Analysis, Evaluation and Improvement of Sequential Single-Item Auctions for the Cooperative Real-Time Allocation of Tasks

DTIC Science & Technology

2013-03-30

Abstract: We study multi-robot routing problems (MR- LDR ) where a team of robots has to visit a set of given targets with linear decreasing rewards over...time, such as required for the delivery of goods to rescue sites after disasters. The objective of MR- LDR is to find an assignment of targets to...We develop a mixed integer program that solves MR- LDR optimally with a flow-type formulation and can be solved faster than the standard TSP-type

Man-Robot Symbiosis: A Framework For Cooperative Intelligence And Control

NASA Astrophysics Data System (ADS)

Parker, Lynne E.; Pin, Francois G.

1988-10-01

The man-robot symbiosis concept has the fundamental objective of bridging the gap between fully human-controlled and fully autonomous systems to achieve true man-robot cooperative control and intelligence. Such a system would allow improved speed, accuracy, and efficiency of task execution, while retaining the man in the loop for innovative reasoning and decision-making. The symbiont would have capabilities for supervised and unsupervised learning, allowing an increase of expertise in a wide task domain. This paper describes a robotic system architecture facilitating the symbiotic integration of teleoperative and automated modes of task execution. The architecture reflects a unique blend of many disciplines of artificial intelligence into a working system, including job or mission planning, dynamic task allocation, man-robot communication, automated monitoring, and machine learning. These disciplines are embodied in five major components of the symbiotic framework: the Job Planner, the Dynamic Task Allocator, the Presenter/Interpreter, the Automated Monitor, and the Learning System.

Human-Automation Allocations for Current Robotic Space Operations

NASA Technical Reports Server (NTRS)

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

2018-01-01

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

Multi Robot Path Planning for Budgeted Active Perception with Self-Organising Maps

DTIC Science & Technology

2016-10-04

Multi- Robot Path Planning for Budgeted Active Perception with Self-Organising Maps Graeme Best1, Jan Faigl2 and Robert Fitch1 Abstract— We propose a...optimise paths for a multi- robot team that aims to maximally observe a set of nodes in the environment. The selected nodes are observed by visiting...regions, each node has an observation reward, and the robots are constrained by travel budgets. The SOM algorithm jointly selects and allocates nodes

Advantages of Task-Specific Multi-Objective Optimisation in Evolutionary Robotics.

PubMed

Trianni, Vito; López-Ibáñez, Manuel

2015-01-01

The application of multi-objective optimisation to evolutionary robotics is receiving increasing attention. A survey of the literature reveals the different possibilities it offers to improve the automatic design of efficient and adaptive robotic systems, and points to the successful demonstrations available for both task-specific and task-agnostic approaches (i.e., with or without reference to the specific design problem to be tackled). However, the advantages of multi-objective approaches over single-objective ones have not been clearly spelled out and experimentally demonstrated. This paper fills this gap for task-specific approaches: starting from well-known results in multi-objective optimisation, we discuss how to tackle commonly recognised problems in evolutionary robotics. In particular, we show that multi-objective optimisation (i) allows evolving a more varied set of behaviours by exploring multiple trade-offs of the objectives to optimise, (ii) supports the evolution of the desired behaviour through the introduction of objectives as proxies, (iii) avoids the premature convergence to local optima possibly introduced by multi-component fitness functions, and (iv) solves the bootstrap problem exploiting ancillary objectives to guide evolution in the early phases. We present an experimental demonstration of these benefits in three different case studies: maze navigation in a single robot domain, flocking in a swarm robotics context, and a strictly collaborative task in collective robotics.

Advantages of Task-Specific Multi-Objective Optimisation in Evolutionary Robotics

PubMed Central

Trianni, Vito; López-Ibáñez, Manuel

2015-01-01

The application of multi-objective optimisation to evolutionary robotics is receiving increasing attention. A survey of the literature reveals the different possibilities it offers to improve the automatic design of efficient and adaptive robotic systems, and points to the successful demonstrations available for both task-specific and task-agnostic approaches (i.e., with or without reference to the specific design problem to be tackled). However, the advantages of multi-objective approaches over single-objective ones have not been clearly spelled out and experimentally demonstrated. This paper fills this gap for task-specific approaches: starting from well-known results in multi-objective optimisation, we discuss how to tackle commonly recognised problems in evolutionary robotics. In particular, we show that multi-objective optimisation (i) allows evolving a more varied set of behaviours by exploring multiple trade-offs of the objectives to optimise, (ii) supports the evolution of the desired behaviour through the introduction of objectives as proxies, (iii) avoids the premature convergence to local optima possibly introduced by multi-component fitness functions, and (iv) solves the bootstrap problem exploiting ancillary objectives to guide evolution in the early phases. We present an experimental demonstration of these benefits in three different case studies: maze navigation in a single robot domain, flocking in a swarm robotics context, and a strictly collaborative task in collective robotics. PMID:26295151

Trust-based Task Assignment in Military Tactical Networks

DTIC Science & Technology

2012-06-01

Decentralized   Auctions  for  Robust   Task   Allocation ,“  IEEE Trans. on Robotics, vol. 25, no. 4, pp. 912‐926, Aug. 2009.  [10] B.B. Choudhury, B.B. Biswal, and D...Choi et al. [9]  and Choudhury et al. [10] investigated market‐ based   task   allocation  algorithms for multi‐robot systems. Choi et  al. [9] proposed a... consensus ‐ based  bundle algorithm for rapid conflict‐free matching between  tasks  and robots.  Choudhury et al. [10] conducted an empirical study on a

Behavior-based multi-robot collaboration for autonomous construction tasks

NASA Technical Reports Server (NTRS)

Stroupe, Ashley; Huntsberger, Terry; Okon, Avi; Aghazarian, Hrand; Robinson, Matthew

2005-01-01

The Robot Construction Crew (RCC) is a heterogeneous multi-robot system for autonomous construction of a structure through assembly of Long components. The two robot team demonstrates component placement into an existing structure in a realistic environment. The task requires component acquisition, cooperative transport, and cooperative precision manipulation. A behavior-based architecture provides adaptability. The RCC approach minimizes computation, power, communication, and sensing for applicability to space-related construction efforts, but the techniques are applicable to terrestrial construction tasks.

Robotic technology results in faster and more robust surgical skill acquisition than traditional laparoscopy.

PubMed

Moore, Lee J; Wilson, Mark R; Waine, Elizabeth; Masters, Rich S W; McGrath, John S; Vine, Samuel J

2015-03-01

Technical surgical skills are said to be acquired quicker on a robotic rather than laparoscopic platform. However, research examining this proposition is scarce. Thus, this study aimed to compare the performance and learning curves of novices acquiring skills using a robotic or laparoscopic system, and to examine if any learning advantages were maintained over time and transferred to more difficult and stressful tasks. Forty novice participants were randomly assigned to either a robotic- or laparoscopic-trained group. Following one baseline trial on a ball pick-and-drop task, participants performed 50 learning trials. Participants then completed an immediate retention trial and a transfer trial on a two-instrument rope-threading task. One month later, participants performed a delayed retention trial and a stressful multi-tasking trial. The results revealed that the robotic-trained group completed the ball pick-and-drop task more quickly and accurately than the laparoscopic-trained group across baseline, immediate retention, and delayed retention trials. Furthermore, the robotic-trained group displayed a shorter learning curve for accuracy. The robotic-trained group also performed the more complex rope-threading and stressful multi-tasking transfer trials better. Finally, in the multi-tasking trial, the robotic-trained group made fewer tone counting errors. The results highlight the benefits of using robotic technology for the acquisition of technical surgical skills.

Development and human factors analysis of an augmented reality interface for multi-robot tele-operation and control

NASA Astrophysics Data System (ADS)

Lee, Sam; Lucas, Nathan P.; Ellis, R. Darin; Pandya, Abhilash

2012-06-01

This paper presents a seamlessly controlled human multi-robot system comprised of ground and aerial robots of semiautonomous nature for source localization tasks. The system combines augmented reality interfaces capabilities with human supervisor's ability to control multiple robots. The role of this human multi-robot interface is to allow an operator to control groups of heterogeneous robots in real time in a collaborative manner. It used advanced path planning algorithms to ensure obstacles are avoided and that the operators are free for higher-level tasks. Each robot knows the environment and obstacles and can automatically generate a collision-free path to any user-selected target. It displayed sensor information from each individual robot directly on the robot in the video view. In addition, a sensor data fused AR view is displayed which helped the users pin point source information or help the operator with the goals of the mission. The paper studies a preliminary Human Factors evaluation of this system in which several interface conditions are tested for source detection tasks. Results show that the novel Augmented Reality multi-robot control (Point-and-Go and Path Planning) reduced mission completion times compared to the traditional joystick control for target detection missions. Usability tests and operator workload analysis are also investigated.

Task-level robot programming: Integral part of evolution from teleoperation to autonomy

NASA Technical Reports Server (NTRS)

Reynolds, James C.

1987-01-01

An explanation is presented of task-level robot programming and of how it differs from the usual interpretation of task planning for robotics. Most importantly, it is argued that the physical and mathematical basis of task-level robot programming provides inherently greater reliability than efforts to apply better known concepts from artificial intelligence (AI) to autonomous robotics. Finally, an architecture is presented that allows the integration of task-level robot programming within an evolutionary, redundant, and multi-modal framework that spans teleoperation to autonomy.

Operator Objective Function Guidance for a Real-Time Unmanned Vehicle Scheduling Algorithm

DTIC Science & Technology

2012-12-01

Consensus - Based Decentralized Auctions for Robust Task Allocation ,” IEEE Transactions on Robotics and Automation, Vol. 25, No. 4, No. 4, 2009, pp. 912...planning for the fleet. The decentralized task planner used in OPS-USERS is the consensus - based bundle algorithm (CBBA), a decentralized , polynomial...and surveillance (OPS-USERS), which leverages decentralized algorithms for vehicle routing and task allocation . This

Behavior-Based Multi-Robot Collaboration for Autonomous Construction Tasks

NASA Technical Reports Server (NTRS)

Stroupe, Ashley; Huntsberger, Terry; Okon, Avi; Aghazarian, Hrand; Robinson, Matthew

2005-01-01

We present a heterogeneous multi-robot system for autonomous construction of a structure through assembly of long components. Placement of a component within an existing structure in a realistic environment is demonstrated on a two-robot team. The task requires component acquisition, cooperative transport, and cooperative precision manipulation. Far adaptability, the system is designed as a behavior-based architecture. Far applicability to space-related construction efforts, computation, power, communication, and sensing are minimized, though the techniques developed are also applicable to terrestrial construction tasks.

A Modified Distributed Bees Algorithm for Multi-Sensor Task Allocation.

PubMed

Tkach, Itshak; Jevtić, Aleksandar; Nof, Shimon Y; Edan, Yael

2018-03-02

Multi-sensor systems can play an important role in monitoring tasks and detecting targets. However, real-time allocation of heterogeneous sensors to dynamic targets/tasks that are unknown a priori in their locations and priorities is a challenge. This paper presents a Modified Distributed Bees Algorithm (MDBA) that is developed to allocate stationary heterogeneous sensors to upcoming unknown tasks using a decentralized, swarm intelligence approach to minimize the task detection times. Sensors are allocated to tasks based on sensors' performance, tasks' priorities, and the distances of the sensors from the locations where the tasks are being executed. The algorithm was compared to a Distributed Bees Algorithm (DBA), a Bees System, and two common multi-sensor algorithms, market-based and greedy-based algorithms, which were fitted for the specific task. Simulation analyses revealed that MDBA achieved statistically significant improved performance by 7% with respect to DBA as the second-best algorithm, and by 19% with respect to Greedy algorithm, which was the worst, thus indicating its fitness to provide solutions for heterogeneous multi-sensor systems.

A task control architecture for autonomous robots

NASA Technical Reports Server (NTRS)

Simmons, Reid; Mitchell, Tom

1990-01-01

An architecture is presented for controlling robots that have multiple tasks, operate in dynamic domains, and require a fair degree of autonomy. The architecture is built on several layers of functionality, including a distributed communication layer, a behavior layer for querying sensors, expanding goals, and executing commands, and a task level for managing the temporal aspects of planning and achieving goals, coordinating tasks, allocating resources, monitoring, and recovering from errors. Application to a legged planetary rover and an indoor mobile manipulator is described.

Modeling and simulation of dynamic ant colony's labor division for task allocation of UAV swarm

NASA Astrophysics Data System (ADS)

Wu, Husheng; Li, Hao; Xiao, Renbin; Liu, Jie

2018-02-01

The problem of unmanned aerial vehicle (UAV) task allocation not only has the intrinsic attribute of complexity, such as highly nonlinear, dynamic, highly adversarial and multi-modal, but also has a better practicability in various multi-agent systems, which makes it more and more attractive recently. In this paper, based on the classic fixed response threshold model (FRTM), under the idea of "problem centered + evolutionary solution" and by a bottom-up way, the new dynamic environmental stimulus, response threshold and transition probability are designed, and a dynamic ant colony's labor division (DACLD) model is proposed. DACLD allows a swarm of agents with a relatively low-level of intelligence to perform complex tasks, and has the characteristic of distributed framework, multi-tasks with execution order, multi-state, adaptive response threshold and multi-individual response. With the proposed model, numerical simulations are performed to illustrate the effectiveness of the distributed task allocation scheme in two situations of UAV swarm combat (dynamic task allocation with a certain number of enemy targets and task re-allocation due to unexpected threats). Results show that our model can get both the heterogeneous UAVs' real-time positions and states at the same time, and has high degree of self-organization, flexibility and real-time response to dynamic environments.

A Modified Distributed Bees Algorithm for Multi-Sensor Task Allocation †

PubMed Central

Nof, Shimon Y.; Edan, Yael

2018-01-01

Multi-sensor systems can play an important role in monitoring tasks and detecting targets. However, real-time allocation of heterogeneous sensors to dynamic targets/tasks that are unknown a priori in their locations and priorities is a challenge. This paper presents a Modified Distributed Bees Algorithm (MDBA) that is developed to allocate stationary heterogeneous sensors to upcoming unknown tasks using a decentralized, swarm intelligence approach to minimize the task detection times. Sensors are allocated to tasks based on sensors’ performance, tasks’ priorities, and the distances of the sensors from the locations where the tasks are being executed. The algorithm was compared to a Distributed Bees Algorithm (DBA), a Bees System, and two common multi-sensor algorithms, market-based and greedy-based algorithms, which were fitted for the specific task. Simulation analyses revealed that MDBA achieved statistically significant improved performance by 7% with respect to DBA as the second-best algorithm, and by 19% with respect to Greedy algorithm, which was the worst, thus indicating its fitness to provide solutions for heterogeneous multi-sensor systems. PMID:29498683

Characteristics of Behavior of Robots with Emotion Model

NASA Astrophysics Data System (ADS)

Sato, Shigehiko; Nozawa, Akio; Ide, Hideto

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

Artificial emotion triggered stochastic behavior transitions with motivational gain effects for multi-objective robot tasks

NASA Astrophysics Data System (ADS)

Dağlarli, Evren; Temeltaş, Hakan

2007-04-01

This paper presents artificial emotional system based autonomous robot control architecture. Hidden Markov model developed as mathematical background for stochastic emotional and behavior transitions. Motivation module of architecture considered as behavioral gain effect generator for achieving multi-objective robot tasks. According to emotional and behavioral state transition probabilities, artificial emotions determine sequences of behaviors. Also motivational gain effects of proposed architecture can be observed on the executing behaviors during simulation.

Emergency response nurse scheduling with medical support robot by multi-agent and fuzzy technique.

PubMed

Kono, Shinya; Kitamura, Akira

2015-08-01

In this paper, a new co-operative re-scheduling method corresponding the medical support tasks that the time of occurrence can not be predicted is described, assuming robot can co-operate medical activities with the nurse. Here, Multi-Agent-System (MAS) is used for the co-operative re-scheduling, in which Fuzzy-Contract-Net (FCN) is applied to the robots task assignment for the emergency tasks. As the simulation results, it is confirmed that the re-scheduling results by the proposed method can keep the patients satisfaction and decrease the work load of the nurse.

KALI - An environment for the programming and control of cooperative manipulators

NASA Technical Reports Server (NTRS)

Hayward, Vincent; Hayati, Samad

1988-01-01

A design description is given of a controller for cooperative robots. The background and motivation for multiple arm control are discussed. A set of programming primitives which permit a programmer to specify cooperative tasks are described. Motion primitives specify asynchronous motions, master/slave motions, and cooperative motions. In the context of cooperative robots, trajectory generation issues are discussed and the authors' implementation briefly described. The relations between programming and control in the case of multiple robots are examined. The allocation of various tasks among a multiprocessor computer is described.

Adapting sensory data for multiple robots performing spill cleanup

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

Storjohann, K.; Saltzen, E.

1990-09-01

This paper describes a possible method of converting a single performing robot algorithm into a multiple performing robot algorithm without the need to modify previously written codes. The algorithm to be converted involves spill detection and clean up by the HERMIES-III mobile robot. In order to achieve the goal of multiple performing robots with this algorithm, two steps are taken. First, the task is formally divided into two sub-tasks, spill detection and spill clean-up, the former of which is allocated to the added performing robot, HERMIES-IIB. Second, a inverse perspective mapping, is applied to the data acquired by the newmore » performing robot (HERMIES-IIB), allowing the data to be processed by the previously written algorithm without re-writing the code. 6 refs., 4 figs.« less

A Mobile, Map-Based Tasking Interface for Human-Robot Interaction

DTIC Science & Technology

2010-12-01

A MOBILE, MAP-BASED TASKING INTERFACE FOR HUMAN-ROBOT INTERACTION By Eli R. Hooten Thesis Submitted to the Faculty of the Graduate School of...SUBTITLE A Mobile, Map-Based Tasking Interface for Human-Robot Interaction 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6...3 II.1 Interactive Modalities and Multi-Touch . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 II.2

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

PubMed Central

Jevtić, Aleksandar; Gutiérrez, Álvaro

2011-01-01

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

Behavior generation strategy of artificial behavioral system by self-learning paradigm for autonomous robot tasks

NASA Astrophysics Data System (ADS)

Dağlarli, Evren; Temeltaş, Hakan

2008-04-01

In this study, behavior generation and self-learning paradigms are investigated for the real-time applications of multi-goal mobile robot tasks. The method is capable to generate new behaviors and it combines them in order to achieve multi goal tasks. The proposed method is composed from three layers: Behavior Generating Module, Coordination Level and Emotion -Motivation Level. Last two levels use Hidden Markov models to manage dynamical structure of behaviors. The kinematics and dynamic model of the mobile robot with non-holonomic constraints are considered in the behavior based control architecture. The proposed method is tested on a four-wheel driven and four-wheel steered mobile robot with constraints in simulation environment and results are obtained successfully.

Reducing Operating Room Turnover Time for Robotic Surgery Using a Motor Racing Pit Stop Model.

PubMed

Souders, Colby P; Catchpole, Ken R; Wood, Lauren N; Solnik, Jonathon M; Avenido, Raymund M; Strauss, Paul L; Eilber, Karyn S; Anger, Jennifer T

2017-08-01

Operating room (OR) turnover time, time taken between one patient leaving the OR and the next entering, is an important determinant of OR utilization, a key value metric for hospital administrators. Surgical robots have increased the complexity and number of tasks required during an OR turnover, resulting in highly variable OR turnover times. We sought to streamline the turnover process and decrease robotic OR turnover times and increase efficiency. Direct observation of 45 pre-intervention robotic OR turnovers was performed. Following a previously successful model for handoffs, we employed concepts from motor racing pit stops, including briefings, leadership, role definition, task allocation and task sequencing. Turnover task cards for staff were developed, and card assignments were distributed for each turnover. Forty-one cases were observed post-intervention. Average total OR turnover time was 99.2 min (95% CI 88.0-110.3) pre-intervention and 53.2 min (95% CI 48.0-58.5) at 3 months post-intervention. Average room ready time from when the patient exited the OR until the surgical technician was ready to receive the next patient was 42.2 min (95% CI 36.7-47.7) before the intervention, which reduced to 27.2 min at 3 months (95% CI 24.7-29.7) post-intervention (p < 0.0001). Role definition, task allocation and sequencing, combined with a visual cue for ease-of-use, create efficient, and sustainable approaches to decreasing robotic OR turnover times. Broader system changes are needed to capitalize on that result. Pit stop and other high-risk industry models may inform approaches to the management of tasks and teams.

Human-Robot Interaction Directed Research Project

NASA Technical Reports Server (NTRS)

Sandor, Aniko; Cross, Ernest V., II; Chang, Mai Lee

2014-01-01

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces and command modalities affect the human's ability to perform tasks accurately, efficiently, and effectively when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. This DRP concentrates on three areas associated with interfaces and command modalities in HRI which are applicable to NASA robot systems: 1) Video Overlays, 2) Camera Views, and 3) Command Modalities. The first study focused on video overlays that investigated how Augmented Reality (AR) symbology can be added to the human-robot interface to improve teleoperation performance. Three types of AR symbology were explored in this study, command guidance (CG), situation guidance (SG), and both (SCG). CG symbology gives operators explicit instructions on what commands to input, whereas SG symbology gives operators implicit cues so that operators can infer the input commands. The combination of CG and SG provided operators with explicit and implicit cues allowing the operator to choose which symbology to utilize. The objective of the study was to understand how AR symbology affects the human operator's ability to align a robot arm to a target using a flight stick and the ability to allocate attention between the symbology and external views of the world. The study evaluated the effects type of symbology (CG and SG) has on operator tasks performance and attention allocation during teleoperation of a robot arm. The second study expanded on the first study by evaluating the effects of the type of navigational guidance (CG and SG) on operator task performance and attention allocation during teleoperation of a robot arm through uplinked commands. Although this study complements the first study on navigational guidance with hand controllers, it is a separate investigation due to the distinction in intended operators (i.e., crewmembers versus ground-operators). A third study looked at superimposed and integrated overlays for teleoperation of a mobile robot using a hand controller. When AR is superimposed on the external world, it appears to be fixed onto the display and internal to the operators' workstation. Unlike superimposed overlays, integrated overlays often appear as three-dimensional objects and move as if part of the external world. Studies conducted in the aviation domain show that integrated overlays can improve situation awareness and reduce the amount of deviation from the optimal path. The purpose of the study was to investigate whether these results apply to HRI tasks, such as navigation with a mobile robot.

Refueling Strategies for a Team of Cooperating AUVs

DTIC Science & Technology

2011-01-01

manager, and thus the constraint a centrally managed underwater network imposes on the mission. Task management utilizing Robust Decentralized Task ...the computational complexity. A bid based approach to task management has also been studied as a possible means of decentralization of group task ...currently performing another task . In [18], ground robots perform distributed task allocation using the ASyMTRy-D algorithm, which is based on CNP

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

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

Kurt Derr; Milos Manic

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

Sustainable Cooperative Robotic Technologies for Human and Robotic Outpost Infrastructure Construction and Maintenance

NASA Technical Reports Server (NTRS)

Stroupe, Ashley W.; Okon, Avi; Robinson, Matthew; Huntsberger, Terry; Aghazarian, Hrand; Baumgartner, Eric

2004-01-01

Robotic Construction Crew (RCC) is a heterogeneous multi-robot system for autonomous acquisition, transport, and precision mating of components in construction tasks. RCC minimizes resources constrained in a space environment such as computation, power, communication and, sensing. A behavior-based architecture provides adaptability and robustness despite low computational requirements. RCC successfully performs several construction related tasks in an emulated outdoor environment despite high levels of uncertainty in motions and sensing. Quantitative results are provided for formation keeping in component transport, precision instrument placement, and construction tasks.

Adaptive Allocation of Decision Making Responsibility Between Human and Computer in Multi-Task Situations. Ph.D. Thesis

NASA Technical Reports Server (NTRS)

Chu, Y. Y.

1978-01-01

A unified formulation of computer-aided, multi-task, decision making is presented. Strategy for the allocation of decision making responsibility between human and computer is developed. The plans of a flight management systems are studied. A model based on the queueing theory was implemented.

A Case Study of Collaboration with Multi-Robots and Its Effect on Children's Interaction

ERIC Educational Resources Information Center

Hwang, Wu-Yuin; Wu, Sheng-Yi

2014-01-01

Learning how to carry out collaborative tasks is critical to the development of a student's capacity for social interaction. In this study, a multi-robot system was designed for students. In three different scenarios, students controlled robots in order to move dice; we then examined their collaborative strategies and their behavioral…

Human-Robot Interaction Directed Research Project

NASA Technical Reports Server (NTRS)

Sandor, Aniko; Cross, Ernest V., II; Chang, M. L.

2014-01-01

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces and command modalities affect the human's ability to perform tasks accurately, efficiently, and effectively when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. This DRP concentrates on three areas associated with interfaces and command modalities in HRI which are applicable to NASA robot systems: 1) Video Overlays, 2) Camera Views, and 3) Command Modalities. The first study focused on video overlays that investigated how Augmented Reality (AR) symbology can be added to the human-robot interface to improve teleoperation performance. Three types of AR symbology were explored in this study, command guidance (CG), situation guidance (SG), and both (SCG). CG symbology gives operators explicit instructions on what commands to input, whereas SG symbology gives operators implicit cues so that operators can infer the input commands. The combination of CG and SG provided operators with explicit and implicit cues allowing the operator to choose which symbology to utilize. The objective of the study was to understand how AR symbology affects the human operator's ability to align a robot arm to a target using a flight stick and the ability to allocate attention between the symbology and external views of the world. The study evaluated the effects type of symbology (CG and SG) has on operator tasks performance and attention allocation during teleoperation of a robot arm. The second study expanded on the first study by evaluating the effects of the type of navigational guidance (CG and SG) on operator task performance and attention allocation during teleoperation of a robot arm through uplinked commands. Although this study complements the first study on navigational guidance with hand controllers, it is a separate investigation due to the distinction in intended operators (i.e., crewmembers versus ground-operators). A third study looked at superimposed and integrated overlays for teleoperation of a mobile robot using a hand controller. When AR is superimposed on the external world, it appears to be fixed onto the display and internal to the operators' workstation. Unlike superimposed overlays, integrated overlays often appear as three-dimensional objects and move as if part of the external world. Studies conducted in the aviation domain show that integrated overlays can improve situation awareness and reduce the amount of deviation from the optimal path. The purpose of the study was to investigate whether these results apply to HRI tasks, such as navigation with a mobile robot. HRP GAPS This HRI research contributes to closure of HRP gaps by providing information on how display and control characteristics - those related to guidance, feedback, and command modalities - affect operator performance. The overarching goals are to improve interface usability, reduce operator error, and develop candidate guidelines to design effective human-robot interfaces.

Goal-oriented robot navigation learning using a multi-scale space representation.

PubMed

Llofriu, M; Tejera, G; Contreras, M; Pelc, T; Fellous, J M; Weitzenfeld, A

2015-12-01

There has been extensive research in recent years on the multi-scale nature of hippocampal place cells and entorhinal grid cells encoding which led to many speculations on their role in spatial cognition. In this paper we focus on the multi-scale nature of place cells and how they contribute to faster learning during goal-oriented navigation when compared to a spatial cognition system composed of single scale place cells. The task consists of a circular arena with a fixed goal location, in which a robot is trained to find the shortest path to the goal after a number of learning trials. Synaptic connections are modified using a reinforcement learning paradigm adapted to the place cells multi-scale architecture. The model is evaluated in both simulation and physical robots. We find that larger scale and combined multi-scale representations favor goal-oriented navigation task learning. Copyright © 2015 Elsevier Ltd. All rights reserved.

Dynamic Task Allocation in Multi-Hop Multimedia Wireless Sensor Networks with Low Mobility

PubMed Central

Jin, Yichao; Vural, Serdar; Gluhak, Alexander; Moessner, Klaus

2013-01-01

This paper presents a task allocation-oriented framework to enable efficient in-network processing and cost-effective multi-hop resource sharing for dynamic multi-hop multimedia wireless sensor networks with low node mobility, e.g., pedestrian speeds. The proposed system incorporates a fast task reallocation algorithm to quickly recover from possible network service disruptions, such as node or link failures. An evolutional self-learning mechanism based on a genetic algorithm continuously adapts the system parameters in order to meet the desired application delay requirements, while also achieving a sufficiently long network lifetime. Since the algorithm runtime incurs considerable time delay while updating task assignments, we introduce an adaptive window size to limit the delay periods and ensure an up-to-date solution based on node mobility patterns and device processing capabilities. To the best of our knowledge, this is the first study that yields multi-objective task allocation in a mobile multi-hop wireless environment under dynamic conditions. Simulations are performed in various settings, and the results show considerable performance improvement in extending network lifetime compared to heuristic mechanisms. Furthermore, the proposed framework provides noticeable reduction in the frequency of missing application deadlines. PMID:24135992

Coordinating with Humans by Adjustable-Autonomy for Multirobot Pursuit (CHAMP)

NASA Astrophysics Data System (ADS)

Dumond, Danielle; Ayers, Jeanine; Schurr, Nathan; Carlin, Alan; Burke, Dustin; Rousseau, Jeffrey

2012-06-01

One of the primary challenges facing the modern small-unit tactical team is the ability of the unit to safely and effectively search, explore, clear and hold urbanized terrain that includes buildings, streets, and subterranean dwellings. Buildings provide cover and concealment to an enemy and restrict the movement of forces while diminishing their ability to engage the adversary. The use of robots has significant potential to reduce the risk to tactical teams and dramatically force multiply the small unit's footprint. Despite advances in robotic mobility, sensing capabilities, and human-robot interaction, the use of robots in room clearing operations remains nascent. CHAMP is a software system in development that integrates with a team of robotic platforms to enable them to coordinate with a human operator performing a search and pursuit task. In this way, the human operator can either give control to the robots to search autonomously, or can retain control and direct the robots where needed. CHAMP's autonomy is built upon a combination of adversarial pursuit algorithms and dynamic function allocation strategies that maximize the team's resources. Multi-modal interaction with CHAMP is achieved using novel gesture-recognition based capabilities to reduce the need for heads-down tele-operation. The Champ Coordination Algorithm addresses dynamic and limited team sizes, generates a novel map of the area, and takes into account mission goals, user preferences and team roles. In this paper we show results from preliminary simulated experiments and find that the CHAMP system performs faster than traditional search and pursuit algorithms.

Robust Behavior-Based Control for Distributed Multi-Robot Collection Tasks

DTIC Science & Technology

2000-01-01

Department, University of Southern California, Los Angeles, CA 90089-0781 USA (e-mail: mataric @usc.edu) For a given task environment and set of robots...Press: Cambridge, Mas- sachusetts. [17] Richard T. Vaughan, Kasper Sty, Gaurav S. Sukhatme, and Maja J Mataric, \\Whistling in the dark : Cooperative

Algorithmic Coordination in Robotic Networks

DTIC Science & Technology

2010-11-29

appropriate performance, robustness and scalability properties for various task allocation , surveillance, and information gathering applications is...networking, we envision designing and analyzing algorithms with appropriate performance, robustness and scalability properties for various task ...distributed algorithms for target assignments; based on the classic auction algorithms in static networks, we intend to design efficient algorithms in worst

Multi-level Operational C2 Holonic Reference Architecture Modeling for MHQ with MOC

DTIC Science & Technology

2009-06-01

x), x(k), uj(k)) is defined as the task success probability, based on the asset allocation and task execution activities at the tactical level...on outcomes of asset- task allocation at the tactical level. We employ semi-Markov decision process (SMDP) approach to decide on missions to be...AGA) graph for addressing the mission monitoring/ planning issues related to task sequencing and asset allocation at the OLC-TLC layer (coordination

ICAM Robotics Application Guide (RAG)

DTIC Science & Technology

1980-04-01

used for new purposes. Refers to the reprogrammability or multi-task capability of robots. HIERARCHY - A relationship of elements in a structure...Tech., 1977), 33 pp. Attitude of Unions towards Robotization I I Weekley, T. L., "A View of the United Automobile , Aerospace and Agricultural

The Impact of Human-Automation Collaboration in Decentralized Multiple Unmanned Vehicle Control

DTIC Science & Technology

2011-01-01

based decentralized auctions for robust task allocation ,[ IEEE Trans. Robot., vol. 25, no. 4, pp...operators can aid such systems by bringing their knowledge- based reasoning and experience to bear. Given a decentralized task planner and a goal- based ...experience to bear. Given a decentralized task planner and a goal- based operator interface for a network of unmanned vehicles in a search, track,

Multi-heuristic dynamic task allocation using genetic algorithms in a heterogeneous distributed system

PubMed Central

Page, Andrew J.; Keane, Thomas M.; Naughton, Thomas J.

2010-01-01

We present a multi-heuristic evolutionary task allocation algorithm to dynamically map tasks to processors in a heterogeneous distributed system. It utilizes a genetic algorithm, combined with eight common heuristics, in an effort to minimize the total execution time. It operates on batches of unmapped tasks and can preemptively remap tasks to processors. The algorithm has been implemented on a Java distributed system and evaluated with a set of six problems from the areas of bioinformatics, biomedical engineering, computer science and cryptography. Experiments using up to 150 heterogeneous processors show that the algorithm achieves better efficiency than other state-of-the-art heuristic algorithms. PMID:20862190

Design principles of a cooperative robot controller

NASA Technical Reports Server (NTRS)

Hayward, Vincent; Hayati, Samad

1987-01-01

The paper describes the design of a controller for cooperative robots being designed at McGill University in a collaborative effort with the Jet Propulsion Laboratory. The first part of the paper discusses the background and motivation for multiple arm control. Then, a set of programming primitives, which are based on the RCCL system and which permit a programmer to specify cooperative tasks are described. The first group of primitives are motion primitives which specify asynchronous motions, master/slave motions, and cooperative motions. In the context of cooperative robots, trajectory generation issues will be discussed and the implementation described. A second set of primitives provides for the specification of spatial relationships. The relations between programming and control in the case of multiple robot are examined. Finally, the paper describes the allocation of various tasks among a set of microprocessors sharing a common bus.

Experiments in Nonlinear Adaptive Control of Multi-Manipulator, Free-Flying Space Robots

NASA Technical Reports Server (NTRS)

Chen, Vincent Wei-Kang

1992-01-01

Sophisticated robots can greatly enhance the role of humans in space by relieving astronauts of low level, tedious assembly and maintenance chores and allowing them to concentrate on higher level tasks. Robots and astronauts can work together efficiently, as a team; but the robot must be capable of accomplishing complex operations and yet be easy to use. Multiple cooperating manipulators are essential to dexterity and can broaden greatly the types of activities the robot can achieve; adding adaptive control can ease greatly robot usage by allowing the robot to change its own controller actions, without human intervention, in response to changes in its environment. Previous work in the Aerospace Robotics Laboratory (ARL) have shown the usefulness of a space robot with cooperating manipulators. The research presented in this dissertation extends that work by adding adaptive control. To help achieve this high level of robot sophistication, this research made several advances to the field of nonlinear adaptive control of robotic systems. A nonlinear adaptive control algorithm developed originally for control of robots, but requiring joint positions as inputs, was extended here to handle the much more general case of manipulator endpoint-position commands. A new system modelling technique, called system concatenation was developed to simplify the generation of a system model for complicated systems, such as a free-flying multiple-manipulator robot system. Finally, the task-space concept was introduced wherein the operator's inputs specify only the robot's task. The robot's subsequent autonomous performance of each task still involves, of course, endpoint positions and joint configurations as subsets. The combination of these developments resulted in a new adaptive control framework that is capable of continuously providing full adaptation capability to the complex space-robot system in all modes of operation. The new adaptive control algorithm easily handles free-flying systems with multiple, interacting manipulators, and extends naturally to even larger systems. The new adaptive controller was experimentally demonstrated on an ideal testbed in the ARL-A first-ever experimental model of a multi-manipulator, free-flying space robot that is capable of capturing and manipulating free-floating objects without requiring human assistance. A graphical user interface enhanced the robot usability: it enabled an operator situated at a remote location to issue high-level task description commands to the robot, and to monitor robot activities as it then carried out each assignment autonomously.

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

PubMed Central

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

2013-01-01

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

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

PubMed

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

2012-12-27

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

A Hierarchical Auction-Based Mechanism for Real-Time Resource Allocation in Cloud Robotic Systems.

PubMed

Wang, Lujia; Liu, Ming; Meng, Max Q-H

2017-02-01

Cloud computing enables users to share computing resources on-demand. The cloud computing framework cannot be directly mapped to cloud robotic systems with ad hoc networks since cloud robotic systems have additional constraints such as limited bandwidth and dynamic structure. However, most multirobotic applications with cooperative control adopt this decentralized approach to avoid a single point of failure. Robots need to continuously update intensive data to execute tasks in a coordinated manner, which implies real-time requirements. Thus, a resource allocation strategy is required, especially in such resource-constrained environments. This paper proposes a hierarchical auction-based mechanism, namely link quality matrix (LQM) auction, which is suitable for ad hoc networks by introducing a link quality indicator. The proposed algorithm produces a fast and robust method that is accurate and scalable. It reduces both global communication and unnecessary repeated computation. The proposed method is designed for firm real-time resource retrieval for physical multirobot systems. A joint surveillance scenario empirically validates the proposed mechanism by assessing several practical metrics. The results show that the proposed LQM auction outperforms state-of-the-art algorithms for resource allocation.

Construction of a Urologic Robotic Surgery Training Curriculum: How Many Simulator Sessions Are Required for Residents to Achieve Proficiency?

PubMed

Wiener, Scott; Haddock, Peter; Shichman, Steven; Dorin, Ryan

2015-11-01

To define the time needed by urology residents to attain proficiency in computer-aided robotic surgery to aid in the refinement of a robotic surgery simulation curriculum. We undertook a retrospective review of robotic skills training data acquired during January 2012 to December 2014 from junior (postgraduate year [PGY] 2-3) and senior (PGY4-5) urology residents using the da Vinci Skills Simulator. We determined the number of training sessions attended and the level of proficiency achieved by junior and senior residents in attempting 11 basic or 6 advanced tasks, respectively. Junior residents successfully completed 9.9 ± 1.8 tasks, with 62.5% completing all 11 basic tasks. The maximal cumulative success rate of junior residents completing basic tasks was 89.8%, which was achieved within 7.0 ± 1.5 hours of training. Of senior residents, 75% successfully completed all six advanced tasks. Senior residents attended 6.3 ± 3.5 hours of training during which 5.1 ± 1.6 tasks were completed. The maximal cumulative success rate of senior residents completing advanced tasks was 85.4%. When designing and implementing an effective robotic surgical training curriculum, an allocation of 10 hours of training may be optimal to allow junior and senior residents to achieve an acceptable level of surgical proficiency in basic and advanced robotic surgical skills, respectively. These data help guide the design and scheduling of a residents training curriculum within the time constraints of a resident's workload.

Emergent of Burden Sharing of Robots with Emotion Model

NASA Astrophysics Data System (ADS)

Kusano, Takuya; Nozawa, Akio; Ide, Hideto

Cooperated multi robots system has much dominance in comparison with single robot system. Multi robots system is able to adapt to various circumstances and has a flexibility for variation of tasks. Robots are necessary that build a cooperative relations and acts as an organization to attain a purpose in multi robots system. Then, group behavior of insects which doesn't have advanced ability is observed. For example, ants called a sociality insect emerge systematic activities by the interaction with using a very simple way. Though ants make a communication with chemical matter, a human plans a communication by words and gestures. In this paper, we paid attention to the interaction based on psychological viewpoint. And a human's emotion model was used for the parameter which became a base of the motion planning of robots. These robots were made to do both-way action in test field with obstacle. As a result, a burden sharing like guide or carrier was seen even though those had a simple setup.

Towards Human-Friendly Efficient Control of Multi-Robot Teams

NASA Technical Reports Server (NTRS)

Stoica, Adrian; Theodoridis, Theodoros; Barrero, David F.; Hu, Huosheng; McDonald-Maiers, Klaus

2013-01-01

This paper explores means to increase efficiency in performing tasks with multi-robot teams, in the context of natural Human-Multi-Robot Interfaces (HMRI) for command and control. The motivating scenario is an emergency evacuation by a transport convoy of unmanned ground vehicles (UGVs) that have to traverse, in shortest time, an unknown terrain. In the experiments the operator commands, in minimal time, a group of rovers through a maze. The efficiency of performing such tasks depends on both, the levels of robots' autonomy, and the ability of the operator to command and control the team. The paper extends the classic framework of levels of autonomy (LOA), to levels/hierarchy of autonomy characteristic of Groups (G-LOA), and uses it to determine new strategies for control. An UGVoriented command language (UGVL) is defined, and a mapping is performed from the human-friendly gesture-based HMRI into the UGVL. The UGVL is used to control a team of 3 robots, exploring the efficiency of different G-LOA; specifically, by (a) controlling each robot individually through the maze, (b) controlling a leader and cloning its controls to followers, and (c) controlling the entire group. Not surprisingly, commands at increased G-LOA lead to a faster traverse, yet a number of aspects are worth discussing in this context.

Multi-optimization Criteria-based Robot Behavioral Adaptability and Motion Planning

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

Pin, Francois G.

2002-06-01

Robotic tasks are typically defined in Task Space (e.g., the 3-D World), whereas robots are controlled in Joint Space (motors). The transformation from Task Space to Joint Space must consider the task objectives (e.g., high precision, strength optimization, torque optimization), the task constraints (e.g., obstacles, joint limits, non-holonomic constraints, contact or tool task constraints), and the robot kinematics configuration (e.g., tools, type of joints, mobile platform, manipulator, modular additions, locked joints). Commercially available robots are optimized for a specific set of tasks, objectives and constraints and, therefore, their control codes are extremely specific to a particular set of conditions. Thus,more » there exist a multiplicity of codes, each handling a particular set of conditions, but none suitable for use on robots with widely varying tasks, objectives, constraints, or environments. On the other hand, most DOE missions and tasks are typically ''batches of one''. Attempting to use commercial codes for such work requires significant personnel and schedule costs for re-programming or adding code to the robots whenever a change in task objective, robot configuration, number and type of constraint, etc. occurs. The objective of our project is to develop a ''generic code'' to implement this Task-space to Joint-Space transformation that would allow robot behavior adaptation, in real time (at loop rate), to changes in task objectives, number and type of constraints, modes of controls, kinematics configuration (e.g., new tools, added module). Our specific goal is to develop a single code for the general solution of under-specified systems of algebraic equations that is suitable for solving the inverse kinematics of robots, is useable for all types of robots (mobile robots, manipulators, mobile manipulators, etc.) with no limitation on the number of joints and the number of controlled Task-Space variables, can adapt to real time changes in number and type of constraints and in task objectives, and can adapt to changes in kinematics configurations (change of module, change of tool, joint failure adaptation, etc.).« less

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

NASA Technical Reports Server (NTRS)

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

2004-01-01

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

The Effects of Level of Autonomy on Human-Agent Teaming for Multi-Robot Control and Local Security Maintenance

DTIC Science & Technology

2013-11-01

different types of tasks, the associated costs of task switching also increase (Squire et al., 2006). Task switching costs may be increased with higher...switching costs as well, particularly when managing robot teams of increasing size (Squire et al., 2006). 1.3 Individual Differences The effects of...Research: Ready to Deliver the Promises. Mind 2003, 2 (3), 4. Jian, J.; Bisantz, A. M.; Drury , C. G. Foundations for an Empirically Determined Scale

Manifold traversing as a model for learning control of autonomous robots

NASA Technical Reports Server (NTRS)

Szakaly, Zoltan F.; Schenker, Paul S.

1992-01-01

This paper describes a recipe for the construction of control systems that support complex machines such as multi-limbed/multi-fingered robots. The robot has to execute a task under varying environmental conditions and it has to react reasonably when previously unknown conditions are encountered. Its behavior should be learned and/or trained as opposed to being programmed. The paper describes one possible method for organizing the data that the robot has learned by various means. This framework can accept useful operator input even if it does not fully specify what to do, and can combine knowledge from autonomous, operator assisted and programmed experiences.

Distributing Planning and Control for Teams of Cooperating Mobile Robots

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

Parker, L.E.

2004-07-19

This CRADA project involved the cooperative research of investigators in ORNL's Center for Engineering Science Advanced Research (CESAR) with researchers at Caterpillar, Inc. The subject of the research was the development of cooperative control strategies for autonomous vehicles performing applications of interest to Caterpillar customers. The project involved three Phases of research, conducted over the time period of November 1998 through December 2001. This project led to the successful development of several technologies and demonstrations in realistic simulation that illustrated the effectiveness of our control approaches for distributed planning and cooperation in multi-robot teams. The primary objectives of this researchmore » project were to: (1) Develop autonomous control technologies to enable multiple vehicles to work together cooperatively, (2) Provide the foundational capabilities for a human operator to exercise oversight and guidance during the multi-vehicle task execution, and (3) Integrate these capabilities to the ALLIANCE-based autonomous control approach for multi-robot teams. These objectives have been successfully met with the results implemented and demonstrated in a near real-time multi-vehicle simulation of up to four vehicles performing mission-relevant tasks.« less

UPenn Multi-Robot Unmanned Vehicle System (MAGIC)

DTIC Science & Technology

2014-05-05

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

Two Formal Gas Models For Multi-Agent Sweeping and Obstacle Avoidance

NASA Technical Reports Server (NTRS)

Kerr, Wesley; Spears, Diana; Spears, William; Thayer, David

2004-01-01

The task addressed here is a dynamic search through a bounded region, while avoiding multiple large obstacles, such as buildings. In the case of limited sensors and communication, maintaining spatial coverage - especially after passing the obstacles - is a challenging problem. Here, we investigate two physics-based approaches to solving this task with multiple simulated mobile robots, one based on artificial forces and the other based on the kinetic theory of gases. The desired behavior is achieved with both methods, and a comparison is made between them. Because both approaches are physics-based, formal assurances about the multi-robot behavior are straightforward, and are included in the paper.

Human-Centric Teaming in a Multi-Agent EVA Assembly Task

NASA Technical Reports Server (NTRS)

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

2004-01-01

NASA's Human Space Flight program depends heavily on spacewalks performed by pairs of suited human astronauts. These Extra-Vehicular Activities (EVAs) are severely restricted in both duration and scope by consumables and available manpower.An expanded multi-agent EVA team combining the information-gathering and problem-solving skills of human astronauts with the survivability and physical capabilities of highly dexterous space robots is proposed. A 1-g test featuring two NASA/DARPA Robonaut systems working side-by-side with a suited human subject is conducted to evaluate human-robot teaming strategies in the context of a simulated EVA assembly task based on the STS-61B ACCESS flight experiment.

Intelligent robot control using an adaptive critic with a task control center and dynamic database

NASA Astrophysics Data System (ADS)

Hall, E. L.; Ghaffari, M.; Liao, X.; Alhaj Ali, S. M.

2006-10-01

The purpose of this paper is to describe the design, development and simulation of a real time controller for an intelligent, vision guided robot. The use of a creative controller that can select its own tasks is demonstrated. This creative controller uses a task control center and dynamic database. The dynamic database stores both global environmental information and local information including the kinematic and dynamic models of the intelligent robot. The kinematic model is very useful for position control and simulations. However, models of the dynamics of the manipulators are needed for tracking control of the robot's motions. Such models are also necessary for sizing the actuators, tuning the controller, and achieving superior performance. Simulations of various control designs are shown. Also, much of the model has also been used for the actual prototype Bearcat Cub mobile robot. This vision guided robot was designed for the Intelligent Ground Vehicle Contest. A novel feature of the proposed approach is that the method is applicable to both robot arm manipulators and robot bases such as wheeled mobile robots. This generality should encourage the development of more mobile robots with manipulator capability since both models can be easily stored in the dynamic database. The multi task controller also permits wide applications. The use of manipulators and mobile bases with a high-level control are potentially useful for space exploration, certain rescue robots, defense robots, and medical robotics aids.

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

PubMed

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

2014-01-01

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

Soldier Cognitive Processes: Supporting Teleoperated Ground Vehicle Operations

DTIC Science & Technology

2014-12-01

They also examined training materials available to train robotic operators. Materials came from a pilot SUGV Master Trainer Course as well as from the...Allocation of Scarce Mental Resources. It is increasingly difficult to multitask if the similarity of the mental resources used in each task...1984). If separate tasks are not competing as much for the same mental resources, multitasking can be accomplished more effectively. Further, when

Dynamic Routing and Coordination in Multi-Agent Networks

DTIC Science & Technology

2016-06-10

SECURITY CLASSIFICATION OF: Supported by this project, we designed innovative routing, planning and coordination strategies for robotic networks and...tasks partitioned among robots , in what order are they to be performed, and along which deterministic routes or according to which stochastic rules do...individual robots move. The fundamental novelties and our recent breakthroughs supported by this project are manifold: (1) the application 1

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

PubMed

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

2017-07-31

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

A Mobile Robot for Locomotion Through a 3D Periodic Lattice Environment

NASA Technical Reports Server (NTRS)

Jenett, Benjamin; Cellucci, Daniel; Cheung, Kenneth

2017-01-01

This paper describes a novel class of robots specifically adapted to climb periodic lattices, which we call 'Relative Robots'. These robots use the regularity of the structure to simplify the path planning, align with minimal feedback, and reduce the number of degrees of freedom (DOF) required to locomote. They can perform vital inspection and repair tasks within the structure that larger truss construction robots could not perform without modifying the structure. We detail a specific type of relative robot designed to traverse a cuboctahedral (CubOct) cellular solids lattice, show how the symmetries of the lattice simplify the design, and test these design methodologies with a CubOct relative robot that traverses a 76.2 mm (3 in.) pitch lattice, MOJO (Multi-Objective JOurneying robot). We perform three locomotion tasks with MOJO: vertical climbing, horizontal climbing, and turning, and find that, due to changes in the orientation of the robot relative to the gravity vector, the success rate of vertical and horizontal climbing is significantly different.

Accelerometry Measuring the Outcome of Robot-Supported Upper Limb Training in Chronic Stroke: A Randomized Controlled Trial

PubMed Central

Lemmens, Ryanne J. M.; Timmermans, Annick A. A.; Janssen-Potten, Yvonne J. M.; Pulles, Sanne A. N. T. D.; Geers, Richard P. J.; Bakx, Wilbert G. M.; Smeets, Rob J. E. M.; Seelen, Henk A. M.

2014-01-01

Purpose This study aims to assess the extent to which accelerometers can be used to determine the effect of robot-supported task-oriented arm-hand training, relative to task-oriented arm-hand training alone, on the actual amount of arm-hand use of chronic stroke patients in their home situation. Methods This single-blind randomized controlled trial included 16 chronic stroke patients, randomly allocated using blocked randomization (n = 2) to receive task-oriented robot-supported arm-hand training or task-oriented (unsupported) arm-hand training. Training lasted 8 weeks, 4 times/week, 2×30 min/day using the (T-)TOAT ((Technology-supported)-Task-Oriented-Arm-Training) method. The actual amount of arm-hand use, was assessed at baseline, after 8 weeks training and 6 months after training cessation. Duration of use and intensity of use of the affected arm-hand during unimanual and bimanual activities were calculated. Results Duration and intensity of use of the affected arm-hand did not change significantly during and after training, with or without robot-support (i.e. duration of use of unimanual use of the affected arm-hand: median difference of −0.17% in the robot-group and −0.08% in the control group between baseline and after training cessation; intensity of the affected arm-hand: median difference of 3.95% in the robot-group and 3.32% in the control group between baseline and after training cessation). No significant between-group differences were found. Conclusions Accelerometer data did not show significant changes in actual amount of arm-hand use after task-oriented training, with or without robot-support. Next to the amount of use, discrimination between activities performed and information about quality of use of the affected arm-hand are essential to determine actual arm-hand performance. Trial Registration Controlled-trials.com ISRCTN82787126 PMID:24823925

Why Some Humanoid Faces Are Perceived More Positively Than Others: Effects of Human-Likeness and Task

PubMed Central

Rogers, Wendy A.

2015-01-01

Ample research in social psychology has highlighted the importance of the human face in human–human interactions. However, there is a less clear understanding of how a humanoid robot's face is perceived by humans. One of the primary goals of this study was to investigate how initial perceptions of robots are influenced by the extent of human-likeness of the robot's face, particularly when the robot is intended to provide assistance with tasks in the home that are traditionally carried out by humans. Moreover, although robots have the potential to help both younger and older adults, there is limited knowledge of whether the two age groups' perceptions differ. In this study, younger (N = 32) and older adults (N = 32) imagined interacting with a robot in four different task contexts and rated robot faces of varying levels of human-likeness. Participants were also interviewed to assess their reasons for particular preferences. This multi-method approach identified patterns of perceptions across different appearances as well as reasons that influence the formation of such perceptions. Overall, the results indicated that people's perceptions of robot faces vary as a function of robot human-likeness. People tended to over-generalize their understanding of humans to build expectations about a human-looking robot's behavior and capabilities. Additionally, preferences for humanoid robots depended on the task although younger and older adults differed in their preferences for certain humanoid appearances. The results of this study have implications both for advancing theoretical understanding of robot perceptions and for creating and applying guidelines for the design of robots. PMID:26294936

Why Some Humanoid Faces Are Perceived More Positively Than Others: Effects of Human-Likeness and Task.

PubMed

Prakash, Akanksha; Rogers, Wendy A

2015-04-01

Ample research in social psychology has highlighted the importance of the human face in human-human interactions. However, there is a less clear understanding of how a humanoid robot's face is perceived by humans. One of the primary goals of this study was to investigate how initial perceptions of robots are influenced by the extent of human-likeness of the robot's face, particularly when the robot is intended to provide assistance with tasks in the home that are traditionally carried out by humans. Moreover, although robots have the potential to help both younger and older adults, there is limited knowledge of whether the two age groups' perceptions differ. In this study, younger ( N = 32) and older adults ( N = 32) imagined interacting with a robot in four different task contexts and rated robot faces of varying levels of human-likeness. Participants were also interviewed to assess their reasons for particular preferences. This multi-method approach identified patterns of perceptions across different appearances as well as reasons that influence the formation of such perceptions. Overall, the results indicated that people's perceptions of robot faces vary as a function of robot human-likeness. People tended to over-generalize their understanding of humans to build expectations about a human-looking robot's behavior and capabilities. Additionally, preferences for humanoid robots depended on the task although younger and older adults differed in their preferences for certain humanoid appearances. The results of this study have implications both for advancing theoretical understanding of robot perceptions and for creating and applying guidelines for the design of robots.

