Telerobotic research at NASA Langley Research Center

NASA Technical Reports Server (NTRS)

Sliwa, Nancy E.

1987-01-01

An overview of Automation Technology Branch facilities and research is presented. Manipulator research includes dual-arm coordination studies, space manipulator dynamics, end-effector controller development, automatic space structure assembly, and the development of a dual-arm master-slave telerobotic manipulator system. Sensor research includes gravity-compensated force control, real-time monovision techniques, and laser ranging. Artificial intelligence techniques are being explored for supervisory task control, collision avoidance, and connectionist system architectures. A high-fidelity dynamic simulation of robotic systems, ROBSIM, is being supported and extended. Cooperative efforts with Oak Ridge National Laboratory have verified the ability of teleoperators to perform complex structural assembly tasks, and have resulted in the definition of a new dual-arm master-slave telerobotic manipulator. A bibliography of research results and a list of technical contacts are included.

Telerobotic workstation design aid

NASA Technical Reports Server (NTRS)

Corker, K.; Hudlicka, E.; Young, D.; Cramer, N.

1989-01-01

Telerobot systems are being developed to support a number of space mission applications. In low earth orbit, telerobots and teleoperated manipulators will be used in shuttle operations and space station construction/maintenance. Free flying telerobotic service vehicles will be used at low and geosynchronous orbital operations. Rovers and autonomous vehicles will be equipped with telerobotic devices in planetary exploration. In all of these systems, human operators will interact with the robot system at varied levels during the scheduled operations. The human operators may be in either orbital or ground-based control systems. To assure integrated system development and maximum utility across these systems, designers must be sensitive to the constraints and capabilities that the human brings to system operation and must be assisted in applying these human factors to system development. The simulation and analysis system is intended to serve the needs of system analysis/designers as an integrated workstation in support of telerobotic design.

A distributed telerobotics construction set

NASA Technical Reports Server (NTRS)

Wise, James D.

1994-01-01

During the course of our research on distributed telerobotic systems, we have assembled a collection of generic, reusable software modules and an infrastructure for connecting them to form a variety of telerobotic configurations. This paper describes the structure of this 'Telerobotics Construction Set' and lists some of the components which comprise it.

Telerobot operator control station requirements

NASA Technical Reports Server (NTRS)

Kan, Edwin P.

1988-01-01

The operator control station of a telerobot system has unique functional and human factors requirements. It has to satisfy the needs of a truly interactive and user-friendly complex system, a telerobot system being a hybrid between a teleoperated and an autonomous system. These functional, hardware and software requirements are discussed, with explicit reference to the design objectives and constraints of the JPL/NASA Telerobot Demonstrator System.

Telerobotics test bed for space structure assembly

NASA Technical Reports Server (NTRS)

Kitami, M.; Ogimoto, K.; Yasumoto, F.; Katsuragawa, T.; Itoko, T.; Kurosaki, Y.; Hirai, S.; Machida, K.

1994-01-01

A cooperative research on super long distance space telerobotics is now in progress both in Japan and USA. In this program. several key features will be tested, which can be applicable to the control of space robots as well as to terrestrial robots. Local (control) and remote (work) sites will be shared between Electrotechnical Lab (ETL) of MITI in Japan and Jet Propulsion Lab (JPL) in USA. The details of a test bed for this international program are discussed in this report.

Multi-level manual and autonomous control superposition for intelligent telerobot

NASA Technical Reports Server (NTRS)

Hirai, Shigeoki; Sato, T.

1989-01-01

Space telerobots are recognized to require cooperation with human operators in various ways. Multi-level manual and autonomous control superposition in telerobot task execution is described. The object model, the structured master-slave manipulation system, and the motion understanding system are proposed to realize the concept. The object model offers interfaces for task level and object level human intervention. The structured master-slave manipulation system offers interfaces for motion level human intervention. The motion understanding system maintains the consistency of the knowledge through all the levels which supports the robot autonomy while accepting the human intervention. The superposing execution of the teleoperational task at multi-levels realizes intuitive and robust task execution for wide variety of objects and in changeful environment. The performance of several examples of operating chemical apparatuses is shown.

MIT research in telerobotics

NASA Technical Reports Server (NTRS)

Sheridan, T. B.

1987-01-01

Ongoing MIT research in telerobotics (vehicles capable of some autonomous sensing and manipulating, having some remote supervisory control by people) and teleoperation (vehicles for sensing and manipulating which are fully controlled remotely by people) is discussed. The current efforts mix human and artificial intelligence/control. The idea of adjustable impedance at either end of pure master-slave teleoperation, and simultaneous coordinated control of teleoperator/telerobotic systems which have more than six degrees of freedom (e.g., a combined vehicle and arm, each with five or six DOF) are discussed. A new cable-controlled parallel link arm which offers many advantages over conventional arms for space is briefly described. Predictor displays to compensate for time delay in teleoperator loops, the use of state estimation to help human control decisions in space, and ongoing research in supervisory command language are covered. Finally, efforts to build a human flyable real-time dynamic computer-graphic telerobot simulator are described. These projects represent most, but not all, of the telerobotics research in our laboratory, supported by JPL, NASA Ames and NOAA.

The WCSAR telerobotics test bed

NASA Technical Reports Server (NTRS)

Duffie, N.; Zik, J.; Teeter, R.; Crabb, T.

1988-01-01

Component technologies for use in telerobotic systems for space are being developed. As part of this effort, a test bed was established in which these technologies can be verified and integrated into telerobotic systems. The facility consists of two slave industrial robots, an articulated master arm controller, a cartesian coordinate master arm controller, and a variety of sensors, displays and stimulators for feedback to human operators. The controller of one of the slave robots remains in its commercial state, while the controller of the other robot has been replaced with a new controller that achieves high-performance in telerobotic operating modes. A dexterous slave hand which consists of two fingers and a thumb is being developed, along with a number of force-reflecting and non-force reflecting master hands, wrists and arms. A tactile sensing finger tip based on piezo-film technology has been developed, along with tactile stimulators and CAD-based displays for sensory feedback and sensory substitution. The telerobotics test bed and its component technologies are described, as well as the integration of these component technologies into telerobotic systems, and their performance in conjunction with human operators.

Man-machine cooperation in advanced teleoperation

NASA Technical Reports Server (NTRS)

Fiorini, Paolo; Das, Hari; Lee, Sukhan

1993-01-01

Teleoperation experiments at JPL have shown that advanced features in a telerobotic system are a necessary condition for good results, but that they are not sufficient to assure consistently good performance by the operators. Two or three operators are normally used during training and experiments to maintain the desired performance. An alternative to this multi-operator control station is a man-machine interface embedding computer programs that can perform some of the operator's functions. In this paper we present our first experiments with these concepts, in which we focused on the areas of real-time task monitoring and interactive path planning. In the first case, when performing a known task, the operator has an automatic aid for setting control parameters and camera views. In the second case, an interactive path planner will rank different path alternatives so that the operator will make the correct control decision. The monitoring function has been implemented with a neural network doing the real-time task segmentation. The interactive path planner was implemented for redundant manipulators to specify arm configurations across the desired path and satisfy geometric, task, and performance constraints.

Man/Machine Interaction Dynamics And Performance (MMIDAP) capability

NASA Technical Reports Server (NTRS)

Frisch, Harold P.

1991-01-01

The creation of an ability to study interaction dynamics between a machine and its human operator can be approached from a myriad of directions. The Man/Machine Interaction Dynamics and Performance (MMIDAP) project seeks to create an ability to study the consequences of machine design alternatives relative to the performance of both machine and operator. The class of machines to which this study is directed includes those that require the intelligent physical exertions of a human operator. While Goddard's Flight Telerobotic's program was expected to be a major user, basic engineering design and biomedical applications reach far beyond telerobotics. Ongoing efforts are outlined of the GSFC and its University and small business collaborators to integrate both human performance and musculoskeletal data bases with analysis capabilities necessary to enable the study of dynamic actions, reactions, and performance of coupled machine/operator systems.

The Flight Telerobotic Servicer (FTS) - A focus for automation and robotics on the Space Station

NASA Technical Reports Server (NTRS)

Hinkal, Sanford W.; Andary, James F.; Watzin, James G.; Provost, David E.

1987-01-01

The concept, fundamental design principles, and capabilities of the FTS, a multipurpose telerobotic system for use on the Space Station and Space Shuttle, are discussed. The FTS is intended to assist the crew in the performance of extravehicular tasks; the telerobot will also be used on the Orbital Maneuvering Vehicle to service free-flyer spacecraft. The FTS will be capable of both teleoperation and autonomous operation; eventually it may also utilize ground control. By careful selection of the functional architecture and a modular approach to the hardware and software design, the FTS can accept developments in artificial intelligence and newer, more advanced sensors, such as machine vision and collision avoidance.

Simulation of the human-telerobot interface

NASA Technical Reports Server (NTRS)

Stuart, Mark A.; Smith, Randy L.

1988-01-01

A part of NASA's Space Station will be a Flight Telerobotic Servicer (FTS) used to help assemble, service, and maintain the Space Station. Since the human operator will be required to control the FTS, the design of the human-telerobot interface must be optimized from a human factors perspective. Simulation has been used as an aid in the development of complex systems. Simulation has been especially useful when it has been applied to the development of complex systems. Simulation should ensure that the hardware and software components of the human-telerobot interface have been designed and selected so that the operator's capabilities and limitations have been accommodated for since this is a complex system where few direct comparisons to existent systems can be made. Three broad areas of the human-telerobot interface where simulation can be of assistance are described. The use of simulation not only can result in a well-designed human-telerobot interface, but also can be used to ensure that components have been selected to best meet system's goals, and for operator training.

Test Bed For Telerobots

NASA Technical Reports Server (NTRS)

Matijevic, Jacob R.; Zimmerman, Wayne F.; Dolinsky, Shlomo

1990-01-01

Assembly of electromechanical and electronic equipment (including computers) constitutes test bed for development of advanced robotic systems for remote manipulation. Combines features not found in commercial systems. Its architecture allows easy growth in complexity and level of automation. System national resource for validation of new telerobotic technology. Intended primarily for robots used in outer space, test bed adapted to development of advanced terrestrial telerobotic systems for handling radioactive materials, dangerous chemicals, and explosives.

High performance bilateral telerobot control.

PubMed

Kline-Schoder, Robert; Finger, William; Hogan, Neville

2002-01-01

Telerobotic systems are used when the environment that requires manipulation is not easily accessible to humans, as in space, remote, hazardous, or microscopic applications or to extend the capabilities of an operator by scaling motions and forces. The Creare control algorithm and software is an enabling technology that makes possible guaranteed stability and high performance for force-feedback telerobots. We have developed the necessary theory, structure, and software design required to implement high performance telerobot systems with time delay. This includes controllers for the master and slave manipulators, the manipulator servo levels, the communication link, and impedance shaping modules. We verified the performance using both bench top hardware as well as a commercial microsurgery system.

Human-telerobot interactions - Information, control, and mental models

NASA Technical Reports Server (NTRS)

Smith, Randy L.; Gillan, Douglas J.

1987-01-01

A part of the NASA's Space Station will be a teleoperated robot (telerobot) with arms for grasping and manipulation, feet for holding onto objects, and television cameras for visual feedback. The objective of the work described in this paper is to develop the requirements and specifications for the user-telerobot interface and to determine through research and testing that the interface results in efficient system operation. The focus of the development of the user-telerobot interface is on the information required by the user, the user inputs, and the design of the control workstation. Closely related to both the information required by the user and the user's control of the telerobot is the user's mental model of the relationship between the control inputs and the telerobot's actions.

Participatory telerobotics

NASA Astrophysics Data System (ADS)

Wissner-Gross, Alexander D.; Sullivan, Timothy M.

2013-05-01

We present a novel "participatory telerobotics" system that generalizes the existing concept of participatory sensing to include real-time teleoperation and telepresence by treating humans with mobile devices as ad-hoc telerobots. In our approach, operators or analysts first choose a desired location for remote surveillance or activity from a live geographic map and are then automatically connected via a coordination server to the nearest available trusted human. That human's device is then activated and begins recording and streaming back to the operator a live audiovisual feed for telepresence, while allowing the operator in turn to request complex teleoperative motions or actions from the human. Supported action requests currently include walking, running, leaning, and turning, all with controllable magnitudes and directions. Compliance with requests is automatically measured and scored in real time by fusing information received from the device's onboard sensors, including its accelerometers, gyroscope, magnetometer, GPS receiver, and cameras. Streams of action requests are visually presented by each device to its human in the form of an augmented reality game that rewards prompt physical compliance while remaining tolerant of network latency. Because of its ability to interactively elicit physical knowledge and operations through ad-hoc collaboration, we anticipate that our participatory telerobotics system will have immediate applications in the intelligence, retail, healthcare, security, and travel industries.

Rover and Telerobotics Technology Program

NASA Technical Reports Server (NTRS)

Weisbin, Charles R.

1998-01-01

The Jet Propulsion Laboratory's (JPL's) Rover and Telerobotics Technology Program, sponsored by the National Aeronautics and Space Administration (NASA), responds to opportunities presented by NASA space missions and systems, and seeds commerical applications of the emerging robotics technology. The scope of the JPL Rover and Telerobotics Technology Program comprises three major segments of activity: NASA robotic systems for planetary exploration, robotic technology and terrestrial spin-offs, and technology for non-NASA sponsors. Significant technical achievements have been reached in each of these areas, including complete telerobotic system prototypes that have built and tested in realistic scenarios relevant to prospective users. In addition, the program has conducted complementary basic research and created innovative technology and terrestrial applications, as well as enabled a variety of commercial spin-offs.

Integrated Design of a Telerobotic Workstation

NASA Technical Reports Server (NTRS)

Rochlis, Jennifer L.; Clarke, John-Paul

2001-01-01

The experiments described in this paper are part of a larger joint MIT/NASA research effort that focuses on the development of a methodology for designing and evaluating integrated interfaces for highly dexterous and multi-functional telerobots. Specifically, a telerobotic workstation is being designed for an Extravehicular Activity (EVA) anthropomorphic space station telerobot. Previous researchers have designed telerobotic workstations based upon performance of discrete subsets of tasks (for example, peg-in-hole, tracking, etc.) without regard for transitions that operators go through between tasks performed sequentially in the context of larger integrated tasks. The exploratory research experiments presented here took an integrated approach and assessed how subjects operating a full-immersion telerobot perform during the transitions between sub-tasks of two common EVA tasks. Preliminary results show that up to 30% of total task time is spent gaining and maintaining Situation Awareness (SA) of their task space and environment during transitions. Although task performance improves over the two trial days, the percentage of time spent on SA remains the same. This method identifies areas where workstation displays and feedback mechanisms are most needed to increase operator performance and decrease operator workload - areas that previous research methods have not been able to address.

Space Station flight telerobotic servicer functional requirements development

NASA Technical Reports Server (NTRS)

Oberright, John; Mccain, Harry; Whitman, Ruth I.

1987-01-01

The Space Station flight telerobotic servicer (FTS), a flight robotic system for use on the first Space Station launch, is described. The objectives of the FTS program include: (1) the provision of an alternative crew EVA by supporting the crew in assembly, maintenance, and servicing activities, and (2) the improvement of crew safety by performing hazardous tasks such as spacecraft refueling or thermal and power system maintenance. The NASA/NBS Standard Reference Model provides the generic, hierarchical, structured functional control definition for the system. It is capable of accommodating additional degrees of machine intelligence in the future.

The JPL telerobot operator control station. Part 2: Software

NASA Technical Reports Server (NTRS)

Kan, Edwin P.; Landell, B. Patrick; Oxenberg, Sheldon; Morimoto, Carl

1989-01-01

The Operator Control Station of the Jet Propulsion Laboratory (JPL)/NASA Telerobot Demonstrator System provides the man-machine interface between the operator and the system. It provides all the hardware and software for accepting human input for the direct and indirect (supervised) manipulation of the robot arms and tools for task execution. Hardware and software are also provided for the display and feedback of information and control data for the operator's consumption and interaction with the task being executed. The software design of the operator control system is discussed.

Space telerobotic systems: Applications and concepts

NASA Technical Reports Server (NTRS)

Jenkins, L.

1987-01-01

The definition of a variety of assembly, servicing, and maintenance missions has led to the generation of a number of space telerobot concepts. The remote operation of a space telerobot is seen as a means to increase astronaut productivity. Dexterous manipulator arms are controlled from the Space Shuttle Orbiter cabin or a Space Station module. Concepts for the telerobotic work system have been developed by the Lyndon B. Johnson Space Center through contracts with the Grumman Aerospace Corporation and Marin Marietta Corporation. These studies defined a concept for a telerobot with extravehicular activity (EVA) astronaut equivalent capability that would be controlled from the Space Shuttle. An evolutionary development of the system is proposed as a means of incorporating technology advances. Early flight testing is seen as needed to address the uncertainties of robotic manipulation in space. Space robotics can be expected to spin off technology to terrestrial robots, particularly in hazardous and unstructured applications.

Telerobotic system performance measurement - Motivation and methods

NASA Technical Reports Server (NTRS)

Kondraske, George V.; Khoury, George J.

1992-01-01

A systems performance-based strategy for modeling and conducting experiments relevant to the design and performance characterization of telerobotic systems is described. A developmental testbed consisting of a distributed telerobotics network and initial efforts to implement the strategy described is presented. Consideration is given to the general systems performance theory (GSPT) to tackle human performance problems as a basis for: measurement of overall telerobotic system (TRS) performance; task decomposition; development of a generic TRS model; and the characterization of performance of subsystems comprising the generic model. GSPT employs a resource construct to model performance and resource economic principles to govern the interface of systems to tasks. It provides a comprehensive modeling/measurement strategy applicable to complex systems including both human and artificial components. Application is presented within the framework of a distributed telerobotics network as a testbed. Insight into the design of test protocols which elicit application-independent data is described.

A Graphical Operator Interface for a Telerobotic Inspection System

NASA Technical Reports Server (NTRS)

Kim, W. S.; Tso, K. S.; Hayati, S.

1993-01-01

Operator interface has recently emerged as an important element for efficient and safe operatorinteractions with the telerobotic system. Recent advances in graphical user interface (GUI) andgraphics/video merging technologies enable development of more efficient, flexible operatorinterfaces. This paper describes an advanced graphical operator interface newly developed for aremote surface inspection system at Jet Propulsion Laboratory. The interface has been designed sothat remote surface inspection can be performed by a single operator with an integrated robot controland image inspection capability. It supports three inspection strategies of teleoperated human visual inspection, human visual inspection with automated scanning, and machine-vision-based automated inspection.

An operator interface design for a telerobotic inspection system

NASA Technical Reports Server (NTRS)

Kim, Won S.; Tso, Kam S.; Hayati, Samad

1993-01-01

The operator interface has recently emerged as an important element for efficient and safe interactions between human operators and telerobotics. Advances in graphical user interface and graphics technologies enable us to produce very efficient operator interface designs. This paper describes an efficient graphical operator interface design newly developed for remote surface inspection at NASA-JPL. The interface, designed so that remote surface inspection can be performed by a single operator with an integrated robot control and image inspection capability, supports three inspection strategies of teleoperated human visual inspection, human visual inspection with automated scanning, and machine-vision-based automated inspection.

Control strategies for a telerobot

NASA Technical Reports Server (NTRS)

Ohara, John; Stasi, Bill

1989-01-01

One of the major issues impacting the utility of telerobotic systems for space is the development of effective control strategies. For near-term applications, telerobot control is likely to utilize teleoperation methodologies with integrated supervisory control capabilities to assist the operator. Two different approaches to telerobotic control are evaluated: bilateral force reflecting master controllers and proportional rate six degrees-of-freedom hand controllers. The controllers' performance of single manipulator arm tasks is compared. Simultaneous operation of both manipulator arms and complex multiaxis slave arm movements is investigated. Task times are significantly longer and fewer errors are committed with the hand controllers. The hand controllers are also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers are rated significantly higher in physical workload. The implications of these findings for space teleoperations and higher levels of control are discussed.

Challenges of Human-Robot Communication in Telerobotics

NASA Technical Reports Server (NTRS)

Bejczy, Antal K.

1996-01-01

Some general considerations are presented on bilateral human-telerobot control and information communication issues. Advances are reviewed related to the more conventional human-telerobot communication techniques, and some unconventional but promising communication methods are briefly discussed. Future needs and emerging application domains are briefly indicated.

A Space Data System Standard for Telerobotic Operations

NASA Technical Reports Server (NTRS)

Mittman, David S.; Martinez, Lindolfo

2014-01-01

The Telerobotics Working Group of the Mission Operations and Information Management Services Area of the Consultative Committee for Space Data Systems is drafting a document that will help bound the scope of an eventual international standard for telerobotic operations services. This paper will present the work in progress and provide background for how the international community is beginning to define standards in telerobotic operations that will help ensure the success of complex missions to explore beyond Earth orbit.

Initial Experience Using a Telerobotic Ultrasound System for Adult Abdominal Sonography.

PubMed

Adams, Scott J; Burbridge, Brent E; Badea, Andreea; Langford, Leanne; Vergara, Vincent; Bryce, Rhonda; Bustamante, Luis; Mendez, Ivar M; Babyn, Paul S

2017-08-01

The study sought to assess the feasibility of performing adult abdominal examinations using a telerobotic ultrasound system in which radiologists or sonographers can control fine movements of a transducer and all ultrasound settings from a remote location. Eighteen patients prospectively underwent a conventional sonography examination (using EPIQ 5 [Philips] or LOGIQ E9 [GE Healthcare]) followed by a telerobotic sonography examination (using the MELODY System [AdEchoTech] and SonixTablet [BK Ultrasound]) according to a standardized abdominal imaging protocol. For telerobotic examinations, patients were scanned remotely by a sonographer 2.75 km away. Conventional examinations were read independently from telerobotic examinations. Image quality and acceptability to patients and sonographers was assessed. Ninety-two percent of organs visualized on conventional examinations were sufficiently visualized on telerobotic examinations. Five pathological findings were identified on both telerobotic and conventional examinations, 3 findings were identified using only conventional sonography, and 2 findings were identified using only telerobotic sonography. A paired sample t test showed no significant difference between the 2 modalities in measurements of the liver, spleen, and diameter of the proximal aorta; however, telerobotic assessments overestimated distal aorta and common bile duct diameters and underestimated kidney lengths (P values < .05). All patients responded that they would be willing to have another telerobotic examination. A telerobotic ultrasound system is feasible for performing abdominal ultrasound examinations at a distant location with minimal training and setup requirements and a moderate learning curve. Telerobotic sonography (robotic telesonography) may open up the possibility of remote ultrasound clinics for communities that lack skilled sonographers and radiologists, thereby improving access to care. Copyright © 2016 Canadian Association of

Telerobotics in rehabilitation: Barriers to a virtual existence

NASA Technical Reports Server (NTRS)

Leifer, Larry; Vanderloos, Machiel; Michalowski, Stefan

1991-01-01

The topics covered include the following: the need for telerobotics in rehabilitation; barriers to telerobotics technology in rehabilitation and health care; institutional barriers; technical barriers; and a partial view of the future.

PC/AT-based architecture for shared telerobotic control

NASA Astrophysics Data System (ADS)

Schinstock, Dale E.; Faddis, Terry N.; Barr, Bill G.

1993-03-01

A telerobotic control system must include teleoperational, shared, and autonomous modes of control in order to provide a robot platform for incorporating the rapid advances that are occurring in telerobotics and associated technologies. These modes along with the ability to modify the control algorithms are especially beneficial for telerobotic control systems used for research purposes. The paper describes an application of the PC/AT platform to the control system of a telerobotic test cell. The paper provides a discussion of the suitability of the PC/AT as a platform for a telerobotic control system. The discussion is based on the many factors affecting the choice of a computer platform for a real time control system. The factors include I/O capabilities, simplicity, popularity, computational performance, and communication with external systems. The paper also includes a description of the actuation, measurement, and sensor hardware of both the master manipulator and the slave robot. It also includes a description of the PC-Bus interface cards. These cards were developed by the researchers in the KAT Laboratory, specifically for interfacing to the master manipulator and slave robot. Finally, a few different versions of the low level telerobotic control software are presented. This software incorporates shared control by supervisory systems and the human operator and traded control between supervisory systems and the human operator.

(abstract) An Ada Language Modular Telerobot Task Execution System

NASA Technical Reports Server (NTRS)

Backes, Paul; Long, Mark; Steele, Robert

1993-01-01

A telerobotic task execution system is described which has been developed for space flight applications. The Modular Telerobot Task Execution System (MOTES) provides the remote site task execution capability in a local-remote telerobotic system. The system provides supervised autonomous control, shared control, and teleoperation for a redundant manipulator. The system is capable of nominal task execution as well as monitoring and reflex motion.

Monovision techniques for telerobots

NASA Technical Reports Server (NTRS)

Goode, P. W.; Carnils, K.

1987-01-01

The primary task of the vision sensor in a telerobotic system is to provide information about the position of the system's effector relative to objects of interest in its environment. The subtasks required to perform the primary task include image segmentation, object recognition, and object location and orientation in some coordinate system. The accomplishment of the vision task requires the appropriate processing tools and the system methodology to effectively apply the tools to the subtasks. The functional structure of the telerobotic vision system used in the Langley Research Center's Intelligent Systems Research Laboratory is discussed as well as two monovision techniques for accomplishing the vision subtasks.

An expert system for planning and scheduling in a telerobotic environment

NASA Technical Reports Server (NTRS)

Ntuen, Celestine A.; Park, Eui H.

1991-01-01

A knowledge based approach to assigning tasks to multi-agents working cooperatively in jobs that require a telerobot in the loop was developed. The generality of the approach allows for such a concept to be applied in a nonteleoperational domain. The planning architecture known as the task oriented planner (TOP) uses the principle of flow mechanism and the concept of planning by deliberation to preserve and use knowledge about a particular task. The TOP is an open ended architecture developed with a NEXPERT expert system shell and its knowledge organization allows for indirect consultation at various levels of task abstraction. Considering that a telerobot operates in a hostile and nonstructured environment, task scheduling should respond to environmental changes. A general heuristic was developed for scheduling jobs with the TOP system. The technique is not to optimize a given scheduling criterion as in classical job and/or flow shop problems. For a teleoperation job schedule, criteria are situation dependent. A criterion selection is fuzzily embedded in the task-skill matrix computation. However, goal achievement with minimum expected risk to the human operator is emphasized.

Plugfest 2009: Global Interoperability in Telerobotics and Telemedicine

PubMed Central

King, H. Hawkeye; Hannaford, Blake; Kwok, Ka-Wai; Yang, Guang-Zhong; Griffiths, Paul; Okamura, Allison; Farkhatdinov, Ildar; Ryu, Jee-Hwan; Sankaranarayanan, Ganesh; Arikatla, Venkata; Tadano, Kotaro; Kawashima, Kenji; Peer, Angelika; Schauß, Thomas; Buss, Martin; Miller, Levi; Glozman, Daniel; Rosen, Jacob; Low, Thomas

2014-01-01

Despite the great diversity of teleoperator designs and applications, their underlying control systems have many similarities. These similarities can be exploited to enable inter-operability between heterogeneous systems. We have developed a network data specification, the Interoperable Telerobotics Protocol, that can be used for Internet based control of a wide range of teleoperators. In this work we test interoperable telerobotics on the global Internet, focusing on the telesurgery application domain. Fourteen globally dispersed telerobotic master and slave systems were connected in thirty trials in one twenty four hour period. Users performed common manipulation tasks to demonstrate effective master-slave operation. With twenty eight (93%) successful, unique connections the results show a high potential for standardizing telerobotic operation. Furthermore, new paradigms for telesurgical operation and training are presented, including a networked surgery trainer and upper-limb exoskeleton control of micro-manipulators. PMID:24748993

The JPL/KSC telerobotic inspection demonstration

NASA Technical Reports Server (NTRS)

Mittman, David; Bon, Bruce; Collins, Carol; Fleischer, Gerry; Litwin, Todd; Morrison, Jack; Omeara, Jacquie; Peters, Stephen; Brogdon, John; Humeniuk, Bob

1990-01-01

An ASEA IRB90 robotic manipulator with attached inspection cameras was moved through a Space Shuttle Payload Assist Module (PAM) Cradle under computer control. The Operator and Operator Control Station, including graphics simulation, gross-motion spatial planning, and machine vision processing, were located at JPL. The Safety and Support personnel, PAM Cradle, IRB90, and image acquisition system, were stationed at the Kennedy Space Center (KSC). Images captured at KSC were used both for processing by a machine vision system at JPL, and for inspection by the JPL Operator. The system found collision-free paths through the PAM Cradle, demonstrated accurate knowledge of the location of both objects of interest and obstacles, and operated with a communication delay of two seconds. Safe operation of the IRB90 near Shuttle flight hardware was obtained both through the use of a gross-motion spatial planner developed at JPL using artificial intelligence techniques, and infrared beams and pressure sensitive strips mounted to the critical surfaces of the flight hardward at KSC. The Demonstration showed that telerobotics is effective for real tasks, safe for personnel and hardware, and highly productive and reliable for Shuttle payload operations and Space Station external operations.

Crew interface with a telerobotic control station

NASA Technical Reports Server (NTRS)

Mok, Eva

1987-01-01

A method for apportioning crew-telerobot tasks has been derived to facilitate the design of a crew-friendly telerobot control station. To identify the most appropriate state-of-the-art hardware for the control station, task apportionment must first be conducted to identify if an astronaut or a telerobot is best to execute the task and which displays and controls are required for monitoring and performance. Basic steps that comprise the task analysis process are: (1) identify space station tasks; (2) define tasks; (3) define task performance criteria and perform task apportionment; (4) verify task apportionment; (5) generate control station requirements; (6) develop design concepts to meet requirements; and (7) test and verify design concepts.

TEJAS - TELEROBOTICS/EVA JOINT ANALYSIS SYSTEM VERSION 1.0

NASA Technical Reports Server (NTRS)

Drews, M. L.

1994-01-01

The primary objective of space telerobotics as a research discipline is the augmentation and/or support of extravehicular activity (EVA) with telerobotic activity; this allows increased emplacement of on-orbit assets while providing for their "in situ" management. Development of the requisite telerobot work system requires a well-understood correspondence between EVA and telerobotics that to date has been only partially established. The Telerobotics/EVA Joint Analysis Systems (TEJAS) hypermedia information system uses object-oriented programming to bridge the gap between crew-EVA and telerobotics activities. TEJAS Version 1.0 contains twenty HyperCard stacks that use a visual, customizable interface of icon buttons, pop-up menus, and relational commands to store, link, and standardize related information about the primitives, technologies, tasks, assumptions, and open issues involved in space telerobot or crew EVA tasks. These stacks are meant to be interactive and can be used with any database system running on a Macintosh, including spreadsheets, relational databases, word-processed documents, and hypermedia utilities. The software provides a means for managing volumes of data and for communicating complex ideas, relationships, and processes inherent to task planning. The stack system contains 3MB of data and utilities to aid referencing, discussion, communication, and analysis within the EVA and telerobotics communities. The six baseline analysis stacks (EVATasks, EVAAssume, EVAIssues, TeleTasks, TeleAssume, and TeleIssues) work interactively to manage and relate basic information which you enter about the crew-EVA and telerobot tasks you wish to analyze in depth. Analysis stacks draw on information in the Reference stacks as part of a rapid point-and-click utility for building scripts of specific task primitives or for any EVA or telerobotics task. Any or all of these stacks can be completely incorporated within other hypermedia applications, or they can be

The NASA/OAST telerobot testbed architecture

NASA Technical Reports Server (NTRS)

Matijevic, J. R.; Zimmerman, W. F.; Dolinsky, S.

1989-01-01

Through a phased development such as a laboratory-based research testbed, the NASA/OAST Telerobot Testbed provides an environment for system test and demonstration of the technology which will usefully complement, significantly enhance, or even replace manned space activities. By integrating advanced sensing, robotic manipulation and intelligent control under human-interactive supervision, the Testbed will ultimately demonstrate execution of a variety of generic tasks suggestive of space assembly, maintenance, repair, and telescience. The Testbed system features a hierarchical layered control structure compatible with the incorporation of evolving technologies as they become available. The Testbed system is physically implemented in a computing architecture which allows for ease of integration of these technologies while preserving the flexibility for test of a variety of man-machine modes. The development currently in progress on the functional and implementation architectures of the NASA/OAST Testbed and capabilities planned for the coming years are presented.

The flight telerobotic servicer and technology transfer

NASA Technical Reports Server (NTRS)

Andary, James F.; Bradford, Kayland Z.

1991-01-01

The Flight Telerobotic Servicer (FTS) project at the Goddard Space Flight Center is developing an advanced telerobotic system to assist in and reduce crew extravehicular activity (EVA) for Space Station Freedom (SSF). The FTS will provide a telerobotic capability in the early phases of the SSF program and will be employed for assembly, maintenance, and inspection applications. The current state of space technology and the general nature of the FTS tasks dictate that the FTS be designed with sophisticated teleoperational capabilities for its internal primary operating mode. However, technologies such as advanced computer vision and autonomous planning techniques would greatly enhance the FTS capabilities to perform autonomously in less structured work environments. Another objective of the FTS program is to accelerate technology transfer from research to U.S. industry.

Telerobot control system

NASA Technical Reports Server (NTRS)

Backes, Paul G. (Inventor); Tso, Kam S. (Inventor)

1993-01-01

This invention relates to an operator interface for controlling a telerobot to perform tasks in a poorly modeled environment and/or within unplanned scenarios. The telerobot control system includes a remote robot manipulator linked to an operator interface. The operator interface includes a setup terminal, simulation terminal, and execution terminal for the control of the graphics simulator and local robot actuator as well as the remote robot actuator. These terminals may be combined in a single terminal. Complex tasks are developed from sequential combinations of parameterized task primitives and recorded teleoperations, and are tested by execution on a graphics simulator and/or local robot actuator, together with adjustable time delays. The novel features of this invention include the shared and supervisory control of the remote robot manipulator via operator interface by pretested complex tasks sequences based on sequences of parameterized task primitives combined with further teleoperation and run-time binding of parameters based on task context.

System architectures for telerobotic research

NASA Technical Reports Server (NTRS)

Harrison, F. Wallace

1989-01-01

Several activities are performed related to the definition and creation of telerobotic systems. The effort and investment required to create architectures for these complex systems can be enormous; however, the magnitude of process can be reduced if structured design techniques are applied. A number of informal methodologies supporting certain aspects of the design process are available. More recently, prototypes of integrated tools supporting all phases of system design from requirements analysis to code generation and hardware layout have begun to appear. Activities related to system architecture of telerobots are described, including current activities which are designed to provide a methodology for the comparison and quantitative analysis of alternative system architectures.

A human-machine cooperation route planning method based on improved A* algorithm

NASA Astrophysics Data System (ADS)

Zhang, Zhengsheng; Cai, Chao

2011-12-01

To avoid the limitation of common route planning method to blindly pursue higher Machine Intelligence and autoimmunization, this paper presents a human-machine cooperation route planning method. The proposed method includes a new A* path searing strategy based on dynamic heuristic searching and a human cooperated decision strategy to prune searching area. It can overcome the shortage of A* algorithm to fall into a local long term searching. Experiments showed that this method can quickly plan a feasible route to meet the macro-policy thinking.

Preshaping command inputs to reduce telerobotic system oscillations

NASA Technical Reports Server (NTRS)

Singer, Neil C.; Seering, Warren P.

1989-01-01

The results of using a new technique for shaping inputs to a model of the space shuttle Remote Manipulator System (RMS) are presented. The shapes inputs move the system to the same location that was originally commanded, however, the oscillations of the machine are considerably reduced. An overview of the new shaping method is presented. A description of RMS model is provided. The problem of slow joint servo rates on the RMS is accommodated with an extension of the shaping method. The results and sample data are also presented for both joint and three-dimensional cartesian motions. The results demonstrate that the new shaping method performs well on large, telerobotic systems which exhibit significant structural vibration. The new method is shown to also result in considerable energy savings during operations of the RMS manipulator.

Low-Latency Lunar Surface Telerobotics from Earth-Moon Libration Points

NASA Technical Reports Server (NTRS)

Lester, Daniel; Thronson, Harley

2011-01-01

Concepts for a long-duration habitat at Earth-Moon LI or L2 have been advanced for a number of purposes. We propose here that such a facility could also have an important role for low-latency telerobotic control of lunar surface equipment, both for lunar science and development. With distances of about 60,000 km from the lunar surface, such sites offer light-time limited two-way control latencies of order 400 ms, making telerobotic control for those sites close to real time as perceived by a human operator. We point out that even for transcontinental teleoperated surgical procedures, which require operational precision and highly dexterous manipulation, control latencies of this order are considered adequate. Terrestrial telerobots that are used routinely for mining and manufacturing also involve control latencies of order several hundred milliseconds. For this reason, an Earth-Moon LI or L2 control node could build on the technology and experience base of commercially proven terrestrial ventures. A lunar libration-point telerobotic node could demonstrate exploration strategies that would eventually be used on Mars, and many other less hospitable destinations in the solar system. Libration-point telepresence for the Moon contrasts with lunar telerobotic control from the Earth, for which two-way control latencies are at least six times longer. For control latencies that long, telerobotic control efforts are of the "move-and-wait" variety, which is cognitively inferior to near real-time control.

Operator-coached machine vision for space telerobotics

NASA Technical Reports Server (NTRS)

Bon, Bruce; Wilcox, Brian; Litwin, Todd; Gennery, Donald B.

1991-01-01

A prototype system for interactive object modeling has been developed and tested. The goal of this effort has been to create a system which would demonstrate the feasibility of high interactive operator-coached machine vision in a realistic task environment, and to provide a testbed for experimentation with various modes of operator interaction. The purpose for such a system is to use human perception where machine vision is difficult, i.e., to segment the scene into objects and to designate their features, and to use machine vision to overcome limitations of human perception, i.e., for accurate measurement of object geometry. The system captures and displays video images from a number of cameras, allows the operator to designate a polyhedral object one edge at a time by moving a 3-D cursor within these images, performs a least-squares fit of the designated edges to edge data detected with a modified Sobel operator, and combines the edges thus detected to form a wire-frame object model that matches the Sobel data.

Telerobotic surgery: applications on human patients and training with virtual reality.

PubMed

Rovetta, A; Bejczy, A K; Sala, R

1997-01-01

This paper deals with the developed researches and applications on telerobotic surgery, devoted to human patients and with training by virtual reality. The researches have been developed in cooperation between Telerobotics Laboratory, Department of Mechanics, Politecnico di Milano, Italy, and Automation and Control Section, Jet Propulsion Laboratory, Pasadena, USA. The researches carried to a telesurgery robotic operation on a dummy on 7th July 1993, by means of satellites communications, to a prostatic biopsy on a human patient on 1st September 1995 with optical fibers, to results on time delay effects, to results on virtual reality applications for training on laparoscopy and surgery. The search implied time delay when the control input originated in Politecnico di Milano, Italy. The results were satisfactory, but also pointed out the need for specific new control transformations to ease the operator's or surgeon's visual/mental workload for hand-eye coordination. In the same research, dummy force commands from JPL to Milan were sent, and were echoed immediately back to JPL, measuring the round-trip time of the command signal. This, to some degree, simulates a contact force feedback situation. The results were very surprising; despite the fact that the ISDN calls are closed and "private" calls, the round-trip time exhibited great variations not only between calls but also within the same call. The results proved that telerobotics and telecontrol may be applied to surgery. Time latency variations are caused by features of communication network, of sending and receiving end computer software. The problem and its solution is also an architectural issue, and considerable improvements are possible. Virtual reality in the application of the research is a strong support to training on virtual objects and not on living beings.

Telerobot local-remote control architecture for space flight program applications

NASA Technical Reports Server (NTRS)

Zimmerman, Wayne; Backes, Paul; Steele, Robert; Long, Mark; Bon, Bruce; Beahan, John

1993-01-01

The JPL Supervisory Telerobotics (STELER) Laboratory has developed and demonstrated a unique local-remote robot control architecture which enables management of intermittent communication bus latencies and delays such as those expected for ground-remote operation of Space Station robotic systems via the Tracking and Data Relay Satellite System (TDRSS) communication platform. The current work at JPL in this area has focused on enhancing the technologies and transferring the control architecture to hardware and software environments which are more compatible with projected ground and space operational environments. At the local site, the operator updates the remote worksite model using stereo video and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. This capability runs on a single Silicon Graphics Inc. machine. The operator can employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the intended object. The remote site controller, called the Modular Telerobot Task Execution System (MOTES), runs in a multi-processor VME environment and performs the task sequencing, task execution, trajectory generation, closed loop force/torque control, task parameter monitoring, and reflex action. This paper describes the new STELER architecture implementation, and also documents the results of the recent autonomous docking task execution using the local site and MOTES.

Space Telerobotics and Rover Research at JPL

NASA Technical Reports Server (NTRS)

Weisbin, C.; Hayati, S.; Rodriguez, G.

1995-01-01

The goal of our program is to develop, integrate and demonstrate the science and technology of remote telerobotics leading to increases in operational capability, safety, cost effectiveness and probability of success of NASA missions. To that end, the program fosters the development of innovative system concepts for on-orbit servicing and planetary surface missions which use telerobotic systems as an important central component. These concepts are carried forward into develoments which are used to evaluate and demonstrate technology in realistic flight and ground experiments.

Medical telerobotic systems: current status and future trends.

PubMed

Avgousti, Sotiris; Christoforou, Eftychios G; Panayides, Andreas S; Voskarides, Sotos; Novales, Cyril; Nouaille, Laurence; Pattichis, Constantinos S; Vieyres, Pierre

2016-08-12

Teleoperated medical robotic systems allow procedures such as surgeries, treatments, and diagnoses to be conducted across short or long distances while utilizing wired and/or wireless communication networks. This study presents a systematic review of the relevant literature between the years 2004 and 2015, focusing on medical teleoperated robotic systems which have witnessed tremendous growth over the examined period. A thorough insight of telerobotics systems discussing design concepts, enabling technologies (namely robotic manipulation, telecommunications, and vision systems), and potential applications in clinical practice is provided, while existing limitations and future trends are also highlighted. A representative paradigm of the short-distance case is the da Vinci Surgical System which is described in order to highlight relevant issues. The long-distance telerobotics concept is exemplified through a case study on diagnostic ultrasound scanning. Moreover, the present review provides a classification into short- and long-distance telerobotic systems, depending on the distance from which they are operated. Telerobotic systems are further categorized with respect to their application field. For the reviewed systems are also examined their engineering characteristics and the employed robotics technology. The current status of the field, its significance, the potential, as well as the challenges that lie ahead are thoroughly discussed.

Custom electronic subsystems for the laboratory telerobotic manipulator

NASA Technical Reports Server (NTRS)

Glassell, R. L.; Butler, P. L.; Rowe, J. C.; Zimmermann, S. D.

1990-01-01

The National Aeronautics and Space Administration (NASA) Space Station Program presents new opportunities for the application of telerobotic and robotic systems. The Laboratory Telerobotic Manipulator (LTM) is a highly advanced 7 degrees-of-freedom (DOF) telerobotic/robotic manipulator. It was developed and built for the Automation Technology Branch at NASA's Langley Research Center (LaRC) for work in research and to demonstrate ground-based telerobotic manipulator system hardware and software systems for future NASA applications in the hazardous environment of space. The LTM manipulator uses an embedded wiring design with all electronics, motor power, and control and communication cables passing through the pitch-yaw differential joints. This design requires the number of cables passing through the pitch/yaw joint to be kept to a minimum. To eliminate the cables needed to carry each pitch-yaw joint's sensor data to the VME control computers, a custom-embedded electronics package for each manipulator joint was developed. The electronics package collects and sends the joint's sensor data to the VME control computers over a fiber optic cable. The electronics package consist of five individual subsystems: the VME Link Processor, the Joint Processor and the Joint Processor power supply in the joint module, the fiber optics communications system, and the electronics and motor power cabling.

Compact Telerobot Hand

NASA Technical Reports Server (NTRS)

Rosheim, Mark; Trechsel, Hans

1993-01-01

Anthropomorphic telerobotic hand contains actuators, joints, sensors, and complex wiring harnesses. Glove protects interior components of hand from dirt and damage. Imitates motions of human fingers and wrist in lifelike and dexterous way. Incorporates pitch/yaw joints in wrist and head knuckles. Hand modular; so fingers removable, interchangeable units. Feature simplifies servicing and maintenance, which must be done frequently in such complex mechanism.

Planning and reasoning in the JPL telerobot testbed

NASA Technical Reports Server (NTRS)

Peters, Stephen; Mittman, David; Collins, Carol; Omeara, Jacquie; Rokey, Mark

1990-01-01

The Telerobot Interactive Planning System is developed to serve as the highest autonomous-control level of the Telerobot Testbed. A recent prototype is described which integrates an operator interface for supervisory control, a task planner supporting disassembly and re-assembly operations, and a spatial planner for collision-free manipulator motion through the workspace. Each of these components is described in detail. Descriptions of the technical problem, approach, and lessons learned are included.

Terrestrial applications of NASA space telerobotics technologies

NASA Technical Reports Server (NTRS)

Lavery, Dave

1994-01-01

In 1985 the National Aeronautics and Space Administration (NASA) instituted a research program in telerobotics to develop and provide the technology for applications of telerobotics to the United States space program. The activities of the program are intended to most effectively utilize limited astronaut time by facilitating tasks such as inspection, assembly, repair, and servicing, as well as providing extended capability for remotely conducting planetary surface operations. As the program matured, it also developed a strong heritage of working with government and industry to directly transfer the developed technology into industrial applications.

Telerobotic on-orbit remote fluid resupply system

NASA Technical Reports Server (NTRS)

1990-01-01

The development of a telerobotic on-orbit fluid resupply demonstration system is described. A fluid transfer demonstration system was developed which functionally simulates operations required to remotely transfer fluids (liquids or gases) from a servicing spacecraft to a receiving spacecraft through the use of telerobotic manipulations. The fluid system is representative of systems used by current or planned spacecraft and propulsion stages requiring on-orbit remote resupply. The system was integrated with an existing MSFC remotely controlled manipulator arm to mate/demate couplings for demonstration and evaluation of a complete remotely operated fluid transfer system.

Simulation of the human-telerobot interface on the Space Station

NASA Technical Reports Server (NTRS)

Stuart, Mark A.; Smith, Randy L.

1993-01-01

Many issues remain unresolved concerning the components of the human-telerobot interface presented in this work. It is critical that these components be optimally designed and arranged to ensure, not only that the overall system's goals are met, but but that the intended end-user has been optimally accommodated. With sufficient testing and evaluation throughout the development cycle, the selection of the components to use in the final telerobotic system can promote efficient, error-free performance. It is recommended that whole-system simulation with full-scale mockups be used to help design the human-telerobot interface. It is contended that the use of simulation can facilitate this design and evaluation process.

