Sample records for decommissioning robotics development

  1. Application of Robotics in Decommissioning and Decontamination - 12536

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

    Banford, Anthony; Kuo, Jeffrey A.; Bowen, R.A.

    Decommissioning and dismantling of nuclear facilities is a significant challenge worldwide and one which is growing in size as more plants reach the end of their operational lives. The strategy chosen for individual projects varies from the hands-on approach with significant manual intervention using traditional demolition equipment at one extreme to bespoke highly engineered robotic solutions at the other. The degree of manual intervention is limited by the hazards and risks involved, and in some plants are unacceptable. Robotic remote engineering is often viewed as more expensive and less reliable than manual approaches, with significant lead times and capital expenditure.more » However, advances in robotics and automation in other industries offer potential benefits for future decommissioning activities, with the high probability of reducing worker exposure and other safety risks as well as reducing the schedule and costs required to complete these activities. Some nuclear decommissioning tasks and facility environments are so hazardous that they can only be accomplished by exclusive use of robotic and remote intervention. Less hazardous tasks can be accomplished by manual intervention and the use of PPE. However, PPE greatly decreases worker productivity and still exposes the worker to both risk and dose making remote operation preferable to achieve ALARP. Before remote operations can be widely accepted and deployed, there are some economic and technological challenges that must be addressed. These challenges will require long term investment commitments in order for technology to be: - Specifically developed for nuclear applications; - At a sufficient TRL for practical deployment; - Readily available as a COTS. Tremendous opportunities exist to reduce cost and schedule and improve safety in D and D activities through the use of robotic and/or tele-operated systems. - Increasing the level of remote intervention reduces the risk and dose to an operator. Better environmental information identifies hazards, which can be assessed, managed and mitigated. - Tele-autonomous control in a congested unstructured environment is more reliable compared to a human operator. Advances in Human Machine Interfaces contribute to reliability and task optimization. Use of standardized dexterous manipulators and COTS, including standardized communication protocols reduces project time scales. - The technologies identified, if developed to a sufficient TRL would all contribute to cost reductions. Additionally, optimizing a project's position on a Remote Intervention Scale, a Bespoke Equipment Scale and a Tele-autonomy Scale would provide cost reductions from the start of a project. Of the technologies identified, tele-autonomy is arguably the most significant, because this would provide a fundamental positive change for robotic control in the nuclear industry. The challenge for technology developers is to develop versatile robotic technology that can be economically deployed to a wide range of future D and D projects and industrial sectors. The challenge for facility owners and project managers is to partner with the developers to provide accurate systems requirements and an open and receptive environment for testing and deployment. To facilitate this development and deployment effort, the NNL and DOE have initiated discussions to explore a collaborative R and D program that would accelerate development and support the optimum utilization of resources. (authors)« less

  2. Overview of Remote Handling Equipment Used for the NPP A1 Decommissioning - 12141

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

    Kravarik, K.; Medved, J.; Pekar, A.

    The first Czechoslovak NPP A1 was in operation from 1972 to 1977 and it was finally shutdown due to an accident (level 4 according to the INES). The presence of radioactive, toxic or hazardous materials limits personnel access to facilities and therefore it is necessary to use remote handling technologies for some most difficult characterization, retrieval, decontamination and dismantling tasks. The history of remote handling technologies utilization started in nineties when the spent nuclear fuel, including those fuel assemblies damaged during the accident, was prepared for the transport to Russia. Subsequent significant development of remote handling equipment continued during implementationmore » of the NPP A1 decommissioning project - Stage I and ongoing Stage II. Company VUJE, Inc. is the general contractor for both mentioned stages of the decommissioning project. Various remote handling manipulators and robotics arms were developed and used. It includes remotely controlled vehicle manipulator MT-15 used for characterisation tasks in hostile and radioactive environment, special robust manipulator DENAR-41 used for the decontamination of underground storage tanks and multi-purposes robotics arms MT-80 and MT-80A developed for variety of decontamination and dismantling tasks. The heavy water evaporator facility dismantling is the current task performed remotely by robotics arm MT-80. The heavy water evaporator is located inside the main production building in the room No. 220 where loose surface contamination varies from 10 Bq/cm{sup 2} to 1x10{sup 3} Bq/cm{sup 2}, dose rate is up to 1.5 mGy/h and the feeding pipeline contained liquid RAW with high tritium content. Presented manipulators have been designed for broad range of decommissioning tasks. They are used for recognition, sampling, waste retrieval from large underground tanks, decontamination and dismantling of technological equipments. Each of the mentioned fields claims specific requirements on design of manipulator, their operation and control systems as well as tools of manipulators. Precise planning of decontamination and dismantling tasks is necessary for its successful performance by remotely controlled manipulator. The example of the heavy water evaporator demonstrates typical procedure for decommissioning of contaminated technological equipment by remotely controlled manipulators - planning of decommissioning tasks, preparatory tasks, modification of applied tools and design of specific supporting constructions for manipulator and finally decontamination and dismantling themselves. Due to the particularly demanding conditions in highly contaminated A1 NPP, a team of experts with special know-how in the field of decommissioning has grown up, and unique technological equipment enabling effective and safe work in environment with a high radiation level has been developed. (authors)« less

  3. Automated Kinematics Equations Generation and Constrained Motion Planning Resolution for Modular and Reconfigurable Robots

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

    Pin, Francois G.; Love, Lonnie L.; Jung, David L.

    2004-03-29

    Contrary to the repetitive tasks performed by industrial robots, the tasks in most DOE missions such as environmental restoration or Decontamination and Decommissioning (D&D) can be characterized as ''batches-of-one'', in which robots must be capable of adapting to changes in constraints, tools, environment, criteria and configuration. No commercially available robot control code is suitable for use with such widely varying conditions. In this talk we present our development of a ''generic code'' to allow real time (at loop rate) robot behavior adaptation to changes in task objectives, tools, number and type of constraints, modes of controls or kinematics configuration. Wemore » present the analytical framework underlying our approach and detail the design of its two major modules for the automatic generation of the kinematics equations when the robot configuration or tools change and for the motion planning under time-varying constraints. Sample problems illustrating the capabilities of the developed system are presented.« less

  4. 75 FR 43158 - Amended Record of Decision for the Decommissioning of Eight Surplus Production Reactors at the...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-07-23

    ... would be exposed would be controlled by such means as remote handling, use of robotics, and the use of... and deployment of robotics in an array of field applications), data collection and validation, worker...

  5. HLRW management during MR reactor decommissioning in NRC 'Kurchatov Institute'

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

    Chesnokov, Alexander; Ivanov, Oleg; Kolyadin, Vyacheslav

    2013-07-01

    A program of decommissioning of MR research reactor in the Kurchatov institute started in 2008. The decommissioning work presumed a preliminary stage, which included: removal of spent fuel from near reactor storage; removal of spent fuel assemble of metal liquid loop channel from a core; identification, sorting and disposal of radioactive objects from gateway of the reactor; identification, sorting and disposal of radioactive objects from cells of HLRW storage of the Kurchatov institute for radwaste creating form the decommissioning of MR. All these works were performed by a remote controlled means with use of a remote identification methods of highmore » radioactive objects. A distribution of activity along high radiated objects was measured by a collimated radiometer installed on the robot Brokk-90, a gamma image of the object was registered by gamma-visor. Spectrum of gamma radiation was measured by a gamma locator and semiconductor detector system. For identification of a presence of uranium isotopes in the HLRW a technique, based on the registration of characteristic radiation of U, was developed. For fragmentation of high radiated objects was used a cold cutting technique and dust suppression system was applied for reduction of volume activity of aerosols in air. The management of HLRW was performed by remote controlled robots Brokk-180 and Brokk-330. They executed sorting, cutting and parking of high radiated part of contaminated equipment. The use of these techniques allowed to reduce individual and collective doses of personal performed the decommissioning. The average individual dose of the personnel was 1,9 mSv/year in 2011, and the collective dose is estimated by 0,0605 man x Sv/year. Use of the remote control machines enables reducing the number of working personal (20 men) and doses. X-ray spectrometric methods enable determination of a presence of the U in high radiated objects and special cans and separation of them for further spent fuel inspection. The sorting of radwaste enabled shipping of the LLRW and ILRW to special repositories and keeping of the HLRW for decay in the Kurchatov institute repository. (authors)« less

  6. PaR Tensile Truss for Nuclear Decontamination and Decommissioning - 12467

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

    Doebler, Gary R.

    2012-07-01

    Remote robotics and manipulators are commonly used in nuclear decontamination and decommissioning (D and D) processes. D and D robots are often deployed using rigid telescoping masts in order to apply and counteract side loads. However, for very long vertical reaches (15 meters or longer) and high lift capacities, a telescopic is usually not practical due to the large cross section and weight required to make the mast stiff and resist seismic forces. For those long vertical travel applications, PaR Systems has recently developed the Tensile Truss, a rigid, hoist-driven 'structure' that employs six independent wire rope hoists to achievemore » long vertical reaches. Like a mast, the Tensile Truss is typically attached to a bridge-mounted trolley and is used as a platform for robotic manipulators and other remotely operated tools. For suspended, rigid deployment of D and D tools with very long vertical reaches, the Tensile Truss can be a better alternative than a telescoping mast. Masts have length limitations that can make them impractical or unworkable as lengths increase. The Tensile Truss also has the added benefits of increased safety, ease of decontamination, superior stiffness and ability to withstand excessive side loading. A Tensile Truss system is currently being considered for D and D operations and spent fuel recovery at the Fukushima Daiichi Nuclear Power Plant in Japan. This system will deploy interchangeable tools such as underwater hydraulic manipulators, hydraulic shears and crushers, grippers and fuel grapples. (authors)« less

  7. Y-12 Plant decontamination and decommissioning technology logic diagram for Building 9201-4. Volume 2: Technology logic diagram

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

    NONE

    1994-09-01

    The Y-12 Plant Decontamination and Decommissioning Technology Logic Diagram for Building 9201-4 (TLD) was developed to provide a decision-support tool that relates decontamination and decommissioning (D and D) problems at Bldg. 9201-4 to potential technologies that can remediate these problems. This TLD identifies the research, development, demonstration, testing, and evaluation needed for sufficient development of these technologies to allow for technology transfer and application to D and D and waste management (WM) activities. It is essential that follow-on engineering studies be conducted to build on the output of this project. These studies will begin by selecting the most promising technologiesmore » identified in the TLD and by finding an optimum mix of technologies that will provide a socially acceptable balance between cost and risk. The TLD consists of three fundamentally separate volumes: Vol. 1 (Technology Evaluation), Vol. 2 (Technology Logic Diagram), and Vol. 3 (Technology Evaluation Data Sheets). Volume 2 contains the logic linkages among environmental management goals, environmental problems, and the various technologies that have the potential to solve these problems. Volume 2 has been divided into five sections: Characterization, Decontamination, Dismantlement, Robotics/Automation, and Waste Management. Each section contains logical breakdowns of the Y-12 D and D problems by subject area and identifies technologies that can be reasonably applied to each D and D challenge.« less

  8. Image-Based Visual Servoing for Robotic Systems: A Nonlinear Lyapunov-Based Control Approach

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

    Dixon, Warren

    2004-06-01

    There is significant motivation to provide robotic systems with improved autonomy as a means to significantly accelerate deactivation and decommissioning (D&D) operations while also reducing the associated costs, removing human operators from hazardous environments, and reducing the required burden and skill of human operators. To achieve improved autonomy, this project focused on the basic science challenges leading to the development of visual servo controllers. The challenge in developing these controllers is that a camera provides 2-dimensional image information about the 3-dimensional Euclidean-space through a perspective (range dependent) projection that can be corrupted by uncertainty in the camera calibration matrix andmore » by disturbances such as nonlinear radial distortion. Disturbances in this relationship (i.e., corruption in the sensor information) propagate erroneous information to the feedback controller of the robot, leading to potentially unpredictable task execution. This research project focused on the development of a visual servo control methodology that targets compensating for disturbances in the camera model (i.e., camera calibration and the recovery of range information) as a means to achieve predictable response by the robotic system operating in unstructured environments. The fundamental idea is to use nonlinear Lyapunov-based techniques along with photogrammetry methods to overcome the complex control issues and alleviate many of the restrictive assumptions that impact current robotic applications. The outcome of this control methodology is a plug-and-play visual servoing control module that can be utilized in conjunction with current technology such as feature recognition and extraction to enable robotic systems with the capabilities of increased accuracy, autonomy, and robustness, with a larger field of view (and hence a larger workspace). The developed methodology has been reported in numerous peer-reviewed publications and the performance and enabling capabilities of the resulting visual servo control modules have been demonstrated on mobile robot and robot manipulator platforms.« less

  9. Dual Arm Work Platform teleoperated robotics system. Innovative technology summary report

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

    NONE

    The US Department of Energy (DOE) and the Federal Energy Technology Center (FETC) has developed a Large Scale Demonstration Project (LSDP) at the Chicago Pile-5 Research Reactor (CP-5) at Argonne National Laboratory-East (ANL). The objective of the LSDP is to demonstrate potentially beneficial Deactivation and Decommissioning (D and D) technologies in comparison with current baseline technologies. The Dual Arm Work Platform (DAWP) demonstration focused on the use of the DAWP to segment and dismantle the CP-5 reactor tank and surrounding bio-shield components (including the graphite block reflector, lead and boral sheeting) and performing some minor tasks best suited for themore » use of teleoperated robotics that were not evaluated in this demonstration. The DAWP system is not a commercially available product at this time. The CP-5 implementation was its first D and D application. The demonstration of the DAWP was to determine the areas on which improvements must be made to make this technology commercially viable. The results of the demonstration are included in this greenbook. It is the intention of the developers to incorporate lessons learned at this demonstration and current technological advancements in robotics into the next generation of the DAWP.« less

  10. NONLINEAR FORCE PROFILE USED TO INCREASE THE PERFORMANCE OF A HAPTIC USER INTERFACE FOR TELEOPERATING A ROBOTIC HAND

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

    Anthony L. Crawford

    MODIFIED PAPER TITLE AND ABSTRACT DUE TO SLIGHTLY MODIFIED SCOPE: TITLE: Nonlinear Force Profile Used to Increase the Performance of a Haptic User Interface for Teleoperating a Robotic Hand Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be accomplished in hazardous environments, such as hot cells, glove boxes, decommissioning, explosives disarmament, and space. The research associated with this paper hypothesizes that a user interface and complementary radiation compatible robotic hand that integrates the human hand’s anthropometric properties, speed capability, nonlinear strength profile, reduction of active degrees of freedommore » during the transition from manipulation to grasping, and just noticeable difference force sensation characteristics will enhance a user’s teleoperation performance. The main contribution of this research is in that a system that concisely integrates all these factors has yet to be developed and furthermore has yet to be applied to a hazardous environment as those referenced above. In fact, the most prominent slave manipulator teleoperation technology in use today is based on a design patented in 1945 (Patent 2632574) [1]. The robotic hand/user interface systems of similar function as the one being developed in this research limit their design input requirements in the best case to only complementing the hand’s anthropometric properties, speed capability, and linearly scaled force application relationship (e.g. robotic force is a constant, 4 times that of the user). In this paper a nonlinear relationship between the force experienced between the user interface and the robotic hand was devised based on property differences of manipulation and grasping activities as they pertain to the human hand. The results show that such a relationship when subjected to a manipulation task and grasping task produces increased performance compared to the traditional linear scaling techniques used by other systems. Key Words: Teleoperation, Robotic Hand, Robotic Force Scaling« less

  11. Mobile robotics application in the nuclear industry

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

    Jones, S.L.; White, J.R.

    1995-03-01

    Mobile robots have been developed to perform hazardous operations in place of human workers. Applications include nuclear plant inspection/maintenance, decontamination and decommissioning police/military explosive ordinance disposal (EOD), hostage/terrorist negotiations and fire fighting. Nuclear facilities have proven that robotic applications can be cost-effective solutions to reducing personnel exposure and plant downtime. The first applications of mobile robots in the nuclear industry began in the early 1980`s, with the first vehicles being one of a kind machines or adaptations of commercial EOD robots. These activities included efforts by numerous commercial companies, the U.S. Nuclear Regulatory Commission, EPRI, and several national laboratories. Somemore » of these efforts were driven by the recovery and cleanup activities at TMI which demonstrated the potential and need for a remote means of performing surveillance and maintenance tasks in nuclear plants. The use of these machines is now becoming commonplace in nuclear facilities throughout the world. The hardware maturity and the confidence of the users has progressed to the point where the applications of mobile robots is not longer considered a novelty. These machines are being used in applications where the result is to help achieve more aggressive goals for personnel radiation exposure and plant availability, perform tasks more efficiently, and allow plant operators to retrieve information from areas previously considered inaccessible. Typical examples include surveillance in high radiation areas (during operation and outage activities), radiation surveys, waste handling, and decontamination evolutions. This paper will discuss this evolution including specific applications experiences, examples of currently available technology, and the benefits derived from the use of mobile robotic vehicles in commercial nuclear power facilities.« less

  12. Dynamic modelling and parameter estimation of a hydraulic robot manipulator using a multi-objective genetic algorithm

    NASA Astrophysics Data System (ADS)

    Montazeri, A.; West, C.; Monk, S. D.; Taylor, C. J.

    2017-04-01

    This paper concerns the problem of dynamic modelling and parameter estimation for a seven degree of freedom hydraulic manipulator. The laboratory example is a dual-manipulator mobile robotic platform used for research into nuclear decommissioning. In contrast to earlier control model-orientated research using the same machine, the paper develops a nonlinear, mechanistic simulation model that can subsequently be used to investigate physically meaningful disturbances. The second contribution is to optimise the parameters of the new model, i.e. to determine reliable estimates of the physical parameters of a complex robotic arm which are not known in advance. To address the nonlinear and non-convex nature of the problem, the research relies on the multi-objectivisation of an output error single-performance index. The developed algorithm utilises a multi-objective genetic algorithm (GA) in order to find a proper solution. The performance of the model and the GA is evaluated using both simulated (i.e. with a known set of 'true' parameters) and experimental data. Both simulation and experimental results show that multi-objectivisation has improved convergence of the estimated parameters compared to the single-objective output error problem formulation. This is achieved by integrating the validation phase inside the algorithm implicitly and exploiting the inherent structure of the multi-objective GA for this specific system identification problem.

  13. A Multidisciplinary Approach to Decommissioning Offshore Wells Using Stakeholder Engagement, Risk Identification, and the United Nations Sustainable Development Goals

    NASA Astrophysics Data System (ADS)

    Battalora, L.; Prasad, M.

    2017-12-01

    Context/PurposeThe typical oil and gas project lifecycle includes acquisition, exploration, drilling, production, and decommissioning phases. The oil and gas industry (Industry) has become proactive in identifying and mitigating health, safety, security, environment, and social responsibility risks during these phases as well as designing for sustainable development. With many fields reaching the end stages of the lifecycle, Industry is faced with the challenge of identifying and evaluating risks in the decommissioning phase. The level of challenge is increased when planning for the decommissioning of offshore wells. This paper describes tools that can be applied in the multidisciplinary design of the decommissioning program including use of the United Nations Sustainable Development Goals (SDGs). MethodsStakeholder engagement is key to a successful project. Typical stakeholders in an oil and gas project include the community, regulatory agencies, federal, state, and local governments, private investors, academia, and non-governmental organizations. Before engagement begins, stakeholders must be identified as well as their level of influence in the project. Relationships between stakeholders are "mapped" providing a better understanding of priorities and areas of concentration. Project risks are identified and ranked according to likelihood and impact. Mitigations are matched to risks. Sustainable development is implemented through acknowledgement of societal, economic, and environmental impacts in engineering design. InterpretationRecently, the United Nations Development Programme (UNDP), the International Finance Corporation (IFC) and IPIECA, the global oil and gas industry association for environmental and social issues, partnered to develop the publication, Mapping the oil and gas industry to the Sustainable Development Goals: An Atlas. SDGs have been linked to Industry operations and can serve as a guide for the offshore decommissioning phase ConclusionA multidisciplinary approach using stakeholder engagement and risk identification tools and the United Nations Sustainable Development Goals is recommended for designing the decommissioning program of offshore wells. This recommendation also applies to onshore decommissioning programs.

  14. Radiochemistry Lab Decommissioning and Dismantlement. AECL, Chalk River Labs, Ontario, Canada

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

    Kenny, Stephen

    2008-01-15

    Atomic Energy of Canada (AECL) was originally founded in the mid 1940's to perform research in radiation and nuclear areas under the Canadian Defense Department. In the mid 50's The Canadian government embarked on several research and development programs for the development of the Candu Reactor. AECL was initially built as a temporary site and is now faced with many redundant buildings. Prior to 2004 small amounts of Decommissioning work was in progress. Many reasons for deferring decommissioning activities were used with the predominant ones being: 1. Reduction in radiation doses to workers during the final dismantlement, 2. Development ofmore » a long-term solution for the management of radioactive wastes in Canada, 3. Financial constraints presented by the number of facilities shutdown that would require decommissioning funds and the absence of an approved funding strategy. This has led to the development of a comprehensive decommissioning plan that is all inclusive of AECL's current and legacy liabilities. Canada does not have a long-term disposal site; therefore waste minimization becomes the driving factor behind decontamination for decommissioning before and during dismantlement. This decommissioning job was a great learning experience for decommissioning and the associated contractors who worked on this project. Throughout the life of the project there was a constant focus on waste minimization. This focus was constantly in conflict with regulatory compliance primarily with respect to fire regulations and protecting the facility along with adjacent facilities during the decommissioning activities. Discrepancies in historical documents forced the project to treat every space as a contaminated space until proven differently. Decommissioning and dismantlement within an operating site adds to the complexity of the tasks especially when it is being conducted in the heart of the plant. This project was very successful with no lost time accidents in over one hundred thousand hours worked, on schedule and under budget despite some significant changes throughout the decommissioning phases. The actual cost to decommission this building will come in under 9 million dollars vs. an estimated 14.5 million dollars. This paper will cover some of the unique aspects of dismantling a radioactive building that has seen pretty much every element of the periodic table pass through it with the client requirement focused on minimization of radioactive waste volumes.« less

  15. Status of the NRC Decommissioning Program

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

    Orlando, D. A.; Camper, L.; Buckley, J.

    2003-02-24

    On July 21, 1997, the U.S. Nuclear Regulatory Commission (NRC) published the final rule on Radiological Criteria for License Termination (the License Termination Rule or LTR) as Subpart E to 10 CFR Part 20. NRC regulations require that materials licensees submit Decommissioning Plans to support the decommissioning of its facility if it is required by license condition, or if the procedures and activities necessary to carry out the decommissioning have not been approved by NRC and these procedures could increase the potential health and safety impacts to the workers or the public. NRC regulations also require that reactor licensees submitmore » Post-shutdown Decommissioning Activities Reports and License Termination Plans to support the decommissioning of nuclear power facilities. This paper provides an update on the status of the NRC's decommissioning program that was presented during WM'02. It discusses the staff's current efforts to streamline the decommissioning process, current issues being faced in the decommissioning program, such as partial site release and restricted release of sites, as well as the status of the decommissioning of complex sites and those listed in the Site Decommissioning Management Plan. The paper discusses the status of permanently shut-down commercial power reactors and the transfer of complex decommissioning sites and sites listed on the SDMP to Agreement States. Finally the paper provides an update of the status of various tools and guidance the NRC is developing to assist licensees during decommissioning, including an effort to consolidate and risk-inform decommissioning guidance.« less

  16. 78 FR 78338 - Japan-U.S. Decommissioning and Remediation Fukushima Recovery Forum Tokyo, Japan February 18-19...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-12-26

    ... nuclear energy research and development, the decommissioning of the Fukushima Dai-ichi Nuclear Power Station, environmental management, emergency management, nuclear security, and safety and regulatory issues. The Decommissioning and Environmental Management Working Group (DEMWG) under the Bilateral...

  17. 77 FR 38339 - Dairyland Power Cooperative, La Crosse Boiling Water Reactor Exemption From Certain Security...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-06-27

    ... intruders and ensure the integrity of physical barriers or other components and functions of the onsite... decommissioning plan is considered in the post-shutdown decommissioning activities report (PSDAR). The DPC has been conducting dismantlement and decommissioning activities. The DPC is developing an onsite...

  18. Decommissioning Handbook

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

    Not Available

    1994-03-01

    The Decommissioning Handbook is a technical guide for the decommissioning of nuclear facilities. The decommissioning of a nuclear facility involves the removal of the radioactive and, for practical reasons, hazardous materials to enable the facility to be released and not represent a further risk to human health and the environment. This handbook identifies and technologies and techniques that will accomplish these objectives. The emphasis in this handbook is on characterization; waste treatment; decontamination; dismantling, segmenting, demolition; and remote technologies. Other aspects that are discussed in some detail include the regulations governing decommissioning, worker and environmental protection, and packaging and transportationmore » of the waste materials. The handbook describes in general terms the overall decommissioning project, including planning, cost estimating, and operating practices that would ease preparation of the Decommissioning Plan and the decommissioning itself. The reader is referred to other documents for more detailed information. This Decommissioning Handbook has been prepared by Enserch Environmental Corporation for the US Department of Energy and is a complete restructuring of the original handbook developed in 1980 by Nuclear Energy Services. The significant changes between the two documents are the addition of current and the deletion of obsolete technologies and the addition of chapters on project planning and the Decommissioning Plan, regulatory requirements, characterization, remote technology, and packaging and transportation of the waste materials.« less

  19. Development of Safety Assessment Code for Decommissioning of Nuclear Facilities

    NASA Astrophysics Data System (ADS)

    Shimada, Taro; Ohshima, Soichiro; Sukegawa, Takenori

    A safety assessment code, DecDose, for decommissioning of nuclear facilities has been developed, based on the experiences of the decommissioning project of Japan Power Demonstration Reactor (JPDR) at Japan Atomic Energy Research Institute (currently JAEA). DecDose evaluates the annual exposure dose of the public and workers according to the progress of decommissioning, and also evaluates the public dose at accidental situations including fire and explosion. As for the public, both the internal and the external doses are calculated by considering inhalation, ingestion, direct radiation from radioactive aerosols and radioactive depositions, and skyshine radiation from waste containers. For external dose for workers, the dose rate from contaminated components and structures to be dismantled is calculated. Internal dose for workers is calculated by considering dismantling conditions, e.g. cutting speed, cutting length of the components and exhaust velocity. Estimation models for dose rate and staying time were verified by comparison with the actual external dose of workers which were acquired during JPDR decommissioning project. DecDose code is expected to contribute the safety assessment for decommissioning of nuclear facilities.

  20. Radioactive Waste Management and Nuclear Facility Decommissioning Progress in Iraq - 13216

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

    Al-Musawi, Fouad; Shamsaldin, Emad S.; Jasim, Hadi

    2013-07-01

    Management of Iraq's radioactive wastes and decommissioning of Iraq's former nuclear facilities are the responsibility of Iraq's Ministry of Science and Technology (MoST). The majority of Iraq's former nuclear facilities are in the Al-Tuwaitha Nuclear Research Center located a few kilometers from the edge of Baghdad. These facilities include bombed and partially destroyed research reactors, a fuel fabrication facility and radioisotope production facilities. Within these facilities are large numbers of silos, approximately 30 process or waste storage tanks and thousands of drums of uncharacterised radioactive waste. There are also former nuclear facilities/sites that are outside of Al-Tuwaitha and these includemore » the former uranium processing and waste storage facility at Jesira, the dump site near Adaya, the former centrifuge facility at Rashdiya and the former enrichment plant at Tarmiya. In 2005, Iraq lacked the infrastructure needed to decommission its nuclear facilities and manage its radioactive wastes. The lack of infrastructure included: (1) the lack of an organization responsible for decommissioning and radioactive waste management, (2) the lack of a storage facility for radioactive wastes, (3) the lack of professionals with experience in decommissioning and modern waste management practices, (4) the lack of laws and regulations governing decommissioning or radioactive waste management, (5) ongoing security concerns, and (6) limited availability of electricity and internet. Since its creation eight years ago, the MoST has worked with the international community and developed an organizational structure, trained staff, and made great progress in managing radioactive wastes and decommissioning Iraq's former nuclear facilities. This progress has been made, despite the very difficult implementing conditions in Iraq. Within MoST, the Radioactive Waste Treatment and Management Directorate (RWTMD) is responsible for waste management and the Iraqi Decommissioning Directorate (IDD) is responsible for decommissioning activities. The IDD and the RWTMD work together on decommissioning projects. The IDD has developed plans and has completed decommissioning of the GeoPilot Facility in Baghdad and the Active Metallurgical Testing Laboratory (LAMA) in Al-Tuwaitha. Given this experience, the IDD has initiated work on more dangerous facilities. Plans are being developed to characterize, decontaminate and decommission the Tamuz II Research Reactor. The Tammuz Reactor was destroyed by an Israeli air-strike in 1981 and the Tammuz II Reactor was destroyed during the First Gulf War in 1991. In addition to being responsible for managing the decommissioning wastes, the RWTMD is responsible for more than 950 disused sealed radioactive sources, contaminated debris from the first Gulf War and (approximately 900 tons) of naturally-occurring radioactive materials wastes from oil production in Iraq. The RWTMD has trained staff, rehabilitated the Building 39 Radioactive Waste Storage building, rehabilitated portions of the French-built Radioactive Waste Treatment Station, organized and secured thousands of drums of radioactive waste organized and secured the stores of disused sealed radioactive sources. Currently, the IDD and the RWTMD are finalizing plans for the decommissioning of the Tammuz II Research Reactor. (authors)« less

  1. Decommissioning of the Iraq former nuclear complex

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

    Abbas, Mohammed; Helou, Tuama; Ahmead, Bushra

    2007-07-01

    Available in abstract form only. Full text of publication follows: A number of sites in Iraq have some degree of radiological contamination and require decommissioning and remediation in order to ensure radiological safety. Many of these sites in Iraq are located at the nuclear research centre at Al Tuwaitha. The International Atomic Energy Agency (IAEA) Board of Governors has approved a project to assist the Government of Iraq in the evaluation and decommissioning of former facilities that used radioactive materials. The project is divided into three phases: Phase 1: collect and analyze all available data and conduct training of themore » Iraqi staff, Phase 2: develop a decommissioning and remediation plan, and Phase 3: implement field activities relating to decommissioning, remediation and site selection suitable for final disposal of waste. Four working groups have been established to complete the Phase 1 work and significant progress has been made in drafting a new nuclear law which will provide the legal basis for the licensing of the decommissioning of the former nuclear complex. Work is also underway to collect and analysis existing date, to prioritize future activities and to develop a waste management strategy. This will be a long-term and costly project. (authors)« less

  2. Alpha Particle Detection Using Alpha-Induced Air Radioluminescence: A Review and Future Prospects for Preliminary Radiological Characterisation for Nuclear Facilities Decommissioning

    PubMed Central

    Crompton, Anita J.; Jenkins, Alex

    2018-01-01

    The United Kingdom (UK) has a significant legacy of nuclear installations to be decommissioned over the next 100 years and a thorough characterisation is required prior to the development of a detailed decommissioning plan. Alpha radiation detection is notoriously time consuming and difficult to carry out due to the short range of alpha particles in air. Long-range detection of alpha particles is therefore highly desirable and this has been attempted through the detection of secondary effects from alpha radiation, most notably the air-radioluminescence caused by ionisation. This paper evaluates alpha induced air radioluminescence detectors developed to date and looks at their potential to develop a stand-off, alpha radiation detector which can be used in the nuclear decommissioning field in daylight conditions to detect alpha contaminated materials. PMID:29597340

  3. The conceptual solutions concerning decommissioning and dismantling of Russian civil nuclear powered ships

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

    Kulikov, Konstantin N.; Nizamutdinov, Rinat A.; Abramov, Andrey N.

    From 1959 up to 1991 nine civil nuclear powered ships were built in Russia: eight ice-breakers and one lash lighter carrier (cargo ship). At the present time three of them were taking out of service: ice-breaker 'Lenin' is decommissioned as a museum and is set for storage in the port of Murmansk, nuclear ice-breakers 'Arktika' and 'Sibir' are berthing. The ice-breakers carrying rad-wastes appear to be a possible source of radiation contamination of Murmansk region and Kola Bay because the ship long-term storage afloat has the negative effect on hull's structures. As the result of this under the auspices ofmore » the Federal Targeted Program 'Nuclear and Radiation Safety of Russia for 2008 and the period until 2015' the conception and projects of decommissioning of nuclear-powered ships are developed by the State corporation Rosatom with the involvement of companies of United Shipbuilding Corporation. In developing the principal provisions of conception of decommissioning and dismantling of icebreakers the technical and economic assessment of dismantling options in ship-repairing enterprises of North-West of Russia was performed. The paper contains description of options, research procedure, analysis of options of decommissioning and dismantling of nuclear ice-breakers, taking into account the principle of optimization of potential radioactive effect to personnel, human population and environment. The report's conclusions contain the recommendations for selection of option for development of nuclear icebreaker decommissioning and dismantling projects. (authors)« less

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

    Detilleux, Michel; Centner, Baudouin

    The paper describes different methodologies and tools developed in-house by Tractebel Engineering to facilitate the engineering works to be carried out especially in the frame of decommissioning projects. Three examples of tools with their corresponding results are presented: - The LLWAA-DECOM code, a software developed for the radiological characterization of contaminated systems and equipment. The code constitutes a specific module of more general software that was originally developed to characterize radioactive waste streams in order to be able to declare the radiological inventory of critical nuclides, in particular difficult-to-measure radionuclides, to the Authorities. In the case of LLWAA-DECOM, deposited activitiesmore » inside contaminated equipment (piping, tanks, heat exchangers...) and scaling factors between nuclides, at any given time of the decommissioning time schedule, are calculated on the basis of physical characteristics of the systems and of operational parameters of the nuclear power plant. This methodology was applied to assess decommissioning costs of Belgian NPPs, to characterize the primary system of Trino NPP in Italy, to characterize the equipment of miscellaneous circuits of Ignalina NPP and of Kozloduy unit 1 and, to calculate remaining dose rates around equipment in the frame of the preparation of decommissioning activities; - The VISIMODELLER tool, a user friendly CAD interface developed to ease the introduction of lay-out areas in a software named VISIPLAN. VISIPLAN is a 3D dose rate assessment tool for ALARA work planning, developed by the Belgian Nuclear Research Centre SCK.CEN. Both softwares were used for projects such as the steam generators replacements in Belgian NPPs or the preparation of the decommissioning of units 1 and 2 of Kozloduy NPP; - The DBS software, a software developed to manage the different kinds of activities that are part of the general time schedule of a decommissioning project. For each activity, when relevant, algorithms allow to estimate, on the basis of local inputs, radiological exposures of the operators (collective and individual doses), production of primary, secondary and tertiary waste and their characterization, production of conditioned waste, release of effluents,... and enable the calculation and the presentation (histograms) of the global results for all activities together. An example of application in the frame of the Ignalina decommissioning project is given. (authors)« less

  5. 30 CFR 250.255 - What decommissioning information must accompany the DPP or DOCD?

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 30 Mineral Resources 2 2010-07-01 2010-07-01 false What decommissioning information must accompany the DPP or DOCD? 250.255 Section 250.255 Mineral Resources MINERALS MANAGEMENT SERVICE, DEPARTMENT OF... Information Contents of Development and Production Plans (dpp) and Development Operations Coordination...

  6. Analysis of decommissioning costs for the AFRRI TRIGA reactor facility. Technical report

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

    Forsbacka, M.; Moore, M.

    1989-12-01

    This report provides a cost analysis for decommissioning the Armed Forces Radiobiology Research Institute (AFRRI) TRIGA reactor facility. AFRRI is not suggesting that the AFRRI TRIGA reactor facility be decommissioned. This report was prepared in compliance with paragraph 50.33 of Title 10, Code of Federal Regulations, which requires that funding for the decommissioning of reactor facilities be available when licensed activities cease. The planned method of decommissioning is complete decontamination (DECON) of the AFRRI TRIGA reactor site to allow for restoration of the site to full public access. The cost of DECON in 1990 dollars is estimated to be $3,200,000.more » The anticipated ancillary costs of facility site demobilization and spent fuel shipment will be an additional $600,000. Thus, the total cost of terminating reactor operations at AFRRI will be about $3,800,000. The primary basis for developing this cost estimate was a study of the decommissioning costs of similar reactor facility performed by Battelle Pacific Northwest Laboratory, as provided in U.S. Nuclear Regulatory Commission publication NUREG/CR-1756. The data in this study were adapted to reflect the decommissioning requirements of the AFRRI TRIGA reactor facility.« less

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

    Murphy, L.T.; Hickey, M.

    This paper summarizes the progress to date by CH2M HILL and the UKAEA in development of a parametric modelling capability for estimating the costs of large nuclear decommissioning projects in the United Kingdom (UK) and Europe. The ability to successfully apply parametric cost estimating techniques will be a key factor to commercial success in the UK and European multi-billion dollar waste management, decommissioning and environmental restoration markets. The most useful parametric models will be those that incorporate individual components representing major elements of work: reactor decommissioning, fuel cycle facility decommissioning, waste management facility decommissioning and environmental restoration. Models must bemore » sufficiently robust to estimate indirect costs and overheads, permit pricing analysis and adjustment, and accommodate the intricacies of international monetary exchange, currency fluctuations and contingency. The development of a parametric cost estimating capability is also a key component in building a forward estimating strategy. The forward estimating strategy will enable the preparation of accurate and cost-effective out-year estimates, even when work scope is poorly defined or as yet indeterminate. Preparation of cost estimates for work outside the organizations current sites, for which detailed measurement is not possible and historical cost data does not exist, will also be facilitated. (authors)« less

  8. ALARA and decommissioning: The Fort St. Vrain experience

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

    Borst, T.; Niehoff, M.; Zachary, M.

    1995-03-01

    The Fort St. Vrain Nuclear Generating Station, the first and only commercial High Temperature Gas Cooled Reactor to operate in the United States, completed initial fuel loading in late 1973 and initial startup in early 1974. Due to a series of non-nuclear technical problems, Fort St. Vrain never operated consistently, attaining a lifetime capacity factor of slightly less than 15%. In August of 1989, the decision was made to permanently shut down the plant due to control rod drive and steam generator ring header failures. Public Service Company of Colorado elected to proceed with early dismantlement (DECON) as opposed tomore » SAFSTOR on the bases of perceived societal benefits, rad waste, and exposure considerations, regulatory uncertainties associated with SAFSTOR, and cost. The decommissioning of Fort St. Vrain began in August of 1992, and is scheduled to be completed in early 1996. Decommissioning is being conducted by a team consisting of Westinghouse, MK-Ferguson, and Scientific Ecology Group. Public Service Company of Colorado as the licensee provides contract management and oversight of contractor functions. An aggressive program to maintain project radiation exposures As Low As Reasonably Achievable (ALARA) has been established, with the following program elements: temporary and permanent shielding contamination control; mockup training; engineering controls; worker awareness; integrated work package reviews communication; special instrumentation; video camera usage; robotics application; and project committees. To date, worker exposures have been less than project estimates. from the start of the project through Februrary of 1994, total exposure has been 98.666 person-rem, compared to the project estimate of 433 person-rem and goal of 347 person-rem. The presentation will discuss the site characterization efforts, the radiological performance indicator program, and the final site release survey plans.« less

  9. Accelerating the Whiteshell Laboratories Decommissioning Through the Implementation of a Projectized and Delivery-Focused Organization - 13074

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

    Wilcox, Brian; Mellor, Russ; Michaluk, Craig

    2013-07-01

    Whiteshell Laboratories (WL) is a nuclear research site in Canada that was commissioned in 1964 by Atomic Energy of Canada Limited. It covers a total area of approximately 4,375 hectares (10,800 acres) and includes the main campus site, the Waste Management Area (WMA) and outer areas of land identified as not used for or impacted by nuclear development or operations. The WL site employed up to 1100 staff. Site activities included the successful operation of a 60 MW organic liquid-cooled research reactor from 1965 to 1985, and various research programs including reactor safety research, small reactor development, fuel development, biophysicsmore » and radiation applications, as well as work under the Canadian Nuclear Fuel Waste Management Program. In 1997, AECL made a business decision to discontinue research programs and operations at WL, and obtained government concurrence in 1998. The Nuclear Legacy Liabilities Program (NLLP) was established in 2006 by the Canadian Government to remediate nuclear legacy liabilities in a safe and cost effective manner, including the WL site. The NLLP is being implemented by AECL under the governance of a Natural Resources Canada (NRCan)/AECL Joint Oversight Committee (JOC). Significant progress has since been made, and the WL site currently holds the only Canadian Nuclear Safety Commission (CNSC) nuclear research site decommissioning license in Canada. The current decommissioning license is in place until the end of 2018. The present schedule planned for main campus decommissioning is 30 years (to 2037), followed by institutional control of the WMA until a National plan is implemented for the long-term management of nuclear waste. There is an impetus to advance work and complete decommissioning sooner. To accomplish this, AECL has added significant resources, reorganized and moved to a projectized environment. This presentation outlines changes made to the organization, the tools implemented to foster projectization, and the benefits and positive impacts on schedule and delivery. A revised organizational structure was implemented in two phases, starting 2011 April 1, to align WL staff with the common goal of decommissioning the site through the direction of the WL Decommissioning Project General Manager. On 2011 September 1, the second phase of the reorganization was implemented and WL Decommissioning staff was organized under five Divisions: Programs and Regulatory Compliance, General Site Services, Decommissioning Strategic Planning, Nuclear Facilities and Project Delivery. A new Mission, Vision and Objectives were developed for the project, and several productivity enhancements are being implemented. These include the use of an integrated and fully re-sourced Site Wide Schedule that is updated and reviewed at Plan-of-the-Week meetings, improved work distribution throughout the year, eliminating scheduling 'push' mentality, project scoreboards, work planning implementation, lean practices and various process improvement initiatives. A revised Strategic Plan is under development that reflects the improved project delivery capabilities. As a result of these initiatives, and a culture change towards a projectized approach, the decommissioning schedule will be advanced by approximately 10 years. (authors)« less

  10. Hydraulic manipulator research at ORNL

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

    Kress, R.L.; Jansen, J.F.; Love, L.J.

    1997-03-01

    Recently, task requirements have dictated that manipulator payload capacity increase to accommodate greater payloads, greater manipulator length, and larger environmental interaction forces. General tasks such as waste storage tank cleanup and facility dismantlement and decommissioning require manipulator life capacities in the range of hundreds of pounds rather than tens of pounds. To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned once again to hydraulics as a means of actuation. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem), sophisticated modeling, analysis, and control experiments are usually needed. Oak Ridge Nationalmore » Laboratory (ORNL) has a history of projects that incorporate hydraulics technology, including mobile robots, teleoperated manipulators, and full-scale construction equipment. In addition, to support the development and deployment of new hydraulic manipulators, ORNL has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The purpose of this article is to describe the past hydraulic manipulator developments and current hydraulic manipulator research capabilities at ORNL. Included are example experimental results from ORNL`s flexible/prismatic test stand.« less

  11. Progress in Decommissioning the Humboldt Bay Power Plant - 13604

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

    Rod, Kerry; Shelanskey, Steven K.; Kristofzski, John

    Decommissioning of the Pacific Gas and Electric (PG and E) Company Humboldt Bay Power Plant (HBPP) Unit 3 nuclear facility has now, after more than three decades of SAFSTOR and initial decommissioning work, transitioned to full-scale decommissioning. Decommissioning activities to date have been well orchestrated and executed in spite of an extremely small work site with space constricted even more by other concurrent on-site major construction projects including the demolition of four fossil units, construction of a new generating station and 60 KV switchyard upgrade. Full-scale decommissioning activities - now transitioning from Plant Systems Removal (PG and E self-perform) tomore » Civil Works Projects (contractor performed) - are proceeding in a safe, timely, and cost effective manner. As a result of the successful decommissioning work to date (approximately fifty percent completed) and the intense planning and preparations for the remaining work, there is a high level of confidence for completion of all HBPP Unit 3 decommissions activities in 2018. Strategic planning and preparations to transition into full-scale decommissioning was carried out in 2008 by a small, highly focused project team. This planning was conducted concurrent with other critical planning requirements such as the loading of spent nuclear fuel into dry storage at the Independent Spent Fuel Storage Installation (ISFSI) finishing December 2008. Over the past four years, 2009 through 2012, the majority of decommissioning work has been installation of site infrastructure and removal of systems and components, known as the Plant System Removal Phase, where work scope was dynamic with significant uncertainty, and it was self-performed by PG and E. As HBPP Decommissioning transitions from the Plant System Removal Phase to the Civil Works Projects Phase, where work scope is well defined, a contracting plan similar to that used for Fossil Decommissioning will be implemented. Award of five major work scopes in various stages of development are planned as they include: Turbine Building Demolition, Nuclear Facilities Demolition and Excavation, Intake and Discharge Canal Remediation, Office Facility Demobilization, and Final Site Restoration. Benefits realized by transitioning to the Civil Works Projects Phase with predominant firm fixed-price/fixed unit price contracting include single civil works contractor who can coordinate concrete shaving, liner removal, structural removal, and other demolition activities; streamline financial control; reduce PG and E overhead staffing; and provide a specialized Bidder Team with experience from other similar projects. (authors)« less

  12. Waste Management Strategy for Dismantling Waste to Reduce Costs for Power Plant Decommissioning - 13543

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

    Larsson, Arne; Lidar, Per; Bergh, Niklas

    2013-07-01

    Decommissioning of nuclear power plants generates large volumes of radioactive or potentially radioactive waste. The proper management of the dismantling waste plays an important role for the time needed for the dismantling phase and thus is critical to the decommissioning cost. An efficient and thorough process for inventorying, characterization and categorization of the waste provides a sound basis for the planning process. As part of comprehensive decommissioning studies for Nordic NPPs, Westinghouse has developed the decommissioning inventories that have been used for estimations of the duration of specific work packages and the corresponding costs. As part of creating the designmore » basis for a national repository for decommissioning waste, the total production of different categories of waste packages has also been predicted. Studsvik has developed a risk based concept for categorization and handling of the generated waste using six different categories with a span from extremely small risk for radiological contamination to high level waste. The two companies have recently joined their skills in the area of decommissioning on selected market in a consortium named 'ndcon' to further strengthen the proposed process. Depending on the risk for radiological contamination or the radiological properties and other properties of importance for waste management, treatment routes are proposed with well-defined and proven methods for on-site or off-site treatment, activity determination and conditioning. The system is based on a graded approach philosophy aiming for high confidence and sustainability, aiming for re-use and recycling where found applicable. The objective is to establish a process where all dismantled material has a pre-determined treatment route. These routes should through measurements, categorization, treatment, conditioning, intermediate storage and final disposal be designed to provide a steady, un-disturbed flow of material to avoid interruptions. Bottle-necks in the process causes increased space requirements and will have negative impact on the project schedule, which increases not only the cost but also the dose exposure to personnel. For these reasons it is critical to create a process that transfers material into conditioned waste ready for disposal as quickly as possible. To a certain extent the decommissioning program should be led by the waste management process. With the objective to reduce time for handling of dismantled material at site and to efficiently and environmental-friendly use waste management methods (clearance for re-use followed by clearance for recycling), the costs for the plant decommissioning could be reduced as well as time needed for performing the decommissioning project. Also, risks for delays would be reduced with a well-defined handling scheme which limits surprises. Delays are a major cost driver for decommissioning projects. (authors)« less

  13. Waste management strategy for cost effective and environmentally friendly NPP decommissioning

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

    Per Lidar; Arne Larsson; Niklas Bergh

    2013-07-01

    Decommissioning of nuclear power plants generates large volumes of radioactive or potentially radioactive waste. The proper management of the dismantling waste plays an important role for the time needed for the dismantling phase and thus is critical to the decommissioning cost. An efficient and thorough process for inventorying, characterization and categorization of the waste provides a sound basis for the planning process. As part of comprehensive decommissioning studies for Nordic NPPs, Westinghouse has developed the decommissioning inventories that have been used for estimations of the duration of specific work packages and the corresponding costs. As part of creating the designmore » basis for a national repository for decommissioning waste, the total production of different categories of waste packages has also been predicted. Studsvik has developed a risk based concept for categorization and handling of the generated waste using six different categories with a span from extremely small risk for radiological contamination to high level waste. The two companies have recently joined their skills in the area of decommissioning on selected market in a consortium named ndcon to further strengthen the proposed process. Depending on the risk for radiological contamination or the radiological properties and other properties of importance for waste management, treatment routes are proposed with well-defined and proven methods for on-site or off-site treatment, activity determination and conditioning. The system is based on a graded approach philosophy aiming for high confidence and sustainability, aiming for re-use and recycling where found applicable. The objective is to establish a process where all dismantled material has a pre-determined treatment route. These routes should through measurements, categorization, treatment, conditioning, intermediate storage and final disposal be designed to provide a steady, un-disturbed flow of material to avoid interruptions. Bottle-necks in the process causes increased space requirements and will have negative impact on the project schedule, which increases not only the cost but also the dose exposure to personnel. For these reasons it is critical to create a process that transfers material into conditioned waste ready for disposal as quickly as possible. To a certain extent the decommissioning program should be led by the waste management process. With the objective to reduce time for handling of dismantled material at site and to efficiently and environmental-friendly use waste management methods (clearance for re-use followed by clearance for recycling), the costs for the plant decommissioning could be reduced as well as time needed for performing the decommissioning project. Also, risks for delays would be reduced with a well-defined handling scheme which limits surprises. Delays are a major cost driver for decommissioning projects. (authors)« less

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

    Goodman, Lynne S.

