A Petri net controller for distributed hierarchical systems. Thesis

NASA Technical Reports Server (NTRS)

Peck, Joseph E.

1991-01-01

The solutions to a wide variety of problems are often best organized as a distributed hierarchical system. These systems can be graphically and mathematically modeled through the use of Petri nets, which can easily represent synchronous, asynchronous, and concurrent operations. This thesis presents a controller implementation based on Petri nets and a design methodology for the interconnection of distributed Petri nets. Two case studies are presented in which the controller operates a physical system, the Center for Intelligent Robotic Systems for Space Exploration Dual Arm Robotic Testbed.

A robotic system for researching social integration in honeybees.

PubMed

Griparić, Karlo; Haus, Tomislav; Miklić, Damjan; Polić, Marsela; Bogdan, Stjepan

2017-01-01

In this paper, we present a novel robotic system developed for researching collective social mechanisms in a biohybrid society of robots and honeybees. The potential for distributed coordination, as observed in nature in many different animal species, has caused an increased interest in collective behaviour research in recent years because of its applicability to a broad spectrum of technical systems requiring robust multi-agent control. One of the main problems is understanding the mechanisms driving the emergence of collective behaviour of social animals. With the aim of deepening the knowledge in this field, we have designed a multi-robot system capable of interacting with honeybees within an experimental arena. The final product, stationary autonomous robot units, designed by specificaly considering the physical, sensorimotor and behavioral characteristics of the honeybees (lat. Apis mallifera), are equipped with sensing, actuating, computation, and communication capabilities that enable the measurement of relevant environmental states, such as honeybee presence, and adequate response to the measurements by generating heat, vibration and airflow. The coordination among robots in the developed system is established using distributed controllers. The cooperation between the two different types of collective systems is realized by means of a consensus algorithm, enabling the honeybees and the robots to achieve a common objective. Presented results, obtained within ASSISIbf project, show successful cooperation indicating its potential for future applications.

Embedded diagnostic, prognostic, and health management system and method for a humanoid robot

NASA Technical Reports Server (NTRS)

Barajas, Leandro G. (Inventor); Strawser, Philip A (Inventor); Sanders, Adam M (Inventor); Reiland, Matthew J (Inventor)

2013-01-01

A robotic system includes a humanoid robot with multiple compliant joints, each moveable using one or more of the actuators, and having sensors for measuring control and feedback data. A distributed controller controls the joints and other integrated system components over multiple high-speed communication networks. Diagnostic, prognostic, and health management (DPHM) modules are embedded within the robot at the various control levels. Each DPHM module measures, controls, and records DPHM data for the respective control level/connected device in a location that is accessible over the networks or via an external device. A method of controlling the robot includes embedding a plurality of the DPHM modules within multiple control levels of the distributed controller, using the DPHM modules to measure DPHM data within each of the control levels, and recording the DPHM data in a location that is accessible over at least one of the high-speed communication networks.

Connectivity-Preserving Approach for Distributed Adaptive Synchronized Tracking of Networked Uncertain Nonholonomic Mobile Robots.

PubMed

Yoo, Sung Jin; Park, Bong Seok

2017-09-06

This paper addresses a distributed connectivity-preserving synchronized tracking problem of multiple uncertain nonholonomic mobile robots with limited communication ranges. The information of the time-varying leader robot is assumed to be accessible to only a small fraction of follower robots. The main contribution of this paper is to introduce a new distributed nonlinear error surface for dealing with both the synchronized tracking and the preservation of the initial connectivity patterns among nonholonomic robots. Based on this nonlinear error surface, the recursive design methodology is presented to construct the approximation-based local adaptive tracking scheme at the robot dynamic level. Furthermore, a technical lemma is established to analyze the stability and the connectivity preservation of the total closed-loop control system in the Lyapunov sense. An example is provided to illustrate the effectiveness of the proposed methodology.

Market-Based Coordination and Auditing Mechanisms for Self-Interested Multi-Robot Systems

ERIC Educational Resources Information Center

Ham, MyungJoo

2009-01-01

We propose market-based coordinated task allocation mechanisms, which allocate complex tasks that require synchronized and collaborated services of multiple robot agents to robot agents, and an auditing mechanism, which ensures proper behaviors of robot agents by verifying inter-agent activities, for self-interested, fully-distributed, and…

Research on Self-Reconfigurable Modular Robot System

NASA Astrophysics Data System (ADS)

Kamimura, Akiya; Murata, Satoshi; Yoshida, Eiichi; Kurokawa, Haruhisa; Tomita, Kohji; Kokaji, Shigeru

Growing complexity of artificial systems arises reliability and flexibility issues of large system design. Robots are not exception of this, and many attempts have been made to realize reliable and flexible robot systems. Distributed modular composition of robot is one of the most effective approaches to attain such abilities and has a potential to adapt to its surroundings by changing its configuration autonomously according to information of surroundings. In this paper, we propose a novel three-dimensional self-reconfigurable robotic module. Each module has a very simple structure that consists of two semi-cylindrical parts connected by a link. The modular system is capable of not only building static structure but also generating dynamic robotic motion. We present details of the mechanical/electrical design of the developed module and its control system architecture. Experiments using ten modules with centralized control demonstrate robotic configuration change, crawling locomotion and three types of quadruped locomotion.

Telerobotic management system: coordinating multiple human operators with multiple robots

NASA Astrophysics Data System (ADS)

King, Jamie W.; Pretty, Raymond; Brothers, Brendan; Gosine, Raymond G.

2003-09-01

This paper describes an application called the Tele-robotic management system (TMS) for coordinating multiple operators with multiple robots for applications such as underground mining. TMS utilizes several graphical interfaces to allow the user to define a partially ordered plan for multiple robots. This plan is then converted to a Petri net for execution and monitoring. TMS uses a distributed framework to allow robots and operators to easily integrate with the applications. This framework allows robots and operators to join the network and advertise their capabilities through services. TMS then decides whether tasks should be dispatched to a robot or a remote operator based on the services offered by the robots and operators.

Petri net controllers for distributed robotic systems

NASA Technical Reports Server (NTRS)

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

1992-01-01

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

micROS: a morphable, intelligent and collective robot operating system.

PubMed

Yang, Xuejun; Dai, Huadong; Yi, Xiaodong; Wang, Yanzhen; Yang, Shaowu; Zhang, Bo; Wang, Zhiyuan; Zhou, Yun; Peng, Xuefeng

2016-01-01

Robots are developing in much the same way that personal computers did 40 years ago, and robot operating system is the critical basis. Current robot software is mainly designed for individual robots. We present in this paper the design of micROS, a morphable, intelligent and collective robot operating system for future collective and collaborative robots. We first present the architecture of micROS, including the distributed architecture for collective robot system as a whole and the layered architecture for every single node. We then present the design of autonomous behavior management based on the observe-orient-decide-act cognitive behavior model and the design of collective intelligence including collective perception, collective cognition, collective game and collective dynamics. We also give the design of morphable resource management, which first categorizes robot resources into physical, information, cognitive and social domains, and then achieve morphability based on self-adaptive software technology. We finally deploy micROS on NuBot football robots and achieve significant improvement in real-time performance.

Gait performance and foot pressure distribution during wearable robot-assisted gait in elderly adults.

PubMed

Lee, Su-Hyun; Lee, Hwang-Jae; Chang, Won Hyuk; Choi, Byung-Ok; Lee, Jusuk; Kim, Jeonghun; Ryu, Gyu-Ha; Kim, Yun-Hee

2017-11-28

A robotic exoskeleton device is an intelligent system designed to improve gait performance and quality of life for the wearer. Robotic technology has developed rapidly in recent years, and several robot-assisted gait devices were developed to enhance gait function and activities of daily living in elderly adults and patients with gait disorders. In this study, we investigated the effects of the Gait-enhancing Mechatronic System (GEMS), a new wearable robotic hip-assist device developed by Samsung Electronics Co, Ltd., Korea, on gait performance and foot pressure distribution in elderly adults. Thirty elderly adults who had no neurological or musculoskeletal abnormalities affecting gait participated in this study. A three-dimensional (3D) motion capture system, surface electromyography and the F-Scan system were used to collect data on spatiotemporal gait parameters, muscle activity and foot pressure distribution under three conditions: free gait without robot assistance (FG), robot-assisted gait with zero torque (RAG-Z) and robot-assisted gait (RAG). We found increased gait speed, cadence, stride length and single support time in the RAG condition. Reduced rectus femoris and medial gastrocnemius muscle activity throughout the terminal stance phase and reduced effort of the medial gastrocnemius muscle throughout the pre-swing phase were also observed in the RAG condition. In addition, walking with the assistance of GEMS resulted in a significant increase in foot pressure distribution, specifically in maximum force and peak pressure of the total foot, medial masks, anterior masks and posterior masks. The results of the present study reveal that GEMS may present an alternative way of restoring age-related changes in gait such as gait instability with muscle weakness, reduced step force and lower foot pressure in elderly adults. In addition, GEMS improved gait performance by improving push-off power and walking speed and reducing muscle activity in the lower extremities. NCT02843828 .

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

A salient region detection model combining background distribution measure for indoor robots.

PubMed

Li, Na; Xu, Hui; Wang, Zhenhua; Sun, Lining; Chen, Guodong

2017-01-01

Vision system plays an important role in the field of indoor robot. Saliency detection methods, capturing regions that are perceived as important, are used to improve the performance of visual perception system. Most of state-of-the-art methods for saliency detection, performing outstandingly in natural images, cannot work in complicated indoor environment. Therefore, we propose a new method comprised of graph-based RGB-D segmentation, primary saliency measure, background distribution measure, and combination. Besides, region roundness is proposed to describe the compactness of a region to measure background distribution more robustly. To validate the proposed approach, eleven influential methods are compared on the DSD and ECSSD dataset. Moreover, we build a mobile robot platform for application in an actual environment, and design three different kinds of experimental constructions that are different viewpoints, illumination variations and partial occlusions. Experimental results demonstrate that our model outperforms existing methods and is useful for indoor mobile robots.

Theseus: tethered distributed robotics (TDR)

NASA Astrophysics Data System (ADS)

Digney, Bruce L.; Penzes, Steven G.

2003-09-01

The Defence Research and Development Canada's (DRDC) Autonomous Intelligent System's program conducts research to increase the independence and effectiveness of military vehicles and systems. DRDC-Suffield's Autonomous Land Systems (ALS) is creating new concept vehicles and autonomous control systems for use in outdoor areas, urban streets, urban interiors and urban subspaces. This paper will first give an overview of the ALS program and then give a specific description of the work being done for mobility in urban subspaces. Discussed will be the Theseus: Thethered Distributed Robotics (TDR) system, which will not only manage an unavoidable tether but exploit it for mobility and navigation. Also discussed will be the prototype robot called the Hedgehog, which uses conformal 3D mobility in ducts, sewer pipes, collapsed rubble voids and chimneys.

Power And Propulsion Systems For Mobile Robotic Applications

NASA Astrophysics Data System (ADS)

Layuan, Li; Haiming, Zou

1987-02-01

Choosing the best power and propulsion systems for mobile robotic land vehicle applications requires consideration of technologies. The electric power requirements for onboard electronic and auxiliary equipment include 110/220 volt 60 Hz ac power as well as low voltage dc power. Weight and power are saved by either direct dc power distribution, or high frequency (20 kHz) ac power distribution. Vehicle control functions are performed electronically but steering, braking and traction power may be distributed electrically, mechanically or by fluid (hydraulic) means. Electric drive is practical, even for small vehicles, provided that advanced electric motors are used. Such electric motors have demonstrated power densities of 3.1 kilowatts per kilogram with devices in the 15 kilowatt range. Electric motors have a lower torque, but higher power density as compared to hydraulic or mechanical transmission systems. Power density being comparable, electric drives were selected to best meet the other requirements for robotic vehicles. Two robotic vehicle propulsion system designs are described to illustrate the implementation of electric drive over a vehicle size range of 250-7500 kilograms.

Simulation of robotic courier deliveries in hospital distribution services.

PubMed

Rossetti, M D; Felder, R A; Kumar, A

2000-06-01

Flexible automation in the form of robotic couriers holds the potential for decreasing operating costs while improving delivery performance in hospital delivery systems. This paper discusses the use of simulation modeling to analyze the costs, benefits, and performance tradeoffs related to the installation and use of a fleet of robotic couriers within hospital facilities. The results of this study enable a better understanding of the delivery and transportation requirements of hospitals. Specifically, we examine how a fleet of robotic couriers can meet the performance requirements of the system while maintaining cost efficiency. We show that for clinical laboratory and pharmaceutical deliveries a fleet of six robotic couriers can achieve significant performance gains in terms of turn-around time and delivery variability over the current system of three human couriers per shift or 13 FTEs. Specifically, the simulation results indicate that using robotic couriers to perform both clinical laboratory and pharmaceutical deliveries would result in a 34% decrease in turn-around time, and a 38% decrease in delivery variability. In addition, a break-even analysis indicated that a positive net present value occurs if nine or more FTEs are eliminated with a resulting ROI of 12%. This analysis demonstrates that simulation can be a valuable tool for examining health care distribution services and indicates that a robotic courier system may yield significant benefits over a traditional courier system in this application.

Integration of Hierarchical Goal Network Planning and Autonomous Path Planning

DTIC Science & Technology

2016-03-01

Conference on Robotics and Automation (ICRA); 2010 May 3– 7; Anchorage, AK. p. 2902–2908. 4. Ayan NF, Kuter U, Yaman F, Goldman RP. Hotride...DISTRIBUTION/AVAILABILITY STATEMENT Approved for public release; distribution unlimited. 13. SUPPLEMENTARY NOTES 14. ABSTRACT Automated planning has...world robotic systems. This report documents work to integrate a hierarchical goal network planning algorithm with low-level path planning. The system

Formalization, implementation, and modeling of institutional controllers for distributed robotic systems.

PubMed

Pereira, José N; Silva, Porfírio; Lima, Pedro U; Martinoli, Alcherio

2014-01-01

The work described is part of a long term program of introducing institutional robotics, a novel framework for the coordination of robot teams that stems from institutional economics concepts. Under the framework, institutions are cumulative sets of persistent artificial modifications made to the environment or to the internal mechanisms of a subset of agents, thought to be functional for the collective order. In this article we introduce a formal model of institutional controllers based on Petri nets. We define executable Petri nets-an extension of Petri nets that takes into account robot actions and sensing-to design, program, and execute institutional controllers. We use a generalized stochastic Petri net view of the robot team controlled by the institutional controllers to model and analyze the stochastic performance of the resulting distributed robotic system. The ability of our formalism to replicate results obtained using other approaches is assessed through realistic simulations of up to 40 e-puck robots. In particular, we model a robot swarm and its institutional controller with the goal of maintaining wireless connectivity, and successfully compare our model predictions and simulation results with previously reported results, obtained by using finite state automaton models and controllers.

Controlling multiple security robots in a warehouse environment

NASA Technical Reports Server (NTRS)

Everett, H. R.; Gilbreath, G. A.; Heath-Pastore, T. A.; Laird, R. T.

1994-01-01

The Naval Command Control and Ocean Surveillance Center (NCCOSC) has developed an architecture to provide coordinated control of multiple autonomous vehicles from a single host console. The multiple robot host architecture (MRHA) is a distributed multiprocessing system that can be expanded to accommodate as many as 32 robots. The initial application will employ eight Cybermotion K2A Navmaster robots configured as remote security platforms in support of the Mobile Detection Assessment and Response System (MDARS) Program. This paper discusses developmental testing of the MRHA in an operational warehouse environment, with two actual and four simulated robotic platforms.

Sensing Pressure Distribution on a Lower-Limb Exoskeleton Physical Human-Machine Interface

PubMed Central

De Rossi, Stefano Marco Maria; Vitiello, Nicola; Lenzi, Tommaso; Ronsse, Renaud; Koopman, Bram; Persichetti, Alessandro; Vecchi, Fabrizio; Ijspeert, Auke Jan; van der Kooij, Herman; Carrozza, Maria Chiara

2011-01-01

A sensory apparatus to monitor pressure distribution on the physical human-robot interface of lower-limb exoskeletons is presented. We propose a distributed measure of the interaction pressure over the whole contact area between the user and the machine as an alternative measurement method of human-robot interaction. To obtain this measure, an array of newly-developed soft silicone pressure sensors is inserted between the limb and the mechanical interface that connects the robot to the user, in direct contact with the wearer’s skin. Compared to state-of-the-art measures, the advantage of this approach is that it allows for a distributed measure of the interaction pressure, which could be useful for the assessment of safety and comfort of human-robot interaction. This paper presents the new sensor and its characterization, and the development of an interaction measurement apparatus, which is applied to a lower-limb rehabilitation robot. The system is calibrated, and an example its use during a prototypical gait training task is presented. PMID:22346574

Distributed finite-time trajectory tracking control for multiple nonholonomic mobile robots with uncertainties and external disturbances

NASA Astrophysics Data System (ADS)

Ou, Meiying; Sun, Haibin; Gu, Shengwei; Zhang, Yangyi

2017-11-01

This paper investigates the distributed finite-time trajectory tracking control for a group of nonholonomic mobile robots with time-varying unknown parameters and external disturbances. At first, the tracking error system is derived for each mobile robot with the aid of a global invertible transformation, which consists of two subsystems, one is a first-order subsystem and another is a second-order subsystem. Then, the two subsystems are studied respectively, and finite-time disturbance observers are proposed for each robot to estimate the external disturbances. Meanwhile, distributed finite-time tracking controllers are developed for each mobile robot such that all states of each robot can reach the desired value in finite time, where the desired reference value is assumed to be the trajectory of a virtual leader whose information is available to only a subset of the followers, and the followers are assumed to have only local interaction. The effectiveness of the theoretical results is finally illustrated by numerical simulations.

Review: Milking robot utilization, a successful precision livestock farming evolution.

PubMed

John, A J; Clark, C E F; Freeman, M J; Kerrisk, K L; Garcia, S C; Halachmi, I

2016-09-01

Automatic milking systems (AMS), one of the earliest precision livestock farming developments, have revolutionized dairy farming around the world. While robots control the milking process, there have also been numerous changes to how the whole farm system is managed. Milking is no longer performed in defined sessions; rather, the cow can now choose when to be milked in AMS, allowing milking to be distributed throughout a 24 h period. Despite this ability, there has been little attention given to milking robot utilization across 24 h. In order to formulate relevant research questions and improve farm AMS management there is a need to determine the current knowledge gaps regarding the distribution of robot utilization. Feed, animal and management factors and their interplay on levels of milking robot utilization across 24 h for both indoor and pasture-based systems are here reviewed. The impact of the timing, type and quantity of feed offered and their interaction with the distance of feed from the parlour; herd social dynamics, climate and various other management factors on robot utilization through 24 h are provided. This novel review draws together both the opportunities and challenges that exist for farm management to use these factors to improved system efficiency and those that exist for further research.

First Annual Workshop on Space Operations Automation and Robotics (SOAR 87)

NASA Technical Reports Server (NTRS)

Griffin, Sandy (Editor)

1987-01-01

Several topics relative to automation and robotics technology are discussed. Automation of checkout, ground support, and logistics; automated software development; man-machine interfaces; neural networks; systems engineering and distributed/parallel processing architectures; and artificial intelligence/expert systems are among the topics covered.

Distributed and Modular CAN-Based Architecture for Hardware Control and Sensor Data Integration

PubMed Central

Losada, Diego P.; Fernández, Joaquín L.; Paz, Enrique; Sanz, Rafael

2017-01-01

In this article, we present a CAN-based (Controller Area Network) distributed system to integrate sensors, actuators and hardware controllers in a mobile robot platform. With this work, we provide a robust, simple, flexible and open system to make hardware elements or subsystems communicate, that can be applied to different robots or mobile platforms. Hardware modules can be connected to or disconnected from the CAN bus while the system is working. It has been tested in our mobile robot Rato, based on a RWI (Real World Interface) mobile platform, to replace the old sensor and motor controllers. It has also been used in the design of two new robots: BellBot and WatchBot. Currently, our hardware integration architecture supports different sensors, actuators and control subsystems, such as motor controllers and inertial measurement units. The integration architecture was tested and compared with other solutions through a performance analysis of relevant parameters such as transmission efficiency and bandwidth usage. The results conclude that the proposed solution implements a lightweight communication protocol for mobile robot applications that avoids transmission delays and overhead. PMID:28467381

Distributed and Modular CAN-Based Architecture for Hardware Control and Sensor Data Integration.

PubMed

Losada, Diego P; Fernández, Joaquín L; Paz, Enrique; Sanz, Rafael

2017-05-03

In this article, we present a CAN-based (Controller Area Network) distributed system to integrate sensors, actuators and hardware controllers in a mobile robot platform. With this work, we provide a robust, simple, flexible and open system to make hardware elements or subsystems communicate, that can be applied to different robots or mobile platforms. Hardware modules can be connected to or disconnected from the CAN bus while the system is working. It has been tested in our mobile robot Rato, based on a RWI (Real World Interface) mobile platform, to replace the old sensor and motor controllers. It has also been used in the design of two new robots: BellBot and WatchBot. Currently, our hardware integration architecture supports different sensors, actuators and control subsystems, such as motor controllers and inertial measurement units. The integration architecture was tested and compared with other solutions through a performance analysis of relevant parameters such as transmission efficiency and bandwidth usage. The results conclude that the proposed solution implements a lightweight communication protocol for mobile robot applications that avoids transmission delays and overhead.

Distributed cooperating processes in a mobile robot control system

NASA Technical Reports Server (NTRS)

Skillman, Thomas L., Jr.

1988-01-01

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

A New Simulation Framework for Autonomy in Robotic Missions

NASA Technical Reports Server (NTRS)

Flueckiger, Lorenzo; Neukom, Christian

2003-01-01

Autonomy is a key factor in remote robotic exploration and there is significant activity addressing the application of autonomy to remote robots. It has become increasingly important to have simulation tools available to test the autonomy algorithms. While indus1;rial robotics benefits from a variety of high quality simulation tools, researchers developing autonomous software are still dependent primarily on block-world simulations. The Mission Simulation Facility I(MSF) project addresses this shortcoming with a simulation toolkit that will enable developers of autonomous control systems to test their system s performance against a set of integrated, standardized simulations of NASA mission scenarios. MSF provides a distributed architecture that connects the autonomous system to a set of simulated components replacing the robot hardware and its environment.

Distributed Automated Medical Robotics to Improve Medical Field Operations

DTIC Science & Technology

2010-04-01

ROBOT PATIENT INTERFACE Robotic trauma diagnosis and intervention is performed using instruments and tools mounted on the end of a robotic manipulator...manipulator to respond quickly enough to accommodate for motion due to high inertia and inaccuracies caused by low stiffness at the tool point. Ultrasonic...program was licensed to Intuitive Surgical, Inc and subsequently morphed into the daVinci surgical system. The daVinci has been widely applied in

DMPL: Programming and Verifying Distributed Mixed Synchrony and Mixed Critical Software

DTIC Science & Technology

2016-06-16

ference on Intelligent Robots and Systems, pages 1495–1502, Chicago, IL, September 2014. IEEE Computer Society. [21] MADARA website . http://sourceforge.net...4.6 DMPL program for 5- robot reconnaissance example 19 Figure 5.1 Generated C++ code for example DMPL program. In practice, local vari- ables (lines...examples of collision avoidance in multi- robot systems. CMU/SEI-2016-TR-005 | SOFTWARE ENGINEERING INSTITUTE | Carnegie Mellon University vii

Convergent method of and apparatus for distributed control of robotic systems using fuzzy logic

DOEpatents

Feddema, John T.; Driessen, Brian J.; Kwok, Kwan S.

2002-01-01

A decentralized fuzzy logic control system for one vehicle or for multiple robotic vehicles provides a way to control each vehicle to converge on a goal without collisions between vehicles or collisions with other obstacles, in the presence of noisy input measurements and a limited amount of compute-power and memory on board each robotic vehicle. The fuzzy controller demonstrates improved robustness to noise relative to an exact controller.

Mergeable nervous systems for robots.

PubMed

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

2017-09-12

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

New Trends in Robotics for Agriculture: Integration and Assessment of a Real Fleet of Robots

PubMed Central

Gonzalez-de-Soto, Mariano; Pajares, Gonzalo

2014-01-01

Computer-based sensors and actuators such as global positioning systems, machine vision, and laser-based sensors have progressively been incorporated into mobile robots with the aim of configuring autonomous systems capable of shifting operator activities in agricultural tasks. However, the incorporation of many electronic systems into a robot impairs its reliability and increases its cost. Hardware minimization, as well as software minimization and ease of integration, is essential to obtain feasible robotic systems. A step forward in the application of automatic equipment in agriculture is the use of fleets of robots, in which a number of specialized robots collaborate to accomplish one or several agricultural tasks. This paper strives to develop a system architecture for both individual robots and robots working in fleets to improve reliability, decrease complexity and costs, and permit the integration of software from different developers. Several solutions are studied, from a fully distributed to a whole integrated architecture in which a central computer runs all processes. This work also studies diverse topologies for controlling fleets of robots and advances other prospective topologies. The architecture presented in this paper is being successfully applied in the RHEA fleet, which comprises three ground mobile units based on a commercial tractor chassis. PMID:25143976

New trends in robotics for agriculture: integration and assessment of a real fleet of robots.

PubMed

Emmi, Luis; Gonzalez-de-Soto, Mariano; Pajares, Gonzalo; Gonzalez-de-Santos, Pablo

2014-01-01

Computer-based sensors and actuators such as global positioning systems, machine vision, and laser-based sensors have progressively been incorporated into mobile robots with the aim of configuring autonomous systems capable of shifting operator activities in agricultural tasks. However, the incorporation of many electronic systems into a robot impairs its reliability and increases its cost. Hardware minimization, as well as software minimization and ease of integration, is essential to obtain feasible robotic systems. A step forward in the application of automatic equipment in agriculture is the use of fleets of robots, in which a number of specialized robots collaborate to accomplish one or several agricultural tasks. This paper strives to develop a system architecture for both individual robots and robots working in fleets to improve reliability, decrease complexity and costs, and permit the integration of software from different developers. Several solutions are studied, from a fully distributed to a whole integrated architecture in which a central computer runs all processes. This work also studies diverse topologies for controlling fleets of robots and advances other prospective topologies. The architecture presented in this paper is being successfully applied in the RHEA fleet, which comprises three ground mobile units based on a commercial tractor chassis.

Sensor fusion V; Proceedings of the Meeting, Boston, MA, Nov. 15-17, 1992

NASA Technical Reports Server (NTRS)

Schenker, Paul S. (Editor)

1992-01-01

Topics addressed include 3D object perception, human-machine interface in multisensor systems, sensor fusion architecture, fusion of multiple and distributed sensors, interface and decision models for sensor fusion, computational networks, simple sensing for complex action, multisensor-based control, and metrology and calibration of multisensor systems. Particular attention is given to controlling 3D objects by sketching 2D views, the graphical simulation and animation environment for flexible structure robots, designing robotic systems from sensorimotor modules, cylindrical object reconstruction from a sequence of images, an accurate estimation of surface properties by integrating information using Bayesian networks, an adaptive fusion model for a distributed detection system, multiple concurrent object descriptions in support of autonomous navigation, robot control with multiple sensors and heuristic knowledge, and optical array detectors for image sensors calibration. (No individual items are abstracted in this volume)

Rendezvous with connectivity preservation for multi-robot systems with an unknown leader

NASA Astrophysics Data System (ADS)

Dong, Yi

2018-02-01

This paper studies the leader-following rendezvous problem with connectivity preservation for multi-agent systems composed of uncertain multi-robot systems subject to external disturbances and an unknown leader, both of which are generated by a so-called exosystem with parametric uncertainty. By combining internal model design, potential function technique and adaptive control, two distributed control strategies are proposed to maintain the connectivity of the communication network, to achieve the asymptotic tracking of all the followers to the output of the unknown leader system, as well as to reject unknown external disturbances. It is also worth to mention that the uncertain parameters in the multi-robot systems and exosystem are further allowed to belong to unknown and unbounded sets when applying the second fully distributed control law containing a dynamic gain inspired by high-gain adaptive control or self-tuning regulator.

Distributed proximity sensor system having embedded light emitters and detectors

NASA Technical Reports Server (NTRS)

Lee, Sukhan (Inventor)

1990-01-01

A distributed proximity sensor system is provided with multiple photosensitive devices and light emitters embedded on the surface of a robot hand or other moving member in a geometric pattern. By distributing sensors and emitters capable of detecting distances and angles to points on the surface of an object from known points in the geometric pattern, information is obtained for achieving noncontacting shape and distance perception, i.e., for automatic determination of the object's shape, direction and distance, as well as the orientation of the object relative to the robot hand or other moving member.

Flocking of multiple mobile robots based on backstepping.

PubMed

Dong, Wenjie

2011-04-01

This paper considers the flocking of multiple nonholonomic wheeled mobile robots. Distributed controllers are proposed with the aid of backstepping techniques, results from graph theory, and singular perturbation theory. The proposed controllers can make the states of a group of robots converge to a desired geometric pattern whose centroid moves along a desired trajectory under the condition that the desired trajectory is available to a portion of the group of robots. Since communication delay is inevitable in distributed control, its effect on the performance of the closed-loop systems is analyzed. It is shown that the proposed controllers work well if communication delays are constant. To show effectiveness of the proposed controllers, simulation results are included.

Generic, scalable and decentralized fault detection for robot swarms.

PubMed

Tarapore, Danesh; Christensen, Anders Lyhne; Timmis, Jon

2017-01-01

Robot swarms are large-scale multirobot systems with decentralized control which means that each robot acts based only on local perception and on local coordination with neighboring robots. The decentralized approach to control confers number of potential benefits. In particular, inherent scalability and robustness are often highlighted as key distinguishing features of robot swarms compared with systems that rely on traditional approaches to multirobot coordination. It has, however, been shown that swarm robotics systems are not always fault tolerant. To realize the robustness potential of robot swarms, it is thus essential to give systems the capacity to actively detect and accommodate faults. In this paper, we present a generic fault-detection system for robot swarms. We show how robots with limited and imperfect sensing capabilities are able to observe and classify the behavior of one another. In order to achieve this, the underlying classifier is an immune system-inspired algorithm that learns to distinguish between normal behavior and abnormal behavior online. Through a series of experiments, we systematically assess the performance of our approach in a detailed simulation environment. In particular, we analyze our system's capacity to correctly detect robots with faults, false positive rates, performance in a foraging task in which each robot exhibits a composite behavior, and performance under perturbations of the task environment. Results show that our generic fault-detection system is robust, that it is able to detect faults in a timely manner, and that it achieves a low false positive rate. The developed fault-detection system has the potential to enable long-term autonomy for robust multirobot systems, thus increasing the usefulness of robots for a diverse repertoire of upcoming applications in the area of distributed intelligent automation.

Self-Organized Multi-Camera Network for a Fast and Easy Deployment of Ubiquitous Robots in Unknown Environments

PubMed Central

Canedo-Rodriguez, Adrián; Iglesias, Roberto; Regueiro, Carlos V.; Alvarez-Santos, Victor; Pardo, Xose Manuel

2013-01-01

To bring cutting edge robotics from research centres to social environments, the robotics community must start providing affordable solutions: the costs must be reduced and the quality and usefulness of the robot services must be enhanced. Unfortunately, nowadays the deployment of robots and the adaptation of their services to new environments are tasks that usually require several days of expert work. With this in view, we present a multi-agent system made up of intelligent cameras and autonomous robots, which is easy and fast to deploy in different environments. The cameras will enhance the robot perceptions and allow them to react to situations that require their services. Additionally, the cameras will support the movement of the robots. This will enable our robots to navigate even when there are not maps available. The deployment of our system does not require expertise and can be done in a short period of time, since neither software nor hardware tuning is needed. Every system task is automatic, distributed and based on self-organization processes. Our system is scalable, robust, and flexible to the environment. We carried out several real world experiments, which show the good performance of our proposal. PMID:23271604

Self-organized multi-camera network for a fast and easy deployment of ubiquitous robots in unknown environments.

PubMed

Canedo-Rodriguez, Adrián; Iglesias, Roberto; Regueiro, Carlos V; Alvarez-Santos, Victor; Pardo, Xose Manuel

2012-12-27

To bring cutting edge robotics from research centres to social environments, the robotics community must start providing affordable solutions: the costs must be reduced and the quality and usefulness of the robot services must be enhanced. Unfortunately, nowadays the deployment of robots and the adaptation of their services to new environments are tasks that usually require several days of expert work. With this in view, we present a multi-agent system made up of intelligent cameras and autonomous robots, which is easy and fast to deploy in different environments. The cameras will enhance the robot perceptions and allow them to react to situations that require their services. Additionally, the cameras will support the movement of the robots. This will enable our robots to navigate even when there are not maps available. The deployment of our system does not require expertise and can be done in a short period of time, since neither software nor hardware tuning is needed. Every system task is automatic, distributed and based on self-organization processes. Our system is scalable, robust, and flexible to the environment. We carried out several real world experiments, which show the good performance of our proposal.

Concurrent planning and execution for a walking robot

NASA Astrophysics Data System (ADS)

Simmons, Reid

1990-07-01

The Planetary Rover project is developing the Ambler, a novel legged robot, and an autonomous software system for walking the Ambler over rough terrain. As part of the project, we have developed a system that integrates perception, planning, and real-time control to navigate a single leg of the robot through complex obstacle courses. The system is integrated using the Task Control Architecture (TCA), a general-purpose set of utilities for building and controlling distributed mobile robot systems. The walking system, as originally implemented, utilized a sequential sense-plan-act control cycle. This report describes efforts to improve the performance of the system by concurrently planning and executing steps. Concurrency was achieved by modifying the existing sequential system to utilize TCA features such as resource management, monitors, temporal constraints, and hierarchical task trees. Performance was increased in excess of 30 percent with only a relatively modest effort to convert and test the system. The results lend support to the utility of using TCA to develop complex mobile robot systems.

Machine intelligence and autonomy for aerospace systems

NASA Technical Reports Server (NTRS)

Heer, Ewald (Editor); Lum, Henry (Editor)

1988-01-01

The present volume discusses progress toward intelligent robot systems in aerospace applications, NASA Space Program automation and robotics efforts, the supervisory control of telerobotics in space, machine intelligence and crew/vehicle interfaces, expert-system terms and building tools, and knowledge-acquisition for autonomous systems. Also discussed are methods for validation of knowledge-based systems, a design methodology for knowledge-based management systems, knowledge-based simulation for aerospace systems, knowledge-based diagnosis, planning and scheduling methods in AI, the treatment of uncertainty in AI, vision-sensing techniques in aerospace applications, image-understanding techniques, tactile sensing for robots, distributed sensor integration, and the control of articulated and deformable space structures.

A fault-tolerant intelligent robotic control system

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Tso, Kam Sing

1993-01-01

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

Validation of a robotic balance system for investigations in the control of human standing balance.

PubMed

Luu, Billy L; Huryn, Thomas P; Van der Loos, H F Machiel; Croft, Elizabeth A; Blouin, Jean-Sébastien

2011-08-01

Previous studies have shown that human body sway during standing approximates the mechanics of an inverted pendulum pivoted at the ankle joints. In this study, a robotic balance system incorporating a Stewart platform base was developed to provide a new technique to investigate the neural mechanisms involved in standing balance. The robotic system, programmed with the mechanics of an inverted pendulum, controlled the motion of the body in response to a change in applied ankle torque. The ability of the robotic system to replicate the load properties of standing was validated by comparing the load stiffness generated when subjects balanced their own body to the robot's mechanical load programmed with a low (concentrated-mass model) or high (distributed-mass model) inertia. The results show that static load stiffness was not significantly (p > 0.05) different for standing and the robotic system. Dynamic load stiffness for the robotic system increased with the frequency of sway, as predicted by the mechanics of an inverted pendulum, with the higher inertia being accurately matched to the load properties of the human body. This robotic balance system accurately replicated the physical model of standing and represents a useful tool to simulate the dynamics of a standing person. © 2011 IEEE

Generic, scalable and decentralized fault detection for robot swarms

PubMed Central

Christensen, Anders Lyhne; Timmis, Jon

2017-01-01

Robot swarms are large-scale multirobot systems with decentralized control which means that each robot acts based only on local perception and on local coordination with neighboring robots. The decentralized approach to control confers number of potential benefits. In particular, inherent scalability and robustness are often highlighted as key distinguishing features of robot swarms compared with systems that rely on traditional approaches to multirobot coordination. It has, however, been shown that swarm robotics systems are not always fault tolerant. To realize the robustness potential of robot swarms, it is thus essential to give systems the capacity to actively detect and accommodate faults. In this paper, we present a generic fault-detection system for robot swarms. We show how robots with limited and imperfect sensing capabilities are able to observe and classify the behavior of one another. In order to achieve this, the underlying classifier is an immune system-inspired algorithm that learns to distinguish between normal behavior and abnormal behavior online. Through a series of experiments, we systematically assess the performance of our approach in a detailed simulation environment. In particular, we analyze our system’s capacity to correctly detect robots with faults, false positive rates, performance in a foraging task in which each robot exhibits a composite behavior, and performance under perturbations of the task environment. Results show that our generic fault-detection system is robust, that it is able to detect faults in a timely manner, and that it achieves a low false positive rate. The developed fault-detection system has the potential to enable long-term autonomy for robust multirobot systems, thus increasing the usefulness of robots for a diverse repertoire of upcoming applications in the area of distributed intelligent automation. PMID:28806756

TARDEC Overview: Ground Vehicle Power and Mobility

DTIC Science & Technology

2011-02-04

Fuel & Water Distribution • Force Sustainment • Construction Equipment • Bridging • Assured Mobility Systems Robotics • TALON • PackBot • MARCbot...Equipment • Mechanical Countermine Equipment • Tactical Bridging Intelligent Ground Systems • Autonomous Robotics Systems • Safe Operations...Test Cell • Hybrid Electric Reconfigurable Moveable Integration Testbed (HERMIT) • Electro-chemical Analysis and Research Lab (EARL) • Battery Lab • Air

Design challenges and methodology for developing new integrated circuits for the robotics exploration of the solar system

NASA Technical Reports Server (NTRS)

Mojarradi, Mohammad M.; Kolawa, Elizabeth; Blalock, Benjamin; Johnson, R. Wayne

2005-01-01

Next generation space-based robotics systems will be constructed using distributed architectures where electronics capable of working in the extreme environments of the planets of the solar system are integrated with the sensors and actuators in plug-and-play modules and are connected through common multiple redundant data and power buses.

System of launchable mesoscale robots for distributed sensing

NASA Astrophysics Data System (ADS)

Yesin, Kemal B.; Nelson, Bradley J.; Papanikolopoulos, Nikolaos P.; Voyles, Richard M.; Krantz, Donald G.

1999-08-01

A system of launchable miniature mobile robots with various sensors as payload is used for distributed sensing. The robots are projected to areas of interest either by a robot launcher or by a human operator using standard equipment. A wireless communication network is used to exchange information with the robots. Payloads such as a MEMS sensor for vibration detection, a microphone and an active video module are used mainly to detect humans. The video camera provides live images through a wireless video transmitter and a pan-tilt mechanism expands the effective field of view. There are strict restrictions on total volume and power consumption of the payloads due to the small size of the robot. Emerging technologies are used to address these restrictions. In this paper, we describe the use of microrobotic technologies to develop active vision modules for the mesoscale robot. A single chip CMOS video sensor is used along with a miniature lens that is approximately the size of a sugar cube. The device consumes 100 mW; about 5 times less than the power consumption of a comparable CCD camera. Miniature gearmotors 3 mm in diameter are used to drive the pan-tilt mechanism. A miniature video transmitter is used to transmit analog video signals from the camera.

Dynamical network interactions in distributed control of robots

NASA Astrophysics Data System (ADS)

Buscarino, Arturo; Fortuna, Luigi; Frasca, Mattia; Rizzo, Alessandro

2006-03-01

In this paper the dynamical network model of the interactions within a group of mobile robots is investigated and proposed as a possible strategy for controlling the robots without central coordination. Motivated by the results of the analysis of our simple model, we show that the system performance in the presence of noise can be improved by including long-range connections between the robots. Finally, a suitable strategy based on this model to control exploration and transport is introduced.

a Distributed Online 3D-LIDAR Mapping System

NASA Astrophysics Data System (ADS)

Schmiemann, J.; Harms, H.; Schattenberg, J.; Becker, M.; Batzdorfer, S.; Frerichs, L.

2017-08-01

In this paper we are presenting work done within the joint development project ANKommEn. It deals with the development of a highly automated robotic system for fast data acquisition in civil disaster scenarios. One of the main requirements is a versatile system, hence the concept embraces a machine cluster consisting of multiple fundamentally different robotic platforms. To cover a large variety of potential deployment scenarios, neither the absolute amount of participants, nor the precise individual layout of each platform shall be restricted within the conceptual design. Thus leading to a variety of special requirements, like onboard and online data processing capabilities for each individual participant and efficient data exchange structures, allowing reliable random data exchange between individual robots. We are demonstrating the functionality and performance by means of a distributed mapping system evaluated with real world data in a challenging urban and rural indoor/outdoor scenarios.

Optimization design of wireless charging system for autonomous robots based on magnetic resonance coupling

NASA Astrophysics Data System (ADS)

Wang, Junhua; Hu, Meilin; Cai, Changsong; Lin, Zhongzheng; Li, Liang; Fang, Zhijian

2018-05-01

Wireless charging is the key technology to realize real autonomy of mobile robots. As the core part of wireless power transfer system, coupling mechanism including coupling coils and compensation topology is analyzed and optimized through simulations, to achieve stable and practical wireless charging suitable for ordinary robots. Multi-layer coil structure, especially double-layer coil is explored and selected to greatly enhance coupling performance, while shape of ferrite shielding goes through distributed optimization to guarantee coil fault tolerance and cost effectiveness. On the basis of optimized coils, primary compensation topology is analyzed to adopt composite LCL compensation, to stabilize operations of the primary side under variations of mutual inductance. Experimental results show the optimized system does make sense for wireless charging application for robots based on magnetic resonance coupling, to realize long-term autonomy of robots.

Systems and Methods for Gravity-Independent Gripping and Drilling

NASA Technical Reports Server (NTRS)

Thatte, Nitish (Inventor); King, Jonathan P. (Inventor); Parness, Aaron (Inventor); Frost, Matthew A. (Inventor)

2016-01-01

Systems and methods for gravity independent gripping and drilling are described. The gripping device can also comprise a drill or sampling devices for drilling and/or sampling in microgravity environments, or on vertical or inverted surfaces in environments where gravity is present. A robotic system can be connected with the gripping and drilling devices via an ankle interface adapted to distribute the forces realized from the robotic system.

I want what you've got: Cross platform portabiity and human-robot interaction assessment.

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

Julie L. Marble, Ph.D.*.; Douglas A. Few; David J. Bruemmer

2005-08-01

Human-robot interaction is a subtle, yet critical aspect of design that must be assessed during the development of both the human-robot interface and robot behaviors if the human-robot team is to effectively meet the complexities of the task environment. Testing not only ensures that the system can successfully achieve the tasks for which it was designed, but more importantly, usability testing allows the designers to understand how humans and robots can, will, and should work together to optimize workload distribution. A lack of human-centered robot interface design, the rigidity of sensor configuration, and the platform-specific nature of research robot developmentmore » environments are a few factors preventing robotic solutions from reaching functional utility in real word environments. Often the difficult engineering challenge of implementing adroit reactive behavior, reliable communication, trustworthy autonomy that combines with system transparency and usable interfaces is overlooked in favor of other research aims. The result is that many robotic systems never reach a level of functional utility necessary even to evaluate the efficacy of the basic system, much less result in a system that can be used in a critical, real-world environment. Further, because control architectures and interfaces are often platform specific, it is difficult or even impossible to make usability comparisons between them. This paper discusses the challenges inherent to the conduct of human factors testing of variable autonomy control architectures and across platforms within a complex, real-world environment. It discusses the need to compare behaviors, architectures, and interfaces within a structured environment that contains challenging real-world tasks, and the implications for system acceptance and trust of autonomous robotic systems for how humans and robots interact in true interactive teams.« less

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.

Soft Dielectric Elastomer Oscillators Driving Bioinspired Robots.

PubMed

Henke, E-F Markus; Schlatter, Samuel; Anderson, Iain A

2017-12-01

Entirely soft robots with animal-like behavior and integrated artificial nervous systems will open up totally new perspectives and applications. To produce them, we must integrate control and actuation in the same soft structure. Soft actuators (e.g., pneumatic and hydraulic) exist but electronics are hard and stiff and remotely located. We present novel soft, electronics-free dielectric elastomer oscillators, which are able to drive bioinspired robots. As a demonstrator, we present a robot that mimics the crawling motion of the caterpillar, with an integrated artificial nervous system, soft actuators and without any conventional stiff electronic parts. Supplied with an external DC voltage, the robot autonomously generates all signals that are necessary to drive its dielectric elastomer actuators, and it translates an in-plane electromechanical oscillation into a crawling locomotion movement. Therefore, all functional and supporting parts are made of polymer materials and carbon. Besides the basic design of this first electronic-free, biomimetic robot, we present prospects to control the general behavior of such robots. The absence of conventional stiff electronics and the exclusive use of polymeric materials will provide a large step toward real animal-like robots, compliant human machine interfaces, and a new class of distributed, neuron-like internal control for robotic systems.

Biobotic insect swarm based sensor networks for search and rescue

NASA Astrophysics Data System (ADS)

Bozkurt, Alper; Lobaton, Edgar; Sichitiu, Mihail; Hedrick, Tyson; Latif, Tahmid; Dirafzoon, Alireza; Whitmire, Eric; Verderber, Alexander; Marin, Juan; Xiong, Hong

2014-06-01

The potential benefits of distributed robotics systems in applications requiring situational awareness, such as search-and-rescue in emergency situations, are indisputable. The efficiency of such systems requires robotic agents capable of coping with uncertain and dynamic environmental conditions. For example, after an earthquake, a tremendous effort is spent for days to reach to surviving victims where robotic swarms or other distributed robotic systems might play a great role in achieving this faster. However, current technology falls short of offering centimeter scale mobile agents that can function effectively under such conditions. Insects, the inspiration of many robotic swarms, exhibit an unmatched ability to navigate through such environments while successfully maintaining control and stability. We have benefitted from recent developments in neural engineering and neuromuscular stimulation research to fuse the locomotory advantages of insects with the latest developments in wireless networking technologies to enable biobotic insect agents to function as search-and-rescue agents. Our research efforts towards this goal include development of biobot electronic backpack technologies, establishment of biobot tracking testbeds to evaluate locomotion control efficiency, investigation of biobotic control strategies with Gromphadorhina portentosa cockroaches and Manduca sexta moths, establishment of a localization and communication infrastructure, modeling and controlling collective motion by learning deterministic and stochastic motion models, topological motion modeling based on these models, and the development of a swarm robotic platform to be used as a testbed for our algorithms.

Robot-Beacon Distributed Range-Only SLAM for Resource-Constrained Operation

PubMed Central

Torres-González, Arturo; Martínez-de Dios, Jose Ramiro; Ollero, Anibal

2017-01-01

This work deals with robot-sensor network cooperation where sensor nodes (beacons) are used as landmarks for Range-Only (RO) Simultaneous Localization and Mapping (SLAM). Most existing RO-SLAM techniques consider beacons as passive devices disregarding the sensing, computational and communication capabilities with which they are actually endowed. SLAM is a resource-demanding task. Besides the technological constraints of the robot and beacons, many applications impose further resource consumption limitations. This paper presents a scalable distributed RO-SLAM scheme for resource-constrained operation. It is capable of exploiting robot-beacon cooperation in order to improve SLAM accuracy while meeting a given resource consumption bound expressed as the maximum number of measurements that are integrated in SLAM per iteration. The proposed scheme combines a Sparse Extended Information Filter (SEIF) SLAM method, in which each beacon gathers and integrates robot-beacon and inter-beacon measurements, and a distributed information-driven measurement allocation tool that dynamically selects the measurements that are integrated in SLAM, balancing uncertainty improvement and resource consumption. The scheme adopts a robot-beacon distributed approach in which each beacon participates in the selection, gathering and integration in SLAM of robot-beacon and inter-beacon measurements, resulting in significant estimation accuracies, resource-consumption efficiency and scalability. It has been integrated in an octorotor Unmanned Aerial System (UAS) and evaluated in 3D SLAM outdoor experiments. The experimental results obtained show its performance and robustness and evidence its advantages over existing methods. PMID:28425946

Robot-Beacon Distributed Range-Only SLAM for Resource-Constrained Operation.

PubMed

Torres-González, Arturo; Martínez-de Dios, Jose Ramiro; Ollero, Anibal

2017-04-20

This work deals with robot-sensor network cooperation where sensor nodes (beacons) are used as landmarks for Range-Only (RO) Simultaneous Localization and Mapping (SLAM). Most existing RO-SLAM techniques consider beacons as passive devices disregarding the sensing, computational and communication capabilities with which they are actually endowed. SLAM is a resource-demanding task. Besides the technological constraints of the robot and beacons, many applications impose further resource consumption limitations. This paper presents a scalable distributed RO-SLAM scheme for resource-constrained operation. It is capable of exploiting robot-beacon cooperation in order to improve SLAM accuracy while meeting a given resource consumption bound expressed as the maximum number of measurements that are integrated in SLAM per iteration. The proposed scheme combines a Sparse Extended Information Filter (SEIF) SLAM method, in which each beacon gathers and integrates robot-beacon and inter-beacon measurements, and a distributed information-driven measurement allocation tool that dynamically selects the measurements that are integrated in SLAM, balancing uncertainty improvement and resource consumption. The scheme adopts a robot-beacon distributed approach in which each beacon participates in the selection, gathering and integration in SLAM of robot-beacon and inter-beacon measurements, resulting in significant estimation accuracies, resource-consumption efficiency and scalability. It has been integrated in an octorotor Unmanned Aerial System (UAS) and evaluated in 3D SLAM outdoor experiments. The experimental results obtained show its performance and robustness and evidence its advantages over existing methods.

A problem of optimal control and observation for distributed homogeneous multi-agent system

NASA Astrophysics Data System (ADS)

Kruglikov, Sergey V.

2017-12-01

The paper considers the implementation of a algorithm for controlling a distributed complex of several mobile multi-robots. The concept of a unified information space of the controlling system is applied. The presented information and mathematical models of participants and obstacles, as real agents, and goals and scenarios, as virtual agents, create the base forming the algorithmic and software background for computer decision support system. The controlling scheme assumes the indirect management of the robotic team on the basis of optimal control and observation problem predicting intellectual behavior in a dynamic, hostile environment. A basic content problem is a compound cargo transportation by a group of participants in the case of a distributed control scheme in the terrain with multiple obstacles.