Application of structured analysis to a telerobotic system

NASA Technical Reports Server (NTRS)

Dashman, Eric; Mclin, David; Harrison, F. W.; Soloway, Donald; Young, Steven

1990-01-01

The analysis and evaluation of a multiple arm telerobotic research and demonstration system developed by the NASA Intelligent Systems Research Laboratory (ISRL) is described. Structured analysis techniques were used to develop a detailed requirements model of an existing telerobotic testbed. Performance models generated during this process were used to further evaluate the total system. A commercial CASE tool called Teamwork was used to carry out the structured analysis and development of the functional requirements model. A structured analysis and design process using the ISRL telerobotic system as a model is described. Evaluation of this system focused on the identification of bottlenecks in this implementation. The results demonstrate that the use of structured methods and analysis tools can give useful performance information early in a design cycle. This information can be used to ensure that the proposed system meets its design requirements before it is built.

Experiences with the JPL telerobot testbed: Issues and insights

NASA Technical Reports Server (NTRS)

Stone, Henry W.; Balaram, Bob; Beahan, John

1989-01-01

The Jet Propulsion Laboratory's (JPL) Telerobot Testbed is an integrated robotic testbed used to develop, implement, and evaluate the performance of advanced concepts in autonomous, tele-autonomous, and tele-operated control of robotic manipulators. Using the Telerobot Testbed, researchers demonstrated several of the capabilities and technological advances in the control and integration of robotic systems which have been under development at JPL for several years. In particular, the Telerobot Testbed was recently employed to perform a near completely automated, end-to-end, satellite grapple and repair sequence. The task of integrating existing as well as new concepts in robot control into the Telerobot Testbed has been a very difficult and timely one. Now that researchers have completed the first major milestone (i.e., the end-to-end demonstration) it is important to reflect back upon experiences and to collect the knowledge that has been gained so that improvements can be made to the existing system. It is also believed that the experiences are of value to the others in the robotics community. Therefore, the primary objective here will be to use the Telerobot Testbed as a case study to identify real problems and technological gaps which exist in the areas of robotics and in particular systems integration. Such problems have surely hindered the development of what could be reasonably called an intelligent robot. In addition to identifying such problems, researchers briefly discuss what approaches have been taken to resolve them or, in several cases, to circumvent them until better approaches can be developed.

The use of graphics in the design of the human-telerobot interface

NASA Technical Reports Server (NTRS)

Stuart, Mark A.; Smith, Randy L.

1989-01-01

The Man-Systems Telerobotics Laboratory (MSTL) of NASA's Johnson Space Center employs computer graphics tools in their design and evaluation of the Flight Telerobotic Servicer (FTS) human/telerobot interface on the Shuttle and on the Space Station. It has been determined by the MSTL that the use of computer graphics can promote more expedient and less costly design endeavors. Several specific examples of computer graphics applied to the FTS user interface by the MSTL are described.

Weighted feature selection criteria for visual servoing of a telerobot

NASA Technical Reports Server (NTRS)

Feddema, John T.; Lee, C. S. G.; Mitchell, O. R.

1989-01-01

Because of the continually changing environment of a space station, visual feedback is a vital element of a telerobotic system. A real time visual servoing system would allow a telerobot to track and manipulate randomly moving objects. Methodologies for the automatic selection of image features to be used to visually control the relative position between an eye-in-hand telerobot and a known object are devised. A weighted criteria function with both image recognition and control components is used to select the combination of image features which provides the best control. Simulation and experimental results of a PUMA robot arm visually tracking a randomly moving carburetor gasket with a visual update time of 70 milliseconds are discussed.

JPL space station telerobotic engineering prototype development FY 91 status/achievements

NASA Technical Reports Server (NTRS)

Zimmerman, Wayne

1991-01-01

The topics covered are presented in view graph form and include: (1) streamlining intravehicular activity (IVA) teleoperation activities on the Space Station Freedom (SSF); (2) enhancing SSF utilization during the man-tended phase; (3) telerobotic ground remote operations (TGRO); and (4) advanced telerobotics system technology (shared control).

Traction-drive, seven-degree-of-freedom telerobot arm: A concept for manipulaton in space

NASA Technical Reports Server (NTRS)

Kuban, D. P.; Williams, D. M.

1987-01-01

As man seeks to expand his dominion into new environments, the demand increases for machines that perform useful functions in remote locations. This new concept for manipulation in space is based on knowledge and experience gained from manipulator systems developed to meet the needs of remote nuclear applications. It merges the best characteristics of teleoperation and robotic technologies. The design goals for the telerobot, a mechanical description, and technology areas that must be addressed for successful implementation are presented and discussed. The concept incorporates mechanical traction drives, redundant kinematics, and modular arm subelements to provide a backlash-free manipulator capable of obstacle avoidance.

Generic extravehicular (EVA) and telerobot task primitives for analysis, design, and integration. Version 1.0: Reference compilation for the EVA and telerobotics communities

NASA Technical Reports Server (NTRS)

Smith, Jeffrey H.; Drews, Michael

1990-01-01

The results are described of an effort to establish commonality and standardization of generic crew extravehicular (crew-EVA) and telerobotic task analysis primitives used for the study of spaceborne operations. Although direct crew-EVA plans are the most visible output of spaceborne operations, significant ongoing efforts by a wide variety of projects and organizations also require tools for estimation of crew-EVA and telerobotic times. Task analysis tools provide estimates for input to technical and cost tradeoff studies. A workshop was convened to identify the issues and needs to establish a common language and syntax for task analysis primitives. In addition, the importance of such a syntax was shown to have precedence over the level to which such a syntax is applied. The syntax, lists of crew-EVA and telerobotic primitives, and the data base in diskette form are presented.

The effect of monocular target blur on simulated telerobotic manipulation

NASA Technical Reports Server (NTRS)

Liu, Andrew; Stark, Lawrence

1991-01-01

A simulation involving three types of telerobotic tasks that require information about the spatial position of objects is reported. This is similar to the results of psychophysical experiments examining the effect of blur on stereoacuity. It is suggested that other psychophysical experimental results could be used to predict operator performance for other telerobotic tasks. It is demonstrated that refractive errors in the helmet-mounted stereo display system can affect performance in the three types of telerobotic tasks. The results of two sets of experiments indicate that monocular target blur of two diopters or more degrades stereo display performance to the level of monocular displays. This indicates that moderate levels of visual degradation that affect the operator's stereoacuity may eliminate the performance advantage of stereo displays.

Ergonomics and human factors in endoscopic surgery: a comparison of manual vs telerobotic simulation systems.

PubMed

Lee, E C; Rafiq, A; Merrell, R; Ackerman, R; Dennerlein, J T

2005-08-01

Minimally invasive surgical techniques expose surgeons to a variety of occupational hazards that may promote musculoskeletal disorders. Telerobotic systems for minimally invasive surgery may help to reduce these stressors. The objective of this study was to compare manual and telerobotic endoscopic surgery in terms of postural and mental stress. Thirteen participants with no experience as primary surgeons in endoscopic surgery performed a set of simulated surgical tasks using two different techniques--a telerobotic master--slave system and a manual endoscopic surgery system. The tasks consisted of passing a soft spherical object through a series of parallel rings, suturing along a line 5-cm long, running a 32-in ribbon, and cannulation. The Job Strain Index (JSI) and Rapid Upper Limb Assessment (RULA) were used to quantify upper extremity exposure to postural and force risk factors. Task duration was quantified in seconds. A questionnaire provided measures of the participants' intuitiveness and mental stress. The JSI and RULA scores for all four tasks were significantly lower for the telerobotic technique than for the manual one. Task duration was significantly longer for telerobotic than for manual tasks. Participants reported that the telerobotic technique was as intuitive as, and no more stressful than, the manual technique. Given identical tasks, the time to completion is longer using the telerobotic technique than its manual counterpart. For the given simulated tasks in the laboratory setting, the better scores for the upper extremity postural analysis indicate that telerobotic surgery provides a more comfortable environment for the surgeon without any additional mental stress.

Real-time qualitative reasoning for telerobotic systems

NASA Technical Reports Server (NTRS)

Pin, Eancois G.

1993-01-01

This paper discusses the sensor-based telerobotic driving of a car in a-priori unknown environments using 'human-like' reasoning schemes implemented on custom-designed VLSI fuzzy inferencing boards. These boards use the Fuzzy Set theoretic framework to allow very vast (30 kHz) processing of full sets of information that are expressed in qualitative form using membership functions. The sensor-based and fuzzy inferencing system was incorporated on an outdoor test-bed platform to investigate two control modes for driving a car on the basis of very sparse and imprecise range data. In the first mode, the car navigates fully autonomously to a goal specified by the operator, while in the second mode, the system acts as a telerobotic driver's aid providing the driver with linguistic (fuzzy) commands to turn left or right, speed up, slow down, stop, or back up depending on the obstacles perceived by the sensors. Indoor and outdoor experiments with both modes of control are described in which the system uses only three acoustic range (sonar) sensor channels to perceive the environment. Sample results are presented that illustrate the feasibility of developing autonomous navigation modules and robust, safety-enhancing driver's aids for telerobotic systems using the new fuzzy inferencing VLSI hardware and 'human-like' reasoning schemes.

Task automation in a successful industrial telerobot

NASA Technical Reports Server (NTRS)

Spelt, Philip F.; Jones, Sammy L.

1994-01-01

In this paper, we discuss cooperative work by Oak Ridge National Laboratory and Remotec, Inc., to automate components of the operator's workload using Remotec's Andros telerobot, thereby providing an enhanced user interface which can be retrofit to existing fielded units as well as being incorporated into new production units. Remotec's Andros robots are presently used by numerous electric utilities to perform tasks in reactors where substantial exposure to radiation exists, as well as by the armed forces and numerous law enforcement agencies. The automation of task components, as well as the video graphics display of the robot's position in the environment, will enhance all tasks performed by these users, as well as enabling performance in terrain where the robots cannot presently perform due to lack of knowledge about, for instance, the degree of tilt of the robot. Enhanced performance of a successful industrial mobile robot leads to increased safety and efficiency of performance in hazardous environments. The addition of these capabilities will greatly enhance the utility of the robot, as well as its marketability.

Establishment of the World's First Telerobotic Remote Surgical Service

PubMed Central

Anvari, Mehran; McKinley, Craig; Stein, Harvey

2005-01-01

Objective: To establish a telerobotic surgical service between a teaching hospital and a rural hospital for provision of telerobotic surgery and assistance to aid rural surgeons in providing a variety of advanced laparoscopic surgery to their community patients. Summary Background Data: The above service was established between St. Joseph's Hospital in Hamilton and North Bay General Hospital 400 km north of Hamilton on February 28, 2003. The service uses an IP-VPN (15 Mbps of bandwidth) commercially available network to connect the robotic console in Hamilton with 3 arms of the Zeus-TS surgical system in North Bay. Results: To date, 21 telerobotic laparoscopic surgeries have taken place between North Bay and Hamilton, including 13 fundoplications, 3 sigmoid resections, 2 right hemicolectomies, 1 anterior resection, and 2 inguinal hernia repairs. The 2 surgeons were able to operate together using the same surgical footprint and interchange roles seamlessly when desired. There have been no serious intraoperative complications and no cases have had to be converted to open surgeries. The mean hospital stays were equivalent to mean laparoscopic LOS in the tertiary institution. Conclusions: Telerobotic remote surgery is now in routine use, providing high-quality laparoscopic surgical services to patients in a rural community and providing a superior degree of collaboration between surgeons in teaching hospitals and rural hospitals. Further refinement of the robotic and telecommunication technology should ensure its wider application in the near future. PMID:15729068

Miniature Telerobots in Space Applications

NASA Technical Reports Server (NTRS)

Venema, S. C.; Hannaford, B.

1995-01-01

Ground controlled telerobots can be used to reduce astronaut workload while retaining much of the human capabilities of planning, execution, and error recovery for specific tasks. Miniature robots can be used for delicate and time consuming tasks such as biological experiment servicing without incurring the significant mass and power penalties associated with larger robot systems. However, questions remain regarding the technical and economic effectiveness of such mini-telerobotic systems. This paper address some of these open issues and the details of two projects which will provide some of the needed answers. The Microtrex project is a joint University of Washington/NASA project which plans on flying a miniature robot as a Space Shuttle experiment to evaluate the effects of microgravity on ground-controlled manipulation while subject to variable time-delay communications. A related project involving the University of Washington and Boeing Defense and Space will evaluate the effectiveness f using a minirobot to service biological experiments in a space station experiment 'glove-box' rack mock-up, again while subject to realistic communications constraints.

Cooperating reduction machines

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

Kluge, W.E.

1983-11-01

This paper presents a concept and a system architecture for the concurrent execution of program expressions of a concrete reduction language based on lamda-expressions. If formulated appropriately, these expressions are well-suited for concurrent execution, following a demand-driven model of computation. In particular, recursive program expressions with nonlinear expansion may, at run time, recursively be partitioned into a hierarchy of independent subexpressions which can be reduced by a corresponding hierarchy of virtual reduction machines. This hierarchy unfolds and collapses dynamically, with virtual machines recursively assuming the role of masters that create and eventually terminate, or synchronize with, slaves. The paper alsomore » proposes a nonhierarchically organized system of reduction machines, each featuring a stack architecture, that effectively supports the allocation of virtual machines to the real machines of the system in compliance with their hierarchical order of creation and termination. 25 references.« less

NASREN: Standard reference model for telerobot control

NASA Technical Reports Server (NTRS)

Albus, J. S.; Lumia, R.; Mccain, H.

1987-01-01

A hierarchical architecture is described which supports space station telerobots in a variety of modes. The system is divided into three hierarchies: task decomposition, world model, and sensory processing. Goals at each level of the task dedomposition heirarchy are divided both spatially and temporally into simpler commands for the next lower level. This decomposition is repreated until, at the lowest level, the drive signals to the robot actuators are generated. To accomplish its goals, task decomposition modules must often use information stored it the world model. The purpose of the sensory system is to update the world model as rapidly as possible to keep the model in registration with the physical world. The architecture of the entire control system hierarch is described and how it can be applied to space telerobot applications.

Test bed experiments for various telerobotic system characteristics and configurations

NASA Technical Reports Server (NTRS)

Duffie, Neil A.; Wiker, Steven F.; Zik, John J.

1990-01-01

Dexterous manipulation and grasping in telerobotic systems depends on the integration of high-performance sensors, displays, actuators and controls into systems in which careful consideration has been given to human perception and tolerance. Research underway at the Wisconsin Center for Space Automation and Robotics (WCSAR) has the objective of enhancing the performance of these systems and their components, and quantifying the effects of the many electrical, mechanical, control, and human factors that affect their performance. This will lead to a fundamental understanding of performance issues which will in turn allow designers to evaluate sensor, actuator, display, and control technologies with respect to generic measures of dexterous performance. As part of this effort, an experimental test bed was developed which has telerobotic components with exceptionally high fidelity in master/slave operation. A Telerobotic Performance Analysis System has also been developed which allows performance to be determined for various system configurations and electro-mechanical characteristics. Both this performance analysis system and test bed experiments are described.

Planning And Reasoning For A Telerobot

NASA Technical Reports Server (NTRS)

Peters, Stephen F.; Mittman, David S.; Collins, Carol E.; O'Meara Callahan, Jacquelyn S.; Rokey, Mark J.

1992-01-01

Document discusses research and development of Telerobot Interactive Planning System (TIPS). Goal in development of TIPS is to enable it to accept instructions from operator, then command run-time controller to execute operations to execute instructions. Challenges in transferring technology from testbed to operational system discussed.

The telerobot testbed: An architecture for remote servicing

NASA Technical Reports Server (NTRS)

Matijevic, J. R.

1990-01-01

The NASA/OAST Telerobot Testbed will reach its next increment in development by the end of FY-89. The testbed will have the capability for: force reflection in teleoperation, shared control, traded control, operator designate and relative update. These five capabilities will be shown in a module release and exchange operation using mockups of Orbital Replacement Units (ORU). This development of the testbed shows examples of the technologies needed for remote servicing, particularly under conditions of delay in transmissions to the servicing site. Here, the following topics are presented: the system architecture of the testbed which incorporates these telerobotic technologies for servicing, the implementation of the five capabilities and the operation of the ORU mockups.

Task oriented nonlinear control laws for telerobotic assembly operations

NASA Technical Reports Server (NTRS)

Walker, R. A.; Ward, L. S.; Elia, C. F.

1987-01-01

The goal of this research is to achieve very intelligent telerobotic controllers which are capable of receiving high-level commands from the human operator and implementing them in an adaptive manner in the object/task/manipulator workspace. Initiatives by the authors at Integrated Systems, Inc. to identify and develop the key technologies necessary to create such a flexible, highly programmable, telerobotic controller are presented. The focus of the discussion is on the modeling of insertion tasks in three dimensions and nonlinear implicit force feedback control laws which incorporate tool/workspace constraints. Preliminary experiments with dual arm beam assembly in 2-D are presented.

Operator assistant systems - An experimental approach using a telerobotics application

NASA Technical Reports Server (NTRS)

Boy, Guy A.; Mathe, Nathalie

1993-01-01

This article presents a knowledge-based system methodology for developing operator assistant (OA) systems in dynamic and interactive environments. This is a problem both of training and design, which is the subject of this article. Design includes both design of the system to be controlled and design of procedures for operating this system. A specific knowledge representation is proposed for representing the corresponding system and operational knowledge. This representation is based on the situation recognition and analytical reasoning paradigm. It tries to make explicit common factors involved in both human and machine intelligence, including perception and reasoning. An OA system based on this representation has been developed for space telerobotics. Simulations have been carried out with astronauts and the resulting protocols have been analyzed. Results show the relevance of the approach and have been used for improving the knowledge representation and the OA architecture.

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

Design of a telerobotic controller with joint torque sensors

NASA Technical Reports Server (NTRS)

Jansen, J. F.; Herndon, J. N.

1990-01-01

The purpose was to analytically show how to design a joint controller for a telerobotic system when joint torque sensors are available. Other sensors such as actuator position, actuator velocity, joint position, and joint velocity are assumed to be accessible; however, the results will also be useful when only partial measurements are available. The controller presented can be applied to either mode of operation of a manipulator (i.e., teleoperation or robotic). Mechanical manipulators with high levels of friction are assumed. The results are applied to a telerobotic system built for NASA. Very high levels of friction have been reduced using high-gain feedback while avoiding limit cycles.

An Intelligent Simulator for Telerobotics Training

ERIC Educational Resources Information Center

Belghith, K.; Nkambou, R.; Kabanza, F.; Hartman, L.

2012-01-01

Roman Tutor is a tutoring system that uses sophisticated domain knowledge to monitor the progress of students and advise them while they are learning how to operate a space telerobotic system. It is intended to help train operators of the Space Station Remote Manipulator System (SSRMS) including astronauts, operators involved in ground-based…

Human Exploration Using Real-Time Robotic Operations (HERRO)- Crew Telerobotic Control Vehicle (CTCV) Design

NASA Technical Reports Server (NTRS)

Oleson, Steven R.; McGuire, Melissa L.; Burke, Laura; Chato, David; Fincannon, James; Landis, Geoff; Sandifer, Carl; Warner, Joe; Williams, Glenn; Colozza, Tony;

A collision detection algorithm for telerobotic arms

NASA Technical Reports Server (NTRS)

Tran, Doan Minh; Bartholomew, Maureen Obrien

1991-01-01

The telerobotic manipulator's collision detection algorithm is described. Its applied structural model of the world environment and template representation of objects is evaluated. Functional issues that are required for the manipulator to operate in a more complex and realistic environment are discussed.

A Telerobot to Extend the Skill of Microsurgeons

NASA Technical Reports Server (NTRS)

Das, H.; Ohm, T.; Boswell, C.; Rodriguez, G.; Steele, R.; Charles, S.

1998-01-01

The engineering details of the Robot Assisted MicroSurgery (RAMS) telerobotic system designed to assist microsurgeons improve the precision and dexterity with which they can position surgical instruments is described in this paper.

Telerobotics for Human Exploration: Enhancing Crew Capabilities in Deep Space

NASA Technical Reports Server (NTRS)

Fong, Terrence

2013-01-01

Future space missions in Earth orbit, to the Moon, and to other distant destinations offer many new opportunities for exploration. But, astronaut time will always be limited and some work will not be feasible or efficient for humans to perform manually. Telerobots, however, can complement human explorers, performing work under remote control from Earth, orbit or nearby habitats. A central challenge, therefore, is to understand how humans and remotely operated robots can be jointly employed to maximize mission performance and success. This presentation provides an overview of the key issues with using telerobots for human exploration.

Thermal feedback in virtual reality and telerobotic systems

NASA Technical Reports Server (NTRS)

Zerkus, Mike; Becker, Bill; Ward, Jon; Halvorsen, Lars

1994-01-01

A new concept has been developed that allows temperature to be part of the virtual world. The Displaced Temperature Sensing System (DTSS) can 'display' temperature in a virtual reality system.The DTSS can also serve as a feedback device for telerobotics. For virtual reality applications the virtual world software would be required to have a temperature map of its world. By whatever means (magnetic tracker, ultrasound tracker, etc.) the hand and fingers, which have been instrumented with thermodes, would be tracked. The temperature associated with the current position would be transmitted to the DRSS via a serial data link. The DTSS would provide that temperature to the fingers. For telerobotic operation the function of the DTSS is to transmit a temperature from a remote location to the fingers where the temperature can be felt.

The effect of bandwidth on telerobot system performance

NASA Technical Reports Server (NTRS)

Uebel, Mark; Ali, Michael S.; Minis, Ioannis

1991-01-01

The purpose of the experiment was to determine the effect that various slave-joint bandwidths have on telerobot system performance. The telerobot system consisted of a slave arm controlled by a master. The slave incorporated an impedance loop to provide local compliance in addition to the compliance provided by the operator via force feedback. Three joint bandwidths, 0.5, 1.0, and 2.0 Hz, were used. The performance measures were the task completion time and the sums of the squared forces and moments exerted on the environment. The task consisted of peg-in-hole insertion and removal. The results of the experiment indicate a significant performance decrease at 0.5-Hz bandwidth relative to the 1- and 2-Hz bandwidths. There was no significant change in performance between the 1- and 2-Hz bandwidths.

Evolution and advanced technology. [of Flight Telerobotic Servicer

NASA Technical Reports Server (NTRS)

Ollendorf, Stanford; Pennington, Jack E.; Hansen, Bert, III

1990-01-01

The NASREM architecture with its standard interfaces permits development and evolution of the Flight Telerobotic Servicer to greater autonomy. Technologies in control strategies for an arm with seven DOF, including a safety system containing skin sensors for obstacle avoidance, are being developed. Planning and robotic execution software includes symbolic task planning, world model data bases, and path planning algorithms. Research over the last five years has led to the development of laser scanning and ranging systems, which use coherent semiconductor laser diodes for short range sensing. The possibility of using a robot to autonomously assemble space structures is being investigated. A control framework compatible with NASREM is being developed that allows direct global control of the manipulator. Researchers are developing systems that permit an operator to quickly reconfigure the telerobot to do new tasks safely.

Teleoperation, telerobotics, and telepresence in surgery.

PubMed

Satava, R M; Simon, I B

1993-06-01

The concepts of teleoperation, telerobotics, and telepresence are presented and defined. Current surgical systems, some in clinical practice and others in prototype demonstration, are used to illustrate each of these principles. The importance and impact of these technologies and their relation to other advanced technologies are illustrated to project a framework for the future of surgery.

Telerobotic Perception During Asteroid and Mars Regolith Operations Project

NASA Technical Reports Server (NTRS)

Gaddis, Steven; Zeitlin, Nancy (Compiler); Mueller, Robert (Compiler)

2015-01-01

Current space telerobotic systems are constrained to only operating in bright light and dust-free conditions. This project will study the effects of difficult lighting and dust conditions on telerobotic perception systems to better assess and refine regolith operations on other neighboring celestial bodies. In partnership with Embry-Riddle Aeronautical University and Caterpillar, Inc., optical, LiDAR and RADAR sensing equipment will be used in performing the study. This project will create a known dust environment in the Swamp Works Granular Mechanics & Regolith Operations (GMRO) Laboratory regolith test bin to characterize the behavior of the sensing equipment in various calibrated lighting and dust conditions. It will also identify potential methods for mitigating the impacts of these undesirable conditions on the performance of the sensing equipment. Enhancing the capability of telerobotic perception systems will help improve life on earth for those working in dangerous, dusty mining conditions, as well as help advance the same technologies used for safer self-driving automobiles in various lighting and weather conditions. It will also prove to be a critical skill needed for advancing robotic and human exploration throughout our solar system, for activities such as mining on an asteroid or pioneering the first colony on Mars.

The Space Station Freedom Flight Telerobotic Servicer - The design and evolution of a dexterous space robot

NASA Technical Reports Server (NTRS)

Mccain, Harry G.; Andary, James F.; Hewitt, Dennis R.; Haley, Dennis C.

1990-01-01

The Flight Telerobotic Servicer (FTS) will provide a telerobotic capability to the Space Station in the early assembly phases of the program and will be used for assembly, maintenance, and inspection throughout the lifetime of the Station. Here, the FTS design approach to the development of autonomous capabilities is discussed. The FTS telerobotic workstations for the Shuttle and Space Station, and facility for on-orbit storage are examined. The rationale of the FTS with regard to ease of operation, operational versatility, maintainability, safety, and control is discussed.

NASA/NBS (National Aeronautics and Space Administration/National Bureau of Standards) standard reference model for telerobot control system architecture (NASREM)

NASA Technical Reports Server (NTRS)

Albus, James S.; Mccain, Harry G.; Lumia, Ronald

1989-01-01

The document describes the NASA Standard Reference Model (NASREM) Architecture for the Space Station Telerobot Control System. It defines the functional requirements and high level specifications of the control system for the NASA space Station document for the functional specification, and a guideline for the development of the control system architecture, of the 10C Flight Telerobot Servicer. The NASREM telerobot control system architecture defines a set of standard modules and interfaces which facilitates software design, development, validation, and test, and make possible the integration of telerobotics software from a wide variety of sources. Standard interfaces also provide the software hooks necessary to incrementally upgrade future Flight Telerobot Systems as new capabilities develop in computer science, robotics, and autonomous system control.

Design, development and evaluation of a compact telerobotic catheter navigation system.

PubMed

Tavallaei, Mohammad Ali; Gelman, Daniel; Lavdas, Michael Konstantine; Skanes, Allan C; Jones, Douglas L; Bax, Jeffrey S; Drangova, Maria

2016-09-01

Remote catheter navigation systems protect interventionalists from scattered ionizing radiation. However, these systems typically require specialized catheters and extensive operator training. A new compact and sterilizable telerobotic system is described, which allows remote navigation of conventional tip-steerable catheters, with three degrees of freedom, using an interface that takes advantage of the interventionalist's existing dexterity skills. The performance of the system is evaluated ex vivo and in vivo for remote catheter navigation and ablation delivery. The system has absolute errors of 0.1 ± 0.1 mm and 7 ± 6° over 100 mm of axial motion and 360° of catheter rotation, respectively. In vivo experiments proved the safety of the proposed telerobotic system and demonstrated the feasibility of remote navigation and delivery of ablation. The proposed telerobotic system allows the interventionalist to use conventional steerable catheters; while maintaining a safe distance from the radiation source, he/she can remotely navigate the catheter and deliver ablation lesions. Copyright © 2015 John Wiley & Sons, Ltd. Copyright © 2015 John Wiley & Sons, Ltd.

Comparison of two different running models for the shock wave lithotripsy machine in Taipei City Hospital: self-support versus outsourcing cooperation.

PubMed

Huang, Chi-Yi; Chen, Shiou-Sheng; Chen, Li-Kuei

2009-10-01

To compare two different running models including self-support and outsourcing cooperation for the extracorporeal shock wave lithotripsy (SWL) machine in Taipei City Hospital, we made a retrospective study. Self-support means that the hospital has to buy an SWL machine and get all the payment from SWL. In outsourcing cooperation, the cooperative company provides an SWL machine and shares the payment with the hospital. Between January 2002 and December 2006, we used self-support for the SWL machine, and from January 2007 to December 2008, we used outsourcing cooperation. We used the method of full costing to calculate the cost of SWL, and the break-even point was the lowest number of treatment sessions of SWL to make balance of payments every month. Quality parameters including stone-free rate, retreatment rate, additional procedures and complication rate were evaluated. When outsourcing cooperation was used, there were significantly more treatment sessions of SWL every month than when utilizing self-support (36.3 +/- 5.1 vs. 48.1 +/- 8.4, P = 0.03). The cost of SWL for every treatment session was significantly higher using self-support than with outsourcing cooperation (25027.5 +/- 1789.8 NT$ vs. 21367.4 +/- 201.0 NT$). The break-even point was 28.3 (treatment sessions) for self-support, and 28.4 for outsourcing cooperation, when the hospital got 40% of the payment, which would decrease if the percentage increased. No significant differences were noticed for stone-free rate, retreatment rate, additional procedures and complication rate of SWL between the two running models. Besides, outsourcing cooperation had lower cost (every treatment session), but a greater number of treatment sessions of SWL every month than self-support.

Surface Telerobotics: Development and Testing of a Crew Controlled Planetary Rover System

NASA Technical Reports Server (NTRS)

Bualat, Maria G.; Fong, Terrence; Allan, Mark; Bouyssounouse, Xavier; Cohen, Tamar; Kobayashi, Linda

2013-01-01

In planning for future exploration missions, architecture and study teams have made numerous assumptions about how crew can be telepresent on a planetary surface by remotely operating surface robots from space (i.e. from a flight vehicle or deep space habitat). These assumptions include estimates of technology maturity, existing technology gaps, and operational risks. These assumptions, however, have not been grounded by experimental data. Moreover, to date, no crew-controlled surface telerobot has been fully tested in a high-fidelity manner. To address these issues, we developed the "Surface Telerobotics" tests to do three things: 1) Demonstrate interactive crew control of a mobile surface telerobot in the presence of short communications delay. 2) Characterize a concept of operations for a single astronaut remotely operating a planetary rover with limited support from ground control. 3) Characterize system utilization and operator work-load for a single astronaut remotely operating a planetary rover with limited support from ground control.

A new six-degree-of-freedom force-reflecting hand controller for space telerobotics

NASA Technical Reports Server (NTRS)

Mcaffee, Douglas; Snow, Edward; Townsend, William; Robinson, Lee; Hanson, Joe

1990-01-01

A new 6 degree of freedom universal Force Reflecting Hand Controller (FRHC) was designed for use as the man-machine interface in teleoperated and telerobotic flight systems. The features of this new design include highly intuitive operation, excellent kinesthetic feedback, high fidelity force/torque feedback, a kinematically simple structure, mechanically decoupled motion in all 6 DOF, good back-drivability, and zero backlash. In addition, the new design has a much larger work envelope, smaller stowage volume, greater stiffness and responsiveness, and better overlap of the human operator's range of motion than do previous designs. The utility and basic operation of a new, flight prototype FRHC called the Model X is briefly discussed. The design heritage, general design goals, and design implementation of this advanced new generation of FRHCs are presented, followed by a discussion of basic features and the results of initial testing.

Telerobotic Tending of Space Based Plant Growth Chamber

NASA Technical Reports Server (NTRS)

Backes, P. G.; Long, M. K.; Das, H.

1994-01-01

The kinematic design of a telerobotic mechanism for tending a plant growth space science experiment chamber is described. Ground based control of tending mechanisms internal to space science experiments will allow ground based principal investigators to interact directly with their space science experiments.

Advanced data management design for autonomous telerobotic systems in space using spaceborne symbolic processors

NASA Technical Reports Server (NTRS)

Goforth, Andre

1987-01-01

The use of computers in autonomous telerobots is reaching the point where advanced distributed processing concepts and techniques are needed to support the functioning of Space Station era telerobotic systems. Three major issues that have impact on the design of data management functions in a telerobot are covered. It also presents a design concept that incorporates an intelligent systems manager (ISM) running on a spaceborne symbolic processor (SSP), to address these issues. The first issue is the support of a system-wide control architecture or control philosophy. Salient features of two candidates are presented that impose constraints on data management design. The second issue is the role of data management in terms of system integration. This referes to providing shared or coordinated data processing and storage resources to a variety of telerobotic components such as vision, mechanical sensing, real-time coordinated multiple limb and end effector control, and planning and reasoning. The third issue is hardware that supports symbolic processing in conjunction with standard data I/O and numeric processing. A SSP that currently is seen to be technologically feasible and is being developed is described and used as a baseline in the design concept.

Automated Telerobotic Inspection Of Surfaces

NASA Technical Reports Server (NTRS)

Balaram, J.; Prasad, K. Venkatesh

1996-01-01

Method of automated telerobotic inspection of surfaces undergoing development. Apparatus implementing method includes video camera that scans over surfaces to be inspected, in manner of mine detector. Images of surfaces compared with reference images to detect flaws. Developed for inspecting external structures of Space Station Freedom for damage from micrometeorites and debris from prior artificial satellites. On Earth, applied to inspection for damage, missing parts, contamination, and/or corrosion on interior surfaces of pipes or exterior surfaces of bridges, towers, aircraft, and ships.

The JAU-JPL anthropomorphic telerobot

NASA Technical Reports Server (NTRS)

Jau, Bruno M.

1989-01-01

Work in progress on the new anthropomorphic telerobot is described. The initial robot configuration consists of a seven DOF arm and a sixteen DOF hand, having three fingers and a thumb. The robot has active compliance, enabling subsequent dual arm manipulations. To control the rather complex configuration of this robot, an exoskeleton master arm harness and a glove controller were built. The controller will be used for teleoperational tasks and as a research tool to efficiently teach the computer controller advanced manipulation techniques.

Adjustable impedance, force feedback and command language aids for telerobotics (parts 1-4 of an 8-part MIT progress report)

NASA Technical Reports Server (NTRS)

Sheridan, Thomas B.; Raju, G. Jagganath; Buzan, Forrest T.; Yared, Wael; Park, Jong

1989-01-01

Projects recently completed or in progress at MIT Man-Machine Systems Laboratory are summarized. (1) A 2-part impedance network model of a single degree of freedom remote manipulation system is presented in which a human operator at the master port interacts with a task object at the slave port in a remote location is presented. (2) The extension of the predictor concept to include force feedback and dynamic modeling of the manipulator and the environment is addressed. (3) A system was constructed to infer intent from the operator's commands and the teleoperation context, and generalize this information to interpret future commands. (4) A command language system is being designed that is robust, easy to learn, and has more natural man-machine communication. A general telerobot problem selected as an important command language context is finding a collision-free path for a robot.

Structural health monitoring for bolt loosening via a non-invasive vibro-haptics human-machine cooperative interface

NASA Astrophysics Data System (ADS)

Pekedis, Mahmut; Mascerañas, David; Turan, Gursoy; Ercan, Emre; Farrar, Charles R.; Yildiz, Hasan

2015-08-01

For the last two decades, developments in damage detection algorithms have greatly increased the potential for autonomous decisions about structural health. However, we are still struggling to build autonomous tools that can match the ability of a human to detect and localize the quantity of damage in structures. Therefore, there is a growing interest in merging the computational and cognitive concepts to improve the solution of structural health monitoring (SHM). The main object of this research is to apply the human-machine cooperative approach on a tower structure to detect damage. The cooperation approach includes haptic tools to create an appropriate collaboration between SHM sensor networks, statistical compression techniques and humans. Damage simulation in the structure is conducted by releasing some of the bolt loads. Accelerometers are bonded to various locations of the tower members to acquire the dynamic response of the structure. The obtained accelerometer results are encoded in three different ways to represent them as a haptic stimulus for the human subjects. Then, the participants are subjected to each of these stimuli to detect the bolt loosened damage in the tower. Results obtained from the human-machine cooperation demonstrate that the human subjects were able to recognize the damage with an accuracy of 88 ± 20.21% and response time of 5.87 ± 2.33 s. As a result, it is concluded that the currently developed human-machine cooperation SHM may provide a useful framework to interact with abstract entities such as data from a sensor network.

Haptics-based immersive telerobotic system for improvised explosive device disposal: Are two hands better than one?

NASA Astrophysics Data System (ADS)

Erickson, David; Lacheray, Hervé; Lambert, Jason Michel; Mantegh, Iraj; Crymble, Derry; Daly, John; Zhao, Yan

2012-06-01

State-of-the-art robotic explosive ordnance disposal robotics have not, in general, adopted recent advances in control technology and man-machine interfaces and lag many years behind academia. This paper describes the Haptics-based Immersive Telerobotic System project investigating an immersive telepresence envrionment incorporating advanced vehicle control systems, Augmented immersive sensory feedback, dynamic 3D visual information, and haptic feedback for explosive ordnance disposal operators. The project aim is to provide operatiors a more sophisticated interface and expand sensory input to perform complex tasks to defeat improvised explosive devices successfully. The introduction of haptics and immersive teleprescence has the potential to shift the way teleprescence systems work for explosive ordnance disposal tasks or more widely for first responders scenarios involving remote unmanned ground vehicles.

Development and demonstration of a telerobotic excavation system

NASA Technical Reports Server (NTRS)

Burks, Barry L.; Thompson, David H.; Killough, Stephen M.; Dinkins, Marion A.

1994-01-01

Oak Ridge National Laboratory is developing remote excavation technologies for the Department of Energy's Office (DOE) of Technology Development, Robotics Technology Development Program, and also for the Department of Defense (DOD) Project Manager for Ammunition Logistics. This work is being done to meet the need for remote excavation and removal of radioactive and contaminated buried waste at several DOE sites and unexploded ordnance at DOD sites. System requirements are based on the need to uncover and remove waste from burial sites in a way that does not cause unnecessary personnel exposure or additional environmental contamination. Goals for the current project are to demonstrate dexterous control of a backhoe with force feedback and to implement robotic operations that will improve productivity. The Telerobotic Small Emplacement Excavator is a prototype system that incorporates the needed robotic and telerobotic capabilities on a commercially available platform. The ability to add remote dexterous teleoperation and robotic operating modes is intended to be adaptable to other commercially available excavator systems.

Neural-Learning-Based Telerobot Control With Guaranteed Performance.

PubMed

Yang, Chenguang; Wang, Xinyu; Cheng, Long; Ma, Hongbin

2017-10-01

In this paper, a neural networks (NNs) enhanced telerobot control system is designed and tested on a Baxter robot. Guaranteed performance of the telerobot control system is achieved at both kinematic and dynamic levels. At kinematic level, automatic collision avoidance is achieved by the control design at the kinematic level exploiting the joint space redundancy, thus the human operator would be able to only concentrate on motion of robot's end-effector without concern on possible collision. A posture restoration scheme is also integrated based on a simulated parallel system to enable the manipulator restore back to the natural posture in the absence of obstacles. At dynamic level, adaptive control using radial basis function NNs is developed to compensate for the effect caused by the internal and external uncertainties, e.g., unknown payload. Both the steady state and the transient performance are guaranteed to satisfy a prescribed performance requirement. Comparative experiments have been performed to test the effectiveness and to demonstrate the guaranteed performance of the proposed methods.

Designing minimal space telerobotics systems for maximum performance

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Long, Mark K.; Steele, Robert D.

1992-01-01

The design of the remote site of a local-remote telerobot control system is described which addresses the constraints of limited computational power available at the remote site control system while providing a large range of control capabilities. The Modular Telerobot Task Execution System (MOTES) provides supervised autonomous control, shared control and teleoperation for a redundant manipulator. The system is capable of nominal task execution as well as monitoring and reflex motion. The MOTES system is minimized while providing a large capability by limiting its functionality to only that which is necessary at the remote site and by utilizing a unified multi-sensor based impedance control scheme. A command interpreter similar to one used on robotic spacecraft is used to interpret commands received from the local site. The system is written in Ada and runs in a VME environment on 68020 processors and initially controls a Robotics Research K1207 7 degree of freedom manipulator.

Open control/display system for a telerobotics work station

NASA Technical Reports Server (NTRS)

Keslowitz, Saul

1987-01-01

A working Advanced Space Cockpit was developed that integrated advanced control and display devices into a state-of-the-art multimicroprocessor hardware configuration, using window graphics and running under an object-oriented, multitasking real-time operating system environment. This Open Control/Display System supports the idea that the operator should be able to interactively monitor, select, control, and display information about many payloads aboard the Space Station using sets of I/O devices with a single, software-reconfigurable workstation. This is done while maintaining system consistency, yet the system is completely open to accept new additions and advances in hardware and software. The Advanced Space Cockpit, linked to Grumman's Hybrid Computing Facility and Large Amplitude Space Simulator (LASS), was used to test the Open Control/Display System via full-scale simulation of the following tasks: telerobotic truss assembly, RCS and thermal bus servicing, CMG changeout, RMS constrained motion and space constructible radiator assembly, HPA coordinated control, and OMV docking and tumbling satellite retrieval. The proposed man-machine interface standard discussed has evolved through many iterations of the tasks, and is based on feedback from NASA and Air Force personnel who performed those tasks in the LASS.

The JPL telerobotic Manipulator Control and Mechanization (MCM) subsystem

NASA Technical Reports Server (NTRS)

Hayati, Samad; Lee, Thomas S.; Tso, Kam; Backes, Paul; Kan, Edwin; Lloyd, J.

1989-01-01

The Manipulator Control and Mechanization (MCM) subsystem of the telerobot system provides the real-time control of the robot manipulators in autonomous and teleoperated modes and real time input/output for a variety of sensors and actuators. Substantial hardware and software are included in this subsystem which interfaces in the hierarchy of the telerobot system with the other subsystems. The other subsystems are: run time control, task planning and reasoning, sensing and perception, and operator control subsystem. The architecture of the MCM subsystem, its capabilities, and details of various hardware and software elements are described. Important improvements in the MCM subsystem over the first version are: dual arm coordinated trajectory generation and control, addition of integrated teleoperation, shared control capability, replacement of the ultimate controllers with motor controllers, and substantial increase in real time processing capability.

NASA's Space Launch System: Positioning Assets for Tele-Robotic Operations

NASA Technical Reports Server (NTRS)

May, Todd A.; Creech, Stephen D.; Robinson, Kimberly F.

2013-01-01

The National Aeronautics and Space Administration (NASA) is designing and developing America's most capable launch vehicle to support high-priority human and scientific exploration beyond Earth's orbit. The Space Launch System (SLS) will initially lift 70 metric tons (t) on its first flights, slated to begin in 2017, and will be evolved after 2021 to a full 130-t capability-larger than the Saturn V Moon rocket. This superior lift and associated volume capacity will support game-changing exploration in regions that were previously unattainable, being too costly and risky to reach. On the International Space Station, astronauts are training for long-duration missions to asteroids and cis-martian regions, but have not had transportation out of Earth's orbit - until now. Simultaneously, productive rovers are sending scientists - and space fans - unprecedented information about the composition and history of Mars, the planet thought to be most like Earth. This combination of experience and information is laying the foundation for future missions, such as those outlined in NASA's "Mars Next Decade" report, that will rely on te1e-robotic operations to take exploration to the next level. Within this paradigm, NASA's Space Launch System stands ready to manifest the unique payloads that will be required for mission success. Ultimately, the ability to position assets - ranging from orbiters, to landers, to communication satellites and surface systems - is a critical step in broadening the reach of technological innovation that will benefit all Earth's people as the Space Age unfolds. This briefing will provide an overview of how the Space Launch System will support delivery of elements for tele-robotic operations at destinations such as the Moon and Mars, which will synchronize the human-machine interface to deliver hybrid on-orbit capabilities. Ultimately, telerobotic operations will open entirely new vistas and the doors of discovery. NASA's Space Launch System will be a

Design of a structural and functional hierarchy for planning and control of telerobotic systems

NASA Technical Reports Server (NTRS)

Acar, Levent; Ozguner, Umit

1989-01-01

Hierarchical structures offer numerous advantages over conventional structures for the control of telerobotic systems. A hierarchically organized system can be controlled via undetailed task assignments and can easily adapt to changing circumstances. The distributed and modular structure of these systems also enables fast response needed in most telerobotic applications. On the other hand, most of the hierarchical structures proposed in the literature are based on functional properties of a system. These structures work best for a few given functions of a large class of systems. In telerobotic applications, all functions of a single system needed to be explored. This approach requires a hierarchical organization based on physical properties of a system and such a hierarchical organization is introduced. The decomposition, organization, and control of the hierarchical structure are considered, and a system with two robot arms and a camera is presented.

Robot-assisted ultrasound imaging: overview and development of a parallel telerobotic system.

PubMed

Monfaredi, Reza; Wilson, Emmanuel; Azizi Koutenaei, Bamshad; Labrecque, Brendan; Leroy, Kristen; Goldie, James; Louis, Eric; Swerdlow, Daniel; Cleary, Kevin

2015-02-01

Ultrasound imaging is frequently used in medicine. The quality of ultrasound images is often dependent on the skill of the sonographer. Several researchers have proposed robotic systems to aid in ultrasound image acquisition. In this paper we first provide a short overview of robot-assisted ultrasound imaging (US). We categorize robot-assisted US imaging systems into three approaches: autonomous US imaging, teleoperated US imaging, and human-robot cooperation. For each approach several systems are introduced and briefly discussed. We then describe a compact six degree of freedom parallel mechanism telerobotic system for ultrasound imaging developed by our research team. The long-term goal of this work is to enable remote ultrasound scanning through teleoperation. This parallel mechanism allows for both translation and rotation of an ultrasound probe mounted on the top plate along with force control. Our experimental results confirmed good mechanical system performance with a positioning error of < 1 mm. Phantom experiments by a radiologist showed promising results with good image quality.

Control Software for a High-Performance Telerobot

NASA Technical Reports Server (NTRS)

Kline-Schoder, Robert J.; Finger, William

2005-01-01

A computer program for controlling a high-performance, force-reflecting telerobot has been developed. The goal in designing a telerobot-control system is to make the velocity of the slave match the master velocity, and the environmental force on the master match the force on the slave. Instability can arise from even small delays in propagation of signals between master and slave units. The present software, based on an impedance-shaping algorithm, ensures stability even in the presence of long delays. It implements a real-time algorithm that processes position and force measurements from the master and slave and represents the master/slave communication link as a transmission line. The algorithm also uses the history of the control force and the slave motion to estimate the impedance of the environment. The estimate of the impedance of the environment is used to shape the controlled slave impedance to match the transmission-line impedance. The estimate of the environmental impedance is used to match the master and transmission-line impedances and to estimate the slave/environment force in order to present that force immediately to the operator via the master unit.

The space station assembly phase: Flight telerobotic servicer feasibility, volume 1

NASA Technical Reports Server (NTRS)

Smith, Jeffrey H.; Gyamfi, Max A.; Volkmer, Kent; Zimmerman, Wayne F.

