Recent testing of a micro autonomous positioning system for multi-object instrumentation

NASA Astrophysics Data System (ADS)

Cochrane, W. A.; Atkinson, D. C.; Bailie, T. E. C.; Dickson, C.; Lim, T.; Luo, X.; Montgomery, D. M.; Schnetler, H.; Taylor, W. D.; Wilson, B.

2012-09-01

A multiple pick off mirror positioning sub-system has been developed as a solution for the deployment of mirrors within multi-object instrumentation such as the EAGLE instrument in the European Extremely Large Telescope (E-ELT). The positioning sub-system is a two wheeled differential steered friction drive robot with a footprint of approximately 20 x 20 mm. Controlled by RF communications there are two versions of the robot that exist. One is powered by a single cell lithium ion battery and the other utilises a power floor system. The robots use two brushless DC motors with 125:1 planetary gear heads for positioning in the coarse drive stages. A unique power floor allows the robots to be positioned at any location in any orientation on the focal plane. The design, linear repeatability tests, metrology and power continuity of the robot will be evaluated and presented in this paper. To gather photons from the objects of interest it is important to position POMs within a sphere of confusion of less than 10 μm, with an angular alignment better than 1 mrad. The robots potential of meeting these requirements will be described through the open-loop repeatability tests conducted with a Faro laser beam tracker. Tests have involved sending the robot step commands and automatically taking continuous measurements every three seconds. Currently the robot is capable of repeatedly travelling 233 mm within 0.307 mm at 5 mm/s. An analysis of the power floors reliability through the continuous monitoring of the voltage across the tracks with a Pico logger will also be presented.

Actuation control of a PiezoMEMS biomimetic robotic jellyfish

NASA Astrophysics Data System (ADS)

Alejandre, Alvaro; Olszewski, Oskar; Jackson, Nathan

2017-06-01

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

Micro-sensors for in-situ meteorological measurements

NASA Technical Reports Server (NTRS)

Crisp, David; Kaiser, William J.; Vanzandt, Thomas R.; Tillman, James E.

1993-01-01

Improved in-situ meteorological measurements are needed for monitoring the weather and climate of the terrestrial and Martian atmospheres. We have initiated a program to assess the feasibility and utility of micro-sensors for precise in-situ meteorological measurements in these environments. Sensors are being developed for measuring pressure, temperature, wind velocity, humidity, and aerosol amounts. Silicon micro-machining and large scale integration technologies are being used to make sensors that are small, rugged, lightweight, and require very little power. Our long-term goal is to develop very accurate miniaturized sensors that can be incorporated into complete instrument packages or 'micro weather stations,' and deployed on a variety of platforms. If conventional commercially available silicon production techniques can be used to fabricate these sensor packages, it will eventually be possible to mass-produce them at low cost. For studies of the Earth's troposphere and stratosphere, they could be deployed on aircraft, dropsondes, radiosondes, or autonomous surface stations at remote sites. Improved sensor accuracy and reduced sensor cost are the primary challenges for these applications. For studies of the Martian atmosphere, these sensor packages could be incorporated into the small entry probes and surface landers that are being planned for the Mars Environmental SURvey (MESUR) Mission. That decade-long program will deploy a global network of small stations on the Martian surface for monitoring meteorological and geological processes. Low mass, low power, durability, large dynamic range and calibration stability are the principal challenges for this application. Our progress on each of these sensor types is presented.

Design Options for a New European Astrobiology - Focussed Mars Mission - Vanguard

NASA Astrophysics Data System (ADS)

Ellery, A.; Wynn-Williams, D.; Welch, C.; Curley, A.; Dickensheets, D.; Edwards, H.

2002-01-01

Presented is a proposed post-Beagle 2 European Mars mission with modest mass and power requirements - Vanguard. The system will comprise of a triad of robotic support devices to translocate and deploy Raman spectrometer detectors beneath the surface of Mars and possibly a laser-induced breakdown spectrometer on the surface - it will comprise of a base station lander to support communications, a robotic micro-rover to permit three well-separated sites to be selected for exploration and three ground-penetrating moles mounted onto the rover in a vertical configuration to be deployed independently. Each mole will deploy a tether carrying fibre optic cables coupling a laser Raman spectrometer mounted onboard the rover and the side-scanning sensor head on each of the moles. The Raman spectrometer is sensitive to biomolecules and their mineral substrata and represents a promising approach to the search for evidence of former life on Mars. Vanguard represents a close collaboration between scientists and engineers at the outset to maximise the scientific return within strong engineering constraints. Vanguard is essentially conceived to be a robotic field astrobiologist. In targetting the Martian sub-surface, Vanguard represents the obvious next step in the astrobiological investigation of Mars for Europe following on directly from the Beagle 2 mission. A number of design budget options are presented.

Robot-assisted antegrade in-situ fenestrated stent grafting.

PubMed

Riga, Celia V; Bicknell, Colin D; Wallace, Daniel; Hamady, Mohamad; Cheshire, Nicholas

2009-05-01

To determine the technical feasibility of a novel approach of in-situ fenestration of aortic stent grafts by using a remotely controlled robotic steerable catheter system in the porcine model. A 65-kg pig underwent robot-assisted bilateral antegrade in-situ renal fenestration of an abdominal aortic stent graft with subsequent successful deployment of a bare metal stent into the right renal artery. A 16-mm iliac extension covered stent served as the porcine aortic endograft. Under fluoroscopic guidance, the graft was punctured with a 20-G customized diathermy needle that was introduced and kept in place by the robotic arm. The needle was exchanged for a 4 x 20 mm cutting balloon before successful deployment of the renal stent. Robot-assisted antegrade in-situ fenestration is technically feasible in a large mammalian model. The robotic system enables precise manipulation, stable positioning, and minimum instrumentation of the aorta and its branches while minimizing radiation exposure.

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.

A Hexapod Robot to Demonstrate Mesh Walking in a Microgravity Environment

NASA Technical Reports Server (NTRS)

Foor, David C.

2005-01-01

The JPL Micro-Robot Explorer (MRE) Spiderbot is a robot that takes advantage of its small size to perform precision tasks suitable for space applications. The Spiderbot is a legged robot that can traverse harsh terrain otherwise inaccessible to wheeled robots. A team of Spiderbots can network and can exhibit collaborative efforts to SUCCeSSfUlly complete a set of tasks. The Spiderbot is designed and developed to demonstrate hexapods that can walk on flat surfaces, crawl on meshes, and assemble simple structures. The robot has six legs consisting of two spring-compliant joints and a gripping actuator. A hard-coded set of gaits allows the robot to move smoothly in a zero-gravity environment along the mesh. The primary objective of this project is to create a Spiderbot that traverses a flexible, deployable mesh, for use in space repair. Verification of this task will take place aboard a zero-gravity test flight. The secondary objective of this project is to adapt feedback from the joints to allow the robot to test each arm for a successful grip of the mesh. The end result of this research lends itself to a fault-tolerant robot suitable for a wide variety of space applications.

MicroBioRobots for single cell manipulation

NASA Astrophysics Data System (ADS)

Sakar, Mahmut Selman

One of the great challenges in nano and micro scale science and engineering is the independent manipulation of biological cells and small man-made objects with active sensing. For such biomedical applications as single cell manipulation, telemetry, and localized targeted delivery of chemicals, it is important to fabricate microstructures that can be powered and controlled without a tether in fluidic environments. These microstructures can be used to develop microrobots that have the potential to make existing therapeutic and diagnostic procedures less invasive. Actuation can be realized using various different organic and inorganic methods. Previous studies explored different forms of actuation and control with microorganisms. Bacteria, in particular, offer several advantages as controllable microactuators: they draw chemical energy directly from their environment, they are genetically modifiable, and they are scalable and configurable in the sense that any number of bacteria can be selectively patterned. Additionally, the study of bacteria inspires inorganic schemes of actuation and control. For these reasons, we chose to employ bacteria while controlling their motility using optical and electrical stimuli. In the first part of the thesis, we demonstrate a biointegrated approach by introducing MicroBioRobots (MBRs). MBRs are negative photosensitive epoxy (SU8) microfabricated structures with typical feature sizes ranging from 1-100 mum coated with a monolayer of the swarming Serratia marcescens . The adherent bacterial cells naturally coordinate to propel the microstructures in fluidic environments which we call Self-Actuation. First, we demonstrate the control of MBRs using self-actuation, DC electric fields and ultra-violet radiation and develop an experimentally-validated mathematical model for the MBRs. This model allows us to to steer the MBR to any position and orientation in a planar micro channel using visual feedback and an inverted microscope. Examples of sub-micron scale transport and assembly as well as computer-based closed-loop control of MBRs are presented. We demonstrate experimentally that vision-based feedback control allows a four-electrode experimental device to steer MBRs along arbitrary paths with micrometer precision. At each time instant, the system identifies the current location of the robot, a control algorithm determines the power supply voltages that will move the charged robot from its current location toward its next desired position, and the necessary electric field is then created. Second, we develop biosensors for the MBRs. Microscopic devices with sensing capabilities could significantly improve single cell analysis, especially in high-resolution detection of patterns of chemicals released from cells in vitro. Two different types of sensing mechanisms are employed. The first method is based on harnessing bacterial power, and in the second method we use genetically engineered bacteria. The small size of the devices gives them access to individual cells, and their large numbers permit simultaneous monitoring of many cells. In the second part, we describe the construction and operation of truly micron-sized, biocompatible ferromagnetic micro transporters driven by external magnetic fields capable of exerting forces at the pico Newton scale. We develop micro transporters using a simple, single step micro fabrication technique that allows us to produce large numbers in the same step. We also fabricate microgels to deliver drugs. We demonstrate that the micro transporters can be navigated to separate single cells with micron-size precision and localize microgels without disturbing the local environment.

Application of Robotics in Decommissioning and Decontamination - 12536

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

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

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

Preliminary experience in transoral laryngeal surgery with a flexible robotic system for benign lesions of the vocal folds.

PubMed

Remacle, Marc; Prasad, Vyas M N

2018-03-01

This purpose of this case series is to present the first four cases utilizing micro-phonosurgical instrumentation designed specifically for use with a semi-flexible 'robotic' system-the Medrobotics Flex system and to evaluate the accessibility and feasibility of this platform in the context of transoral robotic surgery (TORS) for laryngeal surgery. Four patients (3 female, 1 male; age range 49-79 years) were operated by the senior author at CHL-a tertiary hospital centre between 2016 and 2017. The 'robot' was deployed in all cases to assess its accessibility and ability to perform surgery in the larynx. All four patients were successfully treated using the system along with newly developed instrumentation specifically focused on phonosurgery. This series has demonstrated accessibility and ability for laryngeal surgery using a novel semi-rigid operator-controlled 'robotic' system. We encountered no device failures and were able to perform all the selected cases uneventfully.

Robot-Assisted Antegrade In-Situ Fenestrated Stent Grafting

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

Riga, Celia V., E-mail: c.riga@imperial.ac.uk; Bicknell, Colin D.; Wallace, Daniel

2009-05-15

To determine the technical feasibility of a novel approach of in-situ fenestration of aortic stent grafts by using a remotely controlled robotic steerable catheter system in the porcine model. A 65-kg pig underwent robot-assisted bilateral antegrade in-situ renal fenestration of an abdominal aortic stent graft with subsequent successful deployment of a bare metal stent into the right renal artery. A 16-mm iliac extension covered stent served as the porcine aortic endograft. Under fluoroscopic guidance, the graft was punctured with a 20-G customized diathermy needle that was introduced and kept in place by the robotic arm. The needle was exchanged formore » a 4 x 20 mm cutting balloon before successful deployment of the renal stent. Robot-assisted antegrade in-situ fenestration is technically feasible in a large mammalian model. The robotic system enables precise manipulation, stable positioning, and minimum instrumentation of the aorta and its branches while minimizing radiation exposure.« less

Issues of geologically-focused situational awareness in robotic planetary missions: Lessons from an analogue mission at Mistastin Lake impact structure, Labrador, Canada

NASA Astrophysics Data System (ADS)

Antonenko, I.; Osinski, G. R.; Battler, M.; Beauchamp, M.; Cupelli, L.; Chanou, A.; Francis, R.; Mader, M. M.; Marion, C.; McCullough, E.; Pickersgill, A. E.; Preston, L. J.; Shankar, B.; Unrau, T.; Veillette, D.

2013-07-01

Remote robotic data provides different information than that obtained from immersion in the field. This significantly affects the geological situational awareness experienced by members of a mission control science team. In order to optimize science return from planetary robotic missions, these limitations must be understood and their effects mitigated to fully leverage the field experience of scientists at mission control.Results from a 13-day analogue deployment at the Mistastin Lake impact structure in Labrador, Canada suggest that scale, relief, geological detail, and time are intertwined issues that impact the mission control science team's effectiveness in interpreting the geology of an area. These issues are evaluated and several mitigation options are suggested. Scale was found to be difficult to interpret without the reference of known objects, even when numerical scale data were available. For this reason, embedding intuitive scale-indicating features into image data is recommended. Since relief is not conveyed in 2D images, both 3D data and observations from multiple angles are required. Furthermore, the 3D data must be observed in animation or as anaglyphs, since without such assistance much of the relief information in 3D data is not communicated. Geological detail may also be missed due to the time required to collect, analyze, and request data.We also suggest that these issues can be addressed, in part, by an improved understanding of the operational time costs and benefits of scientific data collection. Robotic activities operate on inherently slow time-scales. This fact needs to be embraced and accommodated. Instead of focusing too quickly on the details of a target of interest, thereby potentially minimizing science return, time should be allocated at first to more broad data collection at that target, including preliminary surveys, multiple observations from various vantage points, and progressively smaller scale of focus. This operational model more closely follows techniques employed by field geologists and is fundamental to the geologic interpretation of an area. Even so, an operational time cost/benefit analyses should be carefully considered in each situation, to determine when such comprehensive data collection would maximize the science return.Finally, it should be recognized that analogue deployments cannot faithfully model the time scales of robotic planetary missions. Analogue missions are limited by the difficulty and expense of fieldwork. Thus, analogue deployments should focus on smaller aspects of robotic missions and test components in a modular way (e.g., dropping communications constraints, limiting mission scope, focusing on a specific problem, spreading the mission over several field seasons, etc.).

Relative dispersion of clustered drifters in a small micro-tidal estuary

NASA Astrophysics Data System (ADS)

Suara, Kabir; Chanson, Hubert; Borgas, Michael; Brown, Richard J.

2017-07-01

Small tide-dominated estuaries are affected by large scale flow structures which combine with the underlying bed generated smaller scale turbulence to significantly increase the magnitude of horizontal diffusivity. Field estimates of horizontal diffusivity and its associated scales are however rare due to limitations in instrumentation. Data from multiple deployments of low and high resolution clusters of GPS-drifters are used to examine the dynamics of a surface flow in a small micro-tidal estuary through relative dispersion analyses. During the field study, cluster diffusivity, which combines both large- and small-scale processes ranged between, 0.01 and 3.01 m2/s for spreading clusters and, -0.06 and -4.2 m2/s for contracting clusters. Pair-particle dispersion, Dp2, was scale dependent and grew as Dp2 ∼ t1.83 in streamwise and Dp2 ∼ t0.8 in cross-stream directions. At small separation scale, pair-particle (d < 0.5 m) relative diffusivity followed the Richardson's 4/3 power law and became weaker as separation scale increases. Pair-particle diffusivity was described as Kp ∼ d1.01 and Kp ∼ d0.85 in the streamwise and cross-stream directions, respectively for separation scales ranging from 0.1 to 10 m. Two methods were used to identify the mechanism responsible for dispersion within the channel. The results clearly revealed the importance of strain fields (stretching and shearing) in the spreading of particles within a small micro-tidal channel. The work provided input for modelling dispersion of passive particle in shallow micro-tidal estuaries where these were not previously experimentally studied.

Line trace micro-opto-electro-device

NASA Astrophysics Data System (ADS)

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

2001-05-01

Since micro robot has merits on small size and flexible movements, it could be used under many situations. A lot of novel designs of micro-robot have been developed recently. However, as miniaturizing the size of the micro-robot, the number of its sensor gets restricted. Then the information from the detectors becomes lack. This makes the micro robot difficult to acquire its status. A micro robot tracing a line has been designed in our lab. With the help of optoelectronic detection and logical algorithm, the micro robot could follow a black line printed on the white ground exactly. The micro robot's intelligence is realized through the program in its microprocessor. The technical details of the micro robot are as follows: dimensions: 30mm*25mm*35**; velocity: 60mm/s.

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

Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment

PubMed Central

Gilbert, Hunter B.; Neimat, Joseph; Webster, Robert J.

2015-01-01

Concentric tube robots can enable new clinical interventions if they are able to pass through soft tissue, deploy along desired paths through open cavities, or travel along winding lumens. These behaviors require the robot to deploy in such a way that the curved shape of its shaft remains unchanged as the tip progresses forward (i.e., “follow-the-leader” deployment). Follow-the-leader deployment is challenging for concentric tube robots due to elastic (and particularly torsional) coupling between the tubes that form the robot. However, as we show in this paper, follow-the-leader deployment is possible, provided that tube precurvatures and deployment sequences are appropriately selected. We begin by defining follow-the-leader deployment and providing conditions that must be satisfied for a concentric tube robot to achieve it. We then examine several useful special cases of follow-the-leader deployment, showing that both circular and helical precurvatures can be employed, and provide an experimental illustration of the helical case. We also explore approximate follow-the-leader behavior and provide a metric for the similarity of a general deployment to a follow-the-leader deployment. Finally, we consider access to the hippocampus in the brain to treat epilepsy, as a motivating clinical example for follow-the-leader deployment. PMID:26622208

Concentric Tube Robots as Steerable Needles: Achieving Follow-the-Leader Deployment.

PubMed

Gilbert, Hunter B; Neimat, Joseph; Webster, Robert J

2015-04-01

Concentric tube robots can enable new clinical interventions if they are able to pass through soft tissue, deploy along desired paths through open cavities, or travel along winding lumens. These behaviors require the robot to deploy in such a way that the curved shape of its shaft remains unchanged as the tip progresses forward (i.e., "follow-the-leader" deployment). Follow-the-leader deployment is challenging for concentric tube robots due to elastic (and particularly torsional) coupling between the tubes that form the robot. However, as we show in this paper, follow-the-leader deployment is possible, provided that tube precurvatures and deployment sequences are appropriately selected. We begin by defining follow-the-leader deployment and providing conditions that must be satisfied for a concentric tube robot to achieve it. We then examine several useful special cases of follow-the-leader deployment, showing that both circular and helical precurvatures can be employed, and provide an experimental illustration of the helical case. We also explore approximate follow-the-leader behavior and provide a metric for the similarity of a general deployment to a follow-the-leader deployment. Finally, we consider access to the hippocampus in the brain to treat epilepsy, as a motivating clinical example for follow-the-leader deployment.

Isolation of Microarray-Grade Total RNA, MicroRNA, and DNA from a Single PAXgene Blood RNA Tube

PubMed Central

Kruhøffer, Mogens; Dyrskjøt, Lars; Voss, Thorsten; Lindberg, Raija L.P.; Wyrich, Ralf; Thykjaer, Thomas; Orntoft, Torben F.

2007-01-01

We have developed a procedure for isolation of microRNA and genomic DNA in addition to total RNA from whole blood stabilized in PAXgene Blood RNA tubes. The procedure is based on automatic extraction on a BioRobot MDx and includes isolation of DNA from a fraction of the stabilized blood and recovery of small RNA species that are otherwise lost. The procedure presented here is suitable for large-scale experiments and is amenable to further automation. Procured total RNA and DNA was tested using Affymetrix Expression and single-nucleotide polymorphism GeneChips, respectively, and isolated microRNA was tested using spotted locked nucleic acid-based microarrays. We conclude that the yield and quality of total RNA, microRNA, and DNA from a single PAXgene blood RNA tube is sufficient for downstream microarray analysis. PMID:17690207

The 21st Aerospace Mechanisms Symposium

NASA Technical Reports Server (NTRS)

1987-01-01

During the symposium technical topics addressed included deployable structures, electromagnetic devices, tribology, actuators, latching devices, positioning mechanisms, robotic manipulators, and automated mechanisms synthesis. A summary of the 20th Aerospace Mechanisms Symposium panel discussions is included as an appendix. However, panel discussions on robotics for space and large space structures which were held are not presented herein.

Automation &robotics for future Mars exploration

NASA Astrophysics Data System (ADS)

Schulte, W.; von Richter, A.; Bertrand, R.

2003-04-01

Automation and Robotics (A&R) are currently considered as a key technology for Mars exploration. initiatives in this field aim at developing new A&R systems and technologies for planetary surface exploration. Kayser-Threde led the study AROMA (Automation &Robotics for Human Mars Exploration) under ESA contract in order to define a reference architecture of A&R elements in support of a human Mars exploration program. One of the goals was to define new developments and to maintain the competitiveness of European industry within this field. We present a summary of the A&R study in respect to a particular system: The Autonomous Research Island (ARI). In the Mars exploration scenario initially a robotic outpost system lands at pre-selected sites in order to search for life forms and water and to analyze the surface, geology and atmosphere. A&R systems, i.e. rovers and autonomous instrument packages, perform a number of missions with scientific and technology development objectives on the surface of Mars as part of preparations for a human exploration mission. In the Robotic Outpost Phase ARI is conceived as an automated lander which can perform in-situ analysis. It consists of a service module and a micro-rover system for local investigations. Such a system is already under investigation and development in other TRP activities. The micro-rover system provides local mobility for in-situ scientific investigations at a given landing or deployment site. In the long run ARI supports also human Mars missions. An astronaut crew would travel larger distances in a pressurized rover on Mars. Whenever interesting features on the surface are identified, the crew would interrupt the travel and perform local investigations. In order to save crew time ARI could be deployed by the astronauts to perform time-consuming investigations as for example in-situ geochemistry analysis of rocks/soil. Later, the crew could recover the research island for refurbishment and deployment at another site. In the frame of near-term Mars exploration a dedicated exobiology mission is envisaged. Scientific and technical studies for a facility to detect the evidence of past of present life have been carried out under ESA contract. Mars soil/rock samples are to be analyzed for their morphology, organic and inorganic composition using a suite of scientific instruments. Robotic devices, e.g. for the acquisition, handling and onboard processing of Mars sample material retrieved from different locations, and surface mobility are important elements in a fully automated mission. Necessary robotic elements have been identified in past studies. Their realization can partly be based on heritage of existing space hardware, but will require dedicated development effort.

The influence of micro-topography and external bioerosion on coral-reef-building organisms: recruitment, community composition and carbonate production over time

NASA Astrophysics Data System (ADS)

Mallela, Jennie

2018-03-01

The continued health and function of tropical coral reefs is highly dependent on the ability of reef-building organisms to build large, complex, three-dimensional structures that continue to accrete and evolve over time. The recent deterioration of reef health globally, including loss of coral cover, has resulted in significant declines in architectural complexity at a large, reef-scape scale. Interestingly, the fine-scale role of micro-structure in initiating and facilitating future reef development and calcium carbonate production has largely been overlooked. In this study, experimental substrates with and without micro-ridges were deployed in the lagoon at One Tree Island for 34 months. This study assessed how the presence or absence of micro-ridges promoted recruitment by key reef-building sclerobionts (corals and encrusters) and their subsequent development at micro (mm) and macro (cm) scales. Experimental plates were examined after 11 and 34 months to assess whether long-term successional and calcification processes on different micro-topographies led to convergent or divergent communities over time. Sclerobionts were most prevalent in micro-grooves when they were available. Interestingly, in shallow lagoon reef sites characterised by shoals of small parrotfish and low urchin abundance, flat substrates were also successfully recruited to. Mean rates of carbonate production were 374 ± 154 (SD) g CaCO3 m-2 yr-1 within the lagoon. Substrates with micro-ridges were characterised by significantly greater rates of carbonate production than smooth substrates. The orientation of the substrate and period of immersion also significantly impacted rates of carbonate production, with CaCO3 on cryptic tiles increasing by 28% between 11 and 34 months. In contrast, rates on exposed tiles declined by 35% over the same time. In conclusion, even at sites characterised by small-sized parrotfish and low urchin density, micro-topography is an important settlement niche clearly favouring sclerobiont early life-history processes and subsequent carbonate production.

A Novel Bioinspired PVDF Micro/Nano Hair Receptor for a Robot Sensing System

PubMed Central

Li, Fei; Liu, Weiting; Stefanini, Cesare; Fu, Xin; Dario, Paolo

2010-01-01

This paper describes the concept and design of a novel artificial hair receptor for the sensing system of micro intelligent robots such as a cricket-like jumping mini robot. The concept is inspired from the natural hair receptor of animals, also called cilium or filiform hair by different research groups, which is usually used as a vibration receptor or a flow detector by insects, mammals and fishes. The suspended fiber model is firstly built and the influence of scaling down is analyzed theoretically. The design of this artificial hair receptor is based on aligned suspended PVDF (polyvinylidene fluoride) fibers, manufactures with a novel method called thermo-direct drawing technique, and aligned suspended submicron diameter fibers are thus successfully fabricated on a flexible Kapton. In the post process step, some key problems such as separated electrodes deposition along with the fiber drawing direction and poling of micro/nano fibers to impart them with good piezoeffective activity have been presented. The preliminary validation experiments show that the artificial hair receptor has a reliable response with good sensibility to external pressure variation and, medium flow as well as its prospects in the application on sensing system of mini/micro bio-robots. PMID:22315581

Knowledge based systems for intelligent robotics

NASA Technical Reports Server (NTRS)

Rajaram, N. S.

1982-01-01

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

Aerodynamic evaluation of wing shape and wing orientation in four butterfly species using numerical simulations and a low-speed wind tunnel, and its implications for the design of flying micro-robots.

PubMed

Ortega Ancel, Alejandro; Eastwood, Rodney; Vogt, Daniel; Ithier, Carter; Smith, Michael; Wood, Rob; Kovač, Mirko

2017-02-06

Many insects are well adapted to long-distance migration despite the larger energetic costs of flight for small body sizes. To optimize wing design for next-generation flying micro-robots, we analyse butterfly wing shapes and wing orientations at full scale using numerical simulations and in a low-speed wind tunnel at 2, 3.5 and 5 m s -1 . The results indicate that wing orientations which maximize wing span lead to the highest glide performance, with lift to drag ratios up to 6.28, while spreading the fore-wings forward can increase the maximum lift produced and thus improve versatility. We discuss the implications for flying micro-robots and how the results assist in understanding the behaviour of the butterfly species tested.

Aerodynamic evaluation of wing shape and wing orientation in four butterfly species using numerical simulations and a low-speed wind tunnel, and its implications for the design of flying micro-robots

PubMed Central

Eastwood, Rodney; Vogt, Daniel; Ithier, Carter; Smith, Michael; Wood, Rob; Kovač, Mirko

2017-01-01

Many insects are well adapted to long-distance migration despite the larger energetic costs of flight for small body sizes. To optimize wing design for next-generation flying micro-robots, we analyse butterfly wing shapes and wing orientations at full scale using numerical simulations and in a low-speed wind tunnel at 2, 3.5 and 5 m s−1. The results indicate that wing orientations which maximize wing span lead to the highest glide performance, with lift to drag ratios up to 6.28, while spreading the fore-wings forward can increase the maximum lift produced and thus improve versatility. We discuss the implications for flying micro-robots and how the results assist in understanding the behaviour of the butterfly species tested. PMID:28163879

2014 Summer Series - Ethiraj Venkatapathy - Mary Poppins Approach to Human Mars Mission Entry, Descent and Landing

NASA Image and Video Library

2014-06-17

NASA is investing in a number of technologies to extend Entry, Descent and Landing (EDL) capabilities to enable Human Missions to Mars. These technologies will also enable robotic Science missions. Human missions will require landing payloads of 10?s of metric tons, not possible with today's technology. Decelerating from entry speeds around 15,000 miles per hour to landing in a matter of minutes will require very large drag or deceleration. The one way to achieve required deceleration is to deploy a large surface that can be stowed during launch and deployed prior to entry. This talk will highlight a simple concept similar to an umbrella. Though the concept is simple, the size required for human Mars missions and the heating encountered during entry are significant challenges. The mechanically deployable system can also enable robotic science missions to Venus and is also equally applicable for bringing back cube-satellites and other small payloads. The scalable concept called Adaptive Deployable Entry and Placement Technology (ADEPT) is under development and is the focus of this talk.

Microgravity, Mesh-Crawling Legged Robots

NASA Technical Reports Server (NTRS)

Behar, Alberto; Marzwell, Neville; Matthews, Jaret; Richardson, Krandalyn; Wall, Jonathan; Poole, Michael; Foor, David; Rodgers, Damian

2008-01-01

The design, fabrication, and microgravity flight-testing are part of a continuing development of palm-sized mobile robots that resemble spiders (except that they have six legs apiece, whereas a spider has eight legs). Denoted SpiderBots (see figure), they are prototypes of proposed product line of relatively inexpensive walking robots that could be deployed in large numbers to function cooperatively in construction, repair, exploration, search, and rescue activities in connection with exploration of outer space and remote planets.

An Experimental Study on the Deployment Behavior of Membrane Structure under Spin Motion

NASA Astrophysics Data System (ADS)

Murakami, T.

load fuel, so to speak, is an ideal propellant system. As a large film is deployed in the space, solar radiation presses it. However, force of solar radiation is tiny, and so it is necessary for it to have a large square in order to use for propulsive force. As larger it becomes, bigger the weigh is. For realizing good efficient Solar Sail it is indispensable to develop a material. sail spacecraft mission realistic. However, to install a solar sail in the real mission, it is found that there are a lot of problems to be solved. Among them is a technology of deployment. attitude stability by rotating a film constantly. It is true that there are some difficulties to change an attitude, still in general, interplanetary missions does not require frequent attitude change. So the solar sail can be realistic if the mission is interplanetary. velocity, the estimation of a necessary deployment force, and the influence of outer force acting to the film. Moreover, it is necessary to consider a shape after deployment because of using it as a propellant system. That is to say, as larger difference from an ideal circular shape is, lower the efficiency as a propellant system is. numerical simulation, but also micro-gravity experiment. In numerical simulation membrane should be modeled carefully, because a dynamics of a film deployment is transitional and includes a large transformation. In this report a simple model which consists of many rigid boards is dealt with. A film is approximated to an aggregate of tiny rigid boards and the shape is calculated by solving additional force of each board. For showing a validity of this modeling, micro-gravity experiment is necessary to be conducted. Because there is a limitation of space and an experiment is conducted by using a small scaling model, similar parameters should be selected carefully.

Optical assembly of bio-hybrid micro-robots.

PubMed

Barroso, Álvaro; Landwerth, Shirin; Woerdemann, Mike; Alpmann, Christina; Buscher, Tim; Becker, Maike; Studer, Armido; Denz, Cornelia

2015-04-01

The combination of micro synthetic structures with bacterial flagella motors represents an actual trend for the construction of self-propelled micro-robots. The development of methods for fabrication of these bacteria-based robots is a first crucial step towards the realization of functional miniature and autonomous moving robots. We present a novel scheme based on optical trapping to fabricate living micro-robots. By using holographic optical tweezers that allow three-dimensional manipulation in real time, we are able to arrange the building blocks that constitute the micro-robot in a defined way. We demonstrate exemplarily that our method enables the controlled assembly of living micro-robots consisting of a rod-shaped prokaryotic bacterium and a single elongated zeolite L crystal, which are used as model of the biological and abiotic components, respectively. We present different proof-of-principle approaches for the site-selective attachment of the bacteria on the particle surface. The propulsion of the optically assembled micro-robot demonstrates the potential of the proposed method as a powerful strategy for the fabrication of bio-hybrid micro-robots.

Towards a Standard Mixed-Signal Parallel Processing Architecture for Miniature and Microrobotics.

PubMed

Sadler, Brian M; Hoyos, Sebastian

2014-01-01

The conventional analog-to-digital conversion (ADC) and digital signal processing (DSP) architecture has led to major advances in miniature and micro-systems technology over the past several decades. The outlook for these systems is significantly enhanced by advances in sensing, signal processing, communications and control, and the combination of these technologies enables autonomous robotics on the miniature to micro scales. In this article we look at trends in the combination of analog and digital (mixed-signal) processing, and consider a generalized sampling architecture. Employing a parallel analog basis expansion of the input signal, this scalable approach is adaptable and reconfigurable, and is suitable for a large variety of current and future applications in networking, perception, cognition, and control.

Towards a Standard Mixed-Signal Parallel Processing Architecture for Miniature and Microrobotics

PubMed Central

Sadler, Brian M; Hoyos, Sebastian

2014-01-01

The conventional analog-to-digital conversion (ADC) and digital signal processing (DSP) architecture has led to major advances in miniature and micro-systems technology over the past several decades. The outlook for these systems is significantly enhanced by advances in sensing, signal processing, communications and control, and the combination of these technologies enables autonomous robotics on the miniature to micro scales. In this article we look at trends in the combination of analog and digital (mixed-signal) processing, and consider a generalized sampling architecture. Employing a parallel analog basis expansion of the input signal, this scalable approach is adaptable and reconfigurable, and is suitable for a large variety of current and future applications in networking, perception, cognition, and control. PMID:26601042

Deploying the ODIS robot in Iraq and Afghanistan

NASA Astrophysics Data System (ADS)

Smuda, Bill; Schoenherr, Edward; Andrusz, Henry; Gerhart, Grant

2005-05-01

The wars in Iraq and Afghanistan have shown the importance of robotic technology as a force multiplier and a tool for moving soldiers out of harms way. Situations on the ground make soldiers performing checkpoint operations easy targets for snipers and suicide bombers. Robotics technology reduces risk to soldiers and other personnel at checkpoints. Early user involvement in innovative and aggressive development and acquisition strategies are the key to moving robotic and associated technology into the hands of the user. This paper updates activity associated with rapid development of the Omni-Directional Inspection System (ODIS) robot for under vehicle inspection and reports on our field experience with robotics in Iraq and Afghanistan. In February of 2004, two TARDEC Engineers departed for a mission to Iraq and Afghanistan with ten ODIS Robots. Six robots were deployed in the Green Zone in Baghdad. Two Robots were deployed at Kandahar Army Airfield and two were deployed at Bagram Army Airfield in Afghanistan. The TARDEC Engineers who performed this mission trained the soldiers and provided initial on site support. They also trained Exponent employees assigned to the Rapid Equipping Force in ODIS repair. We will discuss our initial deployment, lessons learned and future plans.

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.

Micro/Nanosatellite Mars Network for Global Lower Atmosphere Characterization

NASA Technical Reports Server (NTRS)

Tinker, Mike L.

2012-01-01

To address multiple key challenge areas for robotic exploration of Mars, to achieve scientific goals and reduce risk for future human missions, a micro/nanosatellite constellation for lower atmosphere characterization is proposed. A microsatellite design is discussed that can operate (1) in tandem with another microsat or (2) as a "mother-ship" to deploy a network of nanosatellites (CubeSats). Either configuration of the network would perform radio occultation-based atmospheric measurements. Advantages of the proposed network are low development cost based on an existing microsatellite bus, and proven performance of the bus to date. Continued efforts in miniaturization of instruments are needed to fully enable the mother-ship/nanosat version of the proposed network.

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.

MIGHTEE: The MeerKAT International GHz Tiered Extragalactic Exploration

NASA Astrophysics Data System (ADS)

Taylor, A. Russ; Jarvis, Matt

2017-05-01

The MeerKAT telescope is the precursor of the Square Kilometre Array mid-frequency dish array to be deployed later this decade on the African continent. MIGHTEE is one of the MeerKAT large survey projects designed to pathfind SKA key science in cosmology and galaxy evolution. Through a tiered radio continuum deep imaging project including several fields totaling 20 square degrees to microJy sensitivities and an ultra-deep image of a single 1 square degree field of view, MIGHTEE will explore dark matter and large scale structure, the evolution of galaxies, including AGN activity and star formation as a function of cosmic time and environment, the emergence and evolution of magnetic fields in galaxies, and the magnetic counter part to large scale structure of the universe.

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.

Millimeter scale robots for the nanofactory

NASA Astrophysics Data System (ADS)

Murthy, Rakesh

The top down approach is a commonly employed miniaturization pathway into micro and nanomanufacturing. Its popularity is due to the fact that it adapts traditionally engineered macro scale positioning, manipulation and processing technology with micro and nano scale precision and part sizes. However, state of the art top down systems such as the Atomic Force Microscope (AFM) span four to five orders of magnitude larger than the parts being handled. This dissertation addresses the need for creating millimeter size robotic positioning technology that closes the size gap between equipment and part sizes. Such microrobot manufacturing methodology comprising of micro component-level design, fabrication and high yield assembly, system-level packaging, modeling, precision evaluation and control is presented and exemplified using two classes of microrobots. Both microrobots incorporate Micro Electro Mechanical Systems (MEMS) to combine high precision and low foot-print. The first microrobot type, the "ARRIpede" is a multi legged autonomous crawler, and is designed to operate as a mobile unit enabling parts transfer in a nanoassembly environment. An embodiment of this microrobot is demonstrated for planar motions with three degrees of freedom (XYtheta). The microrobot consists of a MEMS die "belly" spanning 10mm x 10mm x 1mm with in-plane electrothermal actuators and vertically assembled legs, and an electronic "backpack" spanning 15mmx15mmx10mm to generate a leg gait sequence. By incorporating bulk micromachined parts and precise epoxy dispensing at the assembled leg joint, the microrobot has a high payload bearing capacity (at least 9g). Simulations with a nonholonomic robot predict microcrawler velocities of a few mm/s under realistic assumptions. The open loop crawling velocity is experimentally characterized for various actuator frequencies and a close match with simulations is observed. A Linear Quadratic Regulator (LQR) based controller consisting of a high magnification camera and a laser displacement sensor for feedback is implemented. The open/closed loop positioning repeatabilities are evaluated and compared. The second micro robot called the "AFAM" (Articulated Four Axes Micro Robot) is a fixed base articulated design targeting micro and nano scale manipulation and probing applications. An embodiment of this microrobot is constructed incorporating four degrees of freedom (X, Y, Pitch and Yaw), occupying a total volume of 3mm x 2mm x 1mm, and operating within a workspace envelope of 50mum x 50mum x 75mum. This is by far the largest operating envelope of any other independent MEMS positioner with non-planar dexterity. A cable based transmission and motion amplification mechanism is designed to achieve the pitch and yaw degrees of freedom. The de-coupled motion of the microrobot is achieved by kinematic identification of the Jacobian and using a 3D flexure based kinematic model of the microrobot. By using the derived kinematics, the microrobot is driven to create nanoindents on a polymer surface. The end-effector positioning accuracy, repeatability and resolution are characterized using the nanoindents.

System design and animal experiment study of a novel minimally invasive surgical robot.

PubMed

Wang, Wei; Li, Jianmin; Wang, Shuxin; Su, He; Jiang, Xueming

2016-03-01

Robot-assisted minimally invasive surgery has shown tremendous advances over the traditional technique. However, currently commercialized systems are large and complicated, which vastly raises the system cost and operation room requirements. A MIS robot named 'MicroHand' was developed over the past few years. The basic principle and the key technologies are analyzed in this paper. Comparison between the proposed robot and the da Vinci system is also presented. Finally, animal experiments were carried out to test the performance of MicroHand. Fifteen animal experiments were carried out from July 2013 to December 2013. All animal experiments were finished successfully. The proposed design method is an effective way to resolve the drawbacks of previous generations of the da Vinci surgical system. The animal experiment results confirmed the feasibility of the design. Copyright © 2015 John Wiley & Sons, Ltd.

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.

DROP: Durable Reconnaissance and Observation Platform

NASA Technical Reports Server (NTRS)

Parness, Aaron; McKenzie, Clifford F.

2012-01-01

Robots have been a valuable tool for providing a remote presence in areas that are either inaccessible or too dangerous for humans. Having a robot with a high degree of adaptability becomes crucial during such events. The adaptability that comes from high mobility and high durability greatly increases the potential uses of a robot in these situations, and therefore greatly increases its usefulness to humans. DROP is a lightweight robot that addresses these challenges with the capability to survive large impacts, carry a usable payload, and traverse a variety of surfaces, including climbing vertical surfaces like wood, stone, and concrete. The platform is crash-proof, allowing it to be deployed in ways including being dropped from an unmanned aerial vehicle or thrown from a large MSL-class (Mars Science Laboratory) rover.

Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals

PubMed Central

Duecker, Daniel-André; Geist, A. René; Hengeler, Michael; Kreuzer, Edwin; Pick, Marc-André; Rausch, Viktor; Solowjow, Eugen

2017-01-01

Self-localization is one of the most challenging problems for deploying micro autonomous underwater vehicles (μAUV) in confined underwater environments. This paper extends a recently-developed self-localization method that is based on the attenuation of electro-magnetic waves, to the μAUV domain. We demonstrate a compact, low-cost architecture that is able to perform all signal processing steps present in the original method. The system is passive with one-way signal transmission and scales to possibly large μAUV fleets. It is based on the spherical localization concept. We present results from static and dynamic position estimation experiments and discuss the tradeoffs of the system. PMID:28445419

Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals.

PubMed

Duecker, Daniel-André; Geist, A René; Hengeler, Michael; Kreuzer, Edwin; Pick, Marc-André; Rausch, Viktor; Solowjow, Eugen

2017-04-26

Self-localization is one of the most challenging problems for deploying micro autonomous underwater vehicles ( μ AUV) in confined underwater environments. This paper extends a recently-developed self-localization method that is based on the attenuation of electro-magnetic waves, to the μ AUV domain. We demonstrate a compact, low-cost architecture that is able to perform all signal processing steps present in the original method. The system is passive with one-way signal transmission and scales to possibly large μ AUV fleets. It is based on the spherical localization concept. We present results from static and dynamic position estimation experiments and discuss the tradeoffs of the system.

Robotic Fish to Aid Animal Behavior Studies and Informal Science Learning

NASA Astrophysics Data System (ADS)

Phamduy, Paul

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

The use of soft robotics in cardiovascular therapy.

PubMed

Wamala, Isaac; Roche, Ellen T; Pigula, Frank A

2017-10-01

Robots have been employed in cardiovascular therapy as surgical tools and for automation of hospital systems. Soft robots are a new kind of robot made of soft deformable materials, that are uniquely suited for biomedical applications because they are inherently less likely to injure body tissues and more likely to adapt to biological environments. Awareness of the soft robotic systems under development will help promote clinician involvement in their successful clinical translation. Areas covered: The most advanced soft robotic systems, across the size scale from nano to macro, that have shown the most promise for clinical application in cardiovascular therapy because they offer solutions where a clear therapeutic need still exists. We discuss nano and micro scale technology that could help improve targeted therapy for cardiac regeneration in ischemic heart disease, and soft robots for mechanical circulatory support. Additionally, we suggest where the gaps in the technology currently lie. Expert commentary: Soft robotic technology has now matured from the proof-of-concept phase to successful animal testing. With further refinement in materials and clinician guided application, they will be a useful complement for cardiovascular therapy.

Prior experience in micro-surgery may improve the surgeon's performance in robotic surgical training.

PubMed

Perez, Manuela; Perrenot, Cyril; Tran, Nguyen; Hossu, Gabriela; Felblinger, Jacques; Hubert, Jacques

2013-09-01

Robotic surgery has witnessed a huge expansion. Robotic simulators have proved to be of major interest in training. Some authors have suggested that prior experience in micro-surgery could improve robotic surgery training. To test micro-surgery as a new approach in training, we proposed a prospective study comparing the surgical performance of micro-surgeons with that of general surgeons on a robotic simulator. 49 surgeons were enrolled; 11 in the micro-surgery group (MSG); 38 n the control group (CG). Performance was evaluated based on five dV-Trainer® exercises. MSG achieved better results for all exercises including exercises requiring visual evaluation of force feed-back, economy of motion, instrument force and position. These results show that experience in micro-surgery could significantly improve surgeons' abilities and their performance in robotic training. So, as micro-surgery practice is relatively cheap, it could be easily included in basic robotic surgery training. Copyright © 2013 John Wiley & Sons, Ltd.

Utilization of robotic "remote presence" technology within North American intensive care units.

PubMed

Reynolds, Eliza M; Grujovski, Andre; Wright, Tim; Foster, Michael; Reynolds, H Neal

2012-09-01

To describe remote presence robotic utilization and examine perceived physician impact upon care in the intensive care unit (ICU). Data were obtained from academic, university, community, and rural medical facilities in North America with remote presence robots used in ICUs. Objective utilization data were extracted from a continuous monitoring system. Physician data were obtained via an Internet-based survey. As of 2010, 56 remote presence robots were deployed in 25 North American ICUs. Of 10,872 robot activations recorded, 10,065 were evaluated. Three distinct utilization patterns were discovered. Combining all programs revealed a pattern that closely reflects diurnal ICU activity. The physician survey revealed staff are senior (75% >40 years old, 60% with >16 years of clinical practice), trained in and dedicated to critical care. Programs are mature (70% >3 years old) and operate in a decentralized system, originating from cities with >50,000 population and provided to cities >50,000 (80%). Of the robots, 46.6% are in academic facilities. Most physicians (80%) provide on-site and remote ICU care, with 60% and 73% providing routine or scheduled rounds, respectively. All respondents (100%) believed patient care and patient/family satisfaction were improved. Sixty-six percent perceived the technology was a "blessing," while 100% intend to continue using the technology. Remote presence robotic technology is deployed in ICUs with various patterns of utilization that, in toto, simulate normal ICU work flow. There is a high rate of deployment in academic ICUs, suggesting the intensivists shortage also affects large facilities. Physicians using the technology are generally senior, experienced, and dedicated to critical care and highly support the technology.

Wafer integrated micro-scale concentrating photovoltaics

NASA Astrophysics Data System (ADS)

Gu, Tian; Li, Duanhui; Li, Lan; Jared, Bradley; Keeler, Gordon; Miller, Bill; Sweatt, William; Paap, Scott; Saavedra, Michael; Das, Ujjwal; Hegedus, Steve; Tauke-Pedretti, Anna; Hu, Juejun

2017-09-01

Recent development of a novel micro-scale PV/CPV technology is presented. The Wafer Integrated Micro-scale PV approach (WPV) seamlessly integrates multijunction micro-cells with a multi-functional silicon platform that provides optical micro-concentration, hybrid photovoltaic, and mechanical micro-assembly. The wafer-embedded micro-concentrating elements is shown to considerably improve the concentration-acceptance-angle product, potentially leading to dramatically reduced module materials and fabrication costs, sufficient angular tolerance for low-cost trackers, and an ultra-compact optical architecture, which makes the WPV module compatible with commercial flat panel infrastructures. The PV/CPV hybrid architecture further allows the collection of both direct and diffuse sunlight, thus extending the geographic and market domains for cost-effective PV system deployment. The WPV approach can potentially benefits from both the high performance of multijunction cells and the low cost of flat plate Si PV systems.

Fish-inspired robots: design, sensing, actuation, and autonomy--a review of research.

PubMed

Raj, Aditi; Thakur, Atul

2016-04-13

Underwater robot designs inspired by the behavior, physiology, and anatomy of fishes can provide enhanced maneuverability, stealth, and energy efficiency. Over the last two decades, robotics researchers have developed and reported a large variety of fish-inspired robot designs. The purpose of this review is to report different types of fish-inspired robot designs based upon their intended locomotion patterns. We present a detailed comparison of various design features like sensing, actuation, autonomy, waterproofing, and morphological structure of fish-inspired robots reported in the past decade. We believe that by studying the existing robots, future designers will be able to create new designs by adopting features from the successful robots. The review also summarizes the open research issues that need to be taken up for the further advancement of the field and also for the deployment of fish-inspired robots in practice.

Guest editorial: Special issue micro-and nanomachines.

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

Sanchez, Samuel; Paxton, Walter F.; Nitta, Takahiro

The articles in this special section focus on the technologies and applications supported by micro- and nanomachines. The world of artificial micro- and nanomachines has greatly expanded over the last few years to include a range of disciplines from chemistry, physics, biology, to micro/nanoengineering, robotics, and theoretical physics. The dream of engineering nanomachines involves fabricating devices that mimic the mechanical action of biological motors that operate over multiple length scales: from molecular-scale enzymes and motors such as kinesins to the micro-scale biomachinery responsible for the motility of tiny organisms such as the flagella motors of E. coli. However, the designmore » and fabrication of artificial nano- and micromachines with comparable performance as their biological counterparts is not a straightforward task. It requires a detailed understanding of the basic principles of the operation of biomotors and mechanisms that couple the dissipation of energy to mechanical motion. Furthermore, micro engineering and microfabrication knowledge is required in order to design efficient, small and even smart micro- and nanomachines.« less

Guest editorial: Special issue micro-and nanomachines.

DOE PAGES

Sanchez, Samuel; Paxton, Walter F.; Nitta, Takahiro

2015-04-01

The articles in this special section focus on the technologies and applications supported by micro- and nanomachines. The world of artificial micro- and nanomachines has greatly expanded over the last few years to include a range of disciplines from chemistry, physics, biology, to micro/nanoengineering, robotics, and theoretical physics. The dream of engineering nanomachines involves fabricating devices that mimic the mechanical action of biological motors that operate over multiple length scales: from molecular-scale enzymes and motors such as kinesins to the micro-scale biomachinery responsible for the motility of tiny organisms such as the flagella motors of E. coli. However, the designmore » and fabrication of artificial nano- and micromachines with comparable performance as their biological counterparts is not a straightforward task. It requires a detailed understanding of the basic principles of the operation of biomotors and mechanisms that couple the dissipation of energy to mechanical motion. Furthermore, micro engineering and microfabrication knowledge is required in order to design efficient, small and even smart micro- and nanomachines.« less

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.

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.

NASA Tech Briefs, July 2009

NASA Technical Reports Server (NTRS)

2009-01-01

Topics covered include: Dual Cryogenic Capacitive Density Sensor; Hail Monitor Sensor; Miniature Six-Axis Load Sensor for Robotic Fingertip; Improved Blackbody Temperature Sensors for a Vacuum Furnace; Wrap-Around Out-the-Window Sensor Fusion System; Wide-Range Temperature Sensors with High-Level Pulse Train Output; Terminal Descent Sensor Simulation; A Robust Mechanical Sensing System for Unmanned Sea Surface Vehicles; Additive for Low-Temperature Operation of Li-(CF)n Cells; Li/CFx Cells Optimized for Low-Temperature Operation; Number Codes Readable by Magnetic-Field-Response Recorders; Determining Locations by Use of Networks of Passive Beacons; Superconducting Hot-Electron Submillimeter-Wave Detector; Large-Aperture Membrane Active Phased-Array Antennas; Optical Injection Locking of a VCSEL in an OEO; Measuring Multiple Resistances Using Single-Point Excitation; Improved-Bandwidth Transimpedance Amplifier; Inter-Symbol Guard Time for Synchronizing Optical PPM; Novel Materials Containing Single-Wall Carbon Nanotubes Wrapped in Polymer Molecules; Light-Curing Adhesive Repair Tapes; Thin-Film Solid Oxide Fuel Cells; Zinc Alloys for the Fabrication of Semiconductor Devices; Small, Lightweight, Collapsible Glove Box; Radial Halbach Magnetic Bearings; Aerial Deployment and Inflation System for Mars Helium Balloons; Steel Primer Chamber Assemblies for Dual Initiated Pyrovalves; Voice Coil Percussive Mechanism Concept for Hammer Drill; Inherently Ducted Propfans and Bi-Props; Silicon Nanowire Growth at Chosen Positions and Orientations; Detecting Airborne Mercury by Use of Gold Nanowires; Detecting Airborne Mercury by Use of Palladium Chloride; Micro Electron MicroProbe and Sample Analyzer; Nanowire Electron Scattering Spectroscopy; Electron-Spin Filters Would Offer Spin Polarization Greater than 1; Subcritical-Water Extraction of Organics from Solid Matrices; A Model for Predicting Thermoelectric Properties of Bi2Te3; Integrated Miniature Arrays of Optical Biomolecule Detectors; A Software Rejuvenation Framework for Distributed Computing; Kurtosis Approach to Solution of a Nonlinear ICA Problem; Robust Software Architecture for Robots; R4SA for Controlling Robots; Bio-Inspired Neural Model for Learning Dynamic Models; Evolutionary Computing Methods for Spectral Retrieval; Monitoring Disasters by Use of Instrumented Robotic Aircraft; Complexity for Survival of Living Systems; Using Drained Spacecraft Propellant Tanks for Habitation; Connecting Node; and Electrolytes for Low-Temperature Operation of Li-CFx Cells.

Light robotics: aiming towards all-optical nano-robotics

NASA Astrophysics Data System (ADS)

Glückstad, Jesper; Palima, Darwin; Banas, Andrew

2017-04-01

Light Robotics is a new field of research where ingredients from photonics, nanotechnology and biotechnology are put together in new ways to realize light-driven robotics at the smallest scales to solve major challenges primarily within the nanobio-domain but not limited hereto. Exploring the full potential of this new `drone-like' light-printed, light-driven, light-actuated micro- and nanorobotics in challenging geometries requires a versatile and real-time reconfigurable light addressing that can dynamically track a plurality of tiny tools in 3D to ensure real-time continuous light-delivery on the fly. Our latest developments in this new and exciting research area will be reviewed.

Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter

PubMed Central

Nogami, Hirofumi; Higurashi, Eiji; Sawada, Renshi

2018-01-01

The purpose of this paper is to show the feasibility of grasping force control by feeding back signals of the developed micro-laser Doppler velocimeter (μ-LDV) and by discriminating whether a grasped object is slipping or not. LDV is well known as a high response surface velocity sensor which can measure various surfaces—such as metal, paper, film, and so on—thus suggesting the potential application of LDV as a slip sensor for grasping various objects. However, the use of LDV as a slip sensor has not yet been reported because the size of LDVs is too large to be installed on a robotic fingertip. We have solved the size problem and enabled the performance of a feasibility test with a few-millimeter-scale LDV referred to as micro-LDV (μ-LDV) by modifying the design which was adopted from MEMS (microelectromechanical systems) fabrication process. In this paper, by applying our developed μ-LDV as a slip sensor, we have successfully demonstrated grasping force control with three target objects—aluminum block, wood block, and white acrylic block—considering that various objects made of these materials can be found in homes and factories, without grasping force feedback. We provide proofs that LDV is a new promising candidate slip sensor for grasping force control to execute target grasping. PMID:29360799

Small, fast, and tough: Shrinking down integrated elastomer transducers

NASA Astrophysics Data System (ADS)

Rosset, Samuel; Shea, Herbert R.

2016-09-01

We review recent progress in miniaturized dielectric elastomer actuators (DEAs), sensors, and energy harvesters. We focus primarily on configurations where the large strain, high compliance, stretchability, and high level of integration offered by dielectric elastomer transducers provide significant advantages over other mm or μm-scale transduction technologies. We first present the most active application areas, including: tunable optics, soft robotics, haptics, micro fluidics, biomedical devices, and stretchable sensors. We then discuss the fabrication challenges related to miniaturization, such as thin membrane fabrication, precise patterning of compliant electrodes, and reliable batch fabrication of multilayer devices. We finally address the impact of miniaturization on strain, force, and driving voltage, as well as the important effect of boundary conditions on the performance of mm-scale DEAs.

Rule-Based vs. Behavior-Based Self-Deployment for Mobile Wireless Sensor Networks

PubMed Central

Urdiales, Cristina; Aguilera, Francisco; González-Parada, Eva; Cano-García, Jose; Sandoval, Francisco

2016-01-01

In mobile wireless sensor networks (MWSN), nodes are allowed to move autonomously for deployment. This process is meant: (i) to achieve good coverage; and (ii) to distribute the communication load as homogeneously as possible. Rather than optimizing deployment, reactive algorithms are based on a set of rules or behaviors, so nodes can determine when to move. This paper presents an experimental evaluation of both reactive deployment approaches: rule-based and behavior-based ones. Specifically, we compare a backbone dispersion algorithm with a social potential fields algorithm. Most tests are done under simulation for a large number of nodes in environments with and without obstacles. Results are validated using a small robot network in the real world. Our results show that behavior-based deployment tends to provide better coverage and communication balance, especially for a large number of nodes in areas with obstacles. PMID:27399709

Coordinating a Team of Robots for Urban Reconnaisance

DTIC Science & Technology

2010-11-01

Land Warfare Conference 2010 Brisbane November 2010 Coordinating a Team of Robots for Urban Reconnaisance Pradeep Ranganathan , Ryan...without inundating him with micro- management . Behavorial autonomy is also critical for the human operator to productively interact Figure 1: A...today’s systems, a human operator controls a single robot, micro- managing every action. This micro- management becomes impossible with more robots: in

Robot vibration control using inertial damping forces

NASA Technical Reports Server (NTRS)

Lee, Soo Han; Book, Wayne J.

1991-01-01

This paper concerns the suppression of the vibration of a large flexible robot by inertial forces of a small robot which is located at the tip of the large robot. A controller for generating damping forces to a large robot is designed based on the two time scale model. The controller does not need to calculate the quasi-steady variables and is efficient in computation. Simulation results show the effectiveness of the inertial forces and the controller designed.

Robot vibration control using inertial damping forces

NASA Technical Reports Server (NTRS)

Lee, Soo Han; Book, Wayne J.

1989-01-01

The suppression is examined of the vibration of a large flexible robot by inertial forces of a small robot which is located at the tip of the large robot. A controller for generating damping forces to a large robot is designed based on the two time scale mode. The controller does not need to calculate the quasi-steady state variables and is efficient in computation. Simulation results show the effectiveness of the inertial forces and the controller designed.

A survey of snake-inspired robot designs.

PubMed

Hopkins, James K; Spranklin, Brent W; Gupta, Satyandra K

2009-06-01

Body undulation used by snakes and the physical architecture of a snake body may offer significant benefits over typical legged or wheeled locomotion designs in certain types of scenarios. A large number of research groups have developed snake-inspired robots to exploit these benefits. The purpose of this review is to report different types of snake-inspired robot designs and categorize them based on their main characteristics. For each category, we discuss their relative advantages and disadvantages. This review will assist in familiarizing a newcomer to the field with the existing designs and their distinguishing features. We hope that by studying existing robots, future designers will be able to create new designs by adopting features from successful robots. The review also summarizes the design challenges associated with the further advancement of the field and deploying snake-inspired robots in practice.

Thermal response of novel shape memory polymer-shape memory alloy hybrids

NASA Astrophysics Data System (ADS)

Rossiter, Jonathan; Takashima, Kazuto; Mukai, Toshiharu

2014-03-01

Shape memory polymers (SMP) and shape memory alloys (SMA) have both been proven important smart materials in their own fields. Shape memory polymers can be formed into complex three-dimensional structures and can undergo shape programming and large strain recovery. These are especially important for deployable structures including those for space applications and micro-structures such as stents. Shape memory alloys on the other hand are readily exploitable in a range of applications where simple, silent, light-weight and low-cost repeatable actuation is required. These include servos, valves and mobile robotic artificial muscles. Despite their differences, one important commonality between SMPs and SMAs is that they are both typically activated by thermal energy. Given this common characteristic it is important to consider how these two will behave when in close environmental proximity, and hence exposed to the same thermal stimulus, and when they are incorporated into a hybrid SMA-SMP structure. In this paper we propose and examine the operation of SMA-SMP hybrids. The relationship between the two temperatures Tg, the glass transition temperature of the polymer, and Ta, the nominal austenite to martensite transition temperature of the alloy is considered. We examine how the choice of these two temperatures affects the thermal response of the hybrid. Electrical stimulation of the SMA is also considered as a method not only of actuating the SMA but also of inducing heating in the surrounding polymer, with consequent effects on actuator behaviour. Likewise by varying the rate and degree of thermal stimulation of the SMA significantly different actuation and structural stiffness can be achieved. Novel SMP-SMA hybrid actuators and structures have many ready applications in deployable structures, robotics and tuneable engineering systems.

Evolution of a radio communication relay system

NASA Astrophysics Data System (ADS)

Nguyen, Hoa G.; Pezeshkian, Narek; Hart, Abraham; Burmeister, Aaron; Holz, Kevin; Neff, Joseph; Roth, Leif

2013-05-01

Providing long-distance non-line-of-sight control for unmanned ground robots has long been recognized as a problem, considering the nature of the required high-bandwidth radio links. In the early 2000s, the DARPA Mobile Autonomous Robot Software (MARS) program funded the Space and Naval Warfare Systems Center (SSC) Pacific to demonstrate a capability for autonomous mobile communication relaying on a number of Pioneer laboratory robots. This effort also resulted in the development of ad hoc networking radios and software that were later leveraged in the development of a more practical and logistically simpler system, the Automatically Deployed Communication Relays (ADCR). Funded by the Joint Ground Robotics Enterprise and internally by SSC Pacific, several generations of ADCR systems introduced increasingly more capable hardware and software for automatic maintenance of communication links through deployment of static relay nodes from mobile robots. This capability was finally tapped in 2010 to fulfill an urgent need from theater. 243 kits of ruggedized, robot-deployable communication relays were produced and sent to Afghanistan to extend the range of EOD and tactical ground robots in 2012. This paper provides a summary of the evolution of the radio relay technology at SSC Pacific, and then focuses on the latest two stages, the Manually-Deployed Communication Relays and the latest effort to automate the deployment of these ruggedized and fielded relay nodes.