    'Money makes the world go round', as the song says. It definitely influences decommissioning decision-making and financial assurance for future decommissioning. This paper will address two money-related decommissioning topics. The first is the evaluation of whether to continue or to halt decommissioning activities at Fermi 1. The second is maintaining adequacy of financial assurance for future decommissioning of operating plants. Decommissioning costs considerable money and costs are often higher than originally estimated. If costs increase significantly and decommissioning is not well funded, decommissioning activities may be deferred. Several decommissioning projects have been deferred when decision-makers determined future spending is preferablemore » than current spending, or when costs have risen significantly. Decommissioning activity timing is being reevaluated for the Fermi 1 project. Assumptions for waste cost-escalation significantly impact the decision being made this year on the Fermi 1 decommissioning project. They also have a major impact on the estimated costs for decommissioning currently operating plants. Adequately funding full decommissioning during plant operation will ensure that the users who receive the benefit pay the full price of the nuclear-generated electricity. Funding throughout operation also will better ensure that money is available following shutdown to allow decommissioning to be conducted without need for additional funds.« less

  15. 77 FR 38338 - Dairyland Power Cooperative; La Crosse Boiling Water Reactor Exemption From Certain Security...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-06-27

    ... used.'' In 10 CFR 73.55, entitled ``Requirements for physical protection of licensed activities in...-shutdown decommissioning activities report (PSDAR). The DPC has been conducting dismantlement and decommissioning activities. The DPC is developing an onsite independent spent fuel storage installation (ISFSI...

  16. 30 CFR 250.255 - What decommissioning information must accompany the DPP or DOCD?

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 30 Mineral Resources 2 2011-07-01 2011-07-01 false What decommissioning information must accompany the DPP or DOCD? 250.255 Section 250.255 Mineral Resources BUREAU OF OCEAN ENERGY MANAGEMENT... OUTER CONTINENTAL SHELF Plans and Information Contents of Development and Production Plans (dpp) and...

  17. Remote Systems Experience at the Oak Ridge National Laboratory--A Summary of Lessons Learned

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

    Noakes, Mark W; Burgess, Thomas W; Rowe, John C

    2011-01-01

    Oak Ridge National Laboratory (ORNL) has a long history in the development of remote systems to support the nuclear environment. ORNL, working in conjunction with Central Research Laboratories, created what is believed to be the first microcomputer-based implementation of dual-arm master-slave remote manipulation. As part of the Consolidated Fuel Reprocessing Program, ORNL developed the dual-arm advanced servomanipulator focusing on remote maintainability for systems exposed to high radiation fields. ORNL also participated in almost all of the various technical areas of the U.S. Department of Energy s Robotics Technology Development Program, while leading the Decontamination and Decommissioning and Tank Waste Retrievalmore » categories. Over the course of this involvement, ORNL has developed a substantial base of working knowledge as to what works when and under what circumstances for many types of remote systems tasks as well as operator interface modes, control bandwidth, and sensing requirements to name a few. By using a select list of manipulator systems that is not meant to be exhaustive, this paper will discuss history and outcome of development, field-testing, deployment, and operations from a lessons learned perspective. The final outcome is a summary paper outlining ORNL experiences and guidelines for transition of developmental remote systems to real-world hazardous environments.« less

  18. Development of a reliable estimation procedure of radioactivity inventory in a BWR plant due to neutron irradiation for decommissioning

    NASA Astrophysics Data System (ADS)

    Tanaka, Ken-ichi; Ueno, Jun

    2017-09-01

    Reliable information of radioactivity inventory resulted from the radiological characterization is important in order to plan decommissioning planning and is also crucial in order to promote decommissioning in effectiveness and in safe. The information is referred to by planning of decommissioning strategy and by an application to regulator. Reliable information of radioactivity inventory can be used to optimize the decommissioning processes. In order to perform the radiological characterization reliably, we improved a procedure of an evaluation of neutron-activated materials for a Boiling Water Reactor (BWR). Neutron-activated materials are calculated with calculation codes and their validity should be verified with measurements. The evaluation of neutron-activated materials can be divided into two processes. One is a distribution calculation of neutron-flux. Another is an activation calculation of materials. The distribution calculation of neutron-flux is performed with neutron transport calculation codes with appropriate cross section library to simulate neutron transport phenomena well. Using the distribution of neutron-flux, we perform distribution calculations of radioactivity concentration. We also estimate a time dependent distribution of radioactivity classification and a radioactive-waste classification. The information obtained from the evaluation is utilized by other tasks in the preparatory tasks to make the decommissioning plan and the activity safe and rational.

  19. Task 21 - Development of Systems Engineering Applications for Decontamination and Decommissioning Activities

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

    Erickson, T.A.

    1998-11-01

    The objectives of this task are to: Develop a model (paper) to estimate the cost and waste generation of cleanup within the Environmental Management (EM) complex; Identify technologies applicable to decontamination and decommissioning (D and D) operations within the EM complex; Develop a database of facility information as linked to project baseline summaries (PBSs). The above objectives are carried out through the following four subtasks: Subtask 1--D and D Model Development, Subtask 2--Technology List; Subtask 3--Facility Database, and Subtask 4--Incorporation into a User Model.

  20. An analytical approach to γ-ray self-shielding effects for radioactive bodies encountered nuclear decommissioning scenarios.

    PubMed

    Gamage, K A A; Joyce, M J

    2011-10-01

    A novel analytical approach is described that accounts for self-shielding of γ radiation in decommissioning scenarios. The approach is developed with plutonium-239, cobalt-60 and caesium-137 as examples; stainless steel and concrete have been chosen as the media for cobalt-60 and caesium-137, respectively. The analytical methods have been compared MCNPX 2.6.0 simulations. A simple, linear correction factor relates the analytical results and the simulated estimates. This has the potential to greatly simplify the estimation of self-shielding effects in decommissioning activities. Copyright © 2011 Elsevier Ltd. All rights reserved.

  1. Regulation and policy: International trends and issues

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

    Griffin, W S

    As offshore oil and gas resources become exhausted, the associated production platforms and facilities will be decommissioned. The world-wide oil and gas industry is strictly regulated by global, regional and national guidelines which have been developed by governments to find the most responsible framework to perform the decommissioning. In the summer of 1995, the Brent Spar incident brought uncertainty to decommissioning world-wide. In June of 1995, a moratorium prohibiting sea disposal within the North East Atlantic was imposed by the Oslo Commission, and an unsuccessful attempt was made in December of 1995 to impose a world-wide moratorium on sea disposalmore » at the London Convention.« less

  2. 30 CFR 585.907 - How will BOEM process my decommissioning application?

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ..., COPs and GAPs Decommissioning Applications § 585.907 How will BOEM process my decommissioning... your decommissioning application with the decommissioning general concept in your approved SAP, COP, or... revise your SAP, COP, or GAP, and BOEM will begin the appropriate NEPA analysis and other regulatory...

  3. 26 CFR 1.468A-4T - Treatment of nuclear decommissioning fund (temporary).

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 26 Internal Revenue 6 2010-04-01 2010-04-01 false Treatment of nuclear decommissioning fund...-4T Treatment of nuclear decommissioning fund (temporary). (a) In general. A nuclear decommissioning... income earned by the assets of the nuclear decommissioning fund. (b) Modified gross income. For purposes...

  4. 26 CFR 1.468A-4 - Treatment of nuclear decommissioning fund.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... 26 Internal Revenue 6 2013-04-01 2013-04-01 false Treatment of nuclear decommissioning fund. 1...-4 Treatment of nuclear decommissioning fund. (a) In general. A nuclear decommissioning fund is... by the assets of the nuclear decommissioning fund. (b) Modified gross income. For purposes of this...

  5. 26 CFR 1.468A-4 - Treatment of nuclear decommissioning fund.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 26 Internal Revenue 6 2011-04-01 2011-04-01 false Treatment of nuclear decommissioning fund. 1...-4 Treatment of nuclear decommissioning fund. (a) In general. A nuclear decommissioning fund is... by the assets of the nuclear decommissioning fund. (b) Modified gross income. For purposes of this...

  6. 26 CFR 1.468A-4 - Treatment of nuclear decommissioning fund.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... 26 Internal Revenue 6 2014-04-01 2014-04-01 false Treatment of nuclear decommissioning fund. 1...-4 Treatment of nuclear decommissioning fund. (a) In general. A nuclear decommissioning fund is... by the assets of the nuclear decommissioning fund. (b) Modified gross income. For purposes of this...

  7. 26 CFR 1.468A-4 - Treatment of nuclear decommissioning fund.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... 26 Internal Revenue 6 2012-04-01 2012-04-01 false Treatment of nuclear decommissioning fund. 1...-4 Treatment of nuclear decommissioning fund. (a) In general. A nuclear decommissioning fund is... by the assets of the nuclear decommissioning fund. (b) Modified gross income. For purposes of this...

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

    Boing, L.E.

    This paper presents an overview of the US experiences in the decommissioning technical area. Sections included are: (1) an overview of the magnitude of the problem, (2) a review of the US decommissioning process, (3) regulation of decommissioning, (4) regulatory and funding requirements for decommissioning, and (5) a general overview of all on-going and completed decommissioning projects to date in the US. The final section presents a review of some issues in the decommissioning area currently being debated in the technical specialists community.

  9. Evaluation of nuclear facility decommissioning projects. Summary report: North Carolina State University Research and Training Reactor

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

    Link, B.W.; Miller, R.L.

    1983-08-01

    This document summarizes information from the decommissioning of the NCSUR-3 (R-3), a 10 KWt university research and training reactor. The decommissioning data were placed in a computerized information retrieval/manipulation system which permits future utilization of this information in pre-decommissioning activities with other university reactors of similar design. The information is presented both in some detail in its computer output form and also as a manually assembled summarization which highlights the more significant aspects of the decommissioning project. Decommissioning data from a generic study, NUREG/CR 1756, Technology, Safety and Costs of Decommissioning Nuclear Research and Test Reactors, and the decommissioning ofmore » the Ames Laboratory Research Reactor (ALRR), a 5 MWt research reactor, is also included for comparison.« less

  10. Experience of the nuclear reactors (environmental impact assessment for decommissioning) regulations 1999, as amended, in Great Britain

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

    Brown, Sarah; Mattress, Elaine; Nettleton, Jo

    2007-07-01

    Available in abstract form only. Full text of publication follows: In Great Britain, the Nuclear Reactors (Environmental Impact Assessment for Decommissioning) Regulations 1999 as amended 2006 (EIADR) requires assessment of the potential environmental impacts of projects to decommission nuclear power stations and reactors. The Health and Safety Executive (HSE) is the competent authority for EIADR. The EIADR implement European Council Directive 85/337/EEC (the EIA Directive) as amended by Council Directive 97/11/EC and Council Directive 2003/35/EC the (Public Participation Directive). The purpose of the EIADR is to assess environmental effects of nuclear reactor decommissioning projects, involve the public through consultation, andmore » make the decision-making process open and transparent. Under the regulations, any licensee wishing to begin to decommission or dismantle a nuclear power station, or other civil nuclear reactor, must apply to HSE for consent to carry out the decommissioning project, undertake an environmental impact assessment and prepare an environmental statement that summarises the environmental effects of the project. HSE will consult on the environmental statement. So far under the EIADR there have been six consents granted for decommissioning projects for Magnox Power Stations. These stations have been required as a condition of consent to submit an Environmental Management Plan on an annual basis. This allows the project to be continually reviewed and assessed to ensure that the licensee can provide detail as agreed during the review of the environmental statement and that any changes to mitigation measures are detailed. This paper summarises the EIADR process, giving particular emphasis to public participation and the decision making process, and discusses HSE's experience of EIADR with reference to specific environmental issues raised by stakeholders and current developments. (authors)« less

  11. The Regulatory Challenges of Decommissioning Nuclear Power Plants in Korea - 13101

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

    Lee, Jungjoon; Ahn, Sangmyeon; Choi, Kyungwoo

    As of 2012, 23 units of nuclear power plants are in operation, but there is no experience of permanent shutdown and decommissioning of nuclear power plant in Korea. It is realized that, since late 1990's, improvement of the regulatory framework for decommissioning has been emphasized constantly from the point of view of International Atomic Energy Agency (IAEA)'s safety standards. And it is known that now IAEA prepare the safety requirement on decommissioning of facilities, its title is the Safe Decommissioning of Facilities, General Safety Requirement Part 6. According to the result of IAEA's Integrated Regulatory Review Service (IRRS) mission tomore » Korea in 2011, it was recommended that the regulatory framework for decommissioning should require decommissioning plans for nuclear installations to be constructed and operated and these plans should be updated periodically. In addition, after the Fukushima nuclear disaster in Japan in March of 2011, preparedness for early decommissioning caused by an unexpected severe accident became also important issues and concerns. In this respect, it is acknowledged that the regulatory framework for decommissioning of nuclear facilities in Korea need to be improved. First of all, we identify the current status and relevant issues of regulatory framework for decommissioning of nuclear power plants compared to the IAEA's safety standards in order to achieve our goal. And then the plan is to be established for improvement of regulatory framework for decommissioning of nuclear power plants in Korea. After dealing with it, it is expected that the revised regulatory framework for decommissioning could enhance the safety regime on the decommissioning of nuclear power plants in Korea in light of international standards. (authors)« less

  12. The regulatory framework for safe decommissioning of nuclear power plants in Korea

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

    Sangmyeon Ahn; Jungjoon Lee; Chanwoo Jeong

    We are having 23 units of nuclear power plants in operation and 5 units of nuclear power plants under construction in Korea as of September 2012. However, we don't have any experience on shutdown permanently and decommissioning of nuclear power plants. There are only two research reactors being decommissioned since 1997. It is realized that improvement of the regulatory framework for decommissioning of nuclear facilities has been emphasized constantly from the point of view of IAEA's safety standards. It is also known that IAEA will prepare the safety requirement on decommissioning of facilities; its title is the Safe Decommissioning ofmore » Facilities, General Safety Requirement Part 6. According to the result of IAEA's Integrated Regulatory Review Service (IRRS) mission to Korea in 2011, it was recommended that the regulatory framework should require decommissioning plans for nuclear installations to be constructed and operated and these plans should be updated periodically. In addition, after the Fukushima nuclear disaster in Japan in March of 2011, preparedness for early decommissioning caused by an unexpected severe accident became important issues and concerns. In this respect, it is acknowledged that the regulatory framework for decommissioning of nuclear facilities in Korea need to be improved. First of all, we focus on identifying the current status and relevant issues of regulatory framework for decommissioning of nuclear power plants compared to the IAEA's safety standards in order to achieve our goal. And then the plan is established for improvement of regulatory framework for decommissioning of nuclear power plants in Korea. It is expected that if the things will go forward as planned, the revised regulatory framework for decommissioning could enhance the safety regime on the decommissioning of nuclear power plants in Korea in light of international standards. (authors)« less

  13. Decommissioning of the TRIGA mark II and III and radioactive waste management

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

    Doo Seong Hwang; Yoon Ji Lee; Gyeong Hwan Chung

    2013-07-01

    KAERI has carried out decommissioning projects for two research reactors (KRR-1 and 2). The decommissioning project of KRR-1 (TRIGA Mark II) and 2 (TRIGA Mark III) was launched in 1997 with a total budget of 23.25 million US dollars. KRR-2 and all auxiliary facilities were already decommissioned, and KRR-1 is being decommissioned now. Much more dismantled waste is generated than in any other operations of nuclear facilities. Thus, the waste needs to be reduced and stabilized through decontamination or treatment before disposal. This paper introduces the current status of the decommissioning projects and describes the volume reduction and conditioning ofmore » decommissioning waste for final disposal. (authors)« less

  14. Shippingport station decommissioning project ALARA Program

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

    Crimi, F.P.

    1995-03-01

    Properly planned and implemented ALARA programs help to maintain nuclear worker radiation exposures {open_quotes}As Low As Reasonably Achievable.{close_quotes}. This paper describes the ALARA program developed and implemented for the decontamination and decommissioning (D&D) of the Shippingport Atomic Power Station. The elements required for a successful ALARA program are discussed along with examples of good ALARA practices. The Shippingport Atomic Power Station (SAPS) was the first commercial nuclear power plant to be built in the United States. It was located 35 miles northwest of Pittsburgh, PA on the south bank of the Ohio river. The reactor plant achieved initial criticality inmore » December 1959. During its 25-year life, it produced 7.5 billion kilowatts of electricity. The SAPS was shut down in October 1982 and was the first large-scale U.S. nuclear power plant to be totally decommissioned and the site released for unrestricted use. The Decommission Project was estimated to take 1,007 man-rem of radiation exposure and $.98.3 million to complete. Physical decommissioning commenced in September 1985 and was completed in September 1989. The actual man-rem of exposure was 155. The project was completed 6 months ahead of schedule at a cost of $91.3 million.« less

  15. 75 FR 80697 - Nuclear Decommissioning Funds

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-12-23

    ... Nuclear Decommissioning Funds AGENCY: Internal Revenue Service (IRS), Treasury. ACTION: Final regulations... decommissioning nuclear power plants. These final regulations affect taxpayers that own an interest in a nuclear... preamble. 1. Definitional Matters A. Definition of Nuclear Decommissioning Costs One commentator on the...

  16. 78 FR 64028 - Decommissioning of Nuclear Power Reactors

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-10-25

    ... NUCLEAR REGULATORY COMMISSION [NRC-2012-0035] Decommissioning of Nuclear Power Reactors AGENCY... Commission (NRC) is issuing Revision 1 of regulatory guide (RG) 1.184 ``Decommissioning of Nuclear Power... the NRC's regulations relating to the decommissioning process for nuclear power reactors. The revision...

  17. 76 FR 77431 - Decommissioning Planning During Operations

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-12-13

    ... (DG) DG-4014, ``Decommissioning Planning During Operations.'' This guide describes a method that the.... The draft regulatory guide entitled, ``Decommissioning Planning During Operations,'' is temporarily..., 40, 50, 70, and 72 RIN 3150-AI55 [NRC-2011-0286; NRC-2008-0030] Decommissioning Planning During...

  18. 78 FR 663 - Decommissioning Planning During Operations

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-01-04

    ...] Decommissioning Planning During Operations AGENCY: Nuclear Regulatory Commission. ACTION: Regulatory guide..., ``Decommissioning Planning During Operations.'' The guide describes a method that the NRC staff considers acceptable for use by holders of licenses in complying with the NRC's Decommissioning Planning Rule (DPR) (76 FR...

  19. 77 FR 41107 - Decommissioning Planning During Operations

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-07-12

    ..., 40, 50, 70, and 72 [NRC-2011-0162] Decommissioning Planning During Operations AGENCY: Nuclear... (DG) 4014, ``Decommissioning Planning During Operations.'' This guide describes a method that the NRC staff considers acceptable for use in complying with the NRC's Decommissioning Planning Rule. The NRC...

  20. 77 FR 8751 - Guidance for Decommissioning Planning During Operations

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-02-15

    ..., 40, 50, 70, and 72 [NRC-2011-0286] Guidance for Decommissioning Planning During Operations AGENCY... Guide, DG-4014, ``Decommissioning Planning During Operations'' in the Federal Register with a public... Guide DG-4014, ``Decommissioning Planning During Operations.'' This DG refers to NUREG-1757 Volume 3...

  1. Assessment, evaluation, and testing of technologies for environmental restoration, decontamination, and decommissioning and high level waste management. Progress report

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

    Uzochukwu, G.A.

    1997-12-31

    Nuclear and commercial non-nuclear technologies that have the potential of meeting the environmental restoration, decontamination and decommissioning, and high-level waste management objectives are being assessed and evaluated. A detailed comparison of innovative technologies available will be performed to determine the safest and most economical technology for meeting these objectives. Information derived from this effort will be matched with the multi-objectives of the environmental restoration, decontamination and decommissioning, and high-level waste management effort to ensure that the best, most economical, and the safest technologies are used in decision making at USDOE-SRS. Technology-related variables will be developed and the resulting data formattedmore » and computerized for multimedia systems. The multimedia system will be made available to technology developers and evaluators to ensure that the best, most economical, and the safest technologies are used in decision making at USDOE-SRS. Technology-related variables will be developed and the resulting data formatted and computerized for multimedia systems. The multimedia system will be made available to technology developers and evaluators to ensure that the safest and most economical technologies are developed for use at SRS and other DOE sites.« less

  2. 77 FR 8902 - Draft Regulatory Guide: Issuance, Availability Decommissioning of Nuclear Power Reactors

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-02-15

    ... Decommissioning of Nuclear Power Reactors AGENCY: Nuclear Regulatory Commission. ACTION: Draft regulatory guide... draft regulatory guide (DG) DG-1271 ``Decommissioning of Nuclear Power Reactors.'' This guide describes... Regulatory Guide 1.184, ``Decommissioning of Nuclear Power Reactors,'' dated July 2000. This proposed...

  3. International Research Reactor Decommissioning Project

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

    Leopando, Leonardo; Warnecke, Ernst

    2008-01-15

    Many research reactors have been or will be shut down and are candidates for decommissioning. Most of the respective countries neither have a decommissioning policy nor the required expertise and funds to effectively implement a decommissioning project. The IAEA established the Research Reactor Decommissioning Demonstration Project (R{sup 2}D{sup 2}P) to help answer this need. It was agreed to involve the Philippine Research Reactor (PRR-1) as model reactor to demonstrate 'hands-on' experience as it is just starting the decommissioning process. Other facilities may be included in the project as they fit into the scope of R{sup 2}D{sup 2}P and complement tomore » the PRR-1 decommissioning activities. The key outcome of the R{sup 2}D{sup 2}P will be the decommissioning of the PRR-1 reactor. On the way to this final goal the preparation of safety related documents (i.e., decommissioning plan, environmental impact assessment, safety analysis report, health and safety plan, cost estimate, etc.) and the licensing process as well as the actual dismantling activities could provide a model to other countries involved in the project. It is expected that the R{sup 2}D{sup 2}P would initiate activities related to planning and funding of decommissioning activities in the participating countries if that has not yet been done.« less

  4. Lessons Learned from Radioactive Waste Storage and Disposal Facilities

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

    Esh, David W.; Bradford, Anna H.

    2008-01-15

    The safety of radioactive waste disposal facilities and the decommissioning of complex sites may be predicated on the performance of engineered and natural barriers. For assessing the safety of a waste disposal facility or a decommissioned site, a performance assessment or similar analysis is often completed. The analysis is typically based on a site conceptual model that is developed from site characterization information, observations, and, in many cases, expert judgment. Because waste disposal facilities are sited, constructed, monitored, and maintained, a fair amount of data has been generated at a variety of sites in a variety of natural systems. Thismore » paper provides select examples of lessons learned from the observations developed from the monitoring of various radioactive waste facilities (storage and disposal), and discusses the implications for modeling of future waste disposal facilities that are yet to be constructed or for the development of dose assessments for the release of decommissioning sites. Monitoring has been and continues to be performed at a variety of different facilities for the disposal of radioactive waste. These include facilities for the disposal of commercial low-level waste (LLW), reprocessing wastes, and uranium mill tailings. Many of the lessons learned and problems encountered provide a unique opportunity to improve future designs of waste disposal facilities, to improve dose modeling for decommissioning sites, and to be proactive in identifying future problems. Typically, an initial conceptual model was developed and the siting and design of the disposal facility was based on the conceptual model. After facility construction and operation, monitoring data was collected and evaluated. In many cases the monitoring data did not comport with the original site conceptual model, leading to additional investigation and changes to the site conceptual model and modifications to the design of the facility. The following cases are discussed: commercial LLW disposal facilities; uranium mill tailings disposal facilities; and reprocessing waste storage and disposal facilities. The observations developed from the monitoring and maintenance of waste disposal and storage facilities provide valuable lessons learned for the design and modeling of future waste disposal facilities and the decommissioning of complex sites.« less

  5. 26 CFR 1.88-1 - Nuclear decommissioning costs.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 26 Internal Revenue 2 2011-04-01 2011-04-01 false Nuclear decommissioning costs. 1.88-1 Section 1... (CONTINUED) INCOME TAXES (CONTINUED) Items Specifically Included in Gross Income § 1.88-1 Nuclear decommissioning costs. (a) In general. Section 88 provides that the amount of nuclear decommissioning costs...

  6. 26 CFR 1.468A-1 - Nuclear decommissioning costs; general rules.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... 26 Internal Revenue 6 2012-04-01 2012-04-01 false Nuclear decommissioning costs; general rules. 1...-1 Nuclear decommissioning costs; general rules. (a) Introduction. Section 468A provides an elective method for taking into account nuclear decommissioning costs for Federal income tax purposes. In general...

  7. 26 CFR 1.468A-1 - Nuclear decommissioning costs; general rules.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... 26 Internal Revenue 6 2013-04-01 2013-04-01 false Nuclear decommissioning costs; general rules. 1...-1 Nuclear decommissioning costs; general rules. (a) Introduction. Section 468A provides an elective method for taking into account nuclear decommissioning costs for Federal income tax purposes. In general...

  8. 26 CFR 1.88-1 - Nuclear decommissioning costs.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... 26 Internal Revenue 2 2013-04-01 2013-04-01 false Nuclear decommissioning costs. 1.88-1 Section 1... (CONTINUED) INCOME TAXES (CONTINUED) Items Specifically Included in Gross Income § 1.88-1 Nuclear decommissioning costs. (a) In general. Section 88 provides that the amount of nuclear decommissioning costs...

  9. 26 CFR 1.468A-1 - Nuclear decommissioning costs; general rules.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... 26 Internal Revenue 6 2014-04-01 2014-04-01 false Nuclear decommissioning costs; general rules. 1...-1 Nuclear decommissioning costs; general rules. (a) Introduction. Section 468A provides an elective method for taking into account nuclear decommissioning costs for Federal income tax purposes. In general...

  10. 26 CFR 1.88-1 - Nuclear decommissioning costs.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... 26 Internal Revenue 2 2012-04-01 2012-04-01 false Nuclear decommissioning costs. 1.88-1 Section 1... (CONTINUED) INCOME TAXES (CONTINUED) Items Specifically Included in Gross Income § 1.88-1 Nuclear decommissioning costs. (a) In general. Section 88 provides that the amount of nuclear decommissioning costs...

  11. 26 CFR 1.88-1 - Nuclear decommissioning costs.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 26 Internal Revenue 2 2010-04-01 2010-04-01 false Nuclear decommissioning costs. 1.88-1 Section 1... (CONTINUED) INCOME TAXES (CONTINUED) Items Specifically Included in Gross Income § 1.88-1 Nuclear decommissioning costs. (a) In general. Section 88 provides that the amount of nuclear decommissioning costs...

  12. 26 CFR 1.468A-1 - Nuclear decommissioning costs; general rules.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 26 Internal Revenue 6 2011-04-01 2011-04-01 false Nuclear decommissioning costs; general rules. 1...-1 Nuclear decommissioning costs; general rules. (a) Introduction. Section 468A provides an elective method for taking into account nuclear decommissioning costs for Federal income tax purposes. In general...

  13. 26 CFR 1.88-1 - Nuclear decommissioning costs.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... 26 Internal Revenue 2 2014-04-01 2014-04-01 false Nuclear decommissioning costs. 1.88-1 Section 1... (CONTINUED) INCOME TAXES (CONTINUED) Items Specifically Included in Gross Income § 1.88-1 Nuclear decommissioning costs. (a) In general. Section 88 provides that the amount of nuclear decommissioning costs...

  14. 76 FR 3540 - Proposed Generic Communications Reporting for Decommissioning Funding Status Reports

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-01-20

    ...-2010-0366] Proposed Generic Communications Reporting for Decommissioning Funding Status Reports AGENCY... and present to the NRC in the Decommissioning Funding Status reports to ensure that the NRC staff... Regulatory Issue Summary 2010-XXX, ``10 CFR 50-75, Reporting for Decommissioning Funding Status Reports'' is...

  15. 30 CFR 285.913 - What happens if I fail to comply with my approved decommissioning application?

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... approved decommissioning application? 285.913 Section 285.913 Mineral Resources MINERALS MANAGEMENT SERVICE, DEPARTMENT OF THE INTERIOR OFFSHORE RENEWABLE ENERGY ALTERNATE USES OF EXISTING FACILITIES ON THE OUTER CONTINENTAL SHELF Decommissioning Compliance with An Approved Decommissioning Application § 285.913 What...

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

    Wade C. Adams

    From the mid-1950s until mid-2000, the Combustion Engineering, Inc. (CE) site in Windsor, Connecticut (Figure A-1) was involved in the research, development, engineering, production, and servicing of nuclear fuels, systems, and services. The site is currently undergoing decommissioning that will lead to license termination and unrestricted release in accordance with the requirements of the License Termination Rule in 10 CFR Part 20, Subpart E. Asea Brown Boveri Incorporated (ABB) has been decommissioning the CE site since 2001.

  17. 10 CFR 70.25 - Financial assurance and recordkeeping for decommissioning.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... this section shall submit a decommissioning funding plan as described in paragraph (e) of this section... quantities set forth in appendix B to part 30. A decommissioning funding plan must also be submitted when a... quantities specified in paragraph (d) of this section shall either— (1) Submit a decommissioning funding plan...

  18. 10 CFR 70.25 - Financial assurance and recordkeeping for decommissioning.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... this section shall submit a decommissioning funding plan as described in paragraph (e) of this section... quantities set forth in appendix B to part 30. A decommissioning funding plan must also be submitted when a... quantities specified in paragraph (d) of this section shall either— (1) Submit a decommissioning funding plan...

  19. 10 CFR 30.35 - Financial assurance and recordkeeping for decommissioning.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... set forth in appendix B to part 30 shall submit a decommissioning funding plan as described in paragraph (e) of this section. The decommissioning funding plan must also be submitted when a combination of... funding plan as described in paragraph (e) of this section. The decommissioning funding plan must be...

  20. 10 CFR 30.35 - Financial assurance and recordkeeping for decommissioning.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... set forth in appendix B to part 30 shall submit a decommissioning funding plan as described in paragraph (e) of this section. The decommissioning funding plan must also be submitted when a combination of... funding plan as described in paragraph (e) of this section. The decommissioning funding plan must be...

  1. 10 CFR 30.35 - Financial assurance and recordkeeping for decommissioning.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... set forth in appendix B to part 30 shall submit a decommissioning funding plan as described in paragraph (e) of this section. The decommissioning funding plan must also be submitted when a combination of... funding plan as described in paragraph (e) of this section. The decommissioning funding plan must be...

  2. 10 CFR 70.25 - Financial assurance and recordkeeping for decommissioning.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... this section shall submit a decommissioning funding plan as described in paragraph (e) of this section... quantities set forth in appendix B to part 30. A decommissioning funding plan must also be submitted when a... quantities specified in paragraph (d) of this section shall either— (1) Submit a decommissioning funding plan...

  3. 10 CFR 70.25 - Financial assurance and recordkeeping for decommissioning.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... this section shall submit a decommissioning funding plan as described in paragraph (e) of this section... quantities set forth in appendix B to part 30. A decommissioning funding plan must also be submitted when a... quantities specified in paragraph (d) of this section shall either— (1) Submit a decommissioning funding plan...

  4. Decommissioning the physics laboratory, building 777-10A, at the Savannah River Site (SRS)

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

    Musall, John C.; Cope, Jeff L.

    2008-01-15

    SRS recently completed a four year mission to decommission {approx}250 excess facilities. As part of that effort, SRS decommissioned a 48,000 ft{sup 2} laboratory that housed four low-power test reactors, formerly used by SRS to determine reactor physics. This paper describes and reviews the decommissioning, with a focus on component segmentation and handling (i.e. hazardous material removal, demolition, and waste handling). The paper is intended to be a resource for engineers, planners, and project managers, who face similar decommissioning challenges. Building 777-10A, located at the south end of SRS's A/M-Area, was built in 1953 and had a gross area of {approx}48,000 ft{sup 2}. Building 777-10A had two main areas: a west wing, which housed four experimental reactors and associated equipment; and an east wing, which housed laboratories, and shops, offices. The reactors were located in two separate areas: one area housed the Process Development Pile (PDP) reactor and the Lattice Test Reactor (LTR), while the second area housed the Standard Pile (SP) and the Sub-critical Experiment (SE) reactors. The west wing had five levels: three below and three above grade (floor elevations of -37', -28', -15', 0', +13'/+16' and +27' (roof elevation of +62')), while the east wing had two levels: one below and one above grade (floor elevations of -15' and 0' (roof elevation of +16')). Below-grade exterior walls were constructed of reinforced concrete, {approx}1' thick. In general, above-grade exterior walls were steel frames covered by insulation and corrugated, asbestos-cement board. The two interior walls around the PDP/LTR were reinforced concrete {approx}5' thick and {approx}30' high, while the SP/SE reactors resided in a reinforced, concrete cell with 3.5'-6' thick walls/roof. All other interior walls were constructed of metal studs covered with either asbestos-cement or gypsum board. In general, the floors were constructed of reinforced concrete on cast-in-place concrete beams below-grade and concrete on metal beams above-grade. The roofs were flat concrete slabs on metal beams. Building 777-10A was an important SRS research and development location. The reactors helped determine safe operational limits and loading patterns for fuel used in the SRS production reactors, and supported various low power reactor physics studies. All four reactors were shut down and de-inventoried in the 1970's. The building was DD and R 2007, Chattanooga, Tennessee, September 16-19, 2007 169 subsequently used by various SRS organizations for office space, audio/visual studio, and computer network hub. SRS successfully decommissioned Building 777-10A over a thirty month period at a cost of {approx}more » $$14 M ({approx}$$290/ft{sup 2}). The decommissioning was a complex and difficult effort due to the building's radiological contamination, height, extensive basement, and thick concrete walls. Extensive planning and extensive hazard analysis (e.g. of structural loads/modifications leading to unplanned collapse) ensured the decommissioning was completed safely and without incident. The decommissioning met contract standards for residual contamination and physical/chemical hazards, and was the last in a series of decommissioning projects that prepared the lower A/M-Area for SRS's environmental restoration program.« less

  5. Web-based training course for evaluating radiological dose assessment in NRC's license termination process.

    PubMed

    Lepoire, D; Richmond, P; Cheng, J-J; Kamboj, S; Arnish, J; Chen, S Y; Barr, C; McKenney, C

    2008-08-01

    As part of the requirement for terminating the licenses of nuclear power plants or other nuclear facilities, license termination plans or decommissioning plans are submitted by the licensee to the U.S. Nuclear Regulatory Commission (NRC) for review and approval. Decommissioning plans generally refer to the decommissioning of nonreactor facilities, while license termination plans specifically refer to the decommissioning of nuclear reactor facilities. To provide a uniform and consistent review of dose modeling aspects of these plans and to address NRC-wide knowledge management issues, the NRC, in 2006, commissioned Argonne National Laboratory to develop a Web-based training course on reviewing radiological dose assessments for license termination. The course, which had first been developed in 2005 to target specific aspects of the review processes for license termination plans and decommissioning plans, evolved from a live classroom course into a Web-based training course in 2006. The objective of the Web-based training course is to train NRC staff members (who have various relevant job functions and are located at headquarters, regional offices, and site locations) to conduct an effective review of dose modeling in accordance with the latest NRC guidance, including NUREG-1757, Volumes 1 and 2. The exact size of the staff population who will receive the training has not yet been accurately determined but will depend on various factors such as the decommissioning activities at the NRC. This Web-based training course is designed to give NRC staff members modern, flexible access to training. To this end, the course is divided into 16 modules: 9 core modules that deal with basic topics, and 7 advanced modules that deal with complex issues or job-specific topics. The core and advanced modules are tailored to various NRC staff members with different job functions. The Web-based system uses the commercially available software Articulate, which incorporates audio, video, and animation in slide presentations and has glossary, document search, and Internet connectivity features. The training course has been implemented on an NRC system that allows staff members to register, select courses, track records, and self-administer quizzes.

  6. 30 CFR 285.913 - What happens if I fail to comply with my approved decommissioning application?

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 30 Mineral Resources 2 2011-07-01 2011-07-01 false What happens if I fail to comply with my... Decommissioning Application § 285.913 What happens if I fail to comply with my approved decommissioning application? If you fail to comply with your approved decommissioning plan or application: (a) The MMS may...

  7. 30 CFR 585.902 - What are the general requirements for decommissioning for facilities authorized under my SAP, COP...

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... decommissioning for facilities authorized under my SAP, COP, or GAP? 585.902 Section 585.902 Mineral Resources... authorized under my SAP, COP, or GAP? (a) Except as otherwise authorized by BOEM under § 585.909, within 2... decommissioning the facilities under your SAP, COP, or GAP, you must submit a decommissioning application and...

  8. 30 CFR 585.902 - What are the general requirements for decommissioning for facilities authorized under my SAP, COP...

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... decommissioning for facilities authorized under my SAP, COP, or GAP? 585.902 Section 585.902 Mineral Resources... authorized under my SAP, COP, or GAP? (a) Except as otherwise authorized by BOEM under § 585.909, within 2... decommissioning the facilities under your SAP, COP, or GAP, you must submit a decommissioning application and...

  9. Residual strength and stiffness of lumber from decommissioned chromated copper arsenate-treated southern pine utility poles

    Treesearch

    Cheng Piao; Leslie Groom

    2010-01-01

    The reusability of decommissioned treated wood is primarily dependent on the residual strength of the wood after service. Determining the residual strength can provide useful information for structural design and reuse of the decommissioned treated wood. This study evaluated the residual strength of decommissioned chromated copper arsenate–treated utility pole wood....

  10. Decontamination, decommissioning, and vendor advertorial issue, 2005

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

    Agnihotri, Newal

    2005-07-15

    The focus of the July-August issue is on Decontamination, decommissioning, and vendor advertorials. Major interviews, articles and reports in this issue include: Increasing momentum, by Gary Taylor, Entergy Nuclear, Inc.; An acceptable investment, by Tom Chrisopher, Areva, Inc.; Fuel recycling for the U.S. and abroad, by Philippe Knoche, Areva, France; We're bullish on nuclear power, by Dan R. Keuter, Entergy Nuclear, Inc.; Ten key actions for decommissioning, by Lawrence E. Boing, Argonne National Laboratory; Safe, efficient and cost-effective decommissioning, by Dr. Claudio Pescatore and Torsten Eng, OECD Nuclear Energy Agency (NEA), France; and, Plant profile: SONGS decommissioning.

  11. Technology, safety and costs of decommissioning reference independent spent fuel storage installations. [Contains glossary

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

    Ludwick, J D; Moore, E B

    1984-01-01

    Safety and cost information is developed for the conceptual decommissioning of five different types of reference independent spent fuel storage installations (ISFSIs), each of which is being given consideration for interim storage of spent nuclear fuel in the United States. These include one water basin-type ISFSI (wet) and four dry ISFSIs (drywell, silo, vault, and cask). The reference ISFSIs include all component parts necessary for the receipt, handling and storage of spent fuel in a safe and efficient manner. Three decommissioning alternatives are studied to obtain comparisons between costs (in 1981 dollars), occupational radiation doses, and potential radiation doses tomore » the public. The alternatives considered are: DECON (immediate decontamination), SAFSTOR (safe storage followed by deferred decontamination), and ENTOMB (entombment followed by long-term surveillance).« less

  12. DECOMMISSIONING OF HOT CELL FACILITIES AT THE BATTELLE COLUMBUS LABORATORIES

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

    Weaver, Patrick; Henderson, Glenn; Erickson, Peter

    2003-02-27

    Battelle Columbus Laboratories (BCL), located in Columbus, Ohio, must complete decontamination and decommissioning activities for nuclear research buildings and grounds at its West Jefferson Facilities by 2006, as mandated by Congress. This effort includes decommissioning several hot cells located in the Hot Cell Laboratory (Building JN-1). JN-1 was originally constructed in 1955, and a hot cell/high bay addition was built in the mid 1970s. For over 30 years, BCL used these hot cell facilities to conduct research for the nuclear power industry and several government agencies, including the U.S. Navy, U.S. Army, U.S. Air Force, and the U.S. Department ofmore » Energy. As a result of this research, the JN-1 hot cells became highly contaminated with mixed fission and activation products, as well as fuel residues. In 1998, the Battelle Columbus Laboratories Decommissioning Project (BCLDP) began efforts to decommission JN-1 with the goal of remediating the site to levels of residual contamination allowing future use without radiological restrictions. This goal requires that each hot cell be decommissioned to a state where it can be safely demolished and transported to an off-site disposal facility. To achieve this, the BCLDP uses a four-step process for decommissioning each hot cell: (1) Source Term Removal; (2) Initial (i.e., remote) Decontamination; (3) Utility Removal; and (4) Final (i.e., manual) Decontamination/Stabilization. To date, this process has been successfully utilized on 13 hot cells within JN-1, with one hot cell remaining to be decommissioned. This paper will provide a case study of the hot cell decommissioning being conducted by the BCLDP. Discussed will be the methods used to achieve the goals of each of the hot cell decommissioning stages and the lessons learned that could be applied at other sites where hot cells need to be decommissioned.« less

  13. Safety Oversight of Decommissioning Activities at DOE Nuclear Sites

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

    Zull, Lawrence M.; Yeniscavich, William

    2008-01-15

    The Defense Nuclear Facilities Safety Board (Board) is an independent federal agency established by Congress in 1988 to provide nuclear safety oversight of activities at U.S. Department of Energy (DOE) defense nuclear facilities. The activities under the Board's jurisdiction include the design, construction, startup, operation, and decommissioning of defense nuclear facilities at DOE sites. This paper reviews the Board's safety oversight of decommissioning activities at DOE sites, identifies the safety problems observed, and discusses Board initiatives to improve the safety of decommissioning activities at DOE sites. The decommissioning of former defense nuclear facilities has reduced the risk of radioactive materialmore » contamination and exposure to the public and site workers. In general, efforts to perform decommissioning work at DOE defense nuclear sites have been successful, and contractors performing decommissioning work have a good safety record. Decommissioning activities have recently been completed at sites identified for closure, including the Rocky Flats Environmental Technology Site, the Fernald Closure Project, and the Miamisburg Closure Project (the Mound site). The Rocky Flats and Fernald sites, which produced plutonium parts and uranium materials for defense needs (respectively), have been turned into wildlife refuges. The Mound site, which performed R and D activities on nuclear materials, has been converted into an industrial and technology park called the Mound Advanced Technology Center. The DOE Office of Legacy Management is responsible for the long term stewardship of these former EM sites. The Board has reviewed many decommissioning activities, and noted that there are valuable lessons learned that can benefit both DOE and the contractor. As part of its ongoing safety oversight responsibilities, the Board and its staff will continue to review the safety of DOE and contractor decommissioning activities at DOE defense nuclear sites.« less

  14. Asset Decommissioning Risk Metrics for Floating Structures in the Gulf of Mexico.

    PubMed

    Kaiser, Mark J

    2015-08-01

    Public companies in the United States are required to report standardized values of their proved reserves and asset retirement obligations on an annual basis. When compared, these two measures provide an aggregate indicator of corporate decommissioning risk but, because of their consolidated nature, cannot readily be decomposed at a more granular level. The purpose of this article is to introduce a decommissioning risk metric defined in terms of the ratio of the expected value of an asset's reserves to its expected cost of decommissioning. Asset decommissioning risk (ADR) is more difficult to compute than a consolidated corporate risk measure, but can be used to quantify the decommissioning risk of structures and to perform regional comparisons, and also provides market signals of future decommissioning activity. We formalize two risk metrics for decommissioning and apply the ADR metric to the deepwater Gulf of Mexico (GOM) floater inventory. Deepwater oil and gas structures are expensive to construct, and at the end of their useful life, will be expensive to decommission. The value of proved reserves for the 42 floating structures in the GOM circa January 2013 is estimated to range between $37 and $80 billion for future oil prices between 60 and 120 $/bbl, which is about 10 to 20 times greater than the estimated $4.3 billion to decommission the inventory. Eni's Allegheny and MC Offshore's Jolliet tension leg platforms have ADR metrics less than one and are approaching the end of their useful life. Application of the proposed metrics in the regulatory review of supplemental bonding requirements in the U.S. Outer Continental Shelf is suggested to complement the current suite of financial metrics employed. © 2015 Society for Risk Analysis.

  15. Nuclear facility decommissioning and site remedial actions: A selected bibliography, Volume 13: Part 1, Main text

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

    Goins, L.F.; Webb, J.R.; Cravens, C.D.

    1992-09-01

    This publication contains 1035 abstracted references on environmental restoration, nuclear facility decommissioning, uranium mill tailings management, and site remedial actions. These citations constitute the thirteenth in a series of reports prepared annually for the US Department of Energy (DOE) Environmental Restoration programs. Citations to foreign and domestic literature of all types. There are 13 major sections of the publication, including: (1) DOE Decontamination and Decommissioning Program; (2) Nuclear Facilities Decommissioning; (3) DOE Formerly Utilized Sites Remedial Action Program; (4) DOE Uranium Mill Tailings Remedial Action Project; (5) Uranium Mill Tailings Management; (6) DOE Environmental Restoration Program; (7) DOE Site-Specific Remedialmore » Actions; (8) Contaminated Site Restoration; (9) Remediation of Contaminated Soil and Groundwater; (10) Environmental Data Measurements, Management, and Evaluation; (11) Remedial Action Assessment and Decision-Making; (12) Technology Development and Evaluation; and (13) Environmental and Waste Management Issues. Bibliographic references are arranged in nine subject categories by geographic location and then alphabetically by first author, corporate affiliation, or publication title. Indexes are provided for author, corporate affiliation, title word, publication description, geographic location, subject category, and key word.« less

  16. Potential for recycling of slightly radioactive metals arising from decommissioning within nuclear sector in Slovakia.

    PubMed

    Hrncir, Tomas; Strazovec, Roman; Zachar, Matej

    2017-09-07

    The decommissioning of nuclear installations represents a complex process resulting in the generation of large amounts of waste materials containing various concentrations of radionuclides. Selection of an appropriate strategy of management of the mentioned materials strongly influences the effectiveness of decommissioning process keeping in mind safety, financial and other relevant aspects. In line with international incentives for optimization of radioactive material management, concepts of recycling and reuse of materials are widely discussed and applications of these concepts are analysed. Recycling of some portion of these materials within nuclear sector (e.g. scrap metals or concrete rubble) seems to be highly desirable from economical point of view and may lead to conserve some disposal capacity. However, detailed safety assessment along with cost/benefit calculations and feasibility study should be developed in order to prove the safety, practicality and cost effectiveness of possible recycling scenarios. Paper discussed the potential for recycling of slightly radioactive metals arising from decommissioning of NPPs within nuclear sector in Slovakia. Various available recycling scenarios are introduced and method for overall assessment of various recycling scenarios is outlined including the preliminary assessment of safety and financial aspects. Copyright © 2017 Elsevier Ltd. All rights reserved.

  17. Evaluation of nuclear-facility decommissioning projects. Summary report: Ames Laboratory Research Reactor

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

    Link, B.W.; Miller, R.L.

    1983-07-01

    This document summarizes the available information concerning the decommissioning of the Ames Laboratory Research Reactor (ALRR), a five-megawatt heavy water moderated and cooled research reactor. The data were placed in a computerized information retrieval/manipulation system which permits its future utilization for purposes of comparative analysis. This information is presented both in detail in its computer output form and also as a manually assembled summarization which highlights the more important aspects of the decommissioning program. Some comparative information with reference to generic decommissioning data extracted from NUREG/CR 1756, Technology, Safety and Costs of Decommissioning Nuclear Research and Test Reactors, is included.