1987-01-01

The question is addressed which was raised by the Critical Evaluation Task Force (CETF) analysis of the space station: if a Flight Telerobotic Servicer (FTS) of a given technical risk could be built for use during space station assembly, could it save significant extravehicular (EVA) resources. Key issues and trade-offs associated with using an FTS to aid in space station assembly phase tasks such as construction and servicing are identified. A methodology is presented that incorporates assessment of candidate assembly phase tasks, telerobotics performance capabilities, development costs, operational constraints (STS and proximity operations), maintenance, attached payloads, and polar platforms. A discussion of the issues is presented with focus on potential FTS roles: (1) as a research-oriented test bed to learn more about space usage of telerobotics; (2) as a research-based test bed with an experimental demonstration orientation and limited assembly and servicing applications; or (3) as an operational system to augment EVA, to aid the construction of the space station, and to reduce the programmatic (schedule) risk by increasing the flexibility of mission operations. During the course of the study, the baseline configuration was modified into Phase 1 (a station assembled in 12 flights), and Phase 2 (a station assembled over a 30 flight period) configuration.

Manipulator control and mechanization: A telerobot subsystem

NASA Technical Reports Server (NTRS)

Hayati, S.; Wilcox, B.

1987-01-01

The short- and long-term autonomous robot control activities in the Robotics and Teleoperators Research Group at the Jet Propulsion Laboratory (JPL) are described. This group is one of several involved in robotics and is an integral part of a new NASA robotics initiative called Telerobot program. A description of the architecture, hardware and software, and the research direction in manipulator control is given.

A run-time control architecture for the JPL telerobot

NASA Technical Reports Server (NTRS)

Balaram, J.; Lokshin, A.; Kreutz, K.; Beahan, J.

1987-01-01

An architecture for implementing the process-level decision making for a hierarchically structured telerobot currently being implemented at the Jet Propolusion Laboratory (JPL) is described. Constraints on the architecture design, architecture partitioning concepts, and a detailed description of the existing and proposed implementations are provided.

Lunar Sample Return Missions Using a Tele-Robotic Lander

NASA Astrophysics Data System (ADS)

Downes, H.; Crawford, I. A.; Alexander, L.

2018-02-01

Deep Space Gateway would allow tele-robotic landers and rovers to access regions of the Moon which have not been previously sampled. Scientific questions, e.g., the nature and duration of volcanic activity and the composition of the mantle/lower crust, could be addressed.

The role of telementoring and telerobotic assistance in the provision of laparoscopic colorectal surgery in rural areas.

PubMed

Sebajang, H; Trudeau, P; Dougall, A; Hegge, S; McKinley, C; Anvari, M

2006-09-01

The aim of this study was to assess whether telementoring and telerobotic assistance would improve the range and quality of laparoscopic colorectal surgery being performed by community surgeons. We present a series of 18 patients who underwent telementored or telerobotically assisted laparoscopic colorectal surgery in two community hospitals between December 2002 and December 2003. Four community surgeons with no formal advanced laparoscopic fellowship were remotely mentored and assisted by an expert surgeon from a tertiary care center. Telementoring was achieved with real-time two-way audio-video communications over bandwidths of 384 kbps-1.2 mbps and included one redo ileocolic resection, two right hemicolectomies, two sigmoid resections, three low anterior resections, one subtotal colectomy, one reversal of a Hartmann operation, and one abdominoperineal resection. A Zeus TS microjoint system (Computer Motion Inc, Santa Barbara CA) was used to provide telepresence for the telerobotically assisted laparoscopic procedures, which included three right hemicolectomies, three sigmoid resections, and one low anterior resection. There were no major intraoperative complications. There were two minor intraoperative complications involving serosal tears of the colon from the robotic graspers. In the telementored cases, there were two postoperative complications requiring reoperation (intra-abdominal bleeding and small bowel obstruction). Two telementored procedures were converted because of the mentee's inability to find the appropriate planes of dissection. One telerobotically assisted procedure was completed laparoscopically by the local surgeon with aid of telementoring because of inadequate robotic arm position. The median length of hospital stay for this series was 4 days. The surgeons considered telementoring useful in all cases (median score 4 out of 5). The use of remote telerobotic assistance was also considered a significant enabling tool. Telementoring and remote

Spaceborne construction and operations planning - Decision rules for selecting EVA, telerobot, and combined work-systems

NASA Technical Reports Server (NTRS)

Smith, Jeffrey H.

1992-01-01

An approach is presented for selecting an appropriate work-system for performing construction and operations tasks by humans and telerobots. The decision to use extravehicular activity (EVA) performed by astronauts, extravehicular robotics (EVR), or a combination of EVA and EVR is determined by the ratio of the marginal costs of EVA, EVR, and IVA. The approach proposed here is useful for examining cost trade-offs between tasks and performing trade studies of task improvement techniques (human or telerobotic).

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.

The flight telerobotic servicer Tinman concept: System design drivers and task analysis

NASA Technical Reports Server (NTRS)

Andary, J. F.; Hewitt, D. R.; Hinkal, S. W.

1989-01-01

A study was conducted to develop a preliminary definition of the Flight Telerobotic Servicer (FTS) that could be used to understand the operational concepts and scenarios for the FTS. Called the Tinman, this design concept was also used to begin the process of establishing resources and interfaces for the FTS on Space Station Freedom, the National Space Transportation System shuttle orbiter, and the Orbital Maneuvering vehicle. Starting with an analysis of the requirements and task capabilities as stated in the Phase B study requirements document, the study identified eight major design drivers for the FTS. Each of these design drivers and their impacts on the Tinman design concept are described. Next, the planning that is currently underway for providing resources for the FTS on Space Station Freedom is discussed, including up to 2000 W of peak power, up to four color video channels, and command and data rates up to 500 kbps between the telerobot and the control station. Finally, an example is presented to show how the Tinman design concept was used to analyze task scenarios and explore the operational capabilities of the FTS. A structured methodology using a standard terminology consistent with the NASA/National Bureau of Standards Standard Reference Model for Telerobot Control System Architecture (NASREM) was developed for this analysis.

Issues, concerns, and initial implementation results for space based telerobotic control

NASA Technical Reports Server (NTRS)

Lawrence, D. A.; Chapel, J. D.; Depkovich, T. M.

1987-01-01

Telerobotic control for space based assembly and servicing tasks presents many problems in system design. Traditional force reflection teleoperation schemes are not well suited to this application, and the approaches to compliance control via computer algorithms have yet to see significant testing and comparison. These observations are discussed in detail, as well as the concerns they raise for imminent design and testing of space robotic systems. As an example of the detailed technical work yet to be done before such systems can be specified, a particular approach to providing manipulator compliance is examined experimentally and through modeling and analysis. This yields some initial insight into the limitations and design trade-offs for this class of manipulator control schemes. Implications of this investigation for space based telerobots are discussed in detail.

Dual use display systems for telerobotics

NASA Technical Reports Server (NTRS)

Massimino, Michael J.; Meschler, Michael F.; Rodriguez, Alberto A.

1994-01-01

This paper describes a telerobotics display system, the Multi-mode Manipulator Display System (MMDS), that has applications for a variety of remotely controlled tasks. Designed primarily to assist astronauts with the control of space robotics systems, the MMDS has applications for ground control of space robotics as well as for toxic waste cleanup, undersea, remotely operated vehicles, and other environments which require remote operations. The MMDS has three modes: (1) Manipulator Position Display (MPD) mode, (2) Joint Angle Display (JAD) mode, and (3) Sensory Substitution (SS) mode. These three modes are discussed in the paper.

A modular telerobotic task execution system

NASA Technical Reports Server (NTRS)

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

1990-01-01

A telerobot task execution system is proposed to provide a general parametrizable task execution capability. The system includes communication with the calling system, e.g., a task planning system, and single- and dual-arm sensor-based task execution with monitoring and reflexing. A specific task is described by specifying the parameters to various available task execution modules including trajectory generation, compliance control, teleoperation, monitoring, and sensor fusion. Reflex action is achieved by finding the corresponding reflex action in a reflex table when an execution event has been detected with a monitor.

The space station assembly phase: System design trade-offs for the flight telerobotic servicer

NASA Technical Reports Server (NTRS)

Smith, Jeffrey H.; Gyamfi, Max; Volkmer, Kent; Zimmerman, Wayne

1988-01-01

The effects of a recent study aimed at identifying key issues and trade-offs associated with using a Flight Telerobotic Servicer (FTS) to aid in Space Station assembly-phase tasks is described. The use of automation and robotic (A and R) technologies for large space systems often involves a substitution of automation capabilities for human EVA or IVA activities. A methodology is presented that incorporates assessment of candidate assembly-phase tasks, telerobotic performance capabilities, development costs, and effects of operational constaints. Changes in the region of cost-effectiveness are examined under a variety of system design assumptions. A discussion of issues is presented with focus on three roles the FTS might serve: as a research-oriented test bed to learn more about space usage of telerobotics; as a research based test bed having an experimental demonstration orientation with limited assembly and servicing applications; or as an operational system to augment EVA and to aid construction of the Space Station and to reduce the program (schedule) risk by increasing the flexibility of mission operations.

VR Simulation Testbed: Improving Surface Telerobotics for the Deep Space Gateway

NASA Astrophysics Data System (ADS)

Walker, M. E.; Burns, J. O.; Szafir, D. J.

2018-02-01

Design of a virtual reality simulation testbed for prototyping surface telerobotics. The goal is to create a framework with robust physics and kinematics to allow simulated teleoperation and supervised control of lunar rovers and rapid UI prototyping.

Mars Surface Operations via Low-Latency Telerobotics from Phobos

NASA Technical Reports Server (NTRS)

Wright, Michael; Lupisella, Mark

2016-01-01

To help assess the feasibility and timing of Low-Latency Telerobotics (LLT) operations on Mars via a Phobos telecommand base, operations concepts (ops cons) and timelines for several representative sequences for Mars surface operations have been developed. A summary of these LLT sequences and timelines will be presented, along with associated assumptions, operational considerations, and challenges.

A methodology for automation and robotics evaluation applied to the space station telerobotic servicer

NASA Technical Reports Server (NTRS)

Smith, Jeffrey H.; Gyanfi, Max; Volkmer, Kent; Zimmerman, Wayne

1988-01-01

The efforts of a recent study aimed at identifying key issues and trade-offs associated with using a Flight Telerobotic Servicer (FTS) to aid in Space Station assembly-phase tasks is described. The use of automation and robotic (A and R) technologies for large space systems would involve a substitution of automation capabilities for human extravehicular or intravehicular activities (EVA, IVA). A methodology is presented that incorporates assessment of candidate assembly-phase tasks, telerobotic performance capabilities, development costs, and effect of operational constraints (space transportation system (STS), attached payload, and proximity operations). Changes in the region of cost-effectiveness are examined under a variety of systems design assumptions. A discussion of issues is presented with focus on three roles the FTS might serve: (1) as a research-oriented testbed to learn more about space usage of telerobotics; (2) as a research based testbed having an experimental demonstration orientation with limited assembly and servicing applications; or (3) as an operational system to augment EVA and to aid the construction of the Space Station and to reduce the programmatic (schedule) risk by increasing the flexibility of mission operations.

A smart telerobotic system driven by monocular vision

NASA Technical Reports Server (NTRS)

Defigueiredo, R. J. P.; Maccato, A.; Wlczek, P.; Denney, B.; Scheerer, J.

1994-01-01

A robotic system that accepts autonomously generated motion and control commands is described. The system provides images from the monocular vision of a camera mounted on a robot's end effector, eliminating the need for traditional guidance targets that must be predetermined and specifically identified. The telerobotic vision system presents different views of the targeted object relative to the camera, based on a single camera image and knowledge of the target's solid geometry.

Machine intelligence and autonomy for aerospace systems

NASA Technical Reports Server (NTRS)

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

1988-01-01

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

The da Vinci telerobotic surgical system: the virtual operative field and telepresence surgery.

PubMed

Ballantyne, Garth H; Moll, Fred

2003-12-01

The United States Department of Defense developed the telepresence surgery concept to meet battlefield demands. The da Vinci telerobotic surgery system evolved from these efforts. In this article, the authors describe the components of the da Vinci system and explain how the surgeon sits at a computer console, views a three-dimensional virtual operative field, and performs the operation by controlling robotic arms that hold the stereoscopic video telescope and surgical instruments that simulate hand motions with seven degrees of freedom. The three-dimensional imaging and handlike motions of the system facilitate advanced minimally invasive thoracic, cardiac, and abdominal procedures. da Vinci has recently released a second generation of telerobots with four arms and will continue to meet the evolving challenges of surgery.

Connectionist model-based stereo vision for telerobotics

NASA Technical Reports Server (NTRS)

Hoff, William; Mathis, Donald

1989-01-01

Autonomous stereo vision for range measurement could greatly enhance the performance of telerobotic systems. Stereo vision could be a key component for autonomous object recognition and localization, thus enabling the system to perform low-level tasks, and allowing a human operator to perform a supervisory role. The central difficulty in stereo vision is the ambiguity in matching corresponding points in the left and right images. However, if one has a priori knowledge of the characteristics of the objects in the scene, as is often the case in telerobotics, a model-based approach can be taken. Researchers describe how matching ambiguities can be resolved by ensuring that the resulting three-dimensional points are consistent with surface models of the expected objects. A four-layer neural network hierarchy is used in which surface models of increasing complexity are represented in successive layers. These models are represented using a connectionist scheme called parameter networks, in which a parametrized object (for example, a planar patch p=f(h,m sub x, m sub y) is represented by a collection of processing units, each of which corresponds to a distinct combination of parameter values. The activity level of each unit in the parameter network can be thought of as representing the confidence with which the hypothesis represented by that unit is believed. Weights in the network are set so as to implement gradient descent in an energy function.

Cooperative intelligent robotics in space III; Proceedings of the Meeting, Boston, MA, Nov. 16-18, 1992

NASA Technical Reports Server (NTRS)

Erickson, Jon D. (Editor)

1992-01-01

The present volume on cooperative intelligent robotics in space discusses sensing and perception, Space Station Freedom robotics, cooperative human/intelligent robot teams, and intelligent space robotics. Attention is given to space robotics reasoning and control, ground-based space applications, intelligent space robotics architectures, free-flying orbital space robotics, and cooperative intelligent robotics in space exploration. Topics addressed include proportional proximity sensing for telerobots using coherent lasar radar, ground operation of the mobile servicing system on Space Station Freedom, teleprogramming a cooperative space robotic workcell for space stations, and knowledge-based task planning for the special-purpose dextrous manipulator. Also discussed are dimensions of complexity in learning from interactive instruction, an overview of the dynamic predictive architecture for robotic assistants, recent developments at the Goddard engineering testbed, and parallel fault-tolerant robot control.

Low level image processing techniques using the pipeline image processing engine in the flight telerobotic servicer

NASA Technical Reports Server (NTRS)

Nashman, Marilyn; Chaconas, Karen J.

1988-01-01

The sensory processing system for the NASA/NBS Standard Reference Model (NASREM) for telerobotic control is described. This control system architecture was adopted by NASA of the Flight Telerobotic Servicer. The control system is hierarchically designed and consists of three parallel systems: task decomposition, world modeling, and sensory processing. The Sensory Processing System is examined, and in particular the image processing hardware and software used to extract features at low levels of sensory processing for tasks representative of those envisioned for the Space Station such as assembly and maintenance are described.

Low-Latency Telerobotic Sample Return and Biomolecular Sequencing for Deep Space Gateway

NASA Astrophysics Data System (ADS)

Lupisella, M.; Bleacher, J.; Lewis, R.; Dworkin, J.; Wright, M.; Burton, A.; Rubins, K.; Wallace, S.; Stahl, S.; John, K.; Archer, D.; Niles, P.; Regberg, A.; Smith, D.; Race, M.; Chiu, C.; Russell, J.; Rampe, E.; Bywaters, K.

2018-02-01

Low-latency telerobotics, crew-assisted sample return, and biomolecular sequencing can be used to acquire and analyze lunar farside and/or Apollo landing site samples. Sequencing can also be used to monitor and study Deep Space Gateway environment and crew health.

Computational Virtual Reality (VR) as a human-computer interface in the operation of telerobotic systems

NASA Technical Reports Server (NTRS)

Bejczy, Antal K.

1995-01-01

This presentation focuses on the application of computer graphics or 'virtual reality' (VR) techniques as a human-computer interface tool in the operation of telerobotic systems. VR techniques offer very valuable task realization aids for planning, previewing and predicting robotic actions, operator training, and for visual perception of non-visible events like contact forces in robotic tasks. The utility of computer graphics in telerobotic operation can be significantly enhanced by high-fidelity calibration of virtual reality images to actual TV camera images. This calibration will even permit the creation of artificial (synthetic) views of task scenes for which no TV camera views are available.

Telerobotic electronic materials processing experiment

NASA Technical Reports Server (NTRS)

Ollendorf, Stanford

1991-01-01

The Office of Commercial Programs (OCP), working in conjunction with NASA engineers at the Goddard Space Flight Center, is supporting research efforts in robot technology and microelectronics materials processing that will provide many spinoffs for science and industry. The Telerobotic Materials Processing Experiment (TRMPX) is a Shuttle-launched materials processing test payload using a Get Away Special can. The objectives of the project are to define, develop, and demonstrate an automated materials processing capability under realistic flight conditions. TRMPX will provide the capability to test the production processes that are dependent on microgravity. The processes proposed for testing include the annealing of amorphous silicon to increase grain size for more efficient solar cells, thin film deposition to demonstrate the potential of fabricating solar cells in orbit, and the annealing of radiation damaged solar cells.

Humans and machines in space: The vision, the challenge, the payoff; AAS Goddard Memorial Symposium, 29th, Washington, DC, March 14-15, 1991

NASA Astrophysics Data System (ADS)

Johnson, Bradley; May, Gayle L.; Korn, Paula

A recent symposium produced papers in the areas of solar system exploration, man machine interfaces, cybernetics, virtual reality, telerobotics, life support systems and the scientific and technology spinoff from the NASA space program. A number of papers also addressed the social and economic impacts of the space program. For individual titles, see A95-87468 through A95-87479.

Telerobot task planning and reasoning: Introduction to JPL artificial intelligence research

NASA Technical Reports Server (NTRS)

Atkinson, D. J.

1987-01-01

A view of the capabilities and areas of artificial intelligence research which are required for autonomous space telerobotics extending through the year 2000 is given. In the coming years, JPL will be conducting directed research to achieve these capabilities, as well as drawing heavily on collaborative efforts conducted with other research laboratories.

A survey of telerobotic surface finishing

NASA Astrophysics Data System (ADS)

Höglund, Thomas; Alander, Jarmo; Mantere, Timo

2018-05-01

This is a survey of research published on the subjects of telerobotics, haptic feedback, and mixed reality applied to surface finishing. The survey especially focuses on how visuo-haptic feedback can be used to improve a grinding process using a remote manipulator or robot. The benefits of teleoperation and reasons for using haptic feedback are presented. The use of genetic algorithms for optimizing haptic sensing is briefly discussed. Ways of augmenting the operator's vision are described. Visual feedback can be used to find defects and analyze the quality of the surface resulting from the surface finishing process. Visual cues can also be used to aid a human operator in manipulating a robot precisely and avoiding collisions.

Establishment of the world's first telerobotic remote surgical service: for provision of advanced laparoscopic surgery in a rural community.

PubMed

Anvari, Mehran; McKinley, Craig; Stein, Harvey

2005-03-01

To establish a telerobotic surgical service between a teaching hospital and a rural hospital for provision of telerobotic surgery and assistance to aid rural surgeons in providing a variety of advanced laparoscopic surgery to their community patients. The above service was established between St. Joseph's Hospital in Hamilton and North Bay General Hospital 400 km north of Hamilton on February 28, 2003. The service uses an IP-VPN (15 Mbps of bandwidth) commercially available network to connect the robotic console in Hamilton with 3 arms of the Zeus-TS surgical system in North Bay. To date, 21 telerobotic laparoscopic surgeries have taken place between North Bay and Hamilton, including 13 fundoplications, 3 sigmoid resections, 2 right hemicolectomies, 1 anterior resection, and 2 inguinal hernia repairs. The 2 surgeons were able to operate together using the same surgical footprint and interchange roles seamlessly when desired. There have been no serious intraoperative complications and no cases have had to be converted to open surgeries. The mean hospital stays were equivalent to mean laparoscopic LOS in the tertiary institution. Telerobotic remote surgery is now in routine use, providing high-quality laparoscopic surgical services to patients in a rural community and providing a superior degree of collaboration between surgeons in teaching hospitals and rural hospitals. Further refinement of the robotic and telecommunication technology should ensure its wider application in the near future.

Flight Telerobotic Servicer prototype simulator

NASA Astrophysics Data System (ADS)

Schein, Rob; Krauze, Linda; Hartley, Craig; Dickenson, Alan; Lavecchia, Tom; Working, Bob

A prototype simulator for the Flight Telerobotic Servicer (FTS) system is described for use in the design development of the FTS, emphasizing the hand controller and user interface. The simulator utilizes a graphics workstation based on rapid prototyping tools for systems analyses of the use of the user interface and the hand controller. Kinematic modeling, manipulator-control algorithms, and communications programs are contained in the software for the simulator. The hardwired FTS panels and operator interface for use on the STS Orbiter are represented graphically, and the simulated controls function as the final FTS system configuration does. The robotic arm moves based on the user hand-controller interface, and the joint angles and other data are given on the prototype of the user interface. This graphics simulation tool provides the means for familiarizing crewmembers with the FTS system operation, displays, and controls.

Universal computer control system (UCCS) for space telerobots

NASA Technical Reports Server (NTRS)

Bejczy, Antal K.; Szakaly, Zoltan

1987-01-01

A universal computer control system (UCCS) is under development for all motor elements of a space telerobot. The basic hardware architecture and software design of UCCS are described, together with the rich motor sensing, control, and self-test capabilities of this all-computerized motor control system. UCCS is integrated into a multibus computer environment with direct interface to higher level control processors, uses pulsewidth multiplier power amplifiers, and one unit can control up to sixteen different motors simultaneously at a high I/O rate. UCCS performance capabilities are illustrated by a few data.

Software architecture for a distributed real-time system in Ada, with application to telerobotics

NASA Technical Reports Server (NTRS)

Olsen, Douglas R.; Messiora, Steve; Leake, Stephen

1992-01-01

The architecture structure and software design methodology presented is described in the context of telerobotic application in Ada, specifically the Engineering Test Bed (ETB), which was developed to support the Flight Telerobotic Servicer (FTS) Program at GSFC. However, the nature of the architecture is such that it has applications to any multiprocessor distributed real-time system. The ETB architecture, which is a derivation of the NASA/NBS Standard Reference Model (NASREM), defines a hierarchy for representing a telerobot system. Within this hierarchy, a module is a logical entity consisting of the software associated with a set of related hardware components in the robot system. A module is comprised of submodules, which are cyclically executing processes that each perform a specific set of functions. The submodules in a module can run on separate processors. The submodules in the system communicate via command/status (C/S) interface channels, which are used to send commands down and relay status back up the system hierarchy. Submodules also communicate via setpoint data links, which are used to transfer control data from one submodule to another. A submodule invokes submodule algorithms (SMA's) to perform algorithmic operations. Data that describe or models a physical component of the system are stored as objects in the World Model (WM). The WM is a system-wide distributed database that is accessible to submodules in all modules of the system for creating, reading, and writing objects.

Temporal logics meet telerobotics

NASA Technical Reports Server (NTRS)

Rutten, Eric; Marce, Lionel

1989-01-01

The specificity of telerobotics being the presence of a human operator, decision assistance tools are necessary for the operator, especially in hostile environments. In order to reduce execution hazards due to a degraded ability for quick and efficient recovery of unexpected dangerous situations, it is of importance to have the opportunity, amongst others, to simulate the possible consequences of a plan before its actual execution, in order to detect these problematic situations. Hence the idea of providing the operator with a simulator enabling him to verify the temporal and logical coherence of his plans. Therefore, the power of logical formalisms is used for representation and deduction purposes. Starting from the class of situations that are represented, a STRIPS (the STanford Research Institute Problem Solver)-like formalism and its underlying logic are adapted to the simulation of plans of actions in time. The choice of a temporal logic enables to build a world representation, on which the effects of plans, grouping actions into control structures, will be transcribed by the simulation, resulting in a verdict and information about the plan's coherence.

Cooperative optimization of reconfigurable machine tool configurations and production process plan

NASA Astrophysics Data System (ADS)

Xie, Nan; Li, Aiping; Xue, Wei

2012-09-01

The production process plan design and configurations of reconfigurable machine tool (RMT) interact with each other. Reasonable process plans with suitable configurations of RMT help to improve product quality and reduce production cost. Therefore, a cooperative strategy is needed to concurrently solve the above issue. In this paper, the cooperative optimization model for RMT configurations and production process plan is presented. Its objectives take into account both impacts of process and configuration. Moreover, a novel genetic algorithm is also developed to provide optimal or near-optimal solutions: firstly, its chromosome is redesigned which is composed of three parts, operations, process plan and configurations of RMTs, respectively; secondly, its new selection, crossover and mutation operators are also developed to deal with the process constraints from operation processes (OP) graph, otherwise these operators could generate illegal solutions violating the limits; eventually the optimal configurations for RMT under optimal process plan design can be obtained. At last, a manufacturing line case is applied which is composed of three RMTs. It is shown from the case that the optimal process plan and configurations of RMT are concurrently obtained, and the production cost decreases 6.28% and nonmonetary performance increases 22%. The proposed method can figure out both RMT configurations and production process, improve production capacity, functions and equipment utilization for RMT.

Hierarchical Ada robot programming system (HARPS)- A complete and working telerobot control system based on the NASREM model

NASA Technical Reports Server (NTRS)

Leake, Stephen; Green, Tom; Cofer, Sue; Sauerwein, Tim

1989-01-01

HARPS is a telerobot control system that can perform some simple but useful tasks. This capability is demonstrated by performing the ORU exchange demonstration. HARPS is based on NASREM (NASA Standard Reference Model). All software is developed in Ada, and the project incorporates a number of different CASE (computer-aided software engineering) tools. NASREM was found to be a valid and useful model for building a telerobot control system. Its hierarchical and distributed structure creates a natural and logical flow for implementing large complex robust control systems. The ability of Ada to create and enforce abstraction enhanced the implementation of such control systems.

A distributed data acquisition software scheme for the Laboratory Telerobotic Manipulator

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

Butler, P.L.; Glassell, R.L.; Rowe, J.C.

1990-01-01

A custom software architecture was developed for use in the Laboratory Telerobotic Manipulator (LTM) to provide support for the distributed data acquisition electronics. This architecture was designed to provide a comprehensive development environment that proved to be useful for both hardware and software debugging. This paper describes the development environment and the operational characteristics of the real-time data acquisition software. 8 refs., 5 figs.

Stereoscopic, Force-Feedback Trainer For Telerobot Operators

NASA Technical Reports Server (NTRS)

Kim, Won S.; Schenker, Paul S.; Bejczy, Antal K.

1994-01-01

Computer-controlled simulator for training technicians to operate remote robots provides both visual and kinesthetic virtual reality. Used during initial stage of training; saves time and expense, increases operational safety, and prevents damage to robots by inexperienced operators. Computes virtual contact forces and torques of compliant robot in real time, providing operator with feel of forces experienced by manipulator as well as view in any of three modes: single view, two split views, or stereoscopic view. From keyboard, user specifies force-reflection gain and stiffness of manipulator hand for three translational and three rotational axes. System offers two simulated telerobotic tasks: insertion of peg in hole in three dimensions, and removal and insertion of drawer.

Visual Information Processing for Television and Telerobotics

NASA Technical Reports Server (NTRS)

Huck, Friedrich O. (Editor); Park, Stephen K. (Editor)

1989-01-01

This publication is a compilation of the papers presented at the NASA conference on Visual Information Processing for Television and Telerobotics. The conference was held at the Williamsburg Hilton, Williamsburg, Virginia on May 10 to 12, 1989. The conference was sponsored jointly by NASA Offices of Aeronautics and Space Technology (OAST) and Space Science and Applications (OSSA) and the NASA Langley Research Center. The presentations were grouped into three sessions: Image Gathering, Coding, and Advanced Concepts; Systems; and Technologies. The program was organized to provide a forum in which researchers from industry, universities, and government could be brought together to discuss the state of knowledge in image gathering, coding, and processing methods.

Telerobotic rendezvous and docking vision system architecture

NASA Technical Reports Server (NTRS)

Gravely, Ben; Myers, Donald; Moody, David

1992-01-01

This research program has successfully demonstrated a new target label architecture that allows a microcomputer to determine the position, orientation, and identity of an object. It contains a CAD-like database with specific geometric information about the object for approach, grasping, and docking maneuvers. Successful demonstrations were performed selecting and docking an ORU box with either of two ORU receptacles. Small, but significant differences were seen in the two camera types used in the program, and camera sensitive program elements have been identified. The software has been formatted into a new co-autonomy system which provides various levels of operator interaction and promises to allow effective application of telerobotic systems while code improvements are continuing.

Haptic device for telerobotic surgery

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

Salisbury, Curt; Salisbury, Jr., J. Kenneth

A haptic device for telerobotic surgery, including a base; a linkage system having first and second linkage members coupled to the base; a motor that provides a motor force; a transmission including first and second driving pulleys arranged such that their faces form an angle and their axes form a plane, first and second idler pulleys offset from the plane and arranged between the first and second driving pulleys such that their axes divide the angle between the first and second driving pulleys, and a cable that traverses the first and second driving pulleys and the set of idler pulleysmore » and transfers the motor force to the linkage system; an end effector coupled to distal ends of the first and second linkage members and maneuverable relative to the base; and a controller that modulates the motor force to simulate a body part at a point portion of the end effector.« less

Telerobotic hand controller study of force reflection with position control mode

NASA Technical Reports Server (NTRS)

Willshire, Kelli F.; Hankins, Walter W.; Morris, A. Terry; Mixon, Randolph W.

1992-01-01

To gain further information about the effectiveness of kinesthetic force feedback or force reflection in position control mode for a telerobot, two Space Station related tasks were performed by eight subjects with and without the use of force reflection. Both time and subjective responses were measured. No differences due to force were found, however, other differences were found, e.g., gender. Comparisons of these results with other studies are discussed.

Graphical programming: A systems approach for telerobotic servicing of space assets

NASA Technical Reports Server (NTRS)

Pinkerton, James T.; Mcdonald, Michael J.; Palmquist, Robert D.; Patten, Richard

1994-01-01

Satellite servicing is in many ways analogous to subsea robotic servicing in the late 1970's. A cost effective, reliable, telerobotic capability had to be demonstrated before the oil companies invested money in deep water robot serviceable production facilities. In the same sense, aeronautic engineers will not design satellites for telerobotic servicing until such a quantifiable capability has been demonstrated. New space servicing systems will be markedly different than existing space robot systems. Past space manipulator systems, including the Space Shuttle's robot arm, have used master/slave technologies with poor fidelity, slow operating speeds and most importantly, in-orbit human operators. In contrast, new systems will be capable of precision operations, conducted at higher rates of speed, and be commanded via ground-control communication links. Challenge presented by this environment include achieving a mandated level of robustness and dependability, radiation hardening, minimum weight and power consumption, and a system which accommodates the inherent communication delay between the ground station and the satellite. There is also a need for a user interface which is easy to use, ensures collision free motions, and is capable of adjusting to an unknown workcell (for repair operations the condition of the satellite may not be known in advance). This paper describes the novel technologies required to deliver such a capability.

Telerobotic control of the seven-degree-of-freedom CESAR manipulator

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

Babcock, S.M.; Dubey, R.V.; Euler, J.A.

1988-01-01

The application of a computationally efficient kinematic control scheme for manipulators with redundant degrees of freedom to the unilateral telerobotic control of seven-degree-of-freedom manipulator (CESARM) at the Oak Ridge National Laboratory Center for Engineering Systems Advanced Research is presented. The kinematic control scheme uses a gradient projection optimization method, which eliminates that need to determine the generalized inverse of the Jacobian when solving for joint velocities, given Cartesian end-effector velocities. A six-degree-of-freedom (nonreplica) master controller is used. Performance indices for redundancy resolution are discussed. 5 ref., 6 figs.

Low-Latency Telerobotics from Mars Orbit: The Case for Synergy Between Science and Human Exploration

NASA Technical Reports Server (NTRS)

Valinia, A.; Garvin, J. B.; Vondrak, R.; Thronson, H.; Lester, D.; Schmidt, G.; Fong, T.; Wilcox, B.; Sellers, P.; White, N.

2012-01-01

Initial, science-directed human exploration of Mars will benefit from capabilities in which human explorers remain in orbit to control telerobotic systems on the surface (Figure 1). Low-latency, high-bandwidth telerobotics (LLT) from Mars orbit offers opportunities for what the terrestrial robotics community considers to be high-quality telepresence. Such telepresence would provide high quality sensory perception and situation awareness, and even capabilities for dexterous manipulation as required for adaptive, informed selection of scientific samples [1]. Astronauts on orbit in close communication proximity to a surface exploration site (in order to minimize communication latency) represent a capability that would extend human cognition to Mars (and potentially for other bodies such as asteroids, Venus, the Moon, etc.) without the challenges, expense, and risk of putting those humans on hazardous surfaces or within deep gravity wells. Such a strategy may be consistent with goals for a human space flight program that, are currently being developed within NASA.

Applying Behavior-Based Robotics Concepts to Telerobotic Use of Power Tooling

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

Noakes, Mark W; Hamel, Dr. William R.

While it has long been recognized that telerobotics has potential advantages to reduce operator fatigue, to permit lower skilled operators to function as if they had higher skill levels, and to protect tools and manipulators from excessive forces during operation, relatively little laboratory research in telerobotics has actually been implemented in fielded systems. Much of this has to do with the complexity of the implementation and its lack of ability to operate in complex unstructured remote systems environments. One possible solution is to approach the tooling task using an adaptation of behavior-based techniques to facilitate task decomposition to a simplermore » perspective and to provide sensor registration to the task target object in the field. An approach derived from behavior-based concepts has been implemented to provide automated tool operation for a teleoperated manipulator system. The generic approach is adaptable to a wide range of typical remote tools used in hot-cell and decontamination and dismantlement-type operations. Two tasks are used in this work to test the validity of the concept. First, a reciprocating saw is used to cut a pipe. The second task is bolt removal from mockup process equipment. This paper explains the technique, its implementation, and covers experimental data, analysis of results, and suggestions for implementation on fielded systems.« less

Surgeon Training in Telerobotic Surgery via a Hardware-in-the-Loop Simulator

PubMed Central

Alemzadeh, Homa; Chen, Daniel; Kalbarczyk, Zbigniew; Iyer, Ravishankar K.; Kesavadas, Thenkurussi

2017-01-01

This work presents a software and hardware framework for a telerobotic surgery safety and motor skill training simulator. The aims are at providing trainees a comprehensive simulator for acquiring essential skills to perform telerobotic surgery. Existing commercial robotic surgery simulators lack features for safety training and optimal motion planning, which are critical factors in ensuring patient safety and efficiency in operation. In this work, we propose a hardware-in-the-loop simulator directly introducing these two features. The proposed simulator is built upon the Raven-II™ open source surgical robot, integrated with a physics engine and a safety hazard injection engine. Also, a Fast Marching Tree-based motion planning algorithm is used to help trainee learn the optimal instrument motion patterns. The main contributions of this work are (1) reproducing safety hazards events, related to da Vinci™ system, reported to the FDA MAUDE database, with a novel haptic feedback strategy to provide feedback to the operator when the underlying dynamics differ from the real robot's states so that the operator will be aware and can mitigate the negative impact of the safety-critical events, and (2) using motion planner to generate semioptimal path in an interactive robotic surgery training environment. PMID:29065635

Fuzzy logic control of telerobot manipulators

NASA Technical Reports Server (NTRS)

Franke, Ernest A.; Nedungadi, Ashok

1992-01-01

Telerobot systems for advanced applications will require manipulators with redundant 'degrees of freedom' (DOF) that are capable of adapting manipulator configurations to avoid obstacles while achieving the user specified goal. Conventional methods for control of manipulators (based on solution of the inverse kinematics) cannot be easily extended to these situations. Fuzzy logic control offers a possible solution to these needs. A current research program at SRI developed a fuzzy logic controller for a redundant, 4 DOF, planar manipulator. The manipulator end point trajectory can be specified by either a computer program (robot mode) or by manual input (teleoperator). The approach used expresses end-point error and the location of manipulator joints as fuzzy variables. Joint motions are determined by a fuzzy rule set without requiring solution of the inverse kinematics. Additional rules for sensor data, obstacle avoidance and preferred manipulator configuration, e.g., 'righty' or 'lefty', are easily accommodated. The procedure used to generate the fuzzy rules can be extended to higher DOF systems.

Modular telerobot control system for accident response

NASA Astrophysics Data System (ADS)

Anderson, Richard J. M.; Shirey, David L.

1999-08-01

The Accident Response Mobile Manipulator System (ARMMS) is a teleoperated emergency response vehicle that deploys two hydraulic manipulators, five cameras, and an array of sensors to the scene of an incident. It is operated from a remote base station that can be situated up to four kilometers away from the site. Recently, a modular telerobot control architecture called SMART was applied to ARMMS to improve the precision, safety, and operability of the manipulators on board. Using SMART, a prototype manipulator control system was developed in a couple of days, and an integrated working system was demonstrated within a couple of months. New capabilities such as camera-frame teleoperation, autonomous tool changeout and dual manipulator control have been incorporated. The final system incorporates twenty-two separate modules and implements seven different behavior modes. This paper describes the integration of SMART into the ARMMS system.

Human Machine Learning Symbiosis

ERIC Educational Resources Information Center

Walsh, Kenneth R.; Hoque, Md Tamjidul; Williams, Kim H.

2017-01-01

Human Machine Learning Symbiosis is a cooperative system where both the human learner and the machine learner learn from each other to create an effective and efficient learning environment adapted to the needs of the human learner. Such a system can be used in online learning modules so that the modules adapt to each learner's learning state both…

Human-machine interactions

DOEpatents

Forsythe, J Chris [Sandia Park, NM; Xavier, Patrick G [Albuquerque, NM; Abbott, Robert G [Albuquerque, NM; Brannon, Nathan G [Albuquerque, NM; Bernard, Michael L [Tijeras, NM; Speed, Ann E [Albuquerque, NM

2009-04-28

Digital technology utilizing a cognitive model based on human naturalistic decision-making processes, including pattern recognition and episodic memory, can reduce the dependency of human-machine interactions on the abilities of a human user and can enable a machine to more closely emulate human-like responses. Such a cognitive model can enable digital technology to use cognitive capacities fundamental to human-like communication and cooperation to interact with humans.

Use of control umbilicals as a deployment mode for free flying telerobotic work systems

NASA Technical Reports Server (NTRS)

Kuehn, J. S.; Selle, E. D.

1987-01-01

Work to date on telerobotic work systems for use in space generally consider two deployment modes, free flying, or fixed within a limited work envelope. Control tethers may be employed to obtain a number of operational advantages and added flexibility in the basing and deployment of telerobotic work systems. Use of a tether allows the work system to be separated into two major modules, the remote work package and the control module. The Remote Work Package (RWP) comprises the free flying portion of the work system while the Control Module (CM) remains at the work system base. The chief advantage of this configuration is that only the components required for completion of the work task must be located at the work site. Reaction mass used in free flight is stored at the Control module and supplied to the RWP through the tether, eliminating the need for the RWP to carry it. The RWP can be made less massive than a self contained free flying work system. As a result, reaction mass required for free flight is lower than for a self contained free flyer.

Telerobotics - Display, control, and communication problems

NASA Technical Reports Server (NTRS)

Stark, Lawrence; Kim, Won-Soo; Tendick, Frank; Hannaford, Blake; Ellis, Stephen

1987-01-01

An experimental telerobotics simulation is described suitable for studying human operator (HO) performance. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. An enhanced perspective display was effective with a reference line from target to base, with or without a complex three-dimensional grid framing the view. This was true especially if geometrical display parameters such as azimuth and elevation were arranged to be near optimal. Quantitative comparisons were made possible, utilizing control performance measures such as root mean square error. There was a distinct preference for controlling the manipulator in end-effector Cartesian space for the primitive pick-and-place task, rather than controlling joint angles and then, via direct kinematis, the end-effector position. An introduced communication delay was found to produce decrease in performance. In considerable part, this difficulty could be compensated for by preview control information. The fact that neurological control of normal human movement contains a sampled data period of 0.2 s may relate to this robustness of HO control to delay.

The sensing and perception subsystem of the NASA research telerobot

NASA Technical Reports Server (NTRS)

Wilcox, B.; Gennery, D. B.; Bon, B.; Litwin, T.

1987-01-01

A useful space telerobot for on-orbit assembly, maintenance, and repair tasks must have a sensing and perception subsystem which can provide the locations, orientations, and velocities of all relevant objects in the work environment. This function must be accomplished with sufficient speed and accuracy to permit effective grappling and manipulation. Appropriate symbolic names must be attached to each object for use by higher-level planning algorithms. Sensor data and inferences must be presented to the remote human operator in a way that is both comprehensible in ensuring safe autonomous operation and useful for direct teleoperation. Research at JPL toward these objectives is described.

Telerobotics: methodology for the development of through-the-Internet robotic teleoperated system

NASA Astrophysics Data System (ADS)

Alvares, Alberto J.; Caribe de Carvalho, Guilherme; Romariz, Luiz S. J.; Alfaro, Sadek C. A.

1999-11-01

This work presents a methodology for the development of Teleoperated Robotic System through Internet. Initially, it is presented a bibliographical review of the telerobotic systems that uses Internet as way of control. The methodology is implemented and tested through the development of two systems. The first is a manipulator with two degrees of freedom commanded remotely through Internet denominated RobWebCam. The second is a system which teleoperates an ABB (Asea Brown Boveri) Industrial Robot of six degrees of freedom denominated RobWebLink.

The space station freedom flight telerobotic servicer. The design and evolution of a dexterous space robot

NASA Astrophysics Data System (ADS)

McCain, Harry G.; Andary, James F.; Hewitt, Dennis R.; Haley, Dennis C.

The Flight Telerobotic Servicer (FTS) Project at the Goddard Space Flight Center is developing an advanced telerobotic system to assist in and reduce crew extravehicular activity (EVA) for Space Station Freedom (SSF). The FTS will provide a telerobotic capability to the Freedom Station in the early assembly phases of the program and will be employed for assembly, maintenance, and inspection applications throughout the lifetime of the space station. Appropriately configured elements of the FTS will also be employed for robotic manipulation in remote satellite servicing applications and possibly the Lunar/Mars Program. In mid-1989, the FTS entered the flight system design and implementation phase (Phase C/D) of development with the signing of the FTS prime contract with Martin Marietta Astronautics Group in Denver, Colorado. The basic FTS design is now established and can be reported on in some detail. This paper will describe the FTS flight system design and the rationale for the specific design approaches and component selections. The current state of space technology and the general nature of the FTS task dictate that the FTS be designed with sophisticated teleoperation capabilities for its initial primary operating mode. However, there are technologies, such as advanced computer vision and autonomous planning techniques currently in research and advanced development phases which would greatly enhance the FTS capabilities to perform autonomously in less structured work environments. Therefore, a specific requirement on the initial FTS design is that it has the capability to evolve as new technology becomes available. This paper will describe the FTS design approach for evolution to more autonomous capabilities. Some specific task applications of the FTS and partial automation approaches of these tasks will also be discussed in this paper.

The Space Station Freedom Flight Telerobotic Servicer: the design and evolution of a dexterous space robot.

PubMed

McCain, H G; Andary, J F; Hewitt, D R; Haley, D C

1991-01-01

The Flight Telerobotic Servicer (FTS) Project at the Goddard Space Flight Center is developing an advanced telerobotic system to assist in and reduce crew extravehicular activity (EVA) for Space Station) Freedom (SSF). The FTS will provide a telerobotic capability to the Freedom Station in the early assembly phases of the program and will be employed for assembly, maintenance, and inspection applications throughout the lifetime of the space station. Appropriately configured elements of the FTS will also be employed for robotic manipulation in remote satellite servicing applications and possibly the Lunar/Mars Program. In mid-1989, the FTS entered the flight system design and implementation phase (Phase C/D) of development with the signing of the FTS prime contract with Martin Marietta Astronautics Group in Denver, Colorado. The basic FTS design is now established and can be reported on in some detail. This paper will describe the FTS flight system design and the rationale for the specific design approaches and component selections. The current state of space technology and the nature of the FTS task dictate that the FTS be designed with sophisticated teleoperation capabilities for its initial primary operating mode. However, there are technologies, such as advanced computer vision and autonomous planning techniques currently in research and advanced development phases which would greatly enhance the FTS capabilities to perform autonomously in less structured work environments. Therefore, a specific requirement on the initial FTS design is that it has the capability to evolve as new technology becomes available. This paper will describe the FTS design approach for evolution to more autonomous capabilities. Some specific task applications of the FTS and partial automation approaches of these tasks will also be discussed in this paper.

The Space Station Freedom Flight Telerobotic Servicer: the design and evolution of a dexterous space robot

NASA Technical Reports Server (NTRS)

McCain, H. G.; Andary, J. F.; Hewitt, D. R.; Haley, D. C.

1991-01-01

The Flight Telerobotic Servicer (FTS) Project at the Goddard Space Flight Center is developing an advanced telerobotic system to assist in and reduce crew extravehicular activity (EVA) for Space Station) Freedom (SSF). The FTS will provide a telerobotic capability to the Freedom Station in the early assembly phases of the program and will be employed for assembly, maintenance, and inspection applications throughout the lifetime of the space station. Appropriately configured elements of the FTS will also be employed for robotic manipulation in remote satellite servicing applications and possibly the Lunar/Mars Program. In mid-1989, the FTS entered the flight system design and implementation phase (Phase C/D) of development with the signing of the FTS prime contract with Martin Marietta Astronautics Group in Denver, Colorado. The basic FTS design is now established and can be reported on in some detail. This paper will describe the FTS flight system design and the rationale for the specific design approaches and component selections. The current state of space technology and the nature of the FTS task dictate that the FTS be designed with sophisticated teleoperation capabilities for its initial primary operating mode. However, there are technologies, such as advanced computer vision and autonomous planning techniques currently in research and advanced development phases which would greatly enhance the FTS capabilities to perform autonomously in less structured work environments. Therefore, a specific requirement on the initial FTS design is that it has the capability to evolve as new technology becomes available. This paper will describe the FTS design approach for evolution to more autonomous capabilities. Some specific task applications of the FTS and partial automation approaches of these tasks will also be discussed in this paper.

Telerobotic management system: coordinating multiple human operators with multiple robots

NASA Astrophysics Data System (ADS)

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

2003-09-01

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

Chemical sensors from the cooperative actuation of multistep electrochemical molecular machines of polypyrrole: potentiostatic study. Trying to replicate muscle’s fatigue signals

NASA Astrophysics Data System (ADS)

Beaumont, Samuel; Otero, Toribio F.