Dexterity-Enhanced Telerobotic Microsurgery

NASA Technical Reports Server (NTRS)

Charles, Steve; Das, Hari; Ohm, Timothy; Boswell, Curtis; Rodriguez, Guillermo; Steele, Robert; Istrate, Dan

1997-01-01

The work reported in this paper is the result, of a collaboration between researchers at the Jet Propulsion Laboratory and Steve Charles, MD, a vitreo-retinal surgeon. The Robot Assisted MicroSurgery (RAMS) telerobotic workstation developed at JPL is a prototype of a system that will be completely under the manual control of a surgeon. The system has a slave robot that will hold surgical instruments. The slave robot motions replicate in six degrees of freedom those of tile. surgeon's hand measured using a master input device with a surgical instrument, shaped handle. The surgeon commands motions for the instrument by moving the handle in the desired trajectories. The trajectories are measured, filtered, and scaled down then used to drive the slave robot.

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

A Conceptual Design for a Small Deployer Satellite

NASA Astrophysics Data System (ADS)

Zumbo, S.

2002-01-01

In the last few years, the space scientific and industrial communities have demonstrated a renewed interest for small missions based on new categories of space platforms: micro &nano satellites. The cost reduction w.r.t. larger satellite missions, the shorter time from concept to launch, the risk distribution and the possibility to use this kind of bus both for stand-alone projects and as complementary to larger programs, are key factors that make this new kind of technology suitable for a wide range of space related activities. In particular it is now possible to conceive new mission philosophy implying the realisation of micro satellite constellations, with S/C flying in close formation to form a network of distributed sensors either for near-real time telecommunication or Earth remote sensing and disaster monitoring systems or physics and astronomical researches for Earth-Sun dynamics and high energy radiation studies. At the same time micro satellite are becoming important test- beds for new technologies that will eventually be used on larger missions, with relevant spin-offs potentialities towards other industrial fields. The foreseen social and economical direct benefits, the reduced mission costs and the possibility even for a small skilled team to manage all the project, represent very attractive arguments for universities and research institutes to invest funds and human resources to get first order technical and theoretical skills in the field of micro satellite design, with important influences on the training programs of motivated students that are directly involved in all the project's phases. In consideration of these space market important new trends and of the academic benefits that could be guaranteed by undertaking a micro satellite mission project, basing on its long space activities heritage, University of Rome "La Sapienza" - Aerospace and Astronautics Department, with the support of the Italian Space Agency, Alenia Spazio and of important industrial partners, has started the development of a space mission, named DeSat, focused on a new highly innovative micro satellite bus for LEO, entirely designed by an integrated team of students and researchers. The first mission is scheduled to fly at the end of 2003 on a converted Russian ICBM. The paper is intended to present the main features of DeSat mission, its goals and the activities that have been done by students and researchers to achieve the micro satellite platform design. The principal payload of the entire system is represented by a recirculating ball screw boom whose mass reaches one third of the total mass budget. The goal of the mission is to demonstrate the validity of its design also for space applications, which may range from precise off platform positioning of devices and instruments to GPS interferometry, sensor measurements and robotics. The satellite geometry, when the boom is in deployed configuration, is so stretched that the name "deployable satellite" has come out naturally. The large deployment mechanism, compared to the small bus, has influenced the design of every satellite subsystem leading to innovative solutions in terms of design, materials, equipment and instruments.

Millimeter-scale MEMS enabled autonomous systems: system feasibility and mobility

NASA Astrophysics Data System (ADS)

Pulskamp, Jeffrey S.

2012-06-01

Millimeter-scale robotic systems based on highly integrated microelectronics and micro-electromechanical systems (MEMS) could offer unique benefits and attributes for small-scale autonomous systems. This extreme scale for robotics will naturally constrain the realizable system capabilities significantly. This paper assesses the feasibility of developing such systems by defining the fundamental design trade spaces between component design variables and system level performance parameters. This permits the development of mobility enabling component technologies within a system relevant context. Feasible ranges of system mass, required aerodynamic power, available battery power, load supported power, flight endurance, and required leg load bearing capability are presented for millimeter-scale platforms. The analysis illustrates the feasibility of developing both flight capable and ground mobile millimeter-scale autonomous systems while highlighting the significant challenges that must be overcome to realize their potential.

Fiber IFU unit for the second generation VLT spectrograph KMOS

NASA Astrophysics Data System (ADS)

Tomono, Daigo; Weisz, Harald; Hofmann, Reiner

2003-03-01

KMOS is a cryogenic multi-object near-infrared spectrograph for the VLT. It will be equipped with about 20 deployable integral field units (IFUs) which can be positioned anywhere in the 7.2 arcmin diameter field o the VLT Nasmyth focus by a cryogenic robot. We describe IFUs using micro lens arrays and optical fibers to arrange the two-dimensional fields from the IFUs on the spectrograph entrance slit. Each micro-lens array is mounted in a spider arm which also houses the pre-optics with a cold stop. The spider arms are positioned by a cryogenic robot which is built around the image plane. For the IFUs, two solutions are considered: monolithic mirco-lens arrays with fibers attached to the back where the entrance pupil is imaged, and tapered fibers with integrated lenses which are bundled together to form a lens array. The flexibility of optical fibers relaxes boundary conditions for integration of the instrument components. On the other hand, FRD and geometric characteristics of optical fibers leads to higher AΩ accepted by the spectrograph. Conceptual design of the instrument is presented as well as advantages and disadvantages of the fiber IFUs.

The Embudito Mission: A Case Study of the Systematics of Autonomous Ground Mobile Robots

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

EICKER,PATRICK J.

2001-02-01

Ground mobile robots are much in the mind of defense planners at this time, being considered for a significant variety of missions with a diversity ranging from logistics supply to reconnaissance and surveillance. While there has been a very large amount of basic research funded in the last quarter century devoted to mobile robots and their supporting component technologies, little of this science base has been fully developed and deployed--notable exceptions being NASA's Mars rover and several terrestrial derivatives. The material in this paper was developed as a first exemplary step in the development of a more systematic approach tomore » the R and D of ground mobile robots.« less

Harnessing bistability for directional propulsion of soft, untethered robots.

PubMed

Chen, Tian; Bilal, Osama R; Shea, Kristina; Daraio, Chiara

2018-05-29

In most macroscale robotic systems, propulsion and controls are enabled through a physical tether or complex onboard electronics and batteries. A tether simplifies the design process but limits the range of motion of the robot, while onboard controls and power supplies are heavy and complicate the design process. Here, we present a simple design principle for an untethered, soft swimming robot with preprogrammed, directional propulsion without a battery or onboard electronics. Locomotion is achieved by using actuators that harness the large displacements of bistable elements triggered by surrounding temperature changes. Powered by shape memory polymer (SMP) muscles, the bistable elements in turn actuate the robot's fins. Our robots are fabricated using a commercially available 3D printer in a single print. As a proof of concept, we show the ability to program a vessel, which can autonomously deliver a cargo and navigate back to the deployment point.

Soft Robotic Manipulation and Locomotion with a 3D Printed Electroactive Hydrogel.

PubMed

Han, Daehoon; Farino, Cindy; Yang, Chen; Scott, Tracy; Browe, Daniel; Choi, Wonjoon; Freeman, Joseph W; Lee, Howon

2018-05-30

Electroactive hydrogels (EAH) that exhibit large deformation in response to an electric field have received great attention as a potential actuating material for soft robots and artificial muscle. However, their application has been limited due to the use of traditional two-dimensional (2D) fabrication methods. Here we present soft robotic manipulation and locomotion with 3D printed EAH microstructures. Through 3D design and precise dimensional control enabled by a digital light processing (DLP) based micro 3D printing technique, complex 3D actuations of EAH are achieved. We demonstrate soft robotic actuations including gripping and transporting an object and a bidirectional locomotion.

Nanoliter-Scale Protein Crystallization and Screening with a Microfluidic Droplet Robot

PubMed Central

Zhu, Ying; Zhu, Li-Na; Guo, Rui; Cui, Heng-Jun; Ye, Sheng; Fang, Qun

2014-01-01

Large-scale screening of hundreds or even thousands of crystallization conditions while with low sample consumption is in urgent need, in current structural biology research. Here we describe a fully-automated droplet robot for nanoliter-scale crystallization screening that combines the advantages of both automated robotics technique for protein crystallization screening and the droplet-based microfluidic technique. A semi-contact dispensing method was developed to achieve flexible, programmable and reliable liquid-handling operations for nanoliter-scale protein crystallization experiments. We applied the droplet robot in large-scale screening of crystallization conditions of five soluble proteins and one membrane protein with 35–96 different crystallization conditions, study of volume effects on protein crystallization, and determination of phase diagrams of two proteins. The volume for each droplet reactor is only ca. 4–8 nL. The protein consumption significantly reduces 50–500 fold compared with current crystallization stations. PMID:24854085

Nanoliter-scale protein crystallization and screening with a microfluidic droplet robot.

PubMed

Zhu, Ying; Zhu, Li-Na; Guo, Rui; Cui, Heng-Jun; Ye, Sheng; Fang, Qun

2014-05-23

Large-scale screening of hundreds or even thousands of crystallization conditions while with low sample consumption is in urgent need, in current structural biology research. Here we describe a fully-automated droplet robot for nanoliter-scale crystallization screening that combines the advantages of both automated robotics technique for protein crystallization screening and the droplet-based microfluidic technique. A semi-contact dispensing method was developed to achieve flexible, programmable and reliable liquid-handling operations for nanoliter-scale protein crystallization experiments. We applied the droplet robot in large-scale screening of crystallization conditions of five soluble proteins and one membrane protein with 35-96 different crystallization conditions, study of volume effects on protein crystallization, and determination of phase diagrams of two proteins. The volume for each droplet reactor is only ca. 4-8 nL. The protein consumption significantly reduces 50-500 fold compared with current crystallization stations.

Space Technology 5 Multi-point Observations of Field-aligned Currents: Temporal Variability of Meso-Scale Structures

NASA Technical Reports Server (NTRS)

Le, Guan; Wang, Yongli; Slavin, James A.; Strangeway, Robert J.

2007-01-01

Space Technology 5 (ST5) is a three micro-satellite constellation deployed into a 300 x 4500 km, dawn-dusk, sun-synchronous polar orbit from March 22 to June 21, 2006, for technology validations. In this paper, we present a study of the temporal variability of field-aligned currents using multi-point magnetic field measurements from ST5. The data demonstrate that meso-scale current structures are commonly embedded within large-scale field-aligned current sheets. The meso-scale current structures are very dynamic with highly variable current density and/or polarity in time scales of - 10 min. They exhibit large temporal variations during both quiet and disturbed times in such time scales. On the other hand, the data also shown that the time scales for the currents to be relatively stable are approx. 1 min for meso-scale currents and approx. 10 min for large scale current sheets. These temporal features are obviously associated with dynamic variations of their particle carriers (mainly electrons) as they respond to the variations of the parallel electric field in auroral acceleration region. The characteristic time scales for the temporal variability of meso-scale field-aligned currents are found to be consistent with those of auroral parallel electric field.

Ubiquitous Robotic Technology for Smart Manufacturing System.

PubMed

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

2016-01-01

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

Ubiquitous Robotic Technology for Smart Manufacturing System

PubMed Central

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

2016-01-01

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

Small-scale soft-bodied robot with multimodal locomotion.

PubMed

Hu, Wenqi; Lum, Guo Zhan; Mastrangeli, Massimo; Sitti, Metin

2018-02-01

Untethered small-scale (from several millimetres down to a few micrometres in all dimensions) robots that can non-invasively access confined, enclosed spaces may enable applications in microfactories such as the construction of tissue scaffolds by robotic assembly, in bioengineering such as single-cell manipulation and biosensing, and in healthcare such as targeted drug delivery and minimally invasive surgery. Existing small-scale robots, however, have very limited mobility because they are unable to negotiate obstacles and changes in texture or material in unstructured environments. Of these small-scale robots, soft robots have greater potential to realize high mobility via multimodal locomotion, because such machines have higher degrees of freedom than their rigid counterparts. Here we demonstrate magneto-elastic soft millimetre-scale robots that can swim inside and on the surface of liquids, climb liquid menisci, roll and walk on solid surfaces, jump over obstacles, and crawl within narrow tunnels. These robots can transit reversibly between different liquid and solid terrains, as well as switch between locomotive modes. They can additionally execute pick-and-place and cargo-release tasks. We also present theoretical models to explain how the robots move. Like the large-scale robots that can be used to study locomotion, these soft small-scale robots could be used to study soft-bodied locomotion produced by small organisms.

Small-scale soft-bodied robot with multimodal locomotion

NASA Astrophysics Data System (ADS)

Hu, Wenqi; Lum, Guo Zhan; Mastrangeli, Massimo; Sitti, Metin

2018-02-01

Untethered small-scale (from several millimetres down to a few micrometres in all dimensions) robots that can non-invasively access confined, enclosed spaces may enable applications in microfactories such as the construction of tissue scaffolds by robotic assembly, in bioengineering such as single-cell manipulation and biosensing, and in healthcare such as targeted drug delivery and minimally invasive surgery. Existing small-scale robots, however, have very limited mobility because they are unable to negotiate obstacles and changes in texture or material in unstructured environments. Of these small-scale robots, soft robots have greater potential to realize high mobility via multimodal locomotion, because such machines have higher degrees of freedom than their rigid counterparts. Here we demonstrate magneto-elastic soft millimetre-scale robots that can swim inside and on the surface of liquids, climb liquid menisci, roll and walk on solid surfaces, jump over obstacles, and crawl within narrow tunnels. These robots can transit reversibly between different liquid and solid terrains, as well as switch between locomotive modes. They can additionally execute pick-and-place and cargo-release tasks. We also present theoretical models to explain how the robots move. Like the large-scale robots that can be used to study locomotion, these soft small-scale robots could be used to study soft-bodied locomotion produced by small organisms.

Design framework of a teleoperating system for a magnetically levitated robot with force feedback

NASA Astrophysics Data System (ADS)

Tsuda, Naoaki; Kato, Norihiko; Nomura, Yoshihiko; Matsui, Hirokazu

2002-02-01

Precise works and manipulating micro objects are tough jobs for operators both mentally and physically. To execute these jobs smoothly without feeling wrongness, use of master-slave system is preferable because position and force are able to be scaled up and down as well under the system. In this study we develop a master-slave system where the size of a slave robot is very small and the slave robot is levitated by magnetic forces. In distinction from ordinary master- slave systems, the levitated robot does not get any other contact forces from outside. Thus we introduce a method using an impedance model for constructing the master-slave system. We confirmed the effectiveness of the positioning control algorithm through experiments.

A Key Pre-Distribution Scheme Based on µ-PBIBD for Enhancing Resilience in Wireless Sensor Networks.

PubMed

Yuan, Qi; Ma, Chunguang; Yu, Haitao; Bian, Xuefen

2018-05-12

Many key pre-distribution (KPD) schemes based on combinatorial design were proposed for secure communication of wireless sensor networks (WSNs). Due to complexity of constructing the combinatorial design, it is infeasible to generate key rings using the corresponding combinatorial design in large scale deployment of WSNs. In this paper, we present a definition of new combinatorial design, termed “µ-partially balanced incomplete block design (µ-PBIBD)”, which is a refinement of partially balanced incomplete block design (PBIBD), and then describe a 2-D construction of µ-PBIBD which is mapped to KPD in WSNs. Our approach is of simple construction which provides a strong key connectivity and a poor network resilience. To improve the network resilience of KPD based on 2-D µ-PBIBD, we propose a KPD scheme based on 3-D Ex-µ-PBIBD which is a construction of µ-PBIBD from 2-D space to 3-D space. Ex-µ-PBIBD KPD scheme improves network scalability and resilience while has better key connectivity. Theoretical analysis and comparison with the related schemes show that key pre-distribution scheme based on Ex-µ-PBIBD provides high network resilience and better key scalability, while it achieves a trade-off between network resilience and network connectivity.

Tracking state deployments of commercial vehicle information systems and networks : 1998 Florida state report

DOT National Transportation Integrated Search

2000-06-01

Micro-scale design (MSD) is a term that has been coined recently by transportation and land use planners to describe the human-scale features of the built environment. This concept focuses on accessibility to desired activities rather than on mobilit...

Space Technology 5 Multi-Point Observations of Temporal Variability of Field-Aligned Currents

NASA Technical Reports Server (NTRS)

Le, Guan; Wang, Yongli; Slavin, James A.; Strangeway, Robert J.

2008-01-01

Space Technology 5 (ST5) is a three micro-satellite constellation deployed into a 300 x 4500 km, dawn-dusk, sun-synchronous polar orbit from March 22 to June 21, 2006, for technology validations. In this paper, we present a study of the temporal variability of field-aligned currents using multi-point magnetic field measurements from ST5. The data demonstrate that meso-scale current structures are commonly embedded within large-scale field-aligned current sheets. The meso-scale current structures are very dynamic with highly variable current density and/or polarity in time scales of approximately 10 min. They exhibit large temporal variations during both quiet and disturbed times in such time scales. On the other hand, the data also shown that the time scales for the currents to be relatively stable are approximately 1 min for meso-scale currents and approximately 10 min for large scale current sheets. These temporal features are obviously associated with dynamic variations of their particle carriers (mainly electrons) as they respond to the variations of the parallel electric field in auroral acceleration region. The characteristic time scales for the temporal variability of meso-scale field-aligned currents are found to be consistent with those of auroral parallel electric field.

Real and virtual robotics in mathematics education at the school-university transition

NASA Astrophysics Data System (ADS)

Samuels, Peter; Haapasalo, Lenni

2012-04-01

LOGO and turtle graphics were an influential movement in primary school mathematics education in the 1980s and 1990s. Since then, technology has moved forward, both in terms of its sophistication and pedagogical potential; and learner experiences, preferences and ways of thinking have changed dramatically. Based on the authors' previous work and a literature review, this article revisits the subject of enhancing mathematics education through educational robotics kits and virtual robotic animations by proposing their simultaneous deployment at the school-university transition. The rationale for such an application is argued and an evaluation framework for these technologies is proposed. Two educational robotic kits and a virtual environment supporting robotic animations are evaluated both in terms of their feasibility of deployment and their educational effectiveness. Finally, the evaluation of learning experiences when deploying the proposed pedagogical approach is discussed.

An Overview of the Micro Pulse Lidar Network (MPLNET)

NASA Technical Reports Server (NTRS)

Welton, Ellsworth

2010-01-01

The NASA Micro Pulse Lidar Network (MPLNET) is a federated network of Micro Pulse Lidar (MPL) systems designed to measure aerosol and cloud vertical structure continuously, day and night, over long time periods required to contribute to climate change studies and provide ground validation for models and satellite sensors in the NASA Earth Observing System (FOS). At present, there are eighteen active sites worldwide, and several more in the planning stage. Numerous temporary sites are deployed in support of various field campaigns. Most MPLNET sites are co-located with sites in the NASA Aerosol Robotic Network (AERONET) to provide both column and vertically resolved aerosol and cloud data. MPLNET data and more information on the project are available at http://mpinet.gsfc.nasa.gov . Here we present a summary of the first ten years of MPLNET, along with an overview of our current status, specifically our version two data products and applications. Future network plans will be presented, with a focus on our activities in South East Asia.

Deployment dynamics and control of large-scale flexible solar array system with deployable mast

NASA Astrophysics Data System (ADS)

Li, Hai-Quan; Liu, Xiao-Feng; Guo, Shao-Jing; Cai, Guo-Ping

2016-10-01

In this paper, deployment dynamics and control of large-scale flexible solar array system with deployable mast are investigated. The adopted solar array system is introduced firstly, including system configuration, deployable mast and solar arrays with several mechanisms. Then dynamic equation of the solar array system is established by the Jourdain velocity variation principle and a method for dynamics with topology changes is introduced. In addition, a PD controller with disturbance estimation is designed to eliminate the drift of spacecraft mainbody. Finally the validity of the dynamic model is verified through a comparison with ADAMS software and the deployment process and dynamic behavior of the system are studied in detail. Simulation results indicate that the proposed model is effective to describe the deployment dynamics of the large-scale flexible solar arrays and the proposed controller is practical to eliminate the drift of spacecraft mainbody.

Lunar surface structural concepts and construction studies

NASA Technical Reports Server (NTRS)

Mikulas, Martin

1991-01-01

The topics are presented in viewgraph form and include the following: lunar surface structures construction research areas; lunar crane related disciplines; shortcomings of typical mobile crane in lunar base applications; candidate crane cable suspension systems; NIST six-cable suspension crane; numerical example of natural frequency; the incorporation of two new features for improved performance of the counter-balanced actively-controlled lunar crane; lunar crane pendulum mechanics; simulation results; 1/6 scale lunar crane testbed using GE robot for global manipulation; basic deployable truss approaches; bi-pantograph elevator platform; comparison of elevator platforms; perspective of bi-pantograph beam; bi-pantograph synchronously deployable tower/beam; lunar module off-loading concept; module off-loader concept packaged; starburst deployable precision reflector; 3-ring reflector deployment scheme; cross-section of packaged starburst reflector; and focal point and thickness packaging considerations.

A Flux-Pinning Mechanism for Segment Assembly and Alignment

NASA Technical Reports Server (NTRS)

Gersh-Range, Jessica A.; Arnold, William R.; Peck, Mason A.; Stahl, H. Philip

2011-01-01

Currently, the most compelling astrophysics questions include how planets and the first stars formed and whether there are protostellar disks that contain large organic molecules. Although answering these questions requires space telescopes with apertures of at least 10 meters, such large primaries are challenging to construct by scaling up previous designs; the limited capacity of a launch vehicle bounds the maximum diameter of a monolithic primary, and beyond a certain size, deployable telescopes cannot fit in current launch vehicle fairings. One potential solution is connecting the primary mirror segments edgewise using flux-pinning mechanisms, which are analogous to non-contacting damped springs. In the baseline design, a flux-pinning mechanism consists of a magnet and a superconductor separated by a predetermined gap, with the damping adjusted by placing aluminum near the interface. Since flux pinning is possible only when the superconductor is cooled below a critical temperature, flux-pinning mechanisms are uniquely suited for cryogenic space telescopes. By placing these mechanisms along the edges of the mirror segments, a primary can be built up over time. Since flux pinning requires no mechanical deployments, the assembly process could be robotic or use some other non-contacting scheme. Advantages of this approach include scalability and passive stability.

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.

JEMRMS Small Satellite Deployment Observation

NASA Image and Video Library

2012-10-04

ISS033-E-009334 (4 Oct. 2012) --- Several tiny satellites are featured in this image photographed by an Expedition 33 crew member on the International Space Station. The satellites were released outside the Kibo laboratory using a Small Satellite Orbital Deployer attached to the Japanese module’s robotic arm on Oct. 4, 2012. Japan Aerospace Exploration Agency astronaut Aki Hoshide, flight engineer, set up the satellite deployment gear inside the lab and placed it in the Kibo airlock. The Japanese robotic arm then grappled the deployment system and its satellites from the airlock for deployment.

JEMRMS Small Satellite Deployment Observation

NASA Image and Video Library

2012-10-04

ISS033-E-009458 (4 Oct. 2012) --- Several tiny satellites are featured in this image photographed by an Expedition 33 crew member on the International Space Station. The satellites were released outside the Kibo laboratory using a Small Satellite Orbital Deployer attached to the Japanese module’s robotic arm on Oct. 4, 2012. Japan Aerospace Exploration Agency astronaut Aki Hoshide, flight engineer, set up the satellite deployment gear inside the lab and placed it in the Kibo airlock. The Japanese robotic arm then grappled the deployment system and its satellites from the airlock for deployment.

Space Technology 5 (ST-5) Observations of Field-Aligned Currents: Temporal Variability

NASA Technical Reports Server (NTRS)

Le, Guan

2010-01-01

Space Technology 5 (ST-5) is a three micro-satellite constellation deployed into a 300 x 4500 km, dawn-dusk, sun-synchronous polar orbit from March 22 to June 21, 2006, for technology validations. In this paper, we present a study of the temporal variability of field-aligned currents using multi-point magnetic field measurements from STS. The data demonstrate that masoscale current structures are commonly embedded within large-scale field-aligned current sheets. The meso-scale current structures are very dynamic with highly variable current density and/or polarity in time scales of about 10 min. They exhibit large temporal variations during both quiet and disturbed times in such time scales. On the other hand, the data also shown that the time scales for the currents to be relatively stable are about I min for meso-scale currents and about 10 min for large scale current sheets. These temporal features are obviously associated with dynamic variations of their particle carriers (mainly electrons) as they respond to the variations of the parallel electric field in auroral acceleration region. The characteristic time scales for the temporal variability of meso-scale field-aligned currents are found to be consistent with those of auroral parallel electric field.

Space Technology 5 (ST-5) Multipoint Observations of Temporal and Spatial Variability of Field-Aligned Currents

NASA Technical Reports Server (NTRS)

Le, Guan

2010-01-01

Space Technology 5 (ST-5) is a three micro-satellite constellation deployed into a 300 x 4500 km, dawn-dusk, sun-synchronous polar orbit from March 22 to June 21, 2006, for technology validations. In this paper, we present a study of the temporal variability of field-aligned currents using multi-point magnetic field measurements from ST5. The data demonstrate that mesoscale current structures are commonly embedded within large-scale field-aligned current sheets. The meso-scale current structures are very dynamic with highly variable current density and/or polarity in time scales of about 10 min. They exhibit large temporal variations during both quiet and disturbed times in such time scales. On the other hand, the data also shown that the time scales for the currents to be relatively stable are about 1 min for meso-scale currents and about 10 min for large scale current sheets. These temporal features are obviously associated with dynamic variations of their particle carriers (mainly electrons) as they respond to the variations of the parallel electric field in auroral acceleration region. The characteristic time scales for the temporal variability of meso-scale field-aligned currents are found to be consistent with those of auroral parallel electric field.

Small Cube Satellite Deploy

NASA Image and Video Library

2013-11-19

ISS038-E-003874 (19 Nov. 2013) --- Three nanosatellites, known as Cubesats, are deployed from a Small Satellite Orbital Deployer (SSOD) attached to the Kibo laboratory's robotic arm at 7:10 a.m. (EST) on Nov. 19, 2013. Japan Aerospace Exploration Agency astronaut Koichi Wakata, Expedition 38 flight engineer, monitored the satellite deployment while operating the Japanese robotic arm from inside Kibo. The Cubesats were delivered to the International Space Station Aug. 9, aboard Japan's fourth H-II Transfer Vehicle, Kounotori-4.

A Force-Controllable Macro-Micro Manipulator and its Application to Medical Robotics

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Uecker, Darrin R.; Wang, Yulun

1993-01-01

This paper describes an 8-degrees-of-freedom macro-micro robot. This robot is capable of performing tasks that require accurate force control, such as polishing, finishing, grinding, deburring, and cleaning. The design of the macro-micro mechanism, the control algorithms, and the hardware/sofware implemtation of the algotithms are described in this paper. Initial experimental results are reported.

Optimization of power utilization in multimobile robot foraging behavior inspired by honeybees system.

PubMed

Ahmad, Faisul Arif; Ramli, Abd Rahman; Samsudin, Khairulmizam; Hashim, Shaiful Jahari

2014-01-01

Deploying large numbers of mobile robots which can interact with each other produces swarm intelligent behavior. However, mobile robots are normally running with finite energy resource, supplied from finite battery. The limitation of energy resource required human intervention for recharging the batteries. The sharing information among the mobile robots would be one of the potentials to overcome the limitation on previously recharging system. A new approach is proposed based on integrated intelligent system inspired by foraging of honeybees applied to multimobile robot scenario. This integrated approach caters for both working and foraging stages for known/unknown power station locations. Swarm mobile robot inspired by honeybee is simulated to explore and identify the power station for battery recharging. The mobile robots will share the location information of the power station with each other. The result showed that mobile robots consume less energy and less time when they are cooperating with each other for foraging process. The optimizing of foraging behavior would result in the mobile robots spending more time to do real work.

Optimization of Power Utilization in Multimobile Robot Foraging Behavior Inspired by Honeybees System

PubMed Central

Ahmad, Faisul Arif; Ramli, Abd Rahman; Samsudin, Khairulmizam; Hashim, Shaiful Jahari

2014-01-01

Deploying large numbers of mobile robots which can interact with each other produces swarm intelligent behavior. However, mobile robots are normally running with finite energy resource, supplied from finite battery. The limitation of energy resource required human intervention for recharging the batteries. The sharing information among the mobile robots would be one of the potentials to overcome the limitation on previously recharging system. A new approach is proposed based on integrated intelligent system inspired by foraging of honeybees applied to multimobile robot scenario. This integrated approach caters for both working and foraging stages for known/unknown power station locations. Swarm mobile robot inspired by honeybee is simulated to explore and identify the power station for battery recharging. The mobile robots will share the location information of the power station with each other. The result showed that mobile robots consume less energy and less time when they are cooperating with each other for foraging process. The optimizing of foraging behavior would result in the mobile robots spending more time to do real work. PMID:24949491

Advantages of Science Cubesat and Microsat Deployment Using DSG Deep Space Exploration Robotics

NASA Astrophysics Data System (ADS)

Shaw, A.; Rembala, R.; Fulford, P.

2018-02-01

Important scientific missions can be accomplished with cubesats/microsats. These missions would benefit from advantages offered by having an independent cubesat/microsat deployment capability as part of Deep Space Gateway's Deep Space Exploration Robotics system.

White Paper on Dish Stirling Technology: Path Toward Commercial Deployment

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

Andraka, Charles E.; Stechel, Ellen; Becker, Peter

2016-07-01

Dish Stirling energy systems have been developed for distributed and large-scale utility deployment. This report summarizes the state of the technology in a joint project between Stirling Energy Systems, Sandia National Laboratories, and the Department of Energy in 2011. It then lays out a feasible path to large scale deployment, including development needs and anticipated cost reduction paths that will make a viable deployment product.

Research on Snake-Like Robot with Controllable Scales

NASA Astrophysics Data System (ADS)

Chen, Kailin; Zhao, Yuting; Chen, Shuping

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

Small Cube Satellite Deploy

NASA Image and Video Library

2013-11-19

ISS038-E-003870 (19 Nov. 2013) --- Three nanosatellites, known as Cubesats, are deployed from a Small Satellite Orbital Deployer (SSOD) attached to the Kibo laboratory’s robotic arm at 7:10 a.m. (EST) on Nov. 19, 2013. Japan Aerospace Exploration Agency astronaut Koichi Wakata, Expedition 38 flight engineer, monitored the satellite deployment while operating the Japanese robotic arm from inside Kibo. The Cubesats were delivered to the International Space Station Aug. 9, aboard Japan’s fourth H-II Transfer Vehicle, Kounotori-4.

Small Cube Satellite Deploy

NASA Image and Video Library

2013-11-19

ISS038-E-003869 (19 Nov. 2013) --- Three nanosatellites, known as Cubesats, are deployed from a Small Satellite Orbital Deployer (SSOD) attached to the Kibo laboratory’s robotic arm at 7:10 a.m. (EST) on Nov. 19, 2013. Japan Aerospace Exploration Agency astronaut Koichi Wakata, Expedition 38 flight engineer, monitored the satellite deployment while operating the Japanese robotic arm from inside Kibo. The Cubesats were delivered to the International Space Station Aug. 9, aboard Japan’s fourth H-II Transfer Vehicle, Kounotori-4.

Small Cube Satellite Deploy

NASA Image and Video Library

2013-11-19

ISS038-E-003871 (19 Nov. 2013) --- Three nanosatellites, known as Cubesats, are deployed from a Small Satellite Orbital Deployer (SSOD) attached to the Kibo laboratory’s robotic arm at 7:10 a.m. (EST) on Nov. 19, 2013. Japan Aerospace Exploration Agency astronaut Koichi Wakata, Expedition 38 flight engineer, monitored the satellite deployment while operating the Japanese robotic arm from inside Kibo. The Cubesats were delivered to the International Space Station Aug. 9, aboard Japan’s fourth H-II Transfer Vehicle, Kounotori-4.

Small Cube Satellite Deploy

NASA Image and Video Library

2013-11-19

ISS038-E-003872 (19 Nov. 2013) --- Three nanosatellites, known as Cubesats, are deployed from a Small Satellite Orbital Deployer (SSOD) attached to the Kibo laboratory’s robotic arm at 7:10 a.m. (EST) on Nov. 19, 2013. Japan Aerospace Exploration Agency astronaut Koichi Wakata, Expedition 38 flight engineer, monitored the satellite deployment while operating the Japanese robotic arm from inside Kibo. The Cubesats were delivered to the International Space Station Aug. 9, aboard Japan’s fourth H-II Transfer Vehicle, Kounotori-4.

Biomorphic Explorers Leading Towards a Robotic Ecology

NASA Technical Reports Server (NTRS)

Thakoor, Sarita; Miralles, Carlos; Chao, Tien-Hsin

1999-01-01

This paper presents viewgraphs of biomorphic explorers as they provide extended survival and useful life of robots in ecology. The topics include: 1) Biomorphic Explorers; 2) Advanced Mobility for Biomorphic Explorers; 3) Biomorphic Explorers: Size Based Classification; 4) Biomorphic Explorers: Classification (Based on Mobility and Ambient Environment); 5) Biomorphic Flight Systems: Vision; 6) Biomorphic Glider Deployment Concept: Larger Glider Deploy/Local Relay; 7) Biomorphic Glider Deployment Concept: Balloon Deploy/Dual Relay; 8) Biomorphic Exlplorer: Conceptual Design; 9) Biomorphic Gliders; and 10) Applications.

A study on geometry effect of transmission coil for micro size magnetic induction coil

NASA Astrophysics Data System (ADS)

Lee, Kyung Hwa; Jun, Byoung Ok; Kim, Seunguk; Lee, Gwang Jun; Ryu, Mingyu; Choi, Ji-Woong; Jang, Jae Eun

2016-05-01

The effects of transmission (Tx) coil structure have been studied for micro-size magnetic induction coil. The size of the receiving (Rx) coil should be shrunk to the micrometer level for the various new applications such as micro-robot and wireless body implanted devices. In case of the macro-scale magnetic induction coil, the power transmission efficiency is generally considered to be higher as the inductance of the transmission coil became larger; however, the large size difference between macro-size Tx coil and micro-size Rx coil can decrease the power transmission efficiency due to the difference of resonance frequency. Here, we study a correlation of the power transmission with the size and distance between the macro-size Tx and micro-size Rx coils using magnetic induction technique. The maximum power efficiency was 0.28/0.23/0.13/0.12% at the distance of 0.3/1/3/5 cm between Rx and Tx coil. In addition, more efficient wireless power transferring method is suggested with a floating coil for the body implantable devices. The voltage output increased up to 5.4 mV than the original one Tx coil system. The results demonstrated the foundational wireless power transferring system with enhanced power efficiency.

Concentric agonist-antagonist robots for minimally invasive surgeries

NASA Astrophysics Data System (ADS)

Oliver-Butler, Kaitlin; Epps, Zane H.; Rucker, Daniel Caleb

2017-03-01

We present a novel continuum robot design concept, Concentric Agonist-Antagonist Robots (CAAR), that uses push-pull, agonist-antagonist action of a pair of concentric tubes. The CAAR tubes are designed to have noncentral, offset neutral axes, and they are fixed together at their distal ends. Axial base translations then induce bending in the device. A CAAR segment can be created by selectively cutting asymmetric notches into the profile of two stock tubes, which relocates the neutral bending plane away from the center of the inner lumen. Like conventional concentric-tube robots (CTRs) based on counter-rotating precurved tubes, a CAAR can be made at very small scales and contain a large, open lumen. In contrast with CTRs, the CAAR concept has no elastic stability issues, offers a larger range of motion, and has lower overall stiffness. Furthermore, by varying the position of the neutral axes along the length of each tube, arbitrary, variable curvature actuation modes can be achieved. Precurving the tubes can additionally increase the workspace of a single segment. A single two-tube assembly can be used to create 3 degree-of-freedom (DOF) robot segments, and multiple segments can be deployed concentrically. Both additive manufacturing and traditional machining of stock tubes can create and customize the geometry and performance of the CAAR. In this paper, we explore the CAAR concept, provide kinematic and static models, and experimentally evaluate the model with a both a straight and a precurved CAAR. We conclude with a discussion of the significance and our plans for future work.

Technology development for cryogenic deployable telescope structures and mechanisms

NASA Astrophysics Data System (ADS)

Atkinson, Charles B.; Gilman, Larry; Reynolds, Paul

2003-12-01

At 6-7 meters in diameter, the James Webb Space Telescope (JWST) will require structures that remain stable to levels that are on the order of 10 nanometers under dynamic and thermal loading while operating at cryogenic temperatures. Moreover, the JWST will be the first telescope in space that is deployed, resulting in an aperture that is not only segmented, but has hinge-lines and the associated joining systems or latches in it. In order to understand the behavior and reduce the risk associated with very large, deployed structures and the stability of the associated structure and latches, we developed and tested the largest cryogenic structure ever built and then characterized its stability. This paper presents a description of the design of the Development Optical Telescope Assembly (DOTA), the testing performed, and the results of the testing performed on it. We discuss the material selection and characterization processes, give a description of the test configurations, describe the metrology equipment and the validation process for it, provide the test results, and summarize the conclusions drawn from the results. The testing and associated results include characterization of the thermal stability of the large-scale structure, characterization of the micro-dynamic stability of the latching system, and measurements of the deployment capability of the mechanisms. We also describe how the DOTA design relates to the JWST design and how the test results relate to the JWST requirements.

Small Spacecraft Active Thermal Control: Micro-Vascular Composites Enable Small Satellite Cooling

NASA Technical Reports Server (NTRS)

Ghosh, Alexander

2016-01-01

The Small Spacecraft Integrated Power System with Active Thermal Control project endeavors to achieve active thermal control for small spacecraft in a practical and lightweight structure by circulating a coolant through embedded micro-vascular channels in deployable composite panels. Typically, small spacecraft rely on small body mounted passive radiators to discard heat. This limits cooling capacity and leads to the necessity to design for limited mission operations. These restrictions severely limit the ability of the system to dissipate large amounts of heat from radios, propulsion systems, etc. An actively pumped cooling system combined with a large deployable radiator brings two key advantages over the state of the art for small spacecraft: capacity and flexibility. The use of a large deployable radiator increases the surface area of the spacecraft and allows the radiation surface to be pointed in a direction allowing the most cooling, drastically increasing cooling capacity. With active coolant circulation, throttling of the coolant flow can enable high heat transfer rates during periods of increased heat load, or isolate the radiator during periods of low heat dissipation.

The Affordance Template ROS Package for Robot Task Programming

NASA Technical Reports Server (NTRS)

Hart, Stephen; Dinh, Paul; Hambuchen, Kimberly

2015-01-01

This paper introduces the Affordance Template ROS package for quickly programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet the run-time demands of the task (specifically, object scale and location). The Affordance Template package stores task specifications in a robot-agnostic XML description format such that it is trivial to apply a template to a new robot. As such, the Affordance Template package provides a robot-generic ROS tool appropriate for building semi-autonomous, manipulation-based applications. Affordance Templates were developed by the NASA-JSC DARPA Robotics Challenge (DRC) team and have since successfully been deployed on multiple platforms including the NASA Valkyrie and Robonaut 2 humanoids, the University of Texas Dreamer robot and the Willow Garage PR2. In this paper, the specification and implementation of the affordance template package is introduced and demonstrated through examples for wheel (valve) turning, pick-and-place, and drill grasping, evincing its utility and flexibility for a wide variety of robot applications.

Robot-assisted real-time magnetic resonance image-guided transcatheter aortic valve replacement.

PubMed

Miller, Justin G; Li, Ming; Mazilu, Dumitru; Hunt, Tim; Horvath, Keith A

2016-05-01

Real-time magnetic resonance imaging (rtMRI)-guided transcatheter aortic valve replacement (TAVR) offers improved visualization, real-time imaging, and pinpoint accuracy with device delivery. Unfortunately, performing a TAVR in a MRI scanner can be a difficult task owing to limited space and an awkward working environment. Our solution was to design a MRI-compatible robot-assisted device to insert and deploy a self-expanding valve from a remote computer console. We present our preliminary results in a swine model. We used an MRI-compatible robotic arm and developed a valve delivery module. A 12-mm trocar was inserted in the apex of the heart via a subxiphoid incision. The delivery device and nitinol stented prosthesis were mounted on the robot. Two continuous real-time imaging planes provided a virtual real-time 3-dimensional reconstruction. The valve was deployed remotely by the surgeon via a graphic user interface. In this acute nonsurvival study, 8 swine underwent robot-assisted rtMRI TAVR for evaluation of feasibility. Device deployment took a mean of 61 ± 5 seconds. Postdeployment necropsy was performed to confirm correlations between imaging and actual valve positions. These results demonstrate the feasibility of robotic-assisted TAVR using rtMRI guidance. This approach may eliminate some of the challenges of performing a procedure while working inside of an MRI scanner, and may improve the success of TAVR. It provides superior visualization during the insertion process, pinpoint accuracy of deployment, and, potentially, communication between the imaging device and the robotic module to prevent incorrect or misaligned deployment. Copyright © 2016 The American Association for Thoracic Surgery. Published by Elsevier Inc. All rights reserved.

A force-controllable macro-micro manipulator and its application to medical robots

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Uecker, Darrin R.; Wang, Yulun

1994-01-01

This paper describes an 8-degrees-of-freedom macro-micro robot. This robot is capable of performing tasks that require accurate force control, such as polishing, finishing, grinding, deburring, and cleaning. The design of the macro-micro mechanism, the control algorithms, and the hardware/software implementation of the algorithms are described in this paper. Initial experimental results are reported. In addition, this paper includes a discussion of medical surgery and the role that force control may play. We introduce a new class of robotic systems collectively called Robotic Enhancement Technology (RET). RET systems introduce the combination of robotic manipulation with human control to perform manipulation tasks beyond the individual capability of either human or machine. The RET class of robotic systems offers new challenges in mechanism design, control-law development, and man/machine interface design. We believe force-controllable mechanisms such as the macro-micro structure we have developed are a necessary part of RET. Work in progress in the area of RET systems and their application to minimally invasive surgery is presented, along with future research directions.

A Mobile Sensor Network System for Monitoring of Unfriendly Environments.

PubMed

Song, Guangming; Zhou, Yaoxin; Ding, Fei; Song, Aiguo

2008-11-14

Observing microclimate changes is one of the most popular applications of wireless sensor networks. However, some target environments are often too dangerous or inaccessible to humans or large robots and there are many challenges for deploying and maintaining wireless sensor networks in those unfriendly environments. This paper presents a mobile sensor network system for solving this problem. The system architecture, the mobile node design, the basic behaviors and advanced network capabilities have been investigated respectively. A wheel-based robotic node architecture is proposed here that can add controlled mobility to wireless sensor networks. A testbed including some prototype nodes has also been created for validating the basic functions of the proposed mobile sensor network system. Motion performance tests have been done to get the positioning errors and power consumption model of the mobile nodes. Results of the autonomous deployment experiment show that the mobile nodes can be distributed evenly into the previously unknown environments. It provides powerful support for network deployment and maintenance and can ensure that the sensor network will work properly in unfriendly environments.

Nanorobotic System iTRo for Controllable 1D Micro/nano Material Twisting Test.

PubMed

Lu, Haojian; Shang, Wanfeng; Wei, Xueyong; Yang, Zhan; Fukuda, Toshio; Shen, Yajing

2017-06-08

In-situ micro/nano characterization is an indispensable methodology for material research. However, the precise in-situ SEM twisting of 1D material with large range is still challenge for current techniques, mainly due to the testing device's large size and the misalignment between specimen and the rotation axis. Herein, we propose an in-situ twist test robot (iTRo) to address the above challenges and realize the precise in-situ SEM twisting test for the first time. Firstly, we developed the iTRo and designed a series of control strategies, including assembly error initialization, triple-image alignment (TIA) method for rotation axis alignment, deformation-based contact detection (DCD) method for sample assembly, and switch control for robots cooperation. After that, we chose three typical 1D material, i.e., magnetic microwire Fe 74 B 13 Si 11 C 2 , glass fiber, and human hair, for twisting test and characterized their properties. The results showed that our approach is able to align the sample to the twisting axis accurately, and it can provide large twisting range, heavy load and high controllability. This work fills the blank of current in-situ mechanical characterization methodologies, which is expected to give significant impact in the fundamental nanomaterial research and practical micro/nano characterization.

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

PubMed

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

2018-04-30

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

SSOD on JEM RMS

NASA Image and Video Library

2012-10-04

ISS033-E-009269 (4 Oct. 2012) --- A Small Satellite Orbital Deployer (SSOD) attached to the Japanese module’s robotic arm is featured in this image photographed by an Expedition 33 crew member on the International Space Station. Several tiny satellites were released outside the Kibo laboratory using the SSOD on Oct. 4, 2012. Japan Aerospace Exploration Agency astronaut Aki Hoshide, flight engineer, set up the satellite deployment gear inside the lab and placed it in the Kibo airlock. The Japanese robotic arm then grappled the deployment system and its satellites from the airlock for deployment.

Bio-inspired robot design for viscous fluids

NASA Astrophysics Data System (ADS)

Ma, Grace; Lipman, Tyler; Jung, Sunghwan

Many modern micro-robots are designed for biomedical applications to transport drugs to targets or to operate tests in the body for diagnosis. However, most micro-robots simply mimic the morphology and the propulsive mechanism of micro-organisms without understanding the underlying physics of low-Re swimming. Two types of swimming motions have been observed in micro-organisms; stresslet and source-dipole swimming. The stresslet swimmer (e.g. E. coli) uses a rotating helical appendage, whereas the source-dipole swimmer (e.g. Paramecium) creates surface velocity for propulsion. Using this principle, we designed a robot to swim in very viscous fluids either by rotating a helix or creating surface velocity, simply by changing the orientation of the appendage. Further, we will discuss the performance of this robot (swimming speed and rotation speed) with respect to the number, winding angle, and radius of helices in a very viscous fluid.

Magnetic field concentration using ferromagnetic material to propel a wireless power transfer based micro-robot

NASA Astrophysics Data System (ADS)

Kim, Dongwook; Park, Bumjin; Park, Jaehyoung; Park, Hyun Ho; Ahn, Seungyoung

2018-05-01

In this paper, we propose a novel coil structure, using a ferromagnetic material which concentrates the magnetic field, as the propulsion system of a wireless power transfer (WPT) based micro-robot. This structure uses an incident magnetic field to induce current during wireless power transfer, to generate a Lorentz force. To prevent net cancelation of the Lorentz force in the load coil, ferrite films were applied to one side of the coil segment. The demonstrated simplicity and effectiveness of the proposed micro-robot showed its suitability for applications. Simulation and experimental results confirmed a velocity of 1.02 mm/s with 6 mW power transfer capacity for the 3 mm sized micro-robot.

Hybridization of active and passive elements for planar photonic components and interconnects

NASA Astrophysics Data System (ADS)

Pearson, M.; Bidnyk, S.; Balakrishnan, A.

2007-02-01

The deployment of Passive Optical Networks (PON) for Fiber-to-the-Home (FTTH) applications currently represents the fastest growing sector of the telecommunication industry. Traditionally, FTTH transceivers have been manufactured using commodity bulk optics subcomponents, such as thin film filters (TFFs), micro-optic collimating lenses, TO-packaged lasers, and photodetectors. Assembling these subcomponents into a single housing requires active alignment and labor-intensive techniques. Today, the majority of cost reducing strategies using bulk subcomponents has been implemented making future reductions in the price of manufacturing FTTH transceivers unlikely. Future success of large scale deployments of FTTH depends on further cost reductions of transceivers. Realizing the necessity of a radically new packaging approach for assembly of photonic components and interconnects, we designed a novel way of hybridizing active and passive elements into a planar lightwave circuit (PLC) platform. In our approach, all the filtering components were monolithically integrated into the chip using advancements in planar reflective gratings. Subsequently, active components were passively hybridized with the chip using fully-automated high-capacity flip-chip bonders. In this approach, the assembly of the transceiver package required no active alignment and was readily suitable for large-scale production. This paper describes the monolithic integration of filters and hybridization of active components in both silica-on-silicon and silicon-on-insulator PLCs.

Implementation of RCCL, a robot control C library on a microVAX II

NASA Technical Reports Server (NTRS)

Lee, Jin S.; Hayati, Samad; Hayward, Vincent; Lloyd, John E.

1987-01-01

The robot control C library (RCCL), a high-level robot programing system which enables a progammer to employ a set of system calls to specify robot manipulator tasks, is discussed. The general structure of RCCL is described, and the implementation of RCCL on a microVAX II is examined. Proposed extensions and improvements of RCCL relevant to NASA's telerobotic system are addressed.

Three small deployed satellites

NASA Image and Video Library

2012-10-04

ISS033-E-009282 (4 Oct. 2012) --- Several tiny satellites are featured in this image photographed by an Expedition 33 crew member on the International Space Station. The satellites were released outside the Kibo laboratory using a Small Satellite Orbital Deployer attached to the Japanese module’s robotic arm on Oct. 4, 2012. Japan Aerospace Exploration Agency astronaut Aki Hoshide, flight engineer, set up the satellite deployment gear inside the lab and placed it in the Kibo airlock. The Japanese robotic arm then grappled the deployment system and its satellites from the airlock for deployment. Earth’s horizon and the blackness of space provide the backdrop for the scene.

JEMRMS Small Satellite Deployment Observation

NASA Image and Video Library

2012-10-04

ISS033-E-009315 (4 Oct. 2012) --- Several tiny satellites are featured in this image photographed by an Expedition 33 crew member on the International Space Station. The satellites were released outside the Kibo laboratory using a Small Satellite Orbital Deployer attached to the Japanese module’s robotic arm on Oct. 4, 2012. Japan Aerospace Exploration Agency astronaut Aki Hoshide, flight engineer, set up the satellite deployment gear inside the lab and placed it in the Kibo airlock. The Japanese robotic arm then grappled the deployment system and its satellites from the airlock for deployment. A blue and white part of Earth provides the backdrop for the scene.

Constrained VPH+: a local path planning algorithm for a bio-inspired crawling robot with customized ultrasonic scanning sensor.

PubMed

Rao, Akshay; Elara, Mohan Rajesh; Elangovan, Karthikeyan

This paper aims to develop a local path planning algorithm for a bio-inspired, reconfigurable crawling robot. A detailed description of the robotic platform is first provided, and the suitability for deployment of each of the current state-of-the-art local path planners is analyzed after an extensive literature review. The Enhanced Vector Polar Histogram algorithm is described and reformulated to better fit the requirements of the platform. The algorithm is deployed on the robotic platform in crawling configuration and favorably compared with other state-of-the-art local path planning algorithms.

Deployment Pulmonary Health

DTIC Science & Technology

2015-02-11

A similar risk-based approach may be appropriate for deploying military personnel. e) If DoD were to consider implementing a large- scale pre...quality of existing spirometry programs prior to considering a larger scale pre-deployment effort. Identifying an accelerated decrease in spirometry...baseline spirometry on a wider scale . e) Conduct pre-deployment baseline spirometry if there is a significant risk of exposure to a pulmonary hazard based

How well could existing sensors detect the deployment of a solar radiation management (SRM) geoengineering effort?

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

Hurd, Alan J.

2016-04-29

While the stated reason for asking this question is “to understand better our ability to warn policy makers in the unlikely event of an unanticipated SRM geoengineering deployment or large-scale field experiment”, my colleagues and I felt that motives would be important context because the scale of any meaningful SRM deployment would be so large that covert deployment seems impossible. However, several motives emerged that suggest a less-than-global effort might be important.

Robots and therapeutic play: evaluation of a wireless interface device for interaction with a robot playmate.

PubMed

Roberts, Luke; Park, Hae Won; Howard, Ayanna M

2012-01-01

Rehabilitation robots in home environments has the potential to dramatically improve quality of life for individuals who experience disabling circumstances due to injury or chronic health conditions. Unfortunately, although classes of robotic systems for rehabilitation exist, these devices are typically not designed for children. And since over 150 million children in the world live with a disability, this causes a unique challenge for deploying such robotics for this target demographic. To overcome this barrier, we discuss a system that uses a wireless arm glove input device to enable interaction with a robotic playmate during various play scenarios. Results from testing the system with 20 human subjects shows that the system has potential, but certain aspects need to be improved before deployment with children.

FBG-based sensorized light pipe for robotic intraocular illumination facilitates bimanual retinal microsurgery.

PubMed

Horise, Yuki; He, Xingchi; Gehlbach, Peter; Taylor, Russell; Iordachita, Iulian

2015-01-01

In retinal surgery, microsurgical instruments such as micro forceps, scissors and picks are inserted through the eye wall via sclerotomies. A handheld intraocular light source is typically used to visualize the tools during the procedure. Retinal surgery requires precise and stable tool maneuvers as the surgical targets are micro scale, fragile and critical to function. Retinal surgeons typically control an active surgical tool with one hand and an illumination source with the other. In this paper, we present a "smart" light pipe that enables true bimanual surgery via utilization of an active, robot-assisted source of targeted illumination. The novel sensorized smart light pipe measures the contact force between the sclerotomy and its own shaft, thereby accommodating the motion of the patient's eye. Forces at the point of contact with the sclera are detected by fiber Bragg grating (FBG) sensors on the light pipe. Our calibration and validation results demonstrate reliable measurement of the contact force as well as location of the sclerotomy. Preliminary experiments have been conducted to functionally evaluate robotic intraocular illumination.

Concepts for multi-IFU robotic positioning systems

NASA Astrophysics Data System (ADS)

Miziarski, Stan; Brzeski, Jurek; Bland Hawthorn, Joss; Gilbert, James; Goodwin, Michael; Heijmans, Jeroen; Horton, Anthony; Lawrence, Jon; Saunders, Will; Smith, Greg A.; Staszak, Nicholas

2012-09-01

Following the successful commissioning of SAMI (Sydney-AAO Multi-object IFU) the AAO has undertaken concept studies leading to a design of a new instrument for the AAT (Hector). It will use an automated robotic system for the deployment of fibre hexabundles to the focal plane. We have analysed several concepts, which could be applied in the design of new instruments or as a retrofit to existing positioning systems. We look at derivatives of Starbugs that could handle a large fibre bundle as well as modifications to pick and place robots like 2dF or OzPoz. One concept uses large magnetic buttons that adhere to a steel field plate with substantial force. To move them we replace the gripper with a pneumatic device, which engages with the button and injects it with compressed air, thus forming a magnet preloaded air bearing allowing virtually friction-less repositioning of the button by a gantry or an R-Theta robot. New fibre protection, guiding and retraction systems are also described. These developments could open a practical avenue for the upgrade to a number of instruments.

Modelling and testing of a piezoelectric ultrasonic micro-motor suitable for in vivo micro-robotic applications

NASA Astrophysics Data System (ADS)

Watson, B.; Friend, J.; Yeo, L.

2010-11-01

A piezoelectric ultrasonic resonant micro-motor is developed with a stator diameter of 241 μm and an overall diameter of 400 μm. The motor is shown to produce a start-up torque of 1.2 nN m and a peak output power of 0.25 μW as designed, with a preload of 46.6 μN. An increase in preload to 2264 μN improved the performance to a start-up torque of 29 nN m and a peak output power of 9.1 μW. The motor is five times smaller than the current smallest piezoelectric ultrasonic resonant motor produced by Kanda et al. The motor is designed to operate at approximately 771 kHz, matching the fundamental axial, second harmonic torsional and electro-mechanical resonant frequencies. This is achieved through the use of a novel design process that uses scaling theories to greatly reduce the computational time to design the device. The resultant size and performance of the motor make it the first motor design capable of meeting the requirements of a drive system in a tetherless swimming in vivo micro-robot.

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.

The Design of an Adaptive Attitude Control System

DTIC Science & Technology

1992-09-01

spacecraft to reorient itself by rotating about the eigenaxis will be executing an optimal maneuver . [Ref. 9: pp. 375-3761 2. Quaternion Feedback Regulator...34% The below program will simulate the CER Control System for Large "% Angle (Slewing) Motion. The Control Law is a Quaternion Feedback "% Regulator...Equipment/Retriever (CER) during autonomous attitude hold and large angle or slewing maneuvers . The CER is a proposed space robot that deploys from

Peer-to-peer model for the area coverage and cooperative control of mobile sensor networks

NASA Astrophysics Data System (ADS)

Tan, Jindong; Xi, Ning

2004-09-01

This paper presents a novel model and distributed algorithms for the cooperation and redeployment of mobile sensor networks. A mobile sensor network composes of a collection of wireless connected mobile robots equipped with a variety of sensors. In such a sensor network, each mobile node has sensing, computation, communication, and locomotion capabilities. The locomotion ability enhances the autonomous deployment of the system. The system can be rapidly deployed to hostile environment, inaccessible terrains or disaster relief operations. The mobile sensor network is essentially a cooperative multiple robot system. This paper first presents a peer-to-peer model to define the relationship between neighboring communicating robots. Delaunay Triangulation and Voronoi diagrams are used to define the geometrical relationship between sensor nodes. This distributed model allows formal analysis for the fusion of spatio-temporal sensory information of the network. Based on the distributed model, this paper discusses a fault tolerant algorithm for autonomous self-deployment of the mobile robots. The algorithm considers the environment constraints, the presence of obstacles and the nonholonomic constraints of the robots. The distributed algorithm enables the system to reconfigure itself such that the area covered by the system can be enlarged. Simulation results have shown the effectiveness of the distributed model and deployment algorithms.

Three small deployed satellites

NASA Image and Video Library

2012-10-04

ISS033-E-009286 (4 Oct. 2012) --- Several tiny satellites are featured in this image photographed by an Expedition 33 crew member on the International Space Station. The satellites were released outside the Kibo laboratory using a Small Satellite Orbital Deployer attached to the Japanese module’s robotic arm on Oct. 4, 2012. Japan Aerospace Exploration Agency astronaut Aki Hoshide, flight engineer, set up the satellite deployment gear inside the lab and placed it in the Kibo airlock. The Japanese robotic arm then grappled the deployment system and its satellites from the airlock for deployment. A portion of the station’s solar array panels and a blue and white part of Earth provide the backdrop for the scene.

Three small deployed satellites

NASA Image and Video Library

2012-10-04

ISS033-E-009285 (4 Oct. 2012) --- Several tiny satellites are featured in this image photographed by an Expedition 33 crew member on the International Space Station. The satellites were released outside the Kibo laboratory using a Small Satellite Orbital Deployer attached to the Japanese module’s robotic arm on Oct. 4, 2012. Japan Aerospace Exploration Agency astronaut Aki Hoshide, flight engineer, set up the satellite deployment gear inside the lab and placed it in the Kibo airlock. The Japanese robotic arm then grappled the deployment system and its satellites from the airlock for deployment. A portion of the station’s solar array panels and a blue and white part of Earth provide the backdrop for the scene.

Supporting the joint warfighter by development, training, and fielding of man-portable UGVs

NASA Astrophysics Data System (ADS)

Ebert, Kenneth A.; Stratton, Benjamin V.

2005-05-01

The Robotic Systems Pool (RSP), sponsored by the Joint Robotics Program (JRP), is an inventory of small robotic systems, payloads, and components intended to expedite the development and integration of technology into effective, supportable, fielded robotic assets. The RSP loans systems to multiple users including the military, first-responders, research organizations, and academia. These users provide feedback in their specific domain, accelerating research and development improvements of robotic systems, which in turn allow the joint warfighter to benefit from such changes more quickly than from traditional acquisition cycles. Over the past year, RSP assets have been used extensively for pre-deployment operator and field training of joint Explosive Ordnance Disposal (EOD) teams, and for the training of Navy Reservist repair technicians. These Reservists are part of the Robotic Systems Combat Support Platoon (RSCSP), attached to Space and Naval Warfare Systems Center, San Diego. The RSCSP maintains and repairs RSP assets and provides deployable technical support for users of robotic systems. Currently, a small team from the RSCSP is deployed at Camp Victory repairing and maintaining man-portable unmanned ground vehicles (UGVs) used by joint EOD teams in Operation Iraqi Freedom. The focus of this paper is to elaborate on the RSP and RSCSP and their role as invaluable resources for spiral development in the robotics community by gaining first-hand technical feedback from the warfighter and other users.

The micro conical system: Lessons learned from a successful EVA/robot-compatible mechanism

NASA Technical Reports Server (NTRS)

Gittleman, Mark; Johnston, Alistair

1996-01-01

The Micro Conical System (MCS) is a three-part, multi-purpose mechanical interface system used for acquiring and manipulating masses on-orbit by either extravehicular activity (EVA) or telerobotic means. The three components of the system are the micro conical fitting (MCF), the EVA micro tool (EMCT), and the Robot Micro Conical Tool (RMCT). The MCS was developed and refined over a four-year period. This period culminated with the delivery of 358 Class 1 and Class 2 micro conical fittings for the International Space Station and with its first use in space to handle a 1272 kg (2800 lbm) Spartan satellite (11000 times greater than the MCF mass) during an EVA aboard STS-63 in February, 1995. The micro conical system is the first successful EVA/robot-compatible mechanism to be demonstrated in the external environment aboard the U.S. Space Shuttle.