Application requirements for Robotic Nursing Assistants in hospital environments

NASA Astrophysics Data System (ADS)

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

2016-05-01

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

Hitchhiking Robots: A Collaborative Approach for Efficient Multi-Robot Navigation in Indoor Environments

PubMed Central

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

2017-01-01

Hitchhiking is a means of transportation gained by asking other people for a (free) ride. We developed a multi-robot system which is the first of its kind to incorporate hitchhiking in robotics, and discuss its advantages. Our method allows the hitchhiker robot to skip redundant computations in navigation like path planning, localization, obstacle avoidance, and map update by completely relying on the driver robot. This allows the hitchhiker robot, which performs only visual servoing, to save computation while navigating on the common path with the driver robot. The driver robot, in the proposed system performs all the heavy computations in navigation and updates the hitchhiker about the current localized positions and new obstacle positions in the map. The proposed system is robust to recover from ‘driver-lost’ scenario which occurs due to visual servoing failure. We demonstrate robot hitchhiking in real environments considering factors like service-time and task priority with different start and goal configurations of the driver and hitchhiker robots. We also discuss the admissible characteristics of the hitchhiker, when hitchhiking should be allowed and when not, through experimental results. PMID:28809803

Combined virtual and real robotic test-bed for single operator control of multiple robots

NASA Astrophysics Data System (ADS)

Lee, Sam Y.-S.; Hunt, Shawn; Cao, Alex; Pandya, Abhilash

2010-04-01

Teams of heterogeneous robots with different dynamics or capabilities could perform a variety of tasks such as multipoint surveillance, cooperative transport and explorations in hazardous environments. In this study, we work with heterogeneous robots of semi-autonomous ground and aerial robots for contaminant localization. We developed a human interface system which linked every real robot to its virtual counterpart. A novel virtual interface has been integrated with Augmented Reality that can monitor the position and sensory information from video feed of ground and aerial robots in the 3D virtual environment, and improve user situational awareness. An operator can efficiently control the real multi-robots using the Drag-to-Move method on the virtual multi-robots. This enables an operator to control groups of heterogeneous robots in a collaborative way for allowing more contaminant sources to be pursued simultaneously. The advanced feature of the virtual interface system is guarded teleoperation. This can be used to prevent operators from accidently driving multiple robots into walls and other objects. Moreover, the feature of the image guidance and tracking is able to reduce operator workload.

Hitchhiking Robots: A Collaborative Approach for Efficient Multi-Robot Navigation in Indoor Environments.

PubMed

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

2017-08-15

Hitchhiking is a means of transportation gained by asking other people for a (free) ride. We developed a multi-robot system which is the first of its kind to incorporate hitchhiking in robotics, and discuss its advantages. Our method allows the hitchhiker robot to skip redundant computations in navigation like path planning, localization, obstacle avoidance, and map update by completely relying on the driver robot. This allows the hitchhiker robot, which performs only visual servoing, to save computation while navigating on the common path with the driver robot. The driver robot, in the proposed system performs all the heavy computations in navigation and updates the hitchhiker about the current localized positions and new obstacle positions in the map. The proposed system is robust to recover from `driver-lost' scenario which occurs due to visual servoing failure. We demonstrate robot hitchhiking in real environments considering factors like service-time and task priority with different start and goal configurations of the driver and hitchhiker robots. We also discuss the admissible characteristics of the hitchhiker, when hitchhiking should be allowed and when not, through experimental results.

A queueing model of pilot decision making in a multi-task flight management situation

NASA Technical Reports Server (NTRS)

Walden, R. S.; Rouse, W. B.

1977-01-01

Allocation of decision making responsibility between pilot and computer is considered and a flight management task, designed for the study of pilot-computer interaction, is discussed. A queueing theory model of pilot decision making in this multi-task, control and monitoring situation is presented. An experimental investigation of pilot decision making and the resulting model parameters are discussed.

Coordinating teams of autonomous vehicles: an architectural perspective

NASA Astrophysics Data System (ADS)

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

2005-05-01

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

Framework and Method for Controlling a Robotic System Using a Distributed Computer Network

NASA Technical Reports Server (NTRS)

Sanders, Adam M. (Inventor); Strawser, Philip A. (Inventor); Barajas, Leandro G. (Inventor); Permenter, Frank Noble (Inventor)

2015-01-01

A robotic system for performing an autonomous task includes a humanoid robot having a plurality of compliant robotic joints, actuators, and other integrated system devices that are controllable in response to control data from various control points, and having sensors for measuring feedback data at the control points. The system includes a multi-level distributed control framework (DCF) for controlling the integrated system components over multiple high-speed communication networks. The DCF has a plurality of first controllers each embedded in a respective one of the integrated system components, e.g., the robotic joints, a second controller coordinating the components via the first controllers, and a third controller for transmitting a signal commanding performance of the autonomous task to the second controller. The DCF virtually centralizes all of the control data and the feedback data in a single location to facilitate control of the robot across the multiple communication networks.

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

PubMed Central

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

2016-01-01

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

Nonlinear robust controller design for multi-robot systems with unknown payloads

NASA Technical Reports Server (NTRS)

Song, Y. D.; Anderson, J. N.; Homaifar, A.; Lai, H. Y.

1992-01-01

This work is concerned with the control problem of a multi-robot system handling a payload with unknown mass properties. Force constraints at the grasp points are considered. Robust control schemes are proposed that cope with the model uncertainty and achieve asymptotic path tracking. To deal with the force constraints, a strategy for optimally sharing the task is suggested. This strategy basically consists of two steps. The first detects the robots that need help and the second arranges that help. It is shown that the overall system is not only robust to uncertain payload parameters, but also satisfies the force constraints.

Development of Multi-Legged Walking Robot Using Reconfigurable Modular Design and Biomimetic Control Architecture

NASA Astrophysics Data System (ADS)

Chen, Xuedong; Sun, Yi; Huang, Qingjiu; Jia, Wenchuan; Pu, Huayan

This paper focuses on the design of a modular multi-legged walking robot MiniQuad-I, which can be reconfigured into variety configurations, including quadruped and hexapod configurations for different tasks by changing the layout of modules. Critical design considerations when taking the adaptability, maintainability and extensibility in count simultaneously are discussed and then detailed designs of each module are presented. The biomimetic control architecture of MiniQuad-I is proposed, which can improve the capability of agility and independence of the robot. Simulations and experiments on crawling, object picking and obstacle avoiding are performed to verify functions of the MiniQuad-I.

Multi-Robot Systems in Military Domains (Les Systemes Multi-Robots Dans les Domaines Militaires)

DTIC Science & Technology

2008-12-01

to allow him to react quickly to improve his personal safety , it is mandatory to shorten the current very long delay needed for the human operator to...Hard RT tasks 2 OS / API Process monitoring 3 H / API Flexible communication medium 4 H / API Networking capabilities 5 H / API Safety 6 API...also be considered between high level services and legacy systems. 4) This is the one of the basic requirement for CoRoDe. 5) Safety : CRC, Timeouts

Collective Machine Learning: Team Learning and Classification in Multi-Agent Systems

ERIC Educational Resources Information Center

Gifford, Christopher M.

2009-01-01

This dissertation focuses on the collaboration of multiple heterogeneous, intelligent agents (hardware or software) which collaborate to learn a task and are capable of sharing knowledge. The concept of collaborative learning in multi-agent and multi-robot systems is largely under studied, and represents an area where further research is needed to…

Multiple Leader Candidate and Competitive Position Allocation for Robust Formation against Member Robot Faults

PubMed Central

Kwon, Ji-Wook; Kim, Jin Hyo; Seo, Jiwon

2015-01-01

This paper proposes a Multiple Leader Candidate (MLC) structure and a Competitive Position Allocation (CPA) algorithm which can be applicable for various applications including environmental sensing. Unlike previous formation structures such as virtual-leader and actual-leader structures with position allocation including a rigid allocation and an optimization based allocation, the formation employing the proposed MLC structure and CPA algorithm is robust against the fault (or disappearance) of the member robots and reduces the entire cost. In the MLC structure, a leader of the entire system is chosen among leader candidate robots. The CPA algorithm is the decentralized position allocation algorithm that assigns the robots to the vertex of the formation via the competition of the adjacent robots. The numerical simulations and experimental results are included to show the feasibility and the performance of the multiple robot system employing the proposed MLC structure and the CPA algorithm. PMID:25954956

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

PubMed Central

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

2017-01-01

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

Stanford Aerospace Research Laboratory research overview

NASA Technical Reports Server (NTRS)

Ballhaus, W. L.; Alder, L. J.; Chen, V. W.; Dickson, W. C.; Ullman, M. A.

1993-01-01

Over the last ten years, the Stanford Aerospace Robotics Laboratory (ARL) has developed a hardware facility in which a number of space robotics issues have been, and continue to be, addressed. This paper reviews two of the current ARL research areas: navigation and control of free flying space robots, and modelling and control of extremely flexible space structures. The ARL has designed and built several semi-autonomous free-flying robots that perform numerous tasks in a zero-gravity, drag-free, two-dimensional environment. It is envisioned that future generations of these robots will be part of a human-robot team, in which the robots will operate under the task-level commands of astronauts. To make this possible, the ARL has developed a graphical user interface (GUI) with an intuitive object-level motion-direction capability. Using this interface, the ARL has demonstrated autonomous navigation, intercept and capture of moving and spinning objects, object transport, multiple-robot cooperative manipulation, and simple assemblies from both free-flying and fixed bases. The ARL has also built a number of experimental test beds on which the modelling and control of flexible manipulators has been studied. Early ARL experiments in this arena demonstrated for the first time the capability to control the end-point position of both single-link and multi-link flexible manipulators using end-point sensing. Building on these accomplishments, the ARL has been able to control payloads with unknown dynamics at the end of a flexible manipulator, and to achieve high-performance control of a multi-link flexible manipulator.

Decision rules for spaceborne operations planning

NASA Technical Reports Server (NTRS)

Smith, Jeffrey H.

1992-01-01

Recent study of Space Station Freedom requirements for extravehicular activity (EVA) to perform external maintenance tasks emphasize an oversubscription of resources for performing on-orbit tasks. Extravehicular robotics (EVR) and cooperative EVA combined with EVR (using crew and robots synergistically to perform tasks) have been suggested as a part of the solution to reduce EVA. The question remains however, 'Under what conditions is it cost-effective to use the EVA and/or EVR resource.' The answer to such a question also has implications for the Space Station Freedom and its external maintenance as well as the Space Exploration Initiative (SEI) where the issue of work-system allocation is magnified by the long distances and scope of EVA work. This paper describes a simple technique of interest to operational planners and robot technology planners for determining in an economic context whether to use EVA alone, EVR alone, or Cooperative EVA. It is also shown that given: (1) the task times for these alternatives; and (2) the marginal costs of EVA, EVR, and IVA, the appropriate work system for performing the task can be identified. The paper illustrates how the work system choice is based on the ratio of costs. An example using Space Station Freedom data is presented to illustrate the trade-offs among alternative work-systems.

Optimization of Land Use Suitability for Agriculture Using Integrated Geospatial Model and Genetic Algorithms

NASA Astrophysics Data System (ADS)

Mansor, S. B.; Pormanafi, S.; Mahmud, A. R. B.; Pirasteh, S.

2012-08-01

In this study, a geospatial model for land use allocation was developed from the view of simulating the biological autonomous adaptability to environment and the infrastructural preference. The model was developed based on multi-agent genetic algorithm. The model was customized to accommodate the constraint set for the study area, namely the resource saving and environmental-friendly. The model was then applied to solve the practical multi-objective spatial optimization allocation problems of land use in the core region of Menderjan Basin in Iran. The first task was to study the dominant crops and economic suitability evaluation of land. Second task was to determine the fitness function for the genetic algorithms. The third objective was to optimize the land use map using economical benefits. The results has indicated that the proposed model has much better performance for solving complex multi-objective spatial optimization allocation problems and it is a promising method for generating land use alternatives for further consideration in spatial decision-making.

Intelligent software for laboratory automation.

PubMed

Whelan, Ken E; King, Ross D

2004-09-01

The automation of laboratory techniques has greatly increased the number of experiments that can be carried out in the chemical and biological sciences. Until recently, this automation has focused primarily on improving hardware. Here we argue that future advances will concentrate on intelligent software to integrate physical experimentation and results analysis with hypothesis formulation and experiment planning. To illustrate our thesis, we describe the 'Robot Scientist' - the first physically implemented example of such a closed loop system. In the Robot Scientist, experimentation is performed by a laboratory robot, hypotheses concerning the results are generated by machine learning and experiments are allocated and selected by a combination of techniques derived from artificial intelligence research. The performance of the Robot Scientist has been evaluated by a rediscovery task based on yeast functional genomics. The Robot Scientist is proof that the integration of programmable laboratory hardware and intelligent software can be used to develop increasingly automated laboratories.

A Low-Cost EEG System-Based Hybrid Brain-Computer Interface for Humanoid Robot Navigation and Recognition

PubMed Central

Choi, Bongjae; Jo, Sungho

2013-01-01

This paper describes a hybrid brain-computer interface (BCI) technique that combines the P300 potential, the steady state visually evoked potential (SSVEP), and event related de-synchronization (ERD) to solve a complicated multi-task problem consisting of humanoid robot navigation and control along with object recognition using a low-cost BCI system. Our approach enables subjects to control the navigation and exploration of a humanoid robot and recognize a desired object among candidates. This study aims to demonstrate the possibility of a hybrid BCI based on a low-cost system for a realistic and complex task. It also shows that the use of a simple image processing technique, combined with BCI, can further aid in making these complex tasks simpler. An experimental scenario is proposed in which a subject remotely controls a humanoid robot in a properly sized maze. The subject sees what the surrogate robot sees through visual feedback and can navigate the surrogate robot. While navigating, the robot encounters objects located in the maze. It then recognizes if the encountered object is of interest to the subject. The subject communicates with the robot through SSVEP and ERD-based BCIs to navigate and explore with the robot, and P300-based BCI to allow the surrogate robot recognize their favorites. Using several evaluation metrics, the performances of five subjects navigating the robot were quite comparable to manual keyboard control. During object recognition mode, favorite objects were successfully selected from two to four choices. Subjects conducted humanoid navigation and recognition tasks as if they embodied the robot. Analysis of the data supports the potential usefulness of the proposed hybrid BCI system for extended applications. This work presents an important implication for the future work that a hybridization of simple BCI protocols provide extended controllability to carry out complicated tasks even with a low-cost system. PMID:24023953

A low-cost EEG system-based hybrid brain-computer interface for humanoid robot navigation and recognition.

PubMed

Choi, Bongjae; Jo, Sungho

2013-01-01

This paper describes a hybrid brain-computer interface (BCI) technique that combines the P300 potential, the steady state visually evoked potential (SSVEP), and event related de-synchronization (ERD) to solve a complicated multi-task problem consisting of humanoid robot navigation and control along with object recognition using a low-cost BCI system. Our approach enables subjects to control the navigation and exploration of a humanoid robot and recognize a desired object among candidates. This study aims to demonstrate the possibility of a hybrid BCI based on a low-cost system for a realistic and complex task. It also shows that the use of a simple image processing technique, combined with BCI, can further aid in making these complex tasks simpler. An experimental scenario is proposed in which a subject remotely controls a humanoid robot in a properly sized maze. The subject sees what the surrogate robot sees through visual feedback and can navigate the surrogate robot. While navigating, the robot encounters objects located in the maze. It then recognizes if the encountered object is of interest to the subject. The subject communicates with the robot through SSVEP and ERD-based BCIs to navigate and explore with the robot, and P300-based BCI to allow the surrogate robot recognize their favorites. Using several evaluation metrics, the performances of five subjects navigating the robot were quite comparable to manual keyboard control. During object recognition mode, favorite objects were successfully selected from two to four choices. Subjects conducted humanoid navigation and recognition tasks as if they embodied the robot. Analysis of the data supports the potential usefulness of the proposed hybrid BCI system for extended applications. This work presents an important implication for the future work that a hybridization of simple BCI protocols provide extended controllability to carry out complicated tasks even with a low-cost system.

Modular Countermine Payload for Small Robots

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

Herman Herman; Doug Few; Roelof Versteeg

2010-04-01

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

Costs of task allocation with local feedback: Effects of colony size and extra workers in social insects and other multi-agent systems.

PubMed

Radeva, Tsvetomira; Dornhaus, Anna; Lynch, Nancy; Nagpal, Radhika; Su, Hsin-Hao

2017-12-01

Adaptive collective systems are common in biology and beyond. Typically, such systems require a task allocation algorithm: a mechanism or rule-set by which individuals select particular roles. Here we study the performance of such task allocation mechanisms measured in terms of the time for individuals to allocate to tasks. We ask: (1) Is task allocation fundamentally difficult, and thus costly? (2) Does the performance of task allocation mechanisms depend on the number of individuals? And (3) what other parameters may affect their efficiency? We use techniques from distributed computing theory to develop a model of a social insect colony, where workers have to be allocated to a set of tasks; however, our model is generalizable to other systems. We show, first, that the ability of workers to quickly assess demand for work in tasks they are not currently engaged in crucially affects whether task allocation is quickly achieved or not. This indicates that in social insect tasks such as thermoregulation, where temperature may provide a global and near instantaneous stimulus to measure the need for cooling, for example, it should be easy to match the number of workers to the need for work. In other tasks, such as nest repair, it may be impossible for workers not directly at the work site to know that this task needs more workers. We argue that this affects whether task allocation mechanisms are under strong selection. Second, we show that colony size does not affect task allocation performance under our assumptions. This implies that when effects of colony size are found, they are not inherent in the process of task allocation itself, but due to processes not modeled here, such as higher variation in task demand for smaller colonies, benefits of specialized workers, or constant overhead costs. Third, we show that the ratio of the number of available workers to the workload crucially affects performance. Thus, workers in excess of those needed to complete all tasks improve task allocation performance. This provides a potential explanation for the phenomenon that social insect colonies commonly contain inactive workers: these may be a 'surplus' set of workers that improves colony function by speeding up optimal allocation of workers to tasks. Overall our study shows how limitations at the individual level can affect group level outcomes, and suggests new hypotheses that can be explored empirically.

Costs of task allocation with local feedback: Effects of colony size and extra workers in social insects and other multi-agent systems

PubMed Central

Dornhaus, Anna; Su, Hsin-Hao

2017-01-01

Adaptive collective systems are common in biology and beyond. Typically, such systems require a task allocation algorithm: a mechanism or rule-set by which individuals select particular roles. Here we study the performance of such task allocation mechanisms measured in terms of the time for individuals to allocate to tasks. We ask: (1) Is task allocation fundamentally difficult, and thus costly? (2) Does the performance of task allocation mechanisms depend on the number of individuals? And (3) what other parameters may affect their efficiency? We use techniques from distributed computing theory to develop a model of a social insect colony, where workers have to be allocated to a set of tasks; however, our model is generalizable to other systems. We show, first, that the ability of workers to quickly assess demand for work in tasks they are not currently engaged in crucially affects whether task allocation is quickly achieved or not. This indicates that in social insect tasks such as thermoregulation, where temperature may provide a global and near instantaneous stimulus to measure the need for cooling, for example, it should be easy to match the number of workers to the need for work. In other tasks, such as nest repair, it may be impossible for workers not directly at the work site to know that this task needs more workers. We argue that this affects whether task allocation mechanisms are under strong selection. Second, we show that colony size does not affect task allocation performance under our assumptions. This implies that when effects of colony size are found, they are not inherent in the process of task allocation itself, but due to processes not modeled here, such as higher variation in task demand for smaller colonies, benefits of specialized workers, or constant overhead costs. Third, we show that the ratio of the number of available workers to the workload crucially affects performance. Thus, workers in excess of those needed to complete all tasks improve task allocation performance. This provides a potential explanation for the phenomenon that social insect colonies commonly contain inactive workers: these may be a ‘surplus’ set of workers that improves colony function by speeding up optimal allocation of workers to tasks. Overall our study shows how limitations at the individual level can affect group level outcomes, and suggests new hypotheses that can be explored empirically. PMID:29240763

An Intelligent Man-Machine Interface—Multi-Robot Control Adapted for Task Engagement Based on Single-Trial Detectability of P300

PubMed Central

Kirchner, Elsa A.; Kim, Su K.; Tabie, Marc; Wöhrle, Hendrik; Maurus, Michael; Kirchner, Frank

2016-01-01

Advanced man-machine interfaces (MMIs) are being developed for teleoperating robots at remote and hardly accessible places. Such MMIs make use of a virtual environment and can therefore make the operator immerse him-/herself into the environment of the robot. In this paper, we present our developed MMI for multi-robot control. Our MMI can adapt to changes in task load and task engagement online. Applying our approach of embedded Brain Reading we improve user support and efficiency of interaction. The level of task engagement was inferred from the single-trial detectability of P300-related brain activity that was naturally evoked during interaction. With our approach no secondary task is needed to measure task load. It is based on research results on the single-stimulus paradigm, distribution of brain resources and its effect on the P300 event-related component. It further considers effects of the modulation caused by a delayed reaction time on the P300 component evoked by complex responses to task-relevant messages. We prove our concept using single-trial based machine learning analysis, analysis of averaged event-related potentials and behavioral analysis. As main results we show (1) a significant improvement of runtime needed to perform the interaction tasks compared to a setting in which all subjects could easily perform the tasks. We show that (2) the single-trial detectability of the event-related potential P300 can be used to measure the changes in task load and task engagement during complex interaction while also being sensitive to the level of experience of the operator and (3) can be used to adapt the MMI individually to the different needs of users without increasing total workload. Our online adaptation of the proposed MMI is based on a continuous supervision of the operator's cognitive resources by means of embedded Brain Reading. Operators with different qualifications or capabilities receive only as many tasks as they can perform to avoid mental overload as well as mental underload. PMID:27445742

3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands

PubMed Central

Mateo, Carlos M.; Gil, Pablo; Torres, Fernando

2016-01-01

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object’s surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand’s fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments. PMID:27164102

3D Visual Data-Driven Spatiotemporal Deformations for Non-Rigid Object Grasping Using Robot Hands.

PubMed

Mateo, Carlos M; Gil, Pablo; Torres, Fernando

2016-05-05

Sensing techniques are important for solving problems of uncertainty inherent to intelligent grasping tasks. The main goal here is to present a visual sensing system based on range imaging technology for robot manipulation of non-rigid objects. Our proposal provides a suitable visual perception system of complex grasping tasks to support a robot controller when other sensor systems, such as tactile and force, are not able to obtain useful data relevant to the grasping manipulation task. In particular, a new visual approach based on RGBD data was implemented to help a robot controller carry out intelligent manipulation tasks with flexible objects. The proposed method supervises the interaction between the grasped object and the robot hand in order to avoid poor contact between the fingertips and an object when there is neither force nor pressure data. This new approach is also used to measure changes to the shape of an object's surfaces and so allows us to find deformations caused by inappropriate pressure being applied by the hand's fingers. Test was carried out for grasping tasks involving several flexible household objects with a multi-fingered robot hand working in real time. Our approach generates pulses from the deformation detection method and sends an event message to the robot controller when surface deformation is detected. In comparison with other methods, the obtained results reveal that our visual pipeline does not use deformations models of objects and materials, as well as the approach works well both planar and 3D household objects in real time. In addition, our method does not depend on the pose of the robot hand because the location of the reference system is computed from a recognition process of a pattern located place at the robot forearm. The presented experiments demonstrate that the proposed method accomplishes a good monitoring of grasping task with several objects and different grasping configurations in indoor environments.

Effects of task-oriented robot training on arm function, activity, and quality of life in chronic stroke patients: a randomized controlled trial.

PubMed

Timmermans, Annick A A; Lemmens, Ryanne J M; Monfrance, Maurice; Geers, Richard P J; Bakx, Wilbert; Smeets, Rob J E M; Seelen, Henk A M

2014-03-31

Over fifty percent of stroke patients experience chronic arm hand performance problems, compromising independence in daily life activities and quality of life. Task-oriented training may improve arm hand performance after stroke, whereby augmented therapy may lead to a better treatment outcome. Technology-supported training holds opportunities for increasing training intensity. However, the effects of robot-supported task-oriented training with real life objects in stroke patients are not known to date. The aim of the present study was to investigate the effectiveness and added value of the Haptic Master robot combined with task-oriented arm hand training in chronic stroke patients. In a single-blind randomized controlled trial, 22 chronic stroke patients were randomly allocated to receive either task-oriented robot-assisted arm-hand training (experimental group) or task-oriented non-robotic arm-hand training (control group). For training, the T-TOAT (Technology-supported Task-Oriented Arm Training) method was applied. Training was provided during 8 weeks, 4 times/week, 2 × 30 min/day. A significant improvement after training on the Action Research Arm Test (ARAT) was demonstrated in the experimental group (p = 0.008). Results were maintained until 6 months after cessation of the training. On the perceived performance measure (Motor Activity Log (MAL)), both, the experimental and control group improved significantly after training (control group p = 0.008; experimental group p = 0.013). The improvements on MAL in both groups were maintained until 6 months after cessation of the training. With regard to quality of life, only in the control group a significant improvement after training was found (EuroQol-5D p = 0.015, SF-36 physical p = 0.01). However, the improvement on SF-36 in the control group was not maintained (p = 0.012). No between-group differences could be demonstrated on any of the outcome measures. Arm hand performance improved in chronic stroke patients, after eight weeks of task oriented training. The use of a Haptic Master robot in support of task-oriented arm training did not show additional value over the video-instructed task-oriented exercises in highly functional stroke patients. Current Controlled Trials ISRCTN82787126.

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

DTIC Science & Technology

2016-12-01

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

Multi-agent planning and scheduling, execution monitoring and incremental rescheduling: Application to motorway traffic

NASA Technical Reports Server (NTRS)

Mourou, Pascal; Fade, Bernard

1992-01-01

This article describes a planning method applicable to agents with great perception and decision-making capabilities and the ability to communicate with other agents. Each agent has a task to fulfill allowing for the actions of other agents in its vicinity. Certain simultaneous actions may cause conflicts because they require the same resource. The agent plans each of its actions and simultaneously transmits these to its neighbors. In a similar way, it receives plans from the other agents and must take account of these plans. The planning method allows us to build a distributed scheduling system. Here, these agents are robot vehicles on a highway communicating by radio. In this environment, conflicts between agents concern the allocation of space in time and are connected with the inertia of the vehicles. Each vehicle made a temporal, spatial, and situated reasoning in order to drive without collision. The flexibility and reactivity of the method presented here allows the agent to generate its plan based on assumptions concerning the other agents and then check these assumptions progressively as plans are received from the other agents. A multi-agent execution monitoring of these plans can be done, using data generated during planning and the multi-agent decision-making algorithm described here. A selective backtrack allows us to perform incremental rescheduling.

Low Cost Multi-Sensor Robot Laser Scanning System and its Accuracy Investigations for Indoor Mapping Application

NASA Astrophysics Data System (ADS)

Chen, C.; Zou, X.; Tian, M.; Li, J.; Wu, W.; Song, Y.; Dai, W.; Yang, B.

2017-11-01

In order to solve the automation of 3D indoor mapping task, a low cost multi-sensor robot laser scanning system is proposed in this paper. The multiple-sensor robot laser scanning system includes a panorama camera, a laser scanner, and an inertial measurement unit and etc., which are calibrated and synchronized together to achieve simultaneously collection of 3D indoor data. Experiments are undertaken in a typical indoor scene and the data generated by the proposed system are compared with ground truth data collected by a TLS scanner showing an accuracy of 99.2% below 0.25 meter, which explains the applicability and precision of the system in indoor mapping applications.

Using Modeling and Simulation to Predict Operator Performance and Automation-Induced Complacency With Robotic Automation: A Case Study and Empirical Validation.

PubMed

Wickens, Christopher D; Sebok, Angelia; Li, Huiyang; Sarter, Nadine; Gacy, Andrew M

2015-09-01

The aim of this study was to develop and validate a computational model of the automation complacency effect, as operators work on a robotic arm task, supported by three different degrees of automation. Some computational models of complacency in human-automation interaction exist, but those are formed and validated within the context of fairly simplified monitoring failures. This research extends model validation to a much more complex task, so that system designers can establish, without need for human-in-the-loop (HITL) experimentation, merits and shortcomings of different automation degrees. We developed a realistic simulation of a space-based robotic arm task that could be carried out with three different levels of trajectory visualization and execution automation support. Using this simulation, we performed HITL testing. Complacency was induced via several trials of correctly performing automation and then was assessed on trials when automation failed. Following a cognitive task analysis of the robotic arm operation, we developed a multicomponent model of the robotic operator and his or her reliance on automation, based in part on visual scanning. The comparison of model predictions with empirical results revealed that the model accurately predicted routine performance and predicted the responses to these failures after complacency developed. However, the scanning models do not account for the entire attention allocation effects of complacency. Complacency modeling can provide a useful tool for predicting the effects of different types of imperfect automation. The results from this research suggest that focus should be given to supporting situation awareness in automation development. © 2015, Human Factors and Ergonomics Society.

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.

Multi-Objective Constraint Satisfaction for Mobile Robot Area Defense

DTIC Science & Technology

2010-03-01

17 NSGA-II non-dominated sorting genetic algorithm II . . . . . . . . . . . . . . . . . . . 17 jMetal Metaheuristic Algorithms in...to alert the other agents and ensure trust in the system. This research presents an algorithm that tasks robots to meet the two specific goals of...problem is defined as a constraint satisfaction problem solved using the Non-dominated Sorting Genetic Algorithm II (NSGA-II). Both goals of

Developing a Computerised Multiple Elements Test for Organisational Difficulties

ERIC Educational Resources Information Center

Hynes, Sinead M.; Fish, Jessica; Evans, Jonathan J.; Manly, Tom

2015-01-01

Executive function is best measured in loosely structured, multi-component tasks that reflect real-life demands. These tasks require participants to develop a strategy, keep a plan in mind and monitor time. Errors include ignoring stated goals ("goal neglect"), over-allocation of time to one task and violating rules. Teasing apart such…

Ant-like task allocation and recruitment in cooperative robots

NASA Astrophysics Data System (ADS)

Krieger, Michael J. B.; Billeter, Jean-Bernard; Keller, Laurent

2000-08-01

One of the greatest challenges in robotics is to create machines that are able to interact with unpredictable environments in real time. A possible solution may be to use swarms of robots behaving in a self-organized manner, similar to workers in an ant colony. Efficient mechanisms of division of labour, in particular series-parallel operation and transfer of information among group members, are key components of the tremendous ecological success of ants. Here we show that the general principles regulating division of labour in ant colonies indeed allow the design of flexible, robust and effective robotic systems. Groups of robots using ant-inspired algorithms of decentralized control techniques foraged more efficiently and maintained higher levels of group energy than single robots. But the benefits of group living decreased in larger groups, most probably because of interference during foraging. Intriguingly, a similar relationship between group size and efficiency has been documented in social insects. Moreover, when food items were clustered, groups where robots could recruit other robots in an ant-like manner were more efficient than groups without information transfer, suggesting that group dynamics of swarms of robots may follow rules similar to those governing social insects.

Towards a sustainable modular robot system for planetary exploration

NASA Astrophysics Data System (ADS)

Hossain, S. G. M.

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

Multi-tasking arbitration and behaviour design for human-interactive robots

NASA Astrophysics Data System (ADS)

Kobayashi, Yuichi; Onishi, Masaki; Hosoe, Shigeyuki; Luo, Zhiwei

2013-05-01

Robots that interact with humans in household environments are required to handle multiple real-time tasks simultaneously, such as carrying objects, collision avoidance and conversation with human. This article presents a design framework for the control and recognition processes to meet these requirements taking into account stochastic human behaviour. The proposed design method first introduces a Petri net for synchronisation of multiple tasks. The Petri net formulation is converted to Markov decision processes and processed in an optimal control framework. Three tasks (safety confirmation, object conveyance and conversation) interact and are expressed by the Petri net. Using the proposed framework, tasks that normally tend to be designed by integrating many if-then rules can be designed in a systematic manner in a state estimation and optimisation framework from the viewpoint of the shortest time optimal control. The proposed arbitration method was verified by simulations and experiments using RI-MAN, which was developed for interactive tasks with humans.

A Behavior-Based Strategy for Single and Multi-Robot Autonomous Exploration

PubMed Central

Cepeda, Jesus S.; Chaimowicz, Luiz; Soto, Rogelio; Gordillo, José L.; Alanís-Reyes, Edén A.; Carrillo-Arce, Luis C.

2012-01-01

In this paper, we consider the problem of autonomous exploration of unknown environments with single and multiple robots. This is a challenging task, with several potential applications. We propose a simple yet effective approach that combines a behavior-based navigation with an efficient data structure to store previously visited regions. This allows robots to safely navigate, disperse and efficiently explore the environment. A series of experiments performed using a realistic robotic simulator and a real testbed scenario demonstrate that our technique effectively distributes the robots over the environment and allows them to quickly accomplish their mission in large open spaces, narrow cluttered environments, dead-end corridors, as well as rooms with minimum exits.

Kinematic path planning for space-based robotics

NASA Astrophysics Data System (ADS)

Seereeram, Sanjeev; Wen, John T.

1998-01-01

Future space robotics tasks require manipulators of significant dexterity, achievable through kinematic redundancy and modular reconfigurability, but with a corresponding complexity of motion planning. Existing research aims for full autonomy and completeness, at the expense of efficiency, generality or even user friendliness. Commercial simulators require user-taught joint paths-a significant burden for assembly tasks subject to collision avoidance, kinematic and dynamic constraints. Our research has developed a Kinematic Path Planning (KPP) algorithm which bridges the gap between research and industry to produce a powerful and useful product. KPP consists of three key components: path-space iterative search, probabilistic refinement, and an operator guidance interface. The KPP algorithm has been successfully applied to the SSRMS for PMA relocation and dual-arm truss assembly tasks. Other KPP capabilities include Cartesian path following, hybrid Cartesian endpoint/intermediate via-point planning, redundancy resolution and path optimization. KPP incorporates supervisory (operator) input at any detail to influence the solution, yielding desirable/predictable paths for multi-jointed arms, avoiding obstacles and obeying manipulator limits. This software will eventually form a marketable robotic planner suitable for commercialization in conjunction with existing robotic CAD/CAM packages.

Real time AI expert system for robotic applications

NASA Technical Reports Server (NTRS)

Follin, John F.

1987-01-01

A computer controlled multi-robot process cell to demonstrate advanced technologies for the demilitarization of obsolete chemical munitions was developed. The methods through which the vision system and other sensory inputs were used by the artificial intelligence to provide the information required to direct the robots to complete the desired task are discussed. The mechanisms that the expert system uses to solve problems (goals), the different rule data base, and the methods for adapting this control system to any device that can be controlled or programmed through a high level computer interface are discussed.

Autonomous intelligent assembly systems LDRD 105746 final report.

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

Anderson, Robert J.

2013-04-01

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

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

NASA Astrophysics Data System (ADS)

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

2001-10-01

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

Robotic Attention Processing And Its Application To Visual Guidance

NASA Astrophysics Data System (ADS)

Barth, Matthew; Inoue, Hirochika

1988-03-01

This paper describes a method of real-time visual attention processing for robots performing visual guidance. This robot attention processing is based on a novel vision processor, the multi-window vision system that was developed at the University of Tokyo. The multi-window vision system is unique in that it only processes visual information inside local area windows. These local area windows are quite flexible in their ability to move anywhere on the visual screen, change their size and shape, and alter their pixel sampling rate. By using these windows for specific attention tasks, it is possible to perform high speed attention processing. The primary attention skills of detecting motion, tracking an object, and interpreting an image are all performed at high speed on the multi-window vision system. A basic robotic attention scheme using the attention skills was developed. The attention skills involved detection and tracking of salient visual features. The tracking and motion information thus obtained was utilized in producing the response to the visual stimulus. The response of the attention scheme was quick enough to be applicable to the real-time vision processing tasks of playing a video 'pong' game, and later using an automobile driving simulator. By detecting the motion of a 'ball' on a video screen and then tracking the movement, the attention scheme was able to control a 'paddle' in order to keep the ball in play. The response was faster than that of a human's, allowing the attention scheme to play the video game at higher speeds. Further, in the application to the driving simulator, the attention scheme was able to control both direction and velocity of a simulated vehicle following a lead car. These two applications show the potential of local visual processing in its use for robotic attention processing.

Visual Detection and Tracking System for a Spherical Amphibious Robot

PubMed Central

Guo, Shuxiang; Pan, Shaowu; Shi, Liwei; Guo, Ping; He, Yanlin; Tang, Kun

2017-01-01

With the goal of supporting close-range observation tasks of a spherical amphibious robot, such as ecological observations and intelligent surveillance, a moving target detection and tracking system was designed and implemented in this study. Given the restrictions presented by the amphibious environment and the small-sized spherical amphibious robot, an industrial camera and vision algorithms using adaptive appearance models were adopted to construct the proposed system. To handle the problem of light scattering and absorption in the underwater environment, the multi-scale retinex with color restoration algorithm was used for image enhancement. Given the environmental disturbances in practical amphibious scenarios, the Gaussian mixture model was used to detect moving targets entering the field of view of the robot. A fast compressive tracker with a Kalman prediction mechanism was used to track the specified target. Considering the limited load space and the unique mechanical structure of the robot, the proposed vision system was fabricated with a low power system-on-chip using an asymmetric and heterogeneous computing architecture. Experimental results confirmed the validity and high efficiency of the proposed system. The design presented in this paper is able to meet future demands of spherical amphibious robots in biological monitoring and multi-robot cooperation. PMID:28420134

Visual Detection and Tracking System for a Spherical Amphibious Robot.

PubMed

Guo, Shuxiang; Pan, Shaowu; Shi, Liwei; Guo, Ping; He, Yanlin; Tang, Kun

2017-04-15

With the goal of supporting close-range observation tasks of a spherical amphibious robot, such as ecological observations and intelligent surveillance, a moving target detection and tracking system was designed and implemented in this study. Given the restrictions presented by the amphibious environment and the small-sized spherical amphibious robot, an industrial camera and vision algorithms using adaptive appearance models were adopted to construct the proposed system. To handle the problem of light scattering and absorption in the underwater environment, the multi-scale retinex with color restoration algorithm was used for image enhancement. Given the environmental disturbances in practical amphibious scenarios, the Gaussian mixture model was used to detect moving targets entering the field of view of the robot. A fast compressive tracker with a Kalman prediction mechanism was used to track the specified target. Considering the limited load space and the unique mechanical structure of the robot, the proposed vision system was fabricated with a low power system-on-chip using an asymmetric and heterogeneous computing architecture. Experimental results confirmed the validity and high efficiency of the proposed system. The design presented in this paper is able to meet future demands of spherical amphibious robots in biological monitoring and multi-robot cooperation.

Semi-Autonomous Electrosurgery for Tumor Resection Using a Multi-Degree of Freedom Electrosurgical Tool and Visual Servoing*

PubMed Central

Opfermann, Justin D.; Leonard, Simon; Decker, Ryan S.; Uebele, Nicholas A.; Bayne, Christopher E.; Joshi, Arjun S.; Krieger, Axel

2017-01-01

This paper specifies a surgical robot performing semi-autonomous electrosurgery for tumor resection and evaluates its accuracy using a visual servoing paradigm. We describe the design and integration of a novel, multi-degree of freedom electrosurgical tool for the smart tissue autonomous robot (STAR). Standardized line tests are executed to determine ideal cut parameters in three different types of porcine tissue. STAR is then programmed with the ideal cut setting for porcine tissue and compared against expert surgeons using open and laparoscopic techniques in a line cutting task. We conclude with a proof of concept demonstration using STAR to semi-autonomously resect pseudo-tumors in porcine tissue using visual servoing. When tasked to excise tumors with a consistent 4mm margin, STAR can semi-autonomously dissect tissue with an average margin of 3.67 mm and a standard deviation of 0.89mm. PMID:29503760

Multi-objective AGV scheduling in an FMS using a hybrid of genetic algorithm and particle swarm optimization.

PubMed

Mousavi, Maryam; Yap, Hwa Jen; Musa, Siti Nurmaya; Tahriri, Farzad; Md Dawal, Siti Zawiah

2017-01-01

Flexible manufacturing system (FMS) enhances the firm's flexibility and responsiveness to the ever-changing customer demand by providing a fast product diversification capability. Performance of an FMS is highly dependent upon the accuracy of scheduling policy for the components of the system, such as automated guided vehicles (AGVs). An AGV as a mobile robot provides remarkable industrial capabilities for material and goods transportation within a manufacturing facility or a warehouse. Allocating AGVs to tasks, while considering the cost and time of operations, defines the AGV scheduling process. Multi-objective scheduling of AGVs, unlike single objective practices, is a complex and combinatorial process. In the main draw of the research, a mathematical model was developed and integrated with evolutionary algorithms (genetic algorithm (GA), particle swarm optimization (PSO), and hybrid GA-PSO) to optimize the task scheduling of AGVs with the objectives of minimizing makespan and number of AGVs while considering the AGVs' battery charge. Assessment of the numerical examples' scheduling before and after the optimization proved the applicability of all the three algorithms in decreasing the makespan and AGV numbers. The hybrid GA-PSO produced the optimum result and outperformed the other two algorithms, in which the mean of AGVs operation efficiency was found to be 69.4, 74, and 79.8 percent in PSO, GA, and hybrid GA-PSO, respectively. Evaluation and validation of the model was performed by simulation via Flexsim software.

Multi-objective AGV scheduling in an FMS using a hybrid of genetic algorithm and particle swarm optimization

PubMed Central

Yap, Hwa Jen; Musa, Siti Nurmaya; Tahriri, Farzad; Md Dawal, Siti Zawiah

2017-01-01

Flexible manufacturing system (FMS) enhances the firm’s flexibility and responsiveness to the ever-changing customer demand by providing a fast product diversification capability. Performance of an FMS is highly dependent upon the accuracy of scheduling policy for the components of the system, such as automated guided vehicles (AGVs). An AGV as a mobile robot provides remarkable industrial capabilities for material and goods transportation within a manufacturing facility or a warehouse. Allocating AGVs to tasks, while considering the cost and time of operations, defines the AGV scheduling process. Multi-objective scheduling of AGVs, unlike single objective practices, is a complex and combinatorial process. In the main draw of the research, a mathematical model was developed and integrated with evolutionary algorithms (genetic algorithm (GA), particle swarm optimization (PSO), and hybrid GA-PSO) to optimize the task scheduling of AGVs with the objectives of minimizing makespan and number of AGVs while considering the AGVs’ battery charge. Assessment of the numerical examples’ scheduling before and after the optimization proved the applicability of all the three algorithms in decreasing the makespan and AGV numbers. The hybrid GA-PSO produced the optimum result and outperformed the other two algorithms, in which the mean of AGVs operation efficiency was found to be 69.4, 74, and 79.8 percent in PSO, GA, and hybrid GA-PSO, respectively. Evaluation and validation of the model was performed by simulation via Flexsim software. PMID:28263994

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.

A model for dynamic allocation of human attention among multiple tasks

NASA Technical Reports Server (NTRS)

Sheridan, T. B.; Tulga, M. K.

1978-01-01

The problem of multi-task attention allocation with special reference to aircraft piloting is discussed with the experimental paradigm used to characterize this situation and the experimental results obtained in the first phase of the research. A qualitative description of an approach to mathematical modeling, and some results obtained with it are also presented to indicate what aspects of the model are most promising. Two appendices are given which (1) discuss the model in relation to graph theory and optimization and (2) specify the optimization algorithm of the model.

Simultaneous Deployment and Tracking Multi-Robot Strategies with Connectivity Maintenance

PubMed Central

Tardós, Javier; Aragues, Rosario; Sagüés, Carlos; Rubio, Carlos

2018-01-01

Multi-robot teams composed of ground and aerial vehicles have gained attention during the last few years. We present a scenario where both types of robots must monitor the same area from different view points. In this paper, we propose two Lloyd-based tracking strategies to allow the ground robots (agents) to follow the aerial ones (targets), keeping the connectivity between the agents. The first strategy establishes density functions on the environment so that the targets acquire more importance than other zones, while the second one iteratively modifies the virtual limits of the working area depending on the positions of the targets. We consider the connectivity maintenance due to the fact that coverage tasks tend to spread the agents as much as possible, which is addressed by restricting their motions so that they keep the links of a minimum spanning tree of the communication graph. We provide a thorough parametric study of the performance of the proposed strategies under several simulated scenarios. In addition, the methods are implemented and tested using realistic robotic simulation environments and real experiments. PMID:29558446

Functional impacts of exoskeleton-based rehabilitation in chronic stroke: multi-joint versus single-joint robotic training

PubMed Central

2013-01-01

Stroke is a major cause of disability in the world. The activities of upper limb segments are often compromised following a stroke, impairing most daily tasks. Robotic training is now considered amongst the rehabilitation methods applied to promote functional recovery. However, the implementation of robotic devices remains a major challenge for the bioengineering and clinical community. Latest exoskeletons with multiple degrees of freedom (DOF) may become particularly attractive, because of their low apparent inertia, the multiple actuators generating large torques, and the fact that patients can move the arm in the normal wide workspace. A recent study published in JNER by Milot and colleagues underlines that training with a 6-DOF exoskeleton impacts positively on motor function in patients being in stable phase of recovery after a stroke. Also, multi-joint robotic training was not found to be superior to single-joint robotic training. Although it is often considered that rehabilitation should start from simple movements to complex functional movements as the recovery evolves, this study challenges this widespread notion whose scientific basis has remained uncertain. PMID:24354518

Semi-autonomous exploration of multi-floor buildings with a legged robot

NASA Astrophysics Data System (ADS)

Wenger, Garrett J.; Johnson, Aaron M.; Taylor, Camillo J.; Koditschek, Daniel E.

2015-05-01

This paper presents preliminary results of a semi-autonomous building exploration behavior using the hexapedal robot RHex. Stairwells are used in virtually all multi-floor buildings, and so in order for a mobile robot to effectively explore, map, clear, monitor, or patrol such buildings it must be able to ascend and descend stairwells. However most conventional mobile robots based on a wheeled platform are unable to traverse stairwells, motivating use of the more mobile legged machine. This semi-autonomous behavior uses a human driver to provide steering input to the robot, as would be the case in, e.g., a tele-operated building exploration mission. The gait selection and transitions between the walking and stair climbing gaits are entirely autonomous. This implementation uses an RGBD camera for stair acquisition, which offers several advantages over a previously documented detector based on a laser range finder, including significantly reduced acquisition time. The sensor package used here also allows for considerable expansion of this behavior. For example, complete automation of the building exploration task driven by a mapping algorithm and higher level planner is presently under development.

Application of neural models as controllers in mobile robot velocity control loop

NASA Astrophysics Data System (ADS)

Cerkala, Jakub; Jadlovska, Anna

2017-01-01

This paper presents the application of an inverse neural models used as controllers in comparison to classical PI controllers for velocity tracking control task used in two-wheel, differentially driven mobile robot. The PI controller synthesis is based on linear approximation of actuators with equivalent load. In order to obtain relevant datasets for training of feed-forward multi-layer perceptron based neural network used as neural model, the mathematical model of mobile robot, that combines its kinematic and dynamic properties such as chassis dimensions, center of gravity offset, friction and actuator parameters is used. Neural models are trained off-line to act as an inverse dynamics of DC motors with particular load using data collected in simulation experiment for motor input voltage step changes within bounded operating area. The performances of PI controllers versus inverse neural models in mobile robot internal velocity control loops are demonstrated and compared in simulation experiment of navigation control task for line segment motion in plane.

Modular countermine payload for small robots

NASA Astrophysics Data System (ADS)

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

2010-04-01

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

Virtobot--a multi-functional robotic system for 3D surface scanning and automatic post mortem biopsy.

PubMed

Ebert, Lars Christian; Ptacek, Wolfgang; Naether, Silvio; Fürst, Martin; Ross, Steffen; Buck, Ursula; Weber, Stefan; Thali, Michael

2010-03-01

The Virtopsy project, a multi-disciplinary project that involves forensic science, diagnostic imaging, computer science, automation technology, telematics and biomechanics, aims to develop new techniques to improve the outcome of forensic investigations. This paper presents a new approach in the field of minimally invasive virtual autopsy for a versatile robotic system that is able to perform three-dimensional (3D) surface scans as well as post mortem image-guided soft tissue biopsies. The system consists of an industrial six-axis robot with additional extensions (i.e. a linear axis to increase working space, a tool-changing system and a dedicated safety system), a multi-slice CT scanner with equipment for angiography, a digital photogrammetry and 3D optical surface-scanning system, a 3D tracking system, and a biopsy end effector for automatic needle placement. A wax phantom was developed for biopsy accuracy tests. Surface scanning times were significantly reduced (scanning times cut in half, calibration three times faster). The biopsy module worked with an accuracy of 3.2 mm. Using the Virtobot, the surface-scanning procedure could be standardized and accelerated. The biopsy module is accurate enough for use in biopsies in a forensic setting. The Virtobot can be utilized for several independent tasks in the field of forensic medicine, and is sufficiently versatile to be adapted to different tasks in the future. (c) 2009 John Wiley & Sons, Ltd.

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

NASA Astrophysics Data System (ADS)

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

2017-02-01

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

Performance analysis of two-degree of freedom fractional order PID controllers for robotic manipulator with payload.

PubMed

Sharma, Richa; Gaur, Prerna; Mittal, A P

2015-09-01

The robotic manipulators are multi-input multi-output (MIMO), coupled and highly nonlinear systems. The presence of external disturbances and time-varying parameters adversely affects the performance of these systems. Therefore, the controller designed for these systems should effectively deal with such complexities, and it is an intriguing task for control engineers. This paper presents two-degree of freedom fractional order proportional-integral-derivative (2-DOF FOPID) controller scheme for a two-link planar rigid robotic manipulator with payload for trajectory tracking task. The tuning of all controller parameters is done using cuckoo search algorithm (CSA). The performance of proposed 2-DOF FOPID controllers is compared with those of their integer order designs, i.e., 2-DOF PID controllers, and with the traditional PID controllers. In order to show effectiveness of proposed scheme, the robustness testing is carried out for model uncertainties, payload variations with time, external disturbance and random noise. Numerical simulation results indicate that the 2-DOF FOPID controllers are superior to their integer order counterparts and the traditional PID controllers. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Functional Contour-following via Haptic Perception and Reinforcement Learning.

PubMed

Hellman, Randall B; Tekin, Cem; van der Schaar, Mihaela; Santos, Veronica J

2018-01-01

Many tasks involve the fine manipulation of objects despite limited visual feedback. In such scenarios, tactile and proprioceptive feedback can be leveraged for task completion. We present an approach for real-time haptic perception and decision-making for a haptics-driven, functional contour-following task: the closure of a ziplock bag. This task is challenging for robots because the bag is deformable, transparent, and visually occluded by artificial fingertip sensors that are also compliant. A deep neural net classifier was trained to estimate the state of a zipper within a robot's pinch grasp. A Contextual Multi-Armed Bandit (C-MAB) reinforcement learning algorithm was implemented to maximize cumulative rewards by balancing exploration versus exploitation of the state-action space. The C-MAB learner outperformed a benchmark Q-learner by more efficiently exploring the state-action space while learning a hard-to-code task. The learned C-MAB policy was tested with novel ziplock bag scenarios and contours (wire, rope). Importantly, this work contributes to the development of reinforcement learning approaches that account for limited resources such as hardware life and researcher time. As robots are used to perform complex, physically interactive tasks in unstructured or unmodeled environments, it becomes important to develop methods that enable efficient and effective learning with physical testbeds.

Mathematical model and metaheuristics for simultaneous balancing and sequencing of a robotic mixed-model assembly line

NASA Astrophysics Data System (ADS)

Li, Zixiang; Janardhanan, Mukund Nilakantan; Tang, Qiuhua; Nielsen, Peter

2018-05-01

This article presents the first method to simultaneously balance and sequence robotic mixed-model assembly lines (RMALB/S), which involves three sub-problems: task assignment, model sequencing and robot allocation. A new mixed-integer programming model is developed to minimize makespan and, using CPLEX solver, small-size problems are solved for optimality. Two metaheuristics, the restarted simulated annealing algorithm and co-evolutionary algorithm, are developed and improved to address this NP-hard problem. The restarted simulated annealing method replaces the current temperature with a new temperature to restart the search process. The co-evolutionary method uses a restart mechanism to generate a new population by modifying several vectors simultaneously. The proposed algorithms are tested on a set of benchmark problems and compared with five other high-performing metaheuristics. The proposed algorithms outperform their original editions and the benchmarked methods. The proposed algorithms are able to solve the balancing and sequencing problem of a robotic mixed-model assembly line effectively and efficiently.

A novel robotic platform for single-port abdominal surgery

NASA Astrophysics Data System (ADS)

Singh, Satwinder; Cheung, Jo L. K.; Sreedhar, Biji; Hoa, Xuyen Dai; Ng, Hoi Pang; Yeung, Chung Kwong

2018-03-01

In this paper, a novel robot-assisted platform for single-port minimally invasive surgery is presented. A miniaturized seven degrees of freedom (dof) fully internalized in-vivo actuated robotic arm is designed. Due to in-vivo actuation, the system has a smaller footprint and can generate 20 N of gripping force. The complete work envelop of the robotic arms is 252 mm × 192 mm × 322 m. With the assistance of the cannula-swivel system, the robotic arms can also be re-positioned and have multi-quadrant reachability without any additional incision. Surgical tasks, such as lifting, gripping suturing and knot tying that are commonly used in a standard surgical procedure, were performed to verify the dexterity of the robotic arms. A single-port trans-abdominal cholecystectomy in a porcine model was successfully performed to further validate its functionality.

Human interaction with an intelligent computer in multi-task situations

NASA Technical Reports Server (NTRS)

Rouse, W. B.

1975-01-01

A general formulation of human decision making in multiple task situations is presented. It includes a description of the state, event, and action space in which the multiple task supervisor operates. A specific application to a failure detection and correction situation is discussed and results of a simulation experiment presented. Issues considered include static vs. dynamic allocation of responsibility and competitive vs. cooperative intelligence.

Research in computer science

NASA Technical Reports Server (NTRS)

Ortega, J. M.

1986-01-01

Various graduate research activities in the field of computer science are reported. Among the topics discussed are: (1) failure probabilities in multi-version software; (2) Gaussian Elimination on parallel computers; (3) three dimensional Poisson solvers on parallel/vector computers; (4) automated task decomposition for multiple robot arms; (5) multi-color incomplete cholesky conjugate gradient methods on the Cyber 205; and (6) parallel implementation of iterative methods for solving linear equations.

