Research on modeling and motion simulation of a spherical space robot with telescopic manipulator based on virtual prototype technology

NASA Astrophysics Data System (ADS)

Shi, Chengkun; Sun, Hanxu; Jia, Qingxuan; Zhao, Kailiang

2009-05-01

For realizing omni-directional movement and operating task of spherical space robot system, this paper describes an innovated prototype and analyzes dynamic characteristics of a spherical rolling robot with telescopic manipulator. Based on the Newton-Euler equations, the kinematics and dynamic equations of the spherical robot's motion are instructed detailedly. Then the motion simulations of the robot in different environments are developed with ADAMS. The simulation results validate the mathematics model of the system. And the dynamic model establishes theoretical basis for the latter job.

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.

Polar Seismic TETwalker: Integrating Engineering Teaching and Research

NASA Astrophysics Data System (ADS)

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

2007-12-01

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

Advanced patient transfer assist device with intuitive interaction control.

PubMed

Humphreys, Heather C; Choi, Young Mi; Book, Wayne J

2017-10-24

This research aims to improve patient transfers by developing a new type of advanced robotic assist device. It has multiple actuated degrees of freedom and a powered steerable base to maximize maneuverability around obstacles. An intuitive interface and control strategy allows the caregiver to simply push on the machine in the direction of desired patient motion. The control integrates measurements of both force and proximity to mitigate any potential large collision forces and provides operators information about obstacles with a form of haptic feedback. Electro-hydraulic pump controlled actuation provides high force density for the actuation. Nineteen participants performed tests to compare transfer operations (transferring a 250-lb mannequin between a wheelchair, chair, bed, and floor) and interaction control of a prototype device with a commercially available patient lift. The testing included a time study of the transfer operations and subjective rating of device performance. The results show that operators perform transfer tasks significantly faster and rate performance higher using the prototype patient transfer assist device than with a current market patient lift. With further development, features of the new patient lift can help facilitate patient transfers that are safer, easier, and more efficient for caregivers.

HyBAR: hybrid bone-attached robot for joint arthroplasty.

PubMed

Song, S; Mor, A; Jaramaz, B

2009-06-01

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

Endoscopes and robots for tight surgical spaces: use of precurved elastic elements to enhance curvature

NASA Astrophysics Data System (ADS)

Remirez, Andria A.; Webster, Robert J.

2016-03-01

Many applications in medicine require flexible surgical manipulators and endoscopes capable of reaching tight curvatures. The maximum curvature these devices can achieve is often restricted either by a strain limit, or by a maximum actuation force that the device's components can tolerate without risking mechanical failure. In this paper we propose the use of precurvature to "bias" the workspace of the device in one direction. Combined with axial shaft rotation, biasing increases the size of the device's workspace, enabling it to reach tighter curvatures than a comparable device without biasing can achieve, while still being able to fully straighten. To illustrate this effect, we describe several example prototype devices which use flexible nitinol strips that can be pushed and pulled to generate bending. We provide a statics model that relates the manipulator curvature to actuation force, and validate it experimentally.

Concept and design philosophy of a person-accompanying robot

NASA Astrophysics Data System (ADS)

Mizoguchi, Hiroshi; Shigehara, Takaomi; Goto, Yoshiyasu; Hidai, Ken-ichi; Mishima, Taketoshi

1999-01-01

This paper proposes a person accompanying robot as a novel human collaborative robot. The person accompanying robot is such legged mobile robot that is possible to follow the person utilizing its vision. towards future aging society, human collaboration and human support are required as novel applications of robots. Such human collaborative robots share the same space with humans. But conventional robots are isolated from humans and lack the capability to observe humans. Study on human observing function of robot is crucial to realize novel robot such as service and pet robot. To collaborate and support humans properly human collaborative robot must have capability to observe and recognize humans. Study on human observing function of robot is crucial to realize novel robot such as service and pet robot. The authors are currently implementing a prototype of the proposed accompanying robot.As a base for the human observing function of the prototype robot, we have realized face tracking utilizing skin color extraction and correlation based tracking. We also develop a method for the robot to pick up human voice clearly and remotely by utilizing microphone arrays. Results of these preliminary study suggest feasibility of the proposed robot.