2018-07-01

Polypyrrole film electrodes are constituted by multielectronic electrochemical molecular machines (every polymeric molecule) counterions and water, mimicking the intracellular matrix of muscular cells. The influence of the electrolyte concentration on the reversible oxidation/reduction of polypyrrole films was studied in NaCl aqueous solutions by consecutive square potential waves. The consumed redox charge and the consumed electrical energy change as a function of the concentration. That means that the extension (the consumed charge) of the reaction involving conformational, or allosteric, movements of the reacting polymeric chains (molecular machines) responds to (senses) the chemical energy of the reaction ambient. A theoretical description of the attained empirical results is presented getting the sensing equations and the concomitant sensitivities. Those results could indicate the origin and nature of the neural signals sent to the brain from biological haptic muscles working by cooperative actuation of the actin-myosin molecular machines driven by chemical reactions and sensing, simultaneously, the fatigue state of the muscle.

Robotic technologies of the Flight Telerobotic Servicer (FTS) including fault tolerance

NASA Technical Reports Server (NTRS)

Chladek, John T.; Craver, William M.

1994-01-01

The original FTS concept for Space Station Freedom (SSF) was to provide telerobotic assistance to enhance crew activity and safety and to reduce crew EVA (Extra Vehicular Activity) activity. The first flight of the FTS manipulator systems would demonstrate several candidate tasks and would verify manipulator performance parameters. These first flight tasks included unlocking a SSF Truss Joint, mating/demating a fluid coupling, contact following of a contour board, demonstrating peg-in-hole assembly, and grasping and moving a mass. Future tasks foreseen for the FTS system included ORU (Orbit Replaceable Unit) change-out, Hubble Space Telescope Servicing, Gamma Ray Observatory refueling, and several in-situ SSF servicing and maintenance tasks. Operation of the FTS was planned to evolve from teleoperation to fully autonomous execution of many tasks. This wide range of mission tasks combined with the desire to evolve toward fully autonomy forced several requirements which may seen extremely demanding to the telerobotics community. The FTS requirements appear to have been created to accommodate the open-ended evolution plan such that operational evolution would not be impeded by function limitations. A recommendation arising from the FTS program to remedy the possible impacts from such ambitious requirements is to analyze candidate robotic tasks. Based on these task analyses, operational impacts against development impacts were weighed prior to requirements definition. Many of the FTS requirements discussed in the following sections greatly influenced the development cost and schedule of the FTS manipulator. The FTS manipulator has been assembled at Martin Marietta and is currently in testing. Successful component tests indicate a manipulator which achieves unprecedented performance specifications.

Cooperative combinatorial optimization: evolutionary computation case study.

PubMed

Burgin, Mark; Eberbach, Eugene

2008-01-01

This paper presents a formalization of the notion of cooperation and competition of multiple systems that work toward a common optimization goal of the population using evolutionary computation techniques. It is proved that evolutionary algorithms are more expressive than conventional recursive algorithms, such as Turing machines. Three classes of evolutionary computations are introduced and studied: bounded finite, unbounded finite, and infinite computations. Universal evolutionary algorithms are constructed. Such properties of evolutionary algorithms as completeness, optimality, and search decidability are examined. A natural extension of evolutionary Turing machine (ETM) model is proposed to properly reflect phenomena of cooperation and competition in the whole population.

Telerobotics: A simulation facility for university research

NASA Technical Reports Server (NTRS)

Stark, L.; Kim, W.; Tendick, F.; Tyler, M.; Hannaford, B.; Barakat, W.; Bergengruen, O.; Braddi, L.; Eisenberg, J.; Ellis, S.

1987-01-01

An experimental telerobotics (TR) simulation suitable for studying human operator (H.O.) performance is described. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. A number of control modes could be compared in this TR simulation, including displacement, rate and acceleratory control using position and force joysticks. A homeomorphic controller turned out to be no better than joysticks; the adaptive properties of the H.O. can apparently permit quite good control over a variety of controller configurations and control modes. Training by optimal control example seemed helpful in preliminary experiments. An introduced communication delay was found to produce decrease in performance. In considerable part, this difficulty could be compensated for by preview control information. That neurological control of normal human movement contains a data period of 0.2 second may relate to this robustness of H.O. control to delay. The Ames-Berkeley enhanced perspective display was utilized in conjunction with an experimental helmet mounted display system (HMD) that provided stereoscopic enhanced views.

Virtual reality and telerobotics applications of an Address Recalculation Pipeline

NASA Technical Reports Server (NTRS)

Regan, Matthew; Pose, Ronald

1994-01-01

The technology described in this paper was designed to reduce latency to user interactions in immersive virtual reality environments. It is also ideally suited to telerobotic applications such as interaction with remote robotic manipulators in space or in deep sea operations. in such circumstances the significant latency is observed response to user stimulus which is due to communications delays, and the disturbing jerkiness due to low and unpredictable frame rates on compressed video user feedback or computationally limited virtual worlds, can be masked by our techniques. The user is provided with highly responsive visual feedback independent of communication or computational delays in providing physical video feedback or in rendering virtual world images. Virtual and physical environments can be combined seamlessly using these techniques.

Radiation Hardened Telerobotic Dismantling System Development Final Report CRADA No. TC-1340-96

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

Smith, C.; Lightman, A.

This project was a collaborative effort between the University of California, LLNL and RedZone Robotics, Inc. for the development of radiation-hardened telerobotic dismantling systems for use in applications such as nuclear facility remediation, nuclear accident response, and Chemobyltype remediation. The project supported the design, development, fabrication and testing of a Ukrainian robotic systems. The project was completed on time and within budget. All deliverables were completed. The final project deliverables were consistent with the plans developed in the original project with the exception that the fabricated systems remained in Ukraine.

Technology transfer and evaluation for Space Station telerobotics

NASA Technical Reports Server (NTRS)

Price, Charles R.; Stokes, Lebarian; Diftler, Myron A.

1994-01-01

The international space station (SS) must take advantage of advanced telerobotics in order to maximize productivity and safety and to reduce maintenance costs. The Automation and Robotics Division at the NASA Lyndon B. Johnson Space Center (JSC) has designed, developed, and constructed the Automated Robotics Maintenance of Space Station (ARMSS) facility for the purpose of transferring and evaluating robotic technology that will reduce SS operation costs. Additionally, JSC had developed a process for expediting the transfer of technology from NASA research centers and evaluating these technologies in SS applications. Software and hardware system developed at the research centers and NASA sponsored universities are currently being transferred to JSC and integrated into the ARMSS for flight crew personnel testing. These technologies will be assessed relative to the SS baseline, and, after refinements, those technologies that provide significant performance improvements will be recommended as upgrades to the SS. Proximity sensors, vision algorithms, and manipulator controllers are among the systems scheduled for evaluation.

A kinematic analysis of the modified flight telerobotic servicer manipulator system

NASA Technical Reports Server (NTRS)

Crane, Carl; Carnahan, Tim; Duffy, Joseph

1992-01-01

A reverse kinematic analysis is presented of a six-DOF subchain of a modified seven-DOF flight telerobotic servicer manipulator system. The six-DOF subchain is designated as a TR-RT chain, which describes the sequence of manipulator joints beginning with the first grounded hook joint (universal joint) T, where the sequence R-R designates a pair of revolute joints with parallel axes. At the outset, it had been thought that the reverse kinematic analysis would be similar to a TTT manipulator previously analyzed, in which the third and fourth joints intersected at a finite point. However, this is shown not the case, and a 16th-degree tan-half-angle polynomial is derived for the TR-RT manipulator.

High level intelligent control of telerobotics systems

NASA Technical Reports Server (NTRS)

Mckee, James

1988-01-01

A high level robot command language is proposed for the autonomous mode of an advanced telerobotics system and a predictive display mechanism for the teleoperational model. It is believed that any such system will involve some mixture of these two modes, since, although artificial intelligence can facilitate significant autonomy, a system that can resort to teleoperation will always have the advantage. The high level command language will allow humans to give the robot instructions in a very natural manner. The robot will then analyze these instructions to infer meaning so that is can translate the task into lower level executable primitives. If, however, the robot is unable to perform the task autonomously, it will switch to the teleoperational mode. The time delay between control movement and actual robot movement has always been a problem in teleoperations. The remote operator may not actually see (via a monitor) the results of high actions for several seconds. A computer generated predictive display system is proposed whereby the operator can see a real-time model of the robot's environment and the delayed video picture on the monitor at the same time.

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

NASA Technical Reports Server (NTRS)

Fernandez, Ken; Hinman, Elaine

1987-01-01

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

Man-Machine Communication Research.

DTIC Science & Technology

1977-02-01

communication difficulty for the computer-naive; discovery of major communication structures in human communication that have been left out of man-machine...processes; creation of a new overview of how human communication functions in cooperative task-oriented activity; and assistance in ARPA policy formation on CAI equipment development.

Development and verification of ground-based tele-robotics operations concept for Dextre

NASA Astrophysics Data System (ADS)

Aziz, Sarmad

2013-05-01

The Special Purpose Dextreous Manipulator (Dextre) is the latest addition to the on-orbit segment of the Mobile Servicing System (MSS); Canada's contribution to the International Space Station (ISS). Launched in March 2008, the advanced two-armed robot is designed to perform various ISS maintenance tasks on robotically compatible elements and on-orbit replaceable units using a wide variety of tools and interfaces. The addition of Dextre has increased the capabilities of the MSS, and has introduced significant complexity to ISS robotics operations. While the initial operations concept for Dextre was based on human-in-the-loop control by the on-orbit astronauts, the complexities of robotic maintenance and the associated costs of training and maintaining the operator skills required for Dextre operations demanded a reexamination of the old concepts. A new approach to ISS robotic maintenance was developed in order to utilize the capabilities of Dextre safely and efficiently, while at the same time reducing the costs of on-orbit operations. This paper will describe the development, validation, and on-orbit demonstration of the operations concept for ground-based tele-robotics control of Dextre. It will describe the evolution of the new concepts from the experience gained from the development and implementation of the ground control capability for the Space Station Remote Manipulator System; Canadarm 2. It will discuss the various technical challenges faced during the development effort, such as requirements for high positioning accuracy, force/moment sensing and accommodation, failure tolerance, complex tool operations, and the novel operational tools and techniques developed to overcome them. The paper will also describe the work performed to validate the new concepts on orbit and will discuss the results and lessons learned from the on-orbit checkout and commissioning of Dextre using the newly developed tele-robotics techniques and capabilities.

Space robotics--DLR's telerobotic concepts, lightweight arms and articulated hands.

PubMed

Hirzinger, G; Brunner, B; Landzettel, K; Sporer, N; Butterfass, J; Schedl, M

2003-01-01

The paper briefly outlines DLR's experience with real space robot missions (ROTEX and ETS VII). It then discusses forthcoming projects, e.g., free-flying systems in low or geostationary orbit and robot systems around the space station ISS, where the telerobotic system MARCO might represent a common baseline. Finally it describes our efforts in developing a new generation of "mechatronic" ultra-light weight arms with multifingered hands. The third arm generation is operable now (approaching present-day technical limits). In a similar way DLR's four-fingered hand II was a big step towards higher reliability and yet better performance. Artificial robonauts for space are a central goal now for the Europeans as well as for NASA, and the first verification tests of DLR's joint components are supposed to fly already end of 93 on the space station.

The flight telerobotic servicer: From functional architecture to computer architecture

NASA Technical Reports Server (NTRS)

Lumia, Ronald; Fiala, John

1989-01-01

After a brief tutorial on the NASA/National Bureau of Standards Standard Reference Model for Telerobot Control System Architecture (NASREM) functional architecture, the approach to its implementation is shown. First, interfaces must be defined which are capable of supporting the known algorithms. This is illustrated by considering the interfaces required for the SERVO level of the NASREM functional architecture. After interface definition, the specific computer architecture for the implementation must be determined. This choice is obviously technology dependent. An example illustrating one possible mapping of the NASREM functional architecture to a particular set of computers which implements it is shown. The result of choosing the NASREM functional architecture is that it provides a technology independent paradigm which can be mapped into a technology dependent implementation capable of evolving with technology in the laboratory and in space.

A helmet mounted display to adapt the telerobotic environment to human vision

NASA Technical Reports Server (NTRS)

Tharp, Gregory; Liu, Andrew; Yamashita, Hitomi; Stark, Lawrence

1990-01-01

A Helmet Mounted Display system has been developed. It provides the capability to display stereo images with the viewpoint tied to subjects' head orientation. The type of display might be useful in a telerobotic environment provided the correct operating parameters are known. The effects of update frequency were tested using a 3D tracking task. The effects of blur were tested using both tracking and pick-and-place tasks. For both, researchers found that operator performance can be degraded if the correct parameters are not used. Researchers are also using the display to explore the use of head movements as part of gaze as subjects search their visual field for target objects.

Telerobotic-assisted bone-drilling system using bilateral control with feed operation scaling and cutting force scaling

PubMed Central

Kasahara, Yusuke; Kawana, Hiromasa; Usuda, Shin; Ohnishi, Kouhei

2012-01-01

Background Drilling is used in the medical field, especially in oral surgery and orthopaedics. In recent years, oral surgery involving dental implants has become more common. However, the risky drilling process causes serious accidents. To prevent these accidents, supporting systems such as robotic drilling systems are required. Methods A telerobotic-assisted drilling system is proposed. An acceleration-based four-channel bilateral control system is implemented in linear actuators in a master–slave system for drill feeding. A reaction force observer is used instead of a force sensor for measuring cutting force. Cutting force transmits from a cutting material to a surgeon, who may feel a static cutting resistance force and vigorous cutting vibrations, via the master–slave system. Moreover, position scaling and force scaling are achieved. Scaling functions are used to achieve precise drilling and hazard detection via force sensation. Results Cutting accuracy and reproducibility of the cutting force were evaluated by angular velocity/position error and frequency analysis of the cutting force, respectively, and errors were > 2.0 rpm and > 0.2 mm, respectively. Spectrum peaks of the cutting vibration were at the theoretical vibration frequencies of 30, 60 and 90 Hz. Conclusions The proposed telerobotic-assisted drilling system achieved precise manipulation of the drill feed and vivid feedback from the cutting force. Copyright © 2012 John Wiley & Sons, Ltd. PMID:22271710

Automation and robotics for Space Station in the twenty-first century

NASA Technical Reports Server (NTRS)

Willshire, K. F.; Pivirotto, D. L.

1986-01-01

Space Station telerobotics will evolve beyond the initial capability into a smarter and more capable system as we enter the twenty-first century. Current technology programs including several proposed ground and flight experiments to enable development of this system are described. Advancements in the areas of machine vision, smart sensors, advanced control architecture, manipulator joint design, end effector design, and artificial intelligence will provide increasingly more autonomous telerobotic systems.

The space station assembly phase: Flight telerobotic servicer feasibility. Volume 2: Methodology and case study

NASA Technical Reports Server (NTRS)

Smith, Jeffrey H.; Gyamfi, Max A.; Volkmer, Kent; Zimmerman, Wayne F.

1987-01-01

A methodology is described for examining the feasibility of a Flight Telerobotic Servicer (FTS) using two assembly scenarios, defined at the EVA task level, for the 30 shuttle flights (beginning with MB-1) over a four-year period. Performing all EVA tasks by crew only is compared to a scenario in which crew EVA is augmented by FTS. A reference FTS concept is used as a technology baseline and life-cycle cost analysis is performed to highlight cost tradeoffs. The methodology, procedure, and data used to complete the analysis are documented in detail.

Discriminative Cooperative Networks for Detecting Phase Transitions

NASA Astrophysics Data System (ADS)

Liu, Ye-Hua; van Nieuwenburg, Evert P. L.

2018-04-01

The classification of states of matter and their corresponding phase transitions is a special kind of machine-learning task, where physical data allow for the analysis of new algorithms, which have not been considered in the general computer-science setting so far. Here we introduce an unsupervised machine-learning scheme for detecting phase transitions with a pair of discriminative cooperative networks (DCNs). In this scheme, a guesser network and a learner network cooperate to detect phase transitions from fully unlabeled data. The new scheme is efficient enough for dealing with phase diagrams in two-dimensional parameter spaces, where we can utilize an active contour model—the snake—from computer vision to host the two networks. The snake, with a DCN "brain," moves and learns actively in the parameter space, and locates phase boundaries automatically.

Space Station Freedom coupling tasks: An evaluation of their telerobotic and EVA compatibility

NASA Technical Reports Server (NTRS)

Sampaio, Carlos E.; Bierschwale, John M.; Fleming, Terence F.; Stuart, Mark A.

1993-01-01

Of the couplings included in this study, several design components were found to be of interest. With respect to the operation of the couplings, the various concepts resulted in differing reactions from the four subjects who participated in this study. The purpose of this study was not to conceive the final coupling design. Rather, it was intended as a step along an interactive process. The newly modified coupling will be included in a series of further controlled, as well as subjective, evaluations. This part of the ongoing work in the Remote Operator Interaction Laboratory (ROIL) designed to enhance the overall interface by improving design at both the teleoperator and telerobot ends of the system.

Wrist Camera Orientation for Effective Telerobotic Orbital Replaceable Unit (ORU) Changeout

NASA Technical Reports Server (NTRS)

Jones, Sharon Monica; Aldridge, Hal A.; Vazquez, Sixto L.

1997-01-01

The Hydraulic Manipulator Testbed (HMTB) is the kinematic replica of the Flight Telerobotic Servicer (FTS). One use of the HMTB is to evaluate advanced control techniques for accomplishing robotic maintenance tasks on board the Space Station. Most maintenance tasks involve the direct manipulation of the robot by a human operator when high-quality visual feedback is important for precise control. An experiment was conducted in the Systems Integration Branch at the Langley Research Center to compare several configurations of the manipulator wrist camera for providing visual feedback during an Orbital Replaceable Unit changeout task. Several variables were considered such as wrist camera angle, camera focal length, target location, lighting. Each study participant performed the maintenance task by using eight combinations of the variables based on a Latin square design. The results of this experiment and conclusions based on data collected are presented.

Dual Arm Work Package performance estimates and telerobot task network simulation

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

Draper, J.V.; Blair, L.M.

1997-02-01

This paper describes the methodology and results of a network simulation study of the Dual Arm Work Package (DAWP), to be employed for dismantling the Argonne National Laboratory CP-5 reactor. The development of the simulation model was based upon the results of a task analysis for the same system. This study was performed by the Oak Ridge National Laboratory (ORNL), in the Robotics and Process Systems Division. Funding was provided the US Department of Energy`s Office of Technology Development, Robotics Technology Development Program (RTDP). The RTDP is developing methods of computer simulation to estimate telerobotic system performance. Data were collectedmore » to provide point estimates to be used in a task network simulation model. Three skilled operators performed six repetitions of a pipe cutting task representative of typical teleoperation cutting operations.« less

Human factors requirements for telerobotic command and control: The European Space Agency experimental programme

NASA Technical Reports Server (NTRS)

Stone, Robert J.

1991-01-01

Space Telerobotics research, performed under contract to the European Space Agency (ESA), concerning the execution of human factors experiments, and ultimately leading to the development of a telerobotics test bed, has been carried out since 1985 by a British Consortium consisting of British Aerospace, the United Kingdom Atomic Energy Authority and, more recently, the UK National Advanced Robotics Research Centre. The principal aim of the first study of the series was to derive preliminary requirements for a teleoperation servicing system, with reference to two mission model scenarios. The first scenario introduced the problem of communications time delays, and their likely effect on the ground-based operator in control of a manipulator system on board an unmanned servicing vehicle in Low Earth Orbit. In the second scenario, the operator was located on the NASA Orbiter aft flight deck, supervising the control of a prototype manipulator in the 'servicing' of an experimental payload in the cargo bay area. Human factors analyses centered on defining the requirements for the teleoperator workstation, such as identifying basic ergonomic requirements for workstation and panel layouts, defining teleoperation strategies, developing alphanumeric and graphic screen formats for the supervision or direct control of the manipulator, and the potential applications of expert system technology. The second study for ESA involved an experimental appraisal of some of the important issues highlighted in the first study, for which relevant human factors data did not exist. Of central importance during the second study was the issue of communications time delays and their effect on the manual control of a teleoperated manipulator from a ground-based command and control station.

Development of a semi-autonomous service robot with telerobotic capabilities

NASA Technical Reports Server (NTRS)

Jones, J. E.; White, D. R.

1987-01-01

The importance to the United States of semi-autonomous systems for application to a large number of manufacturing and service processes is very clear. Two principal reasons emerge as the primary driving forces for development of such systems: enhanced national productivity and operation in environments whch are hazardous to humans. Completely autonomous systems may not currently be economically feasible. However, autonomous systems that operate in a limited operation domain or that are supervised by humans are within the technology capability of this decade and will likely provide reasonable return on investment. The two research and development efforts of autonomy and telerobotics are distinctly different, yet interconnected. The first addresses the communication of an intelligent electronic system with a robot while the second requires human communication and ergonomic consideration. Discussed here are work in robotic control, human/robot team implementation, expert system robot operation, and sensor development by the American Welding Institute, MTS Systems Corporation, and the Colorado School of Mines--Center for Welding Research.

Plan recognition and generalization in command languages with application to telerobotics

NASA Technical Reports Server (NTRS)

Yared, Wael I.; Sheridan, Thomas B.

1991-01-01

A method for pragmatic inference as a necessary accompaniment to command languages is proposed. The approach taken focuses on the modeling and recognition of the human operator's intent, which relates sequences of domain actions ('plans') to changes in some model of the task environment. The salient feature of this module is that it captures some of the physical and linguistic contextual aspects of an instruction. This provides a basis for generalization and reinterpretation of the instruction in different task environments. The theoretical development is founded on previous work in computational linguistics and some recent models in the theory of action and intention. To illustrate these ideas, an experimental command language to a telerobot is implemented. The program consists of three different components: a robot graphic simulation, the command language itself, and the domain-independent pragmatic inference module. Examples of task instruction processes are provided to demonstrate the benefits of this approach.

Evaluation of telerobotic systems using an instrumented task board

NASA Technical Reports Server (NTRS)

Carroll, John D.; Gierow, Paul A.; Bryan, Thomas C.

1991-01-01

An instrumented task board was developed at NASA Marshall Space Flight Center (MSFC). An overview of the task board design, and current development status is presented. The task board was originally developed to evaluate operator performance using the Protoflight Manipulator Arm (PFMA) at MSFC. The task board evaluates tasks for Orbital Replacement Unit (ORU), fluid connect and transfers, electrical connect/disconnect, bolt running, and other basic tasks. The instrumented task board measures the 3-D forces and torques placed on the board, determines the robot arm's 3-D position relative to the task board using IR optics, and provides the information in real-time. The PFMA joint input signals can also be measured from a breakout box to evaluate the sensitivity or response of the arm operation to control commands. The data processing system provides the capability for post processing of time-history graphics and plots of the PFMA positions, the operator's actions, and the PFMA servo reactions in addition to real-time force/torque data presentation. The instrumented task board's most promising use is developing benchmarks for NASA centers for comparison and evaluation of telerobotic performance.

Speech versus manual control of camera functions during a telerobotic task

NASA Technical Reports Server (NTRS)

Bierschwale, John M.; Sampaio, Carlos E.; Stuart, Mark A.; Smith, Randy L.

1989-01-01

Voice input for control of camera functions was investigated in this study. Objective were to (1) assess the feasibility of a voice-commanded camera control system, and (2) identify factors that differ between voice and manual control of camera functions. Subjects participated in a remote manipulation task that required extensive camera-aided viewing. Each subject was exposed to two conditions, voice and manual input, with a counterbalanced administration order. Voice input was found to be significantly slower than manual input for this task. However, in terms of remote manipulator performance errors and subject preference, there was no difference between modalities. Voice control of continuous camera functions is not recommended. It is believed that the use of voice input for discrete functions, such as multiplexing or camera switching, could aid performance. Hybrid mixes of voice and manual input may provide the best use of both modalities. This report contributes to a better understanding of the issues that affect the design of an efficient human/telerobot interface.

The blackboard model - A framework for integrating multiple cooperating expert systems

NASA Technical Reports Server (NTRS)

Erickson, W. K.

1985-01-01

The use of an artificial intelligence (AI) architecture known as the blackboard model is examined as a framework for designing and building distributed systems requiring the integration of multiple cooperating expert systems (MCXS). Aerospace vehicles provide many examples of potential systems, ranging from commercial and military aircraft to spacecraft such as satellites, the Space Shuttle, and the Space Station. One such system, free-flying, spaceborne telerobots to be used in construction, servicing, inspection, and repair tasks around NASA's Space Station, is examined. The major difficulties found in designing and integrating the individual expert system components necessary to implement such a robot are outlined. The blackboard model, a general expert system architecture which seems to address many of the problems found in designing and building such a system, is discussed. A progress report on a prototype system under development called DBB (Distributed BlackBoard model) is given. The prototype will act as a testbed for investigating the feasibility, utility, and efficiency of MCXS-based designs developed under the blackboard model.

Evaluation of a telerobotic system to assist surgeons in microsurgery

NASA Technical Reports Server (NTRS)

Das, H.; Zak, H.; Johnson, J.; Crouch, J.; Frambach, D.

1999-01-01

A tool was developed that assists surgeons in manipulating surgical instruments more precisely than is possible manually. The tool is a telemanipulator that scales down the surgeon's hand motion and filters tremor in the motion. The signals measured from the surgeon's hand are transformed and used to drive a six-degrees-of-freedom robot to position the surgical instrument mounted on its tip. A pilot study comparing the performance of the telemanipulator system against manual instrument positioning was conducted at the University of Southern California School of Medicine. The results show that a telerobotic tool can improve the performance of a microsurgeon by increasing the precision with which he can position surgical instruments, but this is achieved at the cost of increased time in performing the task. We believe that this technology will extend the capabilities of microsurgeons and allow more surgeons to perform highly skilled procedures currently performed only by the best surgeons. It will also enable performance of new surgical procedures that are beyond the capabilities of even the most skilled surgeons. Copyright 1999 Wiley-Liss, Inc.

A Cooperative Approach to Virtual Machine Based Fault Injection

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

Naughton III, Thomas J; Engelmann, Christian; Vallee, Geoffroy R

Resilience investigations often employ fault injection (FI) tools to study the effects of simulated errors on a target system. It is important to keep the target system under test (SUT) isolated from the controlling environment in order to maintain control of the experiement. Virtual machines (VMs) have been used to aid these investigations due to the strong isolation properties of system-level virtualization. A key challenge in fault injection tools is to gain proper insight and context about the SUT. In VM-based FI tools, this challenge of target con- text is increased due to the separation between host and guest (VM).more » We discuss an approach to VM-based FI that leverages virtual machine introspection (VMI) methods to gain insight into the target s context running within the VM. The key to this environment is the ability to provide basic information to the FI system that can be used to create a map of the target environment. We describe a proof- of-concept implementation and a demonstration of its use to introduce simulated soft errors into an iterative solver benchmark running in user-space of a guest VM.« less

Development of advanced control schemes for telerobot manipulators

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Zhou, Zhen-Lei

1991-01-01

To study space applications of telerobotics, Goddard Space Flight Center (NASA) has recently built a testbed composed mainly of a pair of redundant slave arms having seven degrees of freedom and a master hand controller system. The mathematical developments required for the computerized simulation study and motion control of the slave arms are presented. The slave arm forward kinematic transformation is presented which is derived using the D-H notation and is then reduced to its most simplified form suitable for real-time control applications. The vector cross product method is then applied to obtain the slave arm Jacobian matrix. Using the developed forward kinematic transformation and quaternions representation of the slave arm end-effector orientation, computer simulation is conducted to evaluate the efficiency of the Jacobian in converting joint velocities into Cartesian velocities and to investigate the accuracy of the Jacobian pseudo-inverse for various sampling times. In addition, the equivalence between Cartesian velocities and quaternion is also verified using computer simulation. The motion control of the slave arm is examined. Three control schemes, the joint-space adaptive control scheme, the Cartesian adaptive control scheme, and the hybrid position/force control scheme are proposed for controlling the motion of the slave arm end-effector. Development of the Cartesian adaptive control scheme is presented and some preliminary results of the remaining control schemes are presented and discussed.

Task Decomposition Module For Telerobot Trajectory Generation

NASA Astrophysics Data System (ADS)

Wavering, Albert J.; Lumia, Ron

1988-10-01

A major consideration in the design of trajectory generation software for a Flight Telerobotic Servicer (FTS) is that the FTS will be called upon to perform tasks which require a diverse range of manipulator behaviors and capabilities. In a hierarchical control system where tasks are decomposed into simpler and simpler subtasks, the task decomposition module which performs trajectory planning and execution should therefore be able to accommodate a wide range of algorithms. In some cases, it will be desirable to plan a trajectory for an entire motion before manipulator motion commences, as when optimizing over the entire trajectory. Many FTS motions, however, will be highly sensory-interactive, such as moving to attain a desired position relative to a non-stationary object whose position is periodically updated by a vision system. In this case, the time-varying nature of the trajectory may be handled either by frequent replanning using updated sensor information, or by using an algorithm which creates a less specific state-dependent plan that determines the manipulator path as the trajectory is executed (rather than a priori). This paper discusses a number of trajectory generation techniques from these categories and how they may be implemented in a task decompo-sition module of a hierarchical control system. The structure, function, and interfaces of the proposed trajectory gener-ation module are briefly described, followed by several examples of how different algorithms may be performed by the module. The proposed task decomposition module provides a logical structure for trajectory planning and execution, and supports a large number of published trajectory generation techniques.

Virtual C Machine and Integrated Development Environment for ATMS Controllers.

DOT National Transportation Integrated Search

2000-04-01

The overall objective of this project is to develop a prototype virtual machine that fits on current Advanced Traffic Management Systems (ATMS) controllers and provides functionality for complex traffic operations.;Prepared in cooperation with Utah S...

Assessing Multi-Person and Person-Machine Distributed Decision Making Using an Extended Psychological Distancing Model

DTIC Science & Technology

1990-02-01

human-to- human communication patterns during situation assessment and cooperative problem solving tasks. The research proposed for the second URRP year...Hardware development. In order to create an environment within which to study multi-channeled human-to- human communication , a multi-media observation...that machine-to- human communication can be used to increase cohesion between humans and intelligent machines and to promote human-machine team

Experiments in cooperative manipulation: A system perspective

NASA Technical Reports Server (NTRS)

Schneider, Stanley A.; Cannon, Robert H., Jr.

1989-01-01

In addition to cooperative dynamic control, the system incorporates real time vision feedback, a novel programming technique, and a graphical high level user interface. By focusing on the vertical integration problem, not only these subsystems are examined, but also their interfaces and interactions. The control system implements a multi-level hierarchical structure; the techniques developed for operator input, strategic command, and cooperative dynamic control are presented. At the highest level, a mouse-based graphical user interface allows an operator to direct the activities of the system. Strategic command is provided by a table-driven finite state machine; this methodology provides a powerful yet flexible technique for managing the concurrent system interactions. The dynamic controller implements object impedance control; an extension of Nevill Hogan's impedance control concept to cooperative arm manipulation of a single object. Experimental results are presented, showing the system locating and identifying a moving object catching it, and performing a simple cooperative assembly. Results from dynamic control experiments are also presented, showing the controller's excellent dynamic trajectory tracking performance, while also permitting control of environmental contact force.

Interactive Scene Analysis Module - A sensor-database fusion system for telerobotic environments

NASA Technical Reports Server (NTRS)

Cooper, Eric G.; Vazquez, Sixto L.; Goode, Plesent W.

1992-01-01

Accomplishing a task with telerobotics typically involves a combination of operator control/supervision and a 'script' of preprogrammed commands. These commands usually assume that the location of various objects in the task space conform to some internal representation (database) of that task space. The ability to quickly and accurately verify the task environment against the internal database would improve the robustness of these preprogrammed commands. In addition, the on-line initialization and maintenance of a task space database is difficult for operators using Cartesian coordinates alone. This paper describes the Interactive Scene' Analysis Module (ISAM) developed to provide taskspace database initialization and verification utilizing 3-D graphic overlay modelling, video imaging, and laser radar based range imaging. Through the fusion of taskspace database information and image sensor data, a verifiable taskspace model is generated providing location and orientation data for objects in a task space. This paper also describes applications of the ISAM in the Intelligent Systems Research Laboratory (ISRL) at NASA Langley Research Center, and discusses its performance relative to representation accuracy and operator interface efficiency.

Comparison of extracorporeal shock wave lithotripsy running models between outsourcing cooperation and rental cooperation conducted in Taiwan.

PubMed

Liu, Chih-Kuang; Ko, Ming-Chung; Chen, Shiou-Sheng; Lee, Wen-Kai; Shia, Ben-Chang; Chiang, Han-Sun

2015-02-01

We conducted a retrospective study to compare the cost and effectiveness between two different running models for extracorporeal shock wave lithotripsy (SWL), including the outsourcing cooperation model (OC) and the rental cooperation model (RC). Between January 1999 and December 2005, we implemented OC for the SWL, and from January 2006 to October 2011, RC was utilized. With OC, the cooperative company provided a machine and shared a variable payment with the hospital, according to treatment sessions. With RC, the cooperative company provided a machine and received a fixed rent from the hospital. We calculated the cost of each treatment session, and evaluated the break-even point to estimate the lowest number of treatment sessions to make the balance between revenue and cost every month. Effectiveness parameters, including the stone-free rate, the retreatment rate, the rate of additional procedures and complications, were evaluated. Compared with OC there were significantly less treatment sessions for RC every month (42.6±7.8 vs. 36.8±6.5, p=0.01). The cost of each treatment session was significantly higher for OC than for RC (751.6±20.0 USD vs. 684.7±16.7 USD, p=0.01). The break-even point for the hospital was 27.5 treatment sessions/month for OC, when the hospital obtained 40% of the payment, and it could be reduced if the hospital got a greater percentage. The break-even point for the hospital was 27.3 treatment sessions/month for RC. No significant differences were noticed for the stone-free rate, the retreatment rate, the rate of additional procedures and complications. Our study revealed that RC had a lower cost for every treatment session, and fewer treatment sessions of SWL/month than OC. The study might provide a managerial implication for healthcare organization managers, when they face a situation of high price equipment investment. Copyright © 2012. Published by Elsevier B.V.

Machine Vision Systems for Processing Hardwood Lumber and Logs

Treesearch

Philip A. Araman; Daniel L. Schmoldt; Tai-Hoon Cho; Dongping Zhu; Richard W. Conners; D. Earl Kline

1992-01-01

Machine vision and automated processing systems are under development at Virginia Tech University with support and cooperation from the USDA Forest Service. Our goals are to help U.S. hardwood producers automate, reduce costs, increase product volume and value recovery, and market higher value, more accurately graded and described products. Any vision system is...

Time of Flight Estimation in the Presence of Outliers: A Biosonar-Inspired Machine Learning Approach

DTIC Science & Technology

2013-08-29

REPORT Time of Flight Estimation in the Presence of Outliers: A biosonar -inspired machine learning approach 14. ABSTRACT 16. SECURITY CLASSIFICATION OF...installations, biosonar , remote sensing, sonar resolution, sonar accuracy, sonar energy consumption Nathan Intrator, Leon N Cooper Brown University...Presence of Outliers: A biosonar -inspired machine learning approach Report Title ABSTRACT When the Signal-to-Noise Ratio (SNR) falls below a certain

HERRO Mission to Mars Using Telerobotic Surface Exploration from Orbit

NASA Technical Reports Server (NTRS)

Oleson, Steven R.; Landis, Geoffrey A.; McGuire, Melissa L.; Schmidt, George R.

2013-01-01

This paper presents a concept for a human mission to Mars orbit that features direct robotic exploration of the planet s surface via teleoperation from orbit. This mission is a good example of Human Exploration using Real-time Robotic Operations (HERRO), an exploration strategy that refrains from sending humans to the surfaces of planets with large gravity wells. HERRO avoids the need for complex and expensive man-rated lander/ascent vehicles and surface systems. Additionally, the humans are close enough to the surface to effectively eliminate the two-way communication latency that constrains typical robotic space missions, thus allowing real-time command and control of surface operations and experiments by the crew. Through use of state-of-the-art telecommunications and robotics, HERRO provides the cognitive and decision-making advantages of having humans at the site of study for only a fraction of the cost of conventional human surface missions. It is very similar to how oceanographers and oil companies use telerobotic submersibles to work in inaccessible areas of the ocean, and represents a more expedient, near-term step prior to landing humans on Mars and other large planetary bodies. Results suggest that a single HERRO mission with six crew members could achieve the same exploratory and scientific return as three conventional crewed missions to the Mars surface.

Cooperation in Human-Agent Systems to Support Resilience: A Microworld Experiment.

PubMed

Chiou, Erin K; Lee, John D

2016-09-01

This study uses a dyadic approach to understand human-agent cooperation and system resilience. Increasingly capable technology fundamentally changes human-machine relationships. Rather than reliance on or compliance with more or less reliable automation, we investigate interaction strategies with more or less cooperative agents. A joint-task microworld scenario was developed to explore the effects of agent cooperation on participant cooperation and system resilience. To assess the effects of agent cooperation on participant cooperation, 36 people coordinated with a more or less cooperative agent by requesting resources and responding to requests for resources in a dynamic task environment. Another 36 people were recruited to assess effects following a perturbation in their own hospital. Experiment 1 shows people reciprocated the cooperative behaviors of the agents; a low-cooperation agent led to less effective interactions and less resource sharing, whereas a high-cooperation agent led to more effective interactions and greater resource sharing. Experiment 2 shows that an initial fast-tempo perturbation undermined proactive cooperation-people tended to not request resources. However, the initial fast tempo had little effect on reactive cooperation-people tended to accept resource requests according to cooperation level. This study complements the supervisory control perspective of human-automation interaction by considering interdependence and cooperation rather than the more common focus on reliability and reliance. The cooperativeness of automated agents can influence the cooperativeness of human agents. Design and evaluation for resilience in teams involving increasingly autonomous agents should consider the cooperative behaviors of these agents. © 2016, Human Factors and Ergonomics Society.

Development of a vision non-contact sensing system for telerobotic applications

NASA Astrophysics Data System (ADS)

Karkoub, M.; Her, M.-G.; Ho, M.-I.; Huang, C.-C.

2013-08-01

The study presented here describes a novel vision-based motion detection system for telerobotic operations such as distant surgical procedures. The system uses a CCD camera and image processing to detect the motion of a master robot or operator. Colour tags are placed on the arm and head of a human operator to detect the up/down, right/left motion of the head as well as the right/left motion of the arm. The motion of the colour tags are used to actuate a slave robot or a remote system. The determination of the colour tags' motion is achieved through image processing using eigenvectors and colour system morphology and the relative head, shoulder and wrist rotation angles through inverse dynamics and coordinate transformation. A program is used to transform this motion data into motor control commands and transmit them to a slave robot or remote system through wireless internet. The system performed well even in complex environments with errors that did not exceed 2 pixels with a response time of about 0.1 s. The results of the experiments are available at: http://www.youtube.com/watch?v=yFxLaVWE3f8 and http://www.youtube.com/watch?v=_nvRcOzlWHw

A SUGGESTED CURRICULUM GUIDE FOR ELECTRO-MECHANICAL TECHNOLOGY ORIENTED SPECIFICALLY TO THE COMPUTER AND BUSINESS MACHINE FIELDS. INTERIM REPORT.

ERIC Educational Resources Information Center

LESCARBEAU, ROLAND F.; AND OTHERS

A SUGGESTED POST-SECONDARY CURRICULUM GUIDE FOR ELECTRO-MECHANICAL TECHNOLOGY ORIENTED SPECIFICALLY TO THE COMPUTER AND BUSINESS MACHINE FIELDS WAS DEVELOPED BY A GROUP OF COOPERATING INSTITUTIONS, NOW INCORPORATED AS TECHNICAL EDUCATION CONSORTIUM, INCORPORATED. SPECIFIC NEEDS OF THE COMPUTER AND BUSINESS MACHINE INDUSTRY WERE DETERMINED FROM…

System engineering techniques for establishing balanced design and performance guidelines for the advanced telerobotic testbed

NASA Technical Reports Server (NTRS)

Zimmerman, W. F.; Matijevic, J. R.

1987-01-01

Novel system engineering techniques have been developed and applied to establishing structured design and performance objectives for the Telerobotics Testbed that reduce technical risk while still allowing the testbed to demonstrate an advancement in state-of-the-art robotic technologies. To estblish the appropriate tradeoff structure and balance of technology performance against technical risk, an analytical data base was developed which drew on: (1) automation/robot-technology availability projections, (2) typical or potential application mission task sets, (3) performance simulations, (4) project schedule constraints, and (5) project funding constraints. Design tradeoffs and configuration/performance iterations were conducted by comparing feasible technology/task set configurations against schedule/budget constraints as well as original program target technology objectives. The final system configuration, task set, and technology set reflected a balanced advancement in state-of-the-art robotic technologies, while meeting programmatic objectives and schedule/cost constraints.

Cooperative processing user interfaces for AdaNET

NASA Technical Reports Server (NTRS)

Gutzmann, Kurt M.

1991-01-01

A cooperative processing user interface (CUI) system shares the task of graphical display generation and presentation between the user's computer and a remote host. The communications link between the two computers is typically a modem or Ethernet. The two main purposes of a CUI are reduction of the amount of data transmitted between user and host machines, and provision of a graphical user interface system to make the system easier to use.

The telerobot workstation testbed for the shuttle aft flight deck: A project plan for integrating human factors into system design

NASA Technical Reports Server (NTRS)

Sauerwein, Timothy

1989-01-01

The human factors design process in developing a shuttle orbiter aft flight deck workstation testbed is described. In developing an operator workstation to control various laboratory telerobots, strong elements of human factors engineering and ergonomics are integrated into the design process. The integration of human factors is performed by incorporating user feedback at key stages in the project life-cycle. An operator centered design approach helps insure the system users are working with the system designer in the design and operation of the system. The design methodology is presented along with the results of the design and the solutions regarding human factors design principles.

Commercialization of JPL Virtual Reality calibration and redundant manipulator control technologies

NASA Technical Reports Server (NTRS)

Kim, Won S.; Seraji, Homayoun; Fiorini, Paolo; Brown, Robert; Christensen, Brian; Beale, Chris; Karlen, James; Eismann, Paul

1994-01-01

Within NASA's recent thrust for industrial collaboration, JPL (Jet Propulsion Laboratory) has recently established two technology cooperation agreements in the robotics area: one on virtual reality (VR) calibration with Deneb Robotics, Inc., and the other on redundant manipulator control with Robotics Research Corporation (RRC). These technology transfer cooperation tasks will enable both Deneb and RRC to commercialize enhanced versions of their products that will greatly benefit both space and terrestrial telerobotic applications.

Multi-arm multilateral haptics-based immersive tele-robotic system (HITS) for improvised explosive device disposal

NASA Astrophysics Data System (ADS)

Erickson, David; Lacheray, Hervé; Lai, Gilbert; Haddadi, Amir

2014-06-01

This paper presents the latest advancements of the Haptics-based Immersive Tele-robotic System (HITS) project, a next generation Improvised Explosive Device (IED) disposal (IEDD) robotic interface containing an immersive telepresence environment for a remotely-controlled three-articulated-robotic-arm system. While the haptic feedback enhances the operator's perception of the remote environment, a third teleoperated dexterous arm, equipped with multiple vision sensors and cameras, provides stereo vision with proper visual cues, and a 3D photo-realistic model of the potential IED. This decentralized system combines various capabilities including stable and scaled motion, singularity avoidance, cross-coupled hybrid control, active collision detection and avoidance, compliance control and constrained motion to provide a safe and intuitive control environment for the operators. Experimental results and validation of the current system are presented through various essential IEDD tasks. This project demonstrates that a two-armed anthropomorphic Explosive Ordnance Disposal (EOD) robot interface can achieve complex neutralization techniques against realistic IEDs without the operator approaching at any time.

Light-Directed Ranging System Implementing Single Camera System for Telerobotics Applications

NASA Technical Reports Server (NTRS)

Wells, Dennis L. (Inventor); Li, Larry C. (Inventor); Cox, Brian J. (Inventor)

1997-01-01

A laser-directed ranging system has utility for use in various fields, such as telerobotics applications and other applications involving physically handicapped individuals. The ranging system includes a single video camera and a directional light source such as a laser mounted on a camera platform, and a remotely positioned operator. In one embodiment, the position of the camera platform is controlled by three servo motors to orient the roll axis, pitch axis and yaw axis of the video cameras, based upon an operator input such as head motion. The laser is offset vertically and horizontally from the camera, and the laser/camera platform is directed by the user to point the laser and the camera toward a target device. The image produced by the video camera is processed to eliminate all background images except for the spot created by the laser. This processing is performed by creating a digital image of the target prior to illumination by the laser, and then eliminating common pixels from the subsequent digital image which includes the laser spot. A reference point is defined at a point in the video frame, which may be located outside of the image area of the camera. The disparity between the digital image of the laser spot and the reference point is calculated for use in a ranging analysis to determine range to the target.

Chaotic behaviour of Zeeman machines at introductory course of mechanics

NASA Astrophysics Data System (ADS)

Nagy, Péter; Tasnádi, Péter

2016-05-01

Investigation of chaotic motions and cooperative systems offers a magnificent opportunity to involve modern physics into the basic course of mechanics taught to engineering students. In the present paper it will be demonstrated that Zeeman Machine can be a versatile and motivating tool for students to get introductory knowledge about chaotic motion via interactive simulations. It works in a relatively simple way and its properties can be understood very easily. Since the machine can be built easily and the simulation of its movement is also simple the experimental investigation and the theoretical description can be connected intuitively. Although Zeeman Machine is known mainly for its quasi-static and catastrophic behaviour, its dynamic properties are also of interest with its typical chaotic features. By means of a periodically driven Zeeman Machine a wide range of chaotic properties of the simple systems can be demonstrated such as bifurcation diagrams, chaotic attractors, transient chaos and so on. The main goal of this paper is the presentation of an interactive learning material for teaching the basic features of the chaotic systems through the investigation of the Zeeman Machine.

Head-controlled assistive telerobot with extended physiological proprioception capability

NASA Astrophysics Data System (ADS)

Salganicoff, Marcos; Rahman, Tariq; Mahoney, Ricardo; Pino, D.; Jayachandran, Vijay; Kumar, Vijay; Chen, Shoupu; Harwin, William S.