An iconic programming language for sensor-based robots

NASA Technical Reports Server (NTRS)

Gertz, Matthew; Stewart, David B.; Khosla, Pradeep K.

1993-01-01

In this paper we describe an iconic programming language called Onika for sensor-based robotic systems. Onika is both modular and reconfigurable and can be used with any system architecture and real-time operating system. Onika is also a multi-level programming environment wherein tasks are built by connecting a series of icons which, in turn, can be defined in terms of other icons at the lower levels. Expert users are also allowed to use control block form to define servo tasks. The icons in Onika are both shape and color coded, like the pieces of a jigsaw puzzle, thus providing a form of error control in the development of high level applications.

System and method for seamless task-directed autonomy for robots

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

Nielsen, Curtis; Bruemmer, David; Few, Douglas

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

Concurrent Path Planning with One or More Humanoid Robots

NASA Technical Reports Server (NTRS)

Reiland, Matthew J. (Inventor); Sanders, Adam M. (Inventor)

2014-01-01

A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.

Dual-Arm Generalized Compliant Motion With Shared Control

NASA Technical Reports Server (NTRS)

Backes, Paul G.

1994-01-01

Dual-Arm Generalized Compliant Motion (DAGCM) primitive computer program implementing improved unified control scheme for two manipulator arms cooperating in task in which both grasp same object. Provides capabilities for autonomous, teleoperation, and shared control of two robot arms. Unifies cooperative dual-arm control with multi-sensor-based task control and makes complete task-control capability available to higher-level task-planning computer system via large set of input parameters used to describe desired force and position trajectories followed by manipulator arms. Some concepts discussed in "A Generalized-Compliant-Motion Primitive" (NPO-18134).

Multi-Objective Optimization for Trustworthy Tactical Networks: A Survey and Insights

DTIC Science & Technology

2013-06-01

existing data sources, gathering and maintaining the data needed , and completing and reviewing the collection of information. Send comments regarding...problems: using repeated cooperative games [12], hedonic games [25], and nontransferable utility cooperative games [27]. It should be noted that trust...examined an optimal task allocation problem in a distributed computing system where program modules need to be allocated to different processors to

SMARBot: a modular miniature mobile robot platform

NASA Astrophysics Data System (ADS)

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

2008-04-01

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

Algorithm for designing smart factory Industry 4.0

NASA Astrophysics Data System (ADS)

Gurjanov, A. V.; Zakoldaev, D. A.; Shukalov, A. V.; Zharinov, I. O.

2018-03-01

The designing task of production division of the Industry 4.0 item designing company is being studied. The authors proposed an algorithm, which is based on the modified V L Volkovich method. This algorithm allows generating options how to arrange the production with robotized technological equipment functioning in the automatic mode. The optimization solution of the multi-criteria task for some additive criteria is the base of the algorithm.

Evolving self-assembly in autonomous homogeneous robots: experiments with two physical robots.

PubMed

Ampatzis, Christos; Tuci, Elio; Trianni, Vito; Christensen, Anders Lyhne; Dorigo, Marco

2009-01-01

This research work illustrates an approach to the design of controllers for self-assembling robots in which the self-assembly is initiated and regulated by perceptual cues that are brought forth by the physical robots through their dynamical interactions. More specifically, we present a homogeneous control system that can achieve assembly between two modules (two fully autonomous robots) of a mobile self-reconfigurable system without a priori introduced behavioral or morphological heterogeneities. The controllers are dynamic neural networks evolved in simulation that directly control all the actuators of the two robots. The neurocontrollers cause the dynamic specialization of the robots by allocating roles between them based solely on their interaction. We show that the best evolved controller proves to be successful when tested on a real hardware platform, the swarm-bot. The performance achieved is similar to the one achieved by existing modular or behavior-based approaches, also due to the effect of an emergent recovery mechanism that was neither explicitly rewarded by the fitness function, nor observed during the evolutionary simulation. Our results suggest that direct access to the orientations or intentions of the other agents is not a necessary condition for robot coordination: Our robots coordinate without direct or explicit communication, contrary to what is assumed by most research works in collective robotics. This work also contributes to strengthening the evidence that evolutionary robotics is a design methodology that can tackle real-world tasks demanding fine sensory-motor coordination.

Selective automation and skill transfer in medical robotics: a demonstration on surgical knot-tying.

PubMed

Knoll, Alois; Mayer, Hermann; Staub, Christoph; Bauernschmitt, Robert

2012-12-01

Transferring non-trivial human manipulation skills to robot systems is a challenging task. There have been a number of attempts to design research systems for skill transfer, but the level of the complexity of the actual skills transferable to the robot was rather limited, and delicate operations requiring a high dexterity and long action sequences with many sub-operations were impossible to transfer. A novel approach to human-machine skill transfer for multi-arm robot systems is presented. The methodology capitalizes on the metaphor of 'scaffolded learning', which has gained widespread acceptance in psychology. The main idea is to formalize the superior knowledge of a teacher in a certain way to generate support for a trainee. In our case, the scaffolding is constituted by abstract patterns, which facilitate the structuring and segmentation of information during 'learning by demonstration'. The actual skill generalization is then based on simulating fluid dynamics. The approach has been successfully evaluated in the medical domain for the delicate task of automated knot-tying for suturing with standard surgical instruments and a realistic minimally invasive robotic surgery system. Copyright © 2012 John Wiley & Sons, Ltd.

What are the preferred characteristics of a service robot for the elderly? A multi-country focus group study with older adults and caregivers.

PubMed

Bedaf, Sandra; Marti, Patrizia; De Witte, Luc

2017-11-10

This multi-perspective study focuses on how a service robot for the elderly should behave when interacting with potential users. An existing service robot and a scenario were used as a concrete case, which was discussed and analyzed during focus group sessions with older adults (n = 38), informal caregivers (n = 24), and professional caregivers (n = 35) in the Netherlands, France, and the United Kingdom. A total of seven topics-privacy, task execution, environment, appearance, behavior, visitors, and communication-were explored. The results showed that some of the characteristics mentioned were unique to a user group, but several were cross-cutting. Overall, potential users expected the service robot to be customizable in order to match the users' needs and preferences. Also, high expectations concerning its functioning and behavior were expressed, which sometimes could even be compared to the qualities of a human being. This emphasizes the complexity of service robot development for older adults, and highlights the need for a personalized and flexible solution. One size does not fit all, and specific attention should be paid to the development of the robot's social behavior and skills beyond a mere functional support for the person.

Comparison of precision and speed in laparoscopic and robot-assisted surgical task performance.

PubMed

Zihni, Ahmed; Gerull, William D; Cavallo, Jaime A; Ge, Tianjia; Ray, Shuddhadeb; Chiu, Jason; Brunt, L Michael; Awad, Michael M

2018-03-01

Robotic platforms have the potential advantage of providing additional dexterity and precision to surgeons while performing complex laparoscopic tasks, especially for those in training. Few quantitative evaluations of surgical task performance comparing laparoscopic and robotic platforms among surgeons of varying experience levels have been done. We compared measures of quality and efficiency of Fundamentals of Laparoscopic Surgery task performance on these platforms in novices and experienced laparoscopic and robotic surgeons. Fourteen novices, 12 expert laparoscopic surgeons (>100 laparoscopic procedures performed, no robotics experience), and five expert robotic surgeons (>25 robotic procedures performed) performed three Fundamentals of Laparoscopic Surgery tasks on both laparoscopic and robotic platforms: peg transfer (PT), pattern cutting (PC), and intracorporeal suturing. All tasks were repeated three times by each subject on each platform in a randomized order. Mean completion times and mean errors per trial (EPT) were calculated for each task on both platforms. Results were compared using Student's t-test (P < 0.05 considered statistically significant). Among novices, greater errors were noted during laparoscopic PC (Lap 2.21 versus Robot 0.88 EPT, P < 0.001). Among expert laparoscopists, greater errors were noted during laparoscopic PT compared with robotic (PT: Lap 0.14 versus Robot 0.00 EPT, P = 0.04). Among expert robotic surgeons, greater errors were noted during laparoscopic PC compared with robotic (Lap 0.80 versus Robot 0.13 EPT, P = 0.02). Among expert laparoscopists, task performance was slower on the robotic platform compared with laparoscopy. In comparisons of expert laparoscopists performing tasks on the laparoscopic platform and expert robotic surgeons performing tasks on the robotic platform, expert robotic surgeons demonstrated fewer errors during the PC task (P = 0.009). Robotic assistance provided a reduction in errors at all experience levels for some laparoscopic tasks, but no benefit in the speed of task performance. Robotic assistance may provide some benefit in precision of surgical task performance. Copyright © 2017 Elsevier Inc. All rights reserved.

A Decentralized Framework for Multi-Agent Robotic Systems

PubMed Central

2018-01-01

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

Scheduling multirobot operations in manufacturing by truncated Petri nets

NASA Astrophysics Data System (ADS)

Chen, Qin; Luh, J. Y.

1995-08-01

Scheduling of operational sequences in manufacturing processes is one of the important problems in automation. Methods of applying Petri nets to model and analyze the problem with constraints on precedence relations, multiple resources allocation, etc. have been available in literature. Searching for an optimum schedule can be implemented by combining the branch-and-bound technique with the execution of the timed Petri net. The process usually produces a large Petri net which is practically not manageable. This disadvantage, however, can be handled by a truncation technique which divides the original large Petri net into several smaller size subnets. The complexity involved in the analysis of each subnet individually is greatly reduced. However, when the locally optimum schedules of the resulting subnets are combined together, it may not yield an overall optimum schedule for the original Petri net. To circumvent this problem, algorithms are developed based on the concepts of Petri net execution and modified branch-and-bound process. The developed technique is applied to a multi-robot task scheduling problem of the manufacturing work cell.

Automated design synthesis of robotic/human workcells for improved manufacturing system design in hazardous environments

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

Williams, Joshua M.

Manufacturing tasks that are deemed too hazardous for workers require the use of automation, robotics, and/or other remote handling tools. The associated hazards may be radiological or nonradiological, and based on the characteristics of the environment and processing, a design may necessitate robotic labor, human labor, or both. There are also other factors such as cost, ergonomics, maintenance, and efficiency that also effect task allocation and other design choices. Handling the tradeoffs of these factors can be complex, and lack of experience can be an issue when trying to determine if and what feasible automation/robotics options exist. To address thismore » problem, we utilize common engineering design approaches adapted more for manufacturing system design in hazardous environments. We limit our scope to the conceptual and embodiment design stages, specifically a computational algorithm for concept generation and early design evaluation. In regard to concept generation, we first develop the functional model or function structure for the process, using the common 'verb-noun' format for describing function. A common language or functional basis for manufacturing was developed and utilized to formalize function descriptions and guide rules for function decomposition. Potential components for embodiment are also grouped in terms of this functional language and are stored in a database. The properties of each component are given as quantitative and qualitative criteria. Operators are also rated for task-relevant criteria which are used to address task compatibility. Through the gathering of process requirements/constraints, construction of the component database, and development of the manufacturing basis and rule set, design knowledge is stored and available for computer use. Thus, once the higher level process functions are defined, the computer can automate the synthesis of new design concepts through alternating steps of embodiment and function structure updates/decomposition. In the process, criteria guide function allocation of components/operators and help ensure compatibility and feasibility. Through multiple function assignment options and varied function structures, multiple design concepts are created. All of the generated designs are then evaluated based on a number of relevant evaluation criteria: cost, dose, ergonomics, hazards, efficiency, etc. These criteria are computed using physical properties/parameters of each system based on the qualities an engineer would use to make evaluations. Nuclear processes such as oxide conversion and electrorefining are utilized to aid algorithm development and provide test cases for the completed program. Through our approach, we capture design knowledge related to manufacturing and other operations in hazardous environments to enable a computational program to automatically generate and evaluate system design concepts.« less

A Demonstrator Intelligent Scheduler For Sensor-Based Robots

NASA Astrophysics Data System (ADS)

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

1987-10-01

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

Multi-layer neural networks for robot control

NASA Technical Reports Server (NTRS)

Pourboghrat, Farzad

1989-01-01

Two neural learning controller designs for manipulators are considered. The first design is based on a neural inverse-dynamics system. The second is the combination of the first one with a neural adaptive state feedback system. Both types of controllers enable the manipulator to perform any given task very well after a period of training and to do other untrained tasks satisfactorily. The second design also enables the manipulator to compensate for unpredictable perturbations.

Production Task Queue Optimization Based on Multi-Attribute Evaluation for Complex Product Assembly Workshop.

PubMed

Li, Lian-Hui; Mo, Rong

2015-01-01

The production task queue has a great significance for manufacturing resource allocation and scheduling decision. Man-made qualitative queue optimization method has a poor effect and makes the application difficult. A production task queue optimization method is proposed based on multi-attribute evaluation. According to the task attributes, the hierarchical multi-attribute model is established and the indicator quantization methods are given. To calculate the objective indicator weight, criteria importance through intercriteria correlation (CRITIC) is selected from three usual methods. To calculate the subjective indicator weight, BP neural network is used to determine the judge importance degree, and then the trapezoid fuzzy scale-rough AHP considering the judge importance degree is put forward. The balanced weight, which integrates the objective weight and the subjective weight, is calculated base on multi-weight contribution balance model. The technique for order preference by similarity to an ideal solution (TOPSIS) improved by replacing Euclidean distance with relative entropy distance is used to sequence the tasks and optimize the queue by the weighted indicator value. A case study is given to illustrate its correctness and feasibility.

Production Task Queue Optimization Based on Multi-Attribute Evaluation for Complex Product Assembly Workshop

PubMed Central

Li, Lian-hui; Mo, Rong

2015-01-01

The production task queue has a great significance for manufacturing resource allocation and scheduling decision. Man-made qualitative queue optimization method has a poor effect and makes the application difficult. A production task queue optimization method is proposed based on multi-attribute evaluation. According to the task attributes, the hierarchical multi-attribute model is established and the indicator quantization methods are given. To calculate the objective indicator weight, criteria importance through intercriteria correlation (CRITIC) is selected from three usual methods. To calculate the subjective indicator weight, BP neural network is used to determine the judge importance degree, and then the trapezoid fuzzy scale-rough AHP considering the judge importance degree is put forward. The balanced weight, which integrates the objective weight and the subjective weight, is calculated base on multi-weight contribution balance model. The technique for order preference by similarity to an ideal solution (TOPSIS) improved by replacing Euclidean distance with relative entropy distance is used to sequence the tasks and optimize the queue by the weighted indicator value. A case study is given to illustrate its correctness and feasibility. PMID:26414758

A tracked robot with novel bio-inspired passive "legs".

PubMed

Sun, Bo; Jing, Xingjian

2017-01-01

For track-based robots, an important aspect is the suppression design, which determines the trafficability and comfort of the whole system. The trafficability limits the robot's working capability, and the riding comfort limits the robot's working effectiveness, especially with some sensitive instruments mounted on or operated. To these aims, a track-based robot equipped with a novel passive bio-inspired suspension is designed and studied systematically in this paper. Animal or insects have very special leg or limb structures which are good for motion control and adaptable to different environments. Inspired by this, a new track-based robot is designed with novel "legs" for connecting the loading wheels to the robot body. Each leg is designed with passive structures and can achieve very high loading capacity but low dynamic stiffness such that the robot can move on rough ground similar to a multi-leg animal or insect. Therefore, the trafficability and riding comfort can be significantly improved without losing loading capacity. The new track-based robot can be well applied to various engineering tasks for providing a stable moving platform of high mobility, better trafficability and excellent loading capacity.

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

NASA Astrophysics Data System (ADS)

Karigiannis, John N.; Tzafestas, Costas S.

2016-11-01

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

A sustainable genetic algorithm for satellite resource allocation

NASA Technical Reports Server (NTRS)

Abbott, R. J.; Campbell, M. L.; Krenz, W. C.

1995-01-01

A hybrid genetic algorithm is used to schedule tasks for 8 satellites, which can be modelled as a robot whose task is to retrieve objects from a two dimensional field. The objective is to find a schedule that maximizes the value of objects retrieved. Typical of the real-world tasks to which this corresponds is the scheduling of ground contacts for a communications satellite. An important feature of our application is that the amount of time available for running the scheduler is not necessarily known in advance. This requires that the scheduler produce reasonably good results after a short period but that it also continue to improve its results if allowed to run for a longer period. We satisfy this requirement by developing what we call a sustainable genetic algorithm.

Robots Save Soldiers' Lives Overseas (MarcBot)

NASA Technical Reports Server (NTRS)

2009-01-01

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

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.

Causal simulation and sensor planning in predictive monitoring

NASA Technical Reports Server (NTRS)

Doyle, Richard J.

1989-01-01

Two issues are addressed which arise in the task of detecting anomalous behavior in complex systems with numerous sensor channels: how to adjust alarm thresholds dynamically, within the changing operating context of the system, and how to utilize sensors selectively, so that nominal operation can be verified reliably without processing a prohibitive amount of sensor data. The approach involves simulation of a causal model of the system, which provides information on expected sensor values, and on dependencies between predicted events, useful in assessing the relative importance of events so that sensor resources can be allocated effectively. The potential applicability of this work to the execution monitoring of robot task plans is briefly discussed.

Pre-shaping of the Fingertip of Robot Hand Covered with Net Structure Proximity Sensor

NASA Astrophysics Data System (ADS)

Suzuki, Kenji; Suzuki, Yosuke; Hasegawa, Hiroaki; Ming, Aiguo; Ishikawa, Masatoshi; Shimojo, Makoto

To achieve skillful tasks with multi-fingered robot hands, many researchers have been working on sensor-based control of them. Vision sensors and tactile sensors are indispensable for the tasks, however, the correctness of the information from the vision sensors decreases as a robot hand approaches to a grasping object because of occlusion. This research aims to achieve seamless detection for reliable grasp by use of proximity sensors: correcting the positional error of the hand in vision-based approach, and contacting the fingertip in the posture for effective tactile sensing. In this paper, we propose a method for adjusting the posture of the fingertip to the surface of the object. The method applies “Net-Structure Proximity Sensor” on the fingertip, which can detect the postural error in the roll and pitch axes between the fingertip and the object surface. The experimental result shows that the postural error is corrected in the both axes even if the object dynamically rotates.

Attention control learning in the decision space using state estimation

NASA Astrophysics Data System (ADS)

Gharaee, Zahra; Fatehi, Alireza; Mirian, Maryam S.; Nili Ahmadabadi, Majid

2016-05-01

The main goal of this paper is modelling attention while using it in efficient path planning of mobile robots. The key challenge in concurrently aiming these two goals is how to make an optimal, or near-optimal, decision in spite of time and processing power limitations, which inherently exist in a typical multi-sensor real-world robotic application. To efficiently recognise the environment under these two limitations, attention of an intelligent agent is controlled by employing the reinforcement learning framework. We propose an estimation method using estimated mixture-of-experts task and attention learning in perceptual space. An agent learns how to employ its sensory resources, and when to stop observing, by estimating its perceptual space. In this paper, static estimation of the state space in a learning task problem, which is examined in the WebotsTM simulator, is performed. Simulation results show that a robot learns how to achieve an optimal policy with a controlled cost by estimating the state space instead of continually updating sensory information.

The effectiveness of simulated robots for supporting the learning of introductory programming: a multi-case case study

NASA Astrophysics Data System (ADS)

Major, Louis; Kyriacou, Theocharis; Brereton, Pearl

2014-07-01

This work investigates the effectiveness of simulated robots as tools to support the learning of programming. After the completion of a systematic review and exploratory research, a multi-case case study was undertaken. A simulator, named Kebot, was developed and used to run four 10-hour programming workshops. Twenty-three student participants (aged 16-18) in addition to 23 pre-service, and 3 in-service, teachers took part. The effectiveness of this intervention was determined by considering opinions, attitudes, and motivation as well as by analysing students' programming performance. Pre- and post-questionnaires, in- and post-workshop exercises, and interviews were used. Participants enjoyed learning using the simulator and believed the approach to be valuable and engaging. The performance of students indicates that the simulator aids learning as most completed tasks to a satisfactory standard. Evidence suggests robot simulators can offer an effective means of introducing programming. Recommendations to support the development of other simulators are provided.

Design and Analysis of Self-Adapted Task Scheduling Strategies in Wireless Sensor Networks

PubMed Central

Guo, Wenzhong; Xiong, Naixue; Chao, Han-Chieh; Hussain, Sajid; Chen, Guolong

2011-01-01

In a wireless sensor network (WSN), the usage of resources is usually highly related to the execution of tasks which consume a certain amount of computing and communication bandwidth. Parallel processing among sensors is a promising solution to provide the demanded computation capacity in WSNs. Task allocation and scheduling is a typical problem in the area of high performance computing. Although task allocation and scheduling in wired processor networks has been well studied in the past, their counterparts for WSNs remain largely unexplored. Existing traditional high performance computing solutions cannot be directly implemented in WSNs due to the limitations of WSNs such as limited resource availability and the shared communication medium. In this paper, a self-adapted task scheduling strategy for WSNs is presented. First, a multi-agent-based architecture for WSNs is proposed and a mathematical model of dynamic alliance is constructed for the task allocation problem. Then an effective discrete particle swarm optimization (PSO) algorithm for the dynamic alliance (DPSO-DA) with a well-designed particle position code and fitness function is proposed. A mutation operator which can effectively improve the algorithm’s ability of global search and population diversity is also introduced in this algorithm. Finally, the simulation results show that the proposed solution can achieve significant better performance than other algorithms. PMID:22163971

Towards Autonomous Operation of Robonaut 2

NASA Technical Reports Server (NTRS)

Badger, Julia M.; Hart, Stephen W.; Yamokoski, J. D.

2011-01-01

The Robonaut 2 (R2) platform, as shown in Figure 1, was designed through a collaboration between NASA and General Motors to be a capable robotic assistant with the dexterity similar to a suited astronaut [1]. An R2 robot was sent to the International Space Station (ISS) in February 2011 and, in doing so, became the first humanoid robot in space. Its capabilities are presently being tested and expanded to increase its usefulness to the crew. Current work on R2 includes the addition of a mobility platform to allow the robot to complete tasks (such as cleaning, maintenance, or simple construction activities) both inside and outside of the ISS. To support these new activities, R2's software architecture is being developed to provide efficient ways of programming robust and autonomous behavior. In particular, a multi-tiered software architecture is proposed that combines principles of low-level feedback control with higher-level planners that accomplish behavioral goals at the task level given the run-time context, user constraints, the health of the system, and so on. The proposed architecture is shown in Figure 2. At the lowest-level, the resource level, there exists the various sensory and motor signals available to the system. The sensory signals for a robot such as R2 include multiple channels of force/torque data, joint or Cartesian positions calculated through the robot's proprioception, and signals derived from objects observable by its cameras.

Intelligent Robotic Systems Study (IRSS), phase 2

NASA Technical Reports Server (NTRS)

1990-01-01

Under the Intelligent Robotics System Study (IRSS) contract, a generalized robotic control architecture was developed for use with the ProtoFlight Manipulator Arm (PFMA). The controller built for the PFMA provides localized position based force control, teleoperation and advanced path recording and playback capabilities. Various hand controllers can be used with the system in conjunction with a synthetic time delay capability to provide a realistic test bed for typical satellite servicing tasks. The configuration of the IRSS system is illustrated and discussed. The PFMA has six computer controllable degrees of freedom (DOF) plus a seventh manually indexable DOF, making the manipulator a pseudo 7 DOF mechanism. Because the PFMA was not developed to operate in a gravity field, but rather in space, it is counter balanced at the shoulder, elbow and wrist and a spring counterbalance has been added near the wrist to provide additional support. Built with long slender intra-joint linkages, the PFMA has a workspace nearly 2 meters deep and possesses sufficient dexterity to perform numerous satellite servicing tasks. The manipulator is arranged in a shoulder-yaw, pitch, elbow-pitch, and wrist-pitch, yaw, roll configuration, with an indexable shoulder roll joint. Digital control of the PFMA is implemented using a variety of single board computers developed by Heurikon Corporation and other manufacturers. The IRSS controller is designed to be a multi-rate, multi-tasking system. Independent joint servos run at a 134 Hz rate and position based impedance control functions at 67 Hz. Autonomous path generation and hand controller inputs are processed at a 33 Hz.

Three-dimensional, task-specific robot therapy of the arm after stroke: a multicentre, parallel-group randomised trial.

PubMed

Klamroth-Marganska, Verena; Blanco, Javier; Campen, Katrin; Curt, Armin; Dietz, Volker; Ettlin, Thierry; Felder, Morena; Fellinghauer, Bernd; Guidali, Marco; Kollmar, Anja; Luft, Andreas; Nef, Tobias; Schuster-Amft, Corina; Stahel, Werner; Riener, Robert

2014-02-01

Arm hemiparesis secondary to stroke is common and disabling. We aimed to assess whether robotic training of an affected arm with ARMin--an exoskeleton robot that allows task-specific training in three dimensions-reduces motor impairment more effectively than does conventional therapy. In a prospective, multicentre, parallel-group randomised trial, we enrolled patients who had had motor impairment for more than 6 months and moderate-to-severe arm paresis after a cerebrovascular accident who met our eligibility criteria from four centres in Switzerland. Eligible patients were randomly assigned (1:1) to receive robotic or conventional therapy using a centre-stratified randomisation procedure. For both groups, therapy was given for at least 45 min three times a week for 8 weeks (total 24 sessions). The primary outcome was change in score on the arm (upper extremity) section of the Fugl-Meyer assessment (FMA-UE). Assessors tested patients immediately before therapy, after 4 weeks of therapy, at the end of therapy, and 16 weeks and 34 weeks after start of therapy. Assessors were masked to treatment allocation, but patients, therapists, and data analysts were unmasked. Analyses were by modified intention to treat. This study is registered with ClinicalTrials.gov, number NCT00719433. Between May 4, 2009, and Sept 3, 2012, 143 individuals were tested for eligibility, of whom 77 were eligible and agreed to participate. 38 patients assigned to robotic therapy and 35 assigned to conventional therapy were included in analyses. Patients assigned to robotic therapy had significantly greater improvements in motor function in the affected arm over the course of the study as measured by FMA-UE than did those assigned to conventional therapy (F=4.1, p=0.041; mean difference in score 0.78 points, 95% CI 0.03-1.53). No serious adverse events related to the study occurred. Neurorehabilitation therapy including task-oriented training with an exoskeleton robot can enhance improvement of motor function in a chronically impaired paretic arm after stroke more effectively than conventional therapy. However, the absolute difference between effects of robotic and conventional therapy in our study was small and of weak significance, which leaves the clinical relevance in question. Swiss National Science Foundation and Bangerter-Rhyner Stiftung. Copyright © 2014 Elsevier Ltd. All rights reserved.

INL Multi-Robot Control Interface

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

2005-03-30

The INL Multi-Robot Control Interface controls many robots through a single user interface. The interface includes a robot display window for each robot showing the robot’s condition. More than one window can be used depending on the number of robots. The user interface also includes a robot control window configured to receive commands for sending to the respective robot and a multi-robot common window showing information received from each robot.

Image Mapping and Visual Attention on the Sensory Ego-Sphere

NASA Technical Reports Server (NTRS)

Fleming, Katherine Achim; Peters, Richard Alan, II

2012-01-01

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

AltiVec performance increases for autonomous robotics for the MARSSCAPE architecture program

NASA Astrophysics Data System (ADS)

Gothard, Benny M.

2002-02-01

One of the main tall poles that must be overcome to develop a fully autonomous vehicle is the inability of the computer to understand its surrounding environment to a level that is required for the intended task. The military mission scenario requires a robot to interact in a complex, unstructured, dynamic environment. Reference A High Fidelity Multi-Sensor Scene Understanding System for Autonomous Navigation The Mobile Autonomous Robot Software Self Composing Adaptive Programming Environment (MarsScape) perception research addresses three aspects of the problem; sensor system design, processing architectures, and algorithm enhancements. A prototype perception system has been demonstrated on robotic High Mobility Multi-purpose Wheeled Vehicle and All Terrain Vehicle testbeds. This paper addresses the tall pole of processing requirements and the performance improvements based on the selected MarsScape Processing Architecture. The processor chosen is the Motorola Altivec-G4 Power PC(PPC) (1998 Motorola, Inc.), a highly parallized commercial Single Instruction Multiple Data processor. Both derived perception benchmarks and actual perception subsystems code will be benchmarked and compared against previous Demo II-Semi-autonomous Surrogate Vehicle processing architectures along with desktop Personal Computers(PC). Performance gains are highlighted with progress to date, and lessons learned and future directions are described.

Design of a high-mobility multi-terrain robot based on eccentric paddle mechanism.

PubMed

Sun, Yi; Yang, Yang; Ma, Shugen; Pu, Huayan

Gaining high mobility on versatile terrains is a crucial target for designing a mobile robot toward tasks such as search and rescue, scientific exploration, and environment monitoring. Inspired by dextrous limb motion of animals, a novel form of locomotion has been established in our previous study, by proposing an eccentric paddle mechanism (ePaddle) for integrating paddling motion into a traditional wheeled mechanism. In this paper, prototypes of an ePaddle mechanism and an ePaddle-based quadruped robot are presented. Several locomotion modes, including wheeled rolling, legged crawling, legged race-walking, rotational paddling, oscillating paddling, and paddle-aided rolling, are experimentally verified on testbeds with fabricated prototypes. Experimental results confirm that paddle's motion is useful in all the locomotion modes.

Autonomous Shepherding Behaviors of Multiple Target Steering Robots.

PubMed

Lee, Wonki; Kim, DaeEun

2017-11-25

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

Robotics for Human Exploration

NASA Technical Reports Server (NTRS)

Fong, Terrence; Deans, Mathew; Bualat, Maria

2013-01-01

Robots can do a variety of work to increase the productivity of human explorers. Robots can perform tasks that are tedious, highly repetitive or long-duration. Robots can perform precursor tasks, such as reconnaissance, which help prepare for future human activity. Robots can work in support of astronauts, assisting or performing tasks in parallel. Robots can also perform "follow-up" work, completing tasks designated or started by humans. In this paper, we summarize the development and testing of robots designed to improve future human exploration of space.

Mission simulation as an approach to develop requirements for automation in Advanced Life Support Systems

NASA Technical Reports Server (NTRS)

Erickson, J. D.; Eckelkamp, R. E.; Barta, D. J.; Dragg, J.; Henninger, D. L. (Principal Investigator)

1996-01-01

This paper examines mission simulation as an approach to develop requirements for automation and robotics for Advanced Life Support Systems (ALSS). The focus is on requirements and applications for command and control, control and monitoring, situation assessment and response, diagnosis and recovery, adaptive planning and scheduling, and other automation applications in addition to mechanized equipment and robotics applications to reduce the excessive human labor requirements to operate and maintain an ALSS. Based on principles of systems engineering, an approach is proposed to assess requirements for automation and robotics using mission simulation tools. First, the story of a simulated mission is defined in terms of processes with attendant types of resources needed, including options for use of automation and robotic systems. Next, systems dynamics models are used in simulation to reveal the implications for selected resource allocation schemes in terms of resources required to complete operational tasks. The simulations not only help establish ALSS design criteria, but also may offer guidance to ALSS research efforts by identifying gaps in knowledge about procedures and/or biophysical processes. Simulations of a planned one-year mission with 4 crewmembers in a Human Rated Test Facility are presented as an approach to evaluation of mission feasibility and definition of automation and robotics requirements.

ATHLETE as a Mobile ISRU and Regolith Construction Platform

NASA Technical Reports Server (NTRS)

Howe, A. Scott; Wilcox, Brian; Barmatz, Martin; Voecks, Gerald

2016-01-01

The All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robotic mobility platform can provide precision positioning and mobility for site preparation and regolith construction needs. ATHLETE is a multi-use platform designed to use swap-out tools and implements that can be applied to any number of tasks that need precision limb manipulation or mobility. Major capabilities include off-loading habitats, transporting surface assets, robotically assembling outposts from multiple mission manifests, and supporting science and technology objectives. This paper describes conceptual approaches for supporting NASA regolith construction research, such as additive construction, modular brick and panel factory, and mobile ISRU platform.

Effects of two doses of glucose and a caffeine-glucose combination on cognitive performance and mood during multi-tasking.

PubMed

Scholey, Andrew; Savage, Karen; O'Neill, Barry V; Owen, Lauren; Stough, Con; Priestley, Caroline; Wetherell, Mark

2014-09-01

This study assessed the effects of two doses of glucose and a caffeine-glucose combination on mood and performance of an ecologically valid, computerised multi-tasking platform. Following a double-blind, placebo-controlled, randomised, parallel-groups design, 150 healthy adults (mean age 34.78 years) consumed drinks containing placebo, 25 g glucose, 60 g glucose or 60 g glucose with 40 mg caffeine. They completed a multi-tasking framework at baseline and then 30 min following drink consumption with mood assessments immediately before and after the multi-tasking framework. Blood glucose and salivary caffeine were co-monitored. The caffeine-glucose group had significantly better total multi-tasking scores than the placebo or 60 g glucose groups and were significantly faster at mental arithmetic tasks than either glucose drink group. There were no significant treatment effects on mood. Caffeine and glucose levels confirmed compliance with overnight abstinence/fasting, respectively, and followed the predicted post-drink patterns. These data suggest that co-administration of glucose and caffeine allows greater allocation of attentional resources than placebo or glucose alone. At present, we cannot rule out the possibility that the effects are due to caffeine alone Future studies should aim at disentangling caffeine and glucose effects. © 2014 The Authors. Human Psychopharmacology: Clinical and Experimental published by John Wiley & Sons, Ltd.

Effects of two doses of glucose and a caffeine–glucose combination on cognitive performance and mood during multi-tasking

PubMed Central

Scholey, Andrew; Savage, Karen; O'Neill, Barry V; Owen, Lauren; Stough, Con; Priestley, Caroline; Wetherell, Mark

2014-01-01

Background This study assessed the effects of two doses of glucose and a caffeine–glucose combination on mood and performance of an ecologically valid, computerised multi-tasking platform. Materials and methods Following a double-blind, placebo-controlled, randomised, parallel-groups design, 150 healthy adults (mean age 34.78 years) consumed drinks containing placebo, 25 g glucose, 60 g glucose or 60 g glucose with 40 mg caffeine. They completed a multi-tasking framework at baseline and then 30 min following drink consumption with mood assessments immediately before and after the multi-tasking framework. Blood glucose and salivary caffeine were co-monitored. Results The caffeine–glucose group had significantly better total multi-tasking scores than the placebo or 60 g glucose groups and were significantly faster at mental arithmetic tasks than either glucose drink group. There were no significant treatment effects on mood. Caffeine and glucose levels confirmed compliance with overnight abstinence/fasting, respectively, and followed the predicted post-drink patterns. Conclusion These data suggest that co-administration of glucose and caffeine allows greater allocation of attentional resources than placebo or glucose alone. At present, we cannot rule out the possibility that the effects are due to caffeine alone Future studies should aim at disentangling caffeine and glucose effects. PMID:25196040

Application of Human-Autonomy Teaming (HAT) Patterns to Reduce Crew Operations (RCO)

NASA Technical Reports Server (NTRS)

Shively, R. Jay; Brandt, Summer L.; Lachter, Joel; Matessa, Mike; Sadler, Garrett; Battiste, Henri

2016-01-01

Unmanned aerial systems, robotics, advanced cockpits, and air traffic management are all examples of domains that are seeing dramatic increases in automation. While automation may take on some tasks previously performed by humans, humans will still be required, for the foreseeable future, to remain in the system. The collaboration with humans and these increasingly autonomous systems will begin to resemble cooperation between teammates, rather than simple task allocation. It is critical to understand this human-autonomy teaming (HAT) to optimize these systems in the future. One methodology to understand HAT is by identifying recurring patterns of HAT that have similar characteristics and solutions. This paper applies a methodology for identifying HAT patterns to an advanced cockpit project.

RAFCON: A Graphical Tool for Engineering Complex, Robotic Tasks

DTIC Science & Technology

2016-10-09

Robotic tasks are becoming increasingly complex, and with this also the robotic systems. This requires new tools to manage this complexity and to...execution of robotic tasks, called RAFCON. These tasks are described in hierarchical state machines supporting concurrency. A formal notation of this concept

Task path planning, scheduling and learning for free-ranging robot systems

NASA Technical Reports Server (NTRS)

Wakefield, G. Steve

1987-01-01

The development of robotics applications for space operations is often restricted by the limited movement available to guided robots. Free ranging robots can offer greater flexibility than physically guided robots in these applications. Presented here is an object oriented approach to path planning and task scheduling for free-ranging robots that allows the dynamic determination of paths based on the current environment. The system also provides task learning for repetitive jobs. This approach provides a basis for the design of free-ranging robot systems which are adaptable to various environments and tasks.

Real Time Target Tracking Using Dedicated Vision Hardware

NASA Astrophysics Data System (ADS)

Kambies, Keith; Walsh, Peter

1988-03-01

This paper describes a real-time vision target tracking system developed by Adaptive Automation, Inc. and delivered to NASA's Launch Equipment Test Facility, Kennedy Space Center, Florida. The target tracking system is part of the Robotic Application Development Laboratory (RADL) which was designed to provide NASA with a general purpose robotic research and development test bed for the integration of robot and sensor systems. One of the first RADL system applications is the closing of a position control loop around a six-axis articulated arm industrial robot using a camera and dedicated vision processor as the input sensor so that the robot can locate and track a moving target. The vision system is inside of the loop closure of the robot tracking system, therefore, tight throughput and latency constraints are imposed on the vision system that can only be met with specialized hardware and a concurrent approach to the processing algorithms. State of the art VME based vision boards capable of processing the image at frame rates were used with a real-time, multi-tasking operating system to achieve the performance required. This paper describes the high speed vision based tracking task, the system throughput requirements, the use of dedicated vision hardware architecture, and the implementation design details. Important to the overall philosophy of the complete system was the hierarchical and modular approach applied to all aspects of the system, hardware and software alike, so there is special emphasis placed on this topic in the paper.

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

PubMed Central

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

2017-01-01

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

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

PubMed

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

2017-04-20

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

Hand-held medical robots.

PubMed

Payne, Christopher J; Yang, Guang-Zhong

2014-08-01

Medical robots have evolved from autonomous systems to tele-operated platforms and mechanically-grounded, cooperatively-controlled robots. Whilst these approaches have seen both commercial and clinical success, uptake of these robots remains moderate because of their high cost, large physical footprint and long setup times. More recently, researchers have moved toward developing hand-held robots that are completely ungrounded and manipulated by surgeons in free space, in a similar manner to how conventional instruments are handled. These devices provide specific functions that assist the surgeon in accomplishing tasks that are otherwise challenging with manual manipulation. Hand-held robots have the advantages of being compact and easily integrated into the normal surgical workflow since there is typically little or no setup time. Hand-held devices can also have a significantly reduced cost to healthcare providers as they do not necessitate the complex, multi degree-of-freedom linkages that grounded robots require. However, the development of such devices is faced with many technical challenges, including miniaturization, cost and sterility, control stability, inertial and gravity compensation and robust instrument tracking. This review presents the emerging technical trends in hand-held medical robots and future development opportunities for promoting their wider clinical uptake.

Evolution of Signaling in a Multi-Robot System: Categorization and Communication

NASA Astrophysics Data System (ADS)

Ampatzis, Christos; Tuci, Elio; Trianni, Vito; Dorigo, Marco

We use Evolutionary Robotics to design robot controllers in which decision-making mechanisms to switch from solitary to social behavior are integrated with the mechanisms that underpin the sensory-motor repertoire of the robots. In particular, we study the evolution of behavioral and communicative skills in a categorization task. The individual decision-making structures are based on the integration over time of sensory information. The mechanisms for switching from solitary to social behavior and the ways in which the robots can affect each other's behavior are not predetermined by the experimenter, but are aspects of our model designed by artificial evolution. Our results show that evolved robots manage to cooperate and collectively discriminate between different environments by developing a simple communication protocol based on sound signaling. Communication emerges in the absence of explicit selective pressure coded in the fitness function. The evolution of communication is neither trivial nor obvious; for a meaningful signaling system to evolve, evolution must produce both appropriate signals and appropriate reactions to signals. The use of communication proves to be adaptive for the group, even if, in principle, non-cooperating robots can be equally successful with cooperating robots.

FLS tasks can be used as an ergonomic discriminator between laparoscopic and robotic surgery.

PubMed

Zihni, Ahmed M; Ohu, Ikechukwu; Cavallo, Jaime A; Ousley, Jenny; Cho, Sohyung; Awad, Michael M

2014-08-01

Robotic surgery may result in ergonomic benefits to surgeons. In this pilot study, we utilize surface electromyography (sEMG) to describe a method for identifying ergonomic differences between laparoscopic and robotic platforms using validated Fundamentals of Laparoscopic Surgery (FLS) tasks. We hypothesize that FLS task performance on laparoscopic and robotic surgical platforms will produce significant differences in mean muscle activation, as quantified by sEMG. Six right-hand-dominant subjects with varying experience performed FLS peg transfer (PT), pattern cutting (PC), and intracorporeal suturing (IS) tasks on laparoscopic and robotic platforms. sEMG measurements were obtained from each subject's bilateral bicep, tricep, deltoid, and trapezius muscles. EMG measurements were normalized to the maximum voluntary contraction (MVC) of each muscle of each subject. Subjects repeated each task three times per platform, and mean values used for pooled analysis. Average normalized muscle activation (%MVC) was calculated for each muscle group in all subjects for each FLS task. We compared mean %MVC values with paired t tests and considered differences with a p value less than 0.05 to be statistically significant. Mean activation of right bicep (2.7 %MVC lap, 1.3 %MVC robotic, p = 0.019) and right deltoid muscles (2.4 %MVC lap, 1.0 %MVC robotic, p = 0.019) were significantly elevated during the laparoscopic compared to the robotic IS task. The mean activation of the right trapezius muscle was significantly elevated during robotic compared to the laparoscopic PT (1.6 %MVC lap, 3.5 %MVC robotic, p = 0.040) and PC (1.3 %MVC lap, 3.6 %MVC robotic, p = 0.0018) tasks. FLS tasks are validated, readily available instruments that are feasible for use in demonstrating ergonomic differences between surgical platforms. In this study, we used FLS tasks to compare mean muscle activation of four muscle groups during laparoscopic and robotic task performance. FLS tasks can serve as the basis for larger studies to further describe ergonomic differences between laparoscopic and robotic surgery.

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

NASA Astrophysics Data System (ADS)

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

2002-02-01

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

Estimating anatomical wrist joint motion with a robotic exoskeleton.

PubMed

Rose, Chad G; Kann, Claudia K; Deshpande, Ashish D; O'Malley, Marcia K

2017-07-01

Robotic exoskeletons can provide the high intensity, long duration targeted therapeutic interventions required for regaining motor function lost as a result of neurological injury. Quantitative measurements by exoskeletons have been proposed as measures of rehabilitative outcomes. Exoskeletons, in contrast to end effector designs, have the potential to provide a direct mapping between human and robot joints. This mapping rests on the assumption that anatomical axes and robot axes are aligned well, and that movement within the exoskeleton is negligible. These assumptions hold well for simple one degree-of-freedom joints, but may not be valid for multi-articular joints with unique musculoskeletal properties such as the wrist. This paper presents an experiment comparing robot joint kinematic measurements from an exoskeleton to anatomical joint angles measured with a motion capture system. Joint-space position measurements and task-space smoothness metrics were compared between the two measurement modalities. The experimental results quantify the error between joint-level position measurements, and show that exoskeleton kinematic measurements preserve smoothness characteristics found in anatomical measures of wrist movements.

Development and Evaluation of Sensor Concepts for Ageless Aerospace Vehicles: Report 6 - Development and Demonstration of a Self-Organizing Diagnostic System for Structural Health Monitoring

NASA Technical Reports Server (NTRS)

Batten, Adam; Edwards, Graeme; Gerasimov, Vadim; Hoschke, Nigel; Isaacs, Peter; Lewis, Chris; Moore, Richard; Oppolzer, Florien; Price, Don; Prokopenko, Mikhail;

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.

A Gradient Optimization Approach to Adaptive Multi-Robot Control

DTIC Science & Technology

2009-09-01

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

Pilot interaction with automated airborne decision making systems

NASA Technical Reports Server (NTRS)

Rouse, W. B.; Chu, Y. Y.; Greenstein, J. S.; Walden, R. S.

1976-01-01

An investigation was made of interaction between a human pilot and automated on-board decision making systems. Research was initiated on the topic of pilot problem solving in automated and semi-automated flight management systems and attempts were made to develop a model of human decision making in a multi-task situation. A study was made of allocation of responsibility between human and computer, and discussed were various pilot performance parameters with varying degrees of automation. Optimal allocation of responsibility between human and computer was considered and some theoretical results found in the literature were presented. The pilot as a problem solver was discussed. Finally the design of displays, controls, procedures, and computer aids for problem solving tasks in automated and semi-automated systems was considered.

Autonomous Shepherding Behaviors of Multiple Target Steering Robots

PubMed Central

Lee, Wonki; Kim, DaeEun

2017-01-01

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

Multiresource allocation and scheduling for periodic soft real-time applications

NASA Astrophysics Data System (ADS)

Gopalan, Kartik; Chiueh, Tzi-cker

2001-12-01

Real-time applications that utilize multiple system resources, such as CPU, disks, and network links, require coordinated scheduling of these resources in order to meet their end-to-end performance requirements. Most state-of-the-art operating systems support independent resource allocation and deadline-driven scheduling but lack coordination among multiple heterogeneous resources. This paper describes the design and implementation of an Integrated Real-time Resource Scheduler (IRS) that performs coordinated allocation and scheduling of multiple heterogeneous resources on the same machine for periodic soft real-time application. The principal feature of IRS is a heuristic multi-resource allocation algorithm that reserves multiple resources for real-time applications in a manner that can maximize the number of applications admitted into the system in the long run. At run-time, a global scheduler dispatches the tasks of the soft real-time application to individual resource schedulers according to the precedence constraints between tasks. The individual resource schedulers, which could be any deadline based schedulers, can make scheduling decisions locally and yet collectively satisfy a real-time application's performance requirements. The tightness of overall timing guarantees is ultimately determined by the properties of individual resource schedulers. However, IRS maximizes overall system resource utilization efficiency by coordinating deadline assignment across multiple tasks in a soft real-time application.

Effects of tactile cueing on concurrent performance of military and robotics tasks in a simulated multitasking environment.

PubMed

Chen, J Y C; Terrence, P I

2008-08-01

This study examined the concurrent performance of military gunnery, robotics control and communication tasks in a simulated environment. More specifically, the study investigated how aided target recognition (AiTR) capabilities (delivered either through tactile or tactile + visual cueing) for the gunnery task might benefit overall performance. Results showed that AiTR benefited not only the gunnery task, but also the concurrent robotics and communication tasks. The participants' spatial ability was found to be a good indicator of their gunnery and robotics task performance. However, when AiTR was available to assist their gunnery task, those participants of lower spatial ability were able to perform their robotics tasks as well as those of higher spatial ability. Finally, participants' workload assessment was significantly higher when they teleoperated (i.e. remotely operated) a robot and when their gunnery task was unassisted. These results will further understanding of multitasking performance in military tasking environments. These results will also facilitate the implementation of robots in military settings and will provide useful data to military system designs.

Workload assignment with training, hiring and firing

NASA Astrophysics Data System (ADS)

Eiselt, H. A.; Marianov, V.

2008-11-01

This article discusses a workload allocation model in which tasks are matched to employees on the basis of a multi-dimensional skill measure. The main idea is to match positions and tasks to available and potential positions so as to minimize the differences in individuals' abilities and skill requirements. In addition to allocating existing personnel to positions, it is also possible to fire employees and hire new employees. The objectives of the mixed-integer optimization model include different types of costs and the proximity of an individual's capabilities to a task's ability requirements. A number of policies are formulated that allow different combinations of retraining of employees, as well as hiring and firing. These policies are applied to a real-life example that is solved by means of the constraint method. A variety of sensitivity analyses demonstrate the usefulness of the approach as a decision aid.

A Decentralized Scheduling Policy for a Dynamically Reconfigurable Production System

NASA Astrophysics Data System (ADS)

Giordani, Stefano; Lujak, Marin; Martinelli, Francesco

In this paper, the static layout of a traditional multi-machine factory producing a set of distinct goods is integrated with a set of mobile production units - robots. The robots dynamically change their work position to increment the product rate of the different typologies of products in respect to the fluctuations of the demands and production costs during a given time horizon. Assuming that the planning time horizon is subdivided into a finite number of time periods, this particularly flexible layout requires the definition and the solution of a complex scheduling problem, involving for each period of the planning time horizon, the determination of the position of the robots, i.e., the assignment to the respective tasks in order to minimize production costs given the product demand rates during the planning time horizon.

Kinematics modeling and experimentation of the multi-manipulator tooth-arrangement robot for full denture manufacturing.

PubMed

Zhang, Yong-de; Jiang, Jin-gang; Liang, Ting; Hu, Wei-ping

2011-12-01

Artificial teeth are very complicated in shape, and not easy to be grasped and manipulated accurately by a single robot. The method of tooth-arrangement by multi-manipulator for complete denture manufacturing proposed in this paper. A novel complete denture manufacturing mechanism is designed based on multi-manipulator and dental arch generator. Kinematics model of the multi-manipulator tooth-arrangement robot is built by analytical method based on tooth-arrangement principle for full denture. Preliminary experiments on tooth-arrangement are performed using the multi-manipulator tooth-arrangement robot prototype system. The multi-manipulator tooth-arrangement robot prototype system can automatically design and manufacture a set of complete denture that is suitable for a patient according to the jaw arch parameters. The experimental results verified the validity of kinematics model of the multi-manipulator tooth-arrangement robot and the feasibility of the manufacture strategy of complete denture fulfilled by multi-manipulator tooth-arrangement robot.

Centralized Alert-Processing and Asset Planning for Sensorwebs

NASA Technical Reports Server (NTRS)

Castano, Rebecca; Chien, Steve A.; Rabideau, Gregg R.; Tang, Benyang

2010-01-01

A software program provides a Sensorweb architecture for alert-processing, event detection, asset allocation and planning, and visualization. It automatically tasks and re-tasks various types of assets such as satellites and robotic vehicles in response to alerts (fire, weather) extracted from various data sources, including low-level Webcam data. JPL has adapted cons iderable Sensorweb infrastructure that had been previously applied to NASA Earth Science applications. This NASA Earth Science Sensorweb has been in operational use since 2003, and has proven reliability of the Sensorweb technologies for robust event detection and autonomous response using space and ground assets. Unique features of the software include flexibility to a range of detection and tasking methods including those that require aggregation of data over spatial and temporal ranges, generality of the response structure to represent and implement a range of response campaigns, and the ability to respond rapidly.

First industrial strength multi-axial Robotic testing campaign for composite material characterization

Treesearch

John G. Michopoulos; John C. Hermanson; Athanasios Iliopoulos

2012-01-01

In this paper we are reporting on the first successful campaign of systematic, automated and massive multiaxial tests for composite material constitutive characterization. The 6 degrees of freedom system developed at the Naval Research Laboratory (NRL) called NRL66.3, was used for this task. This was the inaugural run that served as the validation of the...

Application of a COTS Resource Optimization Framework to the SSN Sensor Tasking Domain - Part I: Problem Definition

NASA Astrophysics Data System (ADS)

Tran, T.

With the onset of the SmallSat era, the RSO catalog is expected to see continuing growth in the near future. This presents a significant challenge to the current sensor tasking of the SSN. The Air Force is in need of a sensor tasking system that is robust, efficient, scalable, and able to respond in real-time to interruptive events that can change the tracking requirements of the RSOs. Furthermore, the system must be capable of using processed data from heterogeneous sensors to improve tasking efficiency. The SSN sensor tasking can be regarded as an economic problem of supply and demand: the amount of tracking data needed by each RSO represents the demand side while the SSN sensor tasking represents the supply side. As the number of RSOs to be tracked grows, demand exceeds supply. The decision-maker is faced with the problem of how to allocate resources in the most efficient manner. Braxton recently developed a framework called Multi-Objective Resource Optimization using Genetic Algorithm (MOROUGA) as one of its modern COTS software products. This optimization framework took advantage of the maturing technology of evolutionary computation in the last 15 years. This framework was applied successfully to address the resource allocation of an AFSCN-like problem. In any resource allocation problem, there are five key elements: (1) the resource pool, (2) the tasks using the resources, (3) a set of constraints on the tasks and the resources, (4) the objective functions to be optimized, and (5) the demand levied on the resources. In this paper we explain in detail how the design features of this optimization framework are directly applicable to address the SSN sensor tasking domain. We also discuss our validation effort as well as present the result of the AFSCN resource allocation domain using a prototype based on this optimization framework.

SpikingLab: modelling agents controlled by Spiking Neural Networks in Netlogo.

PubMed

Jimenez-Romero, Cristian; Johnson, Jeffrey

2017-01-01

The scientific interest attracted by Spiking Neural Networks (SNN) has lead to the development of tools for the simulation and study of neuronal dynamics ranging from phenomenological models to the more sophisticated and biologically accurate Hodgkin-and-Huxley-based and multi-compartmental models. However, despite the multiple features offered by neural modelling tools, their integration with environments for the simulation of robots and agents can be challenging and time consuming. The implementation of artificial neural circuits to control robots generally involves the following tasks: (1) understanding the simulation tools, (2) creating the neural circuit in the neural simulator, (3) linking the simulated neural circuit with the environment of the agent and (4) programming the appropriate interface in the robot or agent to use the neural controller. The accomplishment of the above-mentioned tasks can be challenging, especially for undergraduate students or novice researchers. This paper presents an alternative tool which facilitates the simulation of simple SNN circuits using the multi-agent simulation and the programming environment Netlogo (educational software that simplifies the study and experimentation of complex systems). The engine proposed and implemented in Netlogo for the simulation of a functional model of SNN is a simplification of integrate and fire (I&F) models. The characteristics of the engine (including neuronal dynamics, STDP learning and synaptic delay) are demonstrated through the implementation of an agent representing an artificial insect controlled by a simple neural circuit. The setup of the experiment and its outcomes are described in this work.

An Integrated Framework for Human-Robot Collaborative Manipulation.