  18. Decontamination & decommissioning focus area

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

    NONE

    1996-08-01

    In January 1994, the US Department of Energy Office of Environmental Management (DOE EM) formally introduced its new approach to managing DOE`s environmental research and technology development activities. The goal of the new approach is to conduct research and development in critical areas of interest to DOE, utilizing the best talent in the Department and in the national science community. To facilitate this solutions-oriented approach, the Office of Science and Technology (EM-50, formerly the Office of Technology Development) formed five Focus AReas to stimulate the required basic research, development, and demonstration efforts to seek new, innovative cleanup methods. In Februarymore » 1995, EM-50 selected the DOE Morgantown Energy Technology Center (METC) to lead implementation of one of these Focus Areas: the Decontamination and Decommissioning (D & D) Focus Area.« less

  19. Environmental Assessment for decommissioning the Strategic Petroleum Reserve Weeks Island Facility, Iberia Parish, Louisiana

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

    NONE

    1995-12-01

    The Strategic Petroleum Reserve (SPR) Weeks Island site is one of five underground salt dome crude oils storage facilities operated by the Department of Energy (DOE). It is located in Iberia Parish, Louisiana. The purpose of the proposed action is to decommission the Weeks Island crude oil storage after the oil inventory has been transferred to other SPR facilities. Water intrusion into the salt dome storage chambers and the development of two sinkholes located near the aboveground facilities has created uncertain geophysical conditions. This Environmental Assessment describes the proposed decommissioning operation, its alternatives, and potential environmental impacts. Based on thismore » analyses, DOE has determined that the proposed action is not a major Federal action significantly affecting the quality of the human environment within the meaning of the National Environmental Policy Act (NEPA) and has issued the Finding of No Significant Impact (FONSI).« less

  20. Study on the financing mechanism and management for decommissioning of nuclear installations in Malaysia

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

    Saleh, Lydia Ilaiza, E-mail: lydiailaiza@gmail.com; Ryong, Kim Tae

    The whole cycle of the decommissioning process development of repository requires the relevant bodies to have a financial system to ensure that it has sufficient funds for its whole life cycle (over periods of many decades). Therefore, the financing mechanism and management system shall respect the following status: the national position, institutional and legislative environment, technical capabilities, the waste origin, ownership, characteristics and inventories. The main objective of the studies is to focus on the cost considerations, alternative funding managements and mechanisms, technical and non-technical factors that may affect the repository life-cycle costs. As a conclusion, the outcomes of thismore » paper is to make a good recommendation and could be applied to the national planners, regulatory body, engineers, or the managers, to form a financial management plan for the decommissioning of the Nuclear Installation.« less

  1. A fast simulation method for radiation maps using interpolation in a virtual environment.

    PubMed

    Li, Meng-Kun; Liu, Yong-Kuo; Peng, Min-Jun; Xie, Chun-Li; Yang, Li-Qun

    2018-05-10

    In nuclear decommissioning, virtual simulation technology is a useful tool to achieve an effective work process by using virtual environments to represent the physical and logical scheme of a real decommissioning project. This technology is cost-saving and time-saving, with the capacity to develop various decommissioning scenarios and reduce the risk of retrofitting. The method utilises a radiation map in a virtual simulation as the basis for the assessment of exposure to a virtual human. In this paper, we propose a fast simulation method using a known radiation source. The method has a unique advantage over point kernel and Monte Carlo methods because it generates the radiation map using interpolation in a virtual environment. The simulation of the radiation map including the calculation and the visualisation were realised using UNITY and MATLAB. The feasibility of the proposed method was tested on a hypothetical case and the results obtained are discussed in this paper.

  2. 77 FR 14047 - Guidance for Decommissioning Planning During Operations

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-03-08

    ...)-4014, ``Decommissioning Planning During Operations.'' This action is necessary to correct the NRC's... NUCLEAR REGULATORY COMMISSION [NRC-2011-0286] Guidance for Decommissioning Planning During Operations AGENCY: Nuclear Regulatory Commission. ACTION: Draft regulatory guide; correction. SUMMARY: The U...

  3. Technology, safety, and costs of decommissioning reference nuclear research and test reactors: sensitivity of decommissioning radiation exposure and costs to selected parameters

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

    Konzek, G.J.

    1983-07-01

    Additional analyses of decommissioning at the reference research and test (R and T) reactors and analyses of five recent reactor decommissionings are made that examine some parameters not covered in the initial study report (NUREG/CR-1756). The parameters examined for decommissioning are: (1) the effect on costs and radiation exposure of plant size and/or type; (2) the effects on costs of increasing disposal charges and of unavailability of waste disposal capacity at licensed waste disposal facilities; and (3) the costs of and the available alternatives for the disposal of nuclear R and T reactor fuel assemblies.

  4. Treatment of Asbestos Wastes Using the GeoMelt Vitrification Process

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

    Finucane, K.G.; Thompson, L.E.; Abuku, T.

    The disposal of waste asbestos from decommissioning activities is becoming problematic in countries which have limited disposal space. A particular challenge is the disposal of asbestos wastes from the decommissioning of nuclear sites because some of it is radioactively contaminated or activated and disposal space for such wastes is limited. GeoMelt{sup R} vitrification is being developed as a treatment method for volume and toxicity minimization and radionuclide immobilization for UK radioactive asbestos mixed waste. The common practice to date for asbestos wastes is disposal in licensed landfills. In some cases, compaction techniques are used to minimize the disposal space requirements.more » However, such practices are becoming less practical. Social pressures have resulted in changes to disposal regulations which, in turn, have resulted in the closure of some landfills and increased disposal costs. In the UK, tens of thousands of tonnes of asbestos waste will result from the decommissioning of nuclear sites over the next 20 years. In Japan, it is estimated that over 40 million tonnes of asbestos materials used in construction will require disposal. Methods for the safe and cost effective volume reduction of asbestos wastes are being evaluated for many sites. The GeoMelt{sup R} vitrification process is being demonstrated at full-scale in Japan for the Japan Ministry of Environment and plans are being developed for the GeoMelt treatment of UK nuclear site decommissioning-related asbestos wastes. The full-scale treatment operations in Japan have also included contaminated soils and debris. The GeoMelt{sup R} vitrification process result in the maximum possible volume reduction, destroys the asbestos fibers, treats problematic debris associated with asbestos wastes, and immobilizes radiological contaminants within the resulting glass matrix. Results from recent full-scale treatment operations in Japan are discussed and plans for GeoMelt treatment of UK nuclear site decommissioning-related asbestos wastes are outlined. (authors)« less

  5. Radioactive waste from decommissioning of fast reactors (through the example of BN-800)

    NASA Astrophysics Data System (ADS)

    Rybin, A. A.; Momot, O. A.

    2017-01-01

    Estimation of volume of radioactive waste from operating and decommissioning of fast reactors is introduced. Preliminary estimation has shown that the volume of RW from decommissioning of BN-800 is amounted to 63,000 cu. m. Comparison of the amount of liquid radioactive waste derived from operation of different reactor types is performed. Approximate costs of all wastes disposal for complete decommissioning of BN-800 reactor are estimated amounting up to approx. 145 million.

  6. Ecological and political issues surrounding decommissioning of offshore oil facilities in the Southern California Bight

    USGS Publications Warehouse

    Schroeder, Donna M.; Love, Milton S.

    2004-01-01

    To aid legislators, resource managers, and the general public, this paper summarizes and clarifies some of the issues and options that the federal government and the state of California face in decommissioning offshore oil and gas production platforms, particularly as these relate to platform ecology. Both local marine ecology and political climate play a role in decommissioning offshore oil production platforms. Compared to the relatively supportive political climate in the Gulf of Mexico for “rigs-to-reefs” programs, conflicting social values among stakeholders in Southern California increases the need for understanding ecological impacts of various decommissioning alternatives (which range from total removal to allowing some or all of platform structure to remain in the ocean). Additional scientific needs in the decommissioning process include further assessment of platform habitat quality, estimation of regional impacts of decommissioning alternatives to marine populations, and determination of biological effects of any residual contaminants. The principal management need is a ranking of environmental priorities (e.g. species-of-interest and marine habitats). Because considerable numbers of economically important species reside near oil platforms, National Oceanic and Atmospheric Administration Fisheries should consider the consequences of decommissioning alternatives in their overall management plans. Management strategies could include designating reefed platforms as marine protected areas. The overarching conclusion from both ecological and political perspectives is that decommissioning decisions should be made on a case-by-case basis.

  7. When a plant shuts down: The psychology of decommissioning

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

    Schulz, J.; Crawford, A.C.

    Within the next decade, 10 to 25 nuclear plants in the United States may be taken off line. Many will have reached the end of their 40-year life cycles, but others will be retired because the cost of operating them has begun to outweigh their economic benefit. Such was the case at Fort St. Vrain, the first decommissioning of a US commercial plant under new Nuclear Regulatory Commission (NRC) regulations. Two major problems associated with decommissioning plants have been obvious: (1) the technical challenges and costs of decommissioning, and (2) the cost of maintaining and finally decommissioning a plant aftermore » a safe storage (SAFSTOR) period of approximately 60 years. What has received little attention is the challenge that affects not only the people who make a plant work, but the quality of the solutions to these problems: how to maintain effective organizational performance during the process of downsizing and decommissioning and/or SAFSTOR. The quality of technical solutions for closing a plant, as well as how successfully the decommissioning process is held within or below budget, will depend largely on how effectively the nuclear organization functions as a social unit. Technical and people issues are bound together. The difficulty is how to operate a plant effectively when plant personnel have no sense of long-term security. As the nuclear power industry matures and the pace for closing operating plants accelerates, the time has come to prepare for the widespread decommissioning of plants. The industry would be well served by conducting a selective, industry-wide evaluation of plants to assess its overall readiness for the decommissioning process. A decommissioning is not likely to be trouble free, but with a healthy appreciation for the human side of the process, it will undoubtedly go more smoothly than if approached as a matter of dismantling a machine.« less

  8. Education in nuclear decommissioning in the north of Scotland

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

    Catlow, F.; Reeves, G.M.

    2007-07-01

    This paper describes the work covered and experience gained in the first two years of operation of DERC, a Centre for Decommissioning and Environmental Remediation in the Highlands of Scotland. The Centre is a unique development which was set up to teach nuclear decommissioning as a separate discipline, address the problem of a declining skills base in the field of nuclear technologies and to take advantage of the unique and exceptional innovative, technical and research opportunities offered through the decommissioning of Britain's fast reactor site at Dounreay. The Centre is an offshoot from North Highland College which is a membermore » of UHI, the University in embryo of the Highlands and Islands. The Centre currently supports ten PhD students completing various diverse projects mainly in the field of nuclear environmental remediation. In addition there area number of full and part time MSc students who participate in NTEC (Nuclear Technology Education Consortium) a consortium of British Universities set up specifically to engender interest and skills in nuclear technology at postgraduate level. At undergraduate level, courses are offered in Nuclear Decommissioning and related subjects as part of Electrical and Mechanical degree courses. In addition to our relationship with the United Kingdom Atomic Energy Authority (UKAEA) the Dounreay site licensee, we have links with Rolls-Royce and the Ministry of Defence who also share the Dounreay site and with other stakeholders such as, the UK regulator (HSE/NII), the Scottish Environmental Protection Agency (SEPA), local and international contractors and we liaise with the newly formed Nuclear Decommissioning Authority (NDA), who provide some sponsorship and support. We possess our own equipment and laboratories for taking and analysing soil samples and for conducting environmental surveys. Recently we commissioned an aerial survey of contamination in the locality from natural sources, other background levels such as Chernobyl fall out and any local activity from Dounreay. (authors)« less

  9. An analysis of decommissioning costs for the AFRRI TRIGA reactor facility

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

    Forsbacka, Matt

    1990-07-01

    A decommissioning cost analysis for the AFRRI TRIGA Reactor Facility was made. AFRRI is not at this time suggesting that the AFRRI TRIGA Reactor Facility be decommissioned. This report was prepared to be in compliance with paragraph 50.33 of Title 10, Code of Federal Regulations which requires the assurance of availability of future decommissioning funding. The planned method of decommissioning is the immediate decontamination of the AFRRI TRIGA Reactor site to allow for restoration of the site to full public access - this is called DECON. The cost of DECON for the AFRRI TRIGA Reactor Facility in 1990 dollars ismore » estimated to be $3,200,000. The anticipated ancillary costs of facility site demobilization and spent fuel shipment is an additional $600,000. Thus the total cost of terminating reactor operations at AFRRI will be about $3,800,000. The primary basis for this cost estimate is a study of the decommissioning costs of a similar reactor facility that was performed by Battelle Pacific Northwest Laboratory (PNL) as provided in USNRC publication NUREG/CR-1756. The data in this study were adapted to reflect the decommissioning requirements of the AFRRI TRIGA. (author)« less

  10. Comparative Evaluation of Cutting Methods of Activated Concrete from Nuclear Power Plant Decommissioning - 13548

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

    Kim, HakSoo; Chung, SungHwan; Maeng, SungJun

    2013-07-01

    The amount of radioactive wastes from decommissioning of a nuclear power plant varies greatly depending on factors such as type and size of the plant, operation history, decommissioning options, and waste treatment and volume reduction methods. There are many methods to decrease the amount of decommissioning radioactive wastes including minimization of waste generation, waste reclassification through decontamination and cutting methods to remove the contaminated areas. According to OECD/NEA, it is known that the radioactive waste treatment and disposal cost accounts for about 40 percentage of the total decommissioning cost. In Korea, it is needed to reduce amount of decommissioning radioactivemore » waste due to high disposal cost, about $7,000 (as of 2010) per a 200 liter drum for the low- and intermediate-level radioactive waste (LILW). In this paper, cutting methods to minimize the radioactive waste of activated concrete were investigated and associated decommissioning cost impact was assessed. The cutting methods considered are cylindrical and volume reductive cuttings. The study showed that the volume reductive cutting is more cost-effective than the cylindrical cutting. Therefore, the volume reductive cutting method can be effectively applied to the activated bio-shield concrete. (authors)« less

  11. Vision servo of industrial robot: A review

    NASA Astrophysics Data System (ADS)

    Zhang, Yujin

    2018-04-01

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

  12. TN International and ITS operational feedback regarding the decommissioning of obsolete casks dedicated to the transport and/or storage of nuclear raw materials, fuel and used fuel

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

    Blachet, L.; Bimet, F.; Rennesson, N.

    2008-07-01

    Within the AREVA group, TN International is a major actor regarding the design of casks and transportation for the nuclear cycle. In the early 2005, TN International has started the project of decommissioning some of its own equipment and was hence the first company ever in the AREVA Group to implement this new approach. In order to do so, TN International has based this project by taking into account the AREVA Sustainable Development Charter, the French regulatory framework, the ANDRA (Agence Nationale pour la Gestion des Dechets Radioactifs - National Agency for the radioactive waste management) requirements and has deployedmore » a step by step methodology such as radiological characterization following a logical route. The aim was to define a standardized process with optimized solutions regarding the diversity of the cask's fleet. As a general matter, decommissioning of nuclear casks is a brand new field as the nuclear field is more familiar with the dismantling of nuclear facilities and/or nuclear power plant. Nevertheless existing workshops, maintenance facilities, measurements equipments and techniques have been exploited and adapted by TN International in order to turn an ambitious project into a permanent and cost-effective activity. The decommissioning of the nuclear casks implemented by TN International regarding its own needs and the French regulatory framework is formalized by several processes and is materialized for instance by the final disposal of casks as they are or in ISO container packed with cut-off casks and big bags filled with crushed internal cask equipments, etc. The first part of this paper aims to describe the history of the project that started with a specific environmental analysis which took into account the values of AREVA as regards the Sustainable Development principles that were at the time and are still a topic of current concern in the world. The second part will deal with the definition, the design and the implementation of the decommissioning processes and the applied techniques. The third part will present a two years operational feedback. The last part will introduce new processes which are currently under investigation and will put into light that decommissioning of nuclear casks is a continuous activity that is in perpetual mutation. (authors)« less

  13. Reducing environmental risk associated with laboratory decommissioning and property transfer.

    PubMed

    Dufault, R; Abelquist, E; Crooks, S; Demers, D; DiBerardinis, L; Franklin, T; Horowitz, M; Petullo, C; Sturchio, G

    2000-12-01

    The need for more or less space is a common laboratory problem. Solutions may include renovating existing space, leaving or demolishing old space, or acquiring new space or property for building. All of these options carry potential environmental risk. Such risk can be the result of activities related to the laboratory facility or property (e.g., asbestos, underground storage tanks, lead paint), or the research associated with it (e.g., radioactive, microbiological, and chemical contamination). Regardless of the option chosen to solve the space problem, the potential environmental risk must be mitigated and the laboratory space and/or property must be decommissioned or rendered safe prior to any renovation, demolition, or property transfer activities. Not mitigating the environmental risk through a decommissioning process can incur significant financial liability for any costs associated with future decommissioning cleanup activities. Out of necessity, a functioning system, environmental due diligence auditing, has evolved over time to assess environmental risk and reduce associated financial liability. This system involves a 4-phase approach to identify, document, manage, and clean up areas of environmental concern or liability, including contamination. Environmental due diligence auditing includes a) historical site assessment, b) characterization assessment, c) remedial effort and d) final status survey. General practice standards from the American Society for Testing and Materials are available for conducting the first two phases. However, standards have not yet been developed for conducting the third and final phases of the environmental due diligence auditing process. Individuals involved in laboratory decommissioning work in the biomedical research industry consider this a key weakness.

  14. Reducing environmental risk associated with laboratory decommissioning and property transfer.

    PubMed Central

    Dufault, R; Abelquist, E; Crooks, S; Demers, D; DiBerardinis, L; Franklin, T; Horowitz, M; Petullo, C; Sturchio, G

    2000-01-01

    The need for more or less space is a common laboratory problem. Solutions may include renovating existing space, leaving or demolishing old space, or acquiring new space or property for building. All of these options carry potential environmental risk. Such risk can be the result of activities related to the laboratory facility or property (e.g., asbestos, underground storage tanks, lead paint), or the research associated with it (e.g., radioactive, microbiological, and chemical contamination). Regardless of the option chosen to solve the space problem, the potential environmental risk must be mitigated and the laboratory space and/or property must be decommissioned or rendered safe prior to any renovation, demolition, or property transfer activities. Not mitigating the environmental risk through a decommissioning process can incur significant financial liability for any costs associated with future decommissioning cleanup activities. Out of necessity, a functioning system, environmental due diligence auditing, has evolved over time to assess environmental risk and reduce associated financial liability. This system involves a 4-phase approach to identify, document, manage, and clean up areas of environmental concern or liability, including contamination. Environmental due diligence auditing includes a) historical site assessment, b) characterization assessment, c) remedial effort and d) final status survey. General practice standards from the American Society for Testing and Materials are available for conducting the first two phases. However, standards have not yet been developed for conducting the third and final phases of the environmental due diligence auditing process. Individuals involved in laboratory decommissioning work in the biomedical research industry consider this a key weakness. PMID:11121365

  15. Optimal policies for aggregate recycling from decommissioned forest roads.

    PubMed

    Thompson, Matthew; Sessions, John

    2008-08-01

    To mitigate the adverse environmental impact of forest roads, especially degradation of endangered salmonid habitat, many public and private land managers in the western United States are actively decommissioning roads where practical and affordable. Road decommissioning is associated with reduced long-term environmental impact. When decommissioning a road, it may be possible to recover some aggregate (crushed rock) from the road surface. Aggregate is used on many low volume forest roads to reduce wheel stresses transferred to the subgrade, reduce erosion, reduce maintenance costs, and improve driver comfort. Previous studies have demonstrated the potential for aggregate to be recovered and used elsewhere on the road network, at a reduced cost compared to purchasing aggregate from a quarry. This article investigates the potential for aggregate recycling to provide an economic incentive to decommission additional roads by reducing transport distance and aggregate procurement costs for other actively used roads. Decommissioning additional roads may, in turn, result in improved aquatic habitat. We present real-world examples of aggregate recycling and discuss the advantages of doing so. Further, we present mixed integer formulations to determine optimal levels of aggregate recycling under economic and environmental objectives. Tested on an example road network, incorporation of aggregate recycling demonstrates substantial cost-savings relative to a baseline scenario without recycling, increasing the likelihood of road decommissioning and reduced habitat degradation. We find that aggregate recycling can result in up to 24% in cost savings (economic objective) and up to 890% in additional length of roads decommissioned (environmental objective).

  16. 10 CFR 50.82 - Termination of license.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... licensees whose decommissioning plan approval activities have been relegated to notice of opportunity for a... decommissioning activities required in paragraphs (a)(4)(ii) and (a)(5) of this section shall not apply, and any... permanent cessation of operations, the licensee shall submit a post-shutdown decommissioning activities...

  17. 30 CFR 285.907 - How will MMS process my decommissioning application?

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... application? 285.907 Section 285.907 Mineral Resources BUREAU OF OCEAN ENERGY MANAGEMENT, REGULATION, AND ENFORCEMENT, DEPARTMENT OF THE INTERIOR OFFSHORE RENEWABLE ENERGY ALTERNATE USES OF EXISTING FACILITIES ON THE... compare your decommissioning application with the decommissioning general concept in your approved SAP...

  18. Progress in Decommissioning of Ignalina NPP Unit 1

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

    Ancius, Darius; Krenevicius, Rimantas; Kutas, Saulius

    2002-07-01

    The aim of the paper is to present the Lithuanian legal framework regarding the nuclear safety in Decommissioning and Waste Management, and the progress in the Decommissioning Programme of the unit 1 of Ignalina Nuclear Power Plant (INPP). INPP is the only nuclear plant in Lithuania. It comprises two RBMK-1500 reactors. After Lithuania has restored its independence, responsibility for Ignalina NPP was transferred to the Republic of Lithuania. To ensure the control of the Nuclear Safety in Lithuania, The State Nuclear Power Safety Inspectorate (VATESI) was created on 18 October 1991, by a resolution of the Lithuanian Government. Significant workmore » has been performed over the last decade, aiming at upgrading the safety level of the Ignalina NPP with reference to the International standards. On 5 October 1999 the Seimas (Parliament) adopted the National Energy Strategy: It has been decided that unit 1 of Ignalina NPP will be closed down before 2005, The conditions and precise final date of the decommissioning of Unit 2 will be stated in the updated National Energy strategy in 2004. On 20-21 June 2000, the International Donors' Conference for the Decommissioning of Ignalina NPP took place in Vilnius. More than 200 Millions Euro were pledged of which 165 M funded directly from the European Union's budget, as financial support to the Decommissioning projects. The Decommissioning Program encompasses legal, organizational, financial and technical means including the social and economical impacts in the region of Ignalina. The Program is financed from International Support Fund, State budget, National Decommissioning Fund of Ignalina NPP and other funds. Decommissioning of Ignalina NPP is subject to VATESI license according to the Law on Nuclear Energy. The Government established the licensing procedure in the so-called 'Procedure for licensing of Nuclear Activities'; and the document 'General Requirements for Decommissioning of the Ignalina NPP' has been issued by VATESI. A very important issue is the technical support to VATESI and the Lithuanian TSO's (Technical Support Organisations) in their activities within the licensing process related to the Decommissioning of INPP. This includes regulatory assistance in the preparation of decommissioning and radioactive waste management regulatory documents, and technical assistance in the review of the safety case presented by the operator. The Institute for Radioprotection and Nuclear Safety (IRSN, France) and the French Nuclear Safety Authority (DSIN) as well as Swedish International Project (SIP) are providing their support to VATESI in these areas. (authors)« less

  19. 30 CFR 585.907 - How will BOEM process my decommissioning application?

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... decommissioning application with the decommissioning general concept in your approved SAP, COP, or GAP to..., COP, or GAP, and BOEM will begin the appropriate NEPA analysis and other regulatory reviews as... change in the impacts previously identified and evaluated in your SAP, COP, or GAP; (2) Require any...

  20. 30 CFR 585.907 - How will BOEM process my decommissioning application?

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... decommissioning application with the decommissioning general concept in your approved SAP, COP, or GAP to..., COP, or GAP, and BOEM will begin the appropriate NEPA analysis and other regulatory reviews as... change in the impacts previously identified and evaluated in your SAP, COP, or GAP; (2) Require any...

  1. 10 CFR 30.35 - Financial assurance and recordkeeping for decommissioning.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... shall include a decommissioning funding plan in any application for license renewal. (3) Each holder of... not to exceed 3 years. The decommissioning funding plan must also contain a certification by the... until the Commission has terminated the license. (3) An external sinking fund in which deposits are made...

  2. 77 FR 45368 - Draft Environmental Assessment, Habitat Conservation Plan, and Application for an Incidental Take...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-07-31

    ... otherwise lawful activities associated with operation, maintenance, and decommissioning of a 28-turbine wind... occur due to operation, maintenance, and decommissioning of 28 wind turbines. The proposed conservation... 21 years during operations, maintenance, and decommissioning activities related to CPP's 28-turbine...

  3. 26 CFR 1.468A-0 - Nuclear decommissioning costs; table of contents.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 26 Internal Revenue 6 2011-04-01 2011-04-01 false Nuclear decommissioning costs; table of contents...-0 Nuclear decommissioning costs; table of contents. This section lists the paragraphs contained in.... (b) Definitions. (c) Special rules applicable to certain experimental nuclear facilities. § 1.468A...

  4. 26 CFR 1.468A-0 - Nuclear decommissioning costs; table of contents.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... 26 Internal Revenue 6 2012-04-01 2012-04-01 false Nuclear decommissioning costs; table of contents...-0 Nuclear decommissioning costs; table of contents. This section lists the paragraphs contained in.... (b) Definitions. (c) Special rules applicable to certain experimental nuclear facilities. § 1.468A...

  5. 26 CFR 1.468A-0 - Nuclear decommissioning costs; table of contents.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... 26 Internal Revenue 6 2014-04-01 2014-04-01 false Nuclear decommissioning costs; table of contents...-0 Nuclear decommissioning costs; table of contents. This section lists the paragraphs contained in.... (b) Definitions. (c) Special rules applicable to certain experimental nuclear facilities. § 1.468A...

  6. 26 CFR 1.468A-0 - Nuclear decommissioning costs; table of contents.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... 26 Internal Revenue 6 2013-04-01 2013-04-01 false Nuclear decommissioning costs; table of contents...-0 Nuclear decommissioning costs; table of contents. This section lists the paragraphs contained in.... (b) Definitions. (c) Special rules applicable to certain experimental nuclear facilities. § 1.468A...

  7. Regulation and Entrainment in Human-Robot Interaction

    DTIC Science & Technology

    2000-01-01

    applications for domestic, health care related, or entertainment based robots motivate the development of robots that can socially interact with, learn...picture shows WE-3RII, an expressive face robot developed at Waseda University. The middle right picture shows Robita, an upper-torso robot also... developed at Waseda University to track speaking turns. The far right picture shows our expressive robot, Kismet, developed at MIT. The two leftmost photos

  8. A Strategy for Skills to meet the demands of Nuclear Decommissioning and Clean-up in the UK

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

    Brownridge, M.; Ensor, B.

    The NDA remit as set out within the Energy Act includes - 'to ensure the availability of skills required to deliver the overall decommissioning and nuclear clean-up mission'. The NDA approach to meeting their statutory obligation is by: - finding the best ways of re-training, re-skilling or re-deploying people in a way that encourages a more flexible workforce; - identifying and communicating the skills and workforce requirements to deliver the mission; and - developing the infrastructure and capability initiatives in line with long term needs, for example, a National Skills Academy for Nuclear, Nuclear Institute, National Graduate Scheme, and -more » developing locally specific provision. Firstly, NDA has set the requirement for nuclear sites to write down within the Life Time Plans (LTP), at a high level, their Site Skills Strategies; furthermore, a National Skills Working Group has been established to develop tactical cross sector solutions to support the NDA's Skills Strategy. In support of the short, medium and long term needs to meet demands of the NDA sites and the nuclear decommissioning sector, as well as being aware of the broader nuclear sector, investments have been made in infrastructure and skills programmes such as: - A National Skills Academy for Nuclear - including UK wide representation of the whole nuclear sector; - A Nuclear Institute in partnership with the University of Manchester focussing on world class research and skills in Radiation Sciences and Decommissioning Engineering; - Post Graduate sponsorship for decommissioning related projects; - A National Graduate Scheme partnership with nuclear related employers; - Vocational qualifications and Apprenticeship Schemes - Engaging 14-19 year old students to encourage the take up of Science related subjects; and - A sector wide 'Skills Passport'. In conclusion: The skills challenge has many dimensions but requires addressing due to the clear link to improved business performance and the availability of key resources in a diminishing and competitive environment. The diminishing skill base is due to reasons such as demographics and competition from other industries such as the oil industry. Getting the balance between meeting regional and national requirements will prove critical to success. The lack of clarity on the long term needs will also drive the strategy. NDA recognises that the work to date is the beginning of a long term approach and programme. We have developed a skills strategy that is consistent across all 20 sites and examples of key developments in infrastructure are in progress. Looking forward NDA will seek benchmarking opportunities and ways to make tangible links between skills and performance. (authors)« less

  9. The Optimized Integration of the Decontamination Plan and the Radwaste Management Plan into Decommissioning Plan to the VVR-S Research Reactor from Romania

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

    Barariu, G.

    2008-07-01

    The paper presents the progress of the Decontamination Plan and Radioactive Waste Management Plan which accompanies the Decommissioning Plan for research reactor VVR-S located in Magurele, Ilfov, near Bucharest, Romania. The new variant of the Decommissioning Plan was elaborated taking into account the IAEA recommendation concerning radioactive waste management. A new feasibility study for VVR-S decommissioning was also elaborated. The preferred safe management strategy for radioactive wastes produced by reactor decommissioning is outlined. The strategy must account for reactor decommissioning, as well as rehabilitation of the existing Radioactive Waste Treatment Plant and the upgrade of the Radioactive Waste Disposal Facilitymore » at Baita-Bihor. Furthermore, the final rehabilitation of the laboratories and reusing of cleaned reactor building is envisaged. An inventory of each type of radioactive waste is presented. The proposed waste management strategy is selected in accordance with the IAEA assistance. Environmental concerns are a part of the radioactive waste management strategy. In conclusion: The current version 8 of the Draft Decommissioning Plan which include the Integrated concept of Decontamination and Decommissioning and Radwaste Management, reflects the substantial work that has been incorporated by IFIN-HH in collaboration with SITON, which has resulted in substantial improvement in document The decommissioning strategy must take into account costs for VVR-S Reactor decommissioning, as well as costs for much needed refurbishments to the radioactive waste treatment plant and the Baita-Bihor waste disposal repository. Several improvements to the Baita-Bihor repository and IFIN-HH waste treatment facility were proposed. The quantities and composition of the radioactive waste generated by VVR-S Reactor dismantling were again estimated by streams and the best demonstrated practicable processing solution was proposed. The estimated quantities of materials to be managed in the near future raise some issues that need to be solved swiftly, such as treatment of aluminum and lead and graphite management. It is envisaged that these materials to be treated to Subsidiary for Nuclear Research (SCN) Pitesti. (authors)« less

  10. Towards a sustainable modular robot system for planetary exploration

    NASA Astrophysics Data System (ADS)

    Hossain, S. G. M.

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

  11. 78 FR 49553 - Three Mile Island, Unit 2; Post Shutdown Decommissioning Activities Report

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-08-14

    ...On June 28, 2013, the GPU Nuclear Inc. (GPUN) submitted its Post Shutdown Decommissioning Activity Report (PSDAR) for Three Mile Island, Unit 2 (TMI-2). The PSDAR provides an overview of GPUN's proposed decommissioning activities, schedule, and costs for TMI-2. The NRC is requesting public comments on the PSDAR.

  12. 77 FR 64361 - Report on Waste Burial Charges: Changes in Decommissioning Waste Disposal Costs at Low-Level...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-10-19

    ... Decommissioning Waste Disposal Costs at Low-Level Waste Burial Facilities AGENCY: Nuclear Regulatory Commission... 15, ``Report on Waste Burial Charges: Changes in Decommissioning Waste Disposal Costs at Low-Level... for low-level waste. DATES: Submit comments by November 15, 2012. Comments received after this date...

  13. Evaluation of short-rotation woody crops to stabilize a decommissioned swine lagoon

    Treesearch

    K.C. Dipesh; Rodney E. Will; Thomas C. Hennessey; Chad J. Penn

    2012-01-01

    Fast growing tree stands represent an environmentally friendly, less expensive method for stabilization of decommissioned animal production lagoons than traditional lagoon closure. We tested the feasibility of using short-rotation woody crops (SRWCs) in central Oklahoma to close a decommissioned swine lagoon by evaluating the growth performance and nutrient uptake of...

  14. 30 CFR 585.908 - What must I include in my decommissioning notice?

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 30 Mineral Resources 2 2012-07-01 2012-07-01 false What must I include in my decommissioning notice? 585.908 Section 585.908 Mineral Resources BUREAU OF OCEAN ENERGY MANAGEMENT, DEPARTMENT OF THE... determines that your decommissioning activities would: (1) Result in a significant change in the impacts...

  15. 30 CFR 285.529 - Can I use a lease- or grant-specific decommissioning account to meet the financial assurance...

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... ENERGY ALTERNATE USES OF EXISTING FACILITIES ON THE OUTER CONTINENTAL SHELF Payments and Financial Assurance Requirements Requirements for Financial Assurance Instruments § 285.529 Can I use a lease- or... decommissioning account to meet the financial assurance requirements related to decommissioning? 285.529 Section...

  16. Decommissioning: Nuclear Power's Missing Link. Worldwatch Paper 69.

    ERIC Educational Resources Information Center

    Pollock, Cynthia

    The processes and associated dilemmas of nuclear power plant decommissioning are reviewed in this publication. Decommissioning involves the clearing up and disposal of a retired nuclear plant and its equipment of such a way as to safeguard the public from the dangers of radioactivity. Related problem areas are identified and include: (1) closure…

  17. 10 CFR 40.36 - Financial assurance and recordkeeping for decommissioning.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... funding plan as described in paragraph (d) of this section. (b) Each applicant for a specific license... 100 mCi in a readily dispersible form shall either— (1) Submit a decommissioning funding plan as... this section shall submit a decommissioning funding plan as described in paragraph (d) of this section...

  18. 10 CFR 40.36 - Financial assurance and recordkeeping for decommissioning.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... funding plan as described in paragraph (d) of this section. (b) Each applicant for a specific license... 100 mCi in a readily dispersible form shall either— (1) Submit a decommissioning funding plan as... this section shall submit a decommissioning funding plan as described in paragraph (d) of this section...

  19. 10 CFR 40.36 - Financial assurance and recordkeeping for decommissioning.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... funding plan as described in paragraph (d) of this section. (b) Each applicant for a specific license... 100 mCi in a readily dispersible form shall either— (1) Submit a decommissioning funding plan as... this section shall submit a decommissioning funding plan as described in paragraph (d) of this section...

  20. 10 CFR 40.36 - Financial assurance and recordkeeping for decommissioning.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... readily dispersible form shall submit a decommissioning funding plan as described in paragraph (d) of this...— (1) Submit a decommissioning funding plan as described in paragraph (d) of this section; or (2... funding plan as described in paragraph (d) of this section or a certification of financial assurance for...

  1. DEACTIVATION AND DECOMMISSIONING ENVIRONMENTAL STRATEGY FOR THE PLUTONIUM FINISHING PLANT COMPLEX, HANFORD NUCLEAR RESERVATION

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

    Hopkins, A.M.; Heineman, R.; Norton, S.

    Maintaining compliance with environmental regulatory requirements is a significant priority in successful completion of the Plutonium Finishing Plant (PFP) Nuclear Material Stabilization (NMS) Project. To ensure regulatory compliance throughout the deactivation and decommissioning of the PFP complex, an environmental regulatory strategy was developed. The overall goal of this strategy is to comply with all applicable environmental laws and regulations and/or compliance agreements during PFP stabilization, deactivation, and eventual dismantlement. Significant environmental drivers for the PFP Nuclear Material Stabilization Project include the Tri-Party Agreement; the Resource Conservation and Recovery Act of 1976 (RCRA); the Comprehensive Environmental Response, Compensation and Liability Actmore » of 1980 (CERCLA); the National Environmental Policy Act of 1969 (NEPA); the National Historic Preservation Act (NHPA); the Clean Air Act (CAA), and the Clean Water Act (CWA). Recent TPA negotiation s with Ecology and EPA have resulted in milestones that support the use of CERCLA as the primary statutory framework for decommissioning PFP. Milestones have been negotiated to support the preparation of Engineering Evaluations/Cost Analyses for decommissioning major PFP buildings. Specifically, CERCLA EE/CA(s) are anticipated for the following scopes of work: Settling Tank 241-Z-361, the 232-Z Incinerator, , the process facilities (eg, 234-5Z, 242, 236) and the process facility support buildings. These CERCLA EE/CA(s) are for the purpose of analyzing the appropriateness of the slab-on-grade endpoint Additionally, agreement was reached on performing an evaluation of actions necessary to address below-grade structures or other structures remaining after completion of the decommissioning of PFP. Remaining CERCLA actions will be integrated with other Central Plateau activities at the Hanford site.« less

  2. Reactor Design and Decommissioning - An Overview of International Activities in Post Fukushima Era1 - 12396

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

    Devgun, Jas S.; Laraia, Michele; Pescatore, Claudio

    Accidents at the Fukushima Dai-ichi reactors as a result of the devastating earthquake and tsunami of March 11, 2011 have not only dampened the nuclear renaissance but have also initiated a re-examination of the design and safety features for the existing and planned nuclear reactors. Even though failures of some of the key site features at Fukushima can be attributed to events that in the past would have been considered as beyond the design basis, the industry as well as the regulatory authorities are analyzing what features, especially passive features, should be designed into the new reactor designs to minimizemore » the potential for catastrophic failures. It is also recognized that since the design of the Fukushima BWR reactors which were commissioned in 1971, many advanced safety features are now a part of the newer reactor designs. As the recovery efforts at the Fukushima site are still underway, decisions with respect to the dismantlement and decommissioning of the damaged reactors and structures have not yet been finalized. As it was with Three Mile Island, it could take several decades for dismantlement, decommissioning and clean up, and the project poses especially tough challenges. Near-term assessments have been issued by several organizations, including the IAEA, the USNRC and others. Results of such investigations will lead to additional improvements in system and site design measures including strengthening of the anti-tsunami defenses, more defense-in-depth features in reactor design, and better response planning and preparation involving reactor sites. The question also arises what would the effect be on the decommissioning scene worldwide, and what would the effect be on the new reactors when they are eventually retired and dismantled. This paper provides an overview of the US and international activities related to recovery and decommissioning including the decommissioning features in the reactor design process and examines these from a new perspective in the post Fukushima -accident era. Accidents at the Fukushima Daiichi reactors in the aftermath of the devastating earthquake and tsunami of March 11, 2011 have slowed down the nuclear renaissance world-wide and may have accelerated decommissioning either because some countries have decided to halt or reduce nuclear, or because the new safety requirements may reduce life-time extensions. Even in countries such as the UK and France that favor nuclear energy production existing nuclear sites are more likely to be chosen as sites for future NPPs. Even as the site recovery efforts continue at Fukushima and any decommissioning decisions are farther into the future, the accidents have focused attention on the reactor designs in general and specifically on the Fukushima type BWRs. The regulatory authorities in many countries have initiated a re-examination of the design of the systems, structures and components and considerations of the capability of the station to cope with beyond-design basis events. Enhancements to SSCs and site features for the existing reactors and the reactors that will be built will also impact the decommissioning phase activities. The newer reactor designs of today not only have enhanced safety features but also take into consideration the features that will facilitate future decommissioning. Lessons learned from past management and operation of reactors as well as the lessons from decommissioning are incorporated into the new designs. However, in the post-Fukushima era, the emphasis on beyond-design-basis capability may lead to significant changes in SSCs, which eventually will also have impact on the decommissioning phase. Additionally, where some countries decide to phase out the nuclear power, many reactors may enter the decommissioning phase in the coming decade. While the formal updating and expanding of existing guidance documents for accident cleanup and decommissioning would benefit by waiting until the Fukushima project has progressed sufficiently for that experience to be reliably interpreted, the development of structured on-line sharing of information and especially the creation of an on-line compendium of methods, tools, and techniques by which damaged fuel and other unique situations have been addressed can be addressed sooner and maintained as new problems and solutions arise and are resolved. The IAEA's new 'WEB 2.0 tool' CONNECT is expected to play a significant role in this and related information-sharing activities. The trend in some countries such as the United States has been to re-license the existing reactors for additional twenty years, beyond the original design life. Given the advances in technology over the past four decades, and considering that the newer designs incorporate significant improvements in safety systems, it may not be economical or technically feasible to retrofit enhancements into some of the older reactors. In such cases, the reactors may be retired from service and decommissioned. Overall, the energy demand in the world continues to rise, with sharp increases in the Asian countries, and nuclear power's role in the world's energy supply is expected to continue. Events at Fukushima have led to a re-examination on many fronts, including reactor design and regulatory requirements. Further changes may occur in these areas in the post-Fukushima era. These changes in turn will also impact the world-wide decommissioning scene and the decommissioning phase of the future reactors. (authors)« less

  3. A MGy radiation-hardened sensor instrumentation link for nuclear reactor monitoring and remote handling

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

    Verbeeck, Jens; Cao, Ying; Van Uffelen, Marco

    Decommissioning, dismantling and remote handling applications in nuclear facilities all require robotic solutions that are able to survive in radiation environments. Recently raised safety, radiation hardness and cost efficiency demands from both the nuclear regulatory and the society impose severe challenges in traditional methods. For example, in case of the dismantling of the Fukushima sites, solutions that survive accumulated doses higher than 1 MGy are mandatory. To allow remote operation of these tools in nuclear environments, electronics were used to be shielded with several centimeters of lead or even completely banned in these solutions. However, shielding electronics always leads tomore » bulky and heavy solutions, which reduces the flexibility of robotic tools. It also requires longer repair time and produces extra waste further in a dismantling or decommissioning cycle. In addition, often in current reactor designs, due to size restrictions and the need to inspect very tight areas there are limitations to the use of shielding. A MGy radiation-hardened sensor instrumentation link developed by MAGyICS provides a solution to build a flexible, easy removable and small I and C module with MGy radiation tolerance without any shielding. Hereby it removes all these pains to implement electronics in robotic tools. The demonstrated solution in this poster is developed for ITER Remote Handling equipments operating in high radiation environments (>1 MGy) in and around the Tokamak. In order to obtain adequately accurate instrumentation and control information, as well as to ease the umbilical management, there is a need of front-end electronics that will have to be located close to those actuators and sensors on the remote handling tool. In particular, for diverter remote handling, it is estimated that these components will face gamma radiation up to 300 Gy/h (in-vessel) and a total dose of 1 MGy. The radiation-hardened sensor instrumentation link presented here, consists of multiple in-house developed, state-of-the-art building blocks. They have all been assessed and characterized up to a dose higher than 1 MGy. The first block in the signal chain is a smaller than 1 uV offset, low noise instrumentation amplifier that has a programmable gain between 8 and 256. This amplifier is followed by a high precision 16 bit ADC. Its main function is to digitize the amplified signal coming from the amplifier. The output of the ADC is a serial digital data stream. The next block is a 8 channel digital multiplexer. It converts the 8 digital data streams into 1 digital data stream. Hereby the instrumentation solution reduces the number of cables from 16 to 1 (8* 2 analogue differential signals). In addition, the multiplexer modules can be combined with other modules to reduce even further the number of cables. Every instrumentation solution requires a stable high precision voltage reference. Therefore also a bandgap reference has been developed and assessed under gamma irradiation. A low jitter, 10 MHz clock generator has been developed and qualified to clock the ADC and the multiplexer with high accuracy. Finally, an on-chip radiation-hard temperature sensor is also included. A complete remote, real-time test setup was prepared by MAGyICS in cooperation with Fusion for Energy to qualify the sensor instrumentation link at SCK-CEN. It is qualified by closely following the ESCC22900 space standard for electronics used in a radiation environment. The main benefit of the sensor instrumentation solution discussed here is that it can be directly employed in a MGy-level accumulated dose radiation environment, therefore it can digitize and multiplex sensor readout values early in the signal chain. Hereby the sensor values are not distorted by external interferences on the long transmission cable. Moreover it allows readout and digitize multiple low-bandwidth sensors ( pressure and temperature sensors, thermocouples, angular resolvers and LVDTs). Hence these instrumentation modules can be used to follow the trend of the digitalization in the nuclear industry. (authors)« less

  4. Nuclear facility decommissioning and site remedial actions: A selected bibliography, Volume 18. Part 1B: Citations with abstracts, sections 10 through 16

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

    NONE

    1997-09-01

    This bibliography contains 3,638 citations with abstracts of documents relevant to environmental restoration, nuclear facility decontamination and decommissioning (D and D), uranium mill tailings management, and site remedial actions. The bibliography contains scientific, technical, financial, and regulatory information that pertains to DOE environmental restoration programs. The citations are separated by topic into 16 sections, including (1) DOE Environmental Restoration Program; (2) DOE D and D Program; (3) Nuclear Facilities Decommissioning; (4) DOE Formerly Utilized sites Remedial Action Program; (5) NORM-Contaminated Site Restoration; (6) DOE Uranium Mill Tailings Remedial Action Project; (7) Uranium Mill Tailings Management; (8) DOE Site-Wide Remedial Actions;more » (9) DOE Onsite Remedial Action Projects; (10) Contaminated Site Remedial Actions; (11) DOE Underground Storage Tank Remediation; (12) DOE Technology Development, Demonstration, and Evaluation; (13) Soil Remediation; (14) Groundwater Remediation; (15) Environmental Measurements, Analysis, and Decision-Making; and (16) Environmental Management Issues.« less

  5. Metrology for decommissioning nuclear facilities: Partial outcomes of joint research project within the European Metrology Research Program.

    PubMed

    Suran, Jiri; Kovar, Petr; Smoldasova, Jana; Solc, Jaroslav; Van Ammel, Raf; Garcia Miranda, Maria; Russell, Ben; Arnold, Dirk; Zapata-García, Daniel; Boden, Sven; Rogiers, Bart; Sand, Johan; Peräjärvi, Kari; Holm, Philip; Hay, Bruno; Failleau, Guillaume; Plumeri, Stephane; Laurent Beck, Yves; Grisa, Tomas

    2018-04-01

    Decommissioning of nuclear facilities incurs high costs regarding the accurate characterisation and correct disposal of the decommissioned materials. Therefore, there is a need for the implementation of new and traceable measurement technologies to select the appropriate release or disposal route of radioactive wastes. This paper addresses some of the innovative outcomes of the project "Metrology for Decommissioning Nuclear Facilities" related to mapping of contamination inside nuclear facilities, waste clearance measurement, Raman distributed temperature sensing for long term repository integrity monitoring and validation of radiochemical procedures. Copyright © 2017 Elsevier Ltd. All rights reserved.

  6. Development of inspection robots for bridge cables.

    PubMed

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

    2013-01-01

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

  7. Robotics in urologic surgery: an evolving new technology.

    PubMed

    Atug, Fatih; Castle, Erik P; Woods, Michael; Davis, Rodney; Thomas, Raju

    2006-07-01

    Rapid technological developments in the past two decades have produced new inventions such as robots and incorporated them into our daily lives. Today, robots perform vital functions in homes, outer space, hospitals and on military instillations. The development of robotic surgery has given hospitals and health care providers a valuable tool that is making a profound impact on highly technical surgical procedures. The field of urology is one area of medicine that has adopted and incorporated robotic surgery into its armamentarium. Innovative robotic urologic surgical applications and techniques are being developed and reported everyday. Increased utilization and development will ultimately fuel the discovery of newer applications of robotic systems in urologic surgery. Herein we provide an overview of the history, development, and applications of robotics in surgery with a focus on urologic surgery.

  8. 10 CFR Appendix C to Part 30 - Criteria Relating to Use of Financial Tests and Self Guarantees for Providing Reasonable...

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... furnishing its own guarantee that funds will be available for decommissioning costs and on a demonstration... materially adversely affect the company's ability to pay for decommissioning costs. The accountant must... for decommissioning costs before the self-guarantee agreement is submitted. (2) The trustee and trust...

  9. 10 CFR Appendix D to Part 30 - Criteria Relating to Use of Financial Tests and Self-Guarantee for Providing Reasonable Assurance...

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... will be available for decommissioning costs and on a demonstration that the company passes the... total current decommissioning cost estimate (or the current amount required if certification is used... percent of total assets or at least 10 times the total current decommissioning cost estimate (or the...

  10. 10 CFR Appendix C to Part 30 - Criteria Relating to Use of Financial Tests and Self Guarantees for Providing Reasonable...

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... furnishing its own guarantee that funds will be available for decommissioning costs and on a demonstration... materially adversely affect the company's ability to pay for decommissioning costs. The accountant must... for decommissioning costs before the self-guarantee agreement is submitted. (2) The trustee and trust...

  11. Development of autonomous eating mechanism for biomimetic robots

    NASA Astrophysics Data System (ADS)

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

    2005-12-01

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

  12. Applying and adapting the Swedish regulatory system for decommissioning to nuclear power reactors - The regulator's perspective.

