ammunition plant Baraboo, Wisconsin. Volume 2. Feasibility study report

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

NONE

1994-08-01

This Feasibility Study (FS) report for the Badger Army Ammunition Plant (BAAP) in Baraboo, Wisconsin, was prepared by ABB Environmental Services, Inc. (ABB-ES) as a component of Task Order 1 of Contract DAAAl5-91-D-OOO8 with the U.S. Army Environmental Center (USAEC). This report uses the results presented in the Final Remedial Investigation (RI) report (ABB-ES, 1993a) to develop and screen alternatives for remediation of contaminated media at BAAP. The purpose of this FS report is to develop, screen, and evaluate site-specific remedial alternatives to mitigate the impact of site-derived chemicals and ultimately provide protection of human health and the environment. Preferredmore » alternatives for each site are included in this report. Based on previous environmental studies at BAAP, 11 potential hazardous waste sites were ranked according to potential contributions of hazardous chemicals to the environment. These sites were designated as Waste Management Areas because some of the sites contain multiple Solid Waste Management Units (SWMUs). The sites selected to undergo facility assessment and corrective actions are: the Propellant Burning Ground (including Landfill), Deterrent Burning Ground, existing Landfill, Settling Ponds and Spoils Disposal Area, Rocket Paste Area, Oleum Plant and Oleum Plant Pond, Nitroglycerine Pond, old Acid Area, new Acid Area, and Ballistics Pond. The USAEC added an 11th site, the Old Fuel Oil Tank, to the list in October 1989 after discovery of fuel-contaminated soils during excavation of a water line in the vicinity of the old fuel oil tank foundation.« less

Remedial investigation/feasibility study badger army ammunition plant Baraboo, Wisconsin. Volume 3. Feasibility study report (Final)

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

NONE

1994-08-01

This Feasibility Study (FS) report for the Badger Army Ammunition Plant (BAAP) in Baraboo, Wisconsin, was prepared by ABB Environmental Services, Inc. (ABB-ES) as a component of Task Order 1 of Contract DAAAl5-91-D-OOO8 with the U.S. Army Environmental Center (USAEC). This report uses the results presented in the Final Remedial Investigation (RI) report (ABB-ES, 1993a) to develop and screen alternatives for remediation of contaminated media at BAAP. The purpose of this FS report is to develop, screen, and evaluate site-specific remedial alternatives to mitigate the impact of site-derived chemicals and ultimately provide protection of human health and the environment. Preferredmore » alternatives for each site are included in this report. Based on previous environmental studies at BAAP, 11 potential hazardous waste sites were ranked according to potential contributions of hazardous chemicals to the environment. These sites were designated as Waste Management Areas because some of the sites contain multiple Solid Waste Management Units (SWMUs). The sites selected to undergo facility assessment and corrective actions are: the Propellant Burning Ground (including Landfill), Deterrent Burning Ground, existing Landfill, Settling Ponds and Spoils Disposal Area, Rocket Paste Area, Oleum Plant and Oleum Plant Pond, Nitroglycerine Pond, old Acid Area, new Acid Area, and Ballistics Pond. The USAEC added an 11th site, the Old Fuel Oil Tank, to the list in October 1989 after discovery of fuel-contaminated soils during excavation of a water line in the vicinity of the old fuel oil tank foundation.« less

Remedial investigation/feasibility study badger army ammunition plant Baraboo, Wisconsin. Volume 1. Feasibility study report

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

NONE

1994-08-01

This Feasibility Study (FS) report for the Badger Army Ammunition Plant (BAAP) in Baraboo, Wisconsin, was prepared by ABB Environmental Services, Inc. (ABB-ES) as a component of Task Order 1 of Contract DAAAl5-91-D-OOO8 with the U.S. Army Environmental Center (USAEC). This report uses the results presented in the Final Remedial Investigation (RI) report (ABB-ES, 1993a) to develop and screen alternatives for remediation of contaminated media at BAAP. The purpose of this FS report is to develop, screen, and evaluate site-specific remedial alternatives to mitigate the impact of site-derived chemicals and ultimately provide protection of human health and the environment. Preferredmore » alternatives for each site are included in this report. Based on previous environmental studies at BAAP, 11 potential hazardous waste sites were ranked according to potential contributions of hazardous chemicals to the environment. These sites were designated as Waste Management Areas because some of the sites contain multiple Solid Waste Management Units (SWMUs). The sites selected to undergo facility assessment and corrective actions are: the Propellant Burning Ground (including Landfill), Deterrent Burning Ground, existing Landfill, Settling Ponds and Spoils Disposal Area, Rocket Paste Area, Oleum Plant and Oleum Plant Pond, Nitroglycerine Pond, old Acid Area, new Acid Area, and Ballistics Pond. The USAEC added an 11th site, the Old Fuel Oil Tank, to the list in October 1989 after discovery of fuel-contaminated soils during excavation of a water line in the vicinity of the old fuel oil tank foundation.« less

Healing properties of implants inserted concomitantly with anorganic bovine bone. A histomorphometric human study.

PubMed

Menicucci, G; Mussano, F; Schierano, G; Rizzati, A; Aimetti, M; Gassino, G; Traini, T; Carossa, S

2013-03-01

The present prospective, randomized, double-blind study evaluated the bone-forming process around implants inserted simultaneously with anorganic bovine bone (ABB) in sinus grafting. A total of 18 threaded mini-implants with Osseotite (O) and Nanotite (N) surfaces were placed in seven patients (nine sites). After 12 months, the implants were retrieved and processed for histological analysis. A total of 18 cutting and grinding sections were investigated with bright-field light microscopy, circularly polarized light microscopy (CPLM), confocal scanning laser microscope (CSLM), and scanning electron microscope (SEM) with energy dispersive spectrometer (EDS). The bone-to-implant contact rate in native crestal bone was 62.6 ± 0.4% for N implants and 54.3 ± 0.5% for the O implants (p = 0.001). The collagen fibre density, as assessed by CPLM, was 79.8 ± 6.0 nm for the N group and 74.6 ± 4.6 nm for the O group (p < 0.05). Line scan EDS starting from ABB to newly formed bone showed a decrease in calcium content and an increase of carbon while phosphorus content was constant. While the N surface improved the peri-implant endosseous healing properties in the native bone, when compared to the O surface, it did not improve the healing properties in the bone-graft area. © 2013 Australian Dental Association.

Space fabrication demonstration system, technical volume

NASA Technical Reports Server (NTRS)

1979-01-01

The automatic beam builder ABB was developed, fabricated, and demonstrated within the established contract cost and schedule constraints. The ABB demonstrated the feasibility of: producing lightweight beams automatically within the required rate of 1 to 5 ft of completed beam per minute and producing structurally sound beams with axial design load of 5538 N based on the Grumman photovoltaic satellite solar power system design reference structure.

Plow Shop Pond Supplemental Investigation Work Plan

DTIC Science & Technology

1994-09-01

the results of the TIE, major contributors to sediment toxicity in Plow I Shop will be identified. Site-specific numerical criteria for contaminants in...consume Plow Shop Pond fish is less than 1.3". ABB-ES would use an available software package to generate the probability distributions. 5 If...Fort Devens project. The Project Manager is responsible for confirming the appropriateness and adequacy of the technical or engineering services

Affinity-based biosensors in sport medicine and doping control analysis.

PubMed

Mazzei, Franco; Antiochia, Riccarda; Botrè, Francesco; Favero, Gabriele; Tortolini, Cristina

2014-01-01

Affinity-based biosensors (ABBs) have started to be considered in sport medicine and doping control analysis because they are cheap, easy to use and sufficiently selective analytical devices, characterized by a reversible interaction with the analyte under investigation allowing the use of the same sensor for multiple analyses. In this review we describe the main categories of substances reported in the World Anti-Doping Agency Prohibited List and how ABBs may contribute to their detection. Although several ABBs proposed in the last few years display limit of detections that are in principle matching the World Anti-Doping Agency requirements, their application in the framework of 'traditional' antidoping tests seems quite unlikely, mainly because of the still insufficient selectivity especially in the case of 'pseudo-endogenous' compounds, and on the lack of complete information regarding potential matrix effects in real samples and following their routine use. At the same time, ABBs could contribute to fill a significant information gap concerning complementary evidence that can be obtained from their use 'on the spot', as well as to preselect a risk population of individuals to be targeted for a full antidoping test; while in sport medicine they could contribute to obtaining analytical information of physiological relevance from the measurement of specific parameters or markers before, during and after physical exercise.

Prototyping and Simulation of Robot Group Intelligence using Kohonen Networks.

PubMed

Wang, Zhijun; Mirdamadi, Reza; Wang, Qing

2016-01-01

Intelligent agents such as robots can form ad hoc networks and replace human being in many dangerous scenarios such as a complicated disaster relief site. This project prototypes and builds a computer simulator to simulate robot kinetics, unsupervised learning using Kohonen networks, as well as group intelligence when an ad hoc network is formed. Each robot is modeled using an object with a simple set of attributes and methods that define its internal states and possible actions it may take under certain circumstances. As the result, simple, reliable, and affordable robots can be deployed to form the network. The simulator simulates a group of robots as an unsupervised learning unit and tests the learning results under scenarios with different complexities. The simulation results show that a group of robots could demonstrate highly collaborative behavior on a complex terrain. This study could potentially provide a software simulation platform for testing individual and group capability of robots before the design process and manufacturing of robots. Therefore, results of the project have the potential to reduce the cost and improve the efficiency of robot design and building.

Prototyping and Simulation of Robot Group Intelligence using Kohonen Networks

PubMed Central

Wang, Zhijun; Mirdamadi, Reza; Wang, Qing

2016-01-01

Intelligent agents such as robots can form ad hoc networks and replace human being in many dangerous scenarios such as a complicated disaster relief site. This project prototypes and builds a computer simulator to simulate robot kinetics, unsupervised learning using Kohonen networks, as well as group intelligence when an ad hoc network is formed. Each robot is modeled using an object with a simple set of attributes and methods that define its internal states and possible actions it may take under certain circumstances. As the result, simple, reliable, and affordable robots can be deployed to form the network. The simulator simulates a group of robots as an unsupervised learning unit and tests the learning results under scenarios with different complexities. The simulation results show that a group of robots could demonstrate highly collaborative behavior on a complex terrain. This study could potentially provide a software simulation platform for testing individual and group capability of robots before the design process and manufacturing of robots. Therefore, results of the project have the potential to reduce the cost and improve the efficiency of robot design and building. PMID:28540284

Feasibility study report: Area of Contamination (AOC) 43J. (Fort Devens, Groups 2 and 7 sites). Final feasibility study report

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

NONE

1996-06-06

The U.S. Army Environmental Center directed ABB Environmental Services, Inc. (ABB-ES), under Contract No. DAAA15-91-D-0008, to conduct a Remedial Investigation (RI) and Feasibility Study (FS) to address the contamination of soil and groundwater at Area of Contamination (AOC) 43J at Fort Devens, Massachusetts. This FS Report is prepared as part of the FS process in accordance with the 1988 U.S. Environmental Protection Agency (USEPA) guidance document entitled Guidance for Conducting Remedial Investigations and Feasibility Studies under CERCLA. The purpose of the FS Report is to initially identify and screen potentially feasible alternatives to control human health and environmental risks atmore » AOC 43J. Following this screening, the FS Report presents a detailed analysis and comparative analysis of the retained alternatives.« less

Forming Circumbinary Planets: N-body Simulations of Kepler-34

NASA Astrophysics Data System (ADS)

Lines, S.; Leinhardt, Z. M.; Paardekooper, S.; Baruteau, C.; Thebault, P.

2014-02-01

Observations of circumbinary planets orbiting very close to the central stars have shown that planet formation may occur in a very hostile environment, where the gravitational pull from the binary should be very strong on the primordial protoplanetary disk. Elevated impact velocities and orbit crossings from eccentricity oscillations are the primary contributors to high energy, potentially destructive collisions that inhibit the growth of aspiring planets. In this work, we conduct high-resolution, inter-particle gravity enabled N-body simulations to investigate the feasibility of planetesimal growth in the Kepler-34 system. We improve upon previous work by including planetesimal disk self-gravity and an extensive collision model to accurately handle inter-planetesimal interactions. We find that super-catastrophic erosion events are the dominant mechanism up to and including the orbital radius of Kepler-34(AB)b, making in situ growth unlikely. It is more plausible that Kepler-34(AB)b migrated from a region beyond 1.5 AU. Based on the conclusions that we have made for Kepler-34, it seems likely that all of the currently known circumbinary planets have also migrated significantly from their formation location with the possible exception of Kepler-47(AB)c.

Characterization of PDMS samples with variation of its synthesis parameters for tunable optics applications

NASA Astrophysics Data System (ADS)

Marquez-Garcia, Josimar; Cruz-Félix, Angel S.; Santiago-Alvarado, Agustin; González-García, Jorge

2017-09-01

Nowadays the elastomer known as polydimethylsiloxane (PDMS, Sylgard 184), due to its physical properties, low cost and easy handle, have become a frequently used material for the elaboration of optical components such as: variable focal length liquid lenses, optical waveguides, solid elastic lenses, etc. In recent years, we have been working in the characterization of this material for applications in visual sciences; in this work, we describe the elaboration of PDMSmade samples, also, we present physical and optical properties of the samples by varying its synthesis parameters such as base: curing agent ratio, and both, curing time and temperature. In the case of mechanical properties, tensile and compression tests were carried out through a universal testing machine to obtain the respective stress-strain curves, and to obtain information regarding its optical properties, UV-vis spectroscopy is applied to the samples to obtain transmittance and absorbance curves. Index of refraction variation was obtained through an Abbe refractometer. Results from the characterization will determine the proper synthesis parameters for the elaboration of tunable refractive surfaces for potential applications in robotics.

Centrifugal forming and mechanical properties of silicone-based elastomers for soft robotic actuators

NASA Astrophysics Data System (ADS)

Kulkarni, Parth

This thesis describes the centrifugal forming and resulting mechanical properties of silicone-based elastomers for the manufacture of soft robotic actuators. This process is effective at removing bubbles that get entrapped within 3D-printed, enclosed molds. Conventional methods for rapid prototyping of soft robotic actuators to remove entrapped bubbles typically involve degassing under vacuum, with open-faced molds that limit the layout of formed parts to raised 2D geometries. As the functionality and complexity of soft robots increase, there is a need to mold complete 3D structures with controlled thicknesses or curvatures on multiples surfaces. In addition, characterization of the mechanical properties of common elastomers for these soft robots has lagged the development of new designs. As such, relationships between resulting material properties and processing parameters are virtually non-existent. One of the goals of this thesis is to provide guidelines and physical insights to relate the design, processing conditions, and resulting properties of soft robotic components to each other. Centrifugal forming with accelerations on the order of 100 g's is capable of forming bubble-free, true 3D components for soft robotic actuators, and resulting demonstrations in this work include an aquatic locomotor, soft gripper, and an actuator that straightens when pressurized. Finally, this work shows that the measured mechanical properties of 3D geometries fabricated within enclosed molds through centrifugal forming possess comparable mechanical properties to vacuumed materials formed from open-faced molds with raised 2D features.

Abbe's number and Cauchy's constant of iodine and selenium doped poly (methylmethacrylate) and polystyrene composites

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

Mehta, Sheetal, E-mail: smehta-29@yahoo.com; Das, Kallol, E-mail: smehta-29@yahoo.com; Keller, Jag Mohan, E-mail: smehta-29@yahoo.com

2014-04-24

Poly (methyl methacrylate) / Polystyrene and iodine / selenium hybrid matrixes have been prepared and characterized. Refractive index measurements were done at 390, 535, 590, 635 nm wavelengths. Abbe's number and Cauchy's constants of the iodine / selenium doped poly (methylmethacrylate) and polystyrene samples are being reported. The results also showed that the refractive index of the composite varies non-monotonically with the doping concentration at low iodine concentration or in the region of nanoparticles formation and is also dependent on thermal annealing.

The Effects of Using Microsoft Power Point on EFL Learners' Attitude and Anxiety: Case Study of Two Master Students of Didactics of English as a Foreign Language, Djillali Liabes University, Sidi Bel Abbes, Algeria

ERIC Educational Resources Information Center

Benghalem, Boualem

2015-01-01

This study aims to investigate the effects of using ICT tools such as Microsoft PowerPoint on EFL students' attitude and anxiety. The participants in this study were 40 Master 2 students of Didactics of English as a Foreign Language, Djillali Liabes University, Sidi Bel Abbes Algeria. In order to find out the effects of Microsoft PowerPoint on EFL…

Collaborative Defense of Transmission and Distribution Protection and Control Devices Against Cyber Attacks (CODEF) DE-OE0000674. ABB Inc. Final Scientific/Technical Report

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

Nuqui, Reynaldo

This report summarizes the activities conducted under the DOE-OE funded project DEOE0000674, where ABB Inc. (ABB), in collaboration with University of Illinois at Urbana-Champaign (UIUC), Bonneville Power Administration (BPA), and Ameren-Illinois (Ameren-IL) pursued the development of a system of collaborative defense of electrical substation’s intelligent electronic devices against cyber-attacks (CODEF). An electrical substation with CODEF features will be more capable of mitigating cyber-attacks especially those that seek to control switching devices. It leverages the security extensions of IEC 61850 to empower existing devices to collaborate in identifying and blocking malicious intents to trip circuit breakers, mis-coordinate devices settings, even thoughmore » the commands and the measurements comply with correct syntax. The CODEF functions utilize the physics of electromagnetic systems, electric power engineering principles, and computer science to bring more in depth cyber defense closer to the protected substation devices.« less

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

NONE

This report supplements the final safety evaluation report (FSER) for the System 80+ standard design. The FSER was issued by the US Nuclear Regulatory Commission (NRC) staff as NUREG-1462 in August 1994 to document the NRC staff`s review of the System 80+ design. The System 80+ design was submitted by Asea Brown Boveri-Combustion Engineering (ABB-CE), in accordance with the procedures of Subpart B to Part 52 of Title 10 of the Code of Federal Regulations. This supplement documents the NRC staff`s review of the changes to the System 80+ design documentation since the issuance of the FSER. ABB-CE made thesemore » changes as a result of its review of the System 80+ design details. The NRC staff concludes that the changes to the System 80+ design documentation are acceptable, and that ABB-CE`s application for design certification meets the requirements of Subpart B to 10 CFR Part 52 that are applicable and technically relevant to the System 80+ design.« less

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

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

Meier, Horst; Laurischkat, Roman; Zhu Junhong

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

Robot-based additive manufacturing for flexible die-modelling in incremental sheet forming

NASA Astrophysics Data System (ADS)

Rieger, Michael; Störkle, Denis Daniel; Thyssen, Lars; Kuhlenkötter, Bernd

2017-10-01

The paper describes the application concept of additive manufactured dies to support the robot-based incremental sheet metal forming process (`Roboforming') for the production of sheet metal components in small batch sizes. Compared to the dieless kinematic-based generation of a shape by means of two cooperating industrial robots, the supporting robot models a die on the back of the metal sheet by using the robot-based fused layer manufacturing process (FLM). This tool chain is software-defined and preserves the high geometrical form flexibility of Roboforming while flexibly generating support structures adapted to the final part's geometry. Test series serve to confirm the feasibility of the concept by investigating the process challenges of the adhesion to the sheet surface and the general stability as well as the influence on the geometric accuracy compared to the well-known forming strategies.

Impact Properties at Different Temperatures of Flush-Riveted Joints for Aircraft Manufactured by Various Riveting Methods

DTIC Science & Technology

1945-09-01

available. Also, very little work appears to have been reported on the effect of heat treatment on the lowt* HACA ABB Ho. 6T07 13 temperature impact...rivets in 24S-T aluminum-alloy sheet. II. Treatment . The 8amples were mounted and ground and polished in the usual manner. Etching was done by...had been subjected to the low temperature 16 NACA ABB So. 6T07 treatment , and this hold for the specimens which had been at 70° 7 for 38 hours after

Influence of part orientation on the geometric accuracy in robot-based incremental sheet metal forming

NASA Astrophysics Data System (ADS)

Störkle, Denis Daniel; Seim, Patrick; Thyssen, Lars; Kuhlenkötter, Bernd

2016-10-01

This article describes new developments in an incremental, robot-based sheet metal forming process (`Roboforming') for the production of sheet metal components for small lot sizes and prototypes. The dieless kinematic-based generation of the shape is implemented by means of two industrial robots, which are interconnected to a cooperating robot system. Compared to other incremental sheet metal forming (ISF) machines, this system offers high geometrical form flexibility without the need of any part-dependent tools. The industrial application of ISF is still limited by certain constraints, e.g. the low geometrical accuracy. Responding to these constraints, the authors present the influence of the part orientation and the forming sequence on the geometric accuracy. Their influence is illustrated with the help of various experimental results shown and interpreted within this article.

I-PFO: the new technology for simple and flexible implementation of high productive on-the-fly remote processes

NASA Astrophysics Data System (ADS)

Müllegger, Andreas; Ryba, Tracey

2017-02-01

Standardized production systems which can be implemented, programmed, maintained and sourced in a simple and efficient way are key for a successful global production of automobiles or related parts at component suppliers. This is also valid for systems, which are built by laser based processes. One of the key applications is remote laser welding (RLW) of "Body in White" (BIW) parts (such as hang-on parts, B-Pillars, side frames, etc.), but also builtin components (such as car seats, batteries, etc.). The majority of RLW applications are based on the implementation of a 3-D scanner optic (e.g. the PFO 3D from TRUMPF) which positions the laser beam on the various component surfaces to be welded. Over the past 10 years it has been proven that the most efficient way to build up the RLW process is to have a system where an industrial robot and a scanner optic are combined in one production cell. They usually cooperate within an "On-The-Fly" (OTF) process as this ensures minimum cycle times. Until now there are several technologies on the market which can coordinate both the robot and scanner in the OTF mode. But none of them meet all requirements of global standardized production solutions. With the introduction of the I-PFO (Intelligent Programmable Focusing Optics) technology the situation has changed. It is now possible to program or adopt complex remote processes in a fast and easy way by the "Teach-in" function via the robot teach pendant. Additionally a 3D offline designer software is an option for this system. It automatically creates the ideal remote process based on the part, fixture, production cell and required process parameters. The I-PFO technology doesn't need additional hardware due to the fact that it runs on the controller within the PFO 3D. Furthermore it works together with different types of industrial robots (e.g. ABB, Fanuc and KUKA) which allow highest flexibility for the production planning phase. Finally a single TRUMPF laser source can supply up to six I-PFOs. This guarantees maximum beam-on time at the production line. Within this report the concept of the I-PFO technology (with mentioned functions) is described and is compared to the other existing ways for Remote Laser processing.

Use of Elements of the Stewart Model (Strong Ion Approach) - SID3, SID4, Atot/A-, SIDe and SIG for the Diagnostics of Respiratory Acidosis in Brachycephalic Dogs.

PubMed

Sławuta, P; Sapikowski, G; Sobieraj, B

2016-09-01

Buffer systems of blood and tissues, which have the ability to bind with and give up hydrogen ions, participate in maintaining the acid-base balance (ABB) of the organism. According to the classic model, the system of carbonic acid and bicarbonates, where the first component serves the role of an acid and the second a base, determines plasma pH. The so-called Stewart model, which assumes that ions in blood serum can be separated into completely dissociated - nonbuffer and not dissociated - buffer ions which may give up or accept H+ions, also describes the ABB of the organism. The goal of the study was to find out whether, during respiratory acidosis, the values of SID3, SID4, Atot/A-, SIDe and SIG change. The study was carried out on 60 adult dogs of the boxer breed (32 males and 28 females) in which, on the basis of an arterial blood test, respiratory acidosis was found. A strong overgrowth of the soft palate tissue requiring a surgical correction was the cause of the ABB disorder. Prior to surgery and on the 14th day after the surgery, venous and arterial blood was drawn from each dog. ABB parameters were determined in the arterial blood sample: the blood pH, pCO2 and HCO3-. In the venous blood, concentration of Na+, K+, Cl-, lactate-, albumins, and Pinorganic was determined. On the basis of the obtained data, the values of SID3, SID4, SIDe, A- and SIG, before and after the surgery, were calculated. In spite of the fact that the average concentration of ions, albumins, Pinorganic and lactate in the blood serum of dogs before and after the surgical procedure was similar and within the physiological norms, the values of SID3, SIDe and SIG, calculated on the basis of the former, displayed statistically significant differences. On the basis of the results obtained, it can be stated that the values of SID3, SIDe and SIG change during respiratory acidosis and may be helpful in the diagnostics of ABB disorders in brachycephalic dogs.

Evaluation of the results of simultaneous open rhinoplasty and Abbe flap for the reconstruction of the secondary bilateral cleft and nasal deformity.

PubMed

Eski, Muhitdin; Aykan, Andac; Alhan, Dogan; Zor, Fatih; Isik, Selcuk

2015-06-01

We aimed to evaluate the results of simultaneous rhinoplasty and Abbe flap for the reconstruction of the secondary bilateral cleft and nasal deformity by means of a newly developed software-based method. A total of 16 patients with the bilateral cleft lip nasal deformity received Abbe flap and simultaneous open rhinoplasty between 2004 and 2010. The mean age of the patients was 21 years, and the average follow-up time was 2.4 years. After the open rhinoplasty procedure, the upper lip was reconstructed with the Abbe flap. Preoperative and postoperative photographs that had been taken laterally were evaluated by using Adobe Photoshop(®) CS4 and Adobe InDesign(®) software. The length of the columella and the relative changes of the most anterior point of the upper lip to the vertical plane tangent to the most anterior point of the lower lip were measured in pixels on standardized preoperative and postoperative images. The differences were calculated and compared as a percentage (%). There was no flap loss and associated problems. The measurements of columellar length revealed an average increase of 51.8 ± 11.3%, while the relative change of the most anterior point of the upper lip revealed an average increase of 68.6 ± 11.2%. The results of the treatment modality were successfully evaluated by a newly developed software-based method. Copyright © 2015 British Association of Plastic, Reconstructive and Aesthetic Surgeons. Published by Elsevier Ltd. All rights reserved.

Interactive language learning by robots: the transition from babbling to word forms.

PubMed

Lyon, Caroline; Nehaniv, Chrystopher L; Saunders, Joe

2012-01-01

The advent of humanoid robots has enabled a new approach to investigating the acquisition of language, and we report on the development of robots able to acquire rudimentary linguistic skills. Our work focuses on early stages analogous to some characteristics of a human child of about 6 to 14 months, the transition from babbling to first word forms. We investigate one mechanism among many that may contribute to this process, a key factor being the sensitivity of learners to the statistical distribution of linguistic elements. As well as being necessary for learning word meanings, the acquisition of anchor word forms facilitates the segmentation of an acoustic stream through other mechanisms. In our experiments some salient one-syllable word forms are learnt by a humanoid robot in real-time interactions with naive participants. Words emerge from random syllabic babble through a learning process based on a dialogue between the robot and the human participant, whose speech is perceived by the robot as a stream of phonemes. Numerous ways of representing the speech as syllabic segments are possible. Furthermore, the pronunciation of many words in spontaneous speech is variable. However, in line with research elsewhere, we observe that salient content words are more likely than function words to have consistent canonical representations; thus their relative frequency increases, as does their influence on the learner. Variable pronunciation may contribute to early word form acquisition. The importance of contingent interaction in real-time between teacher and learner is reflected by a reinforcement process, with variable success. The examination of individual cases may be more informative than group results. Nevertheless, word forms are usually produced by the robot after a few minutes of dialogue, employing a simple, real-time, frequency dependent mechanism. This work shows the potential of human-robot interaction systems in studies of the dynamics of early language acquisition.

Combined cycle comes to the Philippines

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

NONE

1995-03-01

The first combined cycle power station in the Philippines has gone into operation at National Power Corporation`s (NPC) Limay Bataan site, some 40 km west of Manila. The plant comprises two 300 MW blocks in 3+3+1 configuration, based on ABB Type GT11N gas turbines. It was built by a consortium of ABB, with their Japanese licensee Kawasaki Heavy Industries, and Marubeni Corporation. This paper discusses Philippine power production, design and operation of the Limay Bataan plant, and conversion of an existing turbine of the nuclear plant project that was abandoned earlier, into a combined cycle operation. 6 figs.

Pair and triple correlations in the A+B-->B diffusion-controlled reaction

NASA Astrophysics Data System (ADS)

Kuzovkov, Vladimir; Kotomin, Eugene

1994-03-01

An exact solution for the one-dimensional kinetics of the diffusion-controlled reaction A+B-->B is obtained by means of the three-particle correlation functions. Because of a lattice discreteness each site could be occupied by a single particle only which leads to the so-called ``bus effect'': Recombination of any particle A is defined by a spatial configuration of two nearest particles B only surrounding A from its left and right. This results in the unusual algebraic decay law, n(t)~t-1, which asymptotically (as t-->∞) does not depend on the trap B concentration.

Validity and reliability of the robotic objective structured assessment of technical skills

PubMed Central

Siddiqui, Nazema Y.; Galloway, Michael L.; Geller, Elizabeth J.; Green, Isabel C.; Hur, Hye-Chun; Langston, Kyle; Pitter, Michael C.; Tarr, Megan E.; Martino, Martin A.

2015-01-01

Objective Objective structured assessments of technical skills (OSATS) have been developed to measure the skill of surgical trainees. Our aim was to develop an OSATS specifically for trainees learning robotic surgery. Study Design This is a multi-institutional study in eight academic training programs. We created an assessment form to evaluate robotic surgical skill through five inanimate exercises. Obstetrics/gynecology, general surgery, and urology residents, fellows, and faculty completed five robotic exercises on a standard training model. Study sessions were recorded and randomly assigned to three blinded judges who scored performance using the assessment form. Construct validity was evaluated by comparing scores between participants with different levels of surgical experience; inter- and intra-rater reliability were also assessed. Results We evaluated 83 residents, 9 fellows, and 13 faculty, totaling 105 participants; 88 (84%) were from obstetrics/gynecology. Our assessment form demonstrated construct validity, with faculty and fellows performing significantly better than residents (mean scores: 89 ± 8 faculty; 74 ± 17 fellows; 59 ± 22 residents, p<0.01). In addition, participants with more robotic console experience scored significantly higher than those with fewer prior console surgeries (p<0.01). R-OSATS demonstrated good inter-rater reliability across all five drills (mean Cronbach's α: 0.79 ± 0.02). Intra-rater reliability was also high (mean Spearman's correlation: 0.91 ± 0.11). Conclusions We developed an assessment form for robotic surgical skill that demonstrates construct validity, inter- and intra-rater reliability. When paired with standardized robotic skill drills this form may be useful to distinguish between levels of trainee performance. PMID:24807319

Intelligence for Human-Assistant Planetary Surface Robots

NASA Technical Reports Server (NTRS)

Hirsh, Robert; Graham, Jeffrey; Tyree, Kimberly; Sierhuis, Maarten; Clancey, William J.

2006-01-01

The central premise in developing effective human-assistant planetary surface robots is that robotic intelligence is needed. The exact type, method, forms and/or quantity of intelligence is an open issue being explored on the ERA project, as well as others. In addition to field testing, theoretical research into this area can help provide answers on how to design future planetary robots. Many fundamental intelligence issues are discussed by Murphy [2], including (a) learning, (b) planning, (c) reasoning, (d) problem solving, (e) knowledge representation, and (f) computer vision (stereo tracking, gestures). The new "social interaction/emotional" form of intelligence that some consider critical to Human Robot Interaction (HRI) can also be addressed by human assistant planetary surface robots, as human operators feel more comfortable working with a robot when the robot is verbally (or even physically) interacting with them. Arkin [3] and Murphy are both proponents of the hybrid deliberative-reasoning/reactive-execution architecture as the best general architecture for fully realizing robot potential, and the robots discussed herein implement a design continuously progressing toward this hybrid philosophy. The remainder of this chapter will describe the challenges associated with robotic assistance to astronauts, our general research approach, the intelligence incorporated into our robots, and the results and lessons learned from over six years of testing human-assistant mobile robots in field settings relevant to planetary exploration. The chapter concludes with some key considerations for future work in this area.

Robots as Language Learning Tools

ERIC Educational Resources Information Center

Collado, Ericka

2017-01-01

Robots are machines that resemble different forms, usually those of humans or animals, that can perform preprogrammed or autonomous tasks (Robot, n.d.). With the emergence of STEM programs, there has been a rise in the use of robots in educational settings. STEM programs are those where students study science, technology, engineering and…

Long-term knowledge acquisition using contextual information in a memory-inspired robot architecture

NASA Astrophysics Data System (ADS)

Pratama, Ferdian; Mastrogiovanni, Fulvio; Lee, Soon Geul; Chong, Nak Young

2017-03-01

In this paper, we present a novel cognitive framework allowing a robot to form memories of relevant traits of its perceptions and to recall them when necessary. The framework is based on two main principles: on the one hand, we propose an architecture inspired by current knowledge in human memory organisation; on the other hand, we integrate such an architecture with the notion of context, which is used to modulate the knowledge acquisition process when consolidating memories and forming new ones, as well as with the notion of familiarity, which is employed to retrieve proper memories given relevant cues. Although much research has been carried out, which exploits Machine Learning approaches to provide robots with internal models of their environment (including objects and occurring events therein), we argue that such approaches may not be the right direction to follow if a long-term, continuous knowledge acquisition is to be achieved. As a case study scenario, we focus on both robot-environment and human-robot interaction processes. In case of robot-environment interaction, a robot performs pick and place movements using the objects in the workspace, at the same time observing their displacement on a table in front of it, and progressively forms memories defined as relevant cues (e.g. colour, shape or relative position) in a context-aware fashion. As far as human-robot interaction is concerned, the robot can recall specific snapshots representing past events using both sensory information and contextual cues upon request by humans.

Above-bottom biomass retrieval of aquatic plants with regression models and SfM data acquired by a UAV platform - A case study in Wild Duck Lake Wetland, Beijing, China

NASA Astrophysics Data System (ADS)

Jing, Ran; Gong, Zhaoning; Zhao, Wenji; Pu, Ruiliang; Deng, Lei

2017-12-01

Above-bottom biomass (ABB) is considered as an important parameter for measuring the growth status of aquatic plants, and is of great significance for assessing health status of wetland ecosystems. In this study, Structure from Motion (SfM) technique was used to rebuild the study area with high overlapped images acquired by an unmanned aerial vehicle (UAV). We generated orthoimages and SfM dense point cloud data, from which vegetation indices (VIs) and SfM point cloud variables including average height (HAVG), standard deviation of height (HSD) and coefficient of variation of height (HCV) were extracted. These VIs and SfM point cloud variables could effectively characterize the growth status of aquatic plants, and thus they could be used to develop a simple linear regression model (SLR) and a stepwise linear regression model (SWL) with field measured ABB samples of aquatic plants. We also utilized a decision tree method to discriminate different types of aquatic plants. The experimental results indicated that (1) the SfM technique could effectively process high overlapped UAV images and thus be suitable for the reconstruction of fine texture feature of aquatic plant canopy structure; and (2) an SWL model based on point cloud variables: HAVG, HSD, HCV and two VIs: NGRDI, ExGR as independent variables has produced the best predictive result of ABB of aquatic plants in the study area, with a coefficient of determination of 0.84 and a relative root mean square error of 7.13%. In this analysis, a novel method for the quantitative inversion of a growth parameter (i.e., ABB) of aquatic plants in wetlands was demonstrated.

Megafaunal Community Structure of Andaman Seamounts Including the Back-Arc Basin – A Quantitative Exploration from the Indian Ocean

PubMed Central

Sautya, Sabyasachi; Ingole, Baban; Ray, Durbar; Stöhr, Sabine; Samudrala, Kiranmai; Raju, K. A. Kamesh; Mudholkar, Abhay

2011-01-01

Species rich benthic communities have been reported from some seamounts, predominantly from the Atlantic and Pacific Oceans, but the fauna and habitats on Indian Ocean seamounts are still poorly known. This study focuses on two seamounts, a submarine volcano (cratered seamount – CSM) and a non-volcano (SM2) in the Andaman Back–arc Basin (ABB), and the basin itself. The main purpose was to explore and generate regional biodiversity data from summit and flank (upper slope) of the Andaman seamounts for comparison with other seamounts worldwide. We also investigated how substratum types affect the megafaunal community structure along the ABB. Underwater video recordings from TeleVision guided Gripper (TVG) lowerings were used to describe the benthic community structure along the ABB and both seamounts. We found 13 varieties of substratum in the study area. The CSM has hard substratum, such as boulders and cobbles, whereas the SM2 was dominated by cobbles and fine sediment. The highest abundance of megabenthic communities was recorded on the flank of the CSM. Species richness and diversity were higher at the flank of the CSM than other are of ABB. Non-metric multi-dimensional scaling (nMDS) analysis of substratum types showed 50% similarity between the flanks of both seamounts, because both sites have a component of cobbles mixed with fine sediments in their substratum. Further, nMDS of faunal abundance revealed two groups, each restricted to one of the seamounts, suggesting faunal distinctness between them. The sessile fauna corals and poriferans showed a significant positive relation with cobbles and fine sediments substratum, while the mobile categories echinoderms and arthropods showed a significant positive relation with fine sediments only. PMID:21297959

Firing system modification to alter ash properties for reduction of deposition and slagging under low NOx firing conditions

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

Hart, D.; Lewis, R.; Tobiasz, R.

1998-07-01

The composition and properties of ash formed during coal firing have a major impact on boiler performance. Higher ash content in the coal can mean higher costs associated with coal handling, transportation, ash removal and ash disposal along with higher costs due to the increased ash content's deleterious effects on pulverizing, combustion and heat transfer. ABB C-E Services, Inc. has conducted research what might be done to minimize the adverse effects of ash on boiler performance for many years. Recently, ABB C-E Services has studied the effects of firing system modifications on ash composition and properties and the effect thesemore » firing system modifications have on overall furnace performance. The subject of this paper is the impact of the installation of the CFS{trademark} yaw angles were varied and particle samples were collected at the waterwalls for the different yaw angles tested. These ash samples were analyzed for ash composition. The results showed that with a larger CFS{trademark} yaw angle (the air stream directed more towards the boiler walls) the base/acid ratio, iron content and sulfur content of the particle samples collected at the waterwall were reduced. This effect is due to several contributing factors: (1) an oxidizing environment produced by injecting more air toward the walls; and (2) an aerodynamic change which impacts the particle combustion time/temperature history.« less

Bearing-based localization for leader-follower formation control

PubMed Central

Han, Qing; Ren, Shan; Lang, Hao; Zhang, Changliang

2017-01-01

The observability of the leader robot system and the leader-follower formation control are studied. First, the nonlinear observability is studied for when the leader robot observes landmarks. Second, the system is shown to be completely observable when the leader robot observes two different landmarks. When the leader robot system is observable, multi-robots can rapidly form and maintain a formation based on the bearing-only information that the follower robots observe from the leader robot. Finally, simulations confirm the effectiveness of the proposed formation control. PMID:28426706

Learning to Explain: The Role of Educational Robots in Science Education

ERIC Educational Resources Information Center

Datteri, Edoardo; Zecca, Luisa; Laudisa, Federico; Castiglioni, Marco

2013-01-01

Educational robotics laboratories typically involve building and programming robotic systems to perform particular tasks or solve problems. In this paper we explore the potential educational value of a form of robot-supported educational activity that has been little discussed in the literature. During these activities, primary school children are…

Exoskeleton Enhancements for Marines: Tactical-level Technology for an Operational Consequence

DTIC Science & Technology

2010-01-01

wearable mechanical capability to assist Marines in the form of a robotic anthropomorphic exoskeleton system. This capability may be a key enabler to...or human attributes.”37 In this case exoskeletons are a device that follows the human form and direction. "Exoskeleton" within the robotics community...technology. An exoskeleton is not a panacea and will likely still require parallel development with other robotic alternatives to support

Using sensor habituation in mobile robots to reduce oscillatory movements in narrow corridors.

PubMed

Chang, Carolina

2005-11-01

Habituation is a form of nonassociative learning observed in a variety of species of animals. Arguably, it is the simplest form of learning. Nonetheless, the ability to habituate to certain stimuli implies plastic neural systems and adaptive behaviors. This paper describes how computational models of habituation can be applied to real robots. In particular, we discuss the problem of the oscillatory movements observed when a Khepera robot navigates through narrow hallways using a biologically inspired neurocontroller. Results show that habituation to the proximity of the walls can lead to smoother navigation. Habituation to sensory stimulation to the sides of the robot does not interfere with the robot's ability to turn at dead ends and to avoid obstacles outside the hallway. This paper shows that simple biological mechanisms of learning can be adapted to achieve better performance in real mobile robots.

Monitoring of temperature-mediated phase transitions of adipose tissue by combined optical coherence tomography and Abbe refractometry.

PubMed

Yanina, Irina Y; Popov, Alexey P; Bykov, Alexander V; Meglinski, Igor V; Tuchin, Valery V

2018-01-01

Observation of temperature-mediated phase transitions between lipid components of the adipose tissues has been performed by combined use of the Abbe refractometry and optical coherence tomography. The phase transitions of the lipid components were clearly observed in the range of temperatures from 24°C to 60°C, and assessed by quantitatively monitoring the changes of the refractive index of 1- to 2-mm-thick porcine fat tissue slices. The developed approach has a great potential as an alternative method for obtaining accurate information on the processes occurring during thermal lipolysis. (2018) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE).

ABB's advanced steam turbine program

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

Chellini, R.

Demand for industrial steam turbines for combined-cycle applications and cogeneration plants has influenced turbine manufacturers to standardize their machines to reduce delivery time and cost. ABB, also a supplier of turnkey plants, manufactures steam turbines in Finspong, Sweden, at the former ASEA Stal facilities and in Nuernberg, Germany, at the former AEG facilities. The companies have joined forces, setting up the advanced Steam Turbine Program (ATP) that, once completed, will cover a power range from two to 100 MW. The company decided to use two criteria as a starting point, the high efficiency design of the Swedish turbines and themore » high reliability of the German machines. Thus, the main task was combining the two designs in standard machines that could be assembled quickly into predefined packages to meet specific needs of combined-cycle and cogeneration plants specified by customers. In carrying out this project, emphasis was put on cost reduction as one of the main goals. The first results of the ATP program, presented by ABB Turbinen Nuernberg, is the range of 2-30 MW turbines covered by two frame sizes comprising standard components supporting the thermodynamic module. An important feature is the standardization of the speed reduction gearbox.« less

Blood Chemistry Reference Values for Free-Ranging Asiatic Black Bears ( Ursus thibetanus) by Season, Age, and Sex.

PubMed

Yang, Jeong-Jin; Jeong, Dong-Hyuk; Lim, Yoon-Kyu

2018-04-19

Physiological characteristics, such as blood chemistry values, are valuable for evaluating the health of the animals. To our knowledge, these values have never been reported for the free-ranging Asiatic black bear ( Ursus thibetanus; ABB). Thus, 28 blood chemistry values from 50 free-ranging ABBs captured in Jirisan National Park, Republic of Korea, from 2005 to 2016 were evaluated. The aim of this study was to establish blood chemistry reference values for the free-ranging ABBs during both the hibernating and nonhibernating seasons. During hibernation, mean values of creatinine (CRE), total cholesterol, total protein (TP), albumin (ALB), triglycerides, and Mg were significantly higher than those during nonhibernation; however, mean values of blood urea nitrogen, urea nitrogen to creatinine (U/C) ratio, inorganic phosphorous (IP), aspartate aminotransferase, alanine aminotransferase, gamma-glutamyl transferase, lactate dehydrogenase (LDH), high-density lipoprotein cholesterol, and alkaline phosphatase (ALP) were significantly lower. Age differences (young vs. adult) were found in IP, LDH, TP, and ALB values during hibernation and in the U/C ratio, Ca, IP, ALP, creatine kinase myocardial band, CRE, total bilirubin, and uric acid values during nonhibernation. However, there were no sex differences (male vs. female).

Spatial abstraction for autonomous robot navigation.

PubMed

Epstein, Susan L; Aroor, Anoop; Evanusa, Matthew; Sklar, Elizabeth I; Parsons, Simon

2015-09-01

Optimal navigation for a simulated robot relies on a detailed map and explicit path planning, an approach problematic for real-world robots that are subject to noise and error. This paper reports on autonomous robots that rely on local spatial perception, learning, and commonsense rationales instead. Despite realistic actuator error, learned spatial abstractions form a model that supports effective travel.

RoMPS concept review automatic control of space robot, volume 2

NASA Technical Reports Server (NTRS)

Dobbs, M. E.

1991-01-01

Topics related to robot operated materials processing in space (RoMPS) are presented in view graph form and include: (1) system concept; (2) Hitchhiker Interface Requirements; (3) robot axis control concepts; (4) Autonomous Experiment Management System; (5) Zymate Robot Controller; (6) Southwest SC-4 Computer; (7) oven control housekeeping data; and (8) power distribution.

Robotic Literacy Learning Companions: Exploring Student Engagement with a Humanoid Robot in an Afterschool Literacy Program

ERIC Educational Resources Information Center

Levchak, Sofia

2016-01-01

This study was an investigation of the use of a NAO humanoid robot as an effective tool for engaging readers in an afterschool program as well as to find if increasing engagement using a humanoid robot would affect students' reading comprehension when compared to traditional forms of instruction. The targeted population of this study was…

Using Multi-Robot Systems for Engineering Education: Teaching and Outreach with Large Numbers of an Advanced, Low-Cost Robot

ERIC Educational Resources Information Center

McLurkin, J.; Rykowski, J.; John, M.; Kaseman, Q.; Lynch, A. J.

2013-01-01

This paper describes the experiences of using an advanced, low-cost robot in science, technology, engineering, and mathematics (STEM) education. It presents three innovations: It is a powerful, cheap, robust, and small advanced personal robot; it forms the foundation of a problem-based learning curriculum; and it enables a novel multi-robot…

Robotic Form-Finding and Construction Based on the Architectural Projection Logic

NASA Astrophysics Data System (ADS)

Zexin, Sun; Mei, Hongyuan

2017-06-01

In this article we analyze the relationship between the architectural drawings and form-finding, indicate that architects should reuse and redefine the traditional architectural drawings as a from-finding tool. Explain the projection systems and analyze how these systems affected the architectural design. Use robotic arm to do the experiment and establish a cylindrical projection form-finding system.

The effect of collision avoidance for autonomous robot team formation

NASA Astrophysics Data System (ADS)

Seidman, Mark H.; Yang, Shanchieh J.

2007-04-01

As technology and research advance to the era of cooperative robots, many autonomous robot team algorithms have emerged. Shape formation is a common and critical task in many cooperative robot applications. While theoretical studies of robot team formation have shown success, it is unclear whether such algorithms will perform well in a real-world environment. This work examines the effect of collision avoidance schemes on an ideal circle formation algorithm, but behaves similarly if robot-to-robot communications are in place. Our findings reveal that robots with basic collision avoidance capabilities are still able to form into a circle, under most conditions. Moreover, the robot sizes, sensing ranges, and other critical physical parameters are examined to determine their effects on algorithm's performance.

A power-autonomous self-rolling wheel using ionic and capacitive actuators

NASA Astrophysics Data System (ADS)

Must, Indrek; Kaasik, Toomas; Baranova, Inna; Johanson, Urmas; Punning, Andres; Aabloo, Alvo

2015-04-01

Ionic electroactive polymer (IEAP) laminates are often considered as perspective actuator technology for mobile robotic appliances; however, only a few real proof-of-concept-stage robots have been built previously, a majority of which are dependent on an off-board power supply. In this work, a power-autonomous robot, propelled by four IEAP actuators having carbonaceous electrodes, is constructed. The robot consists of a light outer section in the form of a hollow cylinder, and a heavy inner section, referred to as the rim and the hub, respectively. The hub is connected to the rim using IEAP actuators, which form `spokes' of variable length. The effective length of the spokes is changed via charging and discharging of the capacitive IEAP actuators and a change in the effective lengths of the spokes eventuate in a rolling motion of the robot. The constructed IEAP robot takes advantage of the distinctive properties of the IEAP actuators. The IEAP actuators transform the geometry of the whole robot, while being soft and compliant. The low-voltage IEAP actuators in the robot are powered directly from an embedded single-cell lithium-ion battery, with no voltage regulation required; instead, only the input current is regulated. The charging of the actuators is commuted correspondingly to the robot's transitory position using an on-board control electronics. The constructed robot is able to roll for an extended period on a smooth surface. The locomotion of the IEAP robot is analyzed using video recognition.

Autobalancing of a rigid rotor in viscoelastic orthotropic supports considering eccentricity of the automatic ball balancer

NASA Astrophysics Data System (ADS)

Bykov, V. G.; Kovachev, A. S.

2018-05-01

A statically unbalanced rotor in viscoelastic orthotropic supports equipped with an automatic ball balancer (ABB), the axis of symmetry of which does not coincide with the symmetry axis of the rotor, is considered. Based on an analysis of the equations describing the stationary modes of motion of the system, the principal impossibility of complete balancing of the rotor is shown. The possibility of the existence of two types of stationary modes is established, one of which has a constant average amplitude of residual vibration equal to the eccentricity of the ABB. The solution corresponding to this almost balanced mode is constructed analytically. A study is made of its asymptotic stability.

Historical model for editor and Office of Research Integrity cooperation in handling allegations, investigation, and retraction in a contentious (Abbs) case of research misconduct.

PubMed

Price, Alan R; Daroff, Robert B

2015-01-01

Cooperation between a journal editor and the federal Office of Research Integrity (ORI) in addressing investigations of research misconduct, each performing their own responsibilities while keeping each other informed of events and evidence, can be critical to the professional and regulatory resolution of a case. This paper describes the history of one of ORI's most contentious investigations that involved falsification of research on Parkinson's disease patients by James Abbs, Professor of Neurology, University of Wisconsin, published in the journal Neurology, which was handled cooperatively by the authors, who were the chief ORI investigator and the Editor-in-Chief of Neurology, respectively.

Research on Snake-Like Robot with Controllable Scales

NASA Astrophysics Data System (ADS)

Chen, Kailin; Zhao, Yuting; Chen, Shuping

The purpose of this paper is to propose a new structure for a snake-like robot. This type of snake-like robot is different from the normal snake-like robot because it has lots of controllable scales which have a large role in helping moving. Besides, a new form of robot gait named as linear motion mode is developed based on theoretical analysis for the new mechanical structure. Through simulation and analysis in simmechanics of matlab, we proved the validity of theories about the motion mode of snake-like robot. The proposed machine construction and control method for the designed motion is verified experimentally by the independent developed snake robot.

Dynamic Modelling Of A SCARA Robot

NASA Astrophysics Data System (ADS)

Turiel, J. Perez; Calleja, R. Grossi; Diez, V. Gutierrez

1987-10-01

This paper describes a method for modelling industrial robots that considers dynamic approach to manipulation systems motion generation, obtaining the complete dynamic model for the mechanic part of the robot and taking into account the dynamic effect of actuators acting at the joints. For a four degree of freedom SCARA robot we obtain the dynamic model for the basic (minimal) configuration, that is, the three degrees of freedom that allow us to place the robot end effector in a desired point, using the Lagrange Method to obtain the dynamic equations in matrix form. The manipulator is considered to be a set of rigid bodies inter-connected by joints in the form of simple kinematic pairs. Then, the state space model is obtained for the actuators that move the robot joints, uniting the models of the single actuators, that is, two DC permanent magnet servomotors and an electrohydraulic actuator. Finally, using a computer simulation program written in FORTRAN language, we can compute the matrices of the complete model.

Framework for robot skill learning using reinforcement learning

NASA Astrophysics Data System (ADS)

Wei, Yingzi; Zhao, Mingyang

2003-09-01

Robot acquiring skill is a process similar to human skill learning. Reinforcement learning (RL) is an on-line actor critic method for a robot to develop its skill. The reinforcement function has become the critical component for its effect of evaluating the action and guiding the learning process. We present an augmented reward function that provides a new way for RL controller to incorporate prior knowledge and experience into the RL controller. Also, the difference form of augmented reward function is considered carefully. The additional reward beyond conventional reward will provide more heuristic information for RL. In this paper, we present a strategy for the task of complex skill learning. Automatic robot shaping policy is to dissolve the complex skill into a hierarchical learning process. The new form of value function is introduced to attain smooth motion switching swiftly. We present a formal, but practical, framework for robot skill learning and also illustrate with an example the utility of method for learning skilled robot control on line.