1995-12-01

People with disabilities such as quadriplegia can use mouth-sticks and head-sticks as extension devices to perform desired manipulations. These extensions provide extended proprioception which allows users to directly feel forces and other perceptual cues such as texture present at the tip of the mouth-stick. Such devices are effective for two principle reasons: because of their close contact with the user's tactile and proprioceptive sensing abilities; and because they tend to be lightweight and very stiff, and can thus convey tactile and kinesthetic information with high-bandwidth. Unfortunately, traditional mouth-sticks and head-sticks are limited in workspace and in the mechanical power that can be transferred because of user mobility and strength limitations. We describe an alternative implementation of the head-stick device using the idea of a virtual head-stick: a head-controlled bilateral force-reflecting telerobot. In this system the end-effector of the slave robot moves as if it were at the tip of an imaginary extension of the user's head. The design goal is for the system is to have the same intuitive operation and extended proprioception as a regular mouth-stick effector but with augmentation of workspace volume and mechanical power. The input is through a specially modified six DOF master robot (a PerForceTM hand-controller) whose joints can be back-driven to apply forces at the user's head. The manipulation tasks in the environment are performed by a six degree-of-freedom slave robot (the Zebra-ZEROTM) with a built-in force sensor. We describe the prototype hardware/software implementation of the system, control system design, safety/disability issues, and initial evaluation tasks.

An Intelligent Cooperative Visual Sensor Network for Urban Mobility.

PubMed

Leone, Giuseppe Riccardo; Moroni, Davide; Pieri, Gabriele; Petracca, Matteo; Salvetti, Ovidio; Azzarà, Andrea; Marino, Francesco

2017-11-10

Smart cities are demanding solutions for improved traffic efficiency, in order to guarantee optimal access to mobility resources available in urban areas. Intelligent video analytics deployed directly on board embedded sensors offers great opportunities to gather highly informative data about traffic and transport, allowing reconstruction of a real-time neat picture of urban mobility patterns. In this paper, we present a visual sensor network in which each node embeds computer vision logics for analyzing in real time urban traffic. The nodes in the network share their perceptions and build a global and comprehensive interpretation of the analyzed scenes in a cooperative and adaptive fashion. This is possible thanks to an especially designed Internet of Things (IoT) compliant middleware which encompasses in-network event composition as well as full support of Machine-2-Machine (M2M) communication mechanism. The potential of the proposed cooperative visual sensor network is shown with two sample applications in urban mobility connected to the estimation of vehicular flows and parking management. Besides providing detailed results of each key component of the proposed solution, the validity of the approach is demonstrated by extensive field tests that proved the suitability of the system in providing a scalable, adaptable and extensible data collection layer for managing and understanding mobility in smart cities.

Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

NASA Technical Reports Server (NTRS)

Mann, R. C.; Fujimura, K.; Unseren, M. A.

1992-01-01

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace.

Cooperation-Controlled Learning for Explicit Class Structure in Self-Organizing Maps

PubMed Central

Kamimura, Ryotaro

2014-01-01

We attempt to demonstrate the effectiveness of multiple points of view toward neural networks. By restricting ourselves to two points of view of a neuron, we propose a new type of information-theoretic method called “cooperation-controlled learning.” In this method, individual and collective neurons are distinguished from one another, and we suppose that the characteristics of individual and collective neurons are different. To implement individual and collective neurons, we prepare two networks, namely, cooperative and uncooperative networks. The roles of these networks and the roles of individual and collective neurons are controlled by the cooperation parameter. As the parameter is increased, the role of cooperative networks becomes more important in learning, and the characteristics of collective neurons become more dominant. On the other hand, when the parameter is small, individual neurons play a more important role. We applied the method to the automobile and housing data from the machine learning database and examined whether explicit class boundaries could be obtained. Experimental results showed that cooperation-controlled learning, in particular taking into account information on input units, could be used to produce clearer class structure than conventional self-organizing maps. PMID:25309950

Development of a machine vision system for automated structural assembly

NASA Technical Reports Server (NTRS)

Sydow, P. Daniel; Cooper, Eric G.

1992-01-01

Research is being conducted at the LaRC to develop a telerobotic assembly system designed to construct large space truss structures. This research program was initiated within the past several years, and a ground-based test-bed was developed to evaluate and expand the state of the art. Test-bed operations currently use predetermined ('taught') points for truss structural assembly. Total dependence on the use of taught points for joint receptacle capture and strut installation is neither robust nor reliable enough for space operations. Therefore, a machine vision sensor guidance system is being developed to locate and guide the robot to a passive target mounted on the truss joint receptacle. The vision system hardware includes a miniature video camera, passive targets mounted on the joint receptacles, target illumination hardware, and an image processing system. Discrimination of the target from background clutter is accomplished through standard digital processing techniques. Once the target is identified, a pose estimation algorithm is invoked to determine the location, in three-dimensional space, of the target relative to the robots end-effector. Preliminary test results of the vision system in the Automated Structural Assembly Laboratory with a range of lighting and background conditions indicate that it is fully capable of successfully identifying joint receptacle targets throughout the required operational range. Controlled optical bench test results indicate that the system can also provide the pose estimation accuracy to define the target position.

Testing of FTS fingers and interface using a passive compliant robot manipulator. [flight telerobot servicer

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami S.

1992-01-01

This report deals with testing of a pair of robot fingers designed for the Flight Telerobotic Servicer (FTS) to grasp a cylinder type of Orbital Replaceable Unit (ORU) interface. The report first describes the objectives of the study and then the testbed consisting of a Stewart Platform-based manipulator equipped with a passive compliant platform which also serves as a force/torque sensor. Kinematic analysis is then performed to provide a closed-form solution for the force inverse kinematics and iterative solution for the force forward kinematics using the Newton's Raphson Method. Mathematical expressions are then derived to compute force/torques applied to the FTS fingers during the mating/demating with the interface. The report then presents the three parts of the experimental study on the feasibility and characteristics of the fingers. The first part obtains data of forces applied by the fingers to the interface under various misalignments, the second part determines the maximum allowable capture angles for mating, and the third part processes and interprets the obtained force/torque data.

Telerobotic control of a dextrous manipulator using master and six-DOF hand-controllers for space assembly and servicing tasks

NASA Technical Reports Server (NTRS)

O'Hara, John M.

1987-01-01

Two studies were conducted evaluating methods of controlling a telerobot; bilateral force reflecting master controllers and proportional rate six degrees of freedom (DOF) hand controllers. The first study compared the controllers on performance of single manipulator arm tasks, a peg-in-the-hole task, and simulated satellite orbital replacement unit changeout. The second study, a Space Station truss assembly task, required simultaneous operation of both manipulator arms (all 12 DOFs) and complex multiaxis slave arm movements. Task times were significantly longer and fewer errors were committed with the hand controllers. The hand controllers were also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers were rated significantly higher in physical workload. There were no significant differences in ratings of manipulator control quality.

Evaluation of inertial devices for the control of large, flexible, space-based telerobotic arms

NASA Technical Reports Server (NTRS)

Montgomery, Raymond C.; Kenny, Sean P.; Ghosh, Dave; Shenhar, Joram

1993-01-01

Inertial devices, including sensors and actuators, offer the potential of improving the tracking of telerobotic commands for space-based robots by smoothing payload motions and suppressing vibrations. In this paper, inertial actuators (specifically, torque-wheels and reaction-masses) are studied for that potential application. Batch simulation studies are presented which show that torque-wheels can reduce the overshoot in abrupt stop commands by 82 percent for a two-link arm. For man-in-the-loop evaluation, a real-time simulator has been developed which samples a hand-controller, solves the nonlinear equations of motion, and graphically displays the resulting motion on a computer workstation. Currently, two manipulator models, a two-link, rigid arm and a single-link, flexible arm, have been studied. Results are presented which show that, for a single-link arm, a reaction-mass/torque-wheel combination at the payload end can yield a settling time of 3 s for disturbances in the first flexible mode as opposed to 10 s using only a hub motor. A hardware apparatus, which consists of a single-link, highly flexible arm with a hub motor and a torque-wheel, has been assembled to evaluate the concept and is described herein.

Evaluation of inertial devices for the control of large, flexible, space-based telerobotic arms

NASA Astrophysics Data System (ADS)

Montgomery, Raymond C.; Kenny, Sean P.; Ghosh, Dave; Shenhar, Joram

1993-02-01

Inertial devices, including sensors and actuators, offer the potential of improving the tracking of telerobotic commands for space-based robots by smoothing payload motions and suppressing vibrations. In this paper, inertial actuators (specifically, torque-wheels and reaction-masses) are studied for that potential application. Batch simulation studies are presented which show that torque-wheels can reduce the overshoot in abrupt stop commands by 82 percent for a two-link arm. For man-in-the-loop evaluation, a real-time simulator has been developed which samples a hand-controller, solves the nonlinear equations of motion, and graphically displays the resulting motion on a computer workstation. Currently, two manipulator models, a two-link, rigid arm and a single-link, flexible arm, have been studied. Results are presented which show that, for a single-link arm, a reaction-mass/torque-wheel combination at the payload end can yield a settling time of 3 s for disturbances in the first flexible mode as opposed to 10 s using only a hub motor. A hardware apparatus, which consists of a single-link, highly flexible arm with a hub motor and a torque-wheel, has been assembled to evaluate the concept and is described herein.

Cooperating Expert Systems For Space Station Power Distribution Management

NASA Astrophysics Data System (ADS)

Nguyen, T. A.; Chiou, W. C.

1987-02-01

In a complex system such as the manned Space Station, it is deem necessary that many expert systems must perform tasks in a concurrent and cooperative manner. An important question arise is: what cooperative-task-performing models are appropriate for multiple expert systems to jointly perform tasks. The solution to this question will provide a crucial automation design criteria for the Space Station complex systems architecture. Based on a client/server model for performing tasks, we have developed a system that acts as a front-end to support loosely-coupled communications between expert systems running on multiple Symbolics machines. As an example, we use two ART*-based expert systems to demonstrate the concept of parallel symbolic manipulation for power distribution management and dynamic load planner/scheduler in the simulated Space Station environment. This on-going work will also explore other cooperative-task-performing models as alternatives which can evaluate inter and intra expert system communication mechanisms. It will be served as a testbed and a bench-marking tool for other Space Station expert subsystem communication and information exchange.

Machine-Building for Fuel and Energy Complex: Perspective Forms of Interaction

NASA Astrophysics Data System (ADS)

Nikitenko, S. M.; Goosen, E. V.; Pakhomova, E. A.; Rozhkova, O. V.; Mesyats, M. A.

2017-10-01

The article is devoted to the study of the existing forms of cooperation between the authorities, business and science in the fuel and energy complex and the machine-building industry at the regional level. The possibilities of applying the concept of the “triple helix” and its multi-helix modifications for the implementation of the import substitution program for high- tech products have been considered.

An Intelligent Cooperative Visual Sensor Network for Urban Mobility

PubMed Central

Leone, Giuseppe Riccardo; Petracca, Matteo; Salvetti, Ovidio; Azzarà, Andrea

2017-01-01

Smart cities are demanding solutions for improved traffic efficiency, in order to guarantee optimal access to mobility resources available in urban areas. Intelligent video analytics deployed directly on board embedded sensors offers great opportunities to gather highly informative data about traffic and transport, allowing reconstruction of a real-time neat picture of urban mobility patterns. In this paper, we present a visual sensor network in which each node embeds computer vision logics for analyzing in real time urban traffic. The nodes in the network share their perceptions and build a global and comprehensive interpretation of the analyzed scenes in a cooperative and adaptive fashion. This is possible thanks to an especially designed Internet of Things (IoT) compliant middleware which encompasses in-network event composition as well as full support of Machine-2-Machine (M2M) communication mechanism. The potential of the proposed cooperative visual sensor network is shown with two sample applications in urban mobility connected to the estimation of vehicular flows and parking management. Besides providing detailed results of each key component of the proposed solution, the validity of the approach is demonstrated by extensive field tests that proved the suitability of the system in providing a scalable, adaptable and extensible data collection layer for managing and understanding mobility in smart cities. PMID:29125535

Monocoil reciprocating permanent magnet electric machine with self-centering force

NASA Technical Reports Server (NTRS)

Bhate, Suresh K. (Inventor); Vitale, Nicholas G. (Inventor)

1989-01-01

A linear reciprocating machine has a tubular outer stator housing a coil, a plunger and an inner stator. The plunger has four axially spaced rings of radially magnetized permanent magnets which cooperate two at a time with the stator to complete first or second opposite magnetic paths. The four rings of magnets and the stators are arranged so that the stroke of the plunger is independent of the axial length of the coil.

76 FR 59162 - Notice Pursuant to the National Cooperative Research and Production Act of 1993-National Center...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-09-23

... Lake, IL; Climax Portable Machine Tools, Inc., Newberg, OR; Clockwork Solutions, Inc. (CSI), Austin, TX..., MA; University of Texas Austin, Austin, TX; Vista Controls, Inc., dba Curtiss-Wright Controls... DEPARTMENT OF JUSTICE Antitrust Division Notice Pursuant to the National Cooperative Research and...

Lunar exploration rover program developments

NASA Technical Reports Server (NTRS)

Klarer, P. R.

1994-01-01

The Robotic All Terrain Lunar Exploration Rover (RATLER) design concept began at Sandia National Laboratories in late 1991 with a series of small, proof-of-principle, working scale models. The models proved the viability of the concept for high mobility through mechanical simplicity, and eventually received internal funding at Sandia National Laboratories for full scale, proof-of-concept prototype development. Whereas the proof-of-principle models demonstrated the mechanical design's capabilities for mobility, the full scale proof-of-concept design currently under development is intended to support field operations for experiments in telerobotics, autonomous robotic operations, telerobotic field geology, and advanced man-machine interface concepts. The development program's current status is described, including an outline of the program's work over the past year, recent accomplishments, and plans for follow-on development work.

Student Achievement Study, 1970-1974. The IEA Six-Subject Data Bank [machine-readable data file].

ERIC Educational Resources Information Center

International Association for the Evaluation of Educational Achievement, Stockholm (Sweden).

The "Student Achievement Study" machine-readable data files (MRDF) (also referred to as the "IEA Six-Subject Survey") are the result of an international data collection effort during 1970-1974 by 21 designated National Centers, which had agreed to cooperate. The countries involved were: Australia, Belgium, Chile, England-Wales,…

Machine rates for selected forest harvesting machines

Treesearch

R.W. Brinker; J. Kinard; Robert Rummer; B. Lanford

2002-01-01

Very little new literature has been published on the subject of machine rates and machine cost analysis since 1989 when the Alabama Agricultural Experiment Station Circular 296, Machine Rates for Selected Forest Harvesting Machines, was originally published. Many machines discussed in the original publication have undergone substantial changes in various aspects, not...

Demonstration of a High-Fidelity Predictive/Preview Display Technique for Telerobotic Servicing in Space

NASA Technical Reports Server (NTRS)

Kim, Won S.; Bejczy, Antal K.

1993-01-01

A highly effective predictive/preview display technique for telerobotic servicing in space under several seconds communication time delay has been demonstrated on a large laboratory scale in May 1993, involving the Jet Propulsion Laboratory as the simulated ground control station and, 2500 miles away, the Goddard Space Flight Center as the simulated satellite servicing set-up. The technique is based on a high-fidelity calibration procedure that enables a high-fidelity overlay of 3-D graphics robot arm and object models over given 2-D TV camera images of robot arm and objects. To generate robot arm motions, the operator can confidently interact in real time with the graphics models of the robot arm and objects overlaid on an actual camera view of the remote work site. The technique also enables the operator to generate high-fidelity synthetic TV camera views showing motion events that are hidden in a given TV camera view or for which no TV camera views are available. The positioning accuracy achieved by this technique for a zoomed-in camera setting was about +/-5 mm, well within the allowable +/-12 mm error margin at the insertion of a 45 cm long tool in the servicing task.

Social penalty promotes cooperation in a cooperative society.

PubMed

Ito, Hiromu; Yoshimura, Jin

2015-08-04

Why cooperation is well developed in human society is an unsolved question in biological and human sciences. Vast studies in game theory have revealed that in non-cooperative games selfish behavior generally dominates over cooperation and cooperation can be evolved only under very limited conditions. These studies ask the origin of cooperation; whether cooperation can evolve in a group of selfish individuals. In this paper, instead of asking the origin of cooperation, we consider the enhancement of cooperation in a small already cooperative society. We ask whether cooperative behavior is further promoted in a small cooperative society in which social penalty is devised. We analyze hawk-dove game and prisoner's dilemma introducing social penalty. We then expand it for non-cooperative games in general. The results indicate that cooperation is universally favored if penalty is further imposed. We discuss the current result in terms of the moral, laws, rules and regulations in a society, e.g., criminology and traffic violation.

Social penalty promotes cooperation in a cooperative society

PubMed Central

Ito, Hiromu; Yoshimura, Jin

2015-01-01

Why cooperation is well developed in human society is an unsolved question in biological and human sciences. Vast studies in game theory have revealed that in non-cooperative games selfish behavior generally dominates over cooperation and cooperation can be evolved only under very limited conditions. These studies ask the origin of cooperation; whether cooperation can evolve in a group of selfish individuals. In this paper, instead of asking the origin of cooperation, we consider the enhancement of cooperation in a small already cooperative society. We ask whether cooperative behavior is further promoted in a small cooperative society in which social penalty is devised. We analyze hawk-dove game and prisoner’s dilemma introducing social penalty. We then expand it for non-cooperative games in general. The results indicate that cooperation is universally favored if penalty is further imposed. We discuss the current result in terms of the moral, laws, rules and regulations in a society, e.g., criminology and traffic violation. PMID:26238521

Optimized resolved rate control of seven-degree-of-freedom Laboratory Telerobotic Manipulator (LTM) with application to three-dimensional graphics simulation

NASA Technical Reports Server (NTRS)

Barker, L. Keith; Mckinney, William S., Jr.

1989-01-01

The Laboratory Telerobotic Manipulator (LTM) is a seven-degree-of-freedom robot arm. Two of the arms were delivered to Langley Research Center for ground-based research to assess the use of redundant degree-of-freedom robot arms in space operations. Resolved-rate control equations for the LTM are derived. The equations are based on a scheme developed at the Oak Ridge National Laboratory for computing optimized joint angle rates in real time. The optimized joint angle rates actually represent a trade-off, as the hand moves, between small rates (least-squares solution) and those rates which work toward satisfying a specified performance criterion of joint angles. In singularities where the optimization scheme cannot be applied, alternate control equations are devised. The equations developed were evaluated using a real-time computer simulation to control a 3-D graphics model of the LTM.

JIGSAW: Preference-directed, co-operative scheduling

NASA Technical Reports Server (NTRS)

Linden, Theodore A.; Gaw, David

1992-01-01

Techniques that enable humans and machines to cooperate in the solution of complex scheduling problems have evolved out of work on the daily allocation and scheduling of Tactical Air Force resources. A generalized, formal model of these applied techniques is being developed. It is called JIGSAW by analogy with the multi-agent, constructive process used when solving jigsaw puzzles. JIGSAW begins from this analogy and extends it by propagating local preferences into global statistics that dynamically influence the value and variable ordering decisions. The statistical projections also apply to abstract resources and time periods--allowing more opportunities to find a successful variable ordering by reserving abstract resources and deferring the choice of a specific resource or time period.

[A new machinability test machine and the machinability of composite resins for core built-up].

PubMed

Iwasaki, N

2001-06-01

A new machinability test machine especially for dental materials was contrived. The purpose of this study was to evaluate the effects of grinding conditions on machinability of core built-up resins using this machine, and to confirm the relationship between machinability and other properties of composite resins. The experimental machinability test machine consisted of a dental air-turbine handpiece, a control weight unit, a driving unit of the stage fixing the test specimen, and so on. The machinability was evaluated as the change in volume after grinding using a diamond point. Five kinds of core built-up resins and human teeth were used in this study. The machinabilities of these composite resins increased with an increasing load during grinding, and decreased with repeated grinding. There was no obvious correlation between the machinability and Vickers' hardness; however, a negative correlation was observed between machinability and scratch width.

Prediction of drug synergy in cancer using ensemble-based machine learning techniques

NASA Astrophysics Data System (ADS)

Singh, Harpreet; Rana, Prashant Singh; Singh, Urvinder

2018-04-01

Drug synergy prediction plays a significant role in the medical field for inhibiting specific cancer agents. It can be developed as a pre-processing tool for therapeutic successes. Examination of different drug-drug interaction can be done by drug synergy score. It needs efficient regression-based machine learning approaches to minimize the prediction errors. Numerous machine learning techniques such as neural networks, support vector machines, random forests, LASSO, Elastic Nets, etc., have been used in the past to realize requirement as mentioned above. However, these techniques individually do not provide significant accuracy in drug synergy score. Therefore, the primary objective of this paper is to design a neuro-fuzzy-based ensembling approach. To achieve this, nine well-known machine learning techniques have been implemented by considering the drug synergy data. Based on the accuracy of each model, four techniques with high accuracy are selected to develop ensemble-based machine learning model. These models are Random forest, Fuzzy Rules Using Genetic Cooperative-Competitive Learning method (GFS.GCCL), Adaptive-Network-Based Fuzzy Inference System (ANFIS) and Dynamic Evolving Neural-Fuzzy Inference System method (DENFIS). Ensembling is achieved by evaluating the biased weighted aggregation (i.e. adding more weights to the model with a higher prediction score) of predicted data by selected models. The proposed and existing machine learning techniques have been evaluated on drug synergy score data. The comparative analysis reveals that the proposed method outperforms others in terms of accuracy, root mean square error and coefficient of correlation.

A Cognitive Systems Engineering Approach to Developing Human Machine Interface Requirements for New Technologies

NASA Astrophysics Data System (ADS)

Fern, Lisa Carolynn

This dissertation examines the challenges inherent in designing and regulating to support human-automation interaction for new technologies that will be deployed into complex systems. A key question for new technologies with increasingly capable automation, is how work will be accomplished by human and machine agents. This question has traditionally been framed as how functions should be allocated between humans and machines. Such framing misses the coordination and synchronization that is needed for the different human and machine roles in the system to accomplish their goals. Coordination and synchronization demands are driven by the underlying human-automation architecture of the new technology, which are typically not specified explicitly by designers. The human machine interface (HMI), which is intended to facilitate human-machine interaction and cooperation, typically is defined explicitly and therefore serves as a proxy for human-automation cooperation requirements with respect to technical standards for technologies. Unfortunately, mismatches between the HMI and the coordination and synchronization demands of the underlying human-automation architecture can lead to system breakdowns. A methodology is needed that both designers and regulators can utilize to evaluate the predicted performance of a new technology given potential human-automation architectures. Three experiments were conducted to inform the minimum HMI requirements for a detect and avoid (DAA) system for unmanned aircraft systems (UAS). The results of the experiments provided empirical input to specific minimum operational performance standards that UAS manufacturers will have to meet in order to operate UAS in the National Airspace System (NAS). These studies represent a success story for how to objectively and systematically evaluate prototype technologies as part of the process for developing regulatory requirements. They also provide an opportunity to reflect on the lessons learned in order

Research and development of Camellia oleifera fruit sheller and sorting machine

NASA Astrophysics Data System (ADS)

Kang, Di; Wang, Yong; Fan, Youhua; Chen, Zejun

2018-01-01

Camellia oleifera fruit sheller in this paper was designed by the principle of kneading and extruding. This machine adopted the rolling classification sieve to screen camellia oleifera fruit with different sizes into the husking device, and camellia oleifera fruit was shelled in the mutually co-operative action of transport belt and flexible rubbing washboard. After research, in the condition that the moisture content of camellia oleifera fruit was below 55%, the vibration of the motor frequency was 50 Hz and the horizontal angle of sorting belt was 50 degrees∼55 degrees, the processing capacity was more than 900 kg/h, the threshing ratio was more than 97%, the seed broken ratio was less than 5%, the loss ratio was less than 1%. The machine is of great value in actual production, and should be widely spread and applied.

The NEOUCOM Cooperative Cataloging Service: development and review of the first four years.

PubMed

Miller, D R

1983-04-01

The Basic Medical Sciences Library of the Northeastern Ohio Universities College of Medicine (NEOUCOM) provided a Cooperative Cataloging Service to fourteen of its affiliated hospitals' libraries since March 1978, using the OCLC system. Analysis of the first four years of service showed that the hospital libraries spent almost $30,000 to catalog more than 18,000 titles. Personnel expenses and other costs eclipsed the savings from a 31.3% duplication rate. Centralized bibliographic control control and the principal by-product of the service, a uniform, machine-related data base, provided the foundation for an on-line integrated library system to serve the consortium. The hospital libraries contributed 44% of the unique titles in this data base, which emphasis the need to share resources and continue cooperation.

75 FR 10319 - Cooper Tools-Sumter, Cooper Tools Divisions, a Subsidiary of Cooper Industries, Inc., Including...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-03-05

... DEPARTMENT OF LABOR Employment and Training Administration [TA-W-71,602] Cooper Tools--Sumter, Cooper Tools Divisions, a Subsidiary of Cooper Industries, Inc., Including On-Site Leased Workers From... January 26, 2010, applicable to workers of Cooper Tools--Sumter, Cooper Tools Division, a subsidiary of...

Emergence of telerobotic control enhancement from research in machine autonomy

NASA Astrophysics Data System (ADS)

Haddad, Albert G., Sr.; Adams, John C.; Berardo, Peter A.; Ohlund, Kent O.; Van Vactor, David L.

1992-03-01

This paper provides a description of the Robotic Research Program being conducted at the Lockheed Research and Development Division Laboratories. It details the approach taken to fuse autonomy with teleoperative control. The component/enabling technologies are defined and the status of the development of those technologies is reported. CASE tools used in an accelerated development environment are identified and discussed.

The emergence of cooperation from a single cooperative mutant

NASA Astrophysics Data System (ADS)

Cremer, Jonas; Melbinger, Anna; Frey, Erwin

2012-02-01

Population structure is one central condition which promotes the stability of cooperation: If cooperators more likely interact with other cooperators (positive assortment), they keep most of their benefit for themselves and are less exploited by non-cooperators. However, positive assortment can only act successfully if cooperation is already well established in the population such that cooperative individuals can successfully assort. But how can cooperation emerge when starting with a single cooperative mutant? Here we study this issue for a generic situation of microbial systems where microbes regularly form new colonies and show strong population growth. We show how and when the dynamical interplay between colony formation, population growth and evolution within colonies can provoke the emergence of cooperation. In particular, the probability for a single cooperative mutant to succeed is robustly large when colony-formation is fast or comparable to the time-scale of growth within colonies; growth supports cooperation.[4pt] [1] A. Melbinger, J. Cremer, and E. Frey, Evolutionary game theory in growing populations, Phys. Rev. Lett. 105, 178101 (2010)[0pt] [2] J. Cremer, A. Melbinger, and E. Frey, Evolutionary and population dynamics: a coupled approach, arXiv:1108.2604

Robots and Humans: Synergy in Planetary Exploration

NASA Technical Reports Server (NTRS)

Landis, Geoffrey A.

2003-01-01

How will humans and robots cooperate in future planetary exploration? Are humans and robots fundamentally separate modes of exploration, or can humans and robots work together to synergistically explore the solar system? It is proposed that humans and robots can work together in exploring the planets by use of telerobotic operation to expand the function and usefulness of human explorers, and to extend the range of human exploration to hostile environments.

Robots and Humans: Synergy in Planetary Exploration

NASA Technical Reports Server (NTRS)

Landis, Geoffrey A.

2002-01-01

How will humans and robots cooperate in future planetary exploration? Are humans and robots fundamentally separate modes of exploration, or can humans and robots work together to synergistically explore the solar system? It is proposed that humans and robots can work together in exploring the planets by use of telerobotic operation to expand the function and usefulness of human explorers, and to extend the range of human exploration to hostile environments.

Baseline tests of an autonomous telerobotic system for assembly of space truss structures

NASA Technical Reports Server (NTRS)

Rhodes, Marvin D.; Will, Ralph W.; Quach, Coung

1994-01-01

Several proposed space missions include precision reflectors that are larger in diameter than any current or proposed launch vehicle. Most of these reflectors will require a truss structure to accurately position the reflector panels and these reflectors will likely require assembly in orbit. A research program has been conducted at the NASA Langley Research Center to develop the technology required for the robotic assembly of truss structures. The focus of this research has been on hardware concepts, computer software control systems, and operator interfaces necessary to perform supervised autonomous assembly. A special facility was developed and four assembly and disassembly tests of a 102-strut tetrahedral truss have been conducted. The test procedures were developed around traditional 'pick-and-place' robotic techniques that rely on positioning repeatability for successful operation. The data from two of the four tests were evaluated and are presented in this report. All operations in the tests were controlled by predefined sequences stored in a command file, and the operator intervened only when the system paused because of the failure of an actuator command. The tests were successful in identifying potential pitfalls in a telerobotic system, many of which would not have been readily anticipated or incurred through simulation studies. Addressing the total integrated task, instead of bench testing the component parts, forced all aspects of the task to be evaluated. Although the test results indicate that additional developments should be pursued, no problems were encountered that would preclude automated assembly in space as a viable construction method.

Demonstration of surgical telerobotics and virtual telepresence by Internet + ISDN from Monterey (USA) to Milan (Italy).

PubMed

Rovetta, A; Sala, R; Bressanelli, M; Garavaldi, M E; Lorini, F; Pegoraro, R; Canina, M

1998-01-01

This paper deals with the connection which has been held on 8th July 1997 in collaboration with the JPL of the NASA, Pasadena, California, between the Eighth International Conference on the Advanced Robotics (ICAR '97) in course at Monterey, California and the Telerobotics Laboratory of Politecnico di Milano connected in a multipoint teleconference through the MCU of Rome with the Aula Magna of the same Politecnico and the Palace Business of the Giureconsulti of the Chamber of Commerce of Milan. The demonstration has allowed to telecontrol a scara robot of the Sankyo and an ABB robot, which have affected simulations of operations of biopsy to the prostate, to the liver and to the breast, a mechanical hand and a model of a car, disposed in a space destined to reproduce the Martian ground, from Monterey to Milan by means of the INTERNET+ISDN connection from. In fact the event has taken place four days after the landing on Mars happily successful of the spatial probe Pathfinder from which it has gone out the "Sojourner" robot, telecontrolled from the JPL of the NASA, which has begun to take photos of the Martian ground and also some of these images have been transmitted in the course of the connection.

The NEOUCOM Cooperative Cataloging Service: development and review of the first four years.

PubMed Central

Miller, D R

1983-01-01

The Basic Medical Sciences Library of the Northeastern Ohio Universities College of Medicine (NEOUCOM) provided a Cooperative Cataloging Service to fourteen of its affiliated hospitals' libraries since March 1978, using the OCLC system. Analysis of the first four years of service showed that the hospital libraries spent almost $30,000 to catalog more than 18,000 titles. Personnel expenses and other costs eclipsed the savings from a 31.3% duplication rate. Centralized bibliographic control control and the principal by-product of the service, a uniform, machine-related data base, provided the foundation for an on-line integrated library system to serve the consortium. The hospital libraries contributed 44% of the unique titles in this data base, which emphasis the need to share resources and continue cooperation. PMID:6860826

Telerobotic control of a mobile coordinated robotic server. M.S. Thesis Annual Technical Report

NASA Technical Reports Server (NTRS)

Lee, Gordon

1993-01-01

The annual report on telerobotic control of a mobile coordinated robotic server is presented. The goal of this effort is to develop advanced control methods for flexible space manipulator systems. As such, an adaptive fuzzy logic controller was developed in which model structure as well as parameter constraints are not required for compensation. The work builds upon previous work on fuzzy logic controllers. Fuzzy logic controllers have been growing in importance in the field of automatic feedback control. Hardware controllers using fuzzy logic have become available as an alternative to the traditional PID controllers. Software has also been introduced to aid in the development of fuzzy logic rule-bases. The advantages of using fuzzy logic controllers include the ability to merge the experience and intuition of expert operators into the rule-base and that a model of the system is not required to construct the controller. A drawback of the classical fuzzy logic controller, however, is the many parameters needed to be turned off-line prior to application in the closed-loop. In this report, an adaptive fuzzy logic controller is developed requiring no system model or model structure. The rule-base is defined to approximate a state-feedback controller while a second fuzzy logic algorithm varies, on-line, parameters of the defining controller. Results indicate the approach is viable for on-line adaptive control of systems when the model is too complex or uncertain for application of other more classical control techniques.

A Boltzmann machine for the organization of intelligent machines

NASA Technical Reports Server (NTRS)

Moed, Michael C.; Saridis, George N.

1989-01-01

In the present technological society, there is a major need to build machines that would execute intelligent tasks operating in uncertain environments with minimum interaction with a human operator. Although some designers have built smart robots, utilizing heuristic ideas, there is no systematic approach to design such machines in an engineering manner. Recently, cross-disciplinary research from the fields of computers, systems AI and information theory has served to set the foundations of the emerging area of the design of intelligent machines. Since 1977 Saridis has been developing an approach, defined as Hierarchical Intelligent Control, designed to organize, coordinate and execute anthropomorphic tasks by a machine with minimum interaction with a human operator. This approach utilizes analytical (probabilistic) models to describe and control the various functions of the intelligent machine structured by the intuitively defined principle of Increasing Precision with Decreasing Intelligence (IPDI) (Saridis 1979). This principle, even though resembles the managerial structure of organizational systems (Levis 1988), has been derived on an analytic basis by Saridis (1988). The purpose is to derive analytically a Boltzmann machine suitable for optimal connection of nodes in a neural net (Fahlman, Hinton, Sejnowski, 1985). Then this machine will serve to search for the optimal design of the organization level of an intelligent machine. In order to accomplish this, some mathematical theory of the intelligent machines will be first outlined. Then some definitions of the variables associated with the principle, like machine intelligence, machine knowledge, and precision will be made (Saridis, Valavanis 1988). Then a procedure to establish the Boltzmann machine on an analytic basis will be presented and illustrated by an example in designing the organization level of an Intelligent Machine. A new search technique, the Modified Genetic Algorithm, is presented and proved

Small business initiative -- Surface inspection machine infrared (SIMIR)

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

Powell, G.L.; Beecroft, M.

This Cooperative Research and Development Agreement was a one year effort to make the surface inspection machine based on diffuse reflectance infrared spectroscopy (Surface Inspection Machine-Infrared, SIMIR), being developed by Surface Optics Corporation, perform to its highest potential as a practical, portable surface inspection machine. A secondary purpose was to evaluate applications that would serve both the private and the public sector. The design function of the SIMIR is to inspect sandblasted metal surfaces for cleanliness (stains). The system is also capable of evaluating graphite-resin systems for cure and heat damage, and for measuring the effects of moisture exposure onmore » lithium hydride, corrosion on uranium metal, and the constituents of and contamination on wood, paper, and fabrics. Surface Optics Corporation supplied LMES-Y12 with a prototype SOC-400 that was evaluated by LMES-Y12 and rebuilt by Surface Optics to achieve the desired performance. LMES-Y12 subsequently evaluated the instrument against numerous applications including determining part cleanliness at the Corpus Christi Army Depot, demonstrating the ability to detect plasticizers and other organic contaminants on metals to Pantex and LANL personnel, analyzed sandblasted metal contamination standards supplied by NASA-MSFC, and demonstrated to Lockheed Martin Tactical Aircraft, marietta, GA, for analyzing the paint applied to the F-22 Fighter. The instrument also demonstrated the analysis of yarn, fabric, and finish on the textiles.« less

Towards cooperative guidance and control of highly automated vehicles: H-Mode and Conduct-by-Wire.

PubMed

Flemisch, Frank Ole; Bengler, Klaus; Bubb, Heiner; Winner, Hermann; Bruder, Ralph

2014-01-01

This article provides a general ergonomic framework of cooperative guidance and control for vehicles with an emphasis on the cooperation between a human and a highly automated vehicle. In the twenty-first century, mobility and automation technologies are increasingly fused. In the sky, highly automated aircraft are flying with a high safety record. On the ground, a variety of driver assistance systems are being developed, and highly automated vehicles with increasingly autonomous capabilities are becoming possible. Human-centred automation has paved the way for a better cooperation between automation and humans. How can these highly automated systems be structured so that they can be easily understood, how will they cooperate with the human? The presented research was conducted using the methods of iterative build-up and refinement of framework by triangulation, i.e. by instantiating and testing the framework with at least two derived concepts and prototypes. This article sketches a general, conceptual ergonomic framework of cooperative guidance and control of highly automated vehicles, two concepts derived from the framework, prototypes and pilot data. Cooperation is exemplified in a list of aspects and related to levels of the driving task. With the concept 'Conduct-by-Wire', cooperation happens mainly on the guidance level, where the driver can delegate manoeuvres to the automation with a specialised manoeuvre interface. With H-Mode, a haptic-multimodal interaction with highly automated vehicles based on the H(orse)-Metaphor, cooperation is mainly done on guidance and control with a haptically active interface. Cooperativeness should be a key aspect for future human-automation systems. Especially for highly automated vehicles, cooperative guidance and control is a research direction with already promising concepts and prototypes that should be further explored. The application of the presented approach is every human-machine system that moves and includes high

Robotic Technology Development at Ames: The Intelligent Robotics Group and Surface Telerobotics

NASA Technical Reports Server (NTRS)

Bualat, Maria; Fong, Terrence

2013-01-01

Future human missions to the Moon, Mars, and other destinations offer many new opportunities for exploration. But, astronaut time will always be limited and some work will not be feasible for humans to do manually. Robots, however, can complement human explorers, performing work autonomously or under remote supervision from Earth. Since 2004, the Intelligent Robotics Group has been working to make human-robot interaction efficient and effective for space exploration. A central focus of our research has been to develop and field test robots that benefit human exploration. Our approach is inspired by lessons learned from the Mars Exploration Rovers, as well as human spaceflight programs, including Apollo, the Space Shuttle, and the International Space Station. We conduct applied research in computer vision, geospatial data systems, human-robot interaction, planetary mapping and robot software. In planning for future exploration missions, architecture and study teams have made numerous assumptions about how crew can be telepresent on a planetary surface by remotely operating surface robots from space (i.e. from a flight vehicle or deep space habitat). These assumptions include estimates of technology maturity, existing technology gaps, and likely operational and functional risks. These assumptions, however, are not grounded by actual experimental data. Moreover, no crew-controlled surface telerobotic system has yet been fully tested, or rigorously validated, through flight testing. During Summer 2013, we conducted a series of tests to examine how astronauts in the International Space Station (ISS) can remotely operate a planetary rover across short time delays. The tests simulated portions of a proposed human-robotic Lunar Waypoint mission, in which astronauts in lunar orbit remotely operate a planetary rover on the lunar Farside to deploy a radio telescope array. We used these tests to obtain baseline-engineering data.

Robots and humans: synergy in planetary exploration

NASA Technical Reports Server (NTRS)

Landis, Geoffrey A.

2004-01-01

How will humans and robots cooperate in future planetary exploration? Are humans and robots fundamentally separate modes of exploration, or can humans and robots work together to synergistically explore the solar system? It is proposed that humans and robots can work together in exploring the planets by use of telerobotic operation to expand the function and usefulness of human explorers, and to extend the range of human exploration to hostile environments. Published by Elsevier Ltd.

Recommended fine positioning test for the Development Test Flight (DTF-1) of the NASA Flight Telerobotic Servicer (FTS)

NASA Technical Reports Server (NTRS)

Dagalakis, N.; Wavering, A. J.; Spidaliere, P.

1991-01-01

Test procedures are proposed for the NASA DTF (Development Test Flight)-1 positioning tests of the FTS (Flight Telerobotic Servicer). The unique problems associated with the DTF-1 mission are discussed, standard robot performance tests and terminology are reviewed and a very detailed description of flight-like testing and analysis is presented. The major technical problem associated with DTF-1 is that only one position sensor can be used, which will be fixed at one location, with a working volume which is probably smaller than some of the robot errors to be measured. Radiation heating of the arm and the sensor could also cause distortions that would interfere with the test. Two robot performance testing committees have established standard testing procedures relevant to the DTF-1. Due to the technical problems associated with DTF-1, these procedures cannot be applied directly. These standard tests call for the use of several test positions at specific locations. Only one position, that of the position sensor, can be used by DTF-1. Off-line programming accuracy might be impossible to measure and in that case it will have to be replaced by forward kinetics accuracy.

Support vector machine in machine condition monitoring and fault diagnosis

NASA Astrophysics Data System (ADS)

Widodo, Achmad; Yang, Bo-Suk

2007-08-01

Recently, the issue of machine condition monitoring and fault diagnosis as a part of maintenance system became global due to the potential advantages to be gained from reduced maintenance costs, improved productivity and increased machine availability. This paper presents a survey of machine condition monitoring and fault diagnosis using support vector machine (SVM). It attempts to summarize and review the recent research and developments of SVM in machine condition monitoring and diagnosis. Numerous methods have been developed based on intelligent systems such as artificial neural network, fuzzy expert system, condition-based reasoning, random forest, etc. However, the use of SVM for machine condition monitoring and fault diagnosis is still rare. SVM has excellent performance in generalization so it can produce high accuracy in classification for machine condition monitoring and diagnosis. Until 2006, the use of SVM in machine condition monitoring and fault diagnosis is tending to develop towards expertise orientation and problem-oriented domain. Finally, the ability to continually change and obtain a novel idea for machine condition monitoring and fault diagnosis using SVM will be future works.

Non-cooperative game theory in biology and cooperative reasoning in humans.

PubMed

Kabalak, Alihan; Smirnova, Elena; Jost, Jürgen

2015-06-01

The readiness for spontaneous cooperation together with the assumptions that others share this cooperativity has been identified as a fundamental feature that distinguishes humans from other animals, including the great apes. At the same time, cooperativity presents an evolutionary puzzle because non-cooperators do better in a group of cooperators. We develop here an analysis of the process leading to cooperation in terms of rationality concepts, game theory and epistemic logic. We are, however, not attempting to reconstruct the actual evolutionary process. We rather want to provide the logical structure underlying cooperation in order to understand why cooperation is possible and what kind of reasoning and beliefs would lead to cooperative decision-making. Game theory depends on an underlying common belief in non-cooperative rationality of the players, and cooperativity similarly can utilize a common belief in cooperative rationality as its basis. We suggest a weaker concept of rational decision-making in games that encompasses both types of decision-making. We build this up in stages, starting from simple optimization, then using anticipation of the reaction of others, to finally arrive at reflexive and cooperative reasoning. While each stage is more difficult than the preceding, importantly, we also identify a reduction of complexity achieved by the consistent application of higher stage reasoning.

The 3D model control of image processing

NASA Technical Reports Server (NTRS)

Nguyen, An H.; Stark, Lawrence

1989-01-01

Telerobotics studies remote control of distant robots by a human operator using supervisory or direct control. Even if the robot manipulators has vision or other senses, problems arise involving control, communications, and delay. The communication delays that may be expected with telerobots working in space stations while being controlled from an Earth lab have led to a number of experiments attempting to circumvent the problem. This delay in communication is a main motivating factor in moving from well understood instantaneous hands-on manual control to less well understood supervisory control; the ultimate step would be the realization of a fully autonomous robot. The 3-D model control plays a crucial role in resolving many conflicting image processing problems that are inherent in resolving in the bottom-up approach of most current machine vision processes. The 3-D model control approach is also capable of providing the necessary visual feedback information for both the control algorithms and for the human operator.

A Course of Study in Cooperation and Cooperatives.

ERIC Educational Resources Information Center

Bjoraker, Walter T., Ed.

Designed for teachers with limited experience in cooperatives, this course of study was prepared by seminar students for use in high school or adult education programs, and emphasizes the principles of cooperation, the operation and management of cooperatives, and the communication required for their effective functioning. Units requiring a total…

Mechatronic design of haptic forceps for robotic surgery.

PubMed

Rizun, P; Gunn, D; Cox, B; Sutherland, G

2006-12-01

Haptic feedback increases operator performance and comfort during telerobotic manipulation. Feedback of grasping pressure is critical in many microsurgical tasks, yet no haptic interface for surgical tools is commercially available. Literature on the psychophysics of touch was reviewed to define the spectrum of human touch perception and the fidelity requirements of an ideal haptic interface. Mechanical design and control literature was reviewed to translate the psychophysical requirements to engineering specification. High-fidelity haptic forceps were then developed through an iterative process between engineering and surgery. The forceps are a modular device that integrate with a haptic hand controller to add force feedback for tool actuation in telerobotic or virtual surgery. Their overall length is 153 mm and their mass is 125 g. A contact-free voice coil actuator generates force feedback at frequencies up to 800 Hz. Maximum force output is 6 N (2N continuous) and the force resolution is 4 mN. The forceps employ a contact-free magnetic position sensor as well as micro-machined accelerometers to measure opening/closing acceleration. Position resolution is 0.6 microm with 1.3 microm RMS noise. The forceps can simulate stiffness greater than 20N/mm or impedances smaller than 15 g with no noticeable haptic artifacts or friction. As telerobotic surgery evolves, haptics will play an increasingly important role. Copyright 2006 John Wiley & Sons, Ltd.

From Additivity to Cooperativity in Chemistry: Can Cooperativity Be Measured?