PubMed

Sheng, Weihua; Thobbi, Anand; Gu, Ye

2015-10-01

This paper presents an integrated learning framework that enables humanoid robots to perform human-robot collaborative manipulation tasks. Specifically, a table-lifting task performed jointly by a human and a humanoid robot is chosen for validation purpose. The proposed framework is split into two phases: 1) phase I-learning to grasp the table and 2) phase II-learning to perform the manipulation task. An imitation learning approach is proposed for phase I. In phase II, the behavior of the robot is controlled by a combination of two types of controllers: 1) reactive and 2) proactive. The reactive controller lets the robot take a reactive control action to make the table horizontal. The proactive controller lets the robot take proactive actions based on human motion prediction. A measure of confidence of the prediction is also generated by the motion predictor. This confidence measure determines the leader/follower behavior of the robot. Hence, the robot can autonomously switch between the behaviors during the task. Finally, the performance of the human-robot team carrying out the collaborative manipulation task is experimentally evaluated on a platform consisting of a Nao humanoid robot and a Vicon motion capture system. Results show that the proposed framework can enable the robot to carry out the collaborative manipulation task successfully.

Sediment Sampling in Estuarine Mudflats with an Aerial-Ground Robotic Team

PubMed Central

Deusdado, Pedro; Guedes, Magno; Silva, André; Marques, Francisco; Pinto, Eduardo; Rodrigues, Paulo; Lourenço, André; Mendonça, Ricardo; Santana, Pedro; Corisco, José; Almeida, Susana Marta; Portugal, Luís; Caldeira, Raquel; Barata, José; Flores, Luis

2016-01-01

This paper presents a robotic team suited for bottom sediment sampling and retrieval in mudflats, targeting environmental monitoring tasks. The robotic team encompasses a four-wheel-steering ground vehicle, equipped with a drilling tool designed to be able to retain wet soil, and a multi-rotor aerial vehicle for dynamic aerial imagery acquisition. On-demand aerial imagery, properly fused on an aerial mosaic, is used by remote human operators for specifying the robotic mission and supervising its execution. This is crucial for the success of an environmental monitoring study, as often it depends on human expertise to ensure the statistical significance and accuracy of the sampling procedures. Although the literature is rich on environmental monitoring sampling procedures, in mudflats, there is a gap as regards including robotic elements. This paper closes this gap by also proposing a preliminary experimental protocol tailored to exploit the capabilities offered by the robotic system. Field trials in the south bank of the river Tagus’ estuary show the ability of the robotic system to successfully extract and transport bottom sediment samples for offline analysis. The results also show the efficiency of the extraction and the benefits when compared to (conventional) human-based sampling. PMID:27618060

Multi-Robot Assembly Strategies and Metrics.

PubMed

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

2018-02-01

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

Multi-Robot Assembly Strategies and Metrics

PubMed Central

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

2018-01-01

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

Telepresence and telerobotics

NASA Technical Reports Server (NTRS)

Garin, John; Matteo, Joseph; Jennings, Von Ayre

1988-01-01

The capability for a single operator to simultaneously control complex remote multi degree of freedom robotic arms and associated dextrous end effectors is being developed. An optimal solution within the realm of current technology, can be achieved by recognizing that: (1) machines/computer systems are more effective than humans when the task is routine and specified, and (2) humans process complex data sets and deal with the unpredictable better than machines. These observations lead naturally to a philosophy in which the human's role becomes a higher level function associated with planning, teaching, initiating, monitoring, and intervening when the machine gets into trouble, while the machine performs the codifiable tasks with deliberate efficiency. This concept forms the basis for the integration of man and telerobotics, i.e., robotics with the operator in the control loop. The concept of integration of the human in the loop and maximizing the feed-forward and feed-back data flow is referred to as telepresence.

STS-111 Onboard Photo of the International Space Station

NASA Technical Reports Server (NTRS)

2002-01-01

Backdropped against the blackness of space is the International Space Station (ISS), as viewed from the approching Space Shuttle Orbiter Endeavour, STS-111 mission, in June 2002. Expedition Five replaced Expedition Four crew after remaining a record-setting 196 days in space. Three spacewalks enabled the STS-111 crew to accomplish the delivery and installation of the Mobile Remote Servicer Base System (MBS), an important part of the Station's Mobile Servicing System that allows the robotic arm to travel the length of the Station, which is necessary for future construction tasks; the replacement of a wrist roll joint on the Station's robotic arm, and the task of unloading supplies and science experiments from the Leonardo Multi-Purpose Logistics Module, which made its third trip to the orbital outpost. The STS-111 mission, the 14th Shuttle mission to visit the ISS, was launched on June 5, 2002 and landed June 19, 2002.

Robot vision system programmed in Prolog

NASA Astrophysics Data System (ADS)

Batchelor, Bruce G.; Hack, Ralf

1995-10-01

This is the latest in a series of publications which develop the theme of programming a machine vision system using the artificial intelligence language Prolog. The article states the long-term objective of the research program of which this work forms part. Many but not yet all of the goals laid out in this plan have already been achieved in an integrated system, which uses a multi-layer control hierarchy. The purpose of the present paper is to demonstrate that a system based upon a Prolog controller is capable of making complex decisions and operating a standard robot. The authors chose, as a vehicle for this exercise, the task of playing dominoes against a human opponent. This game was selected for this demonstration since it models a range of industrial assembly tasks, where parts are to be mated together. (For example, a 'daisy chain' of electronic equipment and the interconnecting cables/adapters may be likened to a chain of dominoes.)

International Space Station (ISS)

NASA Image and Video Library

2002-06-07

Backdropped against the blackness of space is the International Space Station (ISS), as viewed from the approching Space Shuttle Orbiter Endeavour, STS-111 mission, in June 2002. Expedition Five replaced Expedition Four crew after remaining a record-setting 196 days in space. Three spacewalks enabled the STS-111 crew to accomplish the delivery and installation of the Mobile Remote Servicer Base System (MBS), an important part of the Station's Mobile Servicing System that allows the robotic arm to travel the length of the Station, which is necessary for future construction tasks; the replacement of a wrist roll joint on the Station's robotic arm, and the task of unloading supplies and science experiments from the Leonardo Multi-Purpose Logistics Module, which made its third trip to the orbital outpost. The STS-111 mission, the 14th Shuttle mission to visit the ISS, was launched on June 5, 2002 and landed June 19, 2002.

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.

Task-oriented rehabilitation robotics.

PubMed

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

2012-11-01

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

[The role of multi-disciplinary team in the surgical area--at present and in future].

PubMed

Tomita, Michiko; Sakamoto, Suga

2010-07-01

This article describes four particular tasks of nursing profession and identifies the contribution of nurses within a multi-professional team in the surgical area. The four tasks involve; triage nursing in Emergency Room; allocation of surgical beds; provision of patients' information on a course of surgical treatment prior to hospital admission; and participation in Diagnosis Related Group (DRG). Being responsible for each of these tasks, the nurses play a significant role as mediators between patients and health professionals as well as between the health professionals in order to respond to their patients' needs. This contributes to alleviation of suffering through the diagnosis and surgical treatment, leading to the best ways to recover from major trauma the patients had. In recent years, expanding nursing responsibilities for decision-making in patients' care has been in discussion. However, it is clear that with certain levels of education and practice, nursing profession is able to fill the important roles within the multi-professional team in the surgical area.

Learning compliant manipulation through kinesthetic and tactile human-robot interaction.

PubMed

Kronander, Klas; Billard, Aude

2014-01-01

Robot Learning from Demonstration (RLfD) has been identified as a key element for making robots useful in daily lives. A wide range of techniques has been proposed for deriving a task model from a set of demonstrations of the task. Most previous works use learning to model the kinematics of the task, and for autonomous execution the robot then relies on a stiff position controller. While many tasks can and have been learned this way, there are tasks in which controlling the position alone is insufficient to achieve the goals of the task. These are typically tasks that involve contact or require a specific response to physical perturbations. The question of how to adjust the compliance to suit the need of the task has not yet been fully treated in Robot Learning from Demonstration. In this paper, we address this issue and present interfaces that allow a human teacher to indicate compliance variations by physically interacting with the robot during task execution. We validate our approach in two different experiments on the 7 DoF Barrett WAM and KUKA LWR robot manipulators. Furthermore, we conduct a user study to evaluate the usability of our approach from a non-roboticists perspective.

Make Your Workflows Smarter

NASA Technical Reports Server (NTRS)

Jones, Corey; Kapatos, Dennis; Skradski, Cory

2012-01-01

Do you have workflows with many manual tasks that slow down your business? Or, do you scale back workflows because there are simply too many manual tasks? Basic workflow robots can automate some common tasks, but not everything. This presentation will show how advanced robots called "expression robots" can be set up to perform everything from simple tasks such as: moving, creating folders, renaming, changing or creating an attribute, and revising, to more complex tasks like: creating a pdf, or even launching a session of Creo Parametric and performing a specific modeling task. Expression robots are able to utilize the Java API and Info*Engine to do almost anything you can imagine! Best of all, these tools are supported by PTC and will work with later releases of Windchill. Limited knowledge of Java, Info*Engine, and XML are required. The attendee will learn what task expression robots are capable of performing. The attendee will learn what is involved in setting up an expression robot. The attendee will gain a basic understanding of simple Info*Engine tasks

Domestic Robots for Older Adults: Attitudes, Preferences, and Potential

PubMed Central

Mitzner, Tracy L.; Beer, Jenay M.; Prakash, Akanksha; Chen, Tiffany L.; Kemp, Charles C.; Rogers, Wendy A.

2014-01-01

The population of older adults in America is expected to reach an unprecedented level in the near future. Some of them have difficulties with performing daily tasks and caregivers may not be able to match pace with the increasing need for assistance. Robots, especially mobile manipulators, have the potential for assisting older adults with daily tasks enabling them to live independently in their homes. However, little is known about their views of robot assistance in the home. Twenty-one independently living older Americans (65–93 years old) were asked about their preferences for and attitudes toward robot assistance via a structured group interview and questionnaires. In the group interview, they generated a diverse set of 121 tasks they would want a robot to assist them with in their homes. These data, along with their questionnaire responses, suggest that the older adults were generally open to robot assistance but were discriminating in their acceptance of assistance for different tasks. They preferred robot assistance over human assistance for tasks related to chores, manipulating objects, and information management. In contrast, they preferred human assistance to robot assistance for tasks related to personal care and leisure activities. Our study provides insights into older adults' attitudes and preferences for robot assistance with everyday living tasks in the home which may inform the design of robots that will be more likely accepted by older adults. PMID:25152779

Domestic Robots for Older Adults: Attitudes, Preferences, and Potential.

PubMed

Smarr, Cory-Ann; Mitzner, Tracy L; Beer, Jenay M; Prakash, Akanksha; Chen, Tiffany L; Kemp, Charles C; Rogers, Wendy A

2014-04-01

The population of older adults in America is expected to reach an unprecedented level in the near future. Some of them have difficulties with performing daily tasks and caregivers may not be able to match pace with the increasing need for assistance. Robots, especially mobile manipulators, have the potential for assisting older adults with daily tasks enabling them to live independently in their homes. However, little is known about their views of robot assistance in the home. Twenty-one independently living older Americans (65-93 years old) were asked about their preferences for and attitudes toward robot assistance via a structured group interview and questionnaires. In the group interview, they generated a diverse set of 121 tasks they would want a robot to assist them with in their homes. These data, along with their questionnaire responses, suggest that the older adults were generally open to robot assistance but were discriminating in their acceptance of assistance for different tasks. They preferred robot assistance over human assistance for tasks related to chores, manipulating objects, and information management. In contrast, they preferred human assistance to robot assistance for tasks related to personal care and leisure activities. Our study provides insights into older adults' attitudes and preferences for robot assistance with everyday living tasks in the home which may inform the design of robots that will be more likely accepted by older adults.

Lifelong Transfer Learning for Heterogeneous Teams of Agents in Sequential Decision Processes

DTIC Science & Technology

2016-06-01

making (SDM) tasks in dynamic environments with simulated and physical robots . 15. SUBJECT TERMS Sequential decision making, lifelong learning, transfer...sequential decision-making (SDM) tasks in dynamic environments with both simple benchmark tasks and more complex aerial and ground robot tasks. Our work...and ground robots in the presence of disturbances: We applied our methods to the problem of learning controllers for robots with novel disturbances in

User Needs, Benefits, and Integration of Robotic Systems in a Space Station Laboratory

NASA Technical Reports Server (NTRS)

Dodd, W. R.; Badgley, M. B.; Konkel, C. R.

1989-01-01

The methodology, results and conclusions of all tasks of the User Needs, Benefits, and Integration Study (UNBIS) of Robotic Systems in a Space Station Laboratory are summarized. Study goals included the determination of user requirements for robotics within the Space Station, United States Laboratory. In Task 1, three experiments were selected to determine user needs and to allow detailed investigation of microgravity requirements. In Task 2, a NASTRAN analysis of Space Station response to robotic disturbances, and acceleration measurement of a standard industrial robot (Intelledex Model 660) resulted in selection of two ranges of microgravity manipulation: Level 1 (10-3 to 10-5 G at greater than 1 Hz) and Level 2 (less than equal 10-6 G at 0.1 Hz). This task included an evaluation of microstepping methods for controlling stepper motors and concluded that an industrial robot actuator can perform milli-G motion without modification. Relative merits of end-effectors and manipulators were studied in Task 3 in order to determine their ability to perform a range of tasks related to the three microgravity experiments. An Effectivity Rating was established for evaluating these robotic system capabilities. Preliminary interface requirements for an orbital flight demonstration were determined in Task 4. Task 5 assessed the impact of robotics.

Robot Acquisition of Active Maps Through Teleoperation and Vector Space Analysis

NASA Technical Reports Server (NTRS)

Peters, Richard Alan, II

2003-01-01

The work performed under this contract was in the area of intelligent robotics. The problem being studied was the acquisition of intelligent behaviors by a robot. The method was to acquire action maps that describe tasks as sequences of reflexive behaviors. Action maps (a.k.a. topological maps) are graphs whose nodes represent sensorimotor states and whose edges represent the motor actions that cause the robot to proceed from one state to the next. The maps were acquired by the robot after being teleoperated or otherwise guided by a person through a task several times. During a guided task, the robot records all its sensorimotor signals. The signals from several task trials are partitioned into episodes of static behavior. The corresponding episodes from each trial are averaged to produce a task description as a sequence of characteristic episodes. The sensorimotor states that indicate episode boundaries become the nodes, and the static behaviors, the edges. It was demonstrated that if compound maps are constructed from a set of tasks then the robot can perform new tasks in which it was never explicitly trained.

The da vinci robot system eliminates multispecialty surgical trainees' hand dominance in open and robotic surgical settings.

PubMed

Badalato, Gina M; Shapiro, Edan; Rothberg, Michael B; Bergman, Ari; RoyChoudhury, Arindam; Korets, Ruslan; Patel, Trushar; Badani, Ketan K

2014-01-01

Handedness, or the inherent dominance of one hand's dexterity over the other's, is a factor in open surgery but has an unknown importance in robot-assisted surgery. We sought to examine whether the robotic surgery platform could eliminate the effect of inherent hand preference. Residents from the Urology and Obstetrics/Gynecology departments were enrolled. Ambidextrous and left-handed subjects were excluded. After completing a questionnaire, subjects performed three tasks modified from the Fundamentals of Laparoscopic Surgery curriculum. Tasks were performed by hand and then with the da Vinci robotic surgical system (Intuitive Surgical, Sunnyvale, California). Participants were randomized to begin with using either the left or the right hand, and then switch. Left:right ratios were calculated from scores based on time to task completion. Linear regression analysis was used to determine the significance of the impact of surgical technique on hand dominance. Ten subjects were enrolled. The mean difference in raw score performance between the right and left hands was 12.5 seconds for open tasks and 8 seconds for robotic tasks (P<.05). Overall left-right ratios were found to be 1.45 versus 1.12 for the open and robot tasks, respectively (P<.05). Handedness significantly differed between robotic and open approaches for raw time scores (P<.0001) and left-right ratio (P=.03) when controlling for the prior tasks completed, starting hand, prior robotic experience, and comfort level. These findings remain to be validated in larger cohorts. The robotic technique reduces hand dominance in surgical trainees across all task domains. This finding contributes to the known advantages of robotic surgery.

Deep ART Neural Model for Biologically Inspired Episodic Memory and Its Application to Task Performance of Robots.

PubMed

Park, Gyeong-Moon; Yoo, Yong-Ho; Kim, Deok-Hwa; Kim, Jong-Hwan; Gyeong-Moon Park; Yong-Ho Yoo; Deok-Hwa Kim; Jong-Hwan Kim; Yoo, Yong-Ho; Park, Gyeong-Moon; Kim, Jong-Hwan; Kim, Deok-Hwa

2018-06-01

Robots are expected to perform smart services and to undertake various troublesome or difficult tasks in the place of humans. Since these human-scale tasks consist of a temporal sequence of events, robots need episodic memory to store and retrieve the sequences to perform the tasks autonomously in similar situations. As episodic memory, in this paper we propose a novel Deep adaptive resonance theory (ART) neural model and apply it to the task performance of the humanoid robot, Mybot, developed in the Robot Intelligence Technology Laboratory at KAIST. Deep ART has a deep structure to learn events, episodes, and even more like daily episodes. Moreover, it can retrieve the correct episode from partial input cues robustly. To demonstrate the effectiveness and applicability of the proposed Deep ART, experiments are conducted with the humanoid robot, Mybot, for performing the three tasks of arranging toys, making cereal, and disposing of garbage.

Robot Task Commander with Extensible Programming Environment

NASA Technical Reports Server (NTRS)

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

2014-01-01

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

Proficiency training on a virtual reality robotic surgical skills curriculum.

PubMed

Bric, Justin; Connolly, Michael; Kastenmeier, Andrew; Goldblatt, Matthew; Gould, Jon C

2014-12-01

The clinical application of robotic surgery is increasing. The skills necessary to perform robotic surgery are unique from those required in open and laparoscopic surgery. A validated laparoscopic surgical skills curriculum (Fundamentals of Laparoscopic Surgery or FLS™) has transformed the way surgeons acquire laparoscopic skills. There is a need for a similar skills training and assessment tool for robotic surgery. Our research group previously developed and validated a robotic training curriculum in a virtual reality (VR) simulator. We hypothesized that novice robotic surgeons could achieve proficiency levels defined by more experienced robotic surgeons on the VR robotic curriculum, and that this would result in improved performance on the actual daVinci Surgical System™. 25 medical students with no prior robotic surgery experience were recruited. Prior to VR training, subjects performed 2 FLS tasks 3 times each (Peg Transfer, Intracorporeal Knot Tying) using the daVinci Surgical System™ docked to a video trainer box. Task performance for the FLS tasks was scored objectively. Subjects then practiced on the VR simulator (daVinci Skills Simulator) until proficiency levels on all 5 tasks were achieved before completing a post-training assessment of the 2 FLS tasks on the daVinci Surgical System™ in the video trainer box. All subjects to complete the study (1 dropped out) reached proficiency levels on all VR tasks in an average of 71 (± 21.7) attempts, accumulating 164.3 (± 55.7) minutes of console training time. There was a significant improvement in performance on the robotic FLS tasks following completion of the VR training curriculum. Novice robotic surgeons are able to attain proficiency levels on a VR simulator. This leads to improved performance in the daVinci surgical platform on simulated tasks. Training to proficiency on a VR robotic surgery simulator is an efficient and viable method for acquiring robotic surgical skills.

Task allocation in a distributed computing system

NASA Technical Reports Server (NTRS)

Seward, Walter D.

1987-01-01

A conceptual framework is examined for task allocation in distributed systems. Application and computing system parameters critical to task allocation decision processes are discussed. Task allocation techniques are addressed which focus on achieving a balance in the load distribution among the system's processors. Equalization of computing load among the processing elements is the goal. Examples of system performance are presented for specific applications. Both static and dynamic allocation of tasks are considered and system performance is evaluated using different task allocation methodologies.

Efficient Symbolic Task Planning for Multiple Mobile Robots

DTIC Science & Technology

2016-12-13

Efficient Symbolic Task Planning for Multiple Mobile Robots Yuqian Jiang December 13, 2016 Abstract Symbolic task planning enables a robot to make...high-level deci- sions toward a complex goal by computing a sequence of actions with minimum expected costs. This thesis builds on a single- robot ...time complexity of optimal planning for multiple mobile robots . In this thesis we first investigate the performance of the state-of-the-art solvers of

Robotics/Automated Systems Task Analysis and Description of Required Job Competencies Report. Task Analysis and Description of Required Job Competencies of Robotics/Automated Systems Technicians.

ERIC Educational Resources Information Center

Hull, Daniel M.; Lovett, James E.

This task analysis report for the Robotics/Automated Systems Technician (RAST) curriculum project first provides a RAST job description. It then discusses the task analysis, including the identification of tasks, the grouping of tasks according to major areas of specialty, and the comparison of the competencies to existing or new courses to…

A limit-cycle self-organizing map architecture for stable arm control.

PubMed

Huang, Di-Wei; Gentili, Rodolphe J; Katz, Garrett E; Reggia, James A

2017-01-01

Inspired by the oscillatory nature of cerebral cortex activity, we recently proposed and studied self-organizing maps (SOMs) based on limit cycle neural activity in an attempt to improve the information efficiency and robustness of conventional single-node, single-pattern representations. Here we explore for the first time the use of limit cycle SOMs to build a neural architecture that controls a robotic arm by solving inverse kinematics in reach-and-hold tasks. This multi-map architecture integrates open-loop and closed-loop controls that learn to self-organize oscillatory neural representations and to harness non-fixed-point neural activity even for fixed-point arm reaching tasks. We show through computer simulations that our architecture generalizes well, achieves accurate, fast, and smooth arm movements, and is robust in the face of arm perturbations, map damage, and variations of internal timing parameters controlling the flow of activity. A robotic implementation is evaluated successfully without further training, demonstrating for the first time that limit cycle maps can control a physical robot arm. We conclude that architectures based on limit cycle maps can be organized to function effectively as neural controllers. Copyright © 2016 Elsevier Ltd. All rights reserved.

A Preliminary Study of Peer-to-Peer Human-Robot Interaction

NASA Technical Reports Server (NTRS)

Fong, Terrence; Flueckiger, Lorenzo; Kunz, Clayton; Lees, David; Schreiner, John; Siegel, Michael; Hiatt, Laura M.; Nourbakhsh, Illah; Simmons, Reid; Ambrose, Robert

2006-01-01

The Peer-to-Peer Human-Robot Interaction (P2P-HRI) project is developing techniques to improve task coordination and collaboration between human and robot partners. Our work is motivated by the need to develop effective human-robot teams for space mission operations. A central element of our approach is creating dialogue and interaction tools that enable humans and robots to flexibly support one another. In order to understand how this approach can influence task performance, we recently conducted a series of tests simulating a lunar construction task with a human-robot team. In this paper, we describe the tests performed, discuss our initial results, and analyze the effect of intervention on task performance.

Object-based task-level control: A hierarchical control architecture for remote operation of space robots

NASA Technical Reports Server (NTRS)

Stevens, H. D.; Miles, E. S.; Rock, S. J.; Cannon, R. H.

1994-01-01

Expanding man's presence in space requires capable, dexterous robots capable of being controlled from the Earth. Traditional 'hand-in-glove' control paradigms require the human operator to directly control virtually every aspect of the robot's operation. While the human provides excellent judgment and perception, human interaction is limited by low bandwidth, delayed communications. These delays make 'hand-in-glove' operation from Earth impractical. In order to alleviate many of the problems inherent to remote operation, Stanford University's Aerospace Robotics Laboratory (ARL) has developed the Object-Based Task-Level Control architecture. Object-Based Task-Level Control (OBTLC) removes the burden of teleoperation from the human operator and enables execution of tasks not possible with current techniques. OBTLC is a hierarchical approach to control where the human operator is able to specify high-level, object-related tasks through an intuitive graphical user interface. Infrequent task-level command replace constant joystick operations, eliminating communications bandwidth and time delay problems. The details of robot control and task execution are handled entirely by the robot and computer control system. The ARL has implemented the OBTLC architecture on a set of Free-Flying Space Robots. The capability of the OBTLC architecture has been demonstrated by controlling the ARL Free-Flying Space Robots from NASA Ames Research Center.

Ultra-Compact Transputer-Based Controller for High-Level, Multi-Axis Coordination

NASA Technical Reports Server (NTRS)

Zenowich, Brian; Crowell, Adam; Townsend, William T.

2013-01-01

The design of machines that rely on arrays of servomotors such as robotic arms, orbital platforms, and combinations of both, imposes a heavy computational burden to coordinate their actions to perform coherent tasks. For example, the robotic equivalent of a person tracing a straight line in space requires enormously complex kinematics calculations, and complexity increases with the number of servo nodes. A new high-level architecture for coordinated servo-machine control enables a practical, distributed transputer alternative to conventional central processor electronics. The solution is inherently scalable, dramatically reduces bulkiness and number of conductor runs throughout the machine, requires only a fraction of the power, and is designed for cooling in a vacuum.

Optimized Assistive Human-Robot Interaction Using Reinforcement Learning.

PubMed

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

2016-03-01

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

Application of Human-Autonomy Teaming (HAT) Patterns to Reduced Crew Operations (RCO)

NASA Technical Reports Server (NTRS)

Shively, R. Jay; Brandt, Summer L.; Lachter, Joel; Matessa, Mike; Sadler, Garrett; Battiste, Henri

2016-01-01

As part of the Air Force - NASA Bi-Annual Research Council Meeting, slides will be presented on recent Reduced Crew Operations (RCO) work. Unmanned aerial systems, robotics, advanced cockpits, and air traffic management are all examples of domains that are seeing dramatic increases in automation. While automation may take on some tasks previously performed by humans, humans will still be required, for the foreseeable future, to remain in the system. The collaboration with humans and these increasingly autonomous systems will begin to resemble cooperation between teammates, rather than simple task allocation. It is critical to understand this human-autonomy teaming (HAT) to optimize these systems in the future. One methodology to understand HAT is by identifying recurring patterns of HAT that have similar characteristics and solutions. A methodology for identifying HAT patterns to an advanced cockpit project is discussed.

Research on air and missile defense task allocation based on extended contract net protocol

NASA Astrophysics Data System (ADS)

Zhang, Yunzhi; Wang, Gang

2017-10-01

Based on the background of air and missile defense distributed element corporative engagement, the interception task allocation problem of multiple weapon units with multiple targets under network condition is analyzed. Firstly, a mathematical model of task allocation is established by combat task decomposition. Secondly, the initialization assignment based on auction contract and the adjustment allocation scheme based on swap contract were introduced to the task allocation. Finally, through the simulation calculation of typical situation, the model can be used to solve the task allocation problem in complex combat environment.

Surgeons' display reduced mental effort and workload while performing robotically assisted surgical tasks, when compared to conventional laparoscopy.

PubMed

Moore, Lee J; Wilson, Mark R; McGrath, John S; Waine, Elizabeth; Masters, Rich S W; Vine, Samuel J

2015-09-01

Research has demonstrated the benefits of robotic surgery for the patient; however, research examining the benefits of robotic technology for the surgeon is limited. This study aimed to adopt validated measures of workload, mental effort, and gaze control to assess the benefits of robotic surgery for the surgeon. We predicted that the performance of surgical training tasks on a surgical robot would require lower investments of workload and mental effort, and would be accompanied by superior gaze control and better performance, when compared to conventional laparoscopy. Thirty-two surgeons performed two trials on a ball pick-and-drop task and a rope-threading task on both robotic and laparoscopic systems. Measures of workload (the surgery task load index), mental effort (subjective: rating scale for mental effort and objective: standard deviation of beat-to-beat intervals), gaze control (using a mobile eye movement recorder), and task performance (completion time and number of errors) were recorded. As expected, surgeons performed both tasks more quickly and accurately (with fewer errors) on the robotic system. Self-reported measures of workload and mental effort were significantly lower on the robotic system compared to the laparoscopic system. Similarly, an objective cardiovascular measure of mental effort revealed lower investment of mental effort when using the robotic platform relative to the laparoscopic platform. Gaze control distinguished the robotic from the laparoscopic systems, but not in the predicted fashion, with the robotic system associated with poorer (more novice like) gaze control. The findings highlight the benefits of robotic technology for surgical operators. Specifically, they suggest that tasks can be performed more proficiently, at a lower workload, and with the investment of less mental effort, this may allow surgeons greater cognitive resources for dealing with other demands such as communication, decision-making, or periods of increased complexity in the operating room.

Effects of Agent Transparency on Multi-Robot Management Effectiveness

DTIC Science & Technology

2015-09-01

capacity was found to be a significant predictor of participants’ trust in the agent. Individual differences in spatial ability accounted for...Another concern regarding autonomous systems is operator workload, which is the cost of performing a task that reduces an individual’s ability to complete...more elaborate and costly strategy that cost additional time (Clark et al. 2011). We hypothesize, therefore, that action GE will be associated with

Inter-rater reliability of kinesthetic measurements with the KINARM robotic exoskeleton.

PubMed

Semrau, Jennifer A; Herter, Troy M; Scott, Stephen H; Dukelow, Sean P

2017-05-22

Kinesthesia (sense of limb movement) has been extremely difficult to measure objectively, especially in individuals who have survived a stroke. The development of valid and reliable measurements for proprioception is important to developing a better understanding of proprioceptive impairments after stroke and their impact on the ability to perform daily activities. We recently developed a robotic task to evaluate kinesthetic deficits after stroke and found that the majority (~60%) of stroke survivors exhibit significant deficits in kinesthesia within the first 10 days post-stroke. Here we aim to determine the inter-rater reliability of this robotic kinesthetic matching task. Twenty-five neurologically intact control subjects and 15 individuals with first-time stroke were evaluated on a robotic kinesthetic matching task (KIN). Subjects sat in a robotic exoskeleton with their arms supported against gravity. In the KIN task, the robot moved the subjects' stroke-affected arm at a preset speed, direction and distance. As soon as subjects felt the robot begin to move their affected arm, they matched the robot movement with the unaffected arm. Subjects were tested in two sessions on the KIN task: initial session and then a second session (within an average of 18.2 ± 13.8 h of the initial session for stroke subjects), which were supervised by different technicians. The task was performed both with and without the use of vision in both sessions. We evaluated intra-class correlations of spatial and temporal parameters derived from the KIN task to determine the reliability of the robotic task. We evaluated 8 spatial and temporal parameters that quantify kinesthetic behavior. We found that the parameters exhibited moderate to high intra-class correlations between the initial and retest conditions (Range, r-value = [0.53-0.97]). The robotic KIN task exhibited good inter-rater reliability. This validates the KIN task as a reliable, objective method for quantifying kinesthesia after stroke.

A novel Morse code-inspired method for multiclass motor imagery brain-computer interface (BCI) design.

PubMed

Jiang, Jun; Zhou, Zongtan; Yin, Erwei; Yu, Yang; Liu, Yadong; Hu, Dewen

2015-11-01

Motor imagery (MI)-based brain-computer interfaces (BCIs) allow disabled individuals to control external devices voluntarily, helping us to restore lost motor functions. However, the number of control commands available in MI-based BCIs remains limited, limiting the usability of BCI systems in control applications involving multiple degrees of freedom (DOF), such as control of a robot arm. To address this problem, we developed a novel Morse code-inspired method for MI-based BCI design to increase the number of output commands. Using this method, brain activities are modulated by sequences of MI (sMI) tasks, which are constructed by alternately imagining movements of the left or right hand or no motion. The codes of the sMI task was detected from EEG signals and mapped to special commands. According to permutation theory, an sMI task with N-length allows 2 × (2(N)-1) possible commands with the left and right MI tasks under self-paced conditions. To verify its feasibility, the new method was used to construct a six-class BCI system to control the arm of a humanoid robot. Four subjects participated in our experiment and the averaged accuracy of the six-class sMI tasks was 89.4%. The Cohen's kappa coefficient and the throughput of our BCI paradigm are 0.88 ± 0.060 and 23.5bits per minute (bpm), respectively. Furthermore, all of the subjects could operate an actual three-joint robot arm to grasp an object in around 49.1s using our approach. These promising results suggest that the Morse code-inspired method could be used in the design of BCIs for multi-DOF control. Copyright © 2015 Elsevier Ltd. All rights reserved.

Cognitive-Motor Interference on Upper Extremity Motor Performance in a Robot-Assisted Planar Reaching Task Among Patients With Stroke.

PubMed

Shin, Joon-Ho; Park, Gyulee; Cho, Duk Youn

2017-04-01

To explore motor performance on 2 different cognitive tasks during robotic rehabilitation in which motor performance was longitudinally assessed. Prospective study. Rehabilitation hospital. Patients (N=22) with chronic stroke and upper extremity impairment. A total of 640 repetitions of robot-assisted planar reaching, 5 times a week for 4 weeks. Longitudinal robotic evaluations regarding motor performance included smoothness, mean velocity, path error, and reach error by the type of cognitive task. Dual-task effects (DTEs) of motor performance were computed to analyze the effect of the cognitive task on dual-task interference. Cognitive task type influenced smoothness (P=.006), the DTEs of smoothness (P=.002), and the DTEs of reach error (P=.052). Robotic rehabilitation improved smoothness (P=.007) and reach error (P=.078), while stroke severity affected smoothness (P=.01), reach error (P<.001), and path error (P=.01). Robotic rehabilitation or severity did not affect the DTEs of motor performance. The results provide evidence for the effect of cognitive-motor interference on upper extremity performance among participants with stroke using a robotic-guided rehabilitation system. Copyright © 2016 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

Development of a task-level robot programming and simulation system

NASA Technical Reports Server (NTRS)

Liu, H.; Kawamura, K.; Narayanan, S.; Zhang, G.; Franke, H.; Ozkan, M.; Arima, H.; Liu, H.

1987-01-01

An ongoing project in developing a Task-Level Robot Programming and Simulation System (TARPS) is discussed. The objective of this approach is to design a generic TARPS that can be used in a variety of applications. Many robotic applications require off-line programming, and a TARPS is very useful in such applications. Task level programming is object centered in that the user specifies tasks to be performed instead of robot paths. Graphics simulation provides greater flexibility and also avoids costly machine setup and possible damage. A TARPS has three major modules: world model, task planner and task simulator. The system architecture, design issues and some preliminary results are given.

Interactive multi-objective path planning through a palette-based user interface

NASA Astrophysics Data System (ADS)

Shaikh, Meher T.; Goodrich, Michael A.; Yi, Daqing; Hoehne, Joseph

2016-05-01

n a problem where a human uses supervisory control to manage robot path-planning, there are times when human does the path planning, and if satisfied commits those paths to be executed by the robot, and the robot executes that plan. In planning a path, the robot often uses an optimization algorithm that maximizes or minimizes an objective. When a human is assigned the task of path planning for robot, the human may care about multiple objectives. This work proposes a graphical user interface (GUI) designed for interactive robot path-planning when an operator may prefer one objective over others or care about how multiple objectives are traded off. The GUI represents multiple objectives using the metaphor of an artist's palette. A distinct color is used to represent each objective, and tradeoffs among objectives are balanced in a manner that an artist mixes colors to get the desired shade of color. Thus, human intent is analogous to the artist's shade of color. We call the GUI an "Adverb Palette" where the word "Adverb" represents a specific type of objective for the path, such as the adverbs "quickly" and "safely" in the commands: "travel the path quickly", "make the journey safely". The novel interactive interface provides the user an opportunity to evaluate various alternatives (that tradeoff between different objectives) by allowing her to visualize the instantaneous outcomes that result from her actions on the interface. In addition to assisting analysis of various solutions given by an optimization algorithm, the palette has additional feature of allowing the user to define and visualize her own paths, by means of waypoints (guiding locations) thereby spanning variety for planning. The goal of the Adverb Palette is thus to provide a way for the user and robot to find an acceptable solution even though they use very different representations of the problem. Subjective evaluations suggest that even non-experts in robotics can carry out the planning tasks with a great deal of flexibility using the adverb palette.

Two-dimensional laser servoing for precision motion control of an ODV robotic license plate recognition system

NASA Astrophysics Data System (ADS)

Song, Zhen; Moore, Kevin L.; Chen, YangQuan; Bahl, Vikas

2003-09-01

As an outgrowth of series of projects focused on mobility of unmanned ground vehicles (UGV), an omni-directional (ODV), multi-robot, autonomous mobile parking security system has been developed. The system has two types of robots: the low-profile Omni-Directional Inspection System (ODIS), which can be used for under-vehicle inspections, and the mid-sized T4 robot, which serves as a ``marsupial mothership'' for the ODIS vehicles and performs coarse resolution inspection. A key task for the T4 robot is license plate recognition (LPR). For a successful LPR task without compromising the recognition rate, the robot must be able to identify the bumper locations of vehicles in the parking area and then precisely position the LPR camera relative to the bumper. This paper describes a 2D-laser scanner based approach to bumper identification and laser servoing for the T4 robot. The system uses a gimbal-mounted scanning laser. As the T4 robot travels down a row of parking stalls, data is collected from the laser every 100ms. For each parking stall in the range of the laser during the scan, the data is matched to a ``bumper box'' corresponding to where a car bumper is expected, resulting in a point cloud of data corresponding to a vehicle bumper for each stall. Next, recursive line-fitting algorithms are used to determine a line for the data in each stall's ``bumper box.'' The fitting technique uses Hough based transforms, which are robust against segmentation problems and fast enough for real-time line fitting. Once a bumper line is fitted with an acceptable confidence, the bumper location is passed to the T4 motion controller, which moves to position the LPR camera properly relative to the bumper. The paper includes examples and results that show the effectiveness of the technique, including its ability to work in real-time.

Allocating time to future tasks: the effect of task segmentation on planning fallacy bias.

PubMed

Forsyth, Darryl K; Burt, Christopher D B

2008-06-01

The scheduling component of the time management process was used as a "paradigm" to investigate the allocation of time to future tasks. In three experiments, we compared task time allocation for a single task with the summed time allocations given for each subtask that made up the single task. In all three, we found that allocated time for a single task was significantly smaller than the summed time allocated to the individual subtasks. We refer to this as the segmentation effect. In Experiment 3, we asked participants to give estimates by placing a mark on a time line, and found that giving time allocations in the form of rounded close approximations probably does not account for the segmentation effect. We discuss the results in relation to the basic processes used to allocate time to future tasks and the means by which planning fallacy bias might be reduced.

The effect of concentrate allocation on traffic and milk production of pasture-based cows milked by an automatic milking system.

PubMed

Lessire, F; Froidmont, E; Shortall, J; Hornick, J L; Dufrasne, I

2017-11-01

Increased economic, societal and environmental challenges facing agriculture are leading to a greater focus on effective way to combine grazing and automatic milking systems (AMS). One of the fundamental aspects of robotic milking is cows' traffic to the AMS. Numerous studies have identified feed provided, either as fresh grass or concentrate supplement, as the main incentive for cows to return to the robot. The aim of this study was to determine the effect of concentrate allocation on voluntary cow traffic from pasture to the robot during the grazing period, to highlight the interactions between grazed pasture and concentrate allocation in terms of substitution rate and the subsequent effect on average milk yield and composition. Thus, 29 grazing cows, milked by a mobile robot, were monitored for the grazing period (4 months). They were assigned to two groups: a low concentrate (LC) group (15 cows) and a high concentrate (HC) group (14 cows) receiving 2 and 4 kg concentrate/cow per day, respectively; two allocations per day of fresh pasture were provided at 0700 and 1600 h. The cows had to go through the AMS to receive the fresh pasture allocation. The effect of concentrate level on robot visitation was calculated by summing milkings, refusals and failed milkings/cow per day. The impact on average daily milk yield and composition was also determined. The interaction between lactation number and month was used as an indicator of pasture availability. Concentrate allocation increased significantly robot visitations in HC (3.60±0.07 visitations/cow per day in HC and 3.10±0.07 visitations/cow per day in LC; P<0.001) while milkings/cow per day were similar in both groups (LC: 2.37±0.02/day and HC: 2.39±0.02/day; Ns). The average daily milk yield over the grazing period was enhanced in HC (22.39±0.22 kg/cow per day in HC and 21.33±0.22 kg/cow per day in LC; P<0.001). However the gain in milk due to higher concentrate supply was limited with regards to the amount of provided concentrates. Milking frequency in HC primiparous compared with LC was increased. In the context of this study, considering high concentrate levels as an incentive for robot visitation might be questioned, as it had no impact on milking frequency and limited impact on average milk yield and composition. By contrast, increased concentrate supply could be targeted specifically to primiparous cows.

Executive control processes underlying multi-item working memory

PubMed Central

Lara, Antonio H.; Wallis, Jonathan D.

2014-01-01

A dominant view of prefrontal cortex (PFC) function is that it stores task-relevant information in working memory. To examine this and determine how it applies when multiple pieces of information must be stored, we trained two macaque monkeys to perform a multi-item color change-detection task and recorded activity of neurons in PFC. Few neurons encoded the color of the items. Instead, the predominant encoding was spatial: a static signal reflecting the item's position and a dynamic signal reflecting the animal's covert attention. These findings challenge the notion that PFC stores task-relevant information. Instead, we suggest that the contribution of PFC is in controlling the allocation of resources to support working memory. In support of this, we found that increased power in the alpha and theta bands of PFC local field potentials, which are thought to reflect long-range communication with other brain areas, was correlated with more precise color representations. PMID:24747574

Supervisory Control of a Humanoid Robot in Microgravity for Manipulation Tasks

NASA Technical Reports Server (NTRS)

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

2017-01-01

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

Knowledge representation system for assembly using robots

NASA Technical Reports Server (NTRS)

Jain, A.; Donath, M.

1987-01-01

Assembly robots combine the benefits of speed and accuracy with the capability of adaptation to changes in the work environment. However, an impediment to the use of robots is the complexity of the man-machine interface. This interface can be improved by providing a means of using a priori-knowledge and reasoning capabilities for controlling and monitoring the tasks performed by robots. Robots ought to be able to perform complex assembly tasks with the help of only supervisory guidance from human operators. For such supervisory quidance, it is important to express the commands in terms of the effects desired, rather than in terms of the motion the robot must undertake in order to achieve these effects. A suitable knowledge representation can facilitate the conversion of task level descriptions into explicit instructions to the robot. Such a system would use symbolic relationships describing the a priori information about the robot, its environment, and the tasks specified by the operator to generate the commands for the robot.

The Maiden Voyage of a Kinematics Robot

NASA Astrophysics Data System (ADS)

Greenwolfe, Matthew L.

2015-04-01

In a Montessori preschool classroom, students work independently on tasks that absorb their attention in part because the apparatus are carefully designed to make mistakes directly observable and limit exploration to one aspect or dimension. Control of error inheres in the apparatus itself, so that teacher intervention can be minimal.1 Inspired by this example, I created a robotic kinematics apparatus that also shapes the inquiry experience. Students program the robot by drawing kinematic graphs on a computer and then observe its motion. Exploration is at once limited to constant velocity and constant acceleration motion, yet open to complex multi-segment examples difficult to achieve in the lab in other ways. The robot precisely and reliably produces the motion described by the students' graphs, so that the apparatus itself provides immediate visual feedback about whether their understanding is correct as they are free to explore within the hard-coded limits. In particular, the kinematic robot enables hands-on study of multi-segment constant velocity situations, which lays a far stronger foundation for the study of accelerated motion. When correction is anonymous—just between one group of lab partners and their robot—students using the kinematic robot tend to flow right back to work because they view the correction as an integral part of the inquiry learning process. By contrast, when correction occurs by the teacher and/or in public (e.g., returning a graded assignment or pointing out student misconceptions during class), students all too often treat the event as the endpoint to inquiry. Furthermore, quantitative evidence shows a large gain from pre-test to post-test scores using the Test of Understanding Graphs in Kinematics (TUG-K).

A graphical, rule based robotic interface system

NASA Technical Reports Server (NTRS)

Mckee, James W.; Wolfsberger, John

1988-01-01

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

A Novel Passive Robotic Tool Interface

NASA Astrophysics Data System (ADS)

Roberts, Paul

2013-09-01

The increased capability of space robotics has seen their uses increase from simple sample gathering and mechanical adjuncts to humans, to sophisticated multi- purpose investigative and maintenance tools that substitute for humans for many external space tasks. As with all space missions, reducing mass and system complexity is critical. A key component of robotic systems mass and complexity is the number of motors and actuators needed. MDA has developed a passive tool interface that, like a household power drill, permits a single tool actuator to be interfaced with many Tool Tips without requiring additional actuators to manage the changing and storage of these tools. MDA's Multifunction Tool interface permits a wide range of Tool Tips to be designed to a single interface that can be pre-qualified to torque and strength limits such that additional Tool Tips can be added to a mission's "tool kit" simply and quickly.

Towards multi-platform software architecture for Collaborative Teleoperation

NASA Astrophysics Data System (ADS)

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

2009-03-01

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

Where neuroscience and dynamic system theory meet autonomous robotics: a contracting basal ganglia model for action selection.

PubMed

Girard, B; Tabareau, N; Pham, Q C; Berthoz, A; Slotine, J-J

2008-05-01

Action selection, the problem of choosing what to do next, is central to any autonomous agent architecture. We use here a multi-disciplinary approach at the convergence of neuroscience, dynamical system theory and autonomous robotics, in order to propose an efficient action selection mechanism based on a new model of the basal ganglia. We first describe new developments of contraction theory regarding locally projected dynamical systems. We exploit these results to design a stable computational model of the cortico-baso-thalamo-cortical loops. Based on recent anatomical data, we include usually neglected neural projections, which participate in performing accurate selection. Finally, the efficiency of this model as an autonomous robot action selection mechanism is assessed in a standard survival task. The model exhibits valuable dithering avoidance and energy-saving properties, when compared with a simple if-then-else decision rule.

Robot initiative in a team learning task increases the rhythm of interaction but not the perceived engagement.

PubMed

Ivaldi, Serena; Anzalone, Salvatore M; Rousseau, Woody; Sigaud, Olivier; Chetouani, Mohamed

2014-01-01

We hypothesize that the initiative of a robot during a collaborative task with a human can influence the pace of interaction, the human response to attention cues, and the perceived engagement. We propose an object learning experiment where the human interacts in a natural way with the humanoid iCub. Through a two-phases scenario, the human teaches the robot about the properties of some objects. We compare the effect of the initiator of the task in the teaching phase (human or robot) on the rhythm of the interaction in the verification phase. We measure the reaction time of the human gaze when responding to attention utterances of the robot. Our experiments show that when the robot is the initiator of the learning task, the pace of interaction is higher and the reaction to attention cues faster. Subjective evaluations suggest that the initiating role of the robot, however, does not affect the perceived engagement. Moreover, subjective and third-person evaluations of the interaction task suggest that the attentive mechanism we implemented in the humanoid robot iCub is able to arouse engagement and make the robot's behavior readable.

Robot initiative in a team learning task increases the rhythm of interaction but not the perceived engagement

PubMed Central

Ivaldi, Serena; Anzalone, Salvatore M.; Rousseau, Woody; Sigaud, Olivier; Chetouani, Mohamed

2014-01-01

We hypothesize that the initiative of a robot during a collaborative task with a human can influence the pace of interaction, the human response to attention cues, and the perceived engagement. We propose an object learning experiment where the human interacts in a natural way with the humanoid iCub. Through a two-phases scenario, the human teaches the robot about the properties of some objects. We compare the effect of the initiator of the task in the teaching phase (human or robot) on the rhythm of the interaction in the verification phase. We measure the reaction time of the human gaze when responding to attention utterances of the robot. Our experiments show that when the robot is the initiator of the learning task, the pace of interaction is higher and the reaction to attention cues faster. Subjective evaluations suggest that the initiating role of the robot, however, does not affect the perceived engagement. Moreover, subjective and third-person evaluations of the interaction task suggest that the attentive mechanism we implemented in the humanoid robot iCub is able to arouse engagement and make the robot's behavior readable. PMID:24596554

Multi-Window Controllers for Autonomous Space Systems

NASA Technical Reports Server (NTRS)

Lurie, B, J.; Hadaegh, F. Y.

1997-01-01

Multi-window controllers select between elementary linear controllers using nonlinear windows based on the amplitude and frequency content of the feedback error. The controllers are relatively simple to implement and perform much better than linear controllers. The commanders for such controllers only order the destination point and are freed from generating the command time-profiles. The robotic missions rely heavily on the tasks of acquisition and tracking. For autonomous and optimal control of the spacecraft, the control bandwidth must be larger while the feedback can (and, therefore, must) be reduced.. Combining linear compensators via multi-window nonlinear summer guarantees minimum phase character of the combined transfer function. It is shown that the solution may require using several parallel branches and windows. Several examples of multi-window nonlinear controller applications are presented.

Effects of imperfect automation and individual differences on concurrent performance of military and robotics tasks in a simulated multitasking environment.

PubMed

Chen, J Y C; Terrence, P I

2009-08-01

This study investigated the performance and workload of the combined position of gunner and robotics operator in a simulated military multitasking environment. Specifically, the study investigated how aided target recognition (AiTR) capabilities for the gunnery task with imperfect reliability (false-alarm-prone vs. miss-prone) might affect the concurrent robotics and communication tasks. Additionally, the study examined whether performance was affected by individual differences in spatial ability and attentional control. Results showed that when the robotics task was simply monitoring the video, participants had the best performance in their gunnery and communication tasks and the lowest perceived workload, compared with the other robotics tasking conditions. There was a strong interaction between the type of AiTR unreliability and participants' perceived attentional control. Overall, for participants with higher perceived attentional control, false-alarm-prone alerts were more detrimental; for low attentional control participants, conversely, miss-prone automation was more harmful. Low spatial ability participants preferred visual cueing and high spatial ability participants favoured tactile cueing. Potential applications of the findings include personnel selection for robotics operation, robotics user interface designs and training development. The present results will provide further understanding of the interplays among automation reliability, multitasking performance and individual differences in military tasking environments. These results will also facilitate the implementation of robots in military settings and will provide useful data to military system designs.

Time response for sensor sensed to actuator response for mobile robotic system

NASA Astrophysics Data System (ADS)

Amir, N. S.; Shafie, A. A.

2017-11-01

Time and performance of a mobile robot are very important in completing the tasks given to achieve its ultimate goal. Tasks may need to be done within a time constraint to ensure smooth operation of a mobile robot and can result in better performance. The main purpose of this research was to improve the performance of a mobile robot so that it can complete the tasks given within time constraint. The problem that is needed to be solved is to minimize the time interval between sensor detection and actuator response. The research objective is to analyse the real time operating system performance of sensors and actuators on one microcontroller and on two microcontroller for a mobile robot. The task for a mobile robot for this research is line following with an obstacle avoidance. Three runs will be carried out for the task and the time between the sensors senses to the actuator responses were recorded. Overall, the results show that two microcontroller system have better response time compared to the one microcontroller system. For this research, the average difference of response time is very important to improve the internal performance between the occurrence of a task, sensors detection, decision making and actuator response of a mobile robot. This research helped to develop a mobile robot with a better performance and can complete task within the time constraint.

Twelfth Annual Conference on Manual Control

NASA Technical Reports Server (NTRS)

Wempe, T. E.

1976-01-01

Main topics discussed cover multi-task decision making, attention allocation and workload measurement, displays and controls, nonvisual displays, tracking and other psychomotor tasks, automobile driving, handling qualities and pilot ratings, remote manipulation, system identification, control models, and motion and visual cues. Sixty-five papers are included with presentations on results of analytical studies to develop and evaluate human operator models for a range of control task, vehicle dynamics and display situations; results of tests of physiological control systems and applications to medical problems; and on results of simulator and flight tests to determine display, control and dynamics effects on operator performance and workload for aircraft, automobile, and remote control systems.

A multi-sensor RSS spatial sensing-based robust stochastic optimization algorithm for enhanced wireless tethering.

PubMed

Parasuraman, Ramviyas; Fabry, Thomas; Molinari, Luca; Kershaw, Keith; Di Castro, Mario; Masi, Alessandro; Ferre, Manuel

2014-12-12

The reliability of wireless communication in a network of mobile wireless robot nodes depends on the received radio signal strength (RSS). When the robot nodes are deployed in hostile environments with ionizing radiations (such as in some scientific facilities), there is a possibility that some electronic components may fail randomly (due to radiation effects), which causes problems in wireless connectivity. The objective of this paper is to maximize robot mission capabilities by maximizing the wireless network capacity and to reduce the risk of communication failure. Thus, in this paper, we consider a multi-node wireless tethering structure called the "server-relay-client" framework that uses (multiple) relay nodes in between a server and a client node. We propose a robust stochastic optimization (RSO) algorithm using a multi-sensor-based RSS sampling method at the relay nodes to efficiently improve and balance the RSS between the source and client nodes to improve the network capacity and to provide redundant networking abilities. We use pre-processing techniques, such as exponential moving averaging and spatial averaging filters on the RSS data for smoothing. We apply a receiver spatial diversity concept and employ a position controller on the relay node using a stochastic gradient ascent method for self-positioning the relay node to achieve the RSS balancing task. The effectiveness of the proposed solution is validated by extensive simulations and field experiments in CERN facilities. For the field trials, we used a youBot mobile robot platform as the relay node, and two stand-alone Raspberry Pi computers as the client and server nodes. The algorithm has been proven to be robust to noise in the radio signals and to work effectively even under non-line-of-sight conditions.

A Multi-Sensor RSS Spatial Sensing-Based Robust Stochastic Optimization Algorithm for Enhanced Wireless Tethering

PubMed Central

Parasuraman, Ramviyas; Fabry, Thomas; Molinari, Luca; Kershaw, Keith; Di Castro, Mario; Masi, Alessandro; Ferre, Manuel

2014-01-01

The reliability of wireless communication in a network of mobile wireless robot nodes depends on the received radio signal strength (RSS). When the robot nodes are deployed in hostile environments with ionizing radiations (such as in some scientific facilities), there is a possibility that some electronic components may fail randomly (due to radiation effects), which causes problems in wireless connectivity. The objective of this paper is to maximize robot mission capabilities by maximizing the wireless network capacity and to reduce the risk of communication failure. Thus, in this paper, we consider a multi-node wireless tethering structure called the “server-relay-client” framework that uses (multiple) relay nodes in between a server and a client node. We propose a robust stochastic optimization (RSO) algorithm using a multi-sensor-based RSS sampling method at the relay nodes to efficiently improve and balance the RSS between the source and client nodes to improve the network capacity and to provide redundant networking abilities. We use pre-processing techniques, such as exponential moving averaging and spatial averaging filters on the RSS data for smoothing. We apply a receiver spatial diversity concept and employ a position controller on the relay node using a stochastic gradient ascent method for self-positioning the relay node to achieve the RSS balancing task. The effectiveness of the proposed solution is validated by extensive simulations and field experiments in CERN facilities. For the field trials, we used a youBot mobile robot platform as the relay node, and two stand-alone Raspberry Pi computers as the client and server nodes. The algorithm has been proven to be robust to noise in the radio signals and to work effectively even under non-line-of-sight conditions. PMID:25615734

Do laparoscopic skills transfer to robotic surgery?