Architectural setup for online monitoring and control of process parameters in robot-based ISF

NASA Astrophysics Data System (ADS)

Störkle, Denis Daniel; Thyssen, Lars; Kuhlenkötter, Bernd

2017-10-01

This article describes new developments in an incremental, robot-based sheet metal forming process (Roboforming) for the production of sheet metal components for small lot sizes and prototypes. The dieless kinematic-based generation of the shape is implemented by means of two industrial robots, which are interconnected to a cooperating robot system. Compared to other incremental sheet forming (ISF) machines, this system offers high geometrical design flexibility without the need of any part-dependent tools. However, the industrial application of ISF is still limited by certain constraints, e.g. the low geometrical accuracy. Responding to these constraints, the authors introduce a new architectural setup extending the current one by a superordinate process control. This sophisticated control consists of two modules, i.e. the compensation of the two industrial robots' low structural stiffness as well as a combined force/torque control. It is assumed that this contribution will lead to future research and development projects in which the authors will thoroughly investigate ISF process parameters influencing the geometric accuracy of the forming results.

Evolving and Controlling Perimeter, Rendezvous, and Foraging Behaviors in a Computation-Free Robot Swarm

DTIC Science & Technology

2016-04-01

cheap, disposable swarms of robots that can accomplish these tasks quickly and with- out much human supervision. While there has been a lot of work...have shown that swarms of robots so dumb that they have no computational power–they can’t even add or subtract, and have no memory can still collec...behaviors can be achieved using swarms of computation-free robots . Our work starts with the simple robot model proposed in [6] and adds a form of

Robotic technology evolution and transfer

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.

1992-01-01

A report concerning technology transfer in the area of robotics is presented in vugraph form. The following topics are discussed: definition of technology innovation and tech-transfer; concepts relevant for understanding tech-transfer; models advanced to portray tech-transfer process; factors identified as promoting tech-transfer; factors identified as impeding tech-transfer; what important roles do individuals fulfill in tech-transfer; federal infrastructure for promoting tech-transfer; federal infrastructure for promoting tech-transfer; robotic technology evolution; robotic technology transferred; and recommendations for successful robotics tech-transfer.

Implementation of Temperature Sequential Controller on Variable Speed Drive

NASA Astrophysics Data System (ADS)

Cheong, Z. X.; Barsoum, N. N.

2008-10-01

There are many pump and motor installations with quite extensive speed variation, such as Sago conveyor, heating, ventilation and air conditioning (HVAC) and water pumping system. A common solution for these applications is to run several fixed speed motors in parallel, with flow control accomplish by turning the motors on and off. This type of control method causes high in-rush current, and adds a risk of damage caused by pressure transients. This paper explains the design and implementation of a temperature speed control system for use in industrial and commercial sectors. Advanced temperature speed control can be achieved by using ABB ACS800 variable speed drive-direct torque sequential control macro, programmable logic controller and temperature transmitter. The principle of direct torque sequential control macro (DTC-SC) is based on the control of torque and flux utilizing the stator flux field orientation over seven preset constant speed. As a result of continuous comparison of ambient temperature to the references temperatures; electromagnetic torque response is particularly fast to the motor state and it is able maintain constant speeds. Experimental tests have been carried out by using ABB ACS800-U1-0003-2, to validate the effectiveness and dynamic respond of ABB ACS800 against temperature variation, loads, and mechanical shocks.

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

Not Available

This final safety evaluation report (FSER) documents the technical review of the System 80+ standard design by the US Nuclear Regulatory Commission (NRC) staff. The application for the System 80+ design was submitted by Combustion Engineering, Inc., now Asea Brown Boveri-Combustion Engineering (ABB-CE) as an application for design approval and subsequent design certification pursuant to 10 CFR {section} 52.45. System 80+ is a pressurized water reactor with a rated power of 3914 megawatts thermal (MWt) and a design power of 3992 MWt at which accidents are analyzed. Many features of the System 80+ are similar to those of Abb-CE`s Systemmore » 80 design from which it evolved. Unique features of the System 80+ design included: a large spherical, steel containment; an in-containment refueling water storage tank; a reactor cavity flooding system, hydrogen ignitors, and a safety depressurization system for severe accident mitigation; a combustion gas turbine for an alternate ac source; and an advanced digitally based control room. On the basis of its evaluation and independent analyses, the NRC staff concludes that ABB-CE`s application for design certification meets the requirements of Subpart B of 10 CFR Part 52 that are applicable and technically relevant to the System 80+ standard design. This document, Volume 1, contains Chapters 1 through 14 of this report.« less

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

Not Available

This final safety evaluation report (FSER) documents the technical review of the System 80+ standard design by the US Nuclear Regulatory Commission (NRC) staff. The application for the system 80+ design was submitted by Combustion Engineering, Inc., now Asea Brown Boveri-Combustion Engineering (ABB-CE) as an application for design approval and subsequent design certification pursuant to 10 CFR {section} 52.45. System 80+ is a pressurized water reactor with a rated power of 3914 megawatts thermal (MWt) and a design power of 3992 MWt at which accidents are analyzed. Many features of the System 80+ are similar to those of ABB-CE`s Systemmore » 80 design from which it evolved. Unique features of the System 80+ design include: a large spherical, steel containment; an in-containment refueling water storage tank; a reactor cavity flooding system, hydrogen ignitors and a safety depressurization system for severe accident mitigation; a combustion gas turbine for an alternate ac source; and an advanced digitally based control room. On the basis of its evaluation and independent analyses, the NRC staff concludes that ABB-CE`s application for design certification meets the requirements of Subpart B of 10 CFR Part 52 that are applicable and technically relevant to the System 80+ standard design. This document, Volume 2, contains Chapters 15 through 22 and Appendices A through E.« less

TiO2 nanoparticles for enhancing the refractive index of hydrogels for ophthalmological applications

NASA Astrophysics Data System (ADS)

Hampp, Norbert; Dams, Christian; Badur, Thorben; Reinhardt, Hendrik

2017-02-01

Intraocular lenses (IOL) are currently the only treatment for cataract dependent vision impairment and blindness [1]. A polymer suitable for IOL manufacture needs to meet a plurality of properties, biocompatibility, excellent transmission in the visible range, a high flexibility for micro invasive surgery, a high refractive index as well as a good ABBE-number, just to mention the most important ones [2]. We present the use of in situ generated TiO2-nanoparticles to enhance the refractive index of poly-HEMA hydrogels - with are suitable polymers for IOL manufacture[3] - from 1.44 to 1.527 at 589.3 nm combined with an excellent ABBE-number of 54. The nanoparticles were prepared using titaniumdiisopropoxide- bis(acetylacetonate) as a precursor. First the titanium salt was diffused into the poly-HEMA matrix and then it was transformed into TiO2 in boiling water. The resulting pHEMA [TiO2] hydrogel was dried for 10 days under ambient conditions. By lathing these polymers were machined into lens precursors, the so-called Saturn-rings. After reswelling in physiological saline solutions flexible polymer lenses with high surface quality, shape memory and superior optical properties were obtained. The crystal structure of the formed TiO2 nanoparticles was identified as anatase via Xray. No release of titanium ions or TiO2 nanoparticles was observe under physiological conditions. Such hybrid materials of TiO2 nanoparticles and poly-HEMA like hydrogels are promising materials for IOL.

Firing system modification to alter ash properties for reduction of deposition and slagging under low NOx firing conditions

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

Hart, D.; Lewis, R.; Tobiasz, R.

1998-12-31

The composition and properties of ash formed during coal firing have a major impact on boiler performance. Higher ash content in the coal can mean higher costs associated with coal handling, transportation, ash removal and ash disposal along with higher costs due to the increased ash content`s deleterious effects on pulverizing, combustion and heat transfer. ABB C-E Services, Inc. has conducted research for many years on what might be done to minimize the adverse effects of ash on boiler performance. Recently, ABB C-E Services has studied the effects of firing system modifications on ash composition and properties and the effectmore » these firing system modifications have on overall furnace performance. The subject of this paper is the impact of the installation of the CFS Concentric Firing System on the propensity for boiler wall ash deposition. For this study, CFS yaw angles were varied and particle samples were collected at the waterwalls for the different yaw angles tested. These ash samples were analyzed for ash composition. The results showed that with a larger CFS yaw angle (the air stream directed more towards the boiler walls) the base/acid ratio, iron content and sulfur content of the particle samples collected at the waterwall were reduced. This effect is due to several contributing factors: (1) an oxidizing environment produced by injecting more air toward the walls; and (2) an aerodynamic change which impacts the particle combustion time/temperature history.« less

Jerome Frank: Persuader and Exemplar.

ERIC Educational Resources Information Center

Meinecke, Christine E.

1987-01-01

Interviews Jerome Frank, psychologist and psychiatrist, about his personal development, significant others, professional contributions, the psychotherapeutic professions, and his commitment to nuclear disarmament. (Author/ABB)

Chromatic Properties of Index of Refraction Gradients in Glass.

NASA Astrophysics Data System (ADS)

Ryan-Howard, Danette Patrice

The chromatic properties of index of refraction gradients have been predicted theoretically and verified experimentally. The use of these materials in the design of color corrected optical systems has been investigated and confirmed by the evaluation of two fabricated lenses. A model for the chromatic properties of gradient index materials has been developed. The index of refraction is calculated based on the composition of the material. Since the index of refraction and the conventional Abbe number change as a function of the composition of the glass, a gradient Abbe number and a partial dispersion are defined. Analysis of combinations of ion exchange pairs and glasses result in a wide range of gradient Abbe numbers and partial dispersions. These ranges can be further extended by using glasses which contain more than one exchange ion or by using mixed salt baths. The chromatic properties were measured with a multiple wavelength A.C. interferometer. The gradient Abbe numbers and partial dispersions for a number of samples were calculated. Evaluation of the samples showed that the index and dispersion data correlated well with that predicted by the model. Thin lens formulae for the paraxial axial color and secondary spectrum of a radial gradient singlet with curves were examined. The design of a single element 10x microscope objective verified the applicability of these formulae. The design of a two element 40x microscope objective showed that a six element diffraction limited 40x objective can be replaced with a two element system composed of one homogeneous lens and one gradient lens without sacrificing either monochromatic performance or color correction. A previously fabricated axial gradient collimator and a fabricated Wood element were evaluated. Correlation of the directly measured quantities, paraxial axial color, secondary spectrum and spherochromatism with the values predicted by the model verified that the predicted superior performance of gradient-index lenses can be obtained.

Implementation of robotic force control with position accommodation

NASA Technical Reports Server (NTRS)

Ryan, Michael J.

1992-01-01

As the need for robotic manipulation in fields such as manufacturing and telerobotics increases, so does the need for effective methods of controlling the interaction forces between the manipulators and their environment. Position Accommodation (PA) is a form of robotic force control where the nominal path of the manipulator is modified in response to forces and torques sensed at the tool-tip of the manipulator. The response is tailored such that the manipulator emulates a mechanical impedance to its environment. PA falls under the category of position-based robotic force control, and may be viewed as a form of Impedance Control. The practical implementations are explored of PA into an 18 degree-of-freedom robotic testbed consisting of two PUMA 560 arms mounted on two 3 DOF positioning platforms. Single and dual-arm architectures for PA are presented along with some experimental results. Characteristics of position-based force control are discussed, along with some of the limitations of PA.

An overview of the program to place advanced automation and robotics on the Space Station

NASA Technical Reports Server (NTRS)

Heydorn, Richard P.

1987-01-01

The preliminary design phase of the Space Station has uncovered a large number of potential uses of automation and robotics, most of which deal with the assembly and operation of the Station. If NASA were to vigorously push automation and robotics concepts in the design, the Station crew would probably be free to spend a substantial portion of time on payload activities. However, at this point NASA has taken a conservative attitude toward automation and robotics. For example, the belief is that robotics should evolve through telerobotics and that uses of artificial intelligence should be initially used in an advisory capacity. This conservativeness is in part due to the new and untested nature of automation and robotics; but, it is also due to emphases plased on designing the Station to the so-called upfront cost without thoroughly understanding the life cycle cost. Presumably automation and robotics has a tendency to increase the initial cost of the Space Station but could substantially reduce the life cycle cost. To insure that NASA will include some form of robotic capability, Congress directed to set aside funding. While this stimulates the development of robotics, it does not necessarily stimulate uses of artificial intelligence. However, since the initial development costs of some forms of artificial intelligence, such as expert systems, are in general lower than they are for robotics one is likely to see several expert systems being used on the Station.

Are prognostic scores and biomarkers such as procalcitonin the appropriate prognostic precursors for elderly patients with sepsis in the emergency department?

PubMed

Lee, Woon Jeong; Woo, Seon Hee; Kim, Dae Hee; Seol, Seung Hwan; Park, Si Kyung; Choi, Seung Pill; Jekarl, Dong Wook; Lee, Seung Ok

2016-10-01

The mortality of patients with severe sepsis and septic shock is still high, and the prognosis of elderly patients tends to be particularly poor. Therefore, this study sought to conduct a comparative analysis of the abbreviated mortality in emergency department sepsis (abbMEDS) score, sequential organ failure assessment (SOFA) score, infection probability score (IPS), initial procalcitonin (PCT), and cytokine levels to investigate the effectiveness of each index in predicting the prognosis of elderly patients with sepsis in the emergency department (ED). This was a single-center prospective study, and classified 55 patients (≥65 years of age) with systemic inflammatory response syndrome (SIRS) from January 2013 to December 2013 in the ED. A total of 36 elderly patients were diagnosed with sepsis. The prediction of prognosis using the prognostic scores (abbMEDS, SOFA, IPS) was analyzed. An early blood examination (WBC count, C-reactive protein, PCT, and cytokines) was conducted within the first 2 h of the patient's arrival at the ED. The median (IQR) age of subjects was 76.5 (70.5-81.5). After 28 days, 27 subjects (75 %) had survived, and 9 (25 %) had died. Fifteen (41.7 %) were sent to intensive care units (ICUs). The SOFA score and abbMEDS showed higher median (IQR) values of 9.5 (7.0-11.0) and 13.5 (12.0-15.0), respectively, in the ICU group than in the general ward group (p < 0.001). Analysis of the levels of PCT, IL-10, IL-6, and IL-5 had a significantly better ability to predict ICU admission (p = 0.001, p = 0.023, p = 0.030, p = 0.001). The prediction of mortality in the first 28 days via SOFA and the abbMEDS resulted in scores of 11.0 (8.0-11.0) and 14.0 (12.5-15.5) (p = 0.004, p = 0.003), respectively. However, levels of IPS, PCT, and cytokines did not show significant differences. In predicting ICU admission and the death of elderly sepsis patients in ED, SOFA and abbMEDS scores were effective. Of the various biomarkers, PCT, IL-10, IL-6, and IL-5 were effective in predicting ICU admission, but were not effective in predicting the death of elderly sepsis patients.

The Effect of Endometriosis Symptoms on Absenteeism and Presenteeism in the Workplace and at Home.

PubMed

Soliman, Ahmed M; Coyne, Karin S; Gries, Katharine S; Castelli-Haley, Jane; Snabes, Michael C; Surrey, Eric S

2017-07-01

Characterized by pain symptoms, endometriosis affects women's productivity in their prime working years. To evaluate the effect of individual endometriosis symptoms on household chore and employment productivity as measured by presenteeism and absenteeism in a population survey of women with endometriosis. An online survey of U.S. women was conducted to evaluate the prevalence of endometriosis, as well as symptoms, demographics, and clinical characteristics of the respondents. Women aged 18-49 years (inclusive) with endometriosis completed the Health-related Productivity Questionnaire to assess presenteeism and absenteeism for employed and household work. Descriptive statistics were used to describe the sample, survey responses, and the effect of endometriosis symptom severity on household chore and employment productivity. Regression analyses were performed to examine the effect of individual endometriosis symptoms on employment and household productivity lost because of presenteeism and absenteeism. Of 59,411 women who completed the prevalence screener, 5,879 women (9.9%) met the inclusion criteria for completing the survey; 1,318 women (2.2%) reported endometriosis and at least 1 hour of scheduled household chores in the past 7 days. Of these, 810 women had least 1 hour of scheduled employment in the past 7 days. Mean age was 34.6 years (standard error [SE] ± 0.32); 77.2% of the women were white; 59.3% were married or in a civil union; and 59.1% were employed full or part time. Women with endometriosis had a weekly loss of an average of 5.3 hours (SE ± 0.4) because of employment presenteeism, 1.1 hours (SE ± 0.2) of employment absenteeism, 2.3 (SE ± 0.2) hours of household presenteeism, and 2.5 (SE ± 0.2) hours of household absenteeism. Hourly losses in employment and household chore productivity were significantly greater with increasing symptom severity (mild vs. severe: 1.9 vs. 15.8 total employment hours lost and 2.5 vs. 10.1 total household hours lost; P < 0.0001). Women who experienced 3 endometriosis symptoms concurrently lost a significantly greater number of employment hours because of absenteeism and presenteeism compared with those experiencing 1 or 2 symptoms (P < 0.001). Regression analyses showed that a range of endometriosis symptoms predicted employment and household losses because of presenteeism and absenteeism. There was a significant relationship between the number and patient-reported severity of endometriosis symptoms experienced and hours of employment and household productivity lost because of presenteeism and absenteeism. Study findings indicate a need for guidance strategies to help women and employers manage endometriosis so as to reduce productivity loss. The design and financial support for this study was provided by AbbVie. AbbVie participated in data analysis, interpretation of data, review, and approval of the manuscript. Coyne and Gries are employees of Evidera- Evidence, Value & Access by PPD and were paid scientific consultants for AbbVie in connection with this study. Soliman, Castelli-Hayley, and Snabes are AbbVie employees and may own AbbVie stock or stock options. Surrey is affiliated with Colorado Center for Reproductive Medicine and was paid by AbbVie as a consultant for this project. Surrey serves as a consultant for AbbVie outside of this project. All authors participated in data analysis and interpretation, and contributed to the development of the manuscript. The authors maintained control over the final contents of the manuscript and the decision to publish. Study concept and design were contributed by Soliman, Coyne, Gries, and Castelli-Haley. Soliman, Castelli-Haley, Coyne, and Gries collected the data, and data interpretation was performed by Snabes, Surrey, Soliman, Coyne, and Gries. The manuscript was written and revised by Soliman, Coyne, and Gries, along with the other authors.

Impact of a Patient Support Program on Patient Adherence to Adalimumab and Direct Medical Costs in Crohn's Disease, Ulcerative Colitis, Rheumatoid Arthritis, Psoriasis, Psoriatic Arthritis, and Ankylosing Spondylitis.

PubMed

Rubin, David T; Mittal, Manish; Davis, Matthew; Johnson, Scott; Chao, Jingdong; Skup, Martha

2017-08-01

AbbVie provides a free-to-patient patient support program (PSP) to assist adalimumab-treated patients with medication costs, nurse support, injection training, pen disposal, and medication reminders. The impact of these services on patient adherence to adalimumab and direct medical costs associated with autoimmune disease has not been assessed. To quantify the relationship between participation in a PSP and outcomes (adalimumab adherence, persistence, and direct medical costs) in patients initiating adalimumab treatment. A longitudinal, retrospective, cohort study was conducted using patient-level data from the PSP combined with Symphony Health Solutions administrative claims data for patients initiating adalimumab between January 2008 and June 2014. The sample included patients aged ≥ 18 years with a diagnosis of Crohn's disease, ulcerative colitis, rheumatoid arthritis, psoriasis, psoriatic arthritis, or ankylosing spondylitis who were biologic-naïve before initiation of adalimumab. Patients who enrolled in the PSP (PSP cohort) were matched to those who did not enroll (non-PSP cohort) based on age, sex, year of treatment initiation, comorbidities, diagnosis, and initiation at a specialty pharmacy. For the PSP cohort, the index date was assigned as the earliest date of PSP enrollment, and time to enrollment following adalimumab initiation was used to assign index dates for the non-PSP cohort. All patients were required to have evidence of medical and pharmacy coverage for at least 6 months before and after their first adalimumab claim and at least 12 months after their index date. Adherence (proportion of days covered during the 12 months following PSP opt-in [index date]) was compared between cohorts using t-tests. Persistence was assessed using survival analysis of discontinuation rates. Medical costs for emergency department, inpatient, physician, and outpatient visits (all-cause and disease-related) and total costs (medical plus drug costs) were compared at 12 months following the index date using t-tests. A total of 2,386 patients were included in the study and were allocated to the PSP (n = 1,199) and non-PSP (n = 1,187) cohorts. Baseline characteristics were similar between cohorts. During the follow-up period, adalimumab adherence was 14% greater in the PSP cohort than for the non-PSP cohort (67.0% vs. 58.8%; P < 0.001). The discontinuation rate for adalimumab was 14% lower in the PSP cohort compared with the non-PSP cohort (39.7% vs. 46.2%; P = 0.001). Univariate analyses showed that PSP patients had 23% lower 12-month medical costs (excluding costs for biologic treatment) than did non-PSP patients ($18,322 vs. $23,679; P = 0.003). Disease-related medical costs were 22% lower for PSP than for non-PSP patients ($8,001 vs. $10,202; P = 0.045). Total costs were 10% lower for PSP than for non-PSP patients ($35,741 vs. $39,713; P = 0.030). Patient enrollment in the PSP was associated with greater adherence, improved persistence, and reduced medical (all-cause and disease-related) and total health care costs for patients receiving adalimumab therapy. Design, study conduct, and financial support for this study were provided by AbbVie. AbbVie participated in the interpretation of data, review, and approval of the abstract. All authors contributed to the development of the publication and maintained control over the final content. Rubin has received consulting fees or research support from AbbVie, Amgen, Emmi, Genentech, Ironwood, Janssen, Pfizer, Prometheus, Shire, and Takeda. Skup and Mittal are employees and stockholders of AbbVie. Chao was an employee of AbbVie at the time of the study and may hold AbbVie stock. Johnson and Davis are employees of Medicus Economics, which received payment from AbbVie to participate in this research. Study concept and design were contributed by Rubin, Mittal, Chao, and Skup, along with Davis and Johnson. Davis and Johnson took the lead in data collection, with assistance from the other authors, and data interpretation was performed by Rubin, Mittal, Chao, and Skup, with assistance from Davis and Johnson. All authors contributed to the writing and revision of the manuscript. The abstract for this study was published as Rubin DT, Skup M, Davis M, Johnson S, Chao J. Impact of AbbVie's patient support program on resource costs in Crohn's disease, ulcerative colitis, rheumatoid arthritis, psoriasis, psoriatic arthritis, and ankylosing spondylitis. J Manag Care Spec Pharm. 2015;21(Suppl 4a):S74-75 (poster presentation at Academy of Managed Care, 27th Annual Meeting and Expo; April 7-10, 2015; San Diego, CA) and as abstract 2339 in Arthritis Rheumatol. 2015;67(Suppl 10; poster presentation at American College of Rheumatology 2015 ACR/AHRP Annual Meeting; November 7-11, 2015; San Francisco, CA).

Is body-weight-supported treadmill training or robotic-assisted gait training superior to overground gait training and other forms of physiotherapy in people with spinal cord injury? A systematic review.

PubMed

Mehrholz, J; Harvey, L A; Thomas, S; Elsner, B

2017-08-01

Systematic review about randomised trials comparing different training strategies to improve gait in people with spinal cord injuries (SCI). The aim of this systematic review was to compare the effectiveness of body-weight-supported treadmill training (BWSTT) and robotic-assisted gait training with overground gait training and other forms of physiotherapy in people with traumatic SCI. Systematic review conducted by researchers from Germany and Australia. An extensive search was conducted for randomised controlled trials involving people with traumatic SCI that compared either BWSTT or robotic-assisted gait training with overground gait training and other forms of physiotherapy. The two outcomes of interest were walking speed (m s -1 ) and walking distance (m). BWSTT and robotic-assisted gait training were analysed separately, and data were pooled across trials to derive mean between-group differences using a random-effects model. Thirteen randomised controlled trials involving 586 people were identified. Ten trials involving 462 participants compared BWSTT to overground gait training and other forms of physiotherapy, but only nine trials provided useable data. The pooled mean (95% confidence interval (CI)) between-group differences for walking speed and walking distance were -0.03 m s -1 (-0.10 to 0.04) and -7 m (-45 to 31), respectively, favouring overground gait training. Five trials involving 344 participants compared robotic-assisted gait training to overground gait training and other forms of physiotherapy but only three provided useable data. The pooled mean (95% CI) between-group differences for walking speed and walking distance were -0.04 m s -1 (95% CI -0.21 to 0.13) and -6 m (95% CI -86 to 74), respectively, favouring overground gait training. BWSTT and robotic-assisted gait training do not increase walking speed more than overground gait training and other forms of physiotherapy do, but their effects on walking distance are not clear.

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

Boyack, B.E.; Steiner, J.L.; Harmony, S.C.

The PIUS advanced reactor is a 640-MWe pressurized water reactor developed by Asea Brown Boveri (ABB). A unique feature of the PIUS concept is the absence of mechanical control and shutdown rods. Reactivity is normally controlled by coolant boron concentration and the temperature of the moderator coolant. ABB submitted the PIUS design to the US Nuclear Regulatory Commission (NRC) for preapplication review, and Los Alamos supported the NRC`s review effort. Baseline analyses of small-break initiators at two locations were performed with the system neutronic and thermal-hydraulic analysis code TRAC-PF1/MOD2. In addition, sensitivity studies were performed to explore the robustness ofmore » the PIUS concept to severe off-normal conditions having a very low probability of occurrence.« less

Dealing with the time-varying parameter problem of robot manipulators performing path tracking tasks

NASA Technical Reports Server (NTRS)

Song, Y. D.; Middleton, R. H.

1992-01-01

Many robotic applications involve time-varying payloads during the operation of the robot. It is therefore of interest to consider control schemes that deal with time-varying parameters. Using the properties of the element by element (or Hadarmad) product of matrices, we obtain the robot dynamics in parameter-isolated form, from which a new control scheme is developed. The controller proposed yields zero asymptotic tracking errors when applied to robotic systems with time-varying parameters by using a switching type control law. The results obtained are global in the initial state of the robot, and can be applied to rapidly varying systems.

Two-legged walking robot prescribed motion on a rough cylinder

NASA Astrophysics Data System (ADS)

Golubev, Yury; Melkumova, Elena

2018-05-01

The motion of a walking robot with n legs, that ensure the desired motion of the robot body, is described using general dynamics theoretical framework. When each of the robot legs contacts the surface in a single foothold, the momentum and angular momentum theorems yield a system of six differential equations that form a complete description of the robot motion. In the case of two-leg robot (n = 2) the problem of the existence of the solution can be reduced to a system of algebraic inequalities. Using numerical analysis, the classification of footholds positions for different values of the friction coefficient is obtained.

Robotics Team Lights Up New Year's Eve

ERIC Educational Resources Information Center

LeBlanc, Cheryl

2011-01-01

A robotics team from Muncie, Indiana--the PhyXTGears--is made up of high school students from throughout Delaware County. The group formed as part of the FIRST Robotics program (For Inspiration and Recognition of Science and Technology), an international program founded by inventor Dean Kamen in which students work with professional engineers and…

Forming Human-Robot Teams Across Time and Space

NASA Technical Reports Server (NTRS)

Hambuchen, Kimberly; Burridge, Robert R.; Ambrose, Robert O.; Bluethmann, William J.; Diftler, Myron A.; Radford, Nicolaus A.

2012-01-01

NASA pushes telerobotics to distances that span the Solar System. At this scale, time of flight for communication is limited by the speed of light, inducing long time delays, narrow bandwidth and the real risk of data disruption. NASA also supports missions where humans are in direct contact with robots during extravehicular activity (EVA), giving a range of zero to hundreds of millions of miles for NASA s definition of "tele". . Another temporal variable is mission phasing. NASA missions are now being considered that combine early robotic phases with later human arrival, then transition back to robot only operations. Robots can preposition, scout, sample or construct in advance of human teammates, transition to assistant roles when the crew are present, and then become care-takers when the crew returns to Earth. This paper will describe advances in robot safety and command interaction approaches developed to form effective human-robot teams, overcoming challenges of time delay and adapting as the team transitions from robot only to robots and crew. The work is predicated on the idea that when robots are alone in space, they are still part of a human-robot team acting as surrogates for people back on Earth or in other distant locations. Software, interaction modes and control methods will be described that can operate robots in all these conditions. A novel control mode for operating robots across time delay was developed using a graphical simulation on the human side of the communication, allowing a remote supervisor to drive and command a robot in simulation with no time delay, then monitor progress of the actual robot as data returns from the round trip to and from the robot. Since the robot must be responsible for safety out to at least the round trip time period, the authors developed a multi layer safety system able to detect and protect the robot and people in its workspace. This safety system is also running when humans are in direct contact with the robot, so it involves both internal fault detection as well as force sensing for unintended external contacts. The designs for the supervisory command mode and the redundant safety system will be described. Specific implementations were developed and test results will be reported. Experiments were conducted using terrestrial analogs for deep space missions, where time delays were artificially added to emulate the longer distances found in space.

Polar Seismic TETwalker: Integrating Engineering Teaching and Research

NASA Astrophysics Data System (ADS)

Gifford, C. M.; Ruiz, I.; Carmichael, B. L.; Wade, U. B.; Agah, A.

2007-12-01

Based on the TETwalker robot platform at NASA/Goddard Space Flight Center, the Center for Remote Sensing of Ice Sheets (CReSIS) has begun work on designing and modeling the integration of seismic surveying equipment into the TETwalker robot architecture for use in polar environments. Employing multiple Seismic TETwalker robots will allow gathering of polar seismic data in previously inaccessible or unexplored terrains, as well as help significantly reduce human involvement in such harsh environments. NASA's TETwalker mobile robot uses a unique form of mobility to topple across the surface and over obstacles. This robot therefore does not suffer the fate of other wheeled and tracked robots if tipped over. It is composed of extending struts and nodes, forming a tetrahedral shape which can be strategically adjusted to change the robot's center of gravity for toppling. Of the many platforms the TETwalker architecture can form, the 4-TETwalker robot (consisting of four ground nodes, a center payload node, and interconnecting struts) has been the focus of current research. The center node has been chosen as the geophone deployment medium, designed in such a way to allow geophone insertion using any face of the robot's structure. As the robot comes to rest at the deployment location, one of its faces will rest on the surface. No matter which side it is resting on, a geophone spike will be perpendicular to its face and an extending strut will be vertical for pushing the geophone into the ground. Lengthening and shortening struts allow the deployment node to precisely place the geophone into the ground, as well as vertically orient the geophones for proper data acquisition on non-flat surfaces. Power source integration has been investigated, incorporating possible combinations of solar, wind, and vibration power devices onboard the robot models for long-term survival in a polar environment. Designs have also been modeled for an alternate center node sensor package (e.g., broadband seismometer) and other structures of the node-and-strut TETwalker robot architecture. It is planned to take the design models and construct a physical prototype for future testing in Greenland and Antarctica. This work involved three undergraduate students from underrepresented groups as part of the CReSIS Summer REU program, aimed at involving these groups in science and engineering research.

A switching formation strategy for obstacle avoidance of a multi-robot system based on robot priority model.

PubMed

Dai, Yanyan; Kim, YoonGu; Wee, SungGil; Lee, DongHa; Lee, SukGyu

2015-05-01

This paper describes a switching formation strategy for multi-robots with velocity constraints to avoid and cross obstacles. In the strategy, a leader robot plans a safe path using the geometric obstacle avoidance control method (GOACM). By calculating new desired distances and bearing angles with the leader robot, the follower robots switch into a safe formation. With considering collision avoidance, a novel robot priority model, based on the desired distance and bearing angle between the leader and follower robots, is designed during the obstacle avoidance process. The adaptive tracking control algorithm guarantees that the trajectory and velocity tracking errors converge to zero. To demonstrate the validity of the proposed methods, simulation and experiment results present that multi-robots effectively form and switch formation avoiding obstacles without collisions. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Multiplexed Force and Deflection Sensing Shell Membranes for Robotic Manipulators

NASA Technical Reports Server (NTRS)

Park, Yong-Lae; Black, Richard; Moslehi, Behzad; Cutkosky, Mark; Chau, Kelvin

2012-01-01

Force sensing is an essential requirement for dexterous robot manipulation, e.g., for extravehicular robots making vehicle repairs. Although strain gauges have been widely used, a new sensing approach is desirable for applications that require greater robustness, design flexibility including a high degree of multiplexibility, and immunity to electromagnetic noise. This invention is a force and deflection sensor a flexible shell formed with an elastomer having passageways formed by apertures in the shell, with an optical fiber having one or more Bragg gratings positioned in the passageways for the measurement of force and deflection.

Synthesis of t-Butyl (2R)-Hydroxyisovalerate, A Precursor of Aureobasidin B

NASA Astrophysics Data System (ADS)

Maharani, R.; Puspitasari, D.; Taufiqqurahman; Huspa, D. H. P.; Hidayat, A. T.; Sumiarsa, D.; Hidayat, I. W.

2017-02-01

Aureobasidins are a family of cyclodepsipeptides have antifungal properties. They were isolated from the black yeast Aureobasidium pullulans R106 and over 30 derivatives have been successfully characterized. There are few publications reporting the total synthesis of aureobasidins. The limited reports of the synthesis of the aureobasidin derivatives are due to the difficult access to the preparations of precursors. The aim of this research is to synthesise a precursor of aureobasidin B, t-butyl (2R)-hydroxyisovalerate (t-Bu-Hiv), that is prepared for the total synthesis of aureobasidin B. The synthesis of AbB is planned to be undertaken by using a solid phase method, so the ester formation between t-Bu-Hiv and the Fmoc-β-hydroxymethylvaline will be carried out in solution phase to form depsidipeptide. The t-butyl group was used as protecting agent that is due to the straightforward elimination of the protecting group from the Fmoc-depsidipeptide. The t-Bu-Hiv acid was prepared from D-valine through diazotisation to form (2R)-acetyloxyisovaleric acid in 62.7% yield. Product of the first step was then protected by t-butyl group by using Boc-anhydride in t-butanol to give t-butil (2R)-acetyloxyisovalerate in 44% yield. In the last step, the acetyloxy group was eliminated by using potassium carbonate in methanol/water to give the desired product, t-Bu-Hiv in 33.5% yield. The t-Bu-Hiv is ready to be combined with Fmoc-β-hydroxymethylvaline to result in depsidipeptide that will be attached to the resin in the total synthesis of AbB. Each stage of this synthesis was controlled by thin layer chromatography and all products were purified by open column chromatography. All the synthesized products were characterized by various spectroscopic techniques, including infrared spectrophotometer, mass spectroscopy (ESI-MS), 1H-NMR and 13C-NMR.

Motion coordination and programmable teleoperation between two industrial robots

NASA Technical Reports Server (NTRS)

Luh, J. Y. S.; Zheng, Y. F.

1987-01-01

Tasks for two coordinated industrial robots always bring the robots in contact with a same object. The motion coordination among the robots and the object must be maintained all the time. To plan the coordinated tasks, only one robot's motion is planned according to the required motion of the object. The motion of the second robot is to follow the first one as specified by a set of holonomic equality constraints at every time instant. If any modification of the object's motion is needed in real-time, only the first robot's motion has to be modified accordingly in real-time. The modification for the second robot is done implicitly through the constraint conditions. Thus the operation is simplified. If the object is physically removed, the second robot still continually follows the first one through the constraint conditions. If the first robot is maneuvered through either the teach pendant or the keyboard, the second one moves accordingly to form the teleoperation which is linked through the software programming. Obviously, the second robot does not need to duplicate the first robot's motion. The programming of the constraints specifies their relative motions.

Swarmathon 2017

NASA Image and Video Library

2017-04-20

This close-up shows Swarmie robots that were programmed with computer code by college and university students. During the Swarmathon competition at the Kennedy Space Center Visitor Complex, the small robots looked for "resources" in the form of cubes with AprilTags, similar to barcodes. Similar robots could help find resources when astronauts explore distant locations, such as the moon or Mars.

Imagery: Paintings in the Mind.

ERIC Educational Resources Information Center

Carey, Albert R.

1986-01-01

Describes using the overlapping areas of relaxation, meditation, hypnosis, and imagery as a counseling technique. Explains the methods in terms of right brain functioning, a capability children use naturally. (ABB)

Use of symbolic computation in robotics education

NASA Technical Reports Server (NTRS)

Vira, Naren; Tunstel, Edward

1992-01-01

An application of symbolic computation in robotics education is described. A software package is presented which combines generality, user interaction, and user-friendliness with the systematic usage of symbolic computation and artificial intelligence techniques. The software utilizes MACSYMA, a LISP-based symbolic algebra language, to automatically generate closed-form expressions representing forward and inverse kinematics solutions, the Jacobian transformation matrices, robot pose error-compensation models equations, and Lagrange dynamics formulation for N degree-of-freedom, open chain robotic manipulators. The goal of such a package is to aid faculty and students in the robotics course by removing burdensome tasks of mathematical manipulations. The software package has been successfully tested for its accuracy using commercially available robots.

Real-World Evolution of Robot Morphologies: A Proof of Concept.

PubMed

Jelisavcic, Milan; de Carlo, Matteo; Hupkes, Elte; Eustratiadis, Panagiotis; Orlowski, Jakub; Haasdijk, Evert; Auerbach, Joshua E; Eiben, A E

2017-01-01

Evolutionary robotics using real hardware has been almost exclusively restricted to evolving robot controllers, but the technology for evolvable morphologies is advancing quickly. We discuss a proof-of-concept study to demonstrate real robots that can reproduce. Following a general system plan, we implement a robotic habitat that contains all system components in the simplest possible form. We create an initial population of two robots and run a complete life cycle, resulting in a new robot, parented by the first two. Even though the individual steps are simplified to the maximum, the whole system validates the underlying concepts and provides a generic workflow for the creation of more complex incarnations. This hands-on experience provides insights and helps us elaborate on interesting research directions for future development.

Positive position control of robotic manipulators

NASA Technical Reports Server (NTRS)

Baz, A.; Gumusel, L.

1989-01-01

The present, simple and accurate position-control algorithm, which is applicable to fast-moving and lightly damped robot arms, is based on the positive position feedback (PPF) strategy and relies solely on position sensors to monitor joint angles of robotic arms to furnish stable position control. The optimized tuned filters, in the form of a set of difference equations, manipulate position signals for robotic system performance. Attention is given to comparisons between this PPF-algorithm controller's experimentally ascertained performance characteristics and those of a conventional proportional controller.

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.

Overview and fundamentals of urologic robot-integrated systems.

PubMed

Allaf, Mohamad; Patriciu, Alexandru; Mazilu, Dumitru; Kavoussi, Louis; Stoianovici, Dan

2004-11-01

Advances in technology have revolutionized urology. Minimally invasive tools now form the core of the urologist's armamentarium. Laparoscopic surgery has become the favored approach for treating many complicated urologic ailments. Surgical robots represent the next evolutionary step in the fruitful man-machine partnership. The introduction of robotic technology in urology changes how urologists learn, teach, plan, and operate. As technology evolves, robots not only will improve performance in minimally invasive procedures, but also enhance other procedures or enable new kinds of operations.

The School Counselor as Facilitator of Organizational Health.

ERIC Educational Resources Information Center

Childers, John H., Jr.; Fairman, Marvin

1986-01-01

Discusses ways school counselors can be agents of change in organizational behavior to promote organizational health in their schools. Defines organizational health and identifies 10 related dimensions. (ABB)

From microscopic to astronomic, the legacy of Carl Zeiss.

PubMed

Louw, Deon F; Sutherland, Garnette R; Schulder, Michael

2003-03-01

IN 1846, CARL ZEISS established a workshop to make lenses for microscopes, cameras, binoculars, and astronomical observatories. He was a master craftsman and was intolerant of any flaw, destroying microscopes with only minor inaccuracies. His relentless pursuit of perfection brought him into contact with a brilliant physicist, Ernst Abbe. Zeiss combined Abbe's new optical laws with his own technical skills; together, they created a colossus. Their company came to be known not only for exquisite technical standards but also for labor relations that were and remain progressive. The development of microneurosurgery was aided by the active participation of Carl Zeiss, Inc. The history of this company provides a lesson in the power of entrepreneurship and the benefits to humanity that can accrue from a fruitful partnership between medical science and industry.

Efficient three-dimensional resist profile-driven source mask optimization optical proximity correction based on Abbe-principal component analysis and Sylvester equation

NASA Astrophysics Data System (ADS)

Lin, Pei-Chun; Yu, Chun-Chang; Chen, Charlie Chung-Ping

2015-01-01

As one of the critical stages of a very large scale integration fabrication process, postexposure bake (PEB) plays a crucial role in determining the final three-dimensional (3-D) profiles and lessening the standing wave effects. However, the full 3-D chemically amplified resist simulation is not widely adopted during the postlayout optimization due to the long run-time and huge memory usage. An efficient simulation method is proposed to simulate the PEB while considering standing wave effects and resolution enhancement techniques, such as source mask optimization and subresolution assist features based on the Sylvester equation and Abbe-principal component analysis method. Simulation results show that our algorithm is 20× faster than the conventional Gaussian convolution method.

Screening study for evaluation of the potential for system 80+ to consume excess plutonium - Volume 1. Final report

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

Not Available

1994-04-30

As part of the U.S. effort to evaluate technologies offering solutions for the safe disposal or utilization of surplus nuclear materials, the fiscal year 1993 Energy and Water Appropriations legislation provided the Department of Energy (DOE) the necessary funds to conduct multi-phased studies to determine the technical feasibility of using reactor technologies for the triple mission of burning weapons grade plutonium, producing tritium for the existing smaller weapons stockpile, and generating commercial electricity. DOE limited the studies to five advanced reactor designs. Among the technologies selected is the ABB-Combustion Engineering (ABB-CE) System 80+. The DOE study, currently in Phase ID,more » is proceeding with a more detailed evaluation of the design`s capability for plutonium disposition.« less

Decentralized control algorithms of a group of vehicles in 2D space

NASA Astrophysics Data System (ADS)

Pshikhopov, V. K.; Medvedev, M. Y.; Fedorenko, R. V.; Gurenko, B. V.

2017-02-01

The problem of decentralized control of group of robots, described by kinematic and dynamic equations of motion in the plane, is considered. Group performs predetermined rectangular area passing at a fixed speed, keeping the line and a uniform distribution. The environment may contain a priori unknown moving or stationary obstacles. Decentralized control algorithms, based on the formation of repellers in the state space of robots, are proposed. These repellers form repulsive forces generated by dynamic subsystems that extend the state space of robots. These repulsive forces are dynamic functions of distances and velocities of robots in the area of operation of the group. The process of formation of repellers allows to take into account the dynamic properties of robots, such as the maximum speed and acceleration. The robots local control law formulas are derived based on positionally-trajectory control method, which allows to operate with non-linear models. Lyapunov function in the form of a quadratic function of the state variables is constructed to obtain a nonlinear closed-loop control system. Due to the fact that a closed system is decomposed into two independent subsystems Lyapunov function is also constructed as two independent functions. Numerical simulation of the motion of a group of five robots is presented. In this simulation obstacles are presented by the boundaries of working area and a movable object of a given radius, moving rectilinear and uniform. Obstacle speed is comparable to the speeds of the robots in a group. The advantage of the proposed method is ensuring the stability of the trajectories and consideration of the limitations on the speed and acceleration at the trajectory planning stage. Proposed approach can be used for more general robots' models, including robots in the three-dimensional environment.

Hierarchical Spatial Concept Formation Based on Multimodal Information for Human Support Robots.

PubMed

Hagiwara, Yoshinobu; Inoue, Masakazu; Kobayashi, Hiroyoshi; Taniguchi, Tadahiro

2018-01-01

In this paper, we propose a hierarchical spatial concept formation method based on the Bayesian generative model with multimodal information e.g., vision, position and word information. Since humans have the ability to select an appropriate level of abstraction according to the situation and describe their position linguistically, e.g., "I am in my home" and "I am in front of the table," a hierarchical structure of spatial concepts is necessary in order for human support robots to communicate smoothly with users. The proposed method enables a robot to form hierarchical spatial concepts by categorizing multimodal information using hierarchical multimodal latent Dirichlet allocation (hMLDA). Object recognition results using convolutional neural network (CNN), hierarchical k-means clustering result of self-position estimated by Monte Carlo localization (MCL), and a set of location names are used, respectively, as features in vision, position, and word information. Experiments in forming hierarchical spatial concepts and evaluating how the proposed method can predict unobserved location names and position categories are performed using a robot in the real world. Results verify that, relative to comparable baseline methods, the proposed method enables a robot to predict location names and position categories closer to predictions made by humans. As an application example of the proposed method in a home environment, a demonstration in which a human support robot moves to an instructed place based on human speech instructions is achieved based on the formed hierarchical spatial concept.

Hierarchical Spatial Concept Formation Based on Multimodal Information for Human Support Robots

PubMed Central

Hagiwara, Yoshinobu; Inoue, Masakazu; Kobayashi, Hiroyoshi; Taniguchi, Tadahiro

2018-01-01

In this paper, we propose a hierarchical spatial concept formation method based on the Bayesian generative model with multimodal information e.g., vision, position and word information. Since humans have the ability to select an appropriate level of abstraction according to the situation and describe their position linguistically, e.g., “I am in my home” and “I am in front of the table,” a hierarchical structure of spatial concepts is necessary in order for human support robots to communicate smoothly with users. The proposed method enables a robot to form hierarchical spatial concepts by categorizing multimodal information using hierarchical multimodal latent Dirichlet allocation (hMLDA). Object recognition results using convolutional neural network (CNN), hierarchical k-means clustering result of self-position estimated by Monte Carlo localization (MCL), and a set of location names are used, respectively, as features in vision, position, and word information. Experiments in forming hierarchical spatial concepts and evaluating how the proposed method can predict unobserved location names and position categories are performed using a robot in the real world. Results verify that, relative to comparable baseline methods, the proposed method enables a robot to predict location names and position categories closer to predictions made by humans. As an application example of the proposed method in a home environment, a demonstration in which a human support robot moves to an instructed place based on human speech instructions is achieved based on the formed hierarchical spatial concept. PMID:29593521

Haptic/graphic rehabilitation: integrating a robot into a virtual environment library and applying it to stroke therapy.

PubMed

Sharp, Ian; Patton, James; Listenberger, Molly; Case, Emily

2011-08-08

Recent research that tests interactive devices for prolonged therapy practice has revealed new prospects for robotics combined with graphical and other forms of biofeedback. Previous human-robot interactive systems have required different software commands to be implemented for each robot leading to unnecessary developmental overhead time each time a new system becomes available. For example, when a haptic/graphic virtual reality environment has been coded for one specific robot to provide haptic feedback, that specific robot would not be able to be traded for another robot without recoding the program. However, recent efforts in the open source community have proposed a wrapper class approach that can elicit nearly identical responses regardless of the robot used. The result can lead researchers across the globe to perform similar experiments using shared code. Therefore modular "switching out"of one robot for another would not affect development time. In this paper, we outline the successful creation and implementation of a wrapper class for one robot into the open-source H3DAPI, which integrates the software commands most commonly used by all robots.

Electroactive polymer (EAP) actuators for future humanlike robots

NASA Astrophysics Data System (ADS)

Bar-Cohen, Yoseph

2009-03-01

Human-like robots are increasingly becoming an engineering reality thanks to recent technology advances. These robots, which are inspired greatly by science fiction, were originated from the desire to reproduce the human appearance, functions and intelligence and they may become our household appliance or even companion. The development of such robots is greatly supported by emerging biologically inspired technologies. Potentially, electroactive polymer (EAP) materials are offering actuation capabilities that allow emulating the action of our natural muscles for making such machines perform lifelike. There are many technical issues related to making such robots including the need for EAP materials that can operate as effective actuators. Beside the technology challenges these robots also raise concerns that need to be addressed prior to forming super capable robots. These include the need to prevent accidents, deliberate harm, or their use in crimes. In this paper, the potential EAP actuators and the challenges that these robots may pose will be reviewed.

Electroactive Polymer (EAP) Actuators for Future Humanlike Robots

NASA Technical Reports Server (NTRS)

Bar-Cohen, Yoseph

2009-01-01

Human-like robots are increasingly becoming an engineering reality thanks to recent technology advances. These robots, which are inspired greatly by science fiction, were originated from the desire to reproduce the human appearance, functions and intelligence and they may become our household appliance or even companion. The development of such robots is greatly supported by emerging biologically inspired technologies. Potentially, electroactive polymer (EAP) materials are offering actuation capabilities that allow emulating the action of our natural muscles for making such machines perform lifelike. There are many technical issues related to making such robots including the need for EAP materials that can operate as effective actuators. Beside the technology challenges these robots also raise concerns that need to be addressed prior to forming super capable robots. These include the need to prevent accidents, deliberate harm, or their use in crimes. In this paper, the potential EAP actuators and the challenges that these robots may pose will be reviewed.

Modeling the maneuvering of a vehicle

NASA Astrophysics Data System (ADS)

Antonyuk, E. Ya.; Zabuga, A. T.

2012-07-01

A kinematic model of one- and two-link robotic vehicles with two or three steerable wheels is considered. A nonsmooth path in the form of an astroid enveloping the positions of the robot is planned. The motion of a two-link vehicle with such a trajectory is modeled. A numerical analysis of the dynamic of robots is performed determining the reactions of nonholonomic constraints

Dragons, Ladybugs, and Softballs: Girls' STEM Engagement with Human-Centered Robotics

NASA Astrophysics Data System (ADS)

Gomoll, Andrea; Hmelo-Silver, Cindy E.; Šabanović, Selma; Francisco, Matthew

2016-12-01

Early experiences in science, technology, engineering, and math (STEM) are important for getting youth interested in STEM fields, particularly for girls. Here, we explore how an after-school robotics club can provide informal STEM experiences that inspire students to engage with STEM in the future. Human-centered robotics, with its emphasis on the social aspects of science and technology, may be especially important for bringing girls into the STEM pipeline. Using a problem-based approach, we designed two robotics challenges. We focus here on the more extended second challenge, in which participants were asked to imagine and build a telepresence robot that would allow others to explore their space from a distance. This research follows four girls as they engage with human-centered telepresence robotics design. We constructed case studies of these target participants to explore their different forms of engagement and phases of interest development—considering facets of behavioral, social, cognitive, and conceptual-to-consequential engagement as well as stages of interest ranging from triggered interest to well-developed individual interest. The results demonstrated that opportunities to personalize their robots and feedback from peers and facilitators were important motivators. We found both explicit and vicarious engagement and varied interest phases in our group of four focus participants. This first iteration of our project demonstrated that human-centered robotics is a promising approach to getting girls interested and engaged in STEM practices. As we design future iterations of our robotics club environment, we must consider how to harness multiple forms of leadership and engagement without marginalizing students with different working preferences.

Three-Dimensional Images For Robot Vision

NASA Astrophysics Data System (ADS)

McFarland, William D.

1983-12-01

Robots are attracting increased attention in the industrial productivity crisis. As one significant approach for this nation to maintain technological leadership, the need for robot vision has become critical. The "blind" robot, while occupying an economical niche at present is severely limited and job specific, being only one step up from the numerical controlled machines. To successfully satisfy robot vision requirements a three dimensional representation of a real scene must be provided. Several image acquistion techniques are discussed with more emphasis on the laser radar type instruments. The autonomous vehicle is also discussed as a robot form, and the requirements for these applications are considered. The total computer vision system requirement is reviewed with some discussion of the major techniques in the literature for three dimensional scene analysis.

An Advice Mechanism for Heterogeneous Robot Teams

NASA Astrophysics Data System (ADS)

Daniluk, Steven

The use of reinforcement learning for robot teams has enabled complex tasks to be performed, but at the cost of requiring a large amount of exploration. Exchanging information between robots in the form of advice is one method to accelerate performance improvements. This thesis presents an advice mechanism for robot teams that utilizes advice from heterogeneous advisers via a method guaranteeing convergence to an optimal policy. The presented mechanism has the capability to use multiple advisers at each time step, and decide when advice should be requested and accepted, such that the use of advice decreases over time. Additionally, collective collaborative, and cooperative behavioural algorithms are integrated into a robot team architecture, to create a new framework that provides fault tolerance and modularity for robot teams.

Evolving mobile robots able to display collective behaviors.

PubMed

Baldassarre, Gianluca; Nolfi, Stefano; Parisi, Domenico

2003-01-01

We present a set of experiments in which simulated robots are evolved for the ability to aggregate and move together toward a light target. By developing and using quantitative indexes that capture the structural properties of the emerged formations, we show that evolved individuals display interesting behavioral patterns in which groups of robots act as a single unit. Moreover, evolved groups of robots with identical controllers display primitive forms of situated specialization and play different behavioral functions within the group according to the circumstances. Overall, the results presented in the article demonstrate that evolutionary techniques, by exploiting the self-organizing behavioral properties that emerge from the interactions between the robots and between the robots and the environment, are a powerful method for synthesizing collective behavior.

Fundamentals of robotic surgery: a course of basic robotic surgery skills based upon a 14-society consensus template of outcomes measures and curriculum development.