PubMed

Tebben, Ludger; Mück-Lichtenfeld, Christian; Fernández, Gustavo; Grimme, Stefan; Studer, Armido

2017-05-02

Cooperative effects can be observed in various research areas in chemistry; cooperative catalysis is well-established, the assembly of compounds on surfaces can be steered by cooperative effects, and supramolecular polymerization can proceed in a cooperative manner. In biological systems, cooperativity is observed in protein-protein, protein-lipid and protein-molecule interactions. Synergistic effects are relevant in frustrated Lewis pairs, organic multispin systems, multimetallic clusters and also in nanoparticles. However, a general approach to determine cooperativity in the different chemical systems is currently not known. In the present concept paper it is suggested that, at least for simpler systems that can be described at the molecular level, cooperativity can be defined based on energy considerations. For systems in which no chemical transformation occurs, determination of interaction energies of the whole system with respect to the interaction energies between all individual component pairs (subsystems) will allow determination of cooperativity. For systems comprising of chemical transformations, cooperativity can be evaluated by determining the activation energy of the synergistic system and by comparing this with activation energies of the corresponding subsystems that lack an activating moiety. For more complex systems, cooperativity is generally determined at a qualitative level. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

16. Interior, Machine Shop, Roundhouse Machine Shop Extension, Southern Pacific ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

16. Interior, Machine Shop, Roundhouse Machine Shop Extension, Southern Pacific Railroad Carlin Shops, view to south (90mm lens). Note the large segmental-arched doorway to move locomotives in and out of Machine Shop. - Southern Pacific Railroad, Carlin Shops, Roundhouse Machine Shop Extension, Foot of Sixth Street, Carlin, Elko County, NV

To Cooperate or Not to Cooperate: Why Behavioural Mechanisms Matter

PubMed Central

2016-01-01

Mutualistic cooperation often requires multiple individuals to behave in a coordinated fashion. Hence, while the evolutionary stability of mutualistic cooperation poses no particular theoretical difficulty, its evolutionary emergence faces a chicken and egg problem: an individual cannot benefit from cooperating unless other individuals already do so. Here, we use evolutionary robotic simulations to study the consequences of this problem for the evolution of cooperation. In contrast with standard game-theoretic results, we find that the transition from solitary to cooperative strategies is very unlikely, whether interacting individuals are genetically related (cooperation evolves in 20% of all simulations) or unrelated (only 3% of all simulations). We also observe that successful cooperation between individuals requires the evolution of a specific and rather complex behaviour. This behavioural complexity creates a large fitness valley between solitary and cooperative strategies, making the evolutionary transition difficult. These results reveal the need for research on biological mechanisms which may facilitate this transition. PMID:27148874

Shape matters: Lifecycle of cooperative patches promotes cooperation in bulky populations

PubMed Central

Misevic, Dusan; Frénoy, Antoine; Lindner, Ariel B; Taddei, François

2015-01-01

Natural cooperative systems take many forms, ranging from one-dimensional cyanobacteria arrays to fractal-like biofilms. We use in silico experimental systems to study a previously overlooked factor in the evolution of cooperation, physical shape of the population. We compare the emergence and maintenance of cooperation in populations of digital organisms that inhabit bulky (100 × 100 cells) or slender (4 × 2500) toroidal grids. Although more isolated subpopulations of secretors in a slender population could be expected to favor cooperation, we find the opposite: secretion evolves to higher levels in bulky populations. We identify the mechanistic explanation for the shape effect by analyzing the lifecycle and dynamics of cooperator patches, from their emergence and growth, to invasion by noncooperators and extinction. Because they are constrained by the population shape, the cooperator patches expand less in slender than in bulky populations, leading to fewer cooperators, less public good secretion, and generally lower cooperation. The patch dynamics and mechanisms of shape effect are robust across several digital cooperation systems and independent of the underlying basis for cooperation (public good secretion or a cooperation game). Our results urge for a greater consideration of population shape in the study of the evolution of cooperation across experimental and modeling systems. PMID:25639379

A decade of telerobotics in rehabilitation: Demonstrated utility blocked by the high cost of manipulation and the complexity of the user interface

NASA Technical Reports Server (NTRS)

Leifer, Larry; Michalowski, Stefan; Vanderloos, Machiel

1991-01-01

The Stanford/VA Interactive Robotics Laboratory set out in 1978 to test the hypothesis that industrial robotics technology could be applied to serve the manipulation needs of severely impaired individuals. Five generations of hardware, three generations of system software, and over 125 experimental subjects later, we believe that genuine utility is achievable. The experience includes development of over 65 task applications using voiced command, joystick control, natural language command and 3D object designation technology. A brief foray into virtual environments, using flight simulator technology, was instructive. If reality and virtuality come for comparable prices, you cannot beat reality. A detailed review of assistive robot anatomy and the performance specifications needed to achieve cost/beneficial utility will be used to support discussion of the future of rehabilitation telerobotics. Poised on the threshold of commercial viability, but constrained by the high cost of technically adequate manipulators, this worthy application domain flounders temporarily. In the long run, it will be the user interface that governs utility.

Machine characterization based on an abstract high-level language machine

NASA Technical Reports Server (NTRS)

Saavedra-Barrera, Rafael H.; Smith, Alan Jay; Miya, Eugene

1989-01-01

Measurements are presented for a large number of machines ranging from small workstations to supercomputers. The authors combine these measurements into groups of parameters which relate to specific aspects of the machine implementation, and use these groups to provide overall machine characterizations. The authors also define the concept of pershapes, which represent the level of performance of a machine for different types of computation. A metric based on pershapes is introduced that provides a quantitative way of measuring how similar two machines are in terms of their performance distributions. The metric is related to the extent to which pairs of machines have varying relative performance levels depending on which benchmark is used.

Advanced Robotics for In-Space Vehicle Processing

NASA Technical Reports Server (NTRS)

Smith, Jeffrey H.; Estus, Jay; Heneghan, Cate; Bosley, John

1990-01-01

An analysis of spaceborne vehicle processing is described. Generic crew-EVA tasks are presented for a specific vehicle, the orbital maneuvering vehicle (OMV), with general implications to other on-orbit vehicles. The OMV is examined with respect to both servicing and maintenance. Crew-EVA activities are presented by task and mapped to a common set of generic crew-EVA primitives to identify high-demand areas for telerobot services. Similarly, a set of telerobot primitives is presented that can be used to model telerobot actions for alternative telerobot reference configurations. The telerobot primitives are tied to technologies and used for composting telerobot operations for an automated refueling scenario. Telerobotics technology issues and design accomodation guidelines (hooks and scars) for the Space Station Freedom are described.

Humanizing machines: Anthropomorphization of slot machines increases gambling.

PubMed

Riva, Paolo; Sacchi, Simona; Brambilla, Marco

2015-12-01

Do people gamble more on slot machines if they think that they are playing against humanlike minds rather than mathematical algorithms? Research has shown that people have a strong cognitive tendency to imbue humanlike mental states to nonhuman entities (i.e., anthropomorphism). The present research tested whether anthropomorphizing slot machines would increase gambling. Four studies manipulated slot machine anthropomorphization and found that exposing people to an anthropomorphized description of a slot machine increased gambling behavior and reduced gambling outcomes. Such findings emerged using tasks that focused on gambling behavior (Studies 1 to 3) as well as in experimental paradigms that included gambling outcomes (Studies 2 to 4). We found that gambling outcomes decrease because participants primed with the anthropomorphic slot machine gambled more (Study 4). Furthermore, we found that high-arousal positive emotions (e.g., feeling excited) played a role in the effect of anthropomorphism on gambling behavior (Studies 3 and 4). Our research indicates that the psychological process of gambling-machine anthropomorphism can be advantageous for the gaming industry; however, this may come at great expense for gamblers' (and their families') economic resources and psychological well-being. (c) 2015 APA, all rights reserved).

Distributed communications and control network for robotic mining

NASA Technical Reports Server (NTRS)

Schiffbauer, William H.

1989-01-01

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

Single-molecule protein unfolding and translocation by an ATP-fueled proteolytic machine

PubMed Central

Aubin-Tam, Marie-Eve; Olivares, Adrian O.; Sauer, Robert T.; Baker, Tania A.; Lang, Matthew J.

2011-01-01

All cells employ ATP-powered proteases for protein-quality control and regulation. In the ClpXP protease, ClpX is a AAA+ machine that recognizes specific protein substrates, unfolds these molecules, and then translocates the denatured polypeptide through a central pore and into ClpP for degradation. Here, we use optical-trapping nanometry to probe the mechanics of enzymatic unfolding and translocation of single molecules of a multidomain substrate. Our experiments demonstrate the capacity of ClpXP and ClpX to perform mechanical work under load, reveal very fast and highly cooperative unfolding of individual substrate domains, suggest a translocation step size of 5–8 amino acids, and support a power-stroke model of denaturation in which successful enzyme-mediated unfolding of stable domains requires coincidence between mechanical pulling by the enzyme and a transient stochastic reduction in protein stability. We anticipate that single-molecule studies of the mechanical properties of other AAA+ proteolytic machines will reveal many shared features with ClpXP. PMID:21496645

14. Interior, Machine Shop, Roundhouse Machine Shop Extension, Southern Pacific ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

14. Interior, Machine Shop, Roundhouse Machine Shop Extension, Southern Pacific Railroad Carlin Shops, view to north (90mm lens). - Southern Pacific Railroad, Carlin Shops, Roundhouse Machine Shop Extension, Foot of Sixth Street, Carlin, Elko County, NV

Cooperative Learning--Part 3. Electronic Cooperative Quizzes.

ERIC Educational Resources Information Center

Jensen, Murray; Moore, Randy; Hatch, Jay

2002-01-01

Introduces the Electronic Cooperative Quiz (ECQ) program which aims to investigate the implementation of cooperative quizzes to the World Wide Web. Describes the creation and design of the program and evaluates the two different methods used with students. (YDS)

Study on Electro-polymerization Nano-micro Wiring System Imitating Axonal Growth of Artificial Neurons towards Machine Learning

NASA Astrophysics Data System (ADS)

Dang, Nguyen Tuan; Akai-Kasada, Megumi; Asai, Tetsuya; Saito, Akira; Kuwahara, Yuji; Hokkaido University Collaboration

2015-03-01

Machine learning using the artificial neuron network research is supposed to be the best way to understand how the human brain trains itself to process information. In this study, we have successfully developed the programs using supervised machine learning algorithm. However, these supervised learning processes for the neuron network required the very strong computing configuration. Derivation from the necessity of increasing in computing ability and in reduction of power consumption, accelerator circuits become critical. To develop such accelerator circuits using supervised machine learning algorithm, conducting polymer micro/nanowires growing process was realized and applied as a synaptic weigh controller. In this work, high conductivity Polypyrrole (PPy) and Poly (3, 4 - ethylenedioxythiophene) PEDOT wires were potentiostatically grown crosslinking the designated electrodes, which were prefabricated by lithography, when appropriate square wave AC voltage and appropriate frequency were applied. Micro/nanowire growing process emulated the neurotransmitter release process of synapses inside a biological neuron and wire's resistance variation during the growing process was preferred to as the variation of synaptic weigh in machine learning algorithm. In a cooperation with Graduate School of Information Science and Technology, Hokkaido University.

Cooperation for a competitive position: The impact of hospital cooperation behavior on organizational performance.

PubMed

Büchner, Vera Antonia; Hinz, Vera; Schreyögg, Jonas

2015-01-01

Several public policy initiatives, particularly those involving managed care, aim to enhance cooperation between partners in the health care sector because it is expected that such cooperation will reduce costs and generate additional revenue. However, empirical evidence regarding the effects of cooperation on hospital performance is scarce, particularly with respect to creating a comprehensive measure of cooperation behavior. The aim of this study is to investigate the impact of hospital cooperation behavior on organizational performance. We differentiate between horizontal and vertical cooperation using two alternative measures-cooperation depth and cooperation breadth-and include the interaction effects between both cooperation directions. Data are derived from a survey of German hospitals and combined with objective performance information from annual financial statements. Generalized linear regression models are used. The study findings provide insight into the nature of hospitals' cooperation behavior. In particular, we show that there are negative synergies between horizontal administrative cooperation behavior and vertical cooperation behavior. Whereas the depth and breadth of horizontal administrative cooperation positively affect financial performance (when there is no vertical cooperation), vertical cooperation positively affects financial performance (when there is no horizontal administrative cooperation) only when cooperation is broad (rather than deep). Horizontal cooperation is generally more effective than vertical cooperation at improving financial performance. Hospital managers should consider the negative interaction effect when making decisions about whether to recommend a cooperative relationship in a horizontal or vertical direction. In addition, managers should be aware of the limited financial benefit of cooperation behavior.

Dynamic impact testing with servohydraulic testing machines

NASA Astrophysics Data System (ADS)

Bardenheier, R.; Rogers, G.

2006-08-01

The design concept of “Crashworthiness” requires the information on material behaviour under dynamic impact loading in order to describe and predict the crash behaviour of structures. Especially the transport related industries, like car, railway or aircraft industry, pursue the concept of lightweight design for a while now. The materials' maximum constraint during loading is pushed to permanently increasing figures. This means in terms of crashworthiness that the process of energy absorption in structures and the mechanical behaviour of materials must well understood and can be described appropriately by material models. In close cooperation with experts from various industries and research institutes Instron has developed throughout the past years a new family of servohydraulic testing machines specifically designed to cope with the dynamics of high rate testing. Main development steps are reflected versus their experimental necessities.

From cooperation to conflict? Swedish rehabilitation professionals' experiences of interorganizational cooperation.

PubMed

Ståhl, Christian; Svensson, Tommy; Ekberg, Kerstin

2011-09-01

This article analyses Swedish rehabilitation professionals' experiences of interorganizational cooperation in return-to-work and labour market reintegration. Two groups (n = 15) from different organizations met on a regular basis to discuss their practice from a cooperation perspective. The participants had experience of cooperation in the organizational setting of Coordination Associations. The groups worked with a tutor according to a problem-based methodology, to discuss how their practice is influenced by new structures for cooperation. The material was analysed inductively using qualitative content analysis. Interorganizational cooperation in rehabilitation is generally perceived as promoting coherence and communication. Nevertheless, there are several contradictory factors in the implementation of such work forms, primarily inflexible sickness insurance regulations and inability of managers to implement cooperation in regular practice. While interorganizational cooperation promotes professional discretion and tailored solutions, the insurance system contradicts such ambitions through increased governance. Ultimately, the contradictory tendencies of cooperative initiatives and the stricter governance of sickness insurance regulations are political matters. If political attempts to promote interorganizational cooperation are to succeed, the increasing sectorization that results from strict governance of sickness insurance regulations needs to be targeted on a system level.

Reasons to Co-Operate: Co-Operative Solutions for Schools

ERIC Educational Resources Information Center

Roach, Patrick

2013-01-01

The NASUWT's landmark agreement with the Schools Co-operative Society has provided a new spur to co-operation, collaboration and collegiality in schools. Against a background of rapid and radical changes to the education landscape, co-operative schools are viewed by many as a means to maintaining public service ethos and values in education. The…

Machine Shop Lathes.

ERIC Educational Resources Information Center

Dunn, James

This guide, the second in a series of five machine shop curriculum manuals, was designed for use in machine shop courses in Oklahoma. The purpose of the manual is to equip students with basic knowledge and skills that will enable them to enter the machine trade at the machine-operator level. The curriculum is designed so that it can be used in…

Third-party punishment increases cooperation in children through (misaligned) expectations and conditional cooperation

PubMed Central

Lergetporer, Philipp; Angerer, Silvia; Glätzle-Rützler, Daniela; Sutter, Matthias

2014-01-01

The human ability to establish cooperation, even in large groups of genetically unrelated strangers, depends upon the enforcement of cooperation norms. Third-party punishment is one important factor to explain high levels of cooperation among humans, although it is still somewhat disputed whether other animal species also use this mechanism for promoting cooperation. We study the effectiveness of third-party punishment to increase children’s cooperative behavior in a large-scale cooperation game. Based on an experiment with 1,120 children, aged 7 to 11 y, we find that the threat of third-party punishment more than doubles cooperation rates, despite the fact that children are rarely willing to execute costly punishment. We can show that the higher cooperation levels with third-party punishment are driven by two components. First, cooperation is a rational (expected payoff-maximizing) response to incorrect beliefs about the punishment behavior of third parties. Second, cooperation is a conditionally cooperative reaction to correct beliefs that third party punishment will increase a partner’s level of cooperation. PMID:24778231

Third-party punishment increases cooperation in children through (misaligned) expectations and conditional cooperation.

PubMed

Lergetporer, Philipp; Angerer, Silvia; Glätzle-Rützler, Daniela; Sutter, Matthias

2014-05-13

The human ability to establish cooperation, even in large groups of genetically unrelated strangers, depends upon the enforcement of cooperation norms. Third-party punishment is one important factor to explain high levels of cooperation among humans, although it is still somewhat disputed whether other animal species also use this mechanism for promoting cooperation. We study the effectiveness of third-party punishment to increase children's cooperative behavior in a large-scale cooperation game. Based on an experiment with 1,120 children, aged 7 to 11 y, we find that the threat of third-party punishment more than doubles cooperation rates, despite the fact that children are rarely willing to execute costly punishment. We can show that the higher cooperation levels with third-party punishment are driven by two components. First, cooperation is a rational (expected payoff-maximizing) response to incorrect beliefs about the punishment behavior of third parties. Second, cooperation is a conditionally cooperative reaction to correct beliefs that third party punishment will increase a partner's level of cooperation.

Machine tool locator

DOEpatents

Hanlon, John A.; Gill, Timothy J.

2001-01-01

Machine tools can be accurately measured and positioned on manufacturing machines within very small tolerances by use of an autocollimator on a 3-axis mount on a manufacturing machine and positioned so as to focus on a reference tooling ball or a machine tool, a digital camera connected to the viewing end of the autocollimator, and a marker and measure generator for receiving digital images from the camera, then displaying or measuring distances between the projection reticle and the reference reticle on the monitoring screen, and relating the distances to the actual position of the autocollimator relative to the reference tooling ball. The images and measurements are used to set the position of the machine tool and to measure the size and shape of the machine tool tip, and examine cutting edge wear. patent

Machinability of nickel based alloys using electrical discharge machining process

NASA Astrophysics Data System (ADS)

Khan, M. Adam; Gokul, A. K.; Bharani Dharan, M. P.; Jeevakarthikeyan, R. V. S.; Uthayakumar, M.; Thirumalai Kumaran, S.; Duraiselvam, M.

2018-04-01

The high temperature materials such as nickel based alloys and austenitic steel are frequently used for manufacturing critical aero engine turbine components. Literature on conventional and unconventional machining of steel materials is abundant over the past three decades. However the machining studies on superalloy is still a challenging task due to its inherent property and quality. Thus this material is difficult to be cut in conventional processes. Study on unconventional machining process for nickel alloys is focused in this proposed research. Inconel718 and Monel 400 are the two different candidate materials used for electrical discharge machining (EDM) process. Investigation is to prepare a blind hole using copper electrode of 6mm diameter. Electrical parameters are varied to produce plasma spark for diffusion process and machining time is made constant to calculate the experimental results of both the material. Influence of process parameters on tool wear mechanism and material removal are considered from the proposed experimental design. While machining the tool has prone to discharge more materials due to production of high energy plasma spark and eddy current effect. The surface morphology of the machined surface were observed with high resolution FE SEM. Fused electrode found to be a spherical structure over the machined surface as clumps. Surface roughness were also measured with surface profile using profilometer. It is confirmed that there is no deviation and precise roundness of drilling is maintained.

Improving Machining Accuracy of CNC Machines with Innovative Design Methods

NASA Astrophysics Data System (ADS)

Yemelyanov, N. V.; Yemelyanova, I. V.; Zubenko, V. L.

2018-03-01

The article considers achieving the machining accuracy of CNC machines by applying innovative methods in modelling and design of machining systems, drives and machine processes. The topological method of analysis involves visualizing the system as matrices of block graphs with a varying degree of detail between the upper and lower hierarchy levels. This approach combines the advantages of graph theory and the efficiency of decomposition methods, it also has visual clarity, which is inherent in both topological models and structural matrices, as well as the resiliency of linear algebra as part of the matrix-based research. The focus of the study is on the design of automated machine workstations, systems, machines and units, which can be broken into interrelated parts and presented as algebraic, topological and set-theoretical models. Every model can be transformed into a model of another type, and, as a result, can be interpreted as a system of linear and non-linear equations which solutions determine the system parameters. This paper analyses the dynamic parameters of the 1716PF4 machine at the stages of design and exploitation. Having researched the impact of the system dynamics on the component quality, the authors have developed a range of practical recommendations which have enabled one to reduce considerably the amplitude of relative motion, exclude some resonance zones within the spindle speed range of 0...6000 min-1 and improve machining accuracy.

Ultra precision machining

NASA Astrophysics Data System (ADS)

Debra, Daniel B.; Hesselink, Lambertus; Binford, Thomas

1990-05-01

There are a number of fields that require or can use to advantage very high precision in machining. For example, further development of high energy lasers and x ray astronomy depend critically on the manufacture of light weight reflecting metal optical components. To fabricate these optical components with machine tools they will be made of metal with mirror quality surface finish. By mirror quality surface finish, it is meant that the dimensions tolerances on the order of 0.02 microns and surface roughness of 0.07. These accuracy targets fall in the category of ultra precision machining. They cannot be achieved by a simple extension of conventional machining processes and techniques. They require single crystal diamond tools, special attention to vibration isolation, special isolation of machine metrology, and on line correction of imperfection in the motion of the machine carriages on their way.

Quantum machine learning.

PubMed

Biamonte, Jacob; Wittek, Peter; Pancotti, Nicola; Rebentrost, Patrick; Wiebe, Nathan; Lloyd, Seth

2017-09-13

Fuelled by increasing computer power and algorithmic advances, machine learning techniques have become powerful tools for finding patterns in data. Quantum systems produce atypical patterns that classical systems are thought not to produce efficiently, so it is reasonable to postulate that quantum computers may outperform classical computers on machine learning tasks. The field of quantum machine learning explores how to devise and implement quantum software that could enable machine learning that is faster than that of classical computers. Recent work has produced quantum algorithms that could act as the building blocks of machine learning programs, but the hardware and software challenges are still considerable.

Quantum machine learning

NASA Astrophysics Data System (ADS)

Biamonte, Jacob; Wittek, Peter; Pancotti, Nicola; Rebentrost, Patrick; Wiebe, Nathan; Lloyd, Seth

2017-09-01

Fuelled by increasing computer power and algorithmic advances, machine learning techniques have become powerful tools for finding patterns in data. Quantum systems produce atypical patterns that classical systems are thought not to produce efficiently, so it is reasonable to postulate that quantum computers may outperform classical computers on machine learning tasks. The field of quantum machine learning explores how to devise and implement quantum software that could enable machine learning that is faster than that of classical computers. Recent work has produced quantum algorithms that could act as the building blocks of machine learning programs, but the hardware and software challenges are still considerable.

Stirling machine operating experience

NASA Technical Reports Server (NTRS)

Ross, Brad; Dudenhoefer, James E.

1991-01-01

Numerous Stirling machines have been built and operated, but the operating experience of these machines is not well known. It is important to examine this operating experience in detail, because it largely substantiates the claim that Stirling machines are capable of reliable and lengthy lives. The amount of data that exists is impressive, considering that many of the machines that have been built are developmental machines intended to show proof of concept, and were not expected to operate for any lengthy period of time. Some Stirling machines (typically free-piston machines) achieve long life through non-contact bearings, while other Stirling machines (typically kinematic) have achieved long operating lives through regular seal and bearing replacements. In addition to engine and system testing, life testing of critical components is also considered.

Development of hardware system using temperature and vibration maintenance models integration concepts for conventional machines monitoring: a case study

NASA Astrophysics Data System (ADS)

Adeyeri, Michael Kanisuru; Mpofu, Khumbulani; Kareem, Buliaminu

2016-03-01

This article describes the integration of temperature and vibration models for maintenance monitoring of conventional machinery parts in which their optimal and best functionalities are affected by abnormal changes in temperature and vibration values thereby resulting in machine failures, machines breakdown, poor quality of products, inability to meeting customers' demand, poor inventory control and just to mention a few. The work entails the use of temperature and vibration sensors as monitoring probes programmed in microcontroller using C language. The developed hardware consists of vibration sensor of ADXL345, temperature sensor of AD594/595 of type K thermocouple, microcontroller, graphic liquid crystal display, real time clock, etc. The hardware is divided into two: one is based at the workstation (majorly meant to monitor machines behaviour) and the other at the base station (meant to receive transmission of machines information sent from the workstation), working cooperatively for effective functionalities. The resulting hardware built was calibrated, tested using model verification and validated through principles pivoted on least square and regression analysis approach using data read from the gear boxes of extruding and cutting machines used for polyethylene bag production. The results got therein confirmed related correlation existing between time, vibration and temperature, which are reflections of effective formulation of the developed concept.

Fuzzy restrictions and an application to cooperative games with restricted cooperation

NASA Astrophysics Data System (ADS)

Gallardo, J. M.; Jiménez, N.; Jiménez-Losada, A.

2017-10-01

The concept of restriction, which is an extension of that of interior operator, was introduced to model limited cooperation in cooperative game theory. In this paper, a fuzzy version of restrictions is presented. We show that these new operators, called fuzzy restrictions, can be characterized by the transitivity of the fuzzy dependence relations that they induce. As an application, we introduce cooperative games with fuzzy restriction, which are used to model cooperative situations in which each player in a coalition has a level of cooperation within the coalition. A value for these games is defined and characterized.

National Machine Guarding Program: Part 1. Machine safeguarding practices in small metal fabrication businesses.

PubMed

Parker, David L; Yamin, Samuel C; Brosseau, Lisa M; Xi, Min; Gordon, Robert; Most, Ivan G; Stanley, Rodney

2015-11-01

Metal fabrication workers experience high rates of traumatic occupational injuries. Machine operators in particular face high risks, often stemming from the absence or improper use of machine safeguarding or the failure to implement lockout procedures. The National Machine Guarding Program (NMGP) was a translational research initiative implemented in conjunction with two workers' compensation insures. Insurance safety consultants trained in machine guarding used standardized checklists to conduct a baseline inspection of machine-related hazards in 221 business. Safeguards at the point of operation were missing or inadequate on 33% of machines. Safeguards for other mechanical hazards were missing on 28% of machines. Older machines were both widely used and less likely than newer machines to be properly guarded. Lockout/tagout procedures were posted at only 9% of machine workstations. The NMGP demonstrates a need for improvement in many aspects of machine safety and lockout in small metal fabrication businesses. © 2015 The Authors. American Journal of Industrial Medicine published by Wiley Periodicals, Inc.

Cooperative Game Theoretic Models for Decision-Making in Contexts of Library Cooperation.

ERIC Educational Resources Information Center

Hayes, Robert M.

2003-01-01

Presents a brief summary of Cooperative Economic Game Theory, followed by a summary of specific measures identified by Nash, Shapley, and Harsanyi. Reviews contexts in which negotiation and cooperation among libraries is of special economic importance, and for two of these contexts-cooperative acquisitions and cooperative automation-illustrates…

Developing the Teaching Material Using ATV Cooperated with Student on Manufacturing Practice

NASA Astrophysics Data System (ADS)

Tsukamoto, Kimihide; Yamamoto, Keiichiro; Ueno, Takayuki; Imazato, Tatsunari; Sakamoto, Hidetoshi

Recently, a number of students have entered the college of technology with no experience of dismantling and assembling of even an easy machine (including toys) . It is necessary to study the correct usage of tools for lower grade students as a base of the technical education for dismantling and assembling of the machine. However, enough understanding has not been obtained though the usage of the tool is trained for first grade students. So, we executed the development on the teaching text and material of student practice curriculum, which is attractive subject of all-terrain vehicle [ATV]‧s dismantling and assembling for lower grade students. This practice make the student learn both how to use the tools and the steer mechanism of car through the dismantling and assembling of ATV. The text book and sub-teaching materials of this practice curriculum were created in cooperation with fifth grade students as graduation research. As a result, an effective teaching and learning text and sub-teaching materials in manufacturing practice could be developed from student‧s point of view.

A space systems perspective of graphics simulation integration

NASA Technical Reports Server (NTRS)

Brown, R.; Gott, C.; Sabionski, G.; Bochsler, D.

1987-01-01

Creation of an interactive display environment can expose issues in system design and operation not apparent from nongraphics development approaches. Large amounts of information can be presented in a short period of time. Processes can be simulated and observed before committing resources. In addition, changes in the economics of computing have enabled broader graphics usage beyond traditional engineering and design into integrated telerobotics and Artificial Intelligence (AI) applications. The highly integrated nature of space operations often tend to rely upon visually intensive man-machine communication to ensure success. Graphics simulation activities at the Mission Planning and Analysis Division (MPAD) of NASA's Johnson Space Center are focusing on the evaluation of a wide variety of graphical analysis within the context of present and future space operations. Several telerobotics and AI applications studies utilizing graphical simulation are described. The presentation includes portions of videotape illustrating technology developments involving: (1) coordinated manned maneuvering unit and remote manipulator system operations, (2) a helmet mounted display system, and (3) an automated rendezous application utilizing expert system and voice input/output technology.

Identification of Tool Wear when Machining of Austenitic Steels and Titatium by Miniature Machining

NASA Astrophysics Data System (ADS)

Pilc, Jozef; Kameník, Roman; Varga, Daniel; Martinček, Juraj; Sadilek, Marek

2016-12-01

Application of miniature machining is currently rapidly increasing mainly in biomedical industry and machining of hard-to-machine materials. Machinability of materials with increased level of toughness depends on factors that are important in the final state of surface integrity. Because of this, it is necessary to achieve high precision (varying in microns) in miniature machining. If we want to guarantee machining high precision, it is necessary to analyse tool wear intensity in direct interaction with given machined materials. During long-term cutting process, different cutting wedge deformations occur, leading in most cases to a rapid wear and destruction of the cutting wedge. This article deal with experimental monitoring of tool wear intensity during miniature machining.

Game controller modification for fMRI hyperscanning experiments in a cooperative virtual reality environment.

PubMed

Trees, Jason; Snider, Joseph; Falahpour, Maryam; Guo, Nick; Lu, Kun; Johnson, Douglas C; Poizner, Howard; Liu, Thomas T

2014-01-01

Hyperscanning, an emerging technique in which data from multiple interacting subjects' brains are simultaneously recorded, has become an increasingly popular way to address complex topics, such as "theory of mind." However, most previous fMRI hyperscanning experiments have been limited to abstract social interactions (e.g. phone conversations). Our new method utilizes a virtual reality (VR) environment used for military training, Virtual Battlespace 2 (VBS2), to create realistic avatar-avatar interactions and cooperative tasks. To control the virtual avatar, subjects use a MRI compatible Playstation 3 game controller, modified by removing all extraneous metal components and replacing any necessary ones with 3D printed plastic models. Control of both scanners' operation is initiated by a VBS2 plugin to sync scanner time to the known time within the VR environment. Our modifications include:•Modification of game controller to be MRI compatible.•Design of VBS2 virtual environment for cooperative interactions.•Syncing two MRI machines for simultaneous recording.

Game controller modification for fMRI hyperscanning experiments in a cooperative virtual reality environment

PubMed Central

Trees, Jason; Snider, Joseph; Falahpour, Maryam; Guo, Nick; Lu, Kun; Johnson, Douglas C.; Poizner, Howard; Liu, Thomas T.

2014-01-01

Hyperscanning, an emerging technique in which data from multiple interacting subjects’ brains are simultaneously recorded, has become an increasingly popular way to address complex topics, such as “theory of mind.” However, most previous fMRI hyperscanning experiments have been limited to abstract social interactions (e.g. phone conversations). Our new method utilizes a virtual reality (VR) environment used for military training, Virtual Battlespace 2 (VBS2), to create realistic avatar-avatar interactions and cooperative tasks. To control the virtual avatar, subjects use a MRI compatible Playstation 3 game controller, modified by removing all extraneous metal components and replacing any necessary ones with 3D printed plastic models. Control of both scanners’ operation is initiated by a VBS2 plugin to sync scanner time to the known time within the VR environment. Our modifications include:•Modification of game controller to be MRI compatible.•Design of VBS2 virtual environment for cooperative interactions.•Syncing two MRI machines for simultaneous recording. PMID:26150964

Surface Inspection Machine Infrared (SIMIR). Final CRADA report

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

Powell, G.L.; Neu, J.T.; Beecroft, M.

This Cooperative Research and Development Agreement was a one year effort to make the surface inspection machine based on diffuse reflectance infrared spectroscopy (Surface Inspection Machine-Infrared, SIMIR), being developed by Surface Optics Corporation, perform to its highest potential as a practical, portable surface inspection machine. The design function of the SIMIR is to inspect metal surfaces for cleanliness (stains). The system is also capable of evaluating graphite-resin systems for cure and heat damage, and for measuring the effects of moisture exposure on lithium hydride, corrosion on uranium metal, and the constituents of and contamination on wood, paper, and fabrics. Overmore » the period of the CRADA, extensive experience with the use of the SIMIR for surface cleanliness measurements have been achieved through collaborations with NASA and the Army. The SIMIR was made available to the AMTEX CRADA for Finish on Yarn where it made a very significant contribution. The SIMIR was the foundation of a Forest Products CRADA that was developed over the time interval of this CRADA. Surface Optics Corporation and the SIMIR have been introduced to the chemical spectroscopy on-line analysis market and have made staffing additions and arrangements for international marketing of the SIMIR as an on-line surface inspection device. LMES has been introduced to a wide range of aerospace applications, the research and fabrication skills of Surface Optics Corporation, has gained extensive experience in the areas of surface cleanliness from collaborations with NASA and the Army, and an extensive introduction to the textile and forest products industries. The SIMIR, marketed as the SOC-400, has filled an important new technology need in the DOE-DP Enhanced Surveillance Program with instruments delivered to or on order by LMES, LANL, LLNL, and Pantex, where extensive collaborations are underway to implement and improve this technology.« less

Your Sewing Machine.

ERIC Educational Resources Information Center

Peacock, Marion E.

The programed instruction manual is designed to aid the student in learning the parts, uses, and operation of the sewing machine. Drawings of sewing machine parts are presented, and space is provided for the student's written responses. Following an introductory section identifying sewing machine parts, the manual deals with each part and its…

Machine Learning

DTIC Science & Technology

1990-04-01

DTIC i.LE COPY RADC-TR-90-25 Final Technical Report April 1990 MACHINE LEARNING The MITRE Corporation Melissa P. Chase Cs) CTIC ’- CT E 71 IN 2 11990...S. FUNDING NUMBERS MACHINE LEARNING C - F19628-89-C-0001 PE - 62702F PR - MOlE S. AUTHO(S) TA - 79 Melissa P. Chase WUT - 80 S. PERFORMING...341.280.5500 pm I " Aw Sig rill Ia 2110-01 SECTION 1 INTRODUCTION 1.1 BACKGROUND Research in machine learning has taken two directions in the problem of

National machine guarding program: Part 1. Machine safeguarding practices in small metal fabrication businesses

PubMed Central

Yamin, Samuel C.; Brosseau, Lisa M.; Xi, Min; Gordon, Robert; Most, Ivan G.; Stanley, Rodney

2015-01-01

Background Metal fabrication workers experience high rates of traumatic occupational injuries. Machine operators in particular face high risks, often stemming from the absence or improper use of machine safeguarding or the failure to implement lockout procedures. Methods The National Machine Guarding Program (NMGP) was a translational research initiative implemented in conjunction with two workers' compensation insures. Insurance safety consultants trained in machine guarding used standardized checklists to conduct a baseline inspection of machine‐related hazards in 221 business. Results Safeguards at the point of operation were missing or inadequate on 33% of machines. Safeguards for other mechanical hazards were missing on 28% of machines. Older machines were both widely used and less likely than newer machines to be properly guarded. Lockout/tagout procedures were posted at only 9% of machine workstations. Conclusions The NMGP demonstrates a need for improvement in many aspects of machine safety and lockout in small metal fabrication businesses. Am. J. Ind. Med. 58:1174–1183, 2015. © 2015 The Authors. American Journal of Industrial Medicine published by Wiley Periodicals, Inc. PMID:26332060

A Boltzmann machine for the organization of intelligent machines

NASA Technical Reports Server (NTRS)

Moed, Michael C.; Saridis, George N.

1990-01-01

A three-tier structure consisting of organization, coordination, and execution levels forms the architecture of an intelligent machine using the principle of increasing precision with decreasing intelligence from a hierarchically intelligent control. This system has been formulated as a probabilistic model, where uncertainty and imprecision can be expressed in terms of entropies. The optimal strategy for decision planning and task execution can be found by minimizing the total entropy in the system. The focus is on the design of the organization level as a Boltzmann machine. Since this level is responsible for planning the actions of the machine, the Boltzmann machine is reformulated to use entropy as the cost function to be minimized. Simulated annealing, expanding subinterval random search, and the genetic algorithm are presented as search techniques to efficiently find the desired action sequence and illustrated with numerical examples.

Cooperative Games: A Way to Modify Aggressive and Cooperative Behaviors in Young Children.

ERIC Educational Resources Information Center

Bay-Hinitz, April K.; And Others

1994-01-01

Aggressive and cooperative behaviors of 70 preschool children were measured during game conditions and subsequent free-play periods. Cooperative behavior increased and aggression decreased during cooperative games and free play; conversely, competitive games were followed by increases in aggressive behavior and decreases in cooperative behavior.…

Standardized Curriculum for Machine Tool Operation/Machine Shop.

ERIC Educational Resources Information Center

Mississippi State Dept. of Education, Jackson. Office of Vocational, Technical and Adult Education.

Standardized vocational education course titles and core contents for two courses in Mississippi are provided: machine tool operation/machine shop I and II. The first course contains the following units: (1) orientation; (2) shop safety; (3) shop math; (4) measuring tools and instruments; (5) hand and bench tools; (6) blueprint reading; (7)…

Culture and cooperation

PubMed Central

Gächter, Simon; Herrmann, Benedikt; Thöni, Christian

2010-01-01

Does the cultural background influence the success with which genetically unrelated individuals cooperate in social dilemma situations? In this paper, we provide an answer by analysing the data of Herrmann et al. (2008a), who studied cooperation and punishment in 16 subject pools from six different world cultures (as classified by Inglehart & Baker (2000)). We use analysis of variance to disentangle the importance of cultural background relative to individual heterogeneity and group-level differences in cooperation. We find that culture has a substantial influence on the extent of cooperation, in addition to individual heterogeneity and group-level differences identified by previous research. The significance of this result is that cultural background has a substantial influence on cooperation in otherwise identical environments. This is particularly true in the presence of punishment opportunities. PMID:20679109

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

NASA Astrophysics Data System (ADS)

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

2015-11-01

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

Adaptive nodes enrich nonlinear cooperative learning beyond traditional adaptation by links.

PubMed

Sardi, Shira; Vardi, Roni; Goldental, Amir; Sheinin, Anton; Uzan, Herut; Kanter, Ido

2018-03-23

Physical models typically assume time-independent interactions, whereas neural networks and machine learning incorporate interactions that function as adjustable parameters. Here we demonstrate a new type of abundant cooperative nonlinear dynamics where learning is attributed solely to the nodes, instead of the network links which their number is significantly larger. The nodal, neuronal, fast adaptation follows its relative anisotropic (dendritic) input timings, as indicated experimentally, similarly to the slow learning mechanism currently attributed to the links, synapses. It represents a non-local learning rule, where effectively many incoming links to a node concurrently undergo the same adaptation. The network dynamics is now counterintuitively governed by the weak links, which previously were assumed to be insignificant. This cooperative nonlinear dynamic adaptation presents a self-controlled mechanism to prevent divergence or vanishing of the learning parameters, as opposed to learning by links, and also supports self-oscillations of the effective learning parameters. It hints on a hierarchical computational complexity of nodes, following their number of anisotropic inputs and opens new horizons for advanced deep learning algorithms and artificial intelligence based applications, as well as a new mechanism for enhanced and fast learning by neural networks.

Machine Learning.

ERIC Educational Resources Information Center

Kirrane, Diane E.

1990-01-01

As scientists seek to develop machines that can "learn," that is, solve problems by imitating the human brain, a gold mine of information on the processes of human learning is being discovered, expert systems are being improved, and human-machine interactions are being enhanced. (SK)

When cooperation begets cooperation: the role of key individuals in galvanizing support.

PubMed

McAuliffe, Katherine; Wrangham, Richard; Glowacki, Luke; Russell, Andrew F

2015-12-05

Life abounds with examples of conspecifics actively cooperating to a common end, despite conflicts of interest being expected concerning how much each individual should contribute. Mathematical models typically find that such conflict can be resolved by partial-response strategies, leading investors to contribute relatively equitably. Using a case study approach, we show that such model expectations can be contradicted in at least four disparate contexts: (i) bi-parental care; (ii) cooperative breeding; (iii) cooperative hunting; and (iv) human cooperation. We highlight that: (a) marked variation in contributions is commonplace; and (b) individuals can often respond positively rather than negatively to the contributions of others. Existing models have surprisingly limited power in explaining these phenomena. Here, we propose that, although among-individual variation in cooperative contributions will be influenced by differential costs and benefits, there is likely to be a strong genetic or epigenetic component. We then suggest that selection can maintain high investors (key individuals) when their contributions promote support by increasing the benefits and/or reducing the costs for others. Our intentions are to raise awareness in--and provide testable hypotheses of--two of the most poorly understood, yet integral, questions regarding cooperative ventures: why do individuals vary in their contributions and when does cooperation beget cooperation? © 2015 The Author(s).

When cooperation begets cooperation: the role of key individuals in galvanizing support

PubMed Central

McAuliffe, Katherine; Wrangham, Richard; Glowacki, Luke; Russell, Andrew F.

2015-01-01

Life abounds with examples of conspecifics actively cooperating to a common end, despite conflicts of interest being expected concerning how much each individual should contribute. Mathematical models typically find that such conflict can be resolved by partial-response strategies, leading investors to contribute relatively equitably. Using a case study approach, we show that such model expectations can be contradicted in at least four disparate contexts: (i) bi-parental care; (ii) cooperative breeding; (iii) cooperative hunting; and (iv) human cooperation. We highlight that: (a) marked variation in contributions is commonplace; and (b) individuals can often respond positively rather than negatively to the contributions of others. Existing models have surprisingly limited power in explaining these phenomena. Here, we propose that, although among-individual variation in cooperative contributions will be influenced by differential costs and benefits, there is likely to be a strong genetic or epigenetic component. We then suggest that selection can maintain high investors (key individuals) when their contributions promote support by increasing the benefits and/or reducing the costs for others. Our intentions are to raise awareness in—and provide testable hypotheses of—two of the most poorly understood, yet integral, questions regarding cooperative ventures: why do individuals vary in their contributions and when does cooperation beget cooperation? PMID:26503685

Machine tool task force

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

Sutton, G.P.

1980-10-22

The Machine Tool Task Force (MTTF) is a multidisciplined team of international experts, whose mission was to investigate the state of the art of machine tool technology, to identify promising future directions of that technology for both the US government and private industry, and to disseminate the findings of its research in a conference and through the publication of a final report. MTTF was a two and one-half year effort that involved the participation of 122 experts in the specialized technologies of machine tools and in the management of machine tool operations. The scope of the MTTF was limited tomore » cutting-type or material-removal-type machine tools, because they represent the major share and value of all machine tools now installed or being built. The activities of the MTTF and the technical, commercial and economic signifiance of recommended activities for improving machine tool technology are discussed. (LCL)« less

Analysis of the application of poly-nanocrystalline diamond tools for ultra precision machining of steel with ultrasonic assistance

NASA Astrophysics Data System (ADS)

Doetz, M.; Dambon, O.; Klocke, F.; Bulla, B.; Schottka, K.; Robertson, D. J.

2017-10-01

Ultra-precision diamond turning enables the manufacturing of parts with mirror-like surfaces and highest form accuracies out of non-ferrous, a few crystalline and plastic materials. Furthermore, an ultrasonic assistance has the ability to push these boundaries and enables the machining of materials like steel, which is not possible in a conventional way due to the excessive tool wear caused by the affinity of carbon to iron. Usually monocrystalline diamonds tools are applied due to their unsurpassed cutting edge properties. New cutting tool material developments have shown that it is possible to produce tools made of nano-polycrystalline diamonds with cutting edges equivalent to monocrystalline diamonds. In nano-polycrystalline diamonds ultra-fine grains of a few tens of nanometers are firmly and directly bonded together creating an unisotropic structure. The properties of this material are described to be isotropic, harder and tougher than those of the monocrystalline diamonds, which are unisotropic. This publication will present machining results from the newest investigations of the process potential of this new polycrystalline cutting material. In order to provide a baseline with which to characterize the cutting material cutting experiments on different conventional machinable materials like Cooper or Aluminum are performed. The results provide information on the roughness and the topography of the surface focusing on the comparison to the results while machining with monocrystalline diamond. Furthermore, the cutting material is tested in machining steel with ultrasonic assistance with a focus on tool life time and surface roughness. An outlook on the machinability of other materials will be given.

Cooperative Activities for the Home: Parents Working with Teachers to Support Cooperative Learning.

ERIC Educational Resources Information Center

Holm, Audray; And Others

A collection of activities is presented for use at home to foster cooperative attitudes and build social skills. The activities are aimed at strengthening the cooperative bond in a family and giving family members practice in the skills needed to cooperate effectively. This handbook explains the cooperative learning concept, outlines the rules for…

15 CFR 700.31 - Metalworking machines.

Code of Federal Regulations, 2011 CFR

2011-01-01

... machines covered by this section include: Bending and forming machines Boring machines Broaching machines... Planers and shapers Polishing, lapping, boring, and finishing machines Punching and shearing machines...

15 CFR 700.31 - Metalworking machines.

Code of Federal Regulations, 2012 CFR

2012-01-01

... machines covered by this section include: Bending and forming machines Boring machines Broaching machines... Planers and shapers Polishing, lapping, boring, and finishing machines Punching and shearing machines...

15 CFR 700.31 - Metalworking machines.

Code of Federal Regulations, 2013 CFR

2013-01-01

... machines covered by this section include: Bending and forming machines Boring machines Broaching machines... Planers and shapers Polishing, lapping, boring, and finishing machines Punching and shearing machines...

15 CFR 700.31 - Metalworking machines.

Code of Federal Regulations, 2014 CFR

2014-01-01

... machines covered by this section include: Bending and forming machines Boring machines Broaching machines... Planers and shapers Polishing, lapping, boring, and finishing machines Punching and shearing machines...

15 CFR 700.31 - Metalworking machines.

Code of Federal Regulations, 2010 CFR

2010-01-01

... machines covered by this section include: Bending and forming machines Boring machines Broaching machines... Planers and shapers Polishing, lapping, boring, and finishing machines Punching and shearing machines...

Compensation strategy for machining optical freeform surfaces by the combined on- and off-machine measurement.

PubMed

Zhang, Xiaodong; Zeng, Zhen; Liu, Xianlei; Fang, Fengzhou

2015-09-21

Freeform surface is promising to be the next generation optics, however it needs high form accuracy for excellent performance. The closed-loop of fabrication-measurement-compensation is necessary for the improvement of the form accuracy. It is difficult to do an off-machine measurement during the freeform machining because the remounting inaccuracy can result in significant form deviations. On the other side, on-machine measurement may hides the systematic errors of the machine because the measuring device is placed in situ on the machine. This study proposes a new compensation strategy based on the combination of on-machine and off-machine measurement. The freeform surface is measured in off-machine mode with nanometric accuracy, and the on-machine probe achieves accurate relative position between the workpiece and machine after remounting. The compensation cutting path is generated according to the calculated relative position and shape errors to avoid employing extra manual adjustment or highly accurate reference-feature fixture. Experimental results verified the effectiveness of the proposed method.

Laser-Directed Ranging System Implementing Single Camera System for Telerobotics Applications

NASA Technical Reports Server (NTRS)

Wells, Dennis L. (Inventor); Li, Larry C. (Inventor); Cox, Brian J. (Inventor)

1995-01-01

The invention relates generally to systems for determining the range of an object from a reference point and, in one embodiment, to laser-directed ranging systems useful in telerobotics applications. Digital processing techniques are employed which minimize the complexity and cost of the hardware and software for processing range calculations, thereby enhancing the commercial attractiveness of the system for use in relatively low-cost robotic systems. The system includes a video camera for generating images of the target, image digitizing circuitry, and an associated frame grabber circuit. The circuit first captures one of the pairs of stereo video images of the target, and then captures a second video image of the target as it is partly illuminated by the light beam, suitably generated by a laser. The two video images, taken sufficiently close together in time to minimize camera and scene motion, are converted to digital images and then compared. Common pixels are eliminated, leaving only a digital image of the laser-illuminated spot on the target. Mw centroid of the laser illuminated spot is dm obtained and compared with a predetermined reference point, predetermined by design or calibration, which represents the coordinate at the focal plane of the laser illumination at infinite range. Preferably, the laser and camera are mounted on a servo-driven platform which can be oriented to direct the camera and the laser toward the target. In one embodiment the platform is positioned in response to movement of the operator's head. Position and orientation sensors are used to monitor head movement. The disparity between the digital image of the laser spot and the reference point is calculated for determining range to the target. Commercial applications for the system relate to active range-determination systems, such as those used with robotic systems in which it is necessary to determine the, range to a workpiece or object to be grasped or acted upon by a robot arm end

Effect of playing violent video games cooperatively or competitively on subsequent cooperative behavior.