Olfaction and Hearing Based Mobile Robot Navigation for Odor/Sound Source Search

PubMed Central

Song, Kai; Liu, Qi; Wang, Qi

2011-01-01

Bionic technology provides a new elicitation for mobile robot navigation since it explores the way to imitate biological senses. In the present study, the challenging problem was how to fuse different biological senses and guide distributed robots to cooperate with each other for target searching. This paper integrates smell, hearing and touch to design an odor/sound tracking multi-robot system. The olfactory robot tracks the chemical odor plume step by step through information fusion from gas sensors and airflow sensors, while two hearing robots localize the sound source by time delay estimation (TDE) and the geometrical position of microphone array. Furthermore, this paper presents a heading direction based mobile robot navigation algorithm, by which the robot can automatically and stably adjust its velocity and direction according to the deviation between the current heading direction measured by magnetoresistive sensor and the expected heading direction acquired through the odor/sound localization strategies. Simultaneously, one robot can communicate with the other robots via a wireless sensor network (WSN). Experimental results show that the olfactory robot can pinpoint the odor source within the distance of 2 m, while two hearing robots can quickly localize and track the olfactory robot in 2 min. The devised multi-robot system can achieve target search with a considerable success ratio and high stability. PMID:22319401

Determining the feasibility of robotic courier medication delivery in a hospital setting.

PubMed

Kirschling, Thomas E; Rough, Steve S; Ludwig, Brad C

2009-10-01

The feasibility of a robotic courier medication delivery system in a hospital setting was evaluated. Robotic couriers are self-guiding, self-propelling robots that navigate hallways and elevators to pull an attached or integrated cart to a desired destination. A robotic courier medication delivery system was pilot tested in two patient care units at a 471-bed tertiary care academic medical center. Average transit for the existing manual medication delivery system hourly hospitalwide deliveries was 32.6 minutes. Of this, 32.3% was spent at the patient care unit and 67.7% was spent pushing the cart or waiting at an elevator. The robotic courier medication delivery system traveled as fast as 1.65 ft/sec (52% speed of the manual system) in the absence of barriers but moved at an average rate of 0.84 ft/sec (26% speed of the manual system) during the study, primarily due to hallway obstacles. The robotic courier was utilized for 50% of the possible 1750 runs during the 125-day pilot due to technical or situational difficulties. Of the runs that were sent, a total of 79 runs failed, yielding an overall 91% success rate. During the final month of the pilot, the success rate reached 95.6%. Customer satisfaction with the traditional manual delivery system was high. Customer satisfaction with deliveries declined after implementation of the robotic courier medication distribution system. A robotic courier medication delivery system was implemented but was not expanded beyond the two pilot units. Challenges of implementation included ongoing education on how to properly move the robotic courier and keeping the hallway clear of obstacles.

Human-Robot Interaction: A Survey

DTIC Science & Technology

2007-01-01

breaks with the monolithic sense- plan -act loop of a centralized system, and instead uses distributed sense-response loops to generate appropriate...one of the first modern robots, cour- tesy of SRI International, Menlo Park, CA [279]; Kismet — an anthropomorphic robot with exaggerated emotion...linguis- tics. A common autonomy approach is sometimes referred to as the sense- plan -act model of decision-making [196]. This model has been a target

Visual perception system and method for a humanoid robot

NASA Technical Reports Server (NTRS)

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

2012-01-01

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

Interactive robot control system and method of use

NASA Technical Reports Server (NTRS)

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

2012-01-01

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

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

Toward cognitive robotics

NASA Astrophysics Data System (ADS)

Laird, John E.

2009-05-01

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

Experimental robot gripper control for handling of soft objects

NASA Astrophysics Data System (ADS)

Friedrich, Werner E.; Ziegler, T. H.; Lim, P.

1996-10-01

The challenging task of automated handling of variable objects necessitates a combination of innovative engineering and advanced information technology. This paper describes the application of a recently developed control strategy applied to overcome some limitations of robot handling, particularly when dealing with variable objects. The paper focuses on a novel approach to accommodate the need for sensing and actuation in controlling the pickup procedure. An experimental robot-based system for the handling of soft parts, ranging from artificial components to natural objects such as fruit and meat pieces was developed. The configuration comprises a modular gripper subsystem, and an industrial robot as part of a distributed control system. The gripper subsystem features manually configurable fingers with integrated sensing capabilities. The control architecture is based on a concept of decentralized control differentiating between positioning and gripping procedures. In this way, the robot and gripper systems are treated as individual handling operations. THis concept allows very short set-up times for future changes involving one or more sub-systems.

An Intelligent Agent-Controlled and Robot-Based Disassembly Assistant

NASA Astrophysics Data System (ADS)

Jungbluth, Jan; Gerke, Wolfgang; Plapper, Peter

2017-09-01

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

LiveInventor: An Interactive Development Environment for Robot Autonomy

NASA Technical Reports Server (NTRS)

Neveu, Charles; Shirley, Mark

2003-01-01

LiveInventor is an interactive development environment for robot autonomy developed at NASA Ames Research Center. It extends the industry-standard OpenInventor graphics library and scenegraph file format to include kinetic and kinematic information, a physics-simulation library, an embedded Scheme interpreter, and a distributed communication system.

Exploiting Discrete Structure for Learning On-Line in Distributed Robot Systems

DTIC Science & Technology

2009-10-21

accelerating rate over the next 20 years. Service robotics currently shares some important characteristics with the automobile industry in the early...Authorization Act for Fiscal Year 2001, S. 2549, Sec. 217). The same impact is expected for pilotless air and water vehicles, where drone aircraft for

Infrared-Proximity-Sensor Modules For Robot

NASA Technical Reports Server (NTRS)

Parton, William; Wegerif, Daniel; Rosinski, Douglas

1995-01-01

Collision-avoidance system for articulated robot manipulators uses infrared proximity sensors grouped together in array of sensor modules. Sensor modules, called "sensorCells," distributed processing board-level products for acquiring data from proximity-sensors strategically mounted on robot manipulators. Each sensorCell self-contained and consists of multiple sensing elements, discrete electronics, microcontroller and communications components. Modules connected to central control computer by redundant serial digital communication subsystem including both serial and a multi-drop bus. Detects objects made of various materials at distance of up to 50 cm. For some materials, such as thermal protection system tiles, detection range reduced to approximately 20 cm.

RAPID and DDS

NASA Technical Reports Server (NTRS)

Utz, Hans Heinrich

2011-01-01

This talk gives an overview of the the Robot Applications Programmers Interface Delegate (RAPID) as well as the distributed systems middleware Data Distribution Service (DDS). DDS is an open software standard, RAPID is cleared for open-source release under NOSA. RAPID specifies data-structures and semantics for high-level telemetry published by NASA robotic software. These data-structures are supported by multiple robotic platforms at Johnson Space Center (JSC), Jet Propulsion Laboratory (JPL) and Ames Research Center (ARC), providing high-level interoperability between those platforms. DDS is used as the middleware for data transfer. The feature set of the middleware heavily influences the design decision made in the RAPID specification. So it is appropriate to discuss both in this introductory talk.

A Vision-Based Self-Calibration Method for Robotic Visual Inspection Systems

PubMed Central

Yin, Shibin; Ren, Yongjie; Zhu, Jigui; Yang, Shourui; Ye, Shenghua

2013-01-01

A vision-based robot self-calibration method is proposed in this paper to evaluate the kinematic parameter errors of a robot using a visual sensor mounted on its end-effector. This approach could be performed in the industrial field without external, expensive apparatus or an elaborate setup. A robot Tool Center Point (TCP) is defined in the structural model of a line-structured laser sensor, and aligned to a reference point fixed in the robot workspace. A mathematical model is established to formulate the misalignment errors with kinematic parameter errors and TCP position errors. Based on the fixed point constraints, the kinematic parameter errors and TCP position errors are identified with an iterative algorithm. Compared to the conventional methods, this proposed method eliminates the need for a robot-based-frame and hand-to-eye calibrations, shortens the error propagation chain, and makes the calibration process more accurate and convenient. A validation experiment is performed on an ABB IRB2400 robot. An optimal configuration on the number and distribution of fixed points in the robot workspace is obtained based on the experimental results. Comparative experiments reveal that there is a significant improvement of the measuring accuracy of the robotic visual inspection system. PMID:24300597

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

PubMed Central

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

2013-01-01

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

Electrical power technology for robotic planetary rovers

NASA Technical Reports Server (NTRS)

Bankston, C. P.; Shirbacheh, M.; Bents, D. J.; Bozek, J. M.

1993-01-01

Power technologies which will enable a range of robotic rover vehicle missions by the end of the 1990s and beyond are discussed. The electrical power system is the most critical system for reliability and life, since all other on board functions (mobility, navigation, command and data, communications, and the scientific payload instruments) require electrical power. The following are discussed: power generation, energy storage, power management and distribution, and thermal management.

Towards Distributed Intelligence: A High Level Definition

DTIC Science & Technology

2004-12-01

Some of the first research in multi-robot systems came in the foraging /sorting area by Parker [77] and Beckers [9] and was likely fueled by the bio...chapter 24, pages 28–39. Artificial Intelligence at MIT. The MIT Press, 1989. 15. R.A. Brooks. Robotic Science, chapter 11, The Whole Iguana , pages 432

Development and Performance Evaluation of Image-Based Robotic Waxing System for Detailing Automobiles

PubMed Central

Hsu, Bing-Cheng

2018-01-01

Waxing is an important aspect of automobile detailing, aimed at protecting the finish of the car and preventing rust. At present, this delicate work is conducted manually due to the need for iterative adjustments to achieve acceptable quality. This paper presents a robotic waxing system in which surface images are used to evaluate the quality of the finish. An RGB-D camera is used to build a point cloud that details the sheet metal components to enable path planning for a robot manipulator. The robot is equipped with a multi-axis force sensor to measure and control the forces involved in the application and buffing of wax. Images of sheet metal components that were waxed by experienced car detailers were analyzed using image processing algorithms. A Gaussian distribution function and its parameterized values were obtained from the images for use as a performance criterion in evaluating the quality of surfaces prepared by the robotic waxing system. Waxing force and dwell time were optimized using a mathematical model based on the image-based criterion used to measure waxing performance. Experimental results demonstrate the feasibility of the proposed robotic waxing system and image-based performance evaluation scheme. PMID:29757940

Development and Performance Evaluation of Image-Based Robotic Waxing System for Detailing Automobiles.

PubMed

Lin, Chi-Ying; Hsu, Bing-Cheng

2018-05-14

Waxing is an important aspect of automobile detailing, aimed at protecting the finish of the car and preventing rust. At present, this delicate work is conducted manually due to the need for iterative adjustments to achieve acceptable quality. This paper presents a robotic waxing system in which surface images are used to evaluate the quality of the finish. An RGB-D camera is used to build a point cloud that details the sheet metal components to enable path planning for a robot manipulator. The robot is equipped with a multi-axis force sensor to measure and control the forces involved in the application and buffing of wax. Images of sheet metal components that were waxed by experienced car detailers were analyzed using image processing algorithms. A Gaussian distribution function and its parameterized values were obtained from the images for use as a performance criterion in evaluating the quality of surfaces prepared by the robotic waxing system. Waxing force and dwell time were optimized using a mathematical model based on the image-based criterion used to measure waxing performance. Experimental results demonstrate the feasibility of the proposed robotic waxing system and image-based performance evaluation scheme.

Autonomous mobile robot teams

NASA Technical Reports Server (NTRS)

Agah, Arvin; Bekey, George A.

1994-01-01

This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

A smart-hose for concrete displacing booms

NASA Astrophysics Data System (ADS)

Ripamonti, Francesco; Bucca, Giuseppe; Fava, Victor; Resta, Ferruccio

2016-04-01

During the last years, continuum robots have been used in many applications. They are smart structures with continuous curving, similar to a worm or an elephant trunk, characterized by a very high number of sub-actuated degrees of freedom (dof). They need a robust control system, aiming at both positioning the robot and suppressing induced vibrations. The idea is to adopt such a robot on a construction machine for the concrete distribution, substituting the reinforced rubber hose with the robotic smart solution. Particular attention has been paid to a control strategy able to reduce vibrations induced by the pumping procedure.

Teleoperated position control of a PUMA robot

NASA Technical Reports Server (NTRS)

Austin, Edmund; Fong, Chung P.

1987-01-01

A laboratory distributed computer control teleoperator system is developed to support NASA's future space telerobotic operation. This teleoperator system uses a universal force-reflecting hand controller in the local iste as the operator's input device. In the remote site, a PUMA controller recieves the Cartesian position commands and implements PID control laws to position the PUMA robot. The local site uses two microprocessors while the remote site uses three. The processors communicate with each other through shared memory. The PUMA robot controller was interfaced through custom made electronics to bypass VAL. The development status of this teleoperator system is reported. The execution time of each processor is analyzed, and the overall system throughput rate is reported. Methods to improve the efficiency and performance are discussed.

Design of a Soft Robot with Multiple Motion Patterns Using Soft Pneumatic Actuators

NASA Astrophysics Data System (ADS)

Miao, Yu; Dong, Wei; Du, Zhijiang

2017-11-01

Soft robots are made of soft materials and have good flexibility and infinite degrees of freedom in theory. These properties enable soft robots to work in narrow space and adapt to external environment. In this paper, a 2-DOF soft pneumatic actuator is introduced, with two chambers symmetrically distributed on both sides and a jamming cylinder along the axis. Fibers are used to constrain the expansion of the soft actuator. Experiments are carried out to test the performance of the soft actuator, including bending and elongation characteristics. A soft robot is designed and fabricated by connecting four soft pneumatic actuators to a 3D-printed board. The soft robotic system is then established. The pneumatic circuit is built by pumps and solenoid valves. The control system is based on the control board Arduino Mega 2560. Relay modules are used to control valves and pressure sensors are used to measure pressure in the pneumatic circuit. Experiments are conducted to test the performance of the proposed soft robot.

Implementation of a pharmacy automation system (robotics) to ensure medication safety at Norwalk hospital.

PubMed

Bepko, Robert J; Moore, John R; Coleman, John R

2009-01-01

This article reports an intervention to improve the quality and safety of hospital patient care by introducing the use of pharmacy robotics into the medication distribution process. Medication safety is vitally important. The integration of pharmacy robotics with computerized practitioner order entry and bedside medication bar coding produces a significant reduction in medication errors. The creation of a safe medication-from initial ordering to bedside administration-provides enormous benefits to patients, to health care providers, and to the organization as well.

Characterization of Robotic Tail Orientation as a Function of Platform Position for Surf-Zone Robots

DTIC Science & Technology

2009-06-01

components. The basic components for Robster’s power supply and distribution system were taken from the Bigfoot robot developed by John Herkamp [5...18MAR2009 Changes: Eliminated all references to Bigfoot Arm and Thermopile Commented out sonar II. AGBOT Code v2.1 - 20MAR2009 Changes: Added...anaOutVolts(rt_ch, PW_STOP); anaOutVolts(lt_ch, PW_STOP); //Stops Bigfoot for (i = 0; i < 10; i++) 69

AN OFFSET FOR AFSOF: COMBINING ADDITIVE MANUFACTURING AND AUTONOMOUS SYSTEMS WITH SWARM EMPLOYMENT

DTIC Science & Technology

2016-10-01

teams composed of autonomous robot players compete in games of soccer .58 Strongly coordinated centralized systems are similar to the distributed...goal in a dynamically changing environment. This is a very active area of research and exemplified by the robot soccer league, a competition where...University, 2013, 23. 63 Massie, Andrew. “Autonomy and the Future Force” Strategic Studies Quarterly, Summer 2016, 146. 64 Zacharias, Greg. "Autonomus

A Framework for the Development of Scalable Heterogeneous Robot Teams with Dynamically Distributed Processing

NASA Astrophysics Data System (ADS)

Martin, Adrian

As the applications of mobile robotics evolve it has become increasingly less practical for researchers to design custom hardware and control systems for each problem. This research presents a new approach to control system design that looks beyond end-of-lifecycle performance and considers control system structure, flexibility, and extensibility. Toward these ends the Control ad libitum philosophy is proposed, stating that to make significant progress in the real-world application of mobile robot teams the control system must be structured such that teams can be formed in real-time from diverse components. The Control ad libitum philosophy was applied to the design of the HAA (Host, Avatar, Agent) architecture: a modular hierarchical framework built with provably correct distributed algorithms. A control system for exploration and mapping, search and deploy, and foraging was developed to evaluate the architecture in three sets of hardware-in-the-loop experiments. First, the basic functionality of the HAA architecture was studied, specifically the ability to: a) dynamically form the control system, b) dynamically form the robot team, c) dynamically form the processing network, and d) handle heterogeneous teams. Secondly, the real-time performance of the distributed algorithms was tested, and proved effective for the moderate sized systems tested. Furthermore, the distributed Just-in-time Cooperative Simultaneous Localization and Mapping (JC-SLAM) algorithm demonstrated accuracy equal to or better than traditional approaches in resource starved scenarios, while reducing exploration time significantly. The JC-SLAM strategies are also suitable for integration into many existing particle filter SLAM approaches, complementing their unique optimizations. Thirdly, the control system was subjected to concurrent software and hardware failures in a series of increasingly complex experiments. Even with unrealistically high rates of failure the control system was able to successfully complete its tasks. The HAA implementation designed following the Control ad libitum philosophy proved to be capable of dynamic team formation and extremely robust against both hardware and software failure; and, due to the modularity of the system there is significant potential for reuse of assets and future extensibility. One future goal is to make the source code publically available and establish a forum for the development and exchange of new agents.

Physics-based approach to chemical source localization using mobile robotic swarms

NASA Astrophysics Data System (ADS)

Zarzhitsky, Dimitri

2008-07-01

Recently, distributed computation has assumed a dominant role in the fields of artificial intelligence and robotics. To improve system performance, engineers are combining multiple cooperating robots into cohesive collectives called swarms. This thesis illustrates the application of basic principles of physicomimetics, or physics-based design, to swarm robotic systems. Such principles include decentralized control, short-range sensing and low power consumption. We show how the application of these principles to robotic swarms results in highly scalable, robust, and adaptive multi-robot systems. The emergence of these valuable properties can be predicted with the help of well-developed theoretical methods. In this research effort, we have designed and constructed a distributed physicomimetics system for locating sources of airborne chemical plumes. This task, called chemical plume tracing (CPT), is receiving a great deal of attention due to persistent homeland security threats. For this thesis, we have created a novel CPT algorithm called fluxotaxis that is based on theoretical principles of fluid dynamics. Analytically, we show that fluxotaxis combines the essence, as well as the strengths, of the two most popular biologically-inspired CPT methods-- chemotaxis and anemotaxis. The chemotaxis strategy consists of navigating in the direction of the chemical density gradient within the plume, while the anemotaxis approach is based on an upwind traversal of the chemical cloud. Rigorous and extensive experimental evaluations have been performed in simulated chemical plume environments. Using a suite of performance metrics that capture the salient aspects of swarm-specific behavior, we have been able to evaluate and compare the three CPT algorithms. We demonstrate the improved performance of our fluxotaxis approach over both chemotaxis and anemotaxis in these realistic simulation environments, which include obstacles. To test our understanding of CPT on actual hardware, we have implemented chemotaxis on three laboratory-scale robots. Chemotaxis requires only chemical sensors; eventually, when small-scale anemometers capable of reliably detecting low air velocities become available, we plan to implement anemotaxis and fluxotaxis on the robots as well. Our chemotaxis robots use the physicomimetics control algorithm to arrange the team of vehicles into a triangular formation, which then traces an ethanol vapor plume to its source emitter. In agreement with our theoretical predictions, the swarm implementation shows a consistent gain in CPT performance as compared to a single-robot solution.

New nonlinear control algorithms for multiple robot arms

NASA Technical Reports Server (NTRS)

Tarn, T. J.; Bejczy, A. K.; Yun, X.

1988-01-01

Multiple coordinated robot arms are modeled by considering the arms as closed kinematic chains and as a force-constrained mechanical system working on the same object simultaneously. In both formulations, a novel dynamic control method is discussed. It is based on feedback linearization and simultaneous output decoupling technique. By applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, it was found that by choosing a general output equation it became possible simultaneously to superimpose the position and velocity error feedback with the force-torque error feedback in the task space.

TokenPasser: A petri net specification tool. Thesis

NASA Technical Reports Server (NTRS)

Mittmann, Michael

1991-01-01

In computer program design it is essential to know the effectiveness of different design options in improving performance, and dependability. This paper provides a description of a CAD tool for distributed hierarchical Petri nets. After a brief review of Petri nets, Petri net languages, and Petri net transducers, and descriptions of several current Petri net tools, the specifications and design of the TokenPasser tool are presented. TokenPasser is a tool to allow design of distributed hierarchical systems based on Petri nets. A case study for an intelligent robotic system is conducted, a coordination structure with one dispatcher controlling three coordinators is built to model a proposed robotic assembly system. The system is implemented using TokenPasser, and the results are analyzed to allow judgment of the tool.

Mobile Agents: A Distributed Voice-Commanded Sensory and Robotic System for Surface EVA Assistance

NASA Technical Reports Server (NTRS)

Clancey, William J.; Sierhuis, Maarten; Alena, Rick; Crawford, Sekou; Dowding, John; Graham, Jeff; Kaskiris, Charis; Tyree, Kim S.; vanHoof, Ronnie

2003-01-01

A model-based, distributed architecture integrates diverse components in a system designed for lunar and planetary surface operations: spacesuit biosensors, cameras, GPS, and a robotic assistant. The system transmits data and assists communication between the extra-vehicular activity (EVA) astronauts, the crew in a local habitat, and a remote mission support team. Software processes ("agents"), implemented in a system called Brahms, run on multiple, mobile platforms, including the spacesuit backpacks, all-terrain vehicles, and robot. These "mobile agents" interpret and transform available data to help people and robotic systems coordinate their actions to make operations more safe and efficient. Different types of agents relate platforms to each other ("proxy agents"), devices to software ("comm agents"), and people to the system ("personal agents"). A state-of-the-art spoken dialogue interface enables people to communicate with their personal agents, supporting a speech-driven navigation and scheduling tool, field observation record, and rover command system. An important aspect of the engineering methodology involves first simulating the entire hardware and software system in Brahms, and then configuring the agents into a runtime system. Design of mobile agent functionality has been based on ethnographic observation of scientists working in Mars analog settings in the High Canadian Arctic on Devon Island and the southeast Utah desert. The Mobile Agents system is developed iteratively in the context of use, with people doing authentic work. This paper provides a brief introduction to the architecture and emphasizes the method of empirical requirements analysis, through which observation, modeling, design, and testing are integrated in simulated EVA operations.

Artificial Immune Algorithm for Subtask Industrial Robot Scheduling in Cloud Manufacturing

NASA Astrophysics Data System (ADS)

Suma, T.; Murugesan, R.

2018-04-01

The current generation of manufacturing industry requires an intelligent scheduling model to achieve an effective utilization of distributed manufacturing resources, which motivated us to work on an Artificial Immune Algorithm for subtask robot scheduling in cloud manufacturing. This scheduling model enables a collaborative work between the industrial robots in different manufacturing centers. This paper discussed two optimizing objectives which includes minimizing the cost and load balance of industrial robots through scheduling. To solve these scheduling problems, we used the algorithm based on Artificial Immune system. The parameters are simulated with MATLAB and the results compared with the existing algorithms. The result shows better performance than existing.

Explorer-II: Wireless Self-Powered Visual and NDE Robotic Inspection System for Live Gas Distribution Mains

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

Carnegie Mellon University

2008-09-30

Carnegie Mellon University (CMU) under contract from Department of Energy/National Energy Technology Laboratory (DoE/NETL) and co-funding from the Northeast Gas Association (NGA), has completed the overall system design, field-trial and Magnetic Flux Leakage (MFL) sensor evaluation program for the next-generation Explorer-II (X-II) live gas main Non-destructive Evaluation (NDE) and visual inspection robot platform. The design is based on the Explorer-I prototype which was built and field-tested under a prior (also DoE- and NGA co-funded) program, and served as the validation that self-powered robots under wireless control could access and navigate live natural gas distribution mains. The X-II system design ({approx}8more » ft. and 66 lbs.) was heavily based on the X-I design, yet was substantially expanded to allow the addition of NDE sensor systems (while retaining its visual inspection capability), making it a modular system, and expanding its ability to operate at pressures up to 750 psig (high-pressure and unpiggable steel-pipe distribution mains). A new electronics architecture and on-board software kernel were added to again improve system performance. A locating sonde system was integrated to allow for absolute position-referencing during inspection (coupled with external differential GPS) and emergency-locating. The power system was upgraded to utilize lithium-based battery-cells for an increase in mission-time. The resulting robot-train system with CAD renderings of the individual modules. The system architecture now relies on a dual set of end camera-modules to house the 32-bit processors (Single-Board Computer or SBC) as well as the imaging and wireless (off-board) and CAN-based (on-board) communication hardware and software systems (as well as the sonde-coil and -electronics). The drive-module (2 ea.) are still responsible for bracing (and centering) to drive in push/pull fashion the robot train into and through the pipes and obstacles. The steering modules and their arrangement, still allow the robot to configure itself to perform any-angle (up to 90 deg) turns in any orientation (incl. vertical), and enable the live launching and recovery of the system using custom fittings and a (to be developed) launch-chamber/-tube. The battery modules are used to power the system, by providing power to the robot's bus. The support modules perform the functions of centration for the rest of the train as well as odometry pickups using incremental encoding schemes. The electronics architecture is based on a distributed (8-bit) microprocessor architecture (at least 1 in ea. module) communicating to a (one of two) 32-bit SBC, which manages all video-processing, posture and motion control as well as CAN and wireless communications. The operator controls the entire system from an off-board (laptop) controller, which is in constant wireless communication with the robot train in the pipe. The sensor modules collect data and forward it to the robot operator computer (via the CAN-wireless communications chain), who then transfers it to a dedicated NDE data-storage and post-processing computer for further (real-time or off-line) analysis. The prototype robot system was built and tested indoors and outdoors, outfitted with a Remote-Field Eddy Current (RFEC) sensor integrated as its main NDE sensor modality. An angled launcher, allowing for live launching and retrieval, was also built to suit custom angled launch-fittings from TDW. The prototype vehicle and launcher systems are shown. The complete system, including the in-pipe robot train, launcher, integrated NDE-sensor and real-time video and control console and NDE-data collection and -processing and real-time display, were demonstrated to all sponsors prior to proceeding into final field-trials--the individual components and setting for said acceptance demonstration are shown. The launcher-tube was also used to verify that the vehicle system is capable of operating in high-pressure environments, and is safely deployable using proper evacuating/purging techniques for operation in the potentially explosive natural gas environment. The test-setting and environment for safety-certification of the X-II robot platform and the launch and recovery procedures, is shown. Field-trials were successfully carried out in a live steel pipeline in Northwestern Pennsylvania. The robot was launched and recovered multiple times, travelling thousands of feet and communicating in real time with video and command-and-control (C&C) data under remote operator control from a laptop, with NDE sensor-data streaming to a second computer for storage, display and post-processing. Representative images of the activities and systems used in the week-long field-trial are shown. CMU also evaluated the ability of the X-II design to be able to integrate an MFL sensor, by adding additional drive-/battery-/steering- and support-modules to extend the X-II train.« less

Architecture for reactive planning of robot actions

NASA Astrophysics Data System (ADS)

Riekki, Jukka P.; Roening, Juha

1995-01-01

In this article, a reactive system for planning robot actions is described. The described hierarchical control system architecture consists of planning-executing-monitoring-modelling elements (PEMM elements). A PEMM element is a goal-oriented, combined processing and data element. It includes a planner, an executor, a monitor, a modeler, and a local model. The elements form a tree-like structure. An element receives tasks from its ancestor and sends subtasks to its descendants. The model knowledge is distributed into the local models, which are connected to each other. The elements can be synchronized. The PEMM architecture is strictly hierarchical. It integrated planning, sensing, and modelling into a single framework. A PEMM-based control system is reactive, as it can cope with asynchronous events and operate under time constraints. The control system is intended to be used primarily to control mobile robots and robot manipulators in dynamic and partially unknown environments. It is suitable especially for applications consisting of physically separated devices and computing resources.

Energy optimization in mobile sensor networks

NASA Astrophysics Data System (ADS)

Yu, Shengwei

Mobile sensor networks are considered to consist of a network of mobile robots, each of which has computation, communication and sensing capabilities. Energy efficiency is a critical issue in mobile sensor networks, especially when mobility (i.e., locomotion control), routing (i.e., communications) and sensing are unique characteristics of mobile robots for energy optimization. This thesis focuses on the problem of energy optimization of mobile robotic sensor networks, and the research results can be extended to energy optimization of a network of mobile robots that monitors the environment, or a team of mobile robots that transports materials from stations to stations in a manufacturing environment. On the energy optimization of mobile robotic sensor networks, our research focuses on the investigation and development of distributed optimization algorithms to exploit the mobility of robotic sensor nodes for network lifetime maximization. In particular, the thesis studies these five problems: 1. Network-lifetime maximization by controlling positions of networked mobile sensor robots based on local information with distributed optimization algorithms; 2. Lifetime maximization of mobile sensor networks with energy harvesting modules; 3. Lifetime maximization using joint design of mobility and routing; 4. Optimal control for network energy minimization; 5. Network lifetime maximization in mobile visual sensor networks. In addressing the first problem, we consider only the mobility strategies of the robotic relay nodes in a mobile sensor network in order to maximize its network lifetime. By using variable substitutions, the original problem is converted into a convex problem, and a variant of the sub-gradient method for saddle-point computation is developed for solving this problem. An optimal solution is obtained by the method. Computer simulations show that mobility of robotic sensors can significantly prolong the lifetime of the whole robotic sensor network while consuming negligible amount of energy for mobility cost. For the second problem, the problem is extended to accommodate mobile robotic nodes with energy harvesting capability, which makes it a non-convex optimization problem. The non-convexity issue is tackled by using the existing sequential convex approximation method, based on which we propose a novel procedure of modified sequential convex approximation that has fast convergence speed. For the third problem, the proposed procedure is used to solve another challenging non-convex problem, which results in utilizing mobility and routing simultaneously in mobile robotic sensor networks to prolong the network lifetime. The results indicate that joint design of mobility and routing has an edge over other methods in prolonging network lifetime, which is also the justification for the use of mobility in mobile sensor networks for energy efficiency purpose. For the fourth problem, we include the dynamics of the robotic nodes in the problem by modeling the networked robotic system using hybrid systems theory. A novel distributed method for the networked hybrid system is used to solve the optimal moving trajectories for robotic nodes and optimal network links, which are not answered by previous approaches. Finally, the fact that mobility is more effective in prolonging network lifetime for a data-intensive network leads us to apply our methods to study mobile visual sensor networks, which are useful in many applications. We investigate the joint design of mobility, data routing, and encoding power to help improving the video quality while maximizing the network lifetime. This study leads to a better understanding of the role mobility can play in data-intensive surveillance sensor networks.

Mission Activity Planning for Humans and Robots on the Moon

NASA Technical Reports Server (NTRS)

Weisbin, C.; Shelton, K.; Lincoln, W.; Elfes, A.; Smith, J.H.; Mrozinski, J.; Hua, H.; Adumitroaie, V.; Silberg, R.

2008-01-01

A series of studies is conducted to develop a systematic approach to optimizing, both in terms of the distribution and scheduling of tasks, scenarios in which astronauts and robots accomplish a group of activities on the Moon, given an objective function (OF) and specific resources and constraints. An automated planning tool is developed as a key element of this optimization system.

Robotics Strategy White Paper

DTIC Science & Technology

2009-03-19

Cargo packaging and pallet assembly. Use of robotics tools to support palletization falls under the supply functional area which tasks the Army to...system. 17 At first glance, remote tele-operated surgery capability appears to already exist in civilian hospitals (i.e., DaVinci Machine: http... tool free maintenance and anticipatory sustainment and improved distribution. The UJTL tasks suggest nominal improvements in the maintenance area

The KALI multi-arm robot programming and control environment

NASA Technical Reports Server (NTRS)

Backes, Paul; Hayati, Samad; Hayward, Vincent; Tso, Kam

1989-01-01

The KALI distributed robot programming and control environment is described within the context of its use in the Jet Propulsion Laboratory (JPL) telerobot project. The purpose of KALI is to provide a flexible robot programming and control environment for coordinated multi-arm robots. Flexibility, both in hardware configuration and software, is desired so that it can be easily modified to test various concepts in robot programming and control, e.g., multi-arm control, force control, sensor integration, teleoperation, and shared control. In the programming environment, user programs written in the C programming language describe trajectories for multiple coordinated manipulators with the aid of KALI function libraries. A system of multiple coordinated manipulators is considered within the programming environment as one motion system. The user plans the trajectory of one controlled Cartesian frame associated with a motion system and describes the positions of the manipulators with respect to that frame. Smooth Cartesian trajectories are achieved through a blending of successive path segments. The manipulator and load dynamics are considered during trajectory generation so that given interface force limits are not exceeded.

Design and Control of Compliant Tensegrity Robots Through Simulation and Hardware Validation

NASA Technical Reports Server (NTRS)

Caluwaerts, Ken; Despraz, Jeremie; Iscen, Atil; Sabelhaus, Andrew P.; Bruce, Jonathan; Schrauwen, Benjamin; Sunspiral, Vytas

2014-01-01

To better understand the role of tensegrity structures in biological systems and their application to robotics, the Dynamic Tensegrity Robotics Lab at NASA Ames Research Center has developed and validated two different software environments for the analysis, simulation, and design of tensegrity robots. These tools, along with new control methodologies and the modular hardware components developed to validate them, are presented as a system for the design of actuated tensegrity structures. As evidenced from their appearance in many biological systems, tensegrity ("tensile-integrity") structures have unique physical properties which make them ideal for interaction with uncertain environments. Yet these characteristics, such as variable structural compliance, and global multi-path load distribution through the tension network, make design and control of bio-inspired tensegrity robots extremely challenging. This work presents the progress in using these two tools in tackling the design and control challenges. The results of this analysis includes multiple novel control approaches for mobility and terrain interaction of spherical tensegrity structures. The current hardware prototype of a six-bar tensegrity, code-named ReCTeR, is presented in the context of this validation.

An intelligent space for mobile robot localization using a multi-camera system.

PubMed

Rampinelli, Mariana; Covre, Vitor Buback; de Queiroz, Felippe Mendonça; Vassallo, Raquel Frizera; Bastos-Filho, Teodiano Freire; Mazo, Manuel

2014-08-15

This paper describes an intelligent space, whose objective is to localize and control robots or robotic wheelchairs to help people. Such an intelligent space has 11 cameras distributed in two laboratories and a corridor. The cameras are fixed in the environment, and image capturing is done synchronously. The system was programmed as a client/server with TCP/IP connections, and a communication protocol was defined. The client coordinates the activities inside the intelligent space, and the servers provide the information needed for that. Once the cameras are used for localization, they have to be properly calibrated. Therefore, a calibration method for a multi-camera network is also proposed in this paper. A robot is used to move a calibration pattern throughout the field of view of the cameras. Then, the captured images and the robot odometry are used for calibration. As a result, the proposed algorithm provides a solution for multi-camera calibration and robot localization at the same time. The intelligent space and the calibration method were evaluated under different scenarios using computer simulations and real experiments. The results demonstrate the proper functioning of the intelligent space and validate the multi-camera calibration method, which also improves robot localization.

An Intelligent Space for Mobile Robot Localization Using a Multi-Camera System

PubMed Central

Rampinelli, Mariana.; Covre, Vitor Buback.; de Queiroz, Felippe Mendonça.; Vassallo, Raquel Frizera.; Bastos-Filho, Teodiano Freire.; Mazo, Manuel.

2014-01-01

This paper describes an intelligent space, whose objective is to localize and control robots or robotic wheelchairs to help people. Such an intelligent space has 11 cameras distributed in two laboratories and a corridor. The cameras are fixed in the environment, and image capturing is done synchronously. The system was programmed as a client/server with TCP/IP connections, and a communication protocol was defined. The client coordinates the activities inside the intelligent space, and the servers provide the information needed for that. Once the cameras are used for localization, they have to be properly calibrated. Therefore, a calibration method for a multi-camera network is also proposed in this paper. A robot is used to move a calibration pattern throughout the field of view of the cameras. Then, the captured images and the robot odometry are used for calibration. As a result, the proposed algorithm provides a solution for multi-camera calibration and robot localization at the same time. The intelligent space and the calibration method were evaluated under different scenarios using computer simulations and real experiments. The results demonstrate the proper functioning of the intelligent space and validate the multi-camera calibration method, which also improves robot localization. PMID:25196009

REBOCOL (Robotic Calorimetry): An automated NDA (Nondestructive assay) calorimetry and gamma isotopic system

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

Hurd, J.R.; Bonner, C.A.; Ostenak, C.A.

1989-01-01

ROBOCAL, which is presently being developed and tested at Los Alamos National Laboratory, is a full-scale, prototypical robotic system, for remote calorimetric and gamma-ray analysis of special nuclear materials. It integrates a fully automated, multi-drawer, vertical stacker-retriever system for staging unmeasured nuclear materials, and a fully automated gantry robot for computer-based selection and transfer of nuclear materials to calorimetric and gamma-ray measurement stations. Since ROBOCAL is designed for minimal operator intervention, a completely programmed user interface and data-base system are provided to interact with the automated mechanical and assay systems. The assay system is designed to completely integrate calorimetric andmore » gamma-ray data acquisition and to perform state-of-the-art analyses on both homogeneous and heterogeneous distributions of nuclear materials in a wide variety of matrices. 10 refs., 10 figs., 4 tabs.« less

[Robotic pylorus-preserving pancreaticoduodenectomy : Video article].

PubMed

Aselmann, H; Egberts, J Hendrik; Beckmann, J Henrik; Stein, H; Schafmayer, C; Hinz, S; Reichert, B; Becker, T

2017-05-01

Pylorus-preserving pancreaticoduodenectomy is one of the most complex procedures in general surgery. Laparoscopic pancreaticoduodenectomy was initially described in 1994; however, its worldwide distribution is so far limited to only a few specialist centers. Robotic surgery using the DaVinci® system can overcome many limitations of laparoscopic surgery. The system is a promising tool for a more widespread introduction of minimally invasive surgery for pancreatic diseases. Mortality rates of 0-5% and pancreatic fistula rates of 0-35% are described in the literature; therefore, thorough complication management is crucial in the postoperative course. The video presents a robotic pylorus-preserving pancreaticoduodenectomy for periampullary carcinoma in a female patient.

Learning robot actions based on self-organising language memory.

PubMed

Wermter, Stefan; Elshaw, Mark

2003-01-01

In the MirrorBot project we examine perceptual processes using models of cortical assemblies and mirror neurons to explore the emergence of semantic representations of actions, percepts and concepts in a neural robot. The hypothesis under investigation is whether a neural model will produce a life-like perception system for actions. In this context we focus in this paper on how instructions for actions can be modeled in a self-organising memory. Current approaches for robot control often do not use language and ignore neural learning. However, our approach uses language instruction and draws from the concepts of regional distributed modularity, self-organisation and neural assemblies. We describe a self-organising model that clusters actions into different locations depending on the body part they are associated with. In particular, we use actual sensor readings from the MIRA robot to represent semantic features of the action verbs. Furthermore, we outline a hierarchical computational model for a self-organising robot action control system using language for instruction.

Multi-Axis Force Sensor for Human-Robot Interaction Sensing in a Rehabilitation Robotic Device.

PubMed

Grosu, Victor; Grosu, Svetlana; Vanderborght, Bram; Lefeber, Dirk; Rodriguez-Guerrero, Carlos

2017-06-05

Human-robot interaction sensing is a compulsory feature in modern robotic systems where direct contact or close collaboration is desired. Rehabilitation and assistive robotics are fields where interaction forces are required for both safety and increased control performance of the device with a more comfortable experience for the user. In order to provide an efficient interaction feedback between the user and rehabilitation device, high performance sensing units are demanded. This work introduces a novel design of a multi-axis force sensor dedicated for measuring pelvis interaction forces in a rehabilitation exoskeleton device. The sensor is conceived such that it has different sensitivity characteristics for the three axes of interest having also movable parts in order to allow free rotations and limit crosstalk errors. Integrated sensor electronics make it easy to acquire and process data for a real-time distributed system architecture. Two of the developed sensors are integrated and tested in a complex gait rehabilitation device for safe and compliant control.

A Decentralized Framework for Multi-Agent Robotic Systems

PubMed Central

2018-01-01

Over the past few years, decentralization of multi-agent robotic systems has become an important research area. These systems do not depend on a central control unit, which enables the control and assignment of distributed, asynchronous and robust tasks. However, in some cases, the network communication process between robotic agents is overlooked, and this creates a dependency for each agent to maintain a permanent link with nearby units to be able to fulfill its goals. This article describes a communication framework, where each agent in the system can leave the network or accept new connections, sending its information based on the transfer history of all nodes in the network. To this end, each agent needs to comply with four processes to participate in the system, plus a fifth process for data transfer to the nearest nodes that is based on Received Signal Strength Indicator (RSSI) and data history. To validate this framework, we use differential robotic agents and a monitoring agent to generate a topological map of an environment with the presence of obstacles. PMID:29389849

Building a Relationship between Robot Characteristics and Teleoperation User Interfaces.

PubMed

Mortimer, Michael; Horan, Ben; Seyedmahmoudian, Mehdi

2017-03-14

The Robot Operating System (ROS) provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF), Semantic Robot Description Format (SRDF), and its message description language, can be used to identify key robot characteristics to inform User Interface (UI) design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by using the defined relationship rules and characteristic selections, the toolbox can automatically identify a reduced set of UI configurations required to control possible robot team configurations, as opposed to the traditional ad-hoc approach to teleoperation UI design. In the results section, three test cases are presented to demonstrate how the selection of different robot characteristics builds a number of robot characteristic combinations, and how the relationship rules are used to determine a reduced set of required UI configurations needed to control each individual robot in the robot team.

Building a Relationship between Robot Characteristics and Teleoperation User Interfaces

PubMed Central

Mortimer, Michael; Horan, Ben; Seyedmahmoudian, Mehdi

2017-01-01

The Robot Operating System (ROS) provides roboticists with a standardized and distributed framework for real-time communication between robotic systems using a microkernel environment. This paper looks at how ROS metadata, Unified Robot Description Format (URDF), Semantic Robot Description Format (SRDF), and its message description language, can be used to identify key robot characteristics to inform User Interface (UI) design for the teleoperation of heterogeneous robot teams. Logical relationships between UI components and robot characteristics are defined by a set of relationship rules created using relevant and available information including developer expertise and ROS metadata. This provides a significant opportunity to move towards a rule-driven approach for generating the designs of teleoperation UIs; in particular the reduction of the number of different UI configurations required to teleoperate each individual robot within a heterogeneous robot team. This approach is based on using an underlying rule set identifying robots that can be teleoperated using the same UI configuration due to having the same or similar robot characteristics. Aside from reducing the number of different UI configurations an operator needs to be familiar with, this approach also supports consistency in UI configurations when a teleoperator is periodically switching between different robots. To achieve this aim, a Matlab toolbox is developed providing users with the ability to define rules specifying the relationship between robot characteristics and UI components. Once rules are defined, selections that best describe the characteristics of the robot type within a particular heterogeneous robot team can be made. A main advantage of this approach is that rather than specifying discrete robots comprising the team, the user can specify characteristics of the team more generally allowing the system to deal with slight variations that may occur in the future. In fact, by using the defined relationship rules and characteristic selections, the toolbox can automatically identify a reduced set of UI configurations required to control possible robot team configurations, as opposed to the traditional ad-hoc approach to teleoperation UI design. In the results section, three test cases are presented to demonstrate how the selection of different robot characteristics builds a number of robot characteristic combinations, and how the relationship rules are used to determine a reduced set of required UI configurations needed to control each individual robot in the robot team. PMID:28335431

Task-level control for autonomous robots

NASA Technical Reports Server (NTRS)

Simmons, Reid

1994-01-01

Task-level control refers to the integration and coordination of planning, perception, and real-time control to achieve given high-level goals. Autonomous mobile robots need task-level control to effectively achieve complex tasks in uncertain, dynamic environments. This paper describes the Task Control Architecture (TCA), an implemented system that provides commonly needed constructs for task-level control. Facilities provided by TCA include distributed communication, task decomposition and sequencing, resource management, monitoring and exception handling. TCA supports a design methodology in which robot systems are developed incrementally, starting first with deliberative plans that work in nominal situations, and then layering them with reactive behaviors that monitor plan execution and handle exceptions. To further support this approach, design and analysis tools are under development to provide ways of graphically viewing the system and validating its behavior.

A bio-inspired swarm robot coordination algorithm for multiple target searching

NASA Astrophysics Data System (ADS)

Meng, Yan; Gan, Jing; Desai, Sachi

2008-04-01

The coordination of a multi-robot system searching for multi targets is challenging under dynamic environment since the multi-robot system demands group coherence (agents need to have the incentive to work together faithfully) and group competence (agents need to know how to work together well). In our previous proposed bio-inspired coordination method, Local Interaction through Virtual Stigmergy (LIVS), one problem is the considerable randomness of the robot movement during coordination, which may lead to more power consumption and longer searching time. To address these issues, an adaptive LIVS (ALIVS) method is proposed in this paper, which not only considers the travel cost and target weight, but also predicting the target/robot ratio and potential robot redundancy with respect to the detected targets. Furthermore, a dynamic weight adjustment is also applied to improve the searching performance. This new method a truly distributed method where each robot makes its own decision based on its local sensing information and the information from its neighbors. Basically, each robot only communicates with its neighbors through a virtual stigmergy mechanism and makes its local movement decision based on a Particle Swarm Optimization (PSO) algorithm. The proposed ALIVS algorithm has been implemented on the embodied robot simulator, Player/Stage, in a searching target. The simulation results demonstrate the efficiency and robustness in a power-efficient manner with the real-world constraints.

A small, cheap, and portable reconnaissance robot

NASA Astrophysics Data System (ADS)

Kenyon, Samuel H.; Creary, D.; Thi, Dan; Maynard, Jeffrey

2005-05-01

While there is much interest in human-carriable mobile robots for defense/security applications, existing examples are still too large/heavy, and there are not many successful small human-deployable mobile ground robots, especially ones that can survive being thrown/dropped. We have developed a prototype small short-range teleoperated indoor reconnaissance/surveillance robot that is semi-autonomous. It is self-powered, self-propelled, spherical, and meant to be carried and thrown by humans into indoor, yet relatively unstructured, dynamic environments. The robot uses multiple channels for wireless control and feedback, with the potential for inter-robot communication, swarm behavior, or distributed sensor network capabilities. The primary reconnaissance sensor for this prototype is visible-spectrum video. This paper focuses more on the software issues, both the onboard intelligent real time control system and the remote user interface. The communications, sensor fusion, intelligent real time controller, etc. are implemented with onboard microcontrollers. We based the autonomous and teleoperation controls on a simple finite state machine scripting layer. Minimal localization and autonomous routines were designed to best assist the operator, execute whatever mission the robot may have, and promote its own survival. We also discuss the advantages and pitfalls of an inexpensive, rapidly-developed semi-autonomous robotic system, especially one that is spherical, and the importance of human-robot interaction as considered for the human-deployment and remote user interface.

Robot Task Commander with Extensible Programming Environment

NASA Technical Reports Server (NTRS)

Hart, Stephen W (Inventor); Wightman, Brian J (Inventor); Dinh, Duy Paul (Inventor); Yamokoski, John D. (Inventor); Gooding, Dustin R (Inventor)

2014-01-01

A system for developing distributed robot application-level software includes a robot having an associated control module which controls motion of the robot in response to a commanded task, and a robot task commander (RTC) in networked communication with the control module over a network transport layer (NTL). The RTC includes a script engine(s) and a GUI, with a processor and a centralized library of library blocks constructed from an interpretive computer programming code and having input and output connections. The GUI provides access to a Visual Programming Language (VPL) environment and a text editor. In executing a method, the VPL is opened, a task for the robot is built from the code library blocks, and data is assigned to input and output connections identifying input and output data for each block. A task sequence(s) is sent to the control module(s) over the NTL to command execution of the task.

[Surgical robotics, short state of the art and prospects].

PubMed

Gravez, P

2003-11-01

State-of-the-art robotized systems developed for surgery are either remotely controlled manipulators that duplicate gestures made by the surgeon (endoscopic surgery applications), or automated robots that execute trajectories defined relatively to pre-operative medical imaging (neurosurgery and orthopaedic surgery). This generation of systems primarily applies existing robotics technologies (the remote handling systems and the so-called "industrial robots") to current surgical practices. It has contributed to validate the huge potential of surgical robotics, but it suffers from several drawbacks, mainly high costs, excessive dimensions and some lack of user-friendliness. Nevertheless, technological progress let us anticipate the appearance in the near future of miniaturised surgical robots able to assist the gesture of the surgeon and to enhance his perception of the operation at hand. Due to many in-the-body articulated links, these systems will have the capability to perform complex minimally invasive gestures without obstructing the operating theatre. They will also combine the facility of manual piloting with the accuracy and increased safety of computer control, guiding the gestures of the human without offending to his freedom of action. Lastly, they will allow the surgeon to feel the mechanical properties of the tissues he is operating through a genuine "remote palpation" function. Most probably, such technological evolutions will lead the way to redesigned surgical procedures taking place inside new operating rooms featuring a better integration of all equipments and favouring cooperative work from multidisciplinary and sometimes geographically distributed medical staff.

Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery.

PubMed

Balicki, Marcin; Xia, Tian; Jung, Min Yang; Deguet, Anton; Vagvolgyi, Balazs; Kazanzides, Peter; Taylor, Russell

2011-06-01

This paper presents the design of a tele-robotic microsurgical platform designed for development of cooperative and tele-operative control schemes, sensor based smart instruments, user interfaces and new surgical techniques with eye surgery as the driving application. The system is built using the distributed component-based cisst libraries and the Surgical Assistant Workstation framework. It includes a cooperatively controlled EyeRobot2, a da Vinci Master manipulator, and a remote stereo visualization system. We use constrained optimization based virtual fixture control to provide Virtual Remote-Center-of-Motion (vRCM) and haptic feedback. Such system can be used in a hybrid setup, combining local cooperative control with remote tele-operation, where an experienced surgeon can provide hand-over-hand tutoring to a novice user. In another scheme, the system can provide haptic feedback based on virtual fixtures constructed from real-time force and proximity sensor information.