PubMed

Smith, Roger; Patel, Vipul; Satava, Richard

2014-09-01

There is a need for a standardized curriculum for training and assessment of robotic surgeons to proficiency, followed by high-stakes testing (HST) for certification. To standardize the curriculum and certification of robotic surgeons, a series of consensus conferences attended by 14 leading international surgical societies have been used to compile the outcomes measures and curriculum that should form the basis for a Fundamentals of Robotic Surgery (FRS) programme. A set of 25 outcomes measures and a curriculum for teaching the skills needed to safely use current generation surgical robotic systems has been developed and accepted by a committee of experienced robotic surgeons across 14 specialties. A standardized process for certifying the skills of a robotic surgeon has begun to emerge. The work described here documents both the processes used for developing educational material and the educational content of a robotic curriculum. Copyright © 2013 John Wiley & Sons, Ltd.

Robotics and medicine: A scientific rainbow in hospital.

PubMed

Jeelani, S; Dany, A; Anand, B; Vandana, S; Maheswaran, T; Rajkumar, E

2015-08-01

The journey of robotics is a real wonder and astonishingly can be considered as a scientific rainbow showering surprising priceless power in the era of future technologies. The astonishing seven technologies discussed in this paper are da Vinci Robotic surgical system and sperm sorters for infertility, Veebot for blood investigation, Hanako the robotic dental patient for simulating the dental patient and helping a trainee dentist, RP-7 robot who is around-the-clock physician connecting the physician and patient, Robot for Interactive Body Assistance (RIBA) who is a RIBA serving as a nurse, Bushbot serving as a brilliant surgeon, and Virtibot helping in virtual autopsy. Thus, robotics in medicine is a budding field contributing a great lot to human life from before birth to afterlife in seven forms thus gracefully portraying a scientific rainbow in hospital environment.

Robotics and medicine: A scientific rainbow in hospital

PubMed Central

Jeelani, S.; Dany, A.; Anand, B.; Vandana, S.; Maheswaran, T.; Rajkumar, E.

2015-01-01

The journey of robotics is a real wonder and astonishingly can be considered as a scientific rainbow showering surprising priceless power in the era of future technologies. The astonishing seven technologies discussed in this paper are da Vinci Robotic surgical system and sperm sorters for infertility, Veebot for blood investigation, Hanako the robotic dental patient for simulating the dental patient and helping a trainee dentist, RP-7 robot who is around-the-clock physician connecting the physician and patient, Robot for Interactive Body Assistance (RIBA) who is a RIBA serving as a nurse, Bushbot serving as a brilliant surgeon, and Virtibot helping in virtual autopsy. Thus, robotics in medicine is a budding field contributing a great lot to human life from before birth to afterlife in seven forms thus gracefully portraying a scientific rainbow in hospital environment. PMID:26538882

Attributing Agency to Automated Systems: Reflections on Human-Robot Collaborations and Responsibility-Loci.

PubMed

Nyholm, Sven

2017-07-18

Many ethicists writing about automated systems (e.g. self-driving cars and autonomous weapons systems) attribute agency to these systems. Not only that; they seemingly attribute an autonomous or independent form of agency to these machines. This leads some ethicists to worry about responsibility-gaps and retribution-gaps in cases where automated systems harm or kill human beings. In this paper, I consider what sorts of agency it makes sense to attribute to most current forms of automated systems, in particular automated cars and military robots. I argue that whereas it indeed makes sense to attribute different forms of fairly sophisticated agency to these machines, we ought not to regard them as acting on their own, independently of any human beings. Rather, the right way to understand the agency exercised by these machines is in terms of human-robot collaborations, where the humans involved initiate, supervise, and manage the agency of their robotic collaborators. This means, I argue, that there is much less room for justified worries about responsibility-gaps and retribution-gaps than many ethicists think.

Microscope Resolution.

ERIC Educational Resources Information Center

Higbie, J.

1981-01-01

Describes problems using the Jenkins and White approach and standard diffraction theory when dealing with the topic of finite conjugate, point-source resolution and how they may be resolved using the relatively obscure Abbe's sine theorem. (JN)

"Robovie, You'll Have to Go into the Closet Now": Children's Social and Moral Relationships with a Humanoid Robot

ERIC Educational Resources Information Center

Kahn, Peter H., Jr.; Kanda, Takayuki; Ishiguro, Hiroshi; Freier, Nathan G.; Severson, Rachel L.; Gill, Brian T.; Ruckert, Jolina H.; Shen, Solace

2012-01-01

Children will increasingly come of age with personified robots and potentially form social and even moral relationships with them. What will such relationships look like? To address this question, 90 children (9-, 12-, and 15-year-olds) initially interacted with a humanoid robot, Robovie, in 15-min sessions. Each session ended when an experimenter…

Robot Wars: US Empire and geopolitics in the robotic age

PubMed Central

Shaw, Ian GR

2017-01-01

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

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

PubMed

Shaw, Ian Gr

2017-10-01

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

Adaptive artificial neural network for autonomous robot control

NASA Technical Reports Server (NTRS)

Arras, Michael K.; Protzel, Peter W.; Palumbo, Daniel L.

1992-01-01

The topics are presented in viewgraph form and include: neural network controller for robot arm positioning with visual feedback; initial training of the arm; automatic recovery from cumulative fault scenarios; and error reduction by iterative fine movements.

Robotics in space-age manufacturing

NASA Technical Reports Server (NTRS)

Jones, Chip

1991-01-01

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

Expanding the Intertrial Interval During Extinction: Response Cessation and Recovery

PubMed Central

Orinstein, Alyssa J.; Urcelay, Gonzalo P.; Miller, Ralph R.

2010-01-01

We examined trial spacing during extinction following a human contingency learning task. Specifically, we assessed if an expanding retrieval practice schedule (Bjork & Bjork, 1992, 2006), in which the spacing between extinction trials was progressively increased, would result in faster immediate extinction and less recovery from extinction than uniformly spaced extinction trials. We used an ABB vs. ABA renewal design and observed that, whereas the expanding group extinguished faster during extinction treatment, the expanding and constant groups showed the same level of extinction with an immediate test in the extinction context (ABB) and the two groups showed equivalent ABA renewal at test in the training context. We conclude that the faster extinction observed in the expanding groups could be misleading in clinical treatment, if the therapist used the absence of fear during extinction as the basis for terminating treatment. PMID:20171324

Symmetric caging formation for convex polygonal object transportation by multiple mobile robots based on fuzzy sliding mode control.

PubMed

Dai, Yanyan; Kim, YoonGu; Wee, SungGil; Lee, DongHa; Lee, SukGyu

2016-01-01

In this paper, the problem of object caging and transporting is considered for multiple mobile robots. With the consideration of minimizing the number of robots and decreasing the rotation of the object, the proper points are calculated and assigned to the multiple mobile robots to allow them to form a symmetric caging formation. The caging formation guarantees that all of the Euclidean distances between any two adjacent robots are smaller than the minimal width of the polygonal object so that the object cannot escape. In order to avoid collision among robots, the parameter of the robots radius is utilized to design the caging formation, and the A⁎ algorithm is used so that mobile robots can move to the proper points. In order to avoid obstacles, the robots and the object are regarded as a rigid body to apply artificial potential field method. The fuzzy sliding mode control method is applied for tracking control of the nonholonomic mobile robots. Finally, the simulation and experimental results show that multiple mobile robots are able to cage and transport the polygonal object to the goal position, avoiding obstacles. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Ethorobotics: A New Approach to Human-Robot Relationship

PubMed Central

Miklósi, Ádám; Korondi, Péter; Matellán, Vicente; Gácsi, Márta

2017-01-01

Here we aim to lay the theoretical foundations of human-robot relationship drawing upon insights from disciplines that govern relevant human behaviors: ecology and ethology. We show how the paradox of the so called “uncanny valley hypothesis” can be solved by applying the “niche” concept to social robots, and relying on the natural behavior of humans. Instead of striving to build human-like social robots, engineers should construct robots that are able to maximize their performance in their niche (being optimal for some specific functions), and if they are endowed with appropriate form of social competence then humans will eventually interact with them independent of their embodiment. This new discipline, which we call ethorobotics, could change social robotics, giving a boost to new technical approaches and applications. PMID:28649213

Mobile robot trajectory tracking using noisy RSS measurements: an RFID approach.

PubMed

Miah, M Suruz; Gueaieb, Wail

2014-03-01

Most RF beacons-based mobile robot navigation techniques rely on approximating line-of-sight (LOS) distances between the beacons and the robot. This is mostly performed using the robot's received signal strength (RSS) measurements from the beacons. However, accurate mapping between the RSS measurements and the LOS distance is almost impossible to achieve in reverberant environments. This paper presents a partially-observed feedback controller for a wheeled mobile robot where the feedback signal is in the form of noisy RSS measurements emitted from radio frequency identification (RFID) tags. The proposed controller requires neither an accurate mapping between the LOS distance and the RSS measurements, nor the linearization of the robot model. The controller performance is demonstrated through numerical simulations and real-time experiments. ©2013 Published by ISA. All rights reserved.

The Adam and Eve Robot Scientists for the Automated Discovery of Scientific Knowledge

NASA Astrophysics Data System (ADS)

King, Ross

A Robot Scientist is a physically implemented robotic system that applies techniques from artificial intelligence to execute cycles of automated scientific experimentation. A Robot Scientist can automatically execute cycles of hypothesis formation, selection of efficient experiments to discriminate between hypotheses, execution of experiments using laboratory automation equipment, and analysis of results. The motivation for developing Robot Scientists is to better understand science, and to make scientific research more efficient. The Robot Scientist `Adam' was the first machine to autonomously discover scientific knowledge: both form and experimentally confirm novel hypotheses. Adam worked in the domain of yeast functional genomics. The Robot Scientist `Eve' was originally developed to automate early-stage drug development, with specific application to neglected tropical disease such as malaria, African sleeping sickness, etc. We are now adapting Eve to work with on cancer. We are also teaching Eve to autonomously extract information from the scientific literature.

Developments and Control of Biocompatible Conducting Polymer for Intracorporeal Continuum Robots.

PubMed

Chikhaoui, Mohamed Taha; Benouhiba, Amine; Rougeot, Patrick; Rabenorosoa, Kanty; Ouisse, Morvan; Andreff, Nicolas

2018-04-30

Dexterity of robots is highly required when it comes to integration for medical applications. Major efforts have been conducted to increase the dexterity at the distal parts of medical robots. This paper reports on developments toward integrating biocompatible conducting polymers (CP) into inherently dexterous concentric tube robot paradigm. In the form of tri-layer thin structures, CP micro-actuators produce high strains while requiring less than 1 V for actuation. Fabrication, characterization, and first integrations of such micro-actuators are presented. The integration is validated in a preliminary telescopic soft robot prototype with qualitative and quantitative performance assessment of accurate position control for trajectory tracking scenarios. Further, CP micro-actuators are integrated to a laser steering system in a closed-loop control scheme with displacements up to 5 mm. Our first developments aim toward intracorporeal medical robotics, with miniaturized actuators to be embedded into continuum robots.

Summary of astronaut inputs on automation and robotics for Space Station Freedom

NASA Technical Reports Server (NTRS)

Weeks, David J.

1990-01-01

Astronauts and payload specialists present specific recommendations in the form of an overview that relate to the use of automation and robotics on the Space Station Freedom. The inputs are based on on-orbit operations experience, time requirements for crews, and similar crew-specific knowledge that address the impacts of automation and robotics on productivity. Interview techniques and specific questionnaire results are listed, and the majority of the responses indicate that incorporating automation and robotics to some extent and with human backup can improve productivity. Specific support is found for the use of advanced automation and EVA robotics on the Space Station Freedom and for the use of advanced automation on ground-based stations. Ground-based control of in-flight robotics is required, and Space Station activities and crew tasks should be analyzed to assess the systems engineering approach for incorporating automation and robotics.

Survival of falling robots

NASA Astrophysics Data System (ADS)

Cameron, Jonathan M.; Arkin, Ronald C.

1992-02-01

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

The debate over robotics in benign gynecology.

PubMed

Rardin, Charles R

2014-05-01

The debate over the role of the da Vinci surgical robotic platform in benign gynecology is raging with increasing fervor and, as product liability issues arise, greater financial stakes. Although the best currently available science suggests that, in the hands of experts, robotics offers little in surgical advantage over laparoscopy, at increased expense, the observed decrease in laparotomy for hysterectomy is almost certainly, at least in part, attributable to the availability of the robot. In this author's opinion, the issue is not whether the robot has any role but rather to define the role in an institutional environment that also supports the safe use of vaginal and laparoscopic approaches in an integrated minimally invasive surgery program. Programs engaging robotic surgery should have a clear and self-determined regulatory process and should resist pressures in place that may preferentially support robotics over other forms of minimally invasive surgery. Copyright © 2014 Mosby, Inc. All rights reserved.

Survival of falling robots

NASA Technical Reports Server (NTRS)

Cameron, Jonathan M.; Arkin, Ronald C.

1992-01-01

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

A fast and robust kinematic model for a 12 DoF hyper-redundant robot positioning: An optimization proposal

NASA Astrophysics Data System (ADS)

Lima, José; Pereira, Ana I.; Costa, Paulo; Pinto, Andry; Costa, Pedro

2017-07-01

This paper describes an optimization procedure for a robot with 12 degrees of freedom avoiding the inverse kinematics problem, which is a hard task for this type of robot manipulator. This robot can be used to pick and place tasks in complex designs. Combining an accurate and fast direct kinematics model with optimization strategies, it is possible to achieve the joints angles for a desired end-effector position and orientation. The optimization methods stretched simulated annealing algorithm and genetic algorithm were used. The solutions found were validated using data originated by a real and by a simulated robot formed by 12 servomotors with a gripper.

[Robotics and improvement of the quality of geriatric care].

PubMed

Ettore, Éric; Wyckaert, Emeline; David, Renaud; Robert, Philippe; Guérin, Olivier; Prate, Frédéric

2016-01-01

New technologies offer innovations to improve the care of the elderly with Alzheimer's or and other forms of dementia. Robots, endowed with features such as monitoring of physiological parameters, cognitive training or occupational therapy, have appeared. They are not, however, intended to replace humans. Still underutilized, these robots are in development, much like the digital literacy of the elderly. Copyright © 2016 Elsevier Masson SAS. All rights reserved.

Instrumented Compliant Wrist with Proximity and Contact Sensing for Close Robot Interaction Control.

PubMed

Laferrière, Pascal; Payeur, Pierre

2017-06-14

Compliance has been exploited in various forms in robotic systems to allow rigid mechanisms to come into contact with fragile objects, or with complex shapes that cannot be accurately modeled. Force feedback control has been the classical approach for providing compliance in robotic systems. However, by integrating other forms of instrumentation with compliance into a single device, it is possible to extend close monitoring of nearby objects before and after contact occurs. As a result, safer and smoother robot control can be achieved both while approaching and while touching surfaces. This paper presents the design and extensive experimental evaluation of a versatile, lightweight, and low-cost instrumented compliant wrist mechanism which can be mounted on any rigid robotic manipulator in order to introduce a layer of compliance while providing the controller with extra sensing signals during close interaction with an object's surface. Arrays of embedded range sensors provide real-time measurements on the position and orientation of surfaces, either located in proximity or in contact with the robot's end-effector, which permits close guidance of its operation. Calibration procedures are formulated to overcome inter-sensor variability and achieve the highest available resolution. A versatile solution is created by embedding all signal processing, while wireless transmission connects the device to any industrial robot's controller to support path control. Experimental work demonstrates the device's physical compliance as well as the stability and accuracy of the device outputs. Primary applications of the proposed instrumented compliant wrist include smooth surface following in manufacturing, inspection, and safe human-robot interaction.

Serum Testosterone Levels in Sex Offenders.

ERIC Educational Resources Information Center

Gurnani, Prem D.; Dwyer, Margretta

1986-01-01

Reports that with the increase in diagnosis of offenders across the nation, physicians and psychiatric personnel need to be aware of low testosterone as a possible indicator of hypo-sexuality and possible concurrent offending behavior. (Author/ABB)

New Ideas on Facilities Management.

ERIC Educational Resources Information Center

Grimm, James C.

1986-01-01

Examines trends in facilities management relating to products and people. Reviews new trends in products, including processes, techniques, and programs that are being expounded by business and industry. Discusses the "people factors" involved in facilities management. (ABB)

Reaching In--Reaching Out: Counseling an Autistic Child.

ERIC Educational Resources Information Center

Nystul, Michael S.

1986-01-01

Describes a humanistic counseling approach that can be used with autistic children. A case study illustrates how the approach can be implemented. Gains are shown in academics, classroom behavior, and self-help skills. (Author/ABB)

Refractive Index Measurement of Fibers Through Fizeau Interferometry

DTIC Science & Technology

2013-08-01

15. SUBJECT TERMS composite, transparent, refractive index, refractometry , interferometer 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF...transparent fibers has long presented a significant challenge. Abbe refractometry , the typical measurement technique for bulk materials and liquids

Drahtlose Audioübertragung

NASA Astrophysics Data System (ADS)

Niehoff, Wolfgang

Für die drahtlose Übertragung von Audiosignalen werden elektromagnetische Wellen als Trägersignale genutzt. Auch der Rundfunk bedient sich dieser Wellen auf unterschiedlichen Frequenzen, ebenso Kommunikationsdienste wie der Mobilfunk, WLAN, Bluetooth und andere Funkdienste (Abb. 19.1).

Frustration in a Chauvinist Society: Japanese Women Today.

ERIC Educational Resources Information Center

Metraux, Daniel A.

1987-01-01

Discusses the status of women in contemporary Japan. Describes their role as mothers and homemakers, the obstacles they face in maintaining developing careers, and the discrimination they face in a patriarchal society. (Author/ABB)

Genetics Home Reference: centronuclear myopathy

MedlinePlus

... W, Beggs AH, Li JZ, Burmeister M, Dowling JJ. Dominant mutation of CCDC78 in a unique congenital ... E, Boennemann C, Straub V, Quinlivan R, Dowling JJ, Al-Sarraj S, Treves S, Abbs S, Manzur AY, Sewry CA, ...

Telesurgical laparoscopic cholecystectomy between two countries.

PubMed

Cheah, W K; Lee, B; Lenzi, J E; Goh, P M

2000-11-01

Telesurgery is a form of operative videoconferencing in which a remotely located surgeon observes a procedure through a camera and provides visual and auditory feedback to the operative site. With the use of more robotic devices in laparoscopic surgery, various forms of telesurgery have been tried. We describe the first two international telesurgical, telementored, robot-assisted laparoscopic cholecystectomies performed in the world, between the Johns Hopkins Institute, Baltimore, Maryland, USA, and the National University Hospital, Singapore.

Freeform fluidics

DOEpatents

Dehoff, Ryan R; Lind, Randall F; Love, Lonnie L; Peter, William H; Richardson, Bradley S

2015-02-10

A robotic, prosthetic or orthotic member includes a body formed of a solidified metallic powder. At least one working fluid cylinder is formed in the body. A piston is provided in the working fluid cylinder for pressurizing a fluid in the cylinder. At least one working fluid conduit receives the pressurized fluid from the cylinder. The body, working fluid cylinder and working fluid conduit have a unitary construction. A method of making a robotic member is also disclosed.

Nano-imaging enabled via self-assembly

PubMed Central

McLeod, Euan; Ozcan, Aydogan

2014-01-01

SUMMARY Imaging object details with length scales below approximately 200 nm has been historically difficult for conventional microscope objective lenses because of their inability to resolve features smaller than one-half the optical wavelength. Here we review some of the recent approaches to surpass this limit by harnessing self-assembly as a fabrication mechanism. Self-assembly can be used to form individual nano- and micro-lenses, as well as to form extended arrays of such lenses. These lenses have been shown to enable imaging with resolutions as small as 50 nm half-pitch using visible light, which is well below the Abbe diffraction limit. Furthermore, self-assembled nano-lenses can be used to boost contrast and signal levels from small nano-particles, enabling them to be detected relative to background noise. Finally, alternative nano-imaging applications of self-assembly are discussed, including three-dimensional imaging, enhanced coupling from light-emitting diodes, and the fabrication of contrast agents such as quantum dots and nanoparticles. PMID:25506387

Human-Robot Interaction: Status and Challenges.

PubMed

Sheridan, Thomas B

2016-06-01

The current status of human-robot interaction (HRI) is reviewed, and key current research challenges for the human factors community are described. Robots have evolved from continuous human-controlled master-slave servomechanisms for handling nuclear waste to a broad range of robots incorporating artificial intelligence for many applications and under human supervisory control. This mini-review describes HRI developments in four application areas and what are the challenges for human factors research. In addition to a plethora of research papers, evidence of success is manifest in live demonstrations of robot capability under various forms of human control. HRI is a rapidly evolving field. Specialized robots under human teleoperation have proven successful in hazardous environments and medical application, as have specialized telerobots under human supervisory control for space and repetitive industrial tasks. Research in areas of self-driving cars, intimate collaboration with humans in manipulation tasks, human control of humanoid robots for hazardous environments, and social interaction with robots is at initial stages. The efficacy of humanoid general-purpose robots has yet to be proven. HRI is now applied in almost all robot tasks, including manufacturing, space, aviation, undersea, surgery, rehabilitation, agriculture, education, package fetch and delivery, policing, and military operations. © 2016, Human Factors and Ergonomics Society.

A Reconfigurable Omnidirectional Soft Robot Based on Caterpillar Locomotion.

PubMed

Zou, Jun; Lin, Yangqiao; Ji, Chen; Yang, Huayong

2018-04-01

A pneumatically powered, reconfigurable omnidirectional soft robot based on caterpillar locomotion is described. The robot is composed of nine modules arranged as a three by three matrix and the length of this matrix is 154 mm. The robot propagates a traveling wave inspired by caterpillar locomotion, and it has all three degrees of freedom on a plane (X, Y, and rotation). The speed of the robot is about 18.5 m/h (two body lengths per minute) and it can rotate at a speed of 1.63°/s. The modules have neodymium-iron-boron (NdFeB) magnets embedded and can be easily replaced or combined into other configurations. Two different configurations are presented to demonstrate the possibilities of the modular structure: (1) by removing some modules, the omnidirectional robot can be reassembled into a form that can crawl in a pipe and (2) two omnidirectional robots can crawl close to each other and be assembled automatically into a bigger omnidirectional robot. Omnidirectional motion is important for soft robots to explore unstructured environments. The modular structure gives the soft robot the ability to cope with the challenges of different environments and tasks.

Robotic vehicle with multiple tracked mobility platforms

DOEpatents

Salton, Jonathan R [Albuquerque, NM; Buttz, James H [Albuquerque, NM; Garretson, Justin [Albuquerque, NM; Hayward, David R [Wetmore, CO; Hobart, Clinton G [Albuquerque, NM; Deuel, Jr., Jamieson K.

2012-07-24

A robotic vehicle having two or more tracked mobility platforms that are mechanically linked together with a two-dimensional coupling, thereby forming a composite vehicle of increased mobility. The robotic vehicle is operative in hazardous environments and can be capable of semi-submersible operation. The robotic vehicle is capable of remote controlled operation via radio frequency and/or fiber optic communication link to a remote operator control unit. The tracks have a plurality of track-edge scallop cut-outs that allow the tracks to easily grab onto and roll across railroad tracks, especially when crossing the railroad tracks at an oblique angle.

MCD spectroscopy and TD-DFT calculations of low symmetry subnaphthalocyanine analogs.

PubMed

Mack, John; Otaki, Tatsuya; Durfee, William S; Kobayashi, Nagao; Stillman, Martin J

2014-07-01

Magnetic circular dichroism (MCD) spectroscopy and time-dependent density functional theory (TD-DFT) calculations are used to analyze the electronic structure and optical properties of low-symmetry subnaphthalocyanine analogs with AAB and ABB structures formed during mixed condensations of tetrafluorophthalonitrile and 2,3-naphthalenedicarbonitrile. The results demonstrate that trends observed in the properties of phthalocyanine analogs can be used to fine tune the optical properties so that the Q(0,0) bands lie in the red region, in a manner that does not significantly destabilize the highest occupied molecular orbital (HOMO) energy relative to that of the parent subphthalocyanine ligand. Attempts to study the spectroscopy of anion radical species proved unsuccessful, since they proved to be unstable. Copyright © 2014 Elsevier Inc. All rights reserved.

From Airy to Abbe: quantifying the effects of wide-angle focusing for scalar spherical waves

NASA Astrophysics Data System (ADS)

Calm, Yitzi M.; Merlo, Juan M.; Burns, Michael J.; Naughton, Michael J.

2017-10-01

Recent advances in optical microscopy have enabled imaging with spatial resolution beyond the diffraction limit. This limit is sometimes taken as one of several different criteria according to different conventions, including Rayleigh’s 0.61λ /NA, Abbe’s 0.5λ /NA, and Sparrow’s 0.47λ /NA. In this paper, we perform a parametric study, numerically integrating the scalar Kirchhoff diffraction integrals, and we propose new functional forms for the resolution limits derived from scalar focusing. The new expressions remain accurate under wide angle focusing, up to 90^\\circ . Our results could materially impact the design of high intensity focused ultrasound systems, and can be used as a qualitative guideline for the design of a particular type of planar optical element: the flat lens metasurface.

Knowledge based systems for intelligent robotics

NASA Technical Reports Server (NTRS)

Rajaram, N. S.

1982-01-01

It is pointed out that the construction of large space platforms, such as space stations, has to be carried out in the outer space environment. As it is extremely expensive to support human workers in space for large periods, the only feasible solution appears to be related to the development and deployment of highly capable robots for most of the tasks. Robots for space applications will have to possess characteristics which are very different from those needed by robots in industry. The present investigation is concerned with the needs of space robotics and the technologies which can be of assistance to meet these needs, giving particular attention to knowledge bases. 'Intelligent' robots are required for the solution of arising problems. The collection of facts and rules needed for accomplishing such solutions form the 'knowledge base' of the system.

Decentralised consensus-based formation tracking of multiple differential drive robots

NASA Astrophysics Data System (ADS)

Chu, Xing; Peng, Zhaoxia; Wen, Guoguang; Rahmani, Ahmed

2017-11-01

This article investigates the control problem for formation tracking of multiple nonholonomic robots under distributed manner which means each robot only needs local information exchange. A class of general state and input transform is introduced to convert the formation-tracking issue of multi-robot systems into the consensus-like problem with time-varying reference. The distributed observer-based protocol with nonlinear dynamics is developed for each robot to achieve the consensus tracking of the new system, which namely means a group of nonholonomic mobile robots can form the desired formation configuration with its centroid moving along the predefined reference trajectory. The finite-time stability of observer and control law is analysed rigorously by using the Lyapunov direct method, algebraic graph theory and matrix analysis. Numerical examples are finally provided to illustrate the effectiveness of the theory results proposed in this paper.

USAR Robot Communication Using ZigBee Technology

NASA Astrophysics Data System (ADS)

Tsui, Charles; Carnegie, Dale; Pan, Qing Wei

This paper reports the successful development of an automatic routing wireless network for USAR (urban search and rescue) robots in an artificial rubble environment. The wireless network was formed using ZigBee modules and each module was attached to a micro-controller in order to model a wireless USAR robot. Proof of concept experiments were carried out by deploying the networked robots into artificial rubble. The rubble was simulated by connecting holes and trenches that were dug in 50 cm deep soil. The simulated robots were placed in the bottom of the holes. The holes and trenches were then covered up by various building materials and soil to simulate a real rubble environment. Experiments demonstrated that a monitoring computer placed 10 meters outside the rubble can establish proper communication with all robots inside the artificial rubble environment.

Space-time modeling using environmental constraints in a mobile robot system

NASA Technical Reports Server (NTRS)

Slack, Marc G.

1990-01-01

Grid-based models of a robot's local environment have been used by many researchers building mobile robot control systems. The attraction of grid-based models is their clear parallel between the internal model and the external world. However, the discrete nature of such representations does not match well with the continuous nature of actions and usually serves to limit the abilities of the robot. This work describes a spatial modeling system that extracts information from a grid-based representation to form a symbolic representation of the robot's local environment. The approach makes a separation between the representation provided by the sensing system and the representation used by the action system. Separation allows asynchronous operation between sensing and action in a mobile robot, as well as the generation of a more continuous representation upon which to base actions.

Packaging Of Control Circuits In A Robot Arm

NASA Technical Reports Server (NTRS)

Kast, William

1994-01-01

Packaging system houses and connects control circuitry mounted on circuit boards within shoulder, upper section, and lower section of seven-degree-of-freedom robot arm. Has modular design that incorporates surface-mount technology, multilayer circuit boards, large-scale integrated circuits, and multi-layer flat cables between sections for compactness. Three sections of robot arm contain circuit modules in form of stardardized circuit boards. Each module contains two printed-circuit cards, one of each face.

Engineered Logjam Technology: A decade of application and development of science based design guidelines.

NASA Astrophysics Data System (ADS)

Abbe, T.

2007-12-01

Over 11 years ago the first engineered logjams (ELJs) were constructed in the Upper Cowlitz River (Abbe et al 1997). Nine years ago, the North Fork Stillaguamish River project was presented at the 1998 AGU Fall Meeting (Abbe et al 1998). Over the last decade, tribes, governmental agencies, private land owners and non-profit organizations have used ELJs to restore river habitat, limit channel incision, and provide bank protection for property and infrastructure. ELJs have been constructed throughout the Pacific Northwest, Alaska, California and as far away as New South Wales, Australia. The development of ELJ technology was founded on the premise of applying scientific methods to: (1) assess project sites (e.g, hydrology, hydraulics, sediment, vegetation, channel dynamics), (2) understand the mechanics of wood debris, (3) emulate natural processes and forms, (4) adapt solutions to situations constrained by human development (e.g., channelization, flow regulation) and (5) educate human communities about fluvial systems (e.g., address real and perceived views about wood debris and fluvial systems, considering direct and indirect effects on property and public safety). The case for a scientific standard of practice is supported by the successful performance of ELJ projects that employed a scientific analysis of site conditions, structure stability and the hydraulic and channel response to proposed structures. ELJ structures have successfully survived 100-yr flood events; delivered measurable increases in the amount of aquatic habitat, periphyton and invertebrate populations, and floodplain connectivity; created preferential habitat for juvenile salmon; and provided effective bank protection. I summarize the physical performance of several ELJ projects built from 1996 to 2006 and present a general scientific standard of practice for ELJ technology and wood debris management.

Bulimia: A Self-Psychological and Ego-Developmental View.

ERIC Educational Resources Information Center

Brenner-Liss, Deborah

1986-01-01

Discusses key clinical issues in the treatment of bulimia with clinical examples from a self-psychological and ego-developmental point of view. Identifies three developmental issues for bulimia: self-regulatory, differentiation, and self-esteem. (Author/ABB)

The Store Front School.

ERIC Educational Resources Information Center

Forrest, Barbara

1986-01-01

Describes the Store Front School project, a program of cooperative education aimed at rekindling students' interest in school and helping them earn their diplomas. The school conducts classes in an office in a shopping mall where the students work. (ABB)

Professional Women: Job Role Stresses and Psychosocial Variables.

ERIC Educational Resources Information Center

Robinson, Sharon E.; Skarie, Elizabeth K.

1986-01-01

A study of 91 professional women revealed that internal locus of control was significantly related to three job role stresses (role ambiguity, nonparticipation in decision making, and role overload) and to fear of success. (Author/ABB)

Divorce over 50: A Program of Support.

ERIC Educational Resources Information Center

Norberry, Laura Portz

1986-01-01

Demonstrates that women who are 50 years old or older and facing divorce benefit from the emotional and informational support provided in a small-group format. Examines a women's center which supplies sponsorship and professional facilitators. (Author/ABB)

Super-Resolution Microscopy Techniques and Their Potential for Applications in Radiation Biophysics.

PubMed

Eberle, Jan Philipp; Rapp, Alexander; Krufczik, Matthias; Eryilmaz, Marion; Gunkel, Manuel; Erfle, Holger; Hausmann, Michael

2017-01-01

Fluorescence microscopy is an essential tool for imaging tagged biological structures. Due to the wave nature of light, the resolution of a conventional fluorescence microscope is limited laterally to about 200 nm and axially to about 600 nm, which is often referred to as the Abbe limit. This hampers the observation of important biological structures and dynamics in the nano-scaled range ~10 nm to ~100 nm. Consequentially, various methods have been developed circumventing this limit of resolution. Super-resolution microscopy comprises several of those methods employing physical and/or chemical properties, such as optical/instrumental modifications and specific labeling of samples. In this article, we will give a brief insight into a variety of selected optical microscopy methods reaching super-resolution beyond the Abbe limit. We will survey three different concepts in connection to biological applications in radiation research without making a claim to be complete.

Stacking-dependent electronic property of trilayer graphene epitaxially grown on Ru(0001)

NASA Astrophysics Data System (ADS)

Que, Yande; Xiao, Wende; Chen, Hui; Wang, Dongfei; Du, Shixuan; Gao, Hong-Jun

2015-12-01

The growth, atomic structure, and electronic property of trilayer graphene (TLG) on Ru(0001) were studied by low temperature scanning tunneling microscopy and spectroscopy in combined with tight-binding approximation (TBA) calculations. TLG on Ru(0001) shows a flat surface with a hexagonal lattice due to the screening effect of the bottom two layers and the AB-stacking in the top two layers. The coexistence of AA- and AB-stacking in the bottom two layers leads to three different stacking orders of TLG, namely, ABA-, ABC-, and ABB-stacking. STS measurements combined with TBA calculations reveal that the density of states of TLG with ABC- and ABB-stacking is characterized by one and two sharp peaks near to the Fermi level, respectively, in contrast to the V-shaped feature of TLG with ABA-stacking. Our work demonstrates that TLG on Ru(0001) might be an ideal platform for exploring stacking-dependent electronic properties of graphene.

Advanced Direct-Drive Generator for Improved Availability of Oscillating Wave Surge Converter Power Generation Systems Final Technical Report

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

Englebretson, Steven; Ouyang, Wen; Tschida, Colin

This report summarizes the activities conducted under the DOE-EERE funded project DE-EE0006400, where ABB Inc. (ABB), in collaboration with Texas A&M’s Advanced Electric Machines & Power Electronics (EMPE) Lab and Resolute Marine Energy (RME) designed, derisked, developed, and demonstrated a novel magnetically geared electrical generator for direct-drive, low-speed, high torque MHK applications The project objective was to investigate a novel and compact direct-drive electric generator and its system aspects that would enable elimination of hydraulic components in the Power Take-Off (PTO) of a Marine and Hydrokinetic (MHK) system with an oscillating wave surge converter (OWSC), thereby improving the availability ofmore » the MHK system. The scope of this project was limited to the development and dry lab demonstration of a low speed generator to enable future direct drive MHK systems.« less

Athermalization and achromatization of visible/SWIR optics using instantaneous Abbe number

NASA Astrophysics Data System (ADS)

Ramsey, J. L.

2017-11-01

With the move to more and more lightweight and cost-effective design, a move to multiband or multi-spectral optics is required. These systems are becoming more prevalent in the market as new detector technologies have been developed. However, the lens designs are only starting to be considered with the addition of new materials in the MWIR and the LWIR. For the VIS/SWIR region the designs have been possible, but a lack of detector technology has resulted in few designs being considered for actual manufacturing. These designs are also difficult due to changes in the Abbe number in the different wavebands. Where the glass map is robust in the visible region, there exists a lack of crown glasses in the SWIR, and one is left with mostly flint glasses. This proves challenging from a chromatic perspective. The challenge becomes even more difficult if one wants to incorporate athermalization.

Jean-Antoine Nollet: The father of experimental electrospray.

PubMed

Dumont, Quentin; Cole, Richard B

2014-01-01

The development of electrospray ionization mass spectrometry (ESI-MS) was a 20th century occurrence that underwent rapid acceleration especially in the 1990's. However, long prior to its coupling with mass spectrometry, the electrification of liquids had been studied in a variety of contexts. Although initial reports describing cone formation upon electrification of water drops came out of England, the first true experiments investigating the electrospray phenomenon were performed in the middle of the 18th century by Abbé Jean-Antoine Nollet. The current report, associated with the French Regional Issue of Mass Spectrometry Reviews, examines the contributions of Abbé Nollet to the earliest understanding of the electrospray phenomenon. A description of his accomplishments is placed in the context of the societal and scientific developments of the "Age of Enlightenment" out of which Jean-Antoine Nollet arose. © 2013 Wiley Periodicals, Inc.

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

Steiner, J.L.; Lime, J.F.; Elson, J.S.

One dimensional TRAC transient calculations of the process inherent ultimate safety (PIUS) advanced reactor design were performed for a pump-trip SCRAM. The TRAC calculations showed that the reactor power response and shutdown were in qualitative agreement with the one-dimensional analyses presented in the PIUS Preliminary Safety Information Document (PSID) submitted by Asea Brown Boveri (ABB) to the US Nuclear Regulatory Commission for preapplication safety review. The PSID analyses were performed with the ABB-developed RIGEL code. The TRAC-calculated phenomena and trends were also similar to those calculated with another one-dimensional PIUS model, the Brookhaven National Laboratory developed PIPA code. A TRACmore » pump-trip SCRAM transient has also been calculated with a TRAC model containing a multi-dimensional representation of the PIUS intemal flow structures and core region. The results obtained using the TRAC fully one-dimensional PIUS model are compared to the RIGEL, PIPA, and TRAC multi-dimensional results.« less

Educational robotics as an Innovative teaching practice using technology: minimization of risks

NASA Astrophysics Data System (ADS)

Kvesko, S. B.; Kvesko, N. G.; Korniyenko, A. A.; Kabanova, N. N.

2018-05-01

This research is focused on studying educational robotics, specifically robots which provide functions of educational activity. We have considered the questions of intelligent agents’ behavior and have studied their educational opportunities. Educational robotics is a powerful tool of developing person’s skills and abilities in various fields of technical creativity and professional activity. The evolutionary development of robotics is connected with development of artificial intelligence, where emotions play a great role in operations. Nowadays the main thing is to form the ability and skills of optimum interaction with social environment when a person, based on gained knowledge, is capable to put goals of the activity in strict accordance with laws and society conditions and using current technology.

Geographic Variation in the Quality and Cost of Care for Patients with Rheumatoid Arthritis.

PubMed

Shafrin, Jason; Ganguli, Arijit; Gonzalez, Yuri Sanchez; Shim, Jin Joo; Seabury, Seth A

2016-12-01

There is considerable push to improve value in health care by simultaneously increasing quality while lowering or containing costs. However, for diseases that are best treated with comparatively expensive treatments, such as rheumatoid arthritis (RA), there could be tension between these aims. In this study, we measured geographic variation in quality, access, and cost for patients with RA, a disease with effective but costly specialty treatments. To assess the geographic differences in the quality, access, and cost of care for patients with RA. Using large claims databases covering the period between 2008 and 2014, we measured quality of care metrics by metropolitan statistical areas (MSAs) for patients with RA. Quality measures included use of disease-modifying antirheumatic drugs (DMARDs) and tuberculosis (TB) screening before initiating biologic DMARD therapy. Access to care measures included measured detection and the share of patients with RA who visited a rheumatologist. Regression models were used to control for differences in patient demographics and health status across MSAs. For the 501,376 patients diagnosed with RA, in the average MSA 64.1% of RA patients received a DMARD, and 29.6% of RA patients initiating a biologic DMARD appropriately received a TB screening. Only 17% (73/430) of MSAs comprised the top 2 Medicare Advantage star ratings for DMARD use. Measured detection was 0.59% (IQR = 0.47%-0.71%; CV = 0.355) on average, and 57.6% (IQR = 48%-69%; CV = 0.341) of RA patients visited a rheumatologist. MSAs with the highest DMARD use spent $26,724 (in 2015 U.S. dollars) annually treating patients with RA, $5,428 more (P < 0.001) than low DMARD-use MSAs, largely because of higher pharmacy cost ($5,090 vs. $7,610, P < 0.001). However, MSAs with higher DMARD use had lower RA-related inpatient cost ($1,890 vs. $2,342, P = 0.024). There were significant geographic variations in the quality of care received by patients with RA, although quality was poor in most areas. Fewer than 1 in 5 MSAs could be considered high quality based on patient DMARD use. Access to specialist care may be an issue, since just over half of patients with RA visited a rheumatologist annually. Efforts to incentivize better quality of care holds promise in terms of unlocking value for patients, but for some diseases, this approach may result in higher costs. The research reported in this manuscript was supported by AbbVie through consulting fees paid to Precision Health Economics (PHE). AbbVie and PHE collaborated to develop the study design and protocol. AbbVie and PHE participated in the interpretation of data, review, and approval of the manuscript. Shafrin and Shim are employed by PHE. Ganguli and Sanchez Gonzalez are employed by AbbVie. Seabury reports consulting fees from PHE. The results from this study were presented in poster form at the Academy of Managed Care Pharmacy's 2015 Annual Meeting and Expo; April 7-10, 2015; San Diego, California, and at the Academy of Managed Care Pharmacy's 2016 Annual Meeting and Expo; April 19-22, 2016; San Francisco, California. Study concept and design were contributed primarily by Shafrin, along with Ganguli and Seabury. Shafrin and Shim took the lead in data collection, and data interpretation was performed by Ganguli, Sanchez Gonzalez, Seabury, and Shafrin. The manuscript was written primarily by Shafrin, along with Shim and Seabury, and revised primarily by Ganguli, along with Sanchez Gonzalez and Seabury.

Utility fog: A universal physical substance

NASA Technical Reports Server (NTRS)

Hall, J. Storrs

1993-01-01

Active, polymorphic material ('Utility Fog') can be designed as a conglomeration of 100-micron robotic cells ('foglets'). Such robots could be built with the techniques of molecular nanotechnology. Controllers with processing capabilities of 1000 MIPS per cubic micron, and electric motors with power densities of one milliwatt per cubic micron are assumed. Utility Fog should be capable of simulating most everyday materials, dynamically changing its form and properties, and forms a substrate for an integrated virtual reality and telerobotics.

Neurophysiology of Robot-Mediated Training and Therapy: A Perspective for Future Use in Clinical Populations

PubMed Central

Turner, Duncan L.; Ramos-Murguialday, Ander; Birbaumer, Niels; Hoffmann, Ulrich; Luft, Andreas

2013-01-01

The recovery of functional movements following injury to the central nervous system (CNS) is multifaceted and is accompanied by processes occurring in the injured and non-injured hemispheres of the brain or above/below a spinal cord lesion. The changes in the CNS are the consequence of functional and structural processes collectively termed neuroplasticity and these may occur spontaneously and/or be induced by movement practice. The neurophysiological mechanisms underlying such brain plasticity may take different forms in different types of injury, for example stroke vs. spinal cord injury (SCI). Recovery of movement can be enhanced by intensive, repetitive, variable, and rewarding motor practice. To this end, robots that enable or facilitate repetitive movements have been developed to assist recovery and rehabilitation. Here, we suggest that some elements of robot-mediated training such as assistance and perturbation may have the potential to enhance neuroplasticity. Together the elemental components for developing integrated robot-mediated training protocols may form part of a neurorehabilitation framework alongside those methods already employed by therapists. Robots could thus open up a wider choice of options for delivering movement rehabilitation grounded on the principles underpinning neuroplasticity in the human CNS. PMID:24312073

Control Architecture for Robotic Agent Command and Sensing

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance; Aghazarian, Hrand; Estlin, Tara; Gaines, Daniel

2008-01-01

Control Architecture for Robotic Agent Command and Sensing (CARACaS) is a recent product of a continuing effort to develop architectures for controlling either a single autonomous robotic vehicle or multiple cooperating but otherwise autonomous robotic vehicles. CARACaS is potentially applicable to diverse robotic systems that could include aircraft, spacecraft, ground vehicles, surface water vessels, and/or underwater vessels. CARACaS incudes an integral combination of three coupled agents: a dynamic planning engine, a behavior engine, and a perception engine. The perception and dynamic planning en - gines are also coupled with a memory in the form of a world model. CARACaS is intended to satisfy the need for two major capabilities essential for proper functioning of an autonomous robotic system: a capability for deterministic reaction to unanticipated occurrences and a capability for re-planning in the face of changing goals, conditions, or resources. The behavior engine incorporates the multi-agent control architecture, called CAMPOUT, described in An Architecture for Controlling Multiple Robots (NPO-30345), NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 65. CAMPOUT is used to develop behavior-composition and -coordination mechanisms. Real-time process algebra operators are used to compose a behavior network for any given mission scenario. These operators afford a capability for producing a formally correct kernel of behaviors that guarantee predictable performance. By use of a method based on multi-objective decision theory (MODT), recommendations from multiple behaviors are combined to form a set of control actions that represents their consensus. In this approach, all behaviors contribute simultaneously to the control of the robotic system in a cooperative rather than a competitive manner. This approach guarantees a solution that is good enough with respect to resolution of complex, possibly conflicting goals within the constraints of the mission to be accomplished by the vehicle(s).

A case of robot-assisted laparoscopic radical prostatectomy in primary small cell prostate cancer.

PubMed

Kim, Ki Hong; Park, Sang Un; Jang, Jee Young; Park, Won Kyu; Oh, Chul Kyu; Rha, Koon Ho

2010-12-01

Primary small cell carcinoma of the prostate is a rare and very aggressive disease with a poor prognosis, even in its localized form. We managed a case of primary small cell carcinoma of the prostate. The patient was treated with robot-assisted laparoscopic radical prostatectomy and adjuvant chemotherapy. Herein we report this first case of robot-assisted laparoscopic radical prostatectomy performed in a patient with primary small cell carcinoma of the prostate.

Singularity now: using the ventricular assist device as a model for future human-robotic physiology.

PubMed

Martin, Archer K

2016-04-01

In our 21 st century world, human-robotic interactions are far more complicated than Asimov predicted in 1942. The future of human-robotic interactions includes human-robotic machine hybrids with an integrated physiology, working together to achieve an enhanced level of baseline human physiological performance. This achievement can be described as a biological Singularity. I argue that this time of Singularity cannot be met by current biological technologies, and that human-robotic physiology must be integrated for the Singularity to occur. In order to conquer the challenges we face regarding human-robotic physiology, we first need to identify a working model in today's world. Once identified, this model can form the basis for the study, creation, expansion, and optimization of human-robotic hybrid physiology. In this paper, I present and defend the line of argument that currently this kind of model (proposed to be named "IshBot") can best be studied in ventricular assist devices - VAD.

Singularity now: using the ventricular assist device as a model for future human-robotic physiology

PubMed Central

Martin, Archer K.

2016-01-01

In our 21st century world, human-robotic interactions are far more complicated than Asimov predicted in 1942. The future of human-robotic interactions includes human-robotic machine hybrids with an integrated physiology, working together to achieve an enhanced level of baseline human physiological performance. This achievement can be described as a biological Singularity. I argue that this time of Singularity cannot be met by current biological technologies, and that human-robotic physiology must be integrated for the Singularity to occur. In order to conquer the challenges we face regarding human-robotic physiology, we first need to identify a working model in today’s world. Once identified, this model can form the basis for the study, creation, expansion, and optimization of human-robotic hybrid physiology. In this paper, I present and defend the line of argument that currently this kind of model (proposed to be named “IshBot”) can best be studied in ventricular assist devices – VAD. PMID:28913480

Hybrid robotic systems for upper limb rehabilitation after stroke: A review.

PubMed

Resquín, Francisco; Cuesta Gómez, Alicia; Gonzalez-Vargas, Jose; Brunetti, Fernando; Torricelli, Diego; Molina Rueda, Francisco; Cano de la Cuerda, Roberto; Miangolarra, Juan Carlos; Pons, José Luis

2016-11-01

In recent years the combined use of functional electrical stimulation (FES) and robotic devices, called hybrid robotic rehabilitation systems, has emerged as a promising approach for rehabilitation of lower and upper limb motor functions. This paper presents a review of the state of the art of current hybrid robotic solutions for upper limb rehabilitation after stroke. For this aim, studies have been selected through a search using web databases: IEEE-Xplore, Scopus and PubMed. A total of 10 different hybrid robotic systems were identified, and they are presented in this paper. Selected systems are critically compared considering their technological components and aspects that form part of the hybrid robotic solution, the proposed control strategies that have been implemented, as well as the current technological challenges in this topic. Additionally, we will present and discuss the corresponding evidences on the effectiveness of these hybrid robotic therapies. The review also discusses the future trends in this field. Copyright © 2016 IPEM. Published by Elsevier Ltd. All rights reserved.

An Intelligent Agent-Controlled and Robot-Based Disassembly Assistant

NASA Astrophysics Data System (ADS)

Jungbluth, Jan; Gerke, Wolfgang; Plapper, Peter

2017-09-01

One key for successful and fluent human-robot-collaboration in disassembly processes is equipping the robot system with higher autonomy and intelligence. In this paper, we present an informed software agent that controls the robot behavior to form an intelligent robot assistant for disassembly purposes. While the disassembly process first depends on the product structure, we inform the agent using a generic approach through product models. The product model is then transformed to a directed graph and used to build, share and define a coarse disassembly plan. To refine the workflow, we formulate “the problem of loosening a connection and the distribution of the work” as a search problem. The created detailed plan consists of a sequence of actions that are used to call, parametrize and execute robot programs for the fulfillment of the assistance. The aim of this research is to equip robot systems with knowledge and skills to allow them to be autonomous in the performance of their assistance to finally improve the ergonomics of disassembly workstations.

ShouldeRO, an alignment-free two-DOF rehabilitation robot for the shoulder complex.

PubMed

Dehez, Bruno; Sapin, Julien

2011-01-01

This paper presents a robot aimed to assist the shoulder movements of stroke patients during their rehabilitation process. This robot has the general form of an exoskeleton, but is characterized by an action principle on the patient no longer requiring a tedious and accurate alignment of the robot and patient's joints. It is constituted of a poly-articulated structure whose actuation is deported and transmission is ensured by Bowden cables. It manages two of the three rotational degrees of freedom (DOFs) of the shoulder. Quite light and compact, its proximal end can be rigidly fixed to the patient's back on a rucksack structure. As for its distal end, it is connected to the arm through passive joints and a splint guaranteeing the robot action principle, i.e. exert a force perpendicular to the patient's arm, whatever its configuration. This paper also presents a first prototype of this robot and some experimental results such as the arm angular excursions reached with the robot in the three joint planes. © 2011 IEEE

A Demonstrator Intelligent Scheduler For Sensor-Based Robots

NASA Astrophysics Data System (ADS)

Perrotta, Gabriella; Allen, Charles R.; Shepherd, Andrew J.

1987-10-01

The development of an execution module capable of functioning as as on-line supervisor for a robot equipped with a vision sensor and tactile sensing gripper system is described. The on-line module is supported by two off-line software modules which provide a procedural based assembly constraints language to allow the assembly task to be defined. This input is then converted into a normalised and minimised form. The host Robot programming language permits high level motions to be issued at the to level, hence allowing a low programming overhead to the designer, who must describe the assembly sequence. Components are selected for pick and place robot movement, based on information derived from two cameras, one static and the other mounted on the end effector of the robot. The approach taken is multi-path scheduling as described by Fox pi. The system is seen to permit robot assembly in a less constrained parts presentation environment making full use of the sensory detail available on the robot.

Design of 3-D Printed Concentric Tube Robots.

PubMed

Morimoto, Tania K; Okamura, Allison M

2016-12-01

Concentric tube surgical robots are minimally invasive devices with the advantages of snake-like reconfigurability, long and thin form factor, and placement of actuation outside the patient's body. These robots can also be designed and manufactured to acquire targets in specific patients for treating specific diseases in a manner that minimizes invasiveness. We propose that concentric tube robots can be manufactured using 3-D printing technology on a patient- and procedure-specific basis. In this paper, we define the design requirements and manufacturing constraints for 3-D printed concentric tube robots and experimentally demonstrate the capabilities of these robots. While numerous 3-D printing technologies and materials can be used to create such robots, one successful example uses selective laser sintering to make an outer tube with a polyether block amide and uses stereolithography to make an inner tube with a polypropylene-like material. This enables a tube pair with precurvatures of 0.0775 and 0.0455 mm -1 , which can withstand strains of 20% and 5.5% for the outer and inner tubes, respectively.

Analysis of a closed-kinematic chain robot manipulator

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Pooran, Farhad J.

1988-01-01

Presented are the research results from the research grant entitled: Active Control of Robot Manipulators, sponsored by the Goddard Space Flight Center (NASA) under grant number NAG-780. This report considers a class of robot manipulators based on the closed-kinematic chain mechanism (CKCM). This type of robot manipulators mainly consists of two platforms, one is stationary and the other moving, and they are coupled together through a number of in-parallel actuators. Using spatial geometry and homogeneous transformation, a closed-form solution is derived for the inverse kinematic problem of the six-degree-of-freedom manipulator, built to study robotic assembly in space. Iterative Newton Raphson method is employed to solve the forward kinematic problem. Finally, the equations of motion of the above manipulators are obtained by employing the Lagrangian method. Study of the manipulator dynamics is performed using computer simulation whose results show that the robot actuating forces are strongly dependent on the mass and centroid locations of the robot links.