Application of historical mobility testing to sensor-based robotic performance

NASA Astrophysics Data System (ADS)

Willoughby, William E.; Jones, Randolph A.; Mason, George L.; Shoop, Sally A.; Lever, James H.

2006-05-01

The USA Engineer Research and Development Center (ERDC) has conducted on-/off-road experimental field testing with full-sized and scale-model military vehicles for more than fifty years. Some 4000 acres of local terrain are available for tailored field evaluations or verification/validation of future robotic designs in a variety of climatic regimes. Field testing and data collection procedures, as well as techniques for quantifying terrain in engineering terms, have been developed and refined into algorithms and models for predicting vehicle-terrain interactions and resulting forces or speeds of military-sized vehicles. Based on recent experiments with Matilda, Talon, and Pacbot, these predictive capabilities appear to be relevant to most robotic systems currently in development. Utilization of current testing capabilities with sensor-based vehicle drivers, or use of the procedures for terrain quantification from sensor data, would immediately apply some fifty years of historical knowledge to the development, refinement, and implementation of future robotic systems. Additionally, translation of sensor-collected terrain data into engineering terms would allow assessment of robotic performance a priori deployment of the actual system and ensure maximum system performance in the theater of operation.

A macro-micro robot for precise force applications

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Wang, Yulun

1993-01-01

This paper describes an 8 degree-of-freedom macro-micro robot capable of performing tasks which require accurate force control. Applications such as polishing, finishing, grinding, deburring, and cleaning are a few examples of tasks which need this capability. Currently these tasks are either performed manually or with dedicated machinery because of the lack of a flexible and cost effective tool, such as a programmable force-controlled robot. The basic design and control of the macro-micro robot is described in this paper. A modular high-performance multiprocessor control system was designed to provide sufficient compute power for executing advanced control methods. An 8 degree of freedom macro-micro mechanism was constructed to enable accurate tip forces. Control algorithms based on the impedance control method were derived, coded, and load balanced for maximum execution speed on the multiprocessor system.

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.

The QUIET Instrument

NASA Technical Reports Server (NTRS)

Gaier, T.; Kangaslahti, P.; Lawrence, C. R.; Leitch, E. M.; Wollack, E. J.

2012-01-01

The Q/U Imaging ExperimenT (QUIET) is designed to measure polarization in the Cosmic Microwave Background, targeting the imprint of inflationary gravitational waves at large angular scales ( approx 1 deg.) . Between 2008 October and 2010 December, two independent receiver arrays were deployed sequentially on a 1.4 m side-fed Dragonian telescope. The polarimeters which form the focal planes use a highly compact design based on High Electron Mobility Transistors (HEMTs) that provides simultaneous measurements of the Stokes parameters Q, U, and I in a single module. The 17-element Q-band polarimeter array, with a central frequency of 43.1 GHz, has the best sensitivity (69 micro Ks(exp 1/2)) and the lowest instrumental systematic errors ever achieved in this band, contributing to the tensor-to-scalar ratio at r < 0.1. The 84-element W-band polarimeter array has a sensitivity of 87 micro Ks(exp 1/2) at a central frequency of 94.5 GHz. It has the lowest systematic errors to date, contributing at r < 0.01 (QUIET Collaboration 2012) The two arrays together cover multipoles in the range l approximately equals 25-975 . These are the largest HEMT-ba.sed arrays deployed to date. This article describes the design, calibration, performance of, and sources of systematic error for the instrument,

PaR Tensile Truss for Nuclear Decontamination and Decommissioning - 12467

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

Doebler, Gary R.

2012-07-01

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

Dynamic characterization of contact interactions of micro-robotic leg structures

NASA Astrophysics Data System (ADS)

Ryou, Jeong Hoon; Oldham, Kenn Richard

2014-05-01

Contact dynamics of microelectromechanical systems (MEMS) are typically complicated and it is consequently difficult to model all dynamic characteristics observed in time-domain responses involving impact. This issue becomes worse when a device, such as a mobile micro-robot, is not clamped to a substrate and has a complex mechanical structure. To characterize such a contact interaction situation, two walking micro-robot prototypes are tested having intentionally simple structures with different dimensions (21.2 mm × 16.3 mm × 0.75 mm and 32 mm × 25.4 mm × 4.1 mm) and weights (0.16 and 2.7 g). Contact interaction behaviors are characterized by analyzing experimental data under various excitation signals. A numerical approach was used to derive a novel contact model consisting of a coefficient of restitution matrix that uses modal vibration information. Experimental validation of the simulation model shows that it captures various dynamic features of the contact interaction when simulating leg behavior more accurately than previous contact models, such as single-point coefficient of restitution or compliant ground models. In addition, this paper shows that small-scale forces can be added to the simulation to improve model accuracy, resulting in average errors across driving conditions on the order of 2-6% for bounce frequency, maximum foot height, and average foot height, although there is substantial variation from case to case.

Gravity-Off-loading System for Large-Displacement Ground Testing of Spacecraft Mechanisms

NASA Technical Reports Server (NTRS)

Han, Olyvia; Kienholz, David; Janzen, Paul; Kidney, Scott

2010-01-01

Gravity-off-loading of deployable spacecraft mechanisms during ground testing is a long-standing problem. Deployable structures which are usually too weak to support their own weight under gravity require a means of gravity-off-loading as they unfurl. Conventional solutions to this problem have been helium-filled balloons or mechanical pulley/counterweight systems. These approaches, however, suffer from the deleterious effects of added inertia or friction forces. The changing form factor of the deployable structure itself and the need to track the trajectory of the center of gravity also pose a challenge to these conventional technologies. This paper presents a novel testing apparatus for high-fidelity zero-gravity simulation for special application to deployable space structures such as solar arrays, magnetometer booms, and robotic arms in class 100,000 clean room environments

The First Interlaced Continuum Robot, Devised to Intrinsically Follow the Leader

PubMed Central

Kang, Byungjeon; Kojcev, Risto; Sinibaldi, Edoardo

2016-01-01

Flexible probes that are safely deployed to hard-to-reach targets while avoiding critical structures are strategic in several high-impact application fields, including the biomedical sector and the sector of inspections at large. A critical problem for these tools is the best approach for deploying an entire tool body, not only its tip, on a sought trajectory. A probe that achieves this deployment is considered to follow the leader (or to achieve follow-the-leader deployment) because its body sections follow the track traced by its tip. Follow-the-leader deployment through cavities is complicated due to a lack of external supports. Currently, no definitive implementation for a probe that is intrinsically able to follow the leader, i.e., without relying on external supports, has been achieved. In this paper, we present a completely new device, namely the first interlaced continuum robot, devised to intrinsically follow the leader. We developed the interlaced configuration by pursuing a conceptual approach irrespective of application-specific constraints and assuming two flexible tools with controllable stiffness. We questioned the possibility of solving the previously mentioned deployment problem by harnessing probe symmetry during the design process. This study examines the entire development of the novel interlaced probe: model-based conceptual design, detailed design and prototyping, and preliminary experimental assessment. Our probe can build a track with a radius of curvature that is as small as twice the probe diameter, which enables it to outperform state-of-the-art tools that are aimed at follow-the-leader deployment. Despite the limitations that are inherently associated with its original character, this study provides a prototypical approach to the design of interlaced continuum systems and demonstrates the first interlaced continuum probe, which is intrinsically able to follow the leader. PMID:26914328

The First Interlaced Continuum Robot, Devised to Intrinsically Follow the Leader.

PubMed

Kang, Byungjeon; Kojcev, Risto; Sinibaldi, Edoardo

2016-01-01

Flexible probes that are safely deployed to hard-to-reach targets while avoiding critical structures are strategic in several high-impact application fields, including the biomedical sector and the sector of inspections at large. A critical problem for these tools is the best approach for deploying an entire tool body, not only its tip, on a sought trajectory. A probe that achieves this deployment is considered to follow the leader (or to achieve follow-the-leader deployment) because its body sections follow the track traced by its tip. Follow-the-leader deployment through cavities is complicated due to a lack of external supports. Currently, no definitive implementation for a probe that is intrinsically able to follow the leader, i.e., without relying on external supports, has been achieved. In this paper, we present a completely new device, namely the first interlaced continuum robot, devised to intrinsically follow the leader. We developed the interlaced configuration by pursuing a conceptual approach irrespective of application-specific constraints and assuming two flexible tools with controllable stiffness. We questioned the possibility of solving the previously mentioned deployment problem by harnessing probe symmetry during the design process. This study examines the entire development of the novel interlaced probe: model-based conceptual design, detailed design and prototyping, and preliminary experimental assessment. Our probe can build a track with a radius of curvature that is as small as twice the probe diameter, which enables it to outperform state-of-the-art tools that are aimed at follow-the-leader deployment. Despite the limitations that are inherently associated with its original character, this study provides a prototypical approach to the design of interlaced continuum systems and demonstrates the first interlaced continuum probe, which is intrinsically able to follow the leader.

Hair-based sensors for micro-autonomous systems

NASA Astrophysics Data System (ADS)

Sadeghi, Mahdi M.; Peterson, Rebecca L.; Najafi, Khalil

2012-06-01

We seek to harness microelectromechanical systems (MEMS) technologies to build biomimetic devices for low-power, high-performance, robust sensors and actuators on micro-autonomous robot platforms. Hair is used abundantly in nature for a variety of functions including balance and inertial sensing, flow sensing and aerodynamic (air foil) control, tactile and touch sensing, insulation and temperature control, particle filtering, and gas/chemical sensing. Biological hairs, which are typically characterized by large surface/volume ratios and mechanical amplification of movement, can be distributed in large numbers over large areas providing unprecedented sensitivity, redundancy, and stability (robustness). Local neural transduction allows for space- and power-efficient signal processing. Moreover by varying the hair structure and transduction mechanism, the basic hair form can be used for a wide diversity of functions. In this paper, by exploiting a novel wafer-level, bubble-free liquid encapsulation technology, we make arrays of micro-hydraulic cells capable of electrostatic actuation and hydraulic amplification, which enables high force/high deflection actuation and extremely sensitive detection (sensing) at low power. By attachment of cilia (hair) to the micro-hydraulic cell, air flow sensors with excellent sensitivity (< few cm/s) and dynamic range (> 10 m/s) have been built. A second-generation design has significantly reduced the sensor response time while maintaining sensitivity of about 2 cm/s and dynamic range of more than 15 m/s. These sensors can be used for dynamic flight control of flying robots or for situational awareness in surveillance applications. The core biomimetic technologies developed are applicable to a broad range of sensors and actuators.

Molecular Robots Obeying Asimov's Three Laws of Robotics.

PubMed

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

2017-01-01

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

Flexible and Accessible Automated Operation of Miniature Chromatography Columns on a Liquid Handling Station.

PubMed

Konstantinidis, Spyridon; Goh, Hai-Yuan; Martin Bufájer, José M; de Galbert, Paul; Parau, Maria; Velayudhan, Ajoy

2018-03-01

The High Throughput (HT) investigation of chromatographic separations is an important element of downstream bioprocess development due to the importance of chromatography as a technique for achieving stringent regulatory requirements on product purity. Various HT formats for chromatography exist, but the miniature column approach has characteristics resembling large scale packed bed column chromatography the most. The operation of such columns on robotic stations can be automated, but this is not always a straightforward procedure; the robotic manipulations are highly dependent on the settings of each experiment and the standard commands of the supporting software may not provide readily the required flexibility and accessibility for "plug and play" functionality. These can limit the potential of this technique in laboratories engaging on HT activities. In this work, we present an application which aims to overcome this challenge by providing end-users with a flexible operation of the miniature column technique on an automated liquid handler. The application includes a script which is written on Freedom EVOware, and is supplemented by custom compiled executables. Here, the manipulations carried out by the application are described in detail and its functionality is demonstrated through typical experiments based on bind and elute miniature column chromatography. The application is shown to allow for the unsupervised "on-the-fly" programming of the robotic station and to ultimately make the technique accessible to non-automation experts. This application is therefore well suited to simplifying development activities based on the robotic deployment of the miniature column chromatography technique. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

ROBOTICS IN HAZARDOUS ENVIRONMENTS - REAL DEPLOYMENTS BY THE SAVANNAH RIVER NATIONAL LABORATORY

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

Kriikku, E.; Tibrea, S.; Nance, T.

The Research & Development Engineering (R&DE) section in the Savannah River National Laboratory (SRNL) engineers, integrates, tests, and supports deployment of custom robotics, systems, and tools for use in radioactive, hazardous, or inaccessible environments. Mechanical and electrical engineers, computer control professionals, specialists, machinists, welders, electricians, and mechanics adapt and integrate commercially available technology with in-house designs, to meet the needs of Savannah River Site (SRS), Department of Energy (DOE), and other governmental agency customers. This paper discusses five R&DE robotic and remote system projects.

Research on the Use of Robotics in Hazardous Environments at Sandia National Laboratories

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

Kwok, Kwan S.

Many hazardous material handling needs exist in remote unstructured environments. Currently these operations are accomplished using personnel in direct contact with the hazards. A safe and cost effective alternative to this approach is the use of intelligent robotic systems for safe handling, packaging, transport, and even excavation of hazardous materials. The Intelligent Systems and Robotics Center of Sandia National Laboratories has developed and deployed robotic technologies for use in hazardous environments, three of which have been deployed in DOE production facilities for handling of special nuclear materials. Other systems are currently under development for packaging special nuclear materials. This papermore » presents an overview of the research activities, including five delivered systems, at %ndia National Laboratories on the use of robotics in hazardous environments.« less

Micro-aerial vehicle type wall-climbing robot mechanism for structural health monitoring

NASA Astrophysics Data System (ADS)

Shin, Jae-Uk; Kim, Donghoon; Kim, Jong-Heon; Myung, Hyun

2013-04-01

Currently, the maintenance or inspection of large structures is labor-intensive, so it has a problem of the large cost due to the staffing professionals and the risk for hard to reach areas. To solve the problem, the needs of wall-climbing robot are emerged. Infra-based wall-climbing robots to maintain an outer wall of building have high payload and safety. However, the infrastructure for the robot must be equipped on the target structure and the infrastructure isn't preferred by the architects since it can injure the exterior of the structure. These are the reasons of why the infra-based wall-climbing robot is avoided. In case of the non-infra-based wall-climbing robot, it is researched to overcome the aforementioned problems. However, most of the technologies are in the laboratory level since the payload, safety and maneuverability are not satisfactory. For this reason, aerial vehicle type wall-climbing robot is researched. It is a flying possible wallclimbing robot based on a quadrotor. It is a famous aerial vehicle robot using four rotors to make a thrust for flying. This wall-climbing robot can stick to a vertical wall using the thrust. After sticking to the wall, it can move with four wheels installed on the robot. As a result, it has high maneuverability and safety since it can restore the position to the wall even if it is detached from the wall by unexpected disturbance while climbing the wall. The feasibility of the main concept was verified through simulations and experiments using a prototype.

Development of a Solar Array Drive Assembly for CubeSat

NASA Technical Reports Server (NTRS)

Passaretti, Mike; Hayes, Ron

2010-01-01

Small satellites and in particular CubeSats, have increasingly become more viable as platforms for payloads typically requiring much larger bus structures. As advances in technology make payloads and instruments for space missions smaller, lighter and more power efficient, a niche market is emerging from the university community to perform rapidly developed, low-cost missions on very small spacecraft - micro, nano, and picosatellites. In just the last few years, imaging, biological and new technology demonstration missions have been either proposed or have flown using variations of the CubeSat structure as a basis. As these missions have become more complex, and the CubeSat standard has increased in both size (number of cubes) and mass, available power has become an issue. Body-mounted solar cells provide a minimal amount of power; deployable arrays improve on that baseline but are still limited. To truly achieve maximum power, deployed tracked arrays are necessary. To this end, Honeybee Robotics Spacecraft Mechanisms Corporation, along with MMA of Nederland Colorado, has developed a solar array drive assembly (SADA) and deployable solar arrays specifically for CubeSat missions. In this paper, we discuss the development of the SADA.

An Interdisciplinary Field Robotics Program for Undergraduate Computer Science and Engineering Education

ERIC Educational Resources Information Center

Kitts, Christopher; Quinn, Neil

2004-01-01

Santa Clara University's Robotic Systems Laboratory conducts an aggressive robotic development and operations program in which interdisciplinary teams of undergraduate students build and deploy a wide range of robotic systems, ranging from underwater vehicles to spacecraft. These year-long projects expose students to the breadth of and…

Small Cube Satellite Deploy

NASA Image and Video Library

2013-11-19

ISS038-E-003876 (19 Nov. 2013) --- Three nanosatellites, known as Cubesats, are featured in this image photographed by an Expedition 38 crew member on the International Space Station. The satellites were released outside the Kibo laboratory using a Small Satellite Orbital Deployer attached to the Japanese module's robotic arm on Nov. 19, 2013. Japan Aerospace Exploration Agency astronaut Koichi Wakata, flight engineer, monitored the satellite deployment while operating the Japanese robotic arm from inside Kibo. The Cubesats were delivered to the International Space Station Aug. 9, aboard Japan’s fourth H-II Transfer Vehicle, Kounotori-4.

Simultaneous monitoring of faecal indicators and harmful algae using an in-situ autonomous sensor.

PubMed

Yamahara, K M; Demir-Hilton, E; Preston, C M; Marin, R; Pargett, D; Roman, B; Jensen, S; Birch, J M; Boehm, A B; Scholin, C A

2015-08-01

Faecal indicator bacteria (FIB) and harmful algal blooms (HABs) threaten the health and the economy of coastal communities worldwide. Emerging automated sampling technologies combined with molecular analytical techniques could enable rapid detection of micro-organisms in-situ, thereby improving resource management and public health decision-making. We evaluated this concept using a robotic device, the Environmental Sample Processor (ESP). The ESP automates in-situ sample collection, nucleic acid extraction and molecular analyses. Here, the ESP measured and reported concentrations of FIB (Enterococcus spp.), a microbial source-tracking marker (human-specific Bacteriodales) and a HAB species (Psuedo-nitzschia spp.) over a 45-day deployment on the Santa Cruz Municipal Wharf (Santa Cruz, CA, USA). Both FIB and HABs were enumerated from single in-situ collected water samples. The in-situ qPCR efficiencies ranged from 86% to 105%, while the limit of quantifications during the deployment was 10 copies reaction(-1) . No differences were observed in the concentrations of enterococci, the human-specific marker in Bacteroidales spp., and P. australis between in-situ collected sample and traditional hand sampling methods (P > 0·05). Analytical results were Internet-accessible within hours of sample collection, demonstrating the feasibility of same-day public notification of current water quality conditions. This study presents the first report of in-situ qPCR enumeration of both faecal indicators and harmful algal species in coastal marine waters. We utilize a robotic device for in-situ quantification of enterococci, the human-specific marker in Bacteriodales and Pseudo-nitzschia spp. from the same water samples collected and processed in-situ. The results demonstrate that rapid, in-situ monitoring can be utilized to identify and quantify multiple health-relevant micro-organisms important in water quality monitoring and that this monitoring can be used to inform same-day notifications. © 2015 The Society for Applied Microbiology.

Relationship Between Aerosol Optical Depth and Particulate Matter Over Singapore: Effects of Aerosol Vertical Distributions

NASA Technical Reports Server (NTRS)

Chew, Boo Ning; Campbell, James; Hyer, Edward J.; Salinas, Santo V.; Reid, Jeffrey S.; Welton, Ellsworth J.; Holben, Brent N.; Liew, Soo Chin

2016-01-01

As part of the Seven Southeast Asian Studies (7SEAS) program, an Aerosol Robotic Network (AERONET) sun photometer and a Micro-Pulse Lidar Network (MPLNET) instrument have been deployed at Singapore to study the regional aerosol environment of the Maritime Continent (MC). In addition, the Navy Aerosol Analysis and Prediction System (NAAPS) is used to model aerosol transport over the region. From 24 September 2009 to 31 March 2011, the relationships between ground-, satellite- and model-based aerosol optical depth (AOD) and particulate matter with aerodynamic equivalent diameters less than 2.5 microns (PM2.5) for air quality applications are investigated. When MPLNET-derived aerosol scale heights are applied to normalize AOD for comparison with surface PM2.5 data, the empirical relationships are shown to improve with an increased 11%, 10% and 5% in explained variances, for AERONET, MODIS and NAAPS respectively. The ratios of root mean square errors to standard deviations for the relationships also show corresponding improvements of 8%, 6% and 2%. Aerosol scale heights are observed to be bimodal with a mode below and another above the strongly-capped/deep near-surface layer (SCD; 0-1.35 km). Aerosol extinctions within the SCD layer are well-correlated with surface PM2.5 concentrations, possibly due to strong vertical mixing in the region.

Immunology-directed methods for distributed robotics: a novel immunity-based architecture for robust control and coordination

NASA Astrophysics Data System (ADS)

Singh, Surya P. N.; Thayer, Scott M.

2002-02-01

This paper presents a novel algorithmic architecture for the coordination and control of large scale distributed robot teams derived from the constructs found within the human immune system. Using this as a guide, the Immunology-derived Distributed Autonomous Robotics Architecture (IDARA) distributes tasks so that broad, all-purpose actions are refined and followed by specific and mediated responses based on each unit's utility and capability to timely address the system's perceived need(s). This method improves on initial developments in this area by including often overlooked interactions of the innate immune system resulting in a stronger first-order, general response mechanism. This allows for rapid reactions in dynamic environments, especially those lacking significant a priori information. As characterized via computer simulation of a of a self-healing mobile minefield having up to 7,500 mines and 2,750 robots, IDARA provides an efficient, communications light, and scalable architecture that yields significant operation and performance improvements for large-scale multi-robot coordination and control.

Large Scale eHealth Deployment in Europe: Insights from Concurrent Use of Standards.

PubMed

Eichelberg, Marco; Chronaki, Catherine

2016-01-01

Large-scale eHealth deployment projects face a major challenge when called to select the right set of standards and tools to achieve sustainable interoperability in an ecosystem including both legacy systems and new systems reflecting technological trends and progress. There is not a single standard that would cover all needs of an eHealth project, and there is a multitude of overlapping and perhaps competing standards that can be employed to define document formats, terminology, communication protocols mirroring alternative technical approaches and schools of thought. eHealth projects need to respond to the important question of how alternative or inconsistently implemented standards and specifications can be used to ensure practical interoperability and long-term sustainability in large scale eHealth deployment. In the eStandards project, 19 European case studies reporting from R&D and large-scale eHealth deployment and policy projects were analyzed. Although this study is not exhaustive, reflecting on the concepts, standards, and tools for concurrent use and the successes, failures, and lessons learned, this paper offers practical insights on how eHealth deployment projects can make the most of the available eHealth standards and tools and how standards and profile developing organizations can serve the users embracing sustainability and technical innovation.

Are Ripples a Sign of Water?

NASA Technical Reports Server (NTRS)

2004-01-01

Scientists are investigating the ripples and textures seen in this 4-panel mosaic image, taken by the microscopic imager on the instrument deployment device or 'robotic arm' of NASA's Mars Exploration Rover Opportunity. The images were taken from 'Panoramic Position 2' on the southeast side of the rim of 'Endurance' Crater. This small set of nearly 150 images was acquired to examine small-scale ripple patterns suggestive of past aqueous processes on Mars.

Detection of right-to-left shunts: comparison between the International Consensus and Spencer Logarithmic Scale criteria.

PubMed

Lao, Annabelle Y; Sharma, Vijay K; Tsivgoulis, Georgios; Frey, James L; Malkoff, Marc D; Navarro, Jose C; Alexandrov, Andrei V

2008-10-01

International Consensus Criteria (ICC) consider right-to-left shunt (RLS) present when Transcranial Doppler (TCD) detects even one microbubble (microB). Spencer Logarithmic Scale (SLS) offers more grades of RLS with detection of >30 microB corresponding to a large shunt. We compared the yield of ICC and SLS in detection and quantification of a large RLS. We prospectively evaluated paradoxical embolism in consecutive patients with ischemic strokes or transient ischemic attack (TIA) using injections of 9 cc saline agitated with 1 cc of air. Results were classified according to ICC [negative (no microB), grade I (1-20 microB), grade II (>20 microB or "shower" appearance of microB), and grade III ("curtain" appearance of microB)] and SLS criteria [negative (no microB), grade I (1-10 microB), grade II (11-30 microB), grade III (31100 microB), grade IV (101300 microB), grade V (>300 microB)]. The RLS size was defined as large (>4 mm) using diameter measurement of the septal defects on transesophageal echocardiography (TEE). TCD comparison to TEE showed 24 true positive, 48 true negative, 4 false positive, and 2 false negative cases (sensitivity 92.3%, specificity 92.3%, positive predictive value (PPV) 85.7%, negative predictive value (NPV) 96%, and accuracy 92.3%) for any RLS presence. Both ICC and SLS were 100% sensitive for detection of large RLS. ICC and SLS criteria yielded a false positive rate of 24.4% and 7.7%, respectively when compared to TEE. Although both grading scales provide agreement as to any shunt presence, using the Spencer Scale grade III or higher can decrease by one-half the number of false positive TCD diagnoses to predict large RLS on TEE.

Venus Aerobot Multisonde Mission

NASA Technical Reports Server (NTRS)

Cutts, James A.; Kerzhanovich, Viktor; Balaram, J. Bob; Campbell, Bruce; Gershaman, Robert; Greeley, Ronald; Hall, Jeffery L.; Cameron, Jonathan; Klaasen, Kenneth; Hansen, David M.

1999-01-01

Robotic exploration of Venus presents many challenges because of the thick atmosphere and the high surface temperatures. The Venus Aerobot Multisonde mission concept addresses these challenges by using a robotic balloon or aerobot to deploy a number of short lifetime probes or sondes to acquire images of the surface. A Venus aerobot is not only a good platform for precision deployment of sondes but is very effective at recovering high rate data. This paper describes the Venus Aerobot Multisonde concept and discusses a proposal to NASA's Discovery program using the concept for a Venus Exploration of Volcanoes and Atmosphere (VEVA). The status of the balloon deployment and inflation, balloon envelope, communications, thermal control and sonde deployment technologies are also reviewed.

Robotic Ankle for Omnidirectional Rock Anchors

NASA Technical Reports Server (NTRS)

Parness, Aaron; Frost, Matthew; Thatte, Nitish

2013-01-01

Future robotic exploration of near-Earth asteroids and the vertical and inverted rock walls of lava caves and cliff faces on Mars and other planetary bodies would require a method of gripping their rocky surfaces to allow mobility without gravitational assistance. In order to successfully navigate this terrain and drill for samples, the grippers must be able to produce anchoring forces in excess of 100 N. Additionally, the grippers must be able to support the inertial forces of a moving robot, as well gravitational forces for demonstrations on Earth. One possible solution would be to use microspine arrays to anchor to rock surfaces and provide the necessary load-bearing abilities for robotic exploration of asteroids. Microspine arrays comprise dozens of small steel hooks supported on individual suspensions. When these arrays are dragged along a rock surface, the steel hooks engage with asperities and holes on the surface. The suspensions allow for individual hooks to engage with asperities while the remaining hooks continue to drag along the surface. This ensures that the maximum possible number of hooks engage with the surface, thereby increasing the load-bearing abilities of the gripper. Using the microspine array grippers described above as the end-effectors of a robot would allow it to traverse terrain previously unreachable by traditional wheeled robots. Furthermore, microspine-gripping robots that can perch on cliffs or rocky walls could enable a new class of persistent surveillance devices for military applications. In order to interface these microspine grippers with a legged robot, an ankle is needed that can robotically actuate the gripper, as well as allow it to conform to the large-scale irregularities in the rock. The anchor serves three main purposes: deploy and release the anchor, conform to roughness or misalignment with the surface, and cancel out any moments about the anchor that could cause unintentional detachment. The ankle design contains a rotary DC motor that can drag the microspine arrays across the surface to engage them with asperities, as well as a linear actuator to disengage the hooks from the surface. Additionally, the ankle allows the gripper to rotate freely about all three axes so that when the robot takes a step, the gripper may optimally orient itself with respect to the wall or ground. Finally, the ankle contains some minimal elasticity, so that between steps, the gripper returns to a default position that is roughly parallel to the wall.

A Gradient Optimization Approach to Adaptive Multi-Robot Control

DTIC Science & Technology

2009-09-01

implemented for deploying a group of three flying robots with downward facing cameras to monitor an environment on the ground. Thirdly, the multi-robot...theoretically proven, and implemented on multi-robot platforms. Thesis Supervisor: Daniela Rus Title: Professor of Electrical Engineering and Computer...often nonlinear, and they are coupled through a network which changes over time. Thirdly, implementing multi-robot controllers requires maintaining mul

Aerial Explorers and Robotic Ecosystems

NASA Technical Reports Server (NTRS)

Young, Larry A.; Pisanich, Greg

2004-01-01

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

Innovative Robot Archetypes for In-Space Construction and Maintenance

NASA Technical Reports Server (NTRS)

Rehnmark, Fredrik; Ambrose, Robert O.; Kennedy, Brett; Diftler, Myron; Mehling Joshua; Brigwater, Lyndon; Radford, Nicolaus; Goza, S. Michael; Culbert, Christopher

2005-01-01

The space environment presents unique challenges and opportunities in the assembly, inspection and maintenance of orbital and transit spaceflight systems. While conventional Extra-Vehicular Activity (EVA) technology, out of necessity, addresses each of the challenges, relatively few of the opportunities have been exploited due to crew safety and reliability considerations. Extra-Vehicular Robotics (EVR) is one of the least-explored design spaces but offers many exciting innovations transcending the crane-like Space Shuttle and International Space Station Remote Manipulator System (RMS) robots used for berthing, coarse positioning and stabilization. Microgravity environments can support new robotic archetypes with locomotion and manipulation capabilities analogous to undersea creatures. Such diversification could enable the next generation of space science platforms and vehicles that are too large and fragile to launch and deploy as self-contained payloads. Sinuous manipulators for minimally invasive inspection and repair in confined spaces, soft-stepping climbers with expansive leg reach envelopes and free-flying nanosatellite cameras can access EVA worksites generally not accessible to humans in spacesuits. These and other novel robotic archetypes are presented along with functionality concepts

Eyeglass: A Very Large Aperture Diffractive Space Telescope

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

Hyde, R; Dixit, S; Weisberg, A

2002-07-29

Eyeglass is a very large aperture (25-100 meter) space telescope consisting of two distinct spacecraft, separated in space by several kilometers. A diffractive lens provides the telescope's large aperture, and a separate, much smaller, space telescope serves as its mobile eyepiece. Use of a transmissive diffractive lens solves two basic problems associated with very large aperture space telescopes; it is inherently fieldable (lightweight and flat, hence packagable and deployable) and virtually eliminates the traditional, very tight, surface shape tolerances faced by reflecting apertures. The potential drawback to use of a diffractive primary (very narrow spectral bandwidth) is eliminated by correctivemore » optics in the telescope's eyepiece. The Eyeglass can provide diffraction-limited imaging with either single-band, multiband, or continuous spectral coverage. Broadband diffractive telescopes have been built at LLNL and have demonstrated diffraction-limited performance over a 40% spectral bandwidth (0.48-0.72 {micro}m). As one approach to package a large aperture for launch, a foldable lens has been built and demonstrated. A 75 cm aperture diffractive lens was constructed from 6 panels of 1 m thick silica; it achieved diffraction-limited performance both before and after folding. This multiple panel, folding lens, approach is currently being scaled-up at LLNL. We are building a 5 meter aperture foldable lens, involving 72 panels of 700 {micro}m thick glass sheets, diffractively patterned to operate as coherent f/50 lens.« less

Microflyers: inspiration from nature

NASA Astrophysics Data System (ADS)

Sirohi, Jayant

2013-04-01

Over the past decade, there has been considerable interest in miniaturizing aircraft to create a class of extremely small, robotic vehicles with a gross mass on the order of tens of grams and a dimension on the order of tens of centimeters. These are collectively refered to as micro aerial vehicles (MAVs) or microflyers. Because the size of microflyers is on the same order as that of small birds and large insects, engineers are turning to nature for inspiration. Bioinspired concepts make use of structural or aerodynamic mechanisms that are observed in insects and birds, such as elastic energy storage and unsteady aerodynamics. Biomimetic concepts attempt to replicate the form and function of natural flyers, such as flapping-wing propulsion and external appearance. This paper reviews recent developments in the area of man-made microflyers. The design space for microflyers will be described, along with fundamental physical limits to miniaturization. Key aerodynamic phenomena at the scale of microflyers will be highlighted. Because the focus is on bioinspiration and biomimetics, scaled-down versions of conventional aircraft, such as fixed wing micro air vehicles and microhelicopters will not be addressed. A few representative bioinspired and biomimetic microflyer concepts developed by researchers will be described in detail. Finally, some of the sensing mechanisms used by natural flyers that are being implemented in man-made microflyers will be discussed.

Trace detection of explosives using an in-line high-volume sampler, preconcentrator, and Fido explosives detector

NASA Astrophysics Data System (ADS)

Ingram, Russ; Sikes, John

2010-04-01

This paper shall demonstrate the results of a prototype system to detect explosive objects and obscured contaminated targets. By combining a high volume sampling nozzle with an inline 2-stage preconcentrator and a Fido, greater standoff is achieved than with the Fido alone. The direct application of this system is on the Autonomous Mine Detection System (AMDS) but could be deployed on a large variety of robotic platforms. It is being developed under the auspices of the U.S. Army RDECOM CERDEC Night Vision and Electronic Sensors Directorate, Countermine Division. This device is one of several detection tools and technologies to be used on the AMDS. These systems will have multiple, and at times, overlapping objectives. One objective is trace detection on the surface of an unknown potential target. By increasing the standoff capabilities of the detector, the fine manipulation of the robot deploying the detector is less critical. Current detectors used on robotic systems must either be directly in the vapor plume or make direct contact with the target. By increasing the standoff, detection is more easily and quickly achieved. The end result detector must overcome cross-contamination, sample throughput, and environmental issues. The paper will provide preliminary results of the prototype system to include data, and where feasible, video of testing results.

Innovation in surgical technology and techniques: Challenges and ethical issues.

PubMed

Geiger, James D; Hirschl, Ronald B

2015-06-01

The pace of medical innovation continues to increase. The deployment of new technologies in surgery creates many ethical challenges including how to determine safety of the technology, what is the timing and process for deployment of a new technology, how are patients informed before undergoing a new technology or technique, how are the outcomes of a new technology evaluated and how are the responsibilities of individual patients and society at large balanced. Ethical considerations relevant to the implementation of ECMO and robotic surgery are explored to further discussion of how we can optimize the delicate balance between innovation and regulation. Copyright © 2015 Elsevier Inc. All rights reserved.

Non-Intrusive Techniques of Inspections During the Pre-Launch Phase of Space Vehicle

NASA Technical Reports Server (NTRS)

Thirumalainambi, Rejkumar; Bardina, Jorge E.

2005-01-01

This paper addresses a method of non-intrusive local inspection of surface and sub-surface conditions, interfaces, laminations and seals in both space vehicle and ground operations with an integrated suite of imaging sensors during pre-launch operations. It employs an advanced Raman spectrophotometer with additional spectrophotometers and lidar mounted on a flying robot to constantly monitor the space hardware as well as inner surface of the vehicle and ground operations hardware. This paper addresses a team of micro flying robots with necessary sensors and photometers to monitor the entire space vehicle internally and externally. The micro flying robots can reach altitude with least amount of energy, where astronauts have difficulty in reaching and monitoring the materials and subsurface faults. The micro flying robot has an embedded fault detection system which acts as an advisory system and in many cases micro flying robots act as a Supervisor to fix the problems. As missions expand to a sustainable presence in the Moon, and extend for durations longer than one year in lunar outpost, the effectiveness of the instrumentation and hardware has to be revolutionized if NASA is to meet high levels of mission safety, reliability, and overall success. The micro flying robot uses contra-rotating propellers powered by an ultra-thin, ultrasonic motor with currently the world's highest power weight ratio, and is balanced in mid-air by means of the world's first stabilizing mechanism using a linear actuator. The essence of micromechatronics has been brought together in high-density mounting technology to minimize the size and weight. The robot can take suitable payloads of photometers, embedded chips for image analysis and micro pumps for sealing cracks or fixing other material problems. This paper also highlights advantages that this type of non-intrusive techniques offer over costly and monolithic traditional techniques.

Nonintrusive techniques of inspections during the pre-launch phase of space vehicle

NASA Astrophysics Data System (ADS)

Thirumalainambi, Rajkumar; Bardina, Jorge E.; Miyazawa, Osamu

2005-05-01

As missions expand to a sustainable presence in the Moon, and extend for durations longer than one year in lunar outpost, the effectiveness of the instrumentation and hardware has to be revolutionized if NASA is to meet high levels of mission safety, reliability, and overall success. This paper addresses a method of non-intrusive local inspection of surface and sub-surface conditions, interfaces, laminations and seals in both space vehicle and ground operations with an integrated suite of imaging sensors during pre-launch operations. It employs an advanced Raman spectrometer with additional spectrometers and lidar mounted on a flying robot to constantly monitor the space hardware as well as inner surface of the vehicle and ground operations hardware. A team of micro flying robots with necessary sensors and photometers is required to internally and externally monitor the entire space vehicle. The micro flying robots should reach an altitude with least amount of energy, where astronauts have difficulty in reaching and monitoring the materials and subsurface faults. The micro flying robots have an embedded fault detection system which acts as an advisory system and in many cases micro flying robots act as a `Supervisor' to fix the problems. The micro flying robot uses contra-rotating propellers powered by an ultra-thin, ultrasonic motor with currently the world's highest power weight ratio, and is balanced in mid-air by means of the world's first stabilizing mechanism using a linear actuator. The essence of micromechatronics has been brought together in high-density mounting technology to minimize the size and weight. Each robot can take suitable payloads of photometers, embedded chips for image analysis and micro pumps for sealing cracks or fixing other material problems. This paper also highlights advantages that this type of non-intrusive techniques offer over costly and monolithic traditional techniques.

Sample acquisition and instrument deployment

NASA Technical Reports Server (NTRS)

Boyd, Robert C.

1995-01-01

Progress is reported in developing the Sample Acquisition and Instrument Deployment (SAID) system, a robotic system for deploying science instruments and acquiring samples for analysis. The system is a conventional four degree of freedom manipulator 2 meters in length. A baseline design has been achieved through analysis and trade studies. The design considers environmental operating conditions on the surface of Mars, as well as volume constraints on proposed Mars landers. Control issues have also been studied, and simulations of joint and tip movements have been performed. The systems have been fabricated and tested in environmental chambers, as well as soil testing and robotic control testing.

Fabrication of a 3D micro/nano dual-scale carbon array and its demonstration as the microelectrodes for supercapacitors

NASA Astrophysics Data System (ADS)

Jiang, Shulan; Shi, Tielin; Gao, Yang; Long, Hu; Xi, Shuang; Tang, Zirong

2014-04-01

An easily accessible method is proposed for the fabrication of a 3D micro/nano dual-scale carbon array with a large surface area. The process mainly consists of three critical steps. Firstly, a hemispherical photoresist micro-array was obtained by the cost-effective nanoimprint lithography process. Then the micro-array was transformed into hierarchical structures with longitudinal nanowires on the microstructure surface by oxygen plasma etching. Finally, the micro/nano dual-scale carbon array was fabricated by carbonizing these hierarchical photoresist structures. It has also been demonstrated that the micro/nano dual-scale carbon array can be used as the microelectrodes for supercapacitors by the electrodeposition of a manganese dioxide (MnO2) film onto the hierarchical carbon structures with greatly enhanced electrochemical performance. The specific gravimetric capacitance of the deposited micro/nano dual-scale microelectrodes is estimated to be 337 F g-1 at the scan rate of 5 mV s-1. This proposed approach of fabricating a micro/nano dual-scale carbon array provides a facile way in large-scale microstructures’ manufacturing for a wide variety of applications, including sensors and on-chip energy storage devices.

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

NASA Astrophysics Data System (ADS)

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

2017-02-01

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

Robots Save Soldiers' Lives Overseas (MarcBot)

NASA Technical Reports Server (NTRS)

2009-01-01

Marshall Space Flight Center mobile communications platform designs for future lunar missions led to improvements to fleets of tactical robots now being deployed by U.S. Army. The Multi-function Agile Remote Control Robot (MARCbot) helps soldiers search out and identify improvised explosive devices. NASA used the MARCbots to test its mobile communications platform, and in working with it, made the robot faster while adding capabilities -- upgrading to a digital camera, encrypting the controllers and video transmission, as well as increasing the range and adding communications abilities. They also simplified the design, providing more plug-and-play sensors and replacing some of the complex electronics with more trouble-free, low-cost components. Applied Geo Technology, a tribally-owned corporation in Choctaw, Mississippi, was given the task of manufacturing the modified robots. The company is now producing 40 units per month, 300 of which have already been deployed overseas.

Task Adaptive Walking Robots for Mars Surface Exploration

NASA Technical Reports Server (NTRS)

Huntsberger, Terry; Hickey, Gregory; Kennedy, Brett; Aghazarian, Hrand

2000-01-01

There are exciting opportunities for robot science that lie beyond the reach of current manipulators, rovers, balloons, penetrators, etc. Examples include mobile explorations of the densely cratered Mars highlands, of asteroids, and of moons. These sites are believed to be rich in geologic history and mineralogical detail, but are difficult to robotically access and sample. The surface terrains are rough and changeable, with variable porosity and dust layering; and the small bodies present further challenges of low-temperature, micro-gravity environments. Even the more benign areas of Mars are highly variegated in character (>VL2 rock densities), presenting significant risk to conventional rovers. The development of compact walking robots would have applications to the current mission set for Mars surface exploration, as well as enabling future Mars Outpost missions, asteroid rendezvous missions for the Solar System Exploration Program (SSE) and the mechanical assembly/inspection of large space platforms for the Human Exploration and Development of Spaces (HEDS).

Sensor-less force-reflecting macro-micro telemanipulation systems by piezoelectric actuators.

PubMed

Amini, H; Farzaneh, B; Azimifar, F; Sarhan, A A D

2016-09-01

This paper establishes a novel control strategy for a nonlinear bilateral macro-micro teleoperation system with time delay. Besides position and velocity signals, force signals are additionally utilized in the control scheme. This modification significantly improves the poor transparency during contact with the environment. To eliminate external force measurement, a force estimation algorithm is proposed for the master and slave robots. The closed loop stability of the nonlinear micro-micro teleoperation system with the proposed control scheme is investigated employing the Lyapunov theory. Consequently, the experimental results verify the efficiency of the new control scheme in free motion and during collision between the slave robot and the environment of slave robot with environment, and the efficiency of the force estimation algorithm. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Leveraging Large-Scale Semantic Networks for Adaptive Robot Task Learning and Execution.

PubMed

Boteanu, Adrian; St Clair, Aaron; Mohseni-Kabir, Anahita; Saldanha, Carl; Chernova, Sonia

2016-12-01

This work seeks to leverage semantic networks containing millions of entries encoding assertions of commonsense knowledge to enable improvements in robot task execution and learning. The specific application we explore in this project is object substitution in the context of task adaptation. Humans easily adapt their plans to compensate for missing items in day-to-day tasks, substituting a wrap for bread when making a sandwich, or stirring pasta with a fork when out of spoons. Robot plan execution, however, is far less robust, with missing objects typically leading to failure if the robot is not aware of alternatives. In this article, we contribute a context-aware algorithm that leverages the linguistic information embedded in the task description to identify candidate substitution objects without reliance on explicit object affordance information. Specifically, we show that the task context provided by the task labels within the action structure of a task plan can be leveraged to disambiguate information within a noisy large-scale semantic network containing hundreds of potential object candidates to identify successful object substitutions with high accuracy. We present two extensive evaluations of our work on both abstract and real-world robot tasks, showing that the substitutions made by our system are valid, accepted by users, and lead to a statistically significant reduction in robot learning time. In addition, we report the outcomes of testing our approach with a large number of crowd workers interacting with a robot in real time.

Smart Micro/Nano-robotic Systems for Gene Delivery.

PubMed

Pedram, Alireza; Pishkenari, Hossein Nejat

2017-01-01

Small scale robotics have attracted growing attention for the prospect of targeting and accessing cell-sized sites, necessary for high precision biomedical applications and drug/gene delivery. The loss of controlled gene therapy, inducing systemic side effects and reduced therapeutic efficiency, can be settled utilizing these intelligent carriers. Newly proposed solutions for the main challenges of control, power supplying, gene release and final carrier extraction/degradation have shifted these smart miniature robots to the point of being employed for practical applications of transferring oligonucleotides (pDNA, siRNA, mRNA, etc.) in near future. In this paper, different scenarios and their endeavors to address the vital working demands and steps, in particular, carrier attachment and release, cell internalization, manipulation concerns as well as actuation systems are discussed.This review highlights some promising experimental results showing controlled gene release of robotic systems in comparison with current non-specific gene delivery methods. Copyright© Bentham Science Publishers; For any queries, please email at epub@benthamscience.org.

Fluid-driven origami-inspired artificial muscles.

PubMed

Li, Shuguang; Vogt, Daniel M; Rus, Daniela; Wood, Robert J

2017-12-12

Artificial muscles hold promise for safe and powerful actuation for myriad common machines and robots. However, the design, fabrication, and implementation of artificial muscles are often limited by their material costs, operating principle, scalability, and single-degree-of-freedom contractile actuation motions. Here we propose an architecture for fluid-driven origami-inspired artificial muscles. This concept requires only a compressible skeleton, a flexible skin, and a fluid medium. A mechanical model is developed to explain the interaction of the three components. A fabrication method is introduced to rapidly manufacture low-cost artificial muscles using various materials and at multiple scales. The artificial muscles can be programed to achieve multiaxial motions including contraction, bending, and torsion. These motions can be aggregated into systems with multiple degrees of freedom, which are able to produce controllable motions at different rates. Our artificial muscles can be driven by fluids at negative pressures (relative to ambient). This feature makes actuation safer than most other fluidic artificial muscles that operate with positive pressures. Experiments reveal that these muscles can contract over 90% of their initial lengths, generate stresses of ∼600 kPa, and produce peak power densities over 2 kW/kg-all equal to, or in excess of, natural muscle. This architecture for artificial muscles opens the door to rapid design and low-cost fabrication of actuation systems for numerous applications at multiple scales, ranging from miniature medical devices to wearable robotic exoskeletons to large deployable structures for space exploration. Copyright © 2017 the Author(s). Published by PNAS.

Fluid-driven origami-inspired artificial muscles

PubMed Central

Li, Shuguang; Vogt, Daniel M.; Rus, Daniela; Wood, Robert J.

2017-01-01

Artificial muscles hold promise for safe and powerful actuation for myriad common machines and robots. However, the design, fabrication, and implementation of artificial muscles are often limited by their material costs, operating principle, scalability, and single-degree-of-freedom contractile actuation motions. Here we propose an architecture for fluid-driven origami-inspired artificial muscles. This concept requires only a compressible skeleton, a flexible skin, and a fluid medium. A mechanical model is developed to explain the interaction of the three components. A fabrication method is introduced to rapidly manufacture low-cost artificial muscles using various materials and at multiple scales. The artificial muscles can be programed to achieve multiaxial motions including contraction, bending, and torsion. These motions can be aggregated into systems with multiple degrees of freedom, which are able to produce controllable motions at different rates. Our artificial muscles can be driven by fluids at negative pressures (relative to ambient). This feature makes actuation safer than most other fluidic artificial muscles that operate with positive pressures. Experiments reveal that these muscles can contract over 90% of their initial lengths, generate stresses of ∼600 kPa, and produce peak power densities over 2 kW/kg—all equal to, or in excess of, natural muscle. This architecture for artificial muscles opens the door to rapid design and low-cost fabrication of actuation systems for numerous applications at multiple scales, ranging from miniature medical devices to wearable robotic exoskeletons to large deployable structures for space exploration. PMID:29180416

Fluid-driven origami-inspired artificial muscles

NASA Astrophysics Data System (ADS)

Li, Shuguang; Vogt, Daniel M.; Rus, Daniela; Wood, Robert J.

2017-12-01

Artificial muscles hold promise for safe and powerful actuation for myriad common machines and robots. However, the design, fabrication, and implementation of artificial muscles are often limited by their material costs, operating principle, scalability, and single-degree-of-freedom contractile actuation motions. Here we propose an architecture for fluid-driven origami-inspired artificial muscles. This concept requires only a compressible skeleton, a flexible skin, and a fluid medium. A mechanical model is developed to explain the interaction of the three components. A fabrication method is introduced to rapidly manufacture low-cost artificial muscles using various materials and at multiple scales. The artificial muscles can be programed to achieve multiaxial motions including contraction, bending, and torsion. These motions can be aggregated into systems with multiple degrees of freedom, which are able to produce controllable motions at different rates. Our artificial muscles can be driven by fluids at negative pressures (relative to ambient). This feature makes actuation safer than most other fluidic artificial muscles that operate with positive pressures. Experiments reveal that these muscles can contract over 90% of their initial lengths, generate stresses of ˜600 kPa, and produce peak power densities over 2 kW/kg—all equal to, or in excess of, natural muscle. This architecture for artificial muscles opens the door to rapid design and low-cost fabrication of actuation systems for numerous applications at multiple scales, ranging from miniature medical devices to wearable robotic exoskeletons to large deployable structures for space exploration.

Economic Impact of Large-Scale Deployment of Offshore Marine and Hydrokinetic Technology in Oregon Coastal Counties

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

Jimenez, T.; Tegen, S.; Beiter, P.

To begin understanding the potential economic impacts of large-scale WEC technology, the Bureau of Ocean Energy Management (BOEM) commissioned the National Renewable Energy Laboratory (NREL) to conduct an economic impact analysis of largescale WEC deployment for Oregon coastal counties. This report follows a previously published report by BOEM and NREL on the jobs and economic impacts of WEC technology for the entire state (Jimenez and Tegen 2015). As in Jimenez and Tegen (2015), this analysis examined two deployment scenarios in the 2026-2045 timeframe: the first scenario assumed 13,000 megawatts (MW) of WEC technology deployed during the analysis period, and themore » second assumed 18,000 MW of WEC technology deployed by 2045. Both scenarios require major technology and cost improvements in the WEC devices. The study is on very large-scale deployment so readers can examine and discuss the potential of a successful and very large WEC industry. The 13,000-MW is used as the basis for the county analysis as it is the smaller of the two scenarios. Sensitivity studies examined the effects of a robust in-state WEC supply chain. The region of analysis is comprised of the seven coastal counties in Oregon—Clatsop, Coos, Curry, Douglas, Lane, Lincoln, and Tillamook—so estimates of jobs and other economic impacts are specific to this coastal county area.« less

Robotic Manufacturing of 18-ft (5.5m) Diameter Cryogenic Fuel Tank Dome Assemblies for the NASA Ares I Rocket

NASA Technical Reports Server (NTRS)

Jones, Ronald E.; Carter, Robert W.

2012-01-01

The Ares I rocket was the first launch vehicle scheduled for manufacture under the National Aeronautic and Space Administration's Constellation program. A series of full-scale Ares I development articles were constructed on the Robotic Weld Tool at the NASA George C. Marshall Space Flight Center in Huntsville, Alabama. The Robotic Weld Tool is a 100 ton, 7- axis, robotic manufacturing system capable of machining and friction stir welding large-scale space hardware. This paper will focus on the friction stir welding of 18-ft (5.5m) diameter cryogenic fuel tank components; specifically, the liquid hydrogen forward dome and two common bulkhead manufacturing development articles.

Needs for Robotic Assessments of Nuclear Disasters

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

Victor Walker; Derek Wadsworth

Following the nuclear disaster at the Fukushima nuclear reactor plant in Japan, the need for systems which can assist in dynamic high-radiation environments such as nuclear incidents has become more apparent. The INL participated in delivering robotic technologies to Japan and has identified key components which are needed for success and obstacles to their deployment. In addition, we are proposing new work and methods to improve assessments and reactions to such events in the future. Robotics needs in disaster situations include phases such as: Assessment, Remediation, and Recovery Our particular interest is in the initial assessment activities. In assessment wemore » need collection of environmental parameters, determination of conditions, and physical sample collection. Each phase would require key tools and efforts to develop. This includes study of necessary sensors and their deployment methods, the effects of radiation on sensors and deployment, and the development of training and execution systems.« less

"Micro-robots" team up to act like vacuum cleaner

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

Snezhko, Alexey and Aronson, Igor

2011-01-01

"Micro-robots" designed by Argonne National Laboratory physicists Alexey Snezhko and Igor Aronson pick up free-floating particles. The competing hydrodynamic flows created by the four-aster assembly trap the particles. This video is courtesy of Nature Materials. Read more about the bots at http://go.usa.gov/KAT

Vanguard: A New Science Mission For Experimental Astrobiology

NASA Astrophysics Data System (ADS)

Ellery, A.; Wynn-Williams, D.; Edwards, H.; Dickensheets, D.; Welch, C.; Curley, A.

As an alternative to technically and financially problemat ic sample return missions, a rover-mounted laser Raman spectrometer sensitive to biomolecules and their mineral substrata is a promising alternative in the search for evidence of former life on Mars. We presented a new remote in situ analysis package being designed for experimental astrobiology on terrestrial-type planetary surfaces. The science is based on the hypothesis that if life arose on Mars, the selective pressure of solar radiation would have led to the evolution of pigmented systems to harness the energy of sunlight and to protect cells from concurrent UV stress. Microbial communities would have therefore become stratified by the light gradient, and our remote system would penetrate the near-subsurface profile in a vertical transect of horizontal strata in ancient sediments (such as palaeolake beds). The system will include an extensive array of robotic support to translocate and deploy a Raman spectrometer detectors beneath the surface of Mars ­ it will comprise of a base station lander to support communications, a robotic micro-rover to permit well- separated triplicate profiles made by three ground-penetrating moles mounted in a vertical configuration. Each mole will deploy a tether carrying fibre optic cables coupling the Raman spectrometer onboard the rover and the side-scanning sensor head on the mole. The complete system has been named Vanguard, and it represents a close collaboration between a space robotics engineer (Ellery), an astrobiologist (Wynn-Williams), a molecular spectroscopist (Edwards), an opto-electronic technologist (Dickensheets), a spacecraft engineer (Welch) and a robotic vision specialist (Curley). The autonomy requirement for the Vanguard instrument requires that significant scientific competence is imparted to the instrument through an expert system to ensure that quick-look analysis is performed onboard in real-time as the mole penetrates beneath the surface. Onboard decision-making must be implemented to assess the need for further integrations on the basis of prior sensory data ­ Vanguard is essentially conceived to be a robotic field astrobiologist. In targetting the Martian sub-surface, Vanguard represents the obvious next step in the astrobiological investigation of Mars for Europe, with field trials in Antarctica. A more challenging application of a modified Vanguard instrument might be the astrobiological investigation of the near surface of Europa (with trials in Lake Vostok, Antarctica) if recent allegations concerning the significance of salts in the Europan ice are correct.

Applying systems engineering methodologies to the micro- and nanoscale realm

NASA Astrophysics Data System (ADS)

Garrison Darrin, M. Ann

2012-06-01

Micro scale and nano scale technology developments have the potential to revolutionize smart and small systems. The application of systems engineering methodologies that integrate standalone, small-scale technologies and interface them with macro technologies to build useful systems is critical to realizing the potential of these technologies. This paper covers the expanding knowledge base on systems engineering principles for micro and nano technology integration starting with a discussion of the drivers for applying a systems approach. Technology development on the micro and nano scale has transition from laboratory curiosity to the realization of products in the health, automotive, aerospace, communication, and numerous other arenas. This paper focuses on the maturity (or lack thereof) of the field of nanosystems which is emerging in a third generation having transitioned from completing active structures to creating systems. The emphasis of applying a systems approach focuses on successful technology development based on the lack of maturity of current nano scale systems. Therefore the discussion includes details relating to enabling roles such as product systems engineering and technology development. Classical roles such as acquisition systems engineering are not covered. The results are also targeted towards small-scale technology developers who need to take into account systems engineering processes such as requirements definition, verification, and validation interface management and risk management in the concept phase of technology development to maximize the likelihood of success, cost effective micro and nano technology to increase the capability of emerging deployed systems and long-term growth and profits.

Handedness in shearing auxetics creates rigid and compliant structures

NASA Astrophysics Data System (ADS)

Lipton, Jeffrey Ian; MacCurdy, Robert; Manchester, Zachary; Chin, Lillian; Cellucci, Daniel; Rus, Daniela

2018-05-01

In nature, repeated base units produce handed structures that selectively bond to make rigid or compliant materials. Auxetic tilings are scale-independent frameworks made from repeated unit cells that expand under tension. We discovered how to produce handedness in auxetic unit cells that shear as they expand by changing the symmetries and alignments of auxetic tilings. Using the symmetry and alignment rules that we developed, we made handed shearing auxetics that tile planes, cylinders, and spheres. By compositing the handed shearing auxetics in a manner inspired by keratin and collagen, we produce both compliant structures that expand while twisting and deployable structures that can rigidly lock. This work opens up new possibilities in designing chemical frameworks, medical devices like stents, robotic systems, and deployable engineering structures.

Can robots be responsible moral agents? And why should we care?

NASA Astrophysics Data System (ADS)

Sharkey, Amanda

2017-07-01

This principle highlights the need for humans to accept responsibility for robot behaviour and in that it is commendable. However, it raises further questions about legal and moral responsibility. The issues considered here are (i) the reasons for assuming that humans and not robots are responsible agents, (ii) whether it is sufficient to design robots to comply with existing laws and human rights and (iii) the implications, for robot deployment, of the assumption that robots are not morally responsible.

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.

Demonstration of versatile whispering-gallery micro-lasers for remote refractive index sensing.

PubMed

Wan, Lei; Chandrahalim, Hengky; Zhou, Jian; Li, Zhaohui; Chen, Cong; Cho, Sangha; Zhang, Hui; Mei, Ting; Tian, Huiping; Oki, Yuji; Nishimura, Naoya; Fan, Xudong; Guo, L Jay

2018-03-05

We developed chip-scale remote refractive index sensors based on Rhodamine 6G (R6G)-doped polymer micro-ring lasers. The chemical, temperature, and mechanical sturdiness of the fused-silica host guaranteed a flexible deployment of dye-doped polymers for refractive index sensing. The introduction of the dye as gain medium demonstrated the feasibility of remote sensing based on the free-space optics measurement setup. Compared to the R6G-doped TZ-001, the lasing behavior of R6G-doped SU-8 polymer micro-ring laser under an aqueous environment had a narrower spectrum linewidth, producing the minimum detectable refractive index change of 4 × 10 -4 RIU. The maximum bulk refractive index sensitivity (BRIS) of 75 nm/RIU was obtained for SU-8 laser-based refractive index sensors. The economical, rapid, and simple realization of polymeric micro-scale whispering-gallery-mode (WGM) laser-based refractive index sensors will further expand pathways of static and dynamic remote environmental, chemical, biological, and bio-chemical sensing.

A Commercialization Roadmap for Carbon-Negative Energy Systems

NASA Astrophysics Data System (ADS)

Sanchez, D.

2016-12-01

The Intergovernmental Panel on Climate Change (IPCC) envisages the need for large-scale deployment of net-negative CO2 emissions technologies by mid-century to meet stringent climate mitigation goals and yield a net drawdown of atmospheric carbon. Yet there are few commercial deployments of BECCS outside of niche markets, creating uncertainty about commercialization pathways and sustainability impacts at scale. This uncertainty is exacerbated by the absence of a strong policy framework, such as high carbon prices and research coordination. Here, we propose a strategy for the potential commercial deployment of BECCS. This roadmap proceeds via three steps: 1) via capture and utilization of biogenic CO2 from existing bioenergy facilities, notably ethanol fermentation, 2) via thermochemical co-conversion of biomass and fossil fuels, particularly coal, and 3) via dedicated, large-scale BECCS. Although biochemical conversion is a proven first market for BECCS, this trajectory alone is unlikely to drive commercialization of BECCS at the gigatonne scale. In contrast to biochemical conversion, thermochemical conversion of coal and biomass enables large-scale production of fuels and electricity with a wide range of carbon intensities, process efficiencies and process scales. Aside from systems integration, primarily technical barriers are involved in large-scale biomass logistics, gasification and gas cleaning. Key uncertainties around large-scale BECCS deployment are not limited to commercialization pathways; rather, they include physical constraints on biomass cultivation or CO2 storage, as well as social barriers, including public acceptance of new technologies and conceptions of renewable and fossil energy, which co-conversion systems confound. Despite sustainability risks, this commercialization strategy presents a pathway where energy suppliers, manufacturers and governments could transition from laggards to leaders in climate change mitigation efforts.