Prototyping a Hybrid Cooperative and Tele-robotic Surgical System for Retinal Microsurgery

PubMed Central

Balicki, Marcin; Xia, Tian; Jung, Min Yang; Deguet, Anton; Vagvolgyi, Balazs; Kazanzides, Peter; Taylor, Russell

2013-01-01

This paper presents the design of a tele-robotic microsurgical platform designed for development of cooperative and tele-operative control schemes, sensor based smart instruments, user interfaces and new surgical techniques with eye surgery as the driving application. The system is built using the distributed component-based cisst libraries and the Surgical Assistant Workstation framework. It includes a cooperatively controlled EyeRobot2, a da Vinci Master manipulator, and a remote stereo visualization system. We use constrained optimization based virtual fixture control to provide Virtual Remote-Center-of-Motion (vRCM) and haptic feedback. Such system can be used in a hybrid setup, combining local cooperative control with remote tele-operation, where an experienced surgeon can provide hand-over-hand tutoring to a novice user. In another scheme, the system can provide haptic feedback based on virtual fixtures constructed from real-time force and proximity sensor information. PMID:24398557

The research of autonomous obstacle avoidance of mobile robot based on multi-sensor integration

NASA Astrophysics Data System (ADS)

Zhao, Ming; Han, Baoling

2016-11-01

The object of this study is the bionic quadruped mobile robot. The study has proposed a system design plan for mobile robot obstacle avoidance with the binocular stereo visual sensor and the self-control 3D Lidar integrated with modified ant colony optimization path planning to realize the reconstruction of the environmental map. Because the working condition of a mobile robot is complex, the result of the 3D reconstruction with a single binocular sensor is undesirable when feature points are few and the light condition is poor. Therefore, this system integrates the stereo vision sensor blumblebee2 and the Lidar sensor together to detect the cloud information of 3D points of environmental obstacles. This paper proposes the sensor information fusion technology to rebuild the environment map. Firstly, according to the Lidar data and visual data on obstacle detection respectively, and then consider two methods respectively to detect the distribution of obstacles. Finally fusing the data to get the more complete, more accurate distribution of obstacles in the scene. Then the thesis introduces ant colony algorithm. It has analyzed advantages and disadvantages of the ant colony optimization and its formation cause deeply, and then improved the system with the help of the ant colony optimization to increase the rate of convergence and precision of the algorithm in robot path planning. Such improvements and integrations overcome the shortcomings of the ant colony optimization like involving into the local optimal solution easily, slow search speed and poor search results. This experiment deals with images and programs the motor drive under the compiling environment of Matlab and Visual Studio and establishes the visual 2.5D grid map. Finally it plans a global path for the mobile robot according to the ant colony algorithm. The feasibility and effectiveness of the system are confirmed by ROS and simulation platform of Linux.

Generating Spatiotemporal Joint Torque Patterns from Dynamical Synchronization of Distributed Pattern Generators

PubMed Central

Pitti, Alexandre; Lungarella, Max; Kuniyoshi, Yasuo

2009-01-01

Pattern generators found in the spinal cord are no more seen as simple rhythmic oscillators for motion control. Indeed, they achieve flexible and dynamical coordination in interaction with the body and the environment dynamics giving to rise motor synergies. Discovering the mechanisms underlying the control of motor synergies constitutes an important research question not only for neuroscience but also for robotics: the motors coordination of high dimensional robotic systems is still a drawback and new control methods based on biological solutions may reduce their overall complexity. We propose to model the flexible combination of motor synergies in embodied systems via partial phase synchronization of distributed chaotic systems; for specific coupling strength, chaotic systems are able to phase synchronize their dynamics to the resonant frequencies of one external force. We take advantage of this property to explore and exploit the intrinsic dynamics of one specified embodied system. In two experiments with bipedal walkers, we show how motor synergies emerge when the controllers phase synchronize to the body's dynamics, entraining it to its intrinsic behavioral patterns. This stage is characterized by directed information flow from the sensors to the motors exhibiting the optimal situation when the body dynamics drive the controllers (mutual entrainment). Based on our results, we discuss the relevance of our findings for modeling the modular control of distributed pattern generators exhibited in the spinal cord, and for exploring the motor synergies in robots. PMID:20011216

Coordinating teams of autonomous vehicles: an architectural perspective

NASA Astrophysics Data System (ADS)

Czichon, Cary; Peterson, Robert W.; Mettala, Erik G.; Vondrak, Ivo

2005-05-01

In defense-related robotics research, a mission level integration gap exists between mission tasks (tactical) performed by ground, sea, or air applications and elementary behaviors enacted by processing, communications, sensors, and weaponry resources (platform specific). The gap spans ensemble (heterogeneous team) behaviors, automatic MOE/MOP tracking, and tactical task modeling/simulation for virtual and mixed teams comprised of robotic and human combatants. This study surveys robotic system architectures, compares approaches for navigating problem/state spaces by autonomous systems, describes an architecture for an integrated, repository-based modeling, simulation, and execution environment, and outlines a multi-tiered scheme for robotic behavior components that is agent-based, platform-independent, and extendable via plug-ins. Tools for this integrated environment, along with a distributed agent framework for collaborative task performance are being developed by a U.S. Army funded SBIR project (RDECOM Contract N61339-04-C-0005).

Advantages of Brahms for Specifying and Implementing a Multiagent Human-Robotic Exploration System

NASA Technical Reports Server (NTRS)

Clancey, William J.; Sierhuis, Maarten; Kaskiris, Charis; vanHoof, Ron

2003-01-01

We have developed a model-based, distributed architecture that integrates diverse components in a system designed for lunar and planetary surface operations: an astronaut's space suit, cameras, all-terrain vehicles, robotic assistant, crew in a local habitat, and mission support team. Software processes ('agents') implemented in the Brahms language, run on multiple, mobile platforms. These mobile agents interpret and transform available data to help people and robotic systems coordinate their actions to make operations more safe and efficient. The Brahms-based mobile agent architecture (MAA) uses a novel combination of agent types so the software agents may understand and facilitate communications between people and between system components. A state-of-the-art spoken dialogue interface is integrated with Brahms models, supporting a speech-driven field observation record and rover command system. An important aspect of the methodology involves first simulating the entire system in Brahms, then configuring the agents into a runtime system Thus, Brahms provides a language, engine, and system builder's toolkit for specifying and implementing multiagent systems.

Learning classifier systems for single and multiple mobile robots in unstructured environments

NASA Astrophysics Data System (ADS)

Bay, John S.

1995-12-01

The learning classifier system (LCS) is a learning production system that generates behavioral rules via an underlying discovery mechanism. The LCS architecture operates similarly to a blackboard architecture; i.e., by posted-message communications. But in the LCS, the message board is wiped clean at every time interval, thereby requiring no persistent shared resource. In this paper, we adapt the LCS to the problem of mobile robot navigation in completely unstructured environments. We consider the model of the robot itself, including its sensor and actuator structures, to be part of this environment, in addition to the world-model that includes a goal and obstacles at unknown locations. This requires a robot to learn its own I/O characteristics in addition to solving its navigation problem, but results in a learning controller that is equally applicable, unaltered, in robots with a wide variety of kinematic structures and sensing capabilities. We show the effectiveness of this LCS-based controller through both simulation and experimental trials with a small robot. We then propose a new architecture, the Distributed Learning Classifier System (DLCS), which generalizes the message-passing behavior of the LCS from internal messages within a single agent to broadcast massages among multiple agents. This communications mode requires little bandwidth and is easily implemented with inexpensive, off-the-shelf hardware. The DLCS is shown to have potential application as a learning controller for multiple intelligent agents.

Distributed Fault-Tolerant Control of Networked Uncertain Euler-Lagrange Systems Under Actuator Faults.

PubMed

Chen, Gang; Song, Yongduan; Lewis, Frank L

2016-05-03

This paper investigates the distributed fault-tolerant control problem of networked Euler-Lagrange systems with actuator and communication link faults. An adaptive fault-tolerant cooperative control scheme is proposed to achieve the coordinated tracking control of networked uncertain Lagrange systems on a general directed communication topology, which contains a spanning tree with the root node being the active target system. The proposed algorithm is capable of compensating for the actuator bias fault, the partial loss of effectiveness actuation fault, the communication link fault, the model uncertainty, and the external disturbance simultaneously. The control scheme does not use any fault detection and isolation mechanism to detect, separate, and identify the actuator faults online, which largely reduces the online computation and expedites the responsiveness of the controller. To validate the effectiveness of the proposed method, a test-bed of multiple robot-arm cooperative control system is developed for real-time verification. Experiments on the networked robot-arms are conduced and the results confirm the benefits and the effectiveness of the proposed distributed fault-tolerant control algorithms.

Reliability analysis of a robotic system using hybridized technique

NASA Astrophysics Data System (ADS)

Kumar, Naveen; Komal; Lather, J. S.

2017-09-01

In this manuscript, the reliability of a robotic system has been analyzed using the available data (containing vagueness, uncertainty, etc). Quantification of involved uncertainties is done through data fuzzification using triangular fuzzy numbers with known spreads as suggested by system experts. With fuzzified data, if the existing fuzzy lambda-tau (FLT) technique is employed, then the computed reliability parameters have wide range of predictions. Therefore, decision-maker cannot suggest any specific and influential managerial strategy to prevent unexpected failures and consequently to improve complex system performance. To overcome this problem, the present study utilizes a hybridized technique. With this technique, fuzzy set theory is utilized to quantify uncertainties, fault tree is utilized for the system modeling, lambda-tau method is utilized to formulate mathematical expressions for failure/repair rates of the system, and genetic algorithm is utilized to solve established nonlinear programming problem. Different reliability parameters of a robotic system are computed and the results are compared with the existing technique. The components of the robotic system follow exponential distribution, i.e., constant. Sensitivity analysis is also performed and impact on system mean time between failures (MTBF) is addressed by varying other reliability parameters. Based on analysis some influential suggestions are given to improve the system performance.

An Innovative Multi-Agent Search-and-Rescue Path Planning Approach

DTIC Science & Technology

2015-03-09

search problems from search theory and artificial intelligence /distributed robotic control, and pursuit-evasion problem perspectives may be found in...Dissanayake, “Probabilistic search for a moving target in an indoor environment”, In Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2006, pp...3393-3398. [7] H. Lau, and G. Dissanayake, “Optimal search for multiple targets in a built environment”, In Proc. IEEE/RSJ Int. Conf. Intelligent

Dynamic modeling, property investigation, and adaptive controller design of serial robotic manipulators modeled with structural compliance

NASA Technical Reports Server (NTRS)

Tesar, Delbert; Tosunoglu, Sabri; Lin, Shyng-Her

1990-01-01

Research results on general serial robotic manipulators modeled with structural compliances are presented. Two compliant manipulator modeling approaches, distributed and lumped parameter models, are used in this study. System dynamic equations for both compliant models are derived by using the first and second order influence coefficients. Also, the properties of compliant manipulator system dynamics are investigated. One of the properties, which is defined as inaccessibility of vibratory modes, is shown to display a distinct character associated with compliant manipulators. This property indicates the impact of robot geometry on the control of structural oscillations. Example studies are provided to illustrate the physical interpretation of inaccessibility of vibratory modes. Two types of controllers are designed for compliant manipulators modeled by either lumped or distributed parameter techniques. In order to maintain the generality of the results, neither linearization is introduced. Example simulations are given to demonstrate the controller performance. The second type controller is also built for general serial robot arms and is adaptive in nature which can estimate uncertain payload parameters on-line and simultaneously maintain trajectory tracking properties. The relation between manipulator motion tracking capability and convergence of parameter estimation properties is discussed through example case studies. The effect of control input update delays on adaptive controller performance is also studied.

Real-time networked control of an industrial robot manipulator via discrete-time second-order sliding modes

NASA Astrophysics Data System (ADS)

Massimiliano Capisani, Luca; Facchinetti, Tullio; Ferrara, Antonella

2010-08-01

This article presents the networked control of a robotic anthropomorphic manipulator based on a second-order sliding mode technique, where the control objective is to track a desired trajectory for the manipulator. The adopted control scheme allows an easy and effective distribution of the control algorithm over two networked machines. While the predictability of real-time tasks execution is achieved by the Soft Hard Real-Time Kernel (S.Ha.R.K.) real-time operating system, the communication is established via a standard Ethernet network. The performances of the control system are evaluated under different experimental system configurations using, to perform the experiments, a COMAU SMART3-S2 industrial robot, and the results are analysed to put into evidence the robustness of the proposed approach against possible network delays, packet losses and unmodelled effects.

Evaluation of a Home Biomonitoring Autonomous Mobile Robot.

PubMed

Dorronzoro Zubiete, Enrique; Nakahata, Keigo; Imamoglu, Nevrez; Sekine, Masashi; Sun, Guanghao; Gomez, Isabel; Yu, Wenwei

2016-01-01

Increasing population age demands more services in healthcare domain. It has been shown that mobile robots could be a potential solution to home biomonitoring for the elderly. Through our previous studies, a mobile robot system that is able to track a subject and identify his daily living activities has been developed. However, the system has not been tested in any home living scenarios. In this study we did a series of experiments to investigate the accuracy of activity recognition of the mobile robot in a home living scenario. The daily activities tested in the evaluation experiment include watching TV and sleeping. A dataset recorded by a distributed distance-measuring sensor network was used as a reference to the activity recognition results. It was shown that the accuracy is not consistent for all the activities; that is, mobile robot could achieve a high success rate in some activities but a poor success rate in others. It was found that the observation position of the mobile robot and subject surroundings have high impact on the accuracy of the activity recognition, due to the variability of the home living daily activities and their transitional process. The possibility of improvement of recognition accuracy has been shown too.

Wireless Self-powered Visual and NDE Robotic Inspection System for Live Gas Distribution Mains

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

Susan Burkett; Hagen Schempf

2006-01-31

Carnegie Mellon University (CMU) under contract from Department of Energy/National Energy Technology Laboratory (DoE/NETL) and co-funding from the Northeast Gas Association (NGA), has completed the overall system design of the next-generation Explorer-II (X-II) live gas main NDE and visual inspection robot platform. The design is based on the Explorer-I prototype which was built and field-tested under a prior (also DoE- and NGA co-funded) program, and served as the validation that self-powered robots under wireless control could access and navigate live natural gas distribution mains. The X-II system design ({approx}8 ft. and 66 lbs.) was heavily based on the X-I design,more » yet was substantially expanded to allow the addition of NDE sensor systems (while retaining its visual inspection capability), making it a modular system, and expanding its ability to operate at pressures up to 750 psig (high-pressure and unpiggable steel-pipe distribution mains). A new electronics architecture and on-board software kernel were added to again improve system performance. A locating sonde system was integrated to allow for absolute position-referencing during inspection (coupled with external differential GPS) and emergency-locating. The power system was upgraded to utilize lithium-based battery-cells for an increase in mission-time. The system architecture now relies on a dual set of end camera-modules to house the 32-bit processors (Single-Board Computer or SBC) as well as the imaging and wireless (off-board) and CAN-based (on-board) communication hardware and software systems (as well as the sonde-coil and -electronics). The drive-module (2 ea.) are still responsible for bracing (and centering) to drive in push/pull fashion the robot train into and through the pipes and obstacles. The steering modules and their arrangement, still allow the robot to configure itself to perform any-angle (up to 90 deg) turns in any orientation (incl. vertical), and enable the live launching and recovery of the system using custom fittings and a (to be developed) launch-chamber/-tube. The battery modules are used to power the system, by providing power to the robot's bus. The support modules perform the functions of centration for the rest of the train as well as odometry pickups using incremental encoding schemes. The electronics architecture is based on a distributed (8-bit) microprocessor architecture (at least 1 in ea. module) communicating to a (one of two) 32-bit SBC, which manages all video-processing, posture and motion control as well as CAN and wireless communications. The operator controls the entire system from an off-board (laptop) controller, which is in constant wireless communication with the robot train in the pipe. The sensor modules collect data and forward it to the robot operator computer (via the CAN-wireless communications chain), who then transfers it to a dedicated NDE data-storage and post-processing computer for further (real-time or off-line) analysis. CMU has fully designed every module in terms of the mechanical, electrical and software elements (architecture only). Substantial effort has gone into pre-prototyping to uncover mechanical, electrical and software issues for critical elements of the design. Design requirements for sensor-providers were also detailed and finalized and provided to them for inclusion in their designs. CMU is expecting to start 2006 with a detailed design effort for both mechanical and electrical components, followed by procurement and fabrication efforts in late winter/spring 2006. The assembly and integration efforts will occupy all of the spring and summer of 2006. Software development will also be a major effort in 2006, and will result in porting and debugging of code on the module- and train-levels in late summer and Fall of 2006. Final pipe mock-up testing is expected in late fall and early winter 2006 with an acceptance demonstration of the robot train (with a sensor-module mock-up) planned to DoE/NGA towards the end of 2006.« less

A synchronized computational architecture for generalized bilateral control of robot arms

NASA Technical Reports Server (NTRS)

Bejczy, Antal K.; Szakaly, Zoltan

1987-01-01

This paper describes a computational architecture for an interconnected high speed distributed computing system for generalized bilateral control of robot arms. The key method of the architecture is the use of fully synchronized, interrupt driven software. Since an objective of the development is to utilize the processing resources efficiently, the synchronization is done in the hardware level to reduce system software overhead. The architecture also achieves a balaced load on the communication channel. The paper also describes some architectural relations to trading or sharing manual and automatic control.

Integration of robotic resources into FORCEnet

NASA Astrophysics Data System (ADS)

Nguyen, Chinh; Carroll, Daniel; Nguyen, Hoa

2006-05-01

The Networked Intelligence, Surveillance, and Reconnaissance (NISR) project integrates robotic resources into Composeable FORCEnet to control and exploit unmanned systems over extremely long distances. The foundations are built upon FORCEnet-the U.S. Navy's process to define C4ISR for net-centric operations-and the Navy Unmanned Systems Common Control Roadmap to develop technologies and standards for interoperability, data sharing, publish-and-subscribe methodology, and software reuse. The paper defines the goals and boundaries for NISR with focus on the system architecture, including the design tradeoffs necessary for unmanned systems in a net-centric model. Special attention is given to two specific scenarios demonstrating the integration of unmanned ground and water surface vehicles into the open-architecture web-based command-and-control information-management system of Composeable FORCEnet. Planned spiral development for NISR will improve collaborative control, expand robotic sensor capabilities, address multiple domains including underwater and aerial platforms, and extend distributive communications infrastructure for battlespace optimization for unmanned systems in net-centric operations.

Distributed power and control actuation in the thoracic mechanics of a robotic insect.

PubMed

Finio, Benjamin M; Wood, Robert J

2010-12-01

Recent advances in the understanding of biological flight have inspired roboticists to create flapping-wing vehicles on the scale of insects and small birds. While our understanding of the wing kinematics, flight musculature and neuromotor control systems of insects has expanded, in practice it has proven quite difficult to construct an at-scale mechanical device capable of similar flight performance. One of the key challenges is the development of an effective and efficient transmission mechanism to control wing motions. Here we present multiple insect-scale robotic thorax designs capable of producing asymmetric wing kinematics similar to those observed in nature and utilized by dipteran insects to maneuver. Inspired by the thoracic mechanics of dipteran insects, which entail a morphological separation of power and control muscles, these designs show that such distributed actuation can also modulate wing motion in a robotic design.

In situ post-weld heat treatment on martensitic stainless steel turbine runners using a robotic induction heating process to control temperature distribution

NASA Astrophysics Data System (ADS)

Boudreault, E.; Hazel, B.; Côté, J.; Godin, S.

2014-03-01

A new robotic heat treatment process is developed. Using this solution it is now possible to perform local heat treatment on large steel components. Crack, cavitation and erosion repairs on turbine blades and Pelton buckets are among the applications of this technique. The proof of concept is made on a 13Cr-4Ni stainless steel designated "CA6NM". This alloy is widely used in the power industry for modern system components. Given the very tight temperature tolerance (600 to 630 °C) for post-weld heat treatment on this alloy, 13Cr-4Ni stainless steel is very well suited for demonstrating the possibilities of this process. To achieve heat treatment requirements, an induction heating system is mounted on a compact manipulator named "Scompi". This robot moves a pancake coil in order to control the temperature distribution. A simulator using thermal finite element analysis is first used for path planning. A feedback loop adjusts parameters in function of environmental conditions.

INFN, IT the GENIUS grid portal and the robot certificates to perform phylogenetic analysis on large scale: a success story from the International LIBI project

NASA Astrophysics Data System (ADS)

Barbera, Roberto; Donvit, Giacinto; Falzone, Alberto; Rocca, Giuseppe La; Maggi, Giorgio Pietro; Milanesi, Luciano; Vicarioicario, Saverio

This paper depicts the solution proposed by INFN to allow users, not owning a personal digital certificate and therefore not belonging to any specific Virtual Organization (VO), to access Grid infrastructures via the GENIUS Grid portal enabled with robot certificates. Robot certificates, also known as portal certificates, are associated with a specific application that the user wants to share with the whole Grid community and have recently been introduced by the EUGridPMA (European Policy Management Authority for Grid Authentication) to perform automated tasks on Grids on behalf of users. They are proven to be extremely useful to automate grid service monitoring, data processing production, distributed data collection systems, etc. In this paper, robot certificates have been used to allow bioinformaticians involved in the Italian LIBI project to perform large scale phylogenetic analyses. The distributed environment set up in this work strongly simplify the grid access of occasional users and represents a valuable step forward to wide the communities of users.

A Policy Representation Using Weighted Multiple Normal Distribution

NASA Astrophysics Data System (ADS)

Kimura, Hajime; Aramaki, Takeshi; Kobayashi, Shigenobu

In this paper, we challenge to solve a reinforcement learning problem for a 5-linked ring robot within a real-time so that the real-robot can stand up to the trial and error. On this robot, incomplete perception problems are caused from noisy sensors and cheap position-control motor systems. This incomplete perception also causes varying optimum actions with the progress of the learning. To cope with this problem, we adopt an actor-critic method, and we propose a new hierarchical policy representation scheme, that consists of discrete action selection on the top level and continuous action selection on the low level of the hierarchy. The proposed hierarchical scheme accelerates learning on continuous action space, and it can pursue the optimum actions varying with the progress of learning on our robotics problem. This paper compares and discusses several learning algorithms through simulations, and demonstrates the proposed method showing application for the real robot.

Compensating for telecommunication delays during robotic telerehabilitation.

PubMed

Consoni, Leonardo J; Siqueira, Adriano A G; Krebs, Hermano I

2017-07-01

Rehabilitation robotic systems may afford better care and telerehabilitation may extend the use and benefits of robotic therapy to the home. Data transmissions over distance are bound by intrinsic communication delays which can be significant enough to deem the activity unfeasible. Here we describe an approach that combines unilateral robotic telerehabilitation and serious games. This approach has a modular and distributed design that permits different types of robots to interact without substantial code changes. We demonstrate the approach through an online multiplayer game. Two users can remotely interact with each other with no force exchanges, while a smoothing and prediction algorithm compensates motions for the delay in the Internet connection. We demonstrate that this approach can successfully compensate for data transmission delays, even when testing between the United States and Brazil. This paper presents the initial experimental results, which highlight the performance degradation with increasing delays as well as improvements provided by the proposed algorithm, and discusses planned future developments.

[Low Fidelity Simulation of a Zero-Y Robot

NASA Technical Reports Server (NTRS)

Sweet, Adam

2001-01-01

The item to be cleared is a low-fidelity software simulation model of a hypothetical freeflying robot designed for use in zero gravity environments. This simulation model works with the HCC simulation system that was developed by Xerox PARC and NASA Ames Research Center. HCC has been previously cleared for distribution. When used with the HCC software, the model computes the location and orientation of the simulated robot over time. Failures (such as a broken motor) can be injected into the simulation to produce simulated behavior corresponding to the failure. Release of this simulation will allow researchers to test their software diagnosis systems by attempting to diagnose the simulated failure from the simulated behavior. This model does not contain any encryption software nor can it perform any control tasks that might be export controlled.

Gesteme-free context-aware adaptation of robot behavior in human-robot cooperation.

PubMed

Nessi, Federico; Beretta, Elisa; Gatti, Cecilia; Ferrigno, Giancarlo; De Momi, Elena

2016-11-01

Cooperative robotics is receiving greater acceptance because the typical advantages provided by manipulators are combined with an intuitive usage. In particular, hands-on robotics may benefit from the adaptation of the assistant behavior with respect to the activity currently performed by the user. A fast and reliable classification of human activities is required, as well as strategies to smoothly modify the control of the manipulator. In this scenario, gesteme-based motion classification is inadequate because it needs the observation of a wide signal percentage and the definition of a rich vocabulary. In this work, a system able to recognize the user's current activity without a vocabulary of gestemes, and to accordingly adapt the manipulator's dynamic behavior is presented. An underlying stochastic model fits variations in the user's guidance forces and the resulting trajectories of the manipulator's end-effector with a set of Gaussian distribution. The high-level switching between these distributions is captured with hidden Markov models. The dynamic of the KUKA light-weight robot, a torque-controlled manipulator, is modified with respect to the classified activity using sigmoidal-shaped functions. The presented system is validated over a pool of 12 näive users in a scenario that addresses surgical targeting tasks on soft tissue. The robot's assistance is adapted in order to obtain a stiff behavior during activities that require critical accuracy constraint, and higher compliance during wide movements. Both the ability to provide the correct classification at each moment (sample accuracy) and the capability of correctly identify the correct sequence of activity (sequence accuracy) were evaluated. The proposed classifier is fast and accurate in all the experiments conducted (80% sample accuracy after the observation of ∼450ms of signal). Moreover, the ability of recognize the correct sequence of activities, without unwanted transitions is guaranteed (sequence accuracy ∼90% when computed far away from user desired transitions). Finally, the proposed activity-based adaptation of the robot's dynamic does not lead to a not smooth behavior (high smoothness, i.e. normalized jerk score <0.01). The provided system is able to dynamic assist the operator during cooperation in the presented scenario. Copyright © 2016 Elsevier B.V. All rights reserved.

Mitigating clogging and arrest in confined self-propelled systems

NASA Astrophysics Data System (ADS)

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

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

A Flexible Sensor Technology for the Distributed Measurement of Interaction Pressure

PubMed Central

Donati, Marco; Vitiello, Nicola; De Rossi, Stefano Marco Maria; Lenzi, Tommaso; Crea, Simona; Persichetti, Alessandro; Giovacchini, Francesco; Koopman, Bram; Podobnik, Janez; Munih, Marko; Carrozza, Maria Chiara

2013-01-01

We present a sensor technology for the measure of the physical human-robot interaction pressure developed in the last years at Scuola Superiore Sant'Anna. The system is composed of flexible matrices of opto-electronic sensors covered by a soft silicone cover. This sensory system is completely modular and scalable, allowing one to cover areas of any sizes and shapes, and to measure different pressure ranges. In this work we present the main application areas for this technology. A first generation of the system was used to monitor human-robot interaction in upper- (NEUROExos; Scuola Superiore Sant'Anna) and lower-limb (LOPES; University of Twente) exoskeletons for rehabilitation. A second generation, with increased resolution and wireless connection, was used to develop a pressure-sensitive foot insole and an improved human-robot interaction measurement systems. The experimental characterization of the latter system along with its validation on three healthy subjects is presented here for the first time. A perspective on future uses and development of the technology is finally drafted. PMID:23322104

Towards multi-platform software architecture for Collaborative Teleoperation

NASA Astrophysics Data System (ADS)

Domingues, Christophe; Otmane, Samir; Davesne, Frederic; Mallem, Malik

2009-03-01

Augmented Reality (AR) can provide to a Human Operator (HO) a real help in achieving complex tasks, such as remote control of robots and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer and easier with the remote real world. In this paper, we present an extension of an existing distributed software and network architecture for collaborative teleoperation based on networked human-scaled mixed reality and mobile platform. The first teleoperation system was composed by a VR application and a Web application. However the 2 systems cannot be used together and it is impossible to control a distant robot simultaneously. Our goal is to update the teleoperation system to permit a heterogeneous collaborative teleoperation between the 2 platforms. An important feature of this interface is based on the use of different Virtual Reality platforms and different Mobile platforms to control one or many robots.

Exploration of Planetary Terrains with a Legged Robot as a Scout Adjunct to a Rover

NASA Technical Reports Server (NTRS)

Colombano, Silvano; Kirchner, Frank; Spenneberg, Dirk; Hanratty, James

2004-01-01

The Scorpion robot is an innovative, biologically inspired 8-legged walking robot. It currently runs a novel approach to control which utilizes a central pattern generator (CPG) and local reflex action for each leg. From this starting point we are proposing to both extend the system's individual capabilities and its capacity to function as a "scout", cooperating with a larger wheeled rover. For this purpose we propose to develop a distributed system architecture that extends the system's capabilities both in the direction of high level planning and execution in collaboration with a rover, and in the direction of force-feedback based low level behaviors that will greatly enhance its ability to walk and climb in rough varied terrains. The final test of this improved ability will be a rappelling experiment where the Scorpion explores a steep cliff side in cooperation with a rover that serves as both anchor and planner/executive.

Walking robot: A design project for undergraduate students

NASA Technical Reports Server (NTRS)

1991-01-01

The objective of the University of Maryland walking robot project was to design, analyze, assemble, and test an intelligent, mobile, and terrain-adaptive system. The robot incorporates existing technologies in novel ways. The legs emulate the walking path of a human by an innovative modification of a crank-and-rocker mechanism. The body consists of two tripod frames connected by a turning mechanism. The two sets of three legs are mounted so as to allow the robot to walk with stability in its own footsteps. The computer uses a modular hardware design and distributed processing. Dual-port RAM is used to allow communication between a supervisory personal computer and seven microcontrollers. The microcontrollers provide low-level control for the motors and relieve the processing burden on the PC.

AAPM and GEC-ESTRO guidelines for image-guided robotic brachytherapy: report of Task Group 192.

PubMed

Podder, Tarun K; Beaulieu, Luc; Caldwell, Barrett; Cormack, Robert A; Crass, Jostin B; Dicker, Adam P; Fenster, Aaron; Fichtinger, Gabor; Meltsner, Michael A; Moerland, Marinus A; Nath, Ravinder; Rivard, Mark J; Salcudean, Tim; Song, Danny Y; Thomadsen, Bruce R; Yu, Yan

2014-10-01

In the last decade, there have been significant developments into integration of robots and automation tools with brachytherapy delivery systems. These systems aim to improve the current paradigm by executing higher precision and accuracy in seed placement, improving calculation of optimal seed locations, minimizing surgical trauma, and reducing radiation exposure to medical staff. Most of the applications of this technology have been in the implantation of seeds in patients with early-stage prostate cancer. Nevertheless, the techniques apply to any clinical site where interstitial brachytherapy is appropriate. In consideration of the rapid developments in this area, the American Association of Physicists in Medicine (AAPM) commissioned Task Group 192 to review the state-of-the-art in the field of robotic interstitial brachytherapy. This is a joint Task Group with the Groupe Européen de Curiethérapie-European Society for Radiotherapy & Oncology (GEC-ESTRO). All developed and reported robotic brachytherapy systems were reviewed. Commissioning and quality assurance procedures for the safe and consistent use of these systems are also provided. Manual seed placement techniques with a rigid template have an estimated in vivo accuracy of 3-6 mm. In addition to the placement accuracy, factors such as tissue deformation, needle deviation, and edema may result in a delivered dose distribution that differs from the preimplant or intraoperative plan. However, real-time needle tracking and seed identification for dynamic updating of dosimetry may improve the quality of seed implantation. The AAPM and GEC-ESTRO recommend that robotic systems should demonstrate a spatial accuracy of seed placement ≤1.0 mm in a phantom. This recommendation is based on the current performance of existing robotic brachytherapy systems and propagation of uncertainties. During clinical commissioning, tests should be conducted to ensure that this level of accuracy is achieved. These tests should mimic the real operating procedure as closely as possible. Additional recommendations on robotic brachytherapy systems include display of the operational state; capability of manual override; documented policies for independent check and data verification; intuitive interface displaying the implantation plan and visualization of needle positions and seed locations relative to the target anatomy; needle insertion in a sequential order; robot-clinician and robot-patient interactions robustness, reliability, and safety while delivering the correct dose at the correct site for the correct patient; avoidance of excessive force on radioactive sources; delivery confirmation of the required number or position of seeds; incorporation of a collision avoidance system; system cleaning, decontamination, and sterilization procedures. These recommendations are applicable to end users and manufacturers of robotic brachytherapy systems.

Novel locomotion via biological inspiration

NASA Astrophysics Data System (ADS)

Quinn, Roger D.; Boxerbaum, Alexander; Palmer, Luther; Chiel, Hillel; Diller, Eric; Hunt, Alexander; Bachmann, Richard

2011-05-01

Animal behavioral, physiological and neurobiological studies are providing a wealth of inspirational data for robot design and control. Several very different biologically inspired mobile robots will be reviewed. A robot called DIGbot is being developed that moves independent of the direction of gravity using Distributed Inward Gripping (DIG) as a rapid and robust attachment mechanism observed in climbing animals. DIGbot is an 18 degree of freedom hexapod with onboard power and control systems. Passive compliance in its feet, which is inspired by the flexible tarsus of the cockroach, increases the robustness of the adhesion strategy and enables DIGbot to execute large steps and stationary turns while walking on mesh screens. A Whegs™ robot, inspired by insect locomotion principles, is being developed that can be rapidly reconfigured between tracks and wheel-legs and carry GeoSystems Zipper Mast. The mechanisms that cause it to passively change its gait on irregular terrain have been integrated into its hubs for a compact and modular design. The robot is designed to move smoothly on moderately rugged terrain using its tracks and run on irregular terrain and stairs using its wheel-legs. We are also developing soft bodied robots that use peristalsis, the same method of locomotion earthworms use. We present a technique of using a braided mesh exterior to produce fluid waves of motion along the body of the robot that increase the robot's speed relative to previous designs. The concept is highly scalable, for endoscopes to water, oil or gas line inspection.

Combining environment-driven adaptation and task-driven optimisation in evolutionary robotics.

PubMed

Haasdijk, Evert; Bredeche, Nicolas; Eiben, A E

2014-01-01

Embodied evolutionary robotics is a sub-field of evolutionary robotics that employs evolutionary algorithms on the robotic hardware itself, during the operational period, i.e., in an on-line fashion. This enables robotic systems that continuously adapt, and are therefore capable of (re-)adjusting themselves to previously unknown or dynamically changing conditions autonomously, without human oversight. This paper addresses one of the major challenges that such systems face, viz. that the robots must satisfy two sets of requirements. Firstly, they must continue to operate reliably in their environment (viability), and secondly they must competently perform user-specified tasks (usefulness). The solution we propose exploits the fact that evolutionary methods have two basic selection mechanisms-survivor selection and parent selection. This allows evolution to tackle the two sets of requirements separately: survivor selection is driven by the environment and parent selection is based on task-performance. This idea is elaborated in the Multi-Objective aNd open-Ended Evolution (monee) framework, which we experimentally validate. Experiments with robotic swarms of 100 simulated e-pucks show that monee does indeed promote task-driven behaviour without compromising environmental adaptation. We also investigate an extension of the parent selection process with a 'market mechanism' that can ensure equitable distribution of effort over multiple tasks, a particularly pressing issue if the environment promotes specialisation in single tasks.

State estimation for distributed systems with sensing delay

NASA Astrophysics Data System (ADS)

Alexander, Harold L.

1991-08-01

Control of complex systems such as remote robotic vehicles requires combining data from many sensors where the data may often be delayed by sensory processing requirements. The number and variety of sensors make it desirable to distribute the computational burden of sensing and estimation among multiple processors. Classic Kalman filters do not lend themselves to distributed implementations or delayed measurement data. The alternative Kalman filter designs presented in this paper are adapted for delays in sensor data generation and for distribution of computation for sensing and estimation over a set of networked processors.

Compact Tactile Sensors for Robot Fingers

NASA Technical Reports Server (NTRS)

Martin, Toby B.; Lussy, David; Gaudiano, Frank; Hulse, Aaron; Diftler, Myron A.; Rodriguez, Dagoberto; Bielski, Paul; Butzer, Melisa

2004-01-01

Compact transducer arrays that measure spatial distributions of force or pressure have been demonstrated as prototypes of tactile sensors to be mounted on fingers and palms of dexterous robot hands. The pressure- or force-distribution feedback provided by these sensors is essential for the further development and implementation of robot-control capabilities for humanlike grasping and manipulation.

Distributed Bees Algorithm Parameters Optimization for a Cost Efficient Target Allocation in Swarms of Robots

PubMed Central

Jevtić, Aleksandar; Gutiérrez, Álvaro

2011-01-01

Swarms of robots can use their sensing abilities to explore unknown environments and deploy on sites of interest. In this task, a large number of robots is more effective than a single unit because of their ability to quickly cover the area. However, the coordination of large teams of robots is not an easy problem, especially when the resources for the deployment are limited. In this paper, the Distributed Bees Algorithm (DBA), previously proposed by the authors, is optimized and applied to distributed target allocation in swarms of robots. Improved target allocation in terms of deployment cost efficiency is achieved through optimization of the DBA’s control parameters by means of a Genetic Algorithm. Experimental results show that with the optimized set of parameters, the deployment cost measured as the average distance traveled by the robots is reduced. The cost-efficient deployment is in some cases achieved at the expense of increased robots’ distribution error. Nevertheless, the proposed approach allows the swarm to adapt to the operating conditions when available resources are scarce. PMID:22346677

Object Segmentation Methods for Online Model Acquisition to Guide Robotic Grasping

NASA Astrophysics Data System (ADS)

Ignakov, Dmitri

A vision system is an integral component of many autonomous robots. It enables the robot to perform essential tasks such as mapping, localization, or path planning. A vision system also assists with guiding the robot's grasping and manipulation tasks. As an increased demand is placed on service robots to operate in uncontrolled environments, advanced vision systems must be created that can function effectively in visually complex and cluttered settings. This thesis presents the development of segmentation algorithms to assist in online model acquisition for guiding robotic manipulation tasks. Specifically, the focus is placed on localizing door handles to assist in robotic door opening, and on acquiring partial object models to guide robotic grasping. First, a method for localizing a door handle of unknown geometry based on a proposed 3D segmentation method is presented. Following segmentation, localization is performed by fitting a simple box model to the segmented handle. The proposed method functions without requiring assumptions about the appearance of the handle or the door, and without a geometric model of the handle. Next, an object segmentation algorithm is developed, which combines multiple appearance (intensity and texture) and geometric (depth and curvature) cues. The algorithm is able to segment objects without utilizing any a priori appearance or geometric information in visually complex and cluttered environments. The segmentation method is based on the Conditional Random Fields (CRF) framework, and the graph cuts energy minimization technique. A simple and efficient method for initializing the proposed algorithm which overcomes graph cuts' reliance on user interaction is also developed. Finally, an improved segmentation algorithm is developed which incorporates a distance metric learning (DML) step as a means of weighing various appearance and geometric segmentation cues, allowing the method to better adapt to the available data. The improved method also models the distribution of 3D points in space as a distribution of algebraic distances from an ellipsoid fitted to the object, improving the method's ability to predict which points are likely to belong to the object or the background. Experimental validation of all methods is performed. Each method is evaluated in a realistic setting, utilizing scenarios of various complexities. Experimental results have demonstrated the effectiveness of the handle localization method, and the object segmentation methods.

Robotic Recon for Human Exploration

NASA Technical Reports Server (NTRS)

Deans, Matthew; Fong, Terry; Ford, Ken; Heldmann, Jennifer; Helper, Mark; Hodges, Kip; Landis, Rob; Lee, Pascal; Schaber, Gerald; Schmitt, Harrison H.

2009-01-01

Robotic reconnaissance has the potential to significantly improve scientific and technical return from lunar surface exploration. In particular, robotic recon may increase crew productivity and reduce operational risk for exploration. However, additional research, development and field-testing is needed to mature robot and ground control systems, refine operational protocols, and specify detailed requirements. When the new lunar surface campaign begins around 2020, and before permanent outposts are established, humans will initially be on the Moon less than 10% of the time. During the 90% of time between crew visits, robots will be available to perform surface operations under ground control. Understanding how robotic systems can best address surface science needs, therefore, becomes a central issue Prior to surface missions, lunar orbiters (LRO, Kaguya, Chandrayyan-1, etc.) will map the Moon. These orbital missions will provide numerous types of maps: visible photography, topographic, mineralogical and geochemical distributions, etc. However, remote sensing data will not be of sufficient resolution, lighting, nor view angle, to fully optimize pre-human exploration planning, e.g., crew traverses for field geology and geophysics. Thus, it is important to acquire supplemental and complementary surface data. Robotic recon can obtain such data, using robot-mounted instruments to scout the surface and subsurface at resolutions and at viewpoints not achievable from orbit. This data can then be used to select locations for detailed field activity and prioritize targets to improve crew productivity. Surface data can also help identify and assess terrain hazards, and evaluate alternate routes to reduce operational risk. Robotic recon could be done months in advance, or be part of a continuing planning process during human missions.

Distributed optimization system and method

DOEpatents

Hurtado, John E.; Dohrmann, Clark R.; Robinett, III, Rush D.

2003-06-10

A search system and method for controlling multiple agents to optimize an objective using distributed sensing and cooperative control. The search agent can be one or more physical agents, such as a robot, and can be software agents for searching cyberspace. The objective can be: chemical sources, temperature sources, radiation sources, light sources, evaders, trespassers, explosive sources, time dependent sources, time independent sources, function surfaces, maximization points, minimization points, and optimal control of a system such as a communication system, an economy, a crane, and a multi-processor computer.

Distributed Optimization System

DOEpatents

Hurtado, John E.; Dohrmann, Clark R.; Robinett, III, Rush D.

2004-11-30

A search system and method for controlling multiple agents to optimize an objective using distributed sensing and cooperative control. The search agent can be one or more physical agents, such as a robot, and can be software agents for searching cyberspace. The objective can be: chemical sources, temperature sources, radiation sources, light sources, evaders, trespassers, explosive sources, time dependent sources, time independent sources, function surfaces, maximization points, minimization points, and optimal control of a system such as a communication system, an economy, a crane, and a multi-processor computer.

Decentralized Adaptive Control For Robots

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

Precise knowledge of dynamics not required. Proposed scheme for control of multijointed robotic manipulator calls for independent control subsystem for each joint, consisting of proportional/integral/derivative feedback controller and position/velocity/acceleration feedforward controller, both with adjustable gains. Independent joint controller compensates for unpredictable effects, gravitation, and dynamic coupling between motions of joints, while forcing joints to track reference trajectories. Scheme amenable to parallel processing in distributed computing system wherein each joint controlled by relatively simple algorithm on dedicated microprocessor.

Linear Temporal Logic (LTL) Based Monitoring of Smart Manufacturing Systems.

PubMed

Heddy, Gerald; Huzaifa, Umer; Beling, Peter; Haimes, Yacov; Marvel, Jeremy; Weiss, Brian; LaViers, Amy

2015-01-01

The vision of Smart Manufacturing Systems (SMS) includes collaborative robots that can adapt to a range of scenarios. This vision requires a classification of multiple system behaviors, or sequences of movement, that can achieve the same high-level tasks. Likewise, this vision presents unique challenges regarding the management of environmental variables in concert with discrete, logic-based programming. Overcoming these challenges requires targeted performance and health monitoring of both the logical controller and the physical components of the robotic system. Prognostics and health management (PHM) defines a field of techniques and methods that enable condition-monitoring, diagnostics, and prognostics of physical elements, functional processes, overall systems, etc. PHM is warranted in this effort given that the controller is vulnerable to program changes, which propagate in unexpected ways, logical runtime exceptions, sensor failure, and even bit rot. The physical component's health is affected by the wear and tear experienced by machines constantly in motion. The controller's source of faults is inherently discrete, while the latter occurs in a manner that builds up continuously over time. Such a disconnect poses unique challenges for PHM. This paper presents a robotic monitoring system that captures and resolves this disconnect. This effort leverages supervisory robotic control and model checking with linear temporal logic (LTL), presenting them as a novel monitoring system for PHM. This methodology has been demonstrated in a MATLAB-based simulator for an industry inspired use-case in the context of PHM. Future work will use the methodology to develop adaptive, intelligent control strategies to evenly distribute wear on the joints of the robotic arms, maximizing the life of the system.

Mission Simulation Toolkit

NASA Technical Reports Server (NTRS)

Pisaich, Gregory; Flueckiger, Lorenzo; Neukom, Christian; Wagner, Mike; Buchanan, Eric; Plice, Laura

2007-01-01

The Mission Simulation Toolkit (MST) is a flexible software system for autonomy research. It was developed as part of the Mission Simulation Facility (MSF) project that was started in 2001 to facilitate the development of autonomous planetary robotic missions. Autonomy is a key enabling factor for robotic exploration. There has been a large gap between autonomy software (at the research level), and software that is ready for insertion into near-term space missions. The MST bridges this gap by providing a simulation framework and a suite of tools for supporting research and maturation of autonomy. MST uses a distributed framework based on the High Level Architecture (HLA) standard. A key feature of the MST framework is the ability to plug in new models to replace existing ones with the same services. This enables significant simulation flexibility, particularly the mixing and control of fidelity level. In addition, the MST provides automatic code generation from robot interfaces defined with the Unified Modeling Language (UML), methods for maintaining synchronization across distributed simulation systems, XML-based robot description, and an environment server. Finally, the MSF supports a number of third-party products including dynamic models and terrain databases. Although the communication objects and some of the simulation components that are provided with this toolkit are specifically designed for terrestrial surface rovers, the MST can be applied to any other domain, such as aerial, aquatic, or space.

Research of grasping algorithm based on scara industrial robot

NASA Astrophysics Data System (ADS)

Peng, Tao; Zuo, Ping; Yang, Hai

2018-04-01

As the tobacco industry grows, facing the challenge of the international tobacco giant, efficient logistics service is one of the key factors. How to complete the tobacco sorting task of efficient economy is the goal of tobacco sorting and optimization research. Now the cigarette distribution system uses a single line to carry out the single brand sorting task, this article adopts a single line to realize the cigarette sorting task of different brands. Using scara robot special algorithm for sorting and packaging, the optimization scheme significantly enhances the indicators of smoke sorting system. Saving labor productivity, obviously improve production efficiency.

Model-free learning on robot kinematic chains using a nested multi-agent topology

NASA Astrophysics Data System (ADS)

Karigiannis, John N.; Tzafestas, Costas S.

2016-11-01

This paper proposes a model-free learning scheme for the developmental acquisition of robot kinematic control and dexterous manipulation skills. The approach is based on a nested-hierarchical multi-agent architecture that intuitively encapsulates the topology of robot kinematic chains, where the activity of each independent degree-of-freedom (DOF) is finally mapped onto a distinct agent. Each one of those agents progressively evolves a local kinematic control strategy in a game-theoretic sense, that is, based on a partial (local) view of the whole system topology, which is incrementally updated through a recursive communication process according to the nested-hierarchical topology. Learning is thus approached not through demonstration and training but through an autonomous self-exploration process. A fuzzy reinforcement learning scheme is employed within each agent to enable efficient exploration in a continuous state-action domain. This paper constitutes in fact a proof of concept, demonstrating that global dexterous manipulation skills can indeed evolve through such a distributed iterative learning of local agent sensorimotor mappings. The main motivation behind the development of such an incremental multi-agent topology is to enhance system modularity, to facilitate extensibility to more complex problem domains and to improve robustness with respect to structural variations including unpredictable internal failures. These attributes of the proposed system are assessed in this paper through numerical experiments in different robot manipulation task scenarios, involving both single and multi-robot kinematic chains. The generalisation capacity of the learning scheme is experimentally assessed and robustness properties of the multi-agent system are also evaluated with respect to unpredictable variations in the kinematic topology. Furthermore, these numerical experiments demonstrate the scalability properties of the proposed nested-hierarchical architecture, where new agents can be recursively added in the hierarchy to encapsulate individual active DOFs. The results presented in this paper demonstrate the feasibility of such a distributed multi-agent control framework, showing that the solutions which emerge are plausible and near-optimal. Numerical efficiency and computational cost issues are also discussed.

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

NASA Astrophysics Data System (ADS)

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

2017-02-01

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

Automatic control system generation for robot design validation

NASA Technical Reports Server (NTRS)

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

2012-01-01

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

A subsumptive, hierarchical, and distributed vision-based architecture for smart robotics.

PubMed

DeSouza, Guilherme N; Kak, Avinash C

2004-10-01

We present a distributed vision-based architecture for smart robotics that is composed of multiple control loops, each with a specialized level of competence. Our architecture is subsumptive and hierarchical, in the sense that each control loop can add to the competence level of the loops below, and in the sense that the loops can present a coarse-to-fine gradation with respect to vision sensing. At the coarsest level, the processing of sensory information enables a robot to become aware of the approximate location of an object in its field of view. On the other hand, at the finest end, the processing of stereo information enables a robot to determine more precisely the position and orientation of an object in the coordinate frame of the robot. The processing in each module of the control loops is completely independent and it can be performed at its own rate. A control Arbitrator ranks the results of each loop according to certain confidence indices, which are derived solely from the sensory information. This architecture has clear advantages regarding overall performance of the system, which is not affected by the "slowest link," and regarding fault tolerance, since faults in one module does not affect the other modules. At this time we are able to demonstrate the utility of the architecture for stereoscopic visual servoing. The architecture has also been applied to mobile robot navigation and can easily be extended to tasks such as "assembly-on-the-fly."

NASA Tech Briefs, January 2013

NASA Technical Reports Server (NTRS)

2013-01-01

Topics include: Single-Photon-Sensitive HgCdTe Avalanche Photodiode Detector; Surface-Enhanced Raman Scattering Using Silica Whispering-Gallery Mode Resonators; 3D Hail Size Distribution Interpolation/Extrapolation Algorithm; Color-Changing Sensors for Detecting the Presence of Hypergolic Fuels; Artificial Intelligence Software for Assessing Postural Stability; Transformers: Shape-Changing Space Systems Built with Robotic Textiles; Fibrillar Adhesive for Climbing Robots; Using Pre-Melted Phase Change Material to Keep Payloads in Space Warm for Hours without Power; Development of a Centrifugal Technique for the Microbial Bioburden Analysis of Freon (CFC-11); Microwave Sinterator Freeform Additive Construction System (MS-FACS); DSP/FPGA Design for a High-Speed Programmable S-Band Space Transceiver; On-Chip Power-Combining for High-Power Schottky Diode-Based Frequency Multipliers; FPGA Vision Data Architecture; Memory Circuit Fault Simulator; Ultra-Compact Transputer-Based Controller for High-Level, Multi-Axis Coordination; Regolith Advanced Surface Systems Operations Robot Excavator; Magnetically Actuated Seal; Hybrid Electrostatic/Flextensional Mirror for Lightweight, Large-Aperture, and Cryogenic Space Telescopes; System for Contributing and Discovering Derived Mission and Science Data; Remote Viewer for Maritime Robotics Software; Stackfile Database; Reachability Maps for In Situ Operations; JPL Space Telecommunications Radio System Operating Environment; RFI-SIM: RFI Simulation Package; ION Configuration Editor; Dtest Testing Software; IMPaCT - Integration of Missions, Programs, and Core Technologies; Integrated Systems Health Management (ISHM) Toolkit; Wind-Driven Wireless Networked System of Mobile Sensors for Mars Exploration; In Situ Solid Particle Generator; Analysis of the Effects of Streamwise Lift Distribution on Sonic Boom Signature; Rad-Tolerant, Thermally Stable, High-Speed Fiber-Optic Network for Harsh Environments; Towed Subsurface Optical Communications Buoy; High-Collection-Efficiency Fluorescence Detection Cell; Ultra-Compact, Superconducting Spectrometer-on-a-Chip at Submillimeter Wavelengths; UV Resonant Raman Spectrometer with Multi-Line Laser Excitation; Medicine Delivery Device with Integrated Sterilization and Detection; Ionospheric Simulation System for Satellite Observations and Global Assimilative Model Experiments - ISOGAME; Airborne Tomographic Swath Ice Sounding Processing System; flexplan: Mission Planning System for the Lunar Reconnaissance Orbiter; Estimating Torque Imparted on Spacecraft Using Telemetry; PowderSim: Lagrangian Discrete and Mesh-Free Continuum Simulation Code for Cohesive Soils; Multiple-Frame Detection of Subpixel Targets in Thermal Image Sequences; Metric Learning to Enhance Hyperspectral Image Segmentation; Basic Operational Robotics Instructional System; Sheet Membrane Spacesuit Water Membrane Evaporator; Advanced Materials and Manufacturing for Low-Cost, High-Performance Liquid Rocket Combustion Chambers; Motor Qualification for Long-Duration Mars Missions.