New diagnostic tool for robotic psychology and robotherapy studies.

PubMed

Libin, Elena; Libin, Alexander

2003-08-01

Robotic psychology and robotherapy as a new research area employs a systematic approach in studying psycho-physiological, psychological, and social aspects of person-robot communication. An analysis of the mechanisms underlying different forms of computer-mediated behavior requires both an adequate methodology and research tools. In the proposed article we discuss the concept, basic principles, structure, and contents of the newly designed Person-Robot Complex Interactive Scale (PRCIS), proposed for the purpose of investigating psychological specifics and therapeutic potentials of multilevel person-robot interactions. Assuming that human-robot communication has symbolic meaning, each interactive pattern evaluated via the newly developed scale is assigned certain psychological value associated with the person's past life experiences, likes and dislikes, emotional, cognitive, and behavioral traits or states. PRCIS includes (1) assessment of a person's individual style of communication with the robotic creature based on direct observations; (2) the participant's evaluation of his/her new experiences with an interactive robot and evaluation of its features, advantages and disadvantages, as well as past experiences with modern technology; and (3) the instructor's overall evaluation of the session.

Treating Women with Bulimia from a Sociocultural Perspective.

ERIC Educational Resources Information Center

Hotelling, Kathy

1986-01-01

Outlines a sociocultural perspective of bulimia. Notes that since bulimia occurs in a sociocultural context, which includes a socialized developmental path with concomittant norms and values, effective treatment must address those norms and values. Recommends group therapy. (ABB)

75 FR 4423 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-Portland Cement...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-01-27

... withdrawn from this venture: ABB, Incorporated, Wickliffe, OH; Air Products and Chemicals, Inc., Allentown, PA; LWB Refractories, York, PA; MikroPul, Charlotte, NC; Penta Engineering Corporation, St. Louis, MO...

Adolescent Eating Disorder: Bulimia.

ERIC Educational Resources Information Center

Muuss, Rolf E.

1986-01-01

Defines bulimia and lists associated features of bulimia, physical side effects, and cognitive disturbances related to binging and purging. Asserts that bulimics resist treatment; but that such methods as cognitive, group, family, behavior, and drug therapy, and hospitalization appear promising. (Author/ABB)

General visual robot controller networks via artificial evolution

NASA Astrophysics Data System (ADS)

Cliff, David; Harvey, Inman; Husbands, Philip

1993-08-01

We discuss recent results from our ongoing research concerning the application of artificial evolution techniques (i.e., an extended form of genetic algorithm) to the problem of developing `neural' network controllers for visually guided robots. The robot is a small autonomous vehicle with extremely low-resolution vision, employing visual sensors which could readily be constructed from discrete analog components. In addition to visual sensing, the robot is equipped with a small number of mechanical tactile sensors. Activity from the sensors is fed to a recurrent dynamical artificial `neural' network, which acts as the robot controller, providing signals to motors governing the robot's motion. Prior to presentation of new results, this paper summarizes our rationale and past work, which has demonstrated that visually guided control networks can arise without any explicit specification that visual processing should be employed: the evolutionary process opportunistically makes use of visual information if it is available.

Mapping of unknown industrial plant using ROS-based navigation mobile robot

NASA Astrophysics Data System (ADS)

Priyandoko, G.; Ming, T. Y.; Achmad, M. S. H.

2017-10-01

This research examines how humans work with teleoperated unmanned mobile robot inspection in industrial plant area resulting 2D/3D map for further critical evaluation. This experiment focuses on two parts, the way human-robot doing remote interactions using robust method and the way robot perceives the environment surround as a 2D/3D perspective map. ROS (robot operating system) as a tool was utilized in the development and implementation during the research which comes up with robust data communication method in the form of messages and topics. RGBD SLAM performs the visual mapping function to construct 2D/3D map using Kinect sensor. The results showed that the mobile robot-based teleoperated system are successful to extend human perspective in term of remote surveillance in large area of industrial plant. It was concluded that the proposed work is robust solution for large mapping within an unknown construction building.

Method and apparatus for calibrating multi-axis load cells in a dexterous robot

NASA Technical Reports Server (NTRS)

Wampler, II, Charles W. (Inventor); Platt, Jr., Robert J. (Inventor)

2012-01-01

A robotic system includes a dexterous robot having robotic joints, angle sensors adapted for measuring joint angles at a corresponding one of the joints, load cells for measuring a set of strain values imparted to a corresponding one of the load cells during a predetermined pose of the robot, and a host machine. The host machine is electrically connected to the load cells and angle sensors, and receives the joint angle values and strain values during the predetermined pose. The robot presses together mating pairs of load cells to form the poses. The host machine executes an algorithm to process the joint angles and strain values, and from the set of all calibration matrices that minimize error in force balance equations, selects the set of calibration matrices that is closest in a value to a pre-specified value. A method for calibrating the load cells via the algorithm is also provided.

Robot Teleoperation and Perception Assistance with a Virtual Holographic Display

NASA Technical Reports Server (NTRS)

Goddard, Charles O.

2012-01-01

Teleoperation of robots in space from Earth has historically been dfficult. Speed of light delays make direct joystick-type control infeasible, so it is desirable to command a robot in a very high-level fashion. However, in order to provide such an interface, knowledge of what objects are in the robot's environment and how they can be interacted with is required. In addition, many tasks that would be desirable to perform are highly spatial, requiring some form of six degree of freedom input. These two issues can be combined, allowing the user to assist the robot's perception by identifying the locations of objects in the scene. The zSpace system, a virtual holographic environment, provides a virtual three-dimensional space superimposed over real space and a stylus tracking position and rotation inside of it. Using this system, a possible interface for this sort of robot control is proposed.

A 2.5D Map-Based Mobile Robot Localization via Cooperation of Aerial and Ground Robots

PubMed Central

Nam, Tae Hyeon; Shim, Jae Hong; Cho, Young Im

2017-01-01

Recently, there has been increasing interest in studying the task coordination of aerial and ground robots. When a robot begins navigation in an unknown area, it has no information about the surrounding environment. Accordingly, for robots to perform tasks based on location information, they need a simultaneous localization and mapping (SLAM) process that uses sensor information to draw a map of the environment, while simultaneously estimating the current location of the robot on the map. This paper aims to present a localization method based in cooperation between aerial and ground robots in an indoor environment. The proposed method allows a ground robot to reach accurate destination by using a 2.5D elevation map built by a low-cost RGB-D (Red Green and Blue-Depth) sensor and 2D Laser sensor attached onto an aerial robot. A 2.5D elevation map is formed by projecting height information of an obstacle using depth information obtained by the RGB-D sensor onto a grid map, which is generated by using the 2D Laser sensor and scan matching. Experimental results demonstrate the effectiveness of the proposed method for its accuracy in location recognition and computing speed. PMID:29186843

Determining of a robot workspace using the integration of a CAD system with a virtual control system

NASA Astrophysics Data System (ADS)

Herbuś, K.; Ociepka, P.

2016-08-01

The paper presents a method for determining the workspace of an industrial robot using an approach consisting in integration a 3D model of an industrial robot with a virtual control system. The robot model with his work environment, prepared for motion simulation, was created in the “Motion Simulation” module of the Siemens PLM NX software. In the mentioned model components of the “link” type were created which map the geometrical form of particular elements of the robot and the components of “joint” type mapping way of cooperation of components of the “link” type. In the paper is proposed the solution in which the control process of a virtual robot is similar to the control process of a real robot using the manual control panel (teach pendant). For this purpose, the control application “JOINT” was created, which provides the manipulation of a virtual robot in accordance with its internal control system. The set of procedures stored in an .xlsx file is the element integrating the 3D robot model working in the CAD/CAE class system with the elaborated control application.

Mechanochemically Active Soft Robots.

PubMed

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

2015-10-14

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

Proximity Operations in Microgravity, a Robotic Solution for Maneuvering about an Asteroid Surface

NASA Astrophysics Data System (ADS)

Indyk, Stephen; Scheidt, David; Moses, Kenneth; Perry, Justin; Mike, Krystal

Asteroids remain some of the most under investigated bodies in the solar system. Addition-ally, there is a distinct lack of directly collected information. This is in part due to complex sampling and motion problems that must be overcome before more detailed missions can be formulated. The chief caveat lies in formulating a technique for precision operation in mi-crogravity. Locomotion, in addition to sample collection, involve forces significantly greater than the gravitational force keeping a robot on the surface. The design of a system that can successfully maneuver over unfamiliar surfaces void of natural anchor points is an incredible challenge. This problem was investigated at Johns Hopkins University Applied Physics Laboratory as part of the 2009 NASA Lunar and Planetary Academy. Examining the problem through a two-dimensional robotic simulation, a swarm robotics approach was applied. In simplest form, this was comprised of three grappling robots and one sampling robot. Connected by tethers, the grappling robots traverse a plane and reposition the sampling robot through tensioning the tethers. This presentation provides information on the design of the robotic system, as well as gait analysis and future considerations for a three dimensional system.

A 2.5D Map-Based Mobile Robot Localization via Cooperation of Aerial and Ground Robots.

PubMed

Nam, Tae Hyeon; Shim, Jae Hong; Cho, Young Im

2017-11-25

Recently, there has been increasing interest in studying the task coordination of aerial and ground robots. When a robot begins navigation in an unknown area, it has no information about the surrounding environment. Accordingly, for robots to perform tasks based on location information, they need a simultaneous localization and mapping (SLAM) process that uses sensor information to draw a map of the environment, while simultaneously estimating the current location of the robot on the map. This paper aims to present a localization method based in cooperation between aerial and ground robots in an indoor environment. The proposed method allows a ground robot to reach accurate destination by using a 2.5D elevation map built by a low-cost RGB-D (Red Green and Blue-Depth) sensor and 2D Laser sensor attached onto an aerial robot. A 2.5D elevation map is formed by projecting height information of an obstacle using depth information obtained by the RGB-D sensor onto a grid map, which is generated by using the 2D Laser sensor and scan matching. Experimental results demonstrate the effectiveness of the proposed method for its accuracy in location recognition and computing speed.

Swarmathon 2017

NASA Image and Video Library

2017-04-19

A Swarmie robot finds a "resource" cube marked with an AprilTag, similar to a barcode. In the Swarmathon competition at the Kennedy Space Center Visitor Complex, students were asked to develop computer code for the small robots, programming them to look for "resources" in the form of cubes with AprilTags.

Supervised space robots are needed in space exploration

NASA Technical Reports Server (NTRS)

Erickson, Jon D.

1994-01-01

High level systems engineering models were developed to simulate and analyze the types, numbers, and roles of intelligent systems, including supervised autonomous robots, which will be required to support human space exploration. Conventional and intelligent systems were compared for two missions: (1) a 20-year option 5A space exploration; and (2) the First Lunar Outpost (FLO). These studies indicate that use of supervised intelligent systems on planet surfaces will 'enable' human space exploration. The author points out that space robotics can be considered a form of the emerging technology of field robotics and solutions to many space applications will apply to problems relative to operating in Earth-based hazardous environments.

Autonomous Soft Robotic Fish Capable of Escape Maneuvers Using Fluidic Elastomer Actuators.

PubMed

Marchese, Andrew D; Onal, Cagdas D; Rus, Daniela

2014-03-01

In this work we describe an autonomous soft-bodied robot that is both self-contained and capable of rapid, continuum-body motion. We detail the design, modeling, fabrication, and control of the soft fish, focusing on enabling the robot to perform rapid escape responses. The robot employs a compliant body with embedded actuators emulating the slender anatomical form of a fish. In addition, the robot has a novel fluidic actuation system that drives body motion and has all the subsystems of a traditional robot onboard: power, actuation, processing, and control. At the core of the fish's soft body is an array of fluidic elastomer actuators. We design the fish to emulate escape responses in addition to forward swimming because such maneuvers require rapid body accelerations and continuum-body motion. These maneuvers showcase the performance capabilities of this self-contained robot. The kinematics and controllability of the robot during simulated escape response maneuvers are analyzed and compared with studies on biological fish. We show that during escape responses, the soft-bodied robot has similar input-output relationships to those observed in biological fish. The major implication of this work is that we show soft robots can be both self-contained and capable of rapid body motion.

Artificial pheromone for path selection by a foraging swarm of robots.

PubMed

Campo, Alexandre; Gutiérrez, Alvaro; Nouyan, Shervin; Pinciroli, Carlo; Longchamp, Valentin; Garnier, Simon; Dorigo, Marco

2010-11-01

Foraging robots involved in a search and retrieval task may create paths to navigate faster in their environment. In this context, a swarm of robots that has found several resources and created different paths may benefit strongly from path selection. Path selection enhances the foraging behavior by allowing the swarm to focus on the most profitable resource with the possibility for unused robots to stop participating in the path maintenance and to switch to another task. In order to achieve path selection, we implement virtual ants that lay artificial pheromone inside a network of robots. Virtual ants are local messages transmitted by robots; they travel along chains of robots and deposit artificial pheromone on the robots that are literally forming the chain and indicating the path. The concentration of artificial pheromone on the robots allows them to decide whether they are part of a selected path. We parameterize the mechanism with a mathematical model and provide an experimental validation using a swarm of 20 real robots. We show that our mechanism favors the selection of the closest resource is able to select a new path if a selected resource becomes unavailable and selects a newly detected and better resource when possible. As robots use very simple messages and behaviors, the system would be particularly well suited for swarms of microrobots with minimal abilities.

Acceptance of an assistive robot in older adults: a mixed-method study of human-robot interaction over a 1-month period in the Living Lab setting.

PubMed

Wu, Ya-Huei; Wrobel, Jérémy; Cornuet, Mélanie; Kerhervé, Hélène; Damnée, Souad; Rigaud, Anne-Sophie

2014-01-01

There is growing interest in investigating acceptance of robots, which are increasingly being proposed as one form of assistive technology to support older adults, maintain their independence, and enhance their well-being. In the present study, we aimed to observe robot-acceptance in older adults, particularly subsequent to a 1-month direct experience with a robot. Six older adults with mild cognitive impairment (MCI) and five cognitively intact healthy (CIH) older adults were recruited. Participants interacted with an assistive robot in the Living Lab once a week for 4 weeks. After being shown how to use the robot, participants performed tasks to simulate robot use in everyday life. Mixed methods, comprising a robot-acceptance questionnaire, semistructured interviews, usability-performance measures, and a focus group, were used. Both CIH and MCI subjects were able to learn how to use the robot. However, MCI subjects needed more time to perform tasks after a 1-week period of not using the robot. Both groups rated similarly on the robot-acceptance questionnaire. They showed low intention to use the robot, as well as negative attitudes toward and negative images of this device. They did not perceive it as useful in their daily life. However, they found it easy to use, amusing, and not threatening. In addition, social influence was perceived as powerful on robot adoption. Direct experience with the robot did not change the way the participants rated robots in their acceptance questionnaire. We identified several barriers to robot-acceptance, including older adults' uneasiness with technology, feeling of stigmatization, and ethical/societal issues associated with robot use. It is important to destigmatize images of assistive robots to facilitate their acceptance. Universal design aiming to increase the market for and production of products that are usable by everyone (to the greatest extent possible) might help to destigmatize assistive devices.

Acceptance of an assistive robot in older adults: a mixed-method study of human–robot interaction over a 1-month period in the Living Lab setting

PubMed Central

Wu, Ya-Huei; Wrobel, Jérémy; Cornuet, Mélanie; Kerhervé, Hélène; Damnée, Souad; Rigaud, Anne-Sophie

2014-01-01

Background There is growing interest in investigating acceptance of robots, which are increasingly being proposed as one form of assistive technology to support older adults, maintain their independence, and enhance their well-being. In the present study, we aimed to observe robot-acceptance in older adults, particularly subsequent to a 1-month direct experience with a robot. Subjects and methods Six older adults with mild cognitive impairment (MCI) and five cognitively intact healthy (CIH) older adults were recruited. Participants interacted with an assistive robot in the Living Lab once a week for 4 weeks. After being shown how to use the robot, participants performed tasks to simulate robot use in everyday life. Mixed methods, comprising a robot-acceptance questionnaire, semistructured interviews, usability-performance measures, and a focus group, were used. Results Both CIH and MCI subjects were able to learn how to use the robot. However, MCI subjects needed more time to perform tasks after a 1-week period of not using the robot. Both groups rated similarly on the robot-acceptance questionnaire. They showed low intention to use the robot, as well as negative attitudes toward and negative images of this device. They did not perceive it as useful in their daily life. However, they found it easy to use, amusing, and not threatening. In addition, social influence was perceived as powerful on robot adoption. Direct experience with the robot did not change the way the participants rated robots in their acceptance questionnaire. We identified several barriers to robot-acceptance, including older adults’ uneasiness with technology, feeling of stigmatization, and ethical/societal issues associated with robot use. Conclusion It is important to destigmatize images of assistive robots to facilitate their acceptance. Universal design aiming to increase the market for and production of products that are usable by everyone (to the greatest extent possible) might help to destigmatize assistive devices. PMID:24855349

The Uranus Mobile Robot

DTIC Science & Technology

1990-09-01

maneuver in a cluttered indoor environment . Since Pluto could position itself in any orientation, it would also allow us to mount a robot arm on top of...reasons. First, it gives the payload a smoother ride: although the robot operates in an indoor environment , there are still cables and door thresholds to...form a self-holding circuit. A small DPDT relay powers the proper indicator light and is also 9 Batery en main Inlet O60A 24VDC Off Board On Board(NO

Designing and Implementing an Antismoking Program.

ERIC Educational Resources Information Center

Smith, Anne; Brown, Duane

1986-01-01

Makes counselors aware of the etiology of smoking behavior among children and adolescents and makes suggestions for programs that may be used to help prevent the onset of smoking as well as to assist young smokers in breaking the habit. (Author/ABB)

Growing Up under the Mushroom Cloud.

ERIC Educational Resources Information Center

Shachter, Burt

1986-01-01

The social work clinician is witnessing among children and youths a sharpening awareness of possible nuclear catastrophe. Emerging research suggests that this concern reflects a pervasive preoccupation among youth. What adults might do until more definitive knowledge arises is discussed. (Author/ABB)

Counseling Mexican Americans: A Multimodal Approach.

ERIC Educational Resources Information Center

Ponterotto, Joseph G.

1987-01-01

Describes a culturally sensitive and relevant therapeutic framework for nonminority and minority counselors working with clients of Mexican-American heritage. Uses Lazarus's multimodal approach as the basis. Examines the current status of Mexican-American mental health service delivery and use. (Author/ABB)

Hypnotherapy in Weight Loss Treatment.

ERIC Educational Resources Information Center

Cochrane, Gordon; Friesen, John

1986-01-01

Investigated effects of hypnosis as a treatment for weight loss among women. The primary hypothesis that hypnosis is an effective treatment for weight loss was confirmed, but seven concomitant variables and the use of audiotapes were not significant contributors to weight loss. (Author/ABB)

Enduring Ties: Older Adults' Parental Role and Responsibilities.

ERIC Educational Resources Information Center

Blieszner, Rosemary; Mancini, Jay A.

1987-01-01

Used quantitative and qualitative data from 23 independent older adults to explore these salient aspects of their parenting role: change over time; current need for the role; current expectations of adult children; and rights and responsibilities of older parents. (Author/ABB)

The Behavioral Treatment of Childhood Nocturnal Enuresis.

ERIC Educational Resources Information Center

Wagner, William G.

1987-01-01

Notes that of the treatments attempted for nocturnal enuresis, pharmacotherapy, individual psychotherapy, and behavioral conditioning, the most effective is behavioral conditioning with a urine alarm. Reviews the enuresis literature and provides recommendations for use of the urine alarm approach. (Author/ABB)

Sibling Group Play Therapy: An Effective Alternative with an Elective Mute Child.

ERIC Educational Resources Information Center

Barlow, Karen; And Others

1986-01-01

Presents the case study of an elective mute child. Describes the effects of sibling play therapy and lists implications for school counselors who might use group or sibling play therapy in their developmental guidance programs. (ABB)

Homosexual Behavior and the School Counselor.

ERIC Educational Resources Information Center

Powell, Robert Earl

1987-01-01

Examines some of the problems and issues that confront adolescent gay and lesbian students in the school environment and focuses on an understandng of the sexual preference of these youths as a means of delineating roles for the school counselor. (Author/ABB)

Experimentally Induced Learned Helplessness: How Far Does it Generalize?

ERIC Educational Resources Information Center

Tuffin, Keith; And Others

1985-01-01

Assessed whether experimentally induced learned helplessness on a cognitive training task generalized to a situationally dissimilar social interaction test task. No significant differences were observed between groups on the subsequent test task, showing that helplessness failed to generalize. (Author/ABB)

Mobile robot sense net

NASA Astrophysics Data System (ADS)

Konolige, Kurt G.; Gutmann, Steffen; Guzzoni, Didier; Ficklin, Robert W.; Nicewarner, Keith E.

1999-08-01

Mobile robot hardware and software is developing to the point where interesting applications for groups of such robots can be contemplated. We envision a set of mobots acting to map and perform surveillance or other task within an indoor environment (the Sense Net). A typical application of the Sense Net would be to detect survivors in buildings damaged by earthquake or other disaster, where human searchers would be put a risk. As a team, the Sense Net could reconnoiter a set of buildings faster, more reliably, and more comprehensibly than an individual mobot. The team, for example, could dynamically form subteams to perform task that cannot be done by individual robots, such as measuring the range to a distant object by forming a long baseline stereo sensor form a pari of mobots. In addition, the team could automatically reconfigure itself to handle contingencies such as disabled mobots. This paper is a report of our current progress in developing the Sense Net, after the first year of a two-year project. In our approach, each mobot has sufficient autonomy to perform several tasks, such as mapping unknown areas, navigating to specific positions, and detecting, tracking, characterizing, and classifying human and vehicular activity. We detail how some of these tasks are accomplished, and how the mobot group is tasked.

Surface Modeling of Workpiece and Tool Trajectory Planning for Spray Painting Robot

PubMed Central

Tang, Yang; Chen, Wei

2015-01-01

Automated tool trajectory planning for spray-painting robots is still a challenging problem, especially for a large free-form surface. A grid approximation of a free-form surface is adopted in CAD modeling in this paper. A free-form surface model is approximated by a set of flat patches. We describe here an efficient and flexible tool trajectory optimization scheme using T-Bézier curves calculated in a new way from trigonometrical bases. The distance between the spray gun and the free-form surface along the normal vector is varied. Automotive body parts, which are large free-form surfaces, are used to test the scheme. The experimental results show that the trajectory planning algorithm achieves satisfactory performance. This algorithm can also be extended to other applications. PMID:25993663

Surface modeling of workpiece and tool trajectory planning for spray painting robot.

PubMed

Tang, Yang; Chen, Wei

2015-01-01

Automated tool trajectory planning for spray-painting robots is still a challenging problem, especially for a large free-form surface. A grid approximation of a free-form surface is adopted in CAD modeling in this paper. A free-form surface model is approximated by a set of flat patches. We describe here an efficient and flexible tool trajectory optimization scheme using T-Bézier curves calculated in a new way from trigonometrical bases. The distance between the spray gun and the free-form surface along the normal vector is varied. Automotive body parts, which are large free-form surfaces, are used to test the scheme. The experimental results show that the trajectory planning algorithm achieves satisfactory performance. This algorithm can also be extended to other applications.

A multi-perspective evaluation of a service robot for seniors: the voice of different stakeholders.

PubMed

Bedaf, Sandra; Marti, Patrizia; Amirabdollahian, Farshid; de Witte, Luc

2017-07-31

The potential of service robots for seniors is given increasing attention as the ageing population in Western countries will continue to grow as well as the demand for home care. In order to capture the experience of living with a robot at home, a multi-perspective evaluation was conducted. Older adults (n = 10) were invited to execute an actual interaction scenario with the Care-O-bot ® robot in a home-like environment and were questioned about their experiences. Additionally, interviews were conducted with the elderly participants, informal carers (n = 7) and professional caregivers (n = 11). Seniors showed to be more keen to accept the robot than their caregivers and relatives. However, the robot in its current form was found to be too limited and participants wished the robot could perform more complex tasks. In order to be acceptable a future robot should execute these complex tasks based on the personal preferences of the user which would require the robot to be flexible and extremely smart, comparable to the care that is delivered by a human carer. Developing the functional features to perform activities is not the only challenge in robot development that deserves the attention of robot developers. The development of social behaviour and skills should be addressed as well. This is possible adopting a person-centred design approach, which relies on validation activities with actual users in realistic environments, similar to those described in this paper. Implications for rehabilitation Attitude of older adults towards service robots Potential of service robots for older adults.

World Endometriosis Society consensus on the classification of endometriosis.

PubMed

Johnson, Neil P; Hummelshoj, Lone; Adamson, G David; Keckstein, Jörg; Taylor, Hugh S; Abrao, Mauricio S; Bush, Deborah; Kiesel, Ludwig; Tamimi, Rulla; Sharpe-Timms, Kathy L; Rombauts, Luk; Giudice, Linda C

2017-02-01

What is the global consensus on the classification of endometriosis that considers the views of women with endometriosis? We have produced an international consensus statement on the classification of endometriosis through systematic appraisal of evidence and a consensus process that included representatives of national and international, medical and non-medical societies, patient organizations, and companies with an interest in endometriosis. Classification systems of endometriosis, developed by several professional organizations, traditionally have been based on lesion appearance, pelvic adhesions, and anatomic location of disease. One system predicts fertility outcome and none predicts pelvic pain, response to medications, disease recurrence, risks for associated disorders, quality of life measures, and other endpoints important to women and health care providers for guiding appropriate therapeutic options and prognosis. A consensus meeting, in conjunction with pre- and post-meeting processes, was undertaken. A consensus meeting was held on 30 April 2014 in conjunction with the World Endometriosis Society's 12th World Congress on Endometriosis. Rigorous pre- and post-meeting processes, involving 55 representatives of 29 national and international, medical and non-medical organizations from a range of disciplines, led to this consensus statement. A total of 28 consensus statements were made. Of all, 10 statements had unanimous consensus, however none of the statements was made without expression of a caveat about the strength of the statement or the statement itself. Two statements did not achieve majority consensus. The statements covered women's priorities, aspects of classification, impact of low resources, as well as all the major classification systems for endometriosis. Until better classification systems are developed, we propose a classification toolbox (that includes the revised American Society for Reproductive Medicine and, where appropriate, the Enzian and Endometriosis Fertility Index staging systems), that may be used by all surgeons in each case of surgery undertaken for women with endometriosis. We also propose wider use of the World Endometriosis Research Foundation Endometriosis Phenome and Biobanking Harmonisation Project surgical and clinical data collection tools for research to improve classification of endometriosis in the future, of particular relevance when surgery is not undertaken. This consensus process differed from that of formal guideline development, although based on the same available evidence. A different group of international experts from those participating in this process may have yielded subtly different consensus statements. This is the first time that a large, global, consortium-representing 29 major stake-holding organizations, from 19 countries - has convened to systematically evaluate the best available evidence on the classification of endometriosis and reach consensus. In addition to 21 international medical organizations and companies, representatives from eight national endometriosis organizations were involved, including lay support groups, thus generating and including input from women who suffer from endometriosis in an endeavour to keep uppermost the goal of optimizing quality of life for women with endometriosis. The World Endometriosis Society convened and hosted the consensus meeting. Financial support for participants to attend the meeting was provided by the organizations that they represented. There was no other specific funding for this consensus process. Mauricio Abrao is an advisor to Bayer Pharma, and a consultant to AbbVie and AstraZeneca; G David Adamson is the Owner of Advanced Reproductive Care Inc and Ziva and a consultant to Bayer Pharma, Ferring, and AbbVie; Deborah Bush has received travel grants from Fisher & Paykel Healthcare and Bayer Pharmaceuticals; Linda Giudice is a consultant to AbbVie, Juniper Pharmaceutical, and NextGen Jane, holds research grant from the NIH, is site PI on a clinical trial sponsored by Bayer, and is a shareholder in Merck and Pfizer; Lone Hummelshoj is an unpaid consultant to AbbVie; Neil Johnson has received conference expenses from Bayer Pharma, Merck-Serono, and MSD, research funding from AbbVie, and is a consultant to Vifor Pharma and Guerbet; Jörg Keckstein has received a travel grant from AbbVie; Ludwig Kiesel is a consultant to Bayer Pharma, AbbVie, AstraZeneca, Gedeon Richter, and Shionogi, and holds a research grant from Bayer Pharma; Luk Rombauts is an advisor to MSD, Merck Serono, and Ferring, and a shareholder in Monash IVF. The following have declared that they have nothing to disclose: Kathy Sharpe Timms; Rulla Tamimi; Hugh Taylor. N/A. © The Author 2016. Published by Oxford University Press on behalf of the European Society of Human Reproduction and Embryology. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com.

The direct and indirect costs associated with endometriosis: a systematic literature review.

PubMed

Soliman, Ahmed M; Yang, Hongbo; Du, Ella Xiaoyan; Kelley, Caroline; Winkel, Craig

2016-04-01

What is the economic burden of endometriosis? The identified studies indicate that there is a significant economic burden associated with endometriosis, as observed by both direct and indirect costs. Two previous systematic literature reviews suggested that there were considerable direct costs associated with endometriosis and there was a general lack of measurement of indirect costs. We performed a systematic literature review. MEDLINE and EMBASE databases from 2000 to 2013 were searched. The literature search was limited to human studies of patients with endometriosis. Papers in languages other than English were excluded. Studies reporting direct or indirect costs among patients with endometriosis were considered for inclusion. Direct costs included inpatient, outpatient, surgery, drug and other healthcare service cost. Indirect costs were related to absenteeism and presenteeism (lost productivity at work). After evaluating the 1396 articles in the search results, 12 primary studies that reported direct or indirect costs associated with endometriosis were identified and included in the data extraction. Three of the studies were conducted in the USA, one study each was conducted in Austria, Belgium, Brazil, Canada, Finland, Germany and Italy, and two studies included data from 10 countries. Significant variability was observed in the reviewed studies in methodology, including data source, cost components considered and study perspective. Estimates of total direct costs ranged from $1109 per patient per year in Canada to $12 118 per patient per year in the USA. Indirect costs of endometriosis ranged from $3314 per patient per year in Austria to $15 737 per patient per year in the USA. The studies identified in the systematic literature review varied greatly by study methodology as well as by country owing to different healthcare systems and costs of healthcare services, which contributed to large variations in the direct and indirect cost estimates. A majority of the studies we found were published after the periods covered in the prior systematic literature reviews, which provided substantial contributions to an understanding of the economic burden of endometriosis, especially in the area of indirect costs. The long-term burden of endometriosis following diagnosis is still under-studied, which is a concern given the chronic nature of the disease and the substantial recurrence of endometriosis symptoms. This study was funded by AbbVie, which also develops the oral GnRH antagonist elagolix (in collaboration with Neurocrine Biosciences) for the management of endometriosis and uterine fibroids. A.M.S. is an employee of AbbVie and currently owns AbbVie stocks. H.Y., E.X.D. and C.K. are employees of Analysis Group, Inc., which has received consultancy fees from AbbVie. C.W. is a Clinical Professor at the Department Obstetrics and Gynecology at Georgetown University in Washington, DC, USA and has served in a consulting role to AbbVie for this project. © The Author 2016. Published by Oxford University Press on behalf of the European Society of Human Reproduction and Embryology. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

ETV REPORT AND STATEMENT, ABB INC. BIOTEMP VETABLE OIL - BASED INSULATING DIELECTRIC FLUID

EPA Science Inventory

THE USEPA has created the ETV program to facilitate the deployment of innovative of improved environmental technologies through performance verification and information dissemination. The goal of the ETV Program is to further environmental protection by substantially acceleratin...

Identifying the Right Disease Targets to Develop Better Drugs, Faster | NIH MedlinePlus the Magazine

MedlinePlus

... Association Foundation for the NIH Rheumatoid Arthritis and Lupus The Partners Government NIH Industry AbbVie Bristol-Myers ... Pfizer Sanofi Takeda Non-Profit Organizations Alliance for Lupus Research Foundation for HIH Lupus Research Institute Rheumatology ...

Marxism and Liberation Theology.

ERIC Educational Resources Information Center

Hudelson, Richard

1986-01-01

Provides a concise summary of the main features of Marxism and challenges the thesis of the Vatican's "Instruction on Certain Aspects of the Theology of Liberation" that any use of Marxist categories or analysis entails a wholesale acceptance of Marxist philosophy, with its atheistic implications. (Author/ABB)

Quality Circles: A Corporate Strategy Applied in a Student Services Setting.

ERIC Educational Resources Information Center

Steele, Brenton H.; And Others

1987-01-01

Discusses the historical and conceptual framework of quality circles, presents a brief case history of circles initiated by the University of Maryland Office of Admissions, and provides a summary of implications. Emphasizes implications for student affairs administrators. (Author/ABB)

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.

Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra.

PubMed

Fu, Zhongtao; Yang, Wenyu; Yang, Zhen

2013-08-01

In this paper, we present an efficient method based on geometric algebra for computing the solutions to the inverse kinematics problem (IKP) of the 6R robot manipulators with offset wrist. Due to the fact that there exist some difficulties to solve the inverse kinematics problem when the kinematics equations are complex, highly nonlinear, coupled and multiple solutions in terms of these robot manipulators stated mathematically, we apply the theory of Geometric Algebra to the kinematic modeling of 6R robot manipulators simply and generate closed-form kinematics equations, reformulate the problem as a generalized eigenvalue problem with symbolic elimination technique, and then yield 16 solutions. Finally, a spray painting robot, which conforms to the type of robot manipulators, is used as an example of implementation for the effectiveness and real-time of this method. The experimental results show that this method has a large advantage over the classical methods on geometric intuition, computation and real-time, and can be directly extended to all serial robot manipulators and completely automatized, which provides a new tool on the analysis and application of general robot manipulators.

Flowrate behavior and clustering of self-driven robots in a channel

NASA Astrophysics Data System (ADS)

Tian, Bo; Sun, Wang-Ping; Li, Ming; Jiang, Rui; Hu, Mao-Bin

2018-03-01

In this paper, the collective motion of self-driven robots is studied experimentally and theoretically. In the channel, the flowrate of robots increases with the density linearly, even if the density of the robots tends to 1.0. There is no abrupt drop in the flowrate, similar to the collective motion of ants. We find that the robots will adjust their velocities by a serial of tiny collisions. The speed-adjustment will affect both robots involved in the collision, and will help to maintain a nearly uniform velocity for the robots. As a result, the flowrate drop will disappear. In the motion, the robots neither gather together nor scatter completely. Instead, they form some clusters to move together. These clusters are not stable during the moving process, but their sizes follow a power-law-alike distribution. We propose a theoretical model to simulate this collective motion process, which can reproduce these behaviors well. Analytic results about the flowrate behavior are also consistent with experiments. Project supported by the Key Research and Development Program, China (Grant No. 2016YFC0802508) and the National Natural Science Foundation of China (Grant Nos. 11672289 and 11422221).

Kinematics and dynamics of a six-degree-of-freedom robot manipulator with closed kinematic chain mechanism

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Pooran, Farhad J.

1989-01-01

This paper deals with a class of robot manipulators built based on the kinematic chain mechanism (CKCM). This class of CKCM manipulators consists of a fixed and a moving platform coupled together via a number of in-parallel actuators. A closed-form solution is derived for the inverse kinematic problem of a six-degre-of-freedom CKCM manipulator designed to study robotic applications in space. Iterative Newton-Raphson method is employed to solve the forward kinematic problem. Dynamics of the above manipulator is derived using the Lagrangian approach. Computer simulation of the dynamical equations shows that the actuating forces are strongly dependent on the mass and centroid of the robot links.

Case studies in configuration control for redundant robots

NASA Technical Reports Server (NTRS)

Seraji, H.; Lee, T.; Colbaugh, R.; Glass, K.

1989-01-01

A simple approach to configuration control of redundant robots is presented. The redundancy is utilized to control the robot configuration directly in task space, where the task will be performed. A number of task-related kinematic functions are defined and combined with the end-effector coordinates to form a set of configuration variables. An adaptive control scheme is then utilized to ensure that the configuration variables track the desired reference trajectories as closely as possible. Simulation results are presented to illustrate the control scheme. The scheme has also been implemented for direct online control of a PUMA industrial robot, and experimental results are presented. The simulation and experimental results validate the configuration control scheme for performing various realistic tasks.

Control of complex physically simulated robot groups

NASA Astrophysics Data System (ADS)

Brogan, David C.

2001-10-01

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

Expedient range enhanced 3-D robot colour vision

NASA Astrophysics Data System (ADS)

Jarvis, R. A.

1983-01-01

Computer vision has been chosen, in many cases, as offering the richest form of sensory information which can be utilized for guiding robotic manipulation. The present investigation is concerned with the problem of three-dimensional (3D) visual interpretation of colored objects in support of robotic manipulation of those objects with a minimum of semantic guidance. The scene 'interpretations' are aimed at providing basic parameters to guide robotic manipulation rather than to provide humans with a detailed description of what the scene 'means'. Attention is given to overall system configuration, hue transforms, a connectivity analysis, plan/elevation segmentations, range scanners, elevation/range segmentation, higher level structure, eye in hand research, and aspects of array and video stream processing.

Integration of advanced teleoperation technologies for control of space robots

NASA Technical Reports Server (NTRS)

Stagnaro, Michael J.

1993-01-01

Teleoperated robots require one or more humans to control actuators, mechanisms, and other robot equipment given feedback from onboard sensors. To accomplish this task, the human or humans require some form of control station. Desirable features of such a control station include operation by a single human, comfort, and natural human interfaces (visual, audio, motion, tactile, etc.). These interfaces should work to maximize performance of the human/robot system by streamlining the link between human brain and robot equipment. This paper describes development of a control station testbed with the characteristics described above. Initially, this testbed will be used to control two teleoperated robots. Features of the robots include anthropomorphic mechanisms, slaving to the testbed, and delivery of sensory feedback to the testbed. The testbed will make use of technologies such as helmet mounted displays, voice recognition, and exoskeleton masters. It will allow tor integration and testing of emerging telepresence technologies along with techniques for coping with control link time delays. Systems developed from this testbed could be applied to ground control of space based robots. During man-tended operations, the Space Station Freedom may benefit from ground control of IVA or EVA robots with science or maintenance tasks. Planetary exploration may also find advanced teleoperation systems to be very useful.

Design and Evolution of a Modular Tensegrity Robot Platform

NASA Technical Reports Server (NTRS)

Bruce, Jonathan; Caluwaerts, Ken; Iscen, Atil; Sabelhaus, Andrew P.; SunSpiral, Vytas

2014-01-01

NASA Ames Research Center is developing a compliant modular tensegrity robotic platform for planetary exploration. In this paper we present the design and evolution of the platform's main hardware component, an untethered, robust tensegrity strut, with rich sensor feedback and cable actuation. Each strut is a complete robot, and multiple struts can be combined together to form a wide range of complex tensegrity robots. Our current goal for the tensegrity robotic platform is the development of SUPERball, a 6-strut icosahedron underactuated tensegrity robot aimed at dynamic locomotion for planetary exploration rovers and landers, but the aim is for the modular strut to enable a wide range of tensegrity morphologies. SUPERball is a second generation prototype, evolving from the tensegrity robot ReCTeR, which is also a modular, lightweight, highly compliant 6-strut tensegrity robot that was used to validate our physics based NASA Tensegrity Robot Toolkit (NTRT) simulator. Many hardware design parameters of the SUPERball were driven by locomotion results obtained in our validated simulator. These evolutionary explorations helped constrain motor torque and speed parameters, along with strut and string stress. As construction of the hardware has finalized, we have also used the same evolutionary framework to evolve controllers that respect the built hardware parameters.

A Biologically Inspired Cooperative Multi-Robot Control Architecture

NASA Technical Reports Server (NTRS)

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

2002-01-01

A prototype cooperative multi-robot control architecture suitable for the eventual construction of large space structures has been developed. In nature, there are numerous examples of complex architectures constructed by relatively simple insects, such as termites and wasps, which cooperatively assemble their nests. The prototype control architecture emulates this biological model. Actions of each of the autonomous robotic construction agents are only indirectly coordinated, thus mimicking the distributed construction processes of various social insects. The robotic construction agents perform their primary duties stigmergically i.e., without direct inter-agent communication and without a preprogrammed global blueprint of the final design. Communication and coordination between individual agents occurs indirectly through the sensed modifications that each agent makes to the structure. The global stigmergic building algorithm prototyped during the initial research assumes that the robotic builders only perceive the current state of the structure under construction. Simulation studies have established that an idealized form of the proposed architecture was indeed capable of producing representative large space structures with autonomous robots. This paper will explore the construction simulations in order to illustrate the multi-robot control architecture.

A Stigmergic Cooperative Multi-Robot Control Architecture

NASA Technical Reports Server (NTRS)

Howsman, Thomas G.; O'Neil, Daniel; Craft, Michael A.

2004-01-01

In nature, there are numerous examples of complex architectures constructed by relatively simple insects, such as termites and wasps, which cooperatively assemble their nests. A prototype cooperative multi-robot control architecture which may be suitable for the eventual construction of large space structures has been developed which emulates this biological model. Actions of each of the autonomous robotic construction agents are only indirectly coordinated, thus mimicking the distributed construction processes of various social insects. The robotic construction agents perform their primary duties stigmergically, i.e., without direct inter-agent communication and without a preprogrammed global blueprint of the final design. Communication and coordination between individual agents occurs indirectly through the sensed modifications that each agent makes to the structure. The global stigmergic building algorithm prototyped during the initial research assumes that the robotic builders only perceive the current state of the structure under construction. Simulation studies have established that an idealized form of the proposed architecture was indeed capable of producing representative large space structures with autonomous robots. This paper will explore the construction simulations in order to illustrate the multi-robot control architecture.

Design of 3-D Printed Concentric Tube Robots

PubMed Central

Morimoto, Tania K.; Okamura, Allison M.

2017-01-01

Concentric tube surgical robots are minimally invasive devices with the advantages of snake-like reconfigurability, long and thin form factor, and placement of actuation outside the patient’s body. These robots can also be designed and manufactured to acquire targets in specific patients for treating specific diseases in a manner that minimizes invasiveness. We propose that concentric tube robots can be manufactured using 3-D printing technology on a patient- and procedure-specific basis. In this paper, we define the design requirements and manufacturing constraints for 3-D printed concentric tube robots and experimentally demonstrate the capabilities of these robots. While numerous 3-D printing technologies and materials can be used to create such robots, one successful example uses selective laser sintering to make an outer tube with a polyether block amide and uses stereolithography to make an inner tube with a polypropylene-like material. This enables a tube pair with precurvatures of 0.0775 and 0.0455 mm−1, which can withstand strains of 20% and 5.5% for the outer and inner tubes, respectively. PMID:28713227

Actuation control of a PiezoMEMS biomimetic robotic jellyfish

NASA Astrophysics Data System (ADS)

Alejandre, Alvaro; Olszewski, Oskar; Jackson, Nathan

2017-06-01

Biomimetic micro-robots try to mimic the motion of a living system in the form of a synthetically developed microfabricated device. Dynamic motion of living systems have evolved through the years, but trying to mimic these motions is challenging. Micro-robotics are particular challenging as the fabrication of devices and controlling the motion in 3 dimensions is difficult. However, micro-scale robotics have potential to be used in a wide range of applications. MEMS based robots that can move and function in a liquid environment is of particular interest. This paper describes the development of a piezoMEMS based device that mimics the movement of a jellyfish. The paper focuses on the development of a finite element model that investigates a method of controlling the individual piezoelectric beams in order to create a jet propulsion motion, consisting of a quick excitation pulse followed by a slow recovery pulse in order to maximize thrust and velocity. By controlling the individual beams or legs of the jellyfish robot the authors can control the robot to move precisely in 3 dimensions.

Analysis on the Load Carrying Mechanism Integrated as Heterogeneous Co-operative Manipulator in a Walking Wheelchair

NASA Astrophysics Data System (ADS)

Rajay Vedaraj, I. S.; Jain, Ritika; Rao, B. V. A.

2014-07-01

After industrial robots came into existence during 1960, the technology of robotics with the design and analysis of robots in various forms in industries as well as in domestic applications were developed. Nowadays, along with the automotive sector the robots are producing a great impact in the form of quality and production rate to register their existence reliable in various other sectors also. Robotic technology has undergone various phase translations from being tortured as humanoids to the present day manipulators. Depending upon the various forms of its existence, robot manipulators are designed as serial manipulators and parallel manipulators. Individually both types can be proved effective though both have various drawbacks in design and the kinematic analysis. The versatility of robots can be increased by making them work in an environment where the same work volume is shared by more than one manipulator. This work volume can be identified as co-operative work volume of those manipulators. Here the interference of manipulators in the work volume of other manipulators is possible and is made obstacle free. The main advantage of co-operative manipulators is that when a number of independent manipulators are put together in a cooperative work envelope the efficiency and ability to perform tasks is greatly enhanced. The main disadvantage of the co-operative manipulators lies in the complication of its design even for a simple application, in almost all fields. In this paper, a cooperative design of robot manipulators to work in co-operative work environment is done and analysed for its efficacy. In the industrial applications when robotic manipulators are put together in more numbers, the trajectory planning becomes the tough task in the work cell. Proper design can remove the design defects of the cooperative manipulators and can be utilized in a more efficient way. In the proposed research paper an analysis is made on such a type of cooperative manipulator used for climbing stairs with three leg design and anlaysis were also done on the mechanism integrated to the system. Kinematics of the legs are analysed separately and the legs are designed to carry a maximum of 175kgs, which is sustained by the center leg and shared by the dual wing legs equally during the walking phase. In the proposed design, screwjack mechanism is used as the central leg to share the load and thus the analysis on the load sharing capability of the whole system is analysed and concluded in terms of failure modes.

Human-Robot Emergency Response - Experimental Platform and Preliminary Dataset

DTIC Science & Technology

2014-07-28

Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 16–21 1998, pp. 3715–3720. [13] itseez, “ Opencv ,” http...function and camshift function in OpenCV [13]. In each image obtained form cameras, we first calculate back projection of a histogram model of a human. In

Mitigating clogging and arrest in confined self-propelled systems

NASA Astrophysics Data System (ADS)

Savoie, William; Aguilar, Jeffrey; Monaenkova, Daria; Linevich, Vadim; Goldman, Daniel

Ensembles of self-propelling elements, like colloidal surfers, bacterial biofilms, and robot swarms can spontaneously form density heterogeneities. To understand how to prevent potentially catastrophic clogs in task-oriented active matter systems (like soil excavating robots), we present a robophysical study of excavation of granular media in a confined environment. We probe the efficacy of two social strategies observed in our studies of fire ants (S. invicta). The first behavior (denoted as unequal workload) prescribes to each excavator a different probability to enter the digging area. The second behavior (denoted as reversal\\x9D), is characterized by a probability to forfeit excavation when progress is sufficiently obstructed. For equal workload distribution and no reversal behavior, clogs at the digging site prevent excavation for sufficient numbers of robots. Measurements of aggregation relaxation times reveal how the strategies mitigate clogs. The unequal workload behavior reduces the tunnel density, decreasing the probability of clog formation. Reversal behavior, while allowing clogs to form, reduces aggregation relaxation time. We posit that application of social behaviors can be useful for swarm robot systems where global control and organization may not be possible.

CARVE-FTS observations of arctic CO2, CH4, and CO: overview of the instrument

NASA Astrophysics Data System (ADS)

Dupont, Fabien; Tanguay, François; Li, Manyuan; Perron, Gaetan; Miller, Charles E.; Dinardo, Steven J.; Kurosu, Thomas P.

2012-09-01

CARVE-FTS is a near-IR Fourier-Transform Spectrometer (FTS) used by the Jet Propulsion Laboratory (JPL) for the Carbon in Arctic Reservoirs Vulnerability Experiment (CARVE). CARVE is a 5-year mission of intensive aircraft campaigns in the Alaskan Arctic selected as part of NASA's Earth Ventures program (EV-1). The CARVE-FTS has been designed, manufactured and tested by ABB Inc. The objective of this instrument is to provide integrated column measurements of carbon dioxide (CO2), methane (CH4), and carbon monoxide (CO). The system is inspired from the TSUKUBA-FTS built by ABB for the Japanese Aerospace Exploration Agency (JAXA). JAXA uses the instrument for preparation, calibration and validation within the GOSAT program. The instrument is a Michelson based FTS with three spectral bands. The light modulator is a Michelson single pass type interferometer with large aperture and medium spectral resolution. It provides infrared spectra from 12,900 cm-1 to 13,200 cm-1, from 5,800 cm-1 to 6,400 cm-1, and from 4,200 cm-1 to 4,900 cm-1. This instrument is also able to measure the scene radiance with S and P polarization simultaneously using monopixel detectors. The instrument is mounted on a damping platform and is installed in an aircraft. It delivers continuous data for flight campaigns over the Alaskan Arctic. SNR higher than 100 is reached for each band and the measured ILS full width at half maximum is as low as 0.26 cm-1 at 6,566 cm-1. We present the instrument design, its specification and test results obtained at ABB.

Simulation of cooperating robot manipulators on a mobile platform

NASA Technical Reports Server (NTRS)

Murphy, Stephen H.; Wen, John Ting-Yung; Saridis, George N.

1991-01-01

The dynamic equations of motion are presented for two or more cooperating manipulators on a freely moving mobile platform. The system of cooperating robot manipulators forms a closed kinematic chain where the force of interaction must be included in the formulation of robot and platform dynamics. The formulation includes the full dynamic interactions from arms to platform and arm tip to arm tip, and the possible translation and rotation of the platform. The equations of motion are shown to be identical in structure to the fixed-platform cooperative manipulator dynamics. The number of DOFs of the system is sufficiently large to make recursive dynamic calculation methods potentially more efficient than closed-form solutions. A complete simulation with two 6-DOF manipulators of a free-floating platform is presented along a with a multiple-arm controller to position the common load.

Study on the intelligent decision making of soccer robot side-wall behavior

NASA Astrophysics Data System (ADS)

Zhang, Xiaochuan; Shao, Guifang; Tan, Zhi; Li, Zushu

2007-12-01

Side-wall is the static obstacle in soccer robot game, reasonably making use of the Side-wall can improve soccer robot competitive ability. As a kind of artificial life, the Side-wall processing strategy of soccer robot is influenced by many factors, such as game state, field region, attacking and defending situation and so on, each factor also has different influence degree, so, the Side-wall behavior selection is an intelligent selecting process. From the view point of human simulated, based on the idea of Side-wall processing priority[1], this paper builds the priority function for Side-wall processing, constructs the action predicative model for Side-wall obstacle, puts forward the Side-wall processing strategy, and forms the Side-wall behavior selection mechanism. Through the contrasting experiment between the strategy applied and none, proves that this strategy can improve the soccer robot capacity, it is feasible and effective, and has positive meaning for soccer robot stepped study.

Vision Guided Intelligent Robot Design And Experiments

NASA Astrophysics Data System (ADS)

Slutzky, G. D.; Hall, E. L.

1988-02-01

The concept of an intelligent robot is an important topic combining sensors, manipulators, and artificial intelligence to design a useful machine. Vision systems, tactile sensors, proximity switches and other sensors provide the elements necessary for simple game playing as well as industrial applications. These sensors permit adaption to a changing environment. The AI techniques permit advanced forms of decision making, adaptive responses, and learning while the manipulator provides the ability to perform various tasks. Computer languages such as LISP and OPS5, have been utilized to achieve expert systems approaches in solving real world problems. The purpose of this paper is to describe several examples of visually guided intelligent robots including both stationary and mobile robots. Demonstrations will be presented of a system for constructing and solving a popular peg game, a robot lawn mower, and a box stacking robot. The experience gained from these and other systems provide insight into what may be realistically expected from the next generation of intelligent machines.

Controlling legs for locomotion-insights from robotics and neurobiology.

PubMed

Buschmann, Thomas; Ewald, Alexander; von Twickel, Arndt; Büschges, Ansgar

2015-06-29

Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in neurobiology and robotics, with a large and growing body of work. This paper gives an overview of the current knowledge on the control of legged locomotion in animals and machines and attempts to give walking control researchers from biology and robotics an overview of the current knowledge in both fields. We try to summarize the knowledge on the neurobiological basis of walking control in animals, emphasizing common principles seen in different species. In a section on walking robots, we review common approaches to walking controller design with a slight emphasis on biped walking control. We show where parallels between robotic and neurobiological walking controllers exist and how robotics and biology may benefit from each other. Finally, we discuss where research in the two fields diverges and suggest ways to bridge these gaps.