The influence of push-off timing in a robotic ankle-foot prosthesis on the energetics and mechanics of walking.

PubMed

Malcolm, Philippe; Quesada, Roberto E; Caputo, Joshua M; Collins, Steven H

2015-02-22

Robotic ankle-foot prostheses that provide net positive push-off work can reduce the metabolic rate of walking for individuals with amputation, but benefits might be sensitive to push-off timing. Simple walking models suggest that preemptive push-off reduces center-of-mass work, possibly reducing metabolic rate. Studies with bilateral exoskeletons have found that push-off beginning before leading leg contact minimizes metabolic rate, but timing was not varied independently from push-off work, and the effects of push-off timing on biomechanics were not measured. Most lower-limb amputations are unilateral, which could also affect optimal timing. The goal of this study was to vary the timing of positive prosthesis push-off work in isolation and measure the effects on energetics, mechanics and muscle activity. We tested 10 able-bodied participants walking on a treadmill at 1.25 m · s(-1). Participants wore a tethered ankle-foot prosthesis emulator on one leg using a rigid boot adapter. We programmed the prosthesis to apply torque bursts that began between 46% and 56% of stride in different conditions. We iteratively adjusted torque magnitude to maintain constant net positive push-off work. When push-off began at or after leading leg contact, metabolic rate was about 10% lower than in a condition with Spring-like prosthesis behavior. When push-off began before leading leg contact, metabolic rate was not different from the Spring-like condition. Early push-off led to increased prosthesis-side vastus medialis and biceps femoris activity during push-off and increased variability in step length and prosthesis loading during push-off. Prosthesis push-off timing had no influence on intact-side leg center-of-mass collision work. Prosthesis push-off timing, isolated from push-off work, strongly affected metabolic rate, with optimal timing at or after intact-side heel contact. Increased thigh muscle activation and increased human variability appear to have caused the lack of reduction in metabolic rate when push-off was provided too early. Optimal timing with respect to opposite heel contact was not different from normal walking, but the trends in metabolic rate and center-of-mass mechanics were not consistent with simple model predictions. Optimal push-off timing should also be characterized for individuals with amputation, since meaningful benefits might be realized with improved timing.

DEMONSTRATION OF AUTONOMOUS AIR MONITORING THROUGH ROBOTICS

EPA Science Inventory

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

Maximum walking speeds obtained using treadmill and overground robot system in persons with post-stroke hemiplegia

PubMed Central

2012-01-01

Background Previous studies demonstrated that stroke survivors have a limited capacity to increase their walking speeds beyond their self-selected maximum walking speed (SMWS). The purpose of this study was to determine the capacity of stroke survivors to reach faster speeds than their SMWS while walking on a treadmill belt or while being pushed by a robotic system (i.e. “push mode”). Methods Eighteen chronic stroke survivors with hemiplegia were involved in the study. We calculated their self-selected comfortable walking speed (SCWS) and SMWS overground using a 5-meter walk test (5-MWT). Then, they were exposed to walking at increased speeds, on a treadmill and while in “push mode” in an overground robotic device, the KineAssist, until they were tested at a speed that they could not sustain without losing balance. We recorded the time and number of steps during each trial and calculated gait speed, average cadence and average step length. Results Maximum walking speed in the “push mode” was 13% higher than the maximum walking speed on the treadmill and both were higher (“push mode”: 61%; treadmill: 40%) than the maximum walking speed overground. Subjects achieved these faster speeds by initially increasing both step length and cadence and, once individuals stopped increasing their step length, by only increasing cadence. Conclusions With post-stroke hemiplegia, individuals are able to walk at faster speeds than their SMWS overground, when provided with a safe environment that provides external forces that requires them to attempt dynamic stability maintenance at higher gait speeds. Therefore, this study suggests the possibility that, given the appropriate conditions, people post-stroke can be trained at higher speeds than previously attempted. PMID:23057500

Concept design of robotic modules for needlescopic surgery.