    PubMed

    Amft, Martin; Leisvik, Mathias; Carroll, Simon

    2017-03-16

    Half of the original 13 Swedish nuclear power reactors will be shut down by 2020. The decommissioning of these reactors is a challenge for all parties involved, including the licensees, the waste management system, the financing system, and the Swedish Radiation Safety Authority (SSM). This paper presents an overview of the Swedish regulations for decommissioning of nuclear facilities. It describes some of the experiences that SSM has gained from the application of these regulations. The focus of the present paper is on administrative aspects of decommissioning, such as SSM's guidelines, the definition of fundamental concepts in the regulatory framework, and a proposed revision of the licensing process according to the Environmental Act. These improvements will help to streamline the administration of the commercial nuclear power plant decommissioning projects that are anticipated to commence in Sweden in the near future. Copyright © 2017 Elsevier Ltd. All rights reserved.

  13. Development of Inspection Robots for Bridge Cables

    PubMed Central

    Kim, Se-Hoon; Lee, Jong-Jae

    2013-01-01

    This paper presents the bridge cable inspection robot developed in Korea. Two types of the cable inspection robots were developed for cable-suspension bridges and cable-stayed bridge. The design of the robot system and performance of the NDT techniques associated with the cable inspection robot are discussed. A review on recent advances in emerging robot-based inspection technologies for bridge cables and current bridge cable inspection methods is also presented. PMID:24459453

  14. Nuclear Rocket Facility Decommissioning Project: Controlled Explosive Demolition of Neutron Activated Shield Wall

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

    Michael R. Kruzic

    2007-09-16

    Located in Area 25 of the Nevada Test Site (NTS), the Test Cell A (TCA) Facility was used in the early to mid-1960s for the testing of nuclear rocket engines, as part of the Nuclear Rocket Development Program, to further space travel. Nuclear rocket testing resulted in the activation of materials around the reactors and the release of fission products and fuel particles in the immediate area. Identified as Corrective Action Unit 115, the TCA facility was decontaminated and decommissioned (D&D) from December 2004 to July 2005 using the Streamlined Approach for Environmental Restoration (SAFER) process, under the ''Federal Facilitymore » Agreement and Consent Order''. The SAFER process allows environmental remediation and facility closure activities (i.e., decommissioning) to occur simultaneously provided technical decisions are made by an experienced decision maker within the site conceptual site model, identified in the Data Quality Objective process. Facility closure involved a seven-step decommissioning strategy. Key lessons learned from the project included: (1) Targeted preliminary investigation activities provided a more solid technical approach, reduced surprises and scope creep, and made the working environment safer for the D&D worker. (2) Early identification of risks and uncertainties provided opportunities for risk management and mitigation planning to address challenges and unanticipated conditions. (3) Team reviews provided an excellent mechanism to consider all aspects of the task, integrated safety into activity performance, increase team unity and ''buy-in'' and promoted innovative and time saving ideas. (4) Development of CED protocols ensured safety and control. (5) The same proven D&D strategy is now being employed on the larger ''sister'' facility, Test Cell C.« less

  15. 30 CFR 585.913 - What happens if I fail to comply with my approved decommissioning application?

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 30 Mineral Resources 2 2013-07-01 2013-07-01 false What happens if I fail to comply with my approved decommissioning application? 585.913 Section 585.913 Mineral Resources BUREAU OF OCEAN ENERGY... § 585.913 What happens if I fail to comply with my approved decommissioning application? If you fail to...

  16. 30 CFR 585.913 - What happens if I fail to comply with my approved decommissioning application?

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 30 Mineral Resources 2 2012-07-01 2012-07-01 false What happens if I fail to comply with my... Application § 585.913 What happens if I fail to comply with my approved decommissioning application? If you fail to comply with your approved decommissioning plan or application: (a) BOEM may call for the...

  17. 30 CFR 585.913 - What happens if I fail to comply with my approved decommissioning application?

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 30 Mineral Resources 2 2014-07-01 2014-07-01 false What happens if I fail to comply with my approved decommissioning application? 585.913 Section 585.913 Mineral Resources BUREAU OF OCEAN ENERGY... § 585.913 What happens if I fail to comply with my approved decommissioning application? If you fail to...

  18. Evaluation of Nuclear Facility Decommissioning Projects program: a reference research reactor. Project summary report

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

    Baumann, B.L.; Miller, R.L.

    1983-10-01

    This document presents, in summary form, generic conceptual information relevant to the decommissioning of a reference research reactor (RRR). All of the data presented were extracted from NUREG/CR-1756 and arranged in a form that will provide a basis for future comparison studies for the Evaluation of Nuclear Facility Decommissioning Projects (ENFDP) program.

  19. 30 CFR 585.902 - What are the general requirements for decommissioning for facilities authorized under my SAP, COP...

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... decommissioning for facilities authorized under my SAP, COP, or GAP? 585.902 Section 585.902 Mineral Resources..., Inspections, and Facility Assessments for Activities Conducted Under SAPs, COPs and GAPs Decommissioning... authorized under my SAP, COP, or GAP? (a) Except as otherwise authorized by BOEM under § 585.909, within 2...

  20. 78 FR 38739 - Standard Format and Content for Post-Shutdown Decommissioning Activities Report

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-06-27

    ...The U.S. Nuclear Regulatory Commission (NRC) is issuing Revision 1 of Regulatory Guide (RG) 1.185, ``Standard Format and Content for Post-shutdown Decommissioning Activities Report.'' This guide describes a method that the NRC staff considers acceptable for use in complying with the Commission's requirements regarding the submission of a post-shutdown decommissioning activities report (PSDAR).

  1. 77 FR 75198 - Standard Format and Content for Post-Shutdown Decommissioning Activities Report

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-12-19

    ...The U.S. Nuclear Regulatory Commission (NRC) is issuing for public comment draft regulatory guide (DG), DG-1272, ``Standard Format and Content for Post-shutdown Decommissioning Activities Report.'' This guide describes a method that the NRC staff considers acceptable for use in complying with the Commission's requirements regarding the submission of a post-shutdown decommissioning activities report (PSDAR).

  2. 10 CFR Appendix E to Part 30 - Criteria Relating to Use of Financial Tests and Self-Guarantee For Providing Reasonable Assurance...

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... for decommissioning costs and on a demonstration that the applicant or licensee passes the financial... of at least $50 million, or at least 30 times the total current decommissioning cost estimate (or the... least 100 times the total current decommissioning cost estimate (or the current amount required if...

  3. 10 CFR Appendix A to Part 30 - Criteria Relating to Use of Financial Tests and Parent Company Guarantees for Providing...

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... based on obtaining a parent company guarantee that funds will be available for decommissioning costs and... decommissioning cost estimates for the total of all facilities or parts thereof (or prescribed amount if a... decommissioning cost estimates for the total of all facilities or parts thereof (or prescribed amount if a...

  4. 10 CFR Appendix D to Part 30 - Criteria Relating to Use of Financial Tests and Self-Guarantee for Providing Reasonable Assurance...

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... based on furnishing its own guarantee that funds will be available for decommissioning costs and on a... or at least 10 times the total current decommissioning cost estimate (or the current amount required... materially adversely affect the company's ability to pay for decommissioning costs. In connection with the...

  5. 10 CFR Appendix E to Part 30 - Criteria Relating to Use of Financial Tests and Self-Guarantee For Providing Reasonable Assurance...

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... guarantee that funds will be available for decommissioning costs and on a demonstration that the applicant... United States of at least $50 million, or at least 30 times the total current decommissioning cost... current decommissioning cost estimate (or the current amount required if certification is used) for all...

  6. 10 CFR Appendix D to Part 30 - Criteria Relating to Use of Financial Tests and Self-Guarantee for Providing Reasonable Assurance...

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... based on furnishing its own guarantee that funds will be available for decommissioning costs and on a... or at least 10 times the total current decommissioning cost estimate (or the current amount required... materially adversely affect the company's ability to pay for decommissioning costs. In connection with the...

  7. 10 CFR Appendix E to Part 30 - Criteria Relating to Use of Financial Tests and Self-Guarantee For Providing Reasonable Assurance...

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... guarantee that funds will be available for decommissioning costs and on a demonstration that the applicant... United States of at least $50 million, or at least 30 times the total current decommissioning cost... current decommissioning cost estimate (or the current amount required if certification is used) for all...

  8. 30 CFR 285.902 - What are the general requirements for decommissioning for facilities authorized under my SAP, COP...

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... decommissioning for facilities authorized under my SAP, COP, or GAP? 285.902 Section 285.902 Mineral Resources... SAP, COP, or GAP? (a) Except as otherwise authorized by MMS under § 285.909, within 2 years following... under your SAP, COP, or GAP, you must submit a decommissioning application and receive approval from the...

  9. Imp and Syp RNA-binding proteins govern decommissioning of Drosophila neural stem cells

    PubMed Central

    Yang, Ching-Po; Samuels, Tamsin J.; Huang, Yaling; Yang, Lu; Ish-Horowicz, David; Davis, Ilan

    2017-01-01

    The termination of the proliferation of Drosophila neural stem cells, also known as neuroblasts (NBs), requires a ‘decommissioning’ phase that is controlled in a lineage-specific manner. Most NBs, with the exception of those of the mushroom body (MB), are decommissioned by the ecdysone receptor and mediator complex, causing them to shrink during metamorphosis, followed by nuclear accumulation of Prospero and cell cycle exit. Here, we demonstrate that the levels of Imp and Syp RNA-binding proteins regulate NB decommissioning. Descending Imp and ascending Syp expression have been shown to regulate neuronal temporal fate. We show that Imp levels decline slower in the MB than in other central brain NBs. MB NBs continue to express Imp into pupation, and the presence of Imp prevents decommissioning partly by inhibiting the mediator complex. Late-larval induction of transgenic Imp prevents many non-MB NBs from decommissioning in early pupae. Moreover, the presence of abundant Syp in aged NBs permits Prospero accumulation that, in turn, promotes cell cycle exit. Together, our results reveal that progeny temporal fate and progenitor decommissioning are co-regulated in protracted neuronal lineages. PMID:28851709

  10. Robotic Anesthesia – A Vision for the Future of Anesthesia

    PubMed Central

    Hemmerling, Thomas M; Taddei, Riccardo; Wehbe, Mohamad; Morse, Joshua; Cyr, Shantale; Zaouter, Cedrick

    2011-01-01

    Summary This narrative review describes a rationale for robotic anesthesia. It offers a first classification of robotic anesthesia by separating it into pharmacological robots and robots for aiding or replacing manual gestures. Developments in closed loop anesthesia are outlined. First attempts to perform manual tasks using robots are described. A critical analysis of the delayed development and introduction of robots in anesthesia is delivered. PMID:23905028

  11. The Importance of Building and Enhancing Worldwide Industry Cooperation in the Areas of Radiological Protection, Waste Management and Decommissioning

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

    Saint-Pierre, S.

    2006-07-01

    The slow or stagnant rate of nuclear power generation development in many developed countries over the last two decades has resulted in a significant shortage in the population of mid-career nuclear industry professionals. This shortage is even more pronounced in some specific areas of expertise such as radiological protection, waste management and decommissioning. This situation has occurred at a time when the renaissance of nuclear power and the globalization of the nuclear industry are steadily gaining momentum and when the industry's involvement in international and national debates in these three fields of expertise (and the industry's impact on these debates)more » is of vital importance. This paper presents the World Nuclear Association (WNA) approach to building and enhancing worldwide industry cooperation in radiological protection, waste management and decommissioning, which is manifested through the activities of the two WNA working groups on radiological protection (RPWG) and on waste management and decommissioning (WM and DWG). This paper also briefly describes the WNA's participatory role, as of summer 2005, in the International Atomic Energy Agency (IAEA) standard development committees on radiation safety (RASSC), waste safety (WASSC) and nuclear safety (NUSSC). This participation provides the worldwide nuclear industry with an opportunity to be part of IAEA's discussions on shaping changes to the control regime of IAEA safety standards. The review (and the prospect of a revision) of IAEA safety standards, which began in October 2005, makes this WNA participation and the industry ' s involvement at the national level timely and important. All of this excellent industry cooperation and team effort is done through 'collegial' exchanges between key industry experts, which help tackle important issues more effectively. The WNA is continuously looking to enhance its worldwide industry representation in these fields of expertise through the RPWG and WM and DWG. (authors)« less

  12. Overview and Categorization of Robots Supporting Independent Living of Elderly People: What Activities Do They Support and How Far Have They Developed.

    PubMed

    Bedaf, Sandra; Gelderblom, Gert Jan; De Witte, Luc

    2015-01-01

    Over the past decades, many robots for the elderly have been developed, supporting different activities of elderly people. A systematic review in four scientific literature databases and a search in article references and European projects was performed in order to create an overview of robots supporting independent living of elderly people. The robots found were categorized based on their development stage, the activity domains they claim to support, and the type of support provided (i.e., physical, non-physical, and/or non-specified). In total, 107 robots for the elderly were identified. Six robots were still in a concept phase, 95 in a development phase, and six of these robots were commercially available. These robots claimed to provide support related to four activity domains: mobility, self-care, interpersonal interaction & relationships, and other activities. Of the many robots developed, only a small percentage is commercially available. Technical ambitions seem to be guiding robot development. To prolong independent living, the step towards physical support is inevitable and needs to be taken. However, it will be a long time before a robot will be capable of supporting multiple activities in a physical manner in the home of an elderly person in order to enhance their independent living.

  13. New technologies in robotic surgery: the Korean experience.

    PubMed

    Tuliao, Patrick H; Kim, Sang W; Rha, Koon H

    2014-01-01

    The development of the robotic systems has made surgery an increasingly technology-driven field. Since the introduction of the first robotic platform in 2005, surgical practice in South Korea has also been caught up in the global robotic revolution. Consequently, a market focused on improving the robotic systems was created and Korea has emerged as one of its frontrunners. This article reviews the Korean experience in developing various robotic technologies and then Korea's most recent contributions to the development of new technologies in robotic surgery. The goal of new technologies in the field of robotic surgery has been to improve on the current platforms by eliminating their disadvantages. The pressing goal is to develop a platform that is less bulky, more ergonomic, and capable of providing force feedback to the surgeon. In Korea, the Lapabot and two new robotic systems for single-port laparoscopic surgery are the most recent advances that have been reported. Robotic surgery is rapidly evolving and Korea has stayed in the forefront of its development. These new advancements in technology will eventually produce better robotic platforms that will greatly improve the manner in which surgical care is delivered.

  14. ROBOSIM: An intelligent simulator for robotic systems

    NASA Technical Reports Server (NTRS)

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

    1993-01-01

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

  15. Development of RT-components for the M-3 Strawberry Harvesting Robot

    NASA Astrophysics Data System (ADS)

    Yamashita, Tomoki; Tanaka, Motomasa; Yamamoto, Satoshi; Hayashi, Shigehiko; Saito, Sadafumi; Sugano, Shigeki

    We are now developing the strawberry harvest robot called “M-3” prototype robot system under the 4th urgent project of MAFF. In order to develop the control software of the M-3 robot more efficiently, we innovated the RT-middleware “OpenRTM-aist” software platform. In this system, we developed 9 kind of RT-Components (RTC): Robot task sequence player RTC, Proxy RTC for image processing software, DC motor controller RTC, Arm kinematics RTC, and so on. In this paper, we discuss advantages of RT-middleware developing system and problems about operating the RTC-configured robotic system by end-users.

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

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

    Not Available

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

  17. A Mini-Curriculum for Robotics Education.

    ERIC Educational Resources Information Center

    Jones, Preston K.

    This practicum report documents the development of a four-lesson multimedia program for robotics instruction for fourth and seventh grade students. The commercial film "Robot Revolution" and the videocassette tape "Robotics" were used, along with two author-developed slide/audiotape presentations and 14 overhead transparency foils. Two robots,…

  18. Environmental, health and safety assessment of photovoltaics

    NASA Technical Reports Server (NTRS)

    Rose, E. C.

    1983-01-01

    The environmental, health, and safety (E, H and S) concerns associated with the fabrication, deployment, and decommissioning of photovoltaic (PV) systems in terrestial applications are identified and assessed. Discussion is limited to crystalline silicon technologies. The primary E, H, and S concerns that arise during collector fabrication are associated with occupational exposure to materials of undetermined toxicity or to materials that are known to be hazardous, but for which process control technology may be inadequate. Stricter exposure standards are anticipated for some materials and may indicate a need for further control technology development. Minimizing electric shock hazards is a significant concern during system construction, operation and maintenance, and decommissioning.

  19. Northrop Triga facility decommissioning plan versus actual results

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

    Gardner, F.W.

    1986-01-01

    This paper compares the Triga facility decontamination and decommissioning plan to the actual results and discusses key areas where operational activities were impacted upon by the final US Nuclear Regulatory Commission (NRC)-approved decontamination and decommissioning plan. Total exposures for fuel transfer were a factor of 4 less than planned. The design of the Triga reactor components allowed the majority of the components to be unconditionally released.

  20. Experiences in Developing an Experimental Robotics Course Program for Undergraduate Education

    ERIC Educational Resources Information Center

    Jung, Seul

    2013-01-01

    An interdisciplinary undergraduate-level robotics course offers students the chance to integrate their engineering knowledge learned throughout their college years by building a robotic system. Robotics is thus a core course in system and control-related engineering education. This paper summarizes the experience of developing robotics courses…

  1. Environmental restoration and waste management: Robotics technology development program: Robotics 5-year program plan. [Contains glossary

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

    Not Available

    This plan covers robotics Research, Development, Demonstration, Testing, activities in the Program for the next five years. These activities range from bench-scale R D to fullscale hot demonstrations at DOE sites. This plan outlines applications of existing technology to near-term needs, the development and application of enhanced technology for longer-term needs, and an initiation of advanced technology development to meet those needs beyond the five-year plan. The objective of the Robotic Technology Development (RTDP) is to develop and apply robotics technologies that will enable Environmental Restoration and Waste Management operations at DOE sites to be safer, faster and cheaper. Fivemore » priority DOE sites were visited in March 1990 to identify needs for robotics technology in ER WM operations. This 5-Year Program Plan for the RTDP detailed annual plans for robotics technology development based on identified needs. This 5-Year Program Plan discusses the overall approach to be adopted by the RTDP to aggressively develop robotics technology and contains discussions of the Program Management Plan, Site Visit and Needs Summary, Approach to Needs-Directed Technical Development, Application-Specific Technical Development, and Cross-Cutting and Advanced Technology. Integrating application-specific ER WM needs, the current state of robotics technology, and the potential benefits (in terms of faster, safer, and cheaper) of new technology, the Plan develops application-specific road maps for robotics RDDT E for the period FY 1991 through FY 1995. In addition, the Plan identifies areas where longer-term research in robotics will have a high payoff in the 5- to 20-year time frame. 12 figs.« less

  2. Progress Report for the Robotic Intelligence Evaluation. Program Year 1: Developing Test Methodology for Anti-Rollover Systems

    DTIC Science & Technology

    2006-06-01

    Scientific Research. 5PAM-Crash is a trademark of the ESI Group . 6MATLAB and SIMULINK are registered trademarks of the MathWorks. 14 maneuvers...Laboratory (ARL) to develop methodologies to evaluate robotic behavior algorithms that control the actions of individual robots or groups of robots...methodologies to evaluate robotic behavior algorithms that control the actions of individual robots or groups of robots acting as a team to perform a

  3. Creepiness Creeps In: Uncanny Valley Feelings Are Acquired in Childhood.

    PubMed

    Brink, Kimberly A; Gray, Kurt; Wellman, Henry M

    2017-12-13

    The uncanny valley posits that very human-like robots are unsettling, a phenomenon amply demonstrated in adults but unexplored in children. Two hundred forty 3- to 18-year-olds viewed one of two robots (machine-like or very human-like) and rated their feelings toward (e.g., "Does the robot make you feel weird or happy?") and perceptions of the robot's capacities (e.g., "Does the robot think for itself?"). Like adults, children older than 9 judged the human-like robot as creepier than the machine-like robot-but younger children did not. Children's perceptions of robots' mental capacities predicted uncanny feelings: children judge robots to be creepy depending on whether they have human-like minds. The uncanny valley is therefore acquired over development and relates to changing conceptions about robot minds. © 2017 The Authors. Child Development © 2017 Society for Research in Child Development, Inc.

  4. Development of Pneumatic Robot Hand and Construction of Master-Slave System

    NASA Astrophysics Data System (ADS)

    Tsujiuchi, Nobutaka; Koizumi, Takayuki; Nishino, Shinya; Komatsubara, Hiroyuki; Kudawara, Tatsuwo; Hirano, Masanori

    Recently, research and development has focused on robots that work in place of people. It is necessary for robots to perform the same flexible motions as people. Additionally, such robots need to incorporate high-level safety features in order not to injure people. For creation of such robots, we need to develop a robot hand that functions like a human hand. At the same time, this type of robot hand can be used as an artificial hand. Here, we present artificial muscle-type pneumatic actuators as the driving source of a robot hand that is both safe and flexible. Some development of robot hands using pneumatic actuators has already taken place. But, until now, when a pneumatic actuator is used, a big compressor is needed. So, the driving system also needs to be big; enlargement of the driving system is a major problem. Consequently, in this research, we develop a low-pressure, low-volume pneumatic actuator for driving a robot hand that works flexibly and safely on the assumption that it will be in contact with people. We develop a five-fingered robot hand with pneumatic actuators. And, we construct a master-slave system to enable the robot hand to perform the same operations as a human hand. We make a 1-link arm that has one degree of freedom using a pneumatic actuator, and construct a control system for the 1-link arm and verify its control performance.

  5. Evaluation of Nuclear Facility Decommissioning Projects program: a reference test reactor. Project summary report

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

    Boing, L.E.; Miller, R.L.

    1983-10-01

    This document presents, in summary form, generic conceptual information relevant to the decommissioning of a reference test reactor (RTR). All of the data presented were extracted from NUREG/CR-1756 and arranged in a form that will provide a basis for future comparison studies for the Evaluation of Nuclear Facility Decommissioning Projects (ENFDP) program. During the data extraction process no attempt was made to challenge any of the assumptions used in the original studies nor was any attempt made to update assumed methods or processes to state-of-the-art decommissioning techniques. In a few instances obvious errors were corrected after consultation with the studymore » author.« less

  6. Modelling of nuclear power plant decommissioning financing.

    PubMed

    Bemš, J; Knápek, J; Králík, T; Hejhal, M; Kubančák, J; Vašíček, J

    2015-06-01

    Costs related to the decommissioning of nuclear power plants create a significant financial burden for nuclear power plant operators. This article discusses the various methodologies employed by selected European countries for financing of the liabilities related to the nuclear power plant decommissioning. The article also presents methodology of allocation of future decommissioning costs to the running costs of nuclear power plant in the form of fee imposed on each megawatt hour generated. The application of the methodology is presented in the form of a case study on a new nuclear power plant with installed capacity 1000 MW. © The Author 2015. Published by Oxford University Press. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

  7. A development of intelligent entertainment robot for home life

    NASA Astrophysics Data System (ADS)

    Kim, Cheoltaek; Lee, Ju-Jang

    2005-12-01

    The purpose of this paper was to present the study and design idea for entertainment robot with educational purpose (IRFEE). The robot has been designed for home life considering dependability and interaction. The developed robot has three objectives - 1. Develop autonomous robot, 2. Design robot considering mobility and robustness, 3. Develop robot interface and software considering entertainment and education functionalities. The autonomous navigation was implemented by active vision based SLAM and modified EPF algorithm. The two differential wheels, the pan-tilt were designed mobility and robustness and the exterior was designed considering esthetic element and minimizing interference. The speech and tracking algorithm provided the good interface with human. The image transfer and Internet site connection is needed for service of remote connection and educational purpose.

  8. Robotic Surgical Training in an Academic Institution

    PubMed Central

    Chitwood, W. Randolph; Nifong, L. Wiley; Chapman, William H. H.; Felger, Jason E.; Bailey, B. Marcus; Ballint, Tara; Mendleson, Kim G.; Kim, Victor B.; Young, James A.; Albrecht, Robert A.

    2001-01-01

    Objective To detail robotic procedure development and clinical applications for mitral valve, biliary, and gastric reflux operations, and to implement a multispecialty robotic surgery training curriculum for both surgeons and surgical teams. Summary Background Data Remote, accurate telemanipulation of intracavitary instruments by general and cardiac surgeons is now possible. Complex technologic advancements in surgical robotics require well-designed training programs. Moreover, efficient robotic surgical procedures must be developed methodically and safely implemented clinically. Methods Advanced training on robotic systems provides surgeon confidence when operating in tiny intracavitary spaces. Three-dimensional vision and articulated instrument control are essential. The authors’ two da Vinci robotic systems have been dedicated to procedure development, clinical surgery, and training of surgical specialists. Their center has been the first United States site to train surgeons formally in clinical robotics. Results Established surgeons and residents have been trained using a defined robotic surgical educational curriculum. Also, 30 multispecialty teams have been trained in robotic mechanics and electronics. Initially, robotic procedures were developed experimentally and are described. In the past year the authors have performed 52 robotic-assisted clinical operations: 18 mitral valve repairs, 20 cholecystectomies, and 14 Nissen fundoplications. These respective operations required 108, 28, and 73 minutes of robotic telemanipulation to complete. Procedure times for the last half of the abdominal operations decreased significantly, as did the knot-tying time in mitral operations. There have been no deaths and few complications. One mitral patient had postoperative bleeding. Conclusion Robotic surgery can be performed safely with excellent results. The authors have developed an effective curriculum for training teams in robotic surgery. After training, surgeons have applied these methods effectively and safely. PMID:11573041

  9. Development of soft robots using dielectric elastomer actuators

    NASA Astrophysics Data System (ADS)

    Godaba, Hareesh; Wang, Yuzhe; Cao, Jiawei; Zhu, Jian

    2016-04-01

    Soft robots are gaining in popularity due to their unique attributes such as low weight, compliance, flexibility and diverse range in motion types. This paper illustrates soft robots and actuators which are developed using dielectric elastomer. These developments include a jellyfish robot, a worm like robot and artificial muscle actuators for jaw movement in a robotic skull. The jellyfish robot which employs a bulged dielectric elastomer membrane has been demonstrated too generate thrust and buoyant forces and can move effectively in water. The artificial muscle for jaw movement employs a pure shear configuration and has been shown to closely mimic the jaw motion while chewing or singing a song. Thee inchworm robot, powered by dielectric elastomer actuator can demonstrate stable movement in one-direction.

  10. Swarming Robot Design, Construction and Software Implementation

    NASA Technical Reports Server (NTRS)

    Stolleis, Karl A.

    2014-01-01

    In this paper is presented an overview of the hardware design, construction overview, software design and software implementation for a small, low-cost robot to be used for swarming robot development. In addition to the work done on the robot, a full simulation of the robotic system was developed using Robot Operating System (ROS) and its associated simulation. The eventual use of the robots will be exploration of evolving behaviors via genetic algorithms and builds on the work done at the University of New Mexico Biological Computation Lab.

  11. Robotics and Automation Education: Developing the Versatile, Practical Lab.

    ERIC Educational Resources Information Center

    Stenerson, Jon

    1986-01-01

    Elements of the development of a robotics and automation laboratory are discussed. These include the benefits of upgrading current staff, ways to achieve this staff development, formation of a robotics factory automation committee, topics to be taught with a robot, elements of a laboratory, laboratory funding, and design safety. (CT)

  12. Development of intelligent robots - Achievements and issues

    NASA Astrophysics Data System (ADS)

    Nitzan, D.

    1985-03-01

    A flexible, intelligent robot is regarded as a general purpose machine system that may include effectors, sensors, computers, and auxiliary equipment and, like a human, can perform a variety of tasks under unpredictable conditions. Development of intelligent robots is essential for increasing the growth rate of today's robot population in industry and elsewhere. Robotics research and development topics include manipulation, end effectors, mobility, sensing (noncontact and contact), adaptive control, robot programming languages, and manufacturing process planning. Past achievements and current issues related to each of these topics are described briefly.

  13. Software development to support sensor control of robot arc welding

    NASA Technical Reports Server (NTRS)

    Silas, F. R., Jr.

    1986-01-01

    The development of software for a Digital Equipment Corporation MINC-23 Laboratory Computer to provide functions of a workcell host computer for Space Shuttle Main Engine (SSME) robotic welding is documented. Routines were written to transfer robot programs between the MINC and an Advanced Robotic Cyro 750 welding robot. Other routines provide advanced program editing features while additional software allows communicatin with a remote computer aided design system. Access to special robot functions were provided to allow advanced control of weld seam tracking and process control for future development programs.

  14. Future robotic platforms in urologic surgery: Recent Developments

    PubMed Central

    Herrell, S. Duke; Webster, Robert; Simaan, Nabil

    2014-01-01

    Purpose of review To review recent developments at Vanderbilt University of new robotic technologies and platforms designed for minimally invasive urologic surgery and their design rationale and potential roles in advancing current urologic surgical practice. Recent findings Emerging robotic platforms are being developed to improve performance of a wider variety of urologic interventions beyond the standard minimally invasive robotic urologic surgeries conducted presently with the da Vinci platform. These newer platforms are designed to incorporate significant advantages of robotics to improve the safety and outcomes of transurethral bladder surgery and surveillance, further decrease the invasiveness of interventions by advancing LESS surgery, and allow for previously impossible needle access and ablation delivery. Summary Three new robotic surgical technologies that have been developed at Vanderbilt University are reviewed, including a robotic transurethral system to enhance bladder surveillance and TURBT, a purpose-specific robotic system for LESS, and a needle sized robot that can be used as either a steerable needle or small surgeon-controlled micro-laparoscopic manipulator. PMID:24253803

  15. Revised analyses of decommissioning for the reference pressurized Water Reactor Power Station. Volume 2, Effects of current regulatory and other considerations on the financial assurance requirements of the decommissioning rule and on estimates of occupational radiation exposure: Appendices, Final report

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

    Konzek, G.J.; Smith, R.I.; Bierschbach, M.C.

    1995-11-01

    With the issuance of the final Decommissioning Rule (July 27, 1998), owners and operators of licensed nuclear power plants are required to prepare, and submit to the US Nuclear Regulatory Commission (NRC) for review, decommissioning plans and cost estimates. The NRC staff is in need of bases documentation that will assist them in assessing the adequacy of the licensee submittals, from the viewpoint of both the planned actions, including occupational radiation exposure, and the probable costs. The purpose of this reevaluation study is to provide some of the needed bases documentation. This report contains the results of a review andmore » reevaluation of the 1978 PNL decommissioning study of the Trojan nuclear power plant (NUREG/CR-0130), including all identifiable factors and cost assumptions which contribute significantly to the total cost of decommissioning the nuclear power plant for the DECON, SAFSTOR, and ENTOMB decommissioning alternatives. These alternatives now include an initial 5--7 year period during which time the spent fuel is stored in the spent fuel pool, prior to beginning major disassembly or extended safe storage of the plant. Included for information (but not presently part of the license termination cost) is an estimate of the cost to demolish the decontaminated and clean structures on the site and to restore the site to a ``green field`` condition. This report also includes consideration of the NRC requirement that decontamination and decommissioning activities leading to termination of the nuclear license be completed within 60 years of final reactor shutdown, consideration of packaging and disposal requirements for materials whose radionuclide concentrations exceed the limits for Class C low-level waste (i.e., Greater-Than-Class C), and reflects 1993 costs for labor, materials, transport, and disposal activities.« less

  16. Revised analyses of decommissioning for the reference pressurized Water Reactor Power Station. Effects of current regulatory and other considerations on the financial assurance requirements of the decommissioning rule and on estimates of occupational radiation exposure, Volume 1, Final report

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

    Konzek, G.J.; Smith, R.I.; Bierschbach, M.C.

    1995-11-01

    With the issuance of the final Decommissioning Rule (July 27, 1988), owners and operators of licensed nuclear power plants are required to prepare, and submit to the US Nuclear Regulatory Commission (NRC) for review, decommissioning plans and cost estimates. The NRC staff is in need of bases documentation that will assist them in assessing the adequacy of the licensee submittals, from the viewpoint of both the planned actions, including occupational radiation exposure, and the probable costs. The purpose of this reevaluation study is to provide some of the needed bases documentation. This report contains the results of a review andmore » reevaluation of the {prime}978 PNL decommissioning study of the Trojan nuclear power plant (NUREG/CR-0130), including all identifiable factors and cost assumptions which contribute significantly to the total cost of decommissioning the nuclear power plant for the DECON, SAFSTOR, and ENTOMB decommissioning alternatives. These alternatives now include an initial 5--7 year period during which time the spent fuel is stored in the spent fuel pool, prior to beginning major disassembly or extended safe storage of the plant. Included for information (but not presently part of the license termination cost) is an estimate of the cost to demolish the decontaminated and clean structures on the site and to restore the site to a ``green field`` condition. This report also includes consideration of the NRC requirement that decontamination and decommissioning activities leading to termination of the nuclear license be completed within 60 years of final reactor shutdown, consideration of packaging and disposal requirements for materials whose radionuclide concentrations exceed the limits for Class C low-level waste (i.e., Greater-Than-Class C), and reflects 1993 costs for labor, materials, transport, and disposal activities.« less

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

    Goins, L.F.; Webb, J.R.; Cravens, C.D.

    This publication contains 1035 abstracted references on environmental restoration, nuclear facility decommissioning, uranium mill tailings management, and site remedial actions. These citations constitute the thirteenth in a series of reports prepared annually for the US Department of Energy (DOE) Environmental Restoration programs. Citations to foreign and domestic literature of all types. There are 13 major sections of the publication, including: (1) DOE Decontamination and Decommissioning Program; (2) Nuclear Facilities Decommissioning; (3) DOE Formerly Utilized Sites Remedial Action Program; (4) DOE Uranium Mill Tailings Remedial Action Project; (5) Uranium Mill Tailings Management; (6) DOE Environmental Restoration Program; (7) DOE Site-Specific Remedialmore » Actions; (8) Contaminated Site Restoration; (9) Remediation of Contaminated Soil and Groundwater; (10) Environmental Data Measurements, Management, and Evaluation; (11) Remedial Action Assessment and Decision-Making; (12) Technology Development and Evaluation; and (13) Environmental and Waste Management Issues. Bibliographic references are arranged in nine subject categories by geographic location and then alphabetically by first author, corporate affiliation, or publication title. Indexes are provided for author, corporate affiliation, title word, publication description, geographic location, subject category, and key word.« less

  18. With the Development of Teaching Sumo Robot are Discussed

    NASA Astrophysics Data System (ADS)

    quan, Miao Zhi; Ke, Ma; Xin, Wei Jing

    In recent years, with of robot technology progress and robot science activities, robot technology obtained fast development. The system USES the Atmega128 single-chip Atmel company as a core controller, was designed using a infrared to tube detection boundary, looking for each other, controller to tube receiving infrared data, and according to the data control motor state thus robot reached automatic control purposes. Against robot by single-chip microcomputer smallest system, By making the teaching purpose is to promote the robot sumo students' interests and let more students to participate in the robot research activities.

  19. Miniature in vivo robotics and novel robotic surgical platforms.

    PubMed

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

    2009-05-01

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

  20. Review of emerging surgical robotic technology.

    PubMed

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

    2018-04-01

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

  1. Designing a social and assistive robot for seniors.

    PubMed

    Eftring, H; Frennert, S

    2016-06-01

    The development of social assistive robots is an approach with the intention of preventing and detecting falls among seniors. There is a need for a relatively low-cost mobile robot with an arm and a gripper which is small enough to navigate through private homes. User requirements of a social assistive robot were collected using workshops, a questionnaire and interviews. Two prototype versions of a robot were designed, developed and tested by senior citizens (n = 49) in laboratory trials for 2 h each and in the private homes of elderly persons (n = 18) for 3 weeks each. The user requirement analysis resulted in a specification of tasks the robot should be able to do to prevent and detect falls. It was a challenge but possible to design and develop a robot where both the senior and the robot arm could reach the necessary interaction points of the robot. The seniors experienced the robot as happy and friendly. They wanted the robot to be narrower so it could pass through narrow passages in the home and they also wanted it to be able to pass over thresholds without using ramps and to drive over carpets. User trials in seniors' homes are very important to acquire relevant knowledge for developing robots that can handle real life situations in the domestic environment. Very high reliability of a robot is needed to get feedback about how seniors experience the overall behavior of the robot and to find out if the robot could reduce falls and improve the feeling of security for seniors living alone.

  2. Robotics Developments and Future Applications. Seminar Report (Berlin, West Germany, November 29, 1983).

    ERIC Educational Resources Information Center

    Illi, M.; And Others

    This collection includes five papers assessing current and projected developments in the field of robotics and the implications of these developments for vocational-technical education. The first paper, "New Applications for Industrial Robots--Perspectives for the Next Five Years" (M. Illi) compares advances in robotics in Japan and the…

  3. Using probabilistic criteria in an assessment of the potential radiological consequences of the decommissioning of a nuclear research reactor

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

    Wallner, Christian; Rall, Anna-Maria; Thummerer, Severin

    In order to assess the risk of radiological consequences of incidents and accidents in nuclear facilities it is important to contemplate their frequency of occurrence. It has to be shown that incidents and accidents occur sufficiently seldom according to their radiological consequences i. e. the occurrence frequency of radiological doses has to be limited. This is even demanded by the German radiation protection ordinance (StrlSchV), which says that in nuclear facilities other than nuclear power plants (NPP) in operation and for decommissioning, the occurrence frequency of incidents and accidents shall be contemplated in order to prove the design of safetymore » measures and safety installations. Based on the ideas of the ICRP64, we developed a risk based assessment concept for nuclear facilities, which fulfils the requirements of the German regulations concerning dose limits in normal operation and design basis accidents. The general use of the concept is dedicated to nuclear facilities other than nuclear power plants (NPP) in operation and for decommissioning, where the regulation of risk assessment is less sophisticated. The concept specifies occurrence frequency limits for radiation exposure dose ranges, i. e. the occurrence frequency of incidents and accidents has to be limited according to their radiological effects. To apply this concept, scenarios of incidents and accidents are grouped in exposition classes according to their resulting potential effective dose to members of the general public. The occurrence frequencies of the incidents and accidents are summarized in each exposition class whereas the sum must not exceed the frequency limits mentioned above. In the following we introduce the application of this concept in the assessment of the potential radiological consequences of the decommissioning of a nuclear research reactor. We carried out this assessment for the licensing process of the decommissioning on behalf of German authorities. (authors)« less

  4. A Guide for Developing Human-Robot Interaction Experiments in the Robotic Interactive Visualization and Experimentation Technology (RIVET) Simulation

    DTIC Science & Technology

    2016-05-01

    research, Kunkler (2006) suggested that the similarities between computer simulation tools and robotic surgery systems (e.g., mechanized feedback...distribution is unlimited. 49 Davies B. A review of robotics in surgery . Proceedings of the Institution of Mechanical Engineers, Part H: Journal...ARL-TR-7683 ● MAY 2016 US Army Research Laboratory A Guide for Developing Human- Robot Interaction Experiments in the Robotic

  5. Human-in-the-loop development of soft wearable robots

    NASA Astrophysics Data System (ADS)

    Walsh, Conor

    2018-06-01

    The field of soft wearable robotics offers the opportunity to wear robots like clothes to assist the movement of specific body parts or to endow the body with functionalities. Collaborative efforts of materials, apparel and robotics science have already led to the development of wearable technologies for physical therapy. Optimizing the human-robot system by human-in-the-loop approaches will pave the way for personalized soft wearable robots for a variety of applications.

  6. Advances in Robotic Servicing Technology Development

    NASA Technical Reports Server (NTRS)

    Gefke, Gardell G.; Janas, Alex; Pellegrino, Joseph; Sammons, Matthew; Reed, Benjamin

    2015-01-01

    NASA's Satellite Servicing Capabilities Office (SSCO) has matured robotic and automation technologies applicable to in-space robotic servicing and robotic exploration over the last six years. This paper presents the progress of technology development activities at the Goddard Space Flight Center Servicing Technology Center and on the ISS, with an emphasis on those occurring in the past year. Highlighted advancements are design reference mission analysis for servicing in low Earth orbit (LEO) and near Earth asteroid boulder retrieval; delivery of the engineering development unit of the NASA Servicing Arm; an update on International Space Station Robotic Refueling Mission; and status of a comprehensive ground-based space robot technology demonstration expanding in-space robotic servicing capabilities beginning fall 2015.

  7. Advances in Robotic Servicing Technology Development

    NASA Technical Reports Server (NTRS)

    Gefke, Gardell G.; Janas, Alex; Pellegrino, Joseph; Sammons, Matthew; Reed, Benjamin

    2015-01-01

    NASA's Satellite Servicing Capabilities Office (SSCO) has matured robotic and automation technologies applicable to in-space robotic servicing and robotic exploration over the last six years. This paper presents the progress of technology development activities at the Goddard Space Flight Center Servicing Technology Center and on the ISS, with an emphasis on those occurring in the past year. Highlighted advancements are design reference mission analysis for servicing in low Earth orbit (LEO) and asteroid redirection; delivery of the engineering development unit of the NASA Servicing Arm; an update on International Space Station Robotic Refueling Mission; and status of a comprehensive ground-based space robot technology demonstration expanding in-space robotic servicing capabilities beginning fall 2015.

  8. Estimates of low-level waste volumes and classifications at 2-Unit 1100 MWe reference plants for decommissioning scenarios

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

    Hauf, M.J.; Vance, J.N.; James, D.

    1991-01-01

    A number of nuclear utilities and industry organizations in the United States have evaluated the requirements for reactor decommissioning. These broad scope studies have addressed the major issues of technology, methodology, safety and costs of decommissioning and have produced substantial volumes of data to describe, in detail, the issues and impacts which result. The objective of this paper to provide CECo a reasonable basis for discussion low-level waste burial volumes for the most likely decommissioning options and to show how various decontamination and VR technologies can be applied to provide additional reduction of the volumes required to be buried atmore » low-level waste burial grounds.« less

  9. State-of-the-art robotic devices for ankle rehabilitation: Mechanism and control review.

    PubMed

    Hussain, Shahid; Jamwal, Prashant K; Ghayesh, Mergen H

    2017-12-01

    There is an increasing research interest in exploring use of robotic devices for the physical therapy of patients suffering from stroke and spinal cord injuries. Rehabilitation of patients suffering from ankle joint dysfunctions such as drop foot is vital and therefore has called for the development of newer robotic devices. Several robotic orthoses and parallel ankle robots have been developed during the last two decades to augment the conventional ankle physical therapy of patients. A comprehensive review of these robotic ankle rehabilitation devices is presented in this article. Recent developments in the mechanism design, actuation and control are discussed. The study encompasses robotic devices for treadmill and over-ground training as well as platform-based parallel ankle robots. Control strategies for these robotic devices are deliberated in detail with an emphasis on the assist-as-needed training strategies. Experimental evaluations of the mechanism designs and various control strategies of these robotic ankle rehabilitation devices are also presented.

  10. Fast Track Characterization of Highly Radioactive Waste Pits Combining Off-the-Shelf Robotics with Innovative Investigation Protocols

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

    Chabeuf, Jean-Michel; Boya, Didier

    The investigation and characterization of radioactive waste pits and effluent storage tanks represents a substantial and challenging step in the overall decommissioning programme launched by AREVA NC in 1998 on the site of Marcoule on behalf of the French Atomic Energy commission. Physical ,radiological and regulatory constraints, combined with a tight schedule, have lead our teams to use proven conventional instrumentation and robotics in innovative configurations . One such investigation, conducted on a particularly challenging radioactive effluent storage pit, is described below. The 'H' pit is a stainless steel clad concrete cavity, located in the second basement of the de-claddingmore » building of Marcoule site. It was used for forty years as buffer storage for high activity effluents and has a length of 5 meters, a width of 3 meters , a height of 2.5 meters, and is topped by lead plates over 5 cm thick and The bottom of the cavity is covered with a layer of mud containing mainly graphite, diatoms and resins. The mud level ranges from about 20 centimeters to over 50 centimeters. The overall mud volume is around 2.4 cubic meters. Ambient dose rates above the lead plates exceed 10 mSv/h. The main purpose of our investigation was to characterize the muds for future recovery and conditioning prior to decontaminating the pit. The history of the pit together with the varying mud altimetry lead us to believe that sedimentation had probably occurred throughout the years. We thus decided to combine dose rate measurements using IF104 probes, gamma spectroscopy with CdTe probes and sample collections at different depths to ensure the representativeness and full characterization of the muds. Poor access, ambient dose rates have lead us to conceive a robotic arm, mounted on an shaft which can be modified to fit a wide range of pits and tanks. Custom built robotic tools with maximum manoeuvrability generally involve costs and delays far exceeding our purposes. SIT, a French manufacturer of high precision handling equipment for the nuclear industry, supplied us with a user customized 'Python' Robotic arm and the associated computerized command and control equipment within 6 months of the order. The arm allowed the necessary free movement for a precise characterization of the entire pit while being flexible enough to carry varying measuring and sample collection tools. Investigations included video imaging, precise dimensional checks, collection of effluent samples, gamma spectroscopy and collimated dose rate measurements. Specific tooling and arm extensions were created by SIT for each measurement type. The investigations were conducted successfully, providing a detailed view of the pit condition, a complete mapping of collimated dose rates, a grid of gamma spectroscopy, as well as 8 samples of radioactive mud which were subsequently analyzed in our laboratory . A simple yet innovative technology allowed us to fully characterize this pit and its content within a time frame of less than Eight months We subsequently developed a mud recovery scenario, a process for the conditioning of radioactive muds by cementation, and a complete scenario for the pit decontamination and dismantling. The robotic arm is now being used for the characterization and decontamination of other similar environments on the site of Marcoule.« less

  11. Multidisciplinary approach for developing a new robotic system for domiciliary assistance to elderly people.

    PubMed

    Cavallo, F; Aquilano, M; Bonaccorsi, M; Mannari, I; Carrozza, M C; Dario, P

    2011-01-01

    This paper aims to show the effectiveness of a (inter / multi)disciplinary team, based on the technology developers, elderly care organizations, and designers, in developing the ASTRO robotic system for domiciliary assistance to elderly people. The main issues presented in this work concern the improvement of robot's behavior by means of a smart sensor network able to share information with the robot for localization and navigation, and the design of the robot's appearance and functionalities by means of a substantial analysis of users' requirements and attitude to robotic technology to improve acceptability and usability.

  12. Development of a robotic patient positioning system with a wide beam-angle range for fixed-beam particle therapy

    NASA Astrophysics Data System (ADS)

    Choi, Hongseok; Park, Jong-Oh; Ko, Seong Young; Park, Sukho; Cho, Sungho; Jung, Won-Gyun; Park, Yong Kyun; Kang, Jung Suk

    2016-10-01

    This paper describes a robotic patient positioning system (PPS) for a fixed-beam heavy-ion therapy system. In order to extend the limited irradiation angle range of the fixed beam, we developed a 6-degree-of-freedom (6-DOF) serial-link robotic arm and used it as the robotic PPS for the fixed-beam heavy-ion therapy system. This research aims to develop a robotic PPS for use in the Korea Heavy Ion Medical Accelerator (KHIMA) system, which is under development at the Korea Institute of Radiological & Medical Sciences (KIRAMS). In particular, we select constraints and criteria that will be used for designing and evaluating the robotic PPS through full consultation with KIRAMS. In accordance with the constraints and criteria, we develop a 6-DOF serial-link robotic arm that consists of six revolute joints for the robotic PPS, where the robotic arm covers the upper body of a patient as a treatment area and achieves a 15 ° roll and pitch angle in the treatment area without any collision. Various preliminary experiments confirm that the robotic PPS can meet all criteria for extension of the limited irradiation angle range in the treatment area and has a positioning repeatability of 0.275 mm.

  13. Design and development of miniature parallel robot for eye surgery.

    PubMed

    Sakai, Tomoya; Harada, Kanako; Tanaka, Shinichi; Ueta, Takashi; Noda, Yasuo; Sugita, Naohiko; Mitsuishi, Mamoru

    2014-01-01

    A five degree-of-freedom (DOF) miniature parallel robot has been developed to precisely and safely remove the thin internal limiting membrane in the eye ground during vitreoretinal surgery. A simulator has been developed to determine the design parameters of this robot. The developed robot's size is 85 mm × 100 mm × 240 mm, and its weight is 770 g. This robot incorporates an emergency instrument retraction function to quickly remove the instrument from the eye in case of sudden intraoperative complications such as bleeding. Experiments were conducted to evaluate the robot's performance in the master-slave configuration, and the results demonstrated that it had a tracing accuracy of 40.0 μm.