Aerial cooperative transporting and assembling control using multiple quadrotor-manipulator systems

NASA Astrophysics Data System (ADS)

Qi, Yuhua; Wang, Jianan; Shan, Jiayuan

2018-02-01

In this paper, a fully distributed control scheme for aerial cooperative transporting and assembling is proposed using multiple quadrotor-manipulator systems with each quadrotor equipped with a robotic manipulator. First, the kinematic and dynamic models of a quadrotor with multi-Degree of Freedom (DOF) robotic manipulator are established together using Euler-Lagrange equations. Based on the aggregated dynamic model, the control scheme consisting of position controller, attitude controller and manipulator controller is presented. Regarding cooperative transporting and assembling, multiple quadrotor-manipulator systems should be able to form a desired formation without collision among quadrotors from any initial position. The desired formation is achieved by the distributed position controller and attitude controller, while the collision avoidance is guaranteed by an artificial potential function method. Then, the transporting and assembling tasks request the manipulators to reach the desired angles cooperatively, which is achieved by the distributed manipulator controller. The overall stability of the closed-loop system is proven by a Lyapunov method and Matrosov's theorem. In the end, the proposed control scheme is simplified for the real application and then validated by two formation flying missions of four quadrotors with 2-DOF manipulators.

Distributed data fusion across multiple hard and soft mobile sensor platforms

NASA Astrophysics Data System (ADS)

Sinsley, Gregory

One of the biggest challenges currently facing the robotics field is sensor data fusion. Unmanned robots carry many sophisticated sensors including visual and infrared cameras, radar, laser range finders, chemical sensors, accelerometers, gyros, and global positioning systems. By effectively fusing the data from these sensors, a robot would be able to form a coherent view of its world that could then be used to facilitate both autonomous and intelligent operation. Another distinct fusion problem is that of fusing data from teammates with data from onboard sensors. If an entire team of vehicles has the same worldview they will be able to cooperate much more effectively. Sharing worldviews is made even more difficult if the teammates have different sensor types. The final fusion challenge the robotics field faces is that of fusing data gathered by robots with data gathered by human teammates (soft sensors). Humans sense the world completely differently from robots, which makes this problem particularly difficult. The advantage of fusing data from humans is that it makes more information available to the entire team, thus helping each agent to make the best possible decisions. This thesis presents a system for fusing data from multiple unmanned aerial vehicles, unmanned ground vehicles, and human observers. The first issue this thesis addresses is that of centralized data fusion. This is a foundational data fusion issue, which has been very well studied. Important issues in centralized fusion include data association, classification, tracking, and robotics problems. Because these problems are so well studied, this thesis does not make any major contributions in this area, but does review it for completeness. The chapter on centralized fusion concludes with an example unmanned aerial vehicle surveillance problem that demonstrates many of the traditional fusion methods. The second problem this thesis addresses is that of distributed data fusion. Distributed data fusion is a younger field than centralized fusion. The main issues in distributed fusion that are addressed are distributed classification and distributed tracking. There are several well established methods for performing distributed fusion that are first reviewed. The chapter on distributed fusion concludes with a multiple unmanned vehicle collaborative test involving an unmanned aerial vehicle and an unmanned ground vehicle. The third issue this thesis addresses is that of soft sensor only data fusion. Soft-only fusion is a newer field than centralized or distributed hard sensor fusion. Because of the novelty of the field, the chapter on soft only fusion contains less background information and instead focuses on some new results in soft sensor data fusion. Specifically, it discusses a novel fuzzy logic based soft sensor data fusion method. This new method is tested using both simulations and field measurements. The biggest issue addressed in this thesis is that of combined hard and soft fusion. Fusion of hard and soft data is the newest area for research in the data fusion community; therefore, some of the largest theoretical contributions in this thesis are in the chapter on combined hard and soft fusion. This chapter presents a novel combined hard and soft data fusion method based on random set theory, which processes random set data using a particle filter. Furthermore, the particle filter is designed to be distributed across multiple robots and portable computers (used by human observers) so that there is no centralized failure point in the system. After laying out a theoretical groundwork for hard and soft sensor data fusion the thesis presents practical applications for hard and soft sensor data fusion in simulation. Through a series of three progressively more difficult simulations, some important hard and soft sensor data fusion capabilities are demonstrated. The first simulation demonstrates fusing data from a single soft sensor and a single hard sensor in order to track a car that could be driving normally or erratically. The second simulation adds the extra complication of classifying the type of target to the simulation. The third simulation uses multiple hard and soft sensors, with a limited field of view, to track a moving target and classify it as a friend, foe, or neutral. The final chapter builds on the work done in previous chapters by performing a field test of the algorithms for hard and soft sensor data fusion. The test utilizes an unmanned aerial vehicle, an unmanned ground vehicle, and a human observer with a laptop. The test is designed to mimic a collaborative human and robot search and rescue problem. This test makes some of the most important practical contributions of the thesis by showing that the algorithms that have been developed for hard and soft sensor data fusion are capable of running in real time on relatively simple hardware.

Finite-time tracking control for multiple non-holonomic mobile robots based on visual servoing

NASA Astrophysics Data System (ADS)

Ou, Meiying; Li, Shihua; Wang, Chaoli

2013-12-01

This paper investigates finite-time tracking control problem of multiple non-holonomic mobile robots via visual servoing. It is assumed that the pinhole camera is fixed to the ceiling, and camera parameters are unknown. The desired reference trajectory is represented by a virtual leader whose states are available to only a subset of the followers, and the followers have only interaction. First, the camera-objective visual kinematic model is introduced by utilising the pinhole camera model for each mobile robot. Second, a unified tracking error system between camera-objective visual servoing model and desired reference trajectory is introduced. Third, based on the neighbour rule and by using finite-time control method, continuous distributed cooperative finite-time tracking control laws are designed for each mobile robot with unknown camera parameters, where the communication topology among the multiple mobile robots is assumed to be a directed graph. Rigorous proof shows that the group of mobile robots converges to the desired reference trajectory in finite time. Simulation example illustrates the effectiveness of our method.

Telesurgery With Miniature Robots to Leverage Surgical Expertise in Distributed Expeditionary Environments.

PubMed

Reichenbach, Mark; Frederick, Tom; Cubrich, Lou; Bircher, Walter; Bills, Nathan; Morien, Marsha; Farritor, Shane; Oleynikov, Dmitry

2017-03-01

This study aimed to evaluate the capability of performing telesurgery via radio transmission for military arenas where wired internet connections may not be practical. Most existing robotic surgery systems are too large to effectively deploy with first responders. The miniature surgical platform in this study consists of a multifunctional robot suite that can fit easily into a briefcase. The focus of this study is to explore the implications of radio control of the robot. The hypothesis is that an in vivo robot and its control boards can be controlled using off-the-shelf wireless components. An experiment was designed with off-the-shelf wireless components to test the capability of our newest generation of miniature surgical robot to become battery-operated and wireless. Wireless transmission of control signals has provided proof of concept and has exposed areas of the software that can be built upon to improve responsiveness. Wireless transmission of the video feed can be adequately performed with basic off-the-shelf components. Reprint & Copyright © 2017 Association of Military Surgeons of the U.S.

A Robot Equipped with a High-Speed LSPR Gas Sensor Module for Collecting Spatial Odor Information from On-Ground Invisible Odor Sources.

PubMed

Yang, Zhongyuan; Sassa, Fumihiro; Hayashi, Kenshi

2018-06-22

Improving the efficiency of detecting the spatial distribution of gas information with a mobile robot is a great challenge that requires rapid sample collection, which is basically determined by the speed of operation of gas sensors. The present work developed a robot equipped with a high-speed gas sensor module based on localized surface plasmon resonance. The sensor module is designed to sample gases from an on-ground odor source, such as a footprint material or artificial odor marker, via a fine sampling tubing. The tip of the sampling tubing was placed close to the ground to reduce the sampling time and the effect of natural gas diffusion. On-ground ethanol odor sources were detected by the robot at high resolution (i.e., 2.5 cm when the robot moved at 10 cm/s), and the reading of gas information was demonstrated experimentally. This work may help in the development of environmental sensing robots, such as the development of odor source mapping and multirobot systems with pheromone tracing.

Underwater robot society doing internal inspection and leak monitoring of water systems

NASA Astrophysics Data System (ADS)

Halme, Aarne; Vainio, Mika; Appelqvist, Pekka; Jakubik, Peter; Schonberg, Torsten; Visala, Arto

1997-09-01

In the field of civil engineering an effective internal monitoring of pipes and water storage is very problematic. Normally the sensors used for the task are either fixed or manually movable. Thus they will only provide locally and temporally restricted information. As a solution an underwater robotic sensor/actuator society is presented. The system is capable of operating inside a fluid environment as a kind of distributed sensory system. The value of the system emerges from the interactions between the members. Through a communication system the society fuses information from individual members and provides a more reliable estimate of the conditions inside water systems. Tests results in a transparent demo process consisting of tanks and pipes with a volume of 700 liters are presented.

Design and Control of Modular Spine-Like Tensegrity Structures

NASA Technical Reports Server (NTRS)

Mirletz, Brian T.; Park, In-Won; Flemons, Thomas E.; Agogino, Adrian K.; Quinn, Roger D.; SunSpiral, Vytas

2014-01-01

We present a methodology enabled by the NASA Tensegrity Robotics Toolkit (NTRT) for the rapid structural design of tensegrity robots in simulation and an approach for developing control systems using central pattern generators, local impedance controllers, and parameter optimization techniques to determine effective locomotion strategies for the robot. Biomimetic tensegrity structures provide advantageous properties to robotic locomotion and manipulation tasks, such as their adaptability and force distribution properties, flexibility, energy efficiency, and access to extreme terrains. While strides have been made in designing insightful static biotensegrity structures, gaining a clear understanding of how a particular structure can efficiently move has been an open problem. The tools in the NTRT enable the rapid exploration of the dynamics of a given morphology, and the links between structure, controllability, and resulting gait efficiency. To highlight the effectiveness of the NTRT at this exploration of morphology and control, we will provide examples from the designs and locomotion of four different modular spine-like tensegrity robots.

Linear Temporal Logic (LTL) Based Monitoring of Smart Manufacturing Systems

PubMed Central

Heddy, Gerald; Huzaifa, Umer; Beling, Peter; Haimes, Yacov; Marvel, Jeremy; Weiss, Brian; LaViers, Amy

2017-01-01

The vision of Smart Manufacturing Systems (SMS) includes collaborative robots that can adapt to a range of scenarios. This vision requires a classification of multiple system behaviors, or sequences of movement, that can achieve the same high-level tasks. Likewise, this vision presents unique challenges regarding the management of environmental variables in concert with discrete, logic-based programming. Overcoming these challenges requires targeted performance and health monitoring of both the logical controller and the physical components of the robotic system. Prognostics and health management (PHM) defines a field of techniques and methods that enable condition-monitoring, diagnostics, and prognostics of physical elements, functional processes, overall systems, etc. PHM is warranted in this effort given that the controller is vulnerable to program changes, which propagate in unexpected ways, logical runtime exceptions, sensor failure, and even bit rot. The physical component’s health is affected by the wear and tear experienced by machines constantly in motion. The controller’s source of faults is inherently discrete, while the latter occurs in a manner that builds up continuously over time. Such a disconnect poses unique challenges for PHM. This paper presents a robotic monitoring system that captures and resolves this disconnect. This effort leverages supervisory robotic control and model checking with linear temporal logic (LTL), presenting them as a novel monitoring system for PHM. This methodology has been demonstrated in a MATLAB-based simulator for an industry inspired use-case in the context of PHM. Future work will use the methodology to develop adaptive, intelligent control strategies to evenly distribute wear on the joints of the robotic arms, maximizing the life of the system. PMID:28730154

Reconfigurable assembly work station

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

Lin, Yhu-Tin; Abell, Jeffrey A.; Spicer, John Patrick

A reconfigurable autonomous workstation includes a multi-faced superstructure including a horizontally-arranged frame section supported on a plurality of posts. The posts form a plurality of vertical faces arranged between adjacent pairs of the posts, the faces including first and second faces and a power distribution and position reference face. A controllable robotic arm suspends from the rectangular frame section, and a work table fixedly couples to the power distribution and position reference face. A plurality of conveyor tables are fixedly coupled to the work table including a first conveyor table through the first face and a second conveyor table throughmore » the second face. A vision system monitors the work table and each of the conveyor tables. A programmable controller monitors signal inputs from the vision system to identify and determine orientation of the component on the first conveyor table and control the robotic arm to execute an assembly task.« less

Development of Component Mechanisms and Novel Actuation for Origami Inspired Designs

DTIC Science & Technology

2016-11-17

soft robot for the competition ‘RoboSoft Grand Challenge 2016’, and contributed greatly to SNUMAX’s winning performance. Table 1 summarizes the...gliding multimodal robot . Self-Depolyable Glider DISTRIBUTION A. Approved for public release: distribution unlimited. II. Research Performances...proposed a novel variable-diameter wheel using an origami-based soft robotics design approach. Using soft materials for a variable-diameter wheel

Nonlinear Recurrent Neural Network Predictive Control for Energy Distribution of a Fuel Cell Powered Robot

PubMed Central

Chen, Qihong; Long, Rong; Quan, Shuhai

2014-01-01

This paper presents a neural network predictive control strategy to optimize power distribution for a fuel cell/ultracapacitor hybrid power system of a robot. We model the nonlinear power system by employing time variant auto-regressive moving average with exogenous (ARMAX), and using recurrent neural network to represent the complicated coefficients of the ARMAX model. Because the dynamic of the system is viewed as operating- state- dependent time varying local linear behavior in this frame, a linear constrained model predictive control algorithm is developed to optimize the power splitting between the fuel cell and ultracapacitor. The proposed algorithm significantly simplifies implementation of the controller and can handle multiple constraints, such as limiting substantial fluctuation of fuel cell current. Experiment and simulation results demonstrate that the control strategy can optimally split power between the fuel cell and ultracapacitor, limit the change rate of the fuel cell current, and so as to extend the lifetime of the fuel cell. PMID:24707206

Multirobot autonomous landmine detection using distributed multisensor information aggregation

NASA Astrophysics Data System (ADS)

Jumadinova, Janyl; Dasgupta, Prithviraj

2012-06-01

We consider the problem of distributed sensor information fusion by multiple autonomous robots within the context of landmine detection. We assume that different landmines can be composed of different types of material and robots are equipped with different types of sensors, while each robot has only one type of landmine detection sensor on it. We introduce a novel technique that uses a market-based information aggregation mechanism called a prediction market. Each robot is provided with a software agent that uses sensory input of the robot and performs calculations of the prediction market technique. The result of the agent's calculations is a 'belief' representing the confidence of the agent in identifying the object as a landmine. The beliefs from different robots are aggregated by the market mechanism and passed on to a decision maker agent. The decision maker agent uses this aggregate belief information about a potential landmine and makes decisions about which other robots should be deployed to its location, so that the landmine can be confirmed rapidly and accurately. Our experimental results show that, for identical data distributions and settings, using our prediction market-based information aggregation technique increases the accuracy of object classification favorably as compared to two other commonly used techniques.

Stochastic approach to error estimation for image-guided robotic systems.

PubMed

Haidegger, Tamas; Gyõri, Sándor; Benyo, Balazs; Benyó, Zoltáán

2010-01-01

Image-guided surgical systems and surgical robots are primarily developed to provide patient safety through increased precision and minimal invasiveness. Even more, robotic devices should allow for refined treatments that are not possible by other means. It is crucial to determine the accuracy of a system, to define the expected overall task execution error. A major step toward this aim is to quantitatively analyze the effect of registration and tracking-series of multiplication of erroneous homogeneous transformations. First, the currently used models and algorithms are introduced along with their limitations, and a new, probability distribution based method is described. The new approach has several advantages, as it was demonstrated in our simulations. Primarily, it determines the full 6 degree of freedom accuracy of the point of interest, allowing for the more accurate use of advanced application-oriented concepts, such as Virtual Fixtures. On the other hand, it becomes feasible to consider different surgical scenarios with varying weighting factors.

The walking robot project

NASA Technical Reports Server (NTRS)

Williams, P.; Sagraniching, E.; Bennett, M.; Singh, R.

1991-01-01

A walking robot was designed, analyzed, and tested as an intelligent, mobile, and a terrain adaptive system. The robot's design was an application of existing technologies. The design of the six legs modified and combines well understood mechanisms and was optimized for performance, flexibility, and simplicity. The body design incorporated two tripods for walking stability and ease of turning. The electrical hardware design used modularity and distributed processing to drive the motors. The software design used feedback to coordinate the system and simple keystrokes to give commands. The walking machine can be easily adapted to hostile environments such as high radiation zones and alien terrain. The primary goal of the leg design was to create a leg capable of supporting a robot's body and electrical hardware while walking or performing desired tasks, namely those required for planetary exploration. The leg designers intent was to study the maximum amount of flexibility and maneuverability achievable by the simplest and lightest leg design. The main constraints for the leg design were leg kinematics, ease of assembly, degrees of freedom, number of motors, overall size, and weight.

Motion synthesis and force distribution analysis for a biped robot.

PubMed

Trojnacki, Maciej T; Zielińska, Teresa

2011-01-01

In this paper, the method of generating biped robot motion using recorded human gait is presented. The recorded data were modified taking into account the velocity available for robot drives. Data includes only selected joint angles, therefore the missing values were obtained considering the dynamic postural stability of the robot, which means obtaining an adequate motion trajectory of the so-called Zero Moment Point (ZMT). Also, the method of determining the ground reaction forces' distribution during the biped robot's dynamic stable walk is described. The method was developed by the authors. Following the description of equations characterizing the dynamics of robot's motion, the values of the components of ground reaction forces were symbolically determined as well as the coordinates of the points of robot's feet contact with the ground. The theoretical considerations have been supported by computer simulation and animation of the robot's motion. This was done using Matlab/Simulink package and Simulink 3D Animation Toolbox, and it has proved the proposed method.

An Outdoor Navigation Platform with a 3D Scanner and Gyro-assisted Odometry

NASA Astrophysics Data System (ADS)

Yoshida, Tomoaki; Irie, Kiyoshi; Koyanagi, Eiji; Tomono, Masahiro

This paper proposes a light-weight navigation platform that consists of gyro-assisted odometry, a 3D laser scanner and map-based localization for human-scale robots. The gyro-assisted odometry provides highly accurate positioning only by dead-reckoning. The 3D laser scanner has a wide field of view and uniform measuring-point distribution. The map-based localization is robust and computationally inexpensive by utilizing a particle filter on a 2D grid map generated by projecting 3D points on to the ground. The system uses small and low-cost sensors, and can be applied to a variety of mobile robots in human-scale environments. Outdoor navigation experiments were conducted at the Tsukuba Challenge held in 2009 and 2010, which is an open proving ground for human-scale robots. Our robot successfully navigated the assigned 1-km courses in a fully autonomous mode multiple times.

Contact-force distribution optimization and control for quadruped robots using both gradient and adaptive neural networks.

PubMed

Li, Zhijun; Ge, Shuzhi Sam; Liu, Sibang

2014-08-01

This paper investigates optimal feet forces' distribution and control of quadruped robots under external disturbance forces. First, we formulate a constrained dynamics of quadruped robots and derive a reduced-order dynamical model of motion/force. Consider an external wrench on quadruped robots; the distribution of required forces and moments on the supporting legs of a quadruped robot is handled as a tip-point force distribution and used to equilibrate the external wrench. Then, a gradient neural network is adopted to deal with the optimized objective function formulated as to minimize this quadratic objective function subjected to linear equality and inequality constraints. For the obtained optimized tip-point force and the motion of legs, we propose the hybrid motion/force control based on an adaptive neural network to compensate for the perturbations in the environment and approximate feedforward force and impedance of the leg joints. The proposed control can confront the uncertainties including approximation error and external perturbation. The verification of the proposed control is conducted using a simulation.

The GENIUS Grid Portal and robot certificates: a new tool for e-Science

PubMed Central

Barbera, Roberto; Donvito, Giacinto; Falzone, Alberto; La Rocca, Giuseppe; Milanesi, Luciano; Maggi, Giorgio Pietro; Vicario, Saverio

2009-01-01

Background Grid technology is the computing model which allows users to share a wide pletora of distributed computational resources regardless of their geographical location. Up to now, the high security policy requested in order to access distributed computing resources has been a rather big limiting factor when trying to broaden the usage of Grids into a wide community of users. Grid security is indeed based on the Public Key Infrastructure (PKI) of X.509 certificates and the procedure to get and manage those certificates is unfortunately not straightforward. A first step to make Grids more appealing for new users has recently been achieved with the adoption of robot certificates. Methods Robot certificates have recently been introduced to perform automated tasks on Grids on behalf of users. They are extremely useful for instance to automate grid service monitoring, data processing production, distributed data collection systems. Basically these certificates can be used to identify a person responsible for an unattended service or process acting as client and/or server. Robot certificates can be installed on a smart card and used behind a portal by everyone interested in running the related applications in a Grid environment using a user-friendly graphic interface. In this work, the GENIUS Grid Portal, powered by EnginFrame, has been extended in order to support the new authentication based on the adoption of these robot certificates. Results The work carried out and reported in this manuscript is particularly relevant for all users who are not familiar with personal digital certificates and the technical aspects of the Grid Security Infrastructure (GSI). The valuable benefits introduced by robot certificates in e-Science can so be extended to users belonging to several scientific domains, providing an asset in raising Grid awareness to a wide number of potential users. Conclusion The adoption of Grid portals extended with robot certificates, can really contribute to creating transparent access to computational resources of Grid Infrastructures, enhancing the spread of this new paradigm in researchers' working life to address new global scientific challenges. The evaluated solution can of course be extended to other portals, applications and scientific communities. PMID:19534747

The GENIUS Grid Portal and robot certificates: a new tool for e-Science.

PubMed

Barbera, Roberto; Donvito, Giacinto; Falzone, Alberto; La Rocca, Giuseppe; Milanesi, Luciano; Maggi, Giorgio Pietro; Vicario, Saverio

2009-06-16

Grid technology is the computing model which allows users to share a wide pletora of distributed computational resources regardless of their geographical location. Up to now, the high security policy requested in order to access distributed computing resources has been a rather big limiting factor when trying to broaden the usage of Grids into a wide community of users. Grid security is indeed based on the Public Key Infrastructure (PKI) of X.509 certificates and the procedure to get and manage those certificates is unfortunately not straightforward. A first step to make Grids more appealing for new users has recently been achieved with the adoption of robot certificates. Robot certificates have recently been introduced to perform automated tasks on Grids on behalf of users. They are extremely useful for instance to automate grid service monitoring, data processing production, distributed data collection systems. Basically these certificates can be used to identify a person responsible for an unattended service or process acting as client and/or server. Robot certificates can be installed on a smart card and used behind a portal by everyone interested in running the related applications in a Grid environment using a user-friendly graphic interface. In this work, the GENIUS Grid Portal, powered by EnginFrame, has been extended in order to support the new authentication based on the adoption of these robot certificates. The work carried out and reported in this manuscript is particularly relevant for all users who are not familiar with personal digital certificates and the technical aspects of the Grid Security Infrastructure (GSI). The valuable benefits introduced by robot certificates in e-Science can so be extended to users belonging to several scientific domains, providing an asset in raising Grid awareness to a wide number of potential users. The adoption of Grid portals extended with robot certificates, can really contribute to creating transparent access to computational resources of Grid Infrastructures, enhancing the spread of this new paradigm in researchers' working life to address new global scientific challenges. The evaluated solution can of course be extended to other portals, applications and scientific communities.

Multi-agent robotic systems and applications for satellite missions

NASA Astrophysics Data System (ADS)

Nunes, Miguel A.

A revolution in the space sector is happening. It is expected that in the next decade there will be more satellites launched than in the previous sixty years of space exploration. Major challenges are associated with this growth of space assets such as the autonomy and management of large groups of satellites, in particular with small satellites. There are two main objectives for this work. First, a flexible and distributed software architecture is presented to expand the possibilities of spacecraft autonomy and in particular autonomous motion in attitude and position. The approach taken is based on the concept of distributed software agents, also referred to as multi-agent robotic system. Agents are defined as software programs that are social, reactive and proactive to autonomously maximize the chances of achieving the set goals. Part of the work is to demonstrate that a multi-agent robotic system is a feasible approach for different problems of autonomy such as satellite attitude determination and control and autonomous rendezvous and docking. The second main objective is to develop a method to optimize multi-satellite configurations in space, also known as satellite constellations. This automated method generates new optimal mega-constellations designs for Earth observations and fast revisit times on large ground areas. The optimal satellite constellation can be used by researchers as the baseline for new missions. The first contribution of this work is the development of a new multi-agent robotic system for distributing the attitude determination and control subsystem for HiakaSat. The multi-agent robotic system is implemented and tested on the satellite hardware-in-the-loop testbed that simulates a representative space environment. The results show that the newly proposed system for this particular case achieves an equivalent control performance when compared to the monolithic implementation. In terms on computational efficiency it is found that the multi-agent robotic system has a consistent lower CPU load of 0.29 +/- 0.03 compared to 0.35 +/- 0.04 for the monolithic implementation, a 17.1 % reduction. The second contribution of this work is the development of a multi-agent robotic system for the autonomous rendezvous and docking of multiple spacecraft. To compute the maneuvers guidance, navigation and control algorithms are implemented as part of the multi-agent robotic system. The navigation and control functions are implemented using existing algorithms, but one important contribution of this section is the introduction of a new six degrees of freedom guidance method which is part of the guidance, navigation and control architecture. This new method is an explicit solution to the guidance problem, and is particularly useful for real time guidance for attitude and position, as opposed to typical guidance methods which are based on numerical solutions, and therefore are computationally intensive. A simulation scenario is run for docking four CubeSats deployed radially from a launch vehicle. Considering fully actuated CubeSats, the simulations show docking maneuvers that are successfully completed within 25 minutes which is approximately 30% of a full orbital period in low earth orbit. The final section investigates the problem of optimization of satellite constellations for fast revisit time, and introduces a new method to generate different constellation configurations that are evaluated with a genetic algorithm. Two case studies are presented. The first is the optimization of a constellation for rapid coverage of the oceans of the globe in 24 hours or less. Results show that for an 80 km sensor swath width 50 satellites are required to cover the oceans with a 24 hour revisit time. The second constellation configuration study focuses on the optimization for the rapid coverage of the North Atlantic Tracks for air traffic monitoring in 3 hours or less. The results show that for a fixed swath width of 160 km and for a 3 hour revisit time 52 satellites are required.

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

From an Idea to a Working Robot Prototype: Distributing Knowledge of Robotics through Science Museum Workshops

NASA Astrophysics Data System (ADS)

Polishuk, Alexander; Verner, Igor; Mir, Ronen

This paper presents our experience of teaching robotics to primary and middle school students at the Gelfand Center for Model Building, Robotics & Communication which is part of the Israel National Museum of Science, Technology and Space (MadaTech). The educational study examines the value and characteristics of students’ teamwork in the museum robotics workshops.

An interactive control algorithm used for equilateral triangle formation with robotic sensors.

PubMed

Li, Xiang; Chen, Hongcai

2014-04-22

This paper describes an interactive control algorithm, called Triangle Formation Algorithm (TFA), used for three neighboring robotic sensors which are distributed randomly to self-organize into and equilateral triangle (E) formation. The algorithm is proposed based on the triangular geometry and considering the actual sensors used in robotics. In particular, the stability of the TFA, which can be executed by robotic sensors independently and asynchronously for E formation, is analyzed in details based on Lyapunov stability theory. Computer simulations are carried out for verifying the effectiveness of the TFA. The analytical results and simulation studies indicate that three neighboring robots employing conventional sensors can self-organize into E formations successfully regardless of their initial distribution using the same TFAs.

An Interactive Control Algorithm Used for Equilateral Triangle Formation with Robotic Sensors

PubMed Central

Li, Xiang; Chen, Hongcai

2014-01-01

This paper describes an interactive control algorithm, called Triangle Formation Algorithm (TFA), used for three neighboring robotic sensors which are distributed randomly to self-organize into and equilateral triangle (E) formation. The algorithm is proposed based on the triangular geometry and considering the actual sensors used in robotics. In particular, the stability of the TFA, which can be executed by robotic sensors independently and asynchronously for E formation, is analyzed in details based on Lyapunov stability theory. Computer simulations are carried out for verifying the effectiveness of the TFA. The analytical results and simulation studies indicate that three neighboring robots employing conventional sensors can self-organize into E formations successfully regardless of their initial distribution using the same TFAs. PMID:24759118

Robotic Arm Manipulation Laboratory With a Six Degree of Freedom JACO Arm

DTIC Science & Technology

2015-12-01

MANIPULATION LABORATORY WITH A SIX DEGREE OF FREEDOM JACO ARM by Ronald H. Palacios December 2015 Thesis Advisor: Richard M. Harkins Second...TYPE AND DATES COVERED Master’s thesis 4. TITLE AND SUBTITLE ROBOTIC ARM MANIPULATION LABORATORY WITH A SIX DEGREE OF FREEDOM JACO ARM 5. FUNDING...distribution is unlimited 12b. DISTRIBUTION CODE 13. ABSTRACT (maximum 200 words) The JACO six degree of freedom robotic arm and associated software

ROBOCAL: An automated NDA (nondestructive analysis) calorimetry and gamma isotopic system

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

Hurd, J.R.; Powell, W.D.; Ostenak, C.A.

1989-11-01

ROBOCAL, which is presently being developed and tested at Los Alamos National Laboratory, is a full-scale, prototype robotic system for remote calorimetric and gamma-ray analysis of special nuclear materials. It integrates a fully automated, multidrawer, vertical stacker-retriever system for staging unmeasured nuclear materials, and a fully automated gantry robot for computer-based selection and transfer of nuclear materials to calorimetric and gamma-ray measurement stations. Since ROBOCAL is designed for minimal operator intervention, a completely programmed user interface is provided to interact with the automated mechanical and assay systems. The assay system is designed to completely integrate calorimetric and gamma-ray data acquisitionmore » and to perform state-of-the-art analyses on both homogeneous and heterogeneous distributions of nuclear materials in a wide variety of matrices.« less

The Snackbot: Documenting the Design of a Robot for Long-term Human-Robot Interaction

DTIC Science & Technology

2009-03-01

distributed robots. Proceedings of the Computer Supported Cooperative Work Conference’02. NY: ACM Press. [18] Kanda, T., Takayuki , H., Eaton, D., and...humanoid robots. Proceedings of HRI’06. New York, NY: ACM Press, 351-352. [23] Nabe, S., Kanda, T., Hiraki , K., Ishiguro, H., Kogure, K., and Hagita

Modeling and vibration control of the flapping-wing robotic aircraft with output constraint

NASA Astrophysics Data System (ADS)

He, Wei; Mu, Xinxing; Chen, Yunan; He, Xiuyu; Yu, Yao

2018-06-01

In this paper, we propose the boundary control for undesired vibrations suppression with output constraint of the flapping-wing robotic aircraft (FWRA). We also present the dynamics of the flexible wing of FWRA with governing equations and boundary conditions, which are partial differential equations (PDEs) and ordinary differential equations (ODEs), respectively. An energy-based barrier Lyapunov function is introduced to analyze the system stability and prevent violation of output constraint. With the effect of the proposed boundary controller, distributed states of the system remain in the constrained spaces. Then the IBLF-based boundary controls are proposed to assess the stability of the FWRA in the presence of output constraint.

SAVA 3: A testbed for integration and control of visual processes

NASA Technical Reports Server (NTRS)

Crowley, James L.; Christensen, Henrik

1994-01-01

The development of an experimental test-bed to investigate the integration and control of perception in a continuously operating vision system is described. The test-bed integrates a 12 axis robotic stereo camera head mounted on a mobile robot, dedicated computer boards for real-time image acquisition and processing, and a distributed system for image description. The architecture was designed to: (1) be continuously operating, (2) integrate software contributions from geographically dispersed laboratories, (3) integrate description of the environment with 2D measurements, 3D models, and recognition of objects, (4) capable of supporting diverse experiments in gaze control, visual servoing, navigation, and object surveillance, and (5) dynamically reconfiguarable.

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…

Fall 2014 SEI Research Review Edge-Enabled Tactical Systems (EETS)

DTIC Science & Technology

2014-10-29

Effective communicate and reasoning despite connectivity issues • More generally, how to make programming distributed algorithms with extensible...distributed collaboration in VREP simulations for 5-12 quadcopters and ground robots • Open-source middleware and algorithms released to community...Integration into CMU Drone-RK quadcopter and Platypus autonomous boat platforms • Presentations at DARPA (CODE), AFRL C4I Workshop, and AFRL Eglin

Articulated Suspension Without Springs

NASA Technical Reports Server (NTRS)

Bickler, Donald B.

1990-01-01

Wheels negotiate bumps and holes with minimal tilting of vehicle body. In new suspension, wheel climbs obstacle as high as 1 1/2 times its diameter without excessive tilting of chassis. Provides highly stable ride over rough ground for such vehicles as wheelchairs, military scout cars, and police and fire robots. System of levers distributes weight to wheels. Sized to distribute equal or other desired portions of load among wheels.

Long-Term Simultaneous Localization and Mapping in Dynamic Environments

DTIC Science & Technology

2015-01-01

core competencies required for autonomous mobile robotics is the ability to use sensors to perceive the environment. From this noisy sensor data, the...and mapping (SLAM), is a prerequisite for almost all higher-level autonomous behavior in mobile robotics. By associating the robot???s sensory...distributed stochastic neighbor embedding x ABSTRACT One of the core competencies required for autonomous mobile robotics is the ability to use sensors

Mapping planetary caves with an autonomous, heterogeneous robot team

NASA Astrophysics Data System (ADS)

Husain, Ammar; Jones, Heather; Kannan, Balajee; Wong, Uland; Pimentel, Tiago; Tang, Sarah; Daftry, Shreyansh; Huber, Steven; Whittaker, William L.

Caves on other planetary bodies offer sheltered habitat for future human explorers and numerous clues to a planet's past for scientists. While recent orbital imagery provides exciting new details about cave entrances on the Moon and Mars, the interiors of these caves are still unknown and not observable from orbit. Multi-robot teams offer unique solutions for exploration and modeling subsurface voids during precursor missions. Robot teams that are diverse in terms of size, mobility, sensing, and capability can provide great advantages, but this diversity, coupled with inherently distinct low-level behavior architectures, makes coordination a challenge. This paper presents a framework that consists of an autonomous frontier and capability-based task generator, a distributed market-based strategy for coordinating and allocating tasks to the different team members, and a communication paradigm for seamless interaction between the different robots in the system. Robots have different sensors, (in the representative robot team used for testing: 2D mapping sensors, 3D modeling sensors, or no exteroceptive sensors), and varying levels of mobility. Tasks are generated to explore, model, and take science samples. Based on an individual robot's capability and associated cost for executing a generated task, a robot is autonomously selected for task execution. The robots create coarse online maps and store collected data for high resolution offline modeling. The coordination approach has been field tested at a mock cave site with highly-unstructured natural terrain, as well as an outdoor patio area. Initial results are promising for applicability of the proposed multi-robot framework to exploration and modeling of planetary caves.

SU-F-BRA-04: Prostate HDR Brachytherapy with Multichannel Robotic System

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

Joseph, F Maria; Podder, T; Yu, Y

Purpose: High-dose-rate (HDR) brachytherapy is gradually becoming popular in treating patients with prostate cancers. However, placement of the HDR needles at desired locations into the patient is challenging. Application of robotic system may improve the accuracy of the clinical procedure. This experimental study is to evaluate the feasibility of using a multichannel robotic system for prostate HDR brachytherapy. Methods: In this experimental study, the robotic system employed was a 6-DOF Multichannel Image-guided Robotic Assistant for Brachytherapy (MIRAB), which was designed and fabricated for prostate seed implantation. The MIRAB has the provision of rotating 16 needles while inserting them. Ten prostatemore » HDR brachytherapy needles were simultaneously inserted using MIRAB into a commercially available prostate phantom. After inserting the needles into the prostate phantom at desired locations, 2mm thick CT slices were obtained for dosimetric planning. HDR plan was generated using Oncetra planning system with a total prescription dose of 34Gy in 4 fractions. Plan quality was evaluated considering dose coverage to prostate and planning target volume (PTV), with 3mm margin around prostate, as well as the dose limit to the organs at risk (OARs) following the American Brachytherapy Society (ABS) guidelines. Results: From the CT scan, it is observed that the needles were inserted straight into the desired locations and they were adequately spaced and distributed for a clinically acceptable HDR plan. Coverage to PTV and prostate were about 91% (V100= 91%) and 96% (V100=96%), respectively. Dose to 1cc of urethra, rectum, and bladder were within the ABS specified limits. Conclusion: The MIRAB was able to insert multiple needles simultaneously into the prostate precisely. By controlling the MIRAB to insert all the ten utilized needles into the prostate phantom, we could achieve the robotic HDR brachytherapy successfully. Further study for assessing the system’s performance and reliability is in progress.« less

Robustness of a distributed neural network controller for locomotion in a hexapod robot

NASA Technical Reports Server (NTRS)

Chiel, Hillel J.; Beer, Randall D.; Quinn, Roger D.; Espenschied, Kenneth S.

1992-01-01

A distributed neural-network controller for locomotion, based on insect neurobiology, has been used to control a hexapod robot. How robust is this controller? Disabling any single sensor, effector, or central component did not prevent the robot from walking. Furthermore, statically stable gaits could be established using either sensor input or central connections. Thus, a complex interplay between central neural elements and sensor inputs is responsible for the robustness of the controller and its ability to generate a continuous range of gaits. These results suggest that biologically inspired neural-network controllers may be a robust method for robotic control.

Learning Multirobot Hose Transportation and Deployment by Distributed Round-Robin Q-Learning.

PubMed

Fernandez-Gauna, Borja; Etxeberria-Agiriano, Ismael; Graña, Manuel

2015-01-01

Multi-Agent Reinforcement Learning (MARL) algorithms face two main difficulties: the curse of dimensionality, and environment non-stationarity due to the independent learning processes carried out by the agents concurrently. In this paper we formalize and prove the convergence of a Distributed Round Robin Q-learning (D-RR-QL) algorithm for cooperative systems. The computational complexity of this algorithm increases linearly with the number of agents. Moreover, it eliminates environment non sta tionarity by carrying a round-robin scheduling of the action selection and execution. That this learning scheme allows the implementation of Modular State-Action Vetoes (MSAV) in cooperative multi-agent systems, which speeds up learning convergence in over-constrained systems by vetoing state-action pairs which lead to undesired termination states (UTS) in the relevant state-action subspace. Each agent's local state-action value function learning is an independent process, including the MSAV policies. Coordination of locally optimal policies to obtain the global optimal joint policy is achieved by a greedy selection procedure using message passing. We show that D-RR-QL improves over state-of-the-art approaches, such as Distributed Q-Learning, Team Q-Learning and Coordinated Reinforcement Learning in a paradigmatic Linked Multi-Component Robotic System (L-MCRS) control problem: the hose transportation task. L-MCRS are over-constrained systems with many UTS induced by the interaction of the passive linking element and the active mobile robots.

Evidence Report, Risk of Inadequate Design of Human and Automation/Robotic Integration

NASA Technical Reports Server (NTRS)

Zumbado, Jennifer Rochlis; Billman, Dorrit; Feary, Mike; Green, Collin

2011-01-01

The success of future exploration missions depends, even more than today, on effective integration of humans and technology (automation and robotics). This will not emerge by chance, but by design. Both crew and ground personnel will need to do more demanding tasks in more difficult conditions, amplifying the costs of poor design and the benefits of good design. This report has looked at the importance of good design and the risks from poor design from several perspectives: 1) If the relevant functions needed for a mission are not identified, then designs of technology and its use by humans are unlikely to be effective: critical functions will be missing and irrelevant functions will mislead or drain attention. 2) If functions are not distributed effectively among the (multiple) participating humans and automation/robotic systems, later design choices can do little to repair this: additional unnecessary coordination work may be introduced, workload may be redistributed to create problems, limited human attentional resources may be wasted, and the capabilities of both humans and technology underused. 3) If the design does not promote accurate understanding of the capabilities of the technology, the operators will not use the technology effectively: the system may be switched off in conditions where it would be effective, or used for tasks or in contexts where its effectiveness may be very limited. 4) If an ineffective interaction design is implemented and put into use, a wide range of problems can ensue. Many involve lack of transparency into the system: operators may be unable or find it very difficult to determine a) the current state and changes of state of the automation or robot, b) the current state and changes in state of the system being controlled or acted on, and c) what actions by human or by system had what effects. 5) If the human interfaces for operation and control of robotic agents are not designed to accommodate the unique points of view and operating environments of both the human and the robotic agent, then effective human-robot coordination cannot be achieved.

The navigation system of the JPL robot

NASA Technical Reports Server (NTRS)

Thompson, A. M.

1977-01-01

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

A discrete decentralized variable structure robotic controller

NASA Technical Reports Server (NTRS)

Tumeh, Zuheir S.

1989-01-01

A decentralized trajectory controller for robotic manipulators is designed and tested using a multiprocessor architecture and a PUMA 560 robot arm. The controller is made up of a nominal model-based component and a correction component based on a variable structure suction control approach. The second control component is designed using bounds on the difference between the used and actual values of the model parameters. Since the continuous manipulator system is digitally controlled along a trajectory, a discretized equivalent model of the manipulator is used to derive the controller. The motivation for decentralized control is that the derived algorithms can be executed in parallel using a distributed, relatively inexpensive, architecture where each joint is assigned a microprocessor. Nonlinear interaction and coupling between joints is treated as a disturbance torque that is estimated and compensated for.

Autonomous intelligent assembly systems LDRD 105746 final report.

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

Anderson, Robert J.

2013-04-01

This report documents a three-year to develop technology that enables mobile robots to perform autonomous assembly tasks in unstructured outdoor environments. This is a multi-tier problem that requires an integration of a large number of different software technologies including: command and control, estimation and localization, distributed communications, object recognition, pose estimation, real-time scanning, and scene interpretation. Although ultimately unsuccessful in achieving a target brick stacking task autonomously, numerous important component technologies were nevertheless developed. Such technologies include: a patent-pending polygon snake algorithm for robust feature tracking, a color grid algorithm for uniquely identification and calibration, a command and control frameworkmore » for abstracting robot commands, a scanning capability that utilizes a compact robot portable scanner, and more. This report describes this project and these developed technologies.« less

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.

Monitoring and Controlling an Underwater Robotic Arm

NASA Technical Reports Server (NTRS)

Haas, John; Todd, Brian Keith; Woodcock, Larry; Robinson, Fred M.

2009-01-01

The SSRMS Module 1 software is part of a system for monitoring an adaptive, closed-loop control of the motions of a robotic arm in NASA s Neutral Buoyancy Laboratory, where buoyancy in a pool of water is used to simulate the weightlessness of outer space. This software is so named because the robot arm is a replica of the Space Shuttle Remote Manipulator System (SSRMS). This software is distributed, running on remote joint processors (RJPs), each of which is mounted in a hydraulic actuator comprising the joint of the robotic arm and communicating with a poolside processor denoted the Direct Control Rack (DCR). Each RJP executes the feedback joint-motion control algorithm for its joint and communicates with the DCR. The DCR receives joint-angular-velocity commands either locally from an operator or remotely from computers that simulate the flight like SSRMS and perform coordinated motion calculations based on hand-controller inputs. The received commands are checked for validity before they are transmitted to the RJPs. The DCR software generates a display of the statuses of the RJPs for the DCR operator and can shut down the hydraulic pump when excessive joint-angle error or failure of a RJP is detected.

Object recognition for autonomous robot utilizing distributed knowledge database

NASA Astrophysics Data System (ADS)

Takatori, Jiro; Suzuki, Kenji; Hartono, Pitoyo; Hashimoto, Shuji

2003-10-01

In this paper we present a novel method of object recognition utilizing a remote knowledge database for an autonomous robot. The developed robot has three robot arms with different sensors; two CCD cameras and haptic sensors. It can see, touch and move the target object from different directions. Referring to remote knowledge database of geometry and material, the robot observes and handles the objects to understand them including their physical characteristics.

Mineralogy and astrobiology detection using laser remote sensing instrument.

PubMed

Abedin, M Nurul; Bradley, Arthur T; Sharma, Shiv K; Misra, Anupam K; Lucey, Paul G; McKay, Christopher P; Ismail, Syed; Sandford, Stephen P

2015-09-01

A multispectral instrument based on Raman, laser-induced fluorescence (LIF), laser-induced breakdown spectroscopy (LIBS), and a lidar system provides high-fidelity scientific investigations, scientific input, and science operation constraints in the context of planetary field campaigns with the Jupiter Europa Robotic Lander and Mars Sample Return mission opportunities. This instrument conducts scientific investigations analogous to investigations anticipated for missions to Mars and Jupiter's icy moons. This combined multispectral instrument is capable of performing Raman and fluorescence spectroscopy out to a >100  m target distance from the rover system and provides single-wavelength atmospheric profiling over long ranges (>20  km). In this article, we will reveal integrated remote Raman, LIF, and lidar technologies for use in robotic and lander-based planetary remote sensing applications. Discussions are focused on recently developed Raman, LIF, and lidar systems in addition to emphasizing surface water ice, surface and subsurface minerals, organics, biogenic, biomarker identification, atmospheric aerosols and clouds distributions, i.e., near-field atmospheric thin layers detection for next robotic-lander based instruments to measure all the above-mentioned parameters.

Scalable Mobile Ad Hoc Network (MANET) to Enhance Situational Awareness in Distributed Small Unit Operations

DTIC Science & Technology

2015-06-01

raspberry pi , robotic operation system (ros), arduino 15. NUMBER OF PAGES 123 16. PRICE CODE 17. SECURITY CLASSIFICATION OF REPORT...51  2.  Raspberry Pi ...52  Figure 21.  The Raspberry Pi B+ model, from [24

Biology-Inspired Explorers for Space Systems

NASA Astrophysics Data System (ADS)

Ramohalli, Kumar; Lozano, Peter; Furfaro, Roberto

2002-01-01

Building upon three innovative technologies, each of which received a NTR award from NASA, a specific explorer is described. This "robot" does away with conventional gears, levers, pulleys,.... And uses "Muscle Materials" instead; these shape-memory materials, formerly in the Nickel-Titanium family, but now in the much wider class of ElectroActivePolymers(EAP), have the ability to precisely respond to pre"programmed" shape changes upon application of an electrical input. Of course, the pre"programs" are at the molecular level, much like in biological systems. Another important feature is the distributed power. That is, the power use in the "limbs" is distributed, so that if one "limb" should fail, the others can still function. The robot has been built and demonstrated to the media (newspapers and television). The fundamental control aspects are currently being worked upon, and we expect to have a more complete mathematical description of its operation. Future plans, and specific applications for reliable planetary exploration will be outlined.

Use of tactile feedback to control exploratory movements to characterize object compliance.

PubMed

Su, Zhe; Fishel, Jeremy A; Yamamoto, Tomonori; Loeb, Gerald E

2012-01-01

Humans have been shown to be good at using active touch to perceive subtle differences in compliance. They tend to use highly stereotypical exploratory strategies, such as applying normal force to a surface. We developed similar exploratory and perceptual algorithms for a mechatronic robotic system (Barrett arm/hand system) equipped with liquid-filled, biomimetic tactile sensors (BioTac(®) from SynTouch LLC). The distribution of force on the fingertip was measured by the electrical resistance of the conductive liquid trapped between the elastomeric skin and a cluster of four electrodes on the flat fingertip surface of the rigid core of the BioTac. These signals provided closed-loop control of exploratory movements, while the distribution of skin deformations, measured by more lateral electrodes and by the hydraulic pressure, were used to estimate material properties of objects. With this control algorithm, the robot plus tactile sensor was able to discriminate the relative compliance of various rubber samples.

Distributed communications and control network for robotic mining

NASA Technical Reports Server (NTRS)

Schiffbauer, William H.

1989-01-01

The application of robotics to coal mining machines is one approach pursued to increase productivity while providing enhanced safety for the coal miner. Toward that end, a network composed of microcontrollers, computers, expert systems, real time operating systems, and a variety of program languages are being integrated that will act as the backbone for intelligent machine operation. Actual mining machines, including a few customized ones, have been given telerobotic semiautonomous capabilities by applying the described network. Control devices, intelligent sensors and computers onboard these machines are showing promise of achieving improved mining productivity and safety benefits. Current research using these machines involves navigation, multiple machine interaction, machine diagnostics, mineral detection, and graphical machine representation. Guidance sensors and systems employed include: sonar, laser rangers, gyroscopes, magnetometers, clinometers, and accelerometers. Information on the network of hardware/software and its implementation on mining machines are presented. Anticipated coal production operations using the network are discussed. A parallelism is also drawn between the direction of present day underground coal mining research to how the lunar soil (regolith) may be mined. A conceptual lunar mining operation that employs a distributed communication and control network is detailed.