PubMed

Sen, Shin; Harada, Kanako; Hewitt, Zackary; Susilo, Ekawahyu; Kobayashi, Etsuko; Sakuma, Ichiro

2017-08-01

Many minimally invasive surgical procedures and assisting robotic systems have been developed to further minimize the number and size of incisions in the body surface. This paper presents a new idea combining the advantages of modular robotic surgery, single incision laparoscopic surgery and needlescopic surgery. In the proposed concept, modules carrying therapeutic or diagnostic tools are inserted in the abdominal cavity from the navel as in single incision laparoscopic surgery and assembled to 3-mm needle shafts penetrating the abdominal wall. A three degree-of-freedom robotic module measuring 16 mm in diameter and 51 mm in length was designed and prototyped. The performance of the three connected robotic modules was evaluated. A new idea of modular robotic surgery was proposed, and demonstrated by prototyping a 3-DOF robotic module. The performance of the connected robotic modules was evaluated, and the challenges and future work were summarized.

Robotic System For Greenhouse Or Nursery

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

Robotic Fish to Aid Animal Behavior Studies and Informal Science Learning

NASA Astrophysics Data System (ADS)

Phamduy, Paul

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

Terrain interaction with the quarter scale beam walker

NASA Technical Reports Server (NTRS)

Chun, Wendell H.; Price, S.; Spiessbach, A.

1990-01-01

Frame walkers are a class of mobile robots that are robust and capable mobility platforms. Variations of the frame walker robot are in commercial use today. Komatsu Ltd. of Japan developed the Remotely Controlled Underwater Surveyor (ReCUS) and Normed Shipyards of France developed the Marine Robot (RM3). Both applications of the frame walker concept satisfied robotic mobility requirements that could not be met by a wheeled or tracked design. One vehicle design concept that falls within this class of mobile robots is the walking beam. A one-quarter scale prototype of the walking beam was built by Martin Marietta to evaluate the potential merits of utilizing the vehicle as a planetary rover. The initial phase of prototype rover testing was structured to evaluate the mobility performance aspects of the vehicle. Performance parameters such as vehicle power, speed, and attitude control were evaluated as a function of the environment in which the prototype vehicle was tested. Subsequent testing phases will address the integrated performance of the vehicle and a local navigation system.

Terrain Interaction With The Quarter Scale Beam Walker

NASA Astrophysics Data System (ADS)

Chun, Wendell H.; Price, R. S.; Spiessbach, Andrew J.

1990-03-01

Frame walkers are a class of mobile robots that are robust and capable mobility platforms. Variations of the frame walker robot are in commercial use today. Komatsu Ltd. of Japan developed the Remotely Controlled Underwater Surveyor (ReCUS) and Normed Shipyards of France developed the Marine Robot (RM3). Both applications of the frame walker concept satisfied robotic mobility requirements that could not be met by a wheeled or tracked design. One vehicle design concept that falls within this class of mobile robots is the walking beam. A one-quarter scale prototype of the walking beam was built by Martin Marietta to evaluate the potential merits of utilizing the vehicle as a planetary rover. The initial phase of prototype rover testing was structured to evaluate the mobility performance aspects of the vehicle. Performance parameters such as vehicle power, speed, and attitude control were evaluated as a function of the environment in which the prototype vehicle was tested. Subsequent testing phases will address the integrated performance of the vehicle and a local navigation system.

A CLIPS-based expert system for the evaluation and selection of robots

NASA Technical Reports Server (NTRS)

Nour, Mohamed A.; Offodile, Felix O.; Madey, Gregory R.

1994-01-01

This paper describes the development of a prototype expert system for intelligent selection of robots for manufacturing operations. The paper first develops a comprehensive, three-stage process to model the robot selection problem. The decisions involved in this model easily lend themselves to an expert system application. A rule-based system, based on the selection model, is developed using the CLIPS expert system shell. Data about actual robots is used to test the performance of the prototype system. Further extensions to the rule-based system for data handling and interfacing capabilities are suggested.