  14. Robotic Precursor Missions for Mars Habitats

    NASA Technical Reports Server (NTRS)

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

    2000-01-01

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

  15. UROLOGIC ROBOTS AND FUTURE DIRECTIONS

    PubMed Central

    Mozer, Pierre; Troccaz, Jocelyne; Stoianovici, Dan

    2009-01-01

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

  16. Urologic robots and future directions.

    PubMed

    Mozer, Pierre; Troccaz, Jocelyne; Stoianovici, Dan

    2009-01-01

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

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

    PubMed

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

    2007-01-01

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

  18. Exploring the Possibility of Using Humanoid Robots as Instructional Tools for Teaching a Second Language in Primary School

    ERIC Educational Resources Information Center

    Chang, Chih-Wei; Lee, Jih-Hsien; Chao, Po-Yao; Wang, Chin-Yeh; Chen, Gwo-Dong

    2010-01-01

    As robot technologies develop, many researchers have tried to use robots to support education. Studies have shown that robots can help students develop problem-solving abilities and learn computer programming, mathematics, and science. However, few studies discuss the use of robots to facilitate the teaching of second languages. We discuss whether…

  19. Space robotics in Japan

    NASA Technical Reports Server (NTRS)

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

    1994-01-01

    Japan has been one of the most successful countries in the world in the realm of terrestrial robot applications. The panel found that Japan has in place a broad base of robotics research and development, ranging from components to working systems for manufacturing, construction, and human service industries. From this base, Japan looks to the use of robotics in space applications and has funded work in space robotics since the mid-1980's. The Japanese are focusing on a clear image of what they hope to achieve through three objectives for the 1990's: developing long-reach manipulation for tending experiments on Space Station Freedom, capturing satellites using a free-flying manipulator, and surveying part of the moon with a mobile robot. This focus and a sound robotics infrastructure is enabling the young Japanese space program to develop relevant systems for extraterrestrial robotics applications.

  20. Research state-of-the-art of mobile robots in China

    NASA Astrophysics Data System (ADS)

    Wu, Lin; Zhao, Jinglun; Zhang, Peng; Li, Shiqing

    1991-03-01

    Several newly developed mobile robots in china are described in the paper. It includes masterslave telerobot sixleged robot biped walking robot remote inspection robot crawler moving robot and autonomous mobi le vehicle . Some relevant technology are also described.

  1. 10 CFR 960.3-4 - Environmental impacts.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... REPOSITORY Implementation Guidelines § 960.3-4 Environmental impacts. Environmental impacts shall be considered by the DOE throughout the site characterization, site selection, and repository development..., during site characterization and repository construction, operation, closure, and decommissioning. ...

  2. International Assessment of Research and Development in Micromanufacturing

    DTIC Science & Technology

    2005-10-01

    83 7.1. Female robot used for robot artificial insemination project...90 7.2. Male robot used for robot artificial insemination project...include building a desktop factory, “robot mating” using artificial insemination (a fish egg was actually fertilized by his students’ robots

  3. Research reactor decommissioning experience - concrete removal and disposal -

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

    Manning, Mark R.; Gardner, Frederick W.

    1990-07-01

    Removal and disposal of neutron activated concrete from biological shields is the most significant operational task associated with research reactor decommissioning. During the period of 1985 thru 1989 Chem-Nuclear Systems, Inc. was the prime contractor for complete dismantlement and decommissioning of the Northrop TRIGA Mark F, the Virginia Tech Argonaut, and the Michigan State University TRIGA Mark I Reactor Facilities. This paper discusses operational requirements, methods employed, and results of the concrete removal, packaging, transport and disposal operations for these (3) research reactor decommissioning projects. Methods employed for each are compared. Disposal of concrete above and below regulatory release limitsmore » for unrestricted use are discussed. This study concludes that activated reactor biological shield concrete can be safely removed and buried under current regulations.« less

  4. Control of free-flying space robot manipulator systems

    NASA Technical Reports Server (NTRS)

    Cannon, Robert H., Jr.

    1990-01-01

    New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

  5. Development of a soft untethered robot using artificial muscle actuators

    NASA Astrophysics Data System (ADS)

    Cao, Jiawei; Qin, Lei; Lee, Heow Pueh; Zhu, Jian

    2017-04-01

    Soft robots have attracted much interest recently, due to their potential capability to work effectively in unstructured environment. Soft actuators are key components in soft robots. Dielectric elastomer actuators are one class of soft actuators, which can deform in response to voltage. Dielectric elastomer actuators exhibit interesting attributes including large voltage-induced deformation and high energy density. These attributes make dielectric elastomer actuators capable of functioning as artificial muscles for soft robots. It is significant to develop untethered robots, since connecting the cables to external power sources greatly limits the robots' functionalities, especially autonomous movements. In this paper we develop a soft untethered robot based on dielectric elastomer actuators. This robot mainly consists of a deformable robotic body and two paper-based feet. The robotic body is essentially a dielectric elastomer actuator, which can expand or shrink at voltage on or off. In addition, the two feet can achieve adhesion or detachment based on the mechanism of electroadhesion. In general, the entire robotic system can be controlled by electricity or voltage. By optimizing the mechanical design of the robot (the size and weight of electric circuits), we put all these components (such as batteries, voltage amplifiers, control circuits, etc.) onto the robotic feet, and the robot is capable of realizing autonomous movements. Experiments are conducted to study the robot's locomotion. Finite element method is employed to interpret the deformation of dielectric elastomer actuators, and the simulations are qualitatively consistent with the experimental observations.

  6. 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.

  7. Robotic Surgery

    PubMed Central

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

    2004-01-01

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

  8. Simulation and animation of sensor-driven robots.

    PubMed

    Chen, C; Trivedi, M M; Bidlack, C R

    1994-10-01

    Most simulation and animation systems utilized in robotics are concerned with simulation of the robot and its environment without simulation of sensors. These systems have difficulty in handling robots that utilize sensory feedback in their operation. In this paper, a new design of an environment for simulation, animation, and visualization of sensor-driven robots is presented. As sensor technology advances, increasing numbers of robots are equipped with various types of sophisticated sensors. The main goal of creating the visualization environment is to aid the automatic robot programming and off-line programming capabilities of sensor-driven robots. The software system will help the users visualize the motion and reaction of the sensor-driven robot under their control program. Therefore, the efficiency of the software development is increased, the reliability of the software and the operation safety of the robot are ensured, and the cost of new software development is reduced. Conventional computer-graphics-based robot simulation and animation software packages lack of capabilities for robot sensing simulation. This paper describes a system designed to overcome this deficiency.

  9. Role of expressive behaviour for robots that learn from people.

    PubMed

    Breazeal, Cynthia

    2009-12-12

    Robotics has traditionally focused on developing intelligent machines that can manipulate and interact with objects. The promise of personal robots, however, challenges researchers to develop socially intelligent robots that can collaborate with people to do things. In the future, robots are envisioned to assist people with a wide range of activities such as domestic chores, helping elders to live independently longer, serving a therapeutic role to help children with autism, assisting people undergoing physical rehabilitation and much more. Many of these activities shall require robots to learn new tasks, skills and individual preferences while 'on the job' from people with little expertise in the underlying technology. This paper identifies four key challenges in developing social robots that can learn from natural interpersonal interaction. The author highlights the important role that expressive behaviour plays in this process, drawing on examples from the past 8 years of her research group, the Personal Robots Group at the MIT Media Lab.

  10. Decontamination, decommissioning, and vendor advertorial issue, 2006

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

    Agnihotri, Newal

    2006-07-15

    The focus of the July-August issue is on Decontamination, decommissioning, and vendor advertorials. Major articles/reports in this issue include: NPP Krsko revised decommissioning program, by Vladimir Lokner and Ivica Levanat, APO d.o.o., Croatia, and Nadja Zeleznik and Irena Mele, ARAO, Slovenia; Supporting the renaissance, by Marilyn C. Kray, Exelon Nuclear; Outage world an engineer's delight, by Tom Chrisopher, Areva, NP Inc.; Optimizing refueling outages with R and D, by Ross Marcoot, GE Energy; and, A successful project, by Jim Lash, FirstEnergy.

  11. Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm.

    PubMed

    Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae; Kim, Tae Il; Yi, Byung Ju

    2017-01-01

    Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site.

  12. A soft robot capable of 2D mobility and self-sensing for obstacle detection and avoidance

    NASA Astrophysics Data System (ADS)

    Qin, Lei; Tang, Yucheng; Gupta, Ujjaval; Zhu, Jian

    2018-04-01

    Soft robots have shown great potential for surveillance applications due to their interesting attributes including inherent flexibility, extreme adaptability, and excellent ability to move in confined spaces. High mobility combined with the sensing systems that can detect obstacles plays a significant role in performing surveillance tasks. Extensive studies have been conducted on movement mechanisms of traditional hard-bodied robots to increase their mobility. However, there are limited efforts in the literature to explore the mobility of soft robots. In addition, little attempt has been made to study the obstacle-detection capability of a soft mobile robot. In this paper, we develop a soft mobile robot capable of high mobility and self-sensing for obstacle detection and avoidance. This robot, consisting of a dielectric elastomer actuator as the robot body and four electroadhesion actuators as the robot feet, can generate 2D mobility, i.e. translations and turning in a 2D plane, by programming the actuation sequence of the robot body and feet. Furthermore, we develop a self-sensing method which models the robot body as a deformable capacitor. By measuring the real-time capacitance of the robot body, the robot can detect an obstacle when the peak capacitance drops suddenly. This sensing method utilizes the robot body itself instead of external sensors to achieve detection of obstacles, which greatly reduces the weight and complexity of the robot system. The 2D mobility and self-sensing capability ensure the success of obstacle detection and avoidance, which paves the way for the development of lightweight and intelligent soft mobile robots.

  13. A Practical Solution Using A New Approach To Robot Vision

    NASA Astrophysics Data System (ADS)

    Hudson, David L.

    1984-01-01

    Up to now, robot vision systems have been designed to serve both application development and operational needs in inspection, assembly and material handling. This universal approach to robot vision is too costly for many practical applications. A new industrial vision system separates the function of application program development from on-line operation. A Vision Development System (VDS) is equipped with facilities designed to simplify and accelerate the application program development process. A complimentary but lower cost Target Application System (TASK) runs the application program developed with the VDS. This concept is presented in the context of an actual robot vision application that improves inspection and assembly for a manufacturer of electronic terminal keyboards. Applications developed with a VDS experience lower development cost when compared with conventional vision systems. Since the TASK processor is not burdened with development tools, it can be installed at a lower cost than comparable "universal" vision systems that are intended to be used for both development and on-line operation. The VDS/TASK approach opens more industrial applications to robot vision that previously were not practical because of the high cost of vision systems. Although robot vision is a new technology, it has been applied successfully to a variety of industrial needs in inspection, manufacturing, and material handling. New developments in robot vision technology are creating practical, cost effective solutions for a variety of industrial needs. A year or two ago, researchers and robot manufacturers interested in implementing a robot vision application could take one of two approaches. The first approach was to purchase all the necessary vision components from various sources. That meant buying an image processor from one company, a camera from another and lens and light sources from yet others. The user then had to assemble the pieces, and in most instances he had to write all of his own software to test, analyze and process the vision application. The second and most common approach was to contract with the vision equipment vendor for the development and installation of a turnkey inspection or manufacturing system. The robot user and his company paid a premium for their vision system in an effort to assure the success of the system. Since 1981, emphasis on robotics has skyrocketed. New groups have been formed in many manufacturing companies with the charter to learn about, test and initially apply new robot and automation technologies. Machine vision is one of new technologies being tested and applied. This focused interest has created a need for a robot vision system that makes it easy for manufacturing engineers to learn about, test, and implement a robot vision application. A newly developed vision system addresses those needs. Vision Development System (VDS) is a complete hardware and software product for the development and testing of robot vision applications. A complimentary, low cost Target Application System (TASK) runs the application program developed with the VDS. An actual robot vision application that demonstrates inspection and pre-assembly for keyboard manufacturing is used to illustrate the VDS/TASK approach.

  14. 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.

  15. [Advanced Development for Space Robotics With Emphasis on Fault Tolerance Technology

    NASA Technical Reports Server (NTRS)

    Tesar, Delbert

    1997-01-01

    This report describes work developing fault tolerant redundant robotic architectures and adaptive control strategies for robotic manipulator systems which can dynamically accommodate drastic robot manipulator mechanism, sensor or control failures and maintain stable end-point trajectory control with minimum disturbance. Kinematic designs of redundant, modular, reconfigurable arms for fault tolerance were pursued at a fundamental level. The approach developed robotic testbeds to evaluate disturbance responses of fault tolerant concepts in robotic mechanisms and controllers. The development was implemented in various fault tolerant mechanism testbeds including duality in the joint servo motor modules, parallel and serial structural architectures, and dual arms. All have real-time adaptive controller technologies to react to mechanism or controller disturbances (failures) to perform real-time reconfiguration to continue the task operations. The developments fall into three main areas: hardware, software, and theoretical.

  16. Energy Efficient Legged Robotics at Sandia Labs

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

    Buerger, Steve

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

  17. Energy Efficient Legged Robotics at Sandia Labs

    ScienceCinema

    Buerger, Steve

    2018-05-07

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

  18. Development of robotic mobile platform with the universal chassis system

    NASA Astrophysics Data System (ADS)

    Ryadchikov, I.; Nikulchev, E.; Sechenev, S.; Drobotenko, M.; Svidlov, A.; Volkodav, P.; Feshin, A.

    2018-02-01

    The problem of stabilizing the position of mobile devices is extremely relevant at the modern level of technology development. This includes the problem of stabilizing aircraft and stabilizing the pitching of ships. In the laboratory of robotics and mechatronics of the Kuban State University, a robot is developed. The robot has additional internal degrees of freedom, responsible for compensating for deflections - the dynamic stabilization system.

  19. Strategic considerations for the sustainable remediation of nuclear installations.

    PubMed

    Mobbs, S; Orr, P; Weber, I

    2017-08-05

    Nuclear sites around the world are being decommissioned and remedial actions are being undertaken to enable the sites or parts of the sites to be reused. Although this is relatively straightforward for most sites, experience has suggested that preventative action is needed to minimise the impact of remediation activities on the environment and the potential burden to future generations. Removing all contamination in order to make a site suitable for any use generates waste and has associated environmental, social and economic detriments and benefits that should be taken into account. Recent experience of OECD Nuclear Energy Agency (NEA) member countries in the remediation of contaminated land, predominantly contaminated soil and groundwater, on nuclear sites during decommissioning has been assessed by an NEA task group. The experience was used to identify strategic considerations for nuclear site remediation, to consider the application of sustainability principles to nuclear site remediation, to describe good practice, and to make recommendations for further research and development. The key aspects that were identified were that 1) site remediation should be sustainable by resulting in an overall net benefit; and 2) an adaptive approach is essential in order to take into account the inherent uncertainty associated with the decommissioning and site remediation timescales. A report describing the findings was published by OECD/NEA in 2016. The conclusions provide insights to decision makers, regulators, implementers and stakeholders involved in nuclear site decommissioning so that they can achieve sustainable remediation of nuclear sites, now and in the future. Copyright © 2017 Elsevier Ltd. All rights reserved.

  20. Prioritization methodology for the decommissioning of nuclear facilities: a study case on the Iraq former nuclear complex.

    PubMed

    Jarjies, Adnan; Abbas, Mohammed; Monken Fernandes, Horst; Wong, Melanie; Coates, Roger

    2013-05-01

    There are a number of sites in Iraq which have been used for nuclear activities and which contain potentially significant amounts of radioactive waste. The principal nuclear site being Al-Tuwaitha. Many of these sites suffered substantial physical damage during the Gulf Wars and have been subjected to subsequent looting. All require decommissioning in order to ensure both radiological and non-radiological safety. However, it is not possible to undertake the decommissioning of all sites and facilities at the same time. Therefore, a prioritization methodology has been developed in order to aid the decision-making process. The methodology comprises three principal stages of assessment: i) a quantitative surrogate risk assessment ii) a range of sensitivity analyses and iii) the inclusion of qualitative modifying factors. A group of Tuwaitha facilities presented the highest risk among the evaluated ones, followed by a middle ranking grouping of Tuwaitha facilities and some other sites, and a relatively large group of lower risk facilities and sites. The initial order of priority is changed when modifying factors are taken into account. It has to be considered the Iraq's isolation from the international nuclear community over the last two decades and the lack of experienced personnel. Therefore it is appropriate to initiate decommissioning operations on selected low risk facilities at Tuwaitha in order to build capacity and prepare for work to be carried out in more complex and potentially high hazard facilities. In addition it is appropriate to initiate some prudent precautionary actions relating to some of the higher risk facilities. Copyright © 2012 Elsevier Ltd. All rights reserved.

  1. The use of computer graphic simulation in the development of on-orbit tele-robotic systems

    NASA Technical Reports Server (NTRS)

    Fernandez, Ken; Hinman, Elaine

    1987-01-01

    This paper describes the use of computer graphic simulation techniques to resolve critical design and operational issues for robotic systems used for on-orbit operations. These issues are robot motion control, robot path-planning/verification, and robot dynamics. The major design issues in developing effective telerobotic systems are discussed, and the use of ROBOSIM, a NASA-developed computer graphic simulation tool, to address these issues is presented. Simulation plans for the Space Station and the Orbital Maneuvering Vehicle are presented and discussed.

  2. Mobile robot knowledge base

    NASA Astrophysics Data System (ADS)

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

    2005-05-01

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

  3. What does the literature say about using robots on children with disabilities?

    PubMed

    Miguel Cruz, Antonio; Ríos Rincón, Adriana María; Rodríguez Dueñas, William Ricardo; Quiroga Torres, Daniel Alejandro; Bohórquez-Heredia, Andrés Felipe

    2017-07-01

    The purpose of this study is to examine the extent and type of robots used for the rehabilitation and education of children and young people with CP and ASD and the associated outcomes. The scholarly literature was systematically searched and analyzed. Articles were included if they reported the results of robots used or intended to be used for the rehabilitation and education of children and young people with CP and ASD during play and educative and social interaction activities. We found 15 robotic systems reported in 34 studies that provided a low level of evidence. The outcomes were mainly for children with ASD interaction and who had a reduction in autistic behaviour, and for CP cognitive development, learning, and play. More research is needed in this area using designs that provide higher validity. A centred design approach is needed for developing new low-cost robots for this population. Implications for rehabilitation In spite of the potential of robots to promote development in children with ASD and CP, the limited available evidence requires researchers to conduct studies with higher validity. The low level of evidence plus the need for specialized technical support should be considered critical factors before making the decision to purchase robots for use in treatment for children with CP and ASD. A user-entered design approach would increase the chances of success for robots to improve functional, learning, and educative outcomes in children with ASD and CP. We recommend that developers use this approach. The participation of interdisciplinary teams in the design, development, and implementation of new robotic systems is of extra value. We recommend the design and development of low-cost robotic systems to make robots more affordable.

  4. Decommissioning strategy for liquid low-level radioactive waste surface storage water reservoir.

    PubMed

    Utkin, S S; Linge, I I

    2016-11-22

    The Techa Cascade of water reservoirs (TCR) is one of the most environmentally challenging facilities resulted from FSUE "PA "Mayak" operations. Its reservoirs hold over 360 mln m 3 of liquid radioactive waste with a total activity of some 5 × 10 15 Bq. A set of actions implemented under a special State program involving the development of a strategic plan aimed at complete elimination of TCR challenges (Strategic Master-Plan for the Techa Cascade of water reservoirs) resulted in considerable reduction of potential hazards associated with this facility. The paper summarizes the key elements of this master-plan: defining TCR final state, feasibility study of the main strategies aimed at its attainment, evaluation of relevant long-term decommissioning strategy, development of computational tools enabling the long-term forecast of TCR behavior depending on various engineering solutions and different weather conditions. Copyright © 2016 Elsevier Ltd. All rights reserved.

  5. Waste Technology Engineering Laboratory (324 building)

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

    Kammenzind, D.E.

    The 324 Facility Standards/Requirements Identification Document (S/RID) is comprised of twenty functional areas. Two of the twenty functional areas (Decontamination and Decommissioning and Environmental Restoration) were determined as nonapplicable functional areas and one functional area (Research and Development and Experimental Activities) was determined applicable, however, requirements are found in other functional areas and will not be duplicated. Each functional area follows as a separate chapter, either containing the S/RID or a justification for nonapplicability. The twenty functional areas listed below follow as chapters: 1. Management Systems; 2. Quality Assurance; 3. Configuration Management; 4. Training and Qualification; 5. Emergency Management; 6.more » Safeguards and Security; 7. Engineering Program; 8. Construction; 9. Operations; 10. Maintenance; 11. Radiation Protection; 12. Fire Protection; 13. Packaging and Transportation; 14. Environmental Restoration; 15. Decontamination and Decommissioning; 16. Waste Management; 17. Research and Development and Experimental Activities; 18. Nuclear Safety; 19. Occupational Safety and Health; 20. Environmental Protection.« less

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

    PubMed

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

    2015-12-01

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

  7. Honda humanoid robots development.

    PubMed

    Hirose, Masato; Ogawa, Kenichi

    2007-01-15

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

  8. Design of a simulation environment for laboratory management by robot organizations

    NASA Technical Reports Server (NTRS)

    Zeigler, Bernard P.; Cellier, Francois E.; Rozenblit, Jerzy W.

    1988-01-01

    This paper describes the basic concepts needed for a simulation environment capable of supporting the design of robot organizations for managing chemical, or similar, laboratories on the planned U.S. Space Station. The environment should facilitate a thorough study of the problems to be encountered in assigning the responsibility of managing a non-life-critical, but mission valuable, process to an organized group of robots. In the first phase of the work, we seek to employ the simulation environment to develop robot cognitive systems and strategies for effective multi-robot management of chemical experiments. Later phases will explore human-robot interaction and development of robot autonomy.

  9. 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.

  10. TRC research products: Components for service robots

    NASA Technical Reports Server (NTRS)

    Lob, W. Stuart

    1994-01-01

    Transitions Research Corporation has developed a variety of technologies to accomplish its central mission: the creation of commercially viable robots for the service industry. Collectively, these technologies comprise the TRC 'robot tool kit.' The company started by developing a robot base that serves as a foundation for mobile robot research and development, both within TRC and at customer sites around the world. A diverse collection of sensing techniques evolved more recently, many of which have been made available to the international mobile robot research community as commercial products. These 'tool-kit' research products are described in this paper. The largest component of TRC's commercial operation is a product called HelpMate for material transport and delivery in health care institutions.

  11. The evolution of robotic urologic surgery.

    PubMed

    Nguyen, Mike Minh; Das, Sakti

    2004-11-01

    The incorporation of robotics into surgical technology is a relatively recent development. Robotic surgical systems can be classified as master-slave systems, precise-path systems, or intern-replacement systems. Master-slave systems, the most familiar type, were developed from initial experiments in "telepresence" surgery funded by the US Department of Defense. Urology has embraced the use of commercial robotic surgical systems in a growing number of clinical applications. Although drawbacks and limitations exist for the use of surgical robotics, the systems are developing rapidly and an expanded role for this technology in the future of urology is inevitable. This article reviews the history of the use of robotics in surgery, focusing on its specific application to urology.

  12. Coordinated Control Of Mobile Robotic Manipulators

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun

    1995-01-01

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

  13. Robots for use in autism research.

    PubMed

    Scassellati, Brian; Admoni, Henny; Matarić, Maja

    2012-01-01

    Autism spectrum disorders are a group of lifelong disabilities that affect people's ability to communicate and to understand social cues. Research into applying robots as therapy tools has shown that robots seem to improve engagement and elicit novel social behaviors from people (particularly children and teenagers) with autism. Robot therapy for autism has been explored as one of the first application domains in the field of socially assistive robotics (SAR), which aims to develop robots that assist people with special needs through social interactions. In this review, we discuss the past decade's work in SAR systems designed for autism therapy by analyzing robot design decisions, human-robot interactions, and system evaluations. We conclude by discussing challenges and future trends for this young but rapidly developing research area.

  14. Biologically-inspired hexapod robot design and simulation

    NASA Technical Reports Server (NTRS)

    Espenschied, Kenneth S.; Quinn, Roger D.

    1994-01-01

    The design and construction of a biologically-inspired hexapod robot is presented. A previously developed simulation is modified to include models of the DC drive motors, the motor driver circuits and their transmissions. The application of this simulation to the design and development of the robot is discussed. The mechanisms thought to be responsible for the leg coordination of the walking stick insect were previously applied to control the straight-line locomotion of a robot. We generalized these rules for a robot walking on a plane. This biologically-inspired control strategy is used to control the robot in simulation. Numerical results show that the general body motion and performance of the simulated robot is similar to that of the robot based on our preliminary experimental results.

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

    ScienceCinema

    Buerger, Steve; Mazumdar, Ani; Spencer, Steve

    2018-01-16

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

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

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

    Buerger, Steve; Mazumdar, Ani; Spencer, Steve

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

  17. Performance Evaluation Methods for Assistive Robotic Technology

    NASA Astrophysics Data System (ADS)

    Tsui, Katherine M.; Feil-Seifer, David J.; Matarić, Maja J.; Yanco, Holly A.

    Robots have been developed for several assistive technology domains, including intervention for Autism Spectrum Disorders, eldercare, and post-stroke rehabilitation. Assistive robots have also been used to promote independent living through the use of devices such as intelligent wheelchairs, assistive robotic arms, and external limb prostheses. Work in the broad field of assistive robotic technology can be divided into two major research phases: technology development, in which new devices, software, and interfaces are created; and clinical, in which assistive technology is applied to a given end-user population. Moving from technology development towards clinical applications is a significant challenge. Developing performance metrics for assistive robots poses a related set of challenges. In this paper, we survey several areas of assistive robotic technology in order to derive and demonstrate domain-specific means for evaluating the performance of such systems. We also present two case studies of applied performance measures and a discussion regarding the ubiquity of functional performance measures across the sampled domains. Finally, we present guidelines for incorporating human performance metrics into end-user evaluations of assistive robotic technologies.

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

    PubMed

    Dautenhahn, Kerstin

    2007-04-29

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

  19. Can a Robot Be Perceived as a Developing Creature? Effects of a Robot's Long-Term Cognitive Developments on Its Social Presence and People's Social Responses toward It

    ERIC Educational Resources Information Center

    Lee, Kwan Min; Park, Namkee; Song, Hayeon

    2005-01-01

    This study tests the effect of long-term artificial development of a robot on users' feelings of social presence and social responses toward the robot. The study is a 2 (developmental capability: developmental versus fully matured) x 2 (number of participants: individual versus group) between-subjects experiment (N = 40) in which participants…

  20. Sprint: The first flight demonstration of the external work system robots

    NASA Technical Reports Server (NTRS)

    Price, Charles R.; Grimm, Keith

    1995-01-01

    The External Works Systems (EWS) 'X Program' is a new NASA initiative that will, in the next ten years, develop a new generation of space robots for active and participative support of zero g external operations. The robotic development will center on three areas: the assistant robot, the associate robot, and the surrogate robot that will support external vehicular activities (EVA) prior to and after, during, and instead of space-suited human external activities respectively. The EWS robotics program will be a combination of technology developments and flight demonstrations for operational proof of concept. The first EWS flight will be a flying camera called 'Sprint' that will seek to demonstrate operationally flexible, remote viewing capability for EVA operations, inspections, and contingencies for the space shuttle and space station. This paper describes the need for Sprint and its characteristics.

  1. Molecular robots with sensors and intelligence.

    PubMed

    Hagiya, Masami; Konagaya, Akihiko; Kobayashi, Satoshi; Saito, Hirohide; Murata, Satoshi

    2014-06-17

    CONSPECTUS: What we can call a molecular robot is a set of molecular devices such as sensors, logic gates, and actuators integrated into a consistent system. The molecular robot is supposed to react autonomously to its environment by receiving molecular signals and making decisions by molecular computation. Building such a system has long been a dream of scientists; however, despite extensive efforts, systems having all three functions (sensing, computation, and actuation) have not been realized yet. This Account introduces an ongoing research project that focuses on the development of molecular robotics funded by MEXT (Ministry of Education, Culture, Sports, Science and Technology, Japan). This 5 year project started in July 2012 and is titled "Development of Molecular Robots Equipped with Sensors and Intelligence". The major issues in the field of molecular robotics all correspond to a feedback (i.e., plan-do-see) cycle of a robotic system. More specifically, these issues are (1) developing molecular sensors capable of handling a wide array of signals, (2) developing amplification methods of signals to drive molecular computing devices, (3) accelerating molecular computing, (4) developing actuators that are controllable by molecular computers, and (5) providing bodies of molecular robots encapsulating the above molecular devices, which implement the conformational changes and locomotion of the robots. In this Account, the latest contributions to the project are reported. There are four research teams in the project that specialize on sensing, intelligence, amoeba-like actuation, and slime-like actuation, respectively. The molecular sensor team is focusing on the development of molecular sensors that can handle a variety of signals. This team is also investigating methods to amplify signals from the molecular sensors. The molecular intelligence team is developing molecular computers and is currently focusing on a new photochemical technology for accelerating DNA-based computations. They also introduce novel computational models behind various kinds of molecular computers necessary for designing such computers. The amoeba robot team aims at constructing amoeba-like robots. The team is trying to incorporate motor proteins, including kinesin and microtubules (MTs), for use as actuators implemented in a liposomal compartment as a robot body. They are also developing a methodology to link DNA-based computation and molecular motor control. The slime robot team focuses on the development of slime-like robots. The team is evaluating various gels, including DNA gel and BZ gel, for use as actuators, as well as the body material to disperse various molecular devices in it. They also try to control the gel actuators by DNA signals coming from molecular computers.

  2. SU-G-JeP3-08: Robotic System for Ultrasound Tracking in Radiation Therapy

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

    Kuhlemann, I; Graduate School for Computing in Medicine and Life Sciences, University of Luebeck; Jauer, P

    Purpose: For safe and accurate real-time tracking of tumors for IGRT using 4D ultrasound, it is necessary to make use of novel, high-end force-sensitive lightweight robots designed for human-machine interaction. Such a robot will be integrated into an existing robotized ultrasound system for non-invasive 4D live tracking, using a newly developed real-time control and communication framework. Methods: The new KUKA LWR iiwa robot is used for robotized ultrasound real-time tumor tracking. Besides more precise probe contact pressure detection, this robot provides an additional 7th link, enhancing the dexterity of the kinematic and the mounted transducer. Several integrated, certified safety featuresmore » create a safe environment for the patients during treatment. However, to remotely control the robot for the ultrasound application, a real-time control and communication framework has to be developed. Based on a client/server concept, client-side control commands are received and processed by a central server unit and are implemented by a client module running directly on the robot’s controller. Several special functionalities for robotized ultrasound applications are integrated and the robot can now be used for real-time control of the image quality by adjusting the transducer position, and contact pressure. The framework was evaluated looking at overall real-time capability for communication and processing of three different standard commands. Results: Due to inherent, certified safety modules, the new robot ensures a safe environment for patients during tumor tracking. Furthermore, the developed framework shows overall real-time capability with a maximum average latency of 3.6 ms (Minimum 2.5 ms; 5000 trials). Conclusion: The novel KUKA LBR iiwa robot will advance the current robotized ultrasound tracking system with important features. With the developed framework, it is now possible to remotely control this robot and use it for robotized ultrasound tracking applications, including image quality control and target tracking.« less

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

    Pantelias, M.; Volmert, B.; Caruso, S.

    MCNP models of all Swiss Nuclear Power Plants have been developed by the National Cooperative for the Disposal of Radioactive Waste (Nagra), in collaboration with the utilities and ETH Zurich, for the 2011 decommissioning cost study. The estimation of the residual radionuclide inventories and corresponding activity levels of irradiated structures and components following the NPP shut-down is of crucial importance for the planning of the dismantling process, the waste packaging concept and, consequently, for the estimation of the decommissioning costs. Based on NPP specific data, the neutron transport simulations lead to the best yet knowledge of the neutron spectra necessarymore » for the ensuing activation calculations. In this paper, the modeling concept towards the MCNP-NPPs is outlined and the resulting flux distribution maps are presented. (authors)« less

  4. Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm

    PubMed Central

    Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae

    2017-01-01

    Purpose Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. Materials and Methods The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. Results A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. Conclusion This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site. PMID:27873506

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

    NASA Astrophysics Data System (ADS)

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

    2017-02-01

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

  6. Developing a successful robotics program.

    PubMed

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

    2012-01-01

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

  7. Simulation and animation of sensor-driven robots

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

    Chen, C.; Trivedi, M.M.; Bidlack, C.R.

    1994-10-01

    Most simulation and animation systems utilized in robotics are concerned with simulation of the robot and its environment without simulation of sensors. These systems have difficulty in handling robots that utilize sensory feedback in their operation. In this paper, a new design of an environment for simulation, animation, and visualization of sensor-driven robots is presented. As sensor technology advances, increasing numbers of robots are equipped with various types of sophisticated sensors. The main goal of creating the visualization environment is to aide the automatic robot programming and off-line programming capabilities of sensor-driven robots. The software system will help the usersmore » visualize the motion and reaction of the sensor-driven robot under their control program. Therefore, the efficiency of the software development is increased, the reliability of the software and the operation safety of the robot are ensured, and the cost of new software development is reduced. Conventional computer-graphics-based robot simulation and animation software packages lack of capabilities for robot sensing simulation. This paper describes a system designed to overcome this deficiency.« less

  8. 75 FR 29653 - Amendment of Class E Airspace; Beatrice, NE

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-05-27

    ... Beatrice, NE. Decommissioning of the Shaw non-directional beacon (NDB) at Beatrice Municipal Airport... airspace for the Beatrice, NE area. Decommissioning of the Shaw NDB and cancellation of the NDB approach at...

  9. 30 CFR 250.1750 - When may I decommission a pipeline in place?

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... OFFSHORE OIL AND GAS AND SULPHUR OPERATIONS IN THE OUTER CONTINENTAL SHELF Decommissioning Activities... (obstruction) to navigation and commercial fishing operations, unduly interfere with other uses of the OCS, or...

  10. An earthworm-like robot using origami-ball structures

    NASA Astrophysics Data System (ADS)

    Fang, Hongbin; Zhang, Yetong; Wang, K. W.

    2017-04-01

    Earthworms possess extraordinary on-ground and underground mobility, which inspired researchers to mimic their morphology characteristics and locomotion mechanisms to develop crawling robots. One of the bottlenecks that constrain the development and wide-spread application of earthworm-like robots is the process of design, fabrication and assembly of the robot frameworks. Here we present a new earthworm-like robot design and prototype by exploring and utilizing origami ball structures. The origami ball is able to antagonistically output both axial and radial deformations, similar as an earthworm's body segment. The origami folding techniques also introduce many advantages to the robot development, including precise and low cost fabrication and high customizability. Starting from a flat polymer film, we adopt laser machining technique to engrave the crease pattern and manually fold the patterned flat film into an origami ball. Coupling the ball with a servomotor-driven linkage yields a robot segment. Connecting six segments in series, we obtain an earthworm-like origami robot prototype. The prototype is tested in a tube to evaluate its locomotion performance. It shows that the robot could crawl effectively in the tube, manifesting the feasibility of the origami-based design. In addition, test results indicate that the robot's locomotion could be tailored by employing different peristalsis-wave based gaits. The robot design and prototype reported in this paper could foster a new breed of crawling robots with simply design, fabrication, and assemble processes, and improved locomotion performance.

  11. Innovative technologies for asbestos removal, treatment and recycle

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

    Bossart, S.J.; Kasper, K.M.

    This paper will provide an overview of the Office of Science and Technology`s Decontamination and Decommissioning (D & D) Focus Area`s investment in development and demonstration of innovative technologies for asbestos treatment, removal and recycle. The paper will cover the market opportunities for asbestos abatement, major regulations covering asbestos abatement, baseline technologies used by DOE for removal of asbestos, asbestos-related technology needs submitted by DOE`s Site Technology Coordinating Groups, and asbestos development and demonstration projects supported by the D & D Focus Area and other organizations. Based on the Environmental Management Integrated Database, there are about five million cubic feetmore » of asbestos within the DOE Weapons Complex that will be abated by 2030. DOE has three main forms of asbestos: transite used in building construction, thermal pipe insulation, and floor tile. The D & D Focus Area has or is supporting three projects in asbestos removal, and three projects on destruction of asbestos fibers by chemical and thermal treatment. In asbestos removal, the D & D Focus Area is investigating a robot which removes asbestos insulation from pipes; a laser cutting technology which melts asbestos fibers while cutting insulated pipes; and a vacuum system which removes thermal insulation sandwiched between panels of transite. For destruction of asbestos fibers, the D & D Focus Area is supporting development and demonstration of a trailer-mounted process which destroys asbestos fibers by a combination of thermal and chemical treatment; a three-step process which removes organic and radioactive contaminants from the asbestos prior to decomposing the asbestos fibers by acid attack; and an in situ chemical treatment process to convert asbestos fibers into a non-regulated material.« less

  12. HyBAR: hybrid bone-attached robot for joint arthroplasty.

    PubMed

    Song, S; Mor, A; Jaramaz, B

    2009-06-01

    A number of small bone-attached surgical robots have been introduced to overcome some disadvantages of large stand-alone surgical robots. In orthopaedics, increasing demand on minimally invasive joint replacement surgery has also been encouraging small surgical robot developments. Among various technical aspects of such an approach, optimal miniaturization that maintains structural strength for high speed bone removal was investigated. By observing advantages and disadvantages from serial and parallel robot structures, a new hybrid kinematic configuration was designed for a bone-attached robot to perform precision bone removal for cutting the femoral implant cavity during patellofemoral joint arthroplasty surgery. A series of experimental tests were conducted in order to evaluate the performance of the new robot, especially with respect to accuracy of bone preparation. A miniaturized and rigidly-structured robot prototype was developed for minimally invasive bone-attached robotic surgery. A new minimally invasive modular clamping system was also introduced to enhance the robotic procedure. Foam and pig bone experimental results demonstrated a successful implementation of the new robot that eliminated a number of major design problems of a previous prototype. For small bone-attached surgical robots that utilize high speed orthopaedic tools, structural rigidity and clamping mechanism are major design issues. The new kinematic configuration using hinged prismatic joints enabled an effective miniaturization with good structural rigidity. Although minor problems still exist at the prototype stage, the new development would be a significant step towards the practical use of such a robot.

  13. Algorithms and Sensors for Small Robot Path Following

    NASA Technical Reports Server (NTRS)

    Hogg, Robert W.; Rankin, Arturo L.; Roumeliotis, Stergios I.; McHenry, Michael C.; Helmick, Daniel M.; Bergh, Charles F.; Matthies, Larry

    2002-01-01

    Tracked mobile robots in the 20 kg size class are under development for applications in urban reconnaissance. For efficient deployment, it is desirable for teams of robots to be able to automatically execute path following behaviors, with one or more followers tracking the path taken by a leader. The key challenges to enabling such a capability are (l) to develop sensor packages for such small robots that can accurately determine the path of the leader and (2) to develop path following algorithms for the subsequent robots. To date, we have integrated gyros, accelerometers, compass/inclinometers, odometry, and differential GPS into an effective sensing package. This paper describes the sensor package, sensor processing algorithm, and path tracking algorithm we have developed for the leader/follower problem in small robots and shows the result of performance characterization of the system. We also document pragmatic lessons learned about design, construction, and electromagnetic interference issues particular to the performance of state sensors on small robots.

  14. RHOBOT: Radiation hardened robotics

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

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

    1997-10-01

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

  15. Teen Sized Humanoid Robot: Archie

    NASA Astrophysics Data System (ADS)

    Baltes, Jacky; Byagowi, Ahmad; Anderson, John; Kopacek, Peter

    This paper describes our first teen sized humanoid robot Archie. This robot has been developed in conjunction with Prof. Kopacek’s lab from the Technical University of Vienna. Archie uses brushless motors and harmonic gears with a novel approach to position encoding. Based on our previous experience with small humanoid robots, we developed software to create, store, and play back motions as well as control methods which automatically balance the robot using feedback from an internal measurement unit (IMU).

  16. Microrobotics for future gastrointestinal endoscopy.

    PubMed

    Menciassi, Arianna; Quirini, Marco; Dario, Paolo

    2007-01-01

    The impulse given by robotic technologies and imaging techniques to the development of a new way to conceive and perform surgery is clearly visible. Nowadays, minimally invasive surgical (MIS) procedures are often performed with the assistance of robots, such as the Da Vinci master-slave system, the AESOP robot with voice control, etc. In addition, mechatronic technologies are becoming the elective technologies for designing advanced hand-held surgical tools. The introduction of robotic technologies in endoscopy has been slower than in MIS, since the development of miniaturized robotic components for entering the small orifices of the human body is difficult. On the other hand, the large contribution that robotic technologies could bring to endoluminal techniques has been evident since the first development of instrumented catheters. In the 1990s, there was an increasing activity in the application of robotic technologies to improve endoscopic procedures in the gastrointestinal tract. The objective of robotic colonoscopy and gastroscopy was to obtain more effective diagnoses in terms of reduced pain for the patients, and to make uniform the diagnostic procedures, which too often depended on the manual abilities of the endoscopist. Currently, the availability of more reliable robotic technologies for miniaturization of size and integration of functions has allowed to conceive and develop robotic pills for the early screening of the digestive tract, with dramatic potential advantages for patients, endoscopists, and healthcare system.

  17. 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.

  18. Proposal of Path Following and Arrival Judgement Methods Using Target Vector for Teleoperation of a Mobile Robot on Uneven Ground by Image Pointing

    NASA Astrophysics Data System (ADS)

    Tamura, Sho; Maeyama, Shoichi

    Rescue robots have been actively developed since Hanshin-Awaji (Kobe) Earthquake. Recently, the rescue robot to reduce the risk of the secondary disaster on NBC terror and critical accident is also developed. For such a background, the development project of mobile RT system in the collapsed is started. This research also participates in this project. It is useful to use the image pointing for the control interface of the rescue robot because it can control the robot by the simple operation. However, the conventional method cannot work on a rough terrain. In this research, we propose the system which controls the robot to arrive the target position on the rough terrain. It is constructed the methods which put the destination into the vector, and control the 3D localizated robot to follow the vector. Finally, the proposed system is evaluated through experiments by remote control of a mobile robot in slope and cofirmed the feasibility.

  19. Role of expressive behaviour for robots that learn from people

    PubMed Central

    Breazeal, Cynthia

    2009-01-01

    Robotics has traditionally focused on developing intelligent machines that can manipulate and interact with objects. The promise of personal robots, however, challenges researchers to develop socially intelligent robots that can collaborate with people to do things. In the future, robots are envisioned to assist people with a wide range of activities such as domestic chores, helping elders to live independently longer, serving a therapeutic role to help children with autism, assisting people undergoing physical rehabilitation and much more. Many of these activities shall require robots to learn new tasks, skills and individual preferences while ‘on the job’ from people with little expertise in the underlying technology. This paper identifies four key challenges in developing social robots that can learn from natural interpersonal interaction. The author highlights the important role that expressive behaviour plays in this process, drawing on examples from the past 8 years of her research group, the Personal Robots Group at the MIT Media Lab. PMID:19884147

  20. Development of 6-DOF painting robot control system

    NASA Astrophysics Data System (ADS)

    Huang, Junbiao; Liu, Jianqun; Gao, Weiqiang

    2017-01-01

    With the development of society, the spraying technology of manufacturing industry in China has changed from the manual operation to the 6-DOF (Degree Of Freedom)robot automatic spraying. Spraying painting robot can not only complete the work which does harm to human being, but also improve the production efficiency and save labor costs. Control system is the most critical part of the 6-DOF robots, however, there is still a lack of relevant technology research in China. It is very necessary to study a kind of control system of 6-DOF spraying painting robots which is easy to operation, and has high efficiency and stable performance. With Googol controller platform, this paper develops programs based on Windows CE embedded systems to control the robot to finish the painting work. Software development is the core of the robot control system, including the direct teaching module, playback module, motion control module, setting module, man-machine interface, alarm module, log module, etc. All the development work of the entire software system has been completed, and it has been verified that the entire software works steady and efficient.

  1. Development of Robotics Applications in a Solid Propellant Mixing Laboratory

    DTIC Science & Technology

    1988-06-01

    implementation of robotic hardware and software into a laboratory environment requires a carefully structured series of phases which examines, in...strategy. The general methodology utilized in this project is discussed in Appendix A. The proposed laboratory robotics development program was structured ...Accessibility - Potential modifications - Safety precautions e) Robot Transport - Slider mechanisms - Linear tracks - Gantry configuration - Mobility f

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

    NASA Technical Reports Server (NTRS)

    Diftler, Ron

    2017-01-01

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

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

    NASA Technical Reports Server (NTRS)

    Diftler, Ron

    2017-01-01

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

  4. Technical Aspects Regarding the Management of Radioactive Waste from Decommissioning of Nuclear Facilities

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

    Dragolici, F.; Turcanu, C. N.; Rotarescu, G.

    2003-02-25

    The proper application of the nuclear techniques and technologies in Romania started in 1957, once with the commissioning of the Research Reactor VVR-S from IFIN-HH-Magurele. During the last 45 years, appear thousands of nuclear application units with extremely diverse profiles (research, biology, medicine, education, agriculture, transport, all types of industry) which used different nuclear facilities containing radioactive sources and generating a great variety of radioactive waste during the decommissioning after the operation lifetime is accomplished. A new aspect appears by the planning of VVR-S Research Reactor decommissioning which will be a new source of radioactive waste generated by decontamination, disassemblingmore » and demolition activities. By construction and exploitation of the Radioactive Waste Treatment Plant (STDR)--Magurele and the National Repository for Low and Intermediate Radioactive Waste (DNDR)--Baita, Bihor county, in Romania was solved the management of radioactive wastes arising from operation and decommissioning of small nuclear facilities, being assured the protection of the people and environment. The present paper makes a review of the present technical status of the Romanian waste management facilities, especially raising on treatment capabilities of ''problem'' wastes such as Ra-266, Pu-238, Am-241 Co-60, Co-57, Sr-90, Cs-137 sealed sources from industrial, research and medical applications. Also, contain a preliminary estimation of quantities and types of wastes, which would result during the decommissioning project of the VVR-S Research Reactor from IFIN-HH giving attention to some special category of wastes like aluminum, graphite and equipment, components and structures that became radioactive through neutron activation. After analyzing the technical and scientific potential of STDR and DNDR to handle big amounts of wastes resulting from the decommissioning of VVR-S Research Reactor and small nuclear facilities, the necessity of up-gradation of these nuclear objectives before starting the decommissioning plan is revealed. A short presentation of the up-grading needs is also presented.« less

  5. FROM CONCEPT TO REALITY, IN-SITU DECOMMISSIONING OF THE P AND R REACTORS AT THE SAVANNAH RIVER SITE

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

    Musall, J.; Blankenship, J.; Griffin, W.

    2012-01-09

    SRS recently completed an approximately three year effort to decommission two SRS reactors: P-Reactor (Building 105-P) and R-Reactor (Building 105-R). Completed in December 2011, the concurrent decommissionings marked the completion of two relatively complex and difficult facility disposition projects at the SRS. Buildings 105-P and 105-R began operating as production reactors in the early 1950s with the mission of producing weapons material (e.g., tritium and plutonium-239). The 'P' Reactor and was shutdown in 1991 while the 'R' Reactor and was shutdown in 1964. In the intervening period between shutdown and deactivation & decommissioning (D&D), Buildings 105-P and 105-R saw limitedmore » use (e.g., storage of excess heavy water and depleted uranium oxide). For Building 105-P, deactivation was initiated in April 2007 and was essentially complete by June 2010. For Building 105-R, deactivation was initiated in August 2008 and was essentially complete by September 2010. For both buildings, the primary objective of deactivation was to remove/mitigate hazards associated with the remaining hazardous materials, and thus prepare the buildings for in-situ decommissioning. Deactivation removed the following hazardous materials to the extent practical: combustibles/flammables, residual heavy water, acids, friable asbestos (as needed to protect workers performing deactivation and decommissioning), miscellaneous chemicals, lead/brass components, Freon(reg sign), oils, mercury/PCB containing components, mold and some radiologically-contaminated equipment. In addition to the removal of hazardous materials, deactivation included the removal of hazardous energy, exterior metallic components (representing an immediate fall hazard), and historical artifacts along with the evaporation of water from the two Disassembly Basins. Finally, so as to facilitate occupancy during the subsequent in-situ decommissioning, deactivation implemented repairs to the buildings and provided temporary power.« less

  6. Assessment of personal care and medical robots from older adults' perspective.

    PubMed

    Goher, K M; Mansouri, N; Fadlallah, S O

    2017-01-01

    Demographic reports indicate that population of older adults is growing significantly over the world and in particular in developed nations. Consequently, there are a noticeable number of demands for certain services such as health-care systems and assistive medical robots and devices. In today's world, different types of robots play substantial roles specifically in medical sector to facilitate human life, especially older adults. Assistive medical robots and devices are created in various designs to fulfill specific needs of older adults. Though medical robots are utilized widely by senior citizens, it is dramatic to find out into what extent assistive robots satisfy their needs and expectations. This paper reviews various assessments of assistive medical robots from older adults' perspectives with the purpose of identifying senior citizen's needs, expectations, and preferences. On the other hand, these kinds of assessments inform robot designers, developers, and programmers to come up with robots fulfilling elderly's needs while improving their life quality.