Robotic ecological mapping: Habitats and the search for life in the Atacama Desert

NASA Astrophysics Data System (ADS)

Warren-Rhodes, K.; Weinstein, S.; Piatek, J. L.; Dohm, J.; Hock, A.; Minkley, E.; Pane, D.; Ernst, L. A.; Fisher, G.; Emani, S.; Waggoner, A. S.; Cabrol, N. A.; Wettergreen, D. S.; Grin, E.; Coppin, P.; Diaz, Chong; Moersch, J.; Oril, G. G.; Smith, T.; Stubbs, K.; Thomas, G.; Wagner, M.; Wyatt, M.; Boyle, L. Ng

2007-12-01

As part of the three-year `Life in the Atacama' (LITA) project, plant and microbial abundance were mapped within three sites in the Atacama Desert, Chile, using an automated robotic rover. On-board fluorescence imaging of six biological signatures (e.g., chlorophyll, DNA, proteins) was used to assess abundance, based on a percent positive sample rating system and standardized robotic ecological transects. The percent positive rating system scored each sample based on the measured signal strength (0 for no signal to 2 for strong signal) for each biological signature relative to the total rating possible. The 2005 field experiment results show that percent positive ratings varied significantly across Site D (coastal site with fog), with patchy zones of high abundance correlated with orbital and microscale habitat types (heaved surface crust and gravel bars); alluvial fan habitats generally had lower abundance. Non-random multi-scale biological patchiness also characterized interior desert Sites E and F, with relatively high abundance associated with (paleo)aqueous habitats such as playas. Localized variables, including topography, played an important, albeit complex, role in microbial spatial distribution. Site D biosignature trends correlated with culturable soil bacteria, with MPN ranging from 10-1000 CFU/g-soil, and chlorophyll ratings accurately mapped lichen/moss abundance (Site D) and higher plant (Site F) distributions. Climate also affected biological patchiness, with significant correlation shown between abundance and (rover) air relative humidity, while lichen patterns were linked to the presence of fog. Rover biological mapping results across sites parallel longitudinal W-E wet/dry/wet Atacama climate trends. Overall, the study highlights the success of targeting of aqueous-associated habitats identifiable from orbital geology and mineralogy. The LITA experience also suggests the terrestrial study of life and its distribution, particularly the fields of landscape ecology and ecohydrology, hold critical lessons for the search for life on other planets. Their applications to robotic sampling strategies on Mars should be further exploited.

Robotic systems in spine surgery.

PubMed

Onen, Mehmet Resid; Naderi, Sait

2014-01-01

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

Design of an integrated master-slave robotic system for minimally invasive surgery.

PubMed

Li, Jianmin; Zhou, Ningxin; Wang, Shuxin; Gao, Yuanqian; Liu, Dongchun

2012-03-01

Minimally invasive surgery (MIS) robots are commonly used in hospitals and medical centres. However, currently available robotic systems are very complicated and huge, greatly raising system costs and the requirements of operating rooms. These disadvantages have become the major impediments to the expansion of MIS robots. An integrated MIS robotic system is proposed based on the analysis of advantages and disadvantages of different MIS robots. In the proposed system, the master manipulators, slave manipulators, image display device and control system have been designed as a whole. Modular design is adopted for the control system for easy maintenance and upgrade. The kinematic relations between the master and the slave are also investigated and embedded in software to realize intuitive movements of hand and instrument. Finally, animal experiments were designed to test the effectiveness of the robot. The robot realizes natural hand-eye movements between the master and the slave to facilitate MIS operations. The experimental results show that the robot can realize similar functions to those of current commercialized robots. The integrated design simplifies the robotic system and facilitates use of the robot. Compared with the commercialized robots, the proposed MIS robot achieves similar functions and features but with a smaller size and less weight. Copyright © 2011 John Wiley & Sons, Ltd.

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

NASA Technical Reports Server (NTRS)

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

2014-01-01

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

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

NASA Technical Reports Server (NTRS)

Zornetzer, Steve; Gage, Douglas

2005-01-01

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

Mixed reality framework for collective motion patterns of swarms with delay coupling

NASA Astrophysics Data System (ADS)

Szwaykowska, Klementyna; Schwartz, Ira

The formation of coherent patterns in swarms of interacting self-propelled autonomous agents is an important subject for many applications within the field of distributed robotic systems. However, there are significant logistical challenges associated with testing fully distributed systems in real-world settings. In this paper, we provide a rigorous theoretical justification for the use of mixed-reality experiments as a stepping stone to fully physical testing of distributed robotic systems. We also model and experimentally realize a mixed-reality large-scale swarm of delay-coupled agents. Our analyses, assuming agents communicating over an Erdos-Renyi network, demonstrate the existence of stable coherent patterns that can be achieved only with delay coupling and that are robust to decreasing network connectivity and heterogeneity in agent dynamics. We show how the bifurcation structure for emergence of different patterns changes with heterogeneity in agent acceleration capabilities and limited connectivity in the network as a function of coupling strength and delay. Our results are verified through simulation as well as preliminary experimental results of delay-induced pattern formation in a mixed-reality swarm. K. S. was a National Research Council postdoctoral fellow. I.B.S was supported by the U.S. Naval Research Laboratory funding (N0001414WX00023) and office of Naval Research (N0001414WX20610).

Characteristics of Behavior of Robots with Emotion Model

NASA Astrophysics Data System (ADS)

Sato, Shigehiko; Nozawa, Akio; Ide, Hideto

Cooperated multi robots system has much dominance in comparison with single robot system. It is able to adapt to various circumstances and has a flexibility for variation of tasks. However it has still problems to control each robot, though methods for control multi robots system have been studied. Recently, the robots have been coming into real scene. And emotion and sensitivity of the robots have been widely studied. In this study, human emotion model based on psychological interaction was adapt to multi robots system to achieve methods for organization of multi robots. The characteristics of behavior of multi robots system achieved through computer simulation were analyzed. As a result, very complexed and interesting behavior was emerged even though it has rather simple configuration. And it has flexiblity in various circumstances. Additional experiment with actual robots will be conducted based on the emotion model.

Calibration of an Outdoor Distributed Camera Network with a 3D Point Cloud

PubMed Central

Ortega, Agustín; Silva, Manuel; Teniente, Ernesto H.; Ferreira, Ricardo; Bernardino, Alexandre; Gaspar, José; Andrade-Cetto, Juan

2014-01-01

Outdoor camera networks are becoming ubiquitous in critical urban areas of the largest cities around the world. Although current applications of camera networks are mostly tailored to video surveillance, recent research projects are exploiting their use to aid robotic systems in people-assisting tasks. Such systems require precise calibration of the internal and external parameters of the distributed camera network. Despite the fact that camera calibration has been an extensively studied topic, the development of practical methods for user-assisted calibration that minimize user intervention time and maximize precision still pose significant challenges. These camera systems have non-overlapping fields of view, are subject to environmental stress, and are likely to suffer frequent recalibration. In this paper, we propose the use of a 3D map covering the area to support the calibration process and develop an automated method that allows quick and precise calibration of a large camera network. We present two cases of study of the proposed calibration method: one is the calibration of the Barcelona Robot Lab camera network, which also includes direct mappings (homographies) between image coordinates and world points in the ground plane (walking areas) to support person and robot detection and localization algorithms. The second case consist of improving the GPS positioning of geo-tagged images taken with a mobile device in the Facultat de Matemàtiques i Estadística (FME) patio at the Universitat Politècnica de Catalunya (UPC). PMID:25076221

Calibration of an outdoor distributed camera network with a 3D point cloud.

PubMed

Ortega, Agustín; Silva, Manuel; Teniente, Ernesto H; Ferreira, Ricardo; Bernardino, Alexandre; Gaspar, José; Andrade-Cetto, Juan

2014-07-29

Outdoor camera networks are becoming ubiquitous in critical urban areas of the largest cities around the world. Although current applications of camera networks are mostly tailored to video surveillance, recent research projects are exploiting their use to aid robotic systems in people-assisting tasks. Such systems require precise calibration of the internal and external parameters of the distributed camera network. Despite the fact that camera calibration has been an extensively studied topic, the development of practical methods for user-assisted calibration that minimize user intervention time and maximize precision still pose significant challenges. These camera systems have non-overlapping fields of view, are subject to environmental stress, and are likely to suffer frequent recalibration. In this paper, we propose the use of a 3D map covering the area to support the calibration process and develop an automated method that allows quick and precise calibration of a large camera network. We present two cases of study of the proposed calibration method: one is the calibration of the Barcelona Robot Lab camera network, which also includes direct mappings (homographies) between image coordinates and world points in the ground plane (walking areas) to support person and robot detection and localization algorithms. The second case consist of improving the GPS positioning of geo-tagged images taken with a mobile device in the Facultat de Matemàtiques i Estadística (FME) patio at the Universitat Politècnica de Catalunya (UPC).

Collective odor source estimation and search in time-variant airflow environments using mobile robots.

PubMed

Meng, Qing-Hao; Yang, Wei-Xing; Wang, Yang; Zeng, Ming

2011-01-01

This paper addresses the collective odor source localization (OSL) problem in a time-varying airflow environment using mobile robots. A novel OSL methodology which combines odor-source probability estimation and multiple robots' search is proposed. The estimation phase consists of two steps: firstly, the separate probability-distribution map of odor source is estimated via Bayesian rules and fuzzy inference based on a single robot's detection events; secondly, the separate maps estimated by different robots at different times are fused into a combined map by way of distance based superposition. The multi-robot search behaviors are coordinated via a particle swarm optimization algorithm, where the estimated odor-source probability distribution is used to express the fitness functions. In the process of OSL, the estimation phase provides the prior knowledge for the searching while the searching verifies the estimation results, and both phases are implemented iteratively. The results of simulations for large-scale advection-diffusion plume environments and experiments using real robots in an indoor airflow environment validate the feasibility and robustness of the proposed OSL method.

AAPM and GEC-ESTRO guidelines for image-guided robotic brachytherapy: Report of Task Group 192

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

Podder, Tarun K., E-mail: tarun.podder@uhhospitals.org; Beaulieu, Luc; Caldwell, Barrett

In the last decade, there have been significant developments into integration of robots and automation tools with brachytherapy delivery systems. These systems aim to improve the current paradigm by executing higher precision and accuracy in seed placement, improving calculation of optimal seed locations, minimizing surgical trauma, and reducing radiation exposure to medical staff. Most of the applications of this technology have been in the implantation of seeds in patients with early-stage prostate cancer. Nevertheless, the techniques apply to any clinical site where interstitial brachytherapy is appropriate. In consideration of the rapid developments in this area, the American Association of Physicistsmore » in Medicine (AAPM) commissioned Task Group 192 to review the state-of-the-art in the field of robotic interstitial brachytherapy. This is a joint Task Group with the Groupe Européen de Curiethérapie-European Society for Radiotherapy and Oncology (GEC-ESTRO). All developed and reported robotic brachytherapy systems were reviewed. Commissioning and quality assurance procedures for the safe and consistent use of these systems are also provided. Manual seed placement techniques with a rigid template have an estimated in vivo accuracy of 3–6 mm. In addition to the placement accuracy, factors such as tissue deformation, needle deviation, and edema may result in a delivered dose distribution that differs from the preimplant or intraoperative plan. However, real-time needle tracking and seed identification for dynamic updating of dosimetry may improve the quality of seed implantation. The AAPM and GEC-ESTRO recommend that robotic systems should demonstrate a spatial accuracy of seed placement ≤1.0 mm in a phantom. This recommendation is based on the current performance of existing robotic brachytherapy systems and propagation of uncertainties. During clinical commissioning, tests should be conducted to ensure that this level of accuracy is achieved. These tests should mimic the real operating procedure as closely as possible. Additional recommendations on robotic brachytherapy systems include display of the operational state; capability of manual override; documented policies for independent check and data verification; intuitive interface displaying the implantation plan and visualization of needle positions and seed locations relative to the target anatomy; needle insertion in a sequential order; robot–clinician and robot–patient interactions robustness, reliability, and safety while delivering the correct dose at the correct site for the correct patient; avoidance of excessive force on radioactive sources; delivery confirmation of the required number or position of seeds; incorporation of a collision avoidance system; system cleaning, decontamination, and sterilization procedures. These recommendations are applicable to end users and manufacturers of robotic brachytherapy systems.« less

Robotic radiosurgery system patient-specific QA for extracranial treatments using the planar ion chamber array and the cylindrical diode array.

PubMed

Lin, Mu-Han; Veltchev, Iavor; Koren, Sion; Ma, Charlie; Li, Jinsgeng

2015-07-08

Robotic radiosurgery system has been increasingly employed for extracranial treatments. This work is aimed to study the feasibility of a cylindrical diode array and a planar ion chamber array for patient-specific QA with this robotic radiosurgery system and compare their performance. Fiducial markers were implanted in both systems to enable image-based setup. An in-house program was developed to postprocess the movie file of the measurements and apply the beam-by-beam angular corrections for both systems. The impact of noncoplanar delivery was then assessed by evaluating the angles created by the incident beams with respect to the two detector arrangements and cross-comparing the planned dose distribution to the measured ones with/without the angular corrections. The sensitivity of detecting the translational (1-3 mm) and the rotational (1°-3°) delivery errors were also evaluated for both systems. Six extracranial patient plans (PTV 7-137 cm³) were measured with these two systems and compared with the calculated doses. The plan dose distributions were calculated with ray-tracing and the Monte Carlo (MC) method, respectively. With 0.8 by 0.8 mm² diodes, the output factors measured with the cylindrical diode array agree better with the commissioning data. The maximum angular correction for a given beam is 8.2% for the planar ion chamber array and 2.4% for the cylindrical diode array. The two systems demonstrate a comparable sensitivity of detecting the translational targeting errors, while the cylindrical diode array is more sensitive to the rotational targeting error. The MC method is necessary for dose calculations in the cylindrical diode array phantom because the ray-tracing algorithm fails to handle the high-Z diodes and the acrylic phantom. For all the patient plans, the cylindrical diode array/ planar ion chamber array demonstrate 100% / > 92% (3%/3 mm) and > 96% / ~ 80% (2%/2 mm) passing rates. The feasibility of using both systems for robotic radiosurgery system patient-specific QA has been demonstrated. For gamma evaluation, 2%/2 mm criteria for cylindrical diode array and 3%/3 mm criteria for planar ion chamber array are suggested. The customized angular correction is necessary as proven by the improved passing rate, especially with the planar ion chamber array system.

Robotic System For Greenhouse Or Nursery

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

Haptic Feedback in Robot-Assisted Minimally Invasive Surgery

PubMed Central

Okamura, Allison M.

2009-01-01

Purpose of Review Robot-assisted minimally invasive surgery (RMIS) holds great promise for improving the accuracy and dexterity of a surgeon while minimizing trauma to the patient. However, widespread clinical success with RMIS has been marginal. It is hypothesized that the lack of haptic (force and tactile) feedback presented to the surgeon is a limiting factor. This review explains the technical challenges of creating haptic feedback for robot-assisted surgery and provides recent results that evaluate the effectiveness of haptic feedback in mock surgical tasks. Recent Findings Haptic feedback systems for RMIS are still under development and evaluation. Most provide only force feedback, with limited fidelity. The major challenge at this time is sensing forces applied to the patient. A few tactile feedback systems for RMIS have been created, but their practicality for clinical implementation needs to be shown. It is particularly difficult to sense and display spatially distributed tactile information. The cost-benefit ratio for haptic feedback in RMIS has not been established. Summary The designs of existing commercial RMIS systems are not conducive for force feedback, and creative solutions are needed to create compelling tactile feedback systems. Surgeons, engineers, and neuroscientists should work together to develop effective solutions for haptic feedback in RMIS. PMID:19057225

Sensor fusion IV: Control paradigms and data structures; Proceedings of the Meeting, Boston, MA, Nov. 12-15, 1991

NASA Technical Reports Server (NTRS)

Schenker, Paul S. (Editor)

1992-01-01

Various papers on control paradigms and data structures in sensor fusion are presented. The general topics addressed include: decision models and computational methods, sensor modeling and data representation, active sensing strategies, geometric planning and visualization, task-driven sensing, motion analysis, models motivated biology and psychology, decentralized detection and distributed decision, data fusion architectures, robust estimation of shapes and features, application and implementation. Some of the individual subjects considered are: the Firefly experiment on neural networks for distributed sensor data fusion, manifold traversing as a model for learning control of autonomous robots, choice of coordinate systems for multiple sensor fusion, continuous motion using task-directed stereo vision, interactive and cooperative sensing and control for advanced teleoperation, knowledge-based imaging for terrain analysis, physical and digital simulations for IVA robotics.

Financial modeling of current surgical robotic system in outpatient laparoscopic cholecystectomy: how should we think about the expense?

PubMed

Schwaitzberg, S D

2016-05-01

More than 500,000 robotically assisted procedures were performed worldwide in 2013. Despite broad adoption, there remains a lack of clarity concerning the added cost of the robotic system to the procedure especially in light of an increasing number of ambulatory procedures which are now marketed by hospitals, surgeons and the manufacturer. These procedures are associated with much less reimbursement than inpatient procedures. It is unclear whether these added expenses can be absorbed in these scenarios. Reports vary in opinion concerning the added net costs during robotically assisted laparoscopic hernia or cholecystectomy. The worldwide revenues, procedures, and the installed base of robotic system data were reviewed and reanalyzed from the 2013 Intuitive Surgical Investors report. This provided an opportunity to look cost per case projections from the vantage point of actual revenue. This analysis was based on revenue of 2.27 billion US dollars in the three categories of capital acquisition, instrumentation and accessories, and service revenue. These revenues were then spread across 523,000 cases with varying assumptions. Without regard to expense offsets, the additional cost ranges from $2908 to $8675 depending on what system was purchased and the ability to distribute costs against case volume. Estimates of commercial and government revenue were then compared against these expenses. The use of the extraordinary technology in the face of low-morbidity low-cost established minimally invasive procedures needs to withstand scrutiny of outcome assessment, revenue and expense considerations and appropriateness review in order to create financially viable approaches to high-volume minimally invasive procedures. Revenue estimates associated with outpatient reimbursement make it difficult to support these expenses, recognizing inpatient procedures represent a different net financial picture.

Development of haptic based piezoresistive artificial fingertip: Toward efficient tactile sensing systems for humanoids.

PubMed

TermehYousefi, Amin; Azhari, Saman; Khajeh, Amin; Hamidon, Mohd Nizar; Tanaka, Hirofumi

2017-08-01

Haptic sensors are essential devices that facilitate human-like sensing systems such as implantable medical devices and humanoid robots. The availability of conducting thin films with haptic properties could lead to the development of tactile sensing systems that stretch reversibly, sense pressure (not just touch), and integrate with collapsible. In this study, a nanocomposite based hemispherical artificial fingertip fabricated to enhance the tactile sensing systems of humanoid robots. To validate the hypothesis, proposed method was used in the robot-like finger system to classify the ripe and unripe tomato by recording the metabolic growth of the tomato as a function of resistivity change during a controlled indention force. Prior to fabrication, a finite element modeling (FEM) was investigated for tomato to obtain the stress distribution and failure point of tomato by applying different external loads. Then, the extracted computational analysis information was utilized to design and fabricate nanocomposite based artificial fingertip to examine the maturity analysis of tomato. The obtained results demonstrate that the fabricated conformable and scalable artificial fingertip shows different electrical property for ripe and unripe tomato. The artificial fingertip is compatible with the development of brain-like systems for artificial skin by obtaining periodic response during an applied load. Copyright © 2017. Published by Elsevier B.V.

A Scalable Distributed Approach to Mobile Robot Vision

NASA Technical Reports Server (NTRS)

Kuipers, Benjamin; Browning, Robert L.; Gribble, William S.

1997-01-01

This paper documents our progress during the first year of work on our original proposal entitled 'A Scalable Distributed Approach to Mobile Robot Vision'. We are pursuing a strategy for real-time visual identification and tracking of complex objects which does not rely on specialized image-processing hardware. In this system perceptual schemas represent objects as a graph of primitive features. Distributed software agents identify and track these features, using variable-geometry image subwindows of limited size. Active control of imaging parameters and selective processing makes simultaneous real-time tracking of many primitive features tractable. Perceptual schemas operate independently from the tracking of primitive features, so that real-time tracking of a set of image features is not hurt by latency in recognition of the object that those features make up. The architecture allows semantically significant features to be tracked with limited expenditure of computational resources, and allows the visual computation to be distributed across a network of processors. Early experiments are described which demonstrate the usefulness of this formulation, followed by a brief overview of our more recent progress (after the first year).

Distributed multirobot sensing and tracking: a behavior-based approach

NASA Astrophysics Data System (ADS)

Parker, Lynne E.

1995-09-01

An important issue that arises in the automation of many large-scale surveillance and reconnaissance tasks is that of tracking the movements of (or maintaining passive contact with) objects navigating in a bounded area of interest. Oftentimes in these problems, the area to be monitored will move over time or will not permit fixed sensors, thus requiring a team of mobile sensors--or robots--to monitor the area collectively. In these situations, the robots must not only have mechanisms for determining how to track objects and how to fuse information from neighboring robots, but they must also have distributed control strategies for ensuring that the entire area of interest is continually covered to the greatest extent possible. This paper focuses on the distributed control issue by describing a proposed decentralized control mechanism that allows a team of robots to collectively track and monitor objects in an uncluttered area of interest. The approach is based upon an extension to the ALLIANCE behavior-based architecture that generalizes from the domain of loosely-coupled, independent applications to the domain of strongly cooperative applications, in which the action selection of a robot is dependent upon the actions selected by its teammates. We conclude the paper be describing our ongoing implementation of the proposed approach on a team of four mobile robots.

Human likeness: cognitive and affective factors affecting adoption of robot-assisted learning systems

NASA Astrophysics Data System (ADS)

Yoo, Hosun; Kwon, Ohbyung; Lee, Namyeon

2016-07-01

With advances in robot technology, interest in robotic e-learning systems has increased. In some laboratories, experiments are being conducted with humanoid robots as artificial tutors because of their likeness to humans, the rich possibilities of using this type of media, and the multimodal interaction capabilities of these robots. The robot-assisted learning system, a special type of e-learning system, aims to increase the learner's concentration, pleasure, and learning performance dramatically. However, very few empirical studies have examined the effect on learning performance of incorporating humanoid robot technology into e-learning systems or people's willingness to accept or adopt robot-assisted learning systems. In particular, human likeness, the essential characteristic of humanoid robots as compared with conventional e-learning systems, has not been discussed in a theoretical context. Hence, the purpose of this study is to propose a theoretical model to explain the process of adoption of robot-assisted learning systems. In the proposed model, human likeness is conceptualized as a combination of media richness, multimodal interaction capabilities, and para-social relationships; these factors are considered as possible determinants of the degree to which human cognition and affection are related to the adoption of robot-assisted learning systems.

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

DOEpatents

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

2002-01-01

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

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. …

2009 Ground Robotics Capabilities Conference and Exhibition

DTIC Science & Technology

2009-03-26

adaptability to varying social cues and context – ARL via the Robotics Collaborative Technology Alliance program • Autonomy is “conditional” … largely...roadmaps, alliances and robotics organizations have been established to synchronize development efforts • Many emerging robotics capabilities can...Crossing Plan ( B2B ) 1. Target Customer 2. Compelling Reason to Buy 3. Whole Product 4. Partners & Allies 5. Distribution 6. Pricing 7. Competition 8

Achieving "organic compositionality" through self-organization: reviews on brain-inspired robotics experiments.

PubMed

Tani, Jun; Nishimoto, Ryunosuke; Paine, Rainer W

2008-05-01

The current paper examines how compositional structures can self-organize in given neuro-dynamical systems when robot agents are forced to learn multiple goal-directed behaviors simultaneously. Firstly, we propose a basic model accounting for the roles of parietal-premotor interactions for representing skills for goal-directed behaviors. The basic model had been implemented in a set of robotics experiments employing different neural network architectures. The comparative reviews among those experimental results address the issues of local vs distributed representations in representing behavior and the effectiveness of level structures associated with different sensory-motor articulation mechanisms. It is concluded that the compositional structures can be acquired "organically" by achieving generalization in learning and by capturing the contextual nature of skilled behaviors under specific conditions. Furthermore, the paper discusses possible feedback for empirical neuroscience studies in the future.

Kinematic and Dynamic Analysis of High-Speed Intermittent-Motion Mechanisms.

DTIC Science & Technology

1984-01-16

intermittent-motion mechanisms which -"have potential application to the high-speed automatic weapon system , and an investigation on the workspace of a robotic...manipulator system . The problems of this investigation belong to a selected group of unsolved or partially solved problems which are relevant and...design of high-speed machinery and automated manufacturing systems . Accession For IiTIS GRA&I DTIC TAB Unamounced 0 Justificatio By_, Distribut ion

Basic Operational Robotics Instructional System

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

Micro Hopping Robots for Rescue Operation. Location of the Distributed Tiny Robots Under the Collapsed Building

DTIC Science & Technology

2008-07-31

any wheels or legs even on small, rough terrain with the help of eccentric mechanical vibration. This tiny robot also has the ability of self...integral part of any robo -rescue operation. Inexpensive micro robots can be manufactured for this purpose and by utilizing numerous micro robots (100s to...designed and developed. This locomotion mechanism functions without any wheels or legs and can move based upon the asymmetrical thrusting and lifting

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

NASA Astrophysics Data System (ADS)

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

2014-06-01

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

Performance impact of mutation operators of a subpopulation-based genetic algorithm for multi-robot task allocation problems.

PubMed

Liu, Chun; Kroll, Andreas

2016-01-01

Multi-robot task allocation determines the task sequence and distribution for a group of robots in multi-robot systems, which is one of constrained combinatorial optimization problems and more complex in case of cooperative tasks because they introduce additional spatial and temporal constraints. To solve multi-robot task allocation problems with cooperative tasks efficiently, a subpopulation-based genetic algorithm, a crossover-free genetic algorithm employing mutation operators and elitism selection in each subpopulation, is developed in this paper. Moreover, the impact of mutation operators (swap, insertion, inversion, displacement, and their various combinations) is analyzed when solving several industrial plant inspection problems. The experimental results show that: (1) the proposed genetic algorithm can obtain better solutions than the tested binary tournament genetic algorithm with partially mapped crossover; (2) inversion mutation performs better than other tested mutation operators when solving problems without cooperative tasks, and the swap-inversion combination performs better than other tested mutation operators/combinations when solving problems with cooperative tasks. As it is difficult to produce all desired effects with a single mutation operator, using multiple mutation operators (including both inversion and swap) is suggested when solving similar combinatorial optimization problems.

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

NASA Technical Reports Server (NTRS)

Sandy, Michael

2015-01-01

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

Morphological communication: exploiting coupled dynamics in a complex mechanical structure to achieve locomotion

PubMed Central

Rieffel, John A.; Valero-Cuevas, Francisco J.; Lipson, Hod

2010-01-01

Traditional engineering approaches strive to avoid, or actively suppress, nonlinear dynamic coupling among components. Biological systems, in contrast, are often rife with these dynamics. Could there be, in some cases, a benefit to high degrees of dynamical coupling? Here we present a distributed robotic control scheme inspired by the biological phenomenon of tensegrity-based mechanotransduction. This emergence of morphology-as-information-conduit or ‘morphological communication’, enabled by time-sensitive spiking neural networks, presents a new paradigm for the decentralized control of large, coupled, modular systems. These results significantly bolster, both in magnitude and in form, the idea of morphological computation in robotic control. Furthermore, they lend further credence to ideas of embodied anatomical computation in biological systems, on scales ranging from cellular structures up to the tendinous networks of the human hand. PMID:19776146

Study of robotics systems applications to the space station program

NASA Technical Reports Server (NTRS)

Fox, J. C.

1983-01-01

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

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.

Control system of the inspection robots group applying auctions and multi-criteria analysis for task allocation

NASA Astrophysics Data System (ADS)

Panfil, Wawrzyniec; Moczulski, Wojciech

2017-10-01

In the paper presented is a control system of a mobile robots group intended for carrying out inspection missions. The main research problem was to define such a control system in order to facilitate a cooperation of the robots resulting in realization of the committed inspection tasks. Many of the well-known control systems use auctions for tasks allocation, where a subject of an auction is a task to be allocated. It seems that in the case of missions characterized by much larger number of tasks than number of robots it will be better if robots (instead of tasks) are subjects of auctions. The second identified problem concerns the one-sided robot-to-task fitness evaluation. Simultaneous assessment of the robot-to-task fitness and task attractiveness for robot should affect positively for the overall effectiveness of the multi-robot system performance. The elaborated system allows to assign tasks to robots using various methods for evaluation of fitness between robots and tasks, and using some tasks allocation methods. There is proposed the method for multi-criteria analysis, which is composed of two assessments, i.e. robot's concurrency position for task among other robots and task's attractiveness for robot among other tasks. Furthermore, there are proposed methods for tasks allocation applying the mentioned multi-criteria analysis method. The verification of both the elaborated system and the proposed tasks' allocation methods was carried out with the help of simulated experiments. The object under test was a group of inspection mobile robots being a virtual counterpart of the real mobile-robot group.

Flexible robotic actuators

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

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

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

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

PubMed

Ando, Noriyasu; Kanzaki, Ryohei

2017-09-01

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

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.

Equipment and technology in surgical robotics.

PubMed

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

2006-06-01

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

Microgravity Testing of a Surface Sampling System for Sample Return from Small Solar System Bodies

NASA Technical Reports Server (NTRS)

Franzen, M. A.; Preble, J.; Schoenoff, M.; Halona, K.; Long, T. E.; Park, T.; Sears, D. W. G.

2004-01-01

The return of samples from solar system bodies is becoming an essential element of solar system exploration. The recent National Research Council Solar System Exploration Decadal Survey identified six sample return missions as high priority missions: South-Aitken Basin Sample Return, Comet Surface Sample Return, Comet Surface Sample Return-sample from selected surface sites, Asteroid Lander/Rover/Sample Return, Comet Nucleus Sample Return-cold samples from depth, and Mars Sample Return [1] and the NASA Roadmap also includes sample return missions [2] . Sample collection methods that have been flown on robotic spacecraft to date return subgram quantities, but many scientific issues (like bulk composition, particle size distributions, petrology, chronology) require tens to hundreds of grams of sample. Many complex sample collection devices have been proposed, however, small robotic missions require simplicity. We present here the results of experiments done with a simple but innovative collection system for sample return from small solar system bodies.

Detection And Classification Of Web Robots With Honeypots

DTIC Science & Technology

2016-03-01

CLASSIFICATION OF WEB ROBOTS WITH HONEYPOTS by Sean F. McKenna March 2016 Thesis Advisor: Neil Rowe Second Reader: Justin P. Rohrer THIS...Master’s thesis 4. TITLE AND SUBTITLE DETECTION AND CLASSIFICATION OF WEB ROBOTS WITH HONEYPOTS 5. FUNDING NUMBERS 6. AUTHOR(S) Sean F. McKenna 7...DISTRIBUTION CODE 13. ABSTRACT (maximum 200 words) Web robots are automated programs that systematically browse the Web , collecting information. Although

Remote voice training: A case study on space shuttle applications, appendix C

NASA Technical Reports Server (NTRS)

Mollakarimi, Cindy; Hamid, Tamin

1990-01-01

The Tile Automation System includes applications of automation and robotics technology to all aspects of the Shuttle tile processing and inspection system. An integrated set of rapid prototyping testbeds was developed which include speech recognition and synthesis, laser imaging systems, distributed Ada programming environments, distributed relational data base architectures, distributed computer network architectures, multi-media workbenches, and human factors considerations. Remote voice training in the Tile Automation System is discussed. The user is prompted over a headset by synthesized speech for the training sequences. The voice recognition units and the voice output units are remote from the user and are connected by Ethernet to the main computer system. A supervisory channel is used to monitor the training sequences. Discussions include the training approaches as well as the human factors problems and solutions for this system utilizing remote training techniques.

Communication and control in an integrated manufacturing system

NASA Technical Reports Server (NTRS)

Shin, Kang G.; Throne, Robert D.; Muthuswamy, Yogesh K.

1987-01-01

Typically, components in a manufacturing system are all centrally controlled. Due to possible communication bottlenecking, unreliability, and inflexibility caused by using a centralized controller, a new concept of system integration called an Integrated Multi-Robot System (IMRS) was developed. The IMRS can be viewed as a distributed real time system. Some of the current research issues being examined to extend the framework of the IMRS to meet its performance goals are presented. These issues include the use of communication coprocessors to enhance performance, the distribution of tasks and the methods of providing fault tolerance in the IMRS. An application example of real time collision detection, as it relates to the IMRS concept, is also presented and discussed.

Are snakes particles or waves? Scattering of a limbless locomotor through a single slit

NASA Astrophysics Data System (ADS)

Qian, Feifei; Dai, Jin; Gong, Chaohui; Choset, Howie; Goldman, Daniel

Droplets on vertically vibrated fluid surfaces can walk and diffract through a single slit by a pilot wave hydrodynamic interaction [Couder, 2006; Bush, 2015]. Inspired by the correspondence between emergent macroscale dynamics and phenomena in quantum systems, we tested if robotic snakes, which resemble wave packets, behave emergently like particles or waves when interacting with an obstacle. In lab experiments and numerical simulations we measured how a multi-module snake-like robot swam through a single slit. We controlled the snake undulation gait as a fixed serpenoid traveling wave pattern with varying amplitude and initial phase, and we examined the snake trajectory as it swam through a slit with width d. Robot trajectories were straight before interaction with the slit, then exited at different scattering angle θ after the interaction due to a complex interaction of the body wave with the slit. For fixed amplitude and large d, the snake passed through the slit with minimal interaction and theta was ~ 0 . For sufficiently small d, θ was finite and bimodally distributed, depending on the initial phase. For intermediate d, θ was sensitive to initial phase, and the width of the distribution of θ increased with decreasing d.

Performance Evaluation of Intelligent Systems at the National Institute of Standards and Technology (NIST)

DTIC Science & Technology

2011-03-01

past few years, including performance evaluation of emergency response robots , sensor systems on unmanned ground vehicles, speech-to-speech translation...emergency response robots ; intelligent systems; mixed palletizing, testing, simulation; robotic vehicle perception systems; search and rescue robots ...ranging from autonomous vehicles to urban search and rescue robots to speech translation and manufacturing systems. The evaluations have occurred in

Multiagent robotic systems' ambient light sensor

NASA Astrophysics Data System (ADS)

Iureva, Radda A.; Maslennikov, Oleg S.; Komarov, Igor I.

2017-05-01

Swarm robotics is one of the fastest growing areas of modern technology. Being subclass of multi-agent systems it inherits the main part of scientific-methodological apparatus of construction and functioning of practically useful complexes, which consist of rather autonomous independent agents. Ambient light sensors (ALS) are widely used in robotics. But speaking about swarm robotics, the technology which has great number of specific features and is developing, we can't help mentioning that its important to use sensors on each robot not only in order to help it to get directionally oriented, but also to follow light emitted by robot-chief or to help to find the goal easier. Key words: ambient light sensor, swarm system, multiagent system, robotic system, robotic complexes, simulation modelling

Automation of Shuttle Tile Inspection - Engineering methodology for Space Station

NASA Technical Reports Server (NTRS)

Wiskerchen, M. J.; Mollakarimi, C.

1987-01-01

The Space Systems Integration and Operations Research Applications (SIORA) Program was initiated in late 1986 as a cooperative applications research effort between Stanford University, NASA Kennedy Space Center, and Lockheed Space Operations Company. One of the major initial SIORA tasks was the application of automation and robotics technology to all aspects of the Shuttle tile processing and inspection system. This effort has adopted a systems engineering approach consisting of an integrated set of rapid prototyping testbeds in which a government/university/industry team of users, technologists, and engineers test and evaluate new concepts and technologies within the operational world of Shuttle. These integrated testbeds include speech recognition and synthesis, laser imaging inspection systems, distributed Ada programming environments, distributed relational database architectures, distributed computer network architectures, multimedia workbenches, and human factors considerations.

The 1991 Goddard Conference on Space Applications of Artificial Intelligence

NASA Technical Reports Server (NTRS)

Rash, James L. (Editor)

1991-01-01

The purpose of this annual conference is to provide a forum in which current research and development directed at space applications of artificial intelligence can be presented and discussed. The papers in this proceeding fall into the following areas: Planning and scheduling, fault monitoring/diagnosis/recovery, machine vision, robotics, system development, information management, knowledge acquisition and representation, distributed systems, tools, neural networks, and miscellaneous applications.

Autonomous Shepherding Behaviors of Multiple Target Steering Robots.

PubMed

Lee, Wonki; Kim, DaeEun

2017-11-25

This paper presents a distributed coordination methodology for multi-robot systems, based on nearest-neighbor interactions. Among many interesting tasks that may be performed using swarm robots, we propose a biologically-inspired control law for a shepherding task, whereby a group of external agents drives another group of agents to a desired location. First, we generated sheep-like robots that act like a flock. We assume that each agent is capable of measuring the relative location and velocity to each of its neighbors within a limited sensing area. Then, we designed a control strategy for shepherd-like robots that have information regarding where to go and a steering ability to control the flock, according to the robots' position relative to the flock. We define several independent behavior rules; each agent calculates to what extent it will move by summarizing each rule. The flocking sheep agents detect the steering agents and try to avoid them; this tendency leads to movement of the flock. Each steering agent only needs to focus on guiding the nearest flocking agent to the desired location. Without centralized coordination, multiple steering agents produce an arc formation to control the flock effectively. In addition, we propose a new rule for collecting behavior, whereby a scattered flock or multiple flocks are consolidated. From simulation results with multiple robots, we show that each robot performs actions for the shepherding behavior, and only a few steering agents are needed to control the whole flock. The results are displayed in maps that trace the paths of the flock and steering robots. Performance is evaluated via time cost and path accuracy to demonstrate the effectiveness of this approach.

Distributed flow sensing for closed-loop speed control of a flexible fish robot.

PubMed

Zhang, Feitian; Lagor, Francis D; Yeo, Derrick; Washington, Patrick; Paley, Derek A

2015-10-23

Flexibility plays an important role in fish behavior by enabling high maneuverability for predator avoidance and swimming in turbulent flow. This paper presents a novel flexible fish robot equipped with distributed pressure sensors for flow sensing. The body of the robot is molded from soft, hyperelastic material, which provides flexibility. Its Joukowski-foil shape is conducive to modeling the fluid analytically. A quasi-steady potential-flow model is adopted for real-time flow estimation, whereas a discrete-time vortex-shedding flow model is used for higher-fidelity simulation. The dynamics for the flexible fish robot yield a reduced model for one-dimensional swimming. A recursive Bayesian filter assimilates pressure measurements to estimate flow speed, angle of attack, and foil camber. The closed-loop speed-control strategy combines an inverse-mapping feedforward controller based on an average model derived for periodic actuation of angle-of-attack and a proportional-integral feedback controller utilizing the estimated flow information. Simulation and experimental results are presented to show the effectiveness of the estimation and control strategy. The paper provides a systematic approach to distributed flow sensing for closed-loop speed control of a flexible fish robot by regulating the flapping amplitude.

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.

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.

Distributed consensus for metamorphic systems using a gossip algorithm for CAT(0) metric spaces

NASA Astrophysics Data System (ADS)

Bellachehab, Anass; Jakubowicz, Jérémie

2015-01-01

We present an application of distributed consensus algorithms to metamorphic systems. A metamorphic system is a set of identical units that can self-assemble to form a rigid structure. For instance, one can think of a robotic arm composed of multiple links connected by joints. The system can change its shape in order to adapt to different environments via reconfiguration of its constituting units. We assume in this work that several metamorphic systems form a network: two systems are connected whenever they are able to communicate with each other. The aim of this paper is to propose a distributed algorithm that synchronizes all the systems in the network. Synchronizing means that all the systems should end up having the same configuration. This aim is achieved in two steps: (i) we cast the problem as a consensus problem on a metric space and (ii) we use a recent distributed consensus algorithm that only make use of metrical notions.

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.

System design of a hand-held mobile robot for craniotomy.

PubMed

Kane, Gavin; Eggers, Georg; Boesecke, Robert; Raczkowsky, Jörg; Wörn, Heinz; Marmulla, Rüdiger; Mühling, Joachim

2009-01-01

This contribution reports the development and initial testing of a Mobile Robot System for Surgical Craniotomy, the Craniostar. A kinematic system based on a unicycle robot is analysed to provide local positioning through two spiked wheels gripping directly onto a patients skull. A control system based on a shared control system between both the Surgeon and Robot is employed in a hand-held design that is tested initially on plastic phantom and swine skulls. Results indicate that the system has substantially lower risk than present robotically assisted craniotomies, and despite being a hand-held mobile robot, the Craniostar is still capable of sub-millimetre accuracy in tracking along a trajectory and thus achieving an accurate transfer of pre-surgical plan to the operating room procedure, without the large impact of current medical robots based on modified industrial robots.

Mineralogy and Astrobiology Detection Using Laser Remote Sensing Instrument

NASA Technical Reports Server (NTRS)

Abedin, M. Nurul; Bradley, Arthur T.; Sharma, Shiv K.; Misra, Anupam K.; Lucey, Paul G.; Mckay, Chistopher P.; Ismail, Syed; Sandford, Stephen P.

2015-01-01

A multispectral instrument based on Raman, laser-induced fluorescence (LIF), laser-induced breakdown spectroscopy (LIBS), and a lidar system provides high-fidelity scientific investigations, scientific input, and science operation constraints in the context of planetary field campaigns with the Jupiter Europa Robotic Lander and Mars Sample Return mission opportunities. This instrument conducts scientific investigations analogous to investigations anticipated for missions to Mars and Jupiter's icy moons. This combined multispectral instrument is capable of performing Raman and fluorescence spectroscopy out to a >100 m target distance from the rover system and provides single-wavelength atmospheric profiling over long ranges (>20 km). In this article, we will reveal integrated remote Raman, LIF, and lidar technologies for use in robotic and lander-based planetary remote sensing applications. Discussions are focused on recently developed Raman, LIF, and lidar systems in addition to emphasizing surface water ice, surface and subsurface minerals, organics, biogenic, biomarker identification, atmospheric aerosols and clouds distributions, i.e., near-field atmospheric thin layers detection for next robotic-lander based instruments to measure all the above-mentioned parameters. OCIS codes: (120.0280) Remote sensing and sensors; (130.0250) Optoelectronics; (280.3640) Lidar; (300.2530) Fluorescence, laser-induced; (300.6450) Spectroscopy, Raman; (300.6365) Spectroscopy, laser induced breakdown

Reducing Actuator Requirements in Continuum Robots Through Optimized Cable Routing.

PubMed

Case, Jennifer C; White, Edward L; SunSpiral, Vytas; Kramer-Bottiglio, Rebecca

2018-02-01

Continuum manipulators offer many advantages compared to their rigid-linked counterparts, such as increased degrees of freedom and workspace volume. Inspired by biological systems, such as elephant trunks and octopus tentacles, many continuum manipulators are made of multiple segments that allow large-scale deformations to be distributed throughout the body. Most continuum manipulators currently control each segment individually. For example, a planar cable-driven system is typically controlled by a pair of cables for each segment, which implies two actuators per segment. In this article, we demonstrate how highly coupled crossing cable configurations can reduce both actuator count and actuator torque requirements in a planar continuum manipulator, while maintaining workspace reachability and manipulability. We achieve highly coupled actuation by allowing cables to cross through the manipulator to create new cable configurations. We further derive an analytical model to predict the underactuated manipulator workspace and experimentally verify the model accuracy with a physical system. We use this model to compare crossing cable configurations to the traditional cable configuration using workspace performance metrics. Our work here focuses on a simplified planar robot, both in simulation and in hardware, with the goal of extending this to spiraling-cable configurations on full 3D continuum robots in future work.

Hierarchical Modelling Of Mobile, Seeing Robots

NASA Astrophysics Data System (ADS)

Luh, Cheng-Jye; Zeigler, Bernard P.

1990-03-01

This paper describes the implementation of a hierarchical robot simulation which supports the design of robots with vision and mobility. A seeing robot applies a classification expert system for visual identification of laboratory objects. The visual data acquisition algorithm used by the robot vision system has been developed to exploit multiple viewing distances and perspectives. Several different simulations have been run testing the visual logic in a laboratory environment. Much work remains to integrate the vision system with the rest of the robot system.

Hierarchical modelling of mobile, seeing robots

NASA Technical Reports Server (NTRS)

Luh, Cheng-Jye; Zeigler, Bernard P.

1990-01-01

This paper describes the implementation of a hierarchical robot simulation which supports the design of robots with vision and mobility. A seeing robot applies a classification expert system for visual identification of laboratory objects. The visual data acquisition algorithm used by the robot vision system has been developed to exploit multiple viewing distances and perspectives. Several different simulations have been run testing the visual logic in a laboratory environment. Much work remains to integrate the vision system with the rest of the robot system.

Modular Track System For Positioning Mobile Robots

NASA Technical Reports Server (NTRS)

Miller, Jeff

1995-01-01

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

Cooperating mobile robots

DOEpatents

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

2004-02-03

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

Human-Automation Allocations for Current Robotic Space Operations

NASA Technical Reports Server (NTRS)

Marquez, Jessica J.; Chang, Mai L.; Beard, Bettina L.; Kim, Yun Kyung; Karasinski, John A.

2018-01-01

Within the Human Research Program, one risk delineates the uncertainty surrounding crew working with automation and robotics in spaceflight. The Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is concerned with the detrimental effects on crew performance due to ineffective user interfaces, system designs and/or functional task allocation, potentially compromising mission success and safety. Risk arises because we have limited experience with complex automation and robotics. One key gap within HARI, is the gap related to functional allocation. The gap states: We need to evaluate, develop, and validate methods and guidelines for identifying human-automation/robot task information needs, function allocation, and team composition for future long duration, long distance space missions. Allocations determine the human-system performance as it identifies the functions and performance levels required by the automation/robotic system, and in turn, what work the crew is expected to perform and the necessary human performance requirements. Allocations must take into account each of the human, automation, and robotic systems capabilities and limitations. Some functions may be intuitively assigned to the human versus the robot, but to optimize efficiency and effectiveness, purposeful role assignments will be required. The role of automation and robotics will significantly change in future exploration missions, particularly as crew becomes more autonomous from ground controllers. Thus, we must understand the suitability of existing function allocation methods within NASA as well as the existing allocations established by the few robotic systems that are operational in spaceflight. In order to evaluate future methods of robotic allocations, we must first benchmark the allocations and allocation methods that have been used. We will present 1) documentation of human-automation-robotic allocations in existing, operational spaceflight systems; and 2) To gather existing lessons learned and best practices in these role assignments, from spaceflight operational experience of crew and ground teams that may be used to guide development for future systems. NASA and other space agencies have operational spaceflight experience with two key Human-Automation-Robotic (HAR) systems: heavy lift robotic arms and planetary robotic explorers. Additionally, NASA has invested in high-fidelity rover systems that can carry crew, building beyond Apollo's lunar rover. The heavy lift robotic arms reviewed are: Space Station Remote Manipulator System (SSRMS), Japanese Remote Manipulator System (JEMRMS), and the European Robotic Arm (ERA, designed but not deployed in space). The robotic rover systems reviewed are: Mars Exploration Rovers, Mars Science Laboratory rover, and the high-fidelity K10 rovers. Much of the design and operational feedback for these systems have been communicated to flight controllers and robotic design teams. As part of the mitigating the HARI risk for future human spaceflight operations, we must document function allocations between robots and humans that have worked well in practice.

Locomotion Dynamics for Bio-inspired Robots with Soft Appendages: Application to Flapping Flight and Passive Swimming

NASA Astrophysics Data System (ADS)

Boyer, Frédéric; Porez, Mathieu; Morsli, Ferhat; Morel, Yannick

2017-08-01

In animal locomotion, either in fish or flying insects, the use of flexible terminal organs or appendages greatly improves the performance of locomotion (thrust and lift). In this article, we propose a general unified framework for modeling and simulating the (bio-inspired) locomotion of robots using soft organs. The proposed approach is based on the model of Mobile Multibody Systems (MMS). The distributed flexibilities are modeled according to two major approaches: the Floating Frame Approach (FFA) and the Geometrically Exact Approach (GEA). Encompassing these two approaches in the Newton-Euler modeling formalism of robotics, this article proposes a unique modeling framework suited to the fast numerical integration of the dynamics of a MMS in both the FFA and the GEA. This general framework is applied on two illustrative examples drawn from bio-inspired locomotion: the passive swimming in von Karman Vortex Street, and the hovering flight with flexible flapping wings.

System for exchanging tools and end effectors on a robot

DOEpatents

Burry, David B.; Williams, Paul M.

1991-02-19

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

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

PubMed

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

2017-03-01

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

Coordination of Distributed Fuzzy Behaviors in Mobile Robot Control

NASA Technical Reports Server (NTRS)

Tunstel, E.

1995-01-01

This presentation describes an approach to behavior coordination and conflict resolution within the context of a hierarchical architecture of fuzzy behaviors. Coordination is achieved using weighted decision-making based on behavioral degrees of applicability. This strategy is appropriate for fuzzy control of systems that can be represented by hierarchical or decentralized structures.

High-Frequency Replanning Under Uncertainty Using Parallel Sampling-Based Motion Planning

PubMed Central

Sun, Wen; Patil, Sachin; Alterovitz, Ron

2015-01-01

As sampling-based motion planners become faster, they can be re-executed more frequently by a robot during task execution to react to uncertainty in robot motion, obstacle motion, sensing noise, and uncertainty in the robot’s kinematic model. We investigate and analyze high-frequency replanning (HFR), where, during each period, fast sampling-based motion planners are executed in parallel as the robot simultaneously executes the first action of the best motion plan from the previous period. We consider discrete-time systems with stochastic nonlinear (but linearizable) dynamics and observation models with noise drawn from zero mean Gaussian distributions. The objective is to maximize the probability of success (i.e., avoid collision with obstacles and reach the goal) or to minimize path length subject to a lower bound on the probability of success. We show that, as parallel computation power increases, HFR offers asymptotic optimality for these objectives during each period for goal-oriented problems. We then demonstrate the effectiveness of HFR for holonomic and nonholonomic robots including car-like vehicles and steerable medical needles. PMID:26279645

Non-military microwave applications

NASA Astrophysics Data System (ADS)

Bierman, Howard

1990-04-01

The nonmilitary applications of microwave technology in medicine, communications, and agriculture are discussed. Particular attention is given to a microwave multichannel multipoint video distribution system (a broadcasting system with up to 20 programs drawn from satellites, video tape libraries, and locally generated material); microwaves used in DBS distribution; satellite receivers for data communications; microwave thermography used for early cancer detection, brain temperature measurements, and appendicitis diagnosis; an experimental Doppler radar assembly for guiding robots walking on a factory floor; and an agricultural application where microwaves are used to break down slugs in soil and thus improve potato and grain crops. Schematic diagrams are included.

Robopedia: Leveraging Sensorpedia for Web-Enabled Robot Control

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

Resseguie, David R

There is a growing interest in building Internetscale sensor networks that integrate sensors from around the world into a single unified system. In contrast, robotics application development has primarily focused on building specialized systems. These specialized systems take scalability and reliability into consideration, but generally neglect exploring the key components required to build a large scale system. Integrating robotic applications with Internet-scale sensor networks will unify specialized robotics applications and provide answers to large scale implementation concerns. We focus on utilizing Internet-scale sensor network technology to construct a framework for unifying robotic systems. Our framework web-enables a surveillance robot smore » sensor observations and provides a webinterface to the robot s actuators. This lets robots seamlessly integrate into web applications. In addition, the framework eliminates most prerequisite robotics knowledge, allowing for the creation of general web-based robotics applications. The framework also provides mechanisms to create applications that can interface with any robot. Frameworks such as this one are key to solving large scale mobile robotics implementation problems. We provide an overview of previous Internetscale sensor networks, Sensorpedia (an ad-hoc Internet-scale sensor network), our framework for integrating robots with Sensorpedia, two applications which illustrate our frameworks ability to support general web-based robotic control, and offer experimental results that illustrate our framework s scalability, feasibility, and resource requirements.« less

Modeling the convergence accommodation of stereo vision for binocular endoscopy.