Investigation of human-robot interface performance in household environments

NASA Astrophysics Data System (ADS)

Cremer, Sven; Mirza, Fahad; Tuladhar, Yathartha; Alonzo, Rommel; Hingeley, Anthony; Popa, Dan O.

2016-05-01

Today, assistive robots are being introduced into human environments at an increasing rate. Human environments are highly cluttered and dynamic, making it difficult to foresee all necessary capabilities and pre-program all desirable future skills of the robot. One approach to increase robot performance is semi-autonomous operation, allowing users to intervene and guide the robot through difficult tasks. To this end, robots need intuitive Human-Machine Interfaces (HMIs) that support fine motion control without overwhelming the operator. In this study we evaluate the performance of several interfaces that balance autonomy and teleoperation of a mobile manipulator for accomplishing several household tasks. Our proposed HMI framework includes teleoperation devices such as a tablet, as well as physical interfaces in the form of piezoresistive pressure sensor arrays. Mobile manipulation experiments were performed with a sensorized KUKA youBot, an omnidirectional platform with a 5 degrees of freedom (DOF) arm. The pick and place tasks involved navigation and manipulation of objects in household environments. Performance metrics included time for task completion and position accuracy.

Morphological change in machines accelerates the evolution of robust behavior

PubMed Central

Bongard, Josh

2011-01-01

Most animals exhibit significant neurological and morphological change throughout their lifetime. No robots to date, however, grow new morphological structure while behaving. This is due to technological limitations but also because it is unclear that morphological change provides a benefit to the acquisition of robust behavior in machines. Here I show that in evolving populations of simulated robots, if robots grow from anguilliform into legged robots during their lifetime in the early stages of evolution, and the anguilliform body plan is gradually lost during later stages of evolution, gaits are evolved for the final, legged form of the robot more rapidly—and the evolved gaits are more robust—compared to evolving populations of legged robots that do not transition through the anguilliform body plan. This suggests that morphological change, as well as the evolution of development, are two important processes that improve the automatic generation of robust behaviors for machines. It also provides an experimental platform for investigating the relationship between the evolution of development and robust behavior in biological organisms. PMID:21220304

Prediction of Path Deviation in Robot Based Incremental Sheet Metal Forming by Means of a New Solid-Shell Finite Element Technology and a Finite Elastoplastic Model with Combined Hardening

NASA Astrophysics Data System (ADS)

Kiliclar, Yalin; Laurischkat, Roman; Vladimirov, Ivaylo N.; Reese, Stefanie

2011-08-01

The presented project deals with a robot based incremental sheet metal forming process, which is called roboforming and has been developed at the Chair of Production Systems. It is characterized by flexible shaping using a freely programmable path-synchronous movement of two industrial robots. The final shape is produced by the incremental infeed of the forming tool in depth direction and its movement along the part contour in lateral direction. However, the resulting geometries formed in roboforming deviate several millimeters from the reference geometry. This results from the compliance of the involved machine structures and the springback effects of the workpiece. The project aims to predict these deviations caused by resiliences and to carry out a compensative path planning based on this prediction. Therefore a planning tool is implemented which compensates the robots's compliance and the springback effects of the sheet metal. The forming process is simulated by means of a finite element analysis using a material model developed at the Institute of Applied Mechanics (IFAM). It is based on the multiplicative split of the deformation gradient in the context of hyperelasticity and combines nonlinear kinematic and isotropic hardening. Low-order finite elements used to simulate thin sheet structures, such as used for the experiments, have the major problem of locking, a nonphysical stiffening effect. For an efficient finite element analysis a special solid-shell finite element formulation based on reduced integration with hourglass stabilization has been developed. To circumvent different locking effects, the enhanced assumed strain (EAS) and the assumed natural strain (ANS) concepts are included in this formulation. Having such powerful tools available we obtain more accurate geometries.

Image Mapping and Visual Attention on the Sensory Ego-Sphere

NASA Technical Reports Server (NTRS)

Fleming, Katherine Achim; Peters, Richard Alan, II

2012-01-01

The Sensory Ego-Sphere (SES) is a short-term memory for a robot in the form of an egocentric, tessellated, spherical, sensory-motor map of the robot s locale. Visual attention enables fast alignment of overlapping images without warping or position optimization, since an attentional point (AP) on the composite typically corresponds to one on each of the collocated regions in the images. Such alignment speeds analysis of the multiple images of the area. Compositing and attention were performed two ways and compared: (1) APs were computed directly on the composite and not on the full-resolution images until the time of retrieval; and (2) the attentional operator was applied to all incoming imagery. It was found that although the second method was slower, it produced consistent and, thereby, more useful APs. The SES is an integral part of a control system that will enable a robot to learn new behaviors based on its previous experiences, and that will enable it to recombine its known behaviors in such a way as to solve related, but novel, task problems with apparent creativity. The approach is to combine sensory-motor data association and dimensionality reduction to learn navigation and manipulation tasks as sequences of basic behaviors that can be implemented with a small set of closed-loop controllers. Over time, the aggregate of behaviors and their transition probabilities form a stochastic network. Then given a task, the robot finds a path in the network that leads from its current state to the goal. The SES provides a short-term memory for the cognitive functions of the robot, association of sensory and motor data via spatio-temporal coincidence, direction of the attention of the robot, navigation through spatial localization with respect to known or discovered landmarks, and structured data sharing between the robot and human team members, the individuals in multi-robot teams, or with a C3 center.

Emotion attribution to a non-humanoid robot in different social situations.

PubMed

Lakatos, Gabriella; Gácsi, Márta; Konok, Veronika; Brúder, Ildikó; Bereczky, Boróka; Korondi, Péter; Miklósi, Ádám

2014-01-01

In the last few years there was an increasing interest in building companion robots that interact in a socially acceptable way with humans. In order to interact in a meaningful way a robot has to convey intentionality and emotions of some sort in order to increase believability. We suggest that human-robot interaction should be considered as a specific form of inter-specific interaction and that human-animal interaction can provide a useful biological model for designing social robots. Dogs can provide a promising biological model since during the domestication process dogs were able to adapt to the human environment and to participate in complex social interactions. In this observational study we propose to design emotionally expressive behaviour of robots using the behaviour of dogs as inspiration and to test these dog-inspired robots with humans in inter-specific context. In two experiments (wizard-of-oz scenarios) we examined humans' ability to recognize two basic and a secondary emotion expressed by a robot. In Experiment 1 we provided our companion robot with two kinds of emotional behaviour ("happiness" and "fear"), and studied whether people attribute the appropriate emotion to the robot, and interact with it accordingly. In Experiment 2 we investigated whether participants tend to attribute guilty behaviour to a robot in a relevant context by examining whether relying on the robot's greeting behaviour human participants can detect if the robot transgressed a predetermined rule. Results of Experiment 1 showed that people readily attribute emotions to a social robot and interact with it in accordance with the expressed emotional behaviour. Results of Experiment 2 showed that people are able to recognize if the robot transgressed on the basis of its greeting behaviour. In summary, our findings showed that dog-inspired behaviour is a suitable medium for making people attribute emotional states to a non-humanoid robot.

Emotion Attribution to a Non-Humanoid Robot in Different Social Situations

PubMed Central

Lakatos, Gabriella; Gácsi, Márta; Konok, Veronika; Brúder, Ildikó; Bereczky, Boróka; Korondi, Péter; Miklósi, Ádám

2014-01-01

In the last few years there was an increasing interest in building companion robots that interact in a socially acceptable way with humans. In order to interact in a meaningful way a robot has to convey intentionality and emotions of some sort in order to increase believability. We suggest that human-robot interaction should be considered as a specific form of inter-specific interaction and that human–animal interaction can provide a useful biological model for designing social robots. Dogs can provide a promising biological model since during the domestication process dogs were able to adapt to the human environment and to participate in complex social interactions. In this observational study we propose to design emotionally expressive behaviour of robots using the behaviour of dogs as inspiration and to test these dog-inspired robots with humans in inter-specific context. In two experiments (wizard-of-oz scenarios) we examined humans' ability to recognize two basic and a secondary emotion expressed by a robot. In Experiment 1 we provided our companion robot with two kinds of emotional behaviour (“happiness” and “fear”), and studied whether people attribute the appropriate emotion to the robot, and interact with it accordingly. In Experiment 2 we investigated whether participants tend to attribute guilty behaviour to a robot in a relevant context by examining whether relying on the robot's greeting behaviour human participants can detect if the robot transgressed a predetermined rule. Results of Experiment 1 showed that people readily attribute emotions to a social robot and interact with it in accordance with the expressed emotional behaviour. Results of Experiment 2 showed that people are able to recognize if the robot transgressed on the basis of its greeting behaviour. In summary, our findings showed that dog-inspired behaviour is a suitable medium for making people attribute emotional states to a non-humanoid robot. PMID:25551218

An efficient formulation of robot arm dynamics for control and computer simulation

NASA Astrophysics Data System (ADS)

Lee, C. S. G.; Nigam, R.

This paper describes an efficient formulation of the dynamic equations of motion of industrial robots based on the Lagrange formulation of d'Alembert's principle. This formulation, as applied to a PUMA robot arm, results in a set of closed form second order differential equations with cross product terms. They are not as efficient in computation as those formulated by the Newton-Euler method, but provide a better analytical model for control analysis and computer simulation. Computational complexities of this dynamic model together with other models are tabulated for discussion.

Welding torch trajectory generation for hull joining using autonomous welding mobile robot

NASA Astrophysics Data System (ADS)

Hascoet, J. Y.; Hamilton, K.; Carabin, G.; Rauch, M.; Alonso, M.; Ares, E.

2012-04-01

Shipbuilding processes involve highly dangerous manual welding operations. Welding of ship hulls presents a hazardous environment for workers. This paper describes a new robotic system, developed by the SHIPWELD consortium, that moves autonomously on the hull and automatically executes the required welding processes. Specific focus is placed on the trajectory control of such a system and forms the basis for the discussion in this paper. It includes a description of the robotic hardware design as well as some methodology used to establish the torch trajectory control.

Distributed Finite-Time Cooperative Control of Multiple High-Order Nonholonomic Mobile Robots.

PubMed

Du, Haibo; Wen, Guanghui; Cheng, Yingying; He, Yigang; Jia, Ruting

2017-12-01

The consensus problem of multiple nonholonomic mobile robots in the form of high-order chained structure is considered in this paper. Based on the model features and the finite-time control technique, a finite-time cooperative controller is explicitly constructed which guarantees that the states consensus is achieved in a finite time. As an application of the proposed results, finite-time formation control of multiple wheeled mobile robots is studied and a finite-time formation control algorithm is proposed. To show effectiveness of the proposed approach, a simulation example is given.

Societal Consequences of the g Factor in Employment.

ERIC Educational Resources Information Center

Gottfredson, Linda S.

1986-01-01

Reviews and rebuts seven common arguments that intelligence (g) is of little or no practical importance in employment. Illustrates in several ways the profound effect that differences in intelligence in a work force may have on the structure and functioning of whole societies. (Author/ABB)

Subjective Age Correlates: A Research Note.

ERIC Educational Resources Information Center

Barak, Benny; Stern, Barbara

1986-01-01

Five types of measures have been used to assess subjective age: identity age, comparative age, feel/age, cognitive age, and stereotype age. Bivariate and multivariate studies revealed four categories of correlates of self-perceived age: biological and physiological, demographic, psychographic and social psychological, and behavioral. (Author/ABB)

Aplanatism and nonimaging optics

NASA Astrophysics Data System (ADS)

Winston, Roland; Zhang, Weiya

2008-08-01

We show that an aplanatic imaging system can approach theoretical maximum concentration limit following a brief review of Abbe Sine condition and aplanatism. We use a two-mirror case to demonstrate how to construct such aplanatic systems using Luneburg method. The result is useful in designing high-performance concentrators.

77 FR 52758 - Large Power Transformers From Korea

Federal Register 2010, 2011, 2012, 2013, 2014

2012-08-30

... INTERNATIONAL TRADE COMMISSION [Investigation No. 731-TA-1189 (Final)] Large Power Transformers... materially injured, by reason of imports from Korea of large power transformers, provided for in subheadings... Commission and Commerce by ABB Inc., Cary, NC; Delta Star Inc., Lynchburg, VA; and Pennsylvania Transformer...

Electroconvulsive Therapy and Suicide.

ERIC Educational Resources Information Center

Tanney, Bryan L.

1986-01-01

When the effectiveness and mortality-morbidity of electroconvulsive therapy (ECT) are compared with those of drug therapies, it appears that ECT is an effective and preferred treatment strategy. It remains underutilized as a modality of suicide prevention. Addresses controversies that presently limit the use of this treatment. (Author/ABB)

The National Potential of Home Equity Conversion.

ERIC Educational Resources Information Center

Jacobs, Bruce

1986-01-01

Examined the potential effects of converting home equity into spendable income using "reverse mortgages." Analysis revealed that reverse mortgage loans could have a substantial impact on the budgets of many elderly homeowners, with impressive percentage increases in income and decreases in poverty rates. (Author/ABB)

Strategic Planning for Divorce Mediation.

ERIC Educational Resources Information Center

Weingarten, Helen R.

1986-01-01

Presents a theoretical model that focuses attention on the multiple arenas of life that are disrupted by divorce, the emotional stages of divorce, and the interpersonal dynamics of separating couples. Discusses the implications of these factors for strategically planning and carrying out the mediation process. (Author/ABB)

Drama: The Play's the Thing.

ERIC Educational Resources Information Center

Irwin, Eleanor C.

1987-01-01

Discusses the history and theory of drama therapy and illustrates it through case studies. Makes suggestions for counselors who wish to use drama to promote psychological development. Notes that using dramatic activities allows counselors to view the inner world of their clients through symbolization, characterization, and interaction. (ABB)

Characteristics of the Biopsychosocial Crisis of Infertility.

ERIC Educational Resources Information Center

Cook, Ellen Piel

1987-01-01

Presents a framework for understanding the crisis of infertility which is characterized by extensive anxiety, damaged self-esteem, grief, uncertainty about the future, and estranged relationships with each other and with family and friends. Proposes some interventions appropriate to helpers from a variety of disciplines. (ABB)

Venetoclax: First Global Approval.

PubMed

Deeks, Emma D

2016-06-01

Venetoclax (Venclexta™) is an oral selective inhibitor of the prosurvival protein BCL-2 and therefore restores the apoptotic ability of malignant cells. The drug arose from research by Abbott Laboratories (now AbbVie) during a collaboration with Genentech and is being co-developed by AbbVie and Genentech/Roche primarily for the treatment of haematological malignancies. Venetoclax is approved in the USA for use as monotherapy in patients with chronic lymphocytic leukaemia (CLL) with the 17p deletion (as detected by an approved FDA test) who have received at least one prior therapy, and is awaiting approval for similar indications in the EU and Canada. Venetoclax is also in phase I-III development as combination therapy for CLL, phase I/II development as monotherapy and/or combination therapy for non-Hodgkin lymphomas (including diffuse large B-cell lymphoma, mantle cell lymphoma, follicular lymphoma) and acute myeloid leukaemia, and phase I development for multiple myeloma, systemic lupus erythematosus and breast cancer. This article summarizes the milestones in the development of venetoclax leading to this first approval for CLL.

Stacking-dependent electronic property of trilayer graphene epitaxially grown on Ru(0001)

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

Que, Yande; Xiao, Wende, E-mail: wdxiao@iphy.ac.cn, E-mail: hjgao@iphy.ac.cn; Chen, Hui

The growth, atomic structure, and electronic property of trilayer graphene (TLG) on Ru(0001) were studied by low temperature scanning tunneling microscopy and spectroscopy in combined with tight-binding approximation (TBA) calculations. TLG on Ru(0001) shows a flat surface with a hexagonal lattice due to the screening effect of the bottom two layers and the AB-stacking in the top two layers. The coexistence of AA- and AB-stacking in the bottom two layers leads to three different stacking orders of TLG, namely, ABA-, ABC-, and ABB-stacking. STS measurements combined with TBA calculations reveal that the density of states of TLG with ABC- andmore » ABB-stacking is characterized by one and two sharp peaks near to the Fermi level, respectively, in contrast to the V-shaped feature of TLG with ABA-stacking. Our work demonstrates that TLG on Ru(0001) might be an ideal platform for exploring stacking-dependent electronic properties of graphene.« less

Modelling of cooperating robotized systems with the use of object-based approach

NASA Astrophysics Data System (ADS)

Foit, K.; Gwiazda, A.; Banas, W.; Sekala, A.; Hryniewicz, P.

2015-11-01

Today's robotized manufacturing systems are characterized by high efficiency. The emphasis is placed mainly on the simultaneous work of machines. It could manifest in many ways, where the most spectacular one is the cooperation of several robots, during work on the same detail. What's more, recently a dual-arm robots are used that could mimic the manipulative skills of human hands. As a result, it is often hard to deal with the situation, when it is necessary not only to maintain sufficient precision, but also the coordination and proper sequence of movements of individual robots’ arms. The successful completion of this task depends on the individual robot control systems and their respective programmed, but also on the well-functioning communication between robot controllers. A major problem in case of cooperating robots is the possibility of collision between particular links of robots’ kinematic chains. This is not a simple case, because the manufacturers of robotic systems do not disclose the details of the control algorithms, then it is hard to determine such situation. Another problem with cooperation of robots is how to inform the other units about start or completion of part of the task, so that other robots can take further actions. This paper focuses on communication between cooperating robotic units, assuming that every robot is represented by object-based model. This problem requires developing a form of communication protocol that the objects can use for collecting the information about its environment. The approach presented in the paper is not limited to the robots and could be used in a wider range, for example during modelling of the complete workcell or production line.

[Medical discourse and poetical practice: the different figures of authority within the correspondance between Mme d'Epinay and the abbé Galiani].

PubMed

Redien-Collot, Renaud

2007-01-01

Letters containing medical data are not simple texts. They stem from a writing process which sees the authors constantly review the way they perceive both their bodies and the way they write. In order to limit the relativism inherent to such processes and reduce the ensuing variability of perspectives, most letter writers eventually assume a form of authority. In the second part of the 18th Century, the correspondence between the abbey Galliano and Mme D'Epinay reveals that while they exchanged details about their health, they also experimented with different positions of authority and adapted their writing process as the relationship evolved. This a salutary lesson for modern researchers who are often tempted to reduce the problematic meaning of the letter writing process, defining the letter as an isolated document. Medical correspondence is exemplary in this respect because it requires a certain level of knowledge and the expression of a certain intimacy, entailing the adoption of one or of several forms of authority.

Teaching and implementing autonomous robotic lab walkthroughs in a biotech laboratory through model-based visual tracking

NASA Astrophysics Data System (ADS)

Wojtczyk, Martin; Panin, Giorgio; Röder, Thorsten; Lenz, Claus; Nair, Suraj; Heidemann, Rüdiger; Goudar, Chetan; Knoll, Alois

2010-01-01

After utilizing robots for more than 30 years for classic industrial automation applications, service robots form a constantly increasing market, although the big breakthrough is still awaited. Our approach to service robots was driven by the idea of supporting lab personnel in a biotechnology laboratory. After initial development in Germany, a mobile robot platform extended with an industrial manipulator and the necessary sensors for indoor localization and object manipulation, has been shipped to Bayer HealthCare in Berkeley, CA, USA, a global player in the sector of biopharmaceutical products, located in the San Francisco bay area. The determined goal of the mobile manipulator is to support the off-shift staff to carry out completely autonomous or guided, remote controlled lab walkthroughs, which we implement utilizing a recent development of our computer vision group: OpenTL - an integrated framework for model-based visual tracking.

Tegotae-based decentralised control scheme for autonomous gait transition of snake-like robots.

PubMed

Kano, Takeshi; Yoshizawa, Ryo; Ishiguro, Akio

2017-08-04

Snakes change their locomotion patterns in response to the environment. This ability is a motivation for developing snake-like robots with highly adaptive functionality. In this study, a decentralised control scheme of snake-like robots that exhibited autonomous gait transition (i.e. the transition between concertina locomotion in narrow aisles and scaffold-based locomotion on unstructured terrains) was developed. Additionally, the control scheme was validated via simulations. A key insight revealed is that these locomotion patterns were not preprogrammed but emerged by exploiting Tegotae, a concept that describes the extent to which a perceived reaction matches a generated action. Unlike local reflexive mechanisms proposed previously, the Tegotae-based feedback mechanism enabled the robot to 'selectively' exploit environments beneficial for propulsion, and generated reasonable locomotion patterns. It is expected that the results of this study can form the basis to design robots that can work under unpredictable and unstructured environments.

Turning assistive machines into assistive robots

NASA Astrophysics Data System (ADS)

Argall, Brenna D.

2015-01-01

For decades, the potential for automation in particular, in the form of smart wheelchairs to aid those with motor, or cognitive, impairments has been recognized. It is a paradox that often the more severe a person's motor impairment, the more challenging it is for them to operate the very assistive machines which might enhance their quality of life. A primary aim of my lab is to address this confound by incorporating robotics autonomy and intelligence into assistive machines turning the machine into a kind of robot, and offloading some of the control burden from the user. Robots already synthetically sense, act in and reason about the world, and these technologies can be leveraged to help bridge the gap left by sensory, motor or cognitive impairments in the users of assistive machines. This paper overviews some of the ongoing projects in my lab, which strives to advance human ability through robotics autonomy.

The Dominant Robot: Threatening Robots Cause Psychological Reactance, Especially When They Have Incongruent Goals

NASA Astrophysics Data System (ADS)

Roubroeks, M. A. J.; Ham, J. R. C.; Midden, C. J. H.

Persuasive technology can take the form of a social agent that persuades people to change behavior or attitudes. However, like any persuasive technology, persuasive social agents might trigger psychological reactance, which can lead to restoration behavior. The current study investigated whether interacting with a persuasive robot can cause psychological reactance. Additionally, we investigated whether goal congruency plays a role in psychological reactance. Participants programmed a washing machine while a robot gave threatening advice. Confirming expectations, participants experienced more psychological reactance when receiving high-threatening advice compared to low-threatening advice. Moreover, when the robot gave high-threatening advice and expressed an incongruent goal, participants reported the highest level of psychological reactance (on an anger measure). Finally, high-threatening advice led to more restoration, and this relationship was partially mediated by psychological reactance. Overall, results imply that under certain circumstances persuasive technology can trigger opposite effects, especially when people have incongruent goal intentions.

Large robotized turning centers described

NASA Astrophysics Data System (ADS)

Kirsanov, V. V.; Tsarenko, V. I.

1985-09-01

The introduction of numerical control (NC) machine tools has made it possible to automate machining in series and small series production. The organization of automated production sections merged NC machine tools with automated transport systems. However, both the one and the other require the presence of an operative at the machine for low skilled operations. Industrial robots perform a number of auxiliary operations, such as equipment loading-unloading and control, changing cutting and auxiliary tools, controlling workpieces and parts, and cleaning of location surfaces. When used with a group of equipment they perform transfer operations between the machine tools. Industrial robots eliminate the need for workers to form auxiliary operations. This underscores the importance of developing robotized manufacturing centers providing for minimal human participation in production and creating conditions for two and three shift operation of equipment. Work carried out at several robotized manufacturing centers for series and small series production is described.

Impact of the Adalimumab Patient Support Program's Care Coach Calls on Persistence and Adherence in Canada: An Observational Retrospective Cohort Study.

PubMed

Marshall, John K; Bessette, Louis; Thorne, Carter; Shear, Neil H; Lebovic, Gerald; Gerega, Sebastien K; Millson, Brad; Oraichi, Driss; Gaetano, Tania; Gazel, Sandra; Latour, Martin G; Laliberté, Marie-Claude

2018-03-01

Adalimumab (ADA) is a tumor necrosis factor-α inhibitor indicated for use in various immune-mediated inflammatory diseases. Patients receiving ADA in Canada are eligible to enroll in the AbbVie Care's Patient Support Program (PSP), which provides personalized services, including tailored interventions in the form of nurse-provided care coach calls (CCCs), with the goal of improving patients' experiences and outcomes. The primary objective of this study was to evaluate the impact of PSP services, including CCCs and patient characteristics, on persistence with and adherence to ADA for those patients enrolled in the PSP. A secondary objective was to estimate the effect of initial CCCs on treatment-initiation abandonment (ie, failure to initiate therapy after enrollment in the PSP). An observational retrospective cohort study was conducted. A patient linkage algorithm based on probabilistic matching was developed to link the AbbVie Care PSP database to the QuintilesIMS longitudinal pharmacy transaction database. Patients who started ADA therapy between July 2010 and August 2014 were selected, and their prescriptions were evaluated for 12 months after the date of ADA start to calculate days until drug discontinuation, that is, the end of persistence, defined as >90 days without therapy. Cox proportional hazards modeling was used for estimating hazard ratios for the association between persistence and patient characteristics and each PSP service. Adherence, measured by medication possession ratio, was calculated, and multivariate logistic regression provided adjusted odds ratios for the relationship between being adherent (medication possession ratio ≥80%) and patient characteristics and each PSP service. Treatment-initiation abandonment among patients who received an initial CCC compared with those who did not was analyzed using the χ 2 test. Analysis of 10,857 linked patients yielded statistically significant differences in the hazard ratio of discontinuation and the likelihood of being adherent across multiple variables between patients who received CCCs in comparison to patients who did not. Patients receiving CCCs were found to have a 72% decreased risk for therapy discontinuation (hazard ratio = 0.282; P < 0.0001), and a greater likelihood of being adherent (odds ratio = 1.483; P < 0.0001), when compared with those patients who did not receive CCCs. The rate of treatment-initiation abandonment was significantly higher in patients who did not receive initial CCCs (P < 0.0001). Ongoing CCCs, provided by AbbVie Care PSP, were associated with greater patient persistence and adherence over the first 12 months of treatment, while initial CCCs were associated with a lower rate of treatment-initiation abandonment. Results may inform the planning of interventions aimed at improving treatment adherence and patient outcomes. Copyright © 2018 The Authors. Published by Elsevier Inc. All rights reserved.

An open architecture motion controller

NASA Technical Reports Server (NTRS)

Rossol, Lothar

1994-01-01

Nomad, an open architecture motion controller, is described. It is formed by a combination of TMOS, C-WORKS, and other utilities. Nomad software runs in a UNIX environment and provides for sensor-controlled robotic motions, with user replaceable kinematics. It can also be tailored for highly specialized applications. Open controllers such as Nomad should have a major impact on the robotics industry.

Using Control Heuristics as a Means to Explore the Educational Potential of Robotics Kits

ERIC Educational Resources Information Center

Gaudiello, Ilaria; Zibetti, Elisabetta

2013-01-01

The educational potential of robotics kits as a form of control technology will remain undervalued until meaningful observation parameters are identified to enable a better understanding of children?s control strategies. For this reason, this paper aims primarily to identify and classify the heuristics spontaneously applied by 6-10 year old…

Enhancing Practice and Achievement in Introductory Programming with a Robot Olympics

ERIC Educational Resources Information Center

Scott, Michael James; Counsell, Steve; Lauria, Stanislao; Swift, Stephen; Tucker, Allan; Shepperd, Martin; Ghinea, Gheorghita

2015-01-01

Computer programming is notoriously difficult to learn. To this end, regular practice in the form of application and reflection is an important enabler of student learning. However, educators often find that first-year B.Sc. students do not readily engage in such activities. Providing each student with a programmable robot, however, could be used…

ROMPS critical design review data package

NASA Technical Reports Server (NTRS)

Dobbs, M. E.

1992-01-01

The design elements of the Robot-Operated Material Processing in Space (ROMPS) system are described in outline and graphical form. The following subsystems/topics are addressed: servo system, testbed and simulation results, System V Controller, robot module, furnace module, SCL experiment supervisor and script sample processing control, battery system, watchdog timers, mechanical/thermal considerations, and fault conditions and recovery.

Low Reynolds Number Bacterial Robots

NASA Astrophysics Data System (ADS)

Giesbrecht, Grant; Ni, Katha; Vock, Isaac; Rodenborn, Bruce

The dynamics of prokaryotic motility in a fluid is important in a wide range of fields. Our experiment models the locomotion of bacteria with a robotic swimmer made using a computer controlled DC motor that drives a helical flagellum formed from welding wire. Because of its small size, a bacterium swimming in water is like our robot swimming in corn syrup. We compensate for the size difference by placing the robot in highly viscous silicone oil. Previous research measured helical propulsion of a swimmer far from a boundary. However proximity to a boundary strongly affects bacterial swimming. We have designed a system to precisely control the distance from the flagellum to the tank wall, and have made some of the first macroscopic measurements of boundary effects on helical propulsion.

Aging and Posture Control: Changes in Sensory Organization and Muscular Coordination.

ERIC Educational Resources Information Center

Woollacott, Marjorie H.; And Others

1986-01-01

Examined two aspects of balance control in the older adult: coordination of timing and amplitude of muscle responses to postural perturbations, and ability of the participant to reorganize sensory inputs and subsequently modify postural responses as a consequence of changing environmental conditions. (Author/ABB)

Some Unique Causes of Black Suicide.

ERIC Educational Resources Information Center

Spaights, Ernest; Simpson, Gloria

1986-01-01

Aspects of suicide unique to blacks are: cultural expectations for males, which include repression of feelings and strict obedience to parents and elders; difficulty identifying with their race; gangs and drug abuse; poverty; and racism. These factors can cause depression, a known factor in suicidal behavior. (Author/ABB)

Paralegals in Corrections: A Proposed Model.

ERIC Educational Resources Information Center

McShane, Marilyn D.

1987-01-01

Describes the legal assistance program currently offered by the Texas Department of Corrections which demonstrates the wide range of questions and problems that the paralegal can address. Reviews paralegal's functions in the prison setting and the services they can provide in assisting prisoners to maintain their rights. (Author/ABB)

Experimental Evaluation of the Effectiveness of Group Intervention for Dementia Caregivers.

ERIC Educational Resources Information Center

Haley, William E.; And Others

1987-01-01

Evaluated the effectiveness of group interventions for caregivers of elderly dementia patients. Indicated that, although caregivers rated the groups as quite helpful, group participation did not lead to improvements on objective measures of depression, life satisfaction, social support, or coping variables. (Author/ABB)

Decision Making under the Adamha Block Grant: Four Case Studies.

ERIC Educational Resources Information Center

Hudson, Christopher G.; Dubey, Sumati N.

1986-01-01

Investigated whether block grants improve decision making through the decentralization of control of social programs to state governments. Found that department bureaucrats have sought to protect the new flexibility from encroachment by elected officials through the rationalization and systematization of decision-making procedures. (Author/ABB)

Psychopathy and Pathological Narcissism: A Descriptive and Psychodynamic Formulation on the Antisocial Personality Disorder.

ERIC Educational Resources Information Center

MacKay, James R.

1986-01-01

Considers the Antisocial Personality Disorder within the context of a psychopathology model. Criticizes and reviews the Diagnostic and Statistical Manual of Mental Disorders approach and suggests revisions. Coins the term narcissistic-antisocial personality and reviews it within several contexts. (Author/ABB)

Reduplicated Words Are Easier to Learn

ERIC Educational Resources Information Center

Ota, Mitsuhiko; Skarabela, Barbora

2016-01-01

Infants' disposition to learn repetitions in the input structure has been demonstrated in pattern generalization (e.g., learning the pattern ABB from the token "ledidi"). This study tested whether a repetition advantage can also be found in lexical learning (i.e., learning the word "lele" vs. "ledi"). Twenty-four…

Maladie thromboembolique veineuse dans la région de Sidi Bel Abbes, Algérie: fréquence et facteurs de risque

PubMed Central

Chalal, Nourelhouda; Demmouche, Abbassia

2013-01-01

Introduction La maladie thromboembolique veineuse (MTEV) présente par ses deux entités cliniques: thrombose veineuse profonde (TVP) et embolie pulmonaire (EP), est une pathologie fréquente ayant une forte morbi-mortalité. En Algérie, cette pathologie prend de plus en plus de l'ampleur, en l'absence de toute publication révélant sa fréquence et le pouvoir thrombogène des facteurs de risque qui lui sont corrélés. Notre étude a pour objectif de déterminer la fréquence et les facteurs de risque de ce type d'affection dans la région de Sidi Bel Abbes, Algérie. Méthodes Il s'agit d'une étude rétrospective allant du 1er janvier 2006 au 10 juin 2012 ciblant les patients hospitalisés pour TVP et /ou EP au sein du service de cardiologie du CHU de Sidi Bel Abbes. Résultats 183 patients atteints de la MTEV dont 112 femmes (61.2%) d’âge moyen 46.4 ± 17.9 et 71 hommes (38.7%) d’âge moyen 51.5 ± 17.7 ont été notés. 146 cas parmi eux (79.7%) présentaient une TVP isolée, alors que 37 autres (20.2%) étaient atteints d'EP, dont 16 cas de TVP associée. Les facteurs de risque les plus fréquents enregistrés en cas de TVP sont surtout: l'immobilité, l'hypertension, la chirurgie, et la contraception orale, tandis que: l'immobilité, la chirurgie, l'hypertension et les fractures sont les facteurs de risques les plus incriminés en cas d'EP. 24.7% des patients présentaient plusieurs facteurs de risque. L'antécédent personnel de la MTEV, était présent dans 12.02% des cas. 97.5% des TVP ont touché les membres inférieurs mais seulement 2.5% des TVP étaient localisés au niveau des membres supérieurs. Conclusion Au terme de notre étude, et en dépit de sa fréquence non alarmante, il serait indispensable d'envisager l'adoption d'une stratégie prophylactique adéquate afin de lutter contre le développement redoutable de ce genre d'affection dans la région de Sidi Bel Abbes. PMID:24648858

Development of the first force-controlled robot for otoneurosurgery.

PubMed

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

2003-03-01

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

The use of automation and robotic systems to establish and maintain lunar base operations

NASA Technical Reports Server (NTRS)

Petrosky, Lyman J.

1992-01-01

Robotic systems provide a means of performing many of the operations required to establish and maintain a lunar base. They form a synergistic system when properly used in concert with human activities. This paper discusses the various areas where robotics and automation may be used to enhance lunar base operations. Robots are particularly well suited for surface operations (exterior to the base habitat modules) because they can be designed to operate in the extreme temperatures and vacuum conditions of the Moon (or Mars). In this environment, the capabilities of semi-autonomous robots would surpass that of humans in all but the most complex tasks. Robotic surface operations include such activities as long range geological and mineralogical surveys with sample return, materials movement in and around the base, construction of radiation barriers around habitats, transfer of materials over large distances, and construction of outposts. Most of the above operations could be performed with minor modifications to a single basic robotic rover. Within the lunar base habitats there are a few areas where robotic operations would be preferable to human operations. Such areas include routine inspections for leakage in the habitat and its systems, underground transfer of materials between habitats, and replacement of consumables. In these and many other activities, robotic systems will greatly enhance lunar base operations. The robotic systems described in this paper are based on what is realistically achievable with relatively near term technology. A lunar base can be built and maintained if we are willing.

Robotics in Arthroplasty: A Comprehensive Review.

PubMed

Jacofsky, David J; Allen, Mark

2016-10-01

Robotic-assisted orthopedic surgery has been available clinically in some form for over 2 decades, claiming to improve total joint arthroplasty by enhancing the surgeon's ability to reproduce alignment and therefore better restore normal kinematics. Various current systems include a robotic arm, robotic-guided cutting jigs, and robotic milling systems with a diversity of different navigation strategies using active, semiactive, or passive control systems. Semiactive systems have become dominant, providing a haptic window through which the surgeon is able to consistently prepare an arthroplasty based on preoperative planning. A review of previous designs and clinical studies demonstrate that these robotic systems decrease variability and increase precision, primarily focusing on component positioning and alignment. Some early clinical results indicate decreased revision rates and improved patient satisfaction with robotic-assisted arthroplasty. The future design objectives include precise planning and even further improved consistent intraoperative execution. Despite this cautious optimism, many still wonder whether robotics will ultimately increase cost and operative time without objectively improving outcomes. Over the long term, every industry that has seen robotic technology be introduced, ultimately has shown an increase in production capacity, improved accuracy and precision, and lower cost. A new generation of robotic systems is now being introduced into the arthroplasty arena, and early results with unicompartmental knee arthroplasty and total hip arthroplasty have demonstrated improved accuracy of placement, improved satisfaction, and reduced complications. Further studies are needed to confirm the cost effectiveness of these technologies. Copyright © 2016 Elsevier Inc. All rights reserved.

Systematic review of robotic surgery in gynecology: robotic techniques compared with laparoscopy and laparotomy.

PubMed

Gala, Rajiv B; Margulies, Rebecca; Steinberg, Adam; Murphy, Miles; Lukban, James; Jeppson, Peter; Aschkenazi, Sarit; Olivera, Cedric; South, Mary; Lowenstein, Lior; Schaffer, Joseph; Balk, Ethan M; Sung, Vivian

2014-01-01

The Society of Gynecologic Surgeons Systematic Review Group performed a systematic review of both randomized and observational studies to compare robotic vs nonrobotic surgical approaches (laparoscopic, abdominal, and vaginal) for treatment of both benign and malignant gynecologic indications to compare surgical and patient-centered outcomes, costs, and adverse events associated with the various surgical approaches. MEDLINE and the Cochrane Central Register of Controlled Trials were searched from inception to May 15, 2012, for English-language studies with terms related to robotic surgery and gynecology. Studies of any design that included at least 30 women who had undergone robotic-assisted laparoscopic gynecologic surgery were included for review. The literature yielded 1213 citations, of which 97 full-text articles were reviewed. Forty-four studies (30 comparative and 14 noncomparative) met eligibility criteria. Study data were extracted into structured electronic forms and reconciled by a second, independent reviewer. Our analysis revealed that, compared with open surgery, robotic surgery consistently confers shorter hospital stay. The proficiency plateau seems to be lower for robotic surgery than for conventional laparoscopy. Of the various gynecologic applications, there seems to be evidence that renders robotic techniques advantageous over traditional open surgery for management of endometrial cancer. However, insofar as superiority, conflicting data are obtained when comparing robotics vs laparoscopic techniques. Therefore, the specific method of minimally invasive surgery, whether conventional laparoscopy or robotic surgery, should be tailored to patient selection, surgeon ability, and equipment availability. Copyright © 2014 AAGL. Published by Elsevier Inc. All rights reserved.

Design of a Two-Step Calibration Method of Kinematic Parameters for Serial Robots

NASA Astrophysics Data System (ADS)

WANG, Wei; WANG, Lei; YUN, Chao

2017-03-01

Serial robots are used to handle workpieces with large dimensions, and calibrating kinematic parameters is one of the most efficient ways to upgrade their accuracy. Many models are set up to investigate how many kinematic parameters can be identified to meet the minimal principle, but the base frame and the kinematic parameter are indistinctly calibrated in a one-step way. A two-step method of calibrating kinematic parameters is proposed to improve the accuracy of the robot's base frame and kinematic parameters. The forward kinematics described with respect to the measuring coordinate frame are established based on the product-of-exponential (POE) formula. In the first step the robot's base coordinate frame is calibrated by the unit quaternion form. The errors of both the robot's reference configuration and the base coordinate frame's pose are equivalently transformed to the zero-position errors of the robot's joints. The simplified model of the robot's positioning error is established in second-power explicit expressions. Then the identification model is finished by the least square method, requiring measuring position coordinates only. The complete subtasks of calibrating the robot's 39 kinematic parameters are finished in the second step. It's proved by a group of calibration experiments that by the proposed two-step calibration method the average absolute accuracy of industrial robots is updated to 0.23 mm. This paper presents that the robot's base frame should be calibrated before its kinematic parameters in order to upgrade its absolute positioning accuracy.

A Robot Trajectory Optimization Approach for Thermal Barrier Coatings Used for Free-Form Components

NASA Astrophysics Data System (ADS)

Cai, Zhenhua; Qi, Beichun; Tao, Chongyuan; Luo, Jie; Chen, Yuepeng; Xie, Changjun

2017-10-01

This paper is concerned with a robot trajectory optimization approach for thermal barrier coatings. As the requirements of high reproducibility of complex workpieces increase, an optimal thermal spraying trajectory should not only guarantee an accurate control of spray parameters defined by users (e.g., scanning speed, spray distance, scanning step, etc.) to achieve coating thickness homogeneity but also help to homogenize the heat transfer distribution on the coating surface. A mesh-based trajectory generation approach is introduced in this work to generate path curves on a free-form component. Then, two types of meander trajectories are generated by performing a different connection method. Additionally, this paper presents a research approach for introducing the heat transfer analysis into the trajectory planning process. Combining heat transfer analysis with trajectory planning overcomes the defects of traditional trajectory planning methods (e.g., local over-heating), which helps form the uniform temperature field by optimizing the time sequence of path curves. The influence of two different robot trajectories on the process of heat transfer is estimated by coupled FEM models which demonstrates the effectiveness of the presented optimization approach.

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.

A New Conflict Resolution Method for Multiple Mobile Robots in Cluttered Environments With Motion-Liveness.

PubMed

Shahriari, Mohammadali; Biglarbegian, Mohammad

2018-01-01

This paper presents a new conflict resolution methodology for multiple mobile robots while ensuring their motion-liveness, especially for cluttered and dynamic environments. Our method constructs a mathematical formulation in a form of an optimization problem by minimizing the overall travel times of the robots subject to resolving all the conflicts in their motion. This optimization problem can be easily solved through coordinating only the robots' speeds. To overcome the computational cost in executing the algorithm for very cluttered environments, we develop an innovative method through clustering the environment into independent subproblems that can be solved using parallel programming techniques. We demonstrate the scalability of our approach through performing extensive simulations. Simulation results showed that our proposed method is capable of resolving the conflicts of 100 robots in less than 1.23 s in a cluttered environment that has 4357 intersections in the paths of the robots. We also developed an experimental testbed and demonstrated that our approach can be implemented in real time. We finally compared our approach with other existing methods in the literature both quantitatively and qualitatively. This comparison shows while our approach is mathematically sound, it is more computationally efficient, scalable for very large number of robots, and guarantees the live and smooth motion of robots.

Turning and Radius Deviation Correction for a Hexapod Walking Robot Based on an Ant-Inspired Sensory Strategy

PubMed Central

Guo, Tong; Liu, Qiong; Zhu, Qianwei; Zhao, Xiangmo; Jin, Bo

2017-01-01

In order to find a common approach to plan the turning of a bio-inspired hexapod robot, a locomotion strategy for turning and deviation correction of a hexapod walking robot based on the biological behavior and sensory strategy of ants. A series of experiments using ants were carried out where the gait and the movement form of ants was studied. Taking the results of the ant experiments as inspiration by imitating the behavior of ants during turning, an extended turning algorithm based on arbitrary gait was proposed. Furthermore, after the observation of the radius adjustment of ants during turning, a radius correction algorithm based on the arbitrary gait of the hexapod robot was raised. The radius correction surface function was generated by fitting the correction data, which made it possible for the robot to move in an outdoor environment without the positioning system and environment model. The proposed algorithm was verified on the hexapod robot experimental platform. The turning and radius correction experiment of the robot with several gaits were carried out. The results indicated that the robot could follow the ideal radius and maintain stability, and the proposed ant-inspired turning strategy could easily make free turns with an arbitrary gait. PMID:29168742

Turning and Radius Deviation Correction for a Hexapod Walking Robot Based on an Ant-Inspired Sensory Strategy.

PubMed

Zhu, Yaguang; Guo, Tong; Liu, Qiong; Zhu, Qianwei; Zhao, Xiangmo; Jin, Bo

2017-11-23

Abstract : In order to find a common approach to plan the turning of a bio-inspired hexapod robot, a locomotion strategy for turning and deviation correction of a hexapod walking robot based on the biological behavior and sensory strategy of ants. A series of experiments using ants were carried out where the gait and the movement form of ants was studied. Taking the results of the ant experiments as inspiration by imitating the behavior of ants during turning, an extended turning algorithm based on arbitrary gait was proposed. Furthermore, after the observation of the radius adjustment of ants during turning, a radius correction algorithm based on the arbitrary gait of the hexapod robot was raised. The radius correction surface function was generated by fitting the correction data, which made it possible for the robot to move in an outdoor environment without the positioning system and environment model. The proposed algorithm was verified on the hexapod robot experimental platform. The turning and radius correction experiment of the robot with several gaits were carried out. The results indicated that the robot could follow the ideal radius and maintain stability, and the proposed ant-inspired turning strategy could easily make free turns with an arbitrary gait.

Movement Anticipation and EEG: Implications for BCI-Contingent Robot Therapy

PubMed Central

Norman, Sumner L.; Dennison, Mark; Wolbrecht, Eric; Cramer, Steven C.; Srinivasan, Ramesh; Reinkensmeyer, David J.

2017-01-01

Brain-computer interfacing is a technology that has the potential to improve patient engagement in robot-assisted rehabilitation therapy. For example, movement intention reduces mu (8-13 Hz) oscillation amplitude over the sensorimotor cortex, a phenomenon referred to as event-related desynchronization (ERD). In an ERD-contingent assistance paradigm, initial BCI-enhanced robotic therapy studies have used ERD to provide robotic assistance for movement. Here we investigated how ERD changed as a function of audio-visual stimuli, overt movement from the participant, and robotic assistance. Twelve unimpaired subjects played a computer game designed for rehabilitation therapy with their fingers using the FINGER robotic exoskeleton. In the game, the participant and robot matched movement timing to audio-visual stimuli in the form of notes approaching a target on the screen set to the consistent beat of popular music. The audio-visual stimulation of the game alone did not cause ERD, before or after training. In contrast, overt movement by the subject caused ERD, whether or not the robot assisted the finger movement. Notably, ERD was also present when the subjects remained passive and the robot moved their fingers to play the game. This ERD occurred in anticipation of the passive finger movement with similar onset timing as for the overt movement conditions. These results demonstrate that ERD can be contingent on expectation of robotic assistance; that is, the brain generates an anticipatory ERD in expectation of a robot-imposed but predictable movement. This is a caveat that should be considered in designing BCIs for enhancing patient effort in roboticallyassisted therapy. PMID:26891487

A design of endoscopic imaging system for hyper long pipeline based on wheeled pipe robot

NASA Astrophysics Data System (ADS)

Zheng, Dongtian; Tan, Haishu; Zhou, Fuqiang

2017-03-01

An endoscopic imaging system of hyper long pipeline is designed to acquire the inner surface image in advance for the hyper long pipeline detects measurement. The system consists of structured light sensors, pipe robots and control system. The pipe robot is in the form of wheel structure, with the sensor which is at the front of the vehicle body. The control system is at the tail of the vehicle body in the form of upper and lower computer. The sensor can be translated and scanned in three steps: walking, lifting and scanning, then the inner surface image can be acquired at a plurality of positions and different angles. The results of imaging experiments show that the system's transmission distance is longer, the acquisition angle is more diverse and the result is more comprehensive than the traditional imaging system, which lays an important foundation for later inner surface vision measurement.

Swarm robotics and minimalism

NASA Astrophysics Data System (ADS)

Sharkey, Amanda J. C.

2007-09-01

Swarm Robotics (SR) is closely related to Swarm Intelligence, and both were initially inspired by studies of social insects. Their guiding principles are based on their biological inspiration and take the form of an emphasis on decentralized local control and communication. Earlier studies went a step further in emphasizing the use of simple reactive robots that only communicate indirectly through the environment. More recently SR studies have moved beyond these constraints to explore the use of non-reactive robots that communicate directly, and that can learn and represent their environment. There is no clear agreement in the literature about how far such extensions of the original principles could go. Should there be any limitations on the individual abilities of the robots used in SR studies? Should knowledge of the capabilities of social insects lead to constraints on the capabilities of individual robots in SR studies? There is a lack of explicit discussion of such questions, and researchers have adopted a variety of constraints for a variety of reasons. A simple taxonomy of swarm robotics is presented here with the aim of addressing and clarifying these questions. The taxonomy distinguishes subareas of SR based on the emphases and justifications for minimalism and individual simplicity.

Dynamic multisensor fusion for mobile robot navigation in an indoor environment

NASA Astrophysics Data System (ADS)

Jin, Taeseok; Lee, Jang-Myung; Luk, Bing L.; Tso, Shiu K.

2001-10-01

In this study, as the preliminary step for developing a multi-purpose Autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, CCD camera dn IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the intelligent service robot project at the Centre of Intelligent Design, Automation & Manufacturing (CIDAM). We will conclude by discussing some possible future extensions of the project. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results form the simulations run.

Review of control strategies for robotic movement training after neurologic injury.

PubMed

Marchal-Crespo, Laura; Reinkensmeyer, David J

2009-06-16

There is increasing interest in using robotic devices to assist in movement training following neurologic injuries such as stroke and spinal cord injury. This paper reviews control strategies for robotic therapy devices. Several categories of strategies have been proposed, including, assistive, challenge-based, haptic simulation, and coaching. The greatest amount of work has been done on developing assistive strategies, and thus the majority of this review summarizes techniques for implementing assistive strategies, including impedance-, counterbalance-, and EMG- based controllers, as well as adaptive controllers that modify control parameters based on ongoing participant performance. Clinical evidence regarding the relative effectiveness of different types of robotic therapy controllers is limited, but there is initial evidence that some control strategies are more effective than others. It is also now apparent there may be mechanisms by which some robotic control approaches might actually decrease the recovery possible with comparable, non-robotic forms of training. In future research, there is a need for head-to-head comparison of control algorithms in randomized, controlled clinical trials, and for improved models of human motor recovery to provide a more rational framework for designing robotic therapy control strategies.

A Robotic Platform to Study the Foreflipper of the California Sea Lion.

PubMed

Kulkarni, Aditya A; Patel, Rahi K; Friedman, Chen; Leftwich, Megan C

2017-01-10

The California sea lion (Zalophus californianus), is an agile and powerful swimmer. Unlike many successful swimmers (dolphins, tuna), they generate most of their thrust with their large foreflippers. This protocol describes a robotic platform designed to study the hydrodynamic performance of the swimming California sea lion (Zalophus californianus). The robot is a model of the animal's foreflipper that is actuated by motors to replicate the motion of its propulsive stroke (the 'clap'). The kinematics of the sea lion's propulsive stroke are extracted from video data of unmarked, non-research sea lions at the Smithsonian Zoological Park (SNZ). Those data form the basis of the actuation motion of the robotic flipper presented here. The geometry of the robotic flipper is based a on high-resolution laser scan of a foreflipper of an adult female sea lion, scaled to about 60% of the full-scale flipper. The articulated model has three joints, mimicking the elbow, wrist and knuckle joint of the sea lion foreflipper. The robotic platform matches dynamics properties-Reynolds number and tip speed-of the animal when accelerating from rest. The robotic flipper can be used to determine the performance (forces and torques) and resulting flowfields.

A Quadruped Micro-Robot Based on Piezoelectric Driving

PubMed Central

Su, Qi; Quan, Qiquan; Deng, Jie; Yu, Hongpeng

2018-01-01

Inspired by a way of rowing, a new piezoelectric driving quadruped micro-robot operating in bending-bending hybrid vibration modes was proposed and tested in this work. The robot consisted of a steel base, four steel connecting pins and four similar driving legs, and all legs were bonded by four piezoelectric ceramic plates. The driving principle is discussed, which is based on the hybrid of first order vertical bending and first order horizontal bending vibrations. The bending-bending hybrid vibration modes motivated the driving foot to form an elliptical trajectory in space. The vibrations of four legs were used to provide the driving forces for robot motion. The proposed robot was fabricated and tested according to driving principle. The vibration characteristics and elliptical movements of the driving feet were simulated by FEM method. Experimental tests of vibration characteristics and mechanical output abilities were carried out. The tested resonance frequencies and vibration amplitudes agreed well with the FEM calculated results. The size of robot is 36 mm × 98 mm × 14 mm, its weight is only 49.8 g, but its maximum load capacity achieves 200 g. Furthermore, the robot can achieve a maximum speed of 33.45 mm/s. PMID:29518964

A Quadruped Micro-Robot Based on Piezoelectric Driving.

PubMed

Su, Qi; Quan, Qiquan; Deng, Jie; Yu, Hongpeng

2018-03-07

Inspired by a way of rowing, a new piezoelectric driving quadruped micro-robot operating in bending-bending hybrid vibration modes was proposed and tested in this work. The robot consisted of a steel base, four steel connecting pins and four similar driving legs, and all legs were bonded by four piezoelectric ceramic plates. The driving principle is discussed, which is based on the hybrid of first order vertical bending and first order horizontal bending vibrations. The bending-bending hybrid vibration modes motivated the driving foot to form an elliptical trajectory in space. The vibrations of four legs were used to provide the driving forces for robot motion. The proposed robot was fabricated and tested according to driving principle. The vibration characteristics and elliptical movements of the driving feet were simulated by FEM method. Experimental tests of vibration characteristics and mechanical output abilities were carried out. The tested resonance frequencies and vibration amplitudes agreed well with the FEM calculated results. The size of robot is 36 mm × 98 mm × 14 mm, its weight is only 49.8 g, but its maximum load capacity achieves 200 g. Furthermore, the robot can achieve a maximum speed of 33.45 mm/s.