  7. 10 CFR 765.3 - Definitions.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... enactment of UMTRCA to perform decontamination, decommissioning, reclamation, and other remedial action... contaminated soil, disposal of process wastes, removal actions, air pollution abatement measures, mill and... subpart C of this part. Decontamination, decommissioning, reclamation, and other remedial action means...

  8. 75 FR 4803 - Notice of Availability of the Final Environmental Impact Statement for Decommissioning and/or...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-01-29

    ...). The Proposed Action includes the decontamination and decommissioning of the waste storage tanks and... site facilities identified in the Final EIS would be removed; contaminated soil, sediment, and...

  9. 30 CFR 285.911 - [Reserved

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 30 Mineral Resources 2 2011-07-01 2011-07-01 false [Reserved] 285.911 Section 285.911 Mineral Resources BUREAU OF OCEAN ENERGY MANAGEMENT, REGULATION, AND ENFORCEMENT, DEPARTMENT OF THE INTERIOR... Decommissioning Facility Removal § 285.911 [Reserved] Decommissioning Report ...

  10. 30 CFR 250.1751 - How do I decommission a pipeline in place?

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... to be decommissioned; and (4) Length (feet) of segment remaining. (b) Pig the pipeline, unless the Regional Supervisor determines that pigging is not practical; (c) Flush the pipeline; (d) Fill the pipeline...

  11. 30 CFR 250.1751 - How do I decommission a pipeline in place?

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... to be decommissioned; and (4) Length (feet) of segment remaining. (b) Pig the pipeline, unless the Regional Supervisor determines that pigging is not practical; (c) Flush the pipeline; (d) Fill the pipeline...

  12. 30 CFR 250.1751 - How do I decommission a pipeline in place?

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... to be decommissioned; and (4) Length (feet) of segment remaining. (b) Pig the pipeline, unless the Regional Supervisor determines that pigging is not practical; (c) Flush the pipeline; (d) Fill the pipeline...

  13. 30 CFR 250.1751 - How do I decommission a pipeline in place?

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... to be decommissioned; and (4) Length (feet) of segment remaining. (b) Pig the pipeline, unless the Regional Supervisor determines that pigging is not practical; (c) Flush the pipeline; (d) Fill the pipeline...

  14. Preprocessor with spline interpolation for converting stereolithography into cutter location source data

    NASA Astrophysics Data System (ADS)

    Nagata, Fusaomi; Okada, Yudai; Sakamoto, Tatsuhiko; Kusano, Takamasa; Habib, Maki K.; Watanabe, Keigo

    2017-06-01

    The authors have developed earlier an industrial machining robotic system for foamed polystyrene materials. The developed robotic CAM system provided a simple and effective interface without the need to use any robot language between operators and the machining robot. In this paper, a preprocessor for generating Cutter Location Source data (CLS data) from Stereolithography (STL data) is first proposed for robotic machining. The preprocessor enables to control the machining robot directly using STL data without using any commercially provided CAM system. The STL deals with a triangular representation for a curved surface geometry. The preprocessor allows machining robots to be controlled through a zigzag or spiral path directly calculated from STL data. Then, a smart spline interpolation method is proposed and implemented for smoothing coarse CLS data. The effectiveness and potential of the developed approaches are demonstrated through experiments on actual machining and interpolation.

  15. The coming revolution in personal care robotics: what does it mean for nurses?

    PubMed

    Sharts-Hopko, Nancy C

    2014-01-01

    The business sector provides regular reportage on the development of personal care robots to enable elders and people with disabilities to remain in their homes. Technology in this area is advancing rapidly in Asia, Europe, and North America. To date, the nursing literature has not addressed how nurses will assist these vulnerable populations in the selection and use of robotic technology or how robotics could effect nursing care and patient outcomes. This article provides an overview of development in the area of personal care robotics to address societal needs reflecting demographic trends. Selected relevant issues related to the human-robotic interface including ethical concerns are identified. Implications for nursing education and the delivery of nursing services are identified. Collaboration with engineers in the development of personal care robotic technology has the potential to contribute to the creation of products that optimally address the needs of elders and people with disabilities.

  16. Dual benefit robotics programs at Sandia National Laboratories

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

    Jones, A.T.

    Sandia National Laboratories has one of the largest integrated robotics laboratories in the United States. Projects include research, development, and application of one-of-a-kind systems, primarily for the Department of Energy (DOE) complex. This work has been underway for more than 10 years. It began with on-site activities that required remote operation, such as reactor and nuclear waste handling. Special purpose robot systems were developed using existing commercial manipulators and fixtures and programs designed in-house. These systems were used in applications such as servicing the Sandia pulsed reactor and inspecting remote roof bolts in an underground radioactive waste disposal facility. Inmore » the beginning, robotics was a small effort, but with increasing attention to the use of robots for hazardous operations, efforts now involve a staff of more than 100 people working in a broad robotics research, development, and applications program that has access to more than 30 robotics systems.« less

  17. Application of robotics in gastrointestinal endoscopy: A review

    PubMed Central

    Yeung, Baldwin Po Man; Chiu, Philip Wai Yan

    2016-01-01

    Multiple robotic flexible endoscope platforms have been developed based on cross specialty collaboration between engineers and medical doctors. However, significant number of these platforms have been developed for the natural orifice transluminal endoscopic surgery paradigm. Increasing amount of evidence suggest the focus of development should be placed on advanced endolumenal procedures such as endoscopic submucosal dissection instead. A thorough literature analysis was performed to assess the current status of robotic flexible endoscopic platforms designed for advanced endolumenal procedures. Current efforts are mainly focused on robotic locomotion and robotic instrument control. In the future, advances in actuation and servoing technology, optical analysis, augmented reality and wireless power transmission technology will no doubt further advance the field of robotic endoscopy. Globally, health systems have become increasingly budget conscious; widespread acceptance of robotic endoscopy will depend on careful design to ensure its delivery of a cost effective service. PMID:26855540

  18. 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.

  19. 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.

  20. [Service robots in elderly care. Possible application areas and current state of developments].

    PubMed

    Graf, B; Heyer, T; Klein, B; Wallhoff, F

    2013-08-01

    The term "Service robotics" describes semi- or fully autonomous technical systems able to perform services useful to the well-being of humans. Service robots have the potential to support and disburden both persons in need of care as well as nursing care staff. In addition, they can be used in prevention and rehabilitation in order to reduce or avoid the need for help. Products currently available to support people in domestic environments are mainly cleaning or remote-controlled communication robots. Examples of current research activities are the (further) development of mobile robots as advanced communication assistants or the development of (semi) autonomous manipulation aids and multifunctional household assistants. Transport robots are commonly used in many hospitals. In nursing care facilities, the first evaluations have already been made. So-called emotional robots are now sold as products and can be used for therapeutic, occupational, or entertainment activities.

  1. Generic robot architecture

    DOEpatents

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

    2010-09-21

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

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

    ERIC Educational Resources Information Center

    Hull, Daniel M.; Lovett, James E.

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

  3. Development and validation of a low-cost mobile robotics testbed

    NASA Astrophysics Data System (ADS)

    Johnson, Michael; Hayes, Martin J.

    2012-03-01

    This paper considers the design, construction and validation of a low-cost experimental robotic testbed, which allows for the localisation and tracking of multiple robotic agents in real time. The testbed system is suitable for research and education in a range of different mobile robotic applications, for validating theoretical as well as practical research work in the field of digital control, mobile robotics, graphical programming and video tracking systems. It provides a reconfigurable floor space for mobile robotic agents to operate within, while tracking the position of multiple agents in real-time using the overhead vision system. The overall system provides a highly cost-effective solution to the topical problem of providing students with practical robotics experience within severe budget constraints. Several problems encountered in the design and development of the mobile robotic testbed and associated tracking system, such as radial lens distortion and the selection of robot identifier templates are clearly addressed. The testbed performance is quantified and several experiments involving LEGO Mindstorm NXT and Merlin System MiaBot robots are discussed.

  4. Semi-manual mastoidectomy assisted by human-robot collaborative control - A temporal bone replica study.

    PubMed

    Lim, Hoon; Matsumoto, Nozomu; Cho, Byunghyun; Hong, Jaesung; Yamashita, Makoto; Hashizume, Makoto; Yi, Byung-Ju

    2016-04-01

    To develop an otological robot that can protect important organs from being injured. We developed a five degree-of-freedom robot for otological surgery. Unlike the other robots that were reported previously, our robot does not replace surgeon's procedures, but instead utilizes human-robot collaborative control. The robot basically releases all of the actuators so that the surgeon can manipulate the drill within the robot's working area with minimal restriction. When the drill reaches a forbidden area, the surgeon feels as if the drill hits a wall. When an engineer performed mastoidectomy using the robot for assistance, the facial nerve in the segmented region was always protected with a more than 2.5mm margin, which was almost the same as the pre-set safety margin of 3mm. Semi-manual drilling using human-robot collaborative control was feasible, and may hold a realistic prospect of clinical use in the near future. Copyright © 2015 Elsevier Ireland Ltd. All rights reserved.

  5. Robotic Fish to Aid Animal Behavior Studies and Informal Science Learning

    NASA Astrophysics Data System (ADS)

    Phamduy, Paul

    The application of robotic fish in the fields of animal behavior and informal science learning are new and relatively untapped. In the context of animal behavior studies, robotic fish offers a consistent and customizable stimulus that could contribute to dissect the determinants of social behavior. In the realm of informal science learning, robotic fish are gaining momentum for the possibility of educating the general public simultaneously on fish physiology and underwater robotics. In this dissertation, the design and development of a number of robotic fish platforms and prototypes and their application in animal behavioral studies and informal science learning settings are presented. Robotic platforms for animal behavioral studies focused on the utilization replica or same scale prototypes. A novel robotic fish platform, featuring a three-dimensional swimming multi-linked robotic fish, was developed with three control modes varying in the level of robot autonomy offered. This platform was deployed at numerous science festivals and science centers, to obtain data on visitor engagement and experience.

  6. School-based use of a robotic arm system by children with disabilities.

    PubMed

    Cook, Albert M; Bentz, Brenda; Harbottle, Norma; Lynch, Cheryl; Miller, Brad

    2005-12-01

    A robotic arm system was developed for use by children who had very severe motor disabilities and varying levels of cognitive and language skills. The children used the robot in a three-task sequence routine to dig objects from a tub of dry macaroni. The robotic system was used in the child's school for 12-15 sessions over a period of four weeks. Goal attainment scaling indicated improvement in all children in operational competence of the robot, and varying levels of gain in functional skill development with the robot and in carryover to the classroom from the robot experiments. Teacher interviews revealed gains in classroom participation, expressive language (vocalizations, symbolic communication), and a high degree of interest by the children in the robot tasks. The teachers also recommended that the robot should have more color, contrast and character, as well as generating sounds and/or music for student cues. They also felt that the robotic system accuracy should be increased so that teacher assistance is not necessary to complete the task.

  7. 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.

  8. Robot therapy: a new approach for mental healthcare of the elderly - a mini-review.

    PubMed

    Shibata, Takanori; Wada, Kazuyoshi

    2011-01-01

    Mental healthcare of elderly people is a common problem in advanced countries. Recently, high technology has developed robots for use not only in factories but also for our living environment. In particular, human-interactive robots for psychological enrichment, which provide services by interacting with humans while stimulating their minds, are rapidly spreading. Such robots not only simply entertain but also render assistance, guide, provide therapy, educate, enable communication, and so on. Robot therapy, which uses robots as a substitution for animals in animal-assisted therapy and activity, is a new application of robots and is attracting the attention of many researchers and psychologists. The seal robot named Paro was developed especially for robot therapy and was used at hospitals and facilities for elderly people in several countries. Recent research has revealed that robot therapy has the same effects on people as animal therapy. In addition, it is being recognized as a new method of mental healthcare for elderly people. In this mini review, we introduce the merits and demerits of animal therapy. Then we explain the human-interactive robot for psychological enrichment, the required functions for therapeutic robots, and the seal robot. Finally, we provide examples of robot therapy for elderly people, including dementia patients. Copyright © 2010 S. Karger AG, Basel.

  9. Development of a control algorithm for the ultrasound scanning robot (NCCUSR) using ultrasound image and force feedback.

    PubMed

    Kim, Yeoun Jae; Seo, Jong Hyun; Kim, Hong Rae; Kim, Kwang Gi

    2017-06-01

    Clinicians who frequently perform ultrasound scanning procedures often suffer from musculoskeletal disorders, arthritis, and myalgias. To minimize their occurrence and to assist clinicians, ultrasound scanning robots have been developed worldwide. Although, to date, there is still no commercially available ultrasound scanning robot, many control methods have been suggested and researched. These control algorithms are either image based or force based. If the ultrasound scanning robot control algorithm was a combination of the two algorithms, it could benefit from the advantage of each one. However, there are no existing control methods for ultrasound scanning robots that combine force control and image analysis. Therefore, in this work, a control algorithm is developed for an ultrasound scanning robot using force feedback and ultrasound image analysis. A manipulator-type ultrasound scanning robot named 'NCCUSR' is developed and a control algorithm for this robot is suggested and verified. First, conventional hybrid position-force control is implemented for the robot and the hybrid position-force control algorithm is combined with ultrasound image analysis to fully control the robot. The control method is verified using a thyroid phantom. It was found that the proposed algorithm can be applied to control the ultrasound scanning robot and experimental outcomes suggest that the images acquired using the proposed control method can yield a rating score that is equivalent to images acquired directly by the clinicians. The proposed control method can be applied to control the ultrasound scanning robot. However, more work must be completed to verify the proposed control method in order to become clinically feasible. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

  10. Analyzing Robotic Kinematics Via Computed Simulations

    NASA Technical Reports Server (NTRS)

    Carnahan, Timothy M.

    1992-01-01

    Computing system assists in evaluation of kinematics of conceptual robot. Displays positions and motions of robotic manipulator within work cell. Also displays interactions between robotic manipulator and other objects. Results of simulation displayed on graphical computer workstation. System includes both off-the-shelf software originally developed for automotive industry and specially developed software. Simulation system also used to design human-equivalent hand, to model optical train in infrared system, and to develop graphical interface for teleoperator simulation system.

  11. The da Vinci robotic surgical assisted anterior lumbar interbody fusion: technical development and case report.

    PubMed

    Beutler, William J; Peppelman, Walter C; DiMarco, Luciano A

    2013-02-15

    Technique development to use the da Vince Robotic Surgical System for anterior lumbar interbody fusion at L5-S1 is detailed. A case report is also presented. To evaluate and develop the da Vinci robotic assisted laparoscopic anterior lumbar stand-alone interbody fusion procedure. Anterior lumbar interbody fusion is a common procedure associated with potential morbidity related to the surgical approach. The da Vinci robot provides intra-abdominal dissection and visualization advantages compared with the traditional open and laparoscopic approach. The surgical techniques for approach to the anterior lumbar spine using the da Vinci robot were developed and modified progressively beginning with operative models followed by placement of an interbody fusion cage in the living porcine model. Development continued to progress with placement of fusion cage in a human cadaver, completed first in the laboratory setting and then in the operating room. Finally, the first patient with fusion completed using the da Vinci robot-assisted approach is presented. The anterior transperitoneal approach to the lumbar spine is accomplished with enhanced visualization and dissection capability, with maintenance of pneumoperitoneum using the da Vinci robot. Blood loss is minimal. The visualization inside the disc space and surrounding structures was considered better than current open and laparoscopic techniques. The da Vinci robot Surgical System technique continues to develop and is now described for the transperitoneal approach to the anterior lumbar spine. 4.

  12. Robotic Arm-Assisted Sonography: Review of Technical Developments and Potential Clinical Applications.

    PubMed

    Swerdlow, Daniel R; Cleary, Kevin; Wilson, Emmanuel; Azizi-Koutenaei, Bamshad; Monfaredi, Reza

    2017-04-01

    Ultrasound imaging requires trained personnel. Advances in robotics and data transmission create the possibility of telesonography. This review introduces clinicians to current technical work in and potential applications of this developing capability. Telesonography offers advantages in hazardous or remote environments. Robotically assisted ultrasound can reduce stress injuries in sonographers and has potential utility during robotic surgery and interventional procedures.

  13. Epilogue to Special Issue on Developmental Robotics: Can Experiments with Machines Inform Theory in Infant Development?

    ERIC Educational Resources Information Center

    Prince, Christopher G.

    2008-01-01

    Developmental robotics has forwarded a range of models of development and behaviours. With the variety of systems that have been created, and with some of these approximating prominent human behaviours (e.g. joint attention, word learning, imitation), one may argue that developmental robotics has started to go past robotic models of earwigs…

  14. 77 FR 66183 - Environmental Impacts Statements; Notice of Availability

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-11-02

    ..., and Decommissioning of an 150- megawatt Photovoltaic Solar Energy Facility and Generation-Intertie..., Restoration Design Energy Project, Proposed Resource Management Plan Amendments, Identifying Lands Across Arizona Suitable for Renewable Energy Development, AZ, Review Period Ends: 12/03/2012, Contact: Kathryn...

  15. Development of the Research Platform of Small Autonomous Blimp Robot

    NASA Astrophysics Data System (ADS)

    Takaya, Toshihiko; Kawamura, Hidenori; Yamamoto, Masahito; Ohuchi, Azuma

    A blimp robot is attractive as an small flight robot and can float in the air by buoyancy and realize safe to the crash small flight with low energy and can movement for a long time compared with other flight robots with low energy and can movement for a long time compared with other flight robots. However, control of an airplane robot is difficult for the nonlinear characteristic exposed to inertia by the air flow in response to influence. Therefore, the applied research which carried out the maximum use of such in recent years a blimp robot's feature is prosperous. In this paper, we realized development of blimp robot for research which can be used general-purpose by carrying out clue division of the blimp robot body at a unit, and constituting and building for research of blimp robot, and application development. On the other hand, by developing a general-purpose blimp robot research platform, improvement in the research efficiency of many researchers can be attained, and further, research start of blimp robot becomes easy and contributes to development of research. We performed the experiments for the above-mentioned proof. 1. Checked basic keeping position performance and that various orbital operation was possible. And the unit exchange ease of software unit was checked by the experiment which exchanges the control layer of software for learning control from PID control, and carries out comparison of operation. 2. In order to check the exchange ease of hardware unit, the sensor was exchanged for the microphon from the camera, and control of operation was checked. 3. For the unit addition ease, the microphon which carries out sound detection with the picture detection with a camera was added, and control of operation was verified. 4. The unit exchange was carried out for the check of a function addition and the topological map generation experiment by addition of an ultrasonic sensor was conducted. Developed blimp robot for research mounted the exchange ease and the additional ease of a unit in hardware using an analog and digital I/F fomenting realized in the combination of the software module of a layered structure in software was performed. Consequently, an addition and exchange of a function were able to become easy and were able to realize the research platform of blimp robot.

  16. Development of a Pneumatic Robot for MRI-guided Transperineal Prostate Biopsy and Brachytherapy: New Approaches

    PubMed Central

    Song, Sang-Eun; Cho, Nathan B.; Fischer, Gregory; Hata, Nobuhito; Tempany, Clare; Fichtinger, Gabor; Iordachita, Iulian

    2011-01-01

    Magnetic Resonance Imaging (MRI) guided prostate biopsy and brachytherapy has been introduced in order to enhance the cancer detection and treatment. For the accurate needle positioning, a number of robotic assistants have been developed. However, problems exist due to the strong magnetic field and limited workspace. Pneumatically actuated robots have shown the minimum distraction in the environment but the confined workspace limits optimal robot design and thus controllability is often poor. To overcome the problem, a simple external damping mechanism using timing belts was sought and a 1-DOF mechanism test result indicated sufficient positioning accuracy. Based on the damping mechanism and modular system design approach, a new workspace-optimized 4-DOF parallel robot was developed for the MRI-guided prostate biopsy and brachytherapy. A preliminary evaluation of the robot was conducted using previously developed pneumatic controller and satisfying results were obtained. PMID:21399734

  17. Development of monitoring and diagnostic methods for robots used in remediation of waste sites. 1997 annual progress report

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

    Tecza, J.

    1998-06-01

    'Safe and efficient clean up of hazardous and radioactive waste sites throughout the DOE complex will require extensive use of robots. This research effort focuses on developing Monitoring and Diagnostic (M and D) methods for robots that will provide early detection, isolation, and tracking of impending faults before they result in serious failure. The utility and effectiveness of applying M and D methods to hydraulic robots has never been proven. The present research program is utilizing seeded faults in a laboratory test rig that is representative of an existing hydraulically-powered remediation robot. This report summarizes activity conducted in the firstmore » 9 months of the project. The research team has analyzed the Rosie Mobile Worksystem as a representative hydraulic robot, developed a test rig for implanted fault testing, developed a test plan and agenda, and established methods for acquiring and analyzing the test data.'« less

  18. Effects of road decommissioning on carbon stocks, losses, and emissions in north coastal California

    USGS Publications Warehouse

    Madej, Mary Ann; Seney, Joseph; van Mantgem, Philip

    2013-01-01

    During the last 3 decades, many road removal projects have been implemented on public and private lands in the United States to reduce erosion and other impacts from abandoned or unmaintained forest roads. Although effective in decreasing sediment production from roads, such activities have a carbon (C) cost as well as representing a carbon savings for an ecosystem. We assessed the carbon budget implications of 30 years of road decommissioning in Redwood National Park in north coastal California. Road restoration techniques, which evolved during the program, were associated with various carbon costs and savings. Treatment of 425 km of logging roads from 1979 to 2009 saved 72,000 megagrams (Mg) C through on-site soil erosion prevention, revegetation, and soil development on formerly compacted roads. Carbon sequestration will increase in time as forests and soils develop more fully on the restored sites. The carbon cost for this road decommissioning work, based on heavy equipment and vehicle fuel emissions, short-term soil loss, and clearing of vegetation, was 23,000 Mg C, resulting in a net carbon savings of 49,000 Mg C to date. Nevertheless, the degree to which soil loss is a carbon sink or source in steep mountainous watersheds needs to be further examined. The ratio of carbon costs to savings will differ by ecosystem and road removal methodology, but the procedure outlined here to assess carbon budgets on restoration sites should be transferable to other systems.

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

    ERIC Educational Resources Information Center

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

    2015-01-01

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

  20. Development of Live-working Robot for Power Transmission Lines

    NASA Astrophysics Data System (ADS)

    Yan, Yu; Liu, Xiaqing; Ren, Chengxian; Li, Jinliang; Li, Hui

    2017-07-01

    Dream-I, the first reconfigurable live-working robot for power transmission lines successfully developed in China, has the functions of autonomous walking on lines and accurately positioning. This paper firstly described operation task and object of the robot; then designed a general platform, an insulator replacement end and a drainage plate bolt fastening end of the robot, presented a control system of the robot, and performed simulation analysis on operation plan of the robot; and finally completed electrical field withstand voltage tests in a high voltage hall as well as online test and trial on actual lines. Experimental results show that by replacing ends of manipulators, the robot can fulfill operation tasks of live replacement of suspension insulators and live drainage plate bolt fastening.

  1. User-centric design of a personal assistance robot (FRASIER) for active aging.

    PubMed

    Padir, Taşkin; Skorinko, Jeanine; Dimitrov, Velin

    2015-01-01

    We present our preliminary results from the design process for developing the Worcester Polytechnic Institute's personal assistance robot, FRASIER, as an intelligent service robot for enabling active aging. The robot capabilities include vision-based object detection, tracking the user and help with carrying heavy items such as grocery bags or cafeteria trays. This work-in-progress report outlines our motivation and approach to developing the next generation of service robots for the elderly. Our main contribution in this paper is the development of a set of specifications based on the adopted user-centered design process, and realization of the prototype system designed to meet these specifications.

  2. A human-oriented framework for developing assistive service robots.

    PubMed

    McGinn, Conor; Cullinan, Michael F; Culleton, Mark; Kelly, Kevin

    2018-04-01

    Multipurpose robots that can perform a range of useful tasks have the potential to increase the quality of life for many people living with disabilities. Owing to factors such as high system complexity, as-yet unresolved research questions and current technology limitations, there is a need for effective strategies to coordinate the development process. Integrating established methodologies based on human-centred design and universal design, a framework was formulated to coordinate the robot design process over successive iterations of prototype development. An account is given of how the framework was practically applied to the problem of developing a personal service robot. Application of the framework led to the formation of several design goals which addressed a wide range of identified user needs. The resultant prototype solution, which consisted of several component elements, succeeded in demonstrating the performance stipulated by all of the proposed metrics. Application of the framework resulted in the development of a complex prototype that addressed many aspects of the functional and usability requirements of a personal service robot. Following the process led to several important insights which directly benefit the development of subsequent prototypes. Implications for Rehabilitation This research shows how universal design might be used to formulate usability requirements for assistive service robots. A framework is presented that guides the process of designing service robots in a human-centred way. Through practical application of the framework, a prototype robot system that addressed a range of identified user needs was developed.

  3. Robot Rocket Rally

    NASA Image and Video Library

    2014-03-14

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

  4. A mobile robots experimental environment with event-based wireless communication.

    PubMed

    Guinaldo, María; Fábregas, Ernesto; Farias, Gonzalo; Dormido-Canto, Sebastián; Chaos, Dictino; Sánchez, José; Dormido, Sebastián

    2013-07-22

    An experimental platform to communicate between a set of mobile robots through a wireless network has been developed. The mobile robots get their position through a camera which performs as sensor. The video images are processed in a PC and a Waspmote card sends the corresponding position to each robot using the ZigBee standard. A distributed control algorithm based on event-triggered communications has been designed and implemented to bring the robots into the desired formation. Each robot communicates to its neighbors only at event times. Furthermore, a simulation tool has been developed to design and perform experiments with the system. An example of usage is presented.

  5. Genetic Optimization and Simulation of a Piezoelectric Pipe-Crawling Inspection Robot

    NASA Technical Reports Server (NTRS)

    Hollinger, Geoffrey A.; Briscoe, Jeri M.

    2004-01-01

    Using the DarwinZk development software, a genetic algorithm (GA) was used to design and optimize a pipe-crawling robot for parameters such as mass, power consumption, and joint extension to further the research of the Miniature Inspection Systems Technology (MIST) team. In an attempt to improve on existing designs, a new robot was developed, the piezo robot. The final proposed design uses piezoelectric expansion actuators to move the robot with a 'chimneying' method employed by mountain climbers and greatly improves on previous designs in load bearing ability, pipe traversing specifications, and field usability. This research shows the advantages of GA assisted design in the field of robotics.

  6. A Lower Limb Rehabilitation Robot in Sitting Position with a Review of Training Activities.

    PubMed

    Eiammanussakul, Trinnachoke; Sangveraphunsiri, Viboon

    2018-01-01

    Robots for stroke rehabilitation at the lower limbs in sitting/lying position have been developed extensively. Some of them have been applied in clinics and shown the potential of the recovery of poststroke patients who suffer from hemiparesis. These robots were developed to provide training at different joints of lower limbs with various activities and modalities. This article reviews the training activities that were realized by rehabilitation robots in literature, in order to offer insights for developing a novel robot suitable for stroke rehabilitation. The control system of the lower limb rehabilitation robot in sitting position that was introduced in the previous work is discussed in detail to demonstrate the behavior of the robot while training a subject. The nonlinear impedance control law, based on active assistive control strategy, is able to define the response of the robot with more specifications while the passivity property and the robustness of the system is verified. A preliminary experiment is conducted on a healthy subject to show that the robot is able to perform active assistive exercises with various training activities and assist the subject to complete the training with desired level of assistance.

  7. Robotic anesthesia: not the realm of science fiction any more.

    PubMed

    Hemmerling, Thomas M; Terrasini, Nora

    2012-12-01

    Robots are present in surgery, to a much lesser extent in the field of anesthesia. The purpose of this review is to show the latest and most important findings in robotic anesthesia. Moreover, this review argues the importance and utility of robots in anesthesia. Over the years, many closed-loop systems have been developed; they were able to control only one or two of the three components of anesthesia: hypnosis, analgesia, or muscle relaxation. McSleepy controls all three components of anesthesia, from induction to emergence of anesthesia. Telemedical applications have not only led to remote monitoring but even to remotely controlled anesthesia, such as transcontinental anesthesia. A new closed-loop system for sedation, called Sedasys, could revolutionize the field of nonoperating room sedation. 'Manual robots' are used to help and replace anesthesiologists performing anesthesia procedures. Specific robots for intubation and nerve blocks have been developed and tested in humans. Robots can improve performance in anesthesia and healthcare. Closed-loop systems are the basis for pharmacological robots. Safe anesthetic care might be delivered through teleanesthesia whenever qualified personnel are not available or need support. Mechanical robots are being developed for anesthesia care.

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

    ERIC Educational Resources Information Center

    Xu, Yiliang

    2011-01-01

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

  9. A Survey of Robotic Technology.

    DTIC Science & Technology

    1983-07-01

    developed the following definition of a robot: A robot is a reprogrammable multifunctional manipulator designed to move material, parts, tools, or specialized...subroutines subroutines commands to specific actuators, computations based on sensor data, etc. For instance, the job might be to assemble an automobile ...the set-up developed at Draper Labs to enable a robot to assemble an automobile alternator. The assembly operation is impressive to watch. The number

  10. 10 CFR 766.3 - Definitions.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... ENERGY URANIUM ENRICHMENT DECONTAMINATION AND DECOMMISSIONING FUND; PROCEDURES FOR SPECIAL ASSESSMENT OF... account in the U.S. Treasury referred to as the Uranium Enrichment Decontamination and Decommissioning... separative work unit, the common measure by which uranium enrichment services are sold. TESS means the Toll...

  11. 10 CFR 766.3 - Definitions.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... ENERGY URANIUM ENRICHMENT DECONTAMINATION AND DECOMMISSIONING FUND; PROCEDURES FOR SPECIAL ASSESSMENT OF... account in the U.S. Treasury referred to as the Uranium Enrichment Decontamination and Decommissioning... separative work unit, the common measure by which uranium enrichment services are sold. TESS means the Toll...

  12. 10 CFR 766.3 - Definitions.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... ENERGY URANIUM ENRICHMENT DECONTAMINATION AND DECOMMISSIONING FUND; PROCEDURES FOR SPECIAL ASSESSMENT OF... account in the U.S. Treasury referred to as the Uranium Enrichment Decontamination and Decommissioning... separative work unit, the common measure by which uranium enrichment services are sold. TESS means the Toll...

  13. 10 CFR 766.3 - Definitions.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... ENERGY URANIUM ENRICHMENT DECONTAMINATION AND DECOMMISSIONING FUND; PROCEDURES FOR SPECIAL ASSESSMENT OF... account in the U.S. Treasury referred to as the Uranium Enrichment Decontamination and Decommissioning... separative work unit, the common measure by which uranium enrichment services are sold. TESS means the Toll...

  14. Lessons Learned from the NASA Plum Brook Reactor Facility Decommissioning

    NASA Technical Reports Server (NTRS)

    2010-01-01

    NASA has been conducting decommissioning activities at its PBRF for the last decade. As a result of all this work there have been several lessons learned both good and bad. This paper presents some of the more exportable lessons.

  15. Dynamic factor analysis for estimating ground water arsenic trends.

    PubMed

    Kuo, Yi-Ming; Chang, Fi-John

    2010-01-01

    Drinking ground water containing high arsenic (As) concentrations has been associated with blackfoot disease and the occurrence of cancer along the southwestern coast of Taiwan. As a result, 28 ground water observation wells were installed to monitor the ground water quality in this area. Dynamic factor analysis (DFA) is used to identify common trends that represent unexplained variability in ground water As concentrations of decommissioned wells and to investigate whether explanatory variables (total organic carbon [TOC], As, alkalinity, ground water elevation, and rainfall) affect the temporal variation in ground water As concentration. The results of the DFA show that rainfall dilutes As concentration in areas under aquacultural and agricultural use. Different combinations of geochemical variables (As, alkalinity, and TOC) of nearby monitoring wells affected the As concentrations of the most decommissioned wells. Model performance was acceptable for 11 wells (coefficient of efficiency >0.50), which represents 52% (11/21) of the decommissioned wells. Based on DFA results, we infer that surface water recharge may be effective for diluting the As concentration, especially in the areas that are relatively far from the coastline. We demonstrate that DFA can effectively identify the important factors and common effects representing unexplained variability common to decommissioned wells on As variation in ground water and extrapolate information from existing monitoring wells to the nearby decommissioned wells.

  16. Final cleanup of buildings within in legacy French research facilities: strategy, tools and lessons learned

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

    Le Goaller, C.; Doutreluingne, C.; Berton, M.A.

    2007-07-01

    This paper describes the methodology followed by the French Atomic Energy Commission (CEA) to decommission the buildings of former research facilities for demolition or possible reuse. It is a well known fact that the French nuclear safety authority has decided not to define any general release level for the decommissioning of nuclear facilities, thus effectively prohibiting radiological measurement-driven decommissioning. The decommissioning procedure therefore requires an intensive in-depth examination of each nuclear plant. This requires a good knowledge of the past history of the plant, and should be initiated as early as possible. The paper first describes the regulatory framework recentlymore » unveiled by the French Safety Authority, then, reviews its application to ongoing decommissioning projects. The cornerstone of the strategy is the definition of waste zoning in the buildings to segregate areas producing conventional waste from those generating nuclear waste. After dismantling, suitable measurements are carried out to confirm the conventional state of the remaining walls. This requires low-level measurement methods providing a suitable detection limit within an acceptable measuring time. Although this generally involves particle counting and in-situ low level gamma spectrometry, the paper focuses on y spectrometry. Finally, the lessons learned from ongoing projects are discussed. (authors)« less

  17. Fundamentals of soft robot locomotion

    PubMed Central

    2017-01-01

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

  18. Fundamentals of soft robot locomotion.

    PubMed

    Calisti, M; Picardi, G; Laschi, C

    2017-05-01

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

  19. Design, development, and evaluation of an MRI-guided SMA spring-actuated neurosurgical robot

    PubMed Central

    Ho, Mingyen; Kim, Yeongjin; Cheng, Shing Shin; Gullapalli, Rao; Desai, Jaydev P.

    2015-01-01

    In this paper, we present our work on the development of a magnetic resonance imaging (MRI)-compatible Minimally Invasive Neurosurgical Intracranial Robot (MINIR) comprising of shape memory alloy (SMA) spring actuators and tendon-sheath mechanism. We present the detailed modeling and analysis along with experimental results of the characterization of SMA spring actuators. Furthermore, to demonstrate image-feedback control, we used the images obtained from a camera to control the motion of the robot so that eventually continuous MR images could be used in the future to control the robot motion. Since the image tracking algorithm may fail in some situations, we also developed a temperature feedback control scheme which served as a backup controller for the robot. Experimental results demonstrated that both image feedback and temperature feedback can be used to control the motion of MINIR. A series of MRI compatibility tests were performed on the robot and the experimental results demonstrated that the robot is MRI compatible and no significant visual image distortion was observed in the MR images during robot operation. PMID:26622075

  20. Intelligent robotics can boost America's economic growth

    NASA Technical Reports Server (NTRS)

    Erickson, Jon D.

    1994-01-01

    A case is made for strategic investment in intelligent robotics as a part of the solution to the problem of improved global competitiveness for U.S. manufacturing, a critical industrial sector. Similar cases are made for strategic investments in intelligent robotics for field applications, construction, and service industries such as health care. The scope of the country's problems and needs is beyond the capability of the private sector alone, government alone, or academia alone to solve independently of the others. National cooperative programs in intelligent robotics are needed with the private sector supplying leadership direction and aerospace and non-aerospace industries conducting the development. Some necessary elements of such programs are outlined. The National Aeronautics and Space Administration (NASA) and the Lyndon B. Johnson Space Center (JSC) can be key players in such national cooperative programs in intelligent robotics for several reasons: (1) human space exploration missions require supervised intelligent robotics as enabling tools and, hence must develop supervised intelligent robotic systems; (2) intelligent robotic technology is being developed for space applications at JSC (but has a strong crosscutting or generic flavor) that is advancing the state of the art and is producing both skilled personnel and adaptable developmental infrastructure such as integrated testbeds; and (3) a NASA JSC Technology Investment Program in Robotics has been proposed based on commercial partnerships and collaborations for precompetitive, dual-use developments.

  1. Robotics in medicine

    NASA Astrophysics Data System (ADS)

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

    2015-11-01

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

  2. Developing the mechatronics and robotics at Nizhny Tagil Technological Institute of Ural Federal University

    NASA Astrophysics Data System (ADS)

    Goman, V. V.; Fedoreev, S. A.

    2018-02-01

    This report concerns the development trends of education in the field of the Mechatronics and Robotics at Nizhny Tagil Technological Institute (branch of Ural Federal University). The paper considers new teaching technologies, experience in upgrade of the laboratory facilities and some results of development Mechatronics and Robotics educational courses.

  3. Task Analysis and Job Descriptions for Robotics/Automated Systems Technicians. Final Report. Volume 1.

    ERIC Educational Resources Information Center

    Hull, Daniel M.; Lovett, James E.

    The Robotics/Automated Systems Technician (RAST) project developed a robotics technician model curriculum for the use of state directors of vocational education and two-year college vocational/technical educators. A baseline management plan was developed to guide the project. To provide awareness, project staff developed a dissemination plan…

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

    ERIC Educational Resources Information Center

    Cappelleri, D. J.; Vitoroulis, N.

    2013-01-01

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

  5. 10 CFR 960.3-3 - Consultation.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... ENERGY GENERAL GUIDELINES FOR THE PRELIMINARY SCREENING OF POTENTIAL SITES FOR A NUCLEAR WASTE REPOSITORY..., operation, closure, decommissioning, licensing, or regulation of a repository. Written responses to written... purpose of determining the suitability of such area for the development of a repository, the DOE shall...

  6. ACOG Technology Assessment in Obstetrics and Gynecology No. 6: Robot-assisted surgery.

    PubMed

    2009-11-01

    The field of robotic surgery is developing rapidly, but experience with this technology is currently limited. In response to increasing interest in robotics technology, the Committee on Gynecologic Practice's Technology Assessment was developed to describe the robotic surgical system,potential advantages and disadvantages, gynecologic applications, and the current state of the evidence. Randomized trials comparing robot-assisted surgery with traditional laparoscopic, vaginal, or abdominal surgery are needed to evaluate long-term clinical outcomes and cost-effectiveness, as well as to identify the best applications of this technology.

  7. Three degree-of-freedom force feedback control for robotic mating of umbilical lines

    NASA Technical Reports Server (NTRS)

    Fullmer, R. Rees

    1988-01-01

    The use of robotic manipulators for the mating and demating of umbilical fuel lines to the Space Shuttle Vehicle prior to launch is investigated. Force feedback control is necessary to minimize the contact forces which develop during mating. The objective is to develop and demonstrate a working robotic force control system. Initial experimental force control tests with an ASEA IRB-90 industrial robot using the system's Adaptive Control capabilities indicated that control stability would by a primary problem. An investigation of the ASEA system showed a 0.280 second software delay between force input commands and the output of command voltages to the servo system. This computational delay was identified as the primary cause of the instability. Tests on a second path into the ASEA's control computer using the MicroVax II supervisory computer show that time delay would be comparable, offering no stability improvement. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servosystem directly, allowing the robot to use force feedback control while in rigid contact with a moving three-degree-of-freedom target. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servo system directly. This method allowed the robot to use force feedback control while in rigid contact with moving three degree-of-freedom target. Tests on this approach indicated adequate force feedback control even under worst case conditions. A strategy to digitally-controlled vision system was developed. This requires switching between the digital controller when using vision control and the analog controller when using force control, depending on whether or not the mating plates are in contact.

  8. DEMONSTRATION OF AUTONOMOUS AIR MONITORING THROUGH ROBOTICS

    EPA Science Inventory

    This project included modifying an existing teleoperated robot to include autonomous navigation, large object avoidance, and air monitoring and demonstrating that prototype robot system in indoor and outdoor environments. An existing teleoperated "Surveyor" robot developed by ARD...

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

    NASA Technical Reports Server (NTRS)

    Fluckiger, Lorenzo Jean Marc E; Utz, Hans Heinrich

    2013-01-01

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

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

    PubMed

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

    2007-02-01

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

  11. Autonomous Motion Learning for Intra-Vehicular Activity Space Robot

    NASA Astrophysics Data System (ADS)

    Watanabe, Yutaka; Yairi, Takehisa; Machida, Kazuo

    Space robots will be needed in the future space missions. So far, many types of space robots have been developed, but in particular, Intra-Vehicular Activity (IVA) space robots that support human activities should be developed to reduce human-risks in space. In this paper, we study the motion learning method of an IVA space robot with the multi-link mechanism. The advantage point is that this space robot moves using reaction force of the multi-link mechanism and contact forces from the wall as space walking of an astronaut, not to use a propulsion. The control approach is determined based on a reinforcement learning with the actor-critic algorithm. We demonstrate to clear effectiveness of this approach using a 5-link space robot model by simulation. First, we simulate that a space robot learn the motion control including contact phase in two dimensional case. Next, we simulate that a space robot learn the motion control changing base attitude in three dimensional case.

  12. Multi-layer robot skin with embedded sensors and muscles

    NASA Astrophysics Data System (ADS)

    Tomar, Ankit; Tadesse, Yonas

    2016-04-01

    Soft artificial skin with embedded sensors and actuators is proposed for a crosscutting study of cognitive science on a facial expressive humanoid platform. This paper focuses on artificial muscles suitable for humanoid robots and prosthetic devices for safe human-robot interactions. Novel composite artificial skin consisting of sensors and twisted polymer actuators is proposed. The artificial skin is conformable to intricate geometries and includes protective layers, sensor layers, and actuation layers. Fluidic channels are included in the elastomeric skin to inject fluids in order to control actuator response time. The skin can be used to develop facially expressive humanoid robots or other soft robots. The humanoid robot can be used by computer scientists and other behavioral science personnel to test various algorithms, and to understand and develop more perfect humanoid robots with facial expression capability. The small-scale humanoid robots can also assist ongoing therapeutic treatment research with autistic children. The multilayer skin can be used for many soft robots enabling them to detect both temperature and pressure, while actuating the entire structure.

  13. Robotic Lunar Lander Development Project Status

    NASA Technical Reports Server (NTRS)

    Hammond, Monica; Bassler, Julie; Morse, Brian

    2010-01-01

    This slide presentation reviews the status of the development of a robotic lunar lander. The goal of the project is to perform engineering tests and risk reduction activities to support the development of a small lunar lander for lunar surface science. This includes: (1) risk reduction for the flight of the robotic lander, (i.e., testing and analyzing various phase of the project); (2) the incremental development for the design of the robotic lander, which is to demonstrate autonomous, controlled descent and landing on airless bodies, and design of thruster configuration for 1/6th of the gravity of earth; (3) cold gas test article in flight demonstration testing; (4) warm gas testing of the robotic lander design; (5) develop and test landing algorithms; (6) validate the algorithms through analysis and test; and (7) tests of the flight propulsion system.

  14. Method for Implementing Subsurface Solid Derived Concentration Guideline Levels (DCGL) - 12331

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

    Lively, J.W.

    2012-07-01

    The U.S. Nuclear Regulatory Commission (NRC) and other federal agencies currently approve the Multi-Agency Radiation Site Survey and Investigation Manual (MARSSIM) as guidance for licensees who are conducting final radiological status surveys in support of decommissioning. MARSSIM provides a method to demonstrate compliance with the applicable regulation by comparing residual radioactivity in surface soils with derived concentration guideline levels (DCGLs), but specifically discounts its applicability to subsurface soils. Many sites and facilities undergoing decommissioning contain subsurface soils that are potentially impacted by radiological constituents. In the absence of specific guidance designed to address the derivation of subsurface soil DCGLs andmore » compliance demonstration, decommissioning facilities have attempted to apply DCGLs and final status survey techniques designed specifically for surface soils to subsurface soils. The decision to apply surface soil limits and surface soil compliance metrics to subsurface soils typically results in significant over-excavation with associated cost escalation. MACTEC, Inc. has developed the overarching concepts and principles found in recent NRC decommissioning guidance in NUREG 1757 to establish a functional method to derive dose-based subsurface soil DCGLs. The subsurface soil method developed by MACTEC also establishes a rigorous set of criterion-based data evaluation metrics (with analogs to the MARSSIM methodology) that can be used to demonstrate compliance with the developed subsurface soil DCGLs. The method establishes a continuum of volume factors that relate the size and depth of a volume of subsurface soil having elevated concentrations of residual radioactivity with its ability to produce dose. The method integrates the subsurface soil sampling regime with the derivation of the subsurface soil DCGL such that a self-regulating optimization is naturally sought by both the responsible party and regulator. This paper describes the concepts and basis used by MACTEC to develop the dose-based subsurface soil DCGL method. The paper will show how MACTEC's method can be used to demonstrate that higher concentrations of residual radioactivity in subsurface soils (as compared with surface soils) can meet the NRC's dose-based regulations. MACTEC's method has been used successfully to obtain the NRC's radiological release at a site with known radiological impacts to subsurface soils exceeding the surface soil DCGL, saving both time and cost. Having considered the current NRC guidance for consideration of residual radioactivity in subsurface soils during decommissioning, MACTEC has developed a technically based approach to the derivation of and demonstration of compliance with subsurface soil DCGLs for radionuclides. In fact, the process uses the already accepted concepts and metrics approved for surface soils as the foundation for deriving scaling factors used to calculate subsurface soil DCGLs that are at least equally protective of the decommissioning annual dose standard. Each of the elements identified for consideration in the current NRC guidance is addressed in this proposed method. Additionally, there is considerable conservatism built into the assumptions and techniques used to arrive at subsurface soil scaling factors and DCGLs. The degree of conservatism embodied in the approach used is such that risk managers and decision makers approving and using subsurface soil DCGLs derived in accordance with this method can be confident that the future exposures will be well below permissible and safe levels. The technical basis for the method can be applied to a broad variety of sites with residual radioactivity in subsurface soils. Given the costly nature of soil surveys, excavation, and disposal of soils as low-level radioactive waste, MACTEC's method for deriving and demonstrating compliance with subsurface soil DCGLs offers the possibility of significant cost savings over the traditional approach of applying surface soil DCGLs to subsurface soils. Furthermore, while yet untested, MACTEC believes that the concepts and methods embodied in this approach could readily be applied to other types of contamination found in subsurface soils. (author)« less

  15. Analysis on the workspace of palletizing robot based on AutoCAD

    NASA Astrophysics Data System (ADS)

    Li, Jin-quan; Zhang, Rui; Guan, Qi; Cui, Fang; Chen, Kuan

    2017-10-01

    In this paper, a four-degree-of-freedom articulated palletizing robot is used as the object of research. Based on the analysis of the overall configuration of the robot, the kinematic mathematical model is established by D-H method to figure out the workspace of the robot. In order to meet the needs of design and analysis, using AutoCAD secondary development technology and AutoLisp language to develop AutoCAD-based 2D and 3D workspace simulation interface program of palletizing robot. At last, using AutoCAD plugin, the influence of structural parameters on the shape and position of the working space is analyzed when the structure parameters of the robot are changed separately. This study laid the foundation for the design, control and planning of palletizing robots.

  16. Building Robota, a mini-humanoid robot for the rehabilitation of children with autism.

    PubMed

    Billard, Aude; Robins, Ben; Nadel, Jacqueline; Dautenhahn, Kerstin

    2007-01-01

    The Robota project constructs a series of multiple-degrees-of-freedom, doll-shaped humanoid robots, whose physical features resemble those of a human baby. The Robota robots have been applied as assistive technologies in behavioral studies with low-functioning children with autism. These studies investigate the potential of using an imitator robot to assess children's imitation ability and to teach children simple coordinated behaviors. In this article, the authors review the recent technological developments that have made the Robota robots suitable for use with children with autism. They critically appraise the main outcomes of two sets of behavioral studies conducted with Robota and discuss how these results inform future development of the Robota robots and robots in general for the rehabilitation of children with complex developmental disabilities.

  17. Applying robotics to HAZMAT

    NASA Technical Reports Server (NTRS)

    Welch, Richard V.; Edmonds, Gary O.

    1994-01-01

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

  18. Supersmart Robots: The Next Generation of Robots Has Evolutionary Capabilities

    ERIC Educational Resources Information Center

    Simkins, Michael

    2008-01-01

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

  19. Soft Robotics: from scientific challenges to technological applications

    NASA Astrophysics Data System (ADS)

    Laschi, C.