Direct adaptive control of a PUMA 560 industrial robot

NASA Technical Reports Server (NTRS)

Seraji, Homayoun; Lee, Thomas; Delpech, Michel

1989-01-01

The implementation and experimental validation of a new direct adaptive control scheme on a PUMA 560 industrial robot is described. The testbed facility consists of a Unimation PUMA 560 six-jointed robot and controller, and a DEC MicroVAX II computer which hosts the Robot Control C Library software. The control algorithm is implemented on the MicroVAX which acts as a digital controller for the PUMA robot, and the Unimation controller is effectively bypassed and used merely as an I/O device to interface the MicroVAX to the joint motors. The control algorithm for each robot joint consists of an auxiliary signal generated by a constant-gain Proportional plus Integral plus Derivative (PID) controller, and an adaptive position-velocity (PD) feedback controller with adjustable gains. The adaptive independent joint controllers compensate for the inter-joint couplings and achieve accurate trajectory tracking without the need for the complex dynamic model and parameter values of the robot. Extensive experimental results on PUMA joint control are presented to confirm the feasibility of the proposed scheme, in spite of strong interactions between joint motions. Experimental results validate the capabilities of the proposed control scheme. The control scheme is extremely simple and computationally very fast for concurrent processing with high sampling rates.

"Micro-robots" pick up a glass bead

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

None

2011-01-01

"Micro-robots", which are really collections of particles animated by magnetic fields, pick up a glass bead and move it around the screen. Each movement is precisely controlled. The "asters" were designed by Alexey Snezkho and Igor Aronson at Argonne National Laboratory. Video courtesy Nature Materials. Read the full story at http://go.usa.gov/KAT

Large area micro-/nano-structuring using direct laser interference patterning

NASA Astrophysics Data System (ADS)

Lasagni, Andrés. F.; Kunze, Tim; Bieda, Matthias; Günther, Denise; Gärtner, Anne; Lang, Valentin; Rank, Andreas; Roch, Teja

2016-03-01

Smart surfaces are a source of innovation in the 21st Century. Potential applications can be found in a wide range of fields where improved optical, mechanical or biological properties can enhance the functions of products. In the last years, a method called Direct Laser Interference Patterning (DLIP) has demonstrated to be capable of fabricating a wide range of periodic surface patterns even with resolution at the nanometer and sub-micrometer scales. This article describes recent advances of the DLIP method to process 2D and 3D parts. Firstly, the possibility to fabricate periodic arrays on metallic substrates with sub-micrometer resolution is shown. After that, different concepts to process three dimensional parts are shown, including the use of Cartesian translational stages as well as an industrial robot arm. Finally, some application examples are described.

Photonics walking up a human hair

NASA Astrophysics Data System (ADS)

Zeng, Hao; Parmeggiani, Camilla; Martella, Daniele; Wasylczyk, Piotr; Burresi, Matteo; Wiersma, Diederik S.

2016-03-01

While animals have access to sugars as energy source, this option is generally not available to artificial machines and robots. Energy delivery is thus the bottleneck for creating independent robots and machines, especially on micro- and nano- meter length scales. We have found a way to produce polymeric nano-structures with local control over the molecular alignment, which allowed us to solve the above issue. By using a combination of polymers, of which part is optically sensitive, we can create complex functional structures with nanometer accuracy, responsive to light. In particular, this allowed us to realize a structure that can move autonomously over surfaces (it can "walk") using the environmental light as its energy source. The robot is only 60 μm in total length, thereby smaller than any known terrestrial walking species, and it is capable of random, directional walking and rotating on different dry surfaces.

Evolving directions in NASA's planetary rover requirements and technology

NASA Technical Reports Server (NTRS)

Weisbin, C. R.; Montemerlo, Mel; Whittaker, W.

1993-01-01

The evolution of NASA's planning for planetary rovers (that is robotic vehicles which may be deployed on planetary bodies for exploration, science analysis, and construction) and some of the technology that was developed to achieve the desired capabilities is reviewed. The program is comprised of a variety of vehicle sizes and types in order to accommodate a range of potential user needs. This includes vehicles whose weight spans a few kilograms to several thousand kilograms; whose locomotion is implemented using wheels, tracks, and legs; and whose payloads vary from microinstruments to large scale assemblies for construction. Robotic vehicles and their associated control systems, developed in the late 1980's as part of a proposed Mars Rover Sample Return (MRSR) mission, are described. Goals suggested at the time for such a MRSR mission included navigating for one to two years across hundreds of kilometers of Martian surface; traversing a diversity of rugged, unknown terrain; collecting and analyzing a variety of samples; and bringing back selected samples to the lander for return to Earth. Current plans (considerably more modest) which have evolved both from technological 'lessons learned' in the previous period, and modified aspirations of NASA missions are presented. Some of the demonstrated capabilities of the developed machines and the technologies which made these capabilities possible are described.

Robotic disaster recovery efforts with ad-hoc deployable cloud computing

NASA Astrophysics Data System (ADS)

Straub, Jeremy; Marsh, Ronald; Mohammad, Atif F.

2013-06-01

Autonomous operations of search and rescue (SaR) robots is an ill posed problem, which is complexified by the dynamic disaster recovery environment. In a typical SaR response scenario, responder robots will require different levels of processing capabilities during various parts of the response effort and will need to utilize multiple algorithms. Placing these capabilities onboard the robot is a mediocre solution that precludes algorithm specific performance optimization and results in mediocre performance. Architecture for an ad-hoc, deployable cloud environment suitable for use in a disaster response scenario is presented. Under this model, each service provider is optimized for the task and maintains a database of situation-relevant information. This service-oriented architecture (SOA 3.0) compliant framework also serves as an example of the efficient use of SOA 3.0 in an actual cloud application.

Results from a long-term study of a portable field robot in urban terrain

NASA Astrophysics Data System (ADS)

Lundberg, Carl; Reinhold, Roger; Christensen, Henrik I.

2007-04-01

The military have a considerable amount of experience from using robots for mine clearing and bomb removal. As new technology emerges it is necessary to investigate the possibly to expand robot use. This study has investigated an Army company, specialized in urban operations, while fulfilling their tasks with the support of a PackBot Scout. The robot was integrated and deployed as an ordinary component of the company and included modifying and retraining a number of standard behaviors to include the robot. This paper reports on the following issues: evaluation of missions where the platform can be deployed, what technical improvements are the most desired, and what are the new risks introduced by use of robots? Information was gathered through observation, interviews, and a questionnaire. The results indicate the robot to be useful for reconnaissance and mapping. The users also anticipated that the robot could be used to decrease the risks of IEDs by either triggering or by neutralising them with a disruptor. The robot was further considered to be useful for direct combat if armed, and for placing explosive loads against, for example, a door. Autonomous rendering of maps, acquiring images, two-way audio, and improved sensing such as IR were considered important improvements. The robot slowing down the pace of the unit was considered to be the main risk when used in urban operations.

Soft Actuators for Small-Scale Robotics.

PubMed

Hines, Lindsey; Petersen, Kirstin; Lum, Guo Zhan; Sitti, Metin

2017-04-01

This review comprises a detailed survey of ongoing methodologies for soft actuators, highlighting approaches suitable for nanometer- to centimeter-scale robotic applications. Soft robots present a special design challenge in that their actuation and sensing mechanisms are often highly integrated with the robot body and overall functionality. When less than a centimeter, they belong to an even more special subcategory of robots or devices, in that they often lack on-board power, sensing, computation, and control. Soft, active materials are particularly well suited for this task, with a wide range of stimulants and a number of impressive examples, demonstrating large deformations, high motion complexities, and varied multifunctionality. Recent research includes both the development of new materials and composites, as well as novel implementations leveraging the unique properties of soft materials. © 2016 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Outlook and Challenges of Perovskite Solar Cells toward Terawatt-Scale Photovoltaic Module Technology

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

Zhu, Kai; Kim, Donghoe; Whitaker, James B

Rapid development of perovskite solar cells (PSCs) during the past several years has made this photovoltaic (PV) technology a serious contender for potential large-scale deployment on the terawatt scale in the PV market. To successfully transition PSC technology from the laboratory to industry scale, substantial efforts need to focus on scalable fabrication of high-performance perovskite modules with minimum negative environmental impact. Here, we provide an overview of the current research and our perspective regarding PSC technology toward future large-scale manufacturing and deployment. Several key challenges discussed are (1) a scalable process for large-area perovskite module fabrication; (2) less hazardous chemicalmore » routes for PSC fabrication; and (3) suitable perovskite module designs for different applications.« less

Magnetic Actuation of Biological Systems

NASA Astrophysics Data System (ADS)

Lauback, Stephanie D.

Central to the advancement of many biomedical and nanotechnology capabilities is the capacity to precisely control the motion of micro and nanostructures. These applications range from single molecule experiments to cell isolation and separation, to drug delivery and nanomachine manipulation. This dissertation focuses on actuation of biological micro- and nano-entities through the use of weak external magnetic fields, superparamagnetic beads, and ferromagnetic thin films. The magnetic platform presents an excellent method for actuation of biological systems due to its ability to directly control the motion of an array of micro and nanostructures in real-time with calibrated picoNewton forces. The energy landscape of two ferromagnetic thin film patterns (disks and zigzag wires) is experimentally explored and compared to corresponding theoretical models to quantify the applied forces and trajectories of superparamagnetic beads due to the magnetic traps. A magnetic method to directly actuate DNA nanomachines in real-time with nanometer resolution and sub-second response times using micromagnetic control was implemented through the use of stiff DNA micro-levers which bridged the large length scale mismatch between the micro-actuator and the nanomachine. Compared to current alternative methods which are limited in the actuation speeds and the number of reconfiguration states of DNA constructs, this magnetic approach enables fast actuation (˜ milliseconds) and reconfigurable conformations achieved through a continuous range of finely tuned steps. The system was initially tested through actuation of the stiff arm tethered to the surface, and two prototype DNA nanomachines (rotor and hinge) were successfully actuated using the stiff mechanical lever. These results open new possibilities in the development of functional robotic systems at the molecular scale. In exploiting the use of DNA stiff levers, a new technique was also developed to investigate the emergence of the magnetization of individual superparamagnetic beads as a function of the applied field. Last, since proteins are frequently used for surface adhesion in assembling biomedical devices, preliminary tests were implemented to dynamically pattern proteins on a substrate using transformed E. coli that are magnetically labeled.

The Mars Surveyor '01 Rover and Robotic Arm

NASA Technical Reports Server (NTRS)

Bonitz, Robert G.; Nguyen, Tam T.; Kim, Won S.

1999-01-01

The Mars Surveyor 2001 Lander will carry with it both a Robotic Arm and Rover to support various science and technology experiments. The Marie Curie Rover, the twin sister to Sojourner Truth, is expected to explore the surface of Mars in early 2002. Scientific investigations to determine the elemental composition of surface rocks and soil using the Alpha Proton X-Ray Spectrometer (APXS) will be conducted along with several technology experiments including the Mars Experiment on Electrostatic Charging (MEEC) and the Wheel Abrasion Experiment (WAE). The Rover will follow uplinked operational sequences each day, but will be capable of autonomous reactions to the unpredictable features of the Martian environment. The Mars Surveyor 2001 Robotic Arm will perform rover deployment, and support various positioning, digging, and sample acquiring functions for MECA (Mars Environmental Compatibility Assessment) and Mossbauer Spectrometer experiments. The Robotic Arm will also collect its own sensor data for engineering data analysis. The Robotic Arm Camera (RAC) mounted on the forearm of the Robotic Arm will capture various images with a wide range of focal length adjustment during scientific experiments and rover deployment

Portable and Reconfigurable Wrist Robot Improves Hand Function for Post-Stroke Subjects.

PubMed

Khor, Kang Xiang; Chin, Patrick Jun Hua; Yeong, Che Fai; Su, Eileen Lee Ming; Narayanan, Aqilah Leela T; Abdul Rahman, Hisyam; Khan, Qamer Iqbal

2017-10-01

Rehabilitation robots have become increasingly popular for stroke rehabilitation. However, the high cost of robots hampers their implementation on a large scale. This paper implements the concept of a modular and reconfigurable robot, reducing its cost and size by adopting different therapeutic end effectors for different training movements using a single robot. The challenge is to increase the robot's portability and identify appropriate kinds of modular tools and configurations. Because literature on the effectiveness of this kind of rehabilitation robot is still scarce, this paper presents the design of a portable and reconfigurable rehabilitation robot and describes its use with a group of post-stroke patients for wrist and forearm training. Seven stroke subjects received training using a reconfigurable robot for 30 sessions, lasting 30 min per session. Post-training, statistical analysis showed significant improvement of 3.29 points (16.20%, p = 0.027) on the Fugl-Meyer assessment scale for forearm and wrist components. Significant improvement of active range of motion was detected in both pronation-supination (75.59%, p = 0.018) and wrist flexion-extension (56.12%, p = 0.018) after the training. These preliminary results demonstrate that the developed reconfigurable robot could improve subjects' wrist and forearm movement.

Deployable robotic woven wire structures and joints for space applications

NASA Technical Reports Server (NTRS)

Shahinpoor, MO; Smith, Bradford

1991-01-01

Deployable robotic structures are basically expandable and contractable structures that may be transported or launched to space in a compact form. These structures may then be intelligently deployed by suitable actuators. The deployment may also be done by means of either airbag or spring-loaded typed mechanisms. The actuators may be pneumatic, hydraulic, ball-screw type, or electromagnetic. The means to trigger actuation may be on-board EPROMS, programmable logic controllers (PLCs) that trigger actuation based on some input caused by the placement of the structure in the space environment. The actuation may also be performed remotely by suitable remote triggering devices. Several deployable woven wire structures are examined. These woven wire structures possess a unique form of joint, the woven wire joint, which is capable of moving and changing its position and orientation with respect to the structure itself. Due to the highly dynamic and articulate nature of these joints the 3-D structures built using them are uniquely and highly expandable, deployable, and dynamic. The 3-D structure naturally gives rise to a new generation of deployable three-dimensional spatial structures.

NanoRack Cubesat Deployer (NRCSD) Operations

NASA Image and Video Library

2014-08-19

ISS040-E-100890 (19 Aug. 2014) --- Through a window in the International Space Station?s Kibo laboratory, an Expedition 40 crew member photographed the CubeSat deployer mechanism in the grasp of the Japanese robotic arm prior to a series of NanoRacks CubeSat miniature satellite deployments.

Design and testing of a model CELSS chamber robot

NASA Astrophysics Data System (ADS)

Davis, Mark; Dezego, Shawn; Jones, Kinzy; Kewley, Christopher; Langlais, Mike; McCarthy, John; Penny, Damon; Bonner, Tom; Funderburke, C. Ashley; Hailey, Ruth

1994-08-01

A robot system for use in an enclosed environment was designed and tested. The conceptual design will be used to assist in research performed by the Controlled Ecological Life Support System (CELSS) project. Design specifications include maximum load capacity, operation at specified environmental conditions, low maintenance, and safety. The robot system must not be hazardous to the sealed environment, and be capable of stowing and deploying within a minimum area of the CELSS chamber facility. This design consists of a telescoping robot arm that slides vertically on a shaft positioned in the center of the CELSS chamber. The telescoping robot arm consists of a series of links which can be fully extended to a length equal to the radius of the working envelope of the CELSS chamber. The vertical motion of the robot arm is achieved through the use of a combination ball screw/ball spline actuator system. The robot arm rotates cylindrically about the vertical axis through use of a turntable bearing attached to a central mounting structure fitted to the actuator shaft. The shaft is installed in an overhead rail system allowing the entire structure to be stowed and deployed within the CELSS chamber. The overhead rail system is located above the chamber's upper lamps and extends to the center of the CELSS chamber. The mounting interface of the actuator shaft and rail system allows the entire actuator shaft to be detached and removed from the CELSS chamber. When the actuator shaft is deployed, it is held fixed at the bottom of the chamber by placing a square knob on the bottom of the shaft into a recessed square fitting in the bottom of the chamber floor. A support boot ensures the rigidity of the shaft. Three student teams combined into one group designed a model of the CELSS chamber robot that they could build. They investigated materials, availability, and strength in their design. After the model arm and stand were built, the class performed pre-tests on the entire system. A stability pre-test was used to determine whether the model robot arm would tip over on the stand when it was fully extended. Results showed the stand tipped when 50 Newtons were applied horizontally to the top of the vertical shaft while the arm was fully extended.

Design and testing of a model CELSS chamber robot

NASA Technical Reports Server (NTRS)

Davis, Mark; Dezego, Shawn; Jones, Kinzy; Kewley, Christopher; Langlais, Mike; Mccarthy, John; Penny, Damon; Bonner, Tom; Funderburke, C. Ashley; Hailey, Ruth

1994-01-01

A robot system for use in an enclosed environment was designed and tested. The conceptual design will be used to assist in research performed by the Controlled Ecological Life Support System (CELSS) project. Design specifications include maximum load capacity, operation at specified environmental conditions, low maintenance, and safety. The robot system must not be hazardous to the sealed environment, and be capable of stowing and deploying within a minimum area of the CELSS chamber facility. This design consists of a telescoping robot arm that slides vertically on a shaft positioned in the center of the CELSS chamber. The telescoping robot arm consists of a series of links which can be fully extended to a length equal to the radius of the working envelope of the CELSS chamber. The vertical motion of the robot arm is achieved through the use of a combination ball screw/ball spline actuator system. The robot arm rotates cylindrically about the vertical axis through use of a turntable bearing attached to a central mounting structure fitted to the actuator shaft. The shaft is installed in an overhead rail system allowing the entire structure to be stowed and deployed within the CELSS chamber. The overhead rail system is located above the chamber's upper lamps and extends to the center of the CELSS chamber. The mounting interface of the actuator shaft and rail system allows the entire actuator shaft to be detached and removed from the CELSS chamber. When the actuator shaft is deployed, it is held fixed at the bottom of the chamber by placing a square knob on the bottom of the shaft into a recessed square fitting in the bottom of the chamber floor. A support boot ensures the rigidity of the shaft. Three student teams combined into one group designed a model of the CELSS chamber robot that they could build. They investigated materials, availability, and strength in their design. After the model arm and stand were built, the class performed pre-tests on the entire system. A stability pre-test was used to determine whether the model robot arm would tip over on the stand when it was fully extended. Results showed the stand tipped when 50 Newtons were applied horizontally to the top of the vertical shaft while the arm was fully extended. This proved that it was stable. Another pre-test was the actuator slip test used to determine if there is an adequate coefficient of friction between the actuator drive wheels and drive cable to enable the actuator to fully extend and retract the arm. This pre-test revealed that the coefficient of friction was not large enough to prevent slippage. Sandpaper was glued to the drive wheel and this eliminated the slippage problem. The class preformed a fit test in the CELSS chamber to ensure that the completed robot arm is capable of reaching the entire working envelope. The robot was centered in the chamber and the arm was fully extended to the sides of the chamber. The arm was also able to retract to clear the drain pipes separating the upper and lower plant trays.

Robotics in near-earth space

NASA Technical Reports Server (NTRS)

Card, Michael E.

1991-01-01

The areas of space exploration in which robotic devices will play a part are identified, and progress to date in the space agency plans to acquire this capability is briefly reviewed. Roles and functions on orbit for robotic devices include well known activities, such as inspection and maintenance, assembly, docking, berthing, deployment, retrieval, materials handling, orbital replacement unit exchange, and repairs. Missions that could benefit from a robotic capability are discussed.

Robotic large-scale application of wheat cell-free translation to structural studies including membrane proteins

PubMed Central

Beebe, Emily T.; Makino, Shin-ichi; Nozawa, Akira; Matsubara, Yuko; Frederick, Ronnie O.; Primm, John G.; Goren, Michael A.; Fox, Brian G.

2010-01-01

The use of the Protemist XE, an automated discontinuous-batch protein synthesis robot, in cell-free translation is reported. The soluble Galdieria sulphuraria protein DCN1 was obtained in greater than 2 mg total synthesis yield per mL of reaction mixture from the Protemist XE, and the structure was subsequently solved by X-ray crystallography using material from one 10 mL synthesis (PDB ID: 3KEV). The Protemist XE was also capable of membrane protein translation. Thus human sigma-1 receptor was translated in the presence of unilamellar liposomes and bacteriorhodopsin was translated directly into detergent micelles in the presence of all-trans-retinal. The versatility, ease of use, and compact size of the Protemist XE robot demonstrate its suitability for large-scale synthesis of many classes of proteins. PMID:20637905

Robotic intrafractional US guidance for liver SABR: System design, beam avoidance, and clinical imaging.

PubMed

Schlosser, Jeffrey; Gong, Ren Hui; Bruder, Ralf; Schweikard, Achim; Jang, Sungjune; Henrie, John; Kamaya, Aya; Koong, Albert; Chang, Daniel T; Hristov, Dimitre

2016-11-01

To present a system for robotic 4D ultrasound (US) imaging concurrent with radiotherapy beam delivery and estimate the proportion of liver stereotactic ablative body radiotherapy (SABR) cases in which robotic US image guidance can be deployed without interfering with clinically used VMAT beam configurations. The image guidance hardware comprises a 4D US machine, an optical tracking system for measuring US probe pose, and a custom-designed robot for acquiring hands-free US volumes. In software, a simulation environment incorporating the LINAC, couch, planning CT, and robotic US guidance hardware was developed. Placement of the robotic US hardware was guided by a target visibility map rendered on the CT surface by using the planning CT to simulate US propagation. The visibility map was validated in a prostate phantom and evaluated in patients by capturing live US from imaging positions suggested by the visibility map. In 20 liver SABR patients treated with VMAT, the simulation environment was used to virtually place the robotic hardware and US probe. Imaging targets were either planning target volumes (PTVs, range 5.9-679.5 ml) or gross tumor volumes (GTVs, range 0.9-343.4 ml). Presence or absence of mechanical interference with LINAC, couch, and patient body as well as interferences with treated beams was recorded. For PTV targets, robotic US guidance without mechanical interference was possible in 80% of the cases and guidance without beam interference was possible in 60% of the cases. For the smaller GTV targets, these proportions were 95% and 85%, respectively. GTV size (1/20), elongated shape (1/20), and depth (1/20) were the main factors limiting the availability of noninterfering imaging positions. The robotic US imaging system was deployed in two liver SABR patients during CT simulation with successful acquisition of 4D US sequences in different imaging positions. This study indicates that for VMAT liver SABR, robotic US imaging of a relevant internal target may be possible in 85% of the cases while using treatment plans currently deployed in the clinic. With beam replanning to account for the presence of robotic US guidance, intrafractional US may be an option for 95% of the liver SABR cases.

A high-throughput robotic sample preparation system and HPLC-MS/MS for measuring urinary anatabine, anabasine, nicotine and major nicotine metabolites.

PubMed

Wei, Binnian; Feng, June; Rehmani, Imran J; Miller, Sharyn; McGuffey, James E; Blount, Benjamin C; Wang, Lanqing

2014-09-25

Most sample preparation methods characteristically involve intensive and repetitive labor, which is inefficient when preparing large numbers of samples from population-scale studies. This study presents a robotic system designed to meet the sampling requirements for large population-scale studies. Using this robotic system, we developed and validated a method to simultaneously measure urinary anatabine, anabasine, nicotine and seven major nicotine metabolites: 4-Hydroxy-4-(3-pyridyl)butanoic acid, cotinine-N-oxide, nicotine-N-oxide, trans-3'-hydroxycotinine, norcotinine, cotinine and nornicotine. We analyzed robotically prepared samples using high-performance liquid chromatography (HPLC) coupled with triple quadrupole mass spectrometry in positive electrospray ionization mode using scheduled multiple reaction monitoring (sMRM) with a total runtime of 8.5 min. The optimized procedure was able to deliver linear analyte responses over a broad range of concentrations. Responses of urine-based calibrators delivered coefficients of determination (R(2)) of >0.995. Sample preparation recovery was generally higher than 80%. The robotic system was able to prepare four 96-well plate (384 urine samples) per day, and the overall method afforded an accuracy range of 92-115%, and an imprecision of <15.0% on average. The validation results demonstrate that the method is accurate, precise, sensitive, robust, and most significantly labor-saving for sample preparation, making it efficient and practical for routine measurements in large population-scale studies such as the National Health and Nutrition Examination Survey (NHANES) and the Population Assessment of Tobacco and Health (PATH) study. Published by Elsevier B.V.

Manipulation of permanent magnetic polymer micro-robots: a new approach towards guided wireless capsule endoscopy

NASA Astrophysics Data System (ADS)

Hilbich, D.; Rahbar, A.; Khosla, A.; Gray, B. L.

2012-10-01

We present the initial experimental results for manipulating micro-robots featuring permanent magnetic polymer magnets for guided wireless endoscopy applications. The magnetic polymers are fabricated by doping polydimethylsiloxane (PDMS) with permanent isotropic rare earth magnetic powder (MQFP 12-5) with an average particle size of 6 μm. The prepared magnetic nanocomposite polymer (M-NCP) is patterned in the desired shape against a plexiglass mold via soft lithography techniques. It is observed that the fabricated micro-robot magnets have a magnetic field strength of 50 mT and can easily be actuated by applying a field of 8.3 mT (field measured at the capsule's position) and moved at a rate of 5 inches/second.

Southeast Asian Summer Burning: A Micro Pulse Lidar Network Study of Aerosol Particle Physical Properties near Fires in Borneo and Sumatra

NASA Astrophysics Data System (ADS)

Lolli, S.; Welton, E. J.; Holben, B. N.; Campbell, J. R.

2013-12-01

In August and September 2012, as part of the continuing Seven South East Asian Studies (7-SEAS) project, three autonomous elastic-scattering 355 nm lidars were deployed by the NASA Micro Pulse Lidar Network (MPLNET) to Sumatra and Borneo, measuring the vertical profile of aerosol particle scattering during peak burning season. In coordination with the Aerosol Robotic Network (AERONET), a regional characterization of aerosol particle physical properties and distribution was performed. In addition to a permanent regional network site at Singapore, the three temporary sites established for this research include Jambi (Sumatra, Indonesia), Kuching (northwest Borneo, Malaysia) and Palangkaraya (south-central Borneo, Indonesia). In this paper, we discuss the mission and instruments, and introduce data products available to the community through the MPLNET online website. We further describe initial results of the study, including a contrast of mean vertical scattering profiles versus those observed near active fire sources at Jambi and Palangkaraya, and resolve longer-range particle evolution at receptor sites, like Kuching, that are most commonly 1-2 days downwind of larger fire complexes.

Preparing to return to the Moon: Lessons from science-driven analogue missions to the Mistastin Lake impact structure, Canada, a unique lunar analogue site

NASA Astrophysics Data System (ADS)

Osinski, G. R.; Barfoot, T.; Chanou, A.; Daly, M. G.; Francis, R.; Hodges, K. V.; Jolliff, B. L.; Mader, M. M.; McCullough, E. M.; Moores, J. E.; Pickersgill, A.; Pontefract, A.; Preston, L.; Shankar, B.; Singleton, A.; Sylvester, P.; Tornabene, L. L.; Young, K. E.

2013-12-01

Impact cratering is the dominant geological process on the Moon, Near Earth Asteroids (NEAs) and the moons of Mars - the objectives for the new Solar System Exploration Research Virtual Institute (SSERVI). Led by members of the Canadian Lunar Research Network (CLRN), funded by the Canadian Space Agency, and with participants from the U.S., we carried out a series of analogue missions on Earth in order to prepare and train for future potential robotic and human sample return missions. Critically, these analogue missions were driven by the paradigm that operational and technical objectives are conducted while conducting new science and addressing real overarching scientific objectives. An overarching operational goal was to assess the utility of a robotic field reconnaissance mission as a precursor to a human sortie sample return mission. Here, we focus on the results and lessons learned from a robotic precursor mission and follow on human-robotic mission to the Mistastin Lake impact structure in Labrador, northern Canada (55°53'N; 63°18'W). The Mistastin structure was chosen because it represents an exceptional analogue for lunar craters. This site includes both an anorthositic target, a central uplift, well-preserved impact melt rocks - mostly derived from melting anorthosite - and is (or was) relatively unexplored. This crater formed ~36 million years ago and has a diameter of ~28 km. The scientific goals for these analogue missions were to further our understanding of impact chronology, shock processes, impact ejecta and potential resources within impact craters. By combining these goals in an analogue mission campaign key scientific requirements for a robotic precursor were determined. From the outset, these analogue missions were formulated and executed like an actual space mission. Sites of interest were chosen using remote sensing imagery without a priori knowledge of the site through a rigorous site selection process. The first deployment occurred in August and September 2010 and involved simulated robotic surveying of selected 'landing sites' at the Mistastin structure. The second deployment took place at the same location in 2011, which included simulated astronaut surface operations with, and without, the aid of a robotic assistant. A mission control team, based at the University of Western Ontario, London, Ontario, 1,900 km from the field site, oversaw operations. Our study showed the value of precursor reconnaissance missions in providing surface geology visualization at resolutions and from viewpoints not achievable from orbit, including high-resolution surface imagery on the scale of 10s of metres to kilometres. Indeed, data collected during the robotic precursor mission led to the formulation of a hypothesis that a large impact melt outcrop - named Discovery Hill - represents an impact melt pond in the terraced region of the crater, analogous to similar ponds of melt documented around the rim of well-preserved lunar craters such as Tycho. Further discoveries, that will be highlight here, include documentation of ejecta deposits for the first time at Mistastin, quantification of shock in anorthosites, and refined age estimates for the Mistastin impact event.

Demonstrations of Deployable Systems for Robotic Precursor Missions

NASA Technical Reports Server (NTRS)

Dervan, J.; Johnson, L.; Lockett, T.; Carr, J.; Boyd, D.

2017-01-01

NASA is developing thin-film based, deployable propulsion, power, and communication systems for small spacecraft that serve as enabling technologies for exploration of the solar system. By leveraging recent advancements in thin films, photovoltaics, deployment systems, and miniaturized electronics, new mission-level capabilities will be demonstrated aboard small spacecraft enabling a new generation of frequent, inexpensive, and highly capable robotic precursor missions with goals extensible to future human exploration. Specifically, thin-film technologies are allowing the development and use of solar sails for propulsion, small, lightweight photovoltaics for power, and omnidirectional antennas for communication as demonstrated by recent advances on the Near Earth Asteroid (NEA) Scout and Lightweight Integrated Solar Array and anTenna (LISA-T) projects.

Clustering social cues to determine social signals: developing learning algorithms using the "n-most likely states" approach

NASA Astrophysics Data System (ADS)

Best, Andrew; Kapalo, Katelynn A.; Warta, Samantha F.; Fiore, Stephen M.

2016-05-01

Human-robot teaming largely relies on the ability of machines to respond and relate to human social signals. Prior work in Social Signal Processing has drawn a distinction between social cues (discrete, observable features) and social signals (underlying meaning). For machines to attribute meaning to behavior, they must first understand some probabilistic relationship between the cues presented and the signal conveyed. Using data derived from a study in which participants identified a set of salient social signals in a simulated scenario and indicated the cues related to the perceived signals, we detail a learning algorithm, which clusters social cue observations and defines an "N-Most Likely States" set for each cluster. Since multiple signals may be co-present in a given simulation and a set of social cues often maps to multiple social signals, the "N-Most Likely States" approach provides a dramatic improvement over typical linear classifiers. We find that the target social signal appears in a "3 most-likely signals" set with up to 85% probability. This results in increased speed and accuracy on large amounts of data, which is critical for modeling social cognition mechanisms in robots to facilitate more natural human-robot interaction. These results also demonstrate the utility of such an approach in deployed scenarios where robots need to communicate with human teammates quickly and efficiently. In this paper, we detail our algorithm, comparative results, and offer potential applications for robot social signal detection and machine-aided human social signal detection.

A parametric analysis of a controlled deployable space manipulator for capturing a non-cooperative flexible satellite

NASA Astrophysics Data System (ADS)

Stolfi, A.; Gasbarri, P.; Sabatini, M.

2018-07-01

In the near future robotic systems will be playing an increasingly important role in space applications such as repairing, refueling, re-orbiting spacecraft and cleaning up the increasing amount of space debris. Space Manipulator Systems (SMSs) are robotic systems made of a bus (which has its own actuators such as thrusters and reaction wheels) equipped with one or more deployable arms. The present paper focuses on the issue of maintaining a stable first contact between the arms terminal parts (i.e. the end-effectors) and a non-cooperative target satellite, before the actual grasp is performed. The selected approach is a modified version of the Impedance Control algorithm in which the end-effector is controlled in order to make it behave like a mass-spring-damper system regardless of the reaction motion of the base, so to absorb the impact energy. The effects of non-modeled dynamics in control determination such as the structural flexibility of the manipulator and the target satellite are considered as well, and their impact on control effectiveness is analyzed. The performance of the proposed control architecture and a parametric analysis are studied by means of a co-simulation involving the MSC Adams multibody code (for describing the dynamics of the space robot and target) together with Simulink (for the determination of the control actions). The results show that the first contact phase of the grasping operation of a large satellite requires careful tuning of the control gains and a proper selection of the end-effector dimensions; otherwise, the large geometric and inertia characteristics of the target could lead to a failure with serious consequences. Both successful and underperforming cases are presented and commented in the paper.

Supporting Knowledge Transfer in IS Deployment Projects

NASA Astrophysics Data System (ADS)

Schönström, Mikael

To deploy new information systems is an expensive and complex task, and does seldom result in successful usage where the system adds strategic value to the firm (e.g. Sharma et al. 2003). It has been argued that innovation diffusion is a knowledge integration problem (Newell et al. 2000). Knowledge about business processes, deployment processes, information systems and technology are needed in a large-scale deployment of a corporate IS. These deployments can therefore to a large extent be argued to be a knowledge management (KM) problem. An effective deployment requires that knowledge about the system is effectively transferred to the target organization (Ko et al. 2005).

Volunteers Oriented Interface Design for the Remote Navigation of Rescue Robots at Large-Scale Disaster Sites

NASA Astrophysics Data System (ADS)

Yang, Zhixiao; Ito, Kazuyuki; Saijo, Kazuhiko; Hirotsune, Kazuyuki; Gofuku, Akio; Matsuno, Fumitoshi

This paper aims at constructing an efficient interface being similar to those widely used in human daily life, to fulfill the need of many volunteer rescuers operating rescue robots at large-scale disaster sites. The developed system includes a force feedback steering wheel interface and an artificial neural network (ANN) based mouse-screen interface. The former consists of a force feedback steering control and a six monitors’ wall. It provides a manual operation like driving cars to navigate a rescue robot. The latter consists of a mouse and a camera’s view displayed in a monitor. It provides a semi-autonomous operation by mouse clicking to navigate a rescue robot. Results of experiments show that a novice volunteer can skillfully navigate a tank rescue robot through both interfaces after 20 to 30 minutes of learning their operation respectively. The steering wheel interface has high navigating speed in open areas, without restriction of terrains and surface conditions of a disaster site. The mouse-screen interface is good at exact navigation in complex structures, while bringing little tension to operators. The two interfaces are designed to switch into each other at any time to provide a combined efficient navigation method.

Intelligent mobility for robotic vehicles in the army after next

NASA Astrophysics Data System (ADS)

Gerhart, Grant R.; Goetz, Richard C.; Gorsich, David J.

1999-07-01

The TARDEC Intelligent Mobility program addresses several essential technologies necessary to support the army after next (AAN) concept. Ground forces in the AAN time frame will deploy robotic unmanned ground vehicles (UGVs) in high-risk missions to avoid exposing soldiers to both friendly and unfriendly fire. Prospective robotic systems will include RSTA/scout vehicles, combat engineering/mine clearing vehicles, indirect fire artillery and missile launch platforms. The AAN concept requires high on-road and off-road mobility, survivability, transportability/deployability and low logistics burden. TARDEC is developing a robotic vehicle systems integration laboratory (SIL) to evaluate technologies and their integration into future UGV systems. Example technologies include the following: in-hub electric drive, omni-directional wheel and steering configurations, off-road tires, adaptive tire inflation, articulated vehicles, active suspension, mine blast protection, detection avoidance and evasive maneuver. This paper will describe current developments in these areas relative to the TARDEC intelligent mobility program.

Findings from the Supersonic Qualification Program of the Mars Science Laboratory Parachute System

NASA Technical Reports Server (NTRS)

Sengupta, Anita; Steltzner, Adam; Witkowski, Allen; Candler, Graham; Pantano, Carlos

2009-01-01

In 2012, the Mars Science Laboratory Mission (MSL) will deploy NASA's largest extra-terrestrial parachute, a technology integral to the safe landing of its advanced robotic explorer on the surface. The supersonic parachute system is a mortar deployed 21.5 m disk-gap-band (DGB) parachute, identical in geometric scaling to the Viking era DGB parachutes of the 1970's. The MSL parachute deployment conditions are Mach 2.3 at a dynamic pressure of 750 Pa. The Viking Balloon Launched Decelerator Test (BLDT) successfully demonstrated a maximum of 700 Pa at Mach 2.2 for a 16.1 m DGB parachute in its AV4 flight. All previous Mars deployments have derived their supersonic qualification from the Viking BLDT test series, preventing the need for full scale high altitude supersonic testing. The qualification programs for Mars Pathfinder, Mars Exploration Rover, and Phoenix Scout Missions were all limited to subsonic structural qualification, with supersonic performance and survivability bounded by the BLDT qualification. The MSL parachute, at the edge of the supersonic heritage deployment space and 33% larger than the Viking parachute, accepts a certain degree of risk without addressing the supersonic environment in which it will deploy. In addition, MSL will spend up to 10 seconds above Mach 1.5, an aerodynamic regime that is associated with a known parachute instability characterized by significant canopy projected area fluctuation and dynamic drag variation. This aerodynamic instability, referred to as "area oscillations" by the parachute community has drag performance, inflation stability, and structural implications, introducing risk to mission success if not quantified for the MSL parachute system. To minimize this risk and as an alternative to a prohibitively expensive high altitude test program, a multi-phase qualification program using computation simulation validated by subscale test was developed and implemented for MSL. The first phase consisted of 2% of fullscale supersonic wind tunnel testing of a rigid DGB parachute with entry-vehicle to validate two high fidelity computational fluid dynamics (CFD) tools. The computer codes utilized Large Eddy Simulation and Detached Eddy Simulation numerical approaches to accurately capture the turbulent wake of the entry vehicle and its coupling to the parachute bow-shock. The second phase was the development of fluid structure interaction (FSI) computational tools to predict parachute response to the supersonic flow field. The FSI development included the integration of the CFD from the first phase with a finite element structural model of the parachute membrane and cable elements. In this phase, a 4% of full-scale supersonic flexible parachute test program was conducted to provide validation data to the FSI code and an empirical dataset of the MSL parachute in a flight-like environment. The final phase is FSI simulations of the full-scale MSL parachute in a Mars type deployment. Findings from this program will be presented in terms of code development and validation, empirical findings from the supersonic testing, and drag performance during supersonic operation.

Here today, gone tomorrow: biodegradable soft robots

NASA Astrophysics Data System (ADS)

Rossiter, Jonathan; Winfield, Jonathan; Ieropoulos, Ioannis

2016-04-01

One of the greatest challenges to modern technologies is what to do with them when they go irreparably wrong or come to the end of their productive lives. The convention, since the development of modern civilisation, is to discard a broken item and then procure a new one. In the 20th century enlightened environmentalists campaigned for recycling and reuse (R and R). R and R has continued to be an important part of new technology development, but there is still a huge problem of non-recyclable materials being dumped into landfill and being discarded in the environment. The challenge is even greater for robotics, a field which will impact on all aspects of our lives, where discards include motors, rigid elements and toxic power supplies and batteries. One novel solution is the biodegradable robot, an active physical machine that is composed of biodegradable materials and which degrades to nothing when released into the environment. In this paper we examine the potential and realities of biodegradable robotics, consider novel solutions to core components such as sensors, actuators and energy scavenging, and give examples of biodegradable robotics fabricated from everyday, and not so common, biodegradable electroactive materials. The realisation of truly biodegradable robots also brings entirely new deployment, exploration and bio-remediation capabilities: why track and recover a few large non-biodegradable robots when you could speculatively release millions of biodegradable robots instead? We will consider some of these exciting developments and explore the future of this new field.

Packaging Of Control Circuits In A Robot Arm

NASA Technical Reports Server (NTRS)

Kast, William

1994-01-01

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

UltraSail - Ultra-Lightweight Solar Sail Concept

NASA Technical Reports Server (NTRS)

Burton, Rodney L.; Coverstone, Victoria L.; Hargens-Rysanek, Jennifer; Ertmer, Kevin M.; Botter, Thierry; Benavides, Gabriel; Woo, Byoungsam; Carroll, David L.; Gierow, Paul A.; Farmer, Greg

2005-01-01

UltraSail is a next-generation high-risk, high-payoff sail system for the launch, deployment, stabilization and control of very large (sq km class) solar sails enabling high payload mass fractions for high (Delta)V. Ultrasail is an innovative, non-traditional approach to propulsion technology achieved by combining propulsion and control systems developed for formation-flying micro-satellites with an innovative solar sail architecture to achieve controllable sail areas approaching 1 sq km, sail subsystem area densities approaching 1 g/sq m, and thrust levels many times those of ion thrusters used for comparable deep space missions. Ultrasail can achieve outer planetary rendezvous, a deep space capability now reserved for high-mass nuclear and chemical systems. One of the primary innovations is the near-elimination of sail supporting structures by attaching each blade tip to a formation-flying micro-satellite which deploys the sail, and then articulates the sail to provide attitude control, including spin stabilization and precession of the spin axis. These tip micro-satellites are controlled by 3-axis micro-thruster propulsion and an on-board metrology system. It is shown that an optimum spin rate exists which maximizes payload mass.

Probabilistic double guarantee kidnapping detection in SLAM.

PubMed

Tian, Yang; Ma, Shugen

2016-01-01

For determining whether kidnapping has happened and which type of kidnapping it is while a robot performs autonomous tasks in an unknown environment, a double guarantee kidnapping detection (DGKD) method has been proposed. The good performance of DGKD in a relative small environment is shown. However, a limitation of DGKD is found in a large-scale environment by our recent work. In order to increase the adaptability of DGKD in a large-scale environment, an improved method called probabilistic double guarantee kidnapping detection is proposed in this paper to combine probability of features' positions and the robot's posture. Simulation results demonstrate the validity and accuracy of the proposed method.

A preliminary cyber-physical security assessment of the Robot Operating System (ROS)

NASA Astrophysics Data System (ADS)

McClean, Jarrod; Stull, Christopher; Farrar, Charles; Mascareñas, David

2013-05-01

Over the course of the last few years, the Robot Operating System (ROS) has become a highly popular software framework for robotics research. ROS has a very active developer community and is widely used for robotics research in both academia and government labs. The prevalence and modularity of ROS cause many people to ask the question: "What prevents ROS from being used in commercial or government applications?" One of the main problems that is preventing this increased use of ROS in these applications is the question of characterizing its security (or lack thereof). In the summer of 2012, a crowd sourced cyber-physical security contest was launched at the cyber security conference DEF CON 20 to begin the process of characterizing the security of ROS. A small-scale, car-like robot was configured as a cyber-physical security "honeypot" running ROS. DEFFCON-20 attendees were invited to find exploits and vulnerabilities in the robot while network traffic was collected. The results of this experiment provided some interesting insights and opened up many security questions pertaining to deployed robotic systems. The Federal Aviation Administration is tasked with opening up the civil airspace to commercial drones by September 2015 and driverless cars are already legal for research purposes in a number of states. Given the integration of these robotic devices into our daily lives, the authors pose the following question: "What security exploits can a motivated person with little-to-no experience in cyber security execute, given the wide availability of free cyber security penetration testing tools such as Metasploit?" This research focuses on applying common, low-cost, low-overhead, cyber-attacks on a robot featuring ROS. This work documents the effectiveness of those attacks.

Runoff Response at Three Spatial Scale from a Burned Watershed

NASA Astrophysics Data System (ADS)

Moody, J. A.; Kinner, D. A.

2007-12-01

The hypothesis that the magnitude and timing of runoff from burned watersheds are functions of the properties of flow paths at multiple scales was investigated at three nested spatial scales within an area burned by the 2005 Harvard Fire near Burbank, California. Water depths were measured using pressure sensors: at the outlet of a subwatershed (10000 m2); in 3-inch Parshall flumes near the outlets of three mini-watersheds (820-1780 m2) within the subwatershed; and by 12 overland-flow detectors in 6 micro-watersheds (~11-15 m2) within one of the mini-watersheds. Rainfall intensities were measured using recording raingages deployed around the perimeter of the mini-watersheds and at the subwatershed outlet. Time-to-concentration, TC, and lag time, TL, were computed for the 15 largest of 30 rainstorms (maximum 30- minute intensities were 3.3-13.0 mm/h) between December 2005 and April 2006. TC , elapsed time from the beginning of the rain until the first increase in water depth, averaged 1.0 hours at the micro-scale, 1.7 hours at the mini-scale, and 1.5 hours at the subwatershed scale. TL is the lag time that produced the maximum cross- correlation coefficient between the time series of rainfall intensities and the series of water depths. TL averaged 0.15 hours at the micro-scale, 0.35 hours at the mini-scale, and 0.39 hours at the subwatershed scale. The coefficient was >0.50 for 43% (N=168) of the measurements at the micro-scale, for 61% (N=54) at the mini- scale, and for 67% (N=6) at the subwatershed scale indicating the runoff response lagged but was often well correlated with the time-varying rainfall intensity.

Low Density Supersonic Decelerator Parachute Decelerator System

NASA Technical Reports Server (NTRS)

Gallon, John C.; Clark, Ian G.; Rivellini, Tommaso P.; Adams, Douglas S.; Witkowski, Allen

2013-01-01

The Low Density Supersonic Decelerator Project has undertaken the task of developing and testing a large supersonic ringsail parachute. The parachute under development is intended to provide mission planners more options for parachutes larger than the Mars Science Laboratory's 21.5m parachute. During its development, this new parachute will be taken through a series of tests in order to bring the parachute to a TRL-6 readiness level and make the technology available for future Mars missions. This effort is primarily focused on two tests, a subsonic structural verification test done at sea level atmospheric conditions and a supersonic flight behind a blunt body in low-density atmospheric conditions. The preferred method of deploying a parachute behind a decelerating blunt body robotic spacecraft in a supersonic flow-field is via mortar deployment. Due to the configuration constraints in the design of the test vehicle used in the supersonic testing it is not possible to perform a mortar deployment. As a result of this limitation an alternative deployment process using a ballute as a pilot is being developed. The intent in this alternate approach is to preserve the requisite features of a mortar deployment during canopy extraction in a supersonic flow. Doing so will allow future Mars missions to either choose to mortar deploy or pilot deploy the parachute that is being developed.

Self-Deployable Membrane Structures

NASA Technical Reports Server (NTRS)

Sokolowski, Witold M.; Willis, Paul B.; Tan, Seng C.

2010-01-01

Currently existing approaches for deployment of large, ultra-lightweight gossamer structures in space rely typically upon electromechanical mechanisms and mechanically expandable or inflatable booms for deployment and to maintain them in a fully deployed, operational configuration. These support structures, with the associated deployment mechanisms, launch restraints, inflation systems, and controls, can comprise more than 90 percent of the total mass budget. In addition, they significantly increase the stowage volume, cost, and complexity. A CHEM (cold hibernated elastic memory) membrane structure without any deployable mechanism and support booms/structure is deployed by using shape memory and elastic recovery. The use of CHEM micro-foams reinforced with carbon nanotubes is considered for thin-membrane structure applications. In this advanced structural concept, the CHEM membrane structure is warmed up to allow packaging and stowing prior to launch, and then cooled to induce hibernation of the internal restoring forces. In space, the membrane remembers its original shape and size when warmed up. After the internal restoring forces deploy the structure, it is then cooled to achieve rigidization. For this type of structure, the solar radiation could be utilized as the heat energy used for deployment and space ambient temperature for rigidization. The overall simplicity of the CHEM self-deployable membrane is one of its greatest assets. In present approaches to space-deployable structures, the stow age and deployment are difficult and challenging, and introduce a significant risk, heavy mass, and high cost. Simple procedures provided by CHEM membrane greatly simplify the overall end-to-end process for designing, fabricating, deploying, and rigidizing large structures. The CHEM membrane avoids the complexities associated with other methods for deploying and rigidizing structures by eliminating deployable booms, deployment mechanisms, and inflation and control systems that can use up the majority of the mass budget

Enhanced ICP for the Registration of Large-Scale 3D Environment Models: An Experimental Study

PubMed Central

Han, Jianda; Yin, Peng; He, Yuqing; Gu, Feng

2016-01-01

One of the main applications of mobile robots is the large-scale perception of the outdoor environment. One of the main challenges of this application is fusing environmental data obtained by multiple robots, especially heterogeneous robots. This paper proposes an enhanced iterative closest point (ICP) method for the fast and accurate registration of 3D environmental models. First, a hierarchical searching scheme is combined with the octree-based ICP algorithm. Second, an early-warning mechanism is used to perceive the local minimum problem. Third, a heuristic escape scheme based on sampled potential transformation vectors is used to avoid local minima and achieve optimal registration. Experiments involving one unmanned aerial vehicle and one unmanned surface vehicle were conducted to verify the proposed technique. The experimental results were compared with those of normal ICP registration algorithms to demonstrate the superior performance of the proposed method. PMID:26891298

Polar Seismic TETwalker: Integrating Engineering Teaching and Research

NASA Astrophysics Data System (ADS)

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

2007-12-01

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

Rotorcraft and Enabling Robotic Rescue

NASA Technical Reports Server (NTRS)

Young, Larry A.

2010-01-01

This paper examines some of the issues underlying potential robotic rescue devices (RRD) in the context where autonomous or manned rotorcraft deployment of such robotic systems is a crucial attribute for their success in supporting future disaster relief and emergency response (DRER) missions. As a part of this discussion, work related to proof-of-concept prototyping of two notional RRD systems is summarized.

Modular Countermine Payload for Small Robots

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

Herman Herman; Doug Few; Roelof Versteeg

2010-04-01

Payloads for small robotic platforms have historically been designed and implemented as platform and task specific solutions. A consequence of this approach is that payloads cannot be deployed on different robotic platforms without substantial re-engineering efforts. To address this issue, we developed a modular countermine payload that is designed from the ground-up to be platform agnostic. The payload consists of the multi-mission payload controller unit (PCU) coupled with the configurable mission specific threat detection, navigation and marking payloads. The multi-mission PCU has all the common electronics to control and interface to all the payloads. It also contains the embedded processormore » that can be used to run the navigational and control software. The PCU has a very flexible robot interface which can be configured to interface to various robot platforms. The threat detection payload consists of a two axis sweeping arm and the detector. The navigation payload consists of several perception sensors that are used for terrain mapping, obstacle detection and navigation. Finally, the marking payload consists of a dual-color paint marking system. Through the multi-mission PCU, all these payloads are packaged in a platform agnostic way to allow deployment on multiple robotic platforms, including Talon and Packbot.« less

Modular countermine payload for small robots

NASA Astrophysics Data System (ADS)

Herman, Herman; Few, Doug; Versteeg, Roelof; Valois, Jean-Sebastien; McMahill, Jeff; Licitra, Michael; Henciak, Edward

2010-04-01

Payloads for small robotic platforms have historically been designed and implemented as platform and task specific solutions. A consequence of this approach is that payloads cannot be deployed on different robotic platforms without substantial re-engineering efforts. To address this issue, we developed a modular countermine payload that is designed from the ground-up to be platform agnostic. The payload consists of the multi-mission payload controller unit (PCU) coupled with the configurable mission specific threat detection, navigation and marking payloads. The multi-mission PCU has all the common electronics to control and interface to all the payloads. It also contains the embedded processor that can be used to run the navigational and control software. The PCU has a very flexible robot interface which can be configured to interface to various robot platforms. The threat detection payload consists of a two axis sweeping arm and the detector. The navigation payload consists of several perception sensors that are used for terrain mapping, obstacle detection and navigation. Finally, the marking payload consists of a dual-color paint marking system. Through the multimission PCU, all these payloads are packaged in a platform agnostic way to allow deployment on multiple robotic platforms, including Talon and Packbot.

Evaluation of micro-GPS receivers for tracking small-bodied mammals

PubMed Central

Shipley, Lisa A.; Forbey, Jennifer S.; Olsoy, Peter J.

2017-01-01

GPS telemetry markedly enhances the temporal and spatial resolution of animal location data, and recent advances in micro-GPS receivers permit their deployment on small mammals. One such technological advance, snapshot technology, allows for improved battery life by reducing the time to first fix via postponing recovery of satellite ephemeris (satellite location) data and processing of locations. However, no previous work has employed snapshot technology for small, terrestrial mammals. We evaluated performance of two types of micro-GPS (< 20 g) receivers (traditional and snapshot) on a small, semi-fossorial lagomorph, the pygmy rabbit (Brachylagus idahoensis), to understand how GPS errors might influence fine-scale assessments of space use and habitat selection. During stationary tests, microtopography (i.e., burrows) and satellite geometry had the largest influence on GPS fix success rate (FSR) and location error (LE). There was no difference between FSR while animals wore the GPS collars above ground (determined via light sensors) and FSR generated during stationary, above-ground trials, suggesting that animal behavior other than burrowing did not markedly influence micro-GPS errors. In our study, traditional micro-GPS receivers demonstrated similar FSR and LE to snapshot receivers, however, snapshot receivers operated inconsistently due to battery and software failures. In contrast, the initial traditional receivers deployed on animals experienced some breakages, but a modified collar design consistently functioned as expected. If such problems were resolved, snapshot technology could reduce the tradeoff between fix interval and battery life that occurs with traditional micro-GPS receivers. Our results suggest that micro-GPS receivers are capable of addressing questions about space use and resource selection by small mammals, but that additional techniques might be needed to identify use of habitat structures (e.g., burrows, tree cavities, rock crevices) that could affect micro-GPS performance and bias study results. PMID:28301495

Robotic missions for the moon

NASA Technical Reports Server (NTRS)

Bourke, R. D.; Burke, J. D.

1990-01-01

In the course of the exploration and settlement of the moon, robotic missions will precede and accompany humans. These robotic missions are defined respectively as precursors and adjuncts. Their contribution is twofold: to generate information about the lunar environment (and system performance in that environment), and to emplace elements of infrastructure for subsequent use. This paper describes information that may be gathered by robotic missions and infrastructure elements that may be deployed by them during an early lunar program phase.

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.

Tissue strands as "bioink" for scale-up organ printing.

PubMed

Yu, Yin; Ozbolat, Ibrahim T

2014-01-01

Organ printing, takes tissue spheroids as building blocks together with additive manufacturing technique to engineer tissue or organ replacement parts. Although a wide array of cell aggregation techniques has been investigated, and gained noticeable success, the application of tissue spheroids for scale-up tissue fabrication is still worth investigation. In this paper, we introduce a new micro-fabrication technique to create tissue strands at the scale of 500-700μm as a "bioink" for future robotic tissue printing. Printable alginate micro-conduits are used as semi-permeable capsules for tissue strand fabrication. Mouse insulinoma beta TC3 cell tissue strands were formed upon 4 days post fabrication with reasonable mechanical strength, high cell viability close to 90%, and tissue specific markers expression. Fusion was readily observed between strands when placing them together as early as 24h. Also, tissue strands were deposited with human umbilical vein smooth muscle cells (HUVSMCs) vascular conduits together to fabricated miniature pancreatic tissue analog. Our study provided a novel technique using tissue strands as "bioink" for scale-up bioprinting of tissues or organs.

Crewbot Suspension Design

NASA Technical Reports Server (NTRS)

Wood, Nathan A.

2005-01-01

Planetary Surface Robot Work Crews (RWC) represent a new class of construction robots for future deployment in planetary exploration. Rovers currently being used for the RWC platform lack the load carrying capabilities required in regular work. Two new rovers, dubbed CrewBots, being designed in JPL's Planetary Robotics Lab specifically for RWC applications greatly increase the load carrying capabilities of the platform. A major component of the rover design was the design of the rocker type suspension, which increases rover mobility. The design of the suspension for the Crewbots departed from the design of recent rovers. While many previous rovers have used internal bevel gear differentials, the increased load requirements of the Crewbots calls for a more robust system. The solution presented is the use of an external modified three-bar, slider-linkage, rocker-style suspension that increases the moment arm of the differential. The final product is a suspension system capable of supporting the extreme loading cases the RWC platform presents, without consuming a large portion of the Crewbots' internal space.

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

Gallarno, George; Rogers, James H; Maxwell, Don E

The high computational capability of graphics processing units (GPUs) is enabling and driving the scientific discovery process at large-scale. The world s second fastest supercomputer for open science, Titan, has more than 18,000 GPUs that computational scientists use to perform scientific simu- lations and data analysis. Understanding of GPU reliability characteristics, however, is still in its nascent stage since GPUs have only recently been deployed at large-scale. This paper presents a detailed study of GPU errors and their impact on system operations and applications, describing experiences with the 18,688 GPUs on the Titan supercom- puter as well as lessons learnedmore » in the process of efficient operation of GPUs at scale. These experiences are helpful to HPC sites which already have large-scale GPU clusters or plan to deploy GPUs in the future.« less

NanoRacks CubeSat Deployment

NASA Image and Video Library

2014-02-11

ISS038-E-044887 (11 Feb. 2014) --- The Small Satellite Orbital Deployer (SSOD), in the grasp of the Kibo laboratory robotic arm, is photographed by an Expedition 38 crew member on the International Space Station as it deploys a set of NanoRacks CubeSats. The CubeSats program contains a variety of experiments such as Earth observations and advanced electronics testing.

NanoRacks CubeSat Deployment

NASA Image and Video Library

2014-02-11

ISS038-E-044889 (11 Feb. 2014) --- The Small Satellite Orbital Deployer (SSOD), in the grasp of the Kibo laboratory robotic arm, is photographed by an Expedition 38 crew member on the International Space Station as it deploys a set of NanoRacks CubeSats. The CubeSats program contains a variety of experiments such as Earth observations and advanced electronics testing.

NanoRacks CubeSat Deployment

NASA Image and Video Library

2014-02-11

ISS038-E-044890 (11 Feb. 2014) --- The Small Satellite Orbital Deployer (SSOD), in the grasp of the Kibo laboratory robotic arm, is photographed by an Expedition 38 crew member on the International Space Station as it deploys a set of NanoRacks CubeSats. The CubeSats program contains a variety of experiments such as Earth observations and advanced electronics testing.

Cellulose Electro-Active Paper: From Discovery to Technology Applications

NASA Astrophysics Data System (ADS)

Abas, Zafar; Kim, Heung Soo; Kim, Jaehwan; Kim, Joo-Hyung

2014-09-01

Cellulose electro-active paper (EAPap) is an attractive material of electro-active polymers (EAPs) family due to its smart characteristics. EAPap is thin cellulose film coated with metal electrodes on both sides. Its large displacement output, low actuation voltage and low power consumption can be used for biomimetic sensors/actuators and electromechanical system. Because cellulose EAPap is ultra-lightweight, easy to manufacture, inexpensive, biocompatible, and biodegradable, it has been employed for many applications such as bending actuator, vibration sensor, artificial muscle, flexible speaker, and can be advantageous in areas such as micro-insect robots, micro-flying objects, microelectromechanical systems, biosensors, and flexible displays.

Beaming into the Rat World: Enabling Real-Time Interaction between Rat and Human Each at Their Own Scale

PubMed Central

Normand, Jean-Marie; Sanchez-Vives, Maria V.; Waechter, Christian; Giannopoulos, Elias; Grosswindhager, Bernhard; Spanlang, Bernhard; Guger, Christoph; Klinker, Gudrun; Srinivasan, Mandayam A.; Slater, Mel

2012-01-01

Immersive virtual reality (IVR) typically generates the illusion in participants that they are in the displayed virtual scene where they can experience and interact in events as if they were really happening. Teleoperator (TO) systems place people at a remote physical destination embodied as a robotic device, and where typically participants have the sensation of being at the destination, with the ability to interact with entities there. In this paper, we show how to combine IVR and TO to allow a new class of application. The participant in the IVR is represented in the destination by a physical robot (TO) and simultaneously the remote place and entities within it are represented to the participant in the IVR. Hence, the IVR participant has a normal virtual reality experience, but where his or her actions and behaviour control the remote robot and can therefore have physical consequences. Here, we show how such a system can be deployed to allow a human and a rat to operate together, but the human interacting with the rat on a human scale, and the rat interacting with the human on the rat scale. The human is represented in a rat arena by a small robot that is slaved to the human’s movements, whereas the tracked rat is represented to the human in the virtual reality by a humanoid avatar. We describe the system and also a study that was designed to test whether humans can successfully play a game with the rat. The results show that the system functioned well and that the humans were able to interact with the rat to fulfil the tasks of the game. This system opens up the possibility of new applications in the life sciences involving participant observation of and interaction with animals but at human scale. PMID:23118987

Beaming into the rat world: enabling real-time interaction between rat and human each at their own scale.