Toward controlling perturbations in robotic sensor networks

NASA Astrophysics Data System (ADS)

Banerjee, Ashis G.; Majumder, Saikat R.

2014-06-01

Robotic sensor networks (RSNs), which consist of networks of sensors placed on mobile robots, are being increasingly used for environment monitoring applications. In particular, a lot of work has been done on simultaneous localization and mapping of the robots, and optimal sensor placement for environment state estimation1. The deployment of RSNs, however, remains challenging in harsh environments where the RSNs have to deal with significant perturbations in the forms of wind gusts, turbulent water flows, sand storms, or blizzards that disrupt inter-robot communication and individual robot stability. Hence, there is a need to be able to control such perturbations and bring the networks to desirable states with stable nodes (robots) and minimal operational performance (environment sensing). Recent work has demonstrated the feasibility of controlling the non-linear dynamics in other communication networks like emergency management systems and power grids by introducing compensatory perturbations to restore network stability and operation2. In this paper, we develop a computational framework to investigate the usefulness of this approach for RSNs in marine environments. Preliminary analysis shows promising performance and identifies bounds on the original perturbations within which it is possible to control the networks.

Review of control strategies for robotic movement training after neurologic injury

PubMed Central

Marchal-Crespo, Laura; Reinkensmeyer, David J

2009-01-01

There is increasing interest in using robotic devices to assist in movement training following neurologic injuries such as stroke and spinal cord injury. This paper reviews control strategies for robotic therapy devices. Several categories of strategies have been proposed, including, assistive, challenge-based, haptic simulation, and coaching. The greatest amount of work has been done on developing assistive strategies, and thus the majority of this review summarizes techniques for implementing assistive strategies, including impedance-, counterbalance-, and EMG- based controllers, as well as adaptive controllers that modify control parameters based on ongoing participant performance. Clinical evidence regarding the relative effectiveness of different types of robotic therapy controllers is limited, but there is initial evidence that some control strategies are more effective than others. It is also now apparent there may be mechanisms by which some robotic control approaches might actually decrease the recovery possible with comparable, non-robotic forms of training. In future research, there is a need for head-to-head comparison of control algorithms in randomized, controlled clinical trials, and for improved models of human motor recovery to provide a more rational framework for designing robotic therapy control strategies. PMID:19531254

Chromatic X-ray magnifying method and apparatus by Bragg reflective planes on the surface of Abbe sphere

DOEpatents

Thoe, Robert S.

1991-01-01

Method and apparatus for producing sharp, chromatic, magnified images of X-ray emitting objects, are provided. The apparatus, which constitutes an X-ray microscope or telescope, comprises a connected collection of Bragg reflecting planes, comprised of either a bent crystal or a synthetic multilayer structure, disposed on and adjacent to a locus determined by a spherical surface. The individual Bragg planes are spatially oriented to Bragg reflect radiation from the object location toward the image location. This is accomplished by making the Bragg planes spatially coincident with the surfaces of either a nested series of prolate ellipsoids of revolution, or a nested series of spheres. The spacing between the Bragg reflecting planes can be tailored to control the wavelengths and the amount of the X-radiation that is Bragg reflected to form the X-ray image.

Simulation tools for robotics research and assessment

NASA Astrophysics Data System (ADS)

Fields, MaryAnne; Brewer, Ralph; Edge, Harris L.; Pusey, Jason L.; Weller, Ed; Patel, Dilip G.; DiBerardino, Charles A.

2016-05-01

The Robotics Collaborative Technology Alliance (RCTA) program focuses on four overlapping technology areas: Perception, Intelligence, Human-Robot Interaction (HRI), and Dexterous Manipulation and Unique Mobility (DMUM). In addition, the RCTA program has a requirement to assess progress of this research in standalone as well as integrated form. Since the research is evolving and the robotic platforms with unique mobility and dexterous manipulation are in the early development stage and very expensive, an alternate approach is needed for efficient assessment. Simulation of robotic systems, platforms, sensors, and algorithms, is an attractive alternative to expensive field-based testing. Simulation can provide insight during development and debugging unavailable by many other means. This paper explores the maturity of robotic simulation systems for applications to real-world problems in robotic systems research. Open source (such as Gazebo and Moby), commercial (Simulink, Actin, LMS), government (ANVEL/VANE), and the RCTA-developed RIVET simulation environments are examined with respect to their application in the robotic research domains of Perception, Intelligence, HRI, and DMUM. Tradeoffs for applications to representative problems from each domain are presented, along with known deficiencies and disadvantages. In particular, no single robotic simulation environment adequately covers the needs of the robotic researcher in all of the domains. Simulation for DMUM poses unique constraints on the development of physics-based computational models of the robot, the environment and objects within the environment, and the interactions between them. Most current robot simulations focus on quasi-static systems, but dynamic robotic motion places an increased emphasis on the accuracy of the computational models. In order to understand the interaction of dynamic multi-body systems, such as limbed robots, with the environment, it may be necessary to build component-level computational models to provide the necessary simulation fidelity for accuracy. However, the Perception domain remains the most problematic for adequate simulation performance due to the often cartoon nature of computer rendering and the inability to model realistic electromagnetic radiation effects, such as multiple reflections, in real-time.

Single-Subject Evaluation: A Tool for Quality Assurance.

ERIC Educational Resources Information Center

Nuehring, Elane M.; Pascone, Anne B.

1986-01-01

The use of single-subject designs in peer review, in utilization review, and in other quality-assurance audits is encouraged. Presents an overview of the methodologies of single-subject designs and quality assurance, and provides examples of cases in which single-subject techniques furnished relevant quality assurance documentation. (Author/ABB)

The Continuing Role of Physical Attractiveness in Marriage.

ERIC Educational Resources Information Center

Margolin, Leslie; White, Lynn

1987-01-01

Examined the role of physical attractiveness in marriage. Showed that the decreases in physical appearance normally associated with aging affected husbands' responses to their wives more than wives' to their husbands. Husband's sexual interest, happiness in the sexual relationship, and, to a lesser extent, unfaithfulness were affected. (Author/ABB)

The Polygraph: Concept, Usage and Validity.

ERIC Educational Resources Information Center

Simpson, B. Allen

1986-01-01

Deals with the use of the "lie detector" or "polygraphic test" as a method of detecting deception in industries and law enforcement agencies. Explains what the polygraph is and how it operates. Presents a series of specific arguments for and against the validity of the instrument. Research appears to be inconclusive. (Author/ABB)

Multidimensional Networking: A Response to the Needs of Homeless Families.

ERIC Educational Resources Information Center

Hutchison, William J.; And Others

1986-01-01

Draws on models of social networking to present findings from a six-year study of homeless families who received treatment at the Salvation Army Lodge in St. Louis, Missouri. Presents a four-stage model of treatment: the crisis, stabilization, relocation, and follow-up stages. (Author/ABB)

2007 Preserve America Presidential Awards

Science.gov Websites

the Private Preservation category, the two winners are: The History Channel, Save Our History Save Our History were Abbe Raven, president and CEO, A&E Television Networks; and Nancy Dubuc , executive vice president, The History Channel. Receiving the award for Downtown St. Louis Revitalization

Currency Exchange Rates.

ERIC Educational Resources Information Center

Siler, Carl R.

This curriculum unit of the Muncie (Indiana) Southside High School is to simulate the dynamics of foreign currency exchange rates from the perspectives of: (1) a major U.S. corporation, ABB Power T & D Company, Inc., of Muncie, Indiana, a manufacturer of large power transformers for the domestic and foreign markets; and (2) individual…

Situational Determinants of Social Anxiety in Clinic and Nonclinic Samples: Physiological and Cognitive Correlates.

ERIC Educational Resources Information Center

Turner, Samuel M.; And Others

1986-01-01

Nonclinic socially anxious individuals, clinic socially anxious patients, and nonsocially anxious subjects were assessed for changes in patterns of physiological reactivity and cognition across three interpersonal tasks. Results indicated that both thoughts and physiological reactivity were influenced by situational parameters. (Author/ABB)

Individual Multimodal Therapy for Weight Loss: A Case Example.

ERIC Educational Resources Information Center

Kilmartin, Christopher; Robbins, Steven

1987-01-01

Presents a case study highlighting a treatment model based on a multimodal conceptualization. Suggests that individual multimodal therapy provides a comprehensive approach to the treatment of overeating, helping to target social and emotional issues related to eating disorders as well as the eating behaviors themselves. (Author/ABB)

Liberating the "Deviant" Feminist Image through Education.

ERIC Educational Resources Information Center

Dabrowski, Irene

1985-01-01

Tested the assumption that there is a relationship between attitudes toward feminists and exposure to university courses on feminism. Results of t-test analysis indicate that attitudes of students exposed to feminist courses changed in a more positive direction, though this positive attitude was not solely dependent on the courses. (Author/ABB)

Rediscovering the Alcoholism Field: New Trends and Needs.

ERIC Educational Resources Information Center

Dolan, Joseph S.

1987-01-01

Outlines trends developing in the alcoholism field including: youth, treatment, public policy, education, research, and the Rand Report. Identifies two needs: the need to look at the interrelationships of programs and trends and the need to foster an environment which does not tolerate drunkenness or intoxication. (Author/ABB)

Women in the Military: An Historical Perspective on the Nursing Corps.

ERIC Educational Resources Information Center

Steffel, Marilyn L.; Kaczmarek, Margaret G.

1987-01-01

Presents an overview of the role women have performed in the military nursing corps. Reviews the history of women in the military nursing corps; their struggle to gain officer rank, status, and pay; military family policies; and nurses' contribution to military health care. (Author/ABB)

Learning Non-Adjacent Regularities at Age 0 ; 7

ERIC Educational Resources Information Center

Gervain, Judit; Werker, Janet F.

2013-01-01

One important mechanism suggested to underlie the acquisition of grammar is rule learning. Indeed, infants aged 0 ; 7 are able to learn rules based on simple identity relations (adjacent repetitions, ABB: "wo fe fe" and non-adjacent repetitions, ABA: "wo fe wo", respectively; Marcus et al., 1999). One unexplored issue is…

Semantic and Visual Memory After Alcohol Abuse.

ERIC Educational Resources Information Center

Donat, Dennis C.

1986-01-01

Compared the relative performance of 40 patients with a history of alcohol abuse on tasks of short-term semantic and visual memory. Performance on the visual memory tasks was impaired significantly relative to the semantic memory task in a within-subjects analysis of variance. Semantic memory was unimpaired. (Author/ABB)

A Children's Divorce Clinic: Analysis of 200 Cases in Hawaii.

ERIC Educational Resources Information Center

Waldron, Jane A.; And Others

1986-01-01

Analyzes data from children and families seen at the Children's Divorce Clinic. Finds that preschool children are often told nothing about the divorce and that ethnically mixed marriages tended to fail before nonmixed marriages. Reports data concerning custody and parents' emotional response to the divorce. (Author/ABB)

A Repeat Look at Repeating Patterns

ERIC Educational Resources Information Center

Markworth, Kimberly A.

2016-01-01

A "repeating pattern" is a cyclical repetition of an identifiable core. Children in the primary grades usually begin pattern work with fairly simple patterns, such as AB, ABC, or ABB patterns. The unique letters represent unique elements, whereas the sequence of letters represents the core that is repeated. Based on color, shape,…

Swarmathon 2017

NASA Image and Video Library

2017-04-20

In the Swarmathon competition at the Kennedy Space Center Visitor Complex, students were asked to develop computer code for the small robots, programming them to look for "resources" in the form of cubes with AprilTags, similar to barcodes. Teams developed search algorithms for innovative robots known as "Swarmies" to operate autonomously, communicating and interacting as a collective swarm similar to ants foraging for food. In the spaceport's second annual Swarmathon, 20 teams representing 22 minority serving universities and community colleges were invited to participate. Similar robots could help find resources when astronauts explore distant locations, such as the moon or Mars.

Stereo optical guidance system for control of industrial robots

NASA Technical Reports Server (NTRS)

Powell, Bradley W. (Inventor); Rodgers, Mike H. (Inventor)

1992-01-01

A device for the generation of basic electrical signals which are supplied to a computerized processing complex for the operation of industrial robots. The system includes a stereo mirror arrangement for the projection of views from opposite sides of a visible indicia formed on a workpiece. The views are projected onto independent halves of the retina of a single camera. The camera retina is of the CCD (charge-coupled-device) type and is therefore capable of providing signals in response to the image projected thereupon. These signals are then processed for control of industrial robots or similar devices.

Educational Robots in Primary School Teachers' and Students' Opinion about STEM Education for Young Learners

ERIC Educational Resources Information Center

Smyrnova-Trybulska, Eugenia; Morze, Nataliia; Kommers, Piet; Zuziak, Wojciech; Gladun, Mariia

2016-01-01

The article discusses issues related to STEM education; it is emphasized that the need to prepare students with twenty-first-century skills through STEM-related teaching is strong, especially at the elementary level. The authors stress that workshops, using kits to build and program robots, are a modern form of interdisciplinary education of…

Integrated Intelligence: Robot Instruction via Interactive Grounded Learning

DTIC Science & Technology

2016-02-14

ADDRESS (ES) U.S. Army Research Office P.O. Box 12211 Research Triangle Park, NC 27709-2211 Robotics; Natural Language Processing ; Grounded Language ...Logical Forms for Referring Expression Generation, Emperical Methods in Natural Language Processing (EMNLP). 18-OCT-13, . : , Tom Kwiatkowska, Eunsol...Choi, Yoav Artzi, Luke Zettlemoyer. Scaling Semantic Parsers with On-the-fly Ontology Matching, Emperical Methods in Natural Langauge Processing

Using spoken words to guide open-ended category formation.

PubMed

Chauhan, Aneesh; Seabra Lopes, Luís

2011-11-01

Naming is a powerful cognitive tool that facilitates categorization by forming an association between words and their referents. There is evidence in child development literature that strong links exist between early word-learning and conceptual development. A growing view is also emerging that language is a cultural product created and acquired through social interactions. Inspired by these studies, this paper presents a novel learning architecture for category formation and vocabulary acquisition in robots through active interaction with humans. This architecture is open-ended and is capable of acquiring new categories and category names incrementally. The process can be compared to language grounding in children at single-word stage. The robot is embodied with visual and auditory sensors for world perception. A human instructor uses speech to teach the robot the names of the objects present in a visually shared environment. The robot uses its perceptual input to ground these spoken words and dynamically form/organize category descriptions in order to achieve better categorization. To evaluate the learning system at word-learning and category formation tasks, two experiments were conducted using a simple language game involving naming and corrective feedback actions from the human user. The obtained results are presented and discussed in detail.

Numerical approach of collision avoidance and optimal control on robotic manipulators

NASA Technical Reports Server (NTRS)

Wang, Jyhshing Jack

1990-01-01

Collision-free optimal motion and trajectory planning for robotic manipulators are solved by a method of sequential gradient restoration algorithm. Numerical examples of a two degree-of-freedom (DOF) robotic manipulator are demonstrated to show the excellence of the optimization technique and obstacle avoidance scheme. The obstacle is put on the midway, or even further inward on purpose, of the previous no-obstacle optimal trajectory. For the minimum-time purpose, the trajectory grazes by the obstacle and the minimum-time motion successfully avoids the obstacle. The minimum-time is longer for the obstacle avoidance cases than the one without obstacle. The obstacle avoidance scheme can deal with multiple obstacles in any ellipsoid forms by using artificial potential fields as penalty functions via distance functions. The method is promising in solving collision-free optimal control problems for robotics and can be applied to any DOF robotic manipulators with any performance indices and mobile robots as well. Since this method generates optimum solution based on Pontryagin Extremum Principle, rather than based on assumptions, the results provide a benchmark against which any optimization techniques can be measured.

Controlling Tensegrity Robots Through Evolution

NASA Technical Reports Server (NTRS)

Iscen, Atil; Agogino, Adrian; SunSpiral, Vytas; Tumer, Kagan

2013-01-01

Tensegrity structures (built from interconnected rods and cables) have the potential to offer a revolutionary new robotic design that is light-weight, energy-efficient, robust to failures, capable of unique modes of locomotion, impact tolerant, and compliant (reducing damage between the robot and its environment). Unfortunately robots built from tensegrity structures are difficult to control with traditional methods due to their oscillatory nature, nonlinear coupling between components and overall complexity. Fortunately this formidable control challenge can be overcome through the use of evolutionary algorithms. In this paper we show that evolutionary algorithms can be used to efficiently control a ball-shaped tensegrity robot. Experimental results performed with a variety of evolutionary algorithms in a detailed soft-body physics simulator show that a centralized evolutionary algorithm performs 400 percent better than a hand-coded solution, while the multi-agent evolution performs 800 percent better. In addition, evolution is able to discover diverse control solutions (both crawling and rolling) that are robust against structural failures and can be adapted to a wide range of energy and actuation constraints. These successful controls will form the basis for building high-performance tensegrity robots in the near future.

Robonaut 2 and You: Specifying and Executing Complex Operations

NASA Technical Reports Server (NTRS)

Baker, William; Kingston, Zachary; Moll, Mark; Badger, Julia; Kavraki, Lydia

2017-01-01

Crew time is a precious resource due to the expense of trained human operators in space. Efficient caretaker robots could lessen the manual labor load required by frequent vehicular and life support maintenance tasks, freeing astronaut time for scientific mission objectives. Humanoid robots can fluidly exist alongside human counterparts due to their form, but they are complex and high-dimensional platforms. This paper describes a system that human operators can use to maneuver Robonaut 2 (R2), a dexterous humanoid robot developed by NASA to research co-robotic applications. The system includes a specification of constraints used to describe operations, and the supporting planning framework that solves constrained problems on R2 at interactive speeds. The paper is developed in reference to an illustrative, typical example of an operation R2 performs to highlight the challenges inherent to the problems R2 must face. Finally, the interface and planner is validated through a case-study using the guiding example on the physical robot in a simulated microgravity environment. This work reveals the complexity of employing humanoid caretaker robots and suggest solutions that are broadly applicable.

"I spy, with my little sensor": fair data handling practices for robots between privacy, copyright and security

NASA Astrophysics Data System (ADS)

Schafer, Burkhard; Edwards, Lilian

2017-07-01

The paper suggests an amendment to Principle 4 of ethical robot design, and a demand for "transparency by design". It argues that while misleading vulnerable users as to the nature of a robot is a serious ethical issue, other forms of intentionally deceptive or unintentionally misleading aspects of robotic design pose challenges that are on the one hand more universal and harmful in their application, on the other more difficult to address consistently through design choices. The focus will be on transparent design regarding the sensory capacities of robots. Intuitive, low-tech but highly efficient privacy preserving behaviour is regularly dependent on an accurate understanding of surveillance risks. Design choices that hide, camouflage or misrepresent these capacities can undermine these strategies. However, formulating an ethical principle of "sensor transparency" is not straightforward, as openness can also lead to greater vulnerability and with that security risks. We argue that the discussion on sensor transparency needs to be embedded in a broader discussion of "fair data handling principles" for robots that involve issues of privacy, but also intellectual property rights such as copyright.

A Novel Concept for Safe, Stiffness-Controllable Robot Links.

PubMed

Stilli, Agostino; Wurdemann, Helge A; Althoefer, Kaspar

2017-03-01

The recent decade has seen an astounding increase of interest and advancement in a new field of robotics, aimed at creating structures specifically for the safe interaction with humans. Softness, flexibility, and variable stiffness in robotics have been recognized as highly desirable characteristics for many applications. A number of solutions were proposed ranging from entirely soft robots (such as those composed mainly from soft materials such as silicone), via flexible continuum and snake-like robots, to rigid-link robots enhanced by joints that exhibit an elastic behavior either implemented in hardware or achieved purely by means of intelligent control. Although these are very good solutions paving the path to safe human-robot interaction, we propose here a new approach that focuses on creating stiffness controllability for the linkages between the robot joints. This article proposes a replacement for the traditionally rigid robot link-the new link is equipped with an additional capability of stiffness controllability. With this added feature, a robot can accurately carry out manipulation tasks (high stiffness), but can virtually instantaneously reduce its stiffness when a human is nearby or in contact with the robot. The key point of the invention described here is a robot link made of an airtight chamber formed by a soft and flexible, but high-strain resistant combination of a plastic mesh and silicone wall. Inflated with air to a high pressure, the mesh silicone chamber behaves like a rigid link; reducing the air pressure, softens the link and rendering the robot structure safe. This article investigates a number of link prototypes and shows the feasibility of the new concept. Stiffness tests have been performed, showing that a significant level of stiffness can be achieved-up to 40 N reaction force along the axial direction, for a 25-mm-diameter sample at 60 kPa, at an axial deformation of 5 mm. The results confirm that this novel concept to linkages for robot manipulators exhibits the beam-like behavior of traditional rigid links when fully pressurized and significantly reduced stiffness at low pressure. The proposed concept has the potential to easily create safe robots, augmenting traditional robot designs.

Design and Control of Concentric-Tube Robots

PubMed Central

Dupont, Pierre E.; Lock, Jesse; Itkowitz, Brandon; Butler, Evan

2010-01-01

A novel approach toward construction of robots is based on a concentric combination of precurved elastic tubes. By rotation and extension of the tubes with respect to each other, their curvatures interact elastically to position and orient the robot’s tip, as well as to control the robot’s shape along its length. In this approach, the flexible tubes comprise both the links and the joints of the robot. Since the actuators attach to the tubes at their proximal ends, the robot itself forms a slender curve that is well suited for minimally invasive medical procedures. This paper demonstrates the potential of this technology. Design principles are presented and a general kinematic model incorporating tube bending and torsion is derived. Experimental demonstration of real-time position control using this model is also described. PMID:21258648

Evaluation of microsurgical tasks with OCT-guided and/or robot-assisted ophthalmic forceps

PubMed Central

Yu, Haoran; Shen, Jin-Hui; Shah, Rohan J.; Simaan, Nabil; Joos, Karen M.

2015-01-01

Real-time intraocular optical coherence tomography (OCT) visualization of tissues with surgical feedback can enhance retinal surgery. An intraocular 23-gauge B-mode forward-imaging co-planar OCT-forceps, coupling connectors and algorithms were developed to form a unique ophthalmic surgical robotic system. Approach to the surface of a phantom or goat retina by a manual or robotic-controlled forceps, with and without real-time OCT guidance, was performed. Efficiency of lifting phantom membranes was examined. Placing the co-planar OCT imaging probe internal to the surgical tool reduced instrument shadowing and permitted constant tracking. Robotic assistance together with real-time OCT feedback improved depth perception accuracy. The first-generation integrated OCT-forceps was capable of peeling membrane phantoms despite smooth tips. PMID:25780736

Child-Robot Interactions for Second Language Tutoring to Preschool Children

PubMed Central

Vogt, Paul; de Haas, Mirjam; de Jong, Chiara; Baxter, Peta; Krahmer, Emiel

2017-01-01

In this digital age social robots will increasingly be used for educational purposes, such as second language tutoring. In this perspective article, we propose a number of design features to develop a child-friendly social robot that can effectively support children in second language learning, and we discuss some technical challenges for developing these. The features we propose include choices to develop the robot such that it can act as a peer to motivate the child during second language learning and build trust at the same time, while still being more knowledgeable than the child and scaffolding that knowledge in adult-like manner. We also believe that the first impressions children have about robots are crucial for them to build trust and common ground, which would support child-robot interactions in the long term. We therefore propose a strategy to introduce the robot in a safe way to toddlers. Other features relate to the ability to adapt to individual children’s language proficiency, respond contingently, both temporally and semantically, establish joint attention, use meaningful gestures, provide effective feedback and monitor children’s learning progress. Technical challenges we observe include automatic speech recognition (ASR) for children, reliable object recognition to facilitate semantic contingency and establishing joint attention, and developing human-like gestures with a robot that does not have the same morphology humans have. We briefly discuss an experiment in which we investigate how children respond to different forms of feedback the robot can give. PMID:28303094

Child-Robot Interactions for Second Language Tutoring to Preschool Children.

PubMed

Vogt, Paul; de Haas, Mirjam; de Jong, Chiara; Baxter, Peta; Krahmer, Emiel

2017-01-01

In this digital age social robots will increasingly be used for educational purposes, such as second language tutoring. In this perspective article, we propose a number of design features to develop a child-friendly social robot that can effectively support children in second language learning, and we discuss some technical challenges for developing these. The features we propose include choices to develop the robot such that it can act as a peer to motivate the child during second language learning and build trust at the same time, while still being more knowledgeable than the child and scaffolding that knowledge in adult-like manner. We also believe that the first impressions children have about robots are crucial for them to build trust and common ground, which would support child-robot interactions in the long term. We therefore propose a strategy to introduce the robot in a safe way to toddlers. Other features relate to the ability to adapt to individual children's language proficiency, respond contingently, both temporally and semantically, establish joint attention, use meaningful gestures, provide effective feedback and monitor children's learning progress. Technical challenges we observe include automatic speech recognition (ASR) for children, reliable object recognition to facilitate semantic contingency and establishing joint attention, and developing human-like gestures with a robot that does not have the same morphology humans have. We briefly discuss an experiment in which we investigate how children respond to different forms of feedback the robot can give.

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

PubMed

de Greeff, Joachim; Belpaeme, Tony

2015-01-01

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

Simulation of in vivo dynamics during robot assisted joint movement.

PubMed

Bobrowitsch, Evgenij; Lorenz, Andrea; Wülker, Nikolaus; Walter, Christian

2014-12-16

Robots are very useful tools in orthopedic research. They can provide force/torque controlled specimen motion with high repeatability and precision. A method to analyze dissipative energy outcome in an entire joint was developed in our group. In a previous study, a sheep knee was flexed while axial load remained constant during the measurement of dissipated energy. We intend to apply this method for the investigation of osteoarthritis. Additionally, the method should be improved by simulation of in vivo knee dynamics. Thus, a new biomechanical testing tool will be developed for analyzing in vitro joint properties after different treatments. Discretization of passive knee flexion was used to construct a complex flexion movement by a robot and simulate altering axial load similar to in vivo sheep knee dynamics described in a previous experimental study. The robot applied an in vivo like axial force profile with high reproducibility during the corresponding knee flexion (total standard deviation of 0.025 body weight (BW)). A total residual error between the in vivo and simulated axial force was 0.16 BW. Posterior-anterior and medio-lateral forces were detected by the robot as a backlash of joint structures. Their curve forms were similar to curve forms of corresponding in vivo measured forces, but in contrast to the axial force, they showed higher total standard deviation of 0.118 and 0.203 BW and higher total residual error of 0.79 and 0.21 BW for posterior-anterior and medio-lateral forces respectively. We developed and evaluated an algorithm for the robotic simulation of complex in vivo joint dynamics using a joint specimen. This should be a new biomechanical testing tool for analyzing joint properties after different treatments.

Towards more effective robotic gait training for stroke rehabilitation: a review

PubMed Central

2012-01-01

Background Stroke is the most common cause of disability in the developed world and can severely degrade walking function. Robot-driven gait therapy can provide assistance to patients during training and offers a number of advantages over other forms of therapy. These potential benefits do not, however, seem to have been fully realised as of yet in clinical practice. Objectives This review determines ways in which robot-driven gait technology could be improved in order to achieve better outcomes in gait rehabilitation. Methods The literature on gait impairments caused by stroke is reviewed, followed by research detailing the different pathways to recovery. The outcomes of clinical trials investigating robot-driven gait therapy are then examined. Finally, an analysis of the literature focused on the technical features of the robot-based devices is presented. This review thus combines both clinical and technical aspects in order to determine the routes by which robot-driven gait therapy could be further developed. Conclusions Active subject participation in robot-driven gait therapy is vital to many of the potential recovery pathways and is therefore an important feature of gait training. Higher levels of subject participation and challenge could be promoted through designs with a high emphasis on robotic transparency and sufficient degrees of freedom to allow other aspects of gait such as balance to be incorporated. PMID:22953989

Numerical Nonlinear Robust Control with Applications to Humanoid Robots

DTIC Science & Technology

2015-07-01

automatically. While optimization and optimal control theory have been widely applied in humanoid robot control, it is not without drawbacks . A blind... drawback of Galerkin-based approaches is the need to successively produce discrete forms, which is difficult to implement in practice. Related...universal function approx- imation ability, these approaches are not without drawbacks . In practice, while a single hidden layer neural network can

The Relative Merits of Transparency: Investigating Situations that Support the Use of Robotics in Developing Student Learning Adaptability across Virtual and Physical Computing Platforms

ERIC Educational Resources Information Center

Okita, Sandra Y.

2014-01-01

This study examined whether developing earlier forms of knowledge in specific learning environments prepares students better for future learning when they are placed in an unfamiliar learning environment. Forty-one students in the fifth and sixth grades learned to program robot movements using abstract concepts of speed, distance and direction.…

ROMPS critical design review. Volume 1: Hardware

NASA Technical Reports Server (NTRS)

Dobbs, M. E.

1992-01-01

Topics concerning the Robot-Operated Material Processing in Space (ROMPS) Program are presented in viewgraph form and include the following: a systems overview; servocontrol and servomechanisms; testbed and simulation results; system V controller; robot module; furnace module; SCL experiment supervisor; SCL script sample processing control; SCL experiment supervisor fault handling; block diagrams; hitchhiker interfaces; battery systems; watchdog timers; mechanical/thermal systems; and fault conditions and recovery.

Spring Ankle with Regenerative Kinetics to Build a New Generation of Transtibial Prostheses

DTIC Science & Technology

2008-07-31

form factor that is portable to the wearer. The objective is to build a transtibial prosthesis that will support a Military amputee’s return to...active duty. 15. SUBJECT TERMS Transtibial Prosthesis , regenerative, spring, wearable robot 16. SECURITY CLASSIFICATION OF: 17. LIMITATION...Regenerative Kinetics” to build a new generation of transtibial prostheses Keywords: Transtibial Prosthesis , regenerative, spring, wearable robot

Sandia National Laboratories proof-of-concept robotic security vehicle

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

Harrington, J.J.; Jones, D.P.; Klarer, P.R.

1989-01-01

Several years ago Sandia National Laboratories developed a prototype interior robot that could navigate autonomously inside a large complex building to air and test interior intrusion detection systems. Recently the Department of Energy Office of Safeguards and Security has supported the development of a vehicle that will perform limited security functions autonomously in a structured exterior environment. The goal of the first phase of this project was to demonstrate the feasibility of an exterior robotic vehicle for security applications by using converted interior robot technology, if applicable. An existing teleoperational test bed vehicle with remote driving controls was modified andmore » integrated with a newly developed command driving station and navigation system hardware and software to form the Robotic Security Vehicle (RSV) system. The RSV, also called the Sandia Mobile Autonomous Navigator (SANDMAN), has been successfully used to demonstrate that teleoperated security vehicles which can perform limited autonomous functions are viable and have the potential to decrease security manpower requirements and improve system capabilities. 2 refs., 3 figs.« less

Robots with AI: A retrospective on the AAAI robot competitions and exhibitions

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

Bonasso, P.; Dean, T.

1996-12-31

There have been five years of robot competitions and exhibitions since the inception of this annual event in 1992. Since that first show we have seen 30 different teams compete and almost that many more exhibit their robots. These teams ranged from universities to industry and government research labs to one or two inventors working out of garages. Their composition ranged from seasoned AI researchers to eager undergraduates, and they hailed from the United States, Canada, Europe and the Far East. Despite the concerns of some about the relevance and even the appropriateness of such an event, the robots havemore » become a key attraction of the national and international conferences. In this talk, we look back on the form and function of the five years of exhibitions and competitions and attempt to draw some lessons in retrospect as well as future implications for the AI community and our society at large.« less

Numerical evaluation of mobile robot navigation in static indoor environment via EGAOR Iteration

NASA Astrophysics Data System (ADS)

Dahalan, A. A.; Saudi, A.; Sulaiman, J.; Din, W. R. W.

2017-09-01

One of the key issues in mobile robot navigation is the ability for the robot to move from an arbitrary start location to a specified goal location without colliding with any obstacles while traveling, also known as mobile robot path planning problem. In this paper, however, we examined the performance of a robust searching algorithm that relies on the use of harmonic potentials of the environment to generate smooth and safe path for mobile robot navigation in a static known indoor environment. The harmonic potentials will be discretized by using Laplacian’s operator to form a system of algebraic approximation equations. This algebraic linear system will be computed via 4-Point Explicit Group Accelerated Over-Relaxation (4-EGAOR) iterative method for rapid computation. The performance of the proposed algorithm will then be compared and analyzed against the existing algorithms in terms of number of iterations and execution time. The result shows that the proposed algorithm performed better than the existing methods.

Augmented reality and haptic interfaces for robot-assisted surgery.

PubMed

Yamamoto, Tomonori; Abolhassani, Niki; Jung, Sung; Okamura, Allison M; Judkins, Timothy N

2012-03-01

Current teleoperated robot-assisted minimally invasive surgical systems do not take full advantage of the potential performance enhancements offered by various forms of haptic feedback to the surgeon. Direct and graphical haptic feedback systems can be integrated with vision and robot control systems in order to provide haptic feedback to improve safety and tissue mechanical property identification. An interoperable interface for teleoperated robot-assisted minimally invasive surgery was developed to provide haptic feedback and augmented visual feedback using three-dimensional (3D) graphical overlays. The software framework consists of control and command software, robot plug-ins, image processing plug-ins and 3D surface reconstructions. The feasibility of the interface was demonstrated in two tasks performed with artificial tissue: palpation to detect hard lumps and surface tracing, using vision-based forbidden-region virtual fixtures to prevent the patient-side manipulator from entering unwanted regions of the workspace. The interoperable interface enables fast development and successful implementation of effective haptic feedback methods in teleoperation. Copyright © 2011 John Wiley & Sons, Ltd.

Bioinspired decision architectures containing host and microbiome processing units.

PubMed

Heyde, K C; Gallagher, P W; Ruder, W C

2016-09-27

Biomimetic robots have been used to explore and explain natural phenomena ranging from the coordination of ants to the locomotion of lizards. Here, we developed a series of decision architectures inspired by the information exchange between a host organism and its microbiome. We first modeled the biochemical exchanges of a population of synthetically engineered E. coli. We then built a physical, differential drive robot that contained an integrated, onboard computer vision system. A relay was established between the simulated population of cells and the robot's microcontroller. By placing the robot within a target-containing a two-dimensional arena, we explored how different aspects of the simulated cells and the robot's microcontroller could be integrated to form hybrid decision architectures. We found that distinct decision architectures allow for us to develop models of computation with specific strengths such as runtime efficiency or minimal memory allocation. Taken together, our hybrid decision architectures provide a new strategy for developing bioinspired control systems that integrate both living and nonliving components.

Synthetic Fiber Capstan Drives for Highly Efficient, Torque Controlled, Robotic Applications

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

Mazumdar, Anirban; Spencer, Steven James; Hobart, Clinton

Here this paper describes the design and performance of a synthetic rope on sheave drive system. This system uses synthetic ropes instead of steel cables to achieve low weight and a compact form factor. We demonstrate how this system is capable of 28-Hz torque control bandwidth, 95% efficiency, and quiet operation, making it ideal for use on legged robots and other dynamic physically interactive systems. Component geometry and tailored maintenance procedures are used to achieve high endurance. Endurance tests based on walking data predict that the ropes will survive roughly 247,000 cycles when used on large (90 kg), fully actuatedmore » bipedal robot systems. The drive systems have been incorporated into two novel bipedal robots capable of three-dimensional unsupported walking. Robot data illustrate effective torque tracking and nearly silent operation. Finally, comparisons with alternative transmission designs illustrate the size, weight, and endurance advantages of using this type of synthetic rope drive system.« less

Synthetic Fiber Capstan Drives for Highly Efficient, Torque Controlled, Robotic Applications

DOE PAGES

Mazumdar, Anirban; Spencer, Steven James; Hobart, Clinton; ...

2017-01-05

Here this paper describes the design and performance of a synthetic rope on sheave drive system. This system uses synthetic ropes instead of steel cables to achieve low weight and a compact form factor. We demonstrate how this system is capable of 28-Hz torque control bandwidth, 95% efficiency, and quiet operation, making it ideal for use on legged robots and other dynamic physically interactive systems. Component geometry and tailored maintenance procedures are used to achieve high endurance. Endurance tests based on walking data predict that the ropes will survive roughly 247,000 cycles when used on large (90 kg), fully actuatedmore » bipedal robot systems. The drive systems have been incorporated into two novel bipedal robots capable of three-dimensional unsupported walking. Robot data illustrate effective torque tracking and nearly silent operation. Finally, comparisons with alternative transmission designs illustrate the size, weight, and endurance advantages of using this type of synthetic rope drive system.« less

Triggering social interactions: chimpanzees respond to imitation by a humanoid robot and request responses from it.

PubMed

Davila-Ross, Marina; Hutchinson, Johanna; Russell, Jamie L; Schaeffer, Jennifer; Billard, Aude; Hopkins, William D; Bard, Kim A

2014-05-01

Even the most rudimentary social cues may evoke affiliative responses in humans and promote social communication and cohesion. The present work tested whether such cues of an agent may also promote communicative interactions in a nonhuman primate species, by examining interaction-promoting behaviours in chimpanzees. Here, chimpanzees were tested during interactions with an interactive humanoid robot, which showed simple bodily movements and sent out calls. The results revealed that chimpanzees exhibited two types of interaction-promoting behaviours during relaxed or playful contexts. First, the chimpanzees showed prolonged active interest when they were imitated by the robot. Second, the subjects requested 'social' responses from the robot, i.e. by showing play invitations and offering toys or other objects. This study thus provides evidence that even rudimentary cues of a robotic agent may promote social interactions in chimpanzees, like in humans. Such simple and frequent social interactions most likely provided a foundation for sophisticated forms of affiliative communication to emerge.

Future Challenges of Robotics and Artificial Intelligence in Nursing: What Can We Learn from Monsters in Popular Culture?

PubMed

Erikson, Henrik; Salzmann-Erikson, Martin

It is highly likely that artificial intelligence (AI) will be implemented in nursing robotics in various forms, both in medical and surgical robotic instruments, but also as different types of droids and humanoids, physical reinforcements, and also animal/pet robots. Exploring and discussing AI and robotics in nursing and health care before these tools become commonplace is of great importance. We propose that monsters in popular culture might be studied with the hope of learning about situations and relationships that generate empathic capacities in their monstrous existences. The aim of the article is to introduce the theoretical framework and assumptions behind this idea. Both robots and monsters are posthuman creations. The knowledge we present here gives ideas about how nursing science can address the postmodern, technologic, and global world to come. Monsters therefore serve as an entrance to explore technologic innovations such as AI. Analyzing when and why monsters step out of character can provide important insights into the conceptualization of caring and nursing as a science, which is important for discussing these empathic protocols, as well as more general insight into human knowledge. The relationship between caring, monsters, robotics, and AI is not as farfetched as it might seem at first glance.

Future Challenges of Robotics and Artificial Intelligence in Nursing: What Can We Learn from Monsters in Popular Culture?

PubMed Central

Erikson, Henrik; Salzmann-Erikson, Martin

2016-01-01

It is highly likely that artificial intelligence (AI) will be implemented in nursing robotics in various forms, both in medical and surgical robotic instruments, but also as different types of droids and humanoids, physical reinforcements, and also animal/pet robots. Exploring and discussing AI and robotics in nursing and health care before these tools become commonplace is of great importance. We propose that monsters in popular culture might be studied with the hope of learning about situations and relationships that generate empathic capacities in their monstrous existences. The aim of the article is to introduce the theoretical framework and assumptions behind this idea. Both robots and monsters are posthuman creations. The knowledge we present here gives ideas about how nursing science can address the postmodern, technologic, and global world to come. Monsters therefore serve as an entrance to explore technologic innovations such as AI. Analyzing when and why monsters step out of character can provide important insights into the conceptualization of caring and nursing as a science, which is important for discussing these empathic protocols, as well as more general insight into human knowledge. The relationship between caring, monsters, robotics, and AI is not as farfetched as it might seem at first glance. PMID:27455058

Supervisory Control of a Humanoid Robot in Microgravity for Manipulation Tasks

NASA Technical Reports Server (NTRS)

Farrell, Logan C.; Strawser, Phil; Hambuchen, Kimberly; Baker, Will; Badger, Julia

2017-01-01

Teleoperation is the dominant form of dexterous robotic tasks in the field. However, there are many use cases in which direct teleoperation is not feasible such as disaster areas with poor communication as posed in the DARPA Robotics Challenge, or robot operations on spacecraft a large distance from Earth with long communication delays. Presented is a solution that combines the Affordance Template Framework for object interaction with TaskForce for supervisory control in order to accomplish high level task objectives with basic autonomous behavior from the robot. TaskForce, is a new commanding infrastructure that allows for optimal development of task execution, clear feedback to the user to aid in off-nominal situations, and the capability to add autonomous verification and corrective actions. This framework has allowed the robot to take corrective actions before requesting assistance from the user. This framework is demonstrated with Robonaut 2 removing a Cargo Transfer Bag from a simulated logistics resupply vehicle for spaceflight using a single operator command. This was executed with 80% success with no human involvement, and 95% success with limited human interaction. This technology sets the stage to do any number of high level tasks using a similar framework, allowing the robot to accomplish tasks with minimal to no human interaction.

Behaving as or behaving as if? Children's conceptions of personified robots and the emergence of a new ontological category.

PubMed

Severson, Rachel L; Carlson, Stephanie M

2010-01-01

Imagining another's perspective is an achievement in social cognition and underlies empathic concern and moral regard. Imagination is also within the realm of fantasy, and may take the form of imaginary play in children and imaginative production in adults. Yet, an interesting and provocative question emerges in the case of personified robots: How do people conceive of life-like robots? Do people imagine about robots' experiences? If so, do these imaginings reflect their actual or pretend beliefs about robots? The answers to these questions bear on the possibility that personified robots represent the emergence of a new ontological category. We draw on simulation theory as a framework for imagining others' internal states as well as a means for imaginative play. We then turn to the literature on people's and, in particular, children's conceptions of personified technologies and raise the question of the veracity of children's beliefs about personified robots (i.e., are they behaving as or behaving as if?). Finally, we consider the suggestion that such personified technologies represent the emergence of a new ontological category and offer some suggestions for future research in this important emerging area of social cognition. Copyright © 2010. Published by Elsevier Ltd.

Application requirements for Robotic Nursing Assistants in hospital environments

NASA Astrophysics Data System (ADS)

Cremer, Sven; Doelling, Kris; Lundberg, Cody L.; McNair, Mike; Shin, Jeongsik; Popa, Dan

2016-05-01

In this paper we report on analysis toward identifying design requirements for an Adaptive Robotic Nursing Assistant (ARNA). Specifically, the paper focuses on application requirements for ARNA, envisioned as a mobile assistive robot that can navigate hospital environments to perform chores in roles such as patient sitter and patient walker. The role of a sitter is primarily related to patient observation from a distance, and fetching objects at the patient's request, while a walker provides physical assistance for ambulation and rehabilitation. The robot will be expected to not only understand nurse and patient intent but also close the decision loop by automating several routine tasks. As a result, the robot will be equipped with sensors such as distributed pressure sensitive skins, 3D range sensors, and so on. Modular sensor and actuator hardware configured in the form of several multi-degree-of-freedom manipulators, and a mobile base are expected to be deployed in reconfigurable platforms for physical assistance tasks. Furthermore, adaptive human-machine interfaces are expected to play a key role, as they directly impact the ability of robots to assist nurses in a dynamic and unstructured environment. This paper discusses required tasks for the ARNA robot, as well as sensors and software infrastructure to carry out those tasks in the aspects of technical resource availability, gaps, and needed experimental studies.

The Survival of Social Work Units in Host Organizations.

ERIC Educational Resources Information Center

Jansson, Bruce S.; Simmons, June

1986-01-01

Gives attention to theories and research on strategies that can be used to increase the power of social work units in educational, industrial, hospital, public welfare, and other settings that are dominated by other professions. Discusses strategy options for increasing the funding and broadening the services of these units. (Author/ABB)

Metamaterials and Conformal Antenna Technologies

DTIC Science & Technology

2013-03-01

1.0 MET AMA TERIALS BASED OPTICAL COMPONENTS .............................................. ...... 2 1.1 Superresolution Imaging Using a 3D...several entirely new optical components including superlenses with superresolution imaging, and lenses that achieve superfocussing, using...metamaterials. 1.1 SUPERRESOLUTION IMAGING USING A 3D MET AMA TERIAL NANOLENS Superresolution imaging beyond Abbe’s diffraction limit can be achieved by

A Visual Means of Organizing Career Information.

ERIC Educational Resources Information Center

Amundson, Norman E.

1987-01-01

Describes a visual means, the centric system, of organizing career information which allows clients to consider a number of external and internal factors and their relative importance. Takes into account psychological, social, and economic factors and is consistent with a view of work as one part of a total life style. (Author/ABB)

76 FR 43343 - Large Power Transformers From Korea; Institution of Antidumping Duty Investigation and Scheduling...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-07-20

... Transformers From Korea; Institution of Antidumping Duty Investigation and Scheduling of a Preliminary Phase... transformers, provided for in subheading 8504.23.00 of the Harmonized Tariff Schedule of the United States... on July 14, 2011 by ABB Inc., Cary, NC; Delta Star Inc., Lynchburg, VA; and Pennsylvania Transformer...

Gestalt Therapy with Parents When a Child is Presented as the Problem.

ERIC Educational Resources Information Center

Little, Linda F.

1986-01-01

Findings suggest that parents (N=23) who sought therapy because of "problematic" children differed in valuing style (e.g., rejection, extrinsic valuing, overprotection) from two samples of parents from normal populations. Parents who participated in Gestalt therapy groups made significant changes in their reported parenting styles. (Author/ABB)

The Relational Component of Identity: An Expansion of Career Development Theory.

ERIC Educational Resources Information Center

Forrest, Linda; Mikolaitis, Nancy

1986-01-01

Presents a brief review of theories on women's vocational development; a new construct of identity, the relational component; examples of how this construct can be used to expand an existing theory; examples of how this construct can be used by practitioners; and suggestions for directions in research and practice. (ABB)

Adolescent Attitudes Toward Designer Jeans: Further Evidence.

ERIC Educational Resources Information Center

Lennon, Sharron J.

1986-01-01

Used classical conditioning theory of learning to predict attitudes of junior high students toward spending for designer jeans. Found that students were likely to say that in comparison to the nondesigner jeans, they would spend more for the designer jeans, select them more often as gifts, and purchase them more often for themselves. (Author/ABB)

Site Investigation Report Fort Devens Groups 3,5, and 6. Volume 1 of 2: Report Text

DTIC Science & Technology

1996-01-01

and slippery , and samplers were belayed by rope and harness to prevent accidents. Location ABB Environmental Services, Inc. GRP356.SI 6917.07 0 01/19...red maple (Acer rubrum), American elm (Ulmus americana), and white pine (Pinus strobus). Other trees observed include pitch pine (Pinus rigida

A Study on the Morphological and PhysicoChemical Characteristics of Five Cooking Bananas

USDA-ARS?s Scientific Manuscript database

Field evaluation of five banana clones was carried out at the National Germplasm Repository in Miami, Florida, USA from July 2006 to July 2008. Bananas (Musa acuminata Colla [AA, AAA]; Musa x paradisiaca Colla (ABB, AAAB, AABB), are one of the worlds most important food crops. Five clones of cookin...

Sexual Harassment of Social Workers at Work: Injustice Within?

ERIC Educational Resources Information Center

Maypole, Donald E.

1986-01-01

Of 50 percent of the members of the Iowa chapter of the National Association of Social Workers, 27 percent of the women and men surveyed reported they had experienced sexual harassment at work. Discusses sources and types of sexual harassment found, as well as recourses taken by those harassed. (Author/ABB)

Local phytochemical response of Musa acuminata × balbisiana Colla cv. 'Bluggoe' (ABB) to colonization by Sternorrhyncha.

PubMed

Hölscher, Dirk; Vollrath, Antje; Kai, Marco; Dhakshinamoorthy, Suganthaguntalam; Menezes, Riya C; Svatoš, Aleš; Schubert, Ulrich S; Buerkert, Andreas; Schneider, Bernd

2017-01-01

The interaction of two Sternorrhyncha species, the banana aphid (Pentalonia nigronervosa Coquerel (Hemiptera: Aphididae, Aphidinae)), vector of the banana bunchy top virus (BBTV), and the latania scale (Hemiberlesia lataniae Signoret (Hemiptera: Diaspididae, Diaspidinae)) with Musa acuminata × balbisiana Colla (ABB Group) 'Bluggoe' (Musaceae) was investigated by a combination of conventional and spatially resolved analytical techniques, 1 H NMR, UHPLC-MS, and matrix-free UV-laser desorption/ionization MS imaging. After infestation, the feeding sites of P. nigronervosa on the pseudostem and the exocarp of banana fruit developed a red tinge, in which tissue-specific accumulations of phenylphenalenones were discovered. Phenylphenalenones were also detected in the black mats of sooty molds growing on the banana aphid exudates and in the dorsal scales of H. lataniae. This suggests that although these secondary metabolites play a role in the reaction of banana plants towards attack by sucking insects, an aphid and an armored scale have established mechanisms to exude these metabolites before they deploy their deleterious effect. Copyright © 2016 Elsevier Ltd. All rights reserved.

Measurement of the refractive index of solutions based on digital holographic microscopy

NASA Astrophysics Data System (ADS)

Huang, Sujuan; Wang, Weiping; Zeng, Junzhang; Yan, Cheng; Lin, Yunyi; Wang, Tingyun

2018-01-01

A new approach for the refractive index (RI) measurement of solutions is proposed based on digital holographic microscopy. The experimental system consists of a modified Mach-Zehnder interferometer and related lab-developed analysis software. The high quality digital hologram of the tested solution is obtained by the real-time analysis software, which is firstly encapsulated into a capillary tube, and then the capillary tube is inserted in a matching fluid. An angular spectrum algorithm is adopted to extract the phase distribution from the hologram recorded by a CCD. Based on a capillary multi-layer calculation model, the RI of the tested solution is obtained at high accuracy. The results of transparent glycerol solution measured by the proposed method are more accurate than those measured by the Abbe refractometer. We also measure the RI of translucent magnetic fluid, which is not suitable to be measured by the Abbe refractometer. The relationship between the RI and the concentration of magnetic fluid is experimentally studied, and the results show that the RI is linearly related to the concentration of dilute magnetic fluid.

He implantation induced microstructure- and hardness-modification of the intermetallic γ-TiAl

NASA Astrophysics Data System (ADS)

Pouchon, Manuel A.; Chen, Jiachao; Hoffelner, Wolfgang

2009-05-01

TiAl is a well known high temperature material with good creep properties. It is investigated as a potential structural material for Generation IV high temperature gas cooled nuclear reactors. The tests are performed with the ABB-2 (Ti-rich TiAl with 2 at.% W) developed by ASEA Brown Boveri Ltd. (ABB). Thin samples are irradiated throughout with 24 MeV 4He2+ ions; the irradiated material is then investigated towards its microstructure and its hardness. The microstructure is studied by transmission electron microscopy and the hardness is investigated using a micro-hardness tester and a nano-indenter. Different effects can be identified. From room to moderate irradiation temperatures, the radiation induced hardening of the material slowly vanishes until the material completely recovers at about 943 K. Beyond this temperature, He-bubble formation seems to harden the material again, until beyond 1200 K a steep increase in hardening is detected. This effect can be correlated with bubbles being identified in the micrographs. The results are consistent and give strong indications to a microstructural development as a function of temperature.

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

Unneberg, L.

The main features of the 16 core grids (top guides) designed by ABB ATOM AB are briefly described and the evolution of the design is discussed. One important characteristic of the first nine grids is the existence of bolts securing guide bars to the core grid plates. These bolts are made of precipitation hardened or solution annealed stainless steel. During operation, bolts in all none grids have cracked. The failure analyses indicate that intergranular stress corrosion cracking (IGSCC), possibly accelerated by crevice conditions and/or irradiation, was the cause of failure. Fast neutron fluences approaching or exceeding the levels considered asmore » critical for irradiation assisted stress corrosion cracking (IASCC) will be reached in a few cases only. Temporary measures were taken immediately after the discovery of the cracking. For five of the nine reactors affected, it was decided to replace the complete grids. Two of these replacements have been successfully carried out to date. IASCC as a potential future problem is discussed and it is pointed out that, during their life times, the ABB ATOM core grids will be exposed to sufficiently high fast neutron fluences to cause some concern.« less

Robotic-Assisted Simultaneous Repair of Paraesophageal Hernia and Morgagni Hernia: Technical Report.