    2016-05-01

    Soft robotics is a recent and rapidly growing field of research, which aims at unveiling the principles for building robots that include soft materials and compliance in the interaction with the environment, so as to exploit so-called embodied intelligence and negotiate natural environment more effectively. Using soft materials for building robots poses new technological challenges: the technologies for actuating soft materials, for embedding sensors into soft robot parts, for controlling soft robots are among the main ones. This is stimulating research in many disciplines and many countries, such that a wide community is gathering around initiatives like the IEEE TAS TC on Soft Robotics and the RoboSoft CA - A Coordination Action for Soft Robotics, funded by the European Commission. Though still in its early stages of development, soft robotics is finding its way in a variety of applications, where safe contact is a main issue, in the biomedical field, as well as in exploration tasks and in the manufacturing industry. And though the development of the enabling technologies is still a priority, a fruitful loop is growing between basic research and application-oriented research in soft robotics.

  20. Soft Robotics.

    PubMed

    Whitesides, George M

    2018-04-09

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

  1. Robots are not just tools

    NASA Astrophysics Data System (ADS)

    Prescott, Tony J.

    2017-04-01

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

  2. Perspectives on mobile robots as tools for child development and pediatric rehabilitation.

    PubMed

    Michaud, François; Salter, Tamie; Duquette, Audrey; Laplante, Jean-François

    2007-01-01

    Mobile robots (i.e., robots capable of translational movements) can be designed to become interesting tools for child development studies and pediatric rehabilitation. In this article, the authors present two of their projects that involve mobile robots interacting with children: One is a spherical robot deployed in a variety of contexts, and the other is mobile robots used as pedagogical tools for children with pervasive developmental disorders. Locomotion capability appears to be key in creating meaningful and sustained interactions with children: Intentional and purposeful motion is an implicit appealing factor in obtaining children's attention and engaging them in interaction and learning. Both of these projects started with robotic objectives but are revealed to be rich sources of interdisciplinary collaborations in the field of assistive technology. This article presents perspectives on how mobile robots can be designed to address the requirements of child-robot interactions and studies. The authors also argue that mobile robot technology can be a useful tool in rehabilitation engineering, reaching its full potential through strong collaborations between roboticists and pediatric specialists.

  3. 10 CFR 766.1 - Purpose.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 10 Energy 4 2011-01-01 2011-01-01 false Purpose. 766.1 Section 766.1 Energy DEPARTMENT OF ENERGY URANIUM ENRICHMENT DECONTAMINATION AND DECOMMISSIONING FUND; PROCEDURES FOR SPECIAL ASSESSMENT OF DOMESTIC... Assessment of domestic utilities for the Uranium Enrichment Decontamination and Decommissioning Fund pursuant...

  4. 10 CFR 766.1 - Purpose.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 10 Energy 4 2014-01-01 2014-01-01 false Purpose. 766.1 Section 766.1 Energy DEPARTMENT OF ENERGY URANIUM ENRICHMENT DECONTAMINATION AND DECOMMISSIONING FUND; PROCEDURES FOR SPECIAL ASSESSMENT OF DOMESTIC... Assessment of domestic utilities for the Uranium Enrichment Decontamination and Decommissioning Fund pursuant...

  5. 10 CFR 766.1 - Purpose.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 10 Energy 4 2012-01-01 2012-01-01 false Purpose. 766.1 Section 766.1 Energy DEPARTMENT OF ENERGY URANIUM ENRICHMENT DECONTAMINATION AND DECOMMISSIONING FUND; PROCEDURES FOR SPECIAL ASSESSMENT OF DOMESTIC... Assessment of domestic utilities for the Uranium Enrichment Decontamination and Decommissioning Fund pursuant...

  6. 10 CFR 766.1 - Purpose.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... 10 Energy 4 2013-01-01 2013-01-01 false Purpose. 766.1 Section 766.1 Energy DEPARTMENT OF ENERGY URANIUM ENRICHMENT DECONTAMINATION AND DECOMMISSIONING FUND; PROCEDURES FOR SPECIAL ASSESSMENT OF DOMESTIC... Assessment of domestic utilities for the Uranium Enrichment Decontamination and Decommissioning Fund pursuant...

  7. 10 CFR 766.1 - Purpose.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 10 Energy 4 2010-01-01 2010-01-01 false Purpose. 766.1 Section 766.1 Energy DEPARTMENT OF ENERGY URANIUM ENRICHMENT DECONTAMINATION AND DECOMMISSIONING FUND; PROCEDURES FOR SPECIAL ASSESSMENT OF DOMESTIC... Assessment of domestic utilities for the Uranium Enrichment Decontamination and Decommissioning Fund pursuant...

  8. Nuclear facility decommissioning and site remedial actions: A selected bibliography, Volume 13: Part 2, Indexes

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

    Goins, L.F.; Webb, J.R.; Cravens, C.D.

    1992-09-01

    This is part 2 of a bibliography on nuclear facility decommissioning and site remedial action. This report contains indexes on the following: authors, corporate affiliation, title words, publication description, geographic location, subject category, and key word.

  9. 76 FR 65541 - Assuring the Availability of Funds for Decommissioning Nuclear Reactors

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-10-21

    ... NUCLEAR REGULATORY COMMISSION [NRC-2009-0263] Assuring the Availability of Funds for Decommissioning Nuclear Reactors AGENCY: Nuclear Regulatory Commission. ACTION: Regulatory guide; issuance. SUMMARY: The U.S. Nuclear Regulatory Commission (NRC or Commission) is issuing a revision to Regulatory...

  10. Development of the HERMIES III mobile robot research testbed at Oak Ridge National Laboratory

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

    Manges, W.W.; Hamel, W.R.; Weisbin, C.R.

    1988-01-01

    The latest robot in the Hostile Environment Robotic Machine Intelligence Experiment Series (HERMIES) is now under development at the Center for Engineering Systems Advanced Research (CESAR) in the Oak Ridge National Laboratory. The HERMIES III robot incorporates a larger than human size 7-degree-of-freedom manipulator mounted on a 2-degree-of-freedom mobile platform including a variety of sensors and computers. The deployment of this robot represents a significant increase in research capabilities for the CESAR laboratory. The initial on-board computer capacity of the robot exceeds that of 20 Vax 11/780s. The navigation and vision algorithms under development make extensive use of the on-boardmore » NCUBE hypercube computer while the sensors are interfaced through five VME computers running the OS-9 real-time, multitasking operating system. This paper describes the motivation, key issues, and detailed design trade-offs of implementing the first phase (basic functionality) of the HERMIES III robot. 10 refs., 7 figs.« less

  11. Physical and digital simulations for IVA robotics

    NASA Technical Reports Server (NTRS)

    Hinman, Elaine; Workman, Gary L.

    1992-01-01

    Space based materials processing experiments can be enhanced through the use of IVA robotic systems. A program to determine requirements for the implementation of robotic systems in a microgravity environment and to develop some preliminary concepts for acceleration control of small, lightweight arms has been initiated with the development of physical and digital simulation capabilities. The physical simulation facilities incorporate a robotic workcell containing a Zymark Zymate II robot instrumented for acceleration measurements, which is able to perform materials transfer functions while flying on NASA's KC-135 aircraft during parabolic manuevers to simulate reduced gravity. Measurements of accelerations occurring during the reduced gravity periods will be used to characterize impacts of robotic accelerations in a microgravity environment in space. Digital simulations are being performed with TREETOPS, a NASA developed software package which is used for the dynamic analysis of systems with a tree topology. Extensive use of both simulation tools will enable the design of robotic systems with enhanced acceleration control for use in the space manufacturing environment.

  12. Middle-ear microsurgery simulation to improve new robotic procedures.

    PubMed

    Kazmitcheff, Guillaume; Nguyen, Yann; Miroir, Mathieu; Péan, Fabien; Ferrary, Evelyne; Cotin, Stéphane; Sterkers, Olivier; Duriez, Christian

    2014-01-01

    Otological microsurgery is delicate and requires high dexterity in bad ergonomic conditions. To assist surgeons in these indications, a teleoperated system, called RobOtol, is developed. This robot enhances gesture accuracy and handiness and allows exploration of new procedures for middle ear surgery. To plan new procedures that exploit the capacities given by the robot, a surgical simulator is developed. The simulation reproduces with high fidelity the behavior of the anatomical structures and can also be used as a training tool for an easier control of the robot for surgeons. In the paper, we introduce the middle ear surgical simulation and then we perform virtually two challenging procedures with the robot. We show how interactive simulation can assist in analyzing the benefits of robotics in the case of complex manipulations or ergonomics studies and allow the development of innovative surgical procedures. New robot-based microsurgical procedures are investigated. The improvement offered by RobOtol is also evaluated and discussed.

  13. Robotics development for the enhancement of space endeavors

    NASA Astrophysics Data System (ADS)

    Mauceri, A. J.; Clarke, Margaret M.

    Telerobotics and robotics development activities to support NASA's goal of increasing opportunities in space commercialization and exploration are described. The Rockwell International activities center is using robotics to improve efficiency and safety in three related areas: remote control of autonomous systems, automated nondestructive evaluation of aspects of vehicle integrity, and the use of robotics in space vehicle ground reprocessing operations. In the first area, autonomous robotic control, Rockwell is using the control architecture, NASREM, as the foundation for the high level command of robotic tasks. In the second area, we have demonstrated the use of nondestructive evaluation (using acoustic excitation and lasers sensors) to evaluate the integrity of space vehicle surface material bonds, using Orbiter 102 as the test case. In the third area, Rockwell is building an automated version of the present manual tool used for Space Shuttle surface tile re-waterproofing. The tool will be integrated into an orbiter processing robot being developed by a KSC-led team.

  14. Middle-Ear Microsurgery Simulation to Improve New Robotic Procedures

    PubMed Central

    Kazmitcheff, Guillaume; Nguyen, Yann; Miroir, Mathieu; Péan, Fabien; Ferrary, Evelyne; Cotin, Stéphane; Sterkers, Olivier; Duriez, Christian

    2014-01-01

    Otological microsurgery is delicate and requires high dexterity in bad ergonomic conditions. To assist surgeons in these indications, a teleoperated system, called RobOtol, is developed. This robot enhances gesture accuracy and handiness and allows exploration of new procedures for middle ear surgery. To plan new procedures that exploit the capacities given by the robot, a surgical simulator is developed. The simulation reproduces with high fidelity the behavior of the anatomical structures and can also be used as a training tool for an easier control of the robot for surgeons. In the paper, we introduce the middle ear surgical simulation and then we perform virtually two challenging procedures with the robot. We show how interactive simulation can assist in analyzing the benefits of robotics in the case of complex manipulations or ergonomics studies and allow the development of innovative surgical procedures. New robot-based microsurgical procedures are investigated. The improvement offered by RobOtol is also evaluated and discussed. PMID:25157373

  15. Rice-obot 1: An intelligent autonomous mobile robot

    NASA Technical Reports Server (NTRS)

    Defigueiredo, R.; Ciscon, L.; Berberian, D.

    1989-01-01

    The Rice-obot I is the first in a series of Intelligent Autonomous Mobile Robots (IAMRs) being developed at Rice University's Cooperative Intelligent Mobile Robots (CIMR) lab. The Rice-obot I is mainly designed to be a testbed for various robotic and AI techniques, and a platform for developing intelligent control systems for exploratory robots. Researchers present the need for a generalized environment capable of combining all of the control, sensory and knowledge systems of an IAMR. They introduce Lisp-Nodes as such a system, and develop the basic concepts of nodes, messages and classes. Furthermore, they show how the control system of the Rice-obot I is implemented as sub-systems in Lisp-Nodes.

  16. Cloud-based robot remote control system for smart factory

    NASA Astrophysics Data System (ADS)

    Wu, Zhiming; Li, Lianzhong; Xu, Yang; Zhai, Jingmei

    2015-12-01

    With the development of internet technologies and the wide application of robots, there is a prospect (trend/tendency) of integration between network and robots. A cloud-based robot remote control system over networks for smart factory is proposed, which enables remote users to control robots and then realize intelligent production. To achieve it, a three-layer system architecture is designed including user layer, service layer and physical layer. Remote control applications running on the cloud server is developed on Microsoft Azure. Moreover, DIV+ CSS technologies are used to design human-machine interface to lower maintenance cost and improve development efficiency. Finally, an experiment is implemented to verify the feasibility of the program.

  17. A new oscillating saw for robotic aided surgery.

    PubMed

    Moctezuma, J L; Schuster, D; Gossé, F; Schulz, H J

    1997-01-01

    In this paper a brief description of a computer and robotic aided surgery system is given with a detailed overview of the necessity to develop special tools for robotic surgery. The application range of this robotic system has been specially focused on the orthopaedics field and, more particularly, on the execution of osteotomies. It was therefore necessary to develop a new saw device which would meet medical and--from the robot system point of view--mechanical as well as functional requirements. After describing the device which was developed on the basis of these requirements, a detailed comparative study of off-the-shelf oscillating saws and the new device is given at the end of the paper.

  18. Experiments in Nonlinear Adaptive Control of Multi-Manipulator, Free-Flying Space Robots

    NASA Technical Reports Server (NTRS)

    Chen, Vincent Wei-Kang

    1992-01-01

    Sophisticated robots can greatly enhance the role of humans in space by relieving astronauts of low level, tedious assembly and maintenance chores and allowing them to concentrate on higher level tasks. Robots and astronauts can work together efficiently, as a team; but the robot must be capable of accomplishing complex operations and yet be easy to use. Multiple cooperating manipulators are essential to dexterity and can broaden greatly the types of activities the robot can achieve; adding adaptive control can ease greatly robot usage by allowing the robot to change its own controller actions, without human intervention, in response to changes in its environment. Previous work in the Aerospace Robotics Laboratory (ARL) have shown the usefulness of a space robot with cooperating manipulators. The research presented in this dissertation extends that work by adding adaptive control. To help achieve this high level of robot sophistication, this research made several advances to the field of nonlinear adaptive control of robotic systems. A nonlinear adaptive control algorithm developed originally for control of robots, but requiring joint positions as inputs, was extended here to handle the much more general case of manipulator endpoint-position commands. A new system modelling technique, called system concatenation was developed to simplify the generation of a system model for complicated systems, such as a free-flying multiple-manipulator robot system. Finally, the task-space concept was introduced wherein the operator's inputs specify only the robot's task. The robot's subsequent autonomous performance of each task still involves, of course, endpoint positions and joint configurations as subsets. The combination of these developments resulted in a new adaptive control framework that is capable of continuously providing full adaptation capability to the complex space-robot system in all modes of operation. The new adaptive control algorithm easily handles free-flying systems with multiple, interacting manipulators, and extends naturally to even larger systems. The new adaptive controller was experimentally demonstrated on an ideal testbed in the ARL-A first-ever experimental model of a multi-manipulator, free-flying space robot that is capable of capturing and manipulating free-floating objects without requiring human assistance. A graphical user interface enhanced the robot usability: it enabled an operator situated at a remote location to issue high-level task description commands to the robot, and to monitor robot activities as it then carried out each assignment autonomously.

  19. Human motion behavior while interacting with an industrial robot.

    PubMed

    Bortot, Dino; Ding, Hao; Antonopolous, Alexandros; Bengler, Klaus

    2012-01-01

    Human workers and industrial robots both have specific strengths within industrial production. Advantageously they complement each other perfectly, which leads to the development of human-robot interaction (HRI) applications. Bringing humans and robots together in the same workspace may lead to potential collisions. The avoidance of such is a central safety requirement. It can be realized with sundry sensor systems, all of them decelerating the robot when the distance to the human decreases alarmingly and applying the emergency stop, when the distance becomes too small. As a consequence, the efficiency of the overall systems suffers, because the robot has high idle times. Optimized path planning algorithms have to be developed to avoid that. The following study investigates human motion behavior in the proximity of an industrial robot. Three different kinds of encounters between the two entities under three robot speed levels are prompted. A motion tracking system is used to capture the motions. Results show, that humans keep an average distance of about 0,5m to the robot, when the encounter occurs. Approximation of the workbenches is influenced by the robot in ten of 15 cases. Furthermore, an increase of participants' walking velocity with higher robot velocities is observed.

  20. Development of an Integrated Robotic Radioisotope Identification and Location System

    DTIC Science & Technology

    2009-05-05

    TYPE 3. DATES COVERED (From - To) 4. TITLE AND SUBTITLE 5a. CONTRACT NUMBER Development of an Integrated Robotic Radioisotope...system within a robotic base in order to inspect an area for either radioisotopes that could be used for a radiological dispersal device (RDD) or are...classified as Special Nuclear Material (SNM). In operation, at a given location in the room, the robot rotates about its circumference searching for

  1. A Preliminary Study of Peer-to-Peer Human-Robot Interaction

    NASA Technical Reports Server (NTRS)

    Fong, Terrence; Flueckiger, Lorenzo; Kunz, Clayton; Lees, David; Schreiner, John; Siegel, Michael; Hiatt, Laura M.; Nourbakhsh, Illah; Simmons, Reid; Ambrose, Robert

    2006-01-01

    The Peer-to-Peer Human-Robot Interaction (P2P-HRI) project is developing techniques to improve task coordination and collaboration between human and robot partners. Our work is motivated by the need to develop effective human-robot teams for space mission operations. A central element of our approach is creating dialogue and interaction tools that enable humans and robots to flexibly support one another. In order to understand how this approach can influence task performance, we recently conducted a series of tests simulating a lunar construction task with a human-robot team. In this paper, we describe the tests performed, discuss our initial results, and analyze the effect of intervention on task performance.

  2. A Mobile Robots Experimental Environment with Event-Based Wireless Communication

    PubMed Central

    Guinaldo, María; Fábregas, Ernesto; Farias, Gonzalo; Dormido-Canto, Sebastián; Chaos, Dictino; Sánchez, José; Dormido, Sebastián

    2013-01-01

    An experimental platform to communicate between a set of mobile robots through a wireless network has been developed. The mobile robots get their position through a camera which performs as sensor. The video images are processed in a PC and a Waspmote card sends the corresponding position to each robot using the ZigBee standard. A distributed control algorithm based on event-triggered communications has been designed and implemented to bring the robots into the desired formation. Each robot communicates to its neighbors only at event times. Furthermore, a simulation tool has been developed to design and perform experiments with the system. An example of usage is presented. PMID:23881139

  3. Robotics for Human Exploration

    NASA Technical Reports Server (NTRS)

    Fong, Terrence; Deans, Mathew; Bualat, Maria

    2013-01-01

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

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

    NASA Technical Reports Server (NTRS)

    Gevarter, W. B.

    1982-01-01

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

  5. Robot navigation research at CESAR (Center for Engineering Systems Advanced Research)

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

    Barnett, D.L.; de Saussure, G.; Pin, F.G.

    1989-01-01

    A considerable amount of work has been reported on the problem of robot navigation in known static terrains. Algorithms have been proposed and implemented to search for an optimum path to the goal, taking into account the finite size and shape of the robot. Not as much work has been reported on robot navigation in unknown, unstructured, or dynamic environments. A robot navigating in an unknown environment must explore with its sensors, construct an abstract representation of its global environment to plan a path to the goal, and update or revise its plan based on accumulated data obtained and processedmore » in real-time. The core of the navigation program for the CESAR robots is a production system developed on the expert-system-shell CLIPS which runs on an NCUBE hypercube on board the robot. The production system can call on C-compiled navigation procedures. The production rules can read the sensor data and address the robot's effectors. This architecture was found efficient and flexible for the development and testing of the navigation algorithms; however, in order to process intelligently unexpected emergencies, it was found necessary to be able to control the production system through externally generated asynchronous data. This led to the design of a new asynchronous production system, APS, which is now being developed on the robot. This paper will review some of the navigation algorithms developed and tested at CESAR and will discuss the need for the new APS and how it is being integrated into the robot architecture. 18 refs., 3 figs., 1 tab.« less

  6. [Rehabilitation and nursing-care robots].

    PubMed

    Hachisuka, Kenji

    2016-04-01

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

  7. Master-slave robotic system for needle indentation and insertion.

    PubMed

    Shin, Jaehyun; Zhong, Yongmin; Gu, Chengfan

    2017-12-01

    Bilateral control of a master-slave robotic system is a challenging issue in robotic-assisted minimally invasive surgery. It requires the knowledge on contact interaction between a surgical (slave) robot and soft tissues. This paper presents a master-slave robotic system for needle indentation and insertion. This master-slave robotic system is able to characterize the contact interaction between the robotic needle and soft tissues. A bilateral controller is implemented using a linear motor for robotic needle indentation and insertion. A new nonlinear state observer is developed to online monitor the contact interaction with soft tissues. Experimental results demonstrate the efficacy of the proposed master-slave robotic system for robotic needle indentation and needle insertion.

  8. Interaction dynamics of multiple autonomous mobile robots in bounded spatial domains

    NASA Technical Reports Server (NTRS)

    Wang, P. K. C.

    1989-01-01

    A general navigation strategy for multiple autonomous robots in a bounded domain is developed analytically. Each robot is modeled as a spherical particle (i.e., an effective spatial domain about the center of mass); its interactions with other robots or with obstacles and domain boundaries are described in terms of the classical many-body problem; and a collision-avoidance strategy is derived and combined with homing, robot-robot, and robot-obstacle collision-avoidance strategies. Results from homing simulations involving (1) a single robot in a circular domain, (2) two robots in a circular domain, and (3) one robot in a domain with an obstacle are presented in graphs and briefly characterized.

  9. Development of Monitoring and Diagnostic Methods for Robots Used In Remediation of Waste Sites - Final Report

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

    Martin, M.

    2000-04-01

    This project is the first evaluation of model-based diagnostics to hydraulic robot systems. A greater understanding of fault detection for hydraulic robots has been gained, and a new theoretical fault detection model developed and evaluated.

  10. In touch with robotics: neurosurgery for the future.

    PubMed

    Nathoo, Narendra; Cavuşoğlu, M Cenk; Vogelbaum, Michael A; Barnett, Gene H

    2005-03-01

    The introduction of multiple front-end technologies during the past quarter century has generated an emerging futurism for the discipline of neurological surgery. Driven primarily by synergistic developments in science and engineering, neurosurgery has always managed to harness the potential of the latest technical developments. Robotics represents one such technology. Progress in development of this technology has resulted in new uses for robotic devices in our discipline, which are accompanied by new potential dangers and inherent risks. The recent surge in robot-assisted interventions in other disciplines suggests that this technology may be considered one of a spectrum of frontier technologies poised to fuel the development of neurosurgery and consolidate the era of minimalism. On a more practical level, if the introduction of robotics in neurosurgery proves beneficial, neurosurgeons will need to become facile with this technology and learn to harness its potential so that the best surgical results may be achieved in the least invasive manner. This article reviews the role of robotic technology in the context of neurosurgery.

  11. 15 CFR 946.5 - Change in operations-commissioning and decommissioning.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... NATIONAL WEATHER SERVICE MODERNIZATION OF THE NATIONAL WEATHER SERVICE § 946.5 Change in operations—commissioning and decommissioning. (a) Before commissioning any new NEXRAD or ASOS weather observation system...; technical coordination with weather service users has been completed; and the system satisfactorily supports...

  12. 15 CFR 946.5 - Change in operations-commissioning and decommissioning.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... NATIONAL WEATHER SERVICE MODERNIZATION OF THE NATIONAL WEATHER SERVICE § 946.5 Change in operations—commissioning and decommissioning. (a) Before commissioning any new NEXRAD or ASOS weather observation system...; technical coordination with weather service users has been completed; and the system satisfactorily supports...

  13. 15 CFR 946.5 - Change in operations-commissioning and decommissioning.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... NATIONAL WEATHER SERVICE MODERNIZATION OF THE NATIONAL WEATHER SERVICE § 946.5 Change in operations—commissioning and decommissioning. (a) Before commissioning any new NEXRAD or ASOS weather observation system...; technical coordination with weather service users has been completed; and the system satisfactorily supports...

  14. 15 CFR 946.5 - Change in operations-commissioning and decommissioning.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... NATIONAL WEATHER SERVICE MODERNIZATION OF THE NATIONAL WEATHER SERVICE § 946.5 Change in operations—commissioning and decommissioning. (a) Before commissioning any new NEXRAD or ASOS weather observation system...; technical coordination with weather service users has been completed; and the system satisfactorily supports...

  15. 15 CFR 946.5 - Change in operations-commissioning and decommissioning.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... NATIONAL WEATHER SERVICE MODERNIZATION OF THE NATIONAL WEATHER SERVICE § 946.5 Change in operations—commissioning and decommissioning. (a) Before commissioning any new NEXRAD or ASOS weather observation system...; technical coordination with weather service users has been completed; and the system satisfactorily supports...

  16. Decommissioning of the Northrop TRIGA reactor

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

    Cozens, George B.; Woo, Harry; Benveniste, Jack

    1986-07-01

    An overview of the administrative and operational aspects of decommissioning and dismantling the Northrop Mark F TRIGA Reactor, including: planning and preparation, personnel requirements, government interfacing, costs, contractor negotiations, fuel shipments, demolition, disposal of low level waste, final survey and disposition of the concrete biological shielding. (author)

  17. Control strategies for robots in contact

    NASA Astrophysics Data System (ADS)

    Park, Jaeheung

    In the field of robotics, there is a growing need to provide robots with the ability to interact with complex and unstructured environments. Operations in such environments pose significant challenges in terms of sensing, planning, and control. In particular, it is critical to design control algorithms that account for the dynamics of the robot and environment at multiple contacts. The work in this thesis focuses on the development of a control framework that addresses these issues. The approaches are based on the operational space control framework and estimation methods. By accounting for the dynamics of the robot and environment, modular and systematic methods are developed for robots interacting with the environment at multiple locations. The proposed force control approach demonstrates high performance in the presence of uncertainties. Building on this basic capability, new control algorithms have been developed for haptic teleoperation, multi-contact interaction with the environment, and whole body motion of non-fixed based robots. These control strategies have been experimentally validated through simulations and implementations on physical robots. The results demonstrate the effectiveness of the new control structure and its robustness to uncertainties. The contact control strategies presented in this thesis are expected to contribute to the needs in advanced controller design for humanoid and other complex robots interacting with their environments.

  18. Renewables-to-reefs? - Decommissioning options for the offshore wind power industry.

    PubMed

    Smyth, Katie; Christie, Nikki; Burdon, Daryl; Atkins, Jonathan P; Barnes, Richard; Elliott, Michael

    2015-01-15

    The offshore wind power industry is relatively new but increasing globally, hence it is important that the whole life-cycle is managed. The construction-operation-decommissioning cycle is likely to take 20-30 years and whilst decommissioning may not be undertaken for many years, its management needs to be addressed in both current and future marine management regimes. This can be defined within a Drivers-Activities-Pressures-State Changes-Impacts (on human Welfare)-Responses framework. This paper considers the main decommissioning options - partial or complete removal of all components. A SWOT analysis shows environmental and economic benefits in partial as opposed to complete removal, especially if habitat created on the structures has conservation or commercial value. Benefits (and repercussions) are defined in terms of losses and gains of ecosystem services and societal benefits. The legal precedents and repercussions of both options are considered in terms of the 10-tenets of sustainable marine management. Finally a 'renewables-to-reefs' programme is proposed. Copyright © 2014 Elsevier Ltd. All rights reserved.

  19. 78 FR 52714 - Proposed Amendment of Class E Airspace; Gainesville, TX

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-08-26

    ...: Federal Aviation Administration (FAA), DOT. ACTION: Notice of proposed rulemaking (NPRM). SUMMARY: This action proposes to amend Class E airspace at Gainesville, TX. Decommissioning of the Gainesville radio... developing reasoned regulatory decisions on the proposal. Comments are specifically invited on the overall...

  20. 77 FR 64444 - VOR Federal Airway V-595; Oregon

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-10-22

    ... Aviation Administration (FAA), DOT. ACTION: Notice of proposed rulemaking (NPRM). SUMMARY: This action... this action to redescribe the route due to the scheduled decommissioning of the Portland, OR, VOR/DME... suggestions presented are particularly helpful in developing reasoned regulatory decisions on the proposal...

  1. Robot Dreams: Build Your Own R2D2.

    ERIC Educational Resources Information Center

    Hook, David

    2002-01-01

    This collection development article presents an annotated bibliography that includes materials on the rapidly changing field of robotics and how to build robots. Includes considering users' skill levels; basic electronics for beginners; combat robots; periodicals; and Web Sites. (LRW)

  2. Robots for better health and quality of life. | NIH MedlinePlus the Magazine

    MedlinePlus

    ... page please turn JavaScript on. Feature: Robotic Innovations Robots for better health and quality of life. Past ... of Child Health and Human Development. A social-robot "buddy" for kids A preschooler interacts with a ...

  3. Regulatory Supervision of Radiological Protection in the Russian Federation as Applied to Facility Decommissioning and Site Remediation

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

    Sneve, M.K.; Shandala, N.K.

    2007-07-01

    The Russian Federation is carrying out major work to manage the legacy of exploitation of nuclear power and use of radioactive materials. This paper describes work on-going to provide enhanced regulatory supervision of these activities as regards radiological protection. The scope includes worker and public protection in routine operation; emergency preparedness and response; radioactive waste management, including treatment, interim storage and transport as well as final disposal; and long term site restoration. Examples examined include waste from facilities in NW Russia, including remediation of previous shore technical bases (STBs) for submarines, spent fuel and radioactive waste management from ice-breakers, andmore » decommissioning of Radio-Thermal-Generators (RTGs) used in navigational devices. Consideration is given to the identification of regulatory responsibilities among different regulators; development of necessary regulatory instruments; and development of regulatory procedures for safety case reviews and compliance monitoring and international cooperation between different regulators. (authors)« less

  4. Plant security during decommissioning; challenges and lessons learned from German phase out decision

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

    Renner, Andrea; Esch, Markus

    2013-07-01

    Purpose of this paper is to point out the security challenges that may occur during the decommissioning, based on the issues and lessons learned from the German phase out decision. Though national regulations may be different in other countries the basic problems and issues will be the same. Therefore presented solutions will be applicable in other countries as well. The radioactive material remaining at the NPP during decommissioning has the most influence on how the security measures have to be designed. The radioactive material defines the risk potential of the plant and this determines the needed security level. The followingmore » aspects have been challenging in Germany: - Scenarios varying from those, used for plants in operation, due to changed operating conditions - Spent fuel will stay in the spent fuel pool for a quite long period before it can be removed from the plant. Risk potential of the plant stays high and requires a high level of security measures - Security measures according to the existing operating license have to stay in place as they are, unless the first license for decommissioning is given respective the spent fuel is removed from the plant site. This even led to the question if improvements of security measures, planned and announced with focus on a plant remaining in operation for another couple of years, need to be done although they will not be required after removing the spent fuel from the plant. A further important aspect for the security design is the fact that a plant under decommissioning has completely different and strongly varying operating procedures, compared to the stable ones of an operating plant. This leads to different needs concerning workspace, infrastructure on plant site, access to buildings etc. An optimized and highly flexible security concept is needed to ensure an adequate level of security as well as an efficient decommissioning. A deep analysis of the vital plant functions, depending on the different decommissioning stages, is required to determine the vital equipment, its location and its need for protection. (authors)« less

  5. ROBOSIM, a simulator for robotic systems

    NASA Technical Reports Server (NTRS)

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

    1991-01-01

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

  6. Virtual Reality Based Support System for Layout Planning and Programming of an Industrial Robotic Work Cell

    PubMed Central

    Yap, Hwa Jen; Taha, Zahari; Md Dawal, Siti Zawiah; Chang, Siow-Wee

    2014-01-01

    Traditional robotic work cell design and programming are considered inefficient and outdated in current industrial and market demands. In this research, virtual reality (VR) technology is used to improve human-robot interface, whereby complicated commands or programming knowledge is not required. The proposed solution, known as VR-based Programming of a Robotic Work Cell (VR-Rocell), consists of two sub-programmes, which are VR-Robotic Work Cell Layout (VR-RoWL) and VR-based Robot Teaching System (VR-RoT). VR-RoWL is developed to assign the layout design for an industrial robotic work cell, whereby VR-RoT is developed to overcome safety issues and lack of trained personnel in robot programming. Simple and user-friendly interfaces are designed for inexperienced users to generate robot commands without damaging the robot or interrupting the production line. The user is able to attempt numerous times to attain an optimum solution. A case study is conducted in the Robotics Laboratory to assemble an electronics casing and it is found that the output models are compatible with commercial software without loss of information. Furthermore, the generated KUKA commands are workable when loaded into a commercial simulator. The operation of the actual robotic work cell shows that the errors may be due to the dynamics of the KUKA robot rather than the accuracy of the generated programme. Therefore, it is concluded that the virtual reality based solution approach can be implemented in an industrial robotic work cell. PMID:25360663

  7. Virtual reality based support system for layout planning and programming of an industrial robotic work cell.

    PubMed

    Yap, Hwa Jen; Taha, Zahari; Dawal, Siti Zawiah Md; Chang, Siow-Wee

    2014-01-01

    Traditional robotic work cell design and programming are considered inefficient and outdated in current industrial and market demands. In this research, virtual reality (VR) technology is used to improve human-robot interface, whereby complicated commands or programming knowledge is not required. The proposed solution, known as VR-based Programming of a Robotic Work Cell (VR-Rocell), consists of two sub-programmes, which are VR-Robotic Work Cell Layout (VR-RoWL) and VR-based Robot Teaching System (VR-RoT). VR-RoWL is developed to assign the layout design for an industrial robotic work cell, whereby VR-RoT is developed to overcome safety issues and lack of trained personnel in robot programming. Simple and user-friendly interfaces are designed for inexperienced users to generate robot commands without damaging the robot or interrupting the production line. The user is able to attempt numerous times to attain an optimum solution. A case study is conducted in the Robotics Laboratory to assemble an electronics casing and it is found that the output models are compatible with commercial software without loss of information. Furthermore, the generated KUKA commands are workable when loaded into a commercial simulator. The operation of the actual robotic work cell shows that the errors may be due to the dynamics of the KUKA robot rather than the accuracy of the generated programme. Therefore, it is concluded that the virtual reality based solution approach can be implemented in an industrial robotic work cell.

  8. Evolution of robotic arms.

    PubMed

    Moran, Michael E

    2007-01-01

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

  9. 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

  10. Proposed Methodology for Application of Human-like gradual Multi-Agent Q-Learning (HuMAQ) for Multi-robot Exploration

    NASA Astrophysics Data System (ADS)

    Narayan Ray, Dip; Majumder, Somajyoti

    2014-07-01

    Several attempts have been made by the researchers around the world to develop a number of autonomous exploration techniques for robots. But it has been always an important issue for developing the algorithm for unstructured and unknown environments. Human-like gradual Multi-agent Q-leaming (HuMAQ) is a technique developed for autonomous robotic exploration in unknown (and even unimaginable) environments. It has been successfully implemented in multi-agent single robotic system. HuMAQ uses the concept of Subsumption architecture, a well-known Behaviour-based architecture for prioritizing the agents of the multi-agent system and executes only the most common action out of all the different actions recommended by different agents. Instead of using new state-action table (Q-table) each time, HuMAQ uses the immediate past table for efficient and faster exploration. The proof of learning has also been established both theoretically and practically. HuMAQ has the potential to be used in different and difficult situations as well as applications. The same architecture has been modified to use for multi-robot exploration in an environment. Apart from all other existing agents used in the single robotic system, agents for inter-robot communication and coordination/ co-operation with the other similar robots have been introduced in the present research. Current work uses a series of indigenously developed identical autonomous robotic systems, communicating with each other through ZigBee protocol.

  11. An overview of the 2009 Fort Hood Robotics Rodeo

    NASA Astrophysics Data System (ADS)

    Norberg, Seth

    2010-04-01

    The Robotics Rodeo held from 31 August to 3 September 2009 at Fort Hood, Texas, had three stated goals: educate key decision makers and align the robotics industry; educate Soldiers and developers; and perform a live market survey of the current state of technologies to encourage the development of robotic systems to support operational needs. Both events that comprised the Robotics Rodeo, the Extravaganza and the robotic technology observation, demonstration and discussion (RTOD2) addressed these stated goals. The Extravaganza was designed to foster interaction between the vendors and the visitors who included the media, Soldiers, others in the robotics industry and key decision makers. The RTOD2 allowed the vendors a more private and focused interaction with the subject matter experts teams, this was the forum for the vendors to demonstrate their robotic systems that supported the III Corps operational needs statements that are focused on route clearance, convoy operations, persistent stare, and robotic wingman. While the goals of the Rodeo were achieved, the underlying success from the event is the development of a new business model that is focused on collapsing the current model to get technologies into the hands of our warfighters quicker. This new model takes the real time data collection from the Rodeo, the Warfighter Needs from TRADOC, the emerging requirements from our current engagements, and assistance from industry partners to develop a future Army strategy for the rapid fielding of unmanned systems technologies.

  12. 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.

  13. [Robotic surgery: toy or tool?].

    PubMed

    Vallancien, Guy; Cathelineau, Xavier; Rozet, François; Barret, Eric

    2005-05-01

    Telemanipulation has been developed for industrial purposes since the 1970s. More recently, telemanipulated arms entered the operating room. This paper briefly describes the history of surgical robotics and discusses the advantages and disadvantages for both patients and surgeons. The authors advocate the development of robotic surgery, as it facilitates the training of young surgeons and can be useful during certain phases of an operation. Thus, robotic surgery is more a promising tool than a simple toy.

  14. Center of Cardiac Surgery Robotic Computerized Telemanipulation as Part of a Comprehensive Approach to Advanced Heart Care

    DTIC Science & Technology

    2011-10-01

    performance metrics; and development of Robotic OR Team training including crisis management. Q3: During the third quarter of this project, the...literature review for robot-assisted surgical skill training/performance metrics; development of Robotic OR Team training materials including crisis ... crisis management situations. Q2: Contract negotiations for the purchase of the da Vinci Skills Simulator are completed and we anticipate the

  15. [Mobile autonomous robots-Possibilities and limits].

    PubMed

    Maehle, E; Brockmann, W; Walthelm, A

    2002-02-01

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

  16. Human guidance of mobile robots in complex 3D environments using smart glasses

    NASA Astrophysics Data System (ADS)

    Kopinsky, Ryan; Sharma, Aneesh; Gupta, Nikhil; Ordonez, Camilo; Collins, Emmanuel; Barber, Daniel

    2016-05-01

    In order for humans to safely work alongside robots in the field, the human-robot (HR) interface, which enables bi-directional communication between human and robot, should be able to quickly and concisely express the robot's intentions and needs. While the robot operates mostly in autonomous mode, the human should be able to intervene to effectively guide the robot in complex, risky and/or highly uncertain scenarios. Using smart glasses such as Google Glass∗, we seek to develop an HR interface that aids in reducing interaction time and distractions during interaction with the robot.

  17. The Human-Robot Interaction Operating System

    NASA Technical Reports Server (NTRS)

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

    2006-01-01

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

  18. Modeling and Simulation for a Surf Zone Robot

    DTIC Science & Technology

    2012-12-14

    of-freedom surf zone robot is developed and tested with a physical test platform and with a simulated robot in Robot Operating System . Derived from...terrain. The application of the model to future platforms is analyzed and a broad examination of the current state of surf zone robotic systems is...public release; distribution is unlimited MODELING AND SIMULATION FOR A SURF ZONE ROBOT Eric Shuey Lieutenant, United States Navy B.S., Systems

  19. Estimation and characterization of decontamination and decommissioning solid waste expected from the Plutonium Finishing Plant

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

    Millar, J.S.; Pottmeyer, J.A.; Stratton, T.J.

    1995-01-01

    Purpose of the study was to estimate the amounts of equipment and other materials that are candidates for removal and subsequent processing in a solid waste facility when the Hanford Plutonium Finishing Plant is decontaminated and decommissioned. (Building structure and soil are not covered.) Results indicate that {approximately}5,500 m{sup 3} of solid waste is expected to result from the decontamination and decommissioning of the Pu Finishing Plant. The breakdown of the volumes and percentages of waste by category is 1% dangerous solid waste, 71% low-level waste, 21% transuranic waste, 7% transuranic mixed waste.

  20. Development of a flexible test-bed for robotics, telemanipulation and servicing research

    NASA Technical Reports Server (NTRS)

    Davies, Barry F.

    1989-01-01

    The development of a flexible operation test-bed, based around a commercially available ASEA industrial robot is described. The test-bed was designed to investigate fundamental human factors issues concerned with the unique problems of robotic manipulation in the hostile environment of Space.

  1. Prototype crawling robotics system for remote visual inspection of high-mast light poles.

    DOT National Transportation Integrated Search

    1997-01-01

    This report presents the results of a project to develop a crawling robotics system for the remote visual inspection of high-mast light poles in Virginia. The first priority of this study was to develop a simple robotics application that would reduce...

  2. Training in urological robotic surgery. Future perspectives.

    PubMed

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

    2018-01-01

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

  3. A simple 5-DOF walking robot for space station application

    NASA Technical Reports Server (NTRS)

    Brown, H. Benjamin, Jr.; Friedman, Mark B.; Kanade, Takeo

    1991-01-01

    Robots on the NASA space station have a potential range of applications from assisting astronauts during EVA (extravehicular activity), to replacing astronauts in the performance of simple, dangerous, and tedious tasks; and to performing routine tasks such as inspections of structures and utilities. To provide a vehicle for demonstrating the pertinent technologies, a simple robot is being developed for locomotion and basic manipulation on the proposed space station. In addition to the robot, an experimental testbed was developed, including a 1/3 scale (1.67 meter modules) truss and a gravity compensation system to simulate a zero-gravity environment. The robot comprises two flexible links connected by a rotary joint, with a 2 degree of freedom wrist joints and grippers at each end. The grippers screw into threaded holes in the nodes of the space station truss, and enable it to walk by alternately shifting the base of support from one foot (gripper) to the other. Present efforts are focused on mechanical design, application of sensors, and development of control algorithms for lightweight, flexible structures. Long-range research will emphasize development of human interfaces to permit a range of control modes from teleoperated to semiautonomous, and coordination of robot/astronaut and multiple-robot teams.

  4. Hand-held medical robots.

    PubMed

    Payne, Christopher J; Yang, Guang-Zhong

    2014-08-01

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

  5. The University of Pennsylvania curriculum for training otorhinolaryngology residents in transoral robotic surgery.

    PubMed

    Sperry, Steven M; O'Malley, Bert W; Weinstein, Gregory S

    2014-01-01

    To define a curriculum for the development of robotic surgical skills in otorhinolaryngology residency training. A systematic review of the current literature on robotic surgery training was performed. Based on prior reports in other specialties, a curriculum for otorhinolaryngology residents was created that progresses through several modules, including didactics, inanimate skills laboratory, and operative experience. The curriculum for residents in otorhinolaryngology was designed as follows: didactics include an overview of the robotic device and instruments, a tutorial in basic controls and function, and a room setup and positioning. The anatomy and steps of transoral procedures are taught through books, videos, operative observations, and cadaver dissections. Skills are developed with a virtual reality robotic simulator and robotics labs. The operative experience progresses from case observation to bedside assistant to console surgeon. The role of the console surgeon progresses in a stepwise fashion, and the procedures of radical tonsillectomy, supraglottic partial laryngectomy, and base of tongue resection have been organized as a series of steps. A structured curriculum for training residents in transoral robotic surgery was developed. This training is important for otorhinolaryngology residents to acquire the knowledge and skills to perform robotic surgery safely. © 2015 S. Karger AG, Basel.

  6. Generic Techniques for the Calibration of Robots with Application of the 3-D Fixtures and Statistical Technique on the PUMA 500 and ARID Robots

    NASA Technical Reports Server (NTRS)

    Tawfik, Hazem

    1991-01-01

    A relatively simple, inexpensive, and generic technique that could be used in both laboratories and some operation site environments is introduced at the Robotics Applications and Development Laboratory (RADL) at Kennedy Space Center (KSC). In addition, this report gives a detailed explanation of the set up procedure, data collection, and analysis using this new technique that was developed at the State University of New York at Farmingdale. The technique was used to evaluate the repeatability, accuracy, and overshoot of the Unimate Industrial Robot, PUMA 500. The data were statistically analyzed to provide an insight into the performance of the systems and components of the robot. Also, the same technique was used to check the forward kinematics against the inverse kinematics of RADL's PUMA robot. Recommendations were made for RADL to use this technique for laboratory calibration of the currently existing robots such as the ASEA, high speed controller, Automated Radiator Inspection Device (ARID) etc. Also, recommendations were made to develop and establish other calibration techniques that will be more suitable for site calibration environment and robot certification.

  7. Cooperative intelligent robotics in space III; Proceedings of the Meeting, Boston, MA, Nov. 16-18, 1992

    NASA Technical Reports Server (NTRS)

    Erickson, Jon D. (Editor)

    1992-01-01

    The present volume on cooperative intelligent robotics in space discusses sensing and perception, Space Station Freedom robotics, cooperative human/intelligent robot teams, and intelligent space robotics. Attention is given to space robotics reasoning and control, ground-based space applications, intelligent space robotics architectures, free-flying orbital space robotics, and cooperative intelligent robotics in space exploration. Topics addressed include proportional proximity sensing for telerobots using coherent lasar radar, ground operation of the mobile servicing system on Space Station Freedom, teleprogramming a cooperative space robotic workcell for space stations, and knowledge-based task planning for the special-purpose dextrous manipulator. Also discussed are dimensions of complexity in learning from interactive instruction, an overview of the dynamic predictive architecture for robotic assistants, recent developments at the Goddard engineering testbed, and parallel fault-tolerant robot control.

  8. 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.

  9. Intelligent robot trends and predictions for the first year of the new millennium

    NASA Astrophysics Data System (ADS)

    Hall, Ernest L.

    2000-10-01

    An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The current use of these machines in outer space, medicine, hazardous materials, defense applications and industry is being pursued with vigor. In factory automation, industrial robots can improve productivity, increase product quality and improve competitiveness. The computer and the robot have both been developed during recent times. The intelligent robot combines both technologies and requires a thorough understanding and knowledge of mechatronics. Today's robotic machines are faster, cheaper, more repeatable, more reliable and safer than ever. The knowledge base of inverse kinematic and dynamic solutions and intelligent controls is increasing. More attention is being given by industry to robots, vision and motion controls. New areas of usage are emerging for service robots, remote manipulators and automated guided vehicles. Economically, the robotics industry now has more than a billion-dollar market in the U.S. and is growing. Feasibility studies show decreasing costs for robots and unaudited healthy rates of return for a variety of robotic applications. However, the road from inspiration to successful application can be long and difficult, often taking decades to achieve a new product. A greater emphasis on mechatronics is needed in our universities. Certainly, more cooperation between government, industry and universities is needed to speed the development of intelligent robots that will benefit industry and society. The fearful robot stories may help us prevent future disaster. The inspirational robot ideas may inspire the scientists of tomorrow. However, the intelligent robot ideas, which can be reduced to practice, will change the world.

  10. 10 CFR 72.30 - Financial assurance and recordkeeping for decommissioning.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 10 Energy 2 2010-01-01 2010-01-01 false Financial assurance and recordkeeping for decommissioning. 72.30 Section 72.30 Energy NUCLEAR REGULATORY COMMISSION (CONTINUED) LICENSING REQUIREMENTS FOR THE INDEPENDENT STORAGE OF SPENT NUCLEAR FUEL, HIGH-LEVEL RADIOACTIVE WASTE, AND REACTOR-RELATED GREATER THAN...

  11. 30 CFR 285.906 - What must my decommissioning application include?

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 30 Mineral Resources 2 2010-07-01 2010-07-01 false What must my decommissioning application include? 285.906 Section 285.906 Mineral Resources MINERALS MANAGEMENT SERVICE, DEPARTMENT OF THE INTERIOR OFFSHORE RENEWABLE ENERGY ALTERNATE USES OF EXISTING FACILITIES ON THE OUTER CONTINENTAL SHELF...

  12. 78 FR 23586 - Final Environmental Impact Statement, Habitat Conservation Plan, and Implementing Agreement and...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-04-19

    ...) from construction, operation, maintenance, and decommissioning associated with the Buckeye Wind Power... construction, operation, maintenance, and decommissioning of the project. The project consists of a 100-turbine... Draft Programmatic Agreement, Buckeye Wind Power Project, Champaign County, Ohio AGENCY: Fish and...

  13. Nuclear facility decommissioning and site remedial actions: A selected bibliography, Volume 13: Part 2, Indexes. Environmental Restoration Program

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

    Goins, L.F.; Webb, J.R.; Cravens, C.D.

    1992-09-01

    This is part 2 of a bibliography on nuclear facility decommissioning and site remedial action. This report contains indexes on the following: authors, corporate affiliation, title words, publication description, geographic location, subject category, and key word.