PubMed

Panait, Lucian; Shetty, Shohan; Shewokis, Patricia A; Sanchez, Juan A

2014-03-01

Identifying the set of skills that can transfer from laparoscopic to robotic surgery is an important consideration in designing optimal training curricula. We tested the degree to which laparoscopic skills transfer to a robotic platform. Fourteen medical students and 14 surgery residents with no previous robotic but varying degrees of laparoscopic experience were studied. Three fundamentals of laparoscopic surgery tasks were used on the laparoscopic box trainer and then the da Vinci robot: peg transfer (PT), circle cutting (CC), and intracorporeal suturing (IS). A questionnaire was administered for assessing subjects' comfort level with each task. Standard fundamentals of laparoscopic surgery scoring metric were used and higher scores indicate a superior performance. For the group, PT and CC scores were similar between robotic and laparoscopic modalities (90 versus 90 and 52 versus 47; P > 0.05). However, for the advanced IS task, robotic-IS scores were significantly higher than laparoscopic-IS (80 versus 53; P < 0.001). Subgroup analysis of senior residents revealed a lower robotic-PT score when compared with laparoscopic-PT (92 versus 105; P < 0.05). Scores for CC and IS were similar in this subgroup (64 ± 9 versus 69 ± 15 and 95 ± 3 versus 92 ± 10; P > 0.05). The robot was favored over laparoscopy for all drills (PT, 66.7%; CC, 88.9%; IS, 94.4%). For simple tasks, participants with preexisting skills perform worse with the robot. However, with increasing task difficulty, robotic performance is equal or better than laparoscopy. Laparoscopic skills appear to readily transfer to a robotic platform, and difficult tasks such as IS are actually enhanced, even in subjects naive to the technology. Copyright © 2014 Elsevier Inc. All rights reserved.

Adjustably Autonomous Multi-agent Plan Execution with an Internal Spacecraft Free-Flying Robot Prototype

NASA Technical Reports Server (NTRS)

Dorais, Gregory A.; Nicewarner, Keith

2006-01-01

We present an multi-agent model-based autonomy architecture with monitoring, planning, diagnosis, and execution elements. We discuss an internal spacecraft free-flying robot prototype controlled by an implementation of this architecture and a ground test facility used for development. In addition, we discuss a simplified environment control life support system for the spacecraft domain also controlled by an implementation of this architecture. We discuss adjustable autonomy and how it applies to this architecture. We describe an interface that provides the user situation awareness of both autonomous systems and enables the user to dynamically edit the plans prior to and during execution as well as control these agents at various levels of autonomy. This interface also permits the agents to query the user or request the user to perform tasks to help achieve the commanded goals. We conclude by describing a scenario where these two agents and a human interact to cooperatively detect, diagnose and recover from a simulated spacecraft fault.

Kinematic synthesis of adjustable robotic mechanisms

NASA Astrophysics Data System (ADS)

Chuenchom, Thatchai

1993-01-01

Conventional hard automation, such as a linkage-based or a cam-driven system, provides high speed capability and repeatability but not the flexibility required in many industrial applications. The conventional mechanisms, that are typically single-degree-of-freedom systems, are being increasingly replaced by multi-degree-of-freedom multi-actuators driven by logic controllers. Although this new trend in sophistication provides greatly enhanced flexibility, there are many instances where the flexibility needs are exaggerated and the associated complexity is unnecessary. Traditional mechanism-based hard automation, on the other hand, neither can fulfill multi-task requirements nor are cost-effective mainly due to lack of methods and tools to design-in flexibility. This dissertation attempts to bridge this technological gap by developing Adjustable Robotic Mechanisms (ARM's) or 'programmable mechanisms' as a middle ground between high speed hard automation and expensive serial jointed-arm robots. This research introduces the concept of adjustable robotic mechanisms towards cost-effective manufacturing automation. A generalized analytical synthesis technique has been developed to support the computational design of ARM's that lays the theoretical foundation for synthesis of adjustable mechanisms. The synthesis method developed in this dissertation, called generalized adjustable dyad and triad synthesis, advances the well-known Burmester theory in kinematics to a new level. While this method provides planar solutions, a novel patented scheme is utilized for converting prescribed three-dimensional motion specifications into sets of planar projections. This provides an analytical and a computational tool for designing adjustable mechanisms that satisfy multiple sets of three-dimensional motion specifications. Several design issues were addressed, including adjustable parameter identification, branching defect, and mechanical errors. An efficient mathematical scheme for identification of adjustable member was also developed. The analytical synthesis techniques developed in this dissertation were successfully implemented in a graphic-intensive user-friendly computer program. A physical prototype of a general purpose adjustable robotic mechanism has been constructed to serve as a proof-of-concept model.

Raven surgical robot training in preparation for da vinci.

PubMed

Glassman, Deanna; White, Lee; Lewis, Andrew; King, Hawkeye; Clarke, Alicia; Glassman, Thomas; Comstock, Bryan; Hannaford, Blake; Lendvay, Thomas S

2014-01-01

The rapid adoption of robotic assisted surgery challenges the pace at which adequate robotic training can occur due to access limitations to the da Vinci robot. Thirty medical students completed a randomized controlled trial evaluating whether the Raven robot could be used as an alternative training tool for the Fundamentals of Laparoscopic Surgery (FLS) block transfer task on the da Vinci robot. Two groups, one trained on the da Vinci and one trained on the Raven, were tested on a criterion FLS block transfer task on the da Vinci. After robotic FLS block transfer proficiency training there was no statistically significant difference between path length (p=0.39) and economy of motion scores (p=0.06) between the two groups, but those trained on the da Vinci did have faster task times (p=0.01). These results provide evidence for the value of using the Raven robot for training prior to using the da Vinci surgical system for similar tasks.

Determining robot actions for tasks requiring sensor interaction

NASA Technical Reports Server (NTRS)

Budenske, John; Gini, Maria

1989-01-01

The performance of non-trivial tasks by a mobile robot has been a long term objective of robotic research. One of the major stumbling blocks to this goal is the conversion of the high-level planning goals and commands into the actuator and sensor processing controls. In order for a mobile robot to accomplish a non-trivial task, the task must be described in terms of primitive actions of the robot's actuators. Most non-trivial tasks require the robot to interact with its environment; thus necessitating coordination of sensor processing and actuator control to accomplish the task. The main contention is that the transformation from the high level description of the task to the primitive actions should be performed primarily at execution time, when knowledge about the environment can be obtained through sensors. It is proposed to produce the detailed plan of primitive actions by using a collection of low-level planning components that contain domain specific knowledge and knowledge about the available sensors, actuators, and sensor/actuator processing. This collection will perform signal and control processing as well as serve as a control interface between an actual mobile robot and a high-level planning system. Previous research has shown the usefulness of high-level planning systems to plan the coordination of activities such to achieve a goal, but none have been fully applied to actual mobile robots due to the complexity of interacting with sensors and actuators. This control interface is currently being implemented on a LABMATE mobile robot connected to a SUN workstation and will be developed such to enable the LABMATE to perform non-trivial, sensor-intensive tasks as specified by a planning system.

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.

Retention of laparoscopic and robotic skills among medical students: a randomized controlled trial.

PubMed

Orlando, Megan S; Thomaier, Lauren; Abernethy, Melinda G; Chen, Chi Chiung Grace

2017-08-01

Although simulation training beneficially contributes to traditional surgical training, there are less objective data on simulation skills retention. To investigate the retention of laparoscopic and robotic skills after simulation training. We present the second stage of a randomized single-blinded controlled trial in which 40 simulation-naïve medical students were randomly assigned to practice peg transfer tasks on either laparoscopic (N = 20, Fundamentals of Laparoscopic Surgery, Venture Technologies Inc., Waltham, MA) or robotic (N = 20, dV-Trainer, Mimic, Seattle, WA) platforms. In the first stage, two expert surgeons evaluated participants on both tasks before (Stage 1: Baseline) and immediately after training (Stage 1: Post-training) using a modified validated global rating scale of laparoscopic and robotic operative performance. In Stage 2, participants were evaluated on both tasks 11-20 weeks after training. Of the 40 students who participated in Stage 1, 23 (11 laparoscopic and 12 robotic) underwent repeat evaluation. During Stage 2, there were no significant differences between groups in objective or subjective measures for the laparoscopic task. Laparoscopic-trained participants' performances on the laparoscopic task were improved during Stage 2 compared to baseline measured by time to task completion, but not by the modified global rating scale. During the robotic task, the robotic-trained group demonstrated superior economy of motion (p = .017), Tissue Handling (p = .020), and fewer errors (p = .018) compared to the laparoscopic-trained group. Robotic skills acquisition from baseline with no significant deterioration as measured by modified global rating scale scores was observed among robotic-trained participants during Stage 2. Robotic skills acquired through simulation appear to be better maintained than laparoscopic simulation skills. This study is registered on ClinicalTrials.gov (NCT02370407).

ALHAT: Autonomous Landing and Hazard Avoidance Technology

NASA Technical Reports Server (NTRS)

Robertson, Edward A.; Carson, John M., III

2015-01-01

The ALHAT project was chartered by NASA HQ in 2006 to develop and mature to TRL 6 an autonomous lunar landing GN&C and sensing system for crewed, cargo, and robotic planetary landing vehicles. The multi-center ALHAT team was tasked with providing a system capable of identifying and avoiding surface hazards in real time to enable safe precision landing to within tens of meters of a designated planetary landing site under any lighting conditions.

Task planning with uncertainty for robotic systems. Thesis

NASA Technical Reports Server (NTRS)

Cao, Tiehua

1993-01-01

In a practical robotic system, it is important to represent and plan sequences of operations and to be able to choose an efficient sequence from them for a specific task. During the generation and execution of task plans, different kinds of uncertainty may occur and erroneous states need to be handled to ensure the efficiency and reliability of the system. An approach to task representation, planning, and error recovery for robotic systems is demonstrated. Our approach to task planning is based on an AND/OR net representation, which is then mapped to a Petri net representation of all feasible geometric states and associated feasibility criteria for net transitions. Task decomposition of robotic assembly plans based on this representation is performed on the Petri net for robotic assembly tasks, and the inheritance of properties of liveness, safeness, and reversibility at all levels of decomposition are explored. This approach provides a framework for robust execution of tasks through the properties of traceability and viability. Uncertainty in robotic systems are modeled by local fuzzy variables, fuzzy marking variables, and global fuzzy variables which are incorporated in fuzzy Petri nets. Analysis of properties and reasoning about uncertainty are investigated using fuzzy reasoning structures built into the net. Two applications of fuzzy Petri nets, robot task sequence planning and sensor-based error recovery, are explored. In the first application, the search space for feasible and complete task sequences with correct precedence relationships is reduced via the use of global fuzzy variables in reasoning about subgoals. In the second application, sensory verification operations are modeled by mutually exclusive transitions to reason about local and global fuzzy variables on-line and automatically select a retry or an alternative error recovery sequence when errors occur. Task sequencing and task execution with error recovery capability for one and multiple soft components in robotic systems are investigated.

Optimisation of insect cell growth in deep-well blocks: development of a high-throughput insect cell expression screen.

PubMed

Bahia, Daljit; Cheung, Robert; Buchs, Mirjam; Geisse, Sabine; Hunt, Ian

2005-01-01

This report describes a method to culture insects cells in 24 deep-well blocks for the routine small-scale optimisation of baculovirus-mediated protein expression experiments. Miniaturisation of this process provides the necessary reduction in terms of resource allocation, reagents, and labour to allow extensive and rapid optimisation of expression conditions, with the concomitant reduction in lead-time before commencement of large-scale bioreactor experiments. This therefore greatly simplifies the optimisation process and allows the use of liquid handling robotics in much of the initial optimisation stages of the process, thereby greatly increasing the throughput of the laboratory. We present several examples of the use of deep-well block expression studies in the optimisation of therapeutically relevant protein targets. We also discuss how the enhanced throughput offered by this approach can be adapted to robotic handling systems and the implications this has on the capacity to conduct multi-parallel protein expression studies.

Wide brick tunnel randomization - an unequal allocation procedure that limits the imbalance in treatment totals.

PubMed

Kuznetsova, Olga M; Tymofyeyev, Yevgen

2014-04-30

In open-label studies, partial predictability of permuted block randomization provides potential for selection bias. To lessen the selection bias in two-arm studies with equal allocation, a number of allocation procedures that limit the imbalance in treatment totals at a pre-specified level but do not require the exact balance at the ends of the blocks were developed. In studies with unequal allocation, however, the task of designing a randomization procedure that sets a pre-specified limit on imbalance in group totals is not resolved. Existing allocation procedures either do not preserve the allocation ratio at every allocation or do not include all allocation sequences that comply with the pre-specified imbalance threshold. Kuznetsova and Tymofyeyev described the brick tunnel randomization for studies with unequal allocation that preserves the allocation ratio at every step and, in the two-arm case, includes all sequences that satisfy the smallest possible imbalance threshold. This article introduces wide brick tunnel randomization for studies with unequal allocation that allows all allocation sequences with imbalance not exceeding any pre-specified threshold while preserving the allocation ratio at every step. In open-label studies, allowing a larger imbalance in treatment totals lowers selection bias because of the predictability of treatment assignments. The applications of the technique in two-arm and multi-arm open-label studies with unequal allocation are described. Copyright © 2013 John Wiley & Sons, Ltd.

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

PubMed

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

2016-12-01

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

OLDER ADULTS’ PREFERENCES FOR AND ACCEPTANCE OF ROBOT ASSISTANCE FOR EVERYDAY LIVING TASKS

PubMed Central

Smarr, Cory-Ann; Prakash, Akanksha; Beer, Jenay M.; Mitzner, Tracy L.; Kemp, Charles C.; Rogers, Wendy A.

2014-01-01

Many older adults value their independence and prefer to age in place. Robots can be designed to assist older people with performing everyday living tasks and maintaining their independence at home. Yet, there is a scarcity of knowledge regarding older adults’ attitudes toward robots and their preferences for robot assistance. Twenty-one older adults (M = 80.25 years old, SD = 7.19) completed questionnaires and participated in structured group interviews investigating their openness to and preferences for assistance from a mobile manipulator robot. Although the older adults were generally open to robot assistance for performing home-based tasks, they were selective in their views. Older adults preferred robot assistance over human assistance for many instrumental (e.g., housekeeping, laundry, medication reminders) and enhanced activities of daily living (e.g., new learning, hobbies). However, older adults were less open to robot assistance for some activities of daily living (e.g., shaving, hair care). Results from this study provide insight into older adults’ attitudes toward robot assistance with home-based everyday living tasks. PMID:25284971

SETIBURST: A Robotic, Commensal, Realtime Multi-science Backend for the Arecibo Telescope

NASA Astrophysics Data System (ADS)

Chennamangalam, Jayanth; MacMahon, David; Cobb, Jeff; Karastergiou, Aris; Siemion, Andrew P. V.; Rajwade, Kaustubh; Armour, Wes; Gajjar, Vishal; Lorimer, Duncan R.; McLaughlin, Maura A.; Werthimer, Dan; Williams, Christopher

2017-02-01

Radio astronomy has traditionally depended on observatories allocating time to observers for exclusive use of their telescopes. The disadvantage of this scheme is that the data thus collected is rarely used for other astronomy applications, and in many cases, is unsuitable. For example, properly calibrated pulsar search data can, with some reduction, be used for spectral line surveys. A backend that supports plugging in multiple applications to a telescope to perform commensal data analysis will vastly increase the science throughput of the facility. In this paper, we present “SETIBURST,” a robotic, commensal, realtime multi-science backend for the 305 m Arecibo Telescope. The system uses the 1.4 GHz, seven-beam Arecibo L-band Feed Array (ALFA) receiver whenever it is operated. SETIBURST currently supports two applications: SERENDIP VI, a SETI spectrometer that is conducting a search for signs of technological life, and ALFABURST, a fast transient search system that is conducting a survey of fast radio bursts (FRBs). Based on the FRB event rate and the expected usage of ALFA, we expect 0-5 FRB detections over the coming year. SETIBURST also provides the option of plugging in more applications. We outline the motivation for our instrumentation scheme and the scientific motivation of the two surveys, along with their descriptions and related discussions.

Virtual reality robotic surgery warm-up improves task performance in a dry laboratory environment: a prospective randomized controlled study.

PubMed

Lendvay, Thomas S; Brand, Timothy C; White, Lee; Kowalewski, Timothy; Jonnadula, Saikiran; Mercer, Laina D; Khorsand, Derek; Andros, Justin; Hannaford, Blake; Satava, Richard M

2013-06-01

Preoperative simulation warm-up has been shown to improve performance and reduce errors in novice and experienced surgeons, yet existing studies have only investigated conventional laparoscopy. We hypothesized that a brief virtual reality (VR) robotic warm-up would enhance robotic task performance and reduce errors. In a 2-center randomized trial, 51 residents and experienced minimally invasive surgery faculty in General Surgery, Urology, and Gynecology underwent a validated robotic surgery proficiency curriculum on a VR robotic simulator and on the da Vinci surgical robot (Intuitive Surgical Inc). Once they successfully achieved performance benchmarks, surgeons were randomized to either receive a 3- to 5-minute VR simulator warm-up or read a leisure book for 10 minutes before performing similar and dissimilar (intracorporeal suturing) robotic surgery tasks. The primary outcomes compared were task time, tool path length, economy of motion, technical, and cognitive errors. Task time (-29.29 seconds, p = 0.001; 95% CI, -47.03 to -11.56), path length (-79.87 mm; p = 0.014; 95% CI, -144.48 to -15.25), and cognitive errors were reduced in the warm-up group compared with the control group for similar tasks. Global technical errors in intracorporeal suturing (0.32; p = 0.020; 95% CI, 0.06-0.59) were reduced after the dissimilar VR task. When surgeons were stratified by earlier robotic and laparoscopic clinical experience, the more experienced surgeons (n = 17) demonstrated significant improvements from warm-up in task time (-53.5 seconds; p = 0.001; 95% CI, -83.9 to -23.0) and economy of motion (0.63 mm/s; p = 0.007; 95% CI, 0.18-1.09), and improvement in these metrics was not statistically significantly appreciated in the less-experienced cohort (n = 34). We observed significant performance improvement and error reduction rates among surgeons of varying experience after VR warm-up for basic robotic surgery tasks. In addition, the VR warm-up reduced errors on a more complex task (robotic suturing), suggesting the generalizability of the warm-up. Copyright © 2013 American College of Surgeons. All rights reserved.

Virtual Reality Robotic Surgery Warm-Up Improves Task Performance in a Dry Lab Environment: A Prospective Randomized Controlled Study

PubMed Central

Lendvay, Thomas S.; Brand, Timothy C.; White, Lee; Kowalewski, Timothy; Jonnadula, Saikiran; Mercer, Laina; Khorsand, Derek; Andros, Justin; Hannaford, Blake; Satava, Richard M.

2014-01-01

Background Pre-operative simulation “warm-up” has been shown to improve performance and reduce errors in novice and experienced surgeons, yet existing studies have only investigated conventional laparoscopy. We hypothesized a brief virtual reality (VR) robotic warm-up would enhance robotic task performance and reduce errors. Study Design In a two-center randomized trial, fifty-one residents and experienced minimally invasive surgery faculty in General Surgery, Urology, and Gynecology underwent a validated robotic surgery proficiency curriculum on a VR robotic simulator and on the da Vinci surgical robot. Once successfully achieving performance benchmarks, surgeons were randomized to either receive a 3-5 minute VR simulator warm-up or read a leisure book for 10 minutes prior to performing similar and dissimilar (intracorporeal suturing) robotic surgery tasks. The primary outcomes compared were task time, tool path length, economy of motion, technical and cognitive errors. Results Task time (-29.29sec, p=0.001, 95%CI-47.03,-11.56), path length (-79.87mm, p=0.014, 95%CI -144.48,-15.25), and cognitive errors were reduced in the warm-up group compared to the control group for similar tasks. Global technical errors in intracorporeal suturing (0.32, p=0.020, 95%CI 0.06,0.59) were reduced after the dissimilar VR task. When surgeons were stratified by prior robotic and laparoscopic clinical experience, the more experienced surgeons(n=17) demonstrated significant improvements from warm-up in task time (-53.5sec, p=0.001, 95%CI -83.9,-23.0) and economy of motion (0.63mm/sec, p=0.007, 95%CI 0.18,1.09), whereas improvement in these metrics was not statistically significantly appreciated in the less experienced cohort(n=34). Conclusions We observed a significant performance improvement and error reduction rate among surgeons of varying experience after VR warm-up for basic robotic surgery tasks. In addition, the VR warm-up reduced errors on a more complex task (robotic suturing) suggesting the generalizability of the warm-up. PMID:23583618

Community-aware task allocation for social networked multiagent systems.

PubMed

Wang, Wanyuan; Jiang, Yichuan

2014-09-01

In this paper, we propose a novel community-aware task allocation model for social networked multiagent systems (SN-MASs), where the agent' cooperation domain is constrained in community and each agent can negotiate only with its intracommunity member agents. Under such community-aware scenarios, we prove that it remains NP-hard to maximize system overall profit. To solve this problem effectively, we present a heuristic algorithm that is composed of three phases: 1) task selection: select the desirable task to be allocated preferentially; 2) allocation to community: allocate the selected task to communities based on a significant task-first heuristics; and 3) allocation to agent: negotiate resources for the selected task based on a nonoverlap agent-first and breadth-first resource negotiation mechanism. Through the theoretical analyses and experiments, the advantages of our presented heuristic algorithm and community-aware task allocation model are validated. 1) Our presented heuristic algorithm performs very closely to the benchmark exponential brute-force optimal algorithm and the network flow-based greedy algorithm in terms of system overall profit in small-scale applications. Moreover, in the large-scale applications, the presented heuristic algorithm achieves approximately the same overall system profit, but significantly reduces the computational load compared with the greedy algorithm. 2) Our presented community-aware task allocation model reduces the system communication cost compared with the previous global-aware task allocation model and improves the system overall profit greatly compared with the previous local neighbor-aware task allocation model.

Three-dimensional sensor system using multistripe laser and stereo camera for environment recognition of mobile robots

NASA Astrophysics Data System (ADS)

Kim, Min Young; Cho, Hyung Suck; Kim, Jae H.

2002-10-01

In recent years, intelligent autonomous mobile robots have drawn tremendous interests as service robots for serving human or industrial robots for replacing human. To carry out the task, robots must be able to sense and recognize 3D space that they live or work. In this paper, we deal with the topic related to 3D sensing system for the environment recognition of mobile robots. For this, the structured lighting is basically utilized for a 3D visual sensor system because of the robustness on the nature of the navigation environment and the easy extraction of feature information of interest. The proposed sensing system is classified into a trinocular vision system, which is composed of the flexible multi-stripe laser projector, and two cameras. The principle of extracting the 3D information is based on the optical triangulation method. With modeling the projector as another camera and using the epipolar constraints which the whole cameras makes, the point-to-point correspondence between the line feature points in each image is established. In this work, the principle of this sensor is described in detail, and a series of experimental tests is performed to show the simplicity and efficiency and accuracy of this sensor system for 3D the environment sensing and recognition.

An Architecture for Controlling Multiple Robots

NASA Technical Reports Server (NTRS)

Aghazarian, Hrand; Pirjanian, Paolo; Schenker, Paul; Huntsberger, Terrance

2004-01-01

The Control Architecture for Multirobot Outpost (CAMPOUT) is a distributed-control architecture for coordinating the activities of multiple robots. In the CAMPOUT, multiple-agent activities and sensor-based controls are derived as group compositions and involve coordination of more basic controllers denoted, for present purposes, as behaviors. The CAMPOUT provides basic mechanistic concepts for representation and execution of distributed group activities. One considers a network of nodes that comprise behaviors (self-contained controllers) augmented with hyper-links, which are used to exchange information between the nodes to achieve coordinated activities. Group behavior is guided by a scripted plan, which encodes a conditional sequence of single-agent activities. Thus, higher-level functionality is composed by coordination of more basic behaviors under the downward task decomposition of a multi-agent planner

Interaction between Task Oriented and Affective Information Processing in Cognitive Robotics

NASA Astrophysics Data System (ADS)

Haazebroek, Pascal; van Dantzig, Saskia; Hommel, Bernhard

There is an increasing interest in endowing robots with emotions. Robot control however is still often very task oriented. We present a cognitive architecture that allows the combination of and interaction between task representations and affective information processing. Our model is validated by comparing simulation results with empirical data from experimental psychology.

The phantom robot - Predictive displays for teleoperation with time delay

NASA Technical Reports Server (NTRS)

Bejczy, Antal K.; Kim, Won S.; Venema, Steven C.

1990-01-01

An enhanced teleoperation technique for time-delayed bilateral teleoperator control is discussed. The control technique selected for time delay is based on the use of a high-fidelity graphics phantom robot that is being controlled in real time (without time delay) against the static task image. Thus, the motion of the phantom robot image on the monitor predicts the motion of the real robot. The real robot's motion will follow the phantom robot's motion on the monitor with the communication time delay implied in the task. Real-time high-fidelity graphics simulation of a PUMA arm is generated and overlaid on the actual camera view of the arm. A simple camera calibration technique is used for calibrated graphics overlay. A preliminary experiment is performed with the predictive display by using a very simple tapping task. The results with this simple task indicate that predictive display enhances the human operator's telemanipulation task performance significantly during free motion when there is a long time delay. It appears, however, that either two-view or stereoscopic predictive displays are necessary for general three-dimensional tasks.

Neural networks for satellite remote sensing and robotic sensor interpretation

NASA Astrophysics Data System (ADS)

Martens, Siegfried

Remote sensing of forests and robotic sensor fusion can be viewed, in part, as supervised learning problems, mapping from sensory input to perceptual output. This dissertation develops ARTMAP neural networks for real-time category learning, pattern recognition, and prediction tailored to remote sensing and robotics applications. Three studies are presented. The first two use ARTMAP to create maps from remotely sensed data, while the third uses an ARTMAP system for sensor fusion on a mobile robot. The first study uses ARTMAP to predict vegetation mixtures in the Plumas National Forest based on spectral data from the Landsat Thematic Mapper satellite. While most previous ARTMAP systems have predicted discrete output classes, this project develops new capabilities for multi-valued prediction. On the mixture prediction task, the new network is shown to perform better than maximum likelihood and linear mixture models. The second remote sensing study uses an ARTMAP classification system to evaluate the relative importance of spectral and terrain data for map-making. This project has produced a large-scale map of remotely sensed vegetation in the Sierra National Forest. Network predictions are validated with ground truth data, and maps produced using the ARTMAP system are compared to a map produced by human experts. The ARTMAP Sierra map was generated in an afternoon, while the labor intensive expert method required nearly a year to perform the same task. The robotics research uses an ARTMAP system to integrate visual information and ultrasonic sensory information on a B14 mobile robot. The goal is to produce a more accurate measure of distance than is provided by the raw sensors. ARTMAP effectively combines sensory sources both within and between modalities. The improved distance percept is used to produce occupancy grid visualizations of the robot's environment. The maps produced point to specific problems of raw sensory information processing and demonstrate the benefits of using a neural network system for sensor fusion.

A Human-Robot Co-Manipulation Approach Based on Human Sensorimotor Information.

PubMed

Peternel, Luka; Tsagarakis, Nikos; Ajoudani, Arash

2017-07-01

This paper aims to improve the interaction and coordination between the human and the robot in cooperative execution of complex, powerful, and dynamic tasks. We propose a novel approach that integrates online information about the human motor function and manipulability properties into the hybrid controller of the assistive robot. Through this human-in-the-loop framework, the robot can adapt to the human motor behavior and provide the appropriate assistive response in different phases of the cooperative task. We experimentally evaluate the proposed approach in two human-robot co-manipulation tasks that require specific complementary behavior from the two agents. Results suggest that the proposed technique, which relies on a minimum degree of task-level pre-programming, can achieve an enhanced physical human-robot interaction performance and deliver appropriate level of assistance to the human operator.

Proposed Methodology for Application of Human-like gradual Multi-Agent Q-Learning (HuMAQ) for Multi-robot Exploration

NASA Astrophysics Data System (ADS)

Narayan Ray, Dip; Majumder, Somajyoti

2014-07-01

Several attempts have been made by the researchers around the world to develop a number of autonomous exploration techniques for robots. But it has been always an important issue for developing the algorithm for unstructured and unknown environments. Human-like gradual Multi-agent Q-leaming (HuMAQ) is a technique developed for autonomous robotic exploration in unknown (and even unimaginable) environments. It has been successfully implemented in multi-agent single robotic system. HuMAQ uses the concept of Subsumption architecture, a well-known Behaviour-based architecture for prioritizing the agents of the multi-agent system and executes only the most common action out of all the different actions recommended by different agents. Instead of using new state-action table (Q-table) each time, HuMAQ uses the immediate past table for efficient and faster exploration. The proof of learning has also been established both theoretically and practically. HuMAQ has the potential to be used in different and difficult situations as well as applications. The same architecture has been modified to use for multi-robot exploration in an environment. Apart from all other existing agents used in the single robotic system, agents for inter-robot communication and coordination/ co-operation with the other similar robots have been introduced in the present research. Current work uses a series of indigenously developed identical autonomous robotic systems, communicating with each other through ZigBee protocol.

Multi-robot control interface

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

Bruemmer, David J; Walton, Miles C

Methods and systems for controlling a plurality of robots through a single user interface include at least one robot display window for each of the plurality of robots with the at least one robot display window illustrating one or more conditions of a respective one of the plurality of robots. The user interface further includes at least one robot control window for each of the plurality of robots with the at least one robot control window configured to receive one or more commands for sending to the respective one of the plurality of robots. The user interface further includes amore » multi-robot common window comprised of information received from each of the plurality of robots.« less

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

PubMed

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

2015-05-01

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

System architecture for asynchronous multi-processor robotic control system

NASA Technical Reports Server (NTRS)

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

1993-01-01

The architecture for the Modular Telerobot Task Execution System (MOTES) as implemented in the Supervisory Telerobotics (STELER) Laboratory is described. MOTES is the software component of the remote site of a local-remote telerobotic system which is being developed for NASA for space applications, in particular Space Station Freedom applications. The system is being developed to provide control and supervised autonomous control to support both space based operation and ground-remote control with time delay. The local-remote architecture places task planning responsibilities at the local site and task execution responsibilities at the remote site. This separation allows the remote site to be designed to optimize task execution capability within a limited computational environment such as is expected in flight systems. The local site task planning system could be placed on the ground where few computational limitations are expected. MOTES is written in the Ada programming language for a multiprocessor environment.

Laparoscopic and robotic skills are transferable in a simulation setting: a randomized controlled trial.

PubMed

Thomaier, Lauren; Orlando, Megan; Abernethy, Melinda; Paka, Chandhana; Chen, Chi Chiung Grace

2017-08-01

Although surgical simulation provides an effective supplement to traditional training, it is not known whether skills are transferable between minimally invasive surgical modalities. The purpose of this study was to assess the transferability of skills between minimally invasive surgical simulation platforms among simulation-naïve participants. Forty simulation-naïve medical students were enrolled in this randomized single-blinded controlled trial. Participants completed a baseline evaluation on laparoscopic (Fundamentals of Laparoscopic Surgery Program, Los Angeles, CA) and robotic (dV-Trainer, Mimic, Seattle, WA) simulation peg transfer tasks. Participants were then randomized to perform a practice session on either the robotic (N = 20) or laparoscopic (N = 20) simulator. Two blinded, expert minimally invasive surgeons evaluated participants before and after training using a modified previously validated subjective global rating scale. Objective measures including time to task completion and Mimic dV-Trainer motion metrics were also recorded. At baseline, there were no significant differences between the training groups as measured by objective and subjective measures for either simulation task. After training, participants randomized to the laparoscopic practice group completed the laparoscopic task faster (p < 0.003) and with higher global rating scale scores (p < 0.001) than the robotic group. Robotic-trained participants performed the robotic task faster (p < 0.001), with improved economy of motion (p < 0.001), and with higher global rating scale scores (p = 0.006) than the laparoscopic group. The robotic practice group also demonstrated significantly improved performance on the laparoscopic task (p = 0.02). Laparoscopic-trained participants also improved their robotic performance (p = 0.02), though the robotic group had a higher percent improvement on the robotic task (p = 0.037). Skills acquired through practice on either laparoscopic or robotic simulation platforms appear to be transferable between modalities. However, participants demonstrate superior skill in the modality in which they specifically train.

Soldier-Based Assessment of a Dual-Row Tactor Display during Simultaneous Navigational and Robot-Monitoring Tasks

DTIC Science & Technology

2015-08-01

Navigational and Robot -Monitoring Tasks by Gina Pomranky-Hartnett, Linda R Elliott, Bruce JP Mortimer, Greg R Mort, Rodger A Pettitt, and Gary A...Tactor Display during Simultaneous Navigational and Robot -Monitoring Tasks by Gina Pomranky-Hartnett, Linda R Elliott, and Rodger A Pettitt...2014–31 March 2015 4. TITLE AND SUBTITLE Soldier-Based Assessment of a Dual-Row Tactor Display during Simultaneous Navigational and Robot -Monitoring

Implementation of a Multi-Robot Coverage Algorithm on a Two-Dimensional, Grid-Based Environment

DTIC Science & Technology

2017-06-01

two planar laser range finders with a 180-degree field of view , color camera, vision beacons, and wireless communicator. In their system, the robots...Master’s thesis 4. TITLE AND SUBTITLE IMPLEMENTATION OF A MULTI -ROBOT COVERAGE ALGORITHM ON A TWO -DIMENSIONAL, GRID-BASED ENVIRONMENT 5. FUNDING NUMBERS...path planning coverage algorithm for a multi -robot system in a two -dimensional, grid-based environment. We assess the applicability of a topology

Dynamic task allocation for a man-machine symbiotic system

NASA Technical Reports Server (NTRS)

Parker, L. E.; Pin, F. G.

1987-01-01

This report presents a methodological approach to the dynamic allocation of tasks in a man-machine symbiotic system in the context of dexterous manipulation and teleoperation. This report addresses a symbiotic system containing two symbiotic partners which work toward controlling a single manipulator arm for the execution of a series of sequential manipulation tasks. It is proposed that an automated task allocator use knowledge about the constraints/criteria of the problem, the available resources, the tasks to be performed, and the environment to dynamically allocate task recommendations for the man and the machine. The presentation of the methodology includes discussions concerning the interaction of the knowledge areas, the flow of control, the necessary communication links, and the replanning of the task allocation. Examples of task allocation are presented to illustrate the results of this methodolgy.

Redundant arm control in a supervisory and shared control system

NASA Technical Reports Server (NTRS)

Backes, Paul G.; Long, Mark K.

1992-01-01

The Extended Task Space Control approach to robotic operations based on manipulator behaviors derived from task requirements is described. No differentiation between redundant and non-redundant robots is made at the task level. The manipulation task behaviors are combined into a single set of motion commands. The manipulator kinematics are used subsequently in mapping motion commands into actuator commands. Extended Task Space Control is applied to a Robotics Research K-1207 seven degree-of-freedom manipulator in a supervisory telerobot system as an example.

Visual and tactile interfaces for bi-directional human robot communication

NASA Astrophysics Data System (ADS)

Barber, Daniel; Lackey, Stephanie; Reinerman-Jones, Lauren; Hudson, Irwin

2013-05-01

Seamless integration of unmanned and systems and Soldiers in the operational environment requires robust communication capabilities. Multi-Modal Communication (MMC) facilitates achieving this goal due to redundancy and levels of communication superior to single mode interaction using auditory, visual, and tactile modalities. Visual signaling using arm and hand gestures is a natural method of communication between people. Visual signals standardized within the U.S. Army Field Manual and in use by Soldiers provide a foundation for developing gestures for human to robot communication. Emerging technologies using Inertial Measurement Units (IMU) enable classification of arm and hand gestures for communication with a robot without the requirement of line-of-sight needed by computer vision techniques. These devices improve the robustness of interpreting gestures in noisy environments and are capable of classifying signals relevant to operational tasks. Closing the communication loop between Soldiers and robots necessitates them having the ability to return equivalent messages. Existing visual signals from robots to humans typically require highly anthropomorphic features not present on military vehicles. Tactile displays tap into an unused modality for robot to human communication. Typically used for hands-free navigation and cueing, existing tactile display technologies are used to deliver equivalent visual signals from the U.S. Army Field Manual. This paper describes ongoing research to collaboratively develop tactile communication methods with Soldiers, measure classification accuracy of visual signal interfaces, and provides an integration example including two robotic platforms.

Robotic suturing on the FLS model possesses construct validity, is less physically demanding, and is favored by more surgeons compared with laparoscopy.

PubMed

Stefanidis, Dimitrios; Hope, William W; Scott, Daniel J

2011-07-01

The value of robotic assistance for intracorporeal suturing is not well defined. We compared robotic suturing with laparoscopic suturing on the FLS model with a large cohort of surgeons. Attendees (n=117) at the SAGES 2006 Learning Center robotic station placed intracorporeal sutures on the FLS box-trainer model using conventional laparoscopic instruments and the da Vinci® robot. Participant performance was recorded using a validated objective scoring system, and a questionnaire regarding demographics, task workload, and suturing modality preference was completed. Construct validity for both tasks was assessed by comparing the performance scores of subjects with various levels of experience. A validated questionnaire was used for workload measurement. Of the participants, 84% had prior laparoscopic and 10% prior robotic suturing experience. Within the allotted time, 83% of participants completed the suturing task laparoscopically and 72% with the robot. Construct validity was demonstrated for both simulated tasks according to the participants' advanced laparoscopic experience, laparoscopic suturing experience, and self-reported laparoscopic suturing ability (p<0.001 for all) and according to prior robotic experience, robotic suturing experience, and self-reported robotic suturing ability (p<0.001 for all), respectively. While participants achieved higher suturing scores with standard laparoscopy compared with the robot (84±75 vs. 56±63, respectively; p<0.001), they found the laparoscopic task more physically demanding (NASA score 13±5 vs. 10±5, respectively; p<0.001) and favored the robot as their method of choice for intracorporeal suturing (62 vs. 38%, respectively; p<0.01). Construct validity was demonstrated for robotic suturing on the FLS model. Suturing scores were higher using standard laparoscopy likely as a result of the participants' greater experience with laparoscopic suturing versus robotic suturing. Robotic assistance decreases the physical demand of intracorporeal suturing compared with conventional laparoscopy and, in this study, was the preferred suturing method by most surgeons. Curricula for robotic suturing training need to be developed.

Impedance learning for robotic contact tasks using natural actor-critic algorithm.

PubMed

Kim, Byungchan; Park, Jooyoung; Park, Shinsuk; Kang, Sungchul

2010-04-01

Compared with their robotic counterparts, humans excel at various tasks by using their ability to adaptively modulate arm impedance parameters. This ability allows us to successfully perform contact tasks even in uncertain environments. This paper considers a learning strategy of motor skill for robotic contact tasks based on a human motor control theory and machine learning schemes. Our robot learning method employs impedance control based on the equilibrium point control theory and reinforcement learning to determine the impedance parameters for contact tasks. A recursive least-square filter-based episodic natural actor-critic algorithm is used to find the optimal impedance parameters. The effectiveness of the proposed method was tested through dynamic simulations of various contact tasks. The simulation results demonstrated that the proposed method optimizes the performance of the contact tasks in uncertain conditions of the environment.

Random Measurement Error as a Source of Discrepancies between the Reports of Wives and Husbands Concerning Marital Power and Task Allocation.

ERIC Educational Resources Information Center

Quarm, Daisy

1981-01-01

Findings for couples (N=119) show wife's work, money, and spare time low between-spouse correlations are due in part to random measurement error. Suggests that increasing reliability of measures by creating multi-item indices can also increase correlations. Car purchase, vacation, and child discipline were not accounted for by random measurement…

Rehabilitation robotics for the upper extremity: review with new directions for orthopaedic disorders.

PubMed

Hakim, Renée M; Tunis, Brandon G; Ross, Michael D

2017-11-01

The focus of research using technological innovations such as robotic devices has been on interventions to improve upper extremity function in neurologic populations, particularly patients with stroke. There is a growing body of evidence describing rehabilitation programs using various types of supportive/assistive and/or resistive robotic and virtual reality-enhanced devices to improve outcomes for patients with neurologic disorders. The most promising approaches are task-oriented, based on current concepts of motor control/learning and practice-induced neuroplasticity. Based on this evidence, we describe application and feasibility of virtual reality-enhanced robotics integrated with current concepts in orthopaedic rehabilitation shifting from an impairment-based focus to inclusion of more intense, task-specific training for patients with upper extremity disorders, specifically emphasizing the wrist and hand. The purpose of this paper is to describe virtual reality-enhanced rehabilitation robotic devices, review evidence of application in patients with upper extremity deficits related to neurologic disorders, and suggest how this technology and task-oriented rehabilitation approach can also benefit patients with orthopaedic disorders of the wrist and hand. We will also discuss areas for further research and development using a task-oriented approach and a commercially available haptic robotic device to focus on training of grasp and manipulation tasks. Implications for Rehabilitation There is a growing body of evidence describing rehabilitation programs using various types of supportive/assistive and/or resistive robotic and virtual reality-enhanced devices to improve outcomes for patients with neurologic disorders. The most promising approaches using rehabilitation robotics are task-oriented, based on current concepts of motor control/learning and practice-induced neuroplasticity. Based on the evidence in neurologic populations, virtual reality-enhanced robotics may be integrated with current concepts in orthopaedic rehabilitation shifting from an impairment-based focus to inclusion of more intense, task-specific training for patients with UE disorders, specifically emphasizing the wrist and hand. Clinical application of a task-oriented approach may be accomplished using commercially available haptic robotic device to focus on training of grasp and manipulation tasks.

Reversal Learning Task in Children with Autism Spectrum Disorder: A Robot-Based Approach.

PubMed

Costescu, Cristina A; Vanderborght, Bram; David, Daniel O

2015-11-01

Children with autism spectrum disorder (ASD) engage in highly perseverative and inflexible behaviours. Technological tools, such as robots, received increased attention as social reinforces and/or assisting tools for improving the performance of children with ASD. The aim of our study is to investigate the role of the robotic toy Keepon in a cognitive flexibility task performed by children with ASD and typically developing (TD) children. The number of participants included in this study is 81 children: 40 TD children and 41 children with ASD. Each participant had to go through two conditions: robot interaction and human interaction in which they had performed the reversal learning task. Our primary outcomes are the number of errors from acquisition phase and from reversal phase of the task; as secondary outcomes we have measured attentional engagement and positive affect. The results of this study showed that children with ASD are more engaged in the task and they seem to enjoy more the task when interacting with the robot compared with the interaction with the adult. On the other hand their cognitive flexibility performance is, in general, similar in the robot and the human conditions with the exception of the learning phase where the robot can interfere with the performance. Implication for future research and practice are discussed.

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

PubMed

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

2005-12-01

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

Guaranteeing Spoof-Resilient Multi-Robot Networks

DTIC Science & Technology

2015-05-12

particularly challenging attack on this assumption is the so-called “Sybil attack.” In a Sybil attack a malicious agent can generate (or spoof) a large...cybersecurity in general multi-node networks (e.g. a wired LAN), the same is not true for multi- robot networks [14, 28], leaving them largely vulnerable...key passing or cryptographic authen- tication is difficult to maintain due to the highly dynamic and distributed nature of multi-robot teams where

Robot-assisted laparoscopic skills development: formal versus informal training.

PubMed

Benson, Aaron D; Kramer, Brandan A; Boehler, Margaret; Schwind, Cathy J; Schwartz, Bradley F

2010-08-01

The learning curve for robotic surgery is not completely defined, and ideal training components have not yet been identified. We attempted to determine whether skill development would be accelerated with formal, organized instruction in robotic surgical techniques versus informal practice alone. Forty-three medical students naive to robotic surgery were randomized into two groups and tested on three tasks using the robotic platform. Between the testing sessions, the students were given equally timed practice sessions. The formal training group participated in an organized, formal training session with instruction from an attending robotic surgeon, whereas the informal training group participated in an equally timed unstructured practice session with the robot. The results were compared based on technical score and time to completion of each task. There was no difference between groups in prepractice testing for any task. In postpractice testing, there was no difference between groups for the ring transfer tasks. However, for the suture placement and knot-tying task, the technical score of the formal training group was significantly better than that of the informal training group (p < 0.001), yet time to completion was not different. Although formal training may not be necessary for basic skills, formal instruction for more advanced skills, such as suture placement and knot tying, is important in developing skills needed for effective robotic surgery. These findings may be important in formulating potential skills labs or training courses for robotic surgery.

Robotic assessment of sensorimotor deficits after traumatic brain injury.

PubMed

Debert, Chantel T; Herter, Troy M; Scott, Stephen H; Dukelow, Sean

2012-06-01

Robotic technology is commonly used to quantify aspects of typical sensorimotor function. We evaluated the feasibility of using robotic technology to assess visuomotor and position sense impairments following traumatic brain injury (TBI). We present results of robotic sensorimotor function testing in 12 subjects with TBI, who had a range of initial severities (9 severe, 2 moderate, 1 mild), and contrast these results with those of clinical tests. We also compared these with robotic test outcomes in persons without disability. For each subject with TBI, a review of the initial injury and neuroradiologic findings was conducted. Following this, each subject completed a number of standardized clinical measures (Fugl-Meyer Assessment, Purdue Peg Board, Montreal Cognitive Assessment, Rancho Los Amigos Scale), followed by two robotic tasks. A visually guided reaching task was performed to assess visuomotor control of the upper limb. An arm position-matching task was used to assess position sense. Robotic task performance in the subjects with TBI was compared with findings in a cohort of 170 person without disabilities. Subjects with TBI demonstrated a broad range of sensory and motor deficits on robotic testing. Notably, several subjects with TBI displayed significant deficits in one or both of the robotic tasks, despite normal scores on traditional clinical motor and cognitive assessment measures. The findings demonstrate the potential of robotic assessments for identifying deficits in visuomotor control and position sense following TBI. Improved identification of neurologic impairments following TBI may ultimately enhance rehabilitation.

Using Contact Forces and Robot Arm Accelerations to Automatically Rate Surgeon Skill at Peg Transfer.

PubMed

Brown, Jeremy D; O Brien, Conor E; Leung, Sarah C; Dumon, Kristoffel R; Lee, David I; Kuchenbecker, Katherine J

2017-09-01

Most trainees begin learning robotic minimally invasive surgery by performing inanimate practice tasks with clinical robots such as the Intuitive Surgical da Vinci. Expert surgeons are commonly asked to evaluate these performances using standardized five-point rating scales, but doing such ratings is time consuming, tedious, and somewhat subjective. This paper presents an automatic skill evaluation system that analyzes only the contact force with the task materials, the broad-bandwidth accelerations of the robotic instruments and camera, and the task completion time. We recruited N = 38 participants of varying skill in robotic surgery to perform three trials of peg transfer with a da Vinci Standard robot instrumented with our Smart Task Board. After calibration, three individuals rated these trials on five domains of the Global Evaluative Assessment of Robotic Skill (GEARS) structured assessment tool, providing ground-truth labels for regression and classification machine learning algorithms that predict GEARS scores based on the recorded force, acceleration, and time signals. Both machine learning approaches produced scores on the reserved testing sets that were in good to excellent agreement with the human raters, even when the force information was not considered. Furthermore, regression predicted GEARS scores more accurately and efficiently than classification. A surgeon's skill at robotic peg transfer can be reliably rated via regression using features gathered from force, acceleration, and time sensors external to the robot. We expect improved trainee learning as a result of providing these automatic skill ratings during inanimate task practice on a surgical robot.

Can a Humanoid Face be Expressive? A Psychophysiological Investigation

PubMed Central

Lazzeri, Nicole; Mazzei, Daniele; Greco, Alberto; Rotesi, Annalisa; Lanatà, Antonio; De Rossi, Danilo Emilio

2015-01-01

Non-verbal signals expressed through body language play a crucial role in multi-modal human communication during social relations. Indeed, in all cultures, facial expressions are the most universal and direct signs to express innate emotional cues. A human face conveys important information in social interactions and helps us to better understand our social partners and establish empathic links. Latest researches show that humanoid and social robots are becoming increasingly similar to humans, both esthetically and expressively. However, their visual expressiveness is a crucial issue that must be improved to make these robots more realistic and intuitively perceivable by humans as not different from them. This study concerns the capability of a humanoid robot to exhibit emotions through facial expressions. More specifically, emotional signs performed by a humanoid robot have been compared with corresponding human facial expressions in terms of recognition rate and response time. The set of stimuli included standardized human expressions taken from an Ekman-based database and the same facial expressions performed by the robot. Furthermore, participants’ psychophysiological responses have been explored to investigate whether there could be differences induced by interpreting robot or human emotional stimuli. Preliminary results show a trend to better recognize expressions performed by the robot than 2D photos or 3D models. Moreover, no significant differences in the subjects’ psychophysiological state have been found during the discrimination of facial expressions performed by the robot in comparison with the same task performed with 2D photos and 3D models. PMID:26075199

Experimental Evaluation of Computer-Aided Tele-operation (CATO) and Computer-Aided Robotic Manipulation (CARMAN) Technology

DTIC Science & Technology

2010-08-01

Consent Form 29 Appendix B. Demographics Questionnaire 35 Appendix C. NASA TLX Questionnaire 39 Appendix D. Symptom Questionnaire 41 List of Symbols...Index ( NASA - TLX ) Participants were given the NASA - TLX subjective workload rating at the end of each task (appendix C, Hart and Staveland, 1987).1 The... NASA - TLX is a multi-dimensional rating procedure that derives an overall workload score based on a weighted average of ratings on six subscales

Research in computer science

NASA Technical Reports Server (NTRS)

Ortega, J. M.

1985-01-01

Synopses are given for NASA supported work in computer science at the University of Virginia. Some areas of research include: error seeding as a testing method; knowledge representation for engineering design; analysis of faults in a multi-version software experiment; implementation of a parallel programming environment; two computer graphics systems for visualization of pressure distribution and convective density particles; task decomposition for multiple robot arms; vectorized incomplete conjugate gradient; and iterative methods for solving linear equations on the Flex/32.

System for exchanging tools and end effectors on a robot

DOEpatents

Burry, David B.; Williams, Paul M.

1991-02-19

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

Investigation of the Impedance Characteristic of Human Arm for Development of Robots to Cooperate with Humans

NASA Astrophysics Data System (ADS)

Rahman, Md. Mozasser; Ikeura, Ryojun; Mizutani, Kazuki

In the near future many aspects of our lives will be encompassed by tasks performed in cooperation with robots. The application of robots in home automation, agricultural production and medical operations etc. will be indispensable. As a result robots need to be made human-friendly and to execute tasks in cooperation with humans. Control systems for such robots should be designed to work imitating human characteristics. In this study, we have tried to achieve these goals by means of controlling a simple one degree-of-freedom cooperative robot. Firstly, the impedance characteristic of the human arm in a cooperative task is investigated. Then, this characteristic is implemented to control a robot in order to perform cooperative task with humans. A human followed the motion of an object, which is moved through desired trajectories. The motion is actuated by the linear motor of the one degree-of-freedom robot system. Trajectories used in the experiments of this method were minimum jerk (the rate of change of acceleration) trajectory, which was found during human and human cooperative task and optimum for muscle movement. As the muscle is mechanically analogous to a spring-damper system, a simple second-order equation is used as models for the arm dynamics. In the model, we considered mass, stiffness and damping factor. Impedance parameter is calculated from the position and force data obtained from the experiments and based on the “Estimation of Parametric Model”. Investigated impedance characteristic of human arm is then implemented to control a robot, which performed cooperative task with human. It is observed that the proposed control methodology has given human like movements to the robot for cooperating with human.

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

PubMed

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

2014-09-01

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

A trust-based sensor allocation algorithm in cooperative space search problems

NASA Astrophysics Data System (ADS)

Shen, Dan; Chen, Genshe; Pham, Khanh; Blasch, Erik

2011-06-01

Sensor allocation is an important and challenging problem within the field of multi-agent systems. The sensor allocation problem involves deciding how to assign a number of targets or cells to a set of agents according to some allocation protocol. Generally, in order to make efficient allocations, we need to design mechanisms that consider both the task performers' costs for the service and the associated probability of success (POS). In our problem, the costs are the used sensor resource, and the POS is the target tracking performance. Usually, POS may be perceived differently by different agents because they typically have different standards or means of evaluating the performance of their counterparts (other sensors in the search and tracking problem). Given this, we turn to the notion of trust to capture such subjective perceptions. In our approach, we develop a trust model to construct a novel mechanism that motivates sensor agents to limit their greediness or selfishness. Then we model the sensor allocation optimization problem with trust-in-loop negotiation game and solve it using a sub-game perfect equilibrium. Numerical simulations are performed to demonstrate the trust-based sensor allocation algorithm in cooperative space situation awareness (SSA) search problems.

EPSRC Principles of Robotics: commentary on safety, robots as products, and responsibility

NASA Astrophysics Data System (ADS)

Boddington, Paula

2017-04-01

The EPSRC Principles of Robotics refer to safety. How safety is understood is relative to how tasks are characterised and identified. But the exact task(s) a robot plays within a complex system of agency may be hard to identify. If robots are seen as products, it is nonetheless vital that the safety and other implications of their use in situ must also be considered carefully, and they must be fit for purpose. The Principles identify humans as responsible, rather than robots. We must thus understand how the replacement of human agency by robotic agency may impact upon attributions of responsibility. The Principles seek to fit into existing systems of law and ethics. But these may need development, and in certain context, attention to more local regulations is also needed. A distinction between ethical issues related to the design of robotics, and to their use, may be needed in the Principles.

Evolutionary online behaviour learning and adaptation in real robots.