PubMed

Gao, Yuanqian; Li, Jinhua; Li, Jianmin; Wang, Shuxin

2018-02-01

The stereo laparoscope is an important tool for achieving depth perception in robot-assisted minimally invasive surgery (MIS). A dynamic convergence accommodation algorithm is proposed to improve the viewing experience and achieve accurate depth perception. Based on the principle of the human vision system, a positional kinematic model of the binocular view system is established. The imaging plane pair is rectified to ensure that the two rectified virtual optical axes intersect at the fixation target to provide immersive depth perception. Stereo disparity was simulated with the roll and pitch movements of the binocular system. The chessboard test and the endoscopic peg transfer task were performed, and the results demonstrated the improved disparity distribution and robustness of the proposed convergence accommodation method with respect to the position of the fixation target. This method offers a new solution for effective depth perception with the stereo laparoscopes used in robot-assisted MIS. Copyright © 2017 John Wiley & Sons, Ltd.

Towards multi-platform software architecture for Collaborative Teleoperation

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

Domingues, Christophe; Otmane, Samir; Davesne, Frederic

2009-03-05

Augmented Reality (AR) can provide to a Human Operator (HO) a real help in achieving complex tasks, such as remote control of robots and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer and easier with the remote real world. In this paper, we present an extension of an existing distributed software and network architecture for collaborative teleoperation based on networked human-scaled mixed reality and mobile platform. The first teleoperation system was composed by a VR application and a Web application. However the 2 systems cannot be used together and it is impossible to control a distant robotmore » simultaneously. Our goal is to update the teleoperation system to permit a heterogeneous collaborative teleoperation between the 2 platforms. An important feature of this interface is based on the use of different Virtual Reality platforms and different Mobile platforms to control one or many robots.« less

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.

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

Distributed cerebellar plasticity implements adaptable gain control in a manipulation task: a closed-loop robotic simulation

PubMed Central

Garrido, Jesús A.; Luque, Niceto R.; D'Angelo, Egidio; Ros, Eduardo

2013-01-01

Adaptable gain regulation is at the core of the forward controller operation performed by the cerebro-cerebellar loops and it allows the intensity of motor acts to be finely tuned in a predictive manner. In order to learn and store information about body-object dynamics and to generate an internal model of movement, the cerebellum is thought to employ long-term synaptic plasticity. LTD at the PF-PC synapse has classically been assumed to subserve this function (Marr, 1969). However, this plasticity alone cannot account for the broad dynamic ranges and time scales of cerebellar adaptation. We therefore tested the role of plasticity distributed over multiple synaptic sites (Hansel et al., 2001; Gao et al., 2012) by generating an analog cerebellar model embedded into a control loop connected to a robotic simulator. The robot used a three-joint arm and performed repetitive fast manipulations with different masses along an 8-shape trajectory. In accordance with biological evidence, the cerebellum model was endowed with both LTD and LTP at the PF-PC, MF-DCN and PC-DCN synapses. This resulted in a network scheme whose effectiveness was extended considerably compared to one including just PF-PC synaptic plasticity. Indeed, the system including distributed plasticity reliably self-adapted to manipulate different masses and to learn the arm-object dynamics over a time course that included fast learning and consolidation, along the lines of what has been observed in behavioral tests. In particular, PF-PC plasticity operated as a time correlator between the actual input state and the system error, while MF-DCN and PC-DCN plasticity played a key role in generating the gain controller. This model suggests that distributed synaptic plasticity allows generation of the complex learning properties of the cerebellum. The incorporation of further plasticity mechanisms and of spiking signal processing will allow this concept to be extended in a more realistic computational scenario. PMID:24130518

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.

Bearing-based localization for leader-follower formation control

PubMed Central

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

2017-01-01

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

Perspectives future space on robotics

NASA Technical Reports Server (NTRS)

Lavery, Dave

1994-01-01

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

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.

Brain Computer Interfaces for Enhanced Interaction with Mobile Robot Agents

DTIC Science & Technology

2016-07-27

synergistic and complementary way. This project focused on acquiring a mobile robotic agent platform that can be used to explore these interfaces...providing a test environment where the human control of a robot agent can be experimentally validated in 1. REPORT DATE (DD-MM-YYYY) 4. TITLE AND...Distribution Unlimited UU UU UU UU 27-07-2016 17-Sep-2013 16-Sep-2014 Final Report: Brain Computer Interfaces for Enhanced Interactions with Mobile Robot

Robust Software Architecture for Robots

NASA Technical Reports Server (NTRS)

Aghazanian, Hrand; Baumgartner, Eric; Garrett, Michael

2009-01-01

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

High precision detector robot arm system

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

Shu, Deming; Chu, Yong

A method and high precision robot arm system are provided, for example, for X-ray nanodiffraction with an X-ray nanoprobe. The robot arm system includes duo-vertical-stages and a kinematic linkage system. A two-dimensional (2D) vertical plane ultra-precision robot arm supporting an X-ray detector provides positioning and manipulating of the X-ray detector. A vertical support for the 2D vertical plane robot arm includes spaced apart rails respectively engaging a first bearing structure and a second bearing structure carried by the 2D vertical plane robot arm.

R and T report: Goddard Space Flight Center

NASA Technical Reports Server (NTRS)

Soffen, Gerald A. (Editor)

1993-01-01

The 1993 Research and Technology Report for Goddard Space Flight Center is presented. Research covered areas such as (1) flight projects; (2) space sciences including cosmology, high energy, stars and galaxies, and the solar system; (3) earth sciences including process modeling, hydrology/cryology, atmospheres, biosphere, and solid earth; (4) networks, planning, and information systems including support for mission operations, data distribution, advanced software and systems engineering, and planning/scheduling; and (5) engineering and materials including spacecraft systems, material and testing, optics and photonics and robotics.

System for exchanging tools and end effectors on a robot

DOEpatents

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

1991-02-19

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

An IoT-Enabled Stroke Rehabilitation System Based on Smart Wearable Armband and Machine Learning.

PubMed

Yang, Geng; Deng, Jia; Pang, Gaoyang; Zhang, Hao; Li, Jiayi; Deng, Bin; Pang, Zhibo; Xu, Juan; Jiang, Mingzhe; Liljeberg, Pasi; Xie, Haibo; Yang, Huayong

2018-01-01

Surface electromyography signal plays an important role in hand function recovery training. In this paper, an IoT-enabled stroke rehabilitation system was introduced which was based on a smart wearable armband (SWA), machine learning (ML) algorithms, and a 3-D printed dexterous robot hand. User comfort is one of the key issues which should be addressed for wearable devices. The SWA was developed by integrating a low-power and tiny-sized IoT sensing device with textile electrodes, which can measure, pre-process, and wirelessly transmit bio-potential signals. By evenly distributing surface electrodes over user's forearm, drawbacks of classification accuracy poor performance can be mitigated. A new method was put forward to find the optimal feature set. ML algorithms were leveraged to analyze and discriminate features of different hand movements, and their performances were appraised by classification complexity estimating algorithms and principal components analysis. According to the verification results, all nine gestures can be successfully identified with an average accuracy up to 96.20%. In addition, a 3-D printed five-finger robot hand was implemented for hand rehabilitation training purpose. Correspondingly, user's hand movement intentions were extracted and converted into a series of commands which were used to drive motors assembled inside the dexterous robot hand. As a result, the dexterous robot hand can mimic the user's gesture in a real-time manner, which shows the proposed system can be used as a training tool to facilitate rehabilitation process for the patients after stroke.

Energy-Saving Control of a Novel Hydraulic Drive System for Field Walking Robot

NASA Astrophysics Data System (ADS)

Fang, Delei; Shang, Jianzhong; Xue, Yong; Yang, Junhong; Wang, Zhuo

2018-01-01

To improve the efficiency of the hydraulic drive system in field walking robot, this paper proposed a novel hydraulic system based on two-stage pressure source. Based on the analysis of low efficiency of robot single-stage hydraulic system, the paper firstly introduces the concept and design of two-stage pressure source drive system. Then, the new hydraulic system energy-saving control is planned according to the characteristics of walking robot. The feasibility of the new hydraulic system is proved by the simulation of the walking robot squatting. Finally, the efficiencies of two types hydraulic system are calculated, indicating that the novel hydraulic system can increase the efficiency by 41.5%, which can contribute to enhance knowledge about hydraulic drive system for field walking robot.

A novel method of robot location using RFID and stereo vision

NASA Astrophysics Data System (ADS)

Chen, Diansheng; Zhang, Guanxin; Li, Zhen

2012-04-01

This paper proposed a new global localization method for mobile robot based on RFID (Radio Frequency Identification Devices) and stereo vision, which makes the robot obtain global coordinates with good accuracy when quickly adapting to unfamiliar and new environment. This method uses RFID tags as artificial landmarks, the 3D coordinate of the tags under the global coordinate system is written in the IC memory. The robot can read it through RFID reader; meanwhile, using stereo vision, the 3D coordinate of the tags under the robot coordinate system is measured. Combined with the robot's attitude coordinate system transformation matrix from the pose measuring system, the translation of the robot coordinate system to the global coordinate system is obtained, which is also the coordinate of the robot's current location under the global coordinate system. The average error of our method is 0.11m in experience conducted in a 7m×7m lobby, the result is much more accurate than other location method.

Cooperative Control for A Hybrid Rehabilitation System Combining Functional Electrical Stimulation and Robotic Exoskeleton

PubMed Central

Zhang, Dingguo; Ren, Yong; Gui, Kai; Jia, Jie; Xu, Wendong

2017-01-01

Functional electrical stimulation (FES) and robotic exoskeletons are two important technologies widely used for physical rehabilitation of paraplegic patients. We developed a hybrid rehabilitation system (FEXO Knee) that combined FES and an exoskeleton for swinging movement control of human knee joints. This study proposed a novel cooperative control strategy, which could realize arbitrary distribution of torque generated by FES and exoskeleton, and guarantee harmonic movements. The cooperative control adopted feedfoward control for FES and feedback control for exoskeleton. A parameter regulator was designed to update key parameters in real time to coordinate FES controller and exoskeleton controller. Two muscle groups (quadriceps and hamstrings) were stimulated to generate active torque for knee joint in synchronization with torque compensation from exoskeleton. The knee joint angle and the interactive torque between exoskeleton and shank were used as feedback signals for the control system. Central pattern generator (CPG) was adopted that acted as a phase predictor to deal with phase confliction of motor patterns, and realized synchronization between the two different bodies (shank and exoskeleton). Experimental evaluation of the hybrid FES-exoskeleton system was conducted on five healthy subjects and four paraplegic patients. Experimental results and statistical analysis showed good control performance of the cooperative control on torque distribution, trajectory tracking, and phase synchronization. PMID:29311798

Cooperative Control for A Hybrid Rehabilitation System Combining Functional Electrical Stimulation and Robotic Exoskeleton.

PubMed

Zhang, Dingguo; Ren, Yong; Gui, Kai; Jia, Jie; Xu, Wendong

2017-01-01

Functional electrical stimulation (FES) and robotic exoskeletons are two important technologies widely used for physical rehabilitation of paraplegic patients. We developed a hybrid rehabilitation system (FEXO Knee) that combined FES and an exoskeleton for swinging movement control of human knee joints. This study proposed a novel cooperative control strategy, which could realize arbitrary distribution of torque generated by FES and exoskeleton, and guarantee harmonic movements. The cooperative control adopted feedfoward control for FES and feedback control for exoskeleton. A parameter regulator was designed to update key parameters in real time to coordinate FES controller and exoskeleton controller. Two muscle groups (quadriceps and hamstrings) were stimulated to generate active torque for knee joint in synchronization with torque compensation from exoskeleton. The knee joint angle and the interactive torque between exoskeleton and shank were used as feedback signals for the control system. Central pattern generator (CPG) was adopted that acted as a phase predictor to deal with phase confliction of motor patterns, and realized synchronization between the two different bodies (shank and exoskeleton). Experimental evaluation of the hybrid FES-exoskeleton system was conducted on five healthy subjects and four paraplegic patients. Experimental results and statistical analysis showed good control performance of the cooperative control on torque distribution, trajectory tracking, and phase synchronization.

A cable-driven soft robot surgical system for cardiothoracic endoscopic surgery: preclinical tests in animals.

PubMed

Wang, Hesheng; Zhang, Runxi; Chen, Weidong; Wang, Xiaozhou; Pfeifer, Rolf

2017-08-01

Minimally invasive surgery attracts more and more attention because of the advantages of minimal trauma, less bleeding and pain and low complication rate. However, minimally invasive surgery for beating hearts is still a challenge. Our goal is to develop a soft robot surgical system for single-port minimally invasive surgery on a beating heart. The soft robot described in this paper is inspired by the octopus arm. Although the octopus arm is soft and has more degrees of freedom (DOFs), it can be controlled flexibly. The soft robot is driven by cables that are embedded into the soft robot manipulator and can control the direction of the end and middle of the soft robot manipulator. The forward, backward and rotation movement of the soft robot is driven by a propulsion plant. The soft robot can move freely by properly controlling the cables and the propulsion plant. The soft surgical robot system can perform different thoracic operations by changing surgical instruments. To evaluate the flexibility, controllability and reachability of the designed soft robot surgical system, some testing experiments have been conducted in vivo on a swine. Through the subxiphoid, the soft robot manipulator could enter into the thoracic cavity and pericardial cavity smoothly and perform some operations such as biopsy, ligation and ablation. The operations were performed successfully and did not cause any damage to the surrounding soft tissues. From the experiments, the flexibility, controllability and reachability of the soft robot surgical system have been verified. Also, it has been shown that this system can be used in the thoracic and pericardial cavity for different operations. Compared with other endoscopy robots, the soft robot surgical system is safer, has more DOFs and is more flexible for control. When performing operations in a beating heart, this system maybe more suitable than traditional endoscopy robots.

Robots drive the German radical prostatectomy market: a total population analysis from 2006 to 2013.

PubMed

Groeben, C; Koch, R; Baunacke, M; Wirth, M P; Huber, J

2016-12-01

To assess trends in the distribution of patients for radical prostatectomy in Germany from 2006 to 2013 and the impact of robotic surgery on annual caseloads. We hypothesized that the advent of robotics and the establishment of certified prostate cancer centers caused centralization in the German radical prostatectomy market. Using remote data processing we analyzed the nationwide German billing data from 2006 to 2013. We supplemented this database with additional hospital characteristics like the prostate cancer center certification status. Inclusion criteria were a prostate cancer diagnosis combined with radical prostatectomy. Hospitals with certification or a surgical robot in 2009 were defined as 'early' group. Linear covariant-analytic models were applied to describe trends over time. Annual radical prostatectomy numbers declined from 28 374 (2006) to 21 850 (2013). High-volume hospitals (⩾100 cases) decreased from 87 (22.0%) in 2006 to 43 (10.4%) in 2013. Low-volume hospitals (<50 cases) increased from 193 (48.7%) to 280 (67.4%). Mean radical prostatectomy caseloads of hospitals with early vs without certification declined from 155 to 130 vs 77 to 39 (P=0.021 for trend comparison). Early robotic hospitals maintained their volume >200 cases per year contrary to the overall trend (P<0.001 for trend comparison). A multivariate model for caseload numbers of 2013 indicated a robotic system to be the most important factor for higher caseloads (multiplication factor 7.3; 95% confidence interval: 6.6-8.0). A prostate cancer center certification (multiplication factor 1.6; 95% confidence interval: 1.50-1.59) had a much smaller impact. We found decentralization of radical prostatectomy in Germany. The driving force for this development might consist in the overall decline of radical prostatectomy numbers. The most important factor for achieving higher caseloads was the presence of a robotic system. In order to optimize outcomes of radical prostatectomy additional health policy measures might be necessary.

Combining non selective gas sensors on a mobile robot for identification and mapping of multiple chemical compounds.

PubMed

Bennetts, Victor Hernandez; Schaffernicht, Erik; Pomareda, Victor; Lilienthal, Achim J; Marco, Santiago; Trincavelli, Marco

2014-09-17

In this paper, we address the task of gas distribution modeling in scenarios where multiple heterogeneous compounds are present. Gas distribution modeling is particularly useful in emission monitoring applications where spatial representations of the gaseous patches can be used to identify emission hot spots. In realistic environments, the presence of multiple chemicals is expected and therefore, gas discrimination has to be incorporated in the modeling process. The approach presented in this work addresses the task of gas distribution modeling by combining different non selective gas sensors. Gas discrimination is addressed with an open sampling system, composed by an array of metal oxide sensors and a probabilistic algorithm tailored to uncontrolled environments. For each of the identified compounds, the mapping algorithm generates a calibrated gas distribution model using the classification uncertainty and the concentration readings acquired with a photo ionization detector. The meta parameters of the proposed modeling algorithm are automatically learned from the data. The approach was validated with a gas sensitive robot patrolling outdoor and indoor scenarios, where two different chemicals were released simultaneously. The experimental results show that the generated multi compound maps can be used to accurately predict the location of emitting gas sources.

Calibration of the motor-assisted robotic stereotaxy system: MARS.

PubMed

Heinig, Maximilian; Hofmann, Ulrich G; Schlaefer, Alexander

2012-11-01

The motor-assisted robotic stereotaxy system presents a compact and light-weight robotic system for stereotactic neurosurgery. Our system is designed to position probes in the human brain for various applications, for example, deep brain stimulation. It features five fully automated axes. High positioning accuracy is of utmost importance in robotic neurosurgery. First, the key parameters of the robot's kinematics are determined using an optical tracking system. Next, the positioning errors at the center of the arc--which is equivalent to the target position in stereotactic interventions--are investigated using a set of perpendicular cameras. A modeless robot calibration method is introduced and evaluated. To conclude, the application accuracy of the robot is studied in a phantom trial. We identified the bending of the arc under load as the robot's main error source. A calibration algorithm was implemented to compensate for the deflection of the robot's arc. The mean error after the calibration was 0.26 mm, the 68.27th percentile was 0.32 mm, and the 95.45th was 0.50 mm. The kinematic properties of the robot were measured, and based on the results an appropriate calibration method was derived. With mean errors smaller than currently used mechanical systems, our results show that the robot's accuracy is appropriate for stereotactic interventions.

A graphical, rule based robotic interface system

NASA Technical Reports Server (NTRS)

Mckee, James W.; Wolfsberger, John

1988-01-01

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

Integration of Haptics in Agricultural Robotics

NASA Astrophysics Data System (ADS)

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

2017-08-01

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

Design, implementation and evaluation of an independent real-time safety layer for medical robotic systems using a force-torque-acceleration (FTA) sensor.

PubMed

Richter, Lars; Bruder, Ralf

2013-05-01

Most medical robotic systems require direct interaction or contact with the robot. Force-Torque (FT) sensors can easily be mounted to the robot to control the contact pressure. However, evaluation is often done in software, which leads to latencies. To overcome that, we developed an independent safety system, named FTA sensor, which is based on an FT sensor and an accelerometer. An embedded system (ES) runs a real-time monitoring system for continuously checking of the readings. In case of a collision or error, it instantaneously stops the robot via the robot's external emergency stop. We found that the ES implementing the FTA sensor has a maximum latency of [Formula: see text] ms to trigger the robot's emergency stop. For the standard settings in the application of robotized transcranial magnetic stimulation, the robot will stop after at most 4 mm. Therefore, it works as an independent safety layer preventing patient and/or operator from serious harm.

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

PubMed

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

2016-08-01

Swarm robotics is concerned with the decentralised coordination of multiple robots having only limited communication and interaction abilities. Although fault tolerance and robustness to individual robot failures have often been used to justify the use of swarm robotic systems, recent studies have shown that swarm robotic systems are susceptible to certain types of failure. In this paper we propose an approach to self-healing swarm robotic systems and take inspiration from the process of granuloma formation, a process of containment and repair found in the immune system. We use a case study of a swarm performing team work where previous works have demonstrated that partially failed robots have the most detrimental effect on overall swarm behaviour. We have developed an immune inspired approach that permits the recovery from certain failure modes during operation of the swarm, overcoming issues that effect swarm behaviour associated with partially failed robots. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

Execution monitoring for a mobile robot system

NASA Technical Reports Server (NTRS)

Miller, David P.

1990-01-01

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

Leader-following control of multiple nonholonomic systems over directed communication graphs

NASA Astrophysics Data System (ADS)

Dong, Wenjie; Djapic, Vladimir

2016-06-01

This paper considers the leader-following control problem of multiple nonlinear systems with directed communication topology and a leader. If the state of each system is measurable, distributed state feedback controllers are proposed using neighbours' state information with the aid of Lyapunov techniques and properties of Laplacian matrix for time-invariant communication graph and time-varying communication graph. It is shown that the state of each system exponentially converges to the state of a leader. If the state of each system is not measurable, distributed observer-based output feedback control laws are proposed. As an application of the proposed results, formation control of wheeled mobile robots is studied. The simulation results show the effectiveness of the proposed results.

Collective Behaviors of Mobile Robots Beyond the Nearest Neighbor Rules With Switching Topology.

PubMed

Ning, Boda; Han, Qing-Long; Zuo, Zongyu; Jin, Jiong; Zheng, Jinchuan

2018-05-01

This paper is concerned with the collective behaviors of robots beyond the nearest neighbor rules, i.e., dispersion and flocking, when robots interact with others by applying an acute angle test (AAT)-based interaction rule. Different from a conventional nearest neighbor rule or its variations, the AAT-based interaction rule allows interactions with some far-neighbors and excludes unnecessary nearest neighbors. The resulting dispersion and flocking hold the advantages of scalability, connectivity, robustness, and effective area coverage. For the dispersion, a spring-like controller is proposed to achieve collision-free coordination. With switching topology, a new fixed-time consensus-based energy function is developed to guarantee the system stability. An upper bound of settling time for energy consensus is obtained, and a uniform time interval is accordingly set so that energy distribution is conducted in a fair manner. For the flocking, based on a class of generalized potential functions taking nonsmooth switching into account, a new controller is proposed to ensure that the same velocity for all robots is eventually reached. A co-optimizing problem is further investigated to accomplish additional tasks, such as enhancing communication performance, while maintaining the collective behaviors of mobile robots. Simulation results are presented to show the effectiveness of the theoretical results.

The role of assistive robotics in the lives of persons with disability.

PubMed

Brose, Steven W; Weber, Douglas J; Salatin, Ben A; Grindle, Garret G; Wang, Hongwu; Vazquez, Juan J; Cooper, Rory A

2010-06-01

Robotic assistive devices are used increasingly to improve the independence and quality of life of persons with disabilities. Devices as varied as robotic feeders, smart-powered wheelchairs, independent mobile robots, and socially assistive robots are becoming more clinically relevant. There is a growing importance for the rehabilitation professional to be aware of available systems and ongoing research efforts. The aim of this article is to describe the advances in assistive robotics that are relevant to professionals serving persons with disabilities. This review breaks down relevant advances into categories of Assistive Robotic Systems, User Interfaces and Control Systems, Sensory and Feedback Systems, and User Perspectives. An understanding of the direction that assistive robotics is taking is important for the clinician and researcher alike; this review is intended to address this need.

Multi-Robot, Multi-Target Particle Swarm Optimization Search in Noisy Wireless Environments

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

Kurt Derr; Milos Manic

Multiple small robots (swarms) can work together using Particle Swarm Optimization (PSO) to perform tasks that are difficult or impossible for a single robot to accomplish. The problem considered in this paper is exploration of an unknown environment with the goal of finding a target(s) at an unknown location(s) using multiple small mobile robots. This work demonstrates the use of a distributed PSO algorithm with a novel adaptive RSS weighting factor to guide robots for locating target(s) in high risk environments. The approach was developed and analyzed on multiple robot single and multiple target search. The approach was further enhancedmore » by the multi-robot-multi-target search in noisy environments. The experimental results demonstrated how the availability of radio frequency signal can significantly affect robot search time to reach a target.« less

Robot calibration with a photogrammetric on-line system using reseau scanning cameras

NASA Astrophysics Data System (ADS)

Diewald, Bernd; Godding, Robert; Henrich, Andreas

1994-03-01

The possibility for testing and calibration of industrial robots becomes more and more important for manufacturers and users of such systems. Exacting applications in connection with the off-line programming techniques or the use of robots as measuring machines are impossible without a preceding robot calibration. At the LPA an efficient calibration technique has been developed. Instead of modeling the kinematic behavior of a robot, the new method describes the pose deviations within a user-defined section of the robot's working space. High- precision determination of 3D coordinates of defined path positions is necessary for calibration and can be done by digital photogrammetric systems. For the calibration of a robot at the LPA a digital photogrammetric system with three Rollei Reseau Scanning Cameras was used. This system allows an automatic measurement of a large number of robot poses with high accuracy.

Meeting the challenges of installing a mobile robotic system

NASA Technical Reports Server (NTRS)

Decorte, Celeste

1994-01-01

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

Compliance control based on PSO algorithm to improve the feeling during physical human-robot interaction.

PubMed

Jiang, Zhongliang; Sun, Yu; Gao, Peng; Hu, Ying; Zhang, Jianwei

2016-01-01

Robots play more important roles in daily life and bring us a lot of convenience. But when people work with robots, there remain some significant differences in human-human interactions and human-robot interaction. It is our goal to make robots look even more human-like. We design a controller which can sense the force acting on any point of a robot and ensure the robot can move according to the force. First, a spring-mass-dashpot system was used to describe the physical model, and the second-order system is the kernel of the controller. Then, we can establish the state space equations of the system. In addition, the particle swarm optimization algorithm had been used to obtain the system parameters. In order to test the stability of system, the root-locus diagram had been shown in the paper. Ultimately, some experiments had been carried out on the robotic spinal surgery system, which is developed by our team, and the result shows that the new controller performs better during human-robot interaction.

Technological advances in robotic-assisted laparoscopic surgery.

PubMed

Tan, Gerald Y; Goel, Raj K; Kaouk, Jihad H; Tewari, Ashutosh K

2009-05-01

In this article, the authors describe the evolution of urologic robotic systems and the current state-of-the-art features and existing limitations of the da Vinci S HD System (Intuitive Surgical, Inc.). They then review promising innovations in scaling down the footprint of robotic platforms, the early experience with mobile miniaturized in vivo robots, advances in endoscopic navigation systems using augmented reality technologies and tracking devices, the emergence of technologies for robotic natural orifice transluminal endoscopic surgery and single-port surgery, advances in flexible robotics and haptics, the development of new virtual reality simulator training platforms compatible with the existing da Vinci system, and recent experiences with remote robotic surgery and telestration.

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.

Robotics in invasive cardiac electrophysiology.

PubMed

Shurrab, Mohammed; Schilling, Richard; Gang, Eli; Khan, Ejaz M; Crystal, Eugene

2014-07-01

Robotic systems allow for mapping and ablation of different arrhythmia substrates replacing hand maneuvering of intracardiac catheters with machine steering. Currently there are four commercially available robotic systems. Niobe magnetic navigation system (Stereotaxis Inc., St Louis, MO) and Sensei robotic navigation system (Hansen Medical Inc., Mountain View, CA) have an established platform with at least 10 years of clinical studies looking at their efficacy and safety. AMIGO Remote Catheter System (Catheter Robotics, Inc., Mount Olive, NJ) and Catheter Guidance Control and Imaging (Magnetecs, Inglewood, CA) are in the earlier phases of implementations with ongoing feasibility and some limited clinical studies. This review discusses the advantages and limitations related to each existing system and highlights the ideal futuristic robotic system that may include the most promising features of the current ones.

Autonomous Shepherding Behaviors of Multiple Target Steering Robots

PubMed Central

Lee, Wonki; Kim, DaeEun

2017-01-01

This paper presents a distributed coordination methodology for multi-robot systems, based on nearest-neighbor interactions. Among many interesting tasks that may be performed using swarm robots, we propose a biologically-inspired control law for a shepherding task, whereby a group of external agents drives another group of agents to a desired location. First, we generated sheep-like robots that act like a flock. We assume that each agent is capable of measuring the relative location and velocity to each of its neighbors within a limited sensing area. Then, we designed a control strategy for shepherd-like robots that have information regarding where to go and a steering ability to control the flock, according to the robots’ position relative to the flock. We define several independent behavior rules; each agent calculates to what extent it will move by summarizing each rule. The flocking sheep agents detect the steering agents and try to avoid them; this tendency leads to movement of the flock. Each steering agent only needs to focus on guiding the nearest flocking agent to the desired location. Without centralized coordination, multiple steering agents produce an arc formation to control the flock effectively. In addition, we propose a new rule for collecting behavior, whereby a scattered flock or multiple flocks are consolidated. From simulation results with multiple robots, we show that each robot performs actions for the shepherding behavior, and only a few steering agents are needed to control the whole flock. The results are displayed in maps that trace the paths of the flock and steering robots. Performance is evaluated via time cost and path accuracy to demonstrate the effectiveness of this approach. PMID:29186836

From Autonomous Robots to Artificial Ecosystems

NASA Astrophysics Data System (ADS)

Mastrogiovanni, Fulvio; Sgorbissa, Antonio; Zaccaria, Renato

During the past few years, starting from the two mainstream fields of Ambient Intelligence [2] and Robotics [17], several authors recognized the benefits of the socalled Ubiquitous Robotics paradigm. According to this perspective, mobile robots are no longer autonomous, physically situated and embodied entities adapting themselves to a world taliored for humans: on the contrary, they are able to interact with devices distributed throughout the environment and get across heterogeneous information by means of communication technologies. Information exchange, coupled with simple actuation capabilities, is meant to replace physical interaction between robots and their environment. Two benefits are evident: (i) smart environments overcome inherent limitations of mobile platforms, whereas (ii) mobile robots offer a mobility dimension unknown to smart environments.

Teaching Adult Rats Spinalized as Neonates to Walk Using Trunk Robotic Rehabilitation: Elements of Success, Failure, and Dependence

PubMed Central

Udoekwere, Ubong I.; Oza, Chintan S.

2016-01-01

Robot therapy promotes functional recovery after spinal cord injury (SCI) in animal and clinical studies. Trunk actions are important in adult rats spinalized as neonates (NTX rats) that walk autonomously. Quadrupedal robot rehabilitation was tested using an implanted orthosis at the pelvis. Trunk cortical reorganization follows such rehabilitation. Here, we test the functional outcomes of such training. Robot impedance control at the pelvis allowed hindlimb, trunk, and forelimb mechanical interactions. Rats gradually increased weight support. Rats showed significant improvement in hindlimb stepping ability, quadrupedal weight support, and all measures examined. Function in NTX rats both before and after training showed bimodal distributions, with “poor” and “high weight support” groupings. A total of 35% of rats initially classified as “poor” were able to increase their weight-supported step measures to a level considered “high weight support” after robot training, thus moving between weight support groups. Recovered function in these rats persisted on treadmill with the robot both actuated and nonactuated, but returned to pretraining levels if they were completely disconnected from the robot. Locomotor recovery in robot rehabilitation of NTX rats thus likely included context dependence and/or incorporation of models of robot mechanics that became essential parts of their learned strategy. Such learned dependence is likely a hurdle to autonomy to be overcome for many robot locomotor therapies. Notwithstanding these limitations, trunk-based quadrupedal robot rehabilitation helped the rats to visit mechanical states they would never have achieved alone, to learn novel coordinations, and to achieve major improvements in locomotor function. SIGNIFICANCE STATEMENT Neonatal spinal transected rats without any weight support can be taught weight support as adults by using robot rehabilitation at trunk. No adult control rats with neonatal spinal transections spontaneously achieve similar changes. The robot rehabilitation system can be inactivated and the skills that were learned persist. Responding rats cannot be detached from the robot altogether, a dependence develops in the skill learned. From data and analysis here, the likelihood of such rats to respond to the robot therapy can also now be predicted. These results are all novel. Understanding trunk roles in voluntary and spinal reflex integration after spinal cord injury and in recovery of function are broadly significant for basic and clinical understanding of motor function. PMID:27511008

Teaching Adult Rats Spinalized as Neonates to Walk Using Trunk Robotic Rehabilitation: Elements of Success, Failure, and Dependence.

PubMed

Udoekwere, Ubong I; Oza, Chintan S; Giszter, Simon F

2016-08-10

Robot therapy promotes functional recovery after spinal cord injury (SCI) in animal and clinical studies. Trunk actions are important in adult rats spinalized as neonates (NTX rats) that walk autonomously. Quadrupedal robot rehabilitation was tested using an implanted orthosis at the pelvis. Trunk cortical reorganization follows such rehabilitation. Here, we test the functional outcomes of such training. Robot impedance control at the pelvis allowed hindlimb, trunk, and forelimb mechanical interactions. Rats gradually increased weight support. Rats showed significant improvement in hindlimb stepping ability, quadrupedal weight support, and all measures examined. Function in NTX rats both before and after training showed bimodal distributions, with "poor" and "high weight support" groupings. A total of 35% of rats initially classified as "poor" were able to increase their weight-supported step measures to a level considered "high weight support" after robot training, thus moving between weight support groups. Recovered function in these rats persisted on treadmill with the robot both actuated and nonactuated, but returned to pretraining levels if they were completely disconnected from the robot. Locomotor recovery in robot rehabilitation of NTX rats thus likely included context dependence and/or incorporation of models of robot mechanics that became essential parts of their learned strategy. Such learned dependence is likely a hurdle to autonomy to be overcome for many robot locomotor therapies. Notwithstanding these limitations, trunk-based quadrupedal robot rehabilitation helped the rats to visit mechanical states they would never have achieved alone, to learn novel coordinations, and to achieve major improvements in locomotor function. Neonatal spinal transected rats without any weight support can be taught weight support as adults by using robot rehabilitation at trunk. No adult control rats with neonatal spinal transections spontaneously achieve similar changes. The robot rehabilitation system can be inactivated and the skills that were learned persist. Responding rats cannot be detached from the robot altogether, a dependence develops in the skill learned. From data and analysis here, the likelihood of such rats to respond to the robot therapy can also now be predicted. These results are all novel. Understanding trunk roles in voluntary and spinal reflex integration after spinal cord injury and in recovery of function are broadly significant for basic and clinical understanding of motor function. Copyright © 2016 the authors 0270-6474/16/368341-15$15.00/0.

A Multi-Robot Sense-Act Approach to Lead to a Proper Acting in Environmental Incidents

PubMed Central

Conesa-Muñoz, Jesús; Valente, João; del Cerro, Jaime; Barrientos, Antonio; Ribeiro, Angela

2016-01-01

Many environmental incidents affect large areas, often in rough terrain constrained by natural obstacles, which makes intervention difficult. New technologies, such as unmanned aerial vehicles, may help address this issue due to their suitability to reach and easily cover large areas. Thus, unmanned aerial vehicles may be used to inspect the terrain and make a first assessment of the affected areas; however, nowadays they do not have the capability to act. On the other hand, ground vehicles rely on enough power to perform the intervention but exhibit more mobility constraints. This paper proposes a multi-robot sense-act system, composed of aerial and ground vehicles. This combination allows performing autonomous tasks in large outdoor areas by integrating both types of platforms in a fully automated manner. Aerial units are used to easily obtain relevant data from the environment and ground units use this information to carry out interventions more efficiently. This paper describes the platforms and sensors required by this multi-robot sense-act system as well as proposes a software system to automatically handle the workflow for any generic environmental task. The proposed system has proved to be suitable to reduce the amount of herbicide applied in agricultural treatments. Although herbicides are very polluting, they are massively deployed on complete agricultural fields to remove weeds. Nevertheless, the amount of herbicide required for treatment is radically reduced when it is accurately applied on patches by the proposed multi-robot system. Thus, the aerial units were employed to scout the crop and build an accurate weed distribution map which was subsequently used to plan the task of the ground units. The whole workflow was executed in a fully autonomous way, without human intervention except when required by Spanish law due to safety reasons. PMID:27517934

Bilateral Impedance Control For Telemanipulators

NASA Technical Reports Server (NTRS)

Moore, Christopher L.

1993-01-01

Telemanipulator system includes master robot manipulated by human operator, and slave robot performing tasks at remote location. Two robots electronically coupled so slave robot moves in response to commands from master robot. Teleoperation greatly enhanced if forces acting on slave robot fed back to operator, giving operator feeling he or she manipulates remote environment directly. Main advantage of bilateral impedance control: enables arbitrary specification of desired performance characteristics for telemanipulator system. Relationship between force and position modulated at both ends of system to suit requirements of task.

Continuously distributed magnetization profile for millimeter-scale elastomeric undulatory swimming

NASA Astrophysics Data System (ADS)

Diller, Eric; Zhuang, Jiang; Zhan Lum, Guo; Edwards, Matthew R.; Sitti, Metin

2014-04-01

We have developed a millimeter-scale magnetically driven swimming robot for untethered motion at mid to low Reynolds numbers. The robot is propelled by continuous undulatory deformation, which is enabled by the distributed magnetization profile of a flexible sheet. We demonstrate control of a prototype device and measure deformation and speed as a function of magnetic field strength and frequency. Experimental results are compared with simple magnetoelastic and fluid propulsion models. The presented mechanism provides an efficient remote actuation method at the millimeter scale that may be suitable for further scaling down in size for micro-robotics applications in biotechnology and healthcare.

Mars Relays Satellite Orbit Design Considerations for Global Support of Robotic Surface Missions

NASA Technical Reports Server (NTRS)

Hastrup, Rolf; Cesarone, Robert; Cook, Richard; Knocke, Phillip; McOmber, Robert

1993-01-01

This paper discusses orbit design considerations for Mars relay satellite (MRS)support of globally distributed robotic surface missions. The orbit results reported in this paper are derived from studies of MRS support for two types of Mars robotic surface missions: 1) the mars Environmental Survey (MESUR) mission, which in its current definition would deploy a global network of up to 16 small landers, and 2)a Small Mars Sample Return (SMSR) mission, which included four globally distributed landers, each with a return stage and one or two rovers, and up to four additional sets of lander/rover elements in an extended mission phase.

Two modular neuro-fuzzy system for mobile robot navigation

NASA Astrophysics Data System (ADS)

Bobyr, M. V.; Titov, V. S.; Kulabukhov, S. A.; Syryamkin, V. I.

2018-05-01

The article considers the fuzzy model for navigation of a mobile robot operating in two modes. In the first mode the mobile robot moves along a line. In the second mode, the mobile robot looks for an target in unknown space. Structural and schematic circuit of four-wheels mobile robot are presented in the article. The article describes the movement of a mobile robot based on two modular neuro-fuzzy system. The algorithm of neuro-fuzzy inference used in two modular control system for movement of a mobile robot is given in the article. The experimental model of the mobile robot and the simulation of the neuro-fuzzy algorithm used for its control are presented in the article.

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

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

Robot environment expert system

NASA Technical Reports Server (NTRS)

Potter, J. L.

1985-01-01

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

A Haptic Guided Robotic System for Endoscope Positioning and Holding.

PubMed

Cabuk, Burak; Ceylan, Savas; Anik, Ihsan; Tugasaygi, Mehtap; Kizir, Selcuk

2015-01-01

To determine the feasibility, advantages, and disadvantages of using a robot for holding and maneuvering the endoscope in transnasal transsphenoidal surgery. The system used in this study was a Stewart Platform based robotic system that was developed by Kocaeli University Department of Mechatronics Engineering for positioning and holding of endoscope. After the first use on an artificial head model, the system was used on six fresh postmortem bodies that were provided by the Morgue Specialization Department of the Forensic Medicine Institute (Istanbul, Turkey). The setup required for robotic system was easy, the time for registration procedure and setup of the robot takes 15 minutes. The resistance was felt on haptic arm in case of contact or friction with adjacent tissues. The adaptation process was shorter with the mouse to manipulate the endoscope. The endoscopic transsphenoidal approach was achieved with the robotic system. The endoscope was guided to the sphenoid ostium with the help of the robotic arm. This robotic system can be used in endoscopic transsphenoidal surgery as an endoscope positioner and holder. The robot is able to change the position easily with the help of an assistant and prevents tremor, and provides a better field of vision for work.

Initial Clinical Trial of Robot of Endovascular Treatment with Force Feedback and Cooperating of Catheter and Guidewire.

PubMed

Jiang, Yuhua; Liu, Keyun; Li, Youxiang

2018-01-01

To evaluate the feasibility and safety of the robot of endovascular treatment (RobEnt) in clinical practice, we carried out a cerebral angiography using this robot system. We evaluated the performance of application of the robot system to clinical practice through using this robotic system to perform the digital subtraction angiography for a patient who was suspected of suffering intracranial aneurysm. At the same time, through comparing the postoperative head nuclear magnetic and blood routine with the preoperative examination, we evaluated the safety of application of the robot system to clinical practice. We performed the robot system to complete the bilateral carotid artery and bilateral vertebral arteriography. The results indicate that there was no obvious abnormality in the patient's cerebral artery. No obvious abnormality was observed in the examination of patients' check-up, head nuclear magnetism, and blood routine after the digital subtraction angiography. From this clinical trial, it can be observed that the robot system can perform the operation of cerebral angiography. The robot system can basically complete the related observation indexes, and its accuracy, effectiveness, stability, and safety basically meet the requirements of clinical application in neurointerventional surgery.

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

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.

Robotic platform for traveling on vertical piping network

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

Nance, Thomas A; Vrettos, Nick J; Krementz, Daniel

This invention relates generally to robotic systems and is specifically designed for a robotic system that can navigate vertical pipes within a waste tank or similar environment. The robotic system allows a process for sampling, cleaning, inspecting and removing waste around vertical pipes by supplying a robotic platform that uses the vertical pipes to support and navigate the platform above waste material contained in the tank.

The Generation of Situational Awareness within Autonomous Systems - A Near to Mid term Study - Analysis

DTIC Science & Technology

2006-07-01

mobility in complex terrain, robot system designers are still seeking workable processes for mapbuilding, with enduring problems that either require...human) robot system designers /users can seek to control the consequences of robot actions, deliberate or otherwise. A notable particular application...operators a sufficient feeling of presence; if not, robot system designers will have to provide autonomy to the robot to make up for the gaps in human input

Analysis of human emotion in human-robot interaction

NASA Astrophysics Data System (ADS)

Blar, Noraidah; Jafar, Fairul Azni; Abdullah, Nurhidayu; Muhammad, Mohd Nazrin; Kassim, Anuar Muhamed

2015-05-01

There is vast application of robots in human's works such as in industry, hospital, etc. Therefore, it is believed that human and robot can have a good collaboration to achieve an optimum result of work. The objectives of this project is to analyze human-robot collaboration and to understand humans feeling (kansei factors) when dealing with robot that robot should adapt to understand the humans' feeling. Researches currently are exploring in the area of human-robot interaction with the intention to reduce problems that subsist in today's civilization. Study had found that to make a good interaction between human and robot, first it is need to understand the abilities of each. Kansei Engineering in robotic was used to undergo the project. The project experiments were held by distributing questionnaire to students and technician. After that, the questionnaire results were analyzed by using SPSS analysis. Results from the analysis shown that there are five feelings which significant to the human in the human-robot interaction; anxious, fatigue, relaxed, peaceful, and impressed.

Generating high-speed dynamic running gaits in a quadruped robot using an evolutionary search.

PubMed

Krasny, Darren P; Orin, David E

2004-08-01

Over the past several decades, there has been a considerable interest in investigating high-speed dynamic gaits for legged robots. While much research has been published, both in the biomechanics and engineering fields regarding the analysis of these gaits, no single study has adequately characterized the dynamics of high-speed running as can be achieved in a realistic, yet simple, robotic system. The goal of this paper is to find the most energy-efficient, natural, and unconstrained gallop that can be achieved using a simulated quadrupedal robot with articulated legs, asymmetric mass distribution, and compliant legs. For comparison purposes, we also implement the bound and canter. The model used here is planar, although we will show that it captures much of the predominant dynamic characteristics observed in animals. While it is not our goal to prove anything about biological locomotion, the dynamic similarities between the gaits we produce and those found in animals does indicate a similar underlying dynamic mechanism. Thus, we will show that achieving natural, efficient high-speed locomotion is possible even with a fairly simple robotic system. To generate the high-speed gaits, we use an efficient evolutionary algorithm called set-based stochastic optimization. This algorithm finds open-loop control parameters to generate periodic trajectories for the body. Several alternative methods are tested to generate periodic trajectories for the legs. The combined solutions found by the evolutionary search and the periodic-leg methods, over a range of speeds up to 10.0 m/s, reveal "biological" characteristics that are emergent properties of the underlying gaits.

Multi-Robot Assembly Strategies and Metrics.

PubMed

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

2018-02-01

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

Multi-Robot Assembly Strategies and Metrics

PubMed Central

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

2018-01-01

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

A robotic vision system to measure tree traits

USDA-ARS?s Scientific Manuscript database

The autonomous measurement of tree traits, such as branching structure, branch diameters, branch lengths, and branch angles, is required for tasks such as robotic pruning of trees as well as structural phenotyping. We propose a robotic vision system called the Robotic System for Tree Shape Estimati...

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…

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.

A Facility and Architecture for Autonomy Research

NASA Technical Reports Server (NTRS)

Pisanich, Greg; Clancy, Daniel (Technical Monitor)

2002-01-01

Autonomy is a key enabling factor in the advancement of the remote robotic exploration. There is currently a large gap between autonomy software at the research level and software that is ready for insertion into near-term space missions. The Mission Simulation Facility (MST) will bridge this gap by providing a simulation framework and suite of simulation tools to support research in autonomy for remote exploration. This system will allow developers of autonomy software to test their models in a high-fidelity simulation and evaluate their system's performance against a set of integrated, standardized simulations. The Mission Simulation ToolKit (MST) uses a distributed architecture with a communication layer that is built on top of the standardized High Level Architecture (HLA). This architecture enables the use of existing high fidelity models, allows mixing simulation components from various computing platforms and enforces the use of a standardized high-level interface among components. The components needed to achieve a realistic simulation can be grouped into four categories: environment generation (terrain, environmental features), robotic platform behavior (robot dynamics), instrument models (camera/spectrometer/etc.), and data analysis. The MST will provide basic components in these areas but allows users to plug-in easily any refined model by means of a communication protocol. Finally, a description file defines the robot and environment parameters for easy configuration and ensures that all the simulation models share the same information.

Wave-variable framework for networked robotic systems with time delays and packet losses

NASA Astrophysics Data System (ADS)

Puah, Seng-Ming; Liu, Yen-Chen

2017-05-01

This paper investigates the problem of networked control system for nonlinear robotic manipulators under time delays and packet loss by using passivity technique. With the utilisation of wave variables and a passive remote controller, the networked robotic system is demonstrated to be stable with guaranteed position regulation. For the input/output signals of robotic systems, a discretisation block is exploited to convert continuous-time signals to discrete-time signals, and vice versa. Subsequently, we propose a packet management, called wave-variable modulation, to cope with the proposed networked robotic system under time delays and packet losses. Numerical examples and experimental results are presented to demonstrate the performance of the proposed wave-variable-based networked robotic systems.

Robotic-assisted real-time MRI-guided TAVR: from system deployment to in vivo experiment in swine model.

PubMed

Chan, Joshua L; Mazilu, Dumitru; Miller, Justin G; Hunt, Timothy; Horvath, Keith A; Li, Ming

2016-10-01

Real-time magnetic resonance imaging (rtMRI) guidance provides significant advantages during transcatheter aortic valve replacement (TAVR) as it provides superior real-time visualization and accurate device delivery tracking. However, performing a TAVR within an MRI scanner remains difficult due to a constrained procedural environment. To address these concerns, a magnetic resonance (MR)-compatible robotic system to assist in TAVR deployments was developed. This study evaluates the technical design and interface considerations of an MR-compatible robotic-assisted TAVR system with the purpose of demonstrating that such a system can be developed and executed safely and precisely in a preclinical model. An MR-compatible robotic surgical assistant system was built for TAVR deployment. This system integrates a 5-degrees of freedom (DoF) robotic arm with a 3-DoF robotic valve delivery module. A user interface system was designed for procedural planning and real-time intraoperative manipulation of the robot. The robotic device was constructed of plastic materials, pneumatic actuators, and fiber-optical encoders. The mechanical profile and MR compatibility of the robotic system were evaluated. The system-level error based on a phantom model was 1.14 ± 0.33 mm. A self-expanding prosthesis was successfully deployed in eight Yorkshire swine under rtMRI guidance. Post-deployment imaging and necropsy confirmed placement of the stent within 3 mm of the aortic valve annulus. These phantom and in vivo studies demonstrate the feasibility and advantages of robotic-assisted TAVR under rtMRI guidance. This robotic system increases the precision of valve deployments, diminishes environmental constraints, and improves the overall success of TAVR.

From embodied mind to embodied robotics: humanities and system theoretical aspects.

PubMed

Mainzer, Klaus

2009-01-01

After an introduction (1) the article analyzes the evolution of the embodied mind (2), the innovation of embodied robotics (3), and finally discusses conclusions of embodied robotics for human responsibility (4). Considering the evolution of the embodied mind (2), we start with an introduction of complex systems and nonlinear dynamics (2.1), apply this approach to neural self-organization (2.2), distinguish degrees of complexity of the brain (2.3), explain the emergence of cognitive states by complex systems dynamics (2.4), and discuss criteria for modeling the brain as complex nonlinear system (2.5). The innovation of embodied robotics (3) is a challenge of future technology. We start with the distinction of symbolic and embodied AI (3.1) and explain embodied robots as dynamical systems (3.2). Self-organization needs self-control of technical systems (3.3). Cellular neural networks (CNN) are an example of self-organizing technical systems offering new avenues for neurobionics (3.4). In general, technical neural networks support different kinds of learning robots (3.5). Finally, embodied robotics aim at the development of cognitive and conscious robots (3.6).

A Search-and-Rescue Robot System for Remotely Sensing the Underground Coal Mine Environment

PubMed Central

Gao, Junyao; Zhao, Fangzhou; Liu, Yi

2017-01-01

This paper introduces a search-and-rescue robot system used for remote sensing of the underground coal mine environment, which is composed of an operating control unit and two mobile robots with explosion-proof and waterproof function. This robot system is designed to observe and collect information of the coal mine environment through remote control. Thus, this system can be regarded as a multifunction sensor, which realizes remote sensing. When the robot system detects danger, it will send out signals to warn rescuers to keep away. The robot consists of two gas sensors, two cameras, a two-way audio, a 1 km-long fiber-optic cable for communication and a mechanical explosion-proof manipulator. Especially, the manipulator is a novel explosion-proof manipulator for cleaning obstacles, which has 3-degree-of-freedom, but is driven by two motors. Furthermore, the two robots can communicate in series for 2 km with the operating control unit. The development of the robot system may provide a reference for developing future search-and-rescue systems. PMID:29065560

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

NASA Technical Reports Server (NTRS)

Carroll, Robert L.