PubMed

Ewoldsen, David R; Eno, Cassie A; Okdie, Bradley M; Velez, John A; Guadagno, Rosanna E; DeCoster, Jamie

2012-05-01

Research on video games has yielded consistent findings that violent video games increase aggression and decrease prosocial behavior. However, these studies typically examined single-player games. Of interest is the effect of cooperative play in a violent video game on subsequent cooperative or competitive behavior. Participants played Halo II (a first-person shooter game) cooperatively or competitively and then completed a modified prisoner's dilemma task to assess competitive and cooperative behavior. Compared with the competitive play conditions, players in the cooperative condition engaged in more tit-for-tat behaviors-a pattern of behavior that typically precedes cooperative behavior. The social context of game play influenced subsequent behavior more than the content of the game that was played.

Fault Tolerant State Machines

NASA Technical Reports Server (NTRS)

Burke, Gary R.; Taft, Stephanie

2004-01-01

State machines are commonly used to control sequential logic in FPGAs and ASKS. An errant state machine can cause considerable damage to the device it is controlling. For example in space applications, the FPGA might be controlling Pyros, which when fired at the wrong time will cause a mission failure. Even a well designed state machine can be subject to random errors us a result of SEUs from the radiation environment in space. There are various ways to encode the states of a state machine, and the type of encoding makes a large difference in the susceptibility of the state machine to radiation. In this paper we compare 4 methods of state machine encoding and find which method gives the best fault tolerance, as well as determining the resources needed for each method.

A measurement fusion method for nonlinear system identification using a cooperative learning algorithm.

PubMed

Xia, Youshen; Kamel, Mohamed S

2007-06-01

Identification of a general nonlinear noisy system viewed as an estimation of a predictor function is studied in this article. A measurement fusion method for the predictor function estimate is proposed. In the proposed scheme, observed data are first fused by using an optimal fusion technique, and then the optimal fused data are incorporated in a nonlinear function estimator based on a robust least squares support vector machine (LS-SVM). A cooperative learning algorithm is proposed to implement the proposed measurement fusion method. Compared with related identification methods, the proposed method can minimize both the approximation error and the noise error. The performance analysis shows that the proposed optimal measurement fusion function estimate has a smaller mean square error than the LS-SVM function estimate. Moreover, the proposed cooperative learning algorithm can converge globally to the optimal measurement fusion function estimate. Finally, the proposed measurement fusion method is applied to ARMA signal and spatial temporal signal modeling. Experimental results show that the proposed measurement fusion method can provide a more accurate model.

Scheduling of hybrid types of machines with two-machine flowshop as the first type and a single machine as the second type

NASA Astrophysics Data System (ADS)

Hsiao, Ming-Chih; Su, Ling-Huey

2018-02-01

This research addresses the problem of scheduling hybrid machine types, in which one type is a two-machine flowshop and another type is a single machine. A job is either processed on the two-machine flowshop or on the single machine. The objective is to determine a production schedule for all jobs so as to minimize the makespan. The problem is NP-hard since the two parallel machines problem was proved to be NP-hard. Simulated annealing algorithms are developed to solve the problem optimally. A mixed integer programming (MIP) is developed and used to evaluate the performance for two SAs. Computational experiments demonstrate the efficiency of the simulated annealing algorithms, the quality of the simulated annealing algorithms will also be reported.

Cooperative Education.

ERIC Educational Resources Information Center

North Dakota State Board for Vocational Education, Bismarck.

This guidebook is designed to assist school administrators and teacher-coordinators in planning for cooperative occupational education programs. In addition, ideas and concepts are presented to assist other school personnel and laymen with the operational detail of vocational programs in cooperative occupational education. Major section titles…

14. Machine in north 1922 section of Building 59. Machine ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

14. Machine in north 1922 section of Building 59. Machine is 24' Jointer made by Oliver Machinery Co. Camera pointed E. - Puget Sound Naval Shipyard, Pattern Shop, Farragut Avenue, Bremerton, Kitsap County, WA

15. Interior, Machine Shop, Roundhouse Machine Shop Extension, Southern Pacific ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

15. Interior, Machine Shop, Roundhouse Machine Shop Extension, Southern Pacific Railroad Carlin Shops, view to northeast (90mm lens). The arched cutouts in the bottom chords of the roof trusses were necessary to provide clearance for the smokestacks of steam locomotives, and also mark the location of the former inspection pit in the floor (now filled in and covered by a new concrete floor). - Southern Pacific Railroad, Carlin Shops, Roundhouse Machine Shop Extension, Foot of Sixth Street, Carlin, Elko County, NV

Cooperative Trust Games

DTIC Science & Technology

2013-01-01

the more widely recognized competitive (non-cooperative) game theory. Cooperative game theory focuses on what groups of self-interested agents can...provides immediate justification for using non-cooperative game theory as the basis for modeling the purely competitive agents. 2.4. Superadditive...the competitive and altruistic contributions of the subset team. Definition: Given a payoff function ( ) in a subset team game , the total marginal

Assessing cooperativity in supramolecular systems.

PubMed

von Krbek, Larissa K S; Schalley, Christoph A; Thordarson, Pall

2017-05-09

This tutorial review summarises different aspects of cooperativity in supramolecular complexes. We propose a systematic categorisation of cooperativity into cooperative aggregation, intermolecular (allosteric) cooperativity, intramolecular (chelate) cooperativity and interannular cooperativity and discuss approaches to quantify them thermodynamically using cooperativity factors. A brief summary of methods to determine the necessary thermodynamic data is given with emphasis on isothermal titration calorimetry (ITC), a method still underrepresented in supramolecular chemistry, which however offers some advantages over others. Finally, a discussion of very few selected examples, which highlight different aspects to illustrate why such an analysis is useful, rounds up this review.

Cooperative Education.

ERIC Educational Resources Information Center

Office of Education (DHEW), Washington, DC.

Cooperative education programs, a nontraditional blending of practice and theory, have become an important feature of current higher education. Some educators estimate that by 1984 half of the higher education institutions in the United States will have developed some form of cooperative education. The Federal government's recent involvement in…

How is human cooperation different?

PubMed Central

Melis, Alicia P.; Semmann, Dirk

2010-01-01

Although cooperation is a widespread phenomenon in nature, human cooperation exceeds that of all other species with regard to the scale and range of cooperative activities. Here we review and discuss differences between humans and non-humans in the strategies employed to maintain cooperation and control free-riders. We distinguish forms of cooperative behaviour based on their influence on the immediate payoffs of actor and recipient. If the actor has immediate costs and only the recipient obtains immediate benefits, we term this investment. If the behaviour has immediate positive effects for both actor and recipient, we call this a self-serving mutually beneficial behaviour or mutual cooperation. We argue that humans, in contrast to all other species, employ a wider range of enforcement mechanisms, which allow higher levels of cooperation to evolve and stabilize among unrelated individuals and in large groups. We also discuss proximate mechanisms underlying cooperative behaviour and focus on our experimental work with humans and our closest primate relatives. Differences in the proximate mechanisms also seem to contribute to explaining humans' greater ability to cooperate and enforce cooperation. PMID:20679110

Diamond machine tool face lapping machine

DOEpatents

Yetter, H.H.

1985-05-06

An apparatus for shaping, sharpening and polishing diamond-tipped single-point machine tools. The isolation of a rotating grinding wheel from its driving apparatus using an air bearing and causing the tool to be shaped, polished or sharpened to be moved across the surface of the grinding wheel so that it does not remain at one radius for more than a single rotation of the grinding wheel has been found to readily result in machine tools of a quality which can only be obtained by the most tedious and costly processing procedures, and previously unattainable by simple lapping techniques.

Cooperation and cheating in microbes

NASA Astrophysics Data System (ADS)

Gore, Jeff

2011-03-01

Understanding the cooperative and competitive dynamics within and between species is a central challenge in evolutionary biology. Microbial model systems represent a unique opportunity to experimentally test fundamental theories regarding the evolution of cooperative behaviors. In this talk I will describe our experiments probing cooperation in microbes. In particular, I will compare the cooperative growth of yeast in sucrose and the cooperative inactivation of antibiotics by bacteria. In both cases we find that cheater strains---which don't contribute to the public welfare---are able to take advantage of the cooperator strains. However, this ability of cheaters to out-compete cooperators occurs only when cheaters are present at low frequency, thus leading to steady-state coexistence. These microbial experiments provide fresh insight into the evolutionary origin of cooperation.

Quantification of uncertainty in machining operations for on-machine acceptance.

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

Claudet, Andre A.; Tran, Hy D.; Su, Jiann-Chemg

2008-09-01

Manufactured parts are designed with acceptance tolerances, i.e. deviations from ideal design conditions, due to unavoidable errors in the manufacturing process. It is necessary to measure and evaluate the manufactured part, compared to the nominal design, to determine whether the part meets design specifications. The scope of this research project is dimensional acceptance of machined parts; specifically, parts machined using numerically controlled (NC, or also CNC for Computer Numerically Controlled) machines. In the design/build/accept cycle, the designer will specify both a nominal value, and an acceptable tolerance. As part of the typical design/build/accept business practice, it is required to verifymore » that the part did meet acceptable values prior to acceptance. Manufacturing cost must include not only raw materials and added labor, but also the cost of ensuring conformance to specifications. Ensuring conformance is a substantial portion of the cost of manufacturing. In this project, the costs of measurements were approximately 50% of the cost of the machined part. In production, cost of measurement would be smaller, but still a substantial proportion of manufacturing cost. The results of this research project will point to a science-based approach to reducing the cost of ensuring conformance to specifications. The approach that we take is to determine, a priori, how well a CNC machine can manufacture a particular geometry from stock. Based on the knowledge of the manufacturing process, we are then able to decide features which need further measurements from features which can be accepted 'as is' from the CNC. By calibration of the machine tool, and establishing a machining accuracy ratio, we can validate the ability of CNC to fabricate to a particular level of tolerance. This will eliminate the costs of checking for conformance for relatively large tolerances.« less

Hydraulic Fatigue-Testing Machine

NASA Technical Reports Server (NTRS)

Hodo, James D.; Moore, Dennis R.; Morris, Thomas F.; Tiller, Newton G.

1987-01-01

Fatigue-testing machine applies fluctuating tension to number of specimens at same time. When sample breaks, machine continues to test remaining specimens. Series of tensile tests needed to determine fatigue properties of materials performed more rapidly than in conventional fatigue-testing machine.

Probability machines: consistent probability estimation using nonparametric learning machines.

PubMed

Malley, J D; Kruppa, J; Dasgupta, A; Malley, K G; Ziegler, A

2012-01-01

Most machine learning approaches only provide a classification for binary responses. However, probabilities are required for risk estimation using individual patient characteristics. It has been shown recently that every statistical learning machine known to be consistent for a nonparametric regression problem is a probability machine that is provably consistent for this estimation problem. The aim of this paper is to show how random forests and nearest neighbors can be used for consistent estimation of individual probabilities. Two random forest algorithms and two nearest neighbor algorithms are described in detail for estimation of individual probabilities. We discuss the consistency of random forests, nearest neighbors and other learning machines in detail. We conduct a simulation study to illustrate the validity of the methods. We exemplify the algorithms by analyzing two well-known data sets on the diagnosis of appendicitis and the diagnosis of diabetes in Pima Indians. Simulations demonstrate the validity of the method. With the real data application, we show the accuracy and practicality of this approach. We provide sample code from R packages in which the probability estimation is already available. This means that all calculations can be performed using existing software. Random forest algorithms as well as nearest neighbor approaches are valid machine learning methods for estimating individual probabilities for binary responses. Freely available implementations are available in R and may be used for applications.

Operation Cooperation.

ERIC Educational Resources Information Center

Hohl, K. Robert

The needs of teachers for high-demand and seasonal films have been met by a cooperative effort of the Berks County Educational Television Committee, local school districts, the Berks and Suburban TV cable companies and the Berks County Intermediate Unit in a project called Operation Cooperation. Regionalization of the instructional media services…

Investigations on high speed machining of EN-353 steel alloy under different machining environments

NASA Astrophysics Data System (ADS)

Venkata Vishnu, A.; Jamaleswara Kumar, P.

2018-03-01

The addition of Nano Particles into conventional cutting fluids enhances its cooling capabilities; in the present paper an attempt is made by adding nano sized particles into conventional cutting fluids. Taguchi Robust Design Methodology is employed in order to study the performance characteristics of different turning parameters i.e. cutting speed, feed rate, depth of cut and type of tool under different machining environments i.e. dry machining, machining with lubricant - SAE 40 and machining with mixture of nano sized particles of Boric acid and base fluid SAE 40. A series of turning operations were performed using L27 (3)13 orthogonal array, considering high cutting speeds and the other machining parameters to measure hardness. The results are compared among the different machining environments, and it is concluded that there is considerable improvement in the machining performance using lubricant SAE 40 and mixture of SAE 40 + boric acid compared with dry machining. The ANOVA suggests that the selected parameters and the interactions are significant and cutting speed has most significant effect on hardness.

Electric machine

DOEpatents

El-Refaie, Ayman Mohamed Fawzi [Niskayuna, NY; Reddy, Patel Bhageerath [Madison, WI

2012-07-17

An interior permanent magnet electric machine is disclosed. The interior permanent magnet electric machine comprises a rotor comprising a plurality of radially placed magnets each having a proximal end and a distal end, wherein each magnet comprises a plurality of magnetic segments and at least one magnetic segment towards the distal end comprises a high resistivity magnetic material.

ERECTING/MACHINE SHOP, CRANE ACCESS GANGWAY BETWEEN ERECTING (L) AND MACHINE ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

ERECTING/MACHINE SHOP, CRANE ACCESS GANGWAY BETWEEN ERECTING (L) AND MACHINE (R) SHOPS, LOOKING NORTH. - Southern Pacific, Sacramento Shops, Erecting Shop, 111 I Street, Sacramento, Sacramento County, CA

Machine Learning and Radiology

PubMed Central

Wang, Shijun; Summers, Ronald M.

2012-01-01

In this paper, we give a short introduction to machine learning and survey its applications in radiology. We focused on six categories of applications in radiology: medical image segmentation, registration, computer aided detection and diagnosis, brain function or activity analysis and neurological disease diagnosis from fMR images, content-based image retrieval systems for CT or MRI images, and text analysis of radiology reports using natural language processing (NLP) and natural language understanding (NLU). This survey shows that machine learning plays a key role in many radiology applications. Machine learning identifies complex patterns automatically and helps radiologists make intelligent decisions on radiology data such as conventional radiographs, CT, MRI, and PET images and radiology reports. In many applications, the performance of machine learning-based automatic detection and diagnosis systems has shown to be comparable to that of a well-trained and experienced radiologist. Technology development in machine learning and radiology will benefit from each other in the long run. Key contributions and common characteristics of machine learning techniques in radiology are discussed. We also discuss the problem of translating machine learning applications to the radiology clinical setting, including advantages and potential barriers. PMID:22465077

Quadrilateral Micro-Hole Array Machining on Invar Thin Film: Wet Etching and Electrochemical Fusion Machining

PubMed Central

Choi, Woong-Kirl; Kim, Seong-Hyun; Choi, Seung-Geon; Lee, Eun-Sang

2018-01-01

Ultra-precision products which contain a micro-hole array have recently shown remarkable demand growth in many fields, especially in the semiconductor and display industries. Photoresist etching and electrochemical machining are widely known as precision methods for machining micro-holes with no residual stress and lower surface roughness on the fabricated products. The Invar shadow masks used for organic light-emitting diodes (OLEDs) contain numerous micro-holes and are currently machined by a photoresist etching method. However, this method has several problems, such as uncontrollable hole machining accuracy, non-etched areas, and overcutting. To solve these problems, a machining method that combines photoresist etching and electrochemical machining can be applied. In this study, negative photoresist with a quadrilateral hole array pattern was dry coated onto 30-µm-thick Invar thin film, and then exposure and development were carried out. After that, photoresist single-side wet etching and a fusion method of wet etching-electrochemical machining were used to machine micro-holes on the Invar. The hole machining geometry, surface quality, and overcutting characteristics of the methods were studied. Wet etching and electrochemical fusion machining can improve the accuracy and surface quality. The overcutting phenomenon can also be controlled by the fusion machining. Experimental results show that the proposed method is promising for the fabrication of Invar film shadow masks. PMID:29351235

Apprentice Machine Theory Outline.

ERIC Educational Resources Information Center

Connecticut State Dept. of Education, Hartford. Div. of Vocational-Technical Schools.

This volume contains outlines for 16 courses in machine theory that are designed for machine tool apprentices. Addressed in the individual course outlines are the following topics: basic concepts; lathes; milling machines; drills, saws, and shapers; heat treatment and metallurgy; grinders; quality control; hydraulics and pneumatics;…

AQUAPLEX An Environmentally Aware Model Lunar Settlement

NASA Astrophysics Data System (ADS)

Preble, Darel

2003-01-01

The construction and operation of a replica Lunar settlement (CELSS), can provide many lessons in in-situ resource utilization, telerobotic operation and reducing the hygiene water demanded by existing models of Lunar operation - a larger settlement may be operated with the same amount of precious water. Hypes and Hall and all other CELSS models found in the literature propose quantities of hygiene water far in excess of what would be needed in actual operation using simple, environmentally aware technologies. By using modern zero water toilets, low water showers, CO2 dry cleaning machines, energy efficient washing machines and other hardware, water use can be slashed. The Space Solar Power Workshop sees great opportunity to advance the prospects for Lunar settlement through involving the environmental community in this fun design exercise.

Social heuristics shape intuitive cooperation.

PubMed

Rand, David G; Peysakhovich, Alexander; Kraft-Todd, Gordon T; Newman, George E; Wurzbacher, Owen; Nowak, Martin A; Greene, Joshua D

2014-04-22

Cooperation is central to human societies. Yet relatively little is known about the cognitive underpinnings of cooperative decision making. Does cooperation require deliberate self-restraint? Or is spontaneous prosociality reined in by calculating self-interest? Here we present a theory of why (and for whom) intuition favors cooperation: cooperation is typically advantageous in everyday life, leading to the formation of generalized cooperative intuitions. Deliberation, by contrast, adjusts behaviour towards the optimum for a given situation. Thus, in one-shot anonymous interactions where selfishness is optimal, intuitive responses tend to be more cooperative than deliberative responses. We test this 'social heuristics hypothesis' by aggregating across every cooperation experiment using time pressure that we conducted over a 2-year period (15 studies and 6,910 decisions), as well as performing a novel time pressure experiment. Doing so demonstrates a positive average effect of time pressure on cooperation. We also find substantial variation in this effect, and show that this variation is partly explained by previous experience with one-shot lab experiments.

Cooperative Education Coordinator's Handbook.

ERIC Educational Resources Information Center

Worley, Tom

Designed to serve as a guide for teacher-coordinators, counselors, administrators, and the employing community, this handbook is a performance-oriented desk reference that provides a base for cooperative education program operations. Chapter 1 overviews cooperative education, contrasts cooperative training and work experience programs, and…

A robot arm simulation with a shared memory multiprocessor machine

NASA Technical Reports Server (NTRS)

Kim, Sung-Soo; Chuang, Li-Ping

1989-01-01

A parallel processing scheme for a single chain robot arm is presented for high speed computation on a shared memory multiprocessor. A recursive formulation that is derived from a virtual work form of the d'Alembert equations of motion is utilized for robot arm dynamics. A joint drive system that consists of a motor rotor and gears is included in the arm dynamics model, in order to take into account gyroscopic effects due to the spinning of the rotor. The fine grain parallelism of mechanical and control subsystem models is exploited, based on independent computation associated with bodies, joint drive systems, and controllers. Efficiency and effectiveness of the parallel scheme are demonstrated through simulations of a telerobotic manipulator arm. Two different mechanical subsystem models, i.e., with and without gyroscopic effects, are compared, to show the trade-off between efficiency and accuracy.

Technology of machine tools. Volume 4. Machine tool controls

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

Not Available

1980-10-01

The Machine Tool Task Force (MTTF) was formed to characterize the state of the art of machine tool technology and to identify promising future directions of this technology. This volume is one of a five-volume series that presents the MTTF findings; reports on various areas of the technology were contributed by experts in those areas.

Technology of machine tools. Volume 3. Machine tool mechanics

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

Tlusty, J.

1980-10-01

The Machine Tool Task Force (MTTF) was formed to characterize the state of the art of machine tool technology and to identify promising future directions of this technology. This volume is one of a five-volume series that presents the MTTF findings; reports on various areas of the technology were contributed by experts in those areas.

Technology of machine tools. Volume 5. Machine tool accuracy

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

Hocken, R.J.

1980-10-01

The Machine Tool Task Force (MTTF) was formed to characterize the state of the art of machine tool technology and to identify promising future directions of this technology. This volume is one of a five-volume series that presents the MTTF findings; reports on various areas of the technology were contributed by experts in those areas.

Machine Learning

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

Chikkagoudar, Satish; Chatterjee, Samrat; Thomas, Dennis G.

The absence of a robust and unified theory of cyber dynamics presents challenges and opportunities for using machine learning based data-driven approaches to further the understanding of the behavior of such complex systems. Analysts can also use machine learning approaches to gain operational insights. In order to be operationally beneficial, cybersecurity machine learning based models need to have the ability to: (1) represent a real-world system, (2) infer system properties, and (3) learn and adapt based on expert knowledge and observations. Probabilistic models and Probabilistic graphical models provide these necessary properties and are further explored in this chapter. Bayesian Networksmore » and Hidden Markov Models are introduced as an example of a widely used data driven classification/modeling strategy.« less

Space teleoperations technology for Space Station evolution

NASA Technical Reports Server (NTRS)

Reuter, Gerald J.

1990-01-01

Viewgraphs on space teleoperations technology for space station evolution are presented. Topics covered include: shuttle remote manipulator system; mobile servicing center functions; mobile servicing center technology; flight telerobotic servicer-telerobot; flight telerobotic servicer technology; technologies required for space station assembly; teleoperation applications; and technology needs for space station evolution.

The sound of cooperation: Musical influences on cooperative behavior.

PubMed

Kniffin, Kevin M; Yan, Jubo; Wansink, Brian; Schulze, William D

2017-03-01

Music as an environmental aspect of professional workplaces has been closely studied with respect to consumer behavior while sparse attention has been given to its relevance for employee behavior. In this article, we focus on the influence of music upon cooperative behavior within decision-making groups. Based on results from two extended 20-round public goods experiments, we find that happy music significantly and positively influences cooperative behavior. We also find a significant positive association between mood and cooperative behavior. Consequently, while our studies provide partial support for the relevance of affect in relation to cooperation within groups, we also show an independently important function of happy music that fits with a theory of synchronous and rhythmic activity as a social lubricant. More generally, our findings indicate that music and perhaps other atmospheric variables that are designed to prime consumer behavior might have comparably important effects for employees and consequently warrant closer investigation. Copyright © 2016 The Authors Journal of Organizational Behavior Published by John Wiley & Sons Ltd.

Machine vision systems using machine learning for industrial product inspection

NASA Astrophysics Data System (ADS)

Lu, Yi; Chen, Tie Q.; Chen, Jie; Zhang, Jian; Tisler, Anthony

2002-02-01

Machine vision inspection requires efficient processing time and accurate results. In this paper, we present a machine vision inspection architecture, SMV (Smart Machine Vision). SMV decomposes a machine vision inspection problem into two stages, Learning Inspection Features (LIF), and On-Line Inspection (OLI). The LIF is designed to learn visual inspection features from design data and/or from inspection products. During the OLI stage, the inspection system uses the knowledge learnt by the LIF component to inspect the visual features of products. In this paper we will present two machine vision inspection systems developed under the SMV architecture for two different types of products, Printed Circuit Board (PCB) and Vacuum Florescent Displaying (VFD) boards. In the VFD board inspection system, the LIF component learns inspection features from a VFD board and its displaying patterns. In the PCB board inspection system, the LIF learns the inspection features from the CAD file of a PCB board. In both systems, the LIF component also incorporates interactive learning to make the inspection system more powerful and efficient. The VFD system has been deployed successfully in three different manufacturing companies and the PCB inspection system is the process of being deployed in a manufacturing plant.

Walking Machine Control Programming

DTIC Science & Technology

1983-08-31

configuration is useful for two reasons: first, the machine won’t fit through the garage door unless it is in the tuck position, and second, a principal way...machine out of its garage . ’We call the garage a "laboratory" even though the shorter term is more apt.- We regularly run the machine in the parking...comes down from a high push-up. The natural position for the feet as the machine comes out of the garage is the "tuck" in which each knee is bent in as

Cooperative Learning: Professional's Guide.

ERIC Educational Resources Information Center

Grisham, Dana L.; Molinelli, Paul M.

Noting that since the 1970s cooperative learning has been widely investigated regarding its implementation and efficacy, this booklet is designed to introduce the teaching strategy of cooperative learning to classroom teachers. The booklet first provides an overview and supplies a context for cooperative learning and then defines cooperative…

Machine learning and radiology.

PubMed

Wang, Shijun; Summers, Ronald M

2012-07-01

In this paper, we give a short introduction to machine learning and survey its applications in radiology. We focused on six categories of applications in radiology: medical image segmentation, registration, computer aided detection and diagnosis, brain function or activity analysis and neurological disease diagnosis from fMR images, content-based image retrieval systems for CT or MRI images, and text analysis of radiology reports using natural language processing (NLP) and natural language understanding (NLU). This survey shows that machine learning plays a key role in many radiology applications. Machine learning identifies complex patterns automatically and helps radiologists make intelligent decisions on radiology data such as conventional radiographs, CT, MRI, and PET images and radiology reports. In many applications, the performance of machine learning-based automatic detection and diagnosis systems has shown to be comparable to that of a well-trained and experienced radiologist. Technology development in machine learning and radiology will benefit from each other in the long run. Key contributions and common characteristics of machine learning techniques in radiology are discussed. We also discuss the problem of translating machine learning applications to the radiology clinical setting, including advantages and potential barriers. Copyright © 2012. Published by Elsevier B.V.

Vane Pump Casing Machining of Dumpling Machine Based on CAD/CAM

NASA Astrophysics Data System (ADS)

Huang, Yusen; Li, Shilong; Li, Chengcheng; Yang, Zhen

Automatic dumpling forming machine is also called dumpling machine, which makes dumplings through mechanical motions. This paper adopts the stuffing delivery mechanism featuring the improved and specially-designed vane pump casing, which can contribute to the formation of dumplings. Its 3D modeling in Pro/E software, machining process planning, milling path optimization, simulation based on UG and compiling post program were introduced and verified. The results indicated that adoption of CAD/CAM offers firms the potential to pursue new innovative strategies.

A Simple Universal Turing Machine for the Game of Life Turing Machine

NASA Astrophysics Data System (ADS)

Rendell, Paul

In this chapter we present a simple universal Turing machine which is small enough to fit into the design limits of the Turing machine build in Conway's Game of Life by the author. That limit is 8 symbols and 16 states. By way of comparison we also describe one of the smallest known universal Turing machines due to Rogozhin which has 6 symbols and 4 states.

The Knife Machine. Module 15.

ERIC Educational Resources Information Center

South Carolina State Dept. of Education, Columbia. Office of Vocational Education.

This module on the knife machine, one in a series dealing with industrial sewing machines, their attachments, and operation, covers one topic: performing special operations on the knife machine (a single needle or multi-needle machine which sews and cuts at the same time). These components are provided: an introduction, directions, an objective,…

Cooperative Monitoring Center Occasional Paper/8: Cooperative Border Security for Jordan: Assessment and Options

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

Qojas, M.

1999-03-01

This document is an analysis of options for unilateral and cooperative action to improve the security of Jordan's borders. Sections describe the current political, economic, and social interactions along Jordan's borders. Next, the document discusses border security strategy for cooperation among neighboring countries and the adoption of confidence-building measures. A practical cooperative monitoring system would consist of hardware for early warning, command and control, communications, and transportation. Technical solutions can expand opportunities for the detection and identification of intruders. Sensors (such as seismic, break-wire, pressure-sensing, etc.) can warn border security forces of intrusion and contribute to the identification of themore » intrusion and help formulate the response. This document describes conceptual options for cooperation, offering three scenarios that relate to three hypothetical levels (low, medium, and high) of cooperation. Potential cooperative efforts under a low cooperation scenario could include information exchanges on military equipment and schedules to prevent misunderstandings and the establishment of protocols for handling emergency situations or unusual circumstances. Measures under a medium cooperation scenario could include establishing joint monitoring groups for better communications, with hot lines and scheduled meetings. The high cooperation scenario describes coordinated responses, joint border patrols, and sharing border intrusion information. Finally, the document lists recommendations for organizational, technical, and operational initiatives that could be applicable to the current situation.« less

What Role for Emotions in Cooperating Robots? - The Case of RH3-Y

NASA Astrophysics Data System (ADS)

Dessimoz, Jean-Daniel; Gauthey, Pierre-François

The paper reviews key aspects of emotions in the context of cooperating robots (mostly, robots cooperating with humans), and gives numerous concrete examples from RH-Y robots. Emotions have been first systematically studied in relation to human expressions, and then the shift has come towards a machine-based replication. Emotions appear to result from changes, from convergence or deviation between status and goals; they trigger appropriate activities, are commonly represented in 2D or 3D affect space, and can be made visible by facial expressions. While specific devices are sometimes created, emotive expressions seem to be conveniently rendered by a set of facial images or more simply by some icons; they can also possibly be parameterized in a few dimensions for continuous modulation. In fact however, internal forces for activities and changes may be expressed in many ways other than faces: screens, panels, and operational behaviors. Relying on emotions ensures useful aspects, such as experience reuse, legibility or communication. But it also includes limits such as due to the nature of robots, of interactive media, and even of the very domain of emotions. For our goal, the design of effective and efficient, cooperating robots, in domestic applications, communication and interaction play key roles; best practices become evident after experimental verification; and our experience gained so far, over 10 years and more, points at a variety of successful strategic attitudes and expression modes, much beyond classic human emotions and facial or iconic images.

Learning to Learn Cooperatively

ERIC Educational Resources Information Center

Byrd, Anne Hammond

2009-01-01

Cooperative learning, put quite simply, is a type of instruction whereby students work together in small groups to achieve a common goal. Cooperative learning has become increasingly popular as a feature of Communicative Language Teaching (CLT) with benefits that include increased student interest due to the quick pace of cooperative tasks,…

Effect of cooperation level of group on punishment for non-cooperators: a functional magnetic resonance imaging study.

PubMed

Kodaka, Fumitoshi; Takahashi, Hidehiko; Yamada, Makiko; Takano, Harumasa; Nakayama, Kazuhiko; Ito, Hiroshi; Suhara, Tetsuya

2012-01-01

Sometimes we punish non-cooperators in our society. Such behavior could be derived from aversive emotion for inequity (inequity aversion) to make non-cooperators cooperative. Thus, punishing behavior derived from inequity is believed to be important for maintaining our society. Meanwhile, our daily experiences suggest that the degree of cooperation by the members of society (cooperation level of the group) could change the punishing behavior for non-cooperators even if the inequity were equal. Such effect of the cooperation level of the group cannot be explained by simple inequity aversion. Although punishment-related brain regions have been reported in previous functional magnetic resonance imaging (fMRI) study, little is known about such regions affected by the cooperation level of the group. In the present fMRI study, we investigated the effect of the cooperation level of the group on the punishing behavior for non-cooperators and its related brain activations by a paradigm in which the degree of the cooperative state varied from low to high. Punishment-related activations were observed in brain regions such as the anterior insula, dorsolateral prefrontal cortex (DLPFC), and anterior cingulate cortex (ACC). The quantity of punishment in a high cooperation context was greater than in a low cooperation context, and activation in the right DLPFC and ACC in a high cooperation context showed greater activity than in a low cooperation context. This indicates that the cooperation level of the group, as well as aversive emotion for inequity, is the important factor of punishing behavior.

Investigation of Machine-ability of Inconel 800 in EDM with Coated Electrode

NASA Astrophysics Data System (ADS)

Karunakaran, K.; Chandrasekaran, M.

2017-03-01

The Inconel 800 is a high temperature application alloy which is classified as a nickel based super alloy. It has wide scope in aerospace engineering, gas Turbine etc. The machine-ability studies were found limited on this material. Hence This research focuses on machine-ability studies on EDM of Inconel 800 with Silver Coated Electrolyte Copper Electrode. The purpose of coating on electrode is to reduce tool wear. The factors pulse on Time, Pulse off Time and Peck Current were considered to observe the responses of surface roughness, material removal rate, tool wear rate. Taguchi Full Factorial Design is employed for Design the experiment. Some specific findings were reported and the percentage of contribution of each parameter was furnished

What is a cooperative?

Treesearch

Kimberly Zeuli

2006-01-01

Groups of individuals throughout time have worked together in pursuit of common goals. The earliest forms of hunting and agriculture required a great deal of cooperation among humans. Although the word "cooperative" can be applied to many different types of group activities, in this publication it refers to a formal business model. Cooperative businesses are...

[Comparison of machinability of two types of dental machinable ceramic].

PubMed

Fu, Qiang; Zhao, Yunfeng; Li, Yong; Fan, Xinping; Li, Yan; Lin, Xuefeng

2002-11-01

In terms of the problems of now available dental machinable ceramics, a new type of calcium-mica glass-ceramic, PMC-I ceramic, was developed, and its machinability was compared with that of Vita MKII quantitatively. Moreover, the relationship between the strength and the machinability of PMC-I ceramic was studied. Samples of PMC-I ceramic were divided into four groups according to their nucleation procedures. 600-seconds drilling tests were conducted with high-speed steel tools (Phi = 2.3 mm) to measure the drilling depths of Vita MKII ceramic and PMC-I ceramic, while constant drilling speed of 600 rpm and constant axial load of 39.2 N were used. And the 3-point bending strength of the four groups of PMC-I ceramic were recorded. Drilling depth of Vita MKII was 0.71 mm, while the depths of the four groups of PMC-I ceramic were 0.88 mm, 1.40 mm, 0.40 mm and 0.90 mm, respectively. Group B of PMC-I ceramic showed the largest depth of 1.40 mm and was statistically different from other groups and Vita MKII. And the strength of the four groups of PMC-I ceramic were 137.7, 210.2, 118.0 and 106.0 MPa, respectively. The machinability of the new developed dental machinable ceramic of PMC-I could meet the need of the clinic.

7 CFR 1000.18 - Cooperative association.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 7 Agriculture 9 2010-01-01 2009-01-01 true Cooperative association. 1000.18 Section 1000.18... Definitions § 1000.18 Cooperative association. Cooperative association means any cooperative marketing... milk products for its members. A federation of 2 or more cooperatives incorporated under the laws of...

Automatic soldering machine

NASA Technical Reports Server (NTRS)

Stein, J. A.

1974-01-01

Fully-automatic tube-joint soldering machine can be used to make leakproof joints in aluminum tubes of 3/16 to 2 in. in diameter. Machine consists of temperature-control unit, heater transformer and heater head, vibrator, and associated circuitry controls, and indicators.

The Security of Machine Learning

DTIC Science & Technology

2008-04-24

Machine learning has become a fundamental tool for computer security, since it can rapidly evolve to changing and complex situations. That...adaptability is also a vulnerability: attackers can exploit machine learning systems. We present a taxonomy identifying and analyzing attacks against machine ...We use our framework to survey and analyze the literature of attacks against machine learning systems. We also illustrate our taxonomy by showing

Group Cooperation without Group Selection: Modest Punishment Can Recruit Much Cooperation.

PubMed

Krasnow, Max M; Delton, Andrew W; Cosmides, Leda; Tooby, John

2015-01-01

Humans everywhere cooperate in groups to achieve benefits not attainable by individuals. Individual effort is often not automatically tied to a proportionate share of group benefits. This decoupling allows for free-riding, a strategy that (absent countermeasures) outcompetes cooperation. Empirically and formally, punishment potentially solves the evolutionary puzzle of group cooperation. Nevertheless, standard analyses appear to show that punishment alone is insufficient, because second-order free riders (those who cooperate but do not punish) can be shown to outcompete punishers. Consequently, many have concluded that other processes, such as cultural or genetic group selection, are required. Here, we present a series of agent-based simulations that show that group cooperation sustained by punishment easily evolves by individual selection when you introduce into standard models more biologically plausible assumptions about the social ecology and psychology of ancestral humans. We relax three unrealistic assumptions of past models. First, past models assume all punishers must punish every act of free riding in their group. We instead allow punishment to be probabilistic, meaning punishers can evolve to only punish some free riders some of the time. This drastically lowers the cost of punishment as group size increases. Second, most models unrealistically do not allow punishment to recruit labor; punishment merely reduces the punished agent's fitness. We instead realistically allow punished free riders to cooperate in the future to avoid punishment. Third, past models usually restrict agents to interact in a single group their entire lives. We instead introduce realistic social ecologies in which agents participate in multiple, partially overlapping groups. Because of this, punitive tendencies are more expressed and therefore more exposed to natural selection. These three moves toward greater model realism reveal that punishment and cooperation easily evolve by

Group Cooperation without Group Selection: Modest Punishment Can Recruit Much Cooperation

PubMed Central

Cosmides, Leda; Tooby, John

2015-01-01

Humans everywhere cooperate in groups to achieve benefits not attainable by individuals. Individual effort is often not automatically tied to a proportionate share of group benefits. This decoupling allows for free-riding, a strategy that (absent countermeasures) outcompetes cooperation. Empirically and formally, punishment potentially solves the evolutionary puzzle of group cooperation. Nevertheless, standard analyses appear to show that punishment alone is insufficient, because second-order free riders (those who cooperate but do not punish) can be shown to outcompete punishers. Consequently, many have concluded that other processes, such as cultural or genetic group selection, are required. Here, we present a series of agent-based simulations that show that group cooperation sustained by punishment easily evolves by individual selection when you introduce into standard models more biologically plausible assumptions about the social ecology and psychology of ancestral humans. We relax three unrealistic assumptions of past models. First, past models assume all punishers must punish every act of free riding in their group. We instead allow punishment to be probabilistic, meaning punishers can evolve to only punish some free riders some of the time. This drastically lowers the cost of punishment as group size increases. Second, most models unrealistically do not allow punishment to recruit labor; punishment merely reduces the punished agent’s fitness. We instead realistically allow punished free riders to cooperate in the future to avoid punishment. Third, past models usually restrict agents to interact in a single group their entire lives. We instead introduce realistic social ecologies in which agents participate in multiple, partially overlapping groups. Because of this, punitive tendencies are more expressed and therefore more exposed to natural selection. These three moves toward greater model realism reveal that punishment and cooperation easily evolve by

Findings from the National Machine Guarding Program–A Small Business Intervention: Machine Safety

PubMed Central

Yamin, Samuel C.; Xi, Min; Brosseau, Lisa M.; Gordon, Robert; Most, Ivan G.; Stanley, Rodney

2016-01-01

Objectives The purpose of this nationwide intervention was to improve machine safety in small metal fabrication businesses (3 – 150 employees). The failure to implement machine safety programs related to guarding and lockout/tagout (LOTO) are frequent causes of OSHA citations and may result in serious traumatic injury. Methods Insurance safety consultants conducted a standardized evaluation of machine guarding, safety programs, and LOTO. Businesses received a baseline evaluation, two intervention visits and a twelve-month follow-up evaluation. Results The intervention was completed by 160 businesses. Adding a safety committee was associated with a 10-percentage point increase in business-level machine scores (p< 0.0001) and a 33-percentage point increase in LOTO program scores (p <0.0001). Conclusions Insurance safety consultants proved effective at disseminating a machine safety and LOTO intervention via management-employee safety committees. PMID:26716850

Findings From the National Machine Guarding Program-A Small Business Intervention: Machine Safety.

PubMed

Parker, David L; Yamin, Samuel C; Xi, Min; Brosseau, Lisa M; Gordon, Robert; Most, Ivan G; Stanley, Rodney

2016-09-01

The purpose of this nationwide intervention was to improve machine safety in small metal fabrication businesses (3 to 150 employees). The failure to implement machine safety programs related to guarding and lockout/tagout (LOTO) are frequent causes of Occupational Safety and Health Administration (OSHA) citations and may result in serious traumatic injury. Insurance safety consultants conducted a standardized evaluation of machine guarding, safety programs, and LOTO. Businesses received a baseline evaluation, two intervention visits, and a 12-month follow-up evaluation. The intervention was completed by 160 businesses. Adding a safety committee was associated with a 10% point increase in business-level machine scores (P < 0.0001) and a 33% point increase in LOTO program scores (P < 0.0001). Insurance safety consultants proved effective at disseminating a machine safety and LOTO intervention via management-employee safety committees.

Resource heterogeneity can facilitate cooperation.

PubMed

Kun, Ádám; Dieckmann, Ulf

2013-01-01

Although social structure is known to promote cooperation, by locally exposing selfish agents to their own deeds, studies to date assumed that all agents have access to the same level of resources. This is clearly unrealistic. Here we find that cooperation can be maintained when some agents have access to more resources than others. Cooperation can then emerge even in populations in which the temptation to defect is so strong that players would act fully selfishly if their resources were distributed uniformly. Resource heterogeneity can thus be crucial for the emergence and maintenance of cooperation. We also show that resource heterogeneity can hinder cooperation once the temptation to defect is significantly lowered. In all cases, the level of cooperation can be maximized by managing resource heterogeneity.

Analysis and design of asymmetrical reluctance machine

NASA Astrophysics Data System (ADS)

Harianto, Cahya A.

Over the past few decades the induction machine has been chosen for many applications due to its structural simplicity and low manufacturing cost. However, modest torque density and control challenges have motivated researchers to find alternative machines. The permanent magnet synchronous machine has been viewed as one of the alternatives because it features higher torque density for a given loss than the induction machine. However, the assembly and permanent magnet material cost, along with safety under fault conditions, have been concerns for this class of machine. An alternative machine type, namely the asymmetrical reluctance machine, is proposed in this work. Since the proposed machine is of the reluctance machine type, it possesses desirable feature, such as near absence of rotor losses, low assembly cost, low no-load rotational losses, modest torque ripple, and rather benign fault conditions. Through theoretical analysis performed herein, it is shown that this machine has a higher torque density for a given loss than typical reluctance machines, although not as high as the permanent magnet machines. Thus, the asymmetrical reluctance machine is a viable and advantageous machine alternative where the use of permanent magnet machines are undesirable.

Spontaneous cooperation for prosocials, but not for proselfs: Social value orientation moderates spontaneous cooperation behavior

PubMed Central

Mischkowski, Dorothee; Glöckner, Andreas

2016-01-01

Cooperation is essential for the success of societies and there is an ongoing debate whether individuals have therefore developed a general spontaneous tendency to cooperate or not. Findings that cooperative behavior is related to shorter decision times provide support for the spontaneous cooperation effect, although contrary results have also been reported. We show that cooperative behavior is better described as person × situation interaction, in that there is a spontaneous cooperation effect for prosocial but not for proself persons. In three studies, one involving population representative samples from the US and Germany, we found that cooperation in a public good game is dependent on an interaction between individuals’ social value orientation and decision time. Increasing deliberation about the dilemma situation does not affect persons that are selfish to begin with, but it is related to decreasing cooperation for prosocial persons that gain positive utility from outcomes of others and score high on the related general personality trait honesty/humility. Our results demonstrate that the spontaneous cooperation hypothesis has to be qualified in that it is limited to persons with a specific personality and social values. Furthermore, they allow reconciling conflicting previous findings by identifying an important moderator for the effect. PMID:26876773

Mississippi Curriculum Framework for Machine Tool Operation/Machine Shop (Program CIP: 48.0503--Machine Shop Assistant). Secondary Programs.

ERIC Educational Resources Information Center

Mississippi Research and Curriculum Unit for Vocational and Technical Education, State College.

This document, which reflects Mississippi's statutory requirement that instructional programs be based on core curricula and performance-based assessment, contains outlines of the instructional units required in local instructional management plans and daily lesson plans for machine tool operation/machine shop I and II. Presented first are a…

Machine Tool Software

NASA Technical Reports Server (NTRS)

1988-01-01

A NASA-developed software package has played a part in technical education of students who major in Mechanical Engineering Technology at William Rainey Harper College. Professor Hack has been using (APT) Automatically Programmed Tool Software since 1969 in his CAD/CAM Computer Aided Design and Manufacturing curriculum. Professor Hack teaches the use of APT programming languages for control of metal cutting machines. Machine tool instructions are geometry definitions written in APT Language to constitute a "part program." The part program is processed by the machine tool. CAD/CAM students go from writing a program to cutting steel in the course of a semester.

Nanocomposites for Machining Tools

PubMed Central

Loginov, Pavel; Mishnaevsky, Leon; Levashov, Evgeny

2017-01-01

Machining tools are used in many areas of production. To a considerable extent, the performance characteristics of the tools determine the quality and cost of obtained products. The main materials used for producing machining tools are steel, cemented carbides, ceramics and superhard materials. A promising way to improve the performance characteristics of these materials is to design new nanocomposites based on them. The application of micromechanical modeling during the elaboration of composite materials for machining tools can reduce the financial and time costs for development of new tools, with enhanced performance. This article reviews the main groups of nanocomposites for machining tools and their performance. PMID:29027926

Progress in machine consciousness.

PubMed

Gamez, David

2008-09-01

This paper is a review of the work that has been carried out on machine consciousness. A clear overview of this diverse field is achieved by breaking machine consciousness down into four different areas, which are used to understand its aims, discuss its relationship with other subjects and outline the work that has been carried out so far. The criticisms that have been made against machine consciousness are also covered, along with its potential benefits, and the work that has been done on analysing systems for signs of consciousness. Some of the social and ethical issues raised by machine consciousness are examined at the end of the paper.

The Cooperative Family.

ERIC Educational Resources Information Center

Bass, Michele B.