PubMed

Silva, Fernando; Correia, Luís; Christensen, Anders Lyhne

2017-07-01

Online evolution of behavioural control on real robots is an open-ended approach to autonomous learning and adaptation: robots have the potential to automatically learn new tasks and to adapt to changes in environmental conditions, or to failures in sensors and/or actuators. However, studies have so far almost exclusively been carried out in simulation because evolution in real hardware has required several days or weeks to produce capable robots. In this article, we successfully evolve neural network-based controllers in real robotic hardware to solve two single-robot tasks and one collective robotics task. Controllers are evolved either from random solutions or from solutions pre-evolved in simulation. In all cases, capable solutions are found in a timely manner (1 h or less). Results show that more accurate simulations may lead to higher-performing controllers, and that completing the optimization process in real robots is meaningful, even if solutions found in simulation differ from solutions in reality. We furthermore demonstrate for the first time the adaptive capabilities of online evolution in real robotic hardware, including robots able to overcome faults injected in the motors of multiple units simultaneously, and to modify their behaviour in response to changes in the task requirements. We conclude by assessing the contribution of each algorithmic component on the performance of the underlying evolutionary algorithm.

Bilateral Impedance Control For Telemanipulators

NASA Technical Reports Server (NTRS)

Moore, Christopher L.

1993-01-01

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

The role of intrinsic motivations in attention allocation and shifting

PubMed Central

Di Nocera, Dario; Finzi, Alberto; Rossi, Silvia; Staffa, Mariacarla

2014-01-01

The concepts of attention and intrinsic motivations are of great interest within adaptive robotic systems, and can be exploited in order to guide, activate, and coordinate multiple concurrent behaviors. Attention allocation strategies represent key capabilities of human beings, which are strictly connected with action selection and execution mechanisms, while intrinsic motivations directly affect the allocation of attentional resources. In this paper we propose a model of Reinforcement Learning (RL), where both these capabilities are involved. RL is deployed to learn how to allocate attentional resources in a behavior-based robotic system, while action selection is obtained as a side effect of the resulting motivated attentional behaviors. Moreover, the influence of intrinsic motivations in attention orientation is obtained by introducing rewards associated with curiosity drives. In this way, the learning process is affected not only by goal-specific rewards, but also by intrinsic motivations. PMID:24744746

A Novel Eye-Tracking Method to Assess Attention Allocation in Individuals with and without Aphasia Using a Dual-Task Paradigm

PubMed Central

Heuer, Sabine; Hallowell, Brooke

2015-01-01

Numerous authors report that people with aphasia have greater difficulty allocating attention than people without neurological disorders. Studying how attention deficits contribute to language deficits is important. However, existing methods for indexing attention allocation in people with aphasia pose serious methodological challenges. Eye-tracking methods have great potential to address such challenges. We developed and assessed the validity of a new dual-task method incorporating eye tracking to assess attention allocation. Twenty-six adults with aphasia and 33 control participants completed auditory sentence comprehension and visual search tasks. To test whether the new method validly indexes well-documented patterns in attention allocation, demands were manipulated by varying task complexity in single- and dual-task conditions. Differences in attention allocation were indexed via eye-tracking measures. For all participants significant increases in attention allocation demands were observed from single- to dual-task conditions and from simple to complex stimuli. Individuals with aphasia had greater difficulty allocating attention with greater task demands. Relationships between eye-tracking indices of comprehension during single and dual tasks and standardized testing were examined. Results support the validity of the novel eye-tracking method for assessing attention allocation in people with and without aphasia. Clinical and research implications are discussed. PMID:25913549

Human-Robot Cooperation with Commands Embedded in Actions

NASA Astrophysics Data System (ADS)

Kobayashi, Kazuki; Yamada, Seiji

In this paper, we first propose a novel interaction model, CEA (Commands Embedded in Actions). It can explain the way how some existing systems reduce the work-load of their user. We next extend the CEA and build ECEA (Extended CEA) model. The ECEA enables robots to achieve more complicated tasks. On this extension, we employ ACS (Action Coding System) which can describe segmented human acts and clarifies the relationship between user's actions and robot's actions in a task. The ACS utilizes the CEA's strong point which enables a user to send a command to a robot by his/her natural action for the task. The instance of the ECEA led by using the ACS is a temporal extension which has the user keep a final state of a previous his/her action. We apply the temporal extension of the ECEA for a sweeping task. The high-level task, a cooperative task between the user and the robot can be realized. The robot with simple reactive behavior can sweep the region of under an object when the user picks up the object. In addition, we measure user's cognitive loads on the ECEA and a traditional method, DCM (Direct Commanding Method) in the sweeping task, and compare between them. The results show that the ECEA has a lower cognitive load than the DCM significantly.

Learning Semantics of Gestural Instructions for Human-Robot Collaboration

PubMed Central

Shukla, Dadhichi; Erkent, Özgür; Piater, Justus

2018-01-01

Designed to work safely alongside humans, collaborative robots need to be capable partners in human-robot teams. Besides having key capabilities like detecting gestures, recognizing objects, grasping them, and handing them over, these robots need to seamlessly adapt their behavior for efficient human-robot collaboration. In this context we present the fast, supervised Proactive Incremental Learning (PIL) framework for learning associations between human hand gestures and the intended robotic manipulation actions. With the proactive aspect, the robot is competent to predict the human's intent and perform an action without waiting for an instruction. The incremental aspect enables the robot to learn associations on the fly while performing a task. It is a probabilistic, statistically-driven approach. As a proof of concept, we focus on a table assembly task where the robot assists its human partner. We investigate how the accuracy of gesture detection affects the number of interactions required to complete the task. We also conducted a human-robot interaction study with non-roboticist users comparing a proactive with a reactive robot that waits for instructions. PMID:29615888

Learning Semantics of Gestural Instructions for Human-Robot Collaboration.

PubMed

Shukla, Dadhichi; Erkent, Özgür; Piater, Justus

2018-01-01

Designed to work safely alongside humans, collaborative robots need to be capable partners in human-robot teams. Besides having key capabilities like detecting gestures, recognizing objects, grasping them, and handing them over, these robots need to seamlessly adapt their behavior for efficient human-robot collaboration. In this context we present the fast, supervised Proactive Incremental Learning (PIL) framework for learning associations between human hand gestures and the intended robotic manipulation actions. With the proactive aspect, the robot is competent to predict the human's intent and perform an action without waiting for an instruction. The incremental aspect enables the robot to learn associations on the fly while performing a task. It is a probabilistic, statistically-driven approach. As a proof of concept, we focus on a table assembly task where the robot assists its human partner. We investigate how the accuracy of gesture detection affects the number of interactions required to complete the task. We also conducted a human-robot interaction study with non-roboticist users comparing a proactive with a reactive robot that waits for instructions.

Cooperation based dynamic team formation in multi-agent auctions

NASA Astrophysics Data System (ADS)

Pippin, Charles E.; Christensen, Henrik

2012-06-01

Auction based methods are often used to perform distributed task allocation on multi-agent teams. Many existing approaches to auctions assume fully cooperative team members. On in-situ and dynamically formed teams, reciprocal collaboration may not always be a valid assumption. This paper presents an approach for dynamically selecting auction partners based on observed team member performance and shared reputation. In addition, we present the use of a shared reputation authority mechanism. Finally, experiments are performed in simulation on multiple UAV platforms to highlight situations in which it is better to enforce cooperation in auctions using this approach.

Mission Reliability Estimation for Repairable Robot Teams

NASA Technical Reports Server (NTRS)

Trebi-Ollennu, Ashitey; Dolan, John; Stancliff, Stephen

2010-01-01

A mission reliability estimation method has been designed to translate mission requirements into choices of robot modules in order to configure a multi-robot team to have high reliability at minimal cost. In order to build cost-effective robot teams for long-term missions, one must be able to compare alternative design paradigms in a principled way by comparing the reliability of different robot models and robot team configurations. Core modules have been created including: a probabilistic module with reliability-cost characteristics, a method for combining the characteristics of multiple modules to determine an overall reliability-cost characteristic, and a method for the generation of legitimate module combinations based on mission specifications and the selection of the best of the resulting combinations from a cost-reliability standpoint. The developed methodology can be used to predict the probability of a mission being completed, given information about the components used to build the robots, as well as information about the mission tasks. In the research for this innovation, sample robot missions were examined and compared to the performance of robot teams with different numbers of robots and different numbers of spare components. Data that a mission designer would need was factored in, such as whether it would be better to have a spare robot versus an equivalent number of spare parts, or if mission cost can be reduced while maintaining reliability using spares. This analytical model was applied to an example robot mission, examining the cost-reliability tradeoffs among different team configurations. Particularly scrutinized were teams using either redundancy (spare robots) or repairability (spare components). Using conservative estimates of the cost-reliability relationship, results show that it is possible to significantly reduce the cost of a robotic mission by using cheaper, lower-reliability components and providing spares. This suggests that the current design paradigm of building a minimal number of highly robust robots may not be the best way to design robots for extended missions.

Effects of automation and task load on task switching during human supervision of multiple semi-autonomous robots in a dynamic environment.

PubMed

Squire, P N; Parasuraman, R

2010-08-01

The present study assessed the impact of task load and level of automation (LOA) on task switching in participants supervising a team of four or eight semi-autonomous robots in a simulated 'capture the flag' game. Participants were faster to perform the same task than when they chose to switch between different task actions. They also took longer to switch between different tasks when supervising the robots at a high compared to a low LOA. Task load, as manipulated by the number of robots to be supervised, did not influence switch costs. The results suggest that the design of future unmanned vehicle (UV) systems should take into account not simply how many UVs an operator can supervise, but also the impact of LOA and task operations on task switching during supervision of multiple UVs. The findings of this study are relevant for the ergonomics practice of UV systems. This research extends the cognitive theory of task switching to inform the design of UV systems and results show that switching between UVs is an important factor to consider.

EVALUATING ROBOT TECHNOLOGIES AS TOOLS TO EXPLORE RADIOLOGICAL AND OTHER HAZARDOUS ENVIRONMENTS

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

Curtis W. Nielsen; David I. Gertman; David J. Bruemmer

2008-03-01

There is a general consensus that robots could be beneficial in performing tasks within hazardous radiological environments. Most control of robots in hazardous environments involves master-slave or teleoperation relationships between the human and the robot. While teleoperation-based solutions keep humans out of harms way, they also change the training requirements to accomplish a task. In this paper we present a research methodology that allowed scientists at Idaho National Laboratory to identify, develop, and prove a semi-autonomous robot solution for search and characterization tasks within a hazardous environment. Two experiments are summarized that validated the use of semi-autonomy and show thatmore » robot autonomy can help mitigate some of the performance differences between operators who have different levels of robot experience, and can improve performance over teleoperated systems.« less

What can Robots Do? Towards Theoretical Analysis

NASA Technical Reports Server (NTRS)

Nogueira, Monica

1997-01-01

Robots have become more and more sophisticated. Every robot has its limits. If we face a task that existing robots cannot solve, then, before we start improving these robots, it is important to check whether it is, in principle, possible to design a robot for this task or not. For that, it is necessary to describe what exactly the robots can, in principle, do. A similar problem - to describe what exactly computers can do - has been solved as early as 1936, by Turing. In this paper, we describe a framework within which we can, hopefully, formalize and answer the question of what exactly robots can do.

System for exchanging tools and end effectors on a robot

DOEpatents

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

1991-02-19

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

Robotic Precursor Missions for Mars Habitats

NASA Technical Reports Server (NTRS)

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

2000-01-01

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

Robotically assisted laparoscopy benefits surgical performance under stress.

PubMed

Moore, Lee J; Wilson, Mark R; Waine, Elizabeth; McGrath, John S; Masters, Rich S W; Vine, Samuel J

2015-12-01

While the benefits of robotic surgery for the patient have been relatively well established, little is known about the benefits for the surgeon. This study examined whether the advantages of robotically assisted laparoscopy (improved dexterity, a 3-dimensional view, reduction in tremors, etc.) enable the surgeon to better deal with stressful tasks. Subjective and objective (i.e. cardiovascular) responses to stress were assessed while surgeons performed on either a robotic or conventional laparoscopic system. Thirty-two surgeons were assigned to perform a surgical task on either a robotic system or a laparoscopic system, under three stress conditions. The surgeons completed self-report measures of stress before each condition. Furthermore, the surgeons' cardiovascular responses to stress were recorded prior to each condition. Finally, task performance was recorded throughout each condition. While both groups reported experiencing similar levels of stress, compared to the laparoscopic group, the robotic group displayed a more adaptive cardiovascular response to the stress conditions, reflecting a challenge state (i.e. higher blood flow and lower vascular resistance). Furthermore, despite no differences in completion time, the robotic group performed the tasks more accurately than the laparoscopic group across the stress conditions. These results highlight the benefits of using robotic technology during stressful situations. Specifically, the results show that stressful tasks can be performed more accurately with a robotic platform, and that surgeons' cardiovascular responses to stress are more favourable. Importantly, the 'challenge' cardiovascular response to stress displayed when using the robotic system has been associated with more positive long-term health outcomes in domains where stress is commonly experienced (e.g. lower cardiovascular disease risk).

Communication and knowledge sharing in human-robot interaction and learning from demonstration.

PubMed

Koenig, Nathan; Takayama, Leila; Matarić, Maja

2010-01-01

Inexpensive personal robots will soon become available to a large portion of the population. Currently, most consumer robots are relatively simple single-purpose machines or toys. In order to be cost effective and thus widely accepted, robots will need to be able to accomplish a wide range of tasks in diverse conditions. Learning these tasks from demonstrations offers a convenient mechanism to customize and train a robot by transferring task related knowledge from a user to a robot. This avoids the time-consuming and complex process of manual programming. The way in which the user interacts with a robot during a demonstration plays a vital role in terms of how effectively and accurately the user is able to provide a demonstration. Teaching through demonstrations is a social activity, one that requires bidirectional communication between a teacher and a student. The work described in this paper studies how the user's visual observation of the robot and the robot's auditory cues affect the user's ability to teach the robot in a social setting. Results show that auditory cues provide important knowledge about the robot's internal state, while visual observation of a robot can hinder an instructor due to incorrect mental models of the robot and distractions from the robot's movements. Copyright © 2010. Published by Elsevier Ltd.

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

ERIC Educational Resources Information Center

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

2013-01-01

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

Robotic learning from demonstration of therapist's time-varying assistance to a patient in trajectory-following tasks.

PubMed

Najafi, Mohammad; Adams, Kim; Tavakoli, Mahdi

2017-07-01

The number of people with physical disabilities and impaired motion control is increasing. Consequently, there is a growing demand for intelligent assistive robotic systems to cooperate with people with disability and help them carry out different tasks. To this end, our group has pioneered the use of robot learning from demonstration (RLfD) techniques, which eliminate the need for task-specific robot programming, in robotic rehabilitation and assistive technologies settings. First, in the demonstration phase, the therapist (or in general, a helper) provides an intervention (typically assistance) and cooperatively performs a task with a patient several times. The demonstrated motion is modelled by a statistical RLfD algorithm, which will later be used in the robot controllers to reproduce a similar intervention robotically. In this paper, by proposing a Tangential-Normal Varying-Impedance Controller (TNVIC), the robotic manipulator not only follows the therapist's demonstrated motion, but also mimics his/her interaction impedance during the therapeutic/assistive intervention. The feasibility and efficacy of the proposed framework are evaluated by conducting an experiment involving a healthy adult with cerebral palsy symptoms being induced using transcutaneous electrical nerve stimulation.

Flexible automation of cell culture and tissue engineering tasks.

PubMed

Knoll, Alois; Scherer, Torsten; Poggendorf, Iris; Lütkemeyer, Dirk; Lehmann, Jürgen

2004-01-01

Until now, the predominant use cases of industrial robots have been routine handling tasks in the automotive industry. In biotechnology and tissue engineering, in contrast, only very few tasks have been automated with robots. New developments in robot platform and robot sensor technology, however, make it possible to automate plants that largely depend on human interaction with the production process, e.g., for material and cell culture fluid handling, transportation, operation of equipment, and maintenance. In this paper we present a robot system that lends itself to automating routine tasks in biotechnology but also has the potential to automate other production facilities that are similar in process structure. After motivating the design goals, we describe the system and its operation, illustrate sample runs, and give an assessment of the advantages. We conclude this paper by giving an outlook on possible further developments.

Stochastic control approaches for sensor management in search and exploitation

NASA Astrophysics Data System (ADS)

Hitchings, Darin Chester

Recent improvements in the capabilities of autonomous vehicles have motivated their increased use in such applications as defense, homeland security, environmental monitoring, and surveillance. To enhance performance in these applications, new algorithms are required to control teams of robots autonomously and through limited interactions with human operators. In this dissertation we develop new algorithms for control of robots performing information-seeking missions in unknown environments. These missions require robots to control their sensors in order to discover the presence of objects, keep track of the objects, and learn what these objects are, given a fixed sensing budget. Initially, we investigate control of multiple sensors, with a finite set of sensing options and finite-valued measurements, to locate and classify objects given a limited resource budget. The control problem is formulated as a Partially Observed Markov Decision Problem (POMDP), but its exact solution requires excessive computation. Under the assumption that sensor error statistics are independent and time-invariant, we develop a class of algorithms using Lagrangian Relaxation techniques to obtain optimal mixed strategies using performance bounds developed in previous research. We investigate alternative Receding Horizon (RH) controllers to convert the mixed strategies to feasible adaptive-sensing strategies and evaluate the relative performance of these controllers in simulation. The resulting controllers provide superior performance to alternative algorithms proposed in the literature and obtain solutions to large-scale POMDP problems several orders of magnitude faster than optimal Dynamic Programming (DP) approaches with comparable performance quality. We extend our results for finite action, finite measurement sensor control to scenarios with moving objects. We use Hidden Markov Models (HMMs) for the evolution of objects, according to the dynamics of a birth-death process. We develop a new lower bound on the performance of adaptive controllers in these scenarios, develop algorithms for computing solutions to this lower bound, and use these algorithms as part of a RH controller for sensor allocation in the presence of moving objects We also consider an adaptive Search problem where sensing actions are continuous and the underlying measurement space is also continuous. We extend our previous hierarchical decomposition approach based on performance bounds to this problem and develop novel implementations of Stochastic Dynamic Programming (SDP) techniques to solve this problem. Our algorithms are nearly two orders of magnitude faster than previously proposed approaches and yield solutions of comparable quality. For supervisory control, we discuss how human operators can work with and augment robotic teams performing these tasks. Our focus is on how tasks are partitioned among teams of robots and how a human operator can make intelligent decisions for task partitioning. We explore these questions through the design of a game that involves robot automata controlled by our algorithms and a human supervisor that partitions tasks based on different levels of support information. This game can be used with human subject experiments to explore the effect of information on quality of supervisory control.

Evolutionary online behaviour learning and adaptation in real robots

PubMed Central

Correia, Luís; Christensen, Anders Lyhne

2017-01-01

Online evolution of behavioural control on real robots is an open-ended approach to autonomous learning and adaptation: robots have the potential to automatically learn new tasks and to adapt to changes in environmental conditions, or to failures in sensors and/or actuators. However, studies have so far almost exclusively been carried out in simulation because evolution in real hardware has required several days or weeks to produce capable robots. In this article, we successfully evolve neural network-based controllers in real robotic hardware to solve two single-robot tasks and one collective robotics task. Controllers are evolved either from random solutions or from solutions pre-evolved in simulation. In all cases, capable solutions are found in a timely manner (1 h or less). Results show that more accurate simulations may lead to higher-performing controllers, and that completing the optimization process in real robots is meaningful, even if solutions found in simulation differ from solutions in reality. We furthermore demonstrate for the first time the adaptive capabilities of online evolution in real robotic hardware, including robots able to overcome faults injected in the motors of multiple units simultaneously, and to modify their behaviour in response to changes in the task requirements. We conclude by assessing the contribution of each algorithmic component on the performance of the underlying evolutionary algorithm. PMID:28791130

Advances in Simultaneous Localization and Mapping in Confined Underwater Environments Using Sonar and Optical Imaging

DTIC Science & Technology

2016-01-01

satisfying journeys in my life. I would like to thank Ryan for his guidance through the truly exciting world of mobile robotics and robotic perception. Thank...Multi-session and Multi-robot SLAM . . . . . . . . . . . . . . . 15 1.3.3 Robust Techniques for SLAM Backends . . . . . . . . . . . . . . 18 1.4 A...sonar. xv CHAPTER 1 Introduction 1.1 The Importance of SLAM in Autonomous Robotics Autonomous mobile robots are becoming a promising aid in a wide

Case studies in configuration control for redundant robots

NASA Technical Reports Server (NTRS)

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

1989-01-01

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

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.

Investigation of human-robot interface performance in household environments

NASA Astrophysics Data System (ADS)

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

2016-05-01

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

Geometric reasoning

NASA Technical Reports Server (NTRS)

Woodbury, R. F.; Oppenheim, I. J.

1987-01-01

Cognitive robot systems are ones in which sensing and representation occur, from which task plans and tactics are determined. Such a robot system accomplishes a task after being told what to do, but determines for itself how to do it. Cognition is required when the work environment is uncontrolled, when contingencies are prevalent, or when task complexity is large; it is useful in any robotic mission. A number of distinguishing features can be associated with cognitive robotics, and one emphasized here is the role of artificial intelligence in knowledge representation and in planning. While space telerobotics may elude some of the problems driving cognitive robotics, it shares many of the same demands, and it can be assumed that capabilities developed for cognitive robotics can be employed advantageously for telerobotics in general. The top level problem is task planning, and it is appropriate to introduce a hierarchical view of control. Presented with certain mission objectives, the system must generate plans (typically) at the strategic, tactical, and reflexive levels. The structure by which knowledge is used to construct and update these plans endows the system with its cognitive attributes, and with the ability to deal with contingencies, changes, unknowns, and so on. Issues of representation and reasoning which are absolutely fundamental to robot manipulation, decisions based upon geometry, are discussed here, not AI task planning per se.

A Developmental Learning Approach of Mobile Manipulator via Playing

PubMed Central

Wu, Ruiqi; Zhou, Changle; Chao, Fei; Zhu, Zuyuan; Lin, Chih-Min; Yang, Longzhi

2017-01-01

Inspired by infant development theories, a robotic developmental model combined with game elements is proposed in this paper. This model does not require the definition of specific developmental goals for the robot, but the developmental goals are implied in the goals of a series of game tasks. The games are characterized into a sequence of game modes based on the complexity of the game tasks from simple to complex, and the task complexity is determined by the applications of developmental constraints. Given a current mode, the robot switches to play in a more complicated game mode when it cannot find any new salient stimuli in the current mode. By doing so, the robot gradually achieves it developmental goals by playing different modes of games. In the experiment, the game was instantiated into a mobile robot with the playing task of picking up toys, and the game is designed with a simple game mode and a complex game mode. A developmental algorithm, “Lift-Constraint, Act and Saturate,” is employed to drive the mobile robot move from the simple mode to the complex one. The experimental results show that the mobile manipulator is able to successfully learn the mobile grasping ability after playing simple and complex games, which is promising in developing robotic abilities to solve complex tasks using games. PMID:29046632

International Space Station (ISS)

NASA Image and Video Library

2002-06-01

Backdropped against the blackness of space and the Earth's horizon, the Mobile Remote Base System (MBS) is moved by the Canadarm2 for installation on the International Space Station (ISS). Delivered by the STS-111 mission aboard the Space Shuttle Endeavour in June 2002, the MBS is an important part of the Station's Mobile Servicing System allowing the robotic arm to travel the length of the Station, which is neccessary for future construction tasks. In addition, STS-111 delivered a new crew, Expedition Five, replacing Expedition Four after remaining a record-setting 196 days in space. Three spacewalks enabled the STS-111 crew to accomplish the delivery and installation of the MBS to the Mobile Transporter on the S0 (S-zero) truss, the replacement of a wrist roll joint on the Station's robotic arm, and the task of unloading supplies and science experiments from the Leonardo Multi-Purpose Logistics Module, which made its third trip to the orbital outpost. The STS-111 mission, the 14th Shuttle mission to visit the ISS, was launched on June 5, 2002 and landed June 19, 2002.

A group-based tasks allocation algorithm for the optimization of long leave opportunities in academic departments

NASA Astrophysics Data System (ADS)

Eyono Obono, S. D.; Basak, Sujit Kumar

2011-12-01

The general formulation of the assignment problem consists in the optimal allocation of a given set of tasks to a workforce. This problem is covered by existing literature for different domains such as distributed databases, distributed systems, transportation, packets radio networks, IT outsourcing, and teaching allocation. This paper presents a new version of the assignment problem for the allocation of academic tasks to staff members in departments with long leave opportunities. It presents the description of a workload allocation scheme and its algorithm, for the allocation of an equitable number of tasks in academic departments where long leaves are necessary.

Precision manipulation with a dextrous robot hand

NASA Astrophysics Data System (ADS)

Michelman, Paul

1994-01-01

In this thesis, we discuss a framework for describing and synthesizing precision manipulation tasks with a robot hand. Precision manipulations are those in which the motions of grasped objects are caused by finger motions alone (as distinct from arm or wrist motion). Experiments demonstrating the capabilities of the Utah-MIT hand are presented. This work begins by examining current research on biological motor control to raise a number of questions. For example, is the control centralized and organized by a central processor? Or is the control distributed throughout the nervous system? Motor control research on manipulation has focused on developing classifications of hand motions, concentrating solely on finger motions, while neglecting grasp stability and interaction forces that occur in manipulation. In addition, these taxonomies have not been explicitly functional. This thesis defines and analyzes a basic set of manipulation strategies that includes both position and force trajectories. The fundamental purposes of the manipulations are: (1) rectilinear and rotational motion of grasped objects of different geometries; and (2) the application of forces and moments against the environment by the grasped objects. First, task partitioning is described to allocate the fingers their roles in the task. Second, for each strategy, the mechanics and workspace of the tasks are analyzed geometrically to determine the gross finger trajectories required to achieve the tasks. Techniques illustrating the combination of simple manipulations into complex, multiple degree-of-freedom tasks are presented. There is a discussion of several tasks that use multiple elementary strategies. The tasks described are removing the top of a childproof medicine bottle, putting the top back on, rotating and regrasping a block and a cylinder within the grasp. Finally, experimental results are presented. The experimental setup at Columbia University's Center for Research in Intelligent Systems and experiments with a Utah-MIT hand is discussed. First, the overall system design is described. Two hybrid position/force controllers were designed and built. After a discussion of the entire system, experimental results are presented describing each of the basic manipulation and complex manipulation strategies.

SETIBURST: A Robotic, Commensal, Realtime Multi-science Backend for the Arecibo Telescope

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

Chennamangalam, Jayanth; Karastergiou, Aris; Williams, Christopher

Radio astronomy has traditionally depended on observatories allocating time to observers for exclusive use of their telescopes. The disadvantage of this scheme is that the data thus collected is rarely used for other astronomy applications, and in many cases, is unsuitable. For example, properly calibrated pulsar search data can, with some reduction, be used for spectral line surveys. A backend that supports plugging in multiple applications to a telescope to perform commensal data analysis will vastly increase the science throughput of the facility. In this paper, we present “SETIBURST,” a robotic, commensal, realtime multi-science backend for the 305 m Arecibomore » Telescope. The system uses the 1.4 GHz, seven-beam Arecibo L -band Feed Array (ALFA) receiver whenever it is operated. SETIBURST currently supports two applications: SERENDIP VI, a SETI spectrometer that is conducting a search for signs of technological life, and ALFABURST, a fast transient search system that is conducting a survey of fast radio bursts (FRBs). Based on the FRB event rate and the expected usage of ALFA, we expect 0–5 FRB detections over the coming year. SETIBURST also provides the option of plugging in more applications. We outline the motivation for our instrumentation scheme and the scientific motivation of the two surveys, along with their descriptions and related discussions.« less

Study of robotics systems applications to the space station program

NASA Technical Reports Server (NTRS)

Fox, J. C.

1983-01-01

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

Affordance Templates for Shared Robot Control

NASA Technical Reports Server (NTRS)

Hart, Stephen; Dinh, Paul; Hambuchen, Kim

2014-01-01

This paper introduces the Affordance Template framework used to supervise task behaviors on the NASA-JSC Valkyrie robot at the 2013 DARPA Robotics Challenge (DRC) Trials. This framework provides graphical interfaces to human supervisors that are adjustable based on the run-time environmental context (e.g., size, location, and shape of objects that the robot must interact with, etc.). Additional improvements, described below, inject degrees of autonomy into instantiations of affordance templates at run-time in order to enable efficient human supervision of the robot for accomplishing tasks.

Robotic intelligence kernel

DOEpatents

Bruemmer, David J [Idaho Falls, ID

2009-11-17

A robot platform includes perceptors, locomotors, and a system controller. The system controller executes a robot intelligence kernel (RIK) that includes a multi-level architecture and a dynamic autonomy structure. The multi-level architecture includes a robot behavior level for defining robot behaviors, that incorporate robot attributes and a cognitive level for defining conduct modules that blend an adaptive interaction between predefined decision functions and the robot behaviors. The dynamic autonomy structure is configured for modifying a transaction capacity between an operator intervention and a robot initiative and may include multiple levels with at least a teleoperation mode configured to maximize the operator intervention and minimize the robot initiative and an autonomous mode configured to minimize the operator intervention and maximize the robot initiative. Within the RIK at least the cognitive level includes the dynamic autonomy structure.

Live video monitoring robot controlled by web over internet

NASA Astrophysics Data System (ADS)

Lokanath, M.; Akhil Sai, Guruju

2017-11-01

Future is all about robots, robot can perform tasks where humans cannot, Robots have huge applications in military and industrial area for lifting heavy weights, for accurate placements, for repeating the same task number of times, where human are not efficient. Generally robot is a mix of electronic, electrical and mechanical engineering and can do the tasks automatically on its own or under the supervision of humans. The camera is the eye for robot, call as robovision helps in monitoring security system and also can reach into the places where the human eye cannot reach. This paper presents about developing a live video streaming robot controlled from the website. We designed the web, controlling for the robot to move left, right, front and back while streaming video. As we move to the smart environment or IoT (Internet of Things) by smart devices the system we developed here connects over the internet and can be operated with smart mobile phone using a web browser. The Raspberry Pi model B chip acts as heart for this system robot, the sufficient motors, surveillance camera R pi 2 are connected to Raspberry pi.

Comparison of two simulation systems to support robotic-assisted surgical training: a pilot study (Swine model).

PubMed

Whitehurst, Sabrina V; Lockrow, Ernest G; Lendvay, Thomas S; Propst, Anthony M; Dunlow, Susan G; Rosemeyer, Christopher J; Gobern, Joseph M; White, Lee W; Skinner, Anna; Buller, Jerome L

2015-01-01

To compare the efficacy of simulation-based training between the Mimic dV- Trainer and traditional dry lab da Vinci robot training. A prospective randomized study analyzing the performance of 20 robotics-naive participants. Participants were enrolled in an online da Vinci Intuitive Surgical didactic training module, followed by training in use of the da Vinci standard surgical robot. Spatial ability tests were performed as well. Participants were randomly assigned to 1 of 2 training conditions: performance of 3 Fundamentals of Laparoscopic Surgery dry lab tasks using the da Vinci or performance of 4 dV-Trainer tasks. Participants in both groups performed all tasks to empirically establish proficiency criterion. Participants then performed the transfer task, a cystotomy closure using the daVinci robot on a live animal (swine) model. The performance of robotic tasks was blindly assessed by a panel of experienced surgeons using objective tracking data and using the validated Global Evaluative Assessment of Robotic Surgery (GEARS), a structured assessment tool. No statistically significant difference in surgeon performance was found between the 2 training conditions, dV-Trainer and da Vinci robot. Analysis of a 95% confidence interval for the difference in means (-0.803 to 0.543) indicated that the 2 methods are unlikely to differ to an extent that would be clinically meaningful. Based on the results of this study, a curriculum on the dV- Trainer was shown to be comparable to traditional da Vinci robot training. Therefore, we have identified that training on a virtual reality system may be an alternative to live animal training for future robotic surgeons. Published by Elsevier Inc.

Effort, performance, and motivation: insights from robot-assisted training of human golf putting and rat grip strength.

PubMed

Duarte, Jaime E; Gebrekristos, Berkenesh; Perez, Sergi; Rowe, Justin B; Sharp, Kelli; Reinkensmeyer, David J

2013-06-01

Robotic devices can modulate success rates and required effort levels during motor training, but it is unclear how this affects performance gains and motivation. Here we present results from training unimpaired humans in a virtual golf-putting task, and training spinal cord injured (SCI) rats in a grip strength task using robotically modulated success rates and effort levels. Robotic assistance in golf practice increased trainees feelings of competence, and, paradoxically, increased their sense effort, even though it had mixed effects on learning. Reducing effort during a grip strength training task led rats with SCI to practice the task more frequently. However, the more frequent practice of these rats did not cause them to exceed the strength gains achieved by rats that exercised less often at higher required effort levels. These results show that increasing success and decreasing effort with robots increases motivation, but has mixed effects on performance gains.

ROBOSIGHT: Robotic Vision System For Inspection And Manipulation

NASA Astrophysics Data System (ADS)

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

1989-02-01

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

Context recognition and situation assessment in autonomous mobile robots

NASA Astrophysics Data System (ADS)

Yavnai, Arie

1993-05-01

The capability to recognize the operating context and to assess the situation in real-time is needed, if a high functionality autonomous mobile robot has to react properly and effectively to continuously changing situations and events, either external or internal, while the robot is performing its assigned tasks. A new approach and architecture for context recognition and situation assessment module (CORSA) is presented in this paper. CORSA is a multi-level information processing module which consists of adaptive decision and classification algorithms. It performs dynamic mapping from the data space to the context space, and dynamically decides on the context class. Learning mechanism is employed to update the decision variables so as to minimize the probability of misclassification. CORSA is embedded within the Mission Manager module of the intelligent autonomous hyper-controller (IAHC) of the mobile robot. The information regarding operating context, events and situation is then communicated to other modules of the IAHC where it is used to: (a) select the appropriate action strategy; (b) support the processes to arbitration and conflict resolution between reflexive behaviors and reasoning-driven behaviors; (c) predict future events and situations; and (d) determine criteria and priorities for planning, replanning, and decision making.

A formation control strategy with coupling weights for the multi-robot system

NASA Astrophysics Data System (ADS)

Liang, Xudong; Wang, Siming; Li, Weijie

2017-12-01

The distributed formation problem of the multi-robot system with general linear dynamic characteristics and directed communication topology is discussed. In order to avoid that the multi-robot system can not maintain the desired formation in the complex communication environment, the distributed cooperative algorithm with coupling weights based on zipf distribution is designed. The asymptotic stability condition for the formation of the multi-robot system is given, and the theory of the graph and the Lyapunov theory are used to prove that the formation can converge to the desired geometry formation and the desired motion rules of the virtual leader under this condition. Nontrivial simulations are performed to validate the effectiveness of the distributed cooperative algorithm with coupling weights.

Conceptual design of a novel multi-DoF manual instrument for laparoscopic surgery.

PubMed

Wang, Xiaofei; Wang, Shuxin; Li, Jianmin; Zhang, Guokai; Wu, Zhiliang

2013-03-01

Laparoscopic surgery is becoming increasingly popular throughout the world. But the conventional instruments used in many surgeries are not flexible enough to be operated. Challenging tasks, such as suturing and knot-tying tasks are difficult to complete using conventional instruments with limited degrees of freedom (DoFs). In the paper, a novel cable-driven multi-DoF manual instrument is presented with a simple structure but strong functionality. The proposed instrument has been developed with a wristlike operation end (OE), a wristlike end effector (EE), and the transmission system. It can be operated intuitively. The orientation and the position of the EE are directly controlled by surgeons due to the one-to-one motion mapping structure. The clamp structure and tension device are reasonably designed. The pitch, yaw, and the open and close motion are actuated by cables. Based on the optimization index Global Condition Index (GCI), four cables are used to actuate the pitch and yaw motions, while other two are used for the open and close motion. The layout of the cables is also determined by the GCI. Experiments carried out with a prototype show that tasks such as suturing and knot-tying can be completed comfortably. Due to the intuitive control and multi-DoFs, surgeons can use the prototype to finish the tasks with ease. The instrument developed herein with intuitive control and dexterity can be used alone or together with a robotic system to accomplish some challenging tasks that are difficult for conventional instruments. Copyright © 2012 John Wiley & Sons, Ltd.

Human-Robot Interaction: Status and Challenges.

PubMed

Sheridan, Thomas B

2016-06-01

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

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

PubMed

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

2014-08-15

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

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

PubMed Central

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

2014-01-01

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

Task partitioning in a robot swarm: object retrieval as a sequence of subtasks with direct object transfer.

PubMed

Pini, Giovanni; Brutschy, Arne; Scheidler, Alexander; Dorigo, Marco; Birattari, Mauro

2014-01-01

We study task partitioning in the context of swarm robotics. Task partitioning is the decomposition of a task into subtasks that can be tackled by different workers. We focus on the case in which a task is partitioned into a sequence of subtasks that must be executed in a certain order. This implies that the subtasks must interface with each other, and that the output of a subtask is used as input for the subtask that follows. A distinction can be made between task partitioning with direct transfer and with indirect transfer. We focus our study on the first case: The output of a subtask is directly transferred from an individual working on that subtask to an individual working on the subtask that follows. As a test bed for our study, we use a swarm of robots performing foraging. The robots have to harvest objects from a source, situated in an unknown location, and transport them to a home location. When a robot finds the source, it memorizes its position and uses dead reckoning to return there. Dead reckoning is appealing in robotics, since it is a cheap localization method and it does not require any additional external infrastructure. However, dead reckoning leads to errors that grow in time if not corrected periodically. We compare a foraging strategy that does not make use of task partitioning with one that does. We show that cooperation through task partitioning can be used to limit the effect of dead reckoning errors. This results in improved capability of locating the object source and in increased performance of the swarm. We use the implemented system as a test bed to study benefits and costs of task partitioning with direct transfer. We implement the system with real robots, demonstrating the feasibility of our approach in a foraging scenario.

Performing Complex Tasks by Users With Upper-Extremity Disabilities Using a 6-DOF Robotic Arm: A Study.

PubMed

Al-Halimi, Reem K; Moussa, Medhat

2017-06-01

In this paper, we report on the results of a study that was conducted to examine how users suffering from severe upper-extremity disabilities can control a 6 degrees-of-freedom (DOF) robotics arm to complete complex activities of daily living. The focus of the study is not on assessing the robot arm but on examining the human-robot interaction patterns. Three participants were recruited. Each participant was asked to perform three tasks: eating three pieces of pre-cut bread from a plate, drinking three sips of soup from a bowl, and opening a right-handed door with lever handle. Each of these tasks was repeated three times. The arm was mounted on the participant's wheelchair, and the participants were free to move the arm as they wish to complete these tasks. Each task consisted of a sequence of modes where a mode is defined as arm movement in one DOF. Results show that participants used a total of 938 mode movements with an average of 75.5 (std 10.2) modes for the eating task, 70 (std 8.8) modes for the soup task, and 18.7 (std 4.5) modes for the door opening task. Tasks were then segmented into smaller subtasks. It was found that there are patterns of usage per participant and per subtask. These patterns can potentially allow a robot to learn from user's demonstration what is the task being executed and by whom and respond accordingly to reduce user effort.

Development and validation of a composite scoring system for robot-assisted surgical training--the Robotic Skills Assessment Score.

PubMed

Chowriappa, Ashirwad J; Shi, Yi; Raza, Syed Johar; Ahmed, Kamran; Stegemann, Andrew; Wilding, Gregory; Kaouk, Jihad; Peabody, James O; Menon, Mani; Hassett, James M; Kesavadas, Thenkurussi; Guru, Khurshid A

2013-12-01

A standardized scoring system does not exist in virtual reality-based assessment metrics to describe safe and crucial surgical skills in robot-assisted surgery. This study aims to develop an assessment score along with its construct validation. All subjects performed key tasks on previously validated Fundamental Skills of Robotic Surgery curriculum, which were recorded, and metrics were stored. After an expert consensus for the purpose of content validation (Delphi), critical safety determining procedural steps were identified from the Fundamental Skills of Robotic Surgery curriculum and a hierarchical task decomposition of multiple parameters using a variety of metrics was used to develop Robotic Skills Assessment Score (RSA-Score). Robotic Skills Assessment mainly focuses on safety in operative field, critical error, economy, bimanual dexterity, and time. Following, the RSA-Score was further evaluated for construct validation and feasibility. Spearman correlation tests performed between tasks using the RSA-Scores indicate no cross correlation. Wilcoxon rank sum tests were performed between the two groups. The proposed RSA-Score was evaluated on non-robotic surgeons (n = 15) and on expert-robotic surgeons (n = 12). The expert group demonstrated significantly better performance on all four tasks in comparison to the novice group. Validation of the RSA-Score in this study was carried out on the Robotic Surgical Simulator. The RSA-Score is a valid scoring system that could be incorporated in any virtual reality-based surgical simulator to achieve standardized assessment of fundamental surgical tents during robot-assisted surgery. Copyright © 2013 Elsevier Inc. All rights reserved.

Division of Labor in Two-Earner Homes: Task Accomplishment versus Household Management as Critical Variables in Perceptions about Family Work.

ERIC Educational Resources Information Center

Mederer, Helen J.

1993-01-01

Data from 359 married, full-time employed women tested extent to which allocation of tasks and allocation of household management predict perceptions of fairness and conflict. Task and management allocation contributed independently and differently to perceptions of fairness and conflict about housework allocation. Unfairness was predicted by both…

Reverse control for humanoid robot task recognition.

PubMed

Hak, Sovannara; Mansard, Nicolas; Stasse, Olivier; Laumond, Jean Paul

2012-12-01

Efficient methods to perform motion recognition have been developed using statistical tools. Those methods rely on primitive learning in a suitable space, for example, the latent space of the joint angle and/or adequate task spaces. Learned primitives are often sequential: A motion is segmented according to the time axis. When working with a humanoid robot, a motion can be decomposed into parallel subtasks. For example, in a waiter scenario, the robot has to keep some plates horizontal with one of its arms while placing a plate on the table with its free hand. Recognition can thus not be limited to one task per consecutive segment of time. The method presented in this paper takes advantage of the knowledge of what tasks the robot is able to do and how the motion is generated from this set of known controllers, to perform a reverse engineering of an observed motion. This analysis is intended to recognize parallel tasks that have been used to generate a motion. The method relies on the task-function formalism and the projection operation into the null space of a task to decouple the controllers. The approach is successfully applied on a real robot to disambiguate motion in different scenarios where two motions look similar but have different purposes.

The Control Based on Internal Average Kinetic Energy in Complex Environment for Multi-robot System

NASA Astrophysics Data System (ADS)

Yang, Mao; Tian, Yantao; Yin, Xianghua

In this paper, reference trajectory is designed according to minimum energy consumed for multi-robot system, which nonlinear programming and cubic spline interpolation are adopted. The control strategy is composed of two levels, which lower-level is simple PD control and the upper-level is based on the internal average kinetic energy for multi-robot system in the complex environment with velocity damping. Simulation tests verify the effectiveness of this control strategy.

Distributed Multi-Cell Resource Allocation with Price Based ICI Coordination in Downlink OFDMA Networks

NASA Astrophysics Data System (ADS)

Lv, Gangming; Zhu, Shihua; Hui, Hui

Multi-cell resource allocation under minimum rate request for each user in OFDMA networks is addressed in this paper. Based on Lagrange dual decomposition theory, the joint multi-cell resource allocation problem is decomposed and modeled as a limited-cooperative game, and a distributed multi-cell resource allocation algorithm is thus proposed. Analysis and simulation results show that, compared with non-cooperative iterative water-filling algorithm, the proposed algorithm can remarkably reduce the ICI level and improve overall system performances.

Robotic Toys as a Catalyst for Mathematical Problem Solving

ERIC Educational Resources Information Center

Highfield, Kate

2010-01-01

Robotic toys present unique opportunities for teachers of young children to integrate mathematics learning with engaging problem-solving tasks. This article describes a series of tasks using Bee-bots and Pro-bots, developed as part a larger project examining young children's use of robotic toys as tools in developing mathematical and metacognitive…

Multi-Robot Interfaces and Operator Situational Awareness: Study of the Impact of Immersion and Prediction

PubMed Central

Peña-Tapia, Elena; Martín-Barrio, Andrés; Olivares-Méndez, Miguel A.

2017-01-01

Multi-robot missions are a challenge for operators in terms of workload and situational awareness. These operators have to receive data from the robots, extract information, understand the situation properly, make decisions, generate the adequate commands, and send them to the robots. The consequences of excessive workload and lack of awareness can vary from inefficiencies to accidents. This work focuses on the study of future operator interfaces of multi-robot systems, taking into account relevant issues such as multimodal interactions, immersive devices, predictive capabilities and adaptive displays. Specifically, four interfaces have been designed and developed: a conventional, a predictive conventional, a virtual reality and a predictive virtual reality interface. The four interfaces have been validated by the performance of twenty-four operators that supervised eight multi-robot missions of fire surveillance and extinguishing. The results of the workload and situational awareness tests show that virtual reality improves the situational awareness without increasing the workload of operators, whereas the effects of predictive components are not significant and depend on their implementation. PMID:28749407

An anatomy of industrial robots and their controls

NASA Astrophysics Data System (ADS)

Luh, J. Y. S.

1983-02-01

The modernization of manufacturing facilities by means of automation represents an approach for increasing productivity in industry. The three existing types of automation are related to continuous process controls, the use of transfer conveyor methods, and the employment of programmable automation for the low-volume batch production of discrete parts. The industrial robots, which are defined as computer controlled mechanics manipulators, belong to the area of programmable automation. Typically, the robots perform tasks of arc welding, paint spraying, or foundary operation. One may assign a robot to perform a variety of job assignments simply by changing the appropriate computer program. The present investigation is concerned with an evaluation of the potential of the robot on the basis of its basic structure and controls. It is found that robots function well in limited areas of industry. If the range of tasks which robots can perform is to be expanded, it is necessary to provide multiple-task sensors, or special tooling, or even automatic tooling.

Trial Development of a Mobile Feeding Assistive Robotic Arm for People with Physical Disabilities of the Extremities

NASA Astrophysics Data System (ADS)

Uehara, Hideyuki; Higa, Hiroki; Soken, Takashi; Namihira, Yoshinori

A mobile feeding assistive robotic arm for people with physical disabilities of the extremities has been developed in this paper. This system is composed of a robotic arm, microcontroller, and its interface. The main unit of the robotic arm can be contained in a laptop computer's briefcase. Its weight is 5kg, including two 12-V lead acid rechargeable batteries. This robotic arm can be also mounted on a wheelchair. To verify performance of the mobile robotic arm system, drinking tea task was experimentally performed by two able-bodied subjects as well as three persons suffering from muscular dystrophy. From the experimental results, it was clear that they could smoothly carry out the drinking task, and that the robotic arm could firmly grasp a commercially available 500-ml plastic bottle. The eating task was also performed by the two able-bodied subjects. The experimental results showed that they could eat porridge by using a spoon without any difficulty.

Terrain discovery and navigation of a multi-articulated linear robot using map-seeking circuits

NASA Astrophysics Data System (ADS)

Snider, Ross K.; Arathorn, David W.

2006-05-01

A significant challenge in robotics is providing a robot with the ability to sense its environment and then autonomously move while accommodating obstacles. The DARPA Grand Challenge, one of the most visible examples, set the goal of driving a vehicle autonomously for over a hundred miles avoiding obstacles along a predetermined path. Map-Seeking Circuits have shown their biomimetic capability in both vision and inverse kinematics and here we demonstrate their potential usefulness for intelligent exploration of unknown terrain using a multi-articulated linear robot. A robot that could handle any degree of terrain complexity would be useful for exploring inaccessible crowded spaces such as rubble piles in emergency situations, patrolling/intelligence gathering in tough terrain, tunnel exploration, and possibly even planetary exploration. Here we simulate autonomous exploratory navigation by an interaction of terrain discovery using the multi-articulated linear robot to build a local terrain map and exploitation of that growing terrain map to solve the propulsion problem of the robot.

A Robotic Coach Architecture for Elder Care (ROCARE) Based on Multi-user Engagement Models

PubMed Central

Fan, Jing; Bian, Dayi; Zheng, Zhi; Beuscher, Linda; Newhouse, Paul A.; Mion, Lorraine C.; Sarkar, Nilanjan

2017-01-01

The aging population with its concomitant medical conditions, physical and cognitive impairments, at a time of strained resources, establishes the urgent need to explore advanced technologies that may enhance function and quality of life. Recently, robotic technology, especially socially assistive robotics has been investigated to address the physical, cognitive, and social needs of older adults. Most system to date have predominantly focused on one-on-one human robot interaction (HRI). In this paper, we present a multi-user engagement-based robotic coach system architecture (ROCARE). ROCARE is capable of administering both one-on-one and multi-user HRI, providing implicit and explicit channels of communication, and individualized activity management for long-term engagement. Two preliminary feasibility studies, a one-on-one interaction and a triadic interaction with two humans and a robot, were conducted and the results indicated potential usefulness and acceptance by older adults, with and without cognitive impairment. PMID:28113672

A Robotic Coach Architecture for Elder Care (ROCARE) Based on Multi-User Engagement Models.

PubMed

Fan, Jing; Bian, Dayi; Zheng, Zhi; Beuscher, Linda; Newhouse, Paul A; Mion, Lorraine C; Sarkar, Nilanjan

2017-08-01

The aging population with its concomitant medical conditions, physical and cognitive impairments, at a time of strained resources, establishes the urgent need to explore advanced technologies that may enhance function and quality of life. Recently, robotic technology, especially socially assistive robotics has been investigated to address the physical, cognitive, and social needs of older adults. Most system to date have predominantly focused on one-on-one human robot interaction (HRI). In this paper, we present a multi-user engagement-based robotic coach system architecture (ROCARE). ROCARE is capable of administering both one-on-one and multi-user HRI, providing implicit and explicit channels of communication, and individualized activity management for long-term engagement. Two preliminary feasibility studies, a one-on-one interaction and a triadic interaction with two humans and a robot, were conducted and the results indicated potential usefulness and acceptance by older adults, with and without cognitive impairment.

Integration of task level planning and diagnosis for an intelligent robot

NASA Technical Reports Server (NTRS)

Chan, Amy W.

1992-01-01

A satellite floating space is diagnosed with a telerobot attached performing maintenance or replacement tasks. This research included three objectives. The first objective was to generate intelligent path planning for a robot to move around a satellite. The second objective was to diagnose possible faulty scenarios in the satellite. The third objective included two tasks. The first task was to combine intelligent path planning with diagnosis. The second task was to build an interface between the combined intelligent system with Robosim. The ability of a robot to deal with unexpected scenarios is particularly important in space since the situation could be different from time to time so that the telerobot must be capable of detecting that the situation has changed and the necessity may exist to alter its behavior based on the new situation. The feature of allowing human-in-the-loop is also very important in space. In some extreme cases, the situation is beyond the capability of a robot so our research project allows the human to override the decision of a robot.

Task-level control for autonomous robots

NASA Technical Reports Server (NTRS)

Simmons, Reid

1994-01-01

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

Asymptotically Optimal Motion Planning for Learned Tasks Using Time-Dependent Cost Maps

PubMed Central

Bowen, Chris; Ye, Gu; Alterovitz, Ron

2015-01-01

In unstructured environments in people’s homes and workspaces, robots executing a task may need to avoid obstacles while satisfying task motion constraints, e.g., keeping a plate of food level to avoid spills or properly orienting a finger to push a button. We introduce a sampling-based method for computing motion plans that are collision-free and minimize a cost metric that encodes task motion constraints. Our time-dependent cost metric, learned from a set of demonstrations, encodes features of a task’s motion that are consistent across the demonstrations and, hence, are likely required to successfully execute the task. Our sampling-based motion planner uses the learned cost metric to compute plans that simultaneously avoid obstacles and satisfy task constraints. The motion planner is asymptotically optimal and minimizes the Mahalanobis distance between the planned trajectory and the distribution of demonstrations in a feature space parameterized by the locations of task-relevant objects. The motion planner also leverages the distribution of the demonstrations to significantly reduce plan computation time. We demonstrate the method’s effectiveness and speed using a small humanoid robot performing tasks requiring both obstacle avoidance and satisfaction of learned task constraints. Note to Practitioners Motivated by the desire to enable robots to autonomously operate in cluttered home and workplace environments, this paper presents an approach for intuitively training a robot in a manner that enables it to repeat the task in novel scenarios and in the presence of unforeseen obstacles in the environment. Based on user-provided demonstrations of the task, our method learns features of the task that are consistent across the demonstrations and that we expect should be repeated by the robot when performing the task. We next present an efficient algorithm for planning robot motions to perform the task based on the learned features while avoiding obstacles. We demonstrate the effectiveness of our motion planner for scenarios requiring transferring a powder and pushing a button in environments with obstacles, and we plan to extend our results to more complex tasks in the future. PMID:26279642

Smooth leader or sharp follower? Playing the mirror game with a robot.

PubMed

Kashi, Shir; Levy-Tzedek, Shelly

2018-01-01

The increasing number of opportunities for human-robot interactions in various settings, from industry through home use to rehabilitation, creates a need to understand how to best personalize human-robot interactions to fit both the user and the task at hand. In the current experiment, we explored a human-robot collaborative task of joint movement, in the context of an interactive game. We set out to test people's preferences when interacting with a robotic arm, playing a leader-follower imitation game (the mirror game). Twenty two young participants played the mirror game with the robotic arm, where one player (person or robot) followed the movements of the other. Each partner (person and robot) was leading part of the time, and following part of the time. When the robotic arm was leading the joint movement, it performed movements that were either sharp or smooth, which participants were later asked to rate. The greatest preference was given to smooth movements. Half of the participants preferred to lead, and half preferred to follow. Importantly, we found that the movements of the robotic arm primed the subsequent movements performed by the participants. The priming effect by the robot on the movements of the human should be considered when designing interactions with robots. Our results demonstrate individual differences in preferences regarding the role of the human and the joint motion path of the robot and the human when performing the mirror game collaborative task, and highlight the importance of personalized human-robot interactions.

Compliant Task Execution and Learning for Safe Mixed-Initiative Human-Robot Operations

NASA Technical Reports Server (NTRS)

Dong, Shuonan; Conrad, Patrick R.; Shah, Julie A.; Williams, Brian C.; Mittman, David S.; Ingham, Michel D.; Verma, Vandana

2011-01-01

We introduce a novel task execution capability that enhances the ability of in-situ crew members to function independently from Earth by enabling safe and efficient interaction with automated systems. This task execution capability provides the ability to (1) map goal-directed commands from humans into safe, compliant, automated actions, (2) quickly and safely respond to human commands and actions during task execution, and (3) specify complex motions through teaching by demonstration. Our results are applicable to future surface robotic systems, and we have demonstrated these capabilities on JPL's All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robot.