1989-01-01

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

Autonomous Robot Navigation in Human-Centered Environments Based on 3D Data Fusion

NASA Astrophysics Data System (ADS)

Steinhaus, Peter; Strand, Marcus; Dillmann, Rüdiger

2007-12-01

Efficient navigation of mobile platforms in dynamic human-centered environments is still an open research topic. We have already proposed an architecture (MEPHISTO) for a navigation system that is able to fulfill the main requirements of efficient navigation: fast and reliable sensor processing, extensive global world modeling, and distributed path planning. Our architecture uses a distributed system of sensor processing, world modeling, and path planning units. In this arcticle, we present implemented methods in the context of data fusion algorithms for 3D world modeling and real-time path planning. We also show results of the prototypic application of the system at the museum ZKM (center for art and media) in Karlsruhe.

A Dynamic Non Energy Storing Guidance Constraint with Motion Redirection for Robot Assisted Surgery

DTIC Science & Technology

2016-12-01

Abstract— Haptically enabled hands-on or tele-operated surgical robotic systems provide a unique opportunity to integrate pre- and intra... robot -assisted surgical systems aim at improving and extending human capabilities, by exploiting the advantages of robotic systems while keeping the...move during the operation. Robot -assisted beating heart surgery is an example of procedures that can benefit from dynamic constraints. Their

Tandem mobile robot system

DOEpatents

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

2003-01-01

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

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.

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.

Robotic sampling system for an unmanned Mars mission

NASA Technical Reports Server (NTRS)

Chun, Wendell

1989-01-01

A major robotics opportunity for NASA will be the Mars Rover/Sample Return Mission which could be launched as early as the 1990s. The exploratory portion of this mission will include two autonomous subsystems: the rover vehicle and a sample handling system. The sample handling system is the key to the process of collecting Martian soils. This system could include a core drill, a general-purpose manipulator, tools, containers, a return canister, certification hardware and a labeling system. Integrated into a functional package, the sample handling system is analogous to a complex robotic workcell. Discussed here are the different components of the system, their interfaces, forseeable problem areas and many options based on the scientific goals of the mission. The various interfaces in the sample handling process (component to component and handling system to rover) will be a major engineering effort. Two critical evaluation criteria that will be imposed on the system are flexibility and reliability. It needs to be flexible enough to adapt to different scenarios and environments and acquire the most desirable specimens for return to Earth. Scientists may decide to change the distribution and ratio of core samples to rock samples in the canister. The long distance and duration of this planetary mission places a reliability burden on the hardware. The communication time delay between Earth and Mars minimizes operator interaction (teleoperation, supervisory modes) with the sample handler. An intelligent system will be required to plan the actions, make sample choices, interpret sensor inputs, and query unknown surroundings. A combination of autonomous functions and supervised movements will be integrated into the sample handling system.

Surgical robot setup simulation with consistent kinematics and haptics for abdominal surgery.

PubMed

Hayashibe, Mitsuhiro; Suzuki, Naoki; Hattori, Asaki; Suzuki, Shigeyuki; Konishi, Kozo; Kakeji, Yoshihiro; Hashizume, Makoto

2005-01-01

Preoperative simulation and planning of surgical robot setup should accompany advanced robotic surgery if their advantages are to be further pursued. Feedback from the planning system will plays an essential role in computer-aided robotic surgery in addition to preoperative detailed geometric information from patient CT/MRI images. Surgical robot setup simulation systems for appropriate trocar site placement have been developed especially for abdominal surgery. The motion of the surgical robot can be simulated and rehearsed with kinematic constraints at the trocar site, and the inverse-kinematics of the robot. Results from simulation using clinical patient data verify the effectiveness of the proposed system.

Transformers: Shape-Changing Space Systems Built with Robotic Textiles

NASA Technical Reports Server (NTRS)

Stoica, Adrian

2013-01-01

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

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.

A Fully Sensorized Cooperative Robotic System for Surgical Interventions

PubMed Central

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

2012-01-01

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

Robotic surgery: new robots and finally some real competition!

PubMed

Rao, Pradeep P

2018-04-01

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

Thorough exploration of complex environments with a space-based potential field

NASA Astrophysics Data System (ADS)

Kenealy, Alina; Primiano, Nicholas; Keyes, Alex; Lyons, Damian M.

2015-01-01

Robotic exploration, for the purposes of search and rescue or explosive device detection, can be improved by using a team of multiple robots. Potential field navigation methods offer natural and efficient distributed exploration algorithms in which team members are mutually repelled to spread out and cover the area efficiently. However, they also suffer from field minima issues. Liu and Lyons proposed a Space-Based Potential Field (SBPF) algorithm that disperses robots efficiently and also ensures they are driven in a distributed fashion to cover complex geometry. In this paper, the approach is modified to handle two problems with the original SBPF method: fast exploration of enclosed spaces, and fast navigation of convex obstacles. Firstly, a "gate-sensing" function was implemented. The function draws the robot to narrow openings, such as doors or corridors that it might otherwise pass by, to ensure every room can be explored. Secondly, an improved obstacle field conveyor belt function was developed which allows the robot to avoid walls and barriers while using their surface as a motion guide to avoid being trapped. Simulation results, where the modified SPBF program controls the MobileSim Pioneer 3-AT simulator program, are presented for a selection of maps that capture difficult to explore geometries. Physical robot results are also presented, where a team of Pioneer 3-AT robots is controlled by the modified SBPF program. Data collected prior to the improvements, new simulation results, and robot experiments are presented as evidence of performance improvements.

Nanowire FET Based Neural Element for Robotic Tactile Sensing Skin

PubMed Central

Taube Navaraj, William; García Núñez, Carlos; Shakthivel, Dhayalan; Vinciguerra, Vincenzo; Labeau, Fabrice; Gregory, Duncan H.; Dahiya, Ravinder

2017-01-01

This paper presents novel Neural Nanowire Field Effect Transistors (υ-NWFETs) based hardware-implementable neural network (HNN) approach for tactile data processing in electronic skin (e-skin). The viability of Si nanowires (NWs) as the active material for υ-NWFETs in HNN is explored through modeling and demonstrated by fabricating the first device. Using υ-NWFETs to realize HNNs is an interesting approach as by printing NWs on large area flexible substrates it will be possible to develop a bendable tactile skin with distributed neural elements (for local data processing, as in biological skin) in the backplane. The modeling and simulation of υ-NWFET based devices show that the overlapping areas between individual gates and the floating gate determines the initial synaptic weights of the neural network - thus validating the working of υ-NWFETs as the building block for HNN. The simulation has been further extended to υ-NWFET based circuits and neuronal computation system and this has been validated by interfacing it with a transparent tactile skin prototype (comprising of 6 × 6 ITO based capacitive tactile sensors array) integrated on the palm of a 3D printed robotic hand. In this regard, a tactile data coding system is presented to detect touch gesture and the direction of touch. Following these simulation studies, a four-gated υ-NWFET is fabricated with Pt/Ti metal stack for gates, source and drain, Ni floating gate, and Al2O3 high-k dielectric layer. The current-voltage characteristics of fabricated υ-NWFET devices confirm the dependence of turn-off voltages on the (synaptic) weight of each gate. The presented υ-NWFET approach is promising for a neuro-robotic tactile sensory system with distributed computing as well as numerous futuristic applications such as prosthetics, and electroceuticals. PMID:28979183

Design of the arm-wrestling robot's force acquisition system based on Qt

NASA Astrophysics Data System (ADS)

Huo, Zhixiang; Chen, Feng; Wang, Yongtao

2017-03-01

As a collection of entertainment and medical rehabilitation in a robot, the research on the arm-wrestling robot is of great significance. In order to achieve the collection of the arm-wrestling robot's force signals, the design and implementation of arm-wrestling robot's force acquisition system is introduced in this paper. The system is based on MP4221 data acquisition card and is programmed by Qt. It runs successfully in collecting the analog signals on PC. The interface of the system is simple and the real-time performance is good. The result of the test shows the feasibility in arm-wrestling robot.

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.

Full autonomous microline trace robot

NASA Astrophysics Data System (ADS)

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

2000-10-01

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

3D printing of soft robotic systems

NASA Astrophysics Data System (ADS)

Wallin, T. J.; Pikul, J.; Shepherd, R. F.

2018-06-01

Soft robots are capable of mimicking the complex motion of animals. Soft robotic systems are defined by their compliance, which allows for continuous and often responsive localized deformation. These features make soft robots especially interesting for integration with human tissues, for example, the implementation of biomedical devices, and for robotic performance in harsh or uncertain environments, for example, exploration in confined spaces or locomotion on uneven terrain. Advances in soft materials and additive manufacturing technologies have enabled the design of soft robots with sophisticated capabilities, such as jumping, complex 3D movements, gripping and releasing. In this Review, we examine the essential soft material properties for different elements of soft robots, highlighting the most relevant polymer systems. Advantages and limitations of different additive manufacturing processes, including 3D printing, fused deposition modelling, direct ink writing, selective laser sintering, inkjet printing and stereolithography, are discussed, and the different techniques are investigated for their application in soft robotic fabrication. Finally, we explore integrated robotic systems and give an outlook for the future of the field and remaining challenges.

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.

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-15

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

Fallout from the Shuttle Arm

NASA Technical Reports Server (NTRS)

1990-01-01

Vadeko International, Inc., Mississauga, Ontario developed for the Canadian National Railways (CN) the Robotic Paint Application System. The robotic paint shop has two parallel paint booths, allowing simultaneous painting of two hopper cars. Each booth has three robots, two that move along wall-mounted rails to spray-paint the exterior, a third that is lowered through a hatch in the railcar's top to paint the interior. A fully computerized system controls the movement of the robots and the painting process. The robots can do in four hours a job that formerly took 32 hours. The robotic system applies a more thorough coating and CN expects that will double the useful life of its hoppers and improve cost efficiency. Human painters no longer have to handle the difficult and hazardous job. CN paint shop employees have been retrained to operate the computer system that controls the robots. In addition to large scale robotic systems, Vadeko International is engaged in such other areas of technology as flexible automation, nuclear maintenance, underwater vehicles, thin film deposition and wide band monitoring.

i-SAIRAS '90; Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, Kobe, Japan, Nov. 18-20, 1990

NASA Technical Reports Server (NTRS)

1990-01-01

The present conference on artificial intelligence (AI), robotics, and automation in space encompasses robot systems, lunar and planetary robots, advanced processing, expert systems, knowledge bases, issues of operation and management, manipulator control, and on-orbit service. Specific issues addressed include fundamental research in AI at NASA, the FTS dexterous telerobot, a target-capture experiment by a free-flying robot, the NASA Planetary Rover Program, the Katydid system for compiling KEE applications to Ada, and speech recognition for robots. Also addressed are a knowledge base for real-time diagnosis, a pilot-in-the-loop simulation of an orbital docking maneuver, intelligent perturbation algorithms for space scheduling optimization, a fuzzy control method for a space manipulator system, hyperredundant manipulator applications, robotic servicing of EOS instruments, and a summary of astronaut inputs on automation and robotics for the Space Station Freedom.

New methods of measuring and calibrating robots

NASA Astrophysics Data System (ADS)

Janocha, Hartmut; Diewald, Bernd

1995-10-01

ISO 9283 and RIA R15.05 define industrial robot parameters which are applied to compare the efficiency of different robots. Hitherto, however, no suitable measurement systems have been available. ICAROS is a system which combines photogrammetrical procedures with an inertial navigation system. For the first time, this combination allows the high-precision static and dynamic measurement of the position as well as of the orientation of the robot endeffector. Thus, not only the measuring data for the determination of all industrial robot parameters can be acquired. By integration of a new over-all-calibration procedure, ICAROS also allows the reduction of the absolute robot pose errors to the range of its repeatability. The integration of both system components as well as measurement and calibration results are presented in this paper, using a six-axes robot as example. A further approach also presented here takes into consideration not only the individual robot errors but also the tolerances of workpieces. This allows the adjustment of off-line programs of robots based on inexact or idealized CAD data in any pose. Thus the robot position which is defined relative to the workpiece to be processed, is achieved as required. This includes the possibility to transfer teached robot programs to other devices without additional expenditure. The adjustment is based on the measurement of the robot position using two miniaturized CCD cameras mounted near the endeffector which are carried along by the robot during the correction phase. In the area viewed by both cameras, the robot position is determined in relation to prominent geometry elements, e.g. lines or holes. The scheduled data to be compared therewith can either be calculated in modern off-line programming systems during robot programming, or they can be determined at the so-called master robot if a transfer of the robot program is desired.

Towards Principled Experimental Study of Autonomous Mobile Robots

NASA Technical Reports Server (NTRS)

Gat, Erann

1995-01-01

We review the current state of research in autonomous mobile robots and conclude that there is an inadequate basis for predicting the reliability and behavior of robots operating in unengineered environments. We present a new approach to the study of autonomous mobile robot performance based on formal statistical analysis of independently reproducible experiments conducted on real robots. Simulators serve as models rather than experimental surrogates. We demonstrate three new results: 1) Two commonly used performance metrics (time and distance) are not as well correlated as is often tacitly assumed. 2) The probability distributions of these performance metrics are exponential rather than normal, and 3) a modular, object-oriented simulation accurately predicts the behavior of the real robot in a statistically significant manner.

New stapling devices in robotic surgery

PubMed Central

Casiraghi, Monica; Pardolesi, Alessandro; Borri, Alessandro; Spaggiari, Lorenzo

2017-01-01

Minimally invasive thoracic surgery is rapidly diffusing worldwide. Robotic anatomic pulmonary resection is gaining popularity and acceptance in the thoracic community for the reported feasibility, safety, and good outcomes. The last available robotic system, da Vinci Xi System, added new technical improvements on robotic device allowing best performances in robotic lung resection. We report our initial experience in the use of EndoWrist Stapler during robotic anatomic surgery for lung cancer. PMID:29078608

JPRS Report, Science & Technology, Japan, 4th Intelligent Robots Symposium, Volume 2

DTIC Science & Technology

1989-03-16

accidents caused by strikes by robots,5 a quantitative model for safety evaluation,6 and evaluations of actual systems7 in order to contribute to...Mobile Robot Position Referencing Using Map-Based Vision Systems.... 160 Safety Evaluation of Man-Robot System 171 Fuzzy Path Pattern of Automatic...camera are made after the robot stops to prevent damage from occurring through obstacle interference. The position of the camera is indicated on the

Micro-Power Sources Enabling Robotic Outpost Based Deep Space Exploration

NASA Technical Reports Server (NTRS)

West, W. C.; Whitacre, J. F.; Ratnakumar, B. V.; Brandon, E. J.; Studor, G. F.

2001-01-01

Robotic outpost based exploration represents a fundamental shift in mission design from conventional, single spacecraft missions towards a distributed risk approach with many miniaturized semi-autonomous robots and sensors. This approach can facilitate wide-area sampling and exploration, and may consist of a web of orbiters, landers, or penetrators. To meet the mass and volume constraints of deep space missions such as the Europa Ocean Science Station, the distributed units must be fully miniaturized to fully leverage the wide-area exploration approach. However, presently there is a dearth of available options for powering these miniaturized sensors and robots. This group is currently examining miniaturized, solid state batteries as candidates to meet the demand of applications requiring low power, mass, and volume micro-power sources. These applications may include powering microsensors, battery-backing rad-hard CMOS memory and providing momentary chip back-up power. Additional information is contained in the original extended abstract.

Sparse distributed memory overview

NASA Technical Reports Server (NTRS)

Raugh, Mike

1990-01-01

The Sparse Distributed Memory (SDM) project is investigating the theory and applications of massively parallel computing architecture, called sparse distributed memory, that will support the storage and retrieval of sensory and motor patterns characteristic of autonomous systems. The immediate objectives of the project are centered in studies of the memory itself and in the use of the memory to solve problems in speech, vision, and robotics. Investigation of methods for encoding sensory data is an important part of the research. Examples of NASA missions that may benefit from this work are Space Station, planetary rovers, and solar exploration. Sparse distributed memory offers promising technology for systems that must learn through experience and be capable of adapting to new circumstances, and for operating any large complex system requiring automatic monitoring and control. Sparse distributed memory is a massively parallel architecture motivated by efforts to understand how the human brain works. Sparse distributed memory is an associative memory, able to retrieve information from cues that only partially match patterns stored in the memory. It is able to store long temporal sequences derived from the behavior of a complex system, such as progressive records of the system's sensory data and correlated records of the system's motor controls.

Integrating autonomous distributed control into a human-centric C4ISR environment

NASA Astrophysics Data System (ADS)

Straub, Jeremy

2017-05-01

This paper considers incorporating autonomy into human-centric Command, Control, Communications, Computers, Intelligence, Surveillance and Reconnaissance (C4ISR) environments. Specifically, it focuses on identifying ways that current autonomy technologies can augment human control and the challenges presented by additive autonomy. Three approaches to this challenge are considered, stemming from prior work in two converging areas. In the first, the problem is approached as augmenting what humans currently do with automation. In the alternate approach, the problem is approached as treating humans as actors within a cyber-physical system-of-systems (stemming from robotic distributed computing). A third approach, combines elements of both of the aforementioned.

[RESEARCH PROGRESS OF PERIPHERAL NERVE SURGERY ASSISTED BY Da Vinci ROBOTIC SYSTEM].

PubMed

Shen, Jie; Song, Diyu; Wang, Xiaoyu; Wang, Changjiang; Zhang, Shuming

2016-02-01

To summarize the research progress of peripheral nerve surgery assisted by Da Vinci robotic system. The recent domestic and international articles about peripheral nerve surgery assisted by Da Vinci robotic system were reviewed and summarized. Compared with conventional microsurgery, peripheral nerve surgery assisted by Da Vinci robotic system has distinctive advantages, such as elimination of physiological tremors and three-dimensional high-resolution vision. It is possible to perform robot assisted limb nerve surgery using either the traditional brachial plexus approach or the mini-invasive approach. The development of Da Vinci robotic system has revealed new perspectives in peripheral nerve surgery. But it has still been at the initial stage, more basic and clinical researches are still needed.

Application of growing nested Petri nets for modeling robotic systems operating under risk

NASA Astrophysics Data System (ADS)

Sorokin, E. V.; Senkov, A. V.

2017-10-01

The paper studies the peculiarities of modeling robotic systems engaged in mining. Existing modeling mechanisms are considered, which are based on nested Petri nets, and a new formalism of growing Petri nets is presented that allows modeling robotic systems operating under risk. Modeling is provided both for the regular operation mode and for non-standard modes in which individual elements of the system can perform uncharacteristic functions. The example shows growing Petri nets that are used for modeling extraction of flat coal seams by a robotic system consisting of several different-type autonomous robots.

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

NASA Technical Reports Server (NTRS)

Voellmer, George

1997-01-01

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

A Modular Robotic System with Applications to Space Exploration

NASA Technical Reports Server (NTRS)

Hancher, Matthew D.; Hornby, Gregory S.

2006-01-01

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

Conference on Space and Military Applications of Automation and Robotics

NASA Technical Reports Server (NTRS)

1988-01-01

Topics addressed include: robotics; deployment strategies; artificial intelligence; expert systems; sensors and image processing; robotic systems; guidance, navigation, and control; aerospace and missile system manufacturing; and telerobotics.

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.

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.

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.

Optimized Assistive Human-Robot Interaction Using Reinforcement Learning.

PubMed

Modares, Hamidreza; Ranatunga, Isura; Lewis, Frank L; Popa, Dan O

2016-03-01

An intelligent human-robot interaction (HRI) system with adjustable robot behavior is presented. The proposed HRI system assists the human operator to perform a given task with minimum workload demands and optimizes the overall human-robot system performance. Motivated by human factor studies, the presented control structure consists of two control loops. First, a robot-specific neuro-adaptive controller is designed in the inner loop to make the unknown nonlinear robot behave like a prescribed robot impedance model as perceived by a human operator. In contrast to existing neural network and adaptive impedance-based control methods, no information of the task performance or the prescribed robot impedance model parameters is required in the inner loop. Then, a task-specific outer-loop controller is designed to find the optimal parameters of the prescribed robot impedance model to adjust the robot's dynamics to the operator skills and minimize the tracking error. The outer loop includes the human operator, the robot, and the task performance details. The problem of finding the optimal parameters of the prescribed robot impedance model is transformed into a linear quadratic regulator (LQR) problem which minimizes the human effort and optimizes the closed-loop behavior of the HRI system for a given task. To obviate the requirement of the knowledge of the human model, integral reinforcement learning is used to solve the given LQR problem. Simulation results on an x - y table and a robot arm, and experimental implementation results on a PR2 robot confirm the suitability of the proposed method.

Proposal of Self-Learning and Recognition System of Facial Expression

NASA Astrophysics Data System (ADS)

Ogawa, Yukihiro; Kato, Kunihito; Yamamoto, Kazuhiko

We describe realization of more complicated function by using the information acquired from some equipped unripe functions. The self-learning and recognition system of the human facial expression, which achieved under the natural relation between human and robot, are proposed. The robot with this system can understand human facial expressions and behave according to their facial expressions after the completion of learning process. The system modelled after the process that a baby learns his/her parents’ facial expressions. Equipping the robot with a camera the system can get face images and equipping the CdS sensors on the robot’s head the robot can get the information of human action. Using the information of these sensors, the robot can get feature of each facial expression. After self-learning is completed, when a person changed his facial expression in front of the robot, the robot operates actions under the relevant facial expression.

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.

A Self-Synthesis Approach to Perceptual Learning for Multisensory Fusion in Robotics

PubMed Central

Axenie, Cristian; Richter, Christoph; Conradt, Jörg

2016-01-01

Biological and technical systems operate in a rich multimodal environment. Due to the diversity of incoming sensory streams a system perceives and the variety of motor capabilities a system exhibits there is no single representation and no singular unambiguous interpretation of such a complex scene. In this work we propose a novel sensory processing architecture, inspired by the distributed macro-architecture of the mammalian cortex. The underlying computation is performed by a network of computational maps, each representing a different sensory quantity. All the different sensory streams enter the system through multiple parallel channels. The system autonomously associates and combines them into a coherent representation, given incoming observations. These processes are adaptive and involve learning. The proposed framework introduces mechanisms for self-creation and learning of the functional relations between the computational maps, encoding sensorimotor streams, directly from the data. Its intrinsic scalability, parallelisation, and automatic adaptation to unforeseen sensory perturbations make our approach a promising candidate for robust multisensory fusion in robotic systems. We demonstrate this by applying our model to a 3D motion estimation on a quadrotor. PMID:27775621

A software tool for modeling and simulation of numerical P systems.

PubMed

Buiu, Catalin; Arsene, Octavian; Cipu, Corina; Patrascu, Monica

2011-03-01

A P system represents a distributed and parallel bio-inspired computing model in which basic data structures are multi-sets or strings. Numerical P systems have been recently introduced and they use numerical variables and local programs (or evolution rules), usually in a deterministic way. They may find interesting applications in areas such as computational biology, process control or robotics. The first simulator of numerical P systems (SNUPS) has been designed, implemented and made available to the scientific community by the authors of this paper. SNUPS allows a wide range of applications, from modeling and simulation of ordinary differential equations, to the use of membrane systems as computational blocks of cognitive architectures, and as controllers for autonomous mobile robots. This paper describes the functioning of a numerical P system and presents an overview of SNUPS capabilities together with an illustrative example. SNUPS is freely available to researchers as a standalone application and may be downloaded from a dedicated website, http://snups.ics.pub.ro/, which includes an user manual and sample membrane structures. Copyright © 2010 Elsevier Ireland Ltd. All rights reserved.

Brahms Mobile Agents: Architecture and Field Tests

NASA Technical Reports Server (NTRS)

Clancey, William J.; Sierhuis, Maarten; Kaskiris, Charis; vanHoof, Ron

2002-01-01

We have developed a model-based, distributed architecture that integrates diverse components in a system designed for lunar and planetary surface operations: an astronaut's space suit, cameras, rover/All-Terrain Vehicle (ATV), robotic assistant, other personnel in a local habitat, and a remote mission support team (with time delay). Software processes, called agents, implemented in the Brahms language, run on multiple, mobile platforms. These mobile agents interpret and transform available data to help people and robotic systems coordinate their actions to make operations more safe and efficient. The Brahms-based mobile agent architecture (MAA) uses a novel combination of agent types so the software agents may understand and facilitate communications between people and between system components. A state-of-the-art spoken dialogue interface is integrated with Brahms models, supporting a speech-driven field observation record and rover command system (e.g., return here later and bring this back to the habitat ). This combination of agents, rover, and model-based spoken dialogue interface constitutes a personal assistant. An important aspect of the methodology involves first simulating the entire system in Brahms, then configuring the agents into a run-time system.

A matched comparison of perioperative outcomes of a single laparoscopic surgeon versus a multisurgeon robot-assisted cohort for partial nephrectomy.

PubMed

Ellison, Jonathan S; Montgomery, Jeffrey S; Wolf, J Stuart; Hafez, Khaled S; Miller, David C; Weizer, Alon Z

2012-07-01

Minimally invasive nephron sparing surgery is gaining popularity for small renal masses. Few groups have evaluated robot-assisted partial nephrectomy compared to other approaches using comparable patient populations. We present a matched pair analysis of a heterogeneous group of surgeons who performed robot-assisted partial nephrectomy and a single experienced laparoscopic surgeon who performed conventional laparoscopic partial nephrectomy. Perioperative outcomes and complications were compared. All 249 conventional laparoscopic and robot-assisted partial nephrectomy cases from January 2007 to June 2010 were reviewed from our prospectively maintained institutional database. Groups were matched 1:1 (108 matched pairs) by R.E.N.A.L. (radius, exophytic/endophytic properties, nearness of tumor to collecting system or sinus, anterior/posterior, location relative to polar lines) nephrometry score, transperitoneal vs retroperitoneal approach, patient age and hilar nature of the tumor. Statistical analysis was done to compare operative outcomes and complications. Matched analysis revealed that nephrometry score, age, gender, tumor side and American Society of Anesthesia physical status classification were similar. Operative time favored conventional laparoscopic partial nephrectomy. During the study period robot-assisted partial nephrectomy showed significant improvements in estimated blood loss and warm ischemia time compared to those of the experienced conventional laparoscopic group. Postoperative complication rates, and complication distributions by Clavien classification and type were similar for conventional laparoscopic and robot-assisted partial nephrectomy (41.7% and 35.0%, respectively). Robot-assisted partial nephrectomy has a noticeable but rapid learning curve. After it is overcome the robotic procedure results in perioperative outcomes similar to those achieved with conventional laparoscopic partial nephrectomy done by an experienced surgeon. Robot-assisted partial nephrectomy likely improves surgeon and patient accessibility to minimally invasive nephron sparing surgery. Copyright © 2012 American Urological Association Education and Research, Inc. Published by Elsevier Inc. All rights reserved.

Commentary on "a matched comparison of perioperative outcomes of a single laparoscopic surgeon versus a multisurgeon robot-assisted cohort for partial nephrectomy." Ellison JS, Montgomery JS, Wolf Jr JS, Hafez KS, Miller DC, Weizer AZ, Department of Urology, University of Michigan, Ann Arbor, MI, USA: J Urol 2012;188(1):45-50.

PubMed

Kane, Christopher

2013-02-01

Minimally invasive nephron sparing surgery is gaining popularity for small renal masses. Few groups have evaluated robot-assisted partial nephrectomy compared to other approaches using comparable patient populations. We present a matched pair analysis of a heterogeneous group of surgeons who performed robot-assisted partial nephrectomy and a single experienced laparoscopic surgeon who performed conventional laparoscopic partial nephrectomy. Perioperative outcomes and complications were compared. All 249 conventional laparoscopic and robot-assisted partial nephrectomy cases from January 2007 to June 2010 were reviewed from our prospectively maintained institutional database. Groups were matched 1:1 (108 matched pairs) by R.E.N.A.L. (radius, exophytic/endophytic properties, nearness of tumor to collecting system or sinus, anterior/posterior, location relative to polar lines) nephrometry score, transperitoneal vs retroperitoneal approach, patient age and hilar nature of the tumor. Statistical analysis was done to compare operative outcomes and complications. Matched analysis revealed that nephrometry score, age, gender, tumor side and American Society of Anesthesia physical status classification were similar. Operative time favored conventional laparoscopic partial nephrectomy. During the study period robot-assisted partial nephrectomy showed significant improvements in estimated blood loss and warm ischemia time compared to those of the experienced conventional laparoscopic group. Postoperative complication rates, and complication distributions by Clavien classification and type were similar for conventional laparoscopic and robot-assisted partial nephrectomy (41.7% and 35.0%, respectively). Robot-assisted partial nephrectomy has a noticeable but rapid learning curve. After it is overcome the robotic procedure results in perioperative outcomes similar to those achieved with conventional laparoscopic partial nephrectomy done by an experienced surgeon. Robot-assisted partial nephrectomy likely improves surgeon and patient accessibility to minimally invasive nephron sparing surgery. Copyright © 2013 Elsevier Inc. All rights reserved.

Collective Odor Source Estimation and Search in Time-Variant Airflow Environments Using Mobile Robots

PubMed Central

Meng, Qing-Hao; Yang, Wei-Xing; Wang, Yang; Zeng, Ming

2011-01-01

This paper addresses the collective odor source localization (OSL) problem in a time-varying airflow environment using mobile robots. A novel OSL methodology which combines odor-source probability estimation and multiple robots’ search is proposed. The estimation phase consists of two steps: firstly, the separate probability-distribution map of odor source is estimated via Bayesian rules and fuzzy inference based on a single robot’s detection events; secondly, the separate maps estimated by different robots at different times are fused into a combined map by way of distance based superposition. The multi-robot search behaviors are coordinated via a particle swarm optimization algorithm, where the estimated odor-source probability distribution is used to express the fitness functions. In the process of OSL, the estimation phase provides the prior knowledge for the searching while the searching verifies the estimation results, and both phases are implemented iteratively. The results of simulations for large-scale advection–diffusion plume environments and experiments using real robots in an indoor airflow environment validate the feasibility and robustness of the proposed OSL method. PMID:22346650

Research on wheelchair robot control system based on EOG

NASA Astrophysics Data System (ADS)

Xu, Wang; Chen, Naijian; Han, Xiangdong; Sun, Jianbo

2018-04-01

The paper describes an intelligent wheelchair control system based on EOG. It can help disabled people improve their living ability. The system can acquire EOG signal from the user, detect the number of blink and the direction of glancing, and then send commands to the wheelchair robot via RS-232 to achieve the control of wheelchair robot. Wheelchair robot control system based on EOG is composed of processing EOG signal and human-computer interactive technology, which achieves a purpose of using conscious eye movement to control wheelchair robot.

Robotic Transnasal Endoscopic Skull Base Surgery: Systematic Review of the Literature and Report of a Novel Prototype for a Hybrid System (Brescia Endoscope Assistant Robotic Holder).

PubMed

Bolzoni Villaret, Andrea; Doglietto, Francesco; Carobbio, Andrea; Schreiber, Alberto; Panni, Camilla; Piantoni, Enrico; Guida, Giovanni; Fontanella, Marco Maria; Nicolai, Piero; Cassinis, Riccardo

2017-09-01

Although robotics has already been applied to several surgical fields, available systems are not designed for endoscopic skull base surgery (ESBS). New conception prototypes have been recently described for ESBS. The aim of this study was to provide a systematic literature review of robotics for ESBS and describe a novel prototype developed at the University of Brescia. PubMed and Scopus databases were searched using a combination of terms, including Robotics OR Robot and Surgery OR Otolaryngology OR Skull Base OR Holder. The retrieved papers were analyzed, recording the following features: interface, tools under robotic control, force feedback, safety systems, setup time, and operative time. A novel hybrid robotic system has been developed and tested in a preclinical setting at the University of Brescia, using an industrial manipulator and readily available off-the-shelf components. A total of 11 robotic prototypes for ESBS were identified. Almost all prototypes present a difficult emergency management as one of the main limits. The Brescia Endoscope Assistant Robotic holder has proven the feasibility of an intuitive robotic movement, using the surgeon's head position: a 6 degree of freedom sensor was used and 2 light sources were added to glasses that were therefore recognized by a commercially available sensor. Robotic system prototypes designed for ESBS and reported in the literature still present significant technical limitations. Hybrid robot assistance has a huge potential and might soon be feasible in ESBS. Copyright © 2017 Elsevier Inc. All rights reserved.

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.

Design of a robotic vehicle with self-contained intelligent wheels

NASA Astrophysics Data System (ADS)

Poulson, Eric A.; Jacob, John S.; Gunderson, Robert W.; Abbott, Ben A.

1998-08-01

The Center for Intelligent Systems has developed a small robotic vehicle named the Advanced Rover Chassis 3 (ARC 3) with six identical intelligent wheel units attached to a payload via a passive linkage suspension system. All wheels are steerable, so the ARC 3 can move in any direction while rotating at any rate allowed by the terrain and motors. Each intelligent wheel unit contains a drive motor, steering motor, batteries, and computer. All wheel units are identical, so manufacturing, programing, and spare replacement are greatly simplified. The intelligent wheel concept would allow the number and placement of wheels on the vehicle to be changed with no changes to the control system, except to list the position of all the wheels relative to the vehicle center. The task of controlling the ARC 3 is distributed between one master computer and the wheel computers. Tasks such as controlling the steering motors and calculating the speed of each wheel relative to the vehicle speed in a corner are dependent on the location of a wheel relative to the vehicle center and ar processed by the wheel computers. Conflicts between the wheels are eliminated by computing the vehicle velocity control in the master computer. Various approaches to this distributed control problem, and various low level control methods, have been explored.

Research and development of service robot platform based on artificial psychology

NASA Astrophysics Data System (ADS)

Zhang, Xueyuan; Wang, Zhiliang; Wang, Fenhua; Nagai, Masatake

2007-12-01

Some related works about the control architecture of robot system are briefly summarized. According to the discussions above, this paper proposes control architecture of service robot based on artificial psychology. In this control architecture, the robot can obtain the cognition of environment through sensors, and then be handled with intelligent model, affective model and learning model, and finally express the reaction to the outside stimulation through its behavior. For better understanding the architecture, hierarchical structure is also discussed. The control system of robot can be divided into five layers, namely physical layer, drives layer, information-processing and behavior-programming layer, application layer and system inspection and control layer. This paper shows how to achieve system integration from hardware modules, software interface and fault diagnosis. Embedded system GENE-8310 is selected as the PC platform of robot APROS-I, and its primary memory media is CF card. The arms and body of the robot are constituted by 13 motors and some connecting fittings. Besides, the robot has a robot head with emotional facial expression, and the head has 13 DOFs. The emotional and intelligent model is one of the most important parts in human-machine interaction. In order to better simulate human emotion, an emotional interaction model for robot is proposed according to the theory of need levels of Maslom and mood information of Siminov. This architecture has already been used in our intelligent service robot.

Total robotic radical rectal resection with da Vinci Xi system: single docking, single phase technique.

PubMed

Tamhankar, Anup Sunil; Jatal, Sudhir; Saklani, Avanish

2016-12-01

This study aims to assess the advantages of Da Vinci Xi system in rectal cancer surgery. It also assesses the initial oncological outcomes after rectal resection with this system from a tertiary cancer center in India. Robotic rectal surgery has distinct advantages over laparoscopy. Total robotic resection is increasing following the evolution of hybrid technology. The latest Da Vinci Xi system (Intuitive Surgical, Sunnyvale, USA) is enabled with newer features to make total robotic resection possible with single docking and single phase. Thirty-six patients underwent total robotic resection in a single phase and single docking. We used newer port positions in a straight line. Median distance from the anal verge was 4.5 cm. Median robotic docking time and robotic procedure time were 9 and 280 min, respectively. Median blood loss was 100 mL. One patient needed conversion to an open approach due to advanced disease. Circumferential resection margin and longitudinal resection margins were uninvolved in all other patients. Median lymph node yield was 10. Median post-operative stay was 7 days. There were no intra-operative adverse events. The latest Da Vinci Xi system has made total robotic rectal surgery feasible in single docking and single phase. With the new system, four arm total robotic rectal surgery may replace the hybrid technique of laparoscopic and robotic surgery for rectal malignancies. The learning curve for the new system appears to be shorter than anticipated. Early perioperative and oncological outcomes of total robotic rectal surgery with the new system are promising. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

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.

Coordinated perception by teams of aerial and ground robots

NASA Astrophysics Data System (ADS)

Grocholsky, Benjamin P.; Swaminathan, Rahul; Kumar, Vijay; Taylor, Camillo J.; Pappas, George J.

2004-12-01

Air and ground vehicles exhibit complementary capabilities and characteristics as robotic sensor platforms. Fixed wing aircraft offer broad field of view and rapid coverage of search areas. However, minimum operating airspeed and altitude limits, combined with attitude uncertainty, place a lower limit on their ability to detect and localize ground features. Ground vehicles on the other hand offer high resolution sensing over relatively short ranges with the disadvantage of slow coverage. This paper presents a decentralized architecture and solution methodology for seamlessly realizing the collaborative potential of air and ground robotic sensor platforms. We provide a framework based on an established approach to the underlying sensor fusion problem. This provides transparent integration of information from heterogeneous sources. An information-theoretic utility measure captures the task objective and robot inter-dependencies. A simple distributed solution mechanism is employed to determine team member sensing trajectories subject to the constraints of individual vehicle and sensor sub-systems. The architecture is applied to a mission involving searching for and localizing an unknown number of targets in an user specified search area. Results for a team of two fixed wing UAVs and two all terrain UGVs equipped with vision sensors are presented.

A Novel Tactile Sensor with Electromagnetic Induction and Its Application on Stick-Slip Interaction Detection

PubMed Central

Liu, Yanjie; Han, Haijun; Liu, Tao; Yi, Jingang; Li, Qingguo; Inoue, Yoshio

2016-01-01

Real-time detection of contact states, such as stick-slip interaction between a robot and an object on its end effector, is crucial for the robot to grasp and manipulate the object steadily. This paper presents a novel tactile sensor based on electromagnetic induction and its application on stick-slip interaction. An equivalent cantilever-beam model of the tactile sensor was built and capable of constructing the relationship between the sensor output and the friction applied on the sensor. With the tactile sensor, a new method to detect stick-slip interaction on the contact surface between the object and the sensor is proposed based on the characteristics of friction change. Furthermore, a prototype was developed for a typical application, stable wafer transferring on a wafer transfer robot, by considering the spatial magnetic field distribution and the sensor size according to the requirements of wafer transfer. The experimental results validate the sensing mechanism of the tactile sensor and verify its feasibility of detecting stick-slip on the contact surface between the wafer and the sensor. The sensing mechanism also provides a new approach to detect the contact state on the soft-rigid surface in other robot-environment interaction systems. PMID:27023545

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.

Robot Position Sensor Fault Tolerance

NASA Technical Reports Server (NTRS)

Aldridge, Hal A.

1997-01-01

Robot systems in critical applications, such as those in space and nuclear environments, must be able to operate during component failure to complete important tasks. One failure mode that has received little attention is the failure of joint position sensors. Current fault tolerant designs require the addition of directly redundant position sensors which can affect joint design. A new method is proposed that utilizes analytical redundancy to allow for continued operation during joint position sensor failure. Joint torque sensors are used with a virtual passive torque controller to make the robot joint stable without position feedback and improve position tracking performance in the presence of unknown link dynamics and end-effector loading. Two Cartesian accelerometer based methods are proposed to determine the position of the joint. The joint specific position determination method utilizes two triaxial accelerometers attached to the link driven by the joint with the failed position sensor. The joint specific method is not computationally complex and the position error is bounded. The system wide position determination method utilizes accelerometers distributed on different robot links and the end-effector to determine the position of sets of multiple joints. The system wide method requires fewer accelerometers than the joint specific method to make all joint position sensors fault tolerant but is more computationally complex and has lower convergence properties. Experiments were conducted on a laboratory manipulator. Both position determination methods were shown to track the actual position satisfactorily. A controller using the position determination methods and the virtual passive torque controller was able to servo the joints to a desired position during position sensor failure.

A fully actuated robotic assistant for MRI-guided prostate biopsy and brachytherapy

NASA Astrophysics Data System (ADS)

Li, Gang; Su, Hao; Shang, Weijian; Tokuda, Junichi; Hata, Nobuhiko; Tempany, Clare M.; Fischer, Gregory S.

2013-03-01

Intra-operative medical imaging enables incorporation of human experience and intelligence in a controlled, closed-loop fashion. Magnetic resonance imaging (MRI) is an ideal modality for surgical guidance of diagnostic and therapeutic procedures, with its ability to perform high resolution, real-time, high soft tissue contrast imaging without ionizing radiation. However, for most current image-guided approaches only static pre-operative images are accessible for guidance, which are unable to provide updated information during a surgical procedure. The high magnetic field, electrical interference, and limited access of closed-bore MRI render great challenges to developing robotic systems that can perform inside a diagnostic high-field MRI while obtaining interactively updated MR images. To overcome these limitations, we are developing a piezoelectrically actuated robotic assistant for actuated percutaneous prostate interventions under real-time MRI guidance. Utilizing a modular design, the system enables coherent and straight forward workflow for various percutaneous interventions, including prostate biopsy sampling and brachytherapy seed placement, using various needle driver configurations. The unified workflow compromises: 1) system hardware and software initialization, 2) fiducial frame registration, 3) target selection and motion planning, 4) moving to the target and performing the intervention (e.g. taking a biopsy sample) under live imaging, and 5) visualization and verification. Phantom experiments of prostate biopsy and brachytherapy were executed under MRI-guidance to evaluate the feasibility of the workflow. The robot successfully performed fully actuated biopsy sampling and delivery of simulated brachytherapy seeds under live MR imaging, as well as precise delivery of a prostate brachytherapy seed distribution with an RMS accuracy of 0.98mm.

An IoT-Enabled Stroke Rehabilitation System Based on Smart Wearable Armband and Machine Learning

PubMed Central

Yang, Geng; Pang, Gaoyang; Zhang, Hao; Li, Jiayi; Deng, Bin; Pang, Zhibo; Xu, Juan; Jiang, Mingzhe; Liljeberg, Pasi; Xie, Haibo; Yang, Huayong

2018-01-01

Surface electromyography signal plays an important role in hand function recovery training. In this paper, an IoT-enabled stroke rehabilitation system was introduced which was based on a smart wearable armband (SWA), machine learning (ML) algorithms, and a 3-D printed dexterous robot hand. User comfort is one of the key issues which should be addressed for wearable devices. The SWA was developed by integrating a low-power and tiny-sized IoT sensing device with textile electrodes, which can measure, pre-process, and wirelessly transmit bio-potential signals. By evenly distributing surface electrodes over user’s forearm, drawbacks of classification accuracy poor performance can be mitigated. A new method was put forward to find the optimal feature set. ML algorithms were leveraged to analyze and discriminate features of different hand movements, and their performances were appraised by classification complexity estimating algorithms and principal components analysis. According to the verification results, all nine gestures can be successfully identified with an average accuracy up to 96.20%. In addition, a 3-D printed five-finger robot hand was implemented for hand rehabilitation training purpose. Correspondingly, user’s hand movement intentions were extracted and converted into a series of commands which were used to drive motors assembled inside the dexterous robot hand. As a result, the dexterous robot hand can mimic the user’s gesture in a real-time manner, which shows the proposed system can be used as a training tool to facilitate rehabilitation process for the patients after stroke. PMID:29805919

Combined functional electrical stimulation (FES) and robotic system for wrist rehabiliation after stroke.

PubMed

Hu, Xiaoling; Tong, K Y; Li, R; Chen, M; Xue, J J; Ho, S K; Chen, P N

2010-01-01

Functional electrical stimulation (FES) and rehabilitation robots are techniques used to assist in post-stroke rehabilitation. However, FES and rehabilitation robots are still separate systems currently; and their combined training effects on persons after experiencing a stroke have not been well studied yet. In this work, a new combined FES-robot system driven by user's voluntary intention was developed for wrist joint training after stroke. The performance of the FES-robot assisted wrist tracking was evaluated on five subjects with chronic stroke. With simultaneous assistance from both the FES and robot parts of the system, the motion accuracy was improved and excessive activation in elbow flexor was reduced during wrist tracking.

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

NASA Technical Reports Server (NTRS)

Jenett, Benjamin; Cellucci, Daniel; Cheung, Kenneth

2015-01-01

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

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.

A Car Transportation System in Cooperation by Multiple Mobile Robots for Each Wheel: iCART II

NASA Astrophysics Data System (ADS)

Kashiwazaki, Koshi; Yonezawa, Naoaki; Kosuge, Kazuhiro; Sugahara, Yusuke; Hirata, Yasuhisa; Endo, Mitsuru; Kanbayashi, Takashi; Shinozuka, Hiroyuki; Suzuki, Koki; Ono, Yuki

The authors proposed a car transportation system, iCART (intelligent Cooperative Autonomous Robot Transporters), for automation of mechanical parking systems by two mobile robots. However, it was difficult to downsize the mobile robot because the length of it requires at least the wheelbase of a car. This paper proposes a new car transportation system, iCART II (iCART - type II), based on “a-robot-for-a-wheel” concept. A prototype system, MRWheel (a Mobile Robot for a Wheel), is designed and downsized less than half the conventional robot. First, a method for lifting up a wheel by MRWheel is described. In general, it is very difficult for mobile robots such as MRWheel to move to desired positions without motion errors caused by slipping, etc. Therefore, we propose a follower's motion error estimation algorithm based on the internal force applied to each follower by extending a conventional leader-follower type decentralized control algorithm for cooperative object transportation. The proposed algorithm enables followers to estimate their motion errors and enables the robots to transport a car to a desired position. In addition, we analyze and prove the stability and convergence of the resultant system with the proposed algorithm. In order to extract only the internal force from the force applied to each robot, we also propose a model-based external force compensation method. Finally, proposed methods are applied to the car transportation system, the experimental results confirm their validity.

Telemetry distribution and processing for the second German Spacelab Mission D-2

NASA Technical Reports Server (NTRS)

Rabenau, E.; Kruse, W.

1994-01-01

For the second German Spacelab Mission D-2 all activities related to operating, monitoring and controlling the experiments on board the Spacelab were conducted from the German Space Operations Control Center (GSOC) operated by the Deutsche Forschungsanstalt fur Luft- und Raumfahrt (DLR) in Oberpfaffenhofen, Germany. The operational requirements imposed new concepts on the transfer of data between Germany and the NASA centers and the processing of data at the GSOC itself. Highlights were the upgrade of the Spacelab Data Processing Facility (SLDPF) to real time data processing, the introduction of packet telemetry and the development of the high-rate data handling front end, data processing and display systems at GSOC. For the first time, a robot on board the Spacelab was to be controlled from the ground in a closed loop environment. A dedicated forward channel was implemented to transfer the robot manipulation commands originating from the robotics experiment ground station to the Spacelab via the Orbiter's text and graphics system interface. The capability to perform telescience from an external user center was implemented. All interfaces proved successful during the course of the D-2 mission and are described in detail in this paper.

Space station WP-04 power system. Volume 1: Executive summary

NASA Technical Reports Server (NTRS)

Hallinan, G. J.

1987-01-01

Major study activities and results of the phase B study contract for the preliminary design of the space station Electrical Power System (EPS) are summarized. The areas addressed include the general system design, man-tended option, automation and robotics, evolutionary growth, software development environment, advanced development, customer accommodations, operations planning, product assurance, and design and development phase planning. The EPS consists of a combination photovoltaic and solar dynamic power generation subsystem and a power management and distribution (PMAD) subsystem. System trade studies and costing activities are also summarized.

An observatory control system for the University of Hawai'i 2.2m Telescope

NASA Astrophysics Data System (ADS)

McKay, Luke; Erickson, Christopher; Mukensnable, Donn; Stearman, Anthony; Straight, Brad

2016-07-01

The University of Hawai'i 2.2m telescope at Maunakea has operated since 1970, and has had several controls upgrades to date. The newest system will operate as a distributed hierarchy of GNU/Linux central server, networked single-board computers, microcontrollers, and a modular motion control processor for the main axes. Rather than just a telescope control system, this new effort is towards a cohesive, modular, and robust whole observatory control system, with design goals of fully robotic unattended operation, high reliability, and ease of maintenance and upgrade.

Direct interaction with an assistive robot for individuals with chronic stroke.

PubMed

Kmetz, Brandon; Markham, Heather; Brewer, Bambi R

2011-01-01

Many robotic systems have been developed to provide assistance to individuals with disabilities. Most of these systems require the individual to interact with the robot via a joystick or keypad, though some utilize techniques such as speech recognition or selection of objects with a laser pointer. In this paper, we describe a prototype system using a novel method of interaction with an assistive robot. A touch-sensitive skin enables the user to directly guide a robotic arm to a desired position. When the skin is released, the robot remains fixed in position. The target population for this system is individuals with hemiparesis due to chronic stroke. The system can be used as a substitute for the paretic arm and hand in bimanual tasks such as holding a jar while removing the lid. This paper describes the hardware and software of the prototype system, which includes a robotic arm, the touch-sensitive skin, a hook-style prehensor, and weight compensation and speech recognition software.

Mobility Systems For Robotic Vehicles

NASA Astrophysics Data System (ADS)

Chun, Wendell

1987-02-01

The majority of existing robotic systems can be decomposed into five distinct subsystems: locomotion, control/man-machine interface (MMI), sensors, power source, and manipulator. When designing robotic vehicles, there are two main requirements: first, to design for the environment and second, for the task. The environment can be correlated with known missions. This can be seen by analyzing existing mobile robots. Ground mobile systems are generally wheeled, tracked, or legged. More recently, underwater vehicles have gained greater attention. For example, Jason Jr. made history by surveying the sunken luxury liner, the Titanic. The next big surge of robotic vehicles will be in space. This will evolve as a result of NASA's commitment to the Space Station. The foreseeable robots will interface with current systems as well as standalone, free-flying systems. A space robotic vehicle is similar to its underwater counterpart with very few differences. Their commonality includes missions and degrees-of-freedom. The issues of stability and communication are inherent in both systems and environment.

Technical review of the da Vinci surgical telemanipulator.

PubMed

Freschi, C; Ferrari, V; Melfi, F; Ferrari, M; Mosca, F; Cuschieri, A

2013-12-01

The da Vinci robotic surgical telemanipulator has been utilized in several surgical specialties for varied procedures, and the users' experiences have been widely published. To date, no detailed system technical analyses have been performed. A detailed review was performed of all publications and patents about the technical aspects of the da Vinci robotic system. Published technical literature on the da Vinci system highlight strengths and weaknesses of the robot design. While the system facilitates complex surgical operations and has a low malfunction rate, the lack of haptic (especially tactile) feedback and collisions between the robotic arms remain the major limitations of the system. Accurate, preplanned positioning of access ports is essential. Knowledge of the technical aspects of the da Vinci robot is important for optimal use. We confirmed the excellent system functionality and ease of use for surgeons without an engineering background. Research and development of the surgical robot has been predominant in the literature. Future trends address robot miniaturization and intelligent control design. Copyright © 2012 John Wiley & Sons, Ltd.