PubMed

Fu, Shawn S; Carton, Melissa M; Ghaderi, Iman; Galvani, Carlos A

2017-12-13

Morgagni hernias are a rare form of congenital diaphragmatic hernia, accounting for 2%-3% of cases. The presence of a simultaneous Morgagni hernia and paraesophageal hernia (PEH) is even more rare, with only a few reported cases in the surgical literature. Both open and laparoscopic surgical approaches have been previously described. Herein we discuss a robotic-assisted surgical approach to the repair of simultaneous Morgagni hernia and PEH in a 65-year-old woman. Simultaneous repair of Morgagni hernia and PEH is indicated mainly when symptoms are generally indistinctive. The use of robotic technology allowed for both hernias to be repaired both primarily and with mesh reinforcement.

Design of a robotic gait trainer using spring over muscle actuators for ankle stroke rehabilitation.

PubMed

Bharadwaj, Kartik; Sugar, Thomas G; Koeneman, James B; Koeneman, Edward J

2005-11-01

Repetitive task training is an effective form of rehabilitation for people suffering from debilitating injuries of stroke. We present the design and working concept of a robotic gait trainer (RGT), an ankle rehabilitation device for assisting stroke patients during gait. Structurally based on a tripod mechanism, the device is a parallel robot that incorporates two pneumatically powered, double-acting, compliant, spring over muscle actuators as actuation links which move the ankle in dorsiflex ion/plantarflexion and inversion/eversion. A unique feature in the tripod design is that the human anatomy is part of the robot, the first fixed link being the patient's leg. The kinematics and workspace of the tripod device have been analyzed determining its range of motion. Experimental gait data from an able-bodied person wearing the working RGT prototype are presented.

Planning in subsumption architectures

NASA Technical Reports Server (NTRS)

Chalfant, Eugene C.

1994-01-01

A subsumption planner using a parallel distributed computational paradigm based on the subsumption architecture for control of real-world capable robots is described. Virtual sensor state space is used as a planning tool to visualize the robot's anticipated effect on its environment. Decision sequences are generated based on the environmental situation expected at the time the robot must commit to a decision. Between decision points, the robot performs in a preprogrammed manner. A rudimentary, domain-specific partial world model contains enough information to extrapolate the end results of the rote behavior between decision points. A collective network of predictors operates in parallel with the reactive network forming a recurrrent network which generates plans as a hierarchy. Details of a plan segment are generated only when its execution is imminent. The use of the subsumption planner is demonstrated by a simple maze navigation problem.

EPSRC Principles of Robotics: defending an obsolete human(ism)?

NASA Astrophysics Data System (ADS)

Szollosy, Michael

2017-04-01

The EPSRC Principles of Robotics (2010), whatever noble intentions, failed to create an enduring set of principles for research into and development of robotics and artificial intelligence because those participating in the workshop did not begin with an adequate understanding of what it means to be "human". Labouring under the false, outdated assumptions of humanism, the human beings that the Principles are meant to serve have never existed in such an overly-simplistic form, or are soon to be made extinct by the transformative power of new technologies, and new ways of imagining human social relations in response to technological innovation. At the heart of any principles for robotics must be a new, more flexible conception of what it means to be human, and a recognition that human beings are, and always will be, plural and contingent.

Tracking Control of Mobile Robots Localized via Chained Fusion of Discrete and Continuous Epipolar Geometry, IMU and Odometry.

PubMed

Tick, David; Satici, Aykut C; Shen, Jinglin; Gans, Nicholas

2013-08-01

This paper presents a novel navigation and control system for autonomous mobile robots that includes path planning, localization, and control. A unique vision-based pose and velocity estimation scheme utilizing both the continuous and discrete forms of the Euclidean homography matrix is fused with inertial and optical encoder measurements to estimate the pose, orientation, and velocity of the robot and ensure accurate localization and control signals. A depth estimation system is integrated in order to overcome the loss of scale inherent in vision-based estimation. A path following control system is introduced that is capable of guiding the robot along a designated curve. Stability analysis is provided for the control system and experimental results are presented that prove the combined localization and control system performs with high accuracy.

Disposable Fluidic Actuators for Miniature In-Vivo Surgical Robotics.

PubMed

Pourghodrat, Abolfazl; Nelson, Carl A

2017-03-01

Fusion of robotics and minimally invasive surgery (MIS) has created new opportunities to develop diagnostic and therapeutic tools. Surgical robotics is advancing from externally actuated systems to miniature in-vivo robotics. However, with miniaturization of electric-motor-driven surgical robots, there comes a trade-off between the size of the robot and its capability. Slow actuation, low load capacity, sterilization difficulties, leaking electricity and transferring produced heat to tissues, and high cost are among the key limitations of the use of electric motors in in-vivo applications. Fluid power in the form of hydraulics or pneumatics has a long history in driving many industrial devices and could be exploited to circumvent these limitations. High power density and good compatibility with the in-vivo environment are the key advantages of fluid power over electric motors when it comes to in-vivo applications. However, fabrication of hydraulic/pneumatic actuators within the desired size and pressure range required for in-vivo surgical robotic applications poses new challenges. Sealing these types of miniature actuators at operating pressures requires obtaining very fine surface finishes which is difficult and costly. The research described here presents design, fabrication, and testing of a hydraulic/pneumatic double-acting cylinder, a limited-motion vane motor, and a balloon-actuated laparoscopic grasper. These actuators are small, seal-less, easy to fabricate, disposable, and inexpensive, thus ideal for single-use in-vivo applications. To demonstrate the ability of these actuators to drive robotic joints, they were modified and integrated in a robotic arm. The design and testing of this surgical robotic arm are presented to validate the concept of fluid-power actuators for in-vivo applications.

Disposable Fluidic Actuators for Miniature In-Vivo Surgical Robotics

PubMed Central

Pourghodrat, Abolfazl; Nelson, Carl A.

2017-01-01

Fusion of robotics and minimally invasive surgery (MIS) has created new opportunities to develop diagnostic and therapeutic tools. Surgical robotics is advancing from externally actuated systems to miniature in-vivo robotics. However, with miniaturization of electric-motor-driven surgical robots, there comes a trade-off between the size of the robot and its capability. Slow actuation, low load capacity, sterilization difficulties, leaking electricity and transferring produced heat to tissues, and high cost are among the key limitations of the use of electric motors in in-vivo applications. Fluid power in the form of hydraulics or pneumatics has a long history in driving many industrial devices and could be exploited to circumvent these limitations. High power density and good compatibility with the in-vivo environment are the key advantages of fluid power over electric motors when it comes to in-vivo applications. However, fabrication of hydraulic/pneumatic actuators within the desired size and pressure range required for in-vivo surgical robotic applications poses new challenges. Sealing these types of miniature actuators at operating pressures requires obtaining very fine surface finishes which is difficult and costly. The research described here presents design, fabrication, and testing of a hydraulic/pneumatic double-acting cylinder, a limited-motion vane motor, and a balloon-actuated laparoscopic grasper. These actuators are small, seal-less, easy to fabricate, disposable, and inexpensive, thus ideal for single-use in-vivo applications. To demonstrate the ability of these actuators to drive robotic joints, they were modified and integrated in a robotic arm. The design and testing of this surgical robotic arm are presented to validate the concept of fluid-power actuators for in-vivo applications. PMID:28070227

[Robotic laparoscopic cholecystectomy].

PubMed

Langer, D; Pudil, J; Ryska, M

2006-09-01

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

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

PubMed

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

2014-09-01

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

Profil épidémiologique des fibromes utérins dans la région de Sidi Bel Abbes, Algérie

PubMed Central

Chalal, Nourelhouda; Demmouche, Abbassia

2013-01-01

Introduction Les léiomyomes ou fibromyomes plus communément dénommés fibromes, sont les tumeurs les plus répandues du tractus génital féminin. Ils affectent 20 à 25% des femmes en activité génitale. Notre étude vise à élucider la réalité de ce type de pathologie dans la région de sidi bel Abbes, nord-ouest d'Algérie. Méthodes A travers une étude rétrospective allant du 1er janvier 2008 au 1 mai 2011 portant sur les patientes opérées pour fibrome au sein de la maternité de Sidi Bel Abbes, nous avons relevé les particularités épidémiologiques et cliniques de cette pathologie. Résultats Au total 323 cas de fibromes ont été recensés. La tranche d'âge la plus touchée varie de 40 à 44 ans dans une fourchette d'âge comprise entre 20 et 74 ans. 37.83% des patientes étaient nullipares. Une prédominance des patientes dont l'âge de la ménarche est précoce, a été retenue (60.3%). 3% des femmes ont présenté un terrain familial prédisposant. La symptomatologie était dominée par les hémorragies génitales (35%). La majorité des patientes (51.70%) présentaient un utérus polymyomateux dont la localisation des fibromes était principalement corporéale (96%), sous séreuse (43%). Le traitement était conservateur dans 71.82% des cas. Conclusion Sur la base des résultats obtenus, la mise au point d'un programme national de sensibilisation et de dépistage précoce, s'impose PMID:23847704

Hemispheric Asymmetries in Repetition Enhancement and Suppression Effects in the Newborn Brain

PubMed Central

Bouchon, Camillia; Nazzi, Thierry; Gervain, Judit

2015-01-01

Background The repeated presentation of stimuli typically attenuates neural responses (repetition suppression) or, less commonly, increases them (repetition enhancement) when stimuli are highly complex, degraded or presented under noisy conditions. In adult functional neuroimaging research, these repetition effects are considered as neural correlates of habituation. The development and respective functional significance of these effects in infancy remain largely unknown. Objective This study investigates repetition effects in newborns using functional near-infrared spectroscopy, and specifically the role of stimulus complexity in evoking a repetition enhancement vs. a repetition suppression response, following up on Gervain et al. (2008). In that study, abstract rule-learning was found at birth in cortical areas specific to speech processing, as evidenced by a left-lateralized repetition enhancement of the hemodynamic response to highly variable speech sequences conforming to a repetition-based ABB artificial grammar, but not to a random ABC grammar. Methods Here, the same paradigm was used to investigate how simpler stimuli (12 different sequences per condition as opposed to 140), and simpler presentation conditions (blocked rather than interleaved) would influence repetition effects at birth. Results Results revealed that the two grammars elicited different dynamics in the two hemispheres. In left fronto-temporal areas, we reproduce the early perceptual discrimination of the two grammars, with ABB giving rise to a greater response at the beginning of the experiment than ABC. In addition, the ABC grammar evoked a repetition enhancement effect over time, whereas a stable response was found for the ABB grammar. Right fronto-temporal areas showed neither initial discrimination, nor change over time to either pattern. Conclusion Taken together with Gervain et al. (2008), this is the first evidence that manipulating methodological factors influences the presence or absence of neural repetition enhancement effects in newborns and stimulus variability appears a particularly important factor. Further, this temporal modulation is restricted to the left hemisphere, confirming its specialization for learning linguistic regularities from birth. PMID:26485434

Hemispheric Asymmetries in Repetition Enhancement and Suppression Effects in the Newborn Brain.

PubMed

Bouchon, Camillia; Nazzi, Thierry; Gervain, Judit

2015-01-01

The repeated presentation of stimuli typically attenuates neural responses (repetition suppression) or, less commonly, increases them (repetition enhancement) when stimuli are highly complex, degraded or presented under noisy conditions. In adult functional neuroimaging research, these repetition effects are considered as neural correlates of habituation. The development and respective functional significance of these effects in infancy remain largely unknown. This study investigates repetition effects in newborns using functional near-infrared spectroscopy, and specifically the role of stimulus complexity in evoking a repetition enhancement vs. a repetition suppression response, following up on Gervain et al. (2008). In that study, abstract rule-learning was found at birth in cortical areas specific to speech processing, as evidenced by a left-lateralized repetition enhancement of the hemodynamic response to highly variable speech sequences conforming to a repetition-based ABB artificial grammar, but not to a random ABC grammar. Here, the same paradigm was used to investigate how simpler stimuli (12 different sequences per condition as opposed to 140), and simpler presentation conditions (blocked rather than interleaved) would influence repetition effects at birth. Results revealed that the two grammars elicited different dynamics in the two hemispheres. In left fronto-temporal areas, we reproduce the early perceptual discrimination of the two grammars, with ABB giving rise to a greater response at the beginning of the experiment than ABC. In addition, the ABC grammar evoked a repetition enhancement effect over time, whereas a stable response was found for the ABB grammar. Right fronto-temporal areas showed neither initial discrimination, nor change over time to either pattern. Taken together with Gervain et al. (2008), this is the first evidence that manipulating methodological factors influences the presence or absence of neural repetition enhancement effects in newborns and stimulus variability appears a particularly important factor. Further, this temporal modulation is restricted to the left hemisphere, confirming its specialization for learning linguistic regularities from birth.

Lung Toxicity of Condensed Aerosol from E-CIG Liquids: Influence of the Flavor and the In Vitro Model Used.

PubMed

Bengalli, Rossella; Ferri, Emanuele; Labra, Massimo; Mantecca, Paride

2017-10-20

The diffusion of e-cigarette (e-CIG) opens a great scientific and regulatory debate about its safety. The huge number of commercialized devices, e-liquids with almost infinite chemical formulations and the growing market demand for a rapid and efficient toxicity screen system that is able to test all of these references and related aerosols. A consensus on the best protocols for the e-CIG safety assessment is still far to be achieved, since the huge number of variables characterizing these products (e.g., flavoring type and concentration, nicotine concentration, type of the device, including the battery and the atomizer). This suggests that more experimental evidences are needed to support the regulatory frameworks. The present study aims to contribute in this field by testing the effects of condensed aerosols (CAs) from three main e-liquid categories (tobacco, mint, and cinnamon as food-related flavor), with (18 mg/mL) or without nicotine. Two in vitro models, represented by a monoculture of human epithelial alveolar cells and a three-dimensional (3D) co-culture of alveolar and lung microvascular endothelial cells were used. Cell viability, pro-inflammatory cytokines release and alveolar-blood barrier (ABB) integrity were investigated as inhalation toxicity endpoints. Results showed that nicotine itself had almost no influence on the modulation of the toxicity response, while flavor composition did have. The cell viability was significantly decreased in monoculture and ABB after exposure to the mints and cinnamon CAs. The barrier integrity was significantly affected in the ABB after exposure to cytotoxic CAs. With the exception of the significant IL-8 release in the monoculture after Cinnamon exposure, no increase of inflammatory cytokines (IL-8 and MCP-1) release was observed. These findings point out that multiple assays with different in vitro models are able to discriminate the acute inhalation toxicity of CAs from liquids with different flavors, providing the companies and regulatory bodies with useful tools for the preliminary screening of marketable products.

A natural-language interface to a mobile robot

NASA Technical Reports Server (NTRS)

Michalowski, S.; Crangle, C.; Liang, L.

1987-01-01

The present work on robot instructability is based on an ongoing effort to apply modern manipulation technology to serve the needs of the handicapped. The Stanford/VA Robotic Aid is a mobile manipulation system that is being developed to assist severely disabled persons (quadriplegics) in performing simple activities of everyday living in a homelike, unstructured environment. It consists of two major components: a nine degree-of-freedom manipulator and a stationary control console. In the work presented here, only the motions of the Robotic Aid's omnidirectional motion base have been considered, i.e., the six degrees of freedom of the arm and gripper have been ignored. The goal has been to develop some basic software tools for commanding the robot's motions in an enclosed room containing a few objects such as tables, chairs, and rugs. In the present work, the environmental model takes the form of a two-dimensional map with objects represented by polygons. Admittedly, such a highly simplified scheme bears little resemblance to the elaborate cognitive models of reality that are used in normal human discourse. In particular, the polygonal model is given a priori and does not contain any perceptual elements: there is no polygon sensor on board the mobile robot.

Robot Comedy Lab: experimenting with the social dynamics of live performance

PubMed Central

Katevas, Kleomenis; Healey, Patrick G. T.; Harris, Matthew Tobias

2015-01-01

The success of live comedy depends on a performer's ability to “work” an audience. Ethnographic studies suggest that this involves the co-ordinated use of subtle social signals such as body orientation, gesture, gaze by both performers and audience members. Robots provide a unique opportunity to test the effects of these signals experimentally. Using a life-size humanoid robot, programmed to perform a stand-up comedy routine, we manipulated the robot's patterns of gesture and gaze and examined their effects on the real-time responses of a live audience. The strength and type of responses were captured using SHORE™computer vision analytics. The results highlight the complex, reciprocal social dynamics of performer and audience behavior. People respond more positively when the robot looks at them, negatively when it looks away and performative gestures also contribute to different patterns of audience response. This demonstrates how the responses of individual audience members depend on the specific interaction they're having with the performer. This work provides insights into how to design more effective, more socially engaging forms of robot interaction that can be used in a variety of service contexts. PMID:26379585

Task-oriented rehabilitation robotics.

PubMed

Schweighofer, Nicolas; Choi, Younggeun; Winstein, Carolee; Gordon, James

2012-11-01

Task-oriented training is emerging as the dominant and most effective approach to motor rehabilitation of upper extremity function after stroke. Here, the authors propose that the task-oriented training framework provides an evidence-based blueprint for the design of task-oriented robots for the rehabilitation of upper extremity function in the form of three design principles: skill acquisition of functional tasks, active participation training, and individualized adaptive training. The previous robotic systems that incorporate elements of task-oriented trainings are then reviewed. Finally, the authors critically analyze their own attempt to design and test the feasibility of a TOR robot, ADAPT (Adaptive and Automatic Presentation of Tasks), which incorporates the three design principles. Because of its task-oriented training-based design, ADAPT departs from most other current rehabilitation robotic systems: it presents realistic functional tasks in which the task goal is constantly adapted, so that the individual actively performs doable but challenging tasks without physical assistance. To maximize efficacy for a large clinical population, the authors propose that future task-oriented robots need to incorporate yet-to-be developed adaptive task presentation algorithms that emphasize acquisition of fine motor coordination skills while minimizing compensatory movements.

Multi-Robot Coalitions Formation with Deadlines: Complexity Analysis and Solutions

PubMed Central

2017-01-01

Multi-robot task allocation is one of the main problems to address in order to design a multi-robot system, very especially when robots form coalitions that must carry out tasks before a deadline. A lot of factors affect the performance of these systems and among them, this paper is focused on the physical interference effect, produced when two or more robots want to access the same point simultaneously. To our best knowledge, this paper presents the first formal description of multi-robot task allocation that includes a model of interference. Thanks to this description, the complexity of the allocation problem is analyzed. Moreover, the main contribution of this paper is to provide the conditions under which the optimal solution of the aforementioned allocation problem can be obtained solving an integer linear problem. The optimal results are compared to previous allocation algorithms already proposed by the first two authors of this paper and with a new method proposed in this paper. The results obtained show how the new task allocation algorithms reach up more than an 80% of the median of the optimal solution, outperforming previous auction algorithms with a huge reduction of the execution time. PMID:28118384

Multi-Robot Coalitions Formation with Deadlines: Complexity Analysis and Solutions.

PubMed

Guerrero, Jose; Oliver, Gabriel; Valero, Oscar

2017-01-01

Multi-robot task allocation is one of the main problems to address in order to design a multi-robot system, very especially when robots form coalitions that must carry out tasks before a deadline. A lot of factors affect the performance of these systems and among them, this paper is focused on the physical interference effect, produced when two or more robots want to access the same point simultaneously. To our best knowledge, this paper presents the first formal description of multi-robot task allocation that includes a model of interference. Thanks to this description, the complexity of the allocation problem is analyzed. Moreover, the main contribution of this paper is to provide the conditions under which the optimal solution of the aforementioned allocation problem can be obtained solving an integer linear problem. The optimal results are compared to previous allocation algorithms already proposed by the first two authors of this paper and with a new method proposed in this paper. The results obtained show how the new task allocation algorithms reach up more than an 80% of the median of the optimal solution, outperforming previous auction algorithms with a huge reduction of the execution time.

Design and analysis of a tendon-based computed tomography-compatible robot with remote center of motion for lung biopsy.

PubMed

Yang, Yunpeng; Jiang, Shan; Yang, Zhiyong; Yuan, Wei; Dou, Huaisu; Wang, Wei; Zhang, Daguang; Bian, Yuan

2017-04-01

Nowadays, biopsy is a decisive method of lung cancer diagnosis, whereas lung biopsy is time-consuming, complex and inaccurate. So a computed tomography-compatible robot for rapid and precise lung biopsy is developed in this article. According to the actual operation process, the robot is divided into two modules: 4-degree-of-freedom position module for location of puncture point is appropriate for patient's almost all positions and 3-degree-of-freedom tendon-based orientation module with remote center of motion is compact and computed tomography-compatible to orientate and insert needle automatically inside computed tomography bore. The workspace of the robot surrounds patient's thorax, and the needle tip forms a cone under patient's skin. A new error model of the robot based on screw theory is proposed in view of structure error and actuation error, which are regarded as screw motions. Simulation is carried out to verify the precision of the error model contrasted with compensation via inverse kinematics. The results of insertion experiment on specific phantom prove the feasibility of the robot with mean error of 1.373 mm in laboratory environment, which is accurate enough to replace manual operation.

A sub-target approach to the kinodynamic motion control of a wheeled mobile robot

NASA Astrophysics Data System (ADS)

Motonaka, Kimiko; Watanabe, Keigo; Maeyama, Shoichi

2018-02-01

A mobile robot with two independently driven wheels is popular, but it is difficult to stabilize it by a continuous controller with a constant gain, due to its nonholonomic property. It is guaranteed that a nonholonomic controlled object can always be converged to an arbitrary point using a switching control method or a quasi-continuous control method based on an invariant manifold in a chained form. From this, the authors already proposed a kinodynamic controller to converge the states of such a two-wheeled mobile robot to the arbitrary target position while avoiding obstacles, by combining the control based on the invariant manifold and the harmonic potential field (HPF). On the other hand, it was confirmed in the previous research that there is a case that the robot cannot avoid the obstacle because there is no enough space to converge the current state to the target state. In this paper, we propose a method that divides the final target position into some sub-target positions and moves the robot step by step, and it is confirmed by the simulation that the robot can converge to the target position while avoiding obstacles using the proposed method.

Essential elements to the establishment and design of a successful robotic surgery programme.

PubMed

Patel, Vipul R

2006-03-01

The application of robotic assisted technology has created a new era in surgery, by addressing some of the limitations of conventional open and laparoscopic surgery. To optimize success the incorporation of robotics into a surgical program must be performed with a structured approach. We discuss the key factors for building a successful robotic surgery program. Prior to implementing a robotics program certain essential elements must be examined. One must assess the overall goals of the program, the initial applications of the technology and the time line for success. In addition a financial analysis of the potential impact of the technology must also be performed. Essential personnel should also be identified in order to form a cohesive robotic surgery team. These preparatory sets help coordinate the establishment of the program and help to prevent unrealistic expectations; while generating the best environment for success. Once the purchase of the robotic system has been approved a robotic surgery team is created with certain essential components. This staff includes: the surgeons, nursing staff, physician assistants, resident/fellows, program coordinator, marketing and a financial analysis team. This team will work together to achieve the common goals for the program. Robotic assisted surgery has grown tremendously over the last half decade in certain surgical fields such as urology. The success of programs has been variable and often related to the infrastructure of the program. The key factors appear to be creation of a sound financial plan, early identification of applicable specialties and a motivated surgical team. Copyright 2006 John Wiley & Sons, Ltd.

Arash: A social robot buddy to support children with cancer in a hospital environment.

PubMed

Meghdari, Ali; Shariati, Azadeh; Alemi, Minoo; Vossoughi, Gholamreza R; Eydi, Abdollah; Ahmadi, Ehsan; Mozafari, Behrad; Amoozandeh Nobaveh, Ali; Tahami, Reza

2018-06-01

This article presents the thorough design procedure, specifications, and performance of a mobile social robot friend Arash for educational and therapeutic involvement of children with cancer based on their interests and needs. Our research focuses on employing Arash in a pediatric hospital environment to entertain, assist, and educate children with cancer who suffer from physical pain caused by both the disease and its treatment process. Since cancer treatment causes emotional distress, which can reduce the efficiency of medications, using social robots to interact with children with cancer in a hospital environment could decrease this distress, thereby improving the effectiveness of their treatment. Arash is a 15 degree-of-freedom low-cost humanoid mobile robot buddy, carefully designed with appropriate measures and developed to interact with children ages 5-12 years old. The robot has five physical subsystems: the head, arms, torso, waist, and mobile-platform. The robot's final appearance is a significant novel concept; since it was selected based on a survey taken from 50 children with chronic diseases at three pediatric hospitals in Tehran, Iran. Founded on these measures and desires, Arash was designed, built, improved, and enhanced to operate successfully in pediatric cancer hospitals. Two experiments were devised to evaluate the children's level of acceptance and involvement with the robot, assess their feelings about it, and measure how much the robot was similar to the favored conceptual sketch. Both experiments were conducted in the form of storytelling and appearance/performance evaluations. The obtained results confirm high engagement and interest of pediatric cancer patients with the constructed robot.

Generative Representations for Automated Design of Robots

NASA Technical Reports Server (NTRS)

Homby, Gregory S.; Lipson, Hod; Pollack, Jordan B.

2007-01-01

A method of automated design of complex, modular robots involves an evolutionary process in which generative representations of designs are used. The term generative representations as used here signifies, loosely, representations that consist of or include algorithms, computer programs, and the like, wherein encoded designs can reuse elements of their encoding and thereby evolve toward greater complexity. Automated design of robots through synthetic evolutionary processes has already been demonstrated, but it is not clear whether genetically inspired search algorithms can yield designs that are sufficiently complex for practical engineering. The ultimate success of such algorithms as tools for automation of design depends on the scaling properties of representations of designs. A nongenerative representation (one in which each element of the encoded design is used at most once in translating to the design) scales linearly with the number of elements. Search algorithms that use nongenerative representations quickly become intractable (search times vary approximately exponentially with numbers of design elements), and thus are not amenable to scaling to complex designs. Generative representations are compact representations and were devised as means to circumvent the above-mentioned fundamental restriction on scalability. In the present method, a robot is defined by a compact programmatic form (its generative representation) and the evolutionary variation takes place on this form. The evolutionary process is an iterative one, wherein each cycle consists of the following steps: 1. Generative representations are generated in an evolutionary subprocess. 2. Each generative representation is a program that, when compiled, produces an assembly procedure. 3. In a computational simulation, a constructor executes an assembly procedure to generate a robot. 4. A physical-simulation program tests the performance of a simulated constructed robot, evaluating the performance according to a fitness criterion to yield a figure of merit that is fed back into the evolutionary subprocess of the next iteration. In comparison with prior approaches to automated evolutionary design of robots, the use of generative representations offers two advantages: First, a generative representation enables the reuse of components in regular and hierarchical ways and thereby serves a systematic means of creating more complex modules out of simpler ones. Second, the evolved generative representation may capture intrinsic properties of the design problem, so that variations in the representations move through the design space more effectively than do equivalent variations in a nongenerative representation. This method has been demonstrated by using it to design some robots that move, variously, by walking, rolling, or sliding. Some of the robots were built (see figure). Although these robots are very simple, in comparison with robots designed by humans, their structures are more regular, modular, hierarchical, and complex than are those of evolved designs of comparable functionality synthesized by use of nongenerative representations.

Compliant Robot Wrist

NASA Technical Reports Server (NTRS)

Voellmer, George

1992-01-01

Compliant element for robot wrist accepts small displacements in one direction only (to first approximation). Three such elements combined to obtain translational compliance along three orthogonal directions, without rotational compliance along any of them. Element is double-blade flexure joint in which two sheets of spring steel attached between opposing blocks, forming rectangle. Blocks moved parallel to each other in one direction only. Sheets act as double cantilever beams deforming in S-shape, keeping blocks parallel.

UPenn Multi-Robot Unmanned Vehicle System (MAGIC)

DTIC Science & Technology

2014-05-05

unclassified Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18 UPenn Multi-Robot Unmanned Vehicle System (MAGIC) AFOSR Final Report PI... user interface, the Strategy/Plan operator allows the system to autonomously task the nearest available UGVs to plan and coordinate their movements and...threats in a dynamic urban environment with minimal human guidance. The custom hardware systems consist of robust and complementary sensors, integrated

Dual-Schemata Model

NASA Astrophysics Data System (ADS)

Taniguchi, Tadahiro; Sawaragi, Tetsuo

In this paper, a new machine-learning method, called Dual-Schemata model, is presented. Dual-Schemata model is a kind of self-organizational machine learning methods for an autonomous robot interacting with an unknown dynamical environment. This is based on Piaget's Schema model, that is a classical psychological model to explain memory and cognitive development of human beings. Our Dual-Schemata model is developed as a computational model of Piaget's Schema model, especially focusing on sensori-motor developing period. This developmental process is characterized by a couple of two mutually-interacting dynamics; one is a dynamics formed by assimilation and accommodation, and the other dynamics is formed by equilibration and differentiation. By these dynamics schema system enables an agent to act well in a real world. This schema's differentiation process corresponds to a symbol formation process occurring within an autonomous agent when it interacts with an unknown, dynamically changing environment. Experiment results obtained from an autonomous facial robot in which our model is embedded are presented; an autonomous facial robot becomes able to chase a ball moving in various ways without any rewards nor teaching signals from outside. Moreover, emergence of concepts on the target movements within a robot is shown and discussed in terms of fuzzy logics on set-subset inclusive relationships.

Performance analysis for bounded persistent disturbances in PD/PID-controlled robotic systems with its experimental demonstrations

NASA Astrophysics Data System (ADS)

Kim, Jung Hoon; Hur, Sung-Moon; Oh, Yonghwan

2018-03-01

This paper is concerned with performance analysis of proportional-derivative/proportional-integral-derivative (PD/PID) controller for bounded persistent disturbances in a robotic manipulator. Even though the notion of input-to-state stability (ISS) has been widely used to deal with the effect of disturbances in control of a robotic manipulator, the corresponding studies cannot be directly applied to the treatment of persistent disturbances occurred in robotic manipulators. This is because the conventional studies relevant to ISS consider the H∞ performance for robotic systems, which is confined to the treatment of decaying disturbances, i.e. the disturbances those in the L2 space. To deal with the effect of persistent disturbances in robotic systems, we first provide a new treatment of ISS in the L∞ sense because bounded persistent disturbances should be intrinsically regarded as elements of the L∞ space. We next derive state-space representations of trajectory tracking control in the robotic systems which allow us to define the problem formulations more clearly. We then propose a novel control law that has a PD/PID control form, by which the trajectory tracking system satisfies the reformulated ISS. Furthermore, we can obtain a theoretical argument about the L∞ gain from the disturbance to the regulated output through the proposed control law. Finally, experimental studies for a typical 3-degrees of freedom robotic manipulator are given to demonstrate the effectiveness of the method introduced in this paper.

De novo self-assembling collagen heterotrimers using explicit positive and negative design.

PubMed

Xu, Fei; Zhang, Lei; Koder, Ronald L; Nanda, Vikas

2010-03-23

We sought to computationally design model collagen peptides that specifically associate as heterotrimers. Computational design has been successfully applied to the creation of new protein folds and functions. Despite the high abundance of collagen and its key role in numerous biological processes, fibrous proteins have received little attention as computational design targets. Collagens are composed of three polypeptide chains that wind into triple helices. We developed a discrete computational model to design heterotrimer-forming collagen-like peptides. Stability and specificity of oligomerization were concurrently targeted using a combined positive and negative design approach. The sequences of three 30-residue peptides, A, B, and C, were optimized to favor charge-pair interactions in an ABC heterotrimer, while disfavoring the 26 competing oligomers (i.e., AAA, ABB, BCA). Peptides were synthesized and characterized for thermal stability and triple-helical structure by circular dichroism and NMR. A unique A:B:C-type species was not achieved. Negative design was partially successful, with only A + B and B + C competing mixtures formed. Analysis of computed versus experimental stabilities helps to clarify the role of electrostatics and secondary-structure propensities determining collagen stability and to provide important insight into how subsequent designs can be improved.

An assigned responsibility system for robotic teleoperation control.

PubMed

Small, Nicolas; Lee, Kevin; Mann, Graham

2018-01-01

This paper proposes an architecture that explores a gap in the spectrum of existing strategies for robot control mode switching in adjustable autonomy. In situations where the environment is reasonably known and/or predictable, pre-planning these control changes could relieve robot operators of the additional task of deciding when and how to switch. Such a strategy provides a clear division of labour between the automation and the human operator(s) before the job even begins, allowing for individual responsibilities to be known ahead of time, limiting confusion and allowing rest breaks to be planned. Assigned Responsibility is a new form of adjustable autonomy-based teleoperation that allows the selective inclusion of automated control elements at key stages of a robot operation plan's execution. Progression through these stages is controlled by automatic goal accomplishment tracking. An implementation is evaluated through engineering tests and a usability study, demonstrating the viability of this approach and offering insight into its potential applications.

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.

Adaptive categorization of ART networks in robot behavior learning using game-theoretic formulation.

PubMed

Fung, Wai-keung; Liu, Yun-hui

2003-12-01

Adaptive Resonance Theory (ART) networks are employed in robot behavior learning. Two of the difficulties in online robot behavior learning, namely, (1) exponential memory increases with time, (2) difficulty for operators to specify learning tasks accuracy and control learning attention before learning. In order to remedy the aforementioned difficulties, an adaptive categorization mechanism is introduced in ART networks for perceptual and action patterns categorization in this paper. A game-theoretic formulation of adaptive categorization for ART networks is proposed for vigilance parameter adaptation for category size control on the categories formed. The proposed vigilance parameter update rule can help improving categorization performance in the aspect of category number stability and solve the problem of selecting initial vigilance parameter prior to pattern categorization in traditional ART networks. Behavior learning using physical robot is conducted to demonstrate the effectiveness of the proposed adaptive categorization mechanism in ART networks.

Design and implementation air quality monitoring robot

NASA Astrophysics Data System (ADS)

Chen, Yuanhua; Li, Jie; Qi, Chunxue

2017-01-01

Robot applied in environmental protection can break through the limitations in working environment, scope and mode of the existing environmental monitoring and pollution abatement equipments, which undertake the innovation and improvement in the basin, atmosphere, emergency and pollution treatment facilities. Actually, the relevant technology is backward with limited research and investment. Though the device companies have achieved some results in the study on the water quality monitoring, pipeline monitoring and sewage disposal, this technological progress on the whole is still much slow, and the mature product has not been formed. As a result, the market urges a demand of a new type of device which is more suitable for environmental protection on the basis of robot successfully applied in other fields. This paper designs and realizes a tracked mobile robot of air quality monitoring, which can be used to monitor air quality for the pollution accident in industrial parks and regular management.

Acquisition of Robotic Giant-swing Motion Using Reinforcement Learning and Its Consideration of Motion Forms

NASA Astrophysics Data System (ADS)

Sakai, Naoki; Kawabe, Naoto; Hara, Masayuki; Toyoda, Nozomi; Yabuta, Tetsuro

This paper argues how a compact humanoid robot can acquire a giant-swing motion without any robotic models by using Q-Learning method. Generally, it is widely said that Q-Learning is not appropriated for learning dynamic motions because Markov property is not necessarily guaranteed during the dynamic task. However, we tried to solve this problem by embedding the angular velocity state into state definition and averaging Q-Learning method to reduce dynamic effects, although there remain non-Markov effects in the learning results. The result shows how the robot can acquire a giant-swing motion by using Q-Learning algorithm. The successful acquired motions are analyzed in the view point of dynamics in order to realize a functionally giant-swing motion. Finally, the result shows how this method can avoid the stagnant action loop at around the bottom of the horizontal bar during the early stage of giant-swing motion.

Brain computer interface for operating a robot

NASA Astrophysics Data System (ADS)

Nisar, Humaira; Balasubramaniam, Hari Chand; Malik, Aamir Saeed

2013-10-01

A Brain-Computer Interface (BCI) is a hardware/software based system that translates the Electroencephalogram (EEG) signals produced by the brain activity to control computers and other external devices. In this paper, we will present a non-invasive BCI system that reads the EEG signals from a trained brain activity using a neuro-signal acquisition headset and translates it into computer readable form; to control the motion of a robot. The robot performs the actions that are instructed to it in real time. We have used the cognitive states like Push, Pull to control the motion of the robot. The sensitivity and specificity of the system is above 90 percent. Subjective results show a mixed trend of the difficulty level of the training activities. The quantitative EEG data analysis complements the subjective results. This technology may become very useful for the rehabilitation of disabled and elderly people.

Model of a Soft Robotic Actuator with Embedded Fluidic Network

NASA Astrophysics Data System (ADS)

Gamus, Benny; Or, Yizhar; Gat, Amir

2017-11-01

Soft robotics is an emerging bio-inspired concept of actuation, with promising applications for robotic locomotion and manipulation. Focusing on actuation by pressurized embedded fluidic networks, we present analytic formulation and closed-form solutions of an elastic actuator with pressurized fluidic networks. In this work we account for the effects of solid inertia and elasticity, as well as fluid viscosity, which allows modelling the system's step-response and frequency response as well as suggesting mode elimination and isolation techniques. We also present and model the application of viscous-peeling as an actuation mechanism, simplifying the fabrication process by eliminating the need for internal cavities. The theoretical results describing the viscous-elastic-inertial dynamics of the actuator are illustrated by experiments. The approach presented in this work may pave the way for the design and implementation of soft robotic legged locomotion that exploits dynamic effects.

Phase control of the transient resonance of the automatic ball balancer

NASA Astrophysics Data System (ADS)

Michalczyk, Jerzy; Pakuła, Sebastian

2016-05-01

Hazards related to undesired increases of vibration amplitudes in transient resonance of vibroinsulated rotor systems with automatic ball balancer (ABB) are discussed in the paper. The application of the phase control method with taking into account the limited drive power is proposed for these amplitudes reduction. The high efficiency of this approach is indicated.

Age Differences in Coping, Behavioral Dysfunction and Depression Following Colostomy Surgery.

ERIC Educational Resources Information Center

Keyes, Kathryn; And Others

1987-01-01

Examined the responses of a group of middle-aged and older adults (N=34) to colostomy surgery. Analyzed the relationship between the method and focus of coping and age, sickness-related dysfunction, and depression. Found that neither a lower level of active behavioral coping nor age itself was correlated with depression or dysfunction. (Author/ABB)

Investigation of Bias in Job Evaluation Ratings of Comparable Worth Study Participants.

ERIC Educational Resources Information Center

Mount, Michael K.; Ellis, Rebecca A.

1987-01-01

Investigated the effects of knowledge of current pay levels and perceived job gender on subsequent job evaluations. Confirmed the hypothesis that jobs with high pay levels would receive higher evaluations than jobs with low pay levels. Found evidence of a pro-female bias in the job evaluation ratings of 53 job evaluators. (Author/ABB)

78 FR 52974 - Gamesa Technology Corporation, Including On-Site Leased Workers From A & A Wind Pros Inc., ABB...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-08-27

... Power Blades (ND) Inc., Matrix Service Industrial Contract, Mistras Group, Onion ICS LLC, Power Climber Wind, Rope Partner, Inc., Run Energy LP, SERENA USA, Inc., Spherion ``The Mergis Group,'' System One Up... facility on Spain and ``increased blade outsourcing of 65%.'' The attachment to the request included a...

On Pliability and Progress: Challenging Current Conceptions of Eighteenth-Century French Educational Thought

ERIC Educational Resources Information Center

Gilead, Tal

2009-01-01

Examining the educational writings of three of the eighteenth-century's most innovative thinkers, the Abbe de Saint-Pierre, Morelly and Helvetius, this article challenges the currently accepted view that it was a belief in human pliability which gave rise to the contemporary groundbreaking faith in the power of education to improve society. The…

Investigation of Deviations from Ideality in the Two Liquid Phase Region of Systems of Medium Molecular Weight Hydrocarbon Mixtures and Water.

DTIC Science & Technology

1986-02-01

determined by refractometry using a Bausch and Lomb Refractometer (Abbe 3-L). Refractive index calibrations for the binary mixtures examined are given in...mixture sample was taken and analyzed by refractometry . b. Results The results of the vapor pressure experiments and the Redlich- Kister coefficients

630 kVA high temperature superconducting transformer

NASA Astrophysics Data System (ADS)

Zueger, H.

This document describes the 630 KVA HTS transformer project made by ABB jointly with EDF and ASC. The project started April 1994 and its goal was to manufacture a real scale superconducting distribution transformer and to operate it during one year in the grid of Geneva's utility (SIG). The conclusion highlights the future perspective of HTS transformers.

The Influence of Hair Color on Eliciting Help: Do Blondes Have More Fun?

ERIC Educational Resources Information Center

Juni, Samuel; Roth, Michelle M.

1985-01-01

Review of the literature suggests that hair color influences the quality of interpersonal interactions. Results of a factorially designed study show that while women helped confederates equally regardless of their gender, men helped women more than they helped men. Hair color of confederates was not shown to affect helping behavior. (Author/ABB)

Value of Robotically Assisted Surgery for Mitral Valve Disease

PubMed Central

Mihaljevic, Tomislav; Koprivanac, Marijan; Kelava, Marta; Goodman, Avi; Jarrett, Craig; Williams, Sarah J.; Gillinov, A. Marc; Bajwa, Gurjyot; Mick, Stephanie L.; Bonatti, Johannes; Blackstone, Eugene H.

2014-01-01

Importance The value of robotically assisted surgery for mitral valve disease is questioned because the high cost of care associated with robotic technology may outweigh its clinical benefits. Objective To investigate conditions under which benefits of robotic surgery mitigate high technology costs. Design Clinical cohort study comparing costs of robotic vs. three contemporaneous conventional surgical approaches for degenerative mitral disease. Surgery was performed from 2006–2011, and comparisons were based on intent-to-treat, with propensity-matching used to reduce selection bias. Setting Large multi-specialty academic medical center. Participants 1,290 patients aged 57±11 years, 27% women, underwent mitral repair for regurgitation from posterior leaflet prolapse. Robotic surgery was used in 473, complete sternotomy in 227, partial sternotomy in 349, and anterolateral thoracotomy in 241. Three propensity-matched groups were formed based on demographics, symptoms, cardiac and noncardiac comorbidities, valve pathophysiology, and echocardiographic measurements: robotic vs. sternotomy (n=198 pairs) vs. partial sternotomy (n=293 pairs) vs. thoracotomy (n=224 pairs). Interventions Mitral valve repair. Main Outcome Measures Cost of care, expressed as robotic capital investment, maintenance, and direct technical hospital cost, and benefit of care, based on differences in recovery time. Results Median cost of care for robotically assisted surgery exceeded the cost of alternative approaches by 27% (−5%, 68%), 32% (−6%, 70%), and 21% (−2%, 54%) (median [15th, 85th percentiles]) for complete sternotomy, partial sternotomy, and anterolateral thoracotomy, respectively. Higher operative costs were partially offset by lower postoperative costs and earlier return to work: median 35 days for robotic surgery, 49 for complete sternotomy, 56 for partial sternotomy, and 42 for anterolateral thoracotomy. Resulting net differences in cost of robotic surgery vs. the three alternatives were 16% (−15%, 55%), 16% (−19%, 51%), and 15% (−7%, 49%), respectively. Beyond a volume threshold of 55–100 robotic cases per year, confidence limits for the cost of robotic surgery broadly overlapped those of conventional approaches. Conclusions In exchange for higher procedural costs, robotically assisted mitral valve surgery offers the clinical benefit of least invasive surgery, lowest postoperative cost, and fastest return to work. The value of robotically assisted surgery comparable to conventional approaches can only be realized in high-volume centers. PMID:24848944

Biofeedback for robotic gait rehabilitation.

PubMed

Lünenburger, Lars; Colombo, Gery; Riener, Robert

2007-01-23

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

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

PubMed Central

de Greeff, Joachim; Belpaeme, Tony

2015-01-01

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

Obstacle traversal and self-righting of bio-inspired robots reveal the physics of multi-modal locomotion

NASA Astrophysics Data System (ADS)

Li, Chen; Fearing, Ronald; Full, Robert

Most animals move in nature in a variety of locomotor modes. For example, to traverse obstacles like dense vegetation, cockroaches can climb over, push across, reorient their bodies to maneuver through slits, or even transition among these modes forming diverse locomotor pathways; if flipped over, they can also self-right using wings or legs to generate body pitch or roll. By contrast, most locomotion studies have focused on a single mode such as running, walking, or jumping, and robots are still far from capable of life-like, robust, multi-modal locomotion in the real world. Here, we present two recent studies using bio-inspired robots, together with new locomotion energy landscapes derived from locomotor-environment interaction physics, to begin to understand the physics of multi-modal locomotion. (1) Our experiment of a cockroach-inspired legged robot traversing grass-like beam obstacles reveals that, with a terradynamically ``streamlined'' rounded body like that of the insect, robot traversal becomes more probable by accessing locomotor pathways that overcome lower potential energy barriers. (2) Our experiment of a cockroach-inspired self-righting robot further suggests that body vibrations are crucial for exploring locomotion energy landscapes and reaching lower barrier pathways. Finally, we posit that our new framework of locomotion energy landscapes holds promise to better understand and predict multi-modal biological and robotic movement.

Simulation of robotic courier deliveries in hospital distribution services.

PubMed

Rossetti, M D; Felder, R A; Kumar, A

2000-06-01

Flexible automation in the form of robotic couriers holds the potential for decreasing operating costs while improving delivery performance in hospital delivery systems. This paper discusses the use of simulation modeling to analyze the costs, benefits, and performance tradeoffs related to the installation and use of a fleet of robotic couriers within hospital facilities. The results of this study enable a better understanding of the delivery and transportation requirements of hospitals. Specifically, we examine how a fleet of robotic couriers can meet the performance requirements of the system while maintaining cost efficiency. We show that for clinical laboratory and pharmaceutical deliveries a fleet of six robotic couriers can achieve significant performance gains in terms of turn-around time and delivery variability over the current system of three human couriers per shift or 13 FTEs. Specifically, the simulation results indicate that using robotic couriers to perform both clinical laboratory and pharmaceutical deliveries would result in a 34% decrease in turn-around time, and a 38% decrease in delivery variability. In addition, a break-even analysis indicated that a positive net present value occurs if nine or more FTEs are eliminated with a resulting ROI of 12%. This analysis demonstrates that simulation can be a valuable tool for examining health care distribution services and indicates that a robotic courier system may yield significant benefits over a traditional courier system in this application.

Exploring the acquisition and production of grammatical constructions through human-robot interaction with echo state networks.

PubMed

Hinaut, Xavier; Petit, Maxime; Pointeau, Gregoire; Dominey, Peter Ford

2014-01-01

One of the principal functions of human language is to allow people to coordinate joint action. This includes the description of events, requests for action, and their organization in time. A crucial component of language acquisition is learning the grammatical structures that allow the expression of such complex meaning related to physical events. The current research investigates the learning of grammatical constructions and their temporal organization in the context of human-robot physical interaction with the embodied sensorimotor humanoid platform, the iCub. We demonstrate three noteworthy phenomena. First, a recurrent network model is used in conjunction with this robotic platform to learn the mappings between grammatical forms and predicate-argument representations of meanings related to events, and the robot's execution of these events in time. Second, this learning mechanism functions in the inverse sense, i.e., in a language production mode, where rather than executing commanded actions, the robot will describe the results of human generated actions. Finally, we collect data from naïve subjects who interact with the robot via spoken language, and demonstrate significant learning and generalization results. This allows us to conclude that such a neural language learning system not only helps to characterize and understand some aspects of human language acquisition, but also that it can be useful in adaptive human-robot interaction.

Exploring the acquisition and production of grammatical constructions through human-robot interaction with echo state networks

PubMed Central

Hinaut, Xavier; Petit, Maxime; Pointeau, Gregoire; Dominey, Peter Ford

2014-01-01

One of the principal functions of human language is to allow people to coordinate joint action. This includes the description of events, requests for action, and their organization in time. A crucial component of language acquisition is learning the grammatical structures that allow the expression of such complex meaning related to physical events. The current research investigates the learning of grammatical constructions and their temporal organization in the context of human-robot physical interaction with the embodied sensorimotor humanoid platform, the iCub. We demonstrate three noteworthy phenomena. First, a recurrent network model is used in conjunction with this robotic platform to learn the mappings between grammatical forms and predicate-argument representations of meanings related to events, and the robot's execution of these events in time. Second, this learning mechanism functions in the inverse sense, i.e., in a language production mode, where rather than executing commanded actions, the robot will describe the results of human generated actions. Finally, we collect data from naïve subjects who interact with the robot via spoken language, and demonstrate significant learning and generalization results. This allows us to conclude that such a neural language learning system not only helps to characterize and understand some aspects of human language acquisition, but also that it can be useful in adaptive human-robot interaction. PMID:24834050

Swarmathon 2018

NASA Image and Video Library

2018-04-17

Students from Montgomery College in Rockville in Maryland, follow the progress of their Swarmie robots during the Swarmathon competition at the Kennedy Space Center Visitor Complex. Students were asked to develop computer code for the small robots, programming them to look for "resources" in the form of AprilTag cubes, similar to barcodes. Teams developed search algorithms for the Swarmies to operate autonomously, communicating and interacting as a collective swarm similar to ants foraging for food. In the spaceport's third annual Swarmathon, 23 teams represented 24 minority serving universities and community colleges were invited to develop software code to operate these innovative robots known as "Swarmies" to help find resources when astronauts explore distant locations, such as the Moon or Mars.

IntelliTable: Inclusively-Designed Furniture with Robotic Capabilities.

PubMed

Prescott, Tony J; Conran, Sebastian; Mitchinson, Ben; Cudd, Peter

2017-01-01

IntelliTable is a new proof-of-principle assistive technology system with robotic capabilities in the form of an elegant universal cantilever table able to move around by itself, or under user control. We describe the design and current capabilities of the table and the human-centered design methodology used in its development and initial evaluation. The IntelliTable study has delivered robotic platform programmed by a smartphone that can navigate around a typical home or care environment, avoiding obstacles, and positioning itself at the user's command. It can also be configured to navigate itself to pre-ordained places positions within an environment using ceiling tracking, responsive optical guidance and object-based sonar navigation.

Korean Affairs Report KULLOJA No. 11, November 1984.

DTIC Science & Technology

1985-06-05

and the numeric-code-system robot is now being re- placed by the intelligent robot. While science and technology are developing rapidly, cytology ...idea of militarism among the Japanese people, especially among Japanese youths and juveniles, and use them as cannon fodder for overseas aggression...Korea between 1911 and 1942 amounted to no less than 600,000 tons in cotton ball form. 94 So-called "government monopoly system" enforced by the

East Europe Report

DTIC Science & Technology

1987-01-09

known Moscow ENIIMS, which was combined with the Presov VUKOV plant to form ROBOT. At the beginning of the 1980s Yevgeniy Kanayev and Vladimir Cop began...to establish the organization. Why did it take so long. Here is J . Kanayev’s answer: "It was necessary to break through psychological and...modest program. ROBOT, on the other hand, bit off more than it could chew from the start, more than even VUKOV , could handle with its already

Exobiology Robotics Laboratory to Search for Life on Martian Subsurface Water and Permafrost

NASA Astrophysics Data System (ADS)

Gan, D. C.; Kuznetz, L.; Chu, D.; Chang, V.; Yamada, M.; Lee, C.; Lee, R.

2000-07-01

A conceptual design of a robotics laboratory was constructed to search for life forms in Martian subsurface water and permafrost by cultivation of bacteria by using a variety of media to grow bacteria of the Archea group and Eubacteria. Other growth, morphology, motility and mode of reproduction of bacteria and organisms of the Protista will be observed with microscopy. The entire operations is controlled by a computer.

Swarmathon 2018

NASA Image and Video Library

2018-04-18

In the Swarmathon competition at the Kennedy Space Center Visitor Complex, students were asked to develop computer code for the small robots, programming them to look for "resources" in the form of AprilTag cubes, similar to barcodes. To add to the challenge, obstacles in the form of simulated rocks were placed in the completion arena. Teams developed search algorithms for the Swarmies to operate autonomously, communicating and interacting as a collective swarm similar to ants foraging for food. In the spaceport's third annual Swarmathon, 23 teams represented 24 minority serving universities and community colleges were invited to develop software code to operate these innovative robots known as "Swarmies" to help find resources when astronauts explore distant locations, such as the Moon or Mars.

An iconic programming language for sensor-based robots

NASA Technical Reports Server (NTRS)

Gertz, Matthew; Stewart, David B.; Khosla, Pradeep K.