PubMed

Normand, Jean-Marie; Sanchez-Vives, Maria V; Waechter, Christian; Giannopoulos, Elias; Grosswindhager, Bernhard; Spanlang, Bernhard; Guger, Christoph; Klinker, Gudrun; Srinivasan, Mandayam A; Slater, Mel

2012-01-01

Immersive virtual reality (IVR) typically generates the illusion in participants that they are in the displayed virtual scene where they can experience and interact in events as if they were really happening. Teleoperator (TO) systems place people at a remote physical destination embodied as a robotic device, and where typically participants have the sensation of being at the destination, with the ability to interact with entities there. In this paper, we show how to combine IVR and TO to allow a new class of application. The participant in the IVR is represented in the destination by a physical robot (TO) and simultaneously the remote place and entities within it are represented to the participant in the IVR. Hence, the IVR participant has a normal virtual reality experience, but where his or her actions and behaviour control the remote robot and can therefore have physical consequences. Here, we show how such a system can be deployed to allow a human and a rat to operate together, but the human interacting with the rat on a human scale, and the rat interacting with the human on the rat scale. The human is represented in a rat arena by a small robot that is slaved to the human's movements, whereas the tracked rat is represented to the human in the virtual reality by a humanoid avatar. We describe the system and also a study that was designed to test whether humans can successfully play a game with the rat. The results show that the system functioned well and that the humans were able to interact with the rat to fulfil the tasks of the game. This system opens up the possibility of new applications in the life sciences involving participant observation of and interaction with animals but at human scale.

A Review of Similar and Dissimilar Micro-joining of Nitinol

NASA Astrophysics Data System (ADS)

Deepan Bharathi Kannan, T.; Ramesh, T.; Sathiya, P.

2016-04-01

NiTinol belongs to a class of smart materials which has a wide range of applications in the field of automotive, aerospace, biomedical, robotics, etc., owing to the growing trend in miniaturization of components. Micro-joining is becoming one of the important and familiar processes in the fabrication of miniaturized components. Recently, effective micro-joining of thin sheets has been gaining a lot of interest among researchers. In this article, the research and progress in micro-joining of NiTinol to itself and other metals are reviewed at different aspects. To date, laser welding, tungsten inert gas welding, and resistance welding have been used to a large extent in investigating the weldability of NiTinol alloys. Some important welding parameters used in micro joining by various researchers and their effects on weld qualities are detailed in this review. Metallurgical aspects, mechanical properties and corrosion aspects of micro-joined NiTinol sheets/wires are discussed. The aim of this report is to review the recent progress in micro-joining of NiTinol and to provide a basis for follow-on research.

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

Federal Register 2010, 2011, 2012, 2013, 2014

2010-07-23

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

Design of multifunction anti-terrorism robotic system based on police dog

NASA Astrophysics Data System (ADS)

You, Bo; Liu, Suju; Xu, Jun; Li, Dongjie

2007-11-01

Aimed at some typical constraints of police dogs and robots used in the areas of reconnaissance and counterterrorism currently, the multifunction anti-terrorism robotic system based on police dog has been introduced. The system is made up of two parts: portable commanding device and police dog robotic system. The portable commanding device consists of power supply module, microprocessor module, LCD display module, wireless data receiving and dispatching module and commanding module, which implements the remote control to the police dogs and takes real time monitor to the video and images. The police dog robotic system consists of microprocessor module, micro video module, wireless data transmission module, power supply module and offence weapon module, which real time collects and transmits video and image data of the counter-terrorism sites, and gives military attack based on commands. The system combines police dogs' biological intelligence with micro robot. Not only does it avoid the complexity of general anti-terrorism robots' mechanical structure and the control algorithm, but it also widens the working scope of police dog, which meets the requirements of anti-terrorism in the new era.

Sensing and data classification for a robotic meteorite search

NASA Astrophysics Data System (ADS)

Pedersen, Liam; Apostolopoulos, Dimi; Whittaker, William L.; Benedix, Gretchen; Rousch, Ted

1999-01-01

Upcoming missions to Mars and the mon call for highly autonomous robots with capability to perform intra-site exploration, reason about their scientific finds, and perform comprehensive on-board analysis of data collected. An ideal case for testing such technologies and robot capabilities is the robotic search for Antarctic meteorites. The successful identification and classification of meteorites depends on sensing modalities and intelligent evaluation of acquired data. Data from color imagery and spectroscopic measurements are used to identify terrestrial rocks and distinguish them from meteorites. However, because of the large number of rocks and the high cost and delay of using some of the sensors, it is necessary to eliminate as many meteorite candidates as possible using cheap long range sensors, such as color cameras. More resource consuming sensor will be held in reserve for the more promising samples only. Bayes networks are used as the formalism for incrementally combing data from multiple sources in a statistically rigorous manner. Furthermore, they can be used to infer the utility of further sensor readings given currently known data. This information, along with cost estimates, in necessary for the sensing system to rationally schedule further sensor reading sand deployments. This paper address issues associated with sensor selection and implementation of an architecture for automatic identification of rocks and meteorites from a mobile robot.

A modular (almost) automatic set-up for elastic multi-tenants cloud (micro)infrastructures

NASA Astrophysics Data System (ADS)

Amoroso, A.; Astorino, F.; Bagnasco, S.; Balashov, N. A.; Bianchi, F.; Destefanis, M.; Lusso, S.; Maggiora, M.; Pellegrino, J.; Yan, L.; Yan, T.; Zhang, X.; Zhao, X.

2017-10-01

An auto-installing tool on an usb drive can allow for a quick and easy automatic deployment of OpenNebula-based cloud infrastructures remotely managed by a central VMDIRAC instance. A single team, in the main site of an HEP Collaboration or elsewhere, can manage and run a relatively large network of federated (micro-)cloud infrastructures, making an highly dynamic and elastic use of computing resources. Exploiting such an approach can lead to modular systems of cloud-bursting infrastructures addressing complex real-life scenarios.

Design and prototyping of self-centering optical single-mode fiber alignment structures

NASA Astrophysics Data System (ADS)

Ebraert, Evert; Gao, Fei; Beri, Stefano; Watté, Jan; Thienpont, Hugo; Van Erps, Jürgen

2016-06-01

The European Commission’s goal of providing each European household with at least a 30 Mb s-1 Internet connection by 2020 would be facilitated by a widespread deployment of fibre-to-the-home, which would in turn be sped up by the development of connector essential components, such as high-precision alignment features. Currently, the performance of state-of-the-art physical contact optical fiber connectors is limited by the tolerance on the cladding of standard telecom-grade single-mode fiber (SMF), which is typically smaller than  ±1 μm. We propose to overcome this limit by developing micro-spring-based self-centering alignment structures (SCAS) for SMF-connectors. We design these alignment structures with robustness and low-cost replication in mind, allowing for large-scale deployment. Both theoretical and finite element analysis (FEA) models are used to determine the optimal dimensions of the beams of which the micro-springs of the SCAS are comprised. Two topologies of the SCAS, consisting of three and four micro-springs respectively, are investigated for two materials: polysulfone (PSU) and polyetherimide (PEI). These materials hold great potential for high-performance fiber connectors while being compatible with low-cost production and with the harsh environmental operation conditions of those connectors. The theory and FEA agree well (<3% difference) for a simple micro-spring. When including a pedestal on the micro-spring (to bring it further away from the fiber) and for shorter spring lengths the agreement worsens. This is due to spring compression effects not being taken into account in our theoretical model. Prototypes are successfully fabricated using deep proton writing and subsequently characterized. The controlled insertion of an SMF in the SCAS is investigated and we determine that a force of 0.11 N is required. The fiber insertion also causes an out-of-plane deformation of the micro-springs in the SCAS of about 7 μm, which is no problem for robustness according to the FEA model. Finally connector-assemblies are made with the alignment system and we show that an insertion loss down to 0.1 dB is achievable. The prototypes are subsequently used as a sacrificial master for mould fabrication through electroplating with the goal of low-cost replication through hot embossing.

Folding of non-Euclidean curved shells

NASA Astrophysics Data System (ADS)

Bende, Nakul; Evans, Arthur; Innes-Gold, Sarah; Marin, Luis; Cohen, Itai; Santangelo, Christian; Hayward, Ryan

2015-03-01

Origami-based folding of 2D sheets has been of recent interest for a variety of applications ranging from deployable structures to self-folding robots. Though folding of planar sheets follows well-established principles, folding of curved shells involves an added level of complexity due to the inherent influence of curvature on mechanics. In this study, we use principles from differential geometry and thin shell mechanics to establish fundamental rules that govern folding of prototypical creased shells. In particular, we show how the normal curvature of a crease line controls whether the deformation is smooth or discontinuous, and investigate the influence of shell thickness and boundary conditions. We show that snap-folding of shells provides a route to rapid actuation on time-scales dictated by the speed of sound. The simple geometric design principles developed can be applied at any length-scale, offering potential for bio-inspired soft actuators for tunable optics, microfluidics, and robotics. This work was funded by the National Science Foundation through EFRI ODISSEI-1240441 with additional support to S.I.-G. through the UMass MRSEC DMR-0820506 REU program.

Fast cadence planet-searches with the all-sky, gigapixel-scale Evryscope

NASA Astrophysics Data System (ADS)

Ratzloff, Jeff; Law, Nicholas

2018-01-01

The Evryscope is a 24-camera robotic telescope that continuously images 8,000 square degrees in 2-minute exposures, that has been collecting data continuously since deployment to CTIO in mid-2015. The telescope provides the fast cadence observations necessary for detecting minute to tens-of-minute time-scale exoplanet transits, which would occur around small, compact host stars including White Dwarfs and Hot Subdwarfs. We are conducting target surveys for each of these types of stars searching for potential planet transit signals. Our surveys will be the largest performed to date with several thousand targets in each group and years of observations, and the only surveys with minute-scale cadence. We present the status of the surveys, our estimated detection ability, interesting candidates, and preliminary results.

Nano-Scale Sample Acquisition Systems for Small Class Exploration Spacecraft

NASA Astrophysics Data System (ADS)

Paulsen, G.

2015-12-01

The paradigm for space exploration is changing. Large and expensive missions are very rare and the space community is turning to smaller, lighter, and less expensive missions that could still perform great exploration. These missions are also within reach of commercial companies such as the Google Lunar X Prize teams that develop small scale lunar missions. Recent commercial endeavors such as "Planet Labs inc." and Sky Box Imaging, inc. show that there are new benefits and business models associated with miniaturization of space hardware. The Nano-Scale Sample Acquisition System includes NanoDrill for capture of small rock cores and PlanetVac for capture of surface regolith. These two systems are part of the ongoing effort to develop "Micro Sampling" systems for deployment by the small spacecraft with limited payload capacities. The ideal applications include prospecting missions to the Moon and Asteroids. The MicroDrill is a rotary-percussive coring drill that captures cores 7 mm in diameter and up to 2 cm long. The drill weighs less than 1 kg and can capture a core from a 40 MPa strength rock within a few minutes, with less than 10 Watt power and less than 10 Newton of preload. The PlanetVac is a pneumatic based regolith acquisition system that can capture surface sample in touch-and-go maneuver. These sampling systems were integrated within the footpads of commercial quadcopter for testing. As such, they could also be used by geologists on Earth to explore difficult to get to locations.

Integration and evaluation of a needle-positioning robot with volumetric microcomputed tomography image guidance for small animal stereotactic interventions.

PubMed

Waspe, Adam C; McErlain, David D; Pitelka, Vasek; Holdsworth, David W; Lacefield, James C; Fenster, Aaron

2010-04-01

Preclinical research protocols often require insertion of needles to specific targets within small animal brains. To target biologically relevant locations in rodent brains more effectively, a robotic device has been developed that is capable of positioning a needle along oblique trajectories through a single burr hole in the skull under volumetric microcomputed tomography (micro-CT) guidance. An x-ray compatible stereotactic frame secures the head throughout the procedure using a bite bar, nose clamp, and ear bars. CT-to-robot registration enables structures identified in the image to be mapped to physical coordinates in the brain. Registration is accomplished by injecting a barium sulfate contrast agent as the robot withdraws the needle from predefined points in a phantom. Registration accuracy is affected by the robot-positioning error and is assessed by measuring the surface registration error for the fiducial and target needle tracks (FRE and TRE). This system was demonstrated in situ by injecting 200 microm tungsten beads into rat brains along oblique trajectories through a single burr hole on the top of the skull under micro-CT image guidance. Postintervention micro-CT images of each skull were registered with preintervention high-field magnetic resonance images of the brain to infer the anatomical locations of the beads. Registration using four fiducial needle tracks and one target track produced a FRE and a TRE of 96 and 210 microm, respectively. Evaluation with tissue-mimicking gelatin phantoms showed that locations could be targeted with a mean error of 154 +/- 113 microm. The integration of a robotic needle-positioning device with volumetric micro-CT image guidance should increase the accuracy and reduce the invasiveness of stereotactic needle interventions in small animals.

Integration and evaluation of a needle-positioning robot with volumetric microcomputed tomography image guidance for small animal stereotactic interventions

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

Waspe, Adam C.; McErlain, David D.; Pitelka, Vasek

Purpose: Preclinical research protocols often require insertion of needles to specific targets within small animal brains. To target biologically relevant locations in rodent brains more effectively, a robotic device has been developed that is capable of positioning a needle along oblique trajectories through a single burr hole in the skull under volumetric microcomputed tomography (micro-CT) guidance. Methods: An x-ray compatible stereotactic frame secures the head throughout the procedure using a bite bar, nose clamp, and ear bars. CT-to-robot registration enables structures identified in the image to be mapped to physical coordinates in the brain. Registration is accomplished by injecting amore » barium sulfate contrast agent as the robot withdraws the needle from predefined points in a phantom. Registration accuracy is affected by the robot-positioning error and is assessed by measuring the surface registration error for the fiducial and target needle tracks (FRE and TRE). This system was demonstrated in situ by injecting 200 {mu}m tungsten beads into rat brains along oblique trajectories through a single burr hole on the top of the skull under micro-CT image guidance. Postintervention micro-CT images of each skull were registered with preintervention high-field magnetic resonance images of the brain to infer the anatomical locations of the beads. Results: Registration using four fiducial needle tracks and one target track produced a FRE and a TRE of 96 and 210 {mu}m, respectively. Evaluation with tissue-mimicking gelatin phantoms showed that locations could be targeted with a mean error of 154{+-}113 {mu}m. Conclusions: The integration of a robotic needle-positioning device with volumetric micro-CT image guidance should increase the accuracy and reduce the invasiveness of stereotactic needle interventions in small animals.« less

A review on robotic fish enabled by ionic polymer-metal composite artificial muscles.

PubMed

Chen, Zheng

2017-01-01

A novel actuating material, which is lightweight, soft, and capable of generating large flapping motion under electrical stimuli, is highly desirable to build energy-efficient and maneuverable bio-inspired underwater robots. Ionic polymer-metal composites are important category of electroactive polymers, since they can generate large bending motions under low actuation voltages. IPMCs are ideal artificial muscles for small-scale and bio-inspired robots. This paper takes a system perspective to review the recent work on IPMC-enabled underwater robots, from modeling, fabrication, and bio-inspired design perspectives. First, a physics-based and control-oriented model of IPMC actuator will be reviewed. Second, a bio-inspired robotic fish propelled by IPMC caudal fin will be presented and a steady-state speed model of the fish will be demonstrated. Third, a novel fabrication process for 3D actuating membrane will be introduced and a bio-inspired robotic manta ray propelled by two IPMC pectoral fins will be demonstrated. Fourth, a 2D maneuverable robotic fish propelled by multiple IPMC fin will be presented. Last, advantages and challenges of using IPMC artificial muscles in bio-inspired robots will be concluded.

Evolving directions in NASA's planetary rover requirements and technology

NASA Astrophysics Data System (ADS)

Weisbin, C. R.; Montemerlo, Mel; Whittaker, W.

1993-10-01

This paper reviews the evolution of NASA's planning for planetary rovers (i.e. robotic vehicles which may be deployed on planetary bodies for exploration, science analysis, and construction) and some of the technology that has been developed to achieve the desired capabilities. The program is comprised of a variety of vehicle sizes and types in order to accommodate a range of potential user needs. This includes vehicles whose weight spans a few kilograms to several thousand kilograms; whose locomotion is implemented using wheels, tracks, and legs; and whose payloads vary from microinstruments to large scale assemblies for construction. We first describe robotic vehicles, and their associated control systems, developed by NASA in the late 1980's as part of a proposed Mars Rover Sample Return (MRSR) mission. Suggested goals at that time for such an MRSR mission included navigating for one to two years across hundreds of kilometers of Martian surface; traversing a diversity of rugged, unknown terrain; collecting and analyzing a variety of samples; and bringing back selected samples to the lander for return to Earth. Subsequently, we present the current plans (considerably more modest) which have evolved both from technological 'lessons learned' in the previous period, and modified aspirations of NASA missions. This paper describes some of the demonstrated capabilities of the developed machines and the technologies which made these capabilities possible.

Evolving directions in NASA's planetary rover requirements and technology

NASA Technical Reports Server (NTRS)

Weisbin, C. R.; Montemerlo, Mel; Whittaker, W.

1993-01-01

This paper reviews the evolution of NASA's planning for planetary rovers (i.e. robotic vehicles which may be deployed on planetary bodies for exploration, science analysis, and construction) and some of the technology that has been developed to achieve the desired capabilities. The program is comprised of a variety of vehicle sizes and types in order to accommodate a range of potential user needs. This includes vehicles whose weight spans a few kilograms to several thousand kilograms; whose locomotion is implemented using wheels, tracks, and legs; and whose payloads vary from microinstruments to large scale assemblies for construction. We first describe robotic vehicles, and their associated control systems, developed by NASA in the late 1980's as part of a proposed Mars Rover Sample Return (MRSR) mission. Suggested goals at that time for such an MRSR mission included navigating for one to two years across hundreds of kilometers of Martian surface; traversing a diversity of rugged, unknown terrain; collecting and analyzing a variety of samples; and bringing back selected samples to the lander for return to Earth. Subsequently, we present the current plans (considerably more modest) which have evolved both from technological 'lessons learned' in the previous period, and modified aspirations of NASA missions. This paper describes some of the demonstrated capabilities of the developed machines and the technologies which made these capabilities possible.

Remotely deployable aerial inspection using tactile sensors

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

MacLeod, C. N.; Cao, J.; Pierce, S. G.

For structural monitoring applications, the use of remotely deployable Non-Destructive Evaluation (NDE) inspection platforms offer many advantages, including improved accessibility, greater safety and reduced cost, when compared to traditional manual inspection techniques. The use of such platforms, previously reported by researchers at the University Strathclyde facilitates the potential for rapid scanning of large areas and volumes in hazardous locations. A common problem for both manual and remote deployment approaches lies in the intrinsic stand-off and surface coupling issues of typical NDE probes. The associated complications of these requirements are obviously significantly exacerbated when considering aerial based remote inspection and deployment,more » resulting in simple visual techniques being the preferred sensor payload. Researchers at Bristol Robotics Laboratory have developed biomimetic tactile sensors modelled on the facial whiskers (vibrissae) of animals such as rats and mice, with the latest sensors actively sweeping their tips across the surface in a back and forth motion. The current work reports on the design and performance of an aerial inspection platform and the suitability of tactile whisking sensors to aerial based surface monitoring applications.« less

Direct kinematics solution architectures for industrial robot manipulators: Bit-serial versus parallel

NASA Astrophysics Data System (ADS)

Lee, J.; Kim, K.

A Very Large Scale Integration (VLSI) architecture for robot direct kinematic computation suitable for industrial robot manipulators was investigated. The Denavit-Hartenberg transformations are reviewed to exploit a proper processing element, namely an augmented CORDIC. Specifically, two distinct implementations are elaborated on, such as the bit-serial and parallel. Performance of each scheme is analyzed with respect to the time to compute one location of the end-effector of a 6-links manipulator, and the number of transistors required.

Direct kinematics solution architectures for industrial robot manipulators: Bit-serial versus parallel

NASA Technical Reports Server (NTRS)

Lee, J.; Kim, K.

1991-01-01

A Very Large Scale Integration (VLSI) architecture for robot direct kinematic computation suitable for industrial robot manipulators was investigated. The Denavit-Hartenberg transformations are reviewed to exploit a proper processing element, namely an augmented CORDIC. Specifically, two distinct implementations are elaborated on, such as the bit-serial and parallel. Performance of each scheme is analyzed with respect to the time to compute one location of the end-effector of a 6-links manipulator, and the number of transistors required.

Lunar surface exploration using mobile robots

NASA Astrophysics Data System (ADS)

Nishida, Shin-Ichiro; Wakabayashi, Sachiko

2012-06-01

A lunar exploration architecture study is being carried out by space agencies. JAXA is carrying out research and development of a mobile robot (rover) to be deployed on the lunar surface for exploration and outpost construction. The main target areas for outpost construction and lunar exploration are mountainous zones. The moon's surface is covered by regolith. Achieving a steady traversal of such irregular terrain constitutes the major technical problem for rovers. A newly developed lightweight crawler mechanism can effectively traverse such irregular terrain because of its low contact force with the ground. This fact was determined on the basis of the mass and expected payload of the rover. This paper describes a plan for Japanese lunar surface exploration using mobile robots, and presents the results of testing and analysis needed in their development. This paper also gives an overview of the lunar exploration robot to be deployed in the SELENE follow-on mission, and the composition of its mobility, navigation, and control systems.

Micro-Tubular Fuel Cells

NASA Technical Reports Server (NTRS)

Kimble, Michael C.; Anderson, Everett B.; Jayne, Karen D.; Woodman, Alan S.

2004-01-01

Micro-tubular fuel cells that would operate at power levels on the order of hundreds of watts or less are under development as alternatives to batteries in numerous products - portable power tools, cellular telephones, laptop computers, portable television receivers, and small robotic vehicles, to name a few examples. Micro-tubular fuel cells exploit advances in the art of proton-exchange-membrane fuel cells. The main advantage of the micro-tubular fuel cells over the plate-and-frame fuel cells would be higher power densities: Whereas the mass and volume power densities of low-pressure hydrogen-and-oxygen-fuel plate-and-frame fuel cells designed to operate in the targeted power range are typically less than 0.1 W/g and 0.1 kW/L, micro-tubular fuel cells are expected to reach power densities much greater than 1 W/g and 1 kW/L. Because of their higher power densities, micro-tubular fuel cells would be better for powering portable equipment, and would be better suited to applications in which there are requirements for modularity to simplify maintenance or to facilitate scaling to higher power levels. The development of PEMFCs has conventionally focused on producing large stacks of cells that operate at typical power levels >5 kW. The usual approach taken to developing lower-power PEMFCs for applications like those listed above has been to simply shrink the basic plate-and-frame configuration to smaller dimensions. A conventional plate-and-frame fuel cell contains a membrane/electrode assembly in the form of a flat membrane with electrodes of the same active area bonded to both faces. In order to provide reactants to both electrodes, bipolar plates that contain flow passages are placed on both electrodes. The mass and volume overhead of the bipolar plates amounts to about 75 percent of the total mass and volume of a fuel-cell stack. Removing these bipolar plates in the micro-tubular fuel cell significantly increases the power density.

Determination of erosion thresholds and aeolian dune stabilization mechanisms via robotic shear strength measurements

NASA Astrophysics Data System (ADS)

Qian, F.; Lee, D. B.; Bodek, S.; Roberts, S.; Topping, T. T.; Robele, Y.; Koditschek, D. E.; Jerolmack, D. J.

2017-12-01

Understanding the parameters that control the spatial variation in aeolian soil erodibility is crucial to the development of sediment transport models. Currently, in-situ measurements of erodibility are time consuming and lack robustness. In an attempt to remedy this issue, we perform field and laboratory tests to determine the suitability of a novel mechanical shear strength method to assess soil erodibility. These tests can be performed quickly ( 1 minute) by a semi-autonomous robot using its direct-drive leg, while environmental controls such as soil moisture and grain size are simultaneously characterized. The robot was deployed at White Sands National Monument to delineate and understand erodibility gradients at two different scales: (1) from dry dune crest to moist interdune (distance 10s m), where we determined that shear strength increases by a factor of three with increasing soil moisture; and (2) from barren barchan dunes to vegetated and crusted parabolics downwind (distance 5 km), where we found that shear strength was enhanced by a factor of two relative to loose sand. Interestingly, shear strength varied little from carbonate-crusted dune surfaces to bio-crust covered interdunes in the downwind parabolic region, indicating that varied surface crusts contribute similarly to erosion resistance. To isolate the control of soil moisture on erodibility, we performed laboratory experiments in a sandbox. These results verify that the observed increase in soil erodibility from barchan crest to interdune at White Sands is dominated by soil moisture, and the variation in parabolic dune and barchan interdune areas results from a combination of soil moisture, bio-activity, and crust development. This study highlights that spatial variation of soil erodibility in arid environments is large enough to significantly affect sediment transport, and that probing soil erodibility with a robot has the potential to improve our understanding of this multifaceted problem.

Robots that can adapt like animals.

PubMed

Cully, Antoine; Clune, Jeff; Tarapore, Danesh; Mouret, Jean-Baptiste

2015-05-28

Robots have transformed many industries, most notably manufacturing, and have the power to deliver tremendous benefits to society, such as in search and rescue, disaster response, health care and transportation. They are also invaluable tools for scientific exploration in environments inaccessible to humans, from distant planets to deep oceans. A major obstacle to their widespread adoption in more complex environments outside factories is their fragility. Whereas animals can quickly adapt to injuries, current robots cannot 'think outside the box' to find a compensatory behaviour when they are damaged: they are limited to their pre-specified self-sensing abilities, can diagnose only anticipated failure modes, and require a pre-programmed contingency plan for every type of potential damage, an impracticality for complex robots. A promising approach to reducing robot fragility involves having robots learn appropriate behaviours in response to damage, but current techniques are slow even with small, constrained search spaces. Here we introduce an intelligent trial-and-error algorithm that allows robots to adapt to damage in less than two minutes in large search spaces without requiring self-diagnosis or pre-specified contingency plans. Before the robot is deployed, it uses a novel technique to create a detailed map of the space of high-performing behaviours. This map represents the robot's prior knowledge about what behaviours it can perform and their value. When the robot is damaged, it uses this prior knowledge to guide a trial-and-error learning algorithm that conducts intelligent experiments to rapidly discover a behaviour that compensates for the damage. Experiments reveal successful adaptations for a legged robot injured in five different ways, including damaged, broken, and missing legs, and for a robotic arm with joints broken in 14 different ways. This new algorithm will enable more robust, effective, autonomous robots, and may shed light on the principles that animals use to adapt to injury.

Robots that can adapt like animals

NASA Astrophysics Data System (ADS)

Cully, Antoine; Clune, Jeff; Tarapore, Danesh; Mouret, Jean-Baptiste

2015-05-01

Robots have transformed many industries, most notably manufacturing, and have the power to deliver tremendous benefits to society, such as in search and rescue, disaster response, health care and transportation. They are also invaluable tools for scientific exploration in environments inaccessible to humans, from distant planets to deep oceans. A major obstacle to their widespread adoption in more complex environments outside factories is their fragility. Whereas animals can quickly adapt to injuries, current robots cannot `think outside the box' to find a compensatory behaviour when they are damaged: they are limited to their pre-specified self-sensing abilities, can diagnose only anticipated failure modes, and require a pre-programmed contingency plan for every type of potential damage, an impracticality for complex robots. A promising approach to reducing robot fragility involves having robots learn appropriate behaviours in response to damage, but current techniques are slow even with small, constrained search spaces. Here we introduce an intelligent trial-and-error algorithm that allows robots to adapt to damage in less than two minutes in large search spaces without requiring self-diagnosis or pre-specified contingency plans. Before the robot is deployed, it uses a novel technique to create a detailed map of the space of high-performing behaviours. This map represents the robot's prior knowledge about what behaviours it can perform and their value. When the robot is damaged, it uses this prior knowledge to guide a trial-and-error learning algorithm that conducts intelligent experiments to rapidly discover a behaviour that compensates for the damage. Experiments reveal successful adaptations for a legged robot injured in five different ways, including damaged, broken, and missing legs, and for a robotic arm with joints broken in 14 different ways. This new algorithm will enable more robust, effective, autonomous robots, and may shed light on the principles that animals use to adapt to injury.

From decimeter- to centimeter-sized mobile microrobots: the development of the MINIMAN system

NASA Astrophysics Data System (ADS)

Woern, Heinz; Schmoeckel, Ferdinand; Buerkle, Axel; Samitier, Josep; Puig-Vidal, Manel; Johansson, Stefan A. I.; Simu, Urban; Meyer, Joerg-Uwe; Biehl, Margit

2001-10-01

Based on small mobile robots the presented MINIMAN system provides a platform for micro-manipulation tasks in very different kinds of applications. Three exemplary applications demonstrate the capabilities of the system. Both the high precision assembly of an optical system consisting of three millimeter-sized parts and the positioning of single 20-μm-cells under the light microscope as well as the handling of tiny samples inside the scanning electron microscope are done by the same kind of robot. For the different tasks, the robot is equipped with appropriate tools such as micro-pipettes or grippers with force and tactile sensors. For the extension to a multi-robot system, it is necessary to further reduce the size of robots. For the above mentioned robot prototypes a slip-stick driving principle is employed. While this design proves to work very well for the described decimeter-sized robots, it is not suitable for further miniaturized robots because of their reduced inertia. Therefore, the developed centimeter-sized robot is driven by multilayered piezoactuators performing defined steps without a slipping phase. To reduce the number of connecting wires the microrobot has integrated circuits on board. They include high voltage drivers and a serial communication interface for a minimized number of wires.

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

PubMed

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

2017-01-10

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

UAV Deployed Sensor System for Arctic Ocean Remote Sensing

NASA Astrophysics Data System (ADS)

Palo, S. E.; Lawrence, D.; Weibel, D.; LoDolce, G.; Krist, S.; Crocker, I.; Maslanik, J. A.

2012-12-01

The Marginal Ice Zone Observations and Processes Experiment (MIZOPEX), is an Arctic field project scheduled for summer 2013. The goals of the project are to understand how warming of the marginal ice zone affects sea ice melt and if this warming has been over or underestimated by satellite measurements. To achieve these goals calibrated physical measurements, both remote and in-situ, of the marginal ice zone over scales of square kilometers with a resolution of square meters is required. This will be accomplished with a suite of unmanned aerial vehicles (UAVs) equipped with both remote sensing and in-situ instruments, air deployed microbuoys, and ship deployed buoys. In this talk we will present details about the air-deployed micro-buoy (ADMB) and self-deployed surface-sonde (SDSS) components of the MIZOPEX project, developed at the University of Colorado. These systems were designed to explore the potential of low-cost, on-demand access to high-latitude areas of important scientific interest. Both the ADMB and SDSS share a common measurement suite with the capability to measure water temperature at three distinct depths and provide position information via GPS. The ADMBs are dropped from the InSitu ScanEagle UAV and expected to operate and log ocean temperatures for 14 days. The SDSS are micro UAVs that are designed to fly one-way to a region of interest and land at specified coordinates, thereafter becoming a surface sensor similar to the ADMB. A ScanEagle will periodically return to the deployment zone to gather ADMB/SDSS data via low power radio links. Design decisions based upon operational constraints and the current status of the ADMB and SDSS will be presented.

From path models to commands during additive printing of large-scale architectural designs

NASA Astrophysics Data System (ADS)

Chepchurov, M. S.; Zhukov, E. M.; Yakovlev, E. A.; Matveykin, V. G.

2018-05-01

The article considers the problem of automation of the formation of large complex parts, products and structures, especially for unique or small-batch objects produced by a method of additive technology [1]. Results of scientific research in search for the optimal design of a robotic complex, its modes of operation (work), structure of its control helped to impose the technical requirements on the technological process for manufacturing and design installation of the robotic complex. Research on virtual models of the robotic complexes allowed defining the main directions of design improvements and the main goal (purpose) of testing of the the manufactured prototype: checking the positioning accuracy of the working part.

NanoRacks CubeSat Deployment

NASA Image and Video Library

2014-02-11

ISS038-E-044883 (11 Feb. 2014) --- The Small Satellite Orbital Deployer (SSOD), in the grasp of the Kibo laboratory robotic arm, is photographed by an Expedition 38 crew member on the International Space Station as it begins the deployment of a set of NanoRacks CubeSats. The CubeSats program contains a variety of experiments such as Earth observations and advanced electronics testing.

NanoRacks CubeSat Deployment

NASA Image and Video Library

2014-02-11

ISS038-E-044994 (11 Feb. 2014) --- The Small Satellite Orbital Deployer (SSOD), in the grasp of the Kibo laboratory robotic arm, is photographed by an Expedition 38 crew member on the International Space Station prior to the deployment of a set of NanoRacks CubeSats. The CubeSats program contains a variety of experiments such as Earth observations and advanced electronics testing.

A novel bonding method for large scale poly(methyl methacrylate) micro- and nanofluidic chip fabrication

NASA Astrophysics Data System (ADS)

Qu, Xingtian; Li, Jinlai; Yin, Zhifu

2018-04-01

Micro- and nanofluidic chips are becoming increasing significance for biological and medical applications. Future advances in micro- and nanofluidics and its utilization in commercial applications depend on the development and fabrication of low cost and high fidelity large scale plastic micro- and nanofluidic chips. However, the majority of the present fabrication methods suffer from a low bonding rate of the chip during thermal bonding process due to air trapping between the substrate and the cover plate. In the present work, a novel bonding technique based on Ar plasma and water treatment was proposed to fully bond the large scale micro- and nanofluidic chips. The influence of Ar plasma parameters on the water contact angle and the effect of bonding conditions on the bonding rate and the bonding strength of the chip were studied. The fluorescence tests demonstrate that the 5 × 5 cm2 poly(methyl methacrylate) chip with 180 nm wide and 180 nm deep nanochannels can be fabricated without any block and leakage by our newly developed method.

Graphene-polydimethylsiloxane/chromium bilayer-based flexible, reversible, and large bendable photomechanical actuators

NASA Astrophysics Data System (ADS)

Leeladhar; Raturi, Parul; Kumar, Ajeet; Singh, J. P.

2017-09-01

We demonstrate the fabrication of highly versatile photomechanical actuators based on graphene-polymer/metal bilayers that offers fast, low-cost fabrication, large deflection, reversible actuation under zero applied pre-strain, and wavelength-selective response. The photomechanical actuator consists of a graphene nanoplatelet (GNP)-polydimethylsiloxane (PDMS) nanocomposite with a thin chromium metal coating of 35 nm thickness on the backside of the structure. The photomechanical response of the GNP-PDMS/Cr photomechanical actuator was measured by recording the variation of the bending angle upon infrared (IR) light illumination. The bending in the bilayer actuator is caused by the generation of thermal stress due to the large mismatch (the ratio being 1/20) of the thermal expansion coefficient between the two layers as a result of IR absorption by GNPs and a subsequent increase in the local temperature. The maximum bending angle was found to be about 40 degrees with a corresponding large deflection value of about 6-7 mm within 6 s for IR illumination with an intensity of 550 mW cm-2. The corresponding actuation response and relaxation times were about 1 and 3 s, respectively. The GNP-PDMS/Cr bilayer combination when integrated with the standard surface micromachining technique of micro-electromechanical system fabrication can find useful applications in the realization of micro soft-robotics, controlled drug delivery, and light-driven micro switches i.e. micro-optomechanical systems.

Implementation factors affecting the large-scale deployment of digital health and well-being technologies: A qualitative study of the initial phases of the 'Living-It-Up' programme.

PubMed

Agbakoba, Ruth; McGee-Lennon, Marilyn; Bouamrane, Matt-Mouley; Watson, Nicholas; Mair, Frances S

2016-12-01

Little is known about the factors which facilitate or impede the large-scale deployment of health and well-being consumer technologies. The Living-It-Up project is a large-scale digital intervention led by NHS 24, aiming to transform health and well-being services delivery throughout Scotland. We conducted a qualitative study of the factors affecting the implementation and deployment of the Living-It-Up services. We collected a range of data during the initial phase of deployment, including semi-structured interviews (N = 6); participant observation sessions (N = 5) and meetings with key stakeholders (N = 3). We used the Normalisation Process Theory as an explanatory framework to interpret the social processes at play during the initial phases of deployment.Initial findings illustrate that it is clear - and perhaps not surprising - that the size and diversity of the Living-It-Up consortium made implementation processes more complex within a 'multi-stakeholder' environment. To overcome these barriers, there is a need to clearly define roles, tasks and responsibilities among the consortium partners. Furthermore, varying levels of expectations and requirements, as well as diverse cultures and ways of working, must be effectively managed. Factors which facilitated implementation included extensive stakeholder engagement, such as co-design activities, which can contribute to an increased 'buy-in' from users in the long term. An important lesson from the Living-It-Up initiative is that attempting to co-design innovative digital services, but at the same time, recruiting large numbers of users is likely to generate conflicting implementation priorities which hinder - or at least substantially slow down - the effective rollout of services at scale.The deployment of Living-It-Up services is ongoing, but our results to date suggest that - in order to be successful - the roll-out of digital health and well-being technologies at scale requires a delicate and pragmatic trade-off between co-design activities, the development of innovative services and the efforts allocated to widespread marketing and recruitment initiatives. © The Author(s) 2015.

Mars Network: Strategies for Deploying Enabling Telecommunications Capabilities in Support of Mars Exploration

NASA Technical Reports Server (NTRS)

Edwards, C. D.; Adams, J. T.; Agre, J. R.; Bell, D. J.; Clare, L. P.; Durning, J. F.; Ely, T. A.; Hemmati, H.; Leung, R. Y.; McGraw, C. A.

2000-01-01

The coming decade of Mars exploration will involve a diverse set of robotic science missions, including in situ and sample return investigations, and ultimately moving towards sustained robotic presence on the Martian surface. In supporting this mission set, NASA must establish a robust telecommunications architecture that meets the specific science needs of near-term missions while enabling new methods of future exploration. This paper will assess the anticipated telecommunications needs of future Mars exploration, examine specific options for deploying capabilities, and quantify the performance of these options in terms of key figures of merit.

MEMS Based Micro Aerial Vehicles

NASA Astrophysics Data System (ADS)

Joshi, Niranjan; Köhler, Elof; Enoksson, Peter

2016-10-01

Designing a flapping wing insect robot requires understanding of insect flight mechanisms, wing kinematics and aerodynamic forces. These subsystems are interconnected and their dependence on one another affects the overall performance. Additionally it requires an artificial muscle like actuator and transmission to power the wings. Several kinds of actuators and mechanisms are candidates for this application with their own strengths and weaknesses. This article provides an overview of the insect scaled flight mechanism along with discussion of various methods to achieve the Micro Aerial Vehicle (MAV) flight. Ongoing projects in Chalmers is aimed at developing a low cost and low manufacturing time MAV. The MAV design considerations and design specifications are mentioned. The wings are manufactured using 3D printed carbon fiber and are under experimental study.

A simple running model with rolling contact and its role as a template for dynamic locomotion on a hexapod robot.

PubMed

Huang, Ke-Jung; Huang, Chun-Kai; Lin, Pei-Chun

2014-10-07

We report on the development of a robot's dynamic locomotion based on a template which fits the robot's natural dynamics. The developed template is a low degree-of-freedom planar model for running with rolling contact, which we call rolling spring loaded inverted pendulum (R-SLIP). Originating from a reduced-order model of the RHex-style robot with compliant circular legs, the R-SLIP model also acts as the template for general dynamic running. The model has a torsional spring and a large circular arc as the distributed foot, so during locomotion it rolls on the ground with varied equivalent linear stiffness. This differs from the well-known spring loaded inverted pendulum (SLIP) model with fixed stiffness and ground contact points. Through dimensionless steps-to-fall and return map analysis, within a wide range of parameter spaces, the R-SLIP model is revealed to have self-stable gaits and a larger stability region than that of the SLIP model. The R-SLIP model is then embedded as the reduced-order 'template' in a more complex 'anchor', the RHex-style robot, via various mapping definitions between the template and the anchor. Experimental validation confirms that by merely deploying the stable running gaits of the R-SLIP model on the empirical robot with simple open-loop control strategy, the robot can easily initiate its dynamic running behaviors with a flight phase and can move with similar body state profiles to those of the model, in all five testing speeds. The robot, embedded with the SLIP model but performing walking locomotion, further confirms the importance of finding an adequate template of the robot for dynamic locomotion.

The MITy micro-rover: Sensing, control, and operation

NASA Technical Reports Server (NTRS)

Malafeew, Eric; Kaliardos, William

1994-01-01

The sensory, control, and operation systems of the 'MITy' Mars micro-rover are discussed. It is shown that the customized sun tracker and laser rangefinder provide internal, autonomous dead reckoning and hazard detection in unstructured environments. The micro-rover consists of three articulated platforms with sensing, processing and payload subsystems connected by a dual spring suspension system. A reactive obstacle avoidance routine makes intelligent use of robot-centered laser information to maneuver through cluttered environments. The hazard sensors include a rangefinder, inclinometers, proximity sensors and collision sensors. A 486/66 laptop computer runs the graphical user interface and programming environment. A graphical window displays robot telemetry in real time and a small TV/VCR is used for real time supervisory control. Guidance, navigation, and control routines work in conjunction with the mapping and obstacle avoidance functions to provide heading and speed commands that maneuver the robot around obstacles and towards the target.

A Sustained Proximity Network for Multi-Mission Lunar Exploration

NASA Technical Reports Server (NTRS)

Soloff, Jason A.; Noreen, Gary; Deutsch, Leslie; Israel, David

2005-01-01

Tbe Vision for Space Exploration calls for an aggressive sequence of robotic missions beginning in 2008 to prepare for a human return to the Moon by 2020, with the goal of establishing a sustained human presence beyond low Earth orbit. A key enabler of exploration is reliable, available communication and navigation capabilities to support both human and robotic missions. An adaptable, sustainable communication and navigation architecture has been developed by Goddard Space Flight Center and the Jet Propulsion Laboratory to support human and robotic lunar exploration through the next two decades. A key component of the architecture is scalable deployment, with the infrastructure evolving as needs emerge, allowing NASA and its partner agencies to deploy an interoperable communication and navigation system in an evolutionary way, enabling cost effective, highly adaptable systems throughout the lunar exploration program.

Rocket Experiment on Construction of Huge Transmitting Antenna for the SPS Using Furoshiki Satellite System with Robots

NASA Astrophysics Data System (ADS)

Kaya, N.; Iwashita, M.; Nakasuka, S.; Summerer, L.; Mankins, J.

2004-12-01

Construction technology of huge structures is essential for the future space development as well as the Solar Power Satellite (SPS). The SPS needs huge antennas to transmit the generated electric power toward the ground, while the huge antenna have many useful applications in space as well as on the ground, for example, telecommunication for cellular phones, radars for remote sensing, navigation and observation, and so on. A parabola antenna was mostly used for the space antenna. However, it is very difficult for the larger parabola antenna to keep accuracy of the reflectors and the beam control, because the surfaces of the reflectors are mechanically supported and controlled. The huge space antenna with flexible and ultra-light structures is essential and necessary for the future applications. An active phased array antenna is more suitable and promising for the huge flexible antenna than the parabola antenna. We are proposing to apply the Furoshiki satellite [1] with robots for construction of the huge structures. While a web is deployed using the Furoshiki satellite in the same size of the huge antenna, all of the antenna elements crawl on the web with their own legs toward their allocated locations. We are verifying the deployment concept of the Furoshiki satellite using a sounding rocket with robots crawling on the deployed web. The robots are internationally being developed by NASA, ESA and Kobe University. The paper describes the concept of the crawling robot developed by Kobe University as well as the plan of the rocket experiment.

Evaluation of teleoperated surgical robots in an enclosed undersea environment.

PubMed

Doarn, Charles R; Anvari, Mehran; Low, Thomas; Broderick, Timothy J

2009-05-01

The ability to support surgical care in an extreme environment is a significant issue for both military medicine and space medicine. Telemanipulation systems, those that can be remotely operated from a distant site, have been used extensively by the National Aeronautics and Space Administration (NASA) for a number of years. These systems, often called telerobots, have successfully been applied to surgical interventions. A further extension is to operate these robotic systems over data communication networks where robotic slave and master are separated by a great distance. NASA utilizes the National Oceanographic and Atmospheric Administration (NOAA) Aquarius underwater habitat as an analog environment for research and technology evaluation missions, known as NASA Extreme Environment Mission Operations (NEEMO). Three NEEMO missions have provided an opportunity to evaluate teleoperated surgical robotics by astronauts and surgeons. Three robotic systems were deployed to the habitat for evaluation during NEEMO 7, 9, and 12. These systems were linked via a telecommunications link to various sites for remote manipulation. Researchers in the habitat conducted a variety of tests to evaluate performance and applicability in extreme environments. Over three different NEEMO missions, components of the Automated Endoscopic System for Optimal Positioning (AESOP), the M7 Surgical System, and the RAVEN were deployed and evaluated. A number of factors were evaluated, including communication latency and semiautonomous functions. The M7 was modified to permit a remote surgeon the ability to insert a needle into simulated tissue with ultrasound guidance, resulting in the world's first semi-autonomous supervisory-controlled medical task. The deployment and operation of teleoperated surgical systems and semi-autonomous, supervisory-controlled tasks were successfully conducted.

Decentralized sensor fusion for Ubiquitous Networking Robotics in Urban Areas.

PubMed

Sanfeliu, Alberto; Andrade-Cetto, Juan; Barbosa, Marco; Bowden, Richard; Capitán, Jesús; Corominas, Andreu; Gilbert, Andrew; Illingworth, John; Merino, Luis; Mirats, Josep M; Moreno, Plínio; Ollero, Aníbal; Sequeira, João; Spaan, Matthijs T J

2010-01-01

In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted.

Development of an approach to correcting MicroPEM baseline drift.

PubMed

Zhang, Ting; Chillrud, Steven N; Pitiranggon, Masha; Ross, James; Ji, Junfeng; Yan, Beizhan

2018-07-01

Fine particulate matter (PM 2.5 ) is associated with various adverse health outcomes. The MicroPEM (RTI, NC), a miniaturized real-time portable particulate sensor with an integrated filter for collecting particles, has been widely used for personal PM 2.5 exposure assessment. Five-day deployments were targeted on a total of 142 deployments (personal or residential) to obtain real-time PM 2.5 levels from children living in New York City and Baltimore. Among these 142 deployments, 79 applied high-efficiency particulate air (HEPA) filters in the field at the beginning and end of each deployment to adjust the zero level of the nephelometer. However, unacceptable baseline drift was observed in a large fraction (> 40%) of acquisitions in this study even after HEPA correction. This drift issue has been observed in several other studies as well. The purpose of the present study is to develop an algorithm to correct the baseline drift in MicroPEM based on central site ambient data during inactive time periods. A running baseline & gravimetric correction (RBGC) method was developed based on the comparison of MicroPEM readings during inactive periods to ambient PM 2.5 levels provided by fixed monitoring sites and the gravimetric weight of PM 2.5 collected on the MicroPEM filters. The results after RBGC correction were compared with those using HEPA approach and gravimetric correction alone. Seven pairs of duplicate acquisitions were used to validate the RBGC method. The percentages of acquisitions with baseline drift problems were 42%, 53% and 10% for raw, HEPA corrected, and RBGC corrected data, respectively. Pearson correlation analysis of duplicates showed an increase in the coefficient of determination from 0.75 for raw data to 0.97 after RBGC correction. In addition, the slope of the regression line increased from 0.60 for raw data to 1.00 after RBGC correction. The RBGC approach corrected the baseline drift issue associated with MicroPEM data. The algorithm developed has the potential for use with data generated from other types of PM sensors that contain a filter for weighing as well. In addition, this approach can be applied in many other regions, given widely available ambient PM data from monitoring networks, especially in urban areas. Copyright © 2018 Elsevier Inc. All rights reserved.

Robot deployment in long-term care : Case study on using a mobile robot to support physiotherapy.

PubMed

Gerling, K; Hebesberger, D; Dondrup, C; Körtner, T; Hanheide, M

2016-06-01

Healthcare systems in industrialized countries face the challenge of providing care for a growing number of elderly people. Information technology has the possibility of facilitating this process by providing support for nursing staff and improving the well-being of the elderly through a variety of support systems. Little is known about the challenges that arise from the deployment of technology in care settings; however, the integration of technology into care is one of the core determinants of successful support. This article presents the challenges and options associated with the integration of technology into care using the example of a mobile robot to support physiotherapy for elderly people with cognitive impairment in the European project Spatio-Temporal Representations and Activities for Cognitive Control in Long-Term Scenarios (STRANDS). This article presents the technical challenges associated with the introduction of robots in the context of care as well as the perspectives of physiotherapists involved and an overview of information and experiences gained. It is hoped that this will provide useful information for the work of researchers and practitioners wishing to integrate robotic aids into the caregiving process.

The Challenge of Planning and Execution for Spacecraft Mobile Robots

NASA Technical Reports Server (NTRS)

Dorais, Gregory A.; Gawdiak, Yuri; Clancy, Daniel (Technical Monitor)

2002-01-01

The need for spacecraft mobile robots continues to grow. These robots offer the potential to increase the capability, productivity, and duration of space missions while decreasing mission risk and cost. Spacecraft Mobile Robots (SMRs) can serve a number of functions inside and outside of spacecraft from simpler tasks, such as performing visual diagnostics and crew support, to more complex tasks, such as performing maintenance and in-situ construction. One of the predominant challenges to deploying SMRs is to reduce the need for direct operator interaction. Teleoperation is often not practical due to the communication latencies incurred because of the distances involved and in many cases a crewmember would directly perform a task rather than teleoperate a robot to do it. By integrating a mixed-initiative constraint-based planner with an executive that supports adjustably autonomous control, we intend to demonstrate the feasibility of autonomous SMRs by deploying one inside the International Space Station (ISS) and demonstrate in simulation one that operates outside of the ISS. This paper discusses the progress made at NASA towards this end, the challenges ahead, and concludes with an invitation to the research community to participate.

Multichannel noninvasive human-machine interface via stretchable µm thick sEMG patches for robot manipulation

NASA Astrophysics Data System (ADS)

Zhou, Ying; Wang, Youhua; Liu, Runfeng; Xiao, Lin; Zhang, Qin; Huang, YongAn

2018-01-01

Epidermal electronics (e-skin) emerging in recent years offer the opportunity to noninvasively and wearably extract biosignals from human bodies. The conventional processes of e-skin based on standard microelectronic fabrication processes and a variety of transfer printing methods, nevertheless, unquestionably constrains the size of the devices, posing a serious challenge to collecting signals via skin, the largest organ in the human body. Herein we propose a multichannel noninvasive human-machine interface (HMI) using stretchable surface electromyography (sEMG) patches to realize a robot hand mimicking human gestures. Time-efficient processes are first developed to manufacture µm thick large-scale stretchable devices. With micron thickness, the stretchable µm thick sEMG patches show excellent conformability with human skin and consequently comparable electrical performance with conventional gel electrodes. Combined with the large-scale size, the multichannel noninvasive HMI via stretchable µm thick sEMG patches successfully manipulates the robot hand with eight different gestures, whose precision is as high as conventional gel electrodes array.

All-Terrain Intelligent Robot Braves Battlefront to Save Lives

NASA Technical Reports Server (NTRS)

2005-01-01

As NASA s lead center for creating robotic spacecraft and rovers, the Jet Propulsion Laboratory (JPL) builds smart machines that can perform very complicated tasks, far, far away from the homeland. JPL s robotic proficiency is making an impact millions of miles away on Mars, where two rovers are presently unlocking the secrets of the Red Planet s rugged terrain, and thousands of miles away in the embattled regions of Iraq and Afghanistan, where robots sown from the seeds of JPL machines have been deployed to be the "eyes and ears" of humans on the front line. This commercial offspring, known as the PackBot Tactical Mobile Robot, is manufactured by iRobot, Inc., of Burlington, Massachusetts.

Planning Flight Paths of Autonomous Aerobots

NASA Technical Reports Server (NTRS)

Kulczycki, Eric; Elfes, Alberto; Sharma, Shivanjli

2009-01-01

Algorithms for planning flight paths of autonomous aerobots (robotic blimps) to be deployed in scientific exploration of remote planets are undergoing development. These algorithms are also adaptable to terrestrial applications involving robotic submarines as well as aerobots and other autonomous aircraft used to acquire scientific data or to perform surveying or monitoring functions.

From Sci-Fi to Reality--Mobile Robots Get the Job Done

ERIC Educational Resources Information Center

Roman, Harry T.

2006-01-01

Robots are simply computers that can interact with their environment. Some are fixed in place in industrial assembly plants for cars, appliances, micro electronic circuitry, and pharmaceuticals. Another important category of robots is the mobiles, machines that can be driven to the workplace, often designed for hazardous duty operation or…

Automation for nondestructive inspection of aircraft

NASA Technical Reports Server (NTRS)

Siegel, M. W.

1994-01-01

We discuss the motivation and an architectural framework for using small mobile robots as automated aids to operators of nondestructive inspection (NDI) equipment. We review the need for aircraft skin inspection, and identify the constraints in commercial airlines operations that make small mobile robots the most attractive alternative for automated aids for NDI procedures. We describe the design and performance of the robot (ANDI) that we designed, built, and are testing for deployment of eddy current probes in prescribed commercial aircraft inspections. We discuss recent work aimed at also providing robotic aids for visual inspection.

A Quadruped Micro-Robot Based on Piezoelectric Driving

PubMed Central

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

2018-01-01

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

A Quadruped Micro-Robot Based on Piezoelectric Driving.

PubMed

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

2018-03-07

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

Research on the Problem of High-Precision Deployment for Large-Aperture Space-Based Science Instruments

NASA Technical Reports Server (NTRS)

Lake, Mark S.; Peterson, Lee D.; Hachkowski, M. Roman; Hinkle, Jason D.; Hardaway, Lisa R.

1998-01-01

The present paper summarizes results from an ongoing research program conducted jointly by the University of Colorado and NASA Langley Research Center since 1994. This program has resulted in general guidelines for the design of high-precision deployment mechanisms, and tests of prototype deployable structures incorporating these mechanisms have shown microdynamically stable behavior (i.e., dimensional stability to parts per million). These advancements have resulted from the identification of numerous heretofore unknown microdynamic and micromechanical response phenomena, and the development of new test techniques and instrumentation systems to interrogate these phenomena. In addition, recent tests have begun to interrogate nanomechanical response of materials and joints and have been used to develop an understanding of nonlinear nanodynamic behavior in microdynamically stable structures. The ultimate goal of these efforts is to enable nano-precision active control of micro-precision deployable structures (i.e., active control to a resolution of parts per billion).

Design of a Micro Cable Tunnel Inspection Robot

NASA Astrophysics Data System (ADS)

Song, Wei; Liu, Lei; Zhou, Xiaolong; Wang, Chengjiang

2016-11-01

As the ventilation system in cable tunnel is not perfect and the environment is closed, it is easy to accumulate toxic and harmful gas. It is a serious threat to the life safety of inspection staff. Therefore, a micro cable tunnel inspection robot is designed. The whole design plan mainly includes two parts: mechanical structure design and control system design. According to the functional requirements of the tunnel inspection robot, a wheel arm structure with crawler type is proposed. Some sensors are used to collect temperature, gas and image and transmit the information to the host computer in real time. The result shows the robot with crawler wheel arm structure has the advantages of small volume, quick action and high performance-price ratio. Besides, it has high obstacle crossing and avoidance ability and can adapt to a variety of complex cable tunnel environment.

Integrated fringe projection 3D scanning system for large-scale metrology based on laser tracker

NASA Astrophysics Data System (ADS)

Du, Hui; Chen, Xiaobo; Zhou, Dan; Guo, Gen; Xi, Juntong

2017-10-01

Large scale components exist widely in advance manufacturing industry,3D profilometry plays a pivotal role for the quality control. This paper proposes a flexible, robust large-scale 3D scanning system by integrating a robot with a binocular structured light scanner and a laser tracker. The measurement principle and system construction of the integrated system are introduced. And a mathematical model is established for the global data fusion. Subsequently, a flexible and robust method and mechanism is introduced for the establishment of the end coordination system. Based on this method, a virtual robot noumenon is constructed for hand-eye calibration. And then the transformation matrix between end coordination system and world coordination system is solved. Validation experiment is implemented for verifying the proposed algorithms. Firstly, hand-eye transformation matrix is solved. Then a car body rear is measured for 16 times for the global data fusion algorithm verification. And the 3D shape of the rear is reconstructed successfully.

TU-AB-201-03: A Robot for the Automated Delivery of An Electromagnetic Tracking Sensor for the Localization of Brachytherapy Catheters

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

Don, S; Cormack, R; Viswanathan, A

Purpose: To present a programmable robotic system for the accurate and fast deployment of an electromagnetic (EM) sensor for brachytherapy catheter localization. Methods: A robotic system for deployment of an EM sensor was designed and built. The system was programmed to increment the sensor position at specified time and space intervals. Sensor delivery accuracy was measured in a phantom using the localization of the EM sensor and tested in different environmental conditions. Accuracy was tested by measuring the distance between the physical locations reached by the sensor (measured by the EM tracker) and the intended programmed locations. Results: The systemmore » consisted of a stepper motor connected to drive wheels (that grip the cable to move the sensor) and a series of guides to connect to a brachytherapy transfer tube, all controlled by a programmable Arduino microprocessor. The total cost for parts was <$300. The positional accuracy of the sensor location was within 1 mm of the expected position provided by the motorized guide system. Acquisition speed to localize a brachytherapy catheter with 20 cm of active length was 10 seconds. The current design showed some cable slip and warping depending on environment temperature. Conclusion: The use of EM tracking for the localization of brachytherapy catheters has been previously demonstrated. Efficient data acquisition and artifact reduction requires fast and accurate deployment of an EM sensor in consistent, repeatable patterns, which cannot practically be achieved manually. The design of an inexpensive, programmable robot allowing for the precise deployment of stepping patterns was presented, and a prototype was built. Further engineering is necessary to ensure that the device provides efficient independent localization of brachytherapy catheters. This research was funded by the Kaye Family Award.« less

On the Path to SunShot. Emerging Issues and Challenges in Integrating Solar with the Distribution System

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

Palmintier, Bryan; Broderick, Robert; Mather, Barry

2016-05-01

This report analyzes distribution-integration challenges, solutions, and research needs in the context of distributed generation from PV (DGPV) deployment to date and the much higher levels of deployment expected with achievement of the U.S. Department of Energy's SunShot targets. Recent analyses have improved estimates of the DGPV hosting capacities of distribution systems. This report uses these results to statistically estimate the minimum DGPV hosting capacity for the contiguous United States using traditional inverters of approximately 170 GW without distribution system modifications. This hosting capacity roughly doubles if advanced inverters are used to manage local voltage and additional minor, low-cost changesmore » could further increase these levels substantially. Key to achieving these deployment levels at minimum cost is siting DGPV based on local hosting capacities, suggesting opportunities for regulatory, incentive, and interconnection innovation. Already, pre-computed hosting capacity is beginning to expedite DGPV interconnection requests and installations in select regions; however, realizing SunShot-scale deployment will require further improvements to DGPV interconnection processes, standards and codes, and compensation mechanisms so they embrace the contributions of DGPV to system-wide operations. SunShot-scale DGPV deployment will also require unprecedented coordination of the distribution and transmission systems. This includes harnessing DGPV's ability to relieve congestion and reduce system losses by generating closer to loads; minimizing system operating costs and reserve deployments through improved DGPV visibility; developing communication and control architectures that incorporate DGPV into system operations; providing frequency response, transient stability, and synthesized inertia with DGPV in the event of large-scale system disturbances; and potentially managing reactive power requirements due to large-scale deployment of advanced inverter functions. Finally, additional local and system-level value could be provided by integrating DGPV with energy storage and 'virtual storage,' which exploits improved management of electric vehicle charging, building energy systems, and other large loads. Together, continued innovation across this rich distribution landscape can enable the very-high deployment levels envisioned by SunShot.« less

Biology-Inspired Distributed Consensus in Massively-Deployed Sensor Networks

NASA Technical Reports Server (NTRS)

Jones, Kennie H.; Lodding, Kenneth N.; Olariu, Stephan; Wilson, Larry; Xin, Chunsheng

2005-01-01

Promises of ubiquitous control of the physical environment by large-scale wireless sensor networks open avenues for new applications that are expected to redefine the way we live and work. Most of recent research has concentrated on developing techniques for performing relatively simple tasks in small-scale sensor networks assuming some form of centralized control. The main contribution of this work is to propose a new way of looking at large-scale sensor networks, motivated by lessons learned from the way biological ecosystems are organized. Indeed, we believe that techniques used in small-scale sensor networks are not likely to scale to large networks; that such large-scale networks must be viewed as an ecosystem in which the sensors/effectors are organisms whose autonomous actions, based on local information, combine in a communal way to produce global results. As an example of a useful function, we demonstrate that fully distributed consensus can be attained in a scalable fashion in massively deployed sensor networks where individual motes operate based on local information, making local decisions that are aggregated across the network to achieve globally-meaningful effects.