Promoting Interactions Between Humans and Robots Using Robotic Emotional Behavior.

PubMed

Ficocelli, Maurizio; Terao, Junichi; Nejat, Goldie

2016-12-01

The objective of a socially assistive robot is to create a close and effective interaction with a human user for the purpose of giving assistance. In particular, the social interaction, guidance, and support that a socially assistive robot can provide a person can be very beneficial to patient-centered care. However, there are a number of research issues that need to be addressed in order to design such robots. This paper focuses on developing effective emotion-based assistive behavior for a socially assistive robot intended for natural human-robot interaction (HRI) scenarios with explicit social and assistive task functionalities. In particular, in this paper, a unique emotional behavior module is presented and implemented in a learning-based control architecture for assistive HRI. The module is utilized to determine the appropriate emotions of the robot to display, as motivated by the well-being of the person, during assistive task-driven interactions in order to elicit suitable actions from users to accomplish a given person-centered assistive task. A novel online updating technique is used in order to allow the emotional model to adapt to new people and scenarios. Experiments presented show the effectiveness of utilizing robotic emotional assistive behavior during HRI scenarios.

A Hexapod Robot to Demonstrate Mesh Walking in a Microgravity Environment

NASA Technical Reports Server (NTRS)

Foor, David C.

2005-01-01

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

Competencies Identification for Robotics Training.

ERIC Educational Resources Information Center

Tang, Le D.

A study focused on the task of identifying competencies for robotics training. The level of robotics training was limited to that of robot technicians. Study objectives were to obtain a list of occupational competencies; to rank their order of importance; and to compare opinions from robot manufacturers, robot users, and robotics educators…

Functional assessment and performance evaluation for assistive robotic manipulators: Literature review.

PubMed

Chung, Cheng-Shiu; Wang, Hongwu; Cooper, Rory A

2013-07-01

The user interface development of assistive robotic manipulators can be traced back to the 1960s. Studies include kinematic designs, cost-efficiency, user experience involvements, and performance evaluation. This paper is to review studies conducted with clinical trials using activities of daily living (ADLs) tasks to evaluate performance categorized using the International Classification of Functioning, Disability, and Health (ICF) frameworks, in order to give the scope of current research and provide suggestions for future studies. We conducted a literature search of assistive robotic manipulators from 1970 to 2012 in PubMed, Google Scholar, and University of Pittsburgh Library System - PITTCat. Twenty relevant studies were identified. Studies were separated into two broad categories: user task preferences and user-interface performance measurements of commercialized and developing assistive robotic manipulators. The outcome measures and ICF codes associated with the performance evaluations are reported. Suggestions for the future studies include (1) standardized ADL tasks for the quantitative and qualitative evaluation of task efficiency and performance to build comparable measures between research groups, (2) studies relevant to the tasks from user priority lists and ICF codes, and (3) appropriate clinical functional assessment tests with consideration of constraints in assistive robotic manipulator user interfaces. In addition, these outcome measures will help physicians and therapists build standardized tools while prescribing and assessing assistive robotic manipulators.

TROTER's (Tiny Robotic Operation Team Experiment): A new concept of space robots

NASA Technical Reports Server (NTRS)

Su, Renjeng

1990-01-01

In view of the future need of automation and robotics in space and the existing approaches to the problem, we proposed a new concept of robots for space construction. The new concept is based on the basic idea of decentralization. Decentralization occurs, on the one hand, in using teams of many cooperative robots for construction tasks. Redundancy and modular design are explored to achieve high reliability for team robotic operations. Reliability requirement on individual robots is greatly reduced. Another area of decentralization is manifested by the proposed control hierarchy which eventually includes humans in the loop. The control strategy is constrained by various time delays and calls for different levels of abstraction of the task dynamics. Such technology is needed for remote control of robots in an uncertain environment. Thus, concerns of human safety around robots are relaxed. This presentation also introduces the required technologies behind the new robotic concept.

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

NASA Technical Reports Server (NTRS)

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

2014-01-01

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

Industrial robots on the line

NASA Astrophysics Data System (ADS)

Ayres, R.; Miller, S.

1982-06-01

The characteristics, applications, and operational capabilities of currently available robots are examined. Designed to function at tasks of a repetitive, hazardous, or uncreative nature, robot appendages are controlled by microprocessors which permit some simple decision-making on-the-job, and have served for sample gathering on the Mars Viking lander. Critical developmental areas concern active sensors at the robot grappler-object interface, where sufficient data must be gathered for the central processor to which the robot is attached to conclude the state of completion and suitability of the workpiece. Although present robots must be programmed through every step of a particular industrial process, thus limiting each robot to specialized tasks, the potential for closed cells of batch-processing robot-run units is noted to be close to realization. Finally, consideration is given to methods for retraining the human workforce that robots replace

Antenna Technologies for Future NASA Exploration Missions

NASA Technical Reports Server (NTRS)

Miranda, Felix A.

2006-01-01

NASA s plans for the manned exploration of the moon and Mars will rely heavily on the development of a reliable communications infrastructure on the surface and back to Earth. Future missions will thus focus not only on gathering scientific data, but also on the formation of the communications network. In either case, unique requirements become imposed on the antenna technologies necessary to accomplish these tasks. For example, surface activity applications such as robotic rovers, human extravehicular activities (EVA), and probes will require small size, lightweight, low power, multi-functionality, and robustness for the antenna elements being considered. Trunk-line communications to a centralized habitat on the surface and back to Earth (e.g., surface relays, satellites, landers) will necessitate wide-area coverage, high gain, low mass, deployable antennas. Likewise, the plethora of low to high data rate services desired to guarantee the safety and quality of mission data for robotic and human exploration will place additional demands on the technology. Over the past year, NASA Glenn Research Center has been heavily involved in the development of candidate antenna technologies with the potential for meeting these strict requirements. This technology ranges from electrically small antennas to phased array and large inflatable structures. A summary of this overall effort is provided, with particular attention being paid to small antenna designs and applications. A discussion of the Agency-wide activities of the Exploration Systems Mission Directorate (ESMD) in forthcoming NASA missions, as they pertain to the communications architecture for the lunar and Martian networks is performed, with an emphasis on the desirable qualities of potential antenna element designs for envisioned communications assets. Identified frequency allocations for the lunar and Martian surfaces, as well as asset-specific data services will be described to develop a foundation for viable antenna technologies which might address these requirements and help guide future technology development decisions.

A Review of Antenna Technologies for Future NASA Exploration Missions

NASA Technical Reports Server (NTRS)

Miranda, Felix A.; Nessel, James A.; Romanofsky, Robert R.; Acostia, Roberto J.

2006-01-01

NASA s plans for the manned exploration of the Moon and Mars will rely heavily on the development of a reliable communications infrastructure from planetary surface-to-surface, surface-to-orbit and back to Earth. Future missions will thus focus not only on gathering scientific data, but also on the formation of the communications network. In either case, unique requirements become imposed on the antenna technologies necessary to accomplish these tasks. For example, proximity (i.e., short distance) surface activity applications such as robotic rovers, human extravehicular activities (EVA), and probes will require small size, lightweight, low power, multi-functionality, and robustness for the antenna elements being considered. In contrast, trunk-line communications to a centralized habitat on the surface and back to Earth (e.g., relays, satellites, and landers) will necessitate high gain, low mass antennas such as novel inflatable/deployable antennas. Likewise, the plethora of low to high data rate services desired to guarantee the safety and quality of mission data for robotic and human exploration will place additional demands on the technology. Over the last few years, NASA Glenn Research Center has been heavily involved in the development and evaluation of candidate antenna technologies with the potential for meeting the aforementioned requirements. These technologies range from electrically small antennas to phased arrays and large inflatable antenna structures. A summary of these efforts will be discussed in this paper. NASA planned activities under the Exploration Vision as they pertain to the communications architecture for the Lunar and Martian scenarios will be discussed, with emphasis on the desirable qualities of potential antenna element designs for envisioned communications assets. Identified frequency allocations for the Lunar and Martian surfaces, as well as asset-specific data services will be described to develop a foundation for viable antenna technologies which might address these requirements and help guide future technology development decisions

A Review of Antenna Technologies for Future NASA Exploration Missions

NASA Technical Reports Server (NTRS)

Miranda, Felix A.; Nessel, James A.; Romanofsky, Robert R.; Acosta, J.

2007-01-01

NASA's plans for the manned exploration of the Moon and Mars will rely heavily on the development of a reliable communications infrastructure from planetary surface-to-surface, surface-to-orbit and back to Earth. Future missions will thus focus not only on gathering scientific data, but also on the formation of the communications network. In either case, unique requirements become imposed on the antenna technologies necessary to accomplish these tasks. For example, proximity (i.e., short distance) surface activity applications such as robotic rovers, human extravehicular activities (EVA), and probes will require small size, lightweight, low power, multi-functionality, and robustness for the antenna elements being considered. In contrast, trunk-line communications to a centralized habitat on the surface and back to Earth (e.g., relays, satellites, and landers) will necessitate high gain, low mass antennas such as novel inflatable/deployable antennas. Likewise, the plethora of low to high data rate services desired to guarantee the safety and quality of mission data for robotic and human exploration will place additional demands on the technology. Over the last few years, NASA Glenn Research Center has been heavily involved in the development and evaluation of candidate antenna technologies with the potential for meeting the aforementioned requirements. These technologies range from electrically small antennas to phased arrays and large inflatable antenna structures. A summary of these efforts will be discussed in this paper. NASA planned activities under the Exploration Vision as they pertain to the communications architecture for the Lunar and Martian scenarios will be discussed, with emphasis on the desirable qualities of potential antenna element designs for envisioned communications assets. Identified frequency allocations for the Lunar and Martian surfaces, as well as asset-specific data services will be described to develop a foundation for viable antenna technologies which might address these requirements and help guide future technology development decisions.

Automation Applications in an Advanced Air Traffic Management System : Volume 3. Methodology for Man-Machine Task Allocation

DOT National Transportation Integrated Search

1974-08-01

Volume 3 describes the methodology for man-machine task allocation. It contains a description of man and machine performance capabilities and an explanation of the methodology employed to allocate tasks to human or automated resources. It also presen...

Enhanced control & sensing for the REMOTEC ANDROS Mk VI robot. Final report

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

Spelt, P.F.; Harvey, H.W.

1997-08-01

This Cooperative Research and Development Agreement (CRADA) between Lockheed Marietta Energy Systems, Inc., and REMOTEC, Inc., explored methods of providing operator feedback for various work actions of the ANDROS Mk VI teleoperated robot. In a hazardous environment, an extremely heavy workload seriously degrades the productivity of teleoperated robot operators. This CRADA involved the addition of computer power to the robot along with a variety of sensors and encoders to provide information about the robot`s performance in and relationship to its environment. Software was developed to integrate the sensor and encoder information and provide control input to the robot. ANDROS Mkmore » VI robots are presently used by numerous electric utilities to perform tasks in reactors where substantial exposure to radiation exists, as well as in a variety of other hazardous environments. Further, this platform has potential for use in a number of environmental restoration tasks, such as site survey and detection of hazardous waste materials. The addition of sensors and encoders serves to make the robot easier to manage and permits tasks to be done more safely and inexpensively (due to time saved in the completion of complex remote tasks). Prior research on the automation of mobile platforms with manipulators at Oak Ridge National Laboratory`s Center for Engineering Systems Advanced Research (CESAR, B&R code KC0401030) Laboratory, a BES-supported facility, indicated that this type of enhancement is effective. This CRADA provided such enhancements to a successful working teleoperated robot for the first time. Performance of this CRADA used the CESAR laboratory facilities and expertise developed under BES funding.« less

Efficient Multi-Concept Visual Classifier Adaptation in Changing Environments

DTIC Science & Technology

2016-09-01

yet to be discussed in existing supervised multi-concept visual perception systems used in robotics applications.1,5–7 Anno - tation of images is...Autonomous robot navigation in highly populated pedestrian zones. J Field Robotics. 2015;32(4):565–589. 3. Milella A, Reina G, Underwood J . A self...learning framework for statistical ground classification using RADAR and monocular vision. J Field Robotics. 2015;32(1):20–41. 4. Manjanna S, Dudek G

I Reach Faster When I See You Look: Gaze Effects in Human-Human and Human-Robot Face-to-Face Cooperation.

PubMed

Boucher, Jean-David; Pattacini, Ugo; Lelong, Amelie; Bailly, Gerrard; Elisei, Frederic; Fagel, Sascha; Dominey, Peter Ford; Ventre-Dominey, Jocelyne

2012-01-01

Human-human interaction in natural environments relies on a variety of perceptual cues. Humanoid robots are becoming increasingly refined in their sensorimotor capabilities, and thus should now be able to manipulate and exploit these social cues in cooperation with their human partners. Previous studies have demonstrated that people follow human and robot gaze, and that it can help them to cope with spatially ambiguous language. Our goal is to extend these findings into the domain of action, to determine how human and robot gaze can influence the speed and accuracy of human action. We report on results from a human-human cooperation experiment demonstrating that an agent's vision of her/his partner's gaze can significantly improve that agent's performance in a cooperative task. We then implement a heuristic capability to generate such gaze cues by a humanoid robot that engages in the same cooperative interaction. The subsequent human-robot experiments demonstrate that a human agent can indeed exploit the predictive gaze of their robot partner in a cooperative task. This allows us to render the humanoid robot more human-like in its ability to communicate with humans. The long term objectives of the work are thus to identify social cooperation cues, and to validate their pertinence through implementation in a cooperative robot. The current research provides the robot with the capability to produce appropriate speech and gaze cues in the context of human-robot cooperation tasks. Gaze is manipulated in three conditions: Full gaze (coordinated eye and head), eyes hidden with sunglasses, and head fixed. We demonstrate the pertinence of these cues in terms of statistical measures of action times for humans in the context of a cooperative task, as gaze significantly facilitates cooperation as measured by human response times.

Autonomous mobile robot research using the HERMIES-III robot

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

Pin, F.G.; Beckerman, M.; Spelt, P.F.

1989-01-01

This paper reports on the status and future directions in the research, development and experimental validation of intelligent control techniques for autonomous mobile robots using the HERMIES-III robot at the Center for Engineering Systems Advanced research (CESAR) at Oak Ridge National Laboratory (ORNL). HERMIES-III is the fourth robot in a series of increasingly more sophisticated and capable experimental test beds developed at CESAR. HERMIES-III is comprised of a battery powered, onmi-directional wheeled platform with a seven degree-of-freedom manipulator arm, video cameras, sonar range sensors, laser imaging scanner and a dual computer system containing up to 128 NCUBE nodes in hypercubemore » configuration. All electronics, sensors, computers, and communication equipment required for autonomous operation of HERMIES-III are located on board along with sufficient battery power for three to four hours of operation. The paper first provides a more detailed description of the HERMIES-III characteristics, focussing on the new areas of research and demonstration now possible at CESAR with this new test-bed. The initial experimental program is then described with emphasis placed on autonomous performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES- III). The paper concludes with a discussion of the integration problems and safety considerations necessarily arising from the set-up of an experimental program involving human-scale, multi-autonomous mobile robots performance. 10 refs., 3 figs.« less

Intelligent viewing control for robotic and automation systems

NASA Astrophysics Data System (ADS)

Schenker, Paul S.; Peters, Stephen F.; Paljug, Eric D.; Kim, Won S.

1994-10-01

We present a new system for supervisory automated control of multiple remote cameras. Our primary purpose in developing this system has been to provide capability for knowledge- based, `hands-off' viewing during execution of teleoperation/telerobotic tasks. The reported technology has broader applicability to remote surveillance, telescience observation, automated manufacturing workcells, etc. We refer to this new capability as `Intelligent Viewing Control (IVC),' distinguishing it from a simple programmed camera motion control. In the IVC system, camera viewing assignment, sequencing, positioning, panning, and parameter adjustment (zoom, focus, aperture, etc.) are invoked and interactively executed by real-time by a knowledge-based controller, drawing on a priori known task models and constraints, including operator preferences. This multi-camera control is integrated with a real-time, high-fidelity 3D graphics simulation, which is correctly calibrated in perspective to the actual cameras and their platform kinematics (translation/pan-tilt). Such merged graphics- with-video design allows the system user to preview and modify the planned (`choreographed') viewing sequences. Further, during actual task execution, the system operator has available both the resulting optimized video sequence, as well as supplementary graphics views from arbitrary perspectives. IVC, including operator-interactive designation of robot task actions, is presented to the user as a well-integrated video-graphic single screen user interface allowing easy access to all relevant telerobot communication/command/control resources. We describe and show pictorial results of a preliminary IVC system implementation for telerobotic servicing of a satellite.

Research on schedulers for astronomical observatories

NASA Astrophysics Data System (ADS)

Colome, Josep; Colomer, Pau; Guàrdia, Josep; Ribas, Ignasi; Campreciós, Jordi; Coiffard, Thierry; Gesa, Lluis; Martínez, Francesc; Rodler, Florian

2012-09-01

The main task of a scheduler applied to astronomical observatories is the time optimization of the facility and the maximization of the scientific return. Scheduling of astronomical observations is an example of the classical task allocation problem known as the job-shop problem (JSP), where N ideal tasks are assigned to M identical resources, while minimizing the total execution time. A problem of higher complexity, called the Flexible-JSP (FJSP), arises when the tasks can be executed by different resources, i.e. by different telescopes, and it focuses on determining a routing policy (i.e., which machine to assign for each operation) other than the traditional scheduling decisions (i.e., to determine the starting time of each operation). In most cases there is no single best approach to solve the planning system and, therefore, various mathematical algorithms (Genetic Algorithms, Ant Colony Optimization algorithms, Multi-Objective Evolutionary algorithms, etc.) are usually considered to adapt the application to the system configuration and task execution constraints. The scheduling time-cycle is also an important ingredient to determine the best approach. A shortterm scheduler, for instance, has to find a good solution with the minimum computation time, providing the system with the capability to adapt the selected task to varying execution constraints (i.e., environment conditions). We present in this contribution an analysis of the task allocation problem and the solutions currently in use at different astronomical facilities. We also describe the schedulers for three different projects (CTA, CARMENES and TJO) where the conclusions of this analysis are applied to develop a suitable routine.

Development of Live-working Robot for Power Transmission Lines

NASA Astrophysics Data System (ADS)

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

2017-07-01

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

Acceptance and perceived usefulness of robots to assist with activities of daily living and healthcare tasks.

PubMed

Hall, Amanda K; Backonja, Uba; Painter, Ian; Cakmak, Maya; Sung, Minjung; Lau, Timothy; Thompson, Hilaire J; Demiris, George

2017-11-29

As the number of older adults living with chronic conditions continues to rise, they will require assistance with activities of daily living (ADL) and healthcare tasks to continue living independently in their homes. One proposed solution to assist with the care needs of an aging population and a shrinking healthcare workforce is robotic technology. Using a cross-sectional survey design, we purposively sampled adults (≥18 years old) to assess generational acceptance and perceived usefulness of robots to assist with ADLs, healthcare tasks, and evaluate acceptance of robotic healthcare assistance across different settings. A total of 499 adults (age range [years] 18-98, Mean = 38.7, SD = 22.7) responded to the survey. Significant differences were found among young, middle-aged, and older adults on perceived usefulness of robots for cleaning, escorting them around town, acting as companionship, delivering meals, assessing sadness and calling for help, providing medical advice, taking vital sign assessments, and assisting with personal care (p < 0.05). The majority of younger adults reported that they would like a robot to provide healthcare assistance in the hospital, compared to middle-aged and older adults (p < 0.001). Results of this study can guide the design of robots to assist adults of all ages with useful tasks.

Bilateral assessment of functional tasks for robot-assisted therapy applications

PubMed Central

Wang, Sarah; Bai, Ping; Strachota, Elaine; Tchekanov, Guennady; Melbye, Jeff; McGuire, John

2011-01-01

This article presents a novel evaluation system along with methods to evaluate bilateral coordination of arm function on activities of daily living tasks before and after robot-assisted therapy. An affordable bilateral assessment system (BiAS) consisting of two mini-passive measuring units modeled as three degree of freedom robots is described. The process for evaluating functional tasks using the BiAS is presented and we demonstrate its ability to measure wrist kinematic trajectories. Three metrics, phase difference, movement overlap, and task completion time, are used to evaluate the BiAS system on a bilateral symmetric (bi-drink) and a bilateral asymmetric (bi-pour) functional task. Wrist position and velocity trajectories are evaluated using these metrics to provide insight into temporal and spatial bilateral deficits after stroke. The BiAS system quantified movements of the wrists during functional tasks and detected differences in impaired and unimpaired arm movements. Case studies showed that stroke patients compared to healthy subjects move slower and are less likely to use their arm simultaneously even when the functional task requires simultaneous movement. After robot-assisted therapy, interlimb coordination spatial deficits moved toward normal coordination on functional tasks. PMID:21881901

Modeling and Design of an Electro-Rheological Fluid Based Haptic System for Tele-Operation of Space Robots

NASA Technical Reports Server (NTRS)

Mavroidis, Constantinos; Pfeiffer, Charles; Paljic, Alex; Celestino, James; Lennon, Jamie; Bar-Cohen, Yoseph

2000-01-01

For many years, the robotic community sought to develop robots that can eventually operate autonomously and eliminate the need for human operators. However, there is an increasing realization that there are some tasks that human can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robot can be employed to perform these tasks. Remotely performing these types of tasks requires operating robots as human surrogates. While current "hand master" haptic systems are able to reproduce the feeling of rigid objects, they present great difficulties in emulating the feeling of remote/virtual stiffness. In addition, they tend to be heavy, cumbersome and usually they only allow limited operator workspace. In this paper a novel haptic interface is presented to enable human-operators to "feel" and intuitively mirror the stiffness/forces at remote/virtual sites enabling control of robots as human-surrogates. This haptic interface is intended to provide human operators intuitive feeling of the stiffness and forces at remote or virtual sites in support of space robots performing dexterous manipulation tasks (such as operating a wrench or a drill). Remote applications are referred to the control of actual robots whereas virtual applications are referred to simulated operations. The developed haptic interface will be applicable to IVA operated robotic EVA tasks to enhance human performance, extend crew capability and assure crew safety. The electrically controlled stiffness is obtained using constrained ElectroRheological Fluids (ERF), which changes its viscosity under electrical stimulation. Forces applied at the robot end-effector due to a compliant environment will be reflected to the user using this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted. In this paper, we will present the results of our modeling, simulation, and initial testing of such an electrorheological fluid (ERF) based haptic device.

Task Description Language

NASA Technical Reports Server (NTRS)

Simmons, Reid; Apfelbaum, David

2005-01-01

Task Description Language (TDL) is an extension of the C++ programming language that enables programmers to quickly and easily write complex, concurrent computer programs for controlling real-time autonomous systems, including robots and spacecraft. TDL is based on earlier work (circa 1984 through 1989) on the Task Control Architecture (TCA). TDL provides syntactic support for hierarchical task-level control functions, including task decomposition, synchronization, execution monitoring, and exception handling. A Java-language-based compiler transforms TDL programs into pure C++ code that includes calls to a platform-independent task-control-management (TCM) library. TDL has been used to control and coordinate multiple heterogeneous robots in projects sponsored by NASA and the Defense Advanced Research Projects Agency (DARPA). It has also been used in Brazil to control an autonomous airship and in Canada to control a robotic manipulator.

The human power amplifier technology at the University of California, Berkeley.

PubMed

Kazerooni, H

1996-01-01

A human's ability to perform physical tasks is limited by physical strength, not by intelligence. We define "extenders" as a class of robot manipulators worn by humans to augment human mechanical strength, while the wearer's intellect remains the central control system for manipulating the extender. Our research objective is to determine the ground rules for the design and control of robotic systems worn by humans through the design, construction, and control of several prototype experimental direct-drive/non-direct-drive multi-degree-of-freedom hydraulic/electric extenders. The design of extenders is different from the design of conventional robots because the extender interfaces with the human on a physical level. Two sets of force sensors measure the forces imposed on the extender by the human and by the environment (i.e., the load). The extender's compliances in response to such contact forces were designed by selecting appropriate force compensators. This paper gives a summary of some of the selected research efforts related to Extender Technology, carried out during 1980s. The references, at the end of this article, give detailed description of the research efforts.

A mobile robot system for ground servicing operations on the space shuttle

NASA Astrophysics Data System (ADS)

Dowling, K.; Bennett, R.; Blackwell, M.; Graham, T.; Gatrall, S.; O'Toole, R.; Schempf, H.

1992-11-01

A mobile system for space shuttle servicing, the Tessellator, has been configured, designed and is currently being built and integrated. Robot tasks include chemical injection and inspection of the shuttle's thermal protection system. This paper outlines tasks, rationale, and facility requirements for the development of this system. A detailed look at the mobile system and manipulator follow with a look at mechanics, electronics, and software. Salient features of the mobile robot include omnidirectionality, high reach, high stiffness and accuracy with safety and self-reliance integral to all aspects of the design. The robot system is shown to meet task, facility, and NASA requirements in its design resulting in unprecedented specifications for a mobile-manipulation system.

A mobile robot system for ground servicing operations on the space shuttle

NASA Technical Reports Server (NTRS)

Dowling, K.; Bennett, R.; Blackwell, M.; Graham, T.; Gatrall, S.; O'Toole, R.; Schempf, H.

1992-01-01

A mobile system for space shuttle servicing, the Tessellator, has been configured, designed and is currently being built and integrated. Robot tasks include chemical injection and inspection of the shuttle's thermal protection system. This paper outlines tasks, rationale, and facility requirements for the development of this system. A detailed look at the mobile system and manipulator follow with a look at mechanics, electronics, and software. Salient features of the mobile robot include omnidirectionality, high reach, high stiffness and accuracy with safety and self-reliance integral to all aspects of the design. The robot system is shown to meet task, facility, and NASA requirements in its design resulting in unprecedented specifications for a mobile-manipulation system.

Surface Support Systems for Co-Operative and Integrated Human/Robotic Lunar Exploration

NASA Technical Reports Server (NTRS)

Mueller, Robert P.

2006-01-01

Human and robotic partnerships to realize space goals can enhance space missions and provide increases in human productivity while decreasing the hazards that the humans are exposed to. For lunar exploration, the harsh environment of the moon and the repetitive nature of the tasks involved with lunar outpost construction, maintenance and operation as well as production tasks associated with in-situ resource utilization, make it highly desirable to use robotic systems in co-operation with human activity. A human lunar outpost is functionally examined and concepts for selected human/robotic tasks are discussed in the context of a lunar outpost which will enable the presence of humans on the moon for extended periods of time.

Validated robotic laparoscopic surgical training in a virtual-reality environment.

PubMed

Katsavelis, Dimitrios; Siu, Ka-Chun; Brown-Clerk, Bernadette; Lee, Irene H; Lee, Yong Kwon; Oleynikov, Dmitry; Stergiou, Nick

2009-01-01

A robotic virtual-reality (VR) simulator has been developed to improve robot-assisted training for laparoscopic surgery and to enhance surgical performance in laparoscopic skills. The simulated VR training environment provides an effective approach to evaluate and improve surgical performance. This study presents our findings of the VR training environment for robotic laparoscopy. Eight volunteers performed two inanimate tasks in both the VR and the actual training environment. The tasks were bimanual carrying (BC) and needle passing (NP). For the BC task, the volunteers simultaneously transferred two plastic pieces in opposite directions five times consecutively. The same volunteers passed a surgical needle through six pairs of holes in the NP task. Both tasks require significant bimanual coordination that mimics actual laparoscopic skills. Data analysis included time to task completion, speed and distance traveled of the instrument tip, as well as range of motion of the subject's wrist and elbow of the right arm. Electromyography of the right wrist flexor and extensor were also analyzed. Paired t-tests and Pearson's r were used to explore the differences and correlations between the two environments. There were no significant differences between the actual and the simulated VR environment with respect to the BC task, while there were significant differences in almost all dependent parameters for the NP task. Moderate to high correlations for most dependent parameters were revealed for both tasks. Our data shows that the VR environment adequately simulated the BC task. The significant differences found for the NP task may be attributed to an oversimplification in the VR environment. However, they do point to the need for improvements in the complexity of our VR simulation. Further research work is needed to develop effective and reliable VR environments for robotic laparoscopic training.

Scalability of Robotic Controllers: Effects of Progressive Levels of Autonomy on Robotic Reconnaissance Tasks

DTIC Science & Technology

2010-08-01

facility. 2.2.4 The National Aeronautics and Space Administration-Task Load Index (NASA-TLX) The NASA-TLX is a subjective workload assessment tool ...No 6 NR If so, what type? Davinci (1) 14. Please describe the conditions under which you used the robotic system. Surgical (1) 15...2 Fantastic tool . Can see how this will save more lives by using the robot as the recon tool . 1 Interesting and fun. 3 Easily understood what to

Smooth leader or sharp follower? Playing the mirror game with a robot

PubMed Central

Kashi, Shir; Levy-Tzedek, Shelly

2017-01-01

Background: The increasing number of opportunities for human-robot interactions in various settings, from industry through home use to rehabilitation, creates a need to understand how to best personalize human-robot interactions to fit both the user and the task at hand. In the current experiment, we explored a human-robot collaborative task of joint movement, in the context of an interactive game. Objective: We set out to test people’s preferences when interacting with a robotic arm, playing a leader-follower imitation game (the mirror game). Methods: Twenty two young participants played the mirror game with the robotic arm, where one player (person or robot) followed the movements of the other. Each partner (person and robot) was leading part of the time, and following part of the time. When the robotic arm was leading the joint movement, it performed movements that were either sharp or smooth, which participants were later asked to rate. Results: The greatest preference was given to smooth movements. Half of the participants preferred to lead, and half preferred to follow. Importantly, we found that the movements of the robotic arm primed the subsequent movements performed by the participants. Conclusion: The priming effect by the robot on the movements of the human should be considered when designing interactions with robots. Our results demonstrate individual differences in preferences regarding the role of the human and the joint motion path of the robot and the human when performing the mirror game collaborative task, and highlight the importance of personalized human-robot interactions. PMID:29036853

Robot-assisted laparoscopic ultrasonography for hepatic surgery.

PubMed

Schneider, Caitlin M; Peng, Peter D; Taylor, Russell H; Dachs, Gregory W; Hasser, Christopher J; DiMaio, Simon P; Choti, Michael A

2012-05-01

This study describes and evaluates a novel, robot-assisted laparoscopic ultrasonographic device for hepatic surgery. Laparoscopic liver surgery is being performed with increasing frequency. One major drawback of this approach is the limited capability of intraoperative ultrasonography (IOUS) using standard laparoscopic devices. Robotic surgery systems offer the opportunity to develop new tools to improve techniques in minimally invasive surgery. This study evaluates a new integrated ultrasonography (US) device with the da Vinci Surgical System for laparoscopic visualization, comparing it with conventional handheld laparoscopic IOUS for performing key tasks in hepatic surgery. A prototype laparoscopic IOUS instrument was developed for the da Vinci Surgical System and compared with a conventional laparoscopic US device in simulation tasks: (1) In vivo porcine hepatic visualization and probe manipulation, (2) lesion detection accuracy, and (3) biopsy precision. Usability was queried by poststudy questionnaire. The robotic US proved better than conventional laparoscopic US in liver surface exploration (85% success vs 73%; P = .030) and tool manipulation (79% vs 57%; P = .028), whereas no difference was detected in lesion identification (63 vs 58; P = .41) and needle biopsy tasks (57 vs 48; P = .11). Subjects found the robotic US to facilitate better probe positioning (80%), decrease fatigue (90%), and be more useful overall (90%) on the post-task questionnaire. We found this robot-assisted IOUS system to be practical and useful in the performance of important tasks required for hepatic surgery, outperforming free-hand laparoscopic IOUS for certain tasks, and was more subjectively usable to the surgeon. Systems such as this may expand the use of robotic surgery for complex operative procedures requiring IOUS. Copyright © 2012 Mosby, Inc. All rights reserved.

Robot design for a vacuum environment

NASA Technical Reports Server (NTRS)

Belinski, S.; Trento, W.; Imani-Shikhabadi, R.; Hackwood, S.

1987-01-01

The cleanliness requirements for many processing and manufacturing tasks are becoming ever stricter, resulting in a greater interest in the vacuum environment. Researchers discuss the importance of this special environment, and the development of robots which are physically and functionally suited to vacuum processing tasks. Work is in progress at the Center for robotic Systems in Microelectronics (CRSM) to provide a robot for the manufacture of a revolutionary new gyroscope in high vacuum. The need for vacuum in this and other processes is discussed as well as the requirements for a vacuum-compatible robot. Finally, researchers present details on work done at the CRSM to modify an existing clean-room compatible robot for use at high vacuum.

Quantum robots plus environments.

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

Benioff, P.

1998-07-23

A quantum robot is a mobile quantum system, including an on board quantum computer and needed ancillary systems, that interacts with an environment of quantum systems. Quantum robots carry out tasks whose goals include making specified changes in the state of the environment or carrying out measurements on the environment. The environments considered so far, oracles, data bases, and quantum registers, are seen to be special cases of environments considered here. It is also seen that a quantum robot should include a quantum computer and cannot be simply a multistate head. A model of quantum robots and their interactions ismore » discussed in which each task, as a sequence of alternating computation and action phases,is described by a unitary single time step operator T {approx} T{sub a} + T{sub c} (discrete space and time are assumed). The overall system dynamics is described as a sum over paths of completed computation (T{sub c}) and action (T{sub a}) phases. A simple example of a task, measuring the distance between the quantum robot and a particle on a 1D lattice with quantum phase path dispersion present, is analyzed. A decision diagram for the task is presented and analyzed.« less

Navigation of a care and welfare robot

NASA Astrophysics Data System (ADS)

Yukawa, Toshihiro; Hosoya, Osamu; Saito, Naoki; Okano, Hideharu

2005-12-01

In this paper, we propose the development of a robot that can perform nursing tasks in a hospital. In a narrow environment such as a sickroom or a hallway, the robot must be able to move freely in arbitrary directions. Therefore, the robot needs to have high controllability and the capability to make precise movements. Our robot can recognize a line by using cameras, and can be controlled in the reference directions by means of comparison with original cell map information; furthermore, it moves safely on the basis of an original center-line established permanently in the building. Correspondence between the robot and a centralized control center enables the robot's autonomous movement in the hospital. Through a navigation system using cell map information, the robot is able to perform nursing tasks smoothly by changing the camera angle.

Laboratory testing of candidate robotic applications for space

NASA Technical Reports Server (NTRS)

Purves, R. B.

1987-01-01

Robots have potential for increasing the value of man's presence in space. Some categories with potential benefit are: (1) performing extravehicular tasks like satellite and station servicing, (2) supporting the science mission of the station by manipulating experiment tasks, and (3) performing intravehicular activities which would be boring, tedious, exacting, or otherwise unpleasant for astronauts. An important issue in space robotics is selection of an appropriate level of autonomy. In broad terms three levels of autonomy can be defined: (1) teleoperated - an operator explicitly controls robot movement; (2) telerobotic - an operator controls the robot directly, but by high-level commands, without, for example, detailed control of trajectories; and (3) autonomous - an operator supplies a single high-level command, the robot does all necessary task sequencing and planning to satisfy the command. Researchers chose three projects for their exploration of technology and implementation issues in space robots, one each of the three application areas, each with a different level of autonomy. The projects were: (1) satellite servicing - teleoperated; (2) laboratory assistant - telerobotic; and (3) on-orbit inventory manager - autonomous. These projects are described and some results of testing are summarized.

Iconic Gestures for Robot Avatars, Recognition and Integration with Speech.

PubMed

Bremner, Paul; Leonards, Ute

2016-01-01

Co-verbal gestures are an important part of human communication, improving its efficiency and efficacy for information conveyance. One possible means by which such multi-modal communication might be realized remotely is through the use of a tele-operated humanoid robot avatar. Such avatars have been previously shown to enhance social presence and operator salience. We present a motion tracking based tele-operation system for the NAO robot platform that allows direct transmission of speech and gestures produced by the operator. To assess the capabilities of this system for transmitting multi-modal communication, we have conducted a user study that investigated if robot-produced iconic gestures are comprehensible, and are integrated with speech. Robot performed gesture outcomes were compared directly to those for gestures produced by a human actor, using a within participant experimental design. We show that iconic gestures produced by a tele-operated robot are understood by participants when presented alone, almost as well as when produced by a human. More importantly, we show that gestures are integrated with speech when presented as part of a multi-modal communication equally well for human and robot performances.

A Biologically Inspired Cooperative Multi-Robot Control Architecture

NASA Technical Reports Server (NTRS)

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

2002-01-01

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

A Stigmergic Cooperative Multi-Robot Control Architecture

NASA Technical Reports Server (NTRS)

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

2004-01-01

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

Effect of visual distraction and auditory feedback on patient effort during robot-assisted movement training after stroke

PubMed Central

2011-01-01

Background Practicing arm and gait movements with robotic assistance after neurologic injury can help patients improve their movement ability, but patients sometimes reduce their effort during training in response to the assistance. Reduced effort has been hypothesized to diminish clinical outcomes of robotic training. To better understand patient slacking, we studied the role of visual distraction and auditory feedback in modulating patient effort during a common robot-assisted tracking task. Methods Fourteen participants with chronic left hemiparesis from stroke, five control participants with chronic right hemiparesis and fourteen non-impaired healthy control participants, tracked a visual target with their arms while receiving adaptive assistance from a robotic arm exoskeleton. We compared four practice conditions: the baseline tracking task alone; tracking while also performing a visual distracter task; tracking with the visual distracter and sound feedback; and tracking with sound feedback. For the distracter task, symbols were randomly displayed in the corners of the computer screen, and the participants were instructed to click a mouse button when a target symbol appeared. The sound feedback consisted of a repeating beep, with the frequency of repetition made to increase with increasing tracking error. Results Participants with stroke halved their effort and doubled their tracking error when performing the visual distracter task with their left hemiparetic arm. With sound feedback, however, these participants increased their effort and decreased their tracking error close to their baseline levels, while also performing the distracter task successfully. These effects were significantly smaller for the participants who used their non-paretic arm and for the participants without stroke. Conclusions Visual distraction decreased participants effort during a standard robot-assisted movement training task. This effect was greater for the hemiparetic arm, suggesting that the increased demands associated with controlling an affected arm make the motor system more prone to slack when distracted. Providing an alternate sensory channel for feedback, i.e., auditory feedback of tracking error, enabled the participants to simultaneously perform the tracking task and distracter task effectively. Thus, incorporating real-time auditory feedback of performance errors might improve clinical outcomes of robotic therapy systems. PMID:21513561

The Canonical Robot Command Language (CRCL).

PubMed

Proctor, Frederick M; Balakirsky, Stephen B; Kootbally, Zeid; Kramer, Thomas R; Schlenoff, Craig I; Shackleford, William P

2016-01-01

Industrial robots can perform motion with sub-millimeter repeatability when programmed using the teach-and-playback method. While effective, this method requires significant up-front time, tying up the robot and a person during the teaching phase. Off-line programming can be used to generate robot programs, but the accuracy of this method is poor unless supplemented with good calibration to remove systematic errors, feed-forward models to anticipate robot response to loads, and sensing to compensate for unmodeled errors. These increase the complexity and up-front cost of the system, but the payback in the reduction of recurring teach programming time can be worth the effort. This payback especially benefits small-batch, short-turnaround applications typical of small-to-medium enterprises, who need the agility afforded by off-line application development to be competitive against low-cost manual labor. To fully benefit from this agile application tasking model, a common representation of tasks should be used that is understood by all of the resources required for the job: robots, tooling, sensors, and people. This paper describes an information model, the Canonical Robot Command Language (CRCL), which provides a high-level description of robot tasks and associated control and status information.

Lessons Learned from Pit Viper System Deployment

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

Catalan, Michael A.; Alzheimer, James M.; Valdez, Patrick LJ

2002-04-11

Tele-operated and robotic systems operated in unstructured field environments pose unique challenges for tool design. Since field tasks are not always well defined and the robot work area usually cannot be designed for ease of operation, the tools must be versatile. It's important to carefully consider the orientation of the grip the robot takes on the tool, as it's not easily changed in the field. The stiffness of the robot and the possibility of robot positioning errors encourages the use of non-contact or minimal-contact tooling. While normal hand tools can usually be modified for use by the robot, this ismore » not always the most effective approach. It's desirable to have tooling that is relatively independent of the robot; in this case, the robot places the tool near the desired work location and the tool performs its task relatively independently. Here we consider the adaptation of a number of tools for cleanup of a radioactively contaminated piping junction and valve pit. The tasks to be considered are debris removal (small nuts and bolts and pipe up to 100 mm in diameter), size reduction, surface cleaning, and support of past practice crane-based methods for working in the pits.« less

The Canonical Robot Command Language (CRCL)

PubMed Central

Proctor, Frederick M.; Balakirsky, Stephen B.; Kootbally, Zeid; Kramer, Thomas R.; Schlenoff, Craig I.; Shackleford, William P.

2017-01-01

Industrial robots can perform motion with sub-millimeter repeatability when programmed using the teach-and-playback method. While effective, this method requires significant up-front time, tying up the robot and a person during the teaching phase. Off-line programming can be used to generate robot programs, but the accuracy of this method is poor unless supplemented with good calibration to remove systematic errors, feed-forward models to anticipate robot response to loads, and sensing to compensate for unmodeled errors. These increase the complexity and up-front cost of the system, but the payback in the reduction of recurring teach programming time can be worth the effort. This payback especially benefits small-batch, short-turnaround applications typical of small-to-medium enterprises, who need the agility afforded by off-line application development to be competitive against low-cost manual labor. To fully benefit from this agile application tasking model, a common representation of tasks should be used that is understood by all of the resources required for the job: robots, tooling, sensors, and people. This paper describes an information model, the Canonical Robot Command Language (CRCL), which provides a high-level description of robot tasks and associated control and status information. PMID:28529393

The Affordance Template ROS Package for Robot Task Programming

NASA Technical Reports Server (NTRS)

Hart, Stephen; Dinh, Paul; Hambuchen, Kimberly

2015-01-01

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

Consistency of performance of robot-assisted surgical tasks in virtual reality.

PubMed

Suh, I H; Siu, K-C; Mukherjee, M; Monk, E; Oleynikov, D; Stergiou, N

2009-01-01

The purpose of this study was to investigate consistency of performance of robot-assisted surgical tasks in a virtual reality environment. Eight subjects performed two surgical tasks, bimanual carrying and needle passing, with both the da Vinci surgical robot and a virtual reality equivalent environment. Nonlinear analysis was utilized to evaluate consistency of performance by calculating the regularity and the amount of divergence in the movement trajectories of the surgical instrument tips. Our results revealed that movement patterns for both training tasks were statistically similar between the two environments. Consistency of performance as measured by nonlinear analysis could be an appropriate methodology to evaluate the complexity of the training tasks between actual and virtual environments and assist in developing better surgical training programs.

A methodology to assess performance of human-robotic systems in achievement of collective tasks

NASA Technical Reports Server (NTRS)

Howard, Ayanna M.

2005-01-01

In this paper, we present a methodology to assess system performance of human-robotic systems in achievement of collective tasks such as habitat construction, geological sampling, and space exploration.

Undersea applications of dexterous robotics

NASA Technical Reports Server (NTRS)

Gittleman, Mark M.

1994-01-01

The revolution and application of dexterous robotics in the undersea energy production industry and how this mature technology has affected planned SSF dexterous robotic tasks are examined. Undersea telerobotics, or Remotely Operated Vehicles (ROV's), have evolved in design and use since the mid-1970s. Originally developed to replace commercial divers for both planned and unplanned tasks, they are now most commonly used to perform planned robotic tasks in all phases of assembly, inspection, and maintenance of undersea structures and installations. To accomplish these tasks, the worksites, the tasks themselves, and the tools are now engineered with both the telerobot's and the diver's capabilities in mind. In many cases, this planning has permitted a reduction in telerobot system complexity and cost. The philosophies and design practices that have resulted in the successful incorporation of telerobotics into the highly competitive and cost conscious offshore production industry have been largely ignored in the space community. Cases where these philosophies have been adopted or may be successfully adopted in the near future are explored.

Hierarchical Robot Control System and Method for Controlling Select Degrees of Freedom of an Object Using Multiple Manipulators

NASA Technical Reports Server (NTRS)

Platt, Robert (Inventor); Wampler, II, Charles W. (Inventor); Abdallah, Muhammad E. (Inventor)

2013-01-01

A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control, e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.

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

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

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

2004-03-29

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

Emergence of leadership in a robotic fish group under diverging individual personality traits.

PubMed

Wang, Chen; Chen, Xiaojie; Xie, Guangming; Cao, Ming

2017-05-01

Variations of individual's personality traits have been identified before as one of the possible mechanisms for the emergence of leadership in an interactive collective, which may lead to benefits for the group as a whole. Complementing the large number of existing literatures on using simulation models to study leadership, we use biomimetic robotic fish to gain insight into how the fish's behaviours evolve under the influence of the physical hydrodynamics. In particular, we focus in this paper on understanding how robotic fish's personality traits affect the emergence of an effective leading fish in repeated robotic foraging tasks when the robotic fish's strategies, to push or not to push the obstacle in its foraging path, are updated over time following an evolutionary game set-up. We further show that the robotic fish's personality traits diverge when the group carries out difficult foraging tasks in our experiments, and self-organization takes place to help the group to adapt to the level of difficulties of the tasks without inter-individual communication.

Enhanced control and sensing for the REMOTEC ANDROS Mk VI robot. CRADA final report

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

Spelt, P.F.; Harvey, H.W.

1998-08-01

This Cooperative Research and Development Agreement (CRADA) between Lockheed Martin Energy Systems, Inc., and REMOTEC, Inc., explored methods of providing operator feedback for various work actions of the ANDROS Mk VI teleoperated robot. In a hazardous environment, an extremely heavy workload seriously degrades the productivity of teleoperated robot operators. This CRADA involved the addition of computer power to the robot along with a variety of sensors and encoders to provide information about the robot`s performance in and relationship to its environment. Software was developed to integrate the sensor and encoder information and provide control input to the robot. ANDROS Mkmore » VI robots are presently used by numerous electric utilities to perform tasks in reactors where substantial exposure to radiation exists, as well as in a variety of other hazardous environments. Further, this platform has potential for use in a number of environmental restoration tasks, such as site survey and detection of hazardous waste materials. The addition of sensors and encoders serves to make the robot easier to manage and permits tasks to be done more safely and inexpensively (due to time saved in the completion of complex remote tasks). Prior research on the automation of mobile platforms with manipulators at Oak Ridge National Laboratory`s Center for Engineering Systems Advanced Research (CESAR, B&R code KC0401030) Laboratory, a BES-supported facility, indicated that this type of enhancement is effective. This CRADA provided such enhancements to a successful working teleoperated robot for the first time. Performance of this CRADA used the CESAR laboratory facilities and expertise developed under BES funding.« less

Incremental learning of tasks from user demonstrations, past experiences, and vocal comments.

PubMed

Pardowitz, Michael; Knoop, Steffen; Dillmann, Ruediger; Zöllner, Raoul D

2007-04-01

Since many years the robotics community is envisioning robot assistants sharing the same environment with humans. It became obvious that they have to interact with humans and should adapt to individual user needs. Especially the high variety of tasks robot assistants will be facing requires a highly adaptive and user-friendly programming interface. One possible solution to this programming problem is the learning-by-demonstration paradigm, where the robot is supposed to observe the execution of a task, acquire task knowledge, and reproduce it. In this paper, a system to record, interpret, and reason over demonstrations of household tasks is presented. The focus is on the model-based representation of manipulation tasks, which serves as a basis for incremental reasoning over the acquired task knowledge. The aim of the reasoning is to condense and interconnect the data, resulting in more general task knowledge. A measure for the assessment of information content of task features is introduced. This measure for the relevance of certain features relies both on general background knowledge as well as task-specific knowledge gathered from the user demonstrations. Beside the autonomous information estimation of features, speech comments during the execution, pointing out the relevance of features are considered as well. The results of the incremental growth of the task knowledge when more task demonstrations become available and their fusion with relevance information gained from speech comments is demonstrated within the task of laying a table.

Smart Hand For Manipulators

NASA Astrophysics Data System (ADS)

Fiorini, Paolo

1987-10-01

Sensor based, computer controlled end effectors for mechanical arms are receiving more and more attention in the robotics industry, because commonly available grippers are only adequate for simple pick and place tasks. This paper describes the current status of the research at JPL on a smart hand for a Puma 560 robot arm. The hand is a self contained, autonomous system, capable of executing high level commands from a supervisory computer. The mechanism consists of parallel fingers, powered by a DC motor, and controlled by a microprocessor embedded in the hand housing. Special sensors are integrated in the hand for measuring the grasp force of the fingers, and for measuring forces and torques applied between the arm and the surrounding environment. Fingers can be exercised under position, velocity and force control modes. The single-chip microcomputer in the hand executes the tasks of communication, data acquisition and sensor based motor control, with a sample cycle of 2 ms and a transmission rate of 9600 baud. The smart hand described in this paper represents a new development in the area of end effector design because of its multi-functionality and autonomy. It will also be a versatile test bed for experimenting with advanced control schemes for dexterous manipulation.

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

PubMed

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

2014-09-17

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

Task allocation model for minimization of completion time in distributed computer systems

NASA Astrophysics Data System (ADS)

Wang, Jai-Ping; Steidley, Carl W.

1993-08-01

A task in a distributed computing system consists of a set of related modules. Each of the modules will execute on one of the processors of the system and communicate with some other modules. In addition, precedence relationships may exist among the modules. Task allocation is an essential activity in distributed-software design. This activity is of importance to all phases of the development of a distributed system. This paper establishes task completion-time models and task allocation models for minimizing task completion time. Current work in this area is either at the experimental level or without the consideration of precedence relationships among modules. The development of mathematical models for the computation of task completion time and task allocation will benefit many real-time computer applications such as radar systems, navigation systems, industrial process control systems, image processing systems, and artificial intelligence oriented systems.

Functional assessment and performance evaluation for assistive robotic manipulators: Literature review

PubMed Central

Chung, Cheng-Shiu; Wang, Hongwu; Cooper, Rory A.

2013-01-01

Context The user interface development of assistive robotic manipulators can be traced back to the 1960s. Studies include kinematic designs, cost-efficiency, user experience involvements, and performance evaluation. This paper is to review studies conducted with clinical trials using activities of daily living (ADLs) tasks to evaluate performance categorized using the International Classification of Functioning, Disability, and Health (ICF) frameworks, in order to give the scope of current research and provide suggestions for future studies. Methods We conducted a literature search of assistive robotic manipulators from 1970 to 2012 in PubMed, Google Scholar, and University of Pittsburgh Library System – PITTCat. Results Twenty relevant studies were identified. Conclusion Studies were separated into two broad categories: user task preferences and user-interface performance measurements of commercialized and developing assistive robotic manipulators. The outcome measures and ICF codes associated with the performance evaluations are reported. Suggestions for the future studies include (1) standardized ADL tasks for the quantitative and qualitative evaluation of task efficiency and performance to build comparable measures between research groups, (2) studies relevant to the tasks from user priority lists and ICF codes, and (3) appropriate clinical functional assessment tests with consideration of constraints in assistive robotic manipulator user interfaces. In addition, these outcome measures will help physicians and therapists build standardized tools while prescribing and assessing assistive robotic manipulators. PMID:23820143

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

PubMed

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

2015-01-01

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

Surface EMG signals based motion intent recognition using multi-layer ELM

NASA Astrophysics Data System (ADS)

Wang, Jianhui; Qi, Lin; Wang, Xiao

2017-11-01

The upper-limb rehabilitation robot is regard as a useful tool to help patients with hemiplegic to do repetitive exercise. The surface electromyography (sEMG) contains motion information as the electric signals are generated and related to nerve-muscle motion. These sEMG signals, representing human's intentions of active motions, are introduced into the rehabilitation robot system to recognize upper-limb movements. Traditionally, the feature extraction is an indispensable part of drawing significant information from original signals, which is a tedious task requiring rich and related experience. This paper employs a deep learning scheme to extract the internal features of the sEMG signals using an advanced Extreme Learning Machine based auto-encoder (ELMAE). The mathematical information contained in the multi-layer structure of the ELM-AE is used as the high-level representation of the internal features of the sEMG signals, and thus a simple ELM can post-process the extracted features, formulating the entire multi-layer ELM (ML-ELM) algorithm. The method is employed for the sEMG based neural intentions recognition afterwards. The case studies show the adopted deep learning algorithm (ELM-AE) is capable of yielding higher classification accuracy compared to the Principle Component Analysis (PCA) scheme in 5 different types of upper-limb motions. This indicates the effectiveness and the learning capability of the ML-ELM in such motion intent recognition applications.

Singularity-robustness and task-prioritization in configuration control of redundant robots

NASA Technical Reports Server (NTRS)

Seraji, H.; Colbaugh, R.

1990-01-01

The authors present a singularity-robust task-prioritized reformulation of the configuration control for redundant robot manipulators. This reformation suppresses large joint velocities to induce minimal errors in the task performance by modifying the task trajectories. Furthermore, the same framework provides a means for assignment of priorities between the basic task of end-effector motion and the user-defined additional task for utilizing redundancy. This allows automatic relaxation of the additional task constraints in favor of the desired end-effector motion when both cannot be achieved exactly.

KARMA: the observation preparation tool for KMOS

NASA Astrophysics Data System (ADS)

Wegner, Michael; Muschielok, Bernard

2008-08-01

KMOS is a multi-object integral field spectrometer working in the near infrared which is currently being built for the ESO VLT by a consortium of UK and German institutes. It is capable of selecting up to 24 target fields for integral field spectroscopy simultaneously by means of 24 robotic pick-off arms. For the preparation of observations with KMOS a dedicated preparation tool KARMA ("KMOS Arm Allocator") will be provided which optimizes the assignment of targets to these arms automatically, thereby taking target priorities and several mechanical and optical constraints into account. For this purpose two efficient algorithms, both being able to cope with the underlying optimization problem in a different way, were developed. We present the concept and architecture of KARMA in general and the optimization algorithms in detail.