1993-01-01

In this paper we describe an iconic programming language called Onika for sensor-based robotic systems. Onika is both modular and reconfigurable and can be used with any system architecture and real-time operating system. Onika is also a multi-level programming environment wherein tasks are built by connecting a series of icons which, in turn, can be defined in terms of other icons at the lower levels. Expert users are also allowed to use control block form to define servo tasks. The icons in Onika are both shape and color coded, like the pieces of a jigsaw puzzle, thus providing a form of error control in the development of high level applications.

Current robotic curricula for surgery residents: A need for additional cognitive and psychomotor focus.

PubMed

Green, Courtney A; Chern, Hueylan; O'Sullivan, Patricia S

2018-02-01

Current robot surgery curricula developed by industry were designed for expert surgeons. We sought to identify the robotic curricula that currently exist in general surgery residencies and describe their components. We identified 12 residency programs with robotic curricula. Using a structured coding form to identify themes including sequence, duration, emphasis and assessment, we generated a descriptive summary. Curricula followed a similar sequence: learners started with online modules and simulation exercises, followed by bedside experience during R2-R3 training years, and then operative opportunities on the console in the final years of training. Consistent portions of the curricula reflect a device-dependent training paradigm; they defined the sequence of instruction. Most curricula lacked specifics on duration and content of training activities. None clearly described cognitive or psychomotor skills needed by residents and none required a proficiency assessment before graduation. Resident-specific robotic curricula remain grounded in initial industrial efforts to train experienced surgeons, are non-specific regarding the type and nature of hands on experience, and do not include discussion of operative technique and surgical concepts. Copyright © 2017 Elsevier Inc. All rights reserved.

A review of medical robotics for minimally invasive soft tissue surgery.

PubMed

Dogangil, G; Davies, B L; Rodriguez y Baena, F

2010-01-01

This paper provides an overview of recent trends and developments in medical robotics for minimally invasive soft tissue surgery, with a view to highlight some of the issues posed and solutions proposed in the literature. The paper includes a thorough review of the literature, which focuses on soft tissue surgical robots developed and published in the last five years (between 2004 and 2008) in indexed journals and conference proceedings. Only surgical systems were considered; imaging and diagnostic devices were excluded from the review. The systems included in this paper are classified according to the following surgical specialties: neurosurgery; eye surgery and ear, nose, and throat (ENT); general, thoracic, and cardiac surgery; gastrointestinal and colorectal surgery; and urologic surgery. The systems are also cross-classified according to their engineering design and robotics technology, which is included in tabular form at the end of the paper. The review concludes with an overview of the field, along with some statistical considerations about the size, geographical spread, and impact of medical robotics for soft tissue surgery today.

Automated Robot Movement in the Mapped Area Using Fuzzy Logic for Wheel Chair Application

NASA Astrophysics Data System (ADS)

Siregar, B.; Efendi, S.; Ramadhana, H.; Andayani, U.; Fahmi, F.

2018-03-01

The difficulties of the disabled to move make them unable to live independently. People with disabilities need supporting device to move from place to place. For that, we proposed a solution that can help people with disabilities to move from one room to another automatically. This study aims to create a wheelchair prototype in the form of a wheeled robot as a means to learn the automatic mobilization. The fuzzy logic algorithm was used to determine motion direction based on initial position, ultrasonic sensors reading in avoiding obstacles, infrared sensors reading as a black line reader for the wheeled robot to move smooth and smartphone as a mobile controller. As a result, smartphones with the Android operating system can control the robot using Bluetooth. Here Bluetooth technology can be used to control the robot from a maximum distance of 15 meters. The proposed algorithm was able to work stable for automatic motion determination based on initial position, and also able to modernize the wheelchair movement from one room to another automatically.

Stingray-inspired robot with simply actuated intermediate motion

NASA Astrophysics Data System (ADS)

Neely, Lincoln; Gaiennie, Jack; Noble, Nick; Erickson, Jonathan C.

2016-04-01

Batoids, or rays, utilize unique forms of locomotion that may offer more efficient techniques of motorized propulsion in various marine environments. We present a novel biomimetic engineering design and assembly of a stingray-inspired robot swimmer. The robots locomotion mimics the Dasyatis americana, or southern stingray, whose distinction among rays is its intermediate motion, characterized by sweeping strokes that propagate between 1/2-1 wavelength of the fin profile in the posterior direction. Though oscillatory (<1/2 wavelength) and undulatory (> wavelengths) ray-based robots have been created, this project demonstrates new engineering possibilities in what is, to the best of our knowledge, the first intermediately propelled batoid-based robot. The robots fins were made of silicone rubber, cast in a 3-D printed mold, with wingspan of 42 cm (1/2 - 1/5 scale for males and females, respectively, scale of model organism). Two anteriorly placed servomotors per fin were used, all controlled by one wirelessly enabled Arduino microcontroller. Each servomotor oscillated a flexible rod with cylindrical joint, whose frequency, speed, and front-back phase delay were user-programmed over wireless connection. During free-swimming tests, the fin profile developed about 0.8 wavelength, qualifying for successful mimicry of its biological inspiration. The robot satisfactorily maintained straight-line motion, reaching average peak velocity of 9.4+/-1.0 cm/s (0.27-0.03 body lengths/second) at its optimum flapping frequency of 1.4 Hz. This is in the same order of magnitude of speed normalized to body length achieved by others in two recent batoid-based projects. In summary, our robot performed intermediate stingray locomotion with relatively fewer components, which reveals robust potential for innovation of the simple intermediate batoid-based robot swimmer.

Design of Smart Educational Robot as a Tool For Teaching Media Based on Contextual Teaching and Learning to Improve the Skill of Electrical Engineering Student

NASA Astrophysics Data System (ADS)

Zuhrie, M. S.; Basuki, I.; Asto, B. I. G. P.; Anifah, L.

2018-04-01

The development of robotics in Indonesia has been very encouraging. The barometer is the success of the Indonesian Robot Contest. The focus of research is a teaching module manufacturing, planning mechanical design, control system through microprocessor technology and maneuverability of the robot. Contextual Teaching and Learning (CTL) strategy is the concept of learning where the teacher brings the real world into the classroom and encourage students to make connections between knowledge possessed by its application in everyday life. This research the development model used is the 4-D model. This Model consists of four stages: Define Stage, Design Stage, Develop Stage, and Disseminate Stage. This research was conducted by applying the research design development with the aim to produce a tool of learning in the form of smart educational robot modules and kit based on Contextual Teaching and Learning at the Department of Electrical Engineering to improve the skills of the Electrical Engineering student. Socialization questionnaires showed that levels of the student majoring in electrical engineering competencies image currently only limited to conventional machines. The average assessment is 3.34 validator included in either category. Modules developed can give hope to the future are able to produce Intelligent Robot Tool for Teaching.

Neural network-based multiple robot simultaneous localization and mapping.

PubMed

Saeedi, Sajad; Paull, Liam; Trentini, Michael; Li, Howard

2011-12-01

In this paper, a decentralized platform for simultaneous localization and mapping (SLAM) with multiple robots is developed. Each robot performs single robot view-based SLAM using an extended Kalman filter to fuse data from two encoders and a laser ranger. To extend this approach to multiple robot SLAM, a novel occupancy grid map fusion algorithm is proposed. Map fusion is achieved through a multistep process that includes image preprocessing, map learning (clustering) using neural networks, relative orientation extraction using norm histogram cross correlation and a Radon transform, relative translation extraction using matching norm vectors, and then verification of the results. The proposed map learning method is a process based on the self-organizing map. In the learning phase, the obstacles of the map are learned by clustering the occupied cells of the map into clusters. The learning is an unsupervised process which can be done on the fly without any need to have output training patterns. The clusters represent the spatial form of the map and make further analyses of the map easier and faster. Also, clusters can be interpreted as features extracted from the occupancy grid map so the map fusion problem becomes a task of matching features. Results of the experiments from tests performed on a real environment with multiple robots prove the effectiveness of the proposed solution.

Soft mobile robots driven by foldable dielectric elastomer actuators

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

Sun, Wenjie; Liu, Fan; Ma, Ziqi

A cantilever beam with elastic hinge pulled antagonistically by two dielectric elastomer (DE) membranes in tension forms a foldable actuator if one DE membrane is subject to a voltage and releases part of tension. Simply placing parallel rigid bars on the prestressed DE membranes results in enhanced actuators working in a pure shear state. We report design, analysis, fabrication, and experiment of soft mobile robots that are moved by such foldable DE actuators. We describe systematic measurement of the foldable actuators and perform theoretical analysis of such actuators based on minimization of total energy, and a good agreement is achievedmore » between model prediction and measurement. We develop two versions of prototypes of soft mobile robots driven either by two sets of DE membranes or one DE membrane and elastic springs. We demonstrate locomotion of these soft mobile robots and highlight several key design parameters that influence locomotion of the robots. A 45 g soft robot driven by a cyclic triangle voltage with amplitude 7.4 kV demonstrates maximal stroke 160 mm or maximal rolling velocity 42 mm/s. The underlying mechanics and physics of foldable DE actuators can be leveraged to develop other soft machines for various applications.« less

Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment

PubMed Central

Gilbert, Hunter B.; Neimat, Joseph; Webster, Robert J.

2015-01-01

Concentric tube robots can enable new clinical interventions if they are able to pass through soft tissue, deploy along desired paths through open cavities, or travel along winding lumens. These behaviors require the robot to deploy in such a way that the curved shape of its shaft remains unchanged as the tip progresses forward (i.e., “follow-the-leader” deployment). Follow-the-leader deployment is challenging for concentric tube robots due to elastic (and particularly torsional) coupling between the tubes that form the robot. However, as we show in this paper, follow-the-leader deployment is possible, provided that tube precurvatures and deployment sequences are appropriately selected. We begin by defining follow-the-leader deployment and providing conditions that must be satisfied for a concentric tube robot to achieve it. We then examine several useful special cases of follow-the-leader deployment, showing that both circular and helical precurvatures can be employed, and provide an experimental illustration of the helical case. We also explore approximate follow-the-leader behavior and provide a metric for the similarity of a general deployment to a follow-the-leader deployment. Finally, we consider access to the hippocampus in the brain to treat epilepsy, as a motivating clinical example for follow-the-leader deployment. PMID:26622208

Biologically inspired intelligent robots

NASA Astrophysics Data System (ADS)

Bar-Cohen, Yoseph; Breazeal, Cynthia

2003-07-01

Humans throughout history have always sought to mimic the appearance, mobility, functionality, intelligent operation, and thinking process of biological creatures. This field of biologically inspired technology, having the moniker biomimetics, has evolved from making static copies of human and animals in the form of statues to the emergence of robots that operate with realistic behavior. Imagine a person walking towards you where suddenly you notice something weird about him--he is not real but rather he is a robot. Your reaction would probably be "I can't believe it but this robot looks very real" just as you would react to an artificial flower that is a good imitation. You may even proceed and touch the robot to check if your assessment is correct but, as oppose to the flower case, the robot may be programmed to respond physical and verbally. This science fiction scenario could become a reality as the current trend continues in developing biologically inspired technologies. Technology evolution led to such fields as artificial muscles, artificial intelligence, and artificial vision as well as biomimetic capabilities in materials science, mechanics, electronics, computing science, information technology and many others. This paper will review the state of the art and challenges to biologically-inspired technologies and the role that EAP is expected to play as the technology evolves.

Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment.

PubMed

Gilbert, Hunter B; Neimat, Joseph; Webster, Robert J

2015-04-01

Concentric tube robots can enable new clinical interventions if they are able to pass through soft tissue, deploy along desired paths through open cavities, or travel along winding lumens. These behaviors require the robot to deploy in such a way that the curved shape of its shaft remains unchanged as the tip progresses forward (i.e., "follow-the-leader" deployment). Follow-the-leader deployment is challenging for concentric tube robots due to elastic (and particularly torsional) coupling between the tubes that form the robot. However, as we show in this paper, follow-the-leader deployment is possible, provided that tube precurvatures and deployment sequences are appropriately selected. We begin by defining follow-the-leader deployment and providing conditions that must be satisfied for a concentric tube robot to achieve it. We then examine several useful special cases of follow-the-leader deployment, showing that both circular and helical precurvatures can be employed, and provide an experimental illustration of the helical case. We also explore approximate follow-the-leader behavior and provide a metric for the similarity of a general deployment to a follow-the-leader deployment. Finally, we consider access to the hippocampus in the brain to treat epilepsy, as a motivating clinical example for follow-the-leader deployment.

A dragline-forming mobile robot inspired by spiders.

PubMed

Wang, Liyu; Culha, Utku; Iida, Fumiya

2014-03-01

Mobility of wheeled or legged machines can be significantly increased if they are able to move from a solid surface into a three-dimensional space. Although that may be achieved by addition of flying mechanisms, the payload fraction will be the limiting factor in such hybrid mobile machines for many applications. Inspired by spiders producing draglines to assist locomotion, the paper proposes an alternative mobile technology where a robot achieves locomotion from a solid surface into a free space. The technology resembles the dragline production pathway in spiders to a technically feasible degree and enables robots to move with thermoplastic spinning of draglines. As an implementation, a mobile robot has been prototyped with thermoplastic adhesives as source material of the draglines. Experimental results show that a dragline diameter range of 1.17-5.27 mm was achievable by the 185 g mobile robot in descending locomotion from the solid surface of a hanging structure with a power consumption of 4.8 W and an average speed of 5.13 cm min(-1). With an open-loop controller consisting of sequences of discrete events, the robot has demonstrated repeatable dragline formation with a relative deviation within -4% and a length close to the metre scale.

Experiments on robot-assisted navigated drilling and milling of bones for pedicle screw placement.

PubMed

Ortmaier, T; Weiss, H; Döbele, S; Schreiber, U

2006-12-01

This article presents experimental results for robot-assisted navigated drilling and milling for pedicle screw placement. The preliminary study was carried out in order to gain first insights into positioning accuracies and machining forces during hands-on robotic spine surgery. Additionally, the results formed the basis for the development of a new robot for surgery. A simplified anatomical model is used to derive the accuracy requirements. The experimental set-up consists of a navigation system and an impedance-controlled light-weight robot holding the surgical instrument. The navigation system is used to position the surgical instrument and to compensate for pose errors during machining. Holes are drilled in artificial bone and bovine spine. A quantitative comparison of the drill-hole diameters was achieved using a computer. The interaction forces and pose errors are discussed with respect to the chosen machining technology and control parameters. Within the technological boundaries of the experimental set-up, it is shown that the accuracy requirements can be met and that milling is superior to drilling. It is expected that robot assisted navigated surgery helps to improve the reliability of surgical procedures. Further experiments are necessary to take the whole workflow into account. Copyright 2006 John Wiley & Sons, Ltd.

Situationally driven local navigation for mobile robots. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Slack, Marc Glenn

1990-01-01

For mobile robots to autonomously accommodate dynamically changing navigation tasks in a goal-directed fashion, they must employ navigation plans. Any such plan must provide for the robot's immediate and continuous need for guidance while remaining highly flexible in order to avoid costly computation each time the robot's perception of the world changes. Due to the world's uncertainties, creation and maintenance of navigation plans cannot involve arbitrarily complex processes, as the robot's perception of the world will be in constant flux, requiring modifications to be made quickly if they are to be of any use. This work introduces navigation templates (NaT's) which are building blocks for the construction and maintenance of rough navigation plans which capture the relationship that objects in the world have to the current navigation task. By encoding only the critical relationship between the objects in the world and the navigation task, a NaT-based navigation plan is highly flexible; allowing new constraints to be quickly incorporated into the plan and existing constraints to be updated or deleted from the plan. To satisfy the robot's need for immediate local guidance, the NaT's forming the current navigation plan are passed to a transformation function. The transformation function analyzes the plan with respect to the robot's current location to quickly determine (a few times a second) the locally preferred direction of travel. This dissertation presents NaT's and the transformation function as well as the needed support systems to demonstrate the usefulness of the technique for controlling the actions of a mobile robot operating in an uncertain world.

Construction typification as the tool for optimizing the functioning of a robotized manufacturing system

NASA Astrophysics Data System (ADS)

Gwiazda, A.; Banas, W.; Sekala, A.; Foit, K.; Hryniewicz, P.; Kost, G.

2015-11-01

Process of workcell designing is limited by different constructional requirements. They are related to technological parameters of manufactured element, to specifications of purchased elements of a workcell and to technical characteristics of a workcell scene. This shows the complexity of the design-constructional process itself. The results of such approach are individually designed workcell suitable to the specific location and specific production cycle. Changing this parameters one must rebuild the whole configuration of a workcell. Taking into consideration this it is important to elaborate the base of typical elements of a robot kinematic chain that could be used as the tool for building Virtual modelling of kinematic chains of industrial robots requires several preparatory phase. Firstly, it is important to create a database element, which will be models of industrial robot arms. These models could be described as functional primitives that represent elements between components of the kinematic pairs and structural members of industrial robots. A database with following elements is created: the base kinematic pairs, the base robot structural elements, the base of the robot work scenes. The first of these databases includes kinematic pairs being the key component of the manipulator actuator modules. Accordingly, as mentioned previously, it includes the first stage rotary pair of fifth stage. This type of kinematic pairs was chosen due to the fact that it occurs most frequently in the structures of industrial robots. Second base consists of structural robot elements therefore it allows for the conversion of schematic structures of kinematic chains in the structural elements of the arm of industrial robots. It contains, inter alia, the structural elements such as base, stiff members - simple or angular units. They allow converting recorded schematic three-dimensional elements. Last database is a database of scenes. It includes elements of both simple and complex: simple models of technological equipment, conveyors models, models of the obstacles and like that. Using these elements it could be formed various production spaces (robotized workcells), in which it is possible to virtually track the operation of an industrial robot arm modelled in the system.

Promoting Diversity in Undergraduate Research in Robotics-Based Seismic

NASA Astrophysics Data System (ADS)

Gifford, C. M.; Arthur, C. L.; Carmichael, B. L.; Webber, G. K.; Agah, A.

2006-12-01

The motivation for this research was to investigate forming evenly-spaced grid patterns with a team of mobile robots for future use in seismic imaging in polar environments. A team of robots was incrementally designed and simulated by incorporating sensors and altering each robot's controller. Challenges, design issues, and efficiency were also addressed. This research project incorporated the efforts of two undergraduate REU students from Elizabeth City State University (ECSU) in North Carolina, and the research staff at the Center for Remote Sensing of Ice Sheets (CReSIS) at the University of Kansas. ECSU is a historically black university. Mentoring these two minority students in scientific research, seismic, robotics, and simulation will hopefully encourage them to pursue graduate degrees in science-related or engineering fields. The goals for this 10-week internship during summer 2006 were to educate the students in the fields of seismology, robotics, and virtual prototyping and simulation. Incrementally designing a robot platform for future enhancement and evaluation was central to this research, and involved simulation of several robots working together to change seismic grid shape and spacing. This process gave these undergraduate students experience and knowledge in an actual research project for a real-world application. The two undergraduate students gained valuable research experience and advanced their knowledge of seismic imaging, robotics, sensors, and simulation. They learned that seismic sensors can be used in an array to gather 2D and 3D images of the subsurface. They also learned that robotics can support dangerous or difficult human activities, such as those in a harsh polar environment, by increasing automation, robustness, and precision. Simulating robot designs also gave them experience in programming behaviors for mobile robots. Thus far, one academic paper has resulted from their research. This paper received third place at the 2006 National Technical Association's (NTA) National Conference in Chicago. CReSIS, in conjunction with ECSU, provided these minority students with a well-rounded educational experience in a real-world research project. Their contributions will be used for future projects.

Learning for intelligent mobile robots

NASA Astrophysics Data System (ADS)

Hall, Ernest L.; Liao, Xiaoqun; Alhaj Ali, Souma M.

2003-10-01

Unlike intelligent industrial robots which often work in a structured factory setting, intelligent mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths. However, such machines have many potential applications in medicine, defense, industry and even the home that make their study important. Sensors such as vision are needed. However, in many applications some form of learning is also required. The purpose of this paper is to present a discussion of recent technical advances in learning for intelligent mobile robots. During the past 20 years, the use of intelligent industrial robots that are equipped not only with motion control systems but also with sensors such as cameras, laser scanners, or tactile sensors that permit adaptation to a changing environment has increased dramatically. However, relatively little has been done concerning learning. Adaptive and robust control permits one to achieve point to point and controlled path operation in a changing environment. This problem can be solved with a learning control. In the unstructured environment, the terrain and consequently the load on the robot"s motors are constantly changing. Learning the parameters of a proportional, integral and derivative controller (PID) and artificial neural network provides an adaptive and robust control. Learning may also be used for path following. Simulations that include learning may be conducted to see if a robot can learn its way through a cluttered array of obstacles. If a situation is performed repetitively, then learning can also be used in the actual application. To reach an even higher degree of autonomous operation, a new level of learning is required. Recently learning theories such as the adaptive critic have been proposed. In this type of learning a critic provides a grade to the controller of an action module such as a robot. The creative control process is used that is "beyond the adaptive critic." A mathematical model of the creative control process is presented that illustrates the use for mobile robots. Examples from a variety of intelligent mobile robot applications are also presented. The significance of this work is in providing a greater understanding of the applications of learning to mobile robots that could lead to many applications.

Robotics as science (re)form: Exploring power, learning and gender(ed) identity formation in a "community of practice"

NASA Astrophysics Data System (ADS)

Hurner, Sheryl Marie

"Robotics as Science (re)Form" utilizes qualitative research methods to examine the career trajectories and gender identity formation of female youth participating as members of an all-girl, academic team within the male-dominated environment of the FIRST Robotics competition. Following the constant comparative approach (Glaser & Strauss, 1967), my project relies upon triangulating ethnographic data drawn from extensive field notes, semi-structured interviews, and digital and video imagery compiled over two years of participant observation. Drawing upon the sociolinguistic "community of practice" (CoP) framework (Eckert & McConnell-Ginet, 1992; Lave & Wenger, 1991; Wenger, 1998), this study maps the range of gendered "identities" available to girls involved in non-traditional academic and occupational pursuits within a local context, and reveals the nature, structure and impact of power operating within this CoP, a significantly underdeveloped construct within the language and gender literature. These research findings (1) contribute to refining theories of situated or problem based learning with a focus on female youth (Lave & Wenger, 1991; Wenger, 1998); (2) reveal affordances and barriers within the local program design that enable (and preclude) women and minority youth entering the engineering pipeline; and (3) enrich our understanding of intragroup language and gendered "practices" to counter largely essentializing generalizations based upon quantitative analysis. Keywords: Robotics, gender, identity formation, science, STEM, communities of practice

A Theory of Productive Activity: The Relationships among Self-Concept, Gender, Sex Role Stereotypes, and Work-Emergent Traits.

ERIC Educational Resources Information Center

Yount, Kristen R.

1986-01-01

Presents a theoretical framework that focuses on the division of labor by gender to account for both sex role stereotypes and the correspondence between these stereotypes and self-concepts of women and men. According to this framework, self-images of adults are largely constituted by attributes generated by their productive activity. (Author/ABB)

Current status of the banana and plantain collection at the USDA-ARS Tropical Agriculture Research Station, Mayaguez, Puerto Rico

USDA-ARS?s Scientific Manuscript database

Banana (Musa acuminata Colla. [AA, AAA]; Musa x paradisiaca Colla [ABB, AAAB, AABB]), are large monocotyledonous plants in the Musaceae family and is one of the world’s furthermost important crops in the world. High genetic variability can be found in centers of origin, but the lack of diversity in...

Entwurf von Regelkreisen

NASA Astrophysics Data System (ADS)

Horn, Joachim

Betrachtet werde der Standardregelkreis gemäß Abb. 74.1. GS(s) bezeichnet die Übertragungsfunktion der Strecke, die bekannt sei. GR(s) bezeichnet die Übertragungsfunktion des Regelgliedes, dessen Struktur und Parameter so zu bestimmen sind, dass der geschlossene Regelkreis die gewünschten Eigenschaften besitzt. Zunächst sollen diese Forderungen an die Regelung dargestellt und die zu ihrer Erfüllung erforderlichen Bedingungen hergeleitet werden.

The Political Uses of Sign Language: The Case of the French Revolution

ERIC Educational Resources Information Center

Rosenfeld, Sophia

2005-01-01

The story of the Abbe de l'Epee's "methodical signs" is best known as a key moment in Deaf history. However, at the time of the French Revolution this story served a larger political function. The example of de l'Epee's deaf students, and their seemingly miraculous command of ideas learned through gestural signs, helped the French…

Cutting the cost of hospital HVAC.

PubMed

Ruddell, Steve

2011-09-01

Steve Ruddell, head of global marketing, Motors & Generators, at ABB, emphasises the importance of a good motor management and maintenance policy in getting the best performance from, and reducing the energy consumption of, hospitals' HVAC systems, also explaining why investing in energy-efficient, low voltage drives, and high efficiency electric motors, to control such equipment, can pay major dividends for estates and facilities teams.

Dog Is a Dog Is a Dog: Infant Rule Learning Is Not Specific to Language

ERIC Educational Resources Information Center

Saffran, Jenny R.; Pollak, Seth D.; Seibel, Rebecca L.; Shkolnik, Anna

2007-01-01

Human infants possess powerful learning mechanisms used for the acquisition of language. To what extent are these mechanisms domain specific? One well-known infant language learning mechanism is the ability to detect and generalize rule-like similarity patterns, such as ABA or ABB [Marcus, G. F., Vijayan, S., Rao, S. B., & Vishton, P. M. (1999).…

[Quant therapy and the composition of the moister of the eye anterior chamber (an experimental study)].

PubMed

Pavliuk, E Iu; Sherkhoeva, D Ts; Pavliuk, A Iu; Khristoforov, V N

2005-01-01

We examined 12 rabbits, 6 of whom (12 eyes) were exposed to magneto-infrared laser radiation (MILR) and another 6 (12 eyes) were controls. The parameters of pulse and continuous infrared LED radiation were as follows: wavelength--860 nm, pulse capacity--2 W, mean radiation capacity--10 mW, magnetic field strength--up to 17 mTl. A study of the moister of the anterior chamber showed a MILR-induced activated metabolism, i.e. a better acid-base balance (ABB), more intense oxygenation in the ocular tissues and decreased acidosis. Higher concentrations of buffer bases (ABEe and SBEc) cause shifts in ABB towards metabolic alkalosis. A lower concentration of glucose denotes intensified processes related with its utilization. A lack of changes in the quantity of salts in the moister of the anterior chamber rules out the possibility of that the content of glucose would go down due to its dissolution with a big volume of newly produced moister. A lack of an increase in the concentration of whole protein, as observed after MILR, can be regarded as indirect evidence to absence of any adverse effect on the vascular wall.

A novel plane mirror interferometer without using corner cube reflectors

NASA Astrophysics Data System (ADS)

Büchner, H.-J.; Jäger, G.

2006-04-01

The conception and properties will be introduced of an interferometer that exclusively uses plane mirrors as reflectors; thus, these interferometers correspond well to the original Michelson interferometer. First, the relationship between the interference conditions and the detection with photodiodes will be discussed using the example of known interferometers as well as reasons given for primarily using corner cube reflectors in these devices. Next, the conceptual design of the plane mirror interferometer will be presented. This type of interferometer possesses new properties which are significant for metrological and technical applications. Only one measuring beam exists between the polarizing beam splitter and the measuring mirror and this beam alone represents the Abbe axis. This property allows the significant reduction of the Abbe error. The interferometer is able to tolerate tilting on the order of about 1'. This ensures the orthogonality between the measuring beam and the measuring mirror during the measurement. This property can be used in three-dimensional measurements to erect the three measuring beams as a x-y-z Cartesian coordinate system on the basis of three orthogonal mirrors. The plane-mirror interferometer also allows non-contact measurements of planar and curved surfaces, e.g. silicon wafers.

Durability Assessment of TiAl Alloys

NASA Technical Reports Server (NTRS)

Draper, Susan L.; Lerch, Bradley A.

2008-01-01

The durability of TiAl is a prime concern for the implementation of TiAl into aerospace engines. Two durability issues, the effect of high temperature exposure on mechanical properties and impact resistance, have been investigated and the results are summarized in this paper. Exposure to elevated temperatures has been shown to be detrimental to the room temperature ductility of gamma alloys with the most likely mechanisms being the ingress of interstitials from the surface. Fluorine ion implantation has been shown to improve the oxidation resistance of gamma alloys, and ideally it could also improve the environmental embrittlement of high Nb content TiAl alloys. The effect of F ion implantation on the surface oxidation and embrittlement of a third generation, high Nb content TiAl alloy (Ti-45Al-5Nb-B-C) were investigated. Additionally, the ballistic impact resistance of a variety of gamma alloys, including Ti-48Al-2Cr- 2Nb, Ti-47Al-2Cr-2Nb, ABB-2, ABB-23, NCG359E, 95A and Ti-45Al-5Nb-B-C was accessed. Differences in the ballistic impact properties of the various alloys will be discussed, particularly with respect to their manufacturing process, microstructure, and tensile properties.

Transiting circumbinary planets Kepler-34 b and Kepler-35 b.

PubMed

Welsh, William F; Orosz, Jerome A; Carter, Joshua A; Fabrycky, Daniel C; Ford, Eric B; Lissauer, Jack J; Prša, Andrej; Quinn, Samuel N; Ragozzine, Darin; Short, Donald R; Torres, Guillermo; Winn, Joshua N; Doyle, Laurance R; Barclay, Thomas; Batalha, Natalie; Bloemen, Steven; Brugamyer, Erik; Buchhave, Lars A; Caldwell, Caroline; Caldwell, Douglas A; Christiansen, Jessie L; Ciardi, David R; Cochran, William D; Endl, Michael; Fortney, Jonathan J; Gautier, Thomas N; Gilliland, Ronald L; Haas, Michael R; Hall, Jennifer R; Holman, Matthew J; Howard, Andrew W; Howell, Steve B; Isaacson, Howard; Jenkins, Jon M; Klaus, Todd C; Latham, David W; Li, Jie; Marcy, Geoffrey W; Mazeh, Tsevi; Quintana, Elisa V; Robertson, Paul; Shporer, Avi; Steffen, Jason H; Windmiller, Gur; Koch, David G; Borucki, William J

2012-01-11

Most Sun-like stars in the Galaxy reside in gravitationally bound pairs of stars (binaries). Although long anticipated, the existence of a 'circumbinary planet' orbiting such a pair of normal stars was not definitively established until the discovery of the planet transiting (that is, passing in front of) Kepler-16. Questions remained, however, about the prevalence of circumbinary planets and their range of orbital and physical properties. Here we report two additional transiting circumbinary planets: Kepler-34 (AB)b and Kepler-35 (AB)b, referred to here as Kepler-34 b and Kepler-35 b, respectively. Each is a low-density gas-giant planet on an orbit closely aligned with that of its parent stars. Kepler-34 b orbits two Sun-like stars every 289 days, whereas Kepler-35 b orbits a pair of smaller stars (89% and 81% of the Sun's mass) every 131 days. The planets experience large multi-periodic variations in incident stellar radiation arising from the orbital motion of the stars. The observed rate of circumbinary planets in our sample implies that more than ∼1% of close binary stars have giant planets in nearly coplanar orbits, yielding a Galactic population of at least several million.

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

NASA Technical Reports Server (NTRS)

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

1987-01-01

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

Science fiction and the history of the astro-department of Carl Zeiss Jena (German Title: Science Fiction und die Geschichte der Astroabteilung von Carl Zeiss Jena)

NASA Astrophysics Data System (ADS)

Beck, Hans G.

This contribution uses the literary form of science fiction in retrospect, in order to display the initial conditions given in the run-up of the founding of the astro-department of the Zeiss factory. Written minutes (supposedly found during restoration works in the people's house in Jena) introduce the participants of a sort of founding party of the main actors Ernst Abbe, Otto Schott, Siegfried Czapski, Hans Harting, Albert König, Franz Meyer and Walter Villiger. Their contributions to the discussion yield a market analysis, based on the past development of the technology of astronomical instruments, the international competitors' state of the art, and the assessment of the future development in astronomy and especially of astrophysics. The contribution presents a piece of modern history of the year 1987; it was presented as a talk on May 13 of the same year, when Rolf Riekher celebrated his 65th birthday.

Comparison of Human and Humanoid Robot Control of Upright Stance

PubMed Central

Peterka, Robert J.

2009-01-01

There is considerable recent interest in developing humanoid robots. An important substrate for many motor actions in both humans and biped robots is the ability to maintain a statically or dynamically stable posture. Given the success of the human design, one would expect there are lessons to be learned in formulating a postural control mechanism for robots. In this study we limit ourselves to considering the problem of maintaining upright stance. Human stance control is compared to a suggested method for robot stance control called zero moment point (ZMP) compensation. Results from experimental and modeling studies suggest there are two important subsystems that account for the low- and mid-frequency (DC to ~1 Hz) dynamic characteristics of human stance control. These subsystems are 1) a “sensory integration” mechanism whereby orientation information from multiple sensory systems encoding body kinematics (i.e. position, velocity) is flexibly combined to provide an overall estimate of body orientation while allowing adjustments (sensory re-weighting) that compensate for changing environmental conditions, and 2) an “effort control” mechanism that uses kinetic-related (i.e., force-related) sensory information to reduce the mean deviation of body orientation from upright. Functionally, ZMP compensation is directly analogous to how humans appear to use kinetic feedback to modify the main sensory integration feedback loop controlling body orientation. However, a flexible sensory integration mechanism is missing from robot control leaving the robot vulnerable to instability in conditions were humans are able to maintain stance. We suggest the addition of a simple form of sensory integration to improve robot stance control. We also investigate how the biological constraint of feedback time delay influences the human stance control design. The human system may serve as a guide for improved robot control, but should not be directly copied because the constraints on robot and human control are different. PMID:19665564

Comparison of human and humanoid robot control of upright stance.

PubMed

Peterka, Robert J

2009-01-01

There is considerable recent interest in developing humanoid robots. An important substrate for many motor actions in both humans and biped robots is the ability to maintain a statically or dynamically stable posture. Given the success of the human design, one would expect there are lessons to be learned in formulating a postural control mechanism for robots. In this study we limit ourselves to considering the problem of maintaining upright stance. Human stance control is compared to a suggested method for robot stance control called zero moment point (ZMP) compensation. Results from experimental and modeling studies suggest there are two important subsystems that account for the low- and mid-frequency (DC to approximately 1Hz) dynamic characteristics of human stance control. These subsystems are (1) a "sensory integration" mechanism whereby orientation information from multiple sensory systems encoding body kinematics (i.e. position, velocity) is flexibly combined to provide an overall estimate of body orientation while allowing adjustments (sensory re-weighting) that compensate for changing environmental conditions and (2) an "effort control" mechanism that uses kinetic-related (i.e., force-related) sensory information to reduce the mean deviation of body orientation from upright. Functionally, ZMP compensation is directly analogous to how humans appear to use kinetic feedback to modify the main sensory integration feedback loop controlling body orientation. However, a flexible sensory integration mechanism is missing from robot control leaving the robot vulnerable to instability in conditions where humans are able to maintain stance. We suggest the addition of a simple form of sensory integration to improve robot stance control. We also investigate how the biological constraint of feedback time delay influences the human stance control design. The human system may serve as a guide for improved robot control, but should not be directly copied because the constraints on robot and human control are different.

Effects of robot assisted gait training in progressive supranuclear palsy (PSP): a preliminary report

PubMed Central

Sale, Patrizio; Stocchi, Fabrizio; Galafate, Daniele; De Pandis, Maria Francesca; Le Pera, Domenica; Sova, Ivan; Galli, Manuela; Foti, Calogero; Franceschini, Marco

2014-01-01

Background and Purpose: Progressive supranuclear palsy (PSP) is a rare neurodegenerative disease clinically characterized by prominent axial extrapyramidal motor symptoms with frequent falls. Over the last years the introduction of robotic technologies to recover lower limb function has been greatly employed in the rehabilitative practice. This observational trial is aimed at investigating the changes in the main spatiotemporal following end-effector robot training in people with PSP. Method: Pilot observational trial. Participants: Five cognitively intact participants with PSP and gait disorders. Interventions: Patients were submitted to a rehabilitative program of robot-assisted walking sessions for 45 min, 5 times a week for 4 weeks. Main outcome measures: The spatiotemporal parameters at the beginning (T0) and at the end of treatment (T1) were recorded by a gait analysis laboratory. Results: Robot training was feasible, acceptable and safe and all participants completed the prescribed training sessions. All patients showed an improvement in the gait spatiotemporal index (Mean velocity, Cadence, Step length, and Step width) (T0 vs. T1). Conclusions: Robot training is a feasible and safe form of rehabilitation for cognitively intact people with PSP. The lack of side effects and the positive results in the gait parameter index in all patients support the recommendation to extend the trials of this treatment. Further investigation regarding the effectiveness of robot training in time is necessary. Trial registration: ClinicalTrials.gov NCT01668407. PMID:24860459

Audio-visual feedback improves the BCI performance in the navigational control of a humanoid robot

PubMed Central

Tidoni, Emmanuele; Gergondet, Pierre; Kheddar, Abderrahmane; Aglioti, Salvatore M.

2014-01-01

Advancement in brain computer interfaces (BCI) technology allows people to actively interact in the world through surrogates. Controlling real humanoid robots using BCI as intuitively as we control our body represents a challenge for current research in robotics and neuroscience. In order to successfully interact with the environment the brain integrates multiple sensory cues to form a coherent representation of the world. Cognitive neuroscience studies demonstrate that multisensory integration may imply a gain with respect to a single modality and ultimately improve the overall sensorimotor performance. For example, reactivity to simultaneous visual and auditory stimuli may be higher than to the sum of the same stimuli delivered in isolation or in temporal sequence. Yet, knowledge about whether audio-visual integration may improve the control of a surrogate is meager. To explore this issue, we provided human footstep sounds as audio feedback to BCI users while controlling a humanoid robot. Participants were asked to steer their robot surrogate and perform a pick-and-place task through BCI-SSVEPs. We found that audio-visual synchrony between footsteps sound and actual humanoid's walk reduces the time required for steering the robot. Thus, auditory feedback congruent with the humanoid actions may improve motor decisions of the BCI's user and help in the feeling of control over it. Our results shed light on the possibility to increase robot's control through the combination of multisensory feedback to a BCI user. PMID:24987350

Jumping robots: a biomimetic solution to locomotion across rough terrain.

PubMed

Armour, Rhodri; Paskins, Keith; Bowyer, Adrian; Vincent, Julian; Megill, William; Bomphrey, Richard

2007-09-01

This paper introduces jumping robots as a means to traverse rough terrain; such terrain can pose problems for traditional wheeled, tracked and legged designs. The diversity of jumping mechanisms found in nature is explored to support the theory that jumping is a desirable ability for a robot locomotion system to incorporate, and then the size-related constraints are determined from first principles. A series of existing jumping robots are presented and their performance summarized. The authors present two new biologically inspired jumping robots, Jollbot and Glumper, both of which incorporate additional locomotion techniques of rolling and gliding respectively. Jollbot consists of metal hoop springs forming a 300 mm diameter sphere, and when jumping it raises its centre of gravity by 0.22 m and clears a height of 0.18 m. Glumper is of octahedral shape, with four 'legs' that each comprise two 500 mm lengths of CFRP tube articulating around torsion spring 'knees'. It is able to raise its centre of gravity by 1.60 m and clears a height of 1.17 m. The jumping performance of the jumping robot designs presented is discussed and compared against some specialized jumping animals. Specific power output is thought to be the performance-limiting factor for a jumping robot, which requires the maximization of the amount of energy that can be stored together with a minimization of mass. It is demonstrated that this can be achieved through optimization and careful materials selection.

Design of a high-mobility multi-terrain robot based on eccentric paddle mechanism.

PubMed

Sun, Yi; Yang, Yang; Ma, Shugen; Pu, Huayan

Gaining high mobility on versatile terrains is a crucial target for designing a mobile robot toward tasks such as search and rescue, scientific exploration, and environment monitoring. Inspired by dextrous limb motion of animals, a novel form of locomotion has been established in our previous study, by proposing an eccentric paddle mechanism (ePaddle) for integrating paddling motion into a traditional wheeled mechanism. In this paper, prototypes of an ePaddle mechanism and an ePaddle-based quadruped robot are presented. Several locomotion modes, including wheeled rolling, legged crawling, legged race-walking, rotational paddling, oscillating paddling, and paddle-aided rolling, are experimentally verified on testbeds with fabricated prototypes. Experimental results confirm that paddle's motion is useful in all the locomotion modes.

Piezoelectric film load cell robot collision detector

DOEpatents

Lembke, J.R.

1988-03-15

A piezoelectric load cell which can be utilized for detecting collisions and obstruction of a robot arm end effector includes a force sensing element of metallized polyvinylidene fluoride (PVDF) film. The piezoelectric film sensing element and a resilient support pad are clamped in compression between upper and lower plates. The lower plate has a central recess in its upper face for supporting the support pad and sensing element, while the upper plate has a corresponding central projection formed on its lower face for bearing on the sensing element and support pad. The upper and lower plates are dowelled together for concentric alignment and screwed together. The upper and lower plates are also adapted for mounting between the robot arm wrist and end effector. 3 figs.

Piezoelectric film load cell robot collision detector

DOEpatents

Lembke, John R.

1989-04-18

A piezoelectric load cell which can be utilized for detecting collisions and obstruction of a robot arm end effector includes a force sensing element of metallized polyvinylidene fluoride (PVDF) film. The piezoelectric film sensing element and a resilient support pad are clamped in compression between upper and lower plates. The lower plate has a central recess in its upper face for supporting the support pad and sensing element, while the upper plate has a corresponding central projection formed on its lower face for bearing on the sensing element and support pad. The upper and lower plates are dowelled together for concentric alignment and screwed together. The upper and lower plates are also adapted for mounting between the robot arm wrist and end effector.

Piezoelectric film load cell robot collision detector

DOEpatents

Lembke, J.R.

1989-04-18

A piezoelectric load cell which can be utilized for detecting collisions and obstruction of a robot arm end effector includes a force sensing element of metallized polyvinylidene fluoride (PVDF) film. The piezoelectric film sensing element and a resilient support pad are clamped in compression between upper and lower plates. The lower plate has a central recess in its upper face for supporting the support pad and sensing element, while the upper plate has a corresponding central projection formed on its lower face for bearing on the sensing element and support pad. The upper and lower plates are doweled together for concentric alignment and screwed together. The upper and lower plates are also adapted for mounting between the robot arm wrist and end effector. 3 figs.

Methods for freeform fabrication of structures

DOEpatents

Kaufman, Stephen G.; Spletzer, Barry L.

2000-01-01

Rapid prototyping methods and apparatuses that produce structures made of continuous-fiber polymer-matrix composites without the use of molds. Instead of using molds, the composite structure is fabricated patch by patch in layers or wraps, using a two- or three-axis stage connected to a rapidly-reconfigurable forming surface, and a robot arm to position the evolving composite structure, which are both programmable devices. Because programmable devices are included, i.e., a robot and a two- or three-axis stage connected to the reconfigurable forming surface, the control program needed to produce a desired shape can be easily modified to automatically generate the desired shape from an electronic model (e.g., using a CAD/CAM system) of the desired (predetermined) shape.

Proctorship and mentoring: Its backbone and application in robotic surgery.

PubMed

Santok, Glen Denmer; Raheem, Ali Abdel; Kim, Lawrence Hc; Chang, Kidon; Chung, Byung Ha; Choi, Young Deuk; Rha, Koon Ho

2016-12-01

In pursuit of continuing medical education in robotic surgery, several forms of training have been implemented. This variable application of curriculum has brought acquisition of skills in a heterogeneous and unstandardized fashion from different parts of the world. Recently, efforts have been made to provide cost effective and well-structured curricula with the aim of bridging the gap between formal fellowship training and short courses. Proctorship training has been implicated on some curriculum to provide excellent progression during the learning curve while ensuring patient safety.

System model the processing of heterogeneous sensory information in robotized complex

NASA Astrophysics Data System (ADS)

Nikolaev, V.; Titov, V.; Syryamkin, V.

2018-05-01

Analyzed the scope and the types of robotic systems consisting of subsystems of the form "a heterogeneous sensors data processing subsystem". On the basis of the Queuing theory model is developed taking into account the unevenness of the intensity of information flow from the sensors to the subsystem of information processing. Analytical solution to assess the relationship of subsystem performance and uneven flows. The research of the obtained solution in the range of parameter values of practical interest.

Robonaut 2 performs tests in the U.S. Laboratory

NASA Image and Video Library

2013-01-17

ISS034-E-031125 (17 Jan. 2013) --- In the International Space Station's Destiny laboratory, Robonaut 2 is pictured during a round of testing for the first humanoid robot in space. Ground teams put Robonaut through its paces as they remotely commanded it to operate valves on a task board. Robonaut is a testbed for exploring new robotic capabilities in space, and its form and dexterity allow it to use the same tools and control panels as its human counterparts do aboard the station.

Robonaut 2 performs tests in the U.S. Laboratory

NASA Image and Video Library

2013-01-17

ISS034-E-031124 (17 Jan. 2013) --- In the International Space Station's Destiny laboratory, Robonaut 2 is pictured during a round of testing for the first humanoid robot in space. Ground teams put Robonaut through its paces as they remotely commanded it to operate valves on a task board. Robonaut is a testbed for exploring new robotic capabilities in space, and its form and dexterity allow it to use the same tools and control panels as its human counterparts do aboard the station.

Robonaut 2 in the U.S. Laboratory

NASA Image and Video Library

2013-01-02

ISS034-E-013990 (2 Jan. 2013) --- In the International Space Station’s Destiny laboratory, Robonaut 2 is pictured during a round of testing for the first humanoid robot in space. Ground teams put Robonaut through its paces as they remotely commanded it to operate valves on a task board. Robonaut is a testbed for exploring new robotic capabilities in space, and its form and dexterity allow it to use the same tools and control panels as its human counterparts do aboard the station.

Closing the Loop: Control and Robot Navigation in Wireless Sensor Networks

DTIC Science & Technology

2006-09-05

University of California at Berkeley Technical Report No. UCB/EECS- 2006 -112 http://www.eecs.berkeley.edu/Pubs/TechRpts/ 2006 /EECS- 2006 -112.html September 5... 2006 Report Documentation Page Form ApprovedOMB No. 0704-0188 Public reporting burden for the collection of information is estimated to average 1...DATE 05 SEP 2006 2. REPORT TYPE 3. DATES COVERED 00-00- 2006 to 00-00- 2006 4. TITLE AND SUBTITLE Closing the Loop: Control and Robot Navigation in

Computational structures for robotic computations

NASA Technical Reports Server (NTRS)

Lee, C. S. G.; Chang, P. R.

1987-01-01

The computational problem of inverse kinematics and inverse dynamics of robot manipulators by taking advantage of parallelism and pipelining architectures is discussed. For the computation of inverse kinematic position solution, a maximum pipelined CORDIC architecture has been designed based on a functional decomposition of the closed-form joint equations. For the inverse dynamics computation, an efficient p-fold parallel algorithm to overcome the recurrence problem of the Newton-Euler equations of motion to achieve the time lower bound of O(log sub 2 n) has also been developed.

Prospective evaluation of short-term impact and recovery of health related quality of life in men undergoing robotic assisted laparoscopic radical prostatectomy versus open radical prostatectomy.

PubMed

Miller, Javier; Smith, Angela; Kouba, Erik; Wallen, Eric; Pruthi, Raj S

2007-09-01

In the last few years there have been increasing claims that robotic assisted laparoscopic radical prostatectomy decreases short-term morbidity in patients undergoing surgical treatment for prostate cancer. However, there is surprisingly little objective evidence to support this point, which is often used to market the procedure to patients. To address this issue we prospectively evaluated patients undergoing open and robotic assisted laparoscopic radical prostatectomy at baseline and weekly through the postoperative period using a validated questionnaire. A total of 162 men undergoing radical prostatectomy, including open radical prostatectomy in 120 and robotic assisted laparoscopic radical prostatectomy in 42, for clinically localized prostate cancer completed the SF-12, version 2 Physical and Mental Health Survey Acute Form preoperatively and each week postoperatively for 6 weeks. Physical and Mental Component Scores were calculated from the questionnaires at each time point. Comparisons between the 2 surgical approaches were made at each time point. No significant differences were seen between the open and robotic assisted laparoscopic radical prostatectomy groups with regard to patient age, clinical stage or preoperative prostate specific antigen. Mean surgical blood loss was significantly higher in the open group compared to that in the robotic assisted laparoscopic group. Physical Component Scores in the robotic assisted laparoscopic group were significantly higher than those in the open cohort beginning postoperative week 1 and extending through week 6. On statistical extrapolation Physical Component Scores returned to baseline between weeks 5 and 6 postoperatively in the robotic assisted laparoscopic group and between weeks 6 and 7 in the open group. Mental Component Score scores were not statistically different between the groups except preoperatively. This study helps prospectively define short-term health related quality of life in patients undergoing robotic assisted laparoscopic vs open radical prostatectomy. Higher physical scores were seen in the robotic assisted laparoscopic group than the open group beginning postoperative week 1 and continuing weekly throughout the 6-week study period. Physical Component Score scores returned to baseline sooner in the robotic assisted laparoscopic group than in the open group.

Biofeedback for robotic gait rehabilitation

PubMed Central

Lünenburger, Lars; Colombo, Gery; Riener, Robert

2007-01-01

Background Development and increasing acceptance of rehabilitation robots as well as advances in technology allow new forms of therapy for patients with neurological disorders. Robot-assisted gait therapy can increase the training duration and the intensity for the patients while reducing the physical strain for the therapist. Optimal training effects during gait therapy generally depend on appropriate feedback about performance. Compared to manual treadmill therapy, there is a loss of physical interaction between therapist and patient with robotic gait retraining. Thus, it is difficult for the therapist to assess the necessary feedback and instructions. The aim of this study was to define a biofeedback system for a gait training robot and test its usability in subjects without neurological disorders. Methods To provide an overview of biofeedback and motivation methods applied in gait rehabilitation, previous publications and results from our own research are reviewed. A biofeedback method is presented showing how a rehabilitation robot can assess the patients' performance and deliver augmented feedback. For validation, three subjects without neurological disorders walked in a rehabilitation robot for treadmill training. Several training parameters, such as body weight support and treadmill speed, were varied to assess the robustness of the biofeedback calculation to confounding factors. Results The biofeedback values correlated well with the different activity levels of the subjects. Changes in body weight support and treadmill velocity had a minor effect on the biofeedback values. The synchronization of the robot and the treadmill affected the biofeedback values describing the stance phase. Conclusion Robot-aided assessment and feedback can extend and improve robot-aided training devices. The presented method estimates the patients' gait performance with the use of the robot's existing sensors, and displays the resulting biofeedback values to the patients and therapists. The therapists can adapt the therapy and give further instructions to the patients. The feedback might help the patients to adapt their movement patterns and to improve their motivation. While it is assumed that these novel methods also improve training efficacy, the proof will only be possible with future in-depth clinical studies. PMID:17244363

Self-Organizing Map With Time-Varying Structure to Plan and Control Artificial Locomotion.

PubMed

Araujo, Aluizio F R; Santana, Orivaldo V

2015-08-01

This paper presents an algorithm, self-organizing map-state trajectory generator (SOM-STG), to plan and control legged robot locomotion. The SOM-STG is based on an SOM with a time-varying structure characterized by constructing autonomously close-state trajectories from an arbitrary number of robot postures. Each trajectory represents a cyclical movement of the limbs of an animal. The SOM-STG was designed to possess important features of a central pattern generator, such as rhythmic pattern generation, synchronization between limbs, and swapping between gaits following a single command. The acquisition of data for SOM-STG is based on learning by demonstration in which the data are obtained from different demonstrator agents. The SOM-STG can construct one or more gaits for a simulated robot with six legs, can control the robot with any of the gaits learned, and can smoothly swap gaits. In addition, SOM-STG can learn to construct a state trajectory form observing an animal in locomotion. In this paper, a dog is the demonstrator agent.

Architecture for reactive planning of robot actions

NASA Astrophysics Data System (ADS)

Riekki, Jukka P.; Roening, Juha

1995-01-01

In this article, a reactive system for planning robot actions is described. The described hierarchical control system architecture consists of planning-executing-monitoring-modelling elements (PEMM elements). A PEMM element is a goal-oriented, combined processing and data element. It includes a planner, an executor, a monitor, a modeler, and a local model. The elements form a tree-like structure. An element receives tasks from its ancestor and sends subtasks to its descendants. The model knowledge is distributed into the local models, which are connected to each other. The elements can be synchronized. The PEMM architecture is strictly hierarchical. It integrated planning, sensing, and modelling into a single framework. A PEMM-based control system is reactive, as it can cope with asynchronous events and operate under time constraints. The control system is intended to be used primarily to control mobile robots and robot manipulators in dynamic and partially unknown environments. It is suitable especially for applications consisting of physically separated devices and computing resources.