Demonstration of a Spoken Dialogue Interface for Planning Activities of a Semi-autonomous Robot

NASA Technical Reports Server (NTRS)

Dowding, John; Frank, Jeremy; Hockey, Beth Ann; Jonsson, Ari; Aist, Gregory

2002-01-01

Planning and scheduling in the face of uncertainty and change pushes the capabilities of both planning and dialogue technologies by requiring complex negotiation to arrive at a workable plan. Planning for use of semi-autonomous robots involves negotiation among multiple participants with competing scientific and engineering goals to co-construct a complex plan. In NASA applications this plan construction is done under severe time pressure so having a dialogue interface to the plan construction tools can aid rapid completion of the process. But, this will put significant demands on spoken dialogue technology, particularly in the areas of dialogue management and generation. The dialogue interface will need to be able to handle the complex dialogue strategies that occur in negotiation dialogues, including hypotheticals and revisions, and the generation component will require an ability to summarize complex plans. This demonstration will describe a work in progress towards building a spoken dialogue interface to the EUROPA planner for the purposes of planning and scheduling the activities of a semi-autonomous robot. A prototype interface has been built for planning the schedule of the Personal Satellite Assistant (PSA), a mobile robot designed for micro-gravity environments that is intended for use on the Space Shuttle and International Space Station. The spoken dialogue interface gives the user the capability to ask for a description of the plan, ask specific questions about the plan, and update or modify the plan. We anticipate that a spoken dialogue interface to the planner will provide a natural augmentation or alternative to the visualization interface, in situations in which the user needs very targeted information about the plan, in situations where natural language can express complex ideas more concisely than GUI actions, or in situations in which a graphical user interface is not appropriate.

Robots in human biomechanics--a study on ankle push-off in walking.

PubMed

Renjewski, Daniel; Seyfarth, André

2012-09-01

In biomechanics, explanatory template models are used to identify the basic mechanisms of human locomotion. However, model predictions often lack verification in a realistic environment. We present a method that uses template model mechanics as a blueprint for a bipedal robot and a corresponding computer simulation. The hypotheses derived from template model studies concerning the function of heel-off in walking are analysed and discrepancies between the template model and its real-world anchor are pointed out. Neither extending the ground clearance of the swinging leg nor an impact reduction at touch-down as an effect of heel lifting was supported by the experiments. To confirm the relevance of the experimental findings, a comparison of robot data to human walking data is discussed and we speculate on an alternative explanation of heel-off in human walking, i.e. that the push-off powers the following leg swing.

Evolving technologies in robotic surgery for minimally invasive treatment of gynecologic cancers.

PubMed

Levinson, Kimberly L; Auer, Melinda; Escobar, Pedro F

2013-09-01

Since the introduction of robotic technology, there have been significant changes to the field of gynecologic oncology. The number of minimally invasive procedures has drastically increased, with robotic procedures rising remarkably. With recent evidence suggesting that minimally invasive techniques should be the standard of care for early endometrial and cervical cancers, the push for new technology and advancements has continued. Several emerging robotic technologies have significant potential in the field of gynecologic oncology. The single-site robotic platform enables robotic surgery through a single incision; the Firefly camera detects the fluorescent dye indocyanine green, which may improve sensitivity in sentinel lymph node biopsy; and a robotic vessel-sealing device and stapler will continue to improve efficiency of the robotic surgeon.

Device for Automated Cutting and Transfer of Plant Shoots

NASA Technical Reports Server (NTRS)

Cipra, Raymond; Das, Hari; Ali, Khaled; Hong, Dennis

2003-01-01

A device that enables the automated cutting and transfer of plant shoots is undergoing development for use in the propagation of plants in a nursery or laboratory. At present, it is standard practice for a human technician to use a knife and forceps to cut, separate, and grasp a plant shoot. The great advantage offered by the present device is that its design and operation are simpler than would be those of a device based on the manual cutting/separation/grasping procedure. [The present device should not be confused with a prior device developed for partly the same purpose and described in Compliant Gripper for a Robotic Manipulator (NPO-21104), NASA Tech Briefs, Vol. 27, No. 3 (March 2003), page 59.]. The device (see figure) includes a circular tube sharpened at its open (lower) end and mounted on a robotic manipulator at its closed (upper) end. The robotic manipulator simply pushes the sharpened open end of the tube down onto a bed of plants and rotates a few degrees clockwise then counterclockwise about the vertical axis, causing the tube to cut a cylindrical plug of plant material. Exploiting the natural friction between the tube and plug, the tube retains the plug, without need for a gripping mechanism and control. The robotic manipulator then retracts the tube, translates it to a new location over a plant-growth tray, and inserts the tube part way into the growth medium at this location in the tray. A short burst of compressed air is admitted to the upper end of the tube to eject the plug of plant material and drive it into the growth medium. A prototype has been tested and verified to function substantially as intended. It is projected that in the fully developed robotic plant-propagation system, the robot control system would include a machine- vision subsystem that would automatically guide the robotic manipulator in choosing the positions from which to cut plugs of plant material. Planned further development efforts also include more testing and refinement of the design and operation described above.