  14. 76 FR 3837 - Nuclear Decommissioning Funds; Correction

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-01-21

    ... DEPARTMENT OF THE TREASURY Internal Revenue Service 26 CFR Part 1 [TD 9512] RIN 1545-BF08 Nuclear... trusts maintained for decommissioning nuclear power plants. DATES: This correction is effective on...: Sec. 1.468A-6 Disposition of an interest in a nuclear power plant. * * * * * (e) * * * (3...

  15. TES Instrument Decommissioning

    Atmospheric Science Data Center

    2018-03-20

    TES Instrument Decommissioning Tuesday, March 20, 2018 ... PST during a scheduled real time satellite contact the TES IOT along with the Aura FOT commanded the TES instrument to its ... generated from an algorithm update to the base Ground Data System software and will be made available to the scientific community in the ...

  16. 18 CFR 2.24 - Project decommissioning at relicensing.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 18 Conservation of Power and Water Resources 1 2010-04-01 2010-04-01 false Project decommissioning at relicensing. 2.24 Section 2.24 Conservation of Power and Water Resources FEDERAL ENERGY REGULATORY COMMISSION, DEPARTMENT OF ENERGY GENERAL RULES GENERAL POLICY AND INTERPRETATIONS Statements of General...

  17. 18 CFR 2.24 - Project decommissioning at relicensing.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... 18 Conservation of Power and Water Resources 1 2014-04-01 2014-04-01 false Project decommissioning at relicensing. 2.24 Section 2.24 Conservation of Power and Water Resources FEDERAL ENERGY REGULATORY COMMISSION, DEPARTMENT OF ENERGY GENERAL RULES GENERAL POLICY AND INTERPRETATIONS Statements of General...

  18. 18 CFR 2.24 - Project decommissioning at relicensing.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... 18 Conservation of Power and Water Resources 1 2013-04-01 2013-04-01 false Project decommissioning at relicensing. 2.24 Section 2.24 Conservation of Power and Water Resources FEDERAL ENERGY REGULATORY COMMISSION, DEPARTMENT OF ENERGY GENERAL RULES GENERAL POLICY AND INTERPRETATIONS Statements of General...

  19. 18 CFR 2.24 - Project decommissioning at relicensing.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... 18 Conservation of Power and Water Resources 1 2012-04-01 2012-04-01 false Project decommissioning at relicensing. 2.24 Section 2.24 Conservation of Power and Water Resources FEDERAL ENERGY REGULATORY COMMISSION, DEPARTMENT OF ENERGY GENERAL RULES GENERAL POLICY AND INTERPRETATIONS Statements of General...

  20. Decommissioning the Romanian Water-Cooled Water-Moderated Research Reactor: New Environmental Perspective on the Management of Radioactive Waste

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

    Barariu, G.; Giumanca, R.

    2006-07-01

    Pre-feasibility and feasibility studies were performed for decommissioning of the water-cooled water-moderated research reactor (WWER) located in Bucharest - Magurele, Romania. Using these studies as a starting point, the preferred safe management strategy for radioactive wastes produced by reactor decommissioning is outlined. The strategy must account for reactor decommissioning, as well as for the rehabilitation of the existing Radioactive Waste Treatment Plant and for the upgrade of the Radioactive Waste Disposal Facility at Baita-Bihor. Furthermore, the final rehabilitation of the laboratories and ecological reconstruction of the grounds need to be provided for, in accordance with national and international regulations. Inmore » accordance with IAEA recommendations at the time, the pre-feasibility study proposed three stages of decommissioning. However, since then new ideas have surfaced with regard to decommissioning. Thus, taking into account the current IAEA ideology, the feasibility study proposes that decommissioning of the WWER be done in one stage to an unrestricted clearance level of the reactor building in an Immediate Dismantling option. Different options and the corresponding derived preferred option for waste management are discussed taking into account safety measures, but also considering technical, logistical and economic factors. For this purpose, possible types of waste created during each decommissioning stage are reviewed. An approximate inventory of each type of radioactive waste is presented. The proposed waste management strategy is selected in accordance with the recommended international basic safety standards identified in the previous phase of the project. The existing Radioactive Waste Treatment Plant (RWTP) from the Horia Hulubei Institute for Nuclear Physics and Engineering (IFIN-HH), which has been in service with no significant upgrade since 1974, will need refurbishing due to deterioration, as well as upgrading in order to ensure the plant complies with current safety standards. This plant will also need to be adapted to treat wastes generated by WWER dismantling. The Baita-Bihor National Radioactive Waste Disposal Facility consists of two galleries in an abandoned uranium mine located in the central-western part of the Bihor Mountains in Transylvania. The galleries lie at a depth of 840 m. The facility requires a considerable overhaul. Several steps recommended for the upgrade of the facility are explored. Environmental concerns have lately become a crucial part of the radioactive waste management strategy. As such, all decisions must be made with great regard for land utilization around nuclear objectives. (authors)« less

  1. Development of a Novel Locomotion Algorithm for Snake Robot

    NASA Astrophysics Data System (ADS)

    Khan, Raisuddin; Masum Billah, Md; Watanabe, Mitsuru; Shafie, A. A.

    2013-12-01

    A novel algorithm for snake robot locomotion is developed and analyzed in this paper. Serpentine is one of the renowned locomotion for snake robot in disaster recovery mission to overcome narrow space navigation. Several locomotion for snake navigation, such as concertina or rectilinear may be suitable for narrow spaces, but is highly inefficient if the same type of locomotion is used even in open spaces resulting friction reduction which make difficulties for snake movement. A novel locomotion algorithm has been proposed based on the modification of the multi-link snake robot, the modifications include alterations to the snake segments as well elements that mimic scales on the underside of the snake body. Snake robot can be able to navigate in the narrow space using this developed locomotion algorithm. The developed algorithm surmount the others locomotion limitation in narrow space navigation.

  2. A Robotic Therapy Case Study: Developing Joint Attention Skills with a Student on the Autism Spectrum

    ERIC Educational Resources Information Center

    Charron, Nancy; Lewis, Lundy; Craig, Michael

    2017-01-01

    The purpose of this article is to describe a possible methodology for developing joint attention skills in students with autism spectrum disorder. Co-robot therapy with the humanoid robot NAO was used to foster a student's joint attention skill development; 20-min sessions conducted once weekly during the school year were video recorded and…

  3. The Development of a Robot-Based Learning Companion: A User-Centered Design Approach

    ERIC Educational Resources Information Center

    Hsieh, Yi-Zeng; Su, Mu-Chun; Chen, Sherry Y.; Chen, Gow-Dong

    2015-01-01

    A computer-vision-based method is widely employed to support the development of a variety of applications. In this vein, this study uses a computer-vision-based method to develop a playful learning system, which is a robot-based learning companion named RobotTell. Unlike existing playful learning systems, a user-centered design (UCD) approach is…

  4. Drive Control System for Pipeline Crawl Robot Based on CAN Bus

    NASA Astrophysics Data System (ADS)

    Chen, H. J.; Gao, B. T.; Zhang, X. H.; Deng2, Z. Q.

    2006-10-01

    Drive control system plays important roles in pipeline robot. In order to inspect the flaw and corrosion of seabed crude oil pipeline, an original mobile pipeline robot with crawler drive unit, power and monitor unit, central control unit, and ultrasonic wave inspection device is developed. The CAN bus connects these different function units and presents a reliable information channel. Considering the limited space, a compact hardware system is designed based on an ARM processor with two CAN controllers. With made-to-order CAN protocol for the crawl robot, an intelligent drive control system is developed. The implementation of the crawl robot demonstrates that the presented drive control scheme can meet the motion control requirements of the underwater pipeline crawl robot.

  5. Development and validation of a composite scoring system for robot-assisted surgical training--the Robotic Skills Assessment Score.

    PubMed

    Chowriappa, Ashirwad J; Shi, Yi; Raza, Syed Johar; Ahmed, Kamran; Stegemann, Andrew; Wilding, Gregory; Kaouk, Jihad; Peabody, James O; Menon, Mani; Hassett, James M; Kesavadas, Thenkurussi; Guru, Khurshid A

    2013-12-01

    A standardized scoring system does not exist in virtual reality-based assessment metrics to describe safe and crucial surgical skills in robot-assisted surgery. This study aims to develop an assessment score along with its construct validation. All subjects performed key tasks on previously validated Fundamental Skills of Robotic Surgery curriculum, which were recorded, and metrics were stored. After an expert consensus for the purpose of content validation (Delphi), critical safety determining procedural steps were identified from the Fundamental Skills of Robotic Surgery curriculum and a hierarchical task decomposition of multiple parameters using a variety of metrics was used to develop Robotic Skills Assessment Score (RSA-Score). Robotic Skills Assessment mainly focuses on safety in operative field, critical error, economy, bimanual dexterity, and time. Following, the RSA-Score was further evaluated for construct validation and feasibility. Spearman correlation tests performed between tasks using the RSA-Scores indicate no cross correlation. Wilcoxon rank sum tests were performed between the two groups. The proposed RSA-Score was evaluated on non-robotic surgeons (n = 15) and on expert-robotic surgeons (n = 12). The expert group demonstrated significantly better performance on all four tasks in comparison to the novice group. Validation of the RSA-Score in this study was carried out on the Robotic Surgical Simulator. The RSA-Score is a valid scoring system that could be incorporated in any virtual reality-based surgical simulator to achieve standardized assessment of fundamental surgical tents during robot-assisted surgery. Copyright © 2013 Elsevier Inc. All rights reserved.

  6. International Assessment of Unmanned Ground Vehicles

    DTIC Science & Technology

    2008-02-01

    research relevant to ground robotics include • Multi-sensor data fusion • Stereovision • Dedicated robots, including legged robots, tracked robots...Technology Laboratory has developed several mobile robots with leg - ged, wheeled, rolling, rowing, and hybrid locomotion. Areas of particular emphasis...117 UK Department of Trade and Industry ( DTI ) Global Watch Mission. November 2006. Mechatronics in Russia. 118 CRDI Web Site: http

  7. Cooperative Autonomous Robots for Reconnaissance

    DTIC Science & Technology

    2009-03-06

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

  8. Robots in Space -Psychological Aspects

    NASA Technical Reports Server (NTRS)

    Sipes, Walter E.

    2006-01-01

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

  9. Robotics in endoscopy.

    PubMed

    Klibansky, David; Rothstein, Richard I

    2012-09-01

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

  10. Live video monitoring robot controlled by web over internet

    NASA Astrophysics Data System (ADS)

    Lokanath, M.; Akhil Sai, Guruju

    2017-11-01

    Future is all about robots, robot can perform tasks where humans cannot, Robots have huge applications in military and industrial area for lifting heavy weights, for accurate placements, for repeating the same task number of times, where human are not efficient. Generally robot is a mix of electronic, electrical and mechanical engineering and can do the tasks automatically on its own or under the supervision of humans. The camera is the eye for robot, call as robovision helps in monitoring security system and also can reach into the places where the human eye cannot reach. This paper presents about developing a live video streaming robot controlled from the website. We designed the web, controlling for the robot to move left, right, front and back while streaming video. As we move to the smart environment or IoT (Internet of Things) by smart devices the system we developed here connects over the internet and can be operated with smart mobile phone using a web browser. The Raspberry Pi model B chip acts as heart for this system robot, the sufficient motors, surveillance camera R pi 2 are connected to Raspberry pi.

  11. Development of an in vivo visual robot system with a magnetic anchoring mechanism and a lens cleaning mechanism for laparoendoscopic single-site surgery (LESS).

    PubMed

    Feng, Haibo; Dong, Dinghui; Ma, Tengfei; Zhuang, Jinlei; Fu, Yili; Lv, Yi; Li, Liyi

    2017-12-01

    Surgical robot systems which can significantly improve surgical procedures have been widely used in laparoendoscopic single-site surgery (LESS). For a relative complex surgical procedure, the development of an in vivo visual robot system for LESS can effectively improve the visualization for surgical robot systems. In this work, an in vivo visual robot system with a new mechanism for LESS was investigated. A finite element method (FEM) analysis was carried out to ensure the safety of the in vivo visual robot during the movement, which was the most important concern for surgical purposes. A master-slave control strategy was adopted, in which the control model was established by off-line experiments. The in vivo visual robot system was verified by using a phantom box. The experiment results show that the robot system can successfully realize the expected functionalities and meet the demands of LESS. The experiment results indicate that the in vivo visual robot with high manipulability has great potential in clinical application. Copyright © 2017 John Wiley & Sons, Ltd.

  12. Seeking Teachers for Underwater Robotics PD Program

    ERIC Educational Resources Information Center

    McGrath, Beth; Sayres, Jason

    2012-01-01

    With funding from the National Science Foundation (NSF), ITEEA members will contribute to the development of a hybrid professional development program designed to facilitate the scale-up of an innovative underwater robotics curriculum. WaterBotics[TM] is an underwater robotics curriculum that targets students in middle and high school classrooms…

  13. Alocomotino Control Algorithm for Robotic Linkage Systems

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

    Dohner, Jeffrey L.

    This dissertation describes the development of a control algorithm that transitions a robotic linkage system between stabilized states producing responsive locomotion. The developed algorithm is demonstrated using a simple robotic construction consisting of a few links with actuation and sensing at each joint. Numerical and experimental validation is presented.

  14. Developing Creative Behavior in Elementary School Students with Robotics

    ERIC Educational Resources Information Center

    Nemiro, Jill; Larriva, Cesar; Jawaharlal, Mariappan

    2017-01-01

    The School Robotics Initiative (SRI), a problem-based robotics program for elementary school students, was developed with the objective of reaching students early on to instill an interest in Science, Technology, Engineering, and Math disciplines. The purpose of this exploratory, observational study was to examine how the SRI fosters student…

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

    NASA Technical Reports Server (NTRS)

    Wakefield, G. Steve

    1987-01-01

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

  16. Robotic Head and Neck Surgery: History, Technical Evolution and the Future.

    PubMed

    Garas, George; Arora, Asit

    2018-06-20

    The first application of robotic technology in surgery was described in 1985 when a robot was used to define the trajectory for a stereotactic brain biopsy. Following its successful application in a variety of surgical operations, the da Vinci® robot, the most widely used surgical robot at present, made its clinical debut in otorhinolaryngology and head and neck surgery in 2005 when the first transoral robotic surgery (TORS) resections of base of tongue neoplasms were reported. Subsequently, the indications for TORS rapidly expanded, and they now include tumours of the oropharynx, hypopharynx, parapharyngeal space, and supraglottic larynx, as well as obstructive sleep apnoea (OSA). The da Vinci® robot has also been successfully used for scarless-in-the-neck thyroidectomy and parathyroidectomy. At present, the main barrier to the wider uptake of robotic surgery is the prohibitive cost of the da Vinci® robotic system. Several novel, flexible surgical robots are currently being developed that are likely to not only enhance patient safety and expand current indications but also drive down costs, thus making this innovation more widely available. Future directions relate to overlay technology through augmented reality/AR that allows real-time image-guidance, miniaturisation (nanorobots), and the development of autonomous robots. © 2018 S. Karger AG, Basel.

  17. Development and verification of ground-based tele-robotics operations concept for Dextre

    NASA Astrophysics Data System (ADS)

    Aziz, Sarmad

    2013-05-01

    The Special Purpose Dextreous Manipulator (Dextre) is the latest addition to the on-orbit segment of the Mobile Servicing System (MSS); Canada's contribution to the International Space Station (ISS). Launched in March 2008, the advanced two-armed robot is designed to perform various ISS maintenance tasks on robotically compatible elements and on-orbit replaceable units using a wide variety of tools and interfaces. The addition of Dextre has increased the capabilities of the MSS, and has introduced significant complexity to ISS robotics operations. While the initial operations concept for Dextre was based on human-in-the-loop control by the on-orbit astronauts, the complexities of robotic maintenance and the associated costs of training and maintaining the operator skills required for Dextre operations demanded a reexamination of the old concepts. A new approach to ISS robotic maintenance was developed in order to utilize the capabilities of Dextre safely and efficiently, while at the same time reducing the costs of on-orbit operations. This paper will describe the development, validation, and on-orbit demonstration of the operations concept for ground-based tele-robotics control of Dextre. It will describe the evolution of the new concepts from the experience gained from the development and implementation of the ground control capability for the Space Station Remote Manipulator System; Canadarm 2. It will discuss the various technical challenges faced during the development effort, such as requirements for high positioning accuracy, force/moment sensing and accommodation, failure tolerance, complex tool operations, and the novel operational tools and techniques developed to overcome them. The paper will also describe the work performed to validate the new concepts on orbit and will discuss the results and lessons learned from the on-orbit checkout and commissioning of Dextre using the newly developed tele-robotics techniques and capabilities.

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

    PubMed

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

    2016-04-28

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

  19. Classifying a Person's Degree of Accessibility From Natural Body Language During Social Human-Robot Interactions.

    PubMed

    McColl, Derek; Jiang, Chuan; Nejat, Goldie

    2017-02-01

    For social robots to be successfully integrated and accepted within society, they need to be able to interpret human social cues that are displayed through natural modes of communication. In particular, a key challenge in the design of social robots is developing the robot's ability to recognize a person's affective states (emotions, moods, and attitudes) in order to respond appropriately during social human-robot interactions (HRIs). In this paper, we present and discuss social HRI experiments we have conducted to investigate the development of an accessibility-aware social robot able to autonomously determine a person's degree of accessibility (rapport, openness) toward the robot based on the person's natural static body language. In particular, we present two one-on-one HRI experiments to: 1) determine the performance of our automated system in being able to recognize and classify a person's accessibility levels and 2) investigate how people interact with an accessibility-aware robot which determines its own behaviors based on a person's speech and accessibility levels.

  20. Development and Control of Multi-Degree-of-Freedom Mobile Robot for Acquisition of Road Environmental Modes

    NASA Astrophysics Data System (ADS)

    Murata, Naoya; Katsura, Seiichiro

    Acquisition of information about the environment around a mobile robot is important for purposes such as controlling the robot from a remote location and in situations such as that when the robot is running autonomously. In many researches, audiovisual information is used. However, acquisition of information about force sensation, which is included in environmental information, has not been well researched. The mobile-hapto, which is a remote control system with force information, has been proposed, but the robot used for the system can acquire only the horizontal component of forces. For this reason, in this research, a three-wheeled mobile robot that consists of seven actuators was developed and its control system was constructed. It can get information on horizontal and vertical forces without using force sensors. By using this robot, detailed information on the forces in the environment can be acquired and the operability of the robot and its capability to adjust to the environment are expected to improve.

  1. Development of biomimetic quadruped walking robot with 2-DOF waist joint

    NASA Astrophysics Data System (ADS)

    Kim, Kyoung-Ho; Park, Se-Hoon; Lee, Yun-Jung

    2005-12-01

    This paper presented a novel bio-mimetic quadruped walking robot with 2-DOF (Degree Of Freedom) waist joint, which connects the front and the rear parts of the body. The waist-jointed walking robot can guarantee more stable and more animal-like gait than that of a conventional single-rigid-body walking robot. The developed robot, called ELIRO-II (Eating LIzard RObot version 2), can bend its body from side to side by using 1-DOF passive waist joint while the legs is transferred, thereby increasing the stride and speed of the robot. In addition, ELIRO-II has one more active DOF to bend its body up and down, which increases the mobility in irregular terrain such as slope and stairs. We design the mechanical structure of the robot, which is small and light to have high mobility. This research described characteristics of the 2-DOF waists joint and leg mechanism as well as a hardware and software of the controller of ELIRO-II.

  2. Software for project-based learning of robot motion planning

    NASA Astrophysics Data System (ADS)

    Moll, Mark; Bordeaux, Janice; Kavraki, Lydia E.

    2013-12-01

    Motion planning is a core problem in robotics concerned with finding feasible paths for a given robot. Motion planning algorithms perform a search in the high-dimensional continuous space of robot configurations and exemplify many of the core algorithmic concepts of search algorithms and associated data structures. Motion planning algorithms can be explained in a simplified two-dimensional setting, but this masks many of the subtleties and complexities of the underlying problem. We have developed software for project-based learning of motion planning that enables deep learning. The projects that we have developed allow advanced undergraduate students and graduate students to reflect on the performance of existing textbook algorithms and their own variations on such algorithms. Formative assessment has been conducted at three institutions. The core of the software used for this teaching module is also used within the Robot Operating System, a widely adopted platform by the robotics research community. This allows for transfer of knowledge and skills to robotics research projects involving a large variety robot hardware platforms.

  3. “Five on a dice” port placement for robot-assisted thoracoscopic right upper lobectomy using robotic stapler

    PubMed Central

    Chan, Edward Y.

    2017-01-01

    Early versions of the da Vinci robot system (S and Si) have been used to perform pulmonary lung resection with severe limitations. The lack of a vascular robot stapler required the presence of a trained bedside assistant whose role was to place, manipulate and fire the stapler around major vascular structures. Thus, the techniques developed for the Si robot required a skilled bedside assistant to perform stapling of the hilar structure and manipulation of the lung. With the advent of the da Vinci Xi system with a vascular robot stapler, we postulated that we could develop a new port placement and technique to provide total control for the surgeon during the pulmonary lung resection. We found that the “five on a dice” port placement and technique allows for minimal assistance during the lobectomy with full control by the surgeon. This technique uses the full capability of the Xi robot to make the robot-assisted lobectomy a safe and ergonomic operation. PMID:29312746

  4. "Five on a dice" port placement for robot-assisted thoracoscopic right upper lobectomy using robotic stapler.

    PubMed

    Kim, Min P; Chan, Edward Y

    2017-12-01

    Early versions of the da Vinci robot system (S and Si) have been used to perform pulmonary lung resection with severe limitations. The lack of a vascular robot stapler required the presence of a trained bedside assistant whose role was to place, manipulate and fire the stapler around major vascular structures. Thus, the techniques developed for the Si robot required a skilled bedside assistant to perform stapling of the hilar structure and manipulation of the lung. With the advent of the da Vinci Xi system with a vascular robot stapler, we postulated that we could develop a new port placement and technique to provide total control for the surgeon during the pulmonary lung resection. We found that the "five on a dice" port placement and technique allows for minimal assistance during the lobectomy with full control by the surgeon. This technique uses the full capability of the Xi robot to make the robot-assisted lobectomy a safe and ergonomic operation.

  5. Robotics technology developments in the United States space telerobotics program

    NASA Technical Reports Server (NTRS)

    Lavery, David

    1994-01-01

    In the same way that the launch of Yuri Gagarin in April 1961 announced the beginning of human space flight, last year's flight of the German ROTEX robot flight experiment is heralding the start of a new era of space robotics. After a gap of twelve years since the introduction of a new capability in space remote manipulation, ROTEX is the first of at least ten new robotic systems and experiments which will fly before the year 2000. As a result of redefining the development approach for space robotic systems, and capitalizing on opportunities associated with the assembly and maintenance of the space station, the space robotics community is preparing a whole new generation of operational robotic capabilities. Expanding on the capabilities of earlier manipulation systems such as the Viking and Surveyor soil scoops, the Russian Lunakhods, and the Shuttle Remote Manipulator System (RMS), these new space robots will augment astronaut on-orbit capabilities and extend virtual human presence to lunar and planetary surfaces.

  6. Development of a Guide-Dog Robot: Leading and Recognizing a Visually-Handicapped Person using a LRF

    NASA Astrophysics Data System (ADS)

    Saegusa, Shozo; Yasuda, Yuya; Uratani, Yoshitaka; Tanaka, Eiichirou; Makino, Toshiaki; Chang, Jen-Yuan (James

    A conceptual Guide-Dog Robot prototype to lead and to recognize a visually-handicapped person is developed and discussed in this paper. Key design features of the robot include a movable platform, human-machine interface, and capability of avoiding obstacles. A novel algorithm enabling the robot to recognize its follower's locomotion as well to detect the center of corridor is proposed and implemented in the robot's human-machine interface. It is demonstrated that using the proposed novel leading and detecting algorithm along with a rapid scanning laser range finder (LRF) sensor, the robot is able to successfully and effectively lead a human walking in corridor without running into obstacles such as trash boxes or adjacent walking persons. Position and trajectory of the robot leading a human maneuvering in common corridor environment are measured by an independent LRF observer. The measured data suggest that the proposed algorithms are effective to enable the robot to detect center of the corridor and position of its follower correctly.

  7. Concept and design philosophy of a person-accompanying robot

    NASA Astrophysics Data System (ADS)

    Mizoguchi, Hiroshi; Shigehara, Takaomi; Goto, Yoshiyasu; Hidai, Ken-ichi; Mishima, Taketoshi

    1999-01-01

    This paper proposes a person accompanying robot as a novel human collaborative robot. The person accompanying robot is such legged mobile robot that is possible to follow the person utilizing its vision. towards future aging society, human collaboration and human support are required as novel applications of robots. Such human collaborative robots share the same space with humans. But conventional robots are isolated from humans and lack the capability to observe humans. Study on human observing function of robot is crucial to realize novel robot such as service and pet robot. To collaborate and support humans properly human collaborative robot must have capability to observe and recognize humans. Study on human observing function of robot is crucial to realize novel robot such as service and pet robot. The authors are currently implementing a prototype of the proposed accompanying robot.As a base for the human observing function of the prototype robot, we have realized face tracking utilizing skin color extraction and correlation based tracking. We also develop a method for the robot to pick up human voice clearly and remotely by utilizing microphone arrays. Results of these preliminary study suggest feasibility of the proposed robot.

  8. Autonomous Realtime Threat-Hunting Robot (ARTHR

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

    INL

    2008-05-29

    Idaho National Laboratory researchers developed an intelligent plug-and-play robot payload that transforms commercial robots into effective first responders for deadly chemical, radiological and explosive threats.

  9. Autonomous Realtime Threat-Hunting Robot (ARTHR

    ScienceCinema

    INL

    2017-12-09

    Idaho National Laboratory researchers developed an intelligent plug-and-play robot payload that transforms commercial robots into effective first responders for deadly chemical, radiological and explosive threats.

  10. Biologically-Inspired Micro-Robots. Volume 1. Robots Based on Crickets

    DTIC Science & Technology

    2005-05-19

    is limited to flat, smooth surfaces. Another group of specialized robots that use piezoelectric actuators are the pipe robots developed at Shanghai...along in a pipe . They were developed for very specific terrain that allows them to take advantage of the small strain, high- frequency motion of...the valve. To open the valve you apply a current to the TiNi, heating it and pulling the plunger up, opening the valve. All three components are

  11. Development of automation and robotics for space via computer graphic simulation methods

    NASA Technical Reports Server (NTRS)

    Fernandez, Ken

    1988-01-01

    A robot simulation system, has been developed to perform automation and robotics system design studies. The system uses a procedure-oriented solid modeling language to produce a model of the robotic mechanism. The simulator generates the kinematics, inverse kinematics, dynamics, control, and real-time graphic simulations needed to evaluate the performance of the model. Simulation examples are presented, including simulation of the Space Station and the design of telerobotics for the Orbital Maneuvering Vehicle.

  12. A new technique for robot vision in autonomous underwater vehicles using the color shift in underwater imaging

    DTIC Science & Technology

    2017-06-01

    FOR ROBOT VISION IN AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING by Jake A. Jones June 2017 Thesis Advisor...June 2017 3. REPORT TYPE AND DATES COVERED Master’s thesis 4. TITLE AND SUBTITLE A NEW TECHNIQUE FOR ROBOT VISION IN AUTONOMOUS UNDERWATER...Developing a technique for underwater robot vision is a key factor in establishing autonomy in underwater vehicles. A new technique is developed and

  13. An intelligent robotic aid system for human services

    NASA Technical Reports Server (NTRS)

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

    1994-01-01

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

  14. [Application of advanced engineering technologies to medical and rehabilitation fields].

    PubMed

    Fujie, Masakatsu

    2012-07-01

    The words "Japan syndrome" can now be heard increasingly through the media. Facing the approach of an elderly-dominated society, Robot Technology(RT)is expected to play an important role in Japan's medical, rehabilitation, and daily support fields. The industrial robot, which has already spread through the world with a great success in certain isolated environments by doing the work which is specialized for the thing with the hard known characteristic. By comparison, in the medical and rehabilitation fields, environments always change intricately, and individual characteristics differ from person to person. Furthermore, there are many times when a robot will be asked to directly interact with people. Moreover, the relation between a robot and a person turns into a relation which should involve contact flexibly according to a situation, and also turns into a relation which should avoid contact. In our group, we have so far developed practical rehabilitation and medical robots which can respond to difficulties such as environmental change and individual specificity. In developing rehabilitation robots, it is especially important to consider intuitive operability and individual differences. In addition, in developing medical robots, it is important to replace the experimental knowledge of surgeons to the mechanical quantitative properties. In this article, we introduce some practical examples of rehabilitation and medical robots interweaving several detailed technologies we have so far developed.

  15. Robotic invasion of operation theatre and associated anaesthetic issues: A review.

    PubMed

    Kakar, Prem N; Das, Jyotirmoy; Roy, Preeti Mittal; Pant, Vijaya

    2011-01-01

    A Robotic device is a powered, computer controlled manipulator with artificial sensing that can be reprogrammed to move and position tools to carry out a wide range of tasks. Robots and Telemanipulators were first developed by the National Aeronautics and Space Administration (NASA) for use in space exploration. Today's medical robotic systems were the brainchild of the United States Department of Defence's desire to decrease war casualties with the development of 'telerobotic surgery'. The 'master-slave' telemanipulator concept was developed for medical use in the early 1990s where the surgeon's (master) manual movements were transmitted to end-effector (slave) instruments at a remote site. Since then, the field of surgical robotics has undergone massive transformation and the future is even brighter. As expected, any new technique brings with it risks and the possibility of technical difficulties. The person who bears the brunt of complications or benefit from a new invention is the 'Patient'. Anaesthesiologists as always must do their part to be the patient's 'best man' in the perioperative period. We should be prepared for screening and selection of patients in a different perspective keeping in mind the steep learning curves of surgeons, long surgical hours, extreme patient positioning and other previously unknown anaesthetic challenges brought about by the surgical robot. In this article we have tried to track the development of surgical robots and consider the unique anaesthetic issues related to robot assisted surgeries.

  16. Supporting the joint warfighter by development, training, and fielding of man-portable UGVs

    NASA Astrophysics Data System (ADS)

    Ebert, Kenneth A.; Stratton, Benjamin V.

    2005-05-01

    The Robotic Systems Pool (RSP), sponsored by the Joint Robotics Program (JRP), is an inventory of small robotic systems, payloads, and components intended to expedite the development and integration of technology into effective, supportable, fielded robotic assets. The RSP loans systems to multiple users including the military, first-responders, research organizations, and academia. These users provide feedback in their specific domain, accelerating research and development improvements of robotic systems, which in turn allow the joint warfighter to benefit from such changes more quickly than from traditional acquisition cycles. Over the past year, RSP assets have been used extensively for pre-deployment operator and field training of joint Explosive Ordnance Disposal (EOD) teams, and for the training of Navy Reservist repair technicians. These Reservists are part of the Robotic Systems Combat Support Platoon (RSCSP), attached to Space and Naval Warfare Systems Center, San Diego. The RSCSP maintains and repairs RSP assets and provides deployable technical support for users of robotic systems. Currently, a small team from the RSCSP is deployed at Camp Victory repairing and maintaining man-portable unmanned ground vehicles (UGVs) used by joint EOD teams in Operation Iraqi Freedom. The focus of this paper is to elaborate on the RSP and RSCSP and their role as invaluable resources for spiral development in the robotics community by gaining first-hand technical feedback from the warfighter and other users.

  17. Development of wrist rehabilitation robot and interface system.

    PubMed

    Yamamoto, Ikuo; Matsui, Miki; Inagawa, Naohiro; Hachisuka, Kenji; Wada, Futoshi; Hachisuka, Akiko; Saeki, Satoru

    2015-01-01

    The authors have developed a practical wrist rehabilitation robot for hemiplegic patients. It consists of a mechanical rotation unit, sensor, grip, and computer system. A myoelectric sensor is used to monitor the extensor carpi radialis longus/brevis muscle and flexor carpi radialis muscle activity during training. The training robot can provoke training through myoelectric sensors, a biological signal detector and processor in advance, so that patients can undergo effective training of extention and flexion in an excited condition. In addition, both-wrist system has been developed for mirror effect training, which is the most effective function of the system, so that autonomous training using both wrists is possible. Furthermore, a user-friendly screen interface with easily recognizable touch panels has been developed to give effective training for patients. The developed robot is small size and easy to carry. The developed aspiring interface system is effective to motivate the training of patients. The effectiveness of the robot system has been verified in hospital trails.

  18. Dismantling of Loop-Type Channel Equipment of MR Reactor in NRC 'Kurchatov Institute' - 13040

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

    Volkov, Victor; Danilovich, Alexey; Zverkov, Yuri

    2013-07-01

    In 2009 the project of decommissioning of MR and RTF reactors was developed and approved by the Expert Authority of the Russian Federation (Gosexpertiza). The main objective of the decommissioning works identified in this project: - complete dismantling of reactor equipment and systems; - decontamination of reactor premises and site in accordance with the established sanitary and hygienic standards. At the preparatory stage (2008-2010) of the project the following works were executed: loop-type channels' dismantling in the storage pool; experimental fuel assemblies' removal from spent fuel repositories in the central hall; spent fuel assembly removal from the liquid-metal-cooled loop-type channelmore » of the reactor core and its placement into the SNF repository; and reconstruction of engineering support systems to the extent necessary for reactor decommissioning. The project assumes three main phases of dismantling and decontamination: - dismantling of equipment/pipelines of cooling circuits and loop-type channels, and auxiliary reactor equipment (2011-2012); - dismantling of equipment in underground reactor premises and of both MR and RTF in-vessel devices (2013-2014); - decontamination of reactor premises; rehabilitation of the reactor site; final radiation survey of reactor premises, loop-type channels and site; and issuance of the regulatory authorities' de-registration statement (2015). In 2011 the decommissioning license for the two reactors was received and direct MR decommissioning activities started. MR primary pipelines and loop-type facilities situated in the underground reactor hall were dismantled. Works were also launched to dismantle the loop-type channels' equipment in underground reactor premises; reactor buildings were reconstructed to allow removal of dismantled equipment; and the MR/RTF decommissioning sequence was identified. In autumn 2011 - spring 2012 results of dismantling activities performed are: - equipment from underground rooms (No. 66, 66A, 66B, 72, 64, 63) - as well as from water and gas loop corridors - was dismantled, with the total radwaste weight of 53 tons and the total removed activity of 5,0 x 10{sup 10} Bq; - loop-type channel equipment from underground reactor hall premises was dismantled; - 93 loop-type channels were characterized, chopped and removed, with radwaste of 2.6 x 10{sup 13} Bq ({sup 60}Co) and 1.5 x 10{sup 13} Bq ({sup 137}Cs) total activity removed from the reactor pool, fragmented and packaged. Some of this waste was placed into the high-level waste (HLW) repository of the Center. Dismantling works were executed with application of remotely operated mechanisms, which promoted decrease of radiation impact on the personnel. The average individual dose for the personnel was 1.9 mSv/year in 2011, and the collective dose is estimated as 0.0605 man x Sv/year. (authors)« less

  19. 10 CFR 40.36 - Financial assurance and recordkeeping for decommissioning.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 10 Energy 1 2010-01-01 2010-01-01 false Financial assurance and recordkeeping for decommissioning. 40.36 Section 40.36 Energy NUCLEAR REGULATORY COMMISSION DOMESTIC LICENSING OF SOURCE MATERIAL... licenses authorizing the receipt, possession, and use of source material for uranium or thorium milling, or...

  20. 76 FR 53358 - Proposed Amendment of Class E Airspace; Centerville, IA

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-08-26

    ...-0830; Airspace Docket No. 11-ACE-16] Proposed Amendment of Class E Airspace; Centerville, IA AGENCY... action proposes to amend Class E airspace at Centerville, IA. Decommissioning of the Centerville non... Centerville Municipal Airport, Centerville, IA. Decommissioning of the Centerville NDB and cancellation of the...

  1. 30 CFR 285.907 - How will MMS process my decommissioning application?

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 30 Mineral Resources 2 2010-07-01 2010-07-01 false How will MMS process my decommissioning application? 285.907 Section 285.907 Mineral Resources MINERALS MANAGEMENT SERVICE, DEPARTMENT OF THE INTERIOR OFFSHORE RENEWABLE ENERGY ALTERNATE USES OF EXISTING FACILITIES ON THE OUTER CONTINENTAL SHELF...

  2. 30 CFR 285.908 - What must I include in my decommissioning notice?

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 30 Mineral Resources 2 2010-07-01 2010-07-01 false What must I include in my decommissioning notice? 285.908 Section 285.908 Mineral Resources MINERALS MANAGEMENT SERVICE, DEPARTMENT OF THE INTERIOR OFFSHORE RENEWABLE ENERGY ALTERNATE USES OF EXISTING FACILITIES ON THE OUTER CONTINENTAL SHELF...

  3. 30 CFR 285.905 - When must I submit my decommissioning application?

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 30 Mineral Resources 2 2010-07-01 2010-07-01 false When must I submit my decommissioning application? 285.905 Section 285.905 Mineral Resources MINERALS MANAGEMENT SERVICE, DEPARTMENT OF THE INTERIOR OFFSHORE RENEWABLE ENERGY ALTERNATE USES OF EXISTING FACILITIES ON THE OUTER CONTINENTAL SHELF...

  4. 30 CFR 285.902 - What are the general requirements for decommissioning for facilities authorized under my SAP, COP...

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... BUREAU OF OCEAN ENERGY MANAGEMENT, REGULATION, AND ENFORCEMENT, DEPARTMENT OF THE INTERIOR OFFSHORE RENEWABLE ENERGY ALTERNATE USES OF EXISTING FACILITIES ON THE OUTER CONTINENTAL SHELF Decommissioning... facilities, projects, cables, pipelines, and obstructions; (2) Clear the seafloor of all obstructions created...

  5. 10 CFR Appendix D to Subpart D of... - Classes of Actions That Normally Require EISs

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... average megawatts or more over a 12 month period. This applies to power marketing operations and to siting... Systems D2. Siting/construction/operation/decommissioning of nuclear fuel reprocessing facilities D3. Siting/construction/operation/decommissioning of uranium enrichment facilities D4. Siting/construction...

  6. 10 CFR 50.75 - Reporting and recordkeeping for decommissioning planning.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 10 Energy 1 2011-01-01 2011-01-01 false Reporting and recordkeeping for decommissioning planning. 50.75 Section 50.75 Energy NUCLEAR REGULATORY COMMISSION DOMESTIC LICENSING OF PRODUCTION AND..., Office of Nuclear Material Safety and Safeguards, as applicable, at least 30 working days before the date...

  7. 30 CFR 285.908 - What must I include in my decommissioning notice?

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 30 Mineral Resources 2 2011-07-01 2011-07-01 false What must I include in my decommissioning notice? 285.908 Section 285.908 Mineral Resources BUREAU OF OCEAN ENERGY MANAGEMENT, REGULATION, AND... the impacts previously identified and evaluated; (2) Require any additional Federal permits; or (3...

  8. 75 FR 8147 - Notice of Consideration of Amendment Request for Decommissioning of Analytical Bio-Chemistry...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-02-23

    ... NUCLEAR REGULATORY COMMISSION [Docket No. 030-05154; NRC-2010-0056] Notice of Consideration of Amendment Request for Decommissioning of Analytical Bio-Chemistry Laboratories, Inc. Sanitary Lagoon... license amendment to Byproduct Material License No. 24- 13365-01 issued to Analytical Bio-Chemistry...

  9. Northrop TRIGA facility decommissioning plan versus actual results

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

    Gardner, F.W.

    1986-01-01

    This paper compares the TRIGA facility decontamination and decommissioning (D and D) plan to the actual results and discusses key areas where operational activities were impacted by the final US Nuclear Regulatory Commission approved D and D plan. A discussion of fuel transport, release criteria, and release survey plans is included.

  10. Space station automation: the role of robotics and artificial intelligence (Invited Paper)

    NASA Astrophysics Data System (ADS)

    Park, W. T.; Firschein, O.

    1985-12-01

    Automation of the space station is necessary to make more effective use of the crew, to carry out repairs that are impractical or dangerous, and to monitor and control the many space station subsystems. Intelligent robotics and expert systems play a strong role in automation, and both disciplines are highly dependent on a common artificial intelligence (Al) technology base. The AI technology base provides the reasoning and planning capabilities needed in robotic tasks, such as perception of the environment and planning a path to a goal, and in expert systems tasks, such as control of subsystems and maintenance of equipment. This paper describes automation concepts for the space station, the specific robotic and expert systems required to attain this automation, and the research and development required. It also presents an evolutionary development plan that leads to fully automatic mobile robots for servicing satellites. Finally, we indicate the sequence of demonstrations and the research and development needed to confirm the automation capabilities. We emphasize that advanced robotics requires AI, and that to advance, AI needs the "real-world" problems provided by robotics.

  11. Korea's Robotland: Merging Intelligent Robotics Strategic Policy, Business Development, and Fun

    NASA Astrophysics Data System (ADS)

    Jun, Eugene

    South Korea specializes in the design and manufacture of service and entertainment robots for consumer use. The government of South Korea considers robotics one of the countries main growth industries. To boost robot industry and accelerate the social demand of intelligent robots, a theme park titled ’Robotland’ is being constructed in Korea near Incheon International airport, the gateway to Seoul. A total of 700 million will be invested by the Korean government, the city of Incheon and financial investors. The 760,000 square meter site (188 acres) will contains a number of displays featuring famous robots and robot characters from around the world. Ultra-modern rides and amusement facilities, exhibition halls, shopping arcades and hotels, featuring advanced ubiquitous environments, will also be included in the park. In addition, Robotland will contain R&D centers and educational institutions. The Grand opening is scheduled in 2012. In this session, attendees will hear of development plans for Robotland, along with the social and business issues that are driving the development of the world’s first theme park.

  12. 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.

  13. Decommissioning ALARA programs Cintichem decommissioning experience

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

    Adler, J.J.; LaGuardia, T.S.

    1995-03-01

    The Cintichem facility, originally the Union Carbide Nuclear Company (UCNC) Research Center, consisted primarily of a 5MW pool type reactor linked via a four-foot-wide by twelve-foot-deep water-filled canal to a bank of five adjacent hot cells. Shortly after going into operations in the early 1960s, the facility`s operations expanded to provide various reactor-based products and services to a multitude of research, production, medical, and education groups. From 1968 through 1972, the facility developed a process of separating isotopes from mixed fission products generated by irradiating enriched Uranium target capsules. By the late 1970s, 20 to 30 capsules were being processedmore » weekly, with about 200,000 curies being produced per week. Several isotopes such as Mo{sup 99}, I{sup 131}, and Xe{sup 133} were being extracted for medical use.« less

  14. Nuclear Rocket Test Facility Decommissioning Including Controlled Explosive Demolition of a Neutron-Activated Shield Wall

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

    Michael Kruzic

    2007-09-01

    Located in Area 25 of the Nevada Test Site, the Test Cell A Facility was used in the 1960s for the testing of nuclear rocket engines, as part of the Nuclear Rocket Development Program. The facility was decontaminated and decommissioned (D&D) in 2005 using the Streamlined Approach For Environmental Restoration (SAFER) process, under the Federal Facilities Agreement and Consent Order (FFACO). Utilities and process piping were verified void of contents, hazardous materials were removed, concrete with removable contamination decontaminated, large sections mechanically demolished, and the remaining five-foot, five-inch thick radiologically-activated reinforced concrete shield wall demolished using open-air controlled explosive demolitionmore » (CED). CED of the shield wall was closely monitored and resulted in no radiological exposure or atmospheric release.« less

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

    PubMed

    Ando, Noriyasu; Emoto, Shuhei; Kanzaki, Ryohei

    2016-12-19

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

  16. Pilot study on effectiveness of simulation for surgical robot design using manipulability.

    PubMed

    Kawamura, Kazuya; Seno, Hiroto; Kobayashi, Yo; Fujie, Masakatsu G

    2011-01-01

    Medical technology has advanced with the introduction of robot technology, which facilitates some traditional medical treatments that previously were very difficult. However, at present, surgical robots are used in limited medical domains because these robots are designed using only data obtained from adult patients and are not suitable for targets having different properties, such as children. Therefore, surgical robots are required to perform specific functions for each clinical case. In addition, the robots must exhibit sufficiently high movability and operability for each case. In the present study, we focused on evaluation of the mechanism and configuration of a surgical robot by a simulation based on movability and operability during an operation. We previously proposed the development of a simulator system that reproduces the conditions of a robot and a target in a virtual patient body to evaluate the operability of the surgeon during an operation. In the present paper, we describe a simple experiment to verify the condition of the surgical assisting robot during an operation. In this experiment, the operation imitating suturing motion was carried out in a virtual workspace, and the surgical robot was evaluated based on manipulability as an indicator of movability. As the result, it was confirmed that the robot was controlled with low manipulability of the left side manipulator during the suturing. This simulation system can verify the less movable condition of a robot before developing an actual robot. Our results show the effectiveness of this proposed simulation system.

  17. Intelligent robot control using an adaptive critic with a task control center and dynamic database

    NASA Astrophysics Data System (ADS)

    Hall, E. L.; Ghaffari, M.; Liao, X.; Alhaj Ali, S. M.

    2006-10-01

    The purpose of this paper is to describe the design, development and simulation of a real time controller for an intelligent, vision guided robot. The use of a creative controller that can select its own tasks is demonstrated. This creative controller uses a task control center and dynamic database. The dynamic database stores both global environmental information and local information including the kinematic and dynamic models of the intelligent robot. The kinematic model is very useful for position control and simulations. However, models of the dynamics of the manipulators are needed for tracking control of the robot's motions. Such models are also necessary for sizing the actuators, tuning the controller, and achieving superior performance. Simulations of various control designs are shown. Also, much of the model has also been used for the actual prototype Bearcat Cub mobile robot. This vision guided robot was designed for the Intelligent Ground Vehicle Contest. A novel feature of the proposed approach is that the method is applicable to both robot arm manipulators and robot bases such as wheeled mobile robots. This generality should encourage the development of more mobile robots with manipulator capability since both models can be easily stored in the dynamic database. The multi task controller also permits wide applications. The use of manipulators and mobile bases with a high-level control are potentially useful for space exploration, certain rescue robots, defense robots, and medical robotics aids.

  18. Mathematical model for adaptive control system of ASEA robot at Kennedy Space Center

    NASA Technical Reports Server (NTRS)

    Zia, Omar

    1989-01-01

    The dynamic properties and the mathematical model for the adaptive control of the robotic system presently under investigation at Robotic Application and Development Laboratory at Kennedy Space Center are discussed. NASA is currently investigating the use of robotic manipulators for mating and demating of fuel lines to the Space Shuttle Vehicle prior to launch. The Robotic system used as a testbed for this purpose is an ASEA IRB-90 industrial robot with adaptive control capabilities. The system was tested and it's performance with respect to stability was improved by using an analogue force controller. The objective of this research project is to determine the mathematical model of the system operating under force feedback control with varying dynamic internal perturbation in order to provide continuous stable operation under variable load conditions. A series of lumped parameter models are developed. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics.

  19. Recent trends for practical rehabilitation robotics, current challenges and the future.

    PubMed

    Yakub, Fitri; Md Khudzari, Ahmad Zahran; Mori, Yasuchika

    2014-03-01

    This paper presents and studies various selected literature primarily from conference proceedings, journals and clinical tests of the robotic, mechatronics, neurology and biomedical engineering of rehabilitation robotic systems. The present paper focuses of three main categories: types of rehabilitation robots, key technologies with current issues and future challenges. Literature on fundamental research with some examples from commercialized robots and new robot development projects related to rehabilitation are introduced. Most of the commercialized robots presented in this paper are well known especially to robotics engineers and scholars in the robotic field, but are less known to humanities scholars. The field of rehabilitation robot research is expanding; in light of this, some of the current issues and future challenges in rehabilitation robot engineering are recalled, examined and clarified with future directions. This paper is concluded with some recommendations with respect to rehabilitation robots.

  20. A CLIPS-based expert system for the evaluation and selection of robots

    NASA Technical Reports Server (NTRS)

    Nour, Mohamed A.; Offodile, Felix O.; Madey, Gregory R.

    1994-01-01

    This paper describes the development of a prototype expert system for intelligent selection of robots for manufacturing operations. The paper first develops a comprehensive, three-stage process to model the robot selection problem. The decisions involved in this model easily lend themselves to an expert system application. A rule-based system, based on the selection model, is developed using the CLIPS expert system shell. Data about actual robots is used to test the performance of the prototype system. Further extensions to the rule-based system for data handling and interfacing capabilities are suggested.

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