STS-109 Crew Interviews - Currie

NASA Technical Reports Server (NTRS)

2002-01-01

STS-109 Mission Specialist 2 Nancy Jane Currie is seen during a prelaunch interview. She answers questions about her inspiration to become an astronaut and her career path. She gives details on the Columbia Orbiter mission which has as its main tasks the maintenance and augmentation of the Hubble Space Telescope (HST). While she will do many things during the mission, the most important will be her role as the primary operator of the robotic arm, which is responsible for grappling the HST, bringing it to the Orbiter bay, and providing support for the astronauts during their EVAs (Extravehicular Activities). Additionally, the robotic arm will be responsible for transferring new and replacement equipment from the Orbiter to the HST. This equipment includes: two solar arrays, a Power Control Unit (PCU), the Advanced Camera for Surveys, and a replacement cooling system for NICMOS (Near Infrared Camera Multi-Object Spectrometer).

Reconfigurable assembly work station

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

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

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

Towards multi-platform software architecture for Collaborative Teleoperation

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

Domingues, Christophe; Otmane, Samir; Davesne, Frederic

2009-03-05

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

PolarHub: A Global Hub for Polar Data Discovery

NASA Astrophysics Data System (ADS)

Li, W.

2014-12-01

This paper reports the outcome of a NSF project in developing a large-scale web crawler PolarHub to discover automatically the distributed polar dataset in the format of OGC web services (OWS) in the cyberspace. PolarHub is a machine robot; its goal is to visit as many webpages as possible to find those containing information about polar OWS, extract this information and store it into the backend data repository. This is a very challenging task given huge data volume of webpages on the Web. Three unique features was introduced in PolarHub to make it distinctive from earlier crawler solutions: (1) a multi-task, multi-user, multi-thread support to the crawling tasks; (2) an extensive use of thread pool and Data Access Object (DAO) design patterns to separate persistent data storage and business logic to achieve high extendibility of the crawler tool; (3) a pattern-matching based customizable crawling algorithm to support discovery of multi-type geospatial web services; and (4) a universal and portable client-server communication mechanism combining a server-push and client pull strategies for enhanced asynchronous processing. A series of experiments were conducted to identify the impact of crawling parameters to the overall system performance. The geographical distribution pattern of all PolarHub identified services is also demonstrated. We expect this work to make a major contribution to the field of geospatial information retrieval and geospatial interoperability, to bridge the gap between data provider and data consumer, and to accelerate polar science by enhancing the accessibility and reusability of adequate polar data.

Real-time robot deliberation by compilation and monitoring of anytime algorithms

NASA Technical Reports Server (NTRS)

Zilberstein, Shlomo

1994-01-01

Anytime algorithms are algorithms whose quality of results improves gradually as computation time increases. Certainty, accuracy, and specificity are metrics useful in anytime algorighm construction. It is widely accepted that a successful robotic system must trade off between decision quality and the computational resources used to produce it. Anytime algorithms were designed to offer such a trade off. A model of compilation and monitoring mechanisms needed to build robots that can efficiently control their deliberation time is presented. This approach simplifies the design and implementation of complex intelligent robots, mechanizes the composition and monitoring processes, and provides independent real time robotic systems that automatically adjust resource allocation to yield optimum performance.

A performance analysis method for distributed real-time robotic systems: A case study of remote teleoperation

NASA Technical Reports Server (NTRS)

Lefebvre, D. R.; Sanderson, A. C.

1994-01-01

Robot coordination and control systems for remote teleoperation applications are by necessity implemented on distributed computers. Modeling and performance analysis of these distributed robotic systems is difficult, but important for economic system design. Performance analysis methods originally developed for conventional distributed computer systems are often unsatisfactory for evaluating real-time systems. The paper introduces a formal model of distributed robotic control systems; and a performance analysis method, based on scheduling theory, which can handle concurrent hard-real-time response specifications. Use of the method is illustrated by a case of remote teleoperation which assesses the effect of communication delays and the allocation of robot control functions on control system hardware requirements.

Children with Autism Spectrum Disorders Make a Fruit Salad with Probo, the Social Robot: An Interaction Study

ERIC Educational Resources Information Center

Simut, Ramona E.; Vanderfaeillie, Johan; Peca, Andreea; Van de Perre, Greet; Vanderborght, Bram

2016-01-01

Social robots are thought to be motivating tools in play tasks with children with autism spectrum disorders. Thirty children with autism were included using a repeated measurements design. It was investigated if the children's interaction with a human differed from the interaction with a social robot during a play task. Also, it was examined if…

Open Issues in Evolutionary Robotics.

PubMed

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

2016-01-01

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

Motion coordination and programmable teleoperation between two industrial robots

NASA Technical Reports Server (NTRS)

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

1987-01-01

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

Predictive Interfaces for Long-Distance Tele-Operations

NASA Technical Reports Server (NTRS)

Wheeler, Kevin R.; Martin, Rodney; Allan, Mark B.; Sunspiral, Vytas

2005-01-01

We address the development of predictive tele-operator interfaces for humanoid robots with respect to two basic challenges. Firstly, we address automating the transition from fully tele-operated systems towards degrees of autonomy. Secondly, we develop compensation for the time-delay that exists when sending telemetry data from a remote operation point to robots located at low earth orbit and beyond. Humanoid robots have a great advantage over other robotic platforms for use in space-based construction and maintenance because they can use the same tools as astronauts do. The major disadvantage is that they are difficult to control due to the large number of degrees of freedom, which makes it difficult to synthesize autonomous behaviors using conventional means. We are working with the NASA Johnson Space Center's Robonaut which is an anthropomorphic robot with fully articulated hands, arms, and neck. We have trained hidden Markov models that make use of the command data, sensory streams, and other relevant data sources to predict a tele-operator's intent. This allows us to achieve subgoal level commanding without the use of predefined command dictionaries, and to create sub-goal autonomy via sequence generation from generative models. Our method works as a means to incrementally transition from manual tele-operation to semi-autonomous, supervised operation. The multi-agent laboratory experiments conducted by Ambrose et. al. have shown that it is feasible to directly tele-operate multiple Robonauts with humans to perform complex tasks such as truss assembly. However, once a time-delay is introduced into the system, the rate of tele\\ioperation slows down to mimic a bump and wait type of activity. We would like to maintain the same interface to the operator despite time-delays. To this end, we are developing an interface which will allow for us to predict the intentions of the operator while interacting with a 3D virtual representation of the expected state of the robot. The predictive interface anticipates the intention of the operator, and then uses this prediction to initiate appropriate sub-goal autonomy tasks.

Three-dimensional vision enhances task performance independently of the surgical method.

PubMed

Wagner, O J; Hagen, M; Kurmann, A; Horgan, S; Candinas, D; Vorburger, S A

2012-10-01

Within the next few years, the medical industry will launch increasingly affordable three-dimensional (3D) vision systems for the operating room (OR). This study aimed to evaluate the effect of two-dimensional (2D) and 3D visualization on surgical skills and task performance. In this study, 34 individuals with varying laparoscopic experience (18 inexperienced individuals) performed three tasks to test spatial relationships, grasping and positioning, dexterity, precision, and hand-eye and hand-hand coordination. Each task was performed in 3D using binocular vision for open performance, the Viking 3Di Vision System for laparoscopic performance, and the DaVinci robotic system. The same tasks were repeated in 2D using an eye patch for monocular vision, conventional laparoscopy, and the DaVinci robotic system. Loss of 3D vision significantly increased the perceived difficulty of a task and the time required to perform it, independently of the approach (P < 0.0001-0.02). Simple tasks took 25 % to 30 % longer to complete and more complex tasks took 75 % longer with 2D than with 3D vision. Only the difficult task was performed faster with the robot than with laparoscopy (P = 0.005). In every case, 3D robotic performance was superior to conventional laparoscopy (2D) (P < 0.001-0.015). The more complex the task, the more 3D vision accelerates task completion compared with 2D vision. The gain in task performance is independent of the surgical method.

Design of a surgical robot with dynamic vision field control for Single Port Endoscopic Surgery.

PubMed

Kobayashi, Yo; Sekiguchi, Yuta; Tomono, Yu; Watanabe, Hiroki; Toyoda, Kazutaka; Konishi, Kozo; Tomikawa, Morimasa; Ieiri, Satoshi; Tanoue, Kazuo; Hashizume, Makoto; Fujie, Masaktsu G

2010-01-01

Recently, a robotic system was developed to assist Single Port Endoscopic Surgery (SPS). However, the existing system required a manual change of vision field, hindering the surgical task and increasing the degrees of freedom (DOFs) of the manipulator. We proposed a surgical robot for SPS with dynamic vision field control, the endoscope view being manipulated by a master controller. The prototype robot consisted of a positioning and sheath manipulator (6 DOF) for vision field control, and dual tool tissue manipulators (gripping: 5DOF, cautery: 3DOF). Feasibility of the robot was demonstrated in vitro. The "cut and vision field control" (using tool manipulators) is suitable for precise cutting tasks in risky areas while a "cut by vision field control" (using a vision field control manipulator) is effective for rapid macro cutting of tissues. A resection task was accomplished using a combination of both methods.

Blending Velocities In Task Space In Computing Robot Motions

NASA Technical Reports Server (NTRS)

Volpe, Richard A.

1995-01-01

Blending of linear and angular velocities between sequential specified points in task space constitutes theoretical basis of improved method of computing trajectories followed by robotic manipulators. In method, generalized velocity-vector-blending technique provides relatively simple, common conceptual framework for blending linear, angular, and other parametric velocities. Velocity vectors originate from straight-line segments connecting specified task-space points, called "via frames" and represent specified robot poses. Linear-velocity-blending functions chosen from among first-order, third-order-polynomial, and cycloidal options. Angular velocities blended by use of first-order approximation of previous orientation-matrix-blending formulation. Angular-velocity approximation yields small residual error, quantified and corrected. Method offers both relative simplicity and speed needed for generation of robot-manipulator trajectories in real time.

Control of a Serpentine Robot for Inspection Tasks

NASA Technical Reports Server (NTRS)

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

1994-01-01

This paper presents a simple and robust kinematic control scheme for the JPL serpentine robot system. The proposed strategy is developed using the dampened-least-squares/configuration control methodology, and permits the considerable dexterity of the JPL serpentine robot to be effectively utilized for maneuvering in the congested and uncertain workspaces often encountered in inspection tasks. Computer simulation results are given for the 20 degree-of-freedom (DOF) manipulator system obtained by mounting the twelve DOF serpentine robot at the end-effector of an eight DOF Robotics Research arm/lathe-bed system. These simulations demonstrate that the proposed approach provides an effective method of controlling this complex system.

Virtual and Actual Humanoid Robot Control with Four-Class Motor-Imagery-Based Optical Brain-Computer Interface

PubMed Central

Kim, Youngmoo E.

2017-01-01

Motor-imagery tasks are a popular input method for controlling brain-computer interfaces (BCIs), partially due to their similarities to naturally produced motor signals. The use of functional near-infrared spectroscopy (fNIRS) in BCIs is still emerging and has shown potential as a supplement or replacement for electroencephalography. However, studies often use only two or three motor-imagery tasks, limiting the number of available commands. In this work, we present the results of the first four-class motor-imagery-based online fNIRS-BCI for robot control. Thirteen participants utilized upper- and lower-limb motor-imagery tasks (left hand, right hand, left foot, and right foot) that were mapped to four high-level commands (turn left, turn right, move forward, and move backward) to control the navigation of a simulated or real robot. A significant improvement in classification accuracy was found between the virtual-robot-based BCI (control of a virtual robot) and the physical-robot BCI (control of the DARwIn-OP humanoid robot). Differences were also found in the oxygenated hemoglobin activation patterns of the four tasks between the first and second BCI. These results corroborate previous findings that motor imagery can be improved with feedback and imply that a four-class motor-imagery-based fNIRS-BCI could be feasible with sufficient subject training. PMID:28804712

Virtual and Actual Humanoid Robot Control with Four-Class Motor-Imagery-Based Optical Brain-Computer Interface.

PubMed

Batula, Alyssa M; Kim, Youngmoo E; Ayaz, Hasan

2017-01-01

Motor-imagery tasks are a popular input method for controlling brain-computer interfaces (BCIs), partially due to their similarities to naturally produced motor signals. The use of functional near-infrared spectroscopy (fNIRS) in BCIs is still emerging and has shown potential as a supplement or replacement for electroencephalography. However, studies often use only two or three motor-imagery tasks, limiting the number of available commands. In this work, we present the results of the first four-class motor-imagery-based online fNIRS-BCI for robot control. Thirteen participants utilized upper- and lower-limb motor-imagery tasks (left hand, right hand, left foot, and right foot) that were mapped to four high-level commands (turn left, turn right, move forward, and move backward) to control the navigation of a simulated or real robot. A significant improvement in classification accuracy was found between the virtual-robot-based BCI (control of a virtual robot) and the physical-robot BCI (control of the DARwIn-OP humanoid robot). Differences were also found in the oxygenated hemoglobin activation patterns of the four tasks between the first and second BCI. These results corroborate previous findings that motor imagery can be improved with feedback and imply that a four-class motor-imagery-based fNIRS-BCI could be feasible with sufficient subject training.

Obstacle traversal and self-righting of bio-inspired robots reveal the physics of multi-modal locomotion

NASA Astrophysics Data System (ADS)

Li, Chen; Fearing, Ronald; Full, Robert

Most animals move in nature in a variety of locomotor modes. For example, to traverse obstacles like dense vegetation, cockroaches can climb over, push across, reorient their bodies to maneuver through slits, or even transition among these modes forming diverse locomotor pathways; if flipped over, they can also self-right using wings or legs to generate body pitch or roll. By contrast, most locomotion studies have focused on a single mode such as running, walking, or jumping, and robots are still far from capable of life-like, robust, multi-modal locomotion in the real world. Here, we present two recent studies using bio-inspired robots, together with new locomotion energy landscapes derived from locomotor-environment interaction physics, to begin to understand the physics of multi-modal locomotion. (1) Our experiment of a cockroach-inspired legged robot traversing grass-like beam obstacles reveals that, with a terradynamically ``streamlined'' rounded body like that of the insect, robot traversal becomes more probable by accessing locomotor pathways that overcome lower potential energy barriers. (2) Our experiment of a cockroach-inspired self-righting robot further suggests that body vibrations are crucial for exploring locomotion energy landscapes and reaching lower barrier pathways. Finally, we posit that our new framework of locomotion energy landscapes holds promise to better understand and predict multi-modal biological and robotic movement.

Machine learning in motion control

NASA Technical Reports Server (NTRS)

Su, Renjeng; Kermiche, Noureddine

1989-01-01

The existing methodologies for robot programming originate primarily from robotic applications to manufacturing, where uncertainties of the robots and their task environment may be minimized by repeated off-line modeling and identification. In space application of robots, however, a higher degree of automation is required for robot programming because of the desire of minimizing the human intervention. We discuss a new paradigm of robotic programming which is based on the concept of machine learning. The goal is to let robots practice tasks by themselves and the operational data are used to automatically improve their motion performance. The underlying mathematical problem is to solve the problem of dynamical inverse by iterative methods. One of the key questions is how to ensure the convergence of the iterative process. There have been a few small steps taken into this important approach to robot programming. We give a representative result on the convergence problem.

Robotic virtual reality simulation plus standard robotic orientation versus standard robotic orientation alone: a randomized controlled trial.

PubMed

Vaccaro, Christine M; Crisp, Catrina C; Fellner, Angela N; Jackson, Christopher; Kleeman, Steven D; Pavelka, James

2013-01-01

The objective of this study was to compare the effect of virtual reality simulation training plus robotic orientation versus robotic orientation alone on performance of surgical tasks using an inanimate model. Surgical resident physicians were enrolled in this assessor-blinded randomized controlled trial. Residents were randomized to receive either (1) robotic virtual reality simulation training plus standard robotic orientation or (2) standard robotic orientation alone. Performance of surgical tasks was assessed at baseline and after the intervention. Nine of 33 modules from the da Vinci Skills Simulator were chosen. Experts in robotic surgery evaluated each resident's videotaped performance of the inanimate model using the Global Rating Scale (GRS) and Objective Structured Assessment of Technical Skills-modified for robotic-assisted surgery (rOSATS). Nine resident physicians were enrolled in the simulation group and 9 in the control group. As a whole, participants improved their total time, time to incision, and suture time from baseline to repeat testing on the inanimate model (P = 0.001, 0.003, <0.001, respectively). Both groups improved their GRS and rOSATS scores significantly (both P < 0.001); however, the GRS overall pass rate was higher in the simulation group compared with the control group (89% vs 44%, P = 0.066). Standard robotic orientation and/or robotic virtual reality simulation improve surgical skills on an inanimate model, although this may be a function of the initial "practice" on the inanimate model and repeat testing of a known task. However, robotic virtual reality simulation training increases GRS pass rates consistent with improved robotic technical skills learned in a virtual reality environment.

Taking a lesson from patients' recovery strategies to optimize training during robot-aided rehabilitation.

PubMed

Colombo, Roberto; Sterpi, Irma; Mazzone, Alessandra; Delconte, Carmen; Pisano, Fabrizio

2012-05-01

In robot-assisted neurorehabilitation, matching the task difficulty level to the patient's needs and abilities, both initially and as the relearning process progresses, can enhance the effectiveness of training and improve patients' motivation and outcome. This study presents a Progressive Task Regulation algorithm implemented in a robot for upper limb rehabilitation. It evaluates the patient's performance during training through the computation of robot-measured parameters, and automatically changes the features of the reaching movements, adapting the difficulty level of the motor task to the patient's abilities. In particular, it can select different types of assistance (time-triggered, activity-triggered, and negative assistance) and implement varied therapy practice to promote generalization processes. The algorithm was tuned by assessing the performance data obtained in 22 chronic stroke patients who underwent robotic rehabilitation, in which the difficulty level of the task was manually adjusted by the therapist. Thus, we could verify the patient's recovery strategies and implement task transition rules to match both the patient's and therapist's behavior. In addition, the algorithm was tested in a sample of five chronic stroke patients. The findings show good agreement with the therapist decisions so indicating that it could be useful for the implementation of training protocols allowing individualized and gradual treatment of upper limb disabilities in patients after stroke. The application of this algorithm during robot-assisted therapy should allow an easier management of the different motor tasks administered during training, thereby facilitating the therapist's activity in the treatment of different pathologic conditions of the neuromuscular system.

[Robots and intellectual property].

PubMed

Larrieu, Jacques

2013-12-01

This topic is part of the global issue concerning the necessity to adapt intellectual property law to constant changes in technology. The relationship between robots and IP is dual. On one hand, the robots may be regarded as objects of intellectual property. A robot, like any new machine, could qualify for a protection by a patent. A copyright may protect its appearance if it is original. Its memory, like a database, could be covered by a sui generis right. On the other hand, the question of the protection of the outputs of the robot must be raised. The robots, as the physical embodiment of artificial intelligence, are becoming more and more autonomous. Robot-generated works include less and less human inputs. Are these objects created or invented by a robot copyrightable or patentable? To whom the ownership of these IP rights will be allocated? To the person who manufactured the machine ? To the user of the robot? To the robot itself? All these questions are worth discussing.

Automation trust and attention allocation in multitasking workspace.

PubMed

Karpinsky, Nicole D; Chancey, Eric T; Palmer, Dakota B; Yamani, Yusuke

2018-07-01

Previous research suggests that operators with high workload can distrust and then poorly monitor automation, which has been generally inferred from automation dependence behaviors. To test automation monitoring more directly, the current study measured operators' visual attention allocation, workload, and trust toward imperfect automation in a dynamic multitasking environment. Participants concurrently performed a manual tracking task with two levels of difficulty and a system monitoring task assisted by an unreliable signaling system. Eye movement data indicate that operators allocate less visual attention to monitor automation when the tracking task is more difficult. Participants reported reduced levels of trust toward the signaling system when the tracking task demanded more focused visual attention. Analyses revealed that trust mediated the relationship between the load of the tracking task and attention allocation in Experiment 1, an effect that was not replicated in Experiment 2. Results imply a complex process underlying task load, visual attention allocation, and automation trust during multitasking. Automation designers should consider operators' task load in multitasking workspaces to avoid reduced automation monitoring and distrust toward imperfect signaling systems. Copyright © 2018. Published by Elsevier Ltd.

An assessment of the physical impact of complex surgical tasks on surgeon errors and discomfort: a comparison between robot-assisted, laparoscopic and open approaches.

PubMed

Elhage, Oussama; Challacombe, Ben; Shortland, Adam; Dasgupta, Prokar

2015-02-01

To evaluate, in a simulated suturing task, individual surgeons’ performance using three surgical approaches: open, laparoscopic and robot-assisted. subjects and methods: Six urological surgeons made an in vitro simulated vesico-urethral anastomosis. All surgeons performed the simulated suturing task using all three surgical approaches (open, laparoscopic and robot-assisted). The time taken to perform each task was recorded. Participants were evaluated for perceived discomfort using the self-reporting Borg scale. Errors made by surgeons were quantified by studying the video recording of the tasks. Anastomosis quality was quantified using scores for knot security, symmetry of suture, position of suture and apposition of anastomosis. The time taken to complete the task by the laparoscopic approach was on average 221 s, compared with 55 s for the open approach and 116 s for the robot-assisted approach (anova, P < 0.005). The number of errors and the level of self-reported discomfort were highest for the laparoscopic approach (anova, P < 0.005). Limitations of the present study include the small sample size and variation in prior surgical experience of the participants. In an in vitro model of anastomosis surgery, robot-assisted surgery combines the accuracy of open surgery while causing lesser surgeon discomfort than laparoscopy and maintaining minimal access.

Understanding the allocation of attention when faced with varying perceptual load in partial report: a computational approach.

PubMed

Kyllingsbæk, Søren; Sy, Jocelyn L; Giesbrecht, Barry

2011-05-01

The allocation of visual processing capacity is a key topic in studies and theories of visual attention. The load theory of Lavie (1995) proposes that allocation happens in two steps where processing resources are first allocated to task-relevant stimuli and secondly remaining capacity 'spills over' to task-irrelevant distractors. In contrast, the Theory of Visual Attention (TVA) proposed by Bundesen (1990) assumes that allocation happens in a single step where processing capacity is allocated to all stimuli, both task-relevant and task-irrelevant, in proportion to their relative attentional weight. Here we present data from two partial report experiments where we varied the number and discriminability of the task-irrelevant stimuli (Experiment 1) and perceptual load (Experiment 2). The TVA fitted the data of the two experiments well thus favoring the simple explanation with a single step of capacity allocation. We also show that the effects of varying perceptual load can only be explained by a combined effect of allocation of processing capacity as well as limits in visual working memory. Finally, we link the results to processing capacity understood at the neural level based on the neural theory of visual attention by Bundesen et al. (2005). Copyright © 2010 Elsevier Ltd. All rights reserved.

Telemanipulator design and optimization software

NASA Astrophysics Data System (ADS)

Cote, Jean; Pelletier, Michel

1995-12-01

For many years, industrial robots have been used to execute specific repetitive tasks. In those cases, the optimal configuration and location of the manipulator only has to be found once. The optimal configuration or position where often found empirically according to the tasks to be performed. In telemanipulation, the nature of the tasks to be executed is much wider and can be very demanding in terms of dexterity and workspace. The position/orientation of the robot's base could be required to move during the execution of a task. At present, the choice of the initial position of the teleoperator is usually found empirically which can be sufficient in the case of an easy or repetitive task. In the converse situation, the amount of time wasted to move the teleoperator support platform has to be taken into account during the execution of the task. Automatic optimization of the position/orientation of the platform or a better designed robot configuration could minimize these movements and save time. This paper will present two algorithms. The first algorithm is used to optimize the position and orientation of a given manipulator (or manipulators) with respect to the environment on which a task has to be executed. The second algorithm is used to optimize the position or the kinematic configuration of a robot. For this purpose, the tasks to be executed are digitized using a position/orientation measurement system and a compact representation based on special octrees. Given a digitized task, the optimal position or Denavit-Hartenberg configuration of the manipulator can be obtained numerically. Constraints on the robot design can also be taken into account. A graphical interface has been designed to facilitate the use of the two optimization algorithms.

The problem with multiple robots

NASA Technical Reports Server (NTRS)

Huber, Marcus J.; Kenny, Patrick G.

1994-01-01

The issues that can arise in research associated with multiple, robotic agents are discussed. Two particular multi-robot projects are presented as examples. This paper was written in the hope that it might ease the transition from single to multiple robot research.

I Reach Faster When I See You Look: Gaze Effects in Human–Human and Human–Robot Face-to-Face Cooperation

PubMed Central

Boucher, Jean-David; Pattacini, Ugo; Lelong, Amelie; Bailly, Gerard; Elisei, Frederic; Fagel, Sascha; Dominey, Peter Ford; Ventre-Dominey, Jocelyne

2012-01-01

Human–human interaction in natural environments relies on a variety of perceptual cues. Humanoid robots are becoming increasingly refined in their sensorimotor capabilities, and thus should now be able to manipulate and exploit these social cues in cooperation with their human partners. Previous studies have demonstrated that people follow human and robot gaze, and that it can help them to cope with spatially ambiguous language. Our goal is to extend these findings into the domain of action, to determine how human and robot gaze can influence the speed and accuracy of human action. We report on results from a human–human cooperation experiment demonstrating that an agent’s vision of her/his partner’s gaze can significantly improve that agent’s performance in a cooperative task. We then implement a heuristic capability to generate such gaze cues by a humanoid robot that engages in the same cooperative interaction. The subsequent human–robot experiments demonstrate that a human agent can indeed exploit the predictive gaze of their robot partner in a cooperative task. This allows us to render the humanoid robot more human-like in its ability to communicate with humans. The long term objectives of the work are thus to identify social cooperation cues, and to validate their pertinence through implementation in a cooperative robot. The current research provides the robot with the capability to produce appropriate speech and gaze cues in the context of human–robot cooperation tasks. Gaze is manipulated in three conditions: Full gaze (coordinated eye and head), eyes hidden with sunglasses, and head fixed. We demonstrate the pertinence of these cues in terms of statistical measures of action times for humans in the context of a cooperative task, as gaze significantly facilitates cooperation as measured by human response times. PMID:22563315

Fault detection and fault tolerance in robotics

NASA Technical Reports Server (NTRS)

Visinsky, Monica; Walker, Ian D.; Cavallaro, Joseph R.

1992-01-01

Robots are used in inaccessible or hazardous environments in order to alleviate some of the time, cost and risk involved in preparing men to endure these conditions. In order to perform their expected tasks, the robots are often quite complex, thus increasing their potential for failures. If men must be sent into these environments to repair each component failure in the robot, the advantages of using the robot are quickly lost. Fault tolerant robots are needed which can effectively cope with failures and continue their tasks until repairs can be realistically scheduled. Before fault tolerant capabilities can be created, methods of detecting and pinpointing failures must be perfected. This paper develops a basic fault tree analysis of a robot in order to obtain a better understanding of where failures can occur and how they contribute to other failures in the robot. The resulting failure flow chart can also be used to analyze the resiliency of the robot in the presence of specific faults. By simulating robot failures and fault detection schemes, the problems involved in detecting failures for robots are explored in more depth.

Exhaustive geographic search with mobile robots along space-filling curves

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

Spires, S.V.; Goldsmith, S.Y.

1998-03-01

Swarms of mobile robots can be tasked with searching a geographic region for targets of interest, such as buried land mines. The authors assume that the individual robots are equipped with sensors tuned to the targets of interest, that these sensors have limited range, and that the robots can communicate with one another to enable cooperation. How can a swarm of cooperating sensate robots efficiently search a given geographic region for targets in the absence of a priori information about the target`s locations? Many of the obvious approaches are inefficient or lack robustness. One efficient approach is to have themore » robots traverse a space-filling curve. For many geographic search applications, this method is energy-frugal, highly robust, and provides guaranteed coverage in a finite time that decreases as the reciprocal of the number of robots sharing the search task. Furthermore, it minimizes the amount of robot-to-robot communication needed for the robots to organize their movements. This report presents some preliminary results from applying the Hilbert space-filling curve to geographic search by mobile robots.« less

Obstacle avoidance handling and mixed integer predictive control for space robots

NASA Astrophysics Data System (ADS)

Zong, Lijun; Luo, Jianjun; Wang, Mingming; Yuan, Jianping

2018-04-01

This paper presents a novel obstacle avoidance constraint and a mixed integer predictive control (MIPC) method for space robots avoiding obstacles and satisfying physical limits during performing tasks. Firstly, a novel kind of obstacle avoidance constraint of space robots, which needs the assumption that the manipulator links and the obstacles can be represented by convex bodies, is proposed by limiting the relative velocity between two closest points which are on the manipulator and the obstacle, respectively. Furthermore, the logical variables are introduced into the obstacle avoidance constraint, which have realized the constraint form is automatically changed to satisfy different obstacle avoidance requirements in different distance intervals between the space robot and the obstacle. Afterwards, the obstacle avoidance constraint and other system physical limits, such as joint angle ranges, the amplitude boundaries of joint velocities and joint torques, are described as inequality constraints of a quadratic programming (QP) problem by using the model predictive control (MPC) method. To guarantee the feasibility of the obtained multi-constraint QP problem, the constraints are treated as soft constraints and assigned levels of priority based on the propositional logic theory, which can realize that the constraints with lower priorities are always firstly violated to recover the feasibility of the QP problem. Since the logical variables have been introduced, the optimization problem including obstacle avoidance and system physical limits as prioritized inequality constraints is termed as MIPC method of space robots, and its computational complexity as well as possible strategies for reducing calculation amount are analyzed. Simulations of the space robot unfolding its manipulator and tracking the end-effector's desired trajectories with the existence of obstacles and physical limits are presented to demonstrate the effectiveness of the proposed obstacle avoidance strategy and MIPC control method of space robots.

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

ERIC Educational Resources Information Center

Hull, Daniel M.; Lovett, James E.

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

A three-finger multisensory hand for dexterous space robotic tasks

NASA Technical Reports Server (NTRS)

Murase, Yuichi; Komada, Satoru; Uchiyama, Takashi; Machida, Kazuo; Akita, Kenzo

1994-01-01

The National Space Development Agency of Japan will launch ETS-7 in 1997, as a test bed for next generation space technology of RV&D and space robot. MITI has been developing a three-finger multisensory hand for complex space robotic tasks. The hand can be operated under remote control or autonomously. This paper describes the design and development of the hand and the performance of a breadboard model.

Human-Robot Interface: Issues in Operator Performance, Interface Design, and Technologies

DTIC Science & Technology

2006-07-01

and the use of lightweight portable robotic sensor platforms. 5 robotics has reached a point where some generalities of HRI transcend specific...displays with control devices such as joysticks, wheels, and pedals (Kamsickas, 2003). Typical control stations include panels displaying (a) sensor ...tasks that do not involve mobility and usually involve camera control or data fusion from sensors Active search: Search tasks that involve mobility

Decoding bipedal locomotion from the rat sensorimotor cortex.

PubMed

Rigosa, J; Panarese, A; Dominici, N; Friedli, L; van den Brand, R; Carpaneto, J; DiGiovanna, J; Courtine, G; Micera, S

2015-10-01

Decoding forelimb movements from the firing activity of cortical neurons has been interfaced with robotic and prosthetic systems to replace lost upper limb functions in humans. Despite the potential of this approach to improve locomotion and facilitate gait rehabilitation, decoding lower limb movement from the motor cortex has received comparatively little attention. Here, we performed experiments to identify the type and amount of information that can be decoded from neuronal ensemble activity in the hindlimb area of the rat motor cortex during bipedal locomotor tasks. Rats were trained to stand, step on a treadmill, walk overground and climb staircases in a bipedal posture. To impose this gait, the rats were secured in a robotic interface that provided support against the direction of gravity and in the mediolateral direction, but behaved transparently in the forward direction. After completion of training, rats were chronically implanted with a micro-wire array spanning the left hindlimb motor cortex to record single and multi-unit activity, and bipolar electrodes into 10 muscles of the right hindlimb to monitor electromyographic signals. Whole-body kinematics, muscle activity, and neural signals were simultaneously recorded during execution of the trained tasks over multiple days of testing. Hindlimb kinematics, muscle activity, gait phases, and locomotor tasks were decoded using offline classification algorithms. We found that the stance and swing phases of gait and the locomotor tasks were detected with accuracies as robust as 90% in all rats. Decoded hindlimb kinematics and muscle activity exhibited a larger variability across rats and tasks. Our study shows that the rodent motor cortex contains useful information for lower limb neuroprosthetic development. However, brain-machine interfaces estimating gait phases or locomotor behaviors, instead of continuous variables such as limb joint positions or speeds, are likely to provide more robust control strategies for the design of such neuroprostheses.

Robot training of upper limb in multiple sclerosis: comparing protocols with or without manipulative task components.

PubMed

Carpinella, Ilaria; Cattaneo, Davide; Bertoni, Rita; Ferrarin, Maurizio

2012-05-01

In this pilot study, we compared two protocols for robot-based rehabilitation of upper limb in multiple sclerosis (MS): a protocol involving reaching tasks (RT) requiring arm transport only and a protocol requiring both objects' reaching and manipulation (RMT). Twenty-two MS subjects were assigned to RT or RMT group. Both protocols consisted of eight sessions. During RT training, subjects moved the handle of a planar robotic manipulandum toward circular targets displayed on a screen. RMT protocol required patients to reach and manipulate real objects, by moving the robotic arm equipped with a handle which left the hand free for distal tasks. In both trainings, the robot generated resistive and perturbing forces. Subjects were evaluated with clinical and instrumental tests. The results confirmed that MS patients maintained the ability to adapt to the robot-generated forces and that the rate of motor learning increased across sessions. Robot-therapy significantly reduced arm tremor and improved arm kinematics and functional ability. Compared to RT, RMT protocol induced a significantly larger improvement in movements involving grasp (improvement in Grasp ARAT sub-score: RMT 77.4%, RT 29.5%, p=0.035) but not precision grip. Future studies are needed to evaluate if longer trainings and the use of robotic handles would significantly improve also fine manipulation.

Autonomous Motion Learning for Intra-Vehicular Activity Space Robot

NASA Astrophysics Data System (ADS)

Watanabe, Yutaka; Yairi, Takehisa; Machida, Kazuo

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

Connecting Artificial Brains to Robots in a Comprehensive Simulation Framework: The Neurorobotics Platform

PubMed Central

Falotico, Egidio; Vannucci, Lorenzo; Ambrosano, Alessandro; Albanese, Ugo; Ulbrich, Stefan; Vasquez Tieck, Juan Camilo; Hinkel, Georg; Kaiser, Jacques; Peric, Igor; Denninger, Oliver; Cauli, Nino; Kirtay, Murat; Roennau, Arne; Klinker, Gudrun; Von Arnim, Axel; Guyot, Luc; Peppicelli, Daniel; Martínez-Cañada, Pablo; Ros, Eduardo; Maier, Patrick; Weber, Sandro; Huber, Manuel; Plecher, David; Röhrbein, Florian; Deser, Stefan; Roitberg, Alina; van der Smagt, Patrick; Dillman, Rüdiger; Levi, Paul; Laschi, Cecilia; Knoll, Alois C.; Gewaltig, Marc-Oliver

2017-01-01

Combined efforts in the fields of neuroscience, computer science, and biology allowed to design biologically realistic models of the brain based on spiking neural networks. For a proper validation of these models, an embodiment in a dynamic and rich sensory environment, where the model is exposed to a realistic sensory-motor task, is needed. Due to the complexity of these brain models that, at the current stage, cannot deal with real-time constraints, it is not possible to embed them into a real-world task. Rather, the embodiment has to be simulated as well. While adequate tools exist to simulate either complex neural networks or robots and their environments, there is so far no tool that allows to easily establish a communication between brain and body models. The Neurorobotics Platform is a new web-based environment that aims to fill this gap by offering scientists and technology developers a software infrastructure allowing them to connect brain models to detailed simulations of robot bodies and environments and to use the resulting neurorobotic systems for in silico experimentation. In order to simplify the workflow and reduce the level of the required programming skills, the platform provides editors for the specification of experimental sequences and conditions, environments, robots, and brain–body connectors. In addition to that, a variety of existing robots and environments are provided. This work presents the architecture of the first release of the Neurorobotics Platform developed in subproject 10 “Neurorobotics” of the Human Brain Project (HBP).1 At the current state, the Neurorobotics Platform allows researchers to design and run basic experiments in neurorobotics using simulated robots and simulated environments linked to simplified versions of brain models. We illustrate the capabilities of the platform with three example experiments: a Braitenberg task implemented on a mobile robot, a sensory-motor learning task based on a robotic controller, and a visual tracking embedding a retina model on the iCub humanoid robot. These use-cases allow to assess the applicability of the Neurorobotics Platform for robotic tasks as well as in neuroscientific experiments. PMID:28179882

Connecting Artificial Brains to Robots in a Comprehensive Simulation Framework: The Neurorobotics Platform.

PubMed

Falotico, Egidio; Vannucci, Lorenzo; Ambrosano, Alessandro; Albanese, Ugo; Ulbrich, Stefan; Vasquez Tieck, Juan Camilo; Hinkel, Georg; Kaiser, Jacques; Peric, Igor; Denninger, Oliver; Cauli, Nino; Kirtay, Murat; Roennau, Arne; Klinker, Gudrun; Von Arnim, Axel; Guyot, Luc; Peppicelli, Daniel; Martínez-Cañada, Pablo; Ros, Eduardo; Maier, Patrick; Weber, Sandro; Huber, Manuel; Plecher, David; Röhrbein, Florian; Deser, Stefan; Roitberg, Alina; van der Smagt, Patrick; Dillman, Rüdiger; Levi, Paul; Laschi, Cecilia; Knoll, Alois C; Gewaltig, Marc-Oliver

2017-01-01

Combined efforts in the fields of neuroscience, computer science, and biology allowed to design biologically realistic models of the brain based on spiking neural networks. For a proper validation of these models, an embodiment in a dynamic and rich sensory environment, where the model is exposed to a realistic sensory-motor task, is needed. Due to the complexity of these brain models that, at the current stage, cannot deal with real-time constraints, it is not possible to embed them into a real-world task. Rather, the embodiment has to be simulated as well. While adequate tools exist to simulate either complex neural networks or robots and their environments, there is so far no tool that allows to easily establish a communication between brain and body models. The Neurorobotics Platform is a new web-based environment that aims to fill this gap by offering scientists and technology developers a software infrastructure allowing them to connect brain models to detailed simulations of robot bodies and environments and to use the resulting neurorobotic systems for in silico experimentation. In order to simplify the workflow and reduce the level of the required programming skills, the platform provides editors for the specification of experimental sequences and conditions, environments, robots, and brain-body connectors. In addition to that, a variety of existing robots and environments are provided. This work presents the architecture of the first release of the Neurorobotics Platform developed in subproject 10 "Neurorobotics" of the Human Brain Project (HBP). At the current state, the Neurorobotics Platform allows researchers to design and run basic experiments in neurorobotics using simulated robots and simulated environments linked to simplified versions of brain models. We illustrate the capabilities of the platform with three example experiments: a Braitenberg task implemented on a mobile robot, a sensory-motor learning task based on a robotic controller, and a visual tracking embedding a retina model on the iCub humanoid robot. These use-cases allow to assess the applicability of the Neurorobotics Platform for robotic tasks as well as in neuroscientific experiments.

Robotic assistance improves intracorporeal suturing performance and safety in the operating room while decreasing operator workload.

PubMed

Stefanidis, Dimitrios; Wang, Fikre; Korndorffer, James R; Dunne, J Bruce; Scott, Daniel J

2010-02-01

Intracorporeal suturing is one of the most difficult laparoscopic tasks. The purpose of this study was to assess the impact of robotic assistance on novice suturing performance, safety, and workload in the operating room. Medical students (n = 34), without prior laparoscopic suturing experience, were enrolled in an Institutional Review Board-approved, randomized protocol. After viewing an instructional video, subjects were tested in intracorporeal suturing on two identical, live, porcine Nissen fundoplication models; they placed three gastro-gastric sutures using conventional laparoscopic instruments in one model and using robotic assistance (da Vinci) in the other, in random order. Each knot was objectively scored based on time, accuracy, and security. Injuries to surrounding structures were recorded. Workload was assessed using the validated National Aeronautics and Space Administration (NASA) task load index (TLX) questionnaire, which measures the subjects' self-reported performance, effort, frustration, and mental, physical, and temporal demands of the task. Analysis was by paired t-test; p < 0.05 was considered significant. Compared with laparoscopy, robotic assistance enabled subjects to suture faster (595 +/- 22 s versus 459 +/- 137 s, respectively; p < 0.001), achieve higher overall scores (0 +/- 1 versus 95 +/- 128, respectively; p < 0.001), and commit fewer errors per knot (1.15 +/- 1.35 versus 0.05 +/- 0.26, respectively; p < 0.001). Subjects' overall score did not improve between the first and third attempt for laparoscopic suturing (0 +/- 0 versus 0 +/- 0; p = NS) but improved significantly for robotic suturing (49 +/- 100 versus 141 +/- 152; p < 0.001). Moreover, subjects indicated on the NASA-TLX scale that the task was more difficult to perform with laparoscopic instruments compared with robotic assistance (99 +/- 15 versus 57 +/- 23; p < 0.001). Compared with standard laparoscopy, robotic assistance significantly improved intracorporeal suturing performance and safety of novices in the operating room while decreasing their workload. Moreover, the robot significantly shortened the learning curve of this difficult task. Further study is needed to assess the value of robotic assistance for experienced surgeons, and validated robotic training curricula need to be developed.

A fault-tolerant intelligent robotic control system

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Tso, Kam Sing

1993-01-01

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

Assistance dogs provide a useful behavioral model to enrich communicative skills of assistance robots.

PubMed

Gácsi, Márta; Szakadát, Sára; Miklósi, Adám

2013-01-01

These studies are part of a project aiming to reveal relevant aspects of human-dog interactions, which could serve as a model to design successful human-robot interactions. Presently there are no successfully commercialized assistance robots, however, assistance dogs work efficiently as partners for persons with disabilities. In Study 1, we analyzed the cooperation of 32 assistance dog-owner dyads performing a carrying task. We revealed typical behavior sequences and also differences depending on the dyads' experiences and on whether the owner was a wheelchair user. In Study 2, we investigated dogs' responses to unforeseen difficulties during a retrieving task in two contexts. Dogs displayed specific communicative and displacement behaviors, and a strong commitment to execute the insoluble task. Questionnaire data from Study 3 confirmed that these behaviors could successfully attenuate owners' disappointment. Although owners anticipated the technical competence of future assistance robots to be moderate/high, they could not imagine robots as emotional companions, which negatively affected their acceptance ratings of future robotic assistants. We propose that assistance dogs' cooperative behaviors and problem solving strategies should inspire the development of the relevant functions and social behaviors of assistance robots with limited manual and verbal skills.

Iconic Gestures for Robot Avatars, Recognition and Integration with Speech

PubMed Central

Bremner, Paul; Leonards, Ute

2016-01-01

Co-verbal gestures are an important part of human communication, improving its efficiency and efficacy for information conveyance. One possible means by which such multi-modal communication might be realized remotely is through the use of a tele-operated humanoid robot avatar. Such avatars have been previously shown to enhance social presence and operator salience. We present a motion tracking based tele-operation system for the NAO robot platform that allows direct transmission of speech and gestures produced by the operator. To assess the capabilities of this system for transmitting multi-modal communication, we have conducted a user study that investigated if robot-produced iconic gestures are comprehensible, and are integrated with speech. Robot performed gesture outcomes were compared directly to those for gestures produced by a human actor, using a within participant experimental design. We show that iconic gestures produced by a tele-operated robot are understood by participants when presented alone, almost as well as when produced by a human. More importantly, we show that gestures are integrated with speech when presented as part of a multi-modal communication equally well for human and robot performances. PMID:26925010

An Energy-Aware Runtime Management of Multi-Core Sensory Swarms.

PubMed

Kim, Sungchan; Yang, Hoeseok

2017-08-24

In sensory swarms, minimizing energy consumption under performance constraint is one of the key objectives. One possible approach to this problem is to monitor application workload that is subject to change at runtime, and to adjust system configuration adaptively to satisfy the performance goal. As today's sensory swarms are usually implemented using multi-core processors with adjustable clock frequency, we propose to monitor the CPU workload periodically and adjust the task-to-core allocation or clock frequency in an energy-efficient way in response to the workload variations. In doing so, we present an online heuristic that determines the most energy-efficient adjustment that satisfies the performance requirement. The proposed method is based on a simple yet effective energy model that is built upon performance prediction using IPC (instructions per cycle) measured online and power equation derived empirically. The use of IPC accounts for memory intensities of a given workload, enabling the accurate prediction of execution time. Hence, the model allows us to rapidly and accurately estimate the effect of the two control knobs, clock frequency adjustment and core allocation. The experiments show that the proposed technique delivers considerable energy saving of up to 45%compared to the state-of-the-art multi-core energy management technique.

An Energy-Aware Runtime Management of Multi-Core Sensory Swarms

PubMed Central

Kim, Sungchan

2017-01-01

In sensory swarms, minimizing energy consumption under performance constraint is one of the key objectives. One possible approach to this problem is to monitor application workload that is subject to change at runtime, and to adjust system configuration adaptively to satisfy the performance goal. As today’s sensory swarms are usually implemented using multi-core processors with adjustable clock frequency, we propose to monitor the CPU workload periodically and adjust the task-to-core allocation or clock frequency in an energy-efficient way in response to the workload variations. In doing so, we present an online heuristic that determines the most energy-efficient adjustment that satisfies the performance requirement. The proposed method is based on a simple yet effective energy model that is built upon performance prediction using IPC (instructions per cycle) measured online and power equation derived empirically. The use of IPC accounts for memory intensities of a given workload, enabling the accurate prediction of execution time. Hence, the model allows us to rapidly and accurately estimate the effect of the two control knobs, clock frequency adjustment and core allocation. The experiments show that the proposed technique delivers considerable energy saving of up to 45%compared to the state-of-the-art multi-core energy management technique. PMID:28837094

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

NASA Astrophysics Data System (ADS)

Meng, Yan; Gan, Jing; Desai, Sachi

2008-04-01

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

Off-line simulation inspires insight: A neurodynamics approach to efficient robot task learning.

PubMed

Sousa, Emanuel; Erlhagen, Wolfram; Ferreira, Flora; Bicho, Estela

2015-12-01

There is currently an increasing demand for robots able to acquire the sequential organization of tasks from social learning interactions with ordinary people. Interactive learning-by-demonstration and communication is a promising research topic in current robotics research. However, the efficient acquisition of generalized task representations that allow the robot to adapt to different users and contexts is a major challenge. In this paper, we present a dynamic neural field (DNF) model that is inspired by the hypothesis that the nervous system uses the off-line re-activation of initial memory traces to incrementally incorporate new information into structured knowledge. To achieve this, the model combines fast activation-based learning to robustly represent sequential information from single task demonstrations with slower, weight-based learning during internal simulations to establish longer-term associations between neural populations representing individual subtasks. The efficiency of the learning process is tested in an assembly paradigm in which the humanoid robot ARoS learns to construct a toy vehicle from its parts. User demonstrations with different serial orders together with the correction of initial prediction errors allow the robot to acquire generalized task knowledge about possible serial orders and the longer term dependencies between subgoals in very few social learning interactions. This success is shown in a joint action scenario in which ARoS uses the newly acquired assembly plan to construct the toy together with a human partner. Copyright © 2015 Elsevier Ltd. All rights reserved.

Diverse Planning for UAV Control and Remote Sensing

PubMed Central

Tožička, Jan; Komenda, Antonín

2016-01-01

Unmanned aerial vehicles (UAVs) are suited to various remote sensing missions, such as measuring air quality. The conventional method of UAV control is by human operators. Such an approach is limited by the ability of cooperation among the operators controlling larger fleets of UAVs in a shared area. The remedy for this is to increase autonomy of the UAVs in planning their trajectories by considering other UAVs and their plans. To provide such improvement in autonomy, we need better algorithms for generating alternative trajectory variants that the UAV coordination algorithms can utilize. In this article, we define a novel family of multi-UAV sensing problems, solving task allocation of huge number of tasks (tens of thousands) to a group of configurable UAVs with non-zero weight of equipped sensors (comprising the air quality measurement as well) together with two base-line solvers. To solve the problem efficiently, we use an algorithm for diverse trajectory generation and integrate it with a solver for the multi-UAV coordination problem. Finally, we experimentally evaluate the multi-UAV sensing problem solver. The evaluation is done on synthetic and real-world-inspired benchmarks in a multi-UAV simulator. Results show that diverse planning is a valuable method for remote sensing applications containing multiple UAVs. PMID:28009831

Diverse Planning for UAV Control and Remote Sensing.

PubMed

Tožička, Jan; Komenda, Antonín

2016-12-21

Unmanned aerial vehicles (UAVs) are suited to various remote sensing missions, such as measuring air quality. The conventional method of UAV control is by human operators. Such an approach is limited by the ability of cooperation among the operators controlling larger fleets of UAVs in a shared area. The remedy for this is to increase autonomy of the UAVs in planning their trajectories by considering other UAVs and their plans. To provide such improvement in autonomy, we need better algorithms for generating alternative trajectory variants that the UAV coordination algorithms can utilize. In this article, we define a novel family of multi-UAV sensing problems, solving task allocation of huge number of tasks (tens of thousands) to a group of configurable UAVs with non-zero weight of equipped sensors (comprising the air quality measurement as well) together with two base-line solvers. To solve the problem efficiently, we use an algorithm for diverse trajectory generation and integrate it with a solver for the multi-UAV coordination problem. Finally, we experimentally evaluate the multi-UAV sensing problem solver. The evaluation is done on synthetic and real-world-inspired benchmarks in a multi-UAV simulator. Results show that diverse planning is a valuable method for remote sensing applications containing multiple UAVs.

Human performance in a multiple-task environment: effects of automation reliability on visual attention allocation.

PubMed

Cullen, Ralph H; Rogers, Wendy A; Fisk, Arthur D

2013-11-01

Diagnostic automation has been posited to alleviate the high demands of multiple-task environments; however, mixed effects have been found pertaining to performance aid success. To better understand these effects, attention allocation must be studied directly. We developed a multiple-task environment to study the effects of automation on visual attention. Participants interacted with a system providing varying levels of automation and automation reliability and then were transferred to a system with no support. Attention allocation was measured by tracking the number of times each task was viewed. We found that participants receiving automation allocated their time according to the task frequency and that tasks that benefited most from automation were most harmed when it was removed. The results suggest that the degree to which automation affects multiple-task performance is dependent on the relative attributes of the tasks involved. Moreover, there is an inverse relationship between support and cost when automation fails. Copyright © 2013 Elsevier Ltd and The Ergonomics Society. All rights reserved.

Children with Autism Spectrum Disorders Make a Fruit Salad with Probo, the Social Robot: An Interaction Study.

PubMed

Simut, Ramona E; Vanderfaeillie, Johan; Peca, Andreea; Van de Perre, Greet; Vanderborght, Bram

2016-01-01

Social robots are thought to be motivating tools in play tasks with children with autism spectrum disorders. Thirty children with autism were included using a repeated measurements design. It was investigated if the children's interaction with a human differed from the interaction with a social robot during a play task. Also, it was examined if the two conditions differed in their ability to elicit interaction with a human accompanying the child during the task. Interaction of the children with both partners did not differ apart from the eye-contact. Participants had more eye-contact with the social robot compared to the eye-contact with the human. The conditions did not differ regarding the interaction elicited with the human accompanying the child.

Novel CO2 laser robotic controller outperforms experienced laser operators in tasks of accuracy and performance repeatability.

PubMed

Wong, Yu-Tung; Finley, Charles C; Giallo, Joseph F; Buckmire, Robert A

2011-08-01

To introduce a novel method of combining robotics and the CO(2) laser micromanipulator to provide excellent precision and performance repeatability designed for surgical applications. Pilot feasibility study. We developed a portable robotic controller that appends to a standard CO(2) laser micromanipulator. The robotic accuracy and laser beam path repeatability were compared to six experienced users of the industry standard micromanipulator performing the same simulated surgical tasks. Helium-neon laser beam video tracking techniques were employed. The robotic controller demonstrated superiority over experienced human manual micromanipulator control in accuracy (laser path within 1 mm of idealized centerline), 97.42% (standard deviation [SD] 2.65%), versus 85.11% (SD 14.51%), P = .018; and laser beam path repeatability (area of laser path divergence on successive trials), 21.42 mm(2) (SD 4.35 mm(2) ) versus 65.84 mm(2) (SD 11.93 mm(2) ), P = .006. Robotic micromanipulator control enhances accuracy and repeatability for specific laser tasks. Computerized control opens opportunity for alternative user interfaces and additional safety features. Copyright © 2011 The American Laryngological, Rhinological, and Otological Society, Inc.

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

NASA Astrophysics Data System (ADS)

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

2017-07-01

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

Robotic experiment with a force reflecting handcontroller onboard MIR space station

NASA Technical Reports Server (NTRS)

Delpech, M.; Matzakis, Y.

1994-01-01

During the French CASSIOPEE mission that will fly onboard MIR space station in 1996, ergonomic evaluations of a force reflecting handcontroller will be performed on a simulated robotic task. This handcontroller is a part of the COGNILAB payload that will be used also for experiments in neurophysiology. The purpose of the robotic experiment is the validation of a new control and design concept that would enhance the task performances for telemanipulating space robots. Besides the handcontroller and its control unit, the experimental system includes a simulator of the slave robot dynamics for both free and constrained motions, a flat display screen and a seat with special fixtures for holding the astronaut.

Integrating obstacle avoidance, global path planning, visual cue detection, and landmark triangulation in a mobile robot

NASA Astrophysics Data System (ADS)

Kortenkamp, David; Huber, Marcus J.; Congdon, Clare B.; Huffman, Scott B.; Bidlack, Clint R.; Cohen, Charles J.; Koss, Frank V.; Raschke, Ulrich; Weymouth, Terry E.

1993-05-01

This paper describes the design and implementation of an integrated system for combining obstacle avoidance, path planning, landmark detection and position triangulation. Such an integrated system allows the robot to move from place to place in an environment, avoiding obstacles and planning its way out of traps, while maintaining its position and orientation using distinctive landmarks. The task the robot performs is to search a 22 m X 22 m arena for 10 distinctive objects, visiting each object in turn. This same task was recently performed by a dozen different robots at a competition in which the robot described in this paper finished first.