Ground robotic measurement of aeolian processes

NASA Astrophysics Data System (ADS)

Qian, Feifei; Jerolmack, Douglas; Lancaster, Nicholas; Nikolich, George; Reverdy, Paul; Roberts, Sonia; Shipley, Thomas; Van Pelt, R. Scott; Zobeck, Ted M.; Koditschek, Daniel E.

2017-08-01

Models of aeolian processes rely on accurate measurements of the rates of sediment transport by wind, and careful evaluation of the environmental controls of these processes. Existing field approaches typically require intensive, event-based experiments involving dense arrays of instruments. These devices are often cumbersome and logistically difficult to set up and maintain, especially near steep or vegetated dune surfaces. Significant advances in instrumentation are needed to provide the datasets that are required to validate and improve mechanistic models of aeolian sediment transport. Recent advances in robotics show great promise for assisting and amplifying scientists' efforts to increase the spatial and temporal resolution of many environmental measurements governing sediment transport. The emergence of cheap, agile, human-scale robotic platforms endowed with increasingly sophisticated sensor and motor suites opens up the prospect of deploying programmable, reactive sensor payloads across complex terrain in the service of aeolian science. This paper surveys the need and assesses the opportunities and challenges for amassing novel, highly resolved spatiotemporal datasets for aeolian research using partially-automated ground mobility. We review the limitations of existing measurement approaches for aeolian processes, and discuss how they may be transformed by ground-based robotic platforms, using examples from our initial field experiments. We then review how the need to traverse challenging aeolian terrains and simultaneously make high-resolution measurements of critical variables requires enhanced robotic capability. Finally, we conclude with a look to the future, in which robotic platforms may operate with increasing autonomy in harsh conditions. Besides expanding the completeness of terrestrial datasets, bringing ground-based robots to the aeolian research community may lead to unexpected discoveries that generate new hypotheses to expand the science itself.

A three-dimensional actuated origami-inspired transformable metamaterial with multiple degrees of freedom

NASA Astrophysics Data System (ADS)

Overvelde, Johannes T. B.; de Jong, Twan A.; Shevchenko, Yanina; Becerra, Sergio A.; Whitesides, George M.; Weaver, James C.; Hoberman, Chuck; Bertoldi, Katia

2016-03-01

Reconfigurable devices, whose shape can be drastically altered, are central to expandable shelters, deployable space structures, reversible encapsulation systems and medical tools and robots. All these applications require structures whose shape can be actively controlled, both for deployment and to conform to the surrounding environment. While most current reconfigurable designs are application specific, here we present a mechanical metamaterial with tunable shape, volume and stiffness. Our approach exploits a simple modular origami-like design consisting of rigid faces and hinges, which are connected to form a periodic structure consisting of extruded cubes. We show both analytically and experimentally that the transformable metamaterial has three degrees of freedom, which can be actively deformed into numerous specific shapes through embedded actuation. The proposed metamaterial can be used to realize transformable structures with arbitrary architectures, highlighting a robust strategy for the design of reconfigurable devices over a wide range of length scales.

A new type of tri-axial accelerometers with high dynamic range MEMS for earthquake early warning

NASA Astrophysics Data System (ADS)

Peng, Chaoyong; Chen, Yang; Chen, Quansheng; Yang, Jiansi; Wang, Hongti; Zhu, Xiaoyi; Xu, Zhiqiang; Zheng, Yu

2017-03-01

Earthquake Early Warning System (EEWS) has shown its efficiency for earthquake damage mitigation. As the progress of low-cost Micro Electro Mechanical System (MEMS), many types of MEMS-based accelerometers have been developed and widely used in deploying large-scale, dense seismic networks for EEWS. However, the noise performance of these commercially available MEMS is still insufficient for weak seismic signals, leading to the large scatter of early-warning parameters estimation. In this study, we developed a new type of tri-axial accelerometer based on high dynamic range MEMS with low noise level using for EEWS. It is a MEMS-integrated data logger with built-in seismological processing. The device is built on a custom-tailored Linux 2.6.27 operating system and the method for automatic detecting seismic events is STA/LTA algorithms. When a seismic event is detected, peak ground parameters of all data components will be calculated at an interval of 1 s, and τc-Pd values will be evaluated using the initial 3 s of P wave. These values will then be organized as a trigger packet actively sent to the processing center for event combining detection. The output data of all three components are calibrated to sensitivity 500 counts/cm/s2. Several tests and a real field test deployment were performed to obtain the performances of this device. The results show that the dynamic range can reach 98 dB for the vertical component and 99 dB for the horizontal components, and majority of bias temperature coefficients are lower than 200 μg/°C. In addition, the results of event detection and real field deployment have shown its capabilities for EEWS and rapid intensity reporting.

Design and Dynamic Model of a Frog-inspired Swimming Robot Powered by Pneumatic Muscles

NASA Astrophysics Data System (ADS)

Fan, Ji-Zhuang; Zhang, Wei; Kong, Peng-Cheng; Cai, He-Gao; Liu, Gang-Feng

2017-09-01

Pneumatic muscles with similar characteristics to biological muscles have been widely used in robots, and thus are promising drivers for frog inspired robots. However, the application and nonlinearity of the pneumatic system limit the advance. On the basis of the swimming mechanism of the frog, a frog-inspired robot based on pneumatic muscles is developed. To realize the independent tasks by the robot, a pneumatic system with internal chambers, micro air pump, and valves is implemented. The micro pump is used to maintain the pressure difference between the source and exhaust chambers. The pneumatic muscles are controlled by high-speed switch valves which can reduce the robot cost, volume, and mass. A dynamic model of the pneumatic system is established for the simulation to estimate the system, including the chamber, muscle, and pneumatic circuit models. The robot design is verified by the robot swimming experiments and the dynamic model is verified through the experiments and simulations of the pneumatic system. The simulation results are compared to analyze the functions of the source pressure, internal volume of the muscle, and circuit flow rate which is proved the main factor that limits the response of muscle pressure. The proposed research provides the application of the pneumatic muscles in the frog inspired robot and the pneumatic model to study muscle controller.

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

The Role of Robots and Automation in Space

NASA Technical Reports Server (NTRS)

Heer, E.

1978-01-01

Advanced space transportation systems based on the shuttle and interim upper stage will open the way to the use of large-scale industrial and commercial systems in space. The role of robot and automation technology in the cost-effective implementation and operation of such systems in the next two decades is discussed. Planning studies initiated by NASA are described as applied to space exploration, global services, and space industrialization, and a forecast of potential missions in each category is presented. The appendix lists highlights of space robot technology from 1967 to the present.

Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

PubMed Central

Sanfeliu, Alberto; Andrade-Cetto, Juan; Barbosa, Marco; Bowden, Richard; Capitán, Jesús; Corominas, Andreu; Gilbert, Andrew; Illingworth, John; Merino, Luis; Mirats, Josep M.; Moreno, Plínio; Ollero, Aníbal; Sequeira, João; Spaan, Matthijs T.J.

2010-01-01

In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted. PMID:22294927

Ethical challenges in the use of social service robots for elderly people.

PubMed

Körtner, T

2016-06-01

Socially assistive robots are increasingly discussed as solutions in care and domestic use for the support of senior adults; however, this raises ethical questions which hitherto have not been considered or were not predictable. The most important questions are those of privacy and data protection, safety and responsibility as well as involvement of vulnerable persons and deception. Consequently, the ethical principles of nonmaleficence, beneficence, autonomy and fairness should be transposed to robotics. Clear answers and solutions are not yet available for every ethical challenge in robotics; however, the development of ethical guidelines for deployment of robots and research in the field of social service robots (SSR) are essential steps in order to embed ethics into dealing with socially assistive robots. This article provides some practical suggestions on this issue from a robotics project.

Active Motion Control of Tetrahymena pyriformis by Galvanotaxis and Geotaxis

NASA Astrophysics Data System (ADS)

Kim, Jihoon; Byun, Doyoung; Kim, Min Jun

2013-11-01

Recently, there has been increasing interest in the swimming behavior of microorganisms and biologically inspired micro-robots. These microorganisms naturally accompanied by complex motions. Therefore it is important to understand the flow characteristics as well as control mechanisms. One of eukaryotic cells, the protozoa are a diverse group of unicellular organisms, many of which are motile cilia. Motile cilia are cover on the surface of cell in large numbers and beat in oriented waves. Sequential beating motions of a single cilium form metachronal strokes, producing a propagation wave, and therefore the body is achieved propulsion force. So preliminary studies are achieved to understand the flow induced by swimming microorganisms. Based on hydrodynamic results, the follow study of a few micro-scale protozoa cell, such as the Tetrahymena pyriformis, has provided active or passive control into several external stimuli. In typical control methods, the galvanotaxis and geotaxis were adopted active and passive control, respectively. The validation of galvanotaxis is used DC and AC voltage. In terms of geotaxis, corrugated microstructures were used to control in the microchannel. This research was supported by the Ministry of Education, Science and Technology (MEST, 2011-0016461), National Science Foundation (NSF) CMMI Control Systems Program (#1000255) and Army Research Office (W911NF-11-1-0490).

Ultra-fast escape maneuver of an octopus-inspired robot.

PubMed

Weymouth, G D; Subramaniam, V; Triantafyllou, M S

2015-02-02

We design and test an octopus-inspired flexible hull robot that demonstrates outstanding fast-starting performance. The robot is hyper-inflated with water, and then rapidly deflates to expel the fluid so as to power the escape maneuver. Using this robot we verify for the first time in laboratory testing that rapid size-change can substantially reduce separation in bluff bodies traveling several body lengths, and recover fluid energy which can be employed to improve the propulsive performance. The robot is found to experience speeds over ten body lengths per second, exceeding that of a similarly propelled optimally streamlined rigid rocket. The peak net thrust force on the robot is more than 2.6 times that on an optimal rigid body performing the same maneuver, experimentally demonstrating large energy recovery and enabling acceleration greater than 14 body lengths per second squared. Finally, over 53% of the available energy is converted into payload kinetic energy, a performance that exceeds the estimated energy conversion efficiency of fast-starting fish. The Reynolds number based on final speed and robot length is [Formula: see text]. We use the experimental data to establish a fundamental deflation scaling parameter [Formula: see text] which characterizes the mechanisms of flow control via shape change. Based on this scaling parameter, we find that the fast-starting performance improves with increasing size.

Towards next generation 3D cameras

NASA Astrophysics Data System (ADS)

Gupta, Mohit

2017-03-01

We are in the midst of a 3D revolution. Robots enabled by 3D cameras are beginning to autonomously drive cars, perform surgeries, and manage factories. However, when deployed in the real-world, these cameras face several challenges that prevent them from measuring 3D shape reliably. These challenges include large lighting variations (bright sunlight to dark night), presence of scattering media (fog, body tissue), and optically complex materials (metal, plastic). Due to these factors, 3D imaging is often the bottleneck in widespread adoption of several key robotics technologies. I will talk about our work on developing 3D cameras based on time-of-flight and active triangulation that addresses these long-standing problems. This includes designing `all-weather' cameras that can perform high-speed 3D scanning in harsh outdoor environments, as well as cameras that recover shape of objects with challenging material properties. These cameras are, for the first time, capable of measuring detailed (<100 microns resolution) scans in extremely demanding scenarios with low-cost components. Several of these cameras are making a practical impact in industrial automation, being adopted in robotic inspection and assembly systems.

Recent advancements in robotic micro-optical assembly at the Lockheed Martin Optical Payload Center of Excellence

NASA Astrophysics Data System (ADS)

Hwang, David; Larson, Thomas M.

2017-08-01

Lockheed Martin Space Systems Company Optical Payloads Center of Excellence is in process of standing up the Robotic Optical Assembly System (ROAS) capability at Lockheed Martin Coherent Technologies in Colorado. This currently implemented Robotic Optical Assembly has enabled Lockheed Martin to create world-leading, ultra-lowSWAP photonic devices using a closed-loop control robot to precisely position and align micro-optics with a potential fill factor of >25 optics per square inch. This paper will discuss the anticipated applications and optical capability when ROAS is fully operational, as well as challenge the audience to update their "rules of thumb" and best practices when designing low-SWAP optical-mechanical systems that take advantage of Lockheed Martin's ROAS capability. This paper will reveal demonstrated optical pointing and stability performance achievable with ROAS and why we believe these optical specifications are relevant for the majority of anticipated applications. After a high level overview of the ROAS current state, this paper will focus in on recent results of the "Reworkable Micro-Optics Mounting IRAD". Results from this IRAD will correlate to the anticipated optical specifications required for relevant applications.

Deployment of Shaped Charges by a Semi-Autonomous Ground Vehicle

DTIC Science & Technology

2007-06-01

lives on a daily basis. BigFoot seeks to replace the local human component by deploying and remotely detonating shaped charges to destroy IEDs...robotic arm to deploy and remotely detonate shaped charges. BigFoot incorporates improved communication range over previous Autonomous Ground Vehicles...and an updated user interface that includes controls for the arm and camera by interfacing multiple microprocessors. BigFoot is capable of avoiding

Modular robotic assembly of small devices.

PubMed

Frauenfelder, M

2000-01-01

The use of robots for the automatic assembly of devices of up to 100 x 100 x 100 mm is relatively uncommon today. Insufficient return on investment and the long lead times that are required have been limiting factors. Innovations in vision technology have led to the development of robotic assembly systems that employ flexible part-feeding. The benefits of these systems are described, which suggest that better ratios of price to productivity and deployment times are now achievable.

A three-fingered, touch-sensitive, metrological micro-robotic assembly tool

NASA Astrophysics Data System (ADS)

Torralba, Marta; Hastings, D. J.; Thousand, Jeffery D.; Nowakowski, Bartosz K.; Smith, Stuart T.

2015-12-01

This article describes a metrological, robotic hand to manipulate and measure micrometer size objects. The presented work demonstrates not only assembly operations, but also positioning control and metrology capability. Sample motion is achieved by a commercial positioning stage, which provides XYZ-displacements for assembly of components. A designed and manufactured gripper tool that incorporates 21 degrees-of-freedom for independent alignment of actuators, sensors, and the three fingers of this hand is presented. These fingers can be opened and closed by piezoelectric actuators through levered flexures providing an 80 μm displacement range measured with calibrated opto-interrupter based, knife-edge sensors. The operational ends of the fingers comprise of a quartz tuning fork with a 7 μm diameter 3.2 mm long carbon fiber extending from the end of one tuning fork tine. Finger-tip force-sensing is achieved by the monitoring of individual finger resonances typically at around 32 kHz. Experimental results included are focused on probe performance analysis. Pick and place operation using the three fingers is demonstrated with all fingers being continuously oscillated, a capability not possible with the previous single or two finger tweezer type designs. By monitoring electrical feedback during pick and place operations, changes in the response of the three probes demonstrate the ability to identify both grab and release operations. Component metrology has been assessed by contacting different micro-spheres of diameters 50(±7.5) μm, 135(±20) μm, and 140(±20) μm. These were measured by the micro robot to have diameters of 67, 133, and 126 μm respectively with corresponding deviations of 4.2, 4.9, and 4.3 μm. This deviation in the measured results was primarily due to the manual, joystick-based, contacting of the fingers, difficulties associated with centering the components to the axis of the hand, and lower contact sensitivity for the smallest sphere. Finally, assemblies of spheres onto the edge of a razor blade plus assembly of spherical contact probes for micro-meter scale coordinate measurement applications are presented.

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.

Investigating the Effects of Magnetic Variations on Inertial/Magnetic Orientation Sensors

DTIC Science & Technology

2007-09-01

caused by test objects, a track was constructed using nonferrous materials and set so that the orientation of an inertial/magnetic sensor module...states ◆ metal filing cabinet ◆ mobile robot, unpowered, powered, and motor engaged. The MicroStrain 3DM-G sensor module is factory calibrated and...triad of the sensor module approached a large metal filing cabinet. The deviations for this test object are the largest of any observed in the

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.

Hardware Architecture and Cutting-Edge Assembly Process of a Tiny Curved Compound Eye

PubMed Central

Viollet, Stéphane; Godiot, Stéphanie; Leitel, Robert; Buss, Wolfgang; Breugnon, Patrick; Menouni, Mohsine; Juston, Raphaël; Expert, Fabien; Colonnier, Fabien; L'Eplattenier, Géraud; Brückner, Andreas; Kraze, Felix; Mallot, Hanspeter; Franceschini, Nicolas; Pericet-Camara, Ramon; Ruffier, Franck; Floreano, Dario

2014-01-01

The demand for bendable sensors increases constantly in the challenging field of soft and micro-scale robotics. We present here, in more detail, the flexible, functional, insect-inspired curved artificial compound eye (CurvACE) that was previously introduced in the Proceedings of the National Academy of Sciences (PNAS, 2013). This cylindrically-bent sensor with a large panoramic field-of-view of 180° × 60° composed of 630 artificial ommatidia weighs only 1.75 g, is extremely compact and power-lean (0.9 W), while it achieves unique visual motion sensing performance (1950 frames per second) in a five-decade range of illuminance. In particular, this paper details the innovative Very Large Scale Integration (VLSI) sensing layout, the accurate assembly fabrication process, the innovative, new fast read-out interface, as well as the auto-adaptive dynamic response of the CurvACE sensor. Starting from photodetectors and microoptics on wafer substrates and flexible printed circuit board, the complete assembly of CurvACE was performed in a planar configuration, ensuring high alignment accuracy and compatibility with state-of-the art assembling processes. The characteristics of the photodetector of one artificial ommatidium have been assessed in terms of their dynamic response to light steps. We also characterized the local auto-adaptability of CurvACE photodetectors in response to large illuminance changes: this feature will certainly be of great interest for future applications in real indoor and outdoor environments. PMID:25407908

Robots integrated with virtual reality simulations for customized motor training in a person with upper extremity hemiparesis: a case report

PubMed Central

Fluet, Gerard G.; Merians, Alma S.; Qiu, Qinyin; Lafond, Ian; Saleh, Soha; Ruano, Viviana; Delmonico, Andrea R.; Adamovich, Sergei V.

2014-01-01

Background and Purpose A majority of studies examining repetitive task practice facilitated by robots for the treatment of upper extremity paresis utilize standardized protocols applied to large groups. Others utilize interventions tailored to patients but don't describe the clinical decision making process utilized to develop and modify interventions. This case report will describe a robot-based intervention customized to match the goals and clinical presentation of a gentleman with upper extremity hemiparesis secondary to stroke. Methods PM is an 85 year-old man with left hemiparesis secondary to an intracerebral hemorrhage five years prior to examination. Outcomes were measured before and after a one month period of home therapy and after a one month robotic intervention. The intervention was designed to address specific impairments identified during his PT examination. When necessary, activities were modified based on the patient's response to his first week of treatment. Outcomes PM trained twelve sessions using six virtually simulated activities. Modifications to original configurations of these activities resulted in performance improvements in five of these activities. PM demonstrated a 35 second improvement in Jebsen Test of Hand Function time and a 44 second improvement in Wolf Motor Function Test time subsequent to the robotic training intervention. Reaching kinematics, 24 hour activity measurement and the Hand and Activities of Daily Living scales of the Stroke Impact Scale all improved as well. Discussion A customized program of robotically facilitated rehabilitation resulted in large short-term improvements in several measurements of upper extremity function in a patient with chronic hemiparesis. PMID:22592063

RoboPIV: how robotics enable PIV on a large industrial scale

NASA Astrophysics Data System (ADS)

Michaux, F.; Mattern, P.; Kallweit, S.

2018-07-01

This work demonstrates how the interaction between particle image velocimetry (PIV) and robotics can massively increase measurement efficiency. The interdisciplinary approach is shown using the complex example of an automated, large scale, industrial environment: a typical automotive wind tunnel application. Both the high degree of flexibility in choosing the measurement region and the complete automation of stereo PIV measurements are presented. The setup consists of a combination of three robots, individually used as a 6D traversing unit for the laser illumination system as well as for each of the two cameras. Synchronised movements in the same reference frame are realised through a master-slave setup with a single interface to the user. By integrating the interface into the standard wind tunnel management system, a single measurement plane or a predefined sequence of several planes can be requested through a single trigger event, providing the resulting vector fields within minutes. In this paper, a brief overview on the demands of large scale industrial PIV and the existing solutions is given. Afterwards, the concept of RoboPIV is introduced as a new approach. In a first step, the usability of a selection of commercially available robot arms is analysed. The challenges of pose uncertainty and importance of absolute accuracy are demonstrated through comparative measurements, explaining the individual pros and cons of the analysed systems. Subsequently, the advantage of integrating RoboPIV directly into the existing wind tunnel management system is shown on basis of a typical measurement sequence. In a final step, a practical measurement procedure, including post-processing, is given by using real data and results. Ultimately, the benefits of high automation are demonstrated, leading to a drastic reduction in necessary measurement time compared to non-automated systems, thus massively increasing the efficiency of PIV measurements.

GOAT (goes over all terrain) vehicle: a scaleable robotic vehicle

NASA Astrophysics Data System (ADS)

Dodson, Michael G.; Owsley, Stanley L.; Moorehead, Stewart J.

2003-09-01

Many of the potential applications of mobile robots require a small to medium sized vehicle that is capable of traversing large obstacles and rugged terrain. Search and rescue operations require a robot small enough to drive through doorways, yet capable enough to surmount rubble piles and stairs. This paper presents the GOAT (Goes Over All Terrain) vehicle, a medium scale robot which incorporates a novel configuration which puts the drive wheels on the ends of actuated arms. This allows GOAT to adjust body height and posture and combines the benefits of legged locomotion with the ease of wheeled driving. The paper presents the design of the GOAT and the results of prototype construction and initial testing.

A Robot for Coastal Marine Studies Under Hostile Conditions

NASA Astrophysics Data System (ADS)

Consi, T. R.

2012-12-01

Robots have long been used for scientific exploration of extremely remote environments such as planetary surfaces and the deep ocean. In addition to these physically remote places, there are many environments that are transiently remote in the sense that they are inaccessible to humans for a period of time. Coastal marine environments fall into this category. While quite accessible (and enjoyable) during good weather, the coast can become as remote as the moon when it is impacted by severe storms or hurricanes. For near shore and shallow water marine science unmanned underwater ground vehicles (UUGVs) are the robots of choice for reliable access under a variety of conditions. Ground vehicles are inherently amphibious being able to operate in complex coastal environments that can range from the completely dry beach, through the transiently wet swash zone, into the surf zone and beyond. During storms, UUGVs provide stable sensor platforms resistant to waves and currents by virtue of being locked to the substrate. In such situations free-swimming robots would be swept away. Mobility during storms enables a UUGV to orient itself to optimally resist forces that would dislodge fixed, moored platforms. Mobility can also enable a UUGV to either avoid burial, or unbury itself after a storm. Finally, the ability to submerge provides a great advantage over buoys and surface vehicles which would be smashed by heavy wave action. We have developed a prototype UUGV to enable new science in the surf zone and other shallow water environments. Named LMAR for Lake Michigan Amphibious Robot, it is designed to be deployed from the dry beach, enter the water to perform a near-shore survey, and return to the deployment point for recovery. The body of the robot is a heavy flattened box (base dimensions: 1.07 m X 1.10 m X .393 m, dry weight: ~127 kg, displacement: ~ 45 kg) with a low center of gravity for stability and robust construction to withstand waves and currents. It is topped by a 1.5 m surface penetrating mast which currently limits the operational depth, although the core vehicle can be deployed to depths in excess of 10 m. Propulsion is accomplished with two DC brushless motors driving six wide heavy tread pneumatic wheels, three on each side. Power is provided by NiMH batteries. An onboard computer controls propulsion, navigation and communications. Guidance and navigation utilize inertial sensors, an electronic compass and a GPS unit mounted on the mast. A scientist onshore can monitor data from the scientific payload as well as command the robot through a mast-mounted radio Ethernet bridge. Standard, off the shelf oceanographic sensors such as sondes and ADCPs can easily be integrated onto the robot making it a versatile sensing platform. We have successfully deployed the vehicle off a sandy beach in Lake Michigan where it has performed lawn-mower surveys in the surf zone. LMAR's design and field test results will be presented along with a discussion of how to further harden the vehicle for deployment in storms.

Task driven optimal leg trajectories in insect-scale legged microrobots

NASA Astrophysics Data System (ADS)

Doshi, Neel; Goldberg, Benjamin; Jayaram, Kaushik; Wood, Robert

Origami inspired layered manufacturing techniques and 3D-printing have enabled the development of highly articulated legged robots at the insect-scale, including the 1.43g Harvard Ambulatory MicroRobot (HAMR). Research on these platforms has expanded its focus from manufacturing aspects to include design optimization and control for application-driven tasks. Consequently, the choice of gait selection, body morphology, leg trajectory, foot design, etc. have become areas of active research. HAMR has two controlled degrees-of-freedom per leg, making it an ideal candidate for exploring leg trajectory. We will discuss our work towards optimizing HAMR's leg trajectories for two different tasks: climbing using electroadhesives and level ground running (5-10 BL/s). These tasks demonstrate the ability of single platform to adapt to vastly different locomotive scenarios: quasi-static climbing with controlled ground contact, and dynamic running with un-controlled ground contact. We will utilize trajectory optimization methods informed by existing models and experimental studies to determine leg trajectories for each task. We also plan to discuss how task specifications and choice of objective function have contributed to the shape of these optimal leg trajectories.

Nitride-Based Materials for Flexible MEMS Tactile and Flow Sensors in Robotics

PubMed Central

Abels, Claudio; Mastronardi, Vincenzo Mariano; Guido, Francesco; Dattoma, Tommaso; Qualtieri, Antonio; Megill, William M.; De Vittorio, Massimo; Rizzi, Francesco

2017-01-01

The response to different force load ranges and actuation at low energies is of considerable interest for applications of compliant and flexible devices undergoing large deformations. We present a review of technological platforms based on nitride materials (aluminum nitride and silicon nitride) for the microfabrication of a class of flexible micro-electro-mechanical systems. The approach exploits the material stress differences among the constituent layers of nitride-based (AlN/Mo, SixNy/Si and AlN/polyimide) mechanical elements in order to create microstructures, such as upwardly-bent cantilever beams and bowed circular membranes. Piezoresistive properties of nichrome strain gauges and direct piezoelectric properties of aluminum nitride can be exploited for mechanical strain/stress detection. Applications in flow and tactile sensing for robotics are described. PMID:28489040

Full Field X-Ray Fluorescence Imaging Using Micro Pore Optics for Planetary Surface Exploration

NASA Technical Reports Server (NTRS)

Sarrazin, P.; Blake, D. F.; Gailhanou, M.; Walter, P.; Schyns, E.; Marchis, F.; Thompson, K.; Bristow, T.

2016-01-01

Many planetary surface processes leave evidence as small features in the sub-millimetre scale. Current planetary X-ray fluorescence spectrometers lack the spatial resolution to analyse such small features as they only provide global analyses of areas greater than 100 mm(exp 2). A micro-XRF spectrometer will be deployed on the NASA Mars 2020 rover to analyse spots as small as 120m. When using its line-scanning capacity combined to perpendicular scanning by the rover arm, elemental maps can be generated. We present a new instrument that provides full-field XRF imaging, alleviating the need for precise positioning and scanning mechanisms. The Mapping X-ray Fluorescence Spectrometer - "Map-X" - will allow elemental imaging with approximately 100µm spatial resolution and simultaneously provide elemental chemistry at the scale where many relict physical, chemical and biological features can be imaged in ancient rocks. The arm-mounted Map-X instrument is placed directly on the surface of an object and held in a fixed position during measurements. A 25x25 mm(exp 2) surface area is uniformly illuminated with X-rays or alpha-particles and gamma-rays. A novel Micro Pore Optic focusses a fraction of the emitted X-ray fluorescence onto a CCD operated at a few frames per second. On board processing allows measuring the energy and coordinates of each X-ray photon collected. Large sets of frames are reduced into 2d histograms used to compute higher level data products such as elemental maps and XRF spectra from selected regions of interest. XRF spectra are processed on the ground to further determine quantitative elemental compositions. The instrument development will be presented with an emphasis on the characterization and modelling of the X-ray focussing Micro Pore Optic. An outlook on possible alternative XRF imaging applications will be discussed.

Biologically-Inspired Micro-Robots. Volume 1. Robots Based on Crickets

DTIC Science & Technology

2005-05-19

is limited to flat, smooth surfaces. Another group of specialized robots that use piezoelectric actuators are the pipe robots developed at Shanghai...along in a pipe . They were developed for very specific terrain that allows them to take advantage of the small strain, high- frequency motion of...the valve. To open the valve you apply a current to the TiNi, heating it and pulling the plunger up, opening the valve. All three components are

ACTIVIS: Visual Exploration of Industry-Scale Deep Neural Network Models.

PubMed

Kahng, Minsuk; Andrews, Pierre Y; Kalro, Aditya; Polo Chau, Duen Horng

2017-08-30

While deep learning models have achieved state-of-the-art accuracies for many prediction tasks, understanding these models remains a challenge. Despite the recent interest in developing visual tools to help users interpret deep learning models, the complexity and wide variety of models deployed in industry, and the large-scale datasets that they used, pose unique design challenges that are inadequately addressed by existing work. Through participatory design sessions with over 15 researchers and engineers at Facebook, we have developed, deployed, and iteratively improved ACTIVIS, an interactive visualization system for interpreting large-scale deep learning models and results. By tightly integrating multiple coordinated views, such as a computation graph overview of the model architecture, and a neuron activation view for pattern discovery and comparison, users can explore complex deep neural network models at both the instance- and subset-level. ACTIVIS has been deployed on Facebook's machine learning platform. We present case studies with Facebook researchers and engineers, and usage scenarios of how ACTIVIS may work with different models.

Human-Robot Planetary Exploration Teams

NASA Technical Reports Server (NTRS)

Tyree, Kimberly

2004-01-01

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

Towards Portable Large-Scale Image Processing with High-Performance Computing.

PubMed

Huo, Yuankai; Blaber, Justin; Damon, Stephen M; Boyd, Brian D; Bao, Shunxing; Parvathaneni, Prasanna; Noguera, Camilo Bermudez; Chaganti, Shikha; Nath, Vishwesh; Greer, Jasmine M; Lyu, Ilwoo; French, William R; Newton, Allen T; Rogers, Baxter P; Landman, Bennett A

2018-05-03

High-throughput, large-scale medical image computing demands tight integration of high-performance computing (HPC) infrastructure for data storage, job distribution, and image processing. The Vanderbilt University Institute for Imaging Science (VUIIS) Center for Computational Imaging (CCI) has constructed a large-scale image storage and processing infrastructure that is composed of (1) a large-scale image database using the eXtensible Neuroimaging Archive Toolkit (XNAT), (2) a content-aware job scheduling platform using the Distributed Automation for XNAT pipeline automation tool (DAX), and (3) a wide variety of encapsulated image processing pipelines called "spiders." The VUIIS CCI medical image data storage and processing infrastructure have housed and processed nearly half-million medical image volumes with Vanderbilt Advanced Computing Center for Research and Education (ACCRE), which is the HPC facility at the Vanderbilt University. The initial deployment was natively deployed (i.e., direct installations on a bare-metal server) within the ACCRE hardware and software environments, which lead to issues of portability and sustainability. First, it could be laborious to deploy the entire VUIIS CCI medical image data storage and processing infrastructure to another HPC center with varying hardware infrastructure, library availability, and software permission policies. Second, the spiders were not developed in an isolated manner, which has led to software dependency issues during system upgrades or remote software installation. To address such issues, herein, we describe recent innovations using containerization techniques with XNAT/DAX which are used to isolate the VUIIS CCI medical image data storage and processing infrastructure from the underlying hardware and software environments. The newly presented XNAT/DAX solution has the following new features: (1) multi-level portability from system level to the application level, (2) flexible and dynamic software development and expansion, and (3) scalable spider deployment compatible with HPC clusters and local workstations.

Multi-Robot Search for a Moving Target: Integrating World Modeling, Task Assignment and Context

DTIC Science & Technology

2016-12-01

Case Study Our approach to coordination was initially motivated and developed in RoboCup soccer games. In fact, it has been first deployed on a team of...features a rather accurate model of the behavior and capabilities of the humanoid robot in the field. In the soccer case study , our goal is to...on experiments carried out with a team of humanoid robots in a soccer scenario and a team of mobile bases in an office environment. I. INTRODUCTION

SMARBot: a modular miniature mobile robot platform

NASA Astrophysics Data System (ADS)

Meng, Yan; Johnson, Kerry; Simms, Brian; Conforth, Matthew

2008-04-01

Miniature robots have many advantages over their larger counterparts, such as low cost, low power, and easy to build a large scale team for complex tasks. Heterogeneous multi miniature robots could provide powerful situation awareness capability due to different locomotion capabilities and sensor information. However, it would be expensive and time consuming to develop specific embedded system for different type of robots. In this paper, we propose a generic modular embedded system architecture called SMARbot (Stevens Modular Autonomous Robot), which consists of a set of hardware and software modules that can be configured to construct various types of robot systems. These modules include a high performance microprocessor, a reconfigurable hardware component, wireless communication, and diverse sensor and actuator interfaces. The design of all the modules in electrical subsystem, the selection criteria for module components, and the real-time operating system are described. Some proofs of concept experimental results are also presented.

"Tactic": Traffic Aware Cloud for Tiered Infrastructure Consolidation

ERIC Educational Resources Information Center

Sangpetch, Akkarit

2013-01-01

Large-scale enterprise applications are deployed as distributed applications. These applications consist of many inter-connected components with heterogeneous roles and complex dependencies. Each component typically consumes 5-15% of the server capacity. Deploying each component as a separate virtual machine (VM) allows us to consolidate the…

Tony Jimenez | NREL

Science.gov Websites

pre-feasibility analysis; wind data analysis; the small wind turbine certification process; economic Regional Test Center effort, analysis of the potential economic impact of large-scale MHK deployment off pre-feasibility analysis. Tony is an engineer officer in the Army Reserve. He has deployed twice

NanoRacks CubeSat Deployment

NASA Image and Video Library

2014-02-13

ISS038-E-046586 (13 Feb. 2014) --- A set of NanoRacks CubeSats is photographed by an Expedition 38 crew member after the deployment by the NanoRacks Launcher attached to the end of the Japanese robotic arm. The CubeSats program contains a variety of experiments such as Earth observations and advanced electronics testing.

NanoRacks CubeSat Deployment

NASA Image and Video Library

2014-02-13

ISS038-E-046579 (13 Feb. 2014) --- A set of NanoRacks CubeSats is photographed by an Expedition 38 crew member after the deployment by the NanoRacks Launcher attached to the end of the Japanese robotic arm. The CubeSats program contains a variety of experiments such as Earth observations and advanced electronics testing.

Optimization of the computational load of a hypercube supercomputer onboard a mobile robot.

PubMed

Barhen, J; Toomarian, N; Protopopescu, V

1987-12-01

A combinatorial optimization methodology is developed, which enables the efficient use of hypercube multiprocessors onboard mobile intelligent robots dedicated to time-critical missions. The methodology is implemented in terms of large-scale concurrent algorithms based either on fast simulated annealing, or on nonlinear asynchronous neural networks. In particular, analytic expressions are given for the effect of singleneuron perturbations on the systems' configuration energy. Compact neuromorphic data structures are used to model effects such as prec xdence constraints, processor idling times, and task-schedule overlaps. Results for a typical robot-dynamics benchmark are presented.

A Practice of Rescue Robot Contest in Junior High Schools

NASA Astrophysics Data System (ADS)

Kawada, Kazuo; Nagamatsu, Masayasu; Yamamoto, Toru

The rescue robot contest for junior high school students was created to give students an opportunity to design a robot to rescue the victims under large scale disasters. The activity was not only intended as an humanitarian project but also aiming at students to : (1) take the role of victims and imagining the situation from his or her perspective, (2) enhance thinking skills, creativity through the problem solving processes and, (3) work cooperatively in groups. From results of questionnaire for the participated students, important factors for further implementation as curriculum of technology education are implied.

Optimization of the computational load of a hypercube supercomputer onboard a mobile robot

NASA Technical Reports Server (NTRS)

Barhen, Jacob; Toomarian, N.; Protopopescu, V.

1987-01-01

A combinatorial optimization methodology is developed, which enables the efficient use of hypercube multiprocessors onboard mobile intelligent robots dedicated to time-critical missions. The methodology is implemented in terms of large-scale concurrent algorithms based either on fast simulated annealing, or on nonlinear asynchronous neural networks. In particular, analytic expressions are given for the effect of single-neuron perturbations on the systems' configuration energy. Compact neuromorphic data structures are used to model effects such as precedence constraints, processor idling times, and task-schedule overlaps. Results for a typical robot-dynamics benchmark are presented.

The Stellar Imager (SI)"Vision Mission"

NASA Technical Reports Server (NTRS)

Carpenter, Ken; Danchi, W.; Leitner, J.; Liu, A.; Lyon, R.; Mazzuca, L.; Moe, R.; Chenette, D.; Karovska, M.; Allen, R.

2004-01-01

The Stellar Imager (SI) is a "Vision" mission in the Sun-Earth Connection (SEC) Roadmap, conceived for the purpose of understanding the effects of stellar magnetic fields, the dynamos that generate them, and the internal structure and dynamics of the stars in which they exist. The ultimate goal is to achieve the best possible forecasting of solar/stellar magnetic activity and its impact on life in the Universe. The science goals of SI require an ultra-high angular resolution, at ultraviolet wavelengths, on the order of 100 micro-arcsec and thus baselines on the order of 0.5 km. These requirements call for a large, multi-spacecraft (less than 20) imaging interferometer, utilizing precision formation flying in a stable environment, such as in a Lissajous orbit around the Sun-Earth L2 point. SI's resolution will make it an invaluable resource for many other areas of astrophysics, including studies of AGN s, supernovae, cataclysmic variables, young stellar objects, QSO's, and stellar black holes. ongoing mission concept and technology development studies for SI. These studies are designed to refine the mission requirements for the science goals, define a Design Reference Mission, perform trade studies of selected major technical and architectural issues, improve the existing technology roadmap, and explore the details of deployment and operations, as well as the possible roles of astronauts and/or robots in construction and servicing of the facility.

Design and control of a macro-micro robot for precise force applications

NASA Technical Reports Server (NTRS)

Wang, Yulun; Mangaser, Amante; Laby, Keith; Jordan, Steve; Wilson, Jeff

1993-01-01

Creating a robot which can delicately interact with its environment has been the goal of much research. Primarily two difficulties have made this goal hard to attain. The execution of control strategies which enable precise force manipulations are difficult to implement in real time because such algorithms have been too computationally complex for available controllers. Also, a robot mechanism which can quickly and precisely execute a force command is difficult to design. Actuation joints must be sufficiently stiff, frictionless, and lightweight so that desired torques can be accurately applied. This paper describes a robotic system which is capable of delicate manipulations. A modular high-performance multiprocessor control system was designed to provide sufficient compute power for executing advanced control methods. An 8 degree of freedom macro-micro mechanism was constructed to enable accurate tip forces. Control algorithms based on the impedance control method were derived, coded, and load balanced for maximum execution speed on the multiprocessor system. Delicate force tasks such as polishing, finishing, cleaning, and deburring, are the target applications of the robot.

Data Integration: Charting a Path Forward to 2035

DTIC Science & Technology

2011-02-14

New York, NY: Gotham Books, 2004. Seligman , Len. Mitre Corporation, e-mail interview, 6 Dec 2010. Singer, P.W. Wired for War: The Robotics...articles.aspx (accessed 4 Dec 2010). Ultra-Large-Scale Systems: The Software Challenge of the Future. Study lead Linda Northrup. Pittsburgh, PA: Carnegie...Virtualization?‖ 1. 41 Ultra-Large-Scale Systems: The Software Challenge of the Future. Study lead Linda Northrup. Pittsburgh, PA: Carnegie Mellon Software

Data-Driven Simulation-Enhanced Optimization of People-Based Print Production Service

NASA Astrophysics Data System (ADS)

Rai, Sudhendu

This paper describes a systematic six-step data-driven simulation-based methodology for optimizing people-based service systems on a large distributed scale that exhibit high variety and variability. The methodology is exemplified through its application within the printing services industry where it has been successfully deployed by Xerox Corporation across small, mid-sized and large print shops generating over 250 million in profits across the customer value chain. Each step of the methodology consisting of innovative concepts co-development and testing in partnership with customers, development of software and hardware tools to implement the innovative concepts, establishment of work-process and practices for customer-engagement and service implementation, creation of training and infrastructure for large scale deployment, integration of the innovative offering within the framework of existing corporate offerings and lastly the monitoring and deployment of the financial and operational metrics for estimating the return-on-investment and the continual renewal of the offering are described in detail.

Potential climatic impacts and reliability of large-scale offshore wind farms

NASA Astrophysics Data System (ADS)

Wang, Chien; Prinn, Ronald G.

2011-04-01

The vast availability of wind power has fueled substantial interest in this renewable energy source as a potential near-zero greenhouse gas emission technology for meeting future world energy needs while addressing the climate change issue. However, in order to provide even a fraction of the estimated future energy needs, a large-scale deployment of wind turbines (several million) is required. The consequent environmental impacts, and the inherent reliability of such a large-scale usage of intermittent wind power would have to be carefully assessed, in addition to the need to lower the high current unit wind power costs. Our previous study (Wang and Prinn 2010 Atmos. Chem. Phys. 10 2053) using a three-dimensional climate model suggested that a large deployment of wind turbines over land to meet about 10% of predicted world energy needs in 2100 could lead to a significant temperature increase in the lower atmosphere over the installed regions. A global-scale perturbation to the general circulation patterns as well as to the cloud and precipitation distribution was also predicted. In the later study reported here, we conducted a set of six additional model simulations using an improved climate model to further address the potential environmental and intermittency issues of large-scale deployment of offshore wind turbines for differing installation areas and spatial densities. In contrast to the previous land installation results, the offshore wind turbine installations are found to cause a surface cooling over the installed offshore regions. This cooling is due principally to the enhanced latent heat flux from the sea surface to lower atmosphere, driven by an increase in turbulent mixing caused by the wind turbines which was not entirely offset by the concurrent reduction of mean wind kinetic energy. We found that the perturbation of the large-scale deployment of offshore wind turbines to the global climate is relatively small compared to the case of land-based installations. However, the intermittency caused by the significant seasonal wind variations over several major offshore sites is substantial, and demands further options to ensure the reliability of large-scale offshore wind power. The method that we used to simulate the offshore wind turbine effect on the lower atmosphere involved simply increasing the ocean surface drag coefficient. While this method is consistent with several detailed fine-scale simulations of wind turbines, it still needs further study to ensure its validity. New field observations of actual wind turbine arrays are definitely required to provide ultimate validation of the model predictions presented here.

Deployment, Design, and Commercialization of Carbon-Negative Energy Systems

NASA Astrophysics Data System (ADS)

Sanchez, Daniel Lucio

Climate change mitigation requires gigaton-scale carbon dioxide removal technologies, yet few examples exist beyond niche markets. This dissertation informs large-scale implementation of bioenergy with carbon capture and sequestration (BECCS), a carbon-negative energy technology. It builds on existing literature with a novel focus on deployment, design, commercialization, and communication of BECCS. BECCS, combined with aggressive renewable deployment and fossil emission reductions, can enable a carbon-negative power system in Western North America by 2050, with up to 145% emissions reduction from 1990 levels. BECCS complements other sources of renewable energy, and can be deployed in a manner consistent with regional policies and design considerations. The amount of biomass resource available limits the level of fossil CO2 emissions that can still satisfy carbon emissions caps. Offsets produced by BECCS are more valuable to the power system than the electricity it provides. Implied costs of carbon for BECCS are relatively low ( 75/ton CO2 at scale) for a capital-intensive technology. Optimal scales for BECCS are an order of magnitude larger than proposed scales found in existing literature. Deviations from optimal scaled size have little effect on overall systems costs - suggesting that other factors, including regulatory, political, or logistical considerations, may ultimately have a greater influence on plant size than the techno-economic factors considered. The flexibility of thermochemical conversion enables a viable transition pathway for firms, utilities and governments to achieve net-negative CO 2 emissions in production of electricity and fuels given increasingly stringent climate policy. Primary research, development (R&D), and deployment needs are in large-scale biomass logistics, gasification, gas cleaning, and geological CO2 storage. R&D programs, subsidies, and policy that recognize co-conversion processes can support this pathway to commercialization. Here, firms can embrace a gradual transition pathway to deep decarbonization, limiting economic dislocation and increasing transfer of knowledge between the fossil and renewable sectors. Global cumulative capital investment needs for BECCS through 2050 are over 1.9 trillion (2015$, 4% real interest rate) for scenarios likely to limit global warming to 2 °C. This scenario envisions deployment of as much as 24 GW/yr of BECCS by 2040 in the electricity sector. To achieve theses rates of deployment within 15-20 years, governments and firms must commit to research, development, and deployment on an unprecedented scale. Three primary issues complicate emissions accounting for BECCS: cross-sector CO2 accounting, regrowth, and timing. Switchgrass integration decreases lifecycle greenhouse gas impacts of co-conversion systems with CCS, across a wide range of land-use change scenarios. Risks at commercial scale include adverse effects on food security, land conservation, social equity, and biodiversity, as well as competition for water resources. This dissertation argues for an iterative risk management approach to BECCS sustainability, with standards being updated as more knowledge is gained through deployment. Sustainability impacts and public opposition to BECCS may be reduced with transparent measurement and communication. Commercial-scale deployment is dependent on the coordination of a wide range of actors, many with different incentives and worldviews. Despite this problem, this dissertation challenges governments, industry incumbents, and emerging players to research, support, and deploy BECCS.

Teleoperated Modular Robots for Lunar Operations

NASA Technical Reports Server (NTRS)

Globus, Al; Hornby, Greg; Larchev, Greg; Hancher, Matt; Cannon, Howard; Lohn, Jason

2004-01-01

Solar system exploration is currently carried out by special purpose robots exquisitely designed for the anticipated tasks. However, all contingencies for in situ resource utilization (ISRU), human habitat preparation, and exploration will be difficult to anticipate. Furthermore, developing the necessary special purpose mechanisms for deployment and other capabilities is difficult and error prone. For example, the Galileo high gain antenna never opened, severely restricting the quantity of data returned by the spacecraft. Also, deployment hardware is used only once. To address these problems, we are developing teleoperated modular robots for lunar missions, including operations in transit from Earth. Teleoperation of lunar systems from Earth involves a three second speed-of-light delay, but experiment suggests that interactive operations are feasible.' Modular robots typically consist of many identical modules that pass power and data between them and can be reconfigured for different tasks providing great flexibility, inherent redundancy and graceful degradation as modules fail. Our design features a number of different hub, link, and joint modules to simplify the individual modules, lower structure cost, and provide specialized capabilities. Modular robots are well suited for space applications because of their extreme flexibility, inherent redundancy, high-density packing, and opportunities for mass production. Simple structural modules can be manufactured from lunar regolith in situ using molds or directed solar sintering. Software to direct and control modular robots is difficult to develop. We have used genetic algorithms to evolve both the morphology and control system for walking modular robots3 We are currently using evolvable system technology to evolve controllers for modular robots in the ISS glove box. Development of lunar modular robots will require software and physical simulators, including regolith simulation, to enable design and test of robot software and hardware, particularly automation software. Ready access to these simulators could provide opportunities for contest-driven development ala RoboCup (http://www.robocup.org/). Licensing of module designs could provide opportunities in the toy market and for spin-off applications.

University Research Program in Robotics - "Technologies for Micro-Electrical-Mechanical Systems in directed Stockpile Work (DSW) Radiation and Campaigns", Final Technical Annual Report, Project Period 9/1/06 - 8/31/07

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

James S. Tulenko; Carl D. Crane

The University Research Program in Robotics (URPR) is an integrated group of universities performing fundamental research that addresses broad-based robotics and automation needs of the NNSA Directed Stockpile Work (DSW) and Campaigns. The URPR mission is to provide improved capabilities in robotics science and engineering to meet the future needs of all weapon systems and other associated NNSA/DOE activities.

From cineradiography to biorobots: an approach for designing robots to emulate and study animal locomotion.

PubMed

Karakasiliotis, K; Thandiackal, R; Melo, K; Horvat, T; Mahabadi, N K; Tsitkov, S; Cabelguen, J M; Ijspeert, A J

2016-06-01

Robots are increasingly used as scientific tools to investigate animal locomotion. However, designing a robot that properly emulates the kinematic and dynamic properties of an animal is difficult because of the complexity of musculoskeletal systems and the limitations of current robotics technology. Here, we propose a design process that combines high-speed cineradiography, optimization, dynamic scaling, three-dimensional printing, high-end servomotors and a tailored dry-suit to construct Pleurobot: a salamander-like robot that closely mimics its biological counterpart, Pleurodeles waltl Our previous robots helped us test and confirm hypotheses on the interaction between the locomotor neuronal networks of the limbs and the spine to generate basic swimming and walking gaits. With Pleurobot, we demonstrate a design process that will enable studies of richer motor skills in salamanders. In particular, we are interested in how these richer motor skills can be obtained by extending our spinal cord models with the addition of more descending pathways and more detailed limb central pattern generator networks. Pleurobot is a dynamically scaled amphibious salamander robot with a large number of actuated degrees of freedom (DOFs: 27 in total). Because of our design process, the robot can capture most of the animal's DOFs and range of motion, especially at the limbs. We demonstrate the robot's abilities by imposing raw kinematic data, extracted from X-ray videos, to the robot's joints for basic locomotor behaviours in water and on land. The robot closely matches the behaviour of the animal in terms of relative forward speeds and lateral displacements. Ground reaction forces during walking also resemble those of the animal. Based on our results, we anticipate that future studies on richer motor skills in salamanders will highly benefit from Pleurobot's design. © 2016 The Author(s).

From cineradiography to biorobots: an approach for designing robots to emulate and study animal locomotion

PubMed Central

Karakasiliotis, K.; Thandiackal, R.; Melo, K.; Horvat, T.; Mahabadi, N. K.; Tsitkov, S.; Cabelguen, J. M.; Ijspeert, A. J.

2016-01-01

Robots are increasingly used as scientific tools to investigate animal locomotion. However, designing a robot that properly emulates the kinematic and dynamic properties of an animal is difficult because of the complexity of musculoskeletal systems and the limitations of current robotics technology. Here, we propose a design process that combines high-speed cineradiography, optimization, dynamic scaling, three-dimensional printing, high-end servomotors and a tailored dry-suit to construct Pleurobot: a salamander-like robot that closely mimics its biological counterpart, Pleurodeles waltl. Our previous robots helped us test and confirm hypotheses on the interaction between the locomotor neuronal networks of the limbs and the spine to generate basic swimming and walking gaits. With Pleurobot, we demonstrate a design process that will enable studies of richer motor skills in salamanders. In particular, we are interested in how these richer motor skills can be obtained by extending our spinal cord models with the addition of more descending pathways and more detailed limb central pattern generator networks. Pleurobot is a dynamically scaled amphibious salamander robot with a large number of actuated degrees of freedom (DOFs: 27 in total). Because of our design process, the robot can capture most of the animal's DOFs and range of motion, especially at the limbs. We demonstrate the robot's abilities by imposing raw kinematic data, extracted from X-ray videos, to the robot's joints for basic locomotor behaviours in water and on land. The robot closely matches the behaviour of the animal in terms of relative forward speeds and lateral displacements. Ground reaction forces during walking also resemble those of the animal. Based on our results, we anticipate that future studies on richer motor skills in salamanders will highly benefit from Pleurobot's design. PMID:27358276

Open Issues in Evolutionary Robotics.

PubMed

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

2016-01-01

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

Mechanical design for the Evryscope: a minute cadence, 10,000-square-degree FoV, gigapixel-scale telescope

NASA Astrophysics Data System (ADS)

Ratzloff, Jeff; Law, Nicholas M.; Fors, Octavi; Wulfken, Philip J.

2015-01-01

We designed, tested, prototyped and built a compact 27-camera robotic telescope that images 10,000 square degrees in 2-minute exposures. We exploit mass produced interline CCD Cameras with Rokinon consumer lenses to economically build a telescope that covers this large part of the sky simultaneously with a good enough pixel sampling to avoid the confusion limit over most of the sky. We developed the initial concept into a 3-d mechanical design with the aid of computer modeling programs. Significant design components include the camera assembly-mounting modules, the hemispherical support structure, and the instrument base structure. We simulated flexure and material stress in each of the three main components, which helped us optimize the rigidity and materials selection, while reducing weight. The camera mounts are CNC aluminum and the support shell is reinforced fiberglass. Other significant project components include optimizing camera locations, camera alignment, thermal analysis, environmental sealing, wind protection, and ease of access to internal components. The Evryscope will be assembled at UNC Chapel Hill and deployed to the CTIO in 2015.

Symbiotic Navigation in Multi-Robot Systems with Remote Obstacle Knowledge Sharing

PubMed Central

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

2017-01-01

Large scale operational areas often require multiple service robots for coverage and task parallelism. In such scenarios, each robot keeps its individual map of the environment and serves specific areas of the map at different times. We propose a knowledge sharing mechanism for multiple robots in which one robot can inform other robots about the changes in map, like path blockage, or new static obstacles, encountered at specific areas of the map. This symbiotic information sharing allows the robots to update remote areas of the map without having to explicitly navigate those areas, and plan efficient paths. A node representation of paths is presented for seamless sharing of blocked path information. The transience of obstacles is modeled to track obstacles which might have been removed. A lazy information update scheme is presented in which only relevant information affecting the current task is updated for efficiency. The advantages of the proposed method for path planning are discussed against traditional method with experimental results in both simulation and real environments. PMID:28678193

Landing instrument packages on regolith in micro gravity: point designs for passive, self-righting landers

NASA Astrophysics Data System (ADS)

Movshovitz, N.; Asphaug, E. I.

2012-12-01

A small asteroid is likely to be the target of the next human exploration mission. Undoubtedly, a robotic mission will precede, whose main objective will be to characterize the target; this would have to include deployment of sensory instruments on the surface. The surface properties of small bodies are largely unknown, and this makes it essential to have detailed models for package deployment. We evaluate low cost, low risk, lander designs by considering 'pods' that have no moving parts, no guidance or thrust, that are designed to be thrown to the surface from the orbiting spacecraft. The design goal is to "encourage" the pods to land upright regardless of surface properties. With no need for guidance or articulation, these pods can be made and deployed to the surface at low cost and low risk. The challenge, of course, is to design the pods to land right-side-up, consistently, in a low gravity environment. In such an environment a body may experience cohesive forces comparable to its weight. These forces will effectively modify the physical parameters controlling a mechanical system, primarily the coefficients of friction and restitution. To make things worse, gravity will not always be pointing "down", as the presence of mass concentrations will tilt the gravity acceleration vector in unpredictable directions. We consider three point designs: (1) a weighted ellipsoidal shape, the bottom several times as dense as the top, analogous to the children's toy; (2) a pod with one side elastic and the other side inelastic; and (3) a combination of both weight distribution and material properties. We have used a discrete element model based on NVIDIA's PhysX library to design a simulation software suitable for modeling astrophysical rubble (Movshovitz, Asphaug and Korycansky, submitted). We then deploy different pod designs onto a numerical regolith testbed. Initial studies are very promising, although to date we have not included forces such as cohesion, and the effect of much smaller grain sizes than can be resolved in our simulations. We study the effect of bulk density, the velocity of deployment, and the effects of a tumbling or spinning deployment to the comet or asteroid surface. We are able to model the utility of internal actuators (vibrators, thumpers) that can rearrange or pods on the surface, or serve to embed them into a bed of loose soil. The size of the pods we are studying is ~30 cm average diameter. The key variables are shape, density distribution, and elastic properties, modeled by a coefficient of restitution. Our models benefit from asynchronous, parallel execution of the gravity module on a GPU, while the rigid-body dynamics module executes on a multi-threaded CPU for maximum performance.

Deployment simulation of a deployable reflector for earth science application

NASA Astrophysics Data System (ADS)

Wang, Xiaokai; Fang, Houfei; Cai, Bei; Ma, Xiaofei

2015-10-01

A novel mission concept namely NEXRAD-In-Space (NIS) has been developed for monitoring hurricanes, cyclones and other severe storms from a geostationary orbit. It requires a space deployable 35-meter diameter Ka-band (35 GHz) reflector. NIS can measure hurricane precipitation intensity, dynamics and its life cycle. These information is necessary for predicting the track, intensity, rain rate and hurricane-induced floods. To meet the requirements of the radar system, a Membrane Shell Reflector Segment (MSRS) reflector technology has been developed and several technologies have been evaluated. However, the deployment analysis of this large size and high-precision reflector has not been investigated. For a pre-studies, a scaled tetrahedral truss reflector with spring driving deployment system has been made and tested, deployment dynamics analysis of this scaled reflector has been performed using ADAMS to understand its deployment dynamic behaviors. Eliminating the redundant constraints in the reflector system with a large number of moving parts is a challenging issue. A primitive joint and flexible struts were introduced to the analytical model and they can effectively eliminate over constraints of the model. By using a high-speed camera and a force transducer, a deployment experiment of a single-bay tetrahedral module has been conducted. With the tested results, an optimization process has been performed by using the parameter optimization module of ADAMS to obtain the parameters of the analytical model. These parameters were incorporated to the analytical model of the whole reflector. It is observed from the analysis results that the deployment process of the reflector with a fixed boundary experiences three stages. These stages are rapid deployment stage, slow deployment stage and impact stage. The insight of the force peak distributions of the reflector can help the optimization design of the structure.

Development of a Biomedical Micro/Nano Robot for Drug Delivery.

PubMed

Zhang, Zhenhai; Li, Zhifei; Yu, Wei; Li, Kejie; Xie, Zhihong

2015-04-01

Flagellated bacteria have been utilized as potential swimming micro-robotic bodies for propulsion of spherical liposome by attaching several bacteria on their surface. Liposome as a drug delivery vehicle can contain biologically active compounds. In this work, the antibody binding technique is developed to attach bacteria to liposome's surface. Consequently, the stochastic effect of bacterial propulsion of liposome is investigated analytically and experimentally. It is shown that the mobility of liposome with bacteria was higher than that of liposome without bacteria. Experimental data matches well with statistical calculation.

Toward humanoid robots for operations in complex urban environments

NASA Astrophysics Data System (ADS)

Pratt, Jerry E.; Neuhaus, Peter; Johnson, Matthew; Carff, John; Krupp, Ben

2010-04-01

Many infantry operations in urban environments, such as building clearing, are extremely dangerous and difficult and often result in high casualty rates. Despite the fast pace of technological progress in many other areas, the tactics and technology deployed for many of these dangerous urban operation have not changed much in the last 50 years. While robots have been extremely useful for improvised explosive device (IED) detonation, under-vehicle inspection, surveillance, and cave exploration, there is still no fieldable robot that can operate effectively in cluttered streets and inside buildings. Developing a fieldable robot that can maneuver in complex urban environments is challenging due to narrow corridors, stairs, rubble, doors and cluttered doorways, and other obstacles. Typical wheeled and tracked robots have trouble getting through most of these obstacles. A bipedal humanoid is ideally shaped for many of these obstacles because its legs are long and skinny. Therefore it has the potential to step over large barriers, gaps, rocks, and steps, yet squeeze through narrow passageways, and through narrow doorways. By being able to walk with one foot directly in front of the other, humanoids also have the potential to walk over narrow "balance beam" style objects and can cross a narrow row of stepping stones. We describe some recent advances in humanoid robots, particularly recovery from disturbances, such as pushes and walking over rough terrain. Our disturbance recovery algorithms are based on the concept of Capture Points. An N-Step Capture Point is a point on the ground in which a legged robot can step to in order to stop in N steps. The N-Step Capture Region is the set of all N-Step Capture Points. In order to walk without falling, a legged robot must step somewhere in the intersection between an N-Step Capture Region and the available footholds on the ground. We present results of push recovery using Capture Points on our humanoid robot M2V2.

Status of DoD Robotic Programs

DTIC Science & Technology

1985-03-01

planning or adhere to previously planned routes. 0 Control. Controls are micro electronics based which provide means of autonomous action directly...KEY No: I 11 1181 1431 OROJECT Titloi ISMART TERRAIN ANALYSIS FOR ROBOTIC SYSTEMS (STARS) PROJECT Not I I CLASSIFICATION: IUCI TASK Titles IAUTOMATIC

Fuel savings and emissions reductions from light duty fuel cell vehicles

NASA Astrophysics Data System (ADS)

Mark, J.; Ohi, J. M.; Hudson, D. V., Jr.

1994-04-01

Fuel cell vehicles (FCV's) operate efficiently, emit few pollutants, and run on nonpetroleum fuels. Because of these characteristics, the large-scale deployment of FCV's has the potential to lessen U.S. dependence on foreign oil and improve air quality. This study characterizes the benefits of large-scale FCV deployment in the light duty vehicle market. Specifically, the study assesses the potential fuel savings and emissions reductions resulting from large-scale use of these FCV's and identifies the key parameters that affect the scope of the benefits from FCV use. The analysis scenario assumes that FCV's will compete with gasoline-powered light trucks and cars in the new vehicle market for replacement of retired vehicles and will compete for growth in the total market. Analysts concluded that the potential benefits from FCV's, measured in terms of consumer outlays for motor fuel and the value of reduced air emissions, are substantial.