System-level challenges in pressure-operated soft robotics

NASA Astrophysics Data System (ADS)

Onal, Cagdas D.

2016-05-01

Last decade witnessed the revival of fluidic soft actuation. As pressure-operated soft robotics becomes more popular with promising recent results, system integration remains an outstanding challenge. Inspired greatly by biology, we envision future robotic systems to embrace mechanical compliance with bodies composed of soft and hard components as well as electronic and sensing sub-systems, such that robot maintenance starts to resemble surgery. In this vision, portable energy sources and driving infrastructure plays a key role to offer autonomous many-DoF soft actuation. On the other hand, while offering many advantages in safety and adaptability to interact with unstructured environments, objects, and human bodies, mechanical compliance also violates many inherent assumptions in traditional rigid-body robotics. Thus, a complete soft robotic system requires new approaches to utilize proprioception that provides rich sensory information while remaining flexible, and motion control under significant time delay. This paper discusses our proposed solutions for each of these system-level challenges in soft robotics research.

Dynamic analysis of space robot remote control system

NASA Astrophysics Data System (ADS)

Kulakov, Felix; Alferov, Gennady; Sokolov, Boris; Gorovenko, Polina; Sharlay, Artem

2018-05-01

The article presents analysis on construction of two-stage remote control for space robots. This control ensures efficiency of the robot control system at large delays in transmission of control signals from the ground control center to the local control system of the space robot. The conditions for control stability of and high transparency are found.

Cost analysis of robotic versus laparoscopic general surgery procedures.

PubMed

Higgins, Rana M; Frelich, Matthew J; Bosler, Matthew E; Gould, Jon C

2017-01-01

Robotic surgical systems have been used at a rapidly increasing rate in general surgery. Many of these procedures have been performed laparoscopically for years. In a surgical encounter, a significant portion of the total costs is associated with consumable supplies. Our hospital system has invested in a software program that can track the costs of consumable surgical supplies. We sought to determine the differences in cost of consumables with elective laparoscopic and robotic procedures for our health care organization. De-identified procedural cost and equipment utilization data were collected from the Surgical Profitability Compass Procedure Cost Manager System (The Advisory Board Company, Washington, DC) for our health care system for laparoscopic and robotic cholecystectomy, fundoplication, and inguinal hernia between the years 2013 and 2015. Outcomes were length of stay, case duration, and supply cost. Statistical analysis was performed using a t-test for continuous variables, and statistical significance was defined as p < 0.05. The total cost of consumable surgical supplies was significantly greater for all robotic procedures. Length of stay did not differ for fundoplication or cholecystectomy. Length of stay was greater for robotic inguinal hernia repair. Case duration was similar for cholecystectomy (84.3 robotic and 75.5 min laparoscopic, p = 0.08), but significantly longer for robotic fundoplication (197.2 robotic and 162.1 min laparoscopic, p = 0.01) and inguinal hernia repair (124.0 robotic and 84.4 min laparoscopic, p = ≪0.01). We found a significantly increased cost of general surgery procedures for our health care system when cases commonly performed laparoscopically are instead performed robotically. Our analysis is limited by the fact that we only included costs associated with consumable surgical supplies. The initial acquisition cost (over $1 million for robotic surgical system), depreciation, and service contract for the robotic and laparoscopic systems were not included in this analysis.

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

NASA Astrophysics Data System (ADS)

Herbuś, K.; Ociepka, P.

2016-08-01

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

ROBOSIGHT: Robotic Vision System For Inspection And Manipulation

NASA Astrophysics Data System (ADS)

Trivedi, Mohan M.; Chen, ChuXin; Marapane, Suresh

1989-02-01

Vision is an important sensory modality that can be used for deriving information critical to the proper, efficient, flexible, and safe operation of an intelligent robot. Vision systems are uti-lized for developing higher level interpretation of the nature of a robotic workspace using images acquired by cameras mounted on a robot. Such information can be useful for tasks such as object recognition, object location, object inspection, obstacle avoidance and navigation. In this paper we describe efforts directed towards developing a vision system useful for performing various robotic inspection and manipulation tasks. The system utilizes gray scale images and can be viewed as a model-based system. It includes general purpose image analysis modules as well as special purpose, task dependent object status recognition modules. Experiments are described to verify the robust performance of the integrated system using a robotic testbed.

A Segway RMP-based robotic transport system

NASA Astrophysics Data System (ADS)

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

2004-12-01

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

Robotic technology in surgery: current status in 2008.

PubMed

Murphy, Declan G; Hall, Rohan; Tong, Raymond; Goel, Rajiv; Costello, Anthony J

2008-12-01

There is increasing patient and surgeon interest in robotic-assisted surgery, particularly with the proliferation of da Vinci surgical systems (Intuitive Surgical, Sunnyvale, CA, USA) throughout the world. There is much debate over the usefulness and cost-effectiveness of these systems. The currently available robotic surgical technology is described. Published data relating to the da Vinci system are reviewed and the current status of surgical robotics within Australia and New Zealand is assessed. The first da Vinci system in Australia and New Zealand was installed in 2003. Four systems had been installed by 2006 and seven systems are currently in use. Most of these are based in private hospitals. Technical advantages of this system include 3-D vision, enhanced dexterity and improved ergonomics when compared with standard laparoscopic surgery. Most procedures currently carried out are urological, with cardiac, gynaecological and general surgeons also using this system. The number of patients undergoing robotic-assisted surgery in Australia and New Zealand has increased fivefold in the past 4 years. The most common procedure carried out is robotic-assisted laparoscopic radical prostatectomy. Published data suggest that robotic-assisted surgery is feasible and safe although the installation and recurring costs remain high. There is increasing acceptance of robotic-assisted surgery, especially for urological procedures. The da Vinci surgical system is becoming more widely available in Australia and New Zealand. Other surgical specialties will probably use this technology. Significant costs are associated with robotic technology and it is not yet widely available to public patients.

Statistical Modeling of Robotic Random Walks on Different Terrain

NASA Astrophysics Data System (ADS)

Naylor, Austin; Kinnaman, Laura

Issues of public safety, especially with crowd dynamics and pedestrian movement, have been modeled by physicists using methods from statistical mechanics over the last few years. Complex decision making of humans moving on different terrains can be modeled using random walks (RW) and correlated random walks (CRW). The effect of different terrains, such as a constant increasing slope, on RW and CRW was explored. LEGO robots were programmed to make RW and CRW with uniform step sizes. Level ground tests demonstrated that the robots had the expected step size distribution and correlation angles (for CRW). The mean square displacement was calculated for each RW and CRW on different terrains and matched expected trends. The step size distribution was determined to change based on the terrain; theoretical predictions for the step size distribution were made for various simple terrains. It's Dr. Laura Kinnaman, not sure where to put the Prefix.

System and method for seamless task-directed autonomy for robots

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

Nielsen, Curtis; Bruemmer, David; Few, Douglas

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

On the Biomimetic Design of Agile-Robot Legs

PubMed Central

Garcia, Elena; Arevalo, Juan Carlos; Muñoz, Gustavo; Gonzalez-de-Santos, Pablo

2011-01-01

The development of functional legged robots has encountered its limits in human-made actuation technology. This paper describes research on the biomimetic design of legs for agile quadrupeds. A biomimetic leg concept that extracts key principles from horse legs which are responsible for the agile and powerful locomotion of these animals is presented. The proposed biomimetic leg model defines the effective leg length, leg kinematics, limb mass distribution, actuator power, and elastic energy recovery as determinants of agile locomotion, and values for these five key elements are given. The transfer of the extracted principles to technological instantiations is analyzed in detail, considering the availability of current materials, structures and actuators. A real leg prototype has been developed following the biomimetic leg concept proposed. The actuation system is based on the hybrid use of series elasticity and magneto-rheological dampers which provides variable compliance for natural motion. From the experimental evaluation of this prototype, conclusions on the current technological barriers to achieve real functional legged robots to walk dynamically in agile locomotion are presented. PMID:22247667

Planar and finger-shaped optical tactile sensors for robotic applications

NASA Technical Reports Server (NTRS)

Begej, Stefan

1988-01-01

Progress is described regarding the development of optical tactile sensors specifically designed for application to dexterous robotics. These sensors operate on optical principles involving the frustration of total internal reflection at a waveguide/elastomer interface and produce a grey-scale tactile image that represents the normal (vertical) forces of contact. The first tactile sensor discussed is a compact, 32 x 32 planar sensor array intended for mounting on a parallel-jaw gripper. Optical fibers were employed to convey the tactile image to a CCD camera and microprocessor-based image analysis system. The second sensor had the shape and size of a human fingertip and was designed for a dexterous robotic hand. It contained 256 sensing sites (taxels) distributed in a dual-density pattern that included a tactile fovea near the tip measuring 13 x 13 mm and containing 169 taxels. The design and construction details of these tactile sensors are presented, in addition to photographs of tactile imprints.

On the biomimetic design of agile-robot legs.

PubMed

Garcia, Elena; Arevalo, Juan Carlos; Muñoz, Gustavo; Gonzalez-de-Santos, Pablo

2011-01-01

The development of functional legged robots has encountered its limits in human-made actuation technology. This paper describes research on the biomimetic design of legs for agile quadrupeds. A biomimetic leg concept that extracts key principles from horse legs which are responsible for the agile and powerful locomotion of these animals is presented. The proposed biomimetic leg model defines the effective leg length, leg kinematics, limb mass distribution, actuator power, and elastic energy recovery as determinants of agile locomotion, and values for these five key elements are given. The transfer of the extracted principles to technological instantiations is analyzed in detail, considering the availability of current materials, structures and actuators. A real leg prototype has been developed following the biomimetic leg concept proposed. The actuation system is based on the hybrid use of series elasticity and magneto-rheological dampers which provides variable compliance for natural motion. From the experimental evaluation of this prototype, conclusions on the current technological barriers to achieve real functional legged robots to walk dynamically in agile locomotion are presented.

A visual servo-based teleoperation robot system for closed diaphyseal fracture reduction.

PubMed

Li, Changsheng; Wang, Tianmiao; Hu, Lei; Zhang, Lihai; Du, Hailong; Zhao, Lu; Wang, Lifeng; Tang, Peifu

2015-09-01

Common fracture treatments include open reduction and intramedullary nailing technology. However, these methods have disadvantages such as intraoperative X-ray radiation, delayed union or nonunion and postoperative rotation. Robots provide a novel solution to the aforementioned problems while posing new challenges. Against this scientific background, we develop a visual servo-based teleoperation robot system. In this article, we present a robot system, analyze the visual servo-based control system in detail and develop path planning for fracture reduction, inverse kinematics, and output forces of the reduction mechanism. A series of experimental tests is conducted on a bone model and an animal bone. The experimental results demonstrate the feasibility of the robot system. The robot system uses preoperative computed tomography data to realize high precision and perform minimally invasive teleoperation for fracture reduction via the visual servo-based control system while protecting surgeons from radiation. © IMechE 2015.

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

PubMed Central

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

2017-01-01

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

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

PubMed

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

2017-08-15

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

Autonomous mobile robotic system for supporting counterterrorist and surveillance operations

NASA Astrophysics Data System (ADS)

Adamczyk, Marek; Bulandra, Kazimierz; Moczulski, Wojciech

2017-10-01

Contemporary research on mobile robots concerns applications to counterterrorist and surveillance operations. The goal is to develop systems that are capable of supporting the police and special forces by carrying out such operations. The paper deals with a dedicated robotic system for surveillance of large objects such as airports, factories, military bases, and many others. The goal is to trace unauthorised persons who try to enter to the guarded area, document the intrusion and report it to the surveillance centre, and then warn the intruder by sound messages and eventually subdue him/her by stunning through acoustic effect of great power. The system consists of several parts. An armoured four-wheeled robot assures required mobility of the system. The robot is equipped with a set of sensors including 3D mapping system, IR and video cameras, and microphones. It communicates with the central control station (CCS) by means of a wideband wireless encrypted system. A control system of the robot can operate autonomously, and under remote control. In the autonomous mode the robot follows the path planned by the CCS. Once an intruder has been detected, the robot can adopt its plan to allow tracking him/her. Furthermore, special procedures of treatment of the intruder are applied including warning about the breach of the border of the protected area, and incapacitation of an appropriately selected very loud sound until a patrol of guards arrives. Once getting stuck the robot can contact the operator who can remotely solve the problem the robot is faced with.

Goals and strategies in the global control design of the OAJ Robotic Observatory

NASA Astrophysics Data System (ADS)

Yanes-Díaz, A.; Rueda-Teruel, S.; Antón, J. L.; Rueda-Teruel, F.; Moles, M.; Cenarro, A. J.; Marín-Franch, A.; Ederoclite, A.; Gruel, N.; Varela, J.; Cristóbal-Hornillos, D.; Chueca, S.; Díaz-Martín, M. C.; Guillén, L.; Luis-Simoes, R.; Maícas, N.; Lamadrid, J. L.; López-Sainz, A.; Hernández-Fuertes, J.; Valdivielso, L.; Mendes de Oliveira, C.; Penteado, P.; Schoenell, W.; Kanaan, A.

2012-09-01

There are many ways to solve the challenging problem of making a high performance robotic observatory from scratch. The Observatorio Astrofísico de Javalambre (OAJ) is a new astronomical facility located in the Sierra de Javalambre (Teruel, Spain) whose primary role will be to conduct all-sky astronomical surveys. The OAJ control system has been designed from a global point of view including astronomical subsystems as well as infrastructures and other facilities. Three main factors have been considered in the design of a global control system for the robotic OAJ: quality, reliability and efficiency. We propose CIA (Control Integrated Architecture) design and OEE (Overall Equipment Effectiveness) as a key performance indicator in order to improve operation processes, minimizing resources and obtaining high cost reduction whilst maintaining quality requirements. The OAJ subsystems considered for the control integrated architecture are the following: two wide-field telescopes and their instrumentation, active optics subsystems, facilities for sky quality monitoring (seeing, extinction, sky background, sky brightness, cloud distribution, meteorological station), domes and several infrastructure facilities such as water supply, glycol water, water treatment plant, air conditioning, compressed air, LN2 plant, illumination, surveillance, access control, fire suppression, electrical generators, electrical distribution, electrical consumption, communication network, Uninterruptible Power Supply and two main control rooms, one at the OAJ and the other remotely located in Teruel, 40km from the observatory, connected through a microwave radio-link. This paper presents the OAJ strategy in control design to achieve maximum quality efficiency for the observatory processes and operations, giving practical examples of our approach.

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.

Hand gesture guided robot-assisted surgery based on a direct augmented reality interface.

PubMed

Wen, Rong; Tay, Wei-Liang; Nguyen, Binh P; Chng, Chin-Boon; Chui, Chee-Kong

2014-09-01

Radiofrequency (RF) ablation is a good alternative to hepatic resection for treatment of liver tumors. However, accurate needle insertion requires precise hand-eye coordination and is also affected by the difficulty of RF needle navigation. This paper proposes a cooperative surgical robot system, guided by hand gestures and supported by an augmented reality (AR)-based surgical field, for robot-assisted percutaneous treatment. It establishes a robot-assisted natural AR guidance mechanism that incorporates the advantages of the following three aspects: AR visual guidance information, surgeon's experiences and accuracy of robotic surgery. A projector-based AR environment is directly overlaid on a patient to display preoperative and intraoperative information, while a mobile surgical robot system implements specified RF needle insertion plans. Natural hand gestures are used as an intuitive and robust method to interact with both the AR system and surgical robot. The proposed system was evaluated on a mannequin model. Experimental results demonstrated that hand gesture guidance was able to effectively guide the surgical robot, and the robot-assisted implementation was found to improve the accuracy of needle insertion. This human-robot cooperative mechanism is a promising approach for precise transcutaneous ablation therapy. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Direct manipulation of tool-like masters for controlling a master-slave surgical robotic system.

PubMed

Zhang, Linan; Zhou, Ningxin; Wang, Shuxin

2014-12-01

Robotic-assisted minimally invasive surgery (MIS) can benefit both patients and surgeons. However, the learning curve for robotically assisted procedures can be long and the total system costs are high. Therefore, there is considerable interest in new methods and lower cost controllers for a surgical robotic system. In this study, a knife-master and a forceps-master, shaped similarly to a surgical knife and forceps, were developed as input devices for control of a master-slave surgical robotic system. In addition, a safety strategy was developed to eliminate the master-slave orientation difference and stabilize the surgical system. Master-slave tracking experiments and a ring-and-bar experiment showed that the safety tracking strategy could ensure that the robot system moved stably without any tremor in the tracking motion. Subjects could manipulate the surgical tool to achieve the master-slave operation with less training compared to a mechanical master. Direct manipulation of the small, light and low-cost surgical tools to control a robotic system is a possible operating mode. Surgeons can operate the robotic system in their own familiar way, without long training. The main potential safety issues can be solved by the proposed safety control strategy. Copyright © 2013 John Wiley & Sons, Ltd.

Concurrent Path Planning with One or More Humanoid Robots

NASA Technical Reports Server (NTRS)

Reiland, Matthew J. (Inventor); Sanders, Adam M. (Inventor)

2014-01-01

A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.

Investigating the Usefulness of Soldier Aids for Autonomous Unmanned Ground Vehicles, Part 2

DTIC Science & Technology

2015-03-01

distribution is unlimited. 13. SUPPLEMENTARY NOTES DCS Corporation, Alexandria, VA 14. ABSTRACT In the past, robot operation has been a high-cognitive...increase performance and reduce perceived workload. The aids were overlays displaying what an autonomous robot perceived in the environment and the...subsequent course of action planned by the robot . Eight active-duty, US Army Soldiers completed 16 scenario missions using an operator interface

Development and Validation of a Low Cost, Flexible, Open Source Robot for Use as a Teaching and Research Tool across the Educational Spectrum

ERIC Educational Resources Information Center

Howell, Abraham L.

2012-01-01

In the high tech factories of today robots can be used to perform various tasks that span a wide spectrum that encompasses the act of performing high-speed, automated assembly of cell phones, laptops and other electronic devices to the compounding, filling, packaging and distribution of life-saving pharmaceuticals. As robot usage continues to…

VEVI: A Virtual Reality Tool For Robotic Planetary Explorations

NASA Technical Reports Server (NTRS)

Piguet, Laurent; Fong, Terry; Hine, Butler; Hontalas, Phil; Nygren, Erik

1994-01-01

The Virtual Environment Vehicle Interface (VEVI), developed by the NASA Ames Research Center's Intelligent Mechanisms Group, is a modular operator interface for direct teleoperation and supervisory control of robotic vehicles. Virtual environments enable the efficient display and visualization of complex data. This characteristic allows operators to perceive and control complex systems in a natural fashion, utilizing the highly-evolved human sensory system. VEVI utilizes real-time, interactive, 3D graphics and position / orientation sensors to produce a range of interface modalities from the flat panel (windowed or stereoscopic) screen displays to head mounted/head-tracking stereo displays. The interface provides generic video control capability and has been used to control wheeled, legged, air bearing, and underwater vehicles in a variety of different environments. VEVI was designed and implemented to be modular, distributed and easily operated through long-distance communication links, using a communication paradigm called SYNERGY.

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.

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

PubMed

Francis, Paula

2006-03-01

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

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.

Intelligent manipulation technique for multi-branch robotic systems

NASA Technical Reports Server (NTRS)

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

1990-01-01

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

Robotic hair restoration.

PubMed

Rose, Paul T; Nusbaum, Bernard

2014-01-01

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

Reliability of robotic system during general surgical procedures in a university hospital.

PubMed

Buchs, Nicolas C; Pugin, François; Volonté, Francesco; Morel, Philippe

2014-01-01

Data concerning the reliability of robotic systems are scarce, especially for general surgery. The aim of this study was to assess the incidence and consequences of robotic malfunction in a teaching institution. From January 2006 to September 2012, 526 consecutive robotic general surgical procedures were performed. All failures were prospectively recorded in a computerized database and reviewed retrospectively. Robotic malfunctions occurred in 18 cases (3.4%). These dysfunctions concerned the robotic instruments in 9 cases, the robotic arms in 4 cases, the surgical console in 3 cases, and the optical system in 2 cases. Two malfunctions were considered critical, and 1 led to a laparoscopic conversion (conversion rate due to malfunction, .2%). Overall, there were more dysfunctions at the beginning of the study period (2006 to 2010) than more recently (2011 to 2012) (4.2% vs 2.6%, P = .35). The robotic system malfunction rate was low. Most malfunctions could be resolved during surgery, allowing the procedures to be completed safely. With increased experience, the system malfunction rate seems to be reduced. Copyright © 2014 Elsevier Inc. All rights reserved.

Evaluation of the power consumption of a high-speed parallel robot

NASA Astrophysics Data System (ADS)

Han, Gang; Xie, Fugui; Liu, Xin-Jun

2018-06-01

An inverse dynamic model of a high-speed parallel robot is established based on the virtual work principle. With this dynamic model, a new evaluation method is proposed to measure the power consumption of the robot during pick-and-place tasks. The power vector is extended in this method and used to represent the collinear velocity and acceleration of the moving platform. Afterward, several dynamic performance indices, which are homogenous and possess obvious physical meanings, are proposed. These indices can evaluate the power input and output transmissibility of the robot in a workspace. The distributions of the power input and output transmissibility of the high-speed parallel robot are derived with these indices and clearly illustrated in atlases. Furtherly, a low-power-consumption workspace is selected for the robot.

Robotic intelligence kernel

DOEpatents

Bruemmer, David J [Idaho Falls, ID

2009-11-17

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

Human-Robot Interaction in High Vulnerability Domains

NASA Technical Reports Server (NTRS)

Gore, Brian F.

2016-01-01

Future NASA missions will require successful integration of the human with highly complex systems. Highly complex systems are likely to involve humans, automation, and some level of robotic assistance. The complex environments will require successful integration of the human with automation, with robots, and with human-automation-robot teams to accomplish mission critical goals. Many challenges exist for the human performing in these types of operational environments with these kinds of systems. Systems must be designed to optimally integrate various levels of inputs and outputs based on the roles and responsibilities of the human, the automation, and the robots; from direct manual control, shared human-robotic control, or no active human control (i.e. human supervisory control). It is assumed that the human will remain involved at some level. Technologies that vary based on contextual demands and on operator characteristics (workload, situation awareness) will be needed when the human integrates into these systems. Predictive models that estimate the impact of the technologies on the system performance and the on the human operator are also needed to meet the challenges associated with such future complex human-automation-robot systems in extreme environments.

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.

Emergent of Burden Sharing of Robots with Emotion Model

NASA Astrophysics Data System (ADS)

Kusano, Takuya; Nozawa, Akio; Ide, Hideto

Cooperated multi robots system has much dominance in comparison with single robot system. Multi robots system is able to adapt to various circumstances and has a flexibility for variation of tasks. Robots are necessary that build a cooperative relations and acts as an organization to attain a purpose in multi robots system. Then, group behavior of insects which doesn't have advanced ability is observed. For example, ants called a sociality insect emerge systematic activities by the interaction with using a very simple way. Though ants make a communication with chemical matter, a human plans a communication by words and gestures. In this paper, we paid attention to the interaction based on psychological viewpoint. And a human's emotion model was used for the parameter which became a base of the motion planning of robots. These robots were made to do both-way action in test field with obstacle. As a result, a burden sharing like guide or carrier was seen even though those had a simple setup.

A Behavior-Based Strategy for Single and Multi-Robot Autonomous Exploration

PubMed Central

Cepeda, Jesus S.; Chaimowicz, Luiz; Soto, Rogelio; Gordillo, José L.; Alanís-Reyes, Edén A.; Carrillo-Arce, Luis C.

2012-01-01

In this paper, we consider the problem of autonomous exploration of unknown environments with single and multiple robots. This is a challenging task, with several potential applications. We propose a simple yet effective approach that combines a behavior-based navigation with an efficient data structure to store previously visited regions. This allows robots to safely navigate, disperse and efficiently explore the environment. A series of experiments performed using a realistic robotic simulator and a real testbed scenario demonstrate that our technique effectively distributes the robots over the environment and allows them to quickly accomplish their mission in large open spaces, narrow cluttered environments, dead-end corridors, as well as rooms with minimum exits.

Design and Evaluation of a DIY Construction System for Educational Robot Kits

ERIC Educational Resources Information Center

Vandevelde, Cesar; Wyffels, Francis; Ciocci, Maria-Cristina; Vanderborght, Bram; Saldien, Jelle

2016-01-01

Building a robot from scratch in an educational context can be a challenging prospect. While a multitude of projects exist that simplify the electronics and software aspects of a robot, the same cannot be said for construction systems for robotics. In this paper, we present our efforts to create a low-cost do-it-yourself construction system for…

A bio-inspired electrocommunication system for small underwater robots.

PubMed

Wang, Wei; Liu, Jindong; Xie, Guangming; Wen, Li; Zhang, Jianwei

2017-03-29

Weakly electric fishes (Gymnotid and Mormyrid) use an electric field to communicate efficiently (termed electrocommunication) in the turbid waters of confined spaces where other communication modalities fail. Inspired by this biological phenomenon, we design an artificial electrocommunication system for small underwater robots and explore the capabilities of such an underwater robotic communication system. An analytical model for electrocommunication is derived to predict the effect of the key parameters such as electrode distance and emitter current of the system on the communication performance. According to this model, a low-dissipation, and small-sized electrocommunication system is proposed and integrated into a small robotic fish. We characterize the communication performance of the robot in still water, flowing water, water with obstacles and natural water conditions. The results show that underwater robots are able to communicate electrically at a speed of around 1 k baud within about 3 m with a low power consumption (less than 1 W). In addition, we demonstrate that two leader-follower robots successfully achieve motion synchronization through electrocommunication in the three-dimensional underwater space, indicating that this bio-inspired electrocommunication system is a promising setup for the interaction of small underwater robots.

Survey of Command Execution Systems for NASA Spacecraft and Robots

NASA Technical Reports Server (NTRS)

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

2005-01-01

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

Intelligent control and cooperation for mobile robots

NASA Astrophysics Data System (ADS)

Stingu, Petru Emanuel

The topic discussed in this work addresses the current research being conducted at the Automation & Robotics Research Institute in the areas of UAV quadrotor control and heterogenous multi-vehicle cooperation. Autonomy can be successfully achieved by a robot under the following conditions: the robot has to be able to acquire knowledge about the environment and itself, and it also has to be able to reason under uncertainty. The control system must react quickly to immediate challenges, but also has to slowly adapt and improve based on accumulated knowledge. The major contribution of this work is the transfer of the ADP algorithms from the purely theoretical environment to the complex real-world robotic platforms that work in real-time and in uncontrolled environments. Many solutions are adopted from those present in nature because they have been proven to be close to optimal in very different settings. For the control of a single platform, reinforcement learning algorithms are used to design suboptimal controllers for a class of complex systems that can be conceptually split in local loops with simpler dynamics and relatively weak coupling to the rest of the system. Optimality is enforced by having a global critic but the curse of dimensionality is avoided by using local actors and intelligent pre-processing of the information used for learning the optimal controllers. The system model is used for constructing the structure of the control system, but on top of that the adaptive neural networks that form the actors use the knowledge acquired during normal operation to get closer to optimal control. In real-world experiments, efficient learning is a strong requirement for success. This is accomplished by using an approximation of the system model to focus the learning for equivalent configurations of the state space. Due to the availability of only local data for training, neural networks with local activation functions are implemented. For the control of a formation of robots subjected to dynamic communication constraints, game theory is used in addition to reinforcement learning. The nodes maintain an extra set of state variables about all the other nodes that they can communicate to. The more important are trust and predictability. They are a way to incorporate knowledge acquired in the past into the control decisions taken by each node. The trust variable provides a simple mechanism for the implementation of reinforcement learning. For robot formations, potential field based control algorithms are used to generate the control commands. The formation structure changes due to the environment and due to the decisions of the nodes. It is a problem of building a graph and coalitions by having distributed decisions but still reaching an optimal behavior globally.

Intelligent, self-contained robotic hand

DOEpatents

Krutik, Vitaliy; Doo, Burt; Townsend, William T.; Hauptman, Traveler; Crowell, Adam; Zenowich, Brian; Lawson, John

2007-01-30

A robotic device has a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network. A network operating controller coordinates the operation of the network, including power distribution. At least one, but more typically two to five, wires interconnect all the controllers through one or more joints. Motor sensors and external world sensors monitor operating parameters of the robotic hand. The electrical signal output of the sensors can be input anywhere on the distributed control network. V-grooves on the robotic hand locate objects precisely and assist in gripping. The hand is sealed, immersible and has electrical connections through the rotary joints for anodizing in a single dunk without masking. In various forms, this intelligent, self-contained, dexterous hand, or combinations of such hands, can perform a wide variety of object gripping and manipulating tasks, as well as locomotion and combinations of locomotion and gripping.

Process for anodizing a robotic device

DOEpatents

Townsend, William T [Weston, MA

2011-11-08

A robotic device has a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network. A network operating controller coordinates the operation of the network, including power distribution. At least one, but more typically two to five, wires interconnect all the controllers through one or more joints. Motor sensors and external world sensors monitor operating parameters of the robotic hand. The electrical signal output of the sensors can be input anywhere on the distributed control network. V-grooves on the robotic hand locate objects precisely and assist in gripping. The hand is sealed, immersible and has electrical connections through the rotary joints for anodizing in a single dunk without masking. In various forms, this intelligent, self-contained, dexterous hand, or combinations of such hands, can perform a wide variety of object gripping and manipulating tasks, as well as locomotion and combinations of locomotion and gripping.

Miniaturized soft bio-hybrid robotics: a step forward into healthcare applications.

PubMed

Patino, T; Mestre, R; Sánchez, S

2016-10-07

Soft robotics is an emerging discipline that employs soft flexible materials such as fluids, gels and elastomers in order to enhance the use of robotics in healthcare applications. Compared to their rigid counterparts, soft robotic systems have flexible and rheological properties that are closely related to biological systems, thus allowing the development of adaptive and flexible interactions with complex dynamic environments. With new technologies arising in bioengineering, the integration of living cells into soft robotic systems offers the possibility of accomplishing multiple complex functions such as sensing and actuating upon external stimuli. These emerging bio-hybrid systems are showing promising outcomes and opening up new avenues in the field of soft robotics for applications in healthcare and other fields.

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.

Barriers to wider adoption of mobile telerobotic surgery: engineering, clinical and business challenges.

PubMed

Moses, Gerald R; Doarn, Charles R

2008-01-01

A portable robotic telesurgery network could remove the geographic disparity of surgical care and provide expert surgical support for first responders to traumatic injury. This is particularly relevant to battlefield medicine where surgical intervention is currently not available to the most perilous fighting circumstances. Similar utility applies to the peacetime healthcare mission. The authors identify the potential advantage to healthcare from a mobile robotic telesurgery system and specify barriers to the employability and acceptance of such a system. The proposed research roadmap will describe a portable telesurgery system that represe government/industrial recognition and reward for excellent care provided by quality surgeons. The provision of expert surgical care improves the outcomes of surgical intervention by reducing errors. For example, during the common procedure of laparoscopic cholecystectomy, distributed telesurgical care could normalize surgical performance and limit major variance of surgeon outliers; such as reducing common bile duct injury to the very low rate seen with operation by proficient surgeons.

The middleware architecture supports heterogeneous network systems for module-based personal robot system

NASA Astrophysics Data System (ADS)

Choo, Seongho; Li, Vitaly; Choi, Dong Hee; Jung, Gi Deck; Park, Hong Seong; Ryuh, Youngsun

2005-12-01

On developing the personal robot system presently, the internal architecture is every module those occupy separated functions are connected through heterogeneous network system. This module-based architecture supports specialization and division of labor at not only designing but also implementation, as an effect of this architecture, it can reduce developing times and costs for modules. Furthermore, because every module is connected among other modules through network systems, we can get easy integrations and synergy effect to apply advanced mutual functions by co-working some modules. In this architecture, one of the most important technologies is the network middleware that takes charge communications among each modules connected through heterogeneous networks systems. The network middleware acts as the human nerve system inside of personal robot system; it relays, transmits, and translates information appropriately between modules that are similar to human organizations. The network middleware supports various hardware platform, heterogeneous network systems (Ethernet, Wireless LAN, USB, IEEE 1394, CAN, CDMA-SMS, RS-232C). This paper discussed some mechanisms about our network middleware to intercommunication and routing among modules, methods for real-time data communication and fault-tolerant network service. There have designed and implemented a layered network middleware scheme, distributed routing management, network monitoring/notification technology on heterogeneous networks for these goals. The main theme is how to make routing information in our network middleware. Additionally, with this routing information table, we appended some features. Now we are designing, making a new version network middleware (we call 'OO M/W') that can support object-oriented operation, also are updating program sources itself for object-oriented architecture. It is lighter, faster, and can support more operation systems and heterogeneous network systems, but other general purposed middlewares like CORBA, UPnP, etc. can support only one network protocol or operating system.

Research on the attitude detection technology of the tetrahedron robot

NASA Astrophysics Data System (ADS)

Gong, Hao; Chen, Keshan; Ren, Wenqiang; Cai, Xin

2017-10-01

The traditional attitude detection technology can't tackle the problem of attitude detection of the polyhedral robot. Thus we propose a novel algorithm of multi-sensor data fusion which is based on Kalman filter. In the algorithm a tetrahedron robot is investigated. We devise an attitude detection system for the polyhedral robot and conduct the verification of data fusion algorithm. It turns out that the minimal attitude detection system we devise could capture attitudes of the tetrahedral robot in different working conditions. Thus the Kinematics model we establish for the tetrahedron robot is correct and the feasibility of the attitude detection system is proven.

Robotic Surgery for Lung Cancer

PubMed Central

Ambrogi, Marcello C; Fanucchi, Olivia; Melfi, Franco; Mussi, Alfredo

2014-01-01

During the last decade the role of minimally invasive surgery has been increased, especially with the introduction of the robotic system in the surgical field. The most important advantages of robotic system are represented by the wristed instrumentation and the depth perception, which can overcome the limitation of traditional thoracoscopy. However, some data still exist in literature with regard to robotic lobectomy. The majority of papers are focused on its safety and feasibility, but further studies with long follow-ups are necessary in order to assess the oncologic outcomes. We reviewed the literature on robotic lobectomy, with the main aim to better define the role of robotic system in the clinical practice. PMID:25207216

Robot and robot system

NASA Technical Reports Server (NTRS)

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

2011-01-01

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

An Overview of Power Capability Requirements for Exploration Missions

NASA Technical Reports Server (NTRS)

Davis, Jose M.; Cataldo, Robert L.; Soeder, James F.; Manzo, Michelle A.; Hakimzadeh, Roshanak

2005-01-01

Advanced power is one of the key capabilities that will be needed to achieve NASA's missions of exploration and scientific advancement. Significant gaps exist in advanced power capabilities that are on the critical path to enabling human exploration beyond Earth orbit and advanced robotic exploration of the solar system. Focused studies and investment are needed to answer key development issues for all candidate technologies before down-selection. The viability of candidate power technology alternatives will be a major factor in determining what exploration mission architectures are possible. Achieving the capabilities needed to enable the CEV, Moon, and Mars missions is dependent on adequate funding. Focused investment in advanced power technologies for human and robotic exploration missions is imperative now to reduce risk and to make informed decisions on potential exploration mission decisions beginning in 2008. This investment would begin the long lead-time needed to develop capabilities for human exploration missions in the 2015 to 2030 timeframe. This paper identifies some of the key technologies that will be needed to fill these power capability gaps. Recommendations are offered to address capability gaps in advanced power for Crew Exploration Vehicle (CEV) power, surface nuclear power systems, surface mobile power systems, high efficiency power systems, and space transportation power systems. These capabilities fill gaps that are on the critical path to enabling robotic and human exploration missions. The recommendations address the following critical technology areas: Energy Conversion, Energy Storage, and Power Management and Distribution.

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

NASA Technical Reports Server (NTRS)

Petrosky, Lyman J.

1992-01-01

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

Robotics in Arthroplasty: A Comprehensive Review.

PubMed

Jacofsky, David J; Allen, Mark

2016-10-01

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

Advanced Robotics for Air Force Operations

DTIC Science & Technology

1989-06-01

evaluated current and potential uses of advanced robotics to support Air Force systems, (2) recommended the most effective aplications of advanced robotics...manpower. Such a robot system would The boom would not only transfer fuel, be considerably more mobile and effi- 10 ADVANCED ROBOTICS FOR AIR FORCE...increased manpower resources in war tive clothing reduce vision, hearing, and make this an attractive potential appli- mobility , which further reduce

DESIGN, CONSTRUCTION AND FIELD DEMONSTRATION OF EXPLORER: A LONG-RANGE UNTETHERED LIVE GASLINE INSPECTION ROBOT SYSTEM

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

Dr. George C. Vradis; Dr. Hagen Schempf

2003-04-01

This program is undertaken in order to construct and field-demonstrate EXPLORER, a modular, remotely controllable, self-powered, untethered robot system for the inspection of live gas distribution 150 mm (6-inch) to 200 mm (8-inch) diameter mains. The modular design of the system allows it to accommodate various components intended to accomplish different inspection, repair, sample retrieval, and other in-pipe tasks. The prototype system being built under this project will include all the basic modules needed, i.e. the locomotor, power storage, wireless communication, and camera. The camera, a solid-state fisheye-type, is used to transmit real-time video to the operator that allows formore » the live inspection of gas distribution pipes. This module, which incorporates technology developed by NASA, has already been designed, constructed and tested, having exceeded performance expectations. The full prototype system will be comprehensively tested in the laboratory followed by two field demonstrations in real applications in NGA member utilities' pipes. The system under development significantly advances the state of the art in inspection systems for gas distribution mains, which presently consist of tethered systems of limited range (about 500 ft form the point of launch) and limited inspection views. Also current inspection systems have no ability to incorporate additional modules to expand their functionality. The present report summarizes the accomplishments of the project during its third six-month period. The project has in general achieved its goals for this period as outlined in the report. The fabrication of the prototype is complete and is now been tested in the laboratory mainly focusing on the last system integration issues and on software development for the turning and launching routines. Testing of the prototype in the lab is expected to be completed by Summer 2003, to be followed by two field demonstrations in early Fall 2003.« less

Robotic gaming prototype for upper limb exercise: Effects of age and embodiment on user preferences and movement.

PubMed

Eizicovits, Danny; Edan, Yael; Tabak, Iris; Levy-Tzedek, Shelly

2018-01-01

Effective human-robot interactions in rehabilitation necessitates an understanding of how these should be tailored to the needs of the human. We report on a robotic system developed as a partner on a 3-D everyday task, using a gamified approach. To: (1) design and test a prototype system, to be ultimately used for upper-limb rehabilitation; (2) evaluate how age affects the response to such a robotic system; and (3) identify whether the robot's physical embodiment is an important aspect in motivating users to complete a set of repetitive tasks. 62 healthy participants, young (<30 yo) and old (>60 yo), played a 3D tic-tac-toe game against an embodied (a robotic arm) and a non-embodied (a computer-controlled lighting system) partner. To win, participants had to place three cups in sequence on a physical 3D grid. Cup picking-and-placing was chosen as a functional task that is often practiced in post-stroke rehabilitation. Movement of the participants was recorded using a Kinect camera. The timing of the participants' movement was primed by the response time of the system: participants moved slower when playing with the slower embodied system (p = 0.006). The majority of participants preferred the robot over the computer-controlled system. Slower response time of the robot compared to the computer-controlled one only affected the young group's motivation to continue playing. We demonstrated the feasibility of the system to encourage the performance of repetitive 3D functional movements, and track these movements. Young and old participants preferred to interact with the robot, compared with the non-embodied system. We contribute to the growing knowledge concerning personalized human-robot interactions by (1) demonstrating the priming of the human movement by the robotic movement - an important design feature, and (2) identifying response-speed as a design variable, the importance of which depends on the age of the user.

Testbed for remote telepresence research

NASA Astrophysics Data System (ADS)

Adnan, Sarmad; Cheatham, John B., Jr.

1992-11-01

Teleoperated robots offer solutions to problems associated with operations in remote and unknown environments, such as space. Teleoperated robots can perform tasks related to inspection, maintenance, and retrieval. A video camera can be used to provide some assistance in teleoperations, but for fine manipulation and control, a telepresence system that gives the operator a sense of actually being at the remote location is more desirable. A telepresence system comprised of a head-tracking stereo camera system, a kinematically redundant arm, and an omnidirectional mobile robot has been developed at the mechanical engineering department at Rice University. This paper describes the design and implementation of this system, its control hardware, and software. The mobile omnidirectional robot has three independent degrees of freedom that permit independent control of translation and rotation, thereby simulating a free flying robot in a plane. The kinematically redundant robot arm has eight degrees of freedom that assist in obstacle and singularity avoidance. The on-board control computers permit control of the robot from the dual hand controllers via a radio modem system. A head-mounted display system provides the user with a stereo view from a pair of cameras attached to the mobile robotics system. The head tracking camera system moves stereo cameras mounted on a three degree of freedom platform to coordinate with the operator's head movements. This telepresence system provides a framework for research in remote telepresence, and teleoperations for space.

Intelligent control and adaptive systems; Proceedings of the Meeting, Philadelphia, PA, Nov. 7, 8, 1989

NASA Technical Reports Server (NTRS)

Rodriguez, Guillermo (Editor)

1990-01-01

Various papers on intelligent control and adaptive systems are presented. Individual topics addressed include: control architecture for a Mars walking vehicle, representation for error detection and recovery in robot task plans, real-time operating system for robots, execution monitoring of a mobile robot system, statistical mechanics models for motion and force planning, global kinematics for manipulator planning and control, exploration of unknown mechanical assemblies through manipulation, low-level representations for robot vision, harmonic functions for robot path construction, simulation of dual behavior of an autonomous system. Also discussed are: control framework for hand-arm coordination, neural network approach to multivehicle navigation, electronic neural networks for global optimization, neural network for L1 norm linear regression, planning for assembly with robot hands, neural networks in dynamical systems, control design with iterative learning, improved fuzzy process control of spacecraft autonomous rendezvous using a genetic algorithm.

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

Robotic surgical systems in maxillofacial surgery: a review

PubMed Central

Liu, Hang-Hang; Li, Long-Jiang; Shi, Bin; Xu, Chun-Wei; Luo, En

2017-01-01

Throughout the twenty-first century, robotic surgery has been used in multiple oral surgical procedures for the treatment of head and neck tumors and non-malignant diseases. With the assistance of robotic surgical systems, maxillofacial surgery is performed with less blood loss, fewer complications, shorter hospitalization and better cosmetic results than standard open surgery. However, the application of robotic surgery techniques to the treatment of head and neck diseases remains in an experimental stage, and the long-lasting effects on surgical morbidity, oncologic control and quality of life are yet to be established. More well-designed studies are needed before this approach can be recommended as a standard treatment paradigm. Nonetheless, robotic surgical systems will inevitably be extended to maxillofacial surgery. This article reviews the current clinical applications of robotic surgery in the head and neck region and highlights the benefits and limitations of current robotic surgical systems. PMID:28660906

Fast instantaneous center of rotation estimation algorithm for a skied-steered robot

NASA Astrophysics Data System (ADS)

Kniaz, V. V.

2015-05-01

Skid-steered robots are widely used as mobile platforms for machine vision systems. However it is hard to achieve a stable motion of such robots along desired trajectory due to an unpredictable wheel slip. It is possible to compensate the unpredictable wheel slip and stabilize the motion of the robot using visual odometry. This paper presents a fast optical flow based algorithm for estimation of instantaneous center of rotation, angular and longitudinal speed of the robot. The proposed algorithm is based on Horn-Schunck variational optical flow estimation method. The instantaneous center of rotation and motion of the robot is estimated by back projection of optical flow field to the ground surface. The developed algorithm was tested using skid-steered mobile robot. The robot is based on a mobile platform that includes two pairs of differential driven motors and a motor controller. Monocular visual odometry system consisting of a singleboard computer and a low cost webcam is mounted on the mobile platform. A state-space model of the robot was derived using standard black-box system identification. The input (commands) and the output (motion) were recorded using a dedicated external motion capture system. The obtained model was used to control the robot without visual odometry data. The paper is concluded with the algorithm quality estimation by comparison of the trajectories estimated by the algorithm with the data from motion capture system.

A telepresence robot system realized by embedded object concept

NASA Astrophysics Data System (ADS)

Vallius, Tero; Röning, Juha

2006-10-01

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

Enhancing the effectiveness of human-robot teaming with a closed-loop system.

PubMed

Teo, Grace; Reinerman-Jones, Lauren; Matthews, Gerald; Szalma, James; Jentsch, Florian; Hancock, Peter

2018-02-01

With technological developments in robotics and their increasing deployment, human-robot teams are set to be a mainstay in the future. To develop robots that possess teaming capabilities, such as being able to communicate implicitly, the present study implemented a closed-loop system. This system enabled the robot to provide adaptive aid without the need for explicit commands from the human teammate, through the use of multiple physiological workload measures. Such measures of workload vary in sensitivity and there is large inter-individual variability in physiological responses to imposed taskload. Workload models enacted via closed-loop system should accommodate such individual variability. The present research investigated the effects of the adaptive robot aid vs. imposed aid on performance and workload. Results showed that adaptive robot aid driven by an individualized workload model for physiological response resulted in greater improvements in performance compared to aid that was simply imposed by the system. Copyright © 2017 Elsevier Ltd. All rights reserved.

Robotic system for the servicing of the orbiter thermal protection system

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

The real-time learning mechanism of the Scientific Research Associates Advanced Robotic System (SRAARS)

NASA Technical Reports Server (NTRS)

Chen, Alexander Y.

1990-01-01

Scientific research associates advanced robotic system (SRAARS) is an intelligent robotic system which has autonomous learning capability in geometric reasoning. The system is equipped with one global intelligence center (GIC) and eight local intelligence centers (LICs). It controls mainly sixteen links with fourteen active joints, which constitute two articulated arms, an extensible lower body, a vision system with two CCD cameras and a mobile base. The on-board knowledge-based system supports the learning controller with model representations of both the robot and the working environment. By consecutive verifying and planning procedures, hypothesis-and-test routines and learning-by-analogy paradigm, the system would autonomously build up its own understanding of the relationship between itself (i.e., the robot) and the focused environment for the purposes of collision avoidance, motion analysis and object manipulation. The intelligence of SRAARS presents a valuable technical advantage to implement robotic systems for space exploration and space station operations.

Mobile robots IV; Proceedings of the Meeting, Philadelphia, PA, Nov. 6, 7, 1989

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

Wolfe, W.J.; Chun, W.H.

1990-01-01

The present conference on mobile robot systems discusses high-speed machine perception based on passive sensing, wide-angle optical ranging, three-dimensional path planning for flying/crawling robots, navigation of autonomous mobile intelligence in an unstructured natural environment, mechanical models for the locomotion of a four-articulated-track robot, a rule-based command language for a semiautonomous Mars rover, and a computer model of the structured light vision system for a Mars rover. Also discussed are optical flow and three-dimensional information for navigation, feature-based reasoning trail detection, a symbolic neural-net production system for obstacle avoidance and navigation, intelligent path planning for robot navigation in an unknown environment,more » behaviors from a hierarchical control system, stereoscopic TV systems, the REACT language for autonomous robots, and a man-amplifying exoskeleton.« less

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

NASA Technical Reports Server (NTRS)

Slack, Marc G.

1990-01-01

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

Direct target NOTES: prospective applications for next generation robotic platforms.

PubMed

Atallah, S; Hodges, A; Larach, S W

2018-05-01

A new era in surgical robotics has centered on alternative access to anatomic targets and next generation designs include flexible, single-port systems which follow circuitous rather than straight pathways. Such systems maintain a small footprint and could be utilized for specialized operations based on direct organ target natural orifice transluminal endoscopic surgery (NOTES), of which transanal total mesorectal excision (taTME) is an important derivative. During two sessions, four direct target NOTES operations were conducted on a cadaveric model using a flexible robotic system to demonstrate proof-of-concept of the application of a next generation robotic system to specific types of NOTES operations, all of which required removal of a direct target organ through natural orifice access. These four operations were (a) robotic taTME, (b) robotic transvaginal hysterectomy in conjunction with (c) robotic transvaginal salpingo-oophorectomy, and in an ex vivo model, (d) trans-cecal appendectomy. Feasibility was demonstrated in all cases using the Flex ® Robotic System with Colorectal Drive. During taTME, the platform excursion was 17 cm along a non-linear path; operative time was 57 min for the transanal portion of the dissection. Robotic transvaginal hysterectomy was successfully completed in 78 min with transvaginal extraction of the uterus, although laparoscopic assistance was required. Robotic transvaginal unilateral salpingo-oophorectomy with transvaginal extraction of the ovary and fallopian tube was performed without laparoscopic assistance in 13.5 min. In an ex vivo model, a robotic trans-cecal appendectomy was also successfully performed for the purpose of demonstrating proof-of-concept only; this was completed in 24 min. A flexible robotic system has the potential to access anatomy along circuitous paths, making it a suitable platform for direct target NOTES. The conceptual operations posed could be considered suitable for next generation robotics once the technology is optimized, and after further preclinical validation.

Power System Concepts for the Lunar Outpost: A Review of the Power Generation, Energy Storage, Power Management and Distribution (PMAD) System Requirements and Potential Technologies for Development of the Lunar Outpost

NASA Technical Reports Server (NTRS)

Khan, Z.; Vranis, A.; Zavoico, A.; Freid, S.; Manners, B.

2006-01-01

This paper will review potential power system concepts for the development of the lunar outpost including power generation, energy storage, and power management and distribution (PMAD). In particular, the requirements of the initial robotic missions will be discussed and the technologies considered will include cryogenics and regenerative fuel cells (RFC), AC and DC transmission line technology, high voltage and low voltage power transmission, conductor materials of construction and power beaming concepts for transmitting power to difficult to access locations such as at the bottom of craters. Operating conditions, component characteristics, reliability, maintainability, constructability, system safety, technology gaps/risk and adaptability for future lunar missions will be discussed for the technologies considered.

Airborne Chemical Sensing with Mobile Robots

PubMed Central

Lilienthal, Achim J.; Loutfi, Amy; Duckett, Tom

2006-01-01

Airborne chemical sensing with mobile robots has been an active research area since the beginning of the 1990s. This article presents a review of research work in this field, including gas distribution mapping, trail guidance, and the different subtasks of gas source localisation. Due to the difficulty of modelling gas distribution in a real world environment with currently available simulation techniques, we focus largely on experimental work and do not consider publications that are purely based on simulations.