1989-01-01

Cooperative learning approaches can create a cooperative family environment, involving positive interdependence and appropriate social and communication skills. This is especially important in families with a special needs child. Activities which can minimize competition among family members include participative rule-making, planning special…

Eliciting Survey Cooperation: Incentives, Self-Interest, and Norms of Cooperation

ERIC Educational Resources Information Center

Kropf, Martha E.; Blair, Johnny

2005-01-01

Given the weaker ties to community as noted by scholars such as Robert Putnam, survey researchers should not be surprised by a decline in survey participation over the past 10 years. This research analyzes the use of incentives coupled with introductory themes emphasizing cooperation and helpfulness--cooperative norms in American society--to…

Silviculture in cooperation with hunters: The Kinzua Quality Deer Cooperative

Treesearch

Scott Reitz; Andrea Hille; Susan Stout

2004-01-01

The long history of deer overabundance in Pennsylvania is associated with very high reforestation costs and substantial threats to diversity and sustainability. In response to this legacy, several landowners and agency personnel formed the Kinzua Quality Deer Cooperative (KQDC) in partnership with the Sand County Foundation. This Cooperative focuses on about 74,000...

Toward Intelligent Machine Learning Algorithms

DTIC Science & Technology

1988-05-01

Machine learning is recognized as a tool for improving the performance of many kinds of systems, yet most machine learning systems themselves are not...directed systems, and with the addition of a knowledge store for organizing and maintaining knowledge to assist learning, a learning machine learning (L...ML) algorithm is possible. The necessary components of L-ML systems are presented along with several case descriptions of existing machine learning systems

A coordination theory for intelligent machines

NASA Technical Reports Server (NTRS)

Wang, Fei-Yue; Saridis, George N.

1990-01-01

A formal model for the coordination level of intelligent machines is established. The framework of the coordination level investigated consists of one dispatcher and a number of coordinators. The model called coordination structure has been used to describe analytically the information structure and information flow for the coordination activities in the coordination level. Specifically, the coordination structure offers a formalism to (1) describe the task translation of the dispatcher and coordinators; (2) represent the individual process within the dispatcher and coordinators; (3) specify the cooperation and connection among the dispatcher and coordinators; (4) perform the process analysis and evaluation; and (5) provide a control and communication mechanism for the real-time monitor or simulation of the coordination process. A simple procedure for the task scheduling in the coordination structure is presented. The task translation is achieved by a stochastic learning algorithm. The learning process is measured with entropy and its convergence is guaranteed. Finally, a case study of the coordination structure with three coordinators and one dispatcher for a simple intelligent manipulator system illustrates the proposed model and the simulation of the task processes performed on the model verifies the soundness of the theory.

The Hooey Machine.

ERIC Educational Resources Information Center

Scarnati, James T.; Tice, Craig J.

1992-01-01

Describes how students can make and use Hooey Machines to learn how mechanical energy can be transferred from one object to another within a system. The Hooey Machine is made using a pencil, eight thumbtacks, one pushpin, tape, scissors, graph paper, and a plastic lid. (PR)

Cooperative Factors, Cooperative Innovation Effect and Innovation Performance for Chinese Firms: an Empirical Study

NASA Astrophysics Data System (ADS)

Xie, Xuemei

Based on a survey to 1206 Chinese firms, this paper empirically explores the factors impacting cooperative innovation effect of firms, and seeks to explore the relationship between cooperative innovation effect (CIE) and innovation performance using the technique of Structural Equation Modeling (SEM). The study finds there are significant positive relationships between basic sustaining factors, factors of government and policy, factors of cooperation mechanism and social network, and cooperative innovation effect. However, the result reveals that factors of government and policy demonstrate little impact on the CIE of firms compared with other factors. It is hoped that the findings can pave the way for future studies in improving cooperative innovation capacity for firms in emerging countries.

Effect of the Machined Surfaces of AISI 4337 Steel to Cutting Conditions on Dry Machining Lathe

NASA Astrophysics Data System (ADS)

Rahim, Robbi; Napid, Suhardi; Hasibuan, Abdurrozzaq; Rahmah Sibuea, Siti; Yusmartato, Y.

2018-04-01

The objective of the research is to obtain a cutting condition which has a good chance of realizing dry machining concept on AISI 4337 steel material by studying surface roughness, microstructure and hardness of machining surface. The data generated from the experiment were then processed and analyzed using the standard Taguchi method L9 (34) orthogonal array. Testing of dry and wet machining used surface test and micro hardness test for each of 27 test specimens. The machining results of the experiments showed that average surface roughness (Raavg) was obtained at optimum cutting conditions when VB 0.1 μm, 0.3 μm and 0.6 μm respectively 1.467 μm, 2.133 μm and 2,800 μm fo r dry machining while which was carried out by wet machining the results obtained were 1,833 μm, 2,667 μm and 3,000 μm. It can be concluded that dry machining provides better surface quality of machinery results than wet machining. Therefore, dry machining is a good choice that may be realized in the manufacturing and automotive industries.

Evaluation of machinability and flexural strength of a novel dental machinable glass-ceramic.

PubMed

Qin, Feng; Zheng, Shucan; Luo, Zufeng; Li, Yong; Guo, Ling; Zhao, Yunfeng; Fu, Qiang

2009-10-01

To evaluate the machinability and flexural strength of a novel dental machinable glass-ceramic (named PMC), and to compare the machinability property with that of Vita Mark II and human enamel. The raw batch materials were selected and mixed. Four groups of novel glass-ceramics were formed at different nucleation temperatures, and were assigned to Group 1, Group 2, Group 3 and Group 4. The machinability of the four groups of novel glass-ceramics, Vita Mark II ceramic and freshly extracted human premolars were compared by means of drilling depth measurement. A three-point bending test was used to measure the flexural strength of the novel glass-ceramics. The crystalline phases of the group with the best machinability were identified by X-ray diffraction. In terms of the drilling depth, Group 2 of the novel glass-ceramics proves to have the largest drilling depth. There was no statistical difference among Group 1, Group 4 and the natural teeth. The drilling depth of Vita MK II was statistically less than that of Group 1, Group 4 and the natural teeth. Group 3 had the least drilling depth. In respect of the flexural strength, Group 2 exhibited the maximum flexural strength; Group 1 was statistically weaker than Group 2; there was no statistical difference between Group 3 and Group 4, and they were the weakest materials. XRD of Group 2 ceramic showed that a new type of dental machinable glass-ceramic containing calcium-mica had been developed by the present study and was named PMC. PMC is promising for application as a dental machinable ceramic due to its good machinability and relatively high strength.

Electrical machines with superconducting windings. Part 3: Homopolar dc machines

NASA Astrophysics Data System (ADS)

Kullman, D.; Henninger, P.

1981-01-01

The losses in rotating liquid metal contacts and the problems in including liquid metals were theoretically and experimentally studied. These machines are shown realiable. For electric ship propulsion, they are a more efficient method of power transmission than mechanical gearboxes. However, weight reduction as compared to mechanical gearboxes can hardly be achieved with machines fully shielded by magnetic iron.

The Cooperative Companion Digest (No. 1-4). Thinking about the Nature and Power of Cooperative Learning.

ERIC Educational Resources Information Center

Daniels, Ed; Gatto, Mike

These digests provide information for educators about the nature of cooperation and how cooperative principles can be used to restructure classrooms, administrative hierarchies, and work relationships of all types. Digest 1 describes the competitive, individual, and cooperative interaction patterns and examines the impact of cooperative learning…

Globalization and human cooperation.

PubMed

Buchan, Nancy R; Grimalda, Gianluca; Wilson, Rick; Brewer, Marilynn; Fatas, Enrique; Foddy, Margaret

2009-03-17

Globalization magnifies the problems that affect all people and that require large-scale human cooperation, for example, the overharvesting of natural resources and human-induced global warming. However, what does globalization imply for the cooperation needed to address such global social dilemmas? Two competing hypotheses are offered. One hypothesis is that globalization prompts reactionary movements that reinforce parochial distinctions among people. Large-scale cooperation then focuses on favoring one's own ethnic, racial, or language group. The alternative hypothesis suggests that globalization strengthens cosmopolitan attitudes by weakening the relevance of ethnicity, locality, or nationhood as sources of identification. In essence, globalization, the increasing interconnectedness of people worldwide, broadens the group boundaries within which individuals perceive they belong. We test these hypotheses by measuring globalization at both the country and individual levels and analyzing the relationship between globalization and individual cooperation with distal others in multilevel sequential cooperation experiments in which players can contribute to individual, local, and/or global accounts. Our samples were drawn from the general populations of the United States, Italy, Russia, Argentina, South Africa, and Iran. We find that as country and individual levels of globalization increase, so too does individual cooperation at the global level vis-à-vis the local level. In essence, "globalized" individuals draw broader group boundaries than others, eschewing parochial motivations in favor of cosmopolitan ones. Globalization may thus be fundamental in shaping contemporary large-scale cooperation and may be a positive force toward the provision of global public goods.

Real-time, interactive, visually updated simulator system for telepresence

NASA Technical Reports Server (NTRS)

Schebor, Frederick S.; Turney, Jerry L.; Marzwell, Neville I.

1991-01-01

Time delays and limited sensory feedback of remote telerobotic systems tend to disorient teleoperators and dramatically decrease the operator's performance. To remove the effects of time delays, key components were designed and developed of a prototype forward simulation subsystem, the Global-Local Environment Telerobotic Simulator (GLETS) that buffers the operator from the remote task. GLETS totally immerses an operator in a real-time, interactive, simulated, visually updated artificial environment of the remote telerobotic site. Using GLETS, the operator will, in effect, enter into a telerobotic virtual reality and can easily form a gestalt of the virtual 'local site' that matches the operator's normal interactions with the remote site. In addition to use in space based telerobotics, GLETS, due to its extendable architecture, can also be used in other teleoperational environments such as toxic material handling, construction, and undersea exploration.

Design Control Systems of Human Machine Interface in the NTVS-2894 Seat Grinder Machine to Increase the Productivity

NASA Astrophysics Data System (ADS)

Ardi, S.; Ardyansyah, D.

2018-02-01

In the Manufacturing of automotive spare parts, increased sales of vehicles is resulted in increased demand for production of engine valve of the customer. To meet customer demand, we carry out improvement and overhaul of the NTVS-2894 seat grinder machine on a machining line. NTVS-2894 seat grinder machine has been decreased machine productivity, the amount of trouble, and the amount of downtime. To overcome these problems on overhaul the NTVS-2984 seat grinder machine include mechanical and programs, is to do the design and manufacture of HMI (Human Machine Interface) GP-4501T program. Because of the time prior to the overhaul, NTVS-2894 seat grinder machine does not have a backup HMI (Human Machine Interface) program. The goal of the design and manufacture in this program is to improve the achievement of production, and allows an operator to operate beside it easier to troubleshoot the NTVS-2894 seat grinder machine thereby reducing downtime on the NTVS-2894 seat grinder machine. The results after the design are HMI program successfully made it back, machine productivity increased by 34.8%, the amount of trouble, and downtime decreased 40% decrease from 3,160 minutes to 1,700 minutes. The implication of our design, it could facilitate the operator in operating machine and the technician easer to maintain and do the troubleshooting the machine problems.

Multiple man-machine interfaces

NASA Technical Reports Server (NTRS)

Stanton, L.; Cook, C. W.

1981-01-01

The multiple man machine interfaces inherent in military pilot training, their social implications, and the issue of possible negative feedback were explored. Modern technology has produced machines which can see, hear, and touch with greater accuracy and precision than human beings. Consequently, the military pilot is more a systems manager, often doing battle against a target he never sees. It is concluded that unquantifiable human activity requires motivation that is not intrinsic in a machine.

Safety Features in Anaesthesia Machine

PubMed Central

Subrahmanyam, M; Mohan, S

2013-01-01

Anaesthesia is one of the few sub-specialties of medicine, which has quickly adapted technology to improve patient safety. This application of technology can be seen in patient monitoring, advances in anaesthesia machines, intubating devices, ultrasound for visualisation of nerves and vessels, etc., Anaesthesia machines have come a long way in the last 100 years, the improvements being driven both by patient safety as well as functionality and economy of use. Incorporation of safety features in anaesthesia machines and ensuring that a proper check of the machine is done before use on a patient ensures patient safety. This review will trace all the present safety features in the machine and their evolution. PMID:24249880

7 CFR 1150.119 - Cooperative association.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 7 Agriculture 9 2010-01-01 2009-01-01 true Cooperative association. 1150.119 Section 1150.119 Agriculture Regulations of the Department of Agriculture (Continued) AGRICULTURAL MARKETING SERVICE (Marketing... Order Definitions § 1150.119 Cooperative association. Cooperative association means any cooperative...

From machine learning to deep learning: progress in machine intelligence for rational drug discovery.

PubMed

Zhang, Lu; Tan, Jianjun; Han, Dan; Zhu, Hao

2017-11-01

Machine intelligence, which is normally presented as artificial intelligence, refers to the intelligence exhibited by computers. In the history of rational drug discovery, various machine intelligence approaches have been applied to guide traditional experiments, which are expensive and time-consuming. Over the past several decades, machine-learning tools, such as quantitative structure-activity relationship (QSAR) modeling, were developed that can identify potential biological active molecules from millions of candidate compounds quickly and cheaply. However, when drug discovery moved into the era of 'big' data, machine learning approaches evolved into deep learning approaches, which are a more powerful and efficient way to deal with the massive amounts of data generated from modern drug discovery approaches. Here, we summarize the history of machine learning and provide insight into recently developed deep learning approaches and their applications in rational drug discovery. We suggest that this evolution of machine intelligence now provides a guide for early-stage drug design and discovery in the current big data era. Copyright © 2017 Elsevier Ltd. All rights reserved.

Machine vision for digital microfluidics

NASA Astrophysics Data System (ADS)

Shin, Yong-Jun; Lee, Jeong-Bong

2010-01-01

Machine vision is widely used in an industrial environment today. It can perform various tasks, such as inspecting and controlling production processes, that may require humanlike intelligence. The importance of imaging technology for biological research or medical diagnosis is greater than ever. For example, fluorescent reporter imaging enables scientists to study the dynamics of gene networks with high spatial and temporal resolution. Such high-throughput imaging is increasingly demanding the use of machine vision for real-time analysis and control. Digital microfluidics is a relatively new technology with expectations of becoming a true lab-on-a-chip platform. Utilizing digital microfluidics, only small amounts of biological samples are required and the experimental procedures can be automatically controlled. There is a strong need for the development of a digital microfluidics system integrated with machine vision for innovative biological research today. In this paper, we show how machine vision can be applied to digital microfluidics by demonstrating two applications: machine vision-based measurement of the kinetics of biomolecular interactions and machine vision-based droplet motion control. It is expected that digital microfluidics-based machine vision system will add intelligence and automation to high-throughput biological imaging in the future.

Monel Machining

NASA Technical Reports Server (NTRS)

1983-01-01

Castle Industries, Inc. is a small machine shop manufacturing replacement plumbing repair parts, such as faucet, tub and ballcock seats. Therese Castley, president of Castle decided to introduce Monel because it offered a chance to improve competitiveness and expand the product line. Before expanding, Castley sought NERAC assistance on Monel technology. NERAC (New England Research Application Center) provided an information package which proved very helpful. The NASA database was included in NERAC's search and yielded a wealth of information on machining Monel.

Artificial muscles driven by the cooperative actuation of electrochemical molecular machines. Persistent discrepancies and challenges

NASA Astrophysics Data System (ADS)

Otero

2017-10-01

Here we review the persisting conceptual discrepancies between different research groups working on artificial muscles based on conducting polymers and other electroactive material. The basic question is if they can be treated as traditional electro-mechanical (physical) actuators driven by electric fields and described by some adaptation of their physical models or if, replicating natural muscles, they are electro-chemo-mechanical actuators driven by electrochemical reaction of the constitutive molecular machines: the polymeric chains. In that case the charge consumed by the reaction will control the volume variation of the muscular material and the motor displacement, following the basic and single Faraday's laws: the charge consumed by the reaction determines the number of exchanged ions and solvent, the film volume variation to lodge/expel them and the amplitude of the movement. Deviations from the linear relationships are due to the osmotic exchange of solvent and to the presence of parallel reactions from the electrolyte, which originate creeping effects. Challenges and limitations are underlined.

Gloved Human-Machine Interface

NASA Technical Reports Server (NTRS)

Adams, Richard (Inventor); Hannaford, Blake (Inventor); Olowin, Aaron (Inventor)

2015-01-01

Certain exemplary embodiments can provide a system, machine, device, manufacture, circuit, composition of matter, and/or user interface adapted for and/or resulting from, and/or a method and/or machine-readable medium comprising machine-implementable instructions for, activities that can comprise and/or relate to: tracking movement of a gloved hand of a human; interpreting a gloved finger movement of the human; and/or in response to interpreting the gloved finger movement, providing feedback to the human.

THE TEACHING MACHINE.

ERIC Educational Resources Information Center

KLEIN, CHARLES; WAYNE, ELLIS

THE ROLE OF THE TEACHING MACHINE IS COMPARED WITH THE ROLE OF THE PROGRAMED TEXTBOOK. THE TEACHING MACHINE IS USED FOR INDIVIDUAL INSTRUCTION, CONTAINS AND PRESENTS PROGRAM CONTENT IN STEPS, PROVIDES A MEANS WHEREBY THE STUDENT MAY RESPOND TO THE PROGRAM, PROVIDES THE STUDENT WITH IMMEDIATE INFORMATION OF SOME KIND CONCERNING HIS RESPONSE THAT CAN…

Machine Translation Project

NASA Technical Reports Server (NTRS)

Bajis, Katie

1993-01-01

The characteristics and capabilities of existing machine translation systems were examined and procurement recommendations were developed. Four systems, SYSTRAN, GLOBALINK, PC TRANSLATOR, and STYLUS, were determined to meet the NASA requirements for a machine translation system. Initially, four language pairs were selected for implementation. These are Russian-English, French-English, German-English, and Japanese-English.

43 CFR 43.620 - Cooperative agreement.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 43 Public Lands: Interior 1 2010-10-01 2010-10-01 false Cooperative agreement. 43.620 Section 43... DRUG-FREE WORKPLACE (FINANCIAL ASSISTANCE) Definitions § 43.620 Cooperative agreement. Cooperative... activity contemplated by the award. The term does not include cooperative research and development...

28 CFR 46.114 - Cooperative research.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 28 Judicial Administration 2 2010-07-01 2010-07-01 false Cooperative research. 46.114 Section 46... Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research projects, each institution is...

28 CFR 46.114 - Cooperative research.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 28 Judicial Administration 2 2011-07-01 2011-07-01 false Cooperative research. 46.114 Section 46... Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research projects, each institution is...

28 CFR 46.114 - Cooperative research.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 28 Judicial Administration 2 2012-07-01 2012-07-01 false Cooperative research. 46.114 Section 46... Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research projects, each institution is...

10 CFR 745.114 - Cooperative research.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 10 Energy 4 2011-01-01 2011-01-01 false Cooperative research. 745.114 Section 745.114 Energy DEPARTMENT OF ENERGY PROTECTION OF HUMAN SUBJECTS § 745.114 Cooperative research. Cooperative research... of cooperative research projects, each institution is responsible for safeguarding the rights and...

10 CFR 745.114 - Cooperative research.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 10 Energy 4 2012-01-01 2012-01-01 false Cooperative research. 745.114 Section 745.114 Energy DEPARTMENT OF ENERGY PROTECTION OF HUMAN SUBJECTS § 745.114 Cooperative research. Cooperative research... of cooperative research projects, each institution is responsible for safeguarding the rights and...

10 CFR 745.114 - Cooperative research.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 10 Energy 4 2013-01-01 2013-01-01 false Cooperative research. 745.114 Section 745.114 Energy DEPARTMENT OF ENERGY PROTECTION OF HUMAN SUBJECTS § 745.114 Cooperative research. Cooperative research... of cooperative research projects, each institution is responsible for safeguarding the rights and...

10 CFR 745.114 - Cooperative research.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 10 Energy 4 2014-01-01 2014-01-01 false Cooperative research. 745.114 Section 745.114 Energy DEPARTMENT OF ENERGY PROTECTION OF HUMAN SUBJECTS § 745.114 Cooperative research. Cooperative research... of cooperative research projects, each institution is responsible for safeguarding the rights and...

28 CFR 46.114 - Cooperative research.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 28 Judicial Administration 2 2014-07-01 2014-07-01 false Cooperative research. 46.114 Section 46... Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research projects, each institution is...

10 CFR 745.114 - Cooperative research.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 10 Energy 4 2010-01-01 2010-01-01 false Cooperative research. 745.114 Section 745.114 Energy DEPARTMENT OF ENERGY PROTECTION OF HUMAN SUBJECTS § 745.114 Cooperative research. Cooperative research... of cooperative research projects, each institution is responsible for safeguarding the rights and...

28 CFR 46.114 - Cooperative research.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 28 Judicial Administration 2 2013-07-01 2013-07-01 false Cooperative research. 46.114 Section 46... Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research projects, each institution is...

[Child protection--cooperation and conflict management].

PubMed

Averbeck, Birgit; Hermans, Björn Enno

2010-01-01

When people have to deal with conflicts or opposing views they often refer to the term cooperation. But after lengthy discussions the question may be raised if it is more useful not to cooperate. The authors of this article analyse why cooperation is often called for but frequently fails. In this article key prerequisites for successful cooperation are described before the authors present their practical method of 'sYpport'. 'SYpport' mostly refers to trans-institutional cooperation and focuses on the required attitude of those involved. The authors' simple but crucial conclusion is that cooperation requires faith in others.

Globalization and human cooperation

PubMed Central

Buchan, Nancy R.; Grimalda, Gianluca; Wilson, Rick; Brewer, Marilynn; Fatas, Enrique; Foddy, Margaret

2009-01-01

Globalization magnifies the problems that affect all people and that require large-scale human cooperation, for example, the overharvesting of natural resources and human-induced global warming. However, what does globalization imply for the cooperation needed to address such global social dilemmas? Two competing hypotheses are offered. One hypothesis is that globalization prompts reactionary movements that reinforce parochial distinctions among people. Large-scale cooperation then focuses on favoring one's own ethnic, racial, or language group. The alternative hypothesis suggests that globalization strengthens cosmopolitan attitudes by weakening the relevance of ethnicity, locality, or nationhood as sources of identification. In essence, globalization, the increasing interconnectedness of people worldwide, broadens the group boundaries within which individuals perceive they belong. We test these hypotheses by measuring globalization at both the country and individual levels and analyzing the relationship between globalization and individual cooperation with distal others in multilevel sequential cooperation experiments in which players can contribute to individual, local, and/or global accounts. Our samples were drawn from the general populations of the United States, Italy, Russia, Argentina, South Africa, and Iran. We find that as country and individual levels of globalization increase, so too does individual cooperation at the global level vis-à-vis the local level. In essence, “globalized” individuals draw broader group boundaries than others, eschewing parochial motivations in favor of cosmopolitan ones. Globalization may thus be fundamental in shaping contemporary large-scale cooperation and may be a positive force toward the provision of global public goods. PMID:19255433

Cooperative learning: An inside story

NASA Astrophysics Data System (ADS)

Andre, Kathleen M.

1999-09-01

Cooperative learning is one innovative technique used in an engineering physics course at Ohio State. Student opinions on the cooperative element were solicited near the end of the course. These comments provide useful insight into why students believe cooperative learning is helpful in learning physics.

OptiCentric lathe centering machine

NASA Astrophysics Data System (ADS)

Buß, C.; Heinisch, J.

2013-09-01

High precision optics depend on precisely aligned lenses. The shift and tilt of individual lenses as well as the air gap between elements require accuracies in the single micron regime. These accuracies are hard to meet with traditional assembly methods. Instead, lathe centering can be used to machine the mount with respect to the optical axis. Using a diamond turning process, all relevant errors of single mounted lenses can be corrected in one post-machining step. Building on the OptiCentric® and OptiSurf® measurement systems, Trioptics has developed their first lathe centering machines. The machine and specific design elements of the setup will be shown. For example, the machine can be used to turn optics for i-line steppers with highest precision.

Machinability of Stellite 6 hardfacing

NASA Astrophysics Data System (ADS)

Benghersallah, M.; Boulanouar, L.; Le Coz, G.; Devillez, A.; Dudzinski, D.

2010-06-01

This paper reports some experimental findings concerning the machinability at high cutting speed of nickel-base weld-deposited hardfacings for the manufacture of hot tooling. The forging work involves extreme impacts, forces, stresses and temperatures. Thus, mould dies must be extremely resistant. The aim of the project is to create a rapid prototyping process answering to forging conditions integrating a Stellite 6 hardfacing deposed PTA process. This study talks about the dry machining of the hardfacing, using a two tips machining tool and a high speed milling machine equipped by a power consumption recorder Wattpilote. The aim is to show the machinability of the hardfacing, measuring the power and the tip wear by optical microscope and white light interferometer, using different strategies and cutting conditions.

36 CFR 1212.620 - Cooperative agreement.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 36 Parks, Forests, and Public Property 3 2010-07-01 2010-07-01 false Cooperative agreement. 1212... § 1212.620 Cooperative agreement. Cooperative agreement means an award of financial assistance that... include cooperative research and development agreements as defined in 15 U.S.C. 3710a. ...

32 CFR 219.114 - Cooperative research.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 32 National Defense 2 2012-07-01 2012-07-01 false Cooperative research. 219.114 Section 219.114...) MISCELLANEOUS PROTECTION OF HUMAN SUBJECTS § 219.114 Cooperative research. Cooperative research projects are... cooperative research projects, each institution is responsible for safeguarding the rights and welfare of...

14 CFR 1230.114 - Cooperative research.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 5 2013-01-01 2013-01-01 false Cooperative research. 1230.114 Section 1230... § 1230.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research projects, each...

15 CFR 27.114 - Cooperative research.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 15 Commerce and Foreign Trade 1 2010-01-01 2010-01-01 false Cooperative research. 27.114 Section... § 27.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research projects, each...

14 CFR 1230.114 - Cooperative research.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 5 2011-01-01 2010-01-01 true Cooperative research. 1230.114 Section 1230... § 1230.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research projects, each...

15 CFR 27.114 - Cooperative research.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 15 Commerce and Foreign Trade 1 2012-01-01 2012-01-01 false Cooperative research. 27.114 Section... § 27.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research projects, each...

16 CFR 1028.114 - Cooperative research.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 16 Commercial Practices 2 2010-01-01 2010-01-01 false Cooperative research. 1028.114 Section 1028... § 1028.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research projects, each...

38 CFR 16.114 - Cooperative research.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 38 Pensions, Bonuses, and Veterans' Relief 1 2014-07-01 2014-07-01 false Cooperative research. 16... OF HUMAN SUBJECTS § 16.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research...

14 CFR 1230.114 - Cooperative research.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 5 2010-01-01 2010-01-01 false Cooperative research. 1230.114 Section 1230... § 1230.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research projects, each...

16 CFR 1028.114 - Cooperative research.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 16 Commercial Practices 2 2014-01-01 2014-01-01 false Cooperative research. 1028.114 Section 1028... § 1028.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research projects, each...

16 CFR 1028.114 - Cooperative research.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 16 Commercial Practices 2 2011-01-01 2011-01-01 false Cooperative research. 1028.114 Section 1028... § 1028.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research projects, each...

14 CFR 1230.114 - Cooperative research.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 5 2012-01-01 2012-01-01 false Cooperative research. 1230.114 Section 1230... § 1230.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research projects, each...

32 CFR 219.114 - Cooperative research.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 32 National Defense 2 2013-07-01 2013-07-01 false Cooperative research. 219.114 Section 219.114...) MISCELLANEOUS PROTECTION OF HUMAN SUBJECTS § 219.114 Cooperative research. Cooperative research projects are... cooperative research projects, each institution is responsible for safeguarding the rights and welfare of...

15 CFR 27.114 - Cooperative research.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 15 Commerce and Foreign Trade 1 2013-01-01 2013-01-01 false Cooperative research. 27.114 Section... § 27.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research projects, each...

38 CFR 16.114 - Cooperative research.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 38 Pensions, Bonuses, and Veterans' Relief 1 2013-07-01 2013-07-01 false Cooperative research. 16... OF HUMAN SUBJECTS § 16.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research...

32 CFR 219.114 - Cooperative research.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 32 National Defense 2 2010-07-01 2010-07-01 false Cooperative research. 219.114 Section 219.114...) MISCELLANEOUS PROTECTION OF HUMAN SUBJECTS § 219.114 Cooperative research. Cooperative research projects are... cooperative research projects, each institution is responsible for safeguarding the rights and welfare of...

15 CFR 27.114 - Cooperative research.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 15 Commerce and Foreign Trade 1 2011-01-01 2011-01-01 false Cooperative research. 27.114 Section... § 27.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research projects, each...

38 CFR 16.114 - Cooperative research.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 38 Pensions, Bonuses, and Veterans' Relief 1 2012-07-01 2012-07-01 false Cooperative research. 16... OF HUMAN SUBJECTS § 16.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research...

38 CFR 16.114 - Cooperative research.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 38 Pensions, Bonuses, and Veterans' Relief 1 2010-07-01 2010-07-01 false Cooperative research. 16... OF HUMAN SUBJECTS § 16.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research...

38 CFR 16.114 - Cooperative research.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 38 Pensions, Bonuses, and Veterans' Relief 1 2011-07-01 2011-07-01 false Cooperative research. 16... OF HUMAN SUBJECTS § 16.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research...

15 CFR 27.114 - Cooperative research.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 15 Commerce and Foreign Trade 1 2014-01-01 2014-01-01 false Cooperative research. 27.114 Section... § 27.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research projects, each...

16 CFR 1028.114 - Cooperative research.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 16 Commercial Practices 2 2012-01-01 2012-01-01 false Cooperative research. 1028.114 Section 1028... § 1028.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research projects, each...

32 CFR 219.114 - Cooperative research.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 32 National Defense 2 2014-07-01 2014-07-01 false Cooperative research. 219.114 Section 219.114...) MISCELLANEOUS PROTECTION OF HUMAN SUBJECTS § 219.114 Cooperative research. Cooperative research projects are... cooperative research projects, each institution is responsible for safeguarding the rights and welfare of...

32 CFR 219.114 - Cooperative research.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 32 National Defense 2 2011-07-01 2011-07-01 false Cooperative research. 219.114 Section 219.114...) MISCELLANEOUS PROTECTION OF HUMAN SUBJECTS § 219.114 Cooperative research. Cooperative research projects are... cooperative research projects, each institution is responsible for safeguarding the rights and welfare of...

21 CFR 1405.620 - Cooperative agreement.

Code of Federal Regulations, 2012 CFR

2012-04-01

... 21 Food and Drugs 9 2012-04-01 2012-04-01 false Cooperative agreement. 1405.620 Section 1405.620... WORKPLACE (FINANCIAL ASSISTANCE) Definitions § 1405.620 Cooperative agreement. Cooperative agreement means... contemplated by the award. The term does not include cooperative research and development agreements as defined...

36 CFR 1212.620 - Cooperative agreement.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 36 Parks, Forests, and Public Property 3 2012-07-01 2012-07-01 false Cooperative agreement. 1212... § 1212.620 Cooperative agreement. Cooperative agreement means an award of financial assistance that... include cooperative research and development agreements as defined in 15 U.S.C. 3710a. ...

28 CFR 83.620 - Cooperative agreement.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 28 Judicial Administration 2 2010-07-01 2010-07-01 false Cooperative agreement. 83.620 Section 83...-FREE WORKPLACE (GRANTS) Definitions § 83.620 Cooperative agreement. Cooperative agreement means an... by the award. The term does not include cooperative research and development agreements as defined in...

7 CFR 1415.17 - Cooperative agreements.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 7 Agriculture 10 2011-01-01 2011-01-01 false Cooperative agreements. 1415.17 Section 1415.17... Cooperative agreements. (a) NRCS may enter into cooperative agreements which establish terms and conditions... cooperative agreement with those eligible entities selected for funding. Once a proposal is selected by the...

21 CFR 1405.620 - Cooperative agreement.

Code of Federal Regulations, 2011 CFR

2011-04-01

... 21 Food and Drugs 9 2011-04-01 2011-04-01 false Cooperative agreement. 1405.620 Section 1405.620... WORKPLACE (FINANCIAL ASSISTANCE) Definitions § 1405.620 Cooperative agreement. Cooperative agreement means... contemplated by the award. The term does not include cooperative research and development agreements as defined...

7 CFR 1415.17 - Cooperative agreements.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 7 Agriculture 10 2012-01-01 2012-01-01 false Cooperative agreements. 1415.17 Section 1415.17... Cooperative agreements. (a) NRCS may enter into cooperative agreements which establish terms and conditions... cooperative agreement with those eligible entities selected for funding. Once a proposal is selected by the...

7 CFR 3021.620 - Cooperative agreement.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 7 Agriculture 15 2011-01-01 2011-01-01 false Cooperative agreement. 3021.620 Section 3021.620...) Definitions § 3021.620 Cooperative agreement. Cooperative agreement means an award of financial assistance... not include cooperative research and development agreements as defined in 15 U.S.C. 3710a. ...

22 CFR 312.620 - Cooperative agreement.

Code of Federal Regulations, 2011 CFR

2011-04-01

... 22 Foreign Relations 2 2011-04-01 2009-04-01 true Cooperative agreement. 312.620 Section 312.620...) Definitions § 312.620 Cooperative agreement. Cooperative agreement means an award of financial assistance that... cooperative research and development agreements as defined in 15 U.S.C. 3710a. ...

21 CFR 1405.620 - Cooperative agreement.

Code of Federal Regulations, 2013 CFR

2013-04-01

... 21 Food and Drugs 9 2013-04-01 2013-04-01 false Cooperative agreement. 1405.620 Section 1405.620... WORKPLACE (FINANCIAL ASSISTANCE) Definitions § 1405.620 Cooperative agreement. Cooperative agreement means... contemplated by the award. The term does not include cooperative research and development agreements as defined...

22 CFR 312.620 - Cooperative agreement.

Code of Federal Regulations, 2012 CFR

2012-04-01

... 22 Foreign Relations 2 2012-04-01 2009-04-01 true Cooperative agreement. 312.620 Section 312.620...) Definitions § 312.620 Cooperative agreement. Cooperative agreement means an award of financial assistance that... cooperative research and development agreements as defined in 15 U.S.C. 3710a. ...

36 CFR 1212.620 - Cooperative agreement.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 36 Parks, Forests, and Public Property 3 2011-07-01 2011-07-01 false Cooperative agreement. 1212... § 1212.620 Cooperative agreement. Cooperative agreement means an award of financial assistance that... include cooperative research and development agreements as defined in 15 U.S.C. 3710a. ...

Neural correlates of social cooperation and non-cooperation as a function of psychopathy.

PubMed

Rilling, James K; Glenn, Andrea L; Jairam, Meeta R; Pagnoni, Giuseppe; Goldsmith, David R; Elfenbein, Hanie A; Lilienfeld, Scott O

2007-06-01

Psychopathy is a disorder involving a failure to experience many emotions that are necessary for appropriate social behavior. In this study, we probed the behavioral, emotional, and neural correlates of psychopathic traits within the context of a dyadic social interaction. Thirty subjects were imaged with functional magnetic resonance imaging while playing an iterated Prisoner's Dilemma game with human confederates who were outside the scanner. Subjects also completed two self-report psychopathy questionnaires. Subjects scoring higher on psychopathy, particularly males, defected more often and were less likely to continue cooperating after establishing mutual cooperation with a partner. Further, they experienced more outcomes in which their cooperation was not reciprocated (cooperate-defect outcome). After such outcomes, subjects scoring high in psychopathy showed less amygdala activation, suggesting weaker aversive conditioning to those outcomes. Compared with low-psychopathy subjects, subjects higher in psychopathy also showed weaker activation within orbitofrontal cortex when choosing to cooperate and showed weaker activation within dorsolateral prefrontal and rostral anterior cingulate cortex when choosing to defect. These findings suggest that whereas subjects scoring low on psychopathy have emotional biases toward cooperation that can only be overcome with effortful cognitive control, subjects scoring high on psychopathy have an opposing bias toward defection that likewise can only be overcome with cognitive effort.

'Shared-rhythm cooperation' in cooperative team meetings in acute psychiatric inpatient care.

PubMed

Vuokila-Oikkonen, P; Janhonen, S; Vaisanen, L

2004-04-01

The cooperative team meeting is one of the most important interventions in psychiatric care. The purpose of this study was to describe the participation of patients and significant others in cooperative team meetings in terms of unspoken stories. The narrative approach focused on storytelling. The data consisted of videotaped cooperative team meetings (n = 11) in two acute closed psychiatric wards. The QRS NVivo computer program and the Holistic Content Reading method were used. During the process of analysis, the spoken and unspoken stories were analysed at the same time. According to the results, while there was some evident shared-rhythm cooperation (the topics of discussion were shared and the participants had eye contact), there were many instances where the interaction was controlled and defined by health care professionals. This lack of shared rhythm in cooperation, as defined in terms of storytelling, was manifested as monologue and the following practices: the health care professionals controlled the storytelling by sticking to their opinions, by giving the floor or by pointing with a finger and visually scanning the participants, by interrupting the speaker or by allowing the other experts to sit passively. Implications for mental health nursing practice are discussed.

34 CFR 395.32 - Collection and distribution of vending machine income from vending machines on Federal property.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 34 Education 2 2011-07-01 2010-07-01 true Collection and distribution of vending machine income from vending machines on Federal property. 395.32 Section 395.32 Education Regulations of the Offices... Management § 395.32 Collection and distribution of vending machine income from vending machines on Federal...

34 CFR 395.32 - Collection and distribution of vending machine income from vending machines on Federal property.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 34 Education 2 2012-07-01 2012-07-01 false Collection and distribution of vending machine income from vending machines on Federal property. 395.32 Section 395.32 Education Regulations of the Offices... Management § 395.32 Collection and distribution of vending machine income from vending machines on Federal...

34 CFR 395.32 - Collection and distribution of vending machine income from vending machines on Federal property.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 34 Education 2 2014-07-01 2013-07-01 true Collection and distribution of vending machine income from vending machines on Federal property. 395.32 Section 395.32 Education Regulations of the Offices... Management § 395.32 Collection and distribution of vending machine income from vending machines on Federal...

34 CFR 395.32 - Collection and distribution of vending machine income from vending machines on Federal property.

Code of Federal Regulations, 2013 CFR

2013-07-01

... 34 Education 2 2013-07-01 2013-07-01 false Collection and distribution of vending machine income from vending machines on Federal property. 395.32 Section 395.32 Education Regulations of the Offices... Management § 395.32 Collection and distribution of vending machine income from vending machines on Federal...

Machine Shop Grinding Machines.

ERIC Educational Resources Information Center

Dunn, James

This curriculum manual is one in a series of machine shop curriculum manuals intended for use in full-time secondary and postsecondary classes, as well as part-time adult classes. The curriculum can also be adapted to open-entry, open-exit programs. Its purpose is to equip students with basic knowledge and skills that will enable them to enter the…

``Diagonalization'' of a compound Atwood machine

NASA Astrophysics Data System (ADS)

Crawford, Frank S.

1987-06-01

We consider a simple Atwood machine consisting of a massless frictionless pulley no. 0 supporting two masses m1 and m2 connected by a massless flexible string. We show that the string that supports massless pulley no. 0 ``thinks'' it is simply supporting a mass m0, with m0=4m1m2/(m1+m2). This result, together with Einstein's equivalence principle, allows us to solve easily those compound Atwood machines created by replacing one or both of m1 and m2 in machine no. 0 by an Atwood machine. We may then replacing the masses in these new machines by machines, etc. The complete solution can be written down immediately, without solving simultaneous equations. Finally we give the effective mass of an Atwood machine whose pulley has nonzero mass and moment of inertia.

Cooperative Learning: Developments in Research

ERIC Educational Resources Information Center

Gillies, Robyn M.

2014-01-01

Cooperative learning is widely recognized as a pedagogical practice that promotes socialization and learning among students from kindergarten through to college level and across different subject areas. Cooperative learning involves students working together to achieve common goals or complete group tasks. Interest in cooperative learning has…

Enlightening Advantages of Cooperative Learning

ERIC Educational Resources Information Center

Faryadi, Qais

2007-01-01

This appraisal discusses the notion that cooperative learning enhances learners' emotional and social performance. It also observes the perception that cooperative learning dramatically improves students' academic accomplishment. This review also examines the definition of cooperative learning and attempts to define it through the lens of renowned…

An Odyssey into Cooperative Learning.

ERIC Educational Resources Information Center

Lemke, Thomas L.; Basile, Carole

1997-01-01

An experiment using cooperative learning in a introductory pharmacy course in medicinal chemistry revealed general acceptance of the cooperative learning approach by students, and some perceived advantages for both students and teachers. Although quantitative evidence supporting superiority of the cooperative learning approach was not found,…

Fifty Views of Cooperative Education.

ERIC Educational Resources Information Center

Hunt, Donald C.

A series of opinions on many facets of the administration of cooperative education programming is presented. Part One reviews the philosophy of cooperative education including Lawrence Canjar's "convert" speech, a comparison of experiential and cooperative education, and discussions of parallel programs. In Part Two employers discuss cooperative…

Anaesthesia machine: checklist, hazards, scavenging.

PubMed

Goneppanavar, Umesh; Prabhu, Manjunath

2013-09-01

From a simple pneumatic device of the early 20(th) century, the anaesthesia machine has evolved to incorporate various mechanical, electrical and electronic components to be more appropriately called anaesthesia workstation. Modern machines have overcome many drawbacks associated with the older machines. However, addition of several mechanical, electronic and electric components has contributed to recurrence of some of the older problems such as leak or obstruction attributable to newer gadgets and development of newer problems. No single checklist can satisfactorily test the integrity and safety of all existing anaesthesia machines due to their complex nature as well as variations in design among manufacturers. Human factors have contributed to greater complications than machine faults. Therefore, better understanding of the basics of anaesthesia machine and checking each component of the machine for proper functioning prior to use is essential to minimise these hazards. Clear documentation of regular and appropriate servicing of the anaesthesia machine, its components and their satisfactory functioning following servicing and repair is also equally important. Trace anaesthetic gases polluting the theatre atmosphere can have several adverse effects on the health of theatre personnel. Therefore, safe disposal of these gases away from the workplace with efficiently functioning scavenging system is necessary. Other ways of minimising atmospheric pollution such as gas delivery equipment with negligible leaks, low flow anaesthesia, minimal leak around the airway equipment (facemask, tracheal tube, laryngeal mask airway, etc.) more than 15 air changes/hour and total intravenous anaesthesia should also be considered.

Anaesthesia Machine: Checklist, Hazards, Scavenging

PubMed Central

Goneppanavar, Umesh; Prabhu, Manjunath

2013-01-01

From a simple pneumatic device of the early 20th century, the anaesthesia machine has evolved to incorporate various mechanical, electrical and electronic components to be more appropriately called anaesthesia workstation. Modern machines have overcome many drawbacks associated with the older machines. However, addition of several mechanical, electronic and electric components has contributed to recurrence of some of the older problems such as leak or obstruction attributable to newer gadgets and development of newer problems. No single checklist can satisfactorily test the integrity and safety of all existing anaesthesia machines due to their complex nature as well as variations in design among manufacturers. Human factors have contributed to greater complications than machine faults. Therefore, better understanding of the basics of anaesthesia machine and checking each component of the machine for proper functioning prior to use is essential to minimise these hazards. Clear documentation of regular and appropriate servicing of the anaesthesia machine, its components and their satisfactory functioning following servicing and repair is also equally important. Trace anaesthetic gases polluting the theatre atmosphere can have several adverse effects on the health of theatre personnel. Therefore, safe disposal of these gases away from the workplace with efficiently functioning scavenging system is necessary. Other ways of minimising atmospheric pollution such as gas delivery equipment with negligible leaks, low flow anaesthesia, minimal leak around the airway equipment (facemask, tracheal tube, laryngeal mask airway, etc.) more than 15 air changes/hour and total intravenous anaesthesia should also be considered. PMID:24249887

Reciprocity Outperforms Conformity to Promote Cooperation.

PubMed

Romano, Angelo; Balliet, Daniel

2017-10-01

Evolutionary psychologists have proposed two processes that could give rise to the pervasiveness of human cooperation observed among individuals who are not genetically related: reciprocity and conformity. We tested whether reciprocity outperformed conformity in promoting cooperation, especially when these psychological processes would promote a different cooperative or noncooperative response. To do so, across three studies, we observed participants' cooperation with a partner after learning (a) that their partner had behaved cooperatively (or not) on several previous trials and (b) that their group members had behaved cooperatively (or not) on several previous trials with that same partner. Although we found that people both reciprocate and conform, reciprocity has a stronger influence on cooperation. Moreover, we found that conformity can be partly explained by a concern about one's reputation-a finding that supports a reciprocity framework.

49 CFR 32.620 - Cooperative agreement.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 49 Transportation 1 2010-10-01 2010-10-01 false Cooperative agreement. 32.620 Section 32.620... (FINANCIAL ASSISTANCE) Definitions § 32.620 Cooperative agreement. Cooperative agreement means an award of... term does not include cooperative research and development agreements as defined in 15 U.S.C. 3710a. ...

7 CFR 1491.20 - Cooperative agreements.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 7 Agriculture 10 2010-01-01 2010-01-01 false Cooperative agreements. 1491.20 Section 1491.20... Cooperative Agreements and Conservation Easement Deeds § 1491.20 Cooperative agreements. (a) NRCS, on behalf of CCC, shall enter into a cooperative agreement with those entities selected for funding. Once a...

29 CFR 94.620 - Cooperative agreement.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 29 Labor 1 2010-07-01 2010-07-01 true Cooperative agreement. 94.620 Section 94.620 Labor Office of...) Definitions § 94.620 Cooperative agreement. Cooperative agreement means an award of financial assistance that... cooperative research and development agreements as defined in 15 U.S.C. 3710a. ...

7 CFR 1425.19 - Member cooperatives.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 7 Agriculture 10 2010-01-01 2010-01-01 false Member cooperatives. 1425.19 Section 1425.19... OF AGRICULTURE LOANS, PURCHASES, AND OTHER OPERATIONS COOPERATIVE MARKETING ASSOCIATIONS § 1425.19 Member cooperatives. A CMA may obtain loans or LDP's on behalf of a member cooperative when the member...

45 CFR 690.114 - Cooperative research.

Code of Federal Regulations, 2014 CFR

2014-10-01

... 45 Public Welfare 3 2014-10-01 2014-10-01 false Cooperative research. 690.114 Section 690.114... OF HUMAN SUBJECTS § 690.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research...

45 CFR 690.114 - Cooperative research.

Code of Federal Regulations, 2013 CFR

2013-10-01

... 45 Public Welfare 3 2013-10-01 2013-10-01 false Cooperative research. 690.114 Section 690.114... OF HUMAN SUBJECTS § 690.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research...

45 CFR 690.114 - Cooperative research.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 45 Public Welfare 3 2010-10-01 2010-10-01 false Cooperative research. 690.114 Section 690.114... OF HUMAN SUBJECTS § 690.114 Cooperative research. Cooperative research projects are those projects covered by this policy which involve more than one institution. In the conduct of cooperative research...