NanoRacks CubeSat Deployment

NASA Image and Video Library

2014-02-11

ISS038-E-045009 (11 Feb. 2014) --- The Small Satellite Orbital Deployer (SSOD), in the grasp of the Kibo laboratory robotic arm, is photographed by an Expedition 38 crew member on the International Space Station as it deploys a set of NanoRacks CubeSats. The CubeSats program contains a variety of experiments such as Earth observations and advanced electronics testing. Station solar array panels, Earth's horizon and the blackness of space provide the backdrop for the scene.

High-efficiency integrated piezoelectric energy harvesting systems

NASA Astrophysics Data System (ADS)

Hande, Abhiman; Shah, Pradeep

2010-04-01

This paper describes hierarchically architectured development of an energy harvesting (EH) system that consists of micro and/or macro-scale harvesters matched to multiple components of remote wireless sensor and communication nodes. The micro-scale harvesters consist of thin-film MEMS piezoelectric cantilever arrays and power generation modules in IC-like form to allow efficient EH from vibrations. The design uses new high conversion efficiency thin-film processes combined with novel cantilever structures tuned to multiple resonant frequencies as broadband arrays. The macro-scale harvesters are used to power the collector nodes that have higher power specifications. These bulk harvesters can be integrated with efficient adaptive power management circuits that match transducer impedance and maximize power harvested from multiple scavenging sources with very low intrinsic power consumption. Texas MicroPower, Inc. is developing process based on a composition that has the highest reported energy density as compared to other commercially available bulk PZT-based sensor/actuator ceramic materials and extending it to thin-film materials and miniature conversion transducer structures. The multiform factor harvesters can be deployed for several military and commercial applications such as underground unattended sensors, sensors in oil rigs, structural health monitoring, supply chain management, and battlefield applications such as sensors on soldier apparel, equipment, and wearable electronics.

FARMS: The Flexible Agricultural Robotics Manipulator

NASA Technical Reports Server (NTRS)

Gill, Paul S.

1991-01-01

A technology utilization project was established with the Marshall Space Flight Center and the University of Georgia to develop an Earth-based, robotic end effector to process live plant (geranium) material which will improve productivity and efficiency in agricultural systems such as commercial nurseries and greenhouse systems. The aim is to apply this technology to NASA's presence in space, including permanently manned space stations and manned planetary communities requiring large scale food production needs.

Community-aware charging station network design for electrified vehicles in urban areas : reducing congestion, emissions, improving accessibility, and promoting walking, bicycling, and use of public transportation.

DOT National Transportation Integrated Search

2016-08-31

A major challenge for achieving large-scale adoption of EVs is an accessible infrastructure for the communities. The societal benefits of large-scale adoption of EVs cannot be realized without adequate deployment of publicly accessible charging stati...

Task directed sensing

NASA Technical Reports Server (NTRS)

Firby, R. James

1990-01-01

High-level robot control research must confront the limitations imposed by real sensors if robots are to be controlled effectively in the real world. In particular, sensor limitations make it impossible to maintain a complete, detailed world model of the situation surrounding the robot. To address the problems involved in planning with the resulting incomplete and uncertain world models, traditional robot control architectures must be altered significantly. Task-directed sensing and control is suggested as a way of coping with world model limitations by focusing sensing and analysis resources on only those parts of the world relevant to the robot's active goals. The RAP adaptive execution system is used as an example of a control architecture designed to deploy sensing resources in this way to accomplish both action and knowledge goals.

Virtual and remote robotic laboratory using EJS, MATLAB and LabVIEW.

PubMed

Chaos, Dictino; Chacón, Jesús; Lopez-Orozco, Jose Antonio; Dormido, Sebastián

2013-02-21

This paper describes the design and implementation of a virtual and remote laboratory based on Easy Java Simulations (EJS) and LabVIEW. The main application of this laboratory is to improve the study of sensors in Mobile Robotics, dealing with the problems that arise on the real world experiments. This laboratory allows the user to work from their homes, tele-operating a real robot that takes measurements from its sensors in order to obtain a map of its environment. In addition, the application allows interacting with a robot simulation (virtual laboratory) or with a real robot (remote laboratory), with the same simple and intuitive graphical user interface in EJS. Thus, students can develop signal processing and control algorithms for the robot in simulation and then deploy them on the real robot for testing purposes. Practical examples of application of the laboratory on the inter-University Master of Systems Engineering and Automatic Control are presented.

Virtual and Remote Robotic Laboratory Using EJS, MATLAB and Lab VIEW

PubMed Central

Chaos, Dictino; Chacón, Jesús; Lopez-Orozco, Jose Antonio; Dormido, Sebastián

2013-01-01

This paper describes the design and implementation of a virtual and remote laboratory based on Easy Java Simulations (EJS) and LabVIEW. The main application of this laboratory is to improve the study of sensors in Mobile Robotics, dealing with the problems that arise on the real world experiments. This laboratory allows the user to work from their homes, tele-operating a real robot that takes measurements from its sensors in order to obtain a map of its environment. In addition, the application allows interacting with a robot simulation (virtual laboratory) or with a real robot (remote laboratory), with the same simple and intuitive graphical user interface in EJS. Thus, students can develop signal processing and control algorithms for the robot in simulation and then deploy them on the real robot for testing purposes. Practical examples of application of the laboratory on the inter-University Master of Systems Engineering and Automatic Control are presented. PMID:23429578

Structure Assembly by a Heterogeneous Team of Robots Using State Estimation, Generalized Joints, and Mobile Parallel Manipulators

NASA Technical Reports Server (NTRS)

Komendera, Erik E.; Adhikari, Shaurav; Glassner, Samantha; Kishen, Ashwin; Quartaro, Amy

2017-01-01

Autonomous robotic assembly by mobile field robots has seen significant advances in recent decades, yet practicality remains elusive. Identified challenges include better use of state estimation to and reasoning with uncertainty, spreading out tasks to specialized robots, and implementing representative joining methods. This paper proposes replacing 1) self-correcting mechanical linkages with generalized joints for improved applicability, 2) assembly serial manipulators with parallel manipulators for higher precision and stability, and 3) all-in-one robots with a heterogeneous team of specialized robots for agent simplicity. This paper then describes a general assembly algorithm utilizing state estimation. Finally, these concepts are tested in the context of solar array assembly, requiring a team of robots to assemble, bond, and deploy a set of solar panel mockups to a backbone truss to an accuracy not built into the parts. This paper presents the results of these tests.

Simple, Robust Cryogenic Propellant Depot for Near Term Applications

NASA Technical Reports Server (NTRS)

McLean, Christopher; Pitchford, Brian; Mustafi, Shuvo; Wollen, Mark; Walls, Laurie; Schmidt, Jeff

2011-01-01

The ability to refuel cryogenic propulsion stages on-orbit provides an innovative paradigm shift for space transportation supporting National Aeronautics and Space Administration s (NASA) Exploration program as well as deep space robotic, national security and commercial missions. Refueling enables large beyond low Earth orbit (LEO) missions without requiring super heavy lift vehicles that must continuously grow to support increasing mission demands as America s exploration transitions from early Lagrange point missions to near Earth objects (NEO), the lunar surface and eventually Mars. Earth-to-orbit launch can be optimized to provide competitive, cost-effective solutions that allow sustained exploration. This paper describes an experimental platform developed to demonstrate the major technologies required for fuel depot technology. This test bed is capable of transferring residual liquid hydrogen (LH2) or liquid oxygen (LO2) from a Centaur upper stage, and storage in a secondary tank for up to one year on-orbit. A dedicated, flight heritage spacecraft bus is attached to an Evolved Expendable Launch Vehicle (EELV) Secondary Payload Adapter (ESPA) ring supporting experiments and data collection. This platform can be deployed as early as Q1 2013. The propellant depot design described in this paper can be deployed affordably this decade supporting missions to Earth-Moon Lagrange points and lunar fly by. The same depot concept can be scaled up to support more demanding missions and launch capabilities. The enabling depot design features, technologies and concept of operations are described.

Pharmaceutical Raw Material Identification Using Miniature Near-Infrared (MicroNIR) Spectroscopy and Supervised Pattern Recognition Using Support Vector Machine

PubMed Central

Hsiung, Chang; Pederson, Christopher G.; Zou, Peng; Smith, Valton; von Gunten, Marc; O’Brien, Nada A.

2016-01-01

Near-infrared spectroscopy as a rapid and non-destructive analytical technique offers great advantages for pharmaceutical raw material identification (RMID) to fulfill the quality and safety requirements in pharmaceutical industry. In this study, we demonstrated the use of portable miniature near-infrared (MicroNIR) spectrometers for NIR-based pharmaceutical RMID and solved two challenges in this area, model transferability and large-scale classification, with the aid of support vector machine (SVM) modeling. We used a set of 19 pharmaceutical compounds including various active pharmaceutical ingredients (APIs) and excipients and six MicroNIR spectrometers to test model transferability. For the test of large-scale classification, we used another set of 253 pharmaceutical compounds comprised of both chemically and physically different APIs and excipients. We compared SVM with conventional chemometric modeling techniques, including soft independent modeling of class analogy, partial least squares discriminant analysis, linear discriminant analysis, and quadratic discriminant analysis. Support vector machine modeling using a linear kernel, especially when combined with a hierarchical scheme, exhibited excellent performance in both model transferability and large-scale classification. Hence, ultra-compact, portable and robust MicroNIR spectrometers coupled with SVM modeling can make on-site and in situ pharmaceutical RMID for large-volume applications highly achievable. PMID:27029624

Planning and Control for Microassembly of Structures Composed of Stress-Engineered MEMS Microrobots

PubMed Central

Donald, Bruce R.; Levey, Christopher G.; Paprotny, Igor; Rus, Daniela

2013-01-01

We present control strategies that implement planar microassembly using groups of stress-engineered MEMS microrobots (MicroStressBots) controlled through a single global control signal. The global control signal couples the motion of the devices, causing the system to be highly underactuated. In order for the robots to assemble into arbitrary planar shapes despite the high degree of underactuation, it is desirable that each robot be independently maneuverable (independently controllable). To achieve independent control, we fabricated robots that behave (move) differently from one another in response to the same global control signal. We harnessed this differentiation to develop assembly control strategies, where the assembly goal is a desired geometric shape that can be obtained by connecting the chassis of individual robots. We derived and experimentally tested assembly plans that command some of the robots to make progress toward the goal, while other robots are constrained to remain in small circular trajectories (closed-loop orbits) until it is their turn to move into the goal shape. Our control strategies were tested on systems of fabricated MicroStressBots. The robots are 240–280 μm × 60 μm × 7–20 μm in size and move simultaneously within a single operating environment. We demonstrated the feasibility of our control scheme by accurately assembling five different types of planar microstructures. PMID:23580796

Radio Wavelength Studies of the Galactic Center Source N3, Spectroscopic Instrumentation For Robotic Telescope Systems, and Developing Active Learning Activities for Astronomy Laboratory Courses

NASA Astrophysics Data System (ADS)

Ludovici, Dominic Alesio

2017-08-01

The mysterious radio source N3 appears to be located within the vicinity of the Radio Arc region of the Galactic Center. To investigate the nature of this source, we have conducted radio observations with the VLA and the VLBA. Continuum observations between 2 and 50 GHz reveal that N3 is an extremely compact and bright source with a non-thermal spectrum. Molecular line observations with the VLA reveal a compact molecular cloud adjacent to N3 in projection. The properties of this cloud are consistent with other galactic center clouds. We are able to rule out several hypotheses for the nature of N3, though a micro-blazar origin cannot be ruled out. Robotic Telescope systems are now seeing widespread deployment as both teaching and research instruments. While these systems have traditionally been able to produce high quality images, these systems have lacked the capability to conduct spectroscopic observations. To enable spectroscopic observations on the Iowa Robotic Observatory, we have developed a low cost (˜ 500), low resolution (R ˜ 300) spectrometer which mounts inside a modified filter wheel and a moderate cost (˜ 5000), medium resolution (R ˜ 8000) fiber-fed spectrometer. Software has been developed to operate both instruments robotically and calibration pipelines are being developed to automate calibration of the data. The University of Iowa offers several introductory astronomy laboratory courses taken by many hundreds of students each semester. To improve student learning in these laboratory courses, we have worked to integrate active learning into laboratory activities. We present the pedagogical approaches used to develop and update the laboratory activities and present an inventory of the current laboratory exercises. Using the inventory, we make observations of the strengths and weaknesses of the current exercises and provide suggestions for future refinement of the astronomy laboratory curriculum.

Experimental Characterization of Hysteresis in a Revolute Joint for Precision Deployable Structures

NASA Technical Reports Server (NTRS)

Lake, Mark S.; Fung, Jimmy; Gloss, Kevin; Liechty, Derek S.

1997-01-01

Recent studies of the micro-dynamic behavior of a deployable telescope metering truss have identified instabilities in the equilibrium shape of the truss in response to low-energy dynamic loading. Analyses indicate that these micro-dynamic instabilities arise from stick-slip friction within the truss joints (e.g., hinges and latches). The present study characterizes the low-magnitude quasi-static load cycle response of the precision revolute joints incorporated in the deployable telescope metering truss, and specifically, the hysteretic response of these joints caused by stick-slip friction within the joint. Detailed descriptions are presented of the test setup and data reduction algorithms, including discussions of data-error sources and data-filtering techniques. Test results are presented from thirteen specimens, and the effects of joint preload and manufacturing tolerances are investigated. Using a simplified model of stick-slip friction, a relationship is made between joint load-cycle behavior and micro-dynamic dimensional instabilities in the deployable telescope metering truss.

Large-scale fabrication of micro-lens array by novel end-fly-cutting-servo diamond machining.

PubMed

Zhu, Zhiwei; To, Suet; Zhang, Shaojian

2015-08-10

Fast/slow tool servo (FTS/STS) diamond turning is a very promising technique for the generation of micro-lens array (MLA). However, it is still a challenge to process MLA in large scale due to certain inherent limitations of this technique. In the present study, a novel ultra-precision diamond cutting method, as the end-fly-cutting-servo (EFCS) system, is adopted and investigated for large-scale generation of MLA. After a detailed discussion of the characteristic advantages for processing MLA, the optimal toolpath generation strategy for the EFCS is developed with consideration of the geometry and installation pose of the diamond tool. A typical aspheric MLA over a large area is experimentally fabricated, and the resulting form accuracy, surface micro-topography and machining efficiency are critically investigated. The result indicates that the MLA with homogeneous quality over the whole area is obtained. Besides, high machining efficiency, extremely small volume of control points for the toolpath, and optimal usage of system dynamics of the machine tool during the whole cutting can be simultaneously achieved.

MicroSensors Systems: detection of a dismounted threat

NASA Astrophysics Data System (ADS)

Davis, Bill; Berglund, Victor; Falkofske, Dwight; Krantz, Brian

2005-05-01

The Micro Sensor System (MSS) is a layered sensor network with the goal of detecting dismounted threats approaching high value assets. A low power unattended ground sensor network is dependant on a network protocol for efficiency in order to minimize data transmissions after network establishment. The reduction of network 'chattiness' is a primary driver for minimizing power consumption and is a factor in establishing a low probability of detection and interception. The MSS has developed a unique protocol to meet these challenges. Unattended ground sensor systems are most likely dependant on batteries for power which due to size determines the ability of the sensor to be concealed after placement. To minimize power requirements, overcome size limitations, and maintain a low system cost the MSS utilizes advanced manufacturing processes know as Fluidic Self-Assembly and Chip Scale Packaging. The type of sensing element and the ability to sense various phenomenologies (particularly magnetic) at ranges greater than a few meters limits the effectiveness of a system. The MicroSensor System will overcome these limitations by deploying large numbers of low cost sensors, which is made possible by the advanced manufacturing process used in production of the sensors. The MSS program will provide unprecedented levels of real-time battlefield information which greatly enhances combat situational awareness when integrated with the existing Command, Control, Communications, Computers, Intelligence, Surveillance and Reconnaissance (C4ISR) infrastructure. This system will provide an important boost to realizing the information dominant, network-centric objective of Joint Vision 2020.

ADOPT: Automotive Deployment Options Projection Tool | Transportation

Science.gov Websites

new model options by combining high-selling powertrains and high-selling vehicle platforms. NREL has . Screenshot of the ADOPT user interface, with two simulation scenario options (low tech and high tech emissions. Biomass Market Dynamics Supporting the Large-Scale Deployment of High-Octane Fuel Production in

Designing, Evaluating, and Deploying Automated Scoring Systems with Validity in Mind: Methodological Design Decisions

ERIC Educational Resources Information Center

Rupp, André A.

2018-01-01

This article discusses critical methodological design decisions for collecting, interpreting, and synthesizing empirical evidence during the design, deployment, and operational quality-control phases for automated scoring systems. The discussion is inspired by work on operational large-scale systems for automated essay scoring but many of the…

Artificial gills for robots: MFC behaviour in water.

PubMed

Ieropoulos, Ioannis; Melhuish, Chris; Greenman, John

2007-09-01

This paper reports on the first stage in developing microbial fuel cells (MFCs) which can operate underwater by utilizing dissolved oxygen. In this context, the cathodic half-cell is likened to an artificial gill. Such an underwater power generator has obvious potential for autonomous underwater robots. The electrical power from these devices increased proportionately with water flow rate, temperature and salinity. The current output at ambient temperature (null condition) was 32 microA and this increased by 200% (approximately 100 microA) as a result of a corresponding temperature increase (DeltaT) of 52 degrees C. Similarly, the effect of increasing the water flow rate resulted in an increase in the MFC output ranging from 135% to 150%. Furthermore, the same positive effect was recorded when artificial seawater was used instead, in which case the increase in the MFC current output was >100% (from 32 to 65 microA). There was a distinct difference in the MFC performance when operated under low turbulent as opposed to high turbulent flow rates. These findings can be advantageous in the design of underwater autonomous robots.

Solidifying Small Satellite Access to Orbit via the International Space Station (ISS): Cyclops' Deployment of the Lonestar SmallSat from the ISS

NASA Technical Reports Server (NTRS)

Hershey, Matthew P.; Newswander, Daniel R.; Evernden, Brent A.

2016-01-01

On January 29, 2016, the Space Station Integrated Kinetic Launcher for Orbital Payload Systems (SSIKLOPS), known as "Cyclops" to the International Space Station (ISS) community, deployed Lonestar from the ISS. The deployment of Lonestar, a collaboration between Texas A&M University and the University of Texas at Austin, continued to showcase the simplicity and reliability of the Cyclops deployment system. Cyclops, a NASA-developed, dedicated 10-100 kg class ISS SmallSat deployment system, utilizes the Japanese airlock and robotic systems to seamlessly insert SmallSats into orbit. This paper will illustrate Cyclops' successful deployment of Lonestar from the ISS as well as outline its concept of operations, interfaces, requirements, and processes.

Human-Robot Teaming in a Multi-Agent Space Assembly Task

NASA Technical Reports Server (NTRS)

Rehnmark, Fredrik; Currie, Nancy; Ambrose, Robert O.; Culbert, Christopher

2004-01-01

NASA's Human Space Flight program depends heavily on spacewalks performed by pairs of suited human astronauts. These Extra-Vehicular Activities (EVAs) are severely restricted in both duration and scope by consumables and available manpower. An expanded multi-agent EVA team combining the information-gathering and problem-solving skills of humans with the survivability and physical capabilities of robots is proposed and illustrated by example. Such teams are useful for large-scale, complex missions requiring dispersed manipulation, locomotion and sensing capabilities. To study collaboration modalities within a multi-agent EVA team, a 1-g test is conducted with humans and robots working together in various supporting roles.

Prototyping and Simulation of Robot Group Intelligence using Kohonen Networks.

PubMed

Wang, Zhijun; Mirdamadi, Reza; Wang, Qing

2016-01-01

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

Perspectives on mobile robots as tools for child development and pediatric rehabilitation.

PubMed

Michaud, François; Salter, Tamie; Duquette, Audrey; Laplante, Jean-François

2007-01-01

Mobile robots (i.e., robots capable of translational movements) can be designed to become interesting tools for child development studies and pediatric rehabilitation. In this article, the authors present two of their projects that involve mobile robots interacting with children: One is a spherical robot deployed in a variety of contexts, and the other is mobile robots used as pedagogical tools for children with pervasive developmental disorders. Locomotion capability appears to be key in creating meaningful and sustained interactions with children: Intentional and purposeful motion is an implicit appealing factor in obtaining children's attention and engaging them in interaction and learning. Both of these projects started with robotic objectives but are revealed to be rich sources of interdisciplinary collaborations in the field of assistive technology. This article presents perspectives on how mobile robots can be designed to address the requirements of child-robot interactions and studies. The authors also argue that mobile robot technology can be a useful tool in rehabilitation engineering, reaching its full potential through strong collaborations between roboticists and pediatric specialists.

Prototyping and Simulation of Robot Group Intelligence using Kohonen Networks

PubMed Central

Wang, Zhijun; Mirdamadi, Reza; Wang, Qing

2016-01-01

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

Bioinspired legged-robot based on large deformation of flexible skeleton.

PubMed

Mayyas, Mohammad

2014-11-11

In this article we present STARbot, a bioinspired legged robot capable of multiple locomotion modalities by using large deformation of its skeleton. We construct STARbot by using origami-style folding of flexible laminates. The long-term goal is to provide a robotic platform with maximum mobility on multiple surfaces. This paper particularly studies the quasistatic model of STARbot's leg under different conditions. We describe the large elastic deformation of a leg under external force, payload, and friction by using a set of non-dimensional, nonlinear approximate equations. We developed a test mechanism that models the motion of a leg in STARbot. We augmented several foot shapes and then tested them on soft to rough grounds. Both simulation and experimental findings were in good agreement. We utilized the model to develop several scales of tri and quad STARbot. We demonstrated the capability of these robots to locomote by combining their leg deformations with their foot motions. The combination provided a design platform for an active suspension STARbot with controlled foot locomotion. This included the ability of STARbot to change size, run over obstacles, walk and slide. Furthermore, in this paper we discuss a cost effective manufacturing and production method for manufacturing STARbot.

Floating Offshore Wind in Oregon: Potential for Jobs and Economic Impacts in Oregon Coastal Counties from Two Future Scenarios

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

Jimenez, Tony; Keyser, David; Tegen, Suzanne

This analysis examines the employment and potential economic impacts of large-scale deployment of offshore wind technology off the coast of Oregon. This analysis examines impacts within the seven Oregon coastal counties: Clatsop, Tillamook, Lincoln, Lane, Douglas, Coos, and Curry. The impacts highlighted here can be used in county, state, and regional planning discussions and can be scaled to get a general sense of the economic development opportunities associated with other deployment scenarios.

Physics and Robotic Sensing -- the good, the bad, and approaches to making it work

NASA Astrophysics Data System (ADS)

Huff, Brian

2011-03-01

All of the technological advances that have benefited consumer electronics have direct application to robotics. Technological advances have resulted in the dramatic reduction in size, cost, and weight of computing systems, while simultaneously doubling computational speed every eighteen months. The same manufacturing advancements that have enabled this rapid increase in computational power are now being leveraged to produce small, powerful and cost-effective sensing technologies applicable for use in mobile robotics applications. Despite the increase in computing and sensing resources available to today's robotic systems developers, there are sensing problems typically found in unstructured environments that continue to frustrate the widespread use of robotics and unmanned systems. This talk presents how physics has contributed to the creation of the technologies that are making modern robotics possible. The talk discusses theoretical approaches to robotic sensing that appear to suffer when they are deployed in the real world. Finally the author presents methods being used to make robotic sensing more robust.

Deployable micro-traps to sequester motile bacteria

NASA Astrophysics Data System (ADS)

di Giacomo, Raffaele; Krödel, Sebastian; Maresca, Bruno; Benzoni, Patrizia; Rusconi, Roberto; Stocker, Roman; Daraio, Chiara

2017-04-01

The development of strategies to reduce the load of unwanted bacteria is a fundamental challenge in industrial processing, environmental sciences and medical applications. Here, we report a new method to sequester motile bacteria from a liquid, based on passive, deployable micro-traps that confine bacteria using micro-funnels that open into trapping chambers. Even in low concentrations, micro-traps afford a 70% reduction in the amount of bacteria in a liquid sample, with a potential to reach >90% as shown by modelling improved geometries. This work introduces a new approach to contain the growth of bacteria without chemical means, an advantage of particular importance given the alarming growth of pan-drug-resistant bacteria.

Deployable micro-traps to sequester motile bacteria

PubMed Central

Di Giacomo, Raffaele; Krödel, Sebastian; Maresca, Bruno; Benzoni, Patrizia; Rusconi, Roberto; Stocker, Roman; Daraio, Chiara

2017-01-01

The development of strategies to reduce the load of unwanted bacteria is a fundamental challenge in industrial processing, environmental sciences and medical applications. Here, we report a new method to sequester motile bacteria from a liquid, based on passive, deployable micro-traps that confine bacteria using micro-funnels that open into trapping chambers. Even in low concentrations, micro-traps afford a 70% reduction in the amount of bacteria in a liquid sample, with a potential to reach >90% as shown by modelling improved geometries. This work introduces a new approach to contain the growth of bacteria without chemical means, an advantage of particular importance given the alarming growth of pan-drug-resistant bacteria. PMID:28378786

Deployable micro-traps to sequester motile bacteria.

PubMed

Di Giacomo, Raffaele; Krödel, Sebastian; Maresca, Bruno; Benzoni, Patrizia; Rusconi, Roberto; Stocker, Roman; Daraio, Chiara

2017-04-05

The development of strategies to reduce the load of unwanted bacteria is a fundamental challenge in industrial processing, environmental sciences and medical applications. Here, we report a new method to sequester motile bacteria from a liquid, based on passive, deployable micro-traps that confine bacteria using micro-funnels that open into trapping chambers. Even in low concentrations, micro-traps afford a 70% reduction in the amount of bacteria in a liquid sample, with a potential to reach >90% as shown by modelling improved geometries. This work introduces a new approach to contain the growth of bacteria without chemical means, an advantage of particular importance given the alarming growth of pan-drug-resistant bacteria.

Challenges for Deploying Man-Portable Robots into Hostile Environments

DTIC Science & Technology

2000-11-01

video, JAUGS , MDARS 1. BACKGROUND In modern-day warfare the most likely battlefield is an urban environment, which poses many threats to today’s...teleoperation, reconnaissance, surveillance, digital video, JAUGS , MDARS 15. SUBJECT TERMS 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT 18...Architecture (MRHA) and the Joint Architecture for Unmanned Ground Systems ( JAUGS ). The hybrid architecture is termed SMART for Small Robotic Technology. It

Reconnaissance and Autonomy for Small Robots (RASR)

DTIC Science & Technology

2012-06-29

The Reconnaissance and Autonomy for Small Robots (RASR) team developed a system for the coordination of groups of unmanned ground vehicles (UGVs...development of a system that used 1) a relevant deployable platform; 2) a minimum set of relatively inexpensive navigation and LADAR sensors; 3) an...expandable and modular control system with innovative software algorithms to minimize computing footprint; and that minimized 4) required communications

PsRobot: a web-based plant small RNA meta-analysis toolbox.

PubMed

Wu, Hua-Jun; Ma, Ying-Ke; Chen, Tong; Wang, Meng; Wang, Xiu-Jie

2012-07-01

Small RNAs (smRNAs) in plants, mainly microRNAs and small interfering RNAs, play important roles in both transcriptional and post-transcriptional gene regulation. The broad application of high-throughput sequencing technology has made routinely generation of bulk smRNA sequences in laboratories possible, thus has significantly increased the need for batch analysis tools. PsRobot is a web-based easy-to-use tool dedicated to the identification of smRNAs with stem-loop shaped precursors (such as microRNAs and short hairpin RNAs) and their target genes/transcripts. It performs fast analysis to identify smRNAs with stem-loop shaped precursors among batch input data and predicts their targets using a modified Smith-Waterman algorithm. PsRobot integrates the expression data of smRNAs in major plant smRNA biogenesis gene mutants and smRNA-associated protein complexes to give clues to the smRNA generation and functional processes. Besides improved specificity, the reliability of smRNA target prediction results can also be evaluated by mRNA cleavage (degradome) data. The cross species conservation statuses and the multiplicity of smRNA target sites are also provided. PsRobot is freely accessible at http://omicslab.genetics.ac.cn/psRobot/.

A neurorobotic platform for locomotor prosthetic development in rats and mice

NASA Astrophysics Data System (ADS)

von Zitzewitz, Joachim; Asboth, Leonie; Fumeaux, Nicolas; Hasse, Alexander; Baud, Laetitia; Vallery, Heike; Courtine, Grégoire

2016-04-01

Objectives. We aimed to develop a robotic interface capable of providing finely-tuned, multidirectional trunk assistance adjusted in real-time during unconstrained locomotion in rats and mice. Approach. We interfaced a large-scale robotic structure actuated in four degrees of freedom to exchangeable attachment modules exhibiting selective compliance along distinct directions. This combination allowed high-precision force and torque control in multiple directions over a large workspace. We next designed a neurorobotic platform wherein real-time kinematics and physiological signals directly adjust robotic actuation and prosthetic actions. We tested the performance of this platform in both rats and mice with spinal cord injury. Main Results. Kinematic analyses showed that the robotic interface did not impede locomotor movements of lightweight mice that walked freely along paths with changing directions and height profiles. Personalized trunk assistance instantly enabled coordinated locomotion in mice and rats with severe hindlimb motor deficits. Closed-loop control of robotic actuation based on ongoing movement features enabled real-time control of electromyographic activity in anti-gravity muscles during locomotion. Significance. This neurorobotic platform will support the study of the mechanisms underlying the therapeutic effects of locomotor prosthetics and rehabilitation using high-resolution genetic tools in rodent models.

A neurorobotic platform for locomotor prosthetic development in rats and mice.

PubMed

von Zitzewitz, Joachim; Asboth, Leonie; Fumeaux, Nicolas; Hasse, Alexander; Baud, Laetitia; Vallery, Heike; Courtine, Grégoire

2016-04-01

We aimed to develop a robotic interface capable of providing finely-tuned, multidirectional trunk assistance adjusted in real-time during unconstrained locomotion in rats and mice. We interfaced a large-scale robotic structure actuated in four degrees of freedom to exchangeable attachment modules exhibiting selective compliance along distinct directions. This combination allowed high-precision force and torque control in multiple directions over a large workspace. We next designed a neurorobotic platform wherein real-time kinematics and physiological signals directly adjust robotic actuation and prosthetic actions. We tested the performance of this platform in both rats and mice with spinal cord injury. Kinematic analyses showed that the robotic interface did not impede locomotor movements of lightweight mice that walked freely along paths with changing directions and height profiles. Personalized trunk assistance instantly enabled coordinated locomotion in mice and rats with severe hindlimb motor deficits. Closed-loop control of robotic actuation based on ongoing movement features enabled real-time control of electromyographic activity in anti-gravity muscles during locomotion. This neurorobotic platform will support the study of the mechanisms underlying the therapeutic effects of locomotor prosthetics and rehabilitation using high-resolution genetic tools in rodent models.

Comparative phyloinformatics of virus genes at micro and macro levels in a distributed computing environment.

PubMed

Singh, Dadabhai T; Trehan, Rahul; Schmidt, Bertil; Bretschneider, Timo

2008-01-01

Preparedness for a possible global pandemic caused by viruses such as the highly pathogenic influenza A subtype H5N1 has become a global priority. In particular, it is critical to monitor the appearance of any new emerging subtypes. Comparative phyloinformatics can be used to monitor, analyze, and possibly predict the evolution of viruses. However, in order to utilize the full functionality of available analysis packages for large-scale phyloinformatics studies, a team of computer scientists, biostatisticians and virologists is needed--a requirement which cannot be fulfilled in many cases. Furthermore, the time complexities of many algorithms involved leads to prohibitive runtimes on sequential computer platforms. This has so far hindered the use of comparative phyloinformatics as a commonly applied tool in this area. In this paper the graphical-oriented workflow design system called Quascade and its efficient usage for comparative phyloinformatics are presented. In particular, we focus on how this task can be effectively performed in a distributed computing environment. As a proof of concept, the designed workflows are used for the phylogenetic analysis of neuraminidase of H5N1 isolates (micro level) and influenza viruses (macro level). The results of this paper are hence twofold. Firstly, this paper demonstrates the usefulness of a graphical user interface system to design and execute complex distributed workflows for large-scale phyloinformatics studies of virus genes. Secondly, the analysis of neuraminidase on different levels of complexity provides valuable insights of this virus's tendency for geographical based clustering in the phylogenetic tree and also shows the importance of glycan sites in its molecular evolution. The current study demonstrates the efficiency and utility of workflow systems providing a biologist friendly approach to complex biological dataset analysis using high performance computing. In particular, the utility of the platform Quascade for deploying distributed and parallelized versions of a variety of computationally intensive phylogenetic algorithms has been shown. Secondly, the analysis of the utilized H5N1 neuraminidase datasets at macro and micro levels has clearly indicated a pattern of spatial clustering of the H5N1 viral isolates based on geographical distribution rather than temporal or host range based clustering.

Photo-driven nanoactuators based on carbon nanocoils and vanadium dioxide bimorphs.

PubMed

Ma, He; Zhang, Xinping; Cui, Ruixue; Liu, Feifei; Wang, Meng; Huang, Cuiying; Hou, Jiwei; Wang, Guang; Wei, Yang; Jiang, Kaili; Pan, Lujun; Liu, Kai

2018-06-06

Photo-driven actuators are highly desirable in various smart systems owing to the advantages of wireless control and possible actuation by solar energy. Miniaturization of photo-driven actuators is particularly essential in micro-robotics and micro-/nano-electro-mechanical systems. However, it remains a great challenge to build up nano-scale photo-driven actuators with competitive performance in amplitude, response speed, and lifetime. In this work, we developed photo-driven nanoactuators based on bimorph structures of vanadium dioxides (VO2) and carbon nanocoils (CNCs). Activated by the huge structural phase transition of VO2, the photo-driven VO2/CNC nanoactuators deliver a giant amplitude, a fast response up to 9400 Hz, and a long lifetime more than 10 000 000 actuation cycles. Both experimental and simulation results show that the helical structure of CNCs enables a low photo-driven threshold of VO2/CNC nanoactuators, which provides an effective method to construct photo-driven nanoactuators with low power consumption. Our photo-driven VO2/CNC nanoactuators would find potential applications in nano-scale electrical/optical switches and other smart devices.

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

PubMed

Liang, Yuhua Jake; Lee, Seungcheol Austin

2016-09-01

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

CFD modeling of catheter-based Chemofilter device for filtering chemotherapy drugs from venous flow

NASA Astrophysics Data System (ADS)

Maani, Nazanin; Yee, Daryl; Nosonovsky, Michael; Greer, Julia; Hetts, Steven; Rayz, Vitaliy

2017-11-01

Purpose: Intra-arterial chemotherapy, a procedure where drugs are injected into arteries supplying a tumor, may cause systemic toxicity. The Chemofilter device, deployed in a vein downstream of the tumor, can chemically filter the excessive drugs from the circulation. In our study, CFD modeling of blood flow through the Chemofilter is used to optimize its hemodynamic performance. Methods:The Chemofilter consists of a porous membrane attached to a stent-like frame of the RX Accunet distal protection filters used for capturing blood clots. The membrane is formed by a lattice of symmetric micro-cells. This design provides a large surface area for the drug binding, and allows blood cells to pass through the lattice. A two-scale modeling approach is used, where the flow through individual micro-cells is simulated to determine the lattice permeability and then the entire device is modeled as a porous membrane. Results: The simulations detected regions of flow stagnation and recirculation caused by the membrane and its supporting frame. The effect of the membrane's leading angle on the velocity and pressure fields was determined. The device optimization will help the efficacy of drug absorption, while the risk of blood clotting reduces. NIH NCI R01CA194533.

Micro weather stations for in situ measurements in the Martian planetary boundary layer

NASA Technical Reports Server (NTRS)

Crisp, D.; Kaiser, W. J.; Kenny, T. W.; Vanzandt, T. R.; Tillman, J. E.

1992-01-01

Viking Lander meteorology measurements show that the Martian planetary boundary layer (PBL) has large diurnal and seasonal variations in pressure, wind velocity, relative humidity, and airborne dust loading. An even larger range of conditions was inferred from remote sensing observations acquired by the Mariner 9 and Viking orbiters. Numerical models indicate that these changes may be accompanied by dramatic vertical and horizontal wind shears (100 m/s/km) and rapid changes in the static stability. In-situ measurements from a relatively small number surface stations could yield global constraints on the Martian climate and atmospheric general circulation by providing ground truth for remote sensing instruments on orbiters. A more complete understanding of the meteorology of the PBL is an essential precursor to manned missions to Mars because this will be their working environment. In-situ measurements are needed for these studies because the spatial and temporal scales that characterize the important meteorological processes near the surface cannot be resolved from orbit. The Mars Environmental Survey (MESUR) Program will provide the first opportunity to deploy a network of surface weather stations for a comprehensive investigation of the Martian PBL. The feasibility and utility of a network of micro-weather stations for making in-situ meteorological measurements in the Martian PBL are assessed.

Sparse Measurement Systems: Applications, Analysis, Algorithms and Design

ERIC Educational Resources Information Center

Narayanaswamy, Balakrishnan

2011-01-01

This thesis deals with "large-scale" detection problems that arise in many real world applications such as sensor networks, mapping with mobile robots and group testing for biological screening and drug discovery. These are problems where the values of a large number of inputs need to be inferred from noisy observations and where the…

Robust Agent Control of an Autonomous Robot with Many Sensors and Actuators

DTIC Science & Technology

1993-05-01

Overview 22 3.1 Issues of Controller Design ........................ 22 3.2 Robot Behavior Control Philosophy .................. 23 3.3 Overview of the... designed and built by our lab as an 9 Figure 1.1- Hannibal. 10 experimental platform to explore planetary micro-rover control issues (Angle 1991). When... designing the robot, careful consideration was given to mobility, sensing, and robustness issues. Much has been said concerning the advan- tages of

Approaches to automated protein crystal harvesting

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

Deller, Marc C., E-mail: mdeller@scripps.edu; Rupp, Bernhard, E-mail: mdeller@scripps.edu

Approaches to automated and robot-assisted harvesting of protein crystals are critically reviewed. While no true turn-key solutions for automation of protein crystal harvesting are currently available, systems incorporating advanced robotics and micro-electromechanical systems represent exciting developments with the potential to revolutionize the way in which protein crystals are harvested.

Autonomous Rovers for Polar Science Campaigns

NASA Astrophysics Data System (ADS)

Lever, J. H.; Ray, L. E.; Williams, R. M.; Morlock, A. M.; Burzynski, A. M.

2012-12-01

We have developed and deployed two over-snow autonomous rovers able to conduct remote science campaigns on Polar ice sheets. Yeti is an 80-kg, four-wheel-drive (4WD) battery-powered robot with 3 - 4 hr endurance, and Cool Robot is a 60-kg 4WD solar-powered robot with unlimited endurance during Polar summers. Both robots navigate using GPS waypoint-following to execute pre-planned courses autonomously, and they can each carry or tow 20 - 160 kg instrument payloads over typically firm Polar snowfields. In 2008 - 12, we deployed Yeti to conduct autonomous ground-penetrating radar (GPR) surveys to detect hidden crevasses to help establish safe routes for overland resupply of research stations at South Pole, Antarctica, and Summit, Greenland. We also deployed Yeti with GPR at South Pole in 2011 to identify the locations of potentially hazardous buried buildings from the original 1950's-era station. Autonomous surveys remove personnel from safety risks posed during manual GPR surveys by undetected crevasses or buried buildings. Furthermore, autonomous surveys can yield higher quality and more comprehensive data than manual ones: Yeti's low ground pressure (20 kPa) allows it to cross thinly bridged crevasses or other voids without interrupting a survey, and well-defined survey grids allow repeated detection of buried voids to improve detection reliability and map their extent. To improve survey efficiency, we have automated the mapping of detected hazards, currently identified via post-survey manual review of the GPR data. Additionally, we are developing machine-learning algorithms to detect crevasses autonomously in real time, with reliability potentially higher than manual real-time detection. These algorithms will enable the rover to relay crevasse locations to a base station for near real-time mapping and decision-making. We deployed Cool Robot at Summit Station in 2005 to verify its mobility and power budget over Polar snowfields. Using solar power, this zero-emissions rover could travel more than 500 km per week during Polar summers and provide 100 - 200 W to power instrument payloads to help investigate the atmosphere, magnetosphere, glaciology and sub-glacial geology in Antarctica and Greenland. We are currently upgrading Cool Robot's navigation and solar-power systems and will deploy it during 2013 to map the emissions footprint around Summit Station to demonstrate its potential to execute long-endurance Polar science campaigns. These rovers could assist science traverses to chart safe routes into the interior of Antarctica and Greenland or conduct autonomous, remote science campaigns to extend spatial and temporal coverage for data collection. Our goals include 1,000 - 2,000-km summertime traverses of Antarctica and Greenland, safe navigation through 0.5-m amplitude sastrugi fields, survival in blizzards, and rover-network adaptation to research events of opportunity. We are seeking Polar scientists interested in autonomous, mobile data collection and can adapt the rovers to meet their requirements.

Autonomous Mobile Platform for Research in Cooperative Robotics

NASA Technical Reports Server (NTRS)

Daemi, Ali; Pena, Edward; Ferguson, Paul

1998-01-01

This paper describes the design and development of a platform for research in cooperative mobile robotics. The structure and mechanics of the vehicles are based on R/C cars. The vehicle is rendered mobile by a DC motor and servo motor. The perception of the robot's environment is achieved using IR sensors and a central vision system. A laptop computer processes images from a CCD camera located above the testing area to determine the position of objects in sight. This information is sent to each robot via RF modem. Each robot is operated by a Motorola 68HC11E micro-controller, and all actions of the robots are realized through the connections of IR sensors, modem, and motors. The intelligent behavior of each robot is based on a hierarchical fuzzy-rule based approach.

Deployable Soft Composite Structures.

PubMed

Wang, Wei; Rodrigue, Hugo; Ahn, Sung-Hoon

2016-02-19

Deployable structure composed of smart materials based actuators can reconcile its inherently conflicting requirements of low mass, good shape adaptability, and high load-bearing capability. This work describes the fabrication of deployable structures using smart soft composite actuators combining a soft matrix with variable stiffness properties and hinge-like movement through a rigid skeleton. The hinge actuator has the advantage of being simple to fabricate, inexpensive, lightweight and simple to actuate. This basic actuator can then be used to form modules capable of different types of deformations, which can then be assembled into deployable structures. The design of deployable structures is based on three principles: design of basic hinge actuators, assembly of modules and assembly of modules into large-scale deployable structures. Various deployable structures such as a segmented triangular mast, a planar structure comprised of single-loop hexagonal modules and a ring structure comprised of single-loop quadrilateral modules were designed and fabricated to verify this approach. Finally, a prototype for a deployable mirror was developed by attaching a foldable reflective membrane to the designed ring structure and its functionality was tested by using it to reflect sunlight onto to a small-scale solar panel.

Deployable Soft Composite Structures

PubMed Central

Wang, Wei; Rodrigue, Hugo; Ahn, Sung-Hoon

2016-01-01

Deployable structure composed of smart materials based actuators can reconcile its inherently conflicting requirements of low mass, good shape adaptability, and high load-bearing capability. This work describes the fabrication of deployable structures using smart soft composite actuators combining a soft matrix with variable stiffness properties and hinge-like movement through a rigid skeleton. The hinge actuator has the advantage of being simple to fabricate, inexpensive, lightweight and simple to actuate. This basic actuator can then be used to form modules capable of different types of deformations, which can then be assembled into deployable structures. The design of deployable structures is based on three principles: design of basic hinge actuators, assembly of modules and assembly of modules into large-scale deployable structures. Various deployable structures such as a segmented triangular mast, a planar structure comprised of single-loop hexagonal modules and a ring structure comprised of single-loop quadrilateral modules were designed and fabricated to verify this approach. Finally, a prototype for a deployable mirror was developed by attaching a foldable reflective membrane to the designed ring structure and its functionality was tested by using it to reflect sunlight onto to a small-scale solar panel. PMID:26892762

Hemodynamic Changes Caused by Flow Diverters in Rabbit Aneurysm Models: Comparison of Virtual and Realistic FD Deployments Based on Micro-CT Reconstruction

PubMed Central

Fang, Yibin; Yu, Ying; Cheng, Jiyong; Wang, Shengzhang; Wang, Kuizhong; Liu, Jian-Min; Huang, Qinghai

2013-01-01

Adjusting hemodynamics via flow diverter (FD) implantation is emerging as a novel method of treating cerebral aneurysms. However, most previous FD-related hemodynamic studies were based on virtual FD deployment, which may produce different hemodynamic outcomes than realistic (in vivo) FD deployment. We compared hemodynamics between virtual FD and realistic FD deployments in rabbit aneurysm models using computational fluid dynamics (CFD) simulations. FDs were implanted for aneurysms in 14 rabbits. Vascular models based on rabbit-specific angiograms were reconstructed for CFD studies. Real FD configurations were reconstructed based on micro-CT scans after sacrifice, while virtual FD configurations were constructed with SolidWorks software. Hemodynamic parameters before and after FD deployment were analyzed. According to the metal coverage (MC) of implanted FDs calculated based on micro-CT reconstruction, 14 rabbits were divided into two groups (A, MC >35%; B, MC <35%). Normalized mean wall shear stress (WSS), relative residence time (RRT), inflow velocity, and inflow volume in Group A were significantly different (P<0.05) from virtual FD deployment, but pressure was not (P>0.05). The normalized mean WSS in Group A after realistic FD implantation was significantly lower than that of Group B. All parameters in Group B exhibited no significant difference between realistic and virtual FDs. This study confirmed MC-correlated differences in hemodynamic parameters between realistic and virtual FD deployment. PMID:23823503

Self-rolling up micro 3D structures using temperature-responsive hydrogel sheet

NASA Astrophysics Data System (ADS)

Iwata, Y.; Miyashita, S.; Iwase, E.

2017-12-01

This paper proposes a micro self-folding using a self-rolling up deformation. In the fabrication method at micro scale, self-folding is an especially useful method of easily fabricating complex three-dimensional (3D) structures from engineered two-dimensional (2D) sheets. However, most self-folded structures are limited to 3D structures with a hollow region. Therefore, we made 3D structures with a small hollow region by self-rolling up a 2D sheet consisting of SU-8 and a temperature-responsive hybrid hydrogel of poly(N-isopropylacrylamide-co-acrylic acid) (pNIPAM-AAc). The temperature-responsive hydrogel can provide repetitive deformation, which is a good feature for micro soft robots or actuators, using hydrogel shrinking and swelling. Our micro self-rolling up method is a self-folding method for a 3D structure performed by rolling up a 2D flat sheet, like making a croissant, through continuous self-folding. We used our method to fabricate 3D structures with a small hollow region, such as cylindrical, conical, and croissant-like ellipsoidal structures, and 3D structures with a hollow region, such as spiral shapes. All the structures showed repetitive deformation, forward rolling up in 20 °C cold water and backward rolling up in 40 °C hot water. The results demonstrate that self-rolling up deformation can be useful in the field of micro soft devices.

In vivo microrobots for natural orifice transluminal surgery. Current status and future perspectives.

PubMed

Forgione, A

2009-06-01

The possibility to operate inside the peritoneal cavity through small holes performed in hollow organs that is presented by Natural Orifice Transluminal Endoscopic Surgery (NOTES) represents a major paradigm shift in general surgery. While this new approach seems very appealing from patients' perspectives because it eliminates completely abdominal wall aggression and promises to reduce postoperative pain, it is very challenging for surgeons because of the major constraints imposed by both the mode of access and the limited technology currently available. For this reason NOTES applications at the present time are performed by only a few surgeons and mainly to perform non-complex procedures. While new devices are under development, many of them are trying mainly to simply improve current endoscopic platforms and seem not to offer breakthrough solutions. The numerous challenges introduced by natural orifice approaches require a radical shift in the conception of new technologies in order to make this emerging operative access safe and reproducible. The convergence of several enabling technologies in the field of miniaturization, communication and micro-mechatronics brings the possibility to realize on a large scale the revolutionary concept of miniature in vivo co-operative robots. These robots provide vision and task assistance without the constraints of the entry incision and have been shown in experimental settings to possess many qualities that could be ideal to partner with Natural Orifice Surgery. This article explores the current status of microrobotics as well as presents potential future scenarios of their applications in NOTES.

Preclinical study of transcervical upper mediastinal dissection for esophageal malignancy by robot-assisted surgery.

PubMed

Mori, Kazuhiko; Yoshimura, Shuntaro; Yamagata, Yukinori; Aikou, Susumu; Seto, Yasuyuki

2017-06-01

Robotic surgical systems are potentially applicable to transcervical mediastinal lymph dissection for esophageal malignancy. Robot-assisted surgery was performed on a male fresh-frozen human cadaver. Devices for single-port laparoscopic surgery were deployed via one small incision in the left clavicular area. The task for the robot-assisted surgery was the upper mediastinal dissection to the level of the left main bronchus and en bloc harvest of the lymph nodes adherent to the left recurrent laryngeal nerve. An up-angled 30° scope in the 6 o'clock port and two robotic arms from the 3 and 9 o'clock ports worked effectively together. No collisions of the devices inside the cadaveric body or unexpected traumatic events occurred. The robotic surgical system can be used safely for the upper mediastinal dissection. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

Light-focusing human micro-lenses generated from pluripotent stem cells model lens development and drug-induced cataract in vitro

PubMed Central

Murphy, Patricia; Kabir, Md Humayun; Srivastava, Tarini; Mason, Michele E.; Dewi, Chitra U.; Lim, Seakcheng; Yang, Andrian; Djordjevic, Djordje; Killingsworth, Murray C.; Ho, Joshua W. K.; Harman, David G.

2018-01-01

ABSTRACT Cataracts cause vision loss and blindness by impairing the ability of the ocular lens to focus light onto the retina. Various cataract risk factors have been identified, including drug treatments, age, smoking and diabetes. However, the molecular events responsible for these different forms of cataract are ill-defined, and the advent of modern cataract surgery in the 1960s virtually eliminated access to human lenses for research. Here, we demonstrate large-scale production of light-focusing human micro-lenses from spheroidal masses of human lens epithelial cells purified from differentiating pluripotent stem cells. The purified lens cells and micro-lenses display similar morphology, cellular arrangement, mRNA expression and protein expression to human lens cells and lenses. Exposing the micro-lenses to the emergent cystic fibrosis drug Vx-770 reduces micro-lens transparency and focusing ability. These human micro-lenses provide a powerful and large-scale platform for defining molecular disease mechanisms caused by cataract risk factors, for anti-cataract drug screening and for clinically relevant toxicity assays. PMID:29217756

Light-focusing human micro-lenses generated from pluripotent stem cells model lens development and drug-induced cataract in vitro.

PubMed

Murphy, Patricia; Kabir, Md Humayun; Srivastava, Tarini; Mason, Michele E; Dewi, Chitra U; Lim, Seakcheng; Yang, Andrian; Djordjevic, Djordje; Killingsworth, Murray C; Ho, Joshua W K; Harman, David G; O'Connor, Michael D

2018-01-09

Cataracts cause vision loss and blindness by impairing the ability of the ocular lens to focus light onto the retina. Various cataract risk factors have been identified, including drug treatments, age, smoking and diabetes. However, the molecular events responsible for these different forms of cataract are ill-defined, and the advent of modern cataract surgery in the 1960s virtually eliminated access to human lenses for research. Here, we demonstrate large-scale production of light-focusing human micro-lenses from spheroidal masses of human lens epithelial cells purified from differentiating pluripotent stem cells. The purified lens cells and micro-lenses display similar morphology, cellular arrangement, mRNA expression and protein expression to human lens cells and lenses. Exposing the micro-lenses to the emergent cystic fibrosis drug Vx-770 reduces micro-lens transparency and focusing ability. These human micro-lenses provide a powerful and large-scale platform for defining molecular disease mechanisms caused by cataract risk factors, for anti-cataract drug screening and for clinically relevant toxicity assays. © 2018. Published by The Company of Biologists Ltd.

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.

Quality Function Deployment for Large Systems

NASA Technical Reports Server (NTRS)

Dean, Edwin B.

1992-01-01

Quality Function Deployment (QFD) is typically applied to small subsystems. This paper describes efforts to extend QFD to large scale systems. It links QFD to the system engineering process, the concurrent engineering process, the robust design process, and the costing process. The effect is to generate a tightly linked project management process of high dimensionality which flushes out issues early to provide a high quality, low cost, and, hence, competitive product. A pre-QFD matrix linking customers to customer desires is described.

Race and Space in the 1990s: Changes in the Geographic Scale of Racial Residential Segregation, 1990-2000

PubMed Central

Reardon, Sean F.; Farrell, Chad R.; Matthews, Stephen A.; O'Sullivan, David; Bischoff, Kendra; Firebaugh, Glenn

2014-01-01

We use newly developed methods of measuring spatial segregation across a range of spatial scales to assess changes in racial residential segregation patterns in the 100 largest U.S. metropolitan areas from 1990 to 2000. Our results point to three notable trends in segregation from 1990 to 2000: 1) Hispanic-white and Asian-white segregation levels increased at both micro- and macro-scales; 2) black-white segregation declined at a micro-scale, but was unchanged at a macro-scale; and 3) for all three racial groups and for almost all metropolitan areas, macro-scale segregation accounted for more of the total metropolitan area segregation in 2000 than in 1990. Our examination of the variation in these trends among the metropolitan areas suggests that Hispanic-white and Asian-white segregation changes have been driven largely by increases in macro-scale segregation resulting from the rapid growth of the Hispanic and Asian populations in central cities. The changes in black-white segregation, in contrast, appear to be driven by the continuation of a 30-year trend in declining micro-segregation, coupled with persistent and largely stable patterns of macro-segregation. PMID:19569292

Friction enhancement via micro-patterned wet elastomer adhesives on small intestinal surfaces.

PubMed

Kwon, Jiwoon; Cheung, Eugene; Park, Sukho; Sitti, Metin

2006-12-01

A micro-pillar-based silicone rubber adhesive coated with a thin silicone oil layer is investigated in this paper for developing friction-based clamping mechanisms for robotic endoscopic microcapsules. These adhesives are shown to enhance the frictional force between the capsule and the intestinal wall by a factor of about seven over a non-patterned flat elastomer material. In this study, tests performed on fresh samples of pig small intestine are used to optimize the diameter of the micro-pillars to maximize the frictional forces. In addition, the effects of other factors such as the oil viscosity and applied normal forces are investigated. It is demonstrated that the proposed micro-pillar pattern based elastomer adhesive exhibits a maximal frictional force when the pillar diameter is 140 microm and coated silicon oil has a very high viscosity (10,000 cSt). It is also found that the frictional force of the micro-patterned adhesive increases nonlinearly in proportion to the applied normal force. These adhesives would be used as a robust attachment material for developing robotic capsule endoscopes inside intestines with clamping capability.

Friction enhancement via micro-patterned wet elastomer adhesives on small intestinal surfaces

NASA Astrophysics Data System (ADS)

Kwon, Jiwoon; Cheung, Eugene; Park, Sukho; Sitti, Metin

2006-12-01

A micro-pillar-based silicone rubber adhesive coated with a thin silicone oil layer is investigated in this paper for developing friction-based clamping mechanisms for robotic endoscopic microcapsules. These adhesives are shown to enhance the frictional force between the capsule and the intestinal wall by a factor of about seven over a non-patterned flat elastomer material. In this study, tests performed on fresh samples of pig small intestine are used to optimize the diameter of the micro-pillars to maximize the frictional forces. In addition, the effects of other factors such as the oil viscosity and applied normal forces are investigated. It is demonstrated that the proposed micro-pillar pattern based elastomer adhesive exhibits a maximal frictional force when the pillar diameter is 140 µm and coated silicon oil has a very high viscosity (10 000 cSt). It is also found that the frictional force of the micro-patterned adhesive increases nonlinearly in proportion to the applied normal force. These adhesives would be used as a robust attachment material for developing robotic capsule endoscopes inside intestines with clamping capability.

Robust telerobotics - an integrated system for waste handling, characterization and sorting

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

Couture, S.A.; Hurd, R.L.; Wilhelmsen, K.C.

The Mixed Waste Management Facility (MWMF) at the Lawrence Livermore National Laboratory was designed to serve as a national testbed to demonstrate integrated technologies for the treatment of low-level organic mixed waste at a pilot-plant scale. Pilot-scale demonstration serves to bridge the gap between mature, bench-scale proven technologies and full-scale treatment facilities by providing the infrastructure needed to evaluate technologies in an integrated, front-end to back-end facility. Consistent with the intent to focus on technologies that are ready for pilot scale deployment, the front-end handling and feed preparation of incoming waste material has been designed to demonstrate the application ofmore » emerging robotic and remotely operated handling systems. The selection of telerobotics for remote handling in MWMF was made based on a number of factors - personnel protection, waste generation, maturity, cost, flexibility and extendibility. Telerobotics, or shared control of a manipulator by an operator and a computer, provides the flexibility needed to vary the amount of automation or operator intervention according to task complexity. As part of the telerobotics design effort, the technical risk of deploying the technology was reduced through focused developments and demonstrations. The work involved integrating key tools (1) to make a robust telerobotic system that operates at speeds and reliability levels acceptable to waste handling operators and, (2) to demonstrate an efficient operator interface that minimizes the amount of special training and skills needed by the operator. This paper describes the design and operation of the prototype telerobotic waste handling and sorting system that was developed for MWMF.« less

Telerobotic system concept for real-time soft-tissue imaging during radiotherapy beam delivery.

PubMed

Schlosser, Jeffrey; Salisbury, Kenneth; Hristov, Dimitre

2010-12-01

The curative potential of external beam radiation therapy is critically dependent on having the ability to accurately aim radiation beams at intended targets while avoiding surrounding healthy tissues. However, existing technologies are incapable of real-time, volumetric, soft-tissue imaging during radiation beam delivery, when accurate target tracking is most critical. The authors address this challenge in the development and evaluation of a novel, minimally interfering, telerobotic ultrasound (U.S.) imaging system that can be integrated with existing medical linear accelerators (LINACs) for therapy guidance. A customized human-safe robotic manipulator was designed and built to control the pressure and pitch of an abdominal U.S. transducer while avoiding LINAC gantry collisions. A haptic device was integrated to remotely control the robotic manipulator motion and U.S. image acquisition outside the LINAC room. The ability of the system to continuously maintain high quality prostate images was evaluated in volunteers over extended time periods. Treatment feasibility was assessed by comparing a clinically deployed prostate treatment plan to an alternative plan in which beam directions were restricted to sectors that did not interfere with the transabdominal U.S. transducer. To demonstrate imaging capability concurrent with delivery, robot performance and U.S. target tracking in a phantom were tested with a 15 MV radiation beam active. Remote image acquisition and maintenance of image quality with the haptic interface was successfully demonstrated over 10 min periods in representative treatment setups of volunteers. Furthermore, the robot's ability to maintain a constant probe force and desired pitch angle was unaffected by the LINAC beam. For a representative prostate patient, the dose-volume histogram (DVH) for a plan with restricted sectors remained virtually identical to the DVH of a clinically deployed plan. With reduced margins, as would be enabled by real-time imaging, gross tumor volume coverage was identical while notable reductions of bladder and rectal volumes exposed to large doses were possible. The quality of U.S. images obtained during beam operation was not appreciably degraded by radiofrequency interference and 2D tracking of a phantom object in U.S. images obtained with the beam on/off yielded no significant differences. Remotely controlled robotic U.S. imaging is feasible in the radiotherapy environment and for the first time may offer real-time volumetric soft-tissue guidance concurrent with radiotherapy delivery.

Percutaneous Steerable Robotic Tool Delivery Platform and Metal MEMS Device for Tissue Manipulation and Approximation: Closure of Patent Foramen Ovale in an Animal Model

PubMed Central

Vasilyev, Nikolay V.; Gosline, Andrew H.; Butler, Evan; Lang, Nora; Codd, Patrick J.; Yamauchi, Haruo; Feins, Eric N.; Folk, Chris R.; Cohen, Adam L.; Chen, Richard; Zurakowski, David; del Nido, Pedro J.; Dupont, Pierre E

2013-01-01

Background Beating-heart image-guided intracardiac interventions have been evolving rapidly. To extend the domain of catheter-based and transcardiac interventions into reconstructive surgery, a new robotic tool delivery platform (TDP) and tissue approximation device have been developed. Initial results employing these tools to perform patent foramen ovale (PFO) closure are described. Methods and Results A robotic TDP comprised of superelastic metal tubes provides the capability of delivering and manipulating tools and devices inside the beating heart. A new device technology is also presented that utilizes a metal-based MicroElectroMechanical Systems (MEMS) manufacturing process to produce fully-assembled and fully-functional millimeter-scale tools. As a demonstration of both technologies, a PFO creation and closure was performed in a swine model. In the first group of animals (N=10), a preliminary study was performed. The procedural technique was validated with a transcardiac handheld delivery platform and epicardial echocardiography, video-assisted cardioscopy and fluoroscopy. In the second group (N=9), the procedure was performed percutaneously using the robotic TDP under epicardial echocardiography and fluoroscopy imaging. All PFO’s were completely closed in the first group. In the second group, the PFO was not successfully created in 1 animal, and the defects were completely closed in 6 of the 8 remaining animals. Conclusions In contrast to existing robotic catheter technologies, the robotic TDP utilizes a combination of stiffness and active steerability along its length to provide the positioning accuracy and force application capability necessary for tissue manipulation. In combination with a MEMS tool technology, it can enable reconstructive procedures inside the beating heart. PMID:23899870

Protocol for Communication Networking for Formation Flying

NASA Technical Reports Server (NTRS)

Jennings, Esther; Okino, Clayton; Gao, Jay; Clare, Loren

2009-01-01

An application-layer protocol and a network architecture have been proposed for data communications among multiple autonomous spacecraft that are required to fly in a precise formation in order to perform scientific observations. The protocol could also be applied to other autonomous vehicles operating in formation, including robotic aircraft, robotic land vehicles, and robotic underwater vehicles. A group of spacecraft or other vehicles to which the protocol applies could be characterized as a precision-formation- flying (PFF) network, and each vehicle could be characterized as a node in the PFF network. In order to support precise formation flying, it would be necessary to establish a corresponding communication network, through which the vehicles could exchange position and orientation data and formation-control commands. The communication network must enable communication during early phases of a mission, when little positional knowledge is available. Particularly during early mission phases, the distances among vehicles may be so large that communication could be achieved only by relaying across multiple links. The large distances and need for omnidirectional coverage would limit communication links to operation at low bandwidth during these mission phases. Once the vehicles were in formation and distances were shorter, the communication network would be required to provide high-bandwidth, low-jitter service to support tight formation-control loops. The proposed protocol and architecture, intended to satisfy the aforementioned and other requirements, are based on a standard layered-reference-model concept. The proposed application protocol would be used in conjunction with conventional network, data-link, and physical-layer protocols. The proposed protocol includes the ubiquitous Institute of Electrical and Electronics Engineers (IEEE) 802.11 medium access control (MAC) protocol to be used in the datalink layer. In addition to its widespread and proven use in diverse local-area networks, this protocol offers both (1) a random- access mode needed for the early PFF deployment phase and (2) a time-bounded-services mode needed during PFF-maintenance operations. Switching between these two modes could be controlled by upper-layer entities using standard link-management mechanisms. Because the early deployment phase of a PFF mission can be expected to involve multihop relaying to achieve network connectivity (see figure), the proposed protocol includes the open shortest path first (OSPF) network protocol that is commonly used in the Internet. Each spacecraft in a PFF network would be in one of seven distinct states as the mission evolved from initial deployment, through coarse formation, and into precise formation. Reconfiguration of the formation to perform different scientific observations would also cause state changes among the network nodes. The application protocol provides for recognition and tracking of the seven states for each node and for protocol changes under specified conditions to adapt the network and satisfy communication requirements associated with the current PFF mission phase. Except during early deployment, when peer-to-peer random access discovery methods would be used, the application protocol provides for operation in a centralized manner.

New Markets for Solar Photovoltaic Power Systems

NASA Astrophysics Data System (ADS)

Thomas, Chacko; Jennings, Philip; Singh, Dilawar

2007-10-01

Over the past five years solar photovoltaic (PV) power supply systems have matured and are now being deployed on a much larger scale. The traditional small-scale remote area power supply systems are still important and village electrification is also a large and growing market but large scale, grid-connected systems and building integrated systems are now being deployed in many countries. This growth has been aided by imaginative government policies in several countries and the overall result is a growth rate of over 40% per annum in the sales of PV systems. Optimistic forecasts are being made about the future of PV power as a major source of sustainable energy. Plans are now being formulated by the IEA for very large-scale PV installations of more than 100 MW peak output. The Australian Government has announced a subsidy for a large solar photovoltaic power station of 154 MW in Victoria, based on the concentrator technology developed in Australia. In Western Australia a proposal has been submitted to the State Government for a 2 MW photovoltaic power system to provide fringe of grid support at Perenjori. This paper outlines the technologies, designs, management and policies that underpin these exciting developments in solar PV power.

Replication of self-centering optical fiber alignment structures using hot embossing

NASA Astrophysics Data System (ADS)

Ebraert, Evert; Wissmann, Markus; Barié, Nicole; Guttmann, Markus; Schneider, Marc; Kolew, Alexander; Worgull, Matthias; Beri, Stefano; Watté, Jan; Thienpont, Hugo; Van Erps, Jürgen

2016-04-01

With the demand for broadband connectivity on the rise due to various services like video-on-demand and cloud computing becoming more popular, the need for better connectivity infrastructure is high. The only future- proof option to supply this infrastructure is to deploy "fiber to the home" (FTTH) networks. One of the main difficulties with the deployment of FTTH is the vast amount of single-mode fiber (SMF) connections that need to be made. Hence there is a strong need for components which enable high performance, robust and easy-to- use SMF connectors. Since large-scale deployment is the goal, these components should be mass-producible at low cost. We discuss a rapid prototyping process on the basis of hot embossing replication of a self-centering alignment system (SCAS) based on three micro-springs, which can position a SMF independently of its diameter. This is beneficial since there is a fabrication tolerance of up to +/-1 μm on a standard G.652 SMF's diameter that can lead to losses if the outer diameter is used as a reference for alignment. The SCAS is first prototyped with deep proton writing (DPW) in polymethylmethacrylate (PMMA) after which it is glued to a copper substrate with an adhesive. Using an electroforming process, a nickel block is grown over the PMMA prototype followed by mechanical finishing to fabricate a structured nickel mould insert. Even though the mould insert shows non- ideal and rounded features it is used to create PMMA replicas of the SCAS by means of hot embossing. The SCAS possesses a central opening in which a bare SMF can be clamped, which is designed with a diameter of 121 μm. PMMA replicas are dimensionally characterized using a multisensor coordinate measurement machine and show a central opening diameter of 128.3 +/- 2.8 μm. This should be compared to the central opening diameter of the DPW prototype used for mould formation which was measured to be 120.5 μm. This shows that the electroforming and subsequent replication process is possible for complex micro-scale components and could be accurate after optimisation. We characterized the sidewall roughness of PMMA replicas using a non- contact optical profiler, resulting in a root-mean-square roughness of 48 nm over an area of 63.7 μm×47.8 μm. This low sidewall roughness is especially important in the replication of high aspect ratio structures to facilitate demoulding since the sidewalls cause the most friction with the mould insert.

Nonuniform Deployment of Autonomous Agents in Harbor-Like Environments

DTIC Science & Technology

2014-11-12

ith agent than to all other agents. Interested readers are referred to [55] for the comprehensive study on Voronoi partitioning and its applications...robots: An rfid approach, PhD dissertation, School of Electrical Engi- neering and Computer Science, University of Ottawa (October 2012). [55] A. Okabe, B...Gueaieb, A stochastic approach of mobile robot navigation using customized rfid sys- tems, International Conference on Signals, Circuits and Systems

Overview of Robotic Devices for Nursing Care Project.

PubMed

Hirukawa, Hirohisa

2017-01-01

METI/AMED are conducting a project on the development and deployment of robotic devices for nursing care to enhance the autonomy of elderly persons and assist care givers. An evaluation protocol is presented and the devices developed in the project are introduced. The devices consist of transfer assist devices (wearable/non-wearable), walking assist devices (outdoor/indoor), safety surveillance sensors (nursing home/private home), bath lift and toilet assist.

Development of the HERMIES III mobile robot research testbed at Oak Ridge National Laboratory

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

Manges, W.W.; Hamel, W.R.; Weisbin, C.R.

1988-01-01

The latest robot in the Hostile Environment Robotic Machine Intelligence Experiment Series (HERMIES) is now under development at the Center for Engineering Systems Advanced Research (CESAR) in the Oak Ridge National Laboratory. The HERMIES III robot incorporates a larger than human size 7-degree-of-freedom manipulator mounted on a 2-degree-of-freedom mobile platform including a variety of sensors and computers. The deployment of this robot represents a significant increase in research capabilities for the CESAR laboratory. The initial on-board computer capacity of the robot exceeds that of 20 Vax 11/780s. The navigation and vision algorithms under development make extensive use of the on-boardmore » NCUBE hypercube computer while the sensors are interfaced through five VME computers running the OS-9 real-time, multitasking operating system. This paper describes the motivation, key issues, and detailed design trade-offs of implementing the first phase (basic functionality) of the HERMIES III robot. 10 refs., 7 figs.« less

Algorithms and Sensors for Small Robot Path Following

NASA Technical Reports Server (NTRS)

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

2002-01-01

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

Electroencephalography (EEG) Based Control in Assistive Mobile Robots: A Review

NASA Astrophysics Data System (ADS)

Krishnan, N. Murali; Mariappan, Muralindran; Muthukaruppan, Karthigayan; Hijazi, Mohd Hanafi Ahmad; Kitt, Wong Wei

2016-03-01

Recently, EEG based control in assistive robot usage has been gradually increasing in the area of biomedical field for giving quality and stress free life for disabled and elderly people. This study reviews the deployment of EGG based control in assistive robots, especially for those who in need and neurologically disabled. The main objective of this paper is to describe the methods used for (i) EEG data acquisition and signal preprocessing, (ii) feature extraction and (iii) signal classification methods. Besides that, this study presents the specific research challenges in the designing of these control systems and future research directions.

Nanoracks CUBESAT launcher operations

NASA Image and Video Library

2014-08-19

ISS040-E-102490 (19 Aug. 2014) --- In the grasp of the Japanese robotic arm, the CubeSat deployer releases a pair of NanoRacks CubeSat miniature satellites. The Planet Labs Dove satellites that were carried to the International Space Station aboard the Orbital Sciences Cygnus commercial cargo craft are being deployed between Aug. 19 and Aug. 25. A section of the station solar array wings is at left.

Nanoracks CUBESAT launcher

NASA Image and Video Library

2014-08-20

ISS040-E-102420 (20 Aug. 2014) --- In the grasp of the Japanese robotic arm, the CubeSat deployer releases a pair of NanoRacks CubeSat miniature satellites. The Planet Labs Dove satellites that were carried to the International Space Station aboard the Orbital Sciences Cygnus commercial cargo craft are being deployed between Aug. 19 and Aug. 25. A section of the station solar array wings is at left.

Nanoracks CUBESAT launcher

NASA Image and Video Library

2014-08-20

ISS040-E-102425 (20 Aug. 2014) --- In the grasp of the Japanese robotic arm, the CubeSat deployer releases a pair of NanoRacks CubeSat miniature satellites. The Planet Labs Dove satellites that were carried to the International Space Station aboard the Orbital Sciences Cygnus commercial cargo craft are being deployed between Aug. 19 and Aug. 25. A section of the station solar array wings is at left.

Bio-robots automatic navigation with electrical reward stimulation.

PubMed

Sun, Chao; Zhang, Xinlu; Zheng, Nenggan; Chen, Weidong; Zheng, Xiaoxiang

2012-01-01

Bio-robots that controlled by outer stimulation through brain computer interface (BCI) suffer from the dependence on realtime guidance of human operators. Current automatic navigation methods for bio-robots focus on the controlling rules to force animals to obey man-made commands, with animals' intelligence ignored. This paper proposes a new method to realize the automatic navigation for bio-robots with electrical micro-stimulation as real-time rewards. Due to the reward-seeking instinct and trial-and-error capability, bio-robot can be steered to keep walking along the right route with rewards and correct its direction spontaneously when rewards are deprived. In navigation experiments, rat-robots learn the controlling methods in short time. The results show that our method simplifies the controlling logic and realizes the automatic navigation for rat-robots successfully. Our work might have significant implication for the further development of bio-robots with hybrid intelligence.

M.I.N.G., Mars Investment for a New Generation: Robotic construction of a permanently manned Mars base

NASA Technical Reports Server (NTRS)

Amos, Jeff; Beeman, Randy; Brown, Susan; Calhoun, John; Hill, John; Howorth, Lark; Mcfaden, Clay; Nguyen, Paul; Reid, Philip; Rexrode, Stuart

1989-01-01

A basic procedure for robotically constructing a manned Mars base is outlined. The research procedure was divided into three areas: environment, robotics, and habitat. The base as designed will consist of these components: two power plants, communication facilities, a habitat complex, and a hangar, a garage, recreation and manufacturing facilities. The power plants will be self-contained nuclear fission reactors placed approx. 1 km from the base for safety considerations. The base communication system will use a combination of orbiting satellites and surface relay stations. This system is necessary for robotic contact with Phobos and any future communication requirements. The habitat complex will consist of six self-contained modules: core, biosphere, science, living quarters, galley/storage, and a sick bay which will be brought from Phobos. The complex will be set into an excavated hole and covered with approximately 0.5 m of sandbags to provide radiation protection for the astronauts. The recreation, hangar, garage, and manufacturing facilities will each be transformed from the four one-way landers. The complete complex will be built by autonomous, artificially intelligent robots. Robots incorporated into the design are as follows: Large Modular Construction Robots with detachable arms capable of large scale construction activities; Small Maneuverable Robotic Servicers capable of performing delicate tasks normally requiring a suited astronaut; and a trailer vehicle with modular type attachments to complete specific tasks; and finally, Mobile Autonomous Rechargeable Transporters capable of transferring air and water from the manufacturing facility to the habitat complex.

M.I.N.G., Mars Investment for a New Generation: Robotic construction of a permanently manned Mars base

NASA Astrophysics Data System (ADS)

Amos, Jeff; Beeman, Randy; Brown, Susan; Calhoun, John; Hill, John; Howorth, Lark; McFaden, Clay; Nguyen, Paul; Reid, Philip; Rexrode, Stuart

1989-05-01

A basic procedure for robotically constructing a manned Mars base is outlined. The research procedure was divided into three areas: environment, robotics, and habitat. The base as designed will consist of these components: two power plants, communication facilities, a habitat complex, and a hanger, a garage, recreation and manufacturing facilities. The power plants will be self-contained nuclear fission reactors placed approx. 1 km from the base for safety considerations. The base communication system will use a combination of orbiting satellites and surface relay stations. This system is necessary for robotic contact with Phobos and any future communication requirements. The habitat complex will consist of six self-contained modules: core, biosphere, science, living quarters, galley/storage, and a sick bay which will be brought from Phobos. The complex will be set into an excavated hole and covered with approximately 0.5 m of sandbags to provide radiation protection for the astronauts. The recreation, hangar, garage, and manufacturing facilities will each be transformed from the four one-way landers. The complete complex will be built by autonomous, artificially intelligent robots. Robots incorporated into the design are as follows: Large Modular Construction Robots with detachable arms capable of large scale construction activities; Small Maneuverable Robotic Servicers capable of performing delicate tasks normally requiring a suited astronaut; and a trailer vehicle with modular type attachments to complete specific tasks; and finally, Mobile Autonomous Rechargeable Transporters capable of transferring air and water from the manufacturing facility to the habitat complex.

Mechanism And Control Of The Quadruped Walking Robot

NASA Astrophysics Data System (ADS)

Adachi, Hironori; Nakano, Eiji; Koyachi, Noriho

1987-10-01

This paper provides a description of the quadruped walking robot "TURTLE-1". A new link mechanism named ASTBALLEM is used for the legs of this robot. With this mechanism highly rigid and easily controllable legs are constructed. Each leg has two degrees of freedom and is driven by two DC servo motors. The motion of the legs is controlled by a micro computer and various gaits are generated. Static stability is maintained as the robot walks. Moreover, its walk is quasi-dynamic; that is, it has a manner of walking that has a two legged supporting period.

Design, implementation and stabilization of a Bipedal robot

NASA Astrophysics Data System (ADS)

Nath, Alok; Das, Goutam; Mallick, Anik; Chowdhury, Shovan

2017-12-01

In this paper, we have presented the mechanical design and fabrication of a Bipedal walking robot as well as control strategies to be implemented for walking and balance recovery. For this robot, we considered Six Degree of Freedom (D.O.P) in the lower body one at each hip, one at each knee and one at each ankle. Each degree of freedom is powered by a RC servo motor and this robot is controlled by Arduino Mega 2560 micro controller. By balancing center of mass (C.O.M) it walks in rhythmic way as like as human one.

Dispersion and Cluster Scales in the Ocean

NASA Astrophysics Data System (ADS)

Kirwan, A. D., Jr.; Chang, H.; Huntley, H.; Carlson, D. F.; Mensa, J. A.; Poje, A. C.; Fox-Kemper, B.

2017-12-01

Ocean flow space scales range from centimeters to thousands of kilometers. Because of their large Reynolds number these flows are considered turbulent. However, because of rotation and stratification constraints they do not conform to classical turbulence scaling theory. Mesoscale and large-scale motions are well described by geostrophic or "2D turbulence" theory, however extending this theory to submesoscales has proved to be problematic. One obvious reason is the difficulty in obtaining reliable data over many orders of magnitude of spatial scales in an ocean environment. The goal of this presentation is to provide a preliminary synopsis of two recent experiments that overcame these obstacles. The first experiment, the Grand LAgrangian Deployment (GLAD) was conducted during July 2012 in the eastern half of the Gulf of Mexico. Here approximately 300 GPS-tracked drifters were deployed with the primary goal to determine whether the relative dispersion of an initially densely clustered array was driven by processes acting at local pair separation scales or by straining imposed by mesoscale motions. The second experiment was a component of the LAgrangian Submesoscale Experiment (LASER) conducted during the winter of 2016. Here thousands of bamboo plates were tracked optically from an Aerostat. Together these two deployments provided an unprecedented data set on dispersion and clustering processes from 1 to 106 meter scales. Calculations of statistics such as two point separations, structure functions, and scale dependent relative diffusivities showed: inverse energy cascade as expected for scales above 10 km, a forward energy cascade at scales below 10 km with a possible energy input at Langmuir circulation scales. We also find evidence from structure function calculations for surface flow convergence at scales less than 10 km that account for material clustering at the ocean surface.

Prospects and features of robotics in russian crop farming

NASA Astrophysics Data System (ADS)

Dokin, B. D.; Aletdinova, A. A.; Kravchenko, M. S.

2017-01-01

Specificity of agriculture, low levels of technical and technological, information and communication, human resources and managerial capacities of small and medium Russian agricultural producers explain the slow pace of implementation of robotics in plant breeding. Existing models are characterized by low levels of speech understanding technologies, the creation of modern power supplies, bionic systems and the use of micro-robots. Serial production of robotics for agriculture will replace human labor in the future. Also, it will help to solve the problem of hunger, reduce environmental damage and reduce the consumption of non-renewable resources. Creating and using robotics should be based on the generated System of machines and technologies for the perfect machine-tractor fleet.

Technology development for deployable aerodynamic decelerators at Mars

NASA Astrophysics Data System (ADS)

Masciarelli, James P.

2002-01-01

Parachutes used for Mars landing missions are only certified for deployment at Mars behind blunt bodies flying at low angles of attack, Mach numbers up to 2.2, and dynamic pressures of up to 800 Pa. NASA is currently studying entry vehicle concepts for future robotic missions to Mars that would require parachutes to be deployed at higher Mach numbers and dynamic pressures. This paper demonstrates the need for expanding the parachute deployment envelope, and describes a three-phase technology development activity that has been initiated to address the need. The end result of the technology development program will be a aerodynamic decelerator system that can be deployed at Mach numbers of up to 3.1 and dynamic pressures of up to 1400 Pa. .

Technology Development for Deployable Aerodynamic Decelerators at Mars

NASA Technical Reports Server (NTRS)

Masciarelli, James P.

2002-01-01

Parachutes used for Mars landing missions are only certified for deployment at Mars behind blunt bodies flying at low angles of attack, Mach numbers up to 2.2, and dynamic pressures of up to 800 Pa. NASA is currently studying entry vehicle concepts for future robotic missions to Mars that would require parachutes to be deployed at higher Mach numbers and dynamic pressures. This paper demonstrates the need for expanding the parachute deployment envelope, and describes a three-phase technology development activity that has been initiated to address the need. The end result of the technology development program will be a aerodynamic decelerator system that can be deployed at Mach numbers of up to 3.1 and dynamic pressures of up to 1400 Pa.

Automated Inspection of Aircraft

DOT National Transportation Integrated Search

1998-04-01

This report summarizes the development of a robotic system designed to assist aircraft inspectors by remotely deploying non-destructive inspection (NDI) sensors and acquiring, processing, and storing inspection data. Carnegie Mellon University studie...

Dimensions of complexity in learning from interactive instruction. [for robotic systems deployed in space

NASA Technical Reports Server (NTRS)

Huffman, Scott B.; Laird, John E.

1992-01-01

Robot systems deployed in space must exhibit flexibility. In particular, an intelligent robotic agent should not have to be reprogrammed for each of the various tasks it may face during the course of its lifetime. However, pre-programming knowledge for all of the possible tasks that may be needed is extremely difficult. Therefore, a powerful notion is that of an instructible agent, one which is able to receive task-level instructions and advice from a human advisor. An agent must do more than simply memorize the instructions it is given (this would amount to programming). Rather, after mapping instructions into task constructs that it can reason with, it must determine each instruction's proper scope of applicability. In this paper, we will examine the characteristics of instruction, and the characteristics of agents, that affect learning from instruction. We find that in addition to a myriad of linguistic concerns, both the situatedness of the instructions (their placement within the ongoing execution of tasks) and the prior domain knowledge of the agent have an impact on what can be learned.

A highly articulated robotic surgical system for minimally invasive surgery.

PubMed

Ota, Takeyoshi; Degani, Amir; Schwartzman, David; Zubiate, Brett; McGarvey, Jeremy; Choset, Howie; Zenati, Marco A

2009-04-01

We developed a novel, highly articulated robotic surgical system (CardioARM) to enable minimally invasive intrapericardial therapeutic delivery through a subxiphoid approach. We performed preliminary proof of concept studies in a porcine preparation by performing epicardial ablation. CardioARM is a robotic surgical system having an articulated design to provide unlimited but controllable flexibility. The CardioARM consists of serially connected, rigid cyclindrical links housing flexible working ports through which catheter-based tools for therapy and imaging can be advanced. The CardioARM is controlled by a computer-driven, user interface, which is operated outside the operative field. In six experimental subjects, the CardioARM was introduced percutaneously through a subxiphoid access. A commercial 5-French radiofrequency ablation catheter was introduced through the working port, which was then used to guide deployment. In all subjects, regional ("linear") left atrial ablation was successfully achieved without complications. Based on these preliminary studies, we believe that the CardioARM promises to enable deployment of a number of epicardium-based therapies. Improvements in imaging techniques will likely facilitate increasingly complex procedures.

Tier-scalable reconnaissance: the future in autonomous C4ISR systems has arrived: progress towards an outdoor testbed

NASA Astrophysics Data System (ADS)

Fink, Wolfgang; Brooks, Alexander J.-W.; Tarbell, Mark A.; Dohm, James M.

2017-05-01

Autonomous reconnaissance missions are called for in extreme environments, as well as in potentially hazardous (e.g., the theatre, disaster-stricken areas, etc.) or inaccessible operational areas (e.g., planetary surfaces, space). Such future missions will require increasing degrees of operational autonomy, especially when following up on transient events. Operational autonomy encompasses: (1) Automatic characterization of operational areas from different vantages (i.e., spaceborne, airborne, surface, subsurface); (2) automatic sensor deployment and data gathering; (3) automatic feature extraction including anomaly detection and region-of-interest identification; (4) automatic target prediction and prioritization; (5) and subsequent automatic (re-)deployment and navigation of robotic agents. This paper reports on progress towards several aspects of autonomous C4ISR systems, including: Caltech-patented and NASA award-winning multi-tiered mission paradigm, robotic platform development (air, ground, water-based), robotic behavior motifs as the building blocks for autonomous tele-commanding, and autonomous decision making based on a Caltech-patented framework comprising sensor-data-fusion (feature-vectors), anomaly detection (clustering and principal component analysis), and target prioritization (hypothetical probing).

Robotic magnetic mapping with the Kapvik planetary micro-rover

NASA Astrophysics Data System (ADS)

Hay, A.; Samson, C.

2018-07-01

Geomagnetic data gathering by micro-rovers is gaining momentum both for future planetary exploration missions and for terrestrial applications in extreme environments. This paper presents research into the integration of a planetary micro-rover with a potassium total-field magnetometer. The 40 kg Kapvik micro-rover is an ideal platform due to an aluminium construction and a rocker-bogie mobility system, which provides good manoeuvrability and terrainability. A light-weight GSMP 35U (uninhabited aerial vehicle) magnetometer, comprised of a 0.65 kg sensor and 0.63 kg electronics module, was mounted to the chassis via a custom 1.21 m composite boom. The boom dimensions were optimized to be an effective compromise between noise mitigation and mechanical practicality. An analysis using the fourth difference method was performed estimating the magnetic noise envelope at +/-0.03 nT at 10 Hz sampling frequency from the integrated systems during robotic operations. A robotic magnetic survey captured the total magnetic intensity along three parallel 40 m long lines and a perpendicular 15 m long tie line over the course of 3.75 h. The total magnetic intensity data were corrected for diurnal variations, levelled by linear interpolation of tie-line intersection points, corrected for a regional gradient, and then interpolated using Delaunay triangulation to lead a residual magnetic intensity map. This map exhibited an anomalous linear feature corresponding to a magnetic dipole 650 nT in amplitude. This feature coincides with a storm sewer buried approximately 2 m in the subsurface. This work provides benchmark methodologies and data to guide future integration of magnetometers on board planetary micro-rovers.

From wheels to wings with evolutionary spiking circuits.

PubMed

Floreano, Dario; Zufferey, Jean-Christophe; Nicoud, Jean-Daniel

2005-01-01

We give an overview of the EPFL indoor flying project, whose goal is to evolve neural controllers for autonomous, adaptive, indoor micro-flyers. Indoor flight is still a challenge because it requires miniaturization, energy efficiency, and control of nonlinear flight dynamics. This ongoing project consists of developing a flying, vision-based micro-robot, a bio-inspired controller composed of adaptive spiking neurons directly mapped into digital microcontrollers, and a method to evolve such a neural controller without human intervention. This article describes the motivation and methodology used to reach our goal as well as the results of a number of preliminary experiments on vision-based wheeled and flying robots.

The military social health index: a partial multicultural validation.

PubMed

Van Breda, Adrian D

2008-05-01

Routine military deployments place great stress on military families. Before South African soldiers can be deployed, they undergo a comprehensive health assessment, which includes a social work assessment. The assessment focuses on the resilience of the family system to estimate how well the family will cope when exposed to the stress of deployments. This article reports on the development and validation of a new measuring tool, the Military Social Health Index, or MSHI. The MSHI is made up of four scales, each comprising 14 items, viz social support, problem solving, stressor appraisal, and generalized resistance resources. An initial, large-scale, multicultural validation of the MSHI revealed strong levels of reliability (Cronbach a and standard error of measurement) and validity (factorial, construct, convergent, and discriminant).

OpTIIX: An ISS-Based Testbed Paving the Roadmap Toward a Next Generation Large Aperture UV/Optical Space Telescope

NASA Technical Reports Server (NTRS)

Carpenter, Kenneth G.; Etemad, Shar; Seery, Bernard D.; Thronson, Harley; Burdick, Gary M.; Coulter, Dan; Goullioud, Renaud; Green, Joseph J.; Liu, Fengchuan; Ess, Kim;

[Robotic fundoplication for gastro-oesophageal reflux disease].

PubMed

Costi, Renato; Himpens, Jacques; Iusco, Domenico; Sarli, Leopoldo; Violi, Vincenzo; Roncoroni, Luigi; Cadière, Guy Bernard

2004-01-01

Presented as a possible "second" revolution in general surgery after the introduction of laparoscopy during the last few years, the robotic approach to mini-invasive surgery has not yet witnessed wide, large-scale diffusion among general surgeons and is still considered an "experimental approach". In general surgery, the laparoscopic treatment of gastrooesophageal reflux is the second most frequently performed robot-assisted procedure after cholecystectomy. A review of the literature and an analysis of the costs may allow a preliminary evaluation of the pros and cons of robotic fundoplication, which may then be applicable to other general surgery procedures. Eleven articles report 91 cases of robotic fundoplication (75 Nissen, 9 Thal, 7 Toupet). To date, there is no evidence of benefit in terms of duration of surgery, rate of complications and hospital stay. Moreover, robotic fundoplication is more expensive than the traditional laparoscopic approach (the additional cost per procedure due to robotics is 1,882.97 euros). Only further technological upgrades and advances will make the use of robotics competitive in general surgery. The development of multi-functional instruments and of tactile feedback at the console, enlargement of the three-dimensional laparoscopic view and specific "team" training will enable the use of robotic surgery to be extended to increasingly difficult procedures and to non-specialised environments.

Microrobotics surveillance: discrete and continuous starbot

NASA Astrophysics Data System (ADS)

Mayyas, M.; Lee, W. H.; Stephanou, Harry

2011-05-01

This paper focuses on robotic technologies and operational capabilities of multiscale robots that demonstrate a unique class of Microsystems with the ability to navigate diverse terrains and environments. We introduce two classes of robots which combine multiple locomotion modalities including centimeter scale Discrete and Continuous robots which are referred here by D-Starbot and C-Starbot, respectively. The first generation of the robots were obtained to allow rapid shape reconfiguration and flipping recovery to accomplish tasks such as lowering and raising to dexterously go over and under obstacles, deform to roll over hostile location as well as squeezing through opening smaller than its sizes. The D-Starbot is based on novel mechanisms that allow shape reconfiguration to accomplish tasks such as lowering and raising to go over and under obstacles as well as squeezing through small voids. The CStarbot is a new class of foldable robots that is generally designed to provide a high degree of manufacturability. It consists of flexible structures that are built out of composite laminates with embedded microsystems. The design concept of C-Starbot are suitable for robots that could emulate and combine multiple locomotion modalities such as walking, running, crawling, gliding, clinging, climbing, flipping and jumping. The first generation of C-Starbot has centimeter scale structure consisting of flexible flaps, each being coupled with muscle-like mechanism. Untethered D-Starbot designs are prototyped and tested for multifunctional locomotion capabilities in indoor and outdoor environments. We present foldable mechanism and initial prototypes of C-Starbot capable of hopping and squeezing at different environments. The kinematic performance of flexible robots is thoroughly presented using the large elastic deflection of a single arm which is actuated by pulling force acting at variable angles and under payload and friction forces.

Fabrication and Testing of a Modular Micro-Pocket Fission Detector Instrumentation System for Test Nuclear Reactors

NASA Astrophysics Data System (ADS)

Reichenberger, Michael A.; Nichols, Daniel M.; Stevenson, Sarah R.; Swope, Tanner M.; Hilger, Caden W.; Roberts, Jeremy A.; Unruh, Troy C.; McGregor, Douglas S.

2018-01-01

Advancements in nuclear reactor core modeling and computational capability have encouraged further development of in-core neutron sensors. Measurement of the neutron-flux distribution within the reactor core provides a more complete understanding of the operating conditions in the reactor than typical ex-core sensors. Micro-Pocket Fission Detectors have been developed and tested previously but have been limited to single-node operation and have utilized highly specialized designs. The development of a widely deployable, multi-node Micro-Pocket Fission Detector assembly will enhance nuclear research capabilities. A modular, four-node Micro-Pocket Fission Detector array was designed, fabricated, and tested at Kansas State University. The array was constructed from materials that do not significantly perturb the neutron flux in the reactor core. All four sensor nodes were equally spaced axially in the array to span the fuel-region of the reactor core. The array was filled with neon gas, serving as an ionization medium in the small cavities of the Micro-Pocket Fission Detectors. The modular design of the instrument facilitates the testing and deployment of numerous sensor arrays. The unified design drastically improved device ruggedness and simplified construction from previous designs. Five 8-mm penetrations in the upper grid plate of the Kansas State University TRIGA Mk. II research nuclear reactor were utilized to deploy the array between fuel elements in the core. The Micro-Pocket Fission Detector array was coupled to an electronic support system which has been specially developed to support pulse-mode operation. The Micro-Pocket Fission Detector array composed of four sensors was used to monitor local neutron flux at a constant reactor power of 100 kWth at different axial locations simultaneously. The array was positioned at five different radial locations within the core to emulate the deployment of multiple arrays and develop a 2-dimensional measurement of neutron flux in the reactor core.

Micro-Inspector Spacecraft for Space Exploration Missions

NASA Technical Reports Server (NTRS)

Mueller, Juergen; Alkalai, Leon; Lewis, Carol

2005-01-01

NASA is seeking to embark on a new set of human and robotic exploration missions back to the Moon, to Mars, and destinations beyond. Key strategic technical challenges will need to be addressed to realize this new vision for space exploration, including improvements in safety and reliability to improve robustness of space operations. Under sponsorship by NASA's Exploration Systems Mission, the Jet Propulsion Laboratory (JPL), together with its partners in government (NASA Johnson Space Center) and industry (Boeing, Vacco Industries, Ashwin-Ushas Inc.) is developing an ultra-low mass (<3.0 kg) free-flying micro-inspector spacecraft in an effort to enhance safety and reduce risk in future human and exploration missions. The micro-inspector will provide remote vehicle inspections to ensure safety and reliability, or to provide monitoring of in-space assembly. The micro-inspector spacecraft represents an inherently modular system addition that can improve safety and support multiple host vehicles in multiple applications. On human missions, it may help extend the reach of human explorers, decreasing human EVA time to reduce mission cost and risk. The micro-inspector development is the continuation of an effort begun under NASA's Office of Aerospace Technology Enabling Concepts and Technology (ECT) program. The micro-inspector uses miniaturized celestial sensors; relies on a combination of solar power and batteries (allowing for unlimited operation in the sun and up to 4 hours in the shade); utilizes a low-pressure, low-leakage liquid butane propellant system for added safety; and includes multi-functional structure for high system-level integration and miniaturization. Versions of this system to be designed and developed under the H&RT program will include additional capabilities for on-board, vision-based navigation, spacecraft inspection, and collision avoidance, and will be demonstrated in a ground-based, space-related environment. These features make the micro-inspector design unique in its ability to serve crewed as well as robotic spacecraft, well beyond Earth-orbit and into arenas such as robotic missions, where human teleoperation capability is not locally available.

Robotic/virtual reality intervention program individualized to meet the specific sensorimotor impairments of an individual patient: a case study.

PubMed

Fluet, Gerard G; Merians, Alma S; Qiu, Qinyin; Saleh, Soha; Ruano, Viviana; Delmonico, Andrea R; Adamovich, Sergei V

2014-09-01

A majority of studies examining repetitive task practice facilitated by robots for the treatment of upper extremity paresis utilize standardized protocols applied to large groups. This study will describe a virtually simulated, robot-based intervention customized to match the goals and clinical presentation of a gentleman with upper extremity hemiparesis secondary to stroke. MP, the subject of this case, is an 85-year-old man with left hemiparesis secondary to an intracerebral hemorrhage 5 years prior to examination. Outcomes were measured before and after a 1-month period of home therapy and after a 1-month virtually simulated, robotic intervention. The intervention was designed to address specific impairments identified during his PT examination. When necessary, activities were modified based on MP's response to his first week of treatment. MP's home training program produced a 3-s decline in Wolf Motor Function Test (WMFT) time and a 5-s improvement in Jebsen Test of Hand Function (JTHF) time. He demonstrated an additional 35-s improvement in JTHF and an additional 44-s improvement in WMFT subsequent to the robotic training intervention. A 24-h activity measurement and the Hand and Activities of Daily Living scales of the Stroke Impact Scale improved following the robotic intervention. Based on his responses to training we feel that we have established that a customized program of virtually simulated, robotically facilitated rehabilitation was feasible and resulted in larger improvements than an intensive home training program in several measurements of upper extremity function in our patient with chronic hemiparesis.

Poster - Thurs Eve-12: A needle-positioning robot co-registered with volumetric x-ray micro-computed tomography images for minimally-invasive small-animal interventions.

PubMed

Waspe, A C; Holdsworth, D W; Lacefield, J C; Fenster, A

2008-07-01

Preclinical research protocols often require the delivery of biological substances to specific targets in small animal disease models. To target biologically relevant locations in mice accurately, the needle positioning error needs to be < 200 μm. If targeting is inaccurate, experimental results can be inconclusive or misleading. We have developed a robotic manipulator that is capable of positioning a needle with a mean error < 100 μm. An apparatus and method were developed for integrating the needle-positioning robot with volumetric micro-computed tomography image guidance for interventions in small animals. Accurate image-to-robot registration is critical for integration as it enables targets identified in the image to be mapped to physical coordinates inside the animal. Registration is accomplished by injecting barium sulphate into needle tracks as the robot withdraws the needle from target points in a tissue-mimicking phantom. Registration accuracy is therefore affected by the positioning error of the robot and is assessed by measuring the point-to-line fiducial and target registration errors (FRE, TRE). Centroid points along cross-sectional slices of the track are determined using region growing segmentation followed by application of a center-of-mass algorithm. The centerline points are registered to needle trajectories in robot coordinates by applying an iterative closest point algorithm between points and lines. Implementing this procedure with four fiducial needle tracks produced a point-to-line FRE and TRE of 246 ± 58 μm and 194 ± 18 μm, respectively. The proposed registration technique produced a TRE < 200 μm, in the presence of robot positioning error, meeting design specification. © 2008 American Association of Physicists in Medicine.

Flexible Robotic Entry Device for nuclear materials production reactor

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

Heckendorn, F.M.

1988-01-01

The Savannah River Laboratory (SRL) has developed and is implementing a Flexible Robotic Entry Device (FRED) for the nuclear materials production reactors at the Savannah River Plant (SRP). FRED is designed for rapid deployment into confinement areas of operating reactors to assess unknown conditions. A unique ''smart tether'' method has been incorporated into FRED for simultaneous bidirectional transmission of multiple video/audio/control/power signals over a single coaxial cable. 3 figs.

Challenges for Deployment Man-Portable Robots into Hostile Environments

DTIC Science & Technology

2000-11-01

video, JAUGS , MDARS 1. BACKGROUND In modern-day warfare the most likely battlefield is an urban environment, which poses many threats to today’s...Unmanned Ground Systems ( JAUGS ). The hybrid architecture is termed SMART for Small Robotic Technology. It uses the underlying MDARS MRHA message format...and a similar approach to function-oriented operation4. From JAUGS it borrows the concept of functional agents or components that are responsible for

Accommodating Thickness in Origami-Based Deployable Arrays

NASA Technical Reports Server (NTRS)

Zirbel, Shannon A.; Magleby, Spencer P.; Howell, Larry L.; Lang, Robert J.; Thomson, Mark W.; Sigel, Deborah A.; Walkemeyer, Phillip E.; Trease, Brian P.

2013-01-01

The purpose of this work is to create deployment systems with a large ratio of stowed-to-deployed diameter. Deployment from a compact form to a final flat state can be achieved through origami-inspired folding of panels. There are many models capable of this motion when folded in a material with negligible thickness; however, when the application requires the folding of thick, rigid panels, attention must be paid to the effect of material thickness not only on the final folded state, but also during the folding motion (i.e., the panels must not be required to flex to attain the final folded form). The objective is to develop new methods for deployment from a compact folded form to a large circular array (or other final form). This paper describes a mathematical model for modifying the pattern to accommodate material thickness in the context of the design, modeling, and testing of a deployable system inspired by an origami six-sided flasher model. The model is demonstrated in hardware as a 1/20th scale prototype of a deployable solar array for space applications. The resulting prototype has a ratio of stowed-to-deployed diameter of 9.2 (or 1.25 m deployed outer diameter to 0.136 m stowed outer diameter).

Supporting Collaborative Model and Data Service Development and Deployment with DevOps

NASA Astrophysics Data System (ADS)

David, O.

2016-12-01

Adopting DevOps practices for model service development and deployment enables a community to engage in service-oriented modeling and data management. The Cloud Services Integration Platform (CSIP) developed the last 5 years at Colorado State University provides for collaborative integration of environmental models into scalable model and data services as a micro-services platform with API and deployment infrastructure. Originally developed to support USDA natural resource applications, it proved suitable for a wider range of applications in the environmental modeling domain. While extending its scope and visibility it became apparent community integration and adequate work flow support through the full model development and application cycle drove successful outcomes.DevOps provide best practices, tools, and organizational structures to optimize the transition from model service development to deployment by minimizing the (i) operational burden and (ii) turnaround time for modelers. We have developed and implemented a methodology to fully automate a suite of applications for application lifecycle management, version control, continuous integration, container management, and container scaling to enable model and data service developers in various institutions to collaboratively build, run, deploy, test, and scale services within minutes.To date more than 160 model and data services are available for applications in hydrology (PRMS, Hydrotools, CFA, ESP), water and wind erosion prediction (WEPP, WEPS, RUSLE2), soil quality trends (SCI, STIR), water quality analysis (SWAT-CP, WQM, CFA, AgES-W), stream degradation assessment (SWAT-DEG), hydraulics (cross-section), and grazing management (GRAS). In addition, supporting data services include soil (SSURGO), ecological site (ESIS), climate (CLIGEN, WINDGEN), land management and crop rotations (LMOD), and pesticides (WQM), developed using this workflow automation and decentralized governance.

Self-Reconfigurable Robots

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

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

2002-10-01

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

Future robotic platforms in urologic surgery: Recent Developments

PubMed Central

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

2014-01-01

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

A dynamic pressure view cell for acoustic stimulation of fluids--Micro-bubble generation and fluid movement in porous media.

PubMed

Stewart, Robert A; Shaw, J M

2015-09-01

The development and baseline operation of an acoustic view cell for observing fluids, and fluid-fluid and fluid-solid interfaces in porous media over the frequency range of 10-5000 Hz is described. This range includes the industrially relevant frequency range 500-5000 Hz that is not covered by existing devices. Pressure waveforms of arbitrary shape are generated in a 17.46 mm ID by 200 mm and 690.5 mm long glass tubes at flow rates up to 200 ml/min using a syringe pump. Peak-to-peak amplitudes exceeding 80 kPa are readily realized at frequencies from 10 to 5000 Hz in bubble free fluids when actuated with 20 Vpp as exemplified using castor oil. At resonant frequencies, peak-to-peak pressure amplitudes exceeding 500 kPa were obtained (castor oil at 2100 Hz when actuated with 20 Vpp). Impacts of vibration on macroscopic liquid-liquid and liquid-vapour interfaces and interface movement are illustrated. Pressure wave transmission and attenuation in a fluid saturated porous medium, randomly packed 250-330 μm spherical silica beads, is also demonstrated. Attenuation differences and frequency shifts in resonant peaks are used to detect the presence and generation of dispersed micro-bubbles (<180 μm diameter), and bubbles within porous media that are not readily visualized. Envisioned applications include assessment of the impacts of vibration on reaction, mass transfer, and flow/flow pattern outcomes. This knowledge will inform laboratory and pilot scale process studies, where nuisance vibrations may affect the interpretation of process outcomes, and large scale or in situ processes in aquifers or hydrocarbon reservoirs where imposed vibration may be deployed to improve aspects of process performance. Future work will include miscible interface observation and quantitative measurements in the bulk and in porous media where the roles of micro-bubbles comprise subjects of special interest.

Nanoracks CUBESAT launcher

NASA Image and Video Library

2014-08-20

ISS040-E-102410 (20 Aug. 2014) --- In the grasp of the Japanese robotic arm, the CubeSat deployer is about to release a pair of NanoRacks CubeSat miniature satellites. The Planet Labs Dove satellites that were carried to the International Space Station aboard the Orbital Sciences Cygnus commercial cargo craft are being deployed between Aug. 19 and Aug. 25. A section of the station solar array wings is at left.

DRAGONS - A Micrometeoroid and Orbital Debris Impact Sensor

NASA Technical Reports Server (NTRS)

Liou, J. -C.; Corsaro, R.; Giovane, F.; Anderson, C.; Sadilek, A.; Burchell, M.; Hamilton, J.

2015-01-01

The Debris Resistive/Acoustic Grid Orbital Navy-NASA Sensor (DRAGONS) is intended to be a large area impact sensor for in situ measurements of micrometeoroids and orbital debris (MMOD) in the millimeter or smaller size regime. These MMOD particles are too small to be detected by ground-based radars and optical telescopes, but are still large enough to be a serious safety concern for human space activities and robotic missions in the low Earth orbit (LEO) region. The nominal detection area of a DRAGONS unit is 1 m2, consisting of several independently operated panels. The approach of the DRAGONS design is to combine different particle impact detection principles to maximize information that can be extracted from detected events. After more than 10 years of concept and technology development, a 1 m2 DRAGONS system has been selected for deployment on the International Space Station (ISS) in August 2016. The project team achieved a major milestone when the Preliminary Design Review (PDR) was completed in May 2015. Once deployed on the ISS, this multi-year mission will provide a unique opportunity to demonstrate the MMOD detection capability of the DRAGONS technologies and to collect data to better define the small MMOD environment at the ISS altitude.

CubeSat Mission- Near-Earth Asteroid Scout (animation only, no audio)

NASA Image and Video Library

2016-09-21

The Near-Earth Asteroid Scout, or NEA Scout, is a robotic reconnaissance mission that will deploy a 6U CubeSat to fly by and return data from an asteroid representative of possible human destinations. Using a solar sail for its propulsion system, it will perform reconnaissance of an asteroid, take pictures and observe its position in space. Launching on NASA's Space Launch System rocket, the CubeSat deployment animation starts at the 1:25 timecode with the solar sail deployment animation beginning at the 2:54 timecode. The NEA Scout team is currently evaluating a range of targets, and is continually updating the candidate pool based on new discoveries and expected performance. NEA Scout is one of three payloads selected by NASA’s Human Exploration and Operations Mission Directorate. These small satellites were chosen to address Strategic Knowledge Gaps (SKGs) and help inform research strategies and prioritize technology development for future human and robotic exploration. It is being developed at NASA’s Marshall Space Flight Center in Huntsville, Alabama. Learn more by visiting http://www.nasa.gov/content/nea-scout

The micro-environmental impact of volatile organic compound emissions from large-scale assemblies of people in a confined space

USDA-ARS?s Scientific Manuscript database

Large-scale assemblies of people in a con'ned space can exert signi'cant impacts on the local air chemistry due to human emissions of volatile organics. Variations of air-quality in such small scale can be studied by quantifying 'ngerprint volatile organic compounds (VOCs) such as acetone, toluene, ...

Adaptive control of a millimeter-scale flapping-wing robot.

PubMed

Chirarattananon, Pakpong; Ma, Kevin Y; Wood, Robert J

2014-06-01

Challenges for the controlled flight of a robotic insect are due to the inherent instability of the system, complex fluid-structure interactions, and the general lack of a complete system model. In this paper, we propose theoretical models of the system based on the limited information available from previous work and a comprehensive flight controller. The modular flight controller is derived from Lyapunov function candidates with proven stability over a large region of attraction. Moreover, it comprises adaptive components that are capable of coping with uncertainties in the system that arise from manufacturing imperfections. We have demonstrated that the proposed methods enable the robot to achieve sustained hovering flights with relatively small errors compared to a non-adaptive approach. Simple lateral maneuvers and vertical takeoff and landing flights are also shown to illustrate the fidelity of the flight controller. The analysis suggests that the adaptive scheme is crucial in order to achieve millimeter-scale precision in flight control as observed in natural insect flight.

String tightening as a self-organizing phenomenon.

PubMed

Banerjee, Bonny

2007-09-01

The phenomenon of self-organization has been of special interest to the neural network community throughout the last couple of decades. In this paper, we study a variant of the self-organizing map (SOM) that models the phenomenon of self-organization of the particles forming a string when the string is tightened from one or both of its ends. The proposed variant, called the string tightening self-organizing neural network (STON), can be used to solve certain practical problems, such as computation of shortest homotopic paths, smoothing paths to avoid sharp turns, computation of convex hull, etc. These problems are of considerable interest in computational geometry, robotics path-planning, artificial intelligence (AI) (diagrammatic reasoning), very large scale integration (VLSI) routing, and geographical information systems. Given a set of obstacles and a string with two fixed terminal points in a 2-D space, the STON model continuously tightens the given string until the unique shortest configuration in terms of the Euclidean metric is reached. The STON minimizes the total length of a string on convergence by dynamically creating and selecting feature vectors in a competitive manner. Proof of correctness of this anytime algorithm and experimental results obtained by its deployment have been presented in the paper.

THE RABIT: A RAPID AUTOMATED BIODOSIMETRY TOOL FOR RADIOLOGICAL TRIAGE

PubMed Central

Garty, Guy; Chen, Youhua; Salerno, Alessio; Turner, Helen; Zhang, Jian; Lyulko, Oleksandra; Bertucci, Antonella; Xu, Yanping; Wang, Hongliang; Simaan, Nabil; Randers-Pehrson, Gerhard; Yao, Y. Lawrence; Amundson, Sally A.; Brenner, David J.

2010-01-01

In response to the recognized need for high throughput biodosimetry methods for use after large scale radiological events, a logical approach is complete automation of standard biodosimetric assays that are currently performed manually. We describe progress to date on the RABIT (Rapid Automated BIodosimetry Tool), designed to score micronuclei or γ-H2AX fluorescence in lymphocytes derived from a single drop of blood from a fingerstick. The RABIT system is designed to be completely automated, from the input of the capillary blood sample into the machine, to the output of a dose estimate. Improvements in throughput are achieved through use of a single drop of blood, optimization of the biological protocols for in-situ analysis in multi-well plates, implementation of robotic plate and liquid handling, and new developments in high-speed imaging. Automating well-established bioassays represents a promising approach to high-throughput radiation biodosimetry, both because high throughputs can be achieved, but also because the time to deployment is potentially much shorter than for a new biological assay. Here we describe the development of each of the individual modules of the RABIT system, and show preliminary data from key modules. Ongoing is system integration, followed by calibration and validation. PMID:20065685

High Efficiency Coupling of Optical Fibres with SU8 Micro-droplet Using Laser Welding Process

NASA Astrophysics Data System (ADS)

Yardi, Seema; Gupta, Ankur; Sundriyal, Poonam; Bhatt, Geeta; Kant, Rishi; Boolchandani, D.; Bhattacharya, Shantanu

2016-09-01

Apart from micro- structure fabrication, ablation, lithography etc., lasers find a lot of utility in various areas like precision joining, device fabrication, local heat delivery for surface texturing and local change of microstructure fabrication of standalone optical micro-devices (like microspheres, micro-prisms, micro-scale ring resonators, optical switches etc). There is a wide utility of such systems in chemical/ biochemical diagnostics and also communications where the standalone optical devices exist at a commercial scale but chip based devices with printed optics are necessary due to coupling issues between printed structures and external optics. This paper demonstrates a novel fabrication strategy used to join standalone optical fibres to microchip based printed optics using a simple SU8 drop. The fabrication process is deployed for fiber to fiber optical coupling and coupling between fiber and printed SU-8 waveguides. A CO2 laser is used to locally heat the coupling made up of SU8 material. Optimization of various dimensional parameters using design of experiments (DOE) on the bonded assembly has been performed as a function of laser power, speed, cycle control, spot size so on so forth. Exclusive optical [RF] modelling has been performed to estimate the transmissibility of the optical fibers bonded to each other on a surface with SU8. Our studies indicate the formation of a Whispering gallery mode (WGM) across the micro-droplet leading to high transmissibility of the signal. Through this work we have thus been able to develop a method of fabrication for optical coupling of standalone fibers or coupling of on-chip optics with off-chip illumination/detection.

Developing Architectures and Technologies for an Evolvable NASA Space Communication Infrastructure

NASA Technical Reports Server (NTRS)

Bhasin, Kul; Hayden, Jeffrey

2004-01-01

Space communications architecture concepts play a key role in the development and deployment of NASA's future exploration and science missions. Once a mission is deployed, the communication link to the user needs to provide maximum information delivery and flexibility to handle the expected large and complex data sets and to enable direct interaction with the spacecraft and experiments. In human and robotic missions, communication systems need to offer maximum reliability with robust two-way links for software uploads and virtual interactions. Identifying the capabilities to cost effectively meet the demanding space communication needs of 21st century missions, proper formulation of the requirements for these missions, and identifying the early technology developments that will be needed can only be resolved with architecture design. This paper will describe the development of evolvable space communication architecture models and the technologies needed to support Earth sensor web and collaborative observation formation missions; robotic scientific missions for detailed investigation of planets, moons, and small bodies in the solar system; human missions for exploration of the Moon, Mars, Ganymede, Callisto, and asteroids; human settlements in space, on the Moon, and on Mars; and great in-space observatories for observing other star systems and the universe. The resulting architectures will enable the reliable, multipoint, high data rate capabilities needed on demand to provide continuous, maximum coverage of areas of concentrated activities, such as in the vicinity of outposts in-space, on the Moon or on Mars.

Planning and Execution: The Spirit of Opportunity for Robust Autonomous Systems

NASA Technical Reports Server (NTRS)

Muscettola, Nicola

2004-01-01

One of the most exciting endeavors pursued by human kind is the search for life in the Solar System and the Universe at large. NASA is leading this effort by designing, deploying and operating robotic systems that will reach planets, planet moons, asteroids and comets searching for water, organic building blocks and signs of past or present microbial life. None of these missions will be achievable without substantial advances in.the design, implementation and validation of autonomous control agents. These agents must be capable of robustly controlling a robotic explorer in a hostile environment with very limited or no communication with Earth. The talk focuses on work pursued at the NASA Ames Research center ranging from basic research on algorithm to deployed mission support systems. We will start by discussing how planning and scheduling technology derived from the Remote Agent experiment is being used daily in the operations of the Spirit and Opportunity rovers. Planning and scheduling is also used as the fundamental paradigm at the core of our research in real-time autonomous agents. In particular, we will describe our efforts in the Intelligent Distributed Execution Architecture (IDEA), a multi-agent real-time architecture that exploits artificial intelligence planning as the core reasoning engine of an autonomous agent. We will also describe how the issue of plan robustness at execution can be addressed by novel constraint propagation algorithms capable of giving the tightest exact bounds on resource consumption or all possible executions of a flexible plan.

PKI security in large-scale healthcare networks.

PubMed

Mantas, Georgios; Lymberopoulos, Dimitrios; Komninos, Nikos

2012-06-01

During the past few years a lot of PKI (Public Key Infrastructures) infrastructures have been proposed for healthcare networks in order to ensure secure communication services and exchange of data among healthcare professionals. However, there is a plethora of challenges in these healthcare PKI infrastructures. Especially, there are a lot of challenges for PKI infrastructures deployed over large-scale healthcare networks. In this paper, we propose a PKI infrastructure to ensure security in a large-scale Internet-based healthcare network connecting a wide spectrum of healthcare units geographically distributed within a wide region. Furthermore, the proposed PKI infrastructure facilitates the trust issues that arise in a large-scale healthcare network including multi-domain PKI infrastructures.

Understanding micro-processes of institutionalization: stewardship contracting and national forest management

Treesearch

Cassandra Moseley; Susan Charnley

2014-01-01

This paper examines micro-processes of institutionalization, using the case of stewardship contracting within the US Forest Service. Our basic premise is that, until a new policy becomes an everyday practice among local actors, it will not become institutionalized at the macro-scale. We find that micro-processes of institutionalization are driven by a mixture of large-...

The Effect of Micro-ramps on Supersonic Flow over a Forward-Facing Step

NASA Astrophysics Data System (ADS)

Zhang, Qing-Hu; Yi, Shi-He; Zhu, Yang-Zhu; Chen, Zhi; Wu, Yu

2013-04-01

The effect of micro-ramp control on fully developed turbulent flow over a forward-facing step (FFS) is investigated in a supersonic low-noise wind tunnel at Mach number 3 using nano-tracer planar laser scattering (NPLS) and supersonic particle image velocimetry (PIV) techniques. High spatiotemporal resolution images and the average velocity profiles of supersonic flow over the FFS with and without the control of the micro-ramps are captured. The fine structures of both cases, including the coherent structures of fully developed boundary layer and the large-scale hairpin-like vortices originated from the micro-ramps as well as the interaction of shock waves with the large-scale structures, are revealed and compared. Based on the time-correlation images, the temporal and spatial evolutionary characteristics of the coherent structures are investigated. It is beneficial to understand the dynamic mechanisms of the separated flow and the control mechanisms of the micro-ramps. The size of the separation region is determined by the NPLS and PIV. The results indicate that the control of the micro-ramps is capable of delaying the separation and diminishing the extent of recirculation zone.

Integrating macro and micro scale approaches in the agent-based modeling of residential dynamics

NASA Astrophysics Data System (ADS)

Saeedi, Sara

2018-06-01

With the advancement of computational modeling and simulation (M&S) methods as well as data collection technologies, urban dynamics modeling substantially improved over the last several decades. The complex urban dynamics processes are most effectively modeled not at the macro-scale, but following a bottom-up approach, by simulating the decisions of individual entities, or residents. Agent-based modeling (ABM) provides the key to a dynamic M&S framework that is able to integrate socioeconomic with environmental models, and to operate at both micro and macro geographical scales. In this study, a multi-agent system is proposed to simulate residential dynamics by considering spatiotemporal land use changes. In the proposed ABM, macro-scale land use change prediction is modeled by Artificial Neural Network (ANN) and deployed as the agent environment and micro-scale residential dynamics behaviors autonomously implemented by household agents. These two levels of simulation interacted and jointly promoted urbanization process in an urban area of Tehran city in Iran. The model simulates the behavior of individual households in finding ideal locations to dwell. The household agents are divided into three main groups based on their income rank and they are further classified into different categories based on a number of attributes. These attributes determine the households' preferences for finding new dwellings and change with time. The ABM environment is represented by a land-use map in which the properties of the land parcels change dynamically over the simulation time. The outputs of this model are a set of maps showing the pattern of different groups of households in the city. These patterns can be used by city planners to find optimum locations for building new residential units or adding new services to the city. The simulation results show that combining macro- and micro-level simulation can give full play to the potential of the ABM to understand the driving mechanism of urbanization and provide decision-making support for urban management.

Structures and Mechanisms Design Concepts for Adaptive Deployable Entry Placement Technology

NASA Technical Reports Server (NTRS)

Yount, Bryan C.; Arnold, James O.; Gage, Peter J.; Mockelman, Jeffrey; Venkatapathy, Ethiraj

2012-01-01

System studies have shown that large deployable aerodynamic decelerators such as the Adaptive Deployable Entry and Placement Technology (ADEPT) concept can revolutionize future robotic and human exploration missions involving atmospheric entry, descent and landing by significantly reducing the maximum heating rate, total heat load, and deceleration loads experienced by the spacecraft during entry [1-3]. ADEPT and the Hypersonic Inflatable Aerodynamic Decelerator (HIAD) [4] share the approach of stowing the entry system in the shroud of the launch vehicle and deploying it to a much larger diameter prior to entry. The ADEPT concept provides a low ballistic coefficient for planetary entry by employing an umbrella-like deployable structure consisting of ribs, struts and a fabric cover that form an aerodynamic decelerator capable of undergoing hypersonic flight. The ADEPT "skin" is a 3-D woven carbon cloth that serves as a thermal protection system (TPS) and as a structural surface that transfers aerodynamic forces to the underlying ribs [5]. This paper focuses on design activities associated with integrating ADEPT components (cloth, ribs, struts and mechanisms) into a system that can function across all configurations and environments of a typical mission concept: stowed during launch, in-space deployment, entry, descent, parachute deployment and separation from the landing payload. The baseline structures and mechanisms were selected via trade studies conducted during the summer and fall of 2012. They are now being incorporated into the design of a ground test article (GTA) that will be fabricated in 2013. It will be used to evaluate retention of the stowed configuration in a launch environment, mechanism operation for release, deployment and locking, and static strength of the deployed decelerator. Of particular interest are the carbon cloth interfaces, underlying hot structure, (Advanced Carbon- Carbon ribs) and other structural components (nose cap, struts, and main body) designed to withstand the pressure and extremely high heating experienced during planetary entry.

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

PubMed

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

2013-01-01

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

Multivariate Analysis To Quantify Species in the Presence of Direct Interferents: Micro-Raman Analysis of HNO 3 in Microfluidic Devices

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

Lines, Amanda M.; Nelson, Gilbert L.; Casella, Amanda J.

Microfluidic devices are a growing field with significant potential for application to small scale processing of solutions. Much like large scale processing, fast, reliable, and cost effective means of monitoring the streams during processing are needed. Here we apply a novel Micro-Raman probe to the on-line monitoring of streams within a microfluidic device. For either macro or micro scale process monitoring via spectroscopic response, there is the danger of interfering or confounded bands obfuscating results. By utilizing chemometric analysis, a form of multivariate analysis, species can be accurately quantified in solution despite the presence of overlapping or confounded spectroscopic bands.more » This is demonstrated on solutions of HNO 3 and NaNO 3 within micro-flow and microfluidic devices.« less