A Prototype Robotic Arm for Use by Severely Orthopedically Handicapped Students. Final Report.

ERIC Educational Resources Information Center

Howell, Richard

This 18-month pilot project, which ran from October 1, 1987 to March 31, 1989, developed a prototype robotic arm for educational use by students with severe orthopedic disabilities in the Columbus (Ohio) Public Schools. The developmental effort was intended first, to provide direct access to currently available instructional materials and, second,…

An Embedded Systems Laboratory to Support Rapid Prototyping of Robotics and the Internet of Things

ERIC Educational Resources Information Center

Hamblen, J. O.; van Bekkum, G. M. E.

2013-01-01

This paper describes a new approach for a course and laboratory designed to allow students to develop low-cost prototypes of robotic and other embedded devices that feature Internet connectivity, I/O, networking, a real-time operating system (RTOS), and object-oriented C/C++. The application programming interface (API) libraries provided permit…

Prototyping and Simulation of Robot Group Intelligence using Kohonen Networks.

PubMed

Wang, Zhijun; Mirdamadi, Reza; Wang, Qing

2016-01-01

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

Prototyping and Simulation of Robot Group Intelligence using Kohonen Networks

PubMed Central

Wang, Zhijun; Mirdamadi, Reza; Wang, Qing

2016-01-01

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

Cost-effectiveness of robotic surgery in gynecologic oncology.

PubMed

Xie, Yue

2015-02-01

Robotically assisted surgeries have flourished in the United States, especially in gynecological procedures. Current robotic systems have high upfront and procedure costs that have led many in the medical community to question the new technology's cost-effectiveness. Recent research continues to find that robotically assisted gynecological cancer treatments have comparable outcomes to traditional laparoscopy and similar or better outcomes than that of laparotomy in the cases studied. However, robotic surgery costs remain higher than that of traditional laparoscopy. Under the current reimbursement climate, practicing physicians and hospitals should collaborate on identifying cost-effective uses of robotic systems and pushing manufacturers to lower purchase and procedure costs to a level that may be accepted by all stakeholders.

Telemanipulation of cooperative robots: a case of study

NASA Astrophysics Data System (ADS)

Pliego-Jiménez, Javier; Arteaga-Pérez, Marco

2018-06-01

This article addresses the problem of dexterous robotic grasping by means of a telemanipulation system composed of a single master and two slave robot manipulators. The slave robots are analysed as a cooperative system where it is assumed that the robots can push but not pull the object. In order to achieve a stable rigid grasp, a centralised adaptive position-force control algorithm for the slave robots is proposed. On the other hand, a linear velocity observer for the master robot is developed to avoid numerical differentiation. A set of experiments with different human operators were carried out to show the good performance and capabilities of the proposed control-observer algorithm. In addition, the dynamic model and closed-loop dynamics of the telemanipulation is presented.

Effect of spine motion on mobility in quadruped running

NASA Astrophysics Data System (ADS)

Chen, Dongliang; Liu, Qi; Dong, Litao; Wang, Hong; Zhang, Qun

2014-11-01

Most of current running quadruped robots have similar construction: a stiff body and four compliant legs. Many researches have indicated that the stiff body without spine motion is a main factor in limitation of robots' mobility. Therefore, investigating spine motion is very important to build robots with better mobility. A planar quadruped robot is designed based on cheetahs' morphology. There is a spinal driving joint in the body of the robot. When the spinal driving joint acts, the robot has spine motion; otherwise, the robot has not spine motion. Six group prototype experiments with the robot are carried out to study the effect of spine motion on mobility. In each group, there are two comparative experiments: the spinal driving joint acts in one experiment but does not in the other experiment. The results of the prototype experiments indicate that the average speeds of the robot with spine motion are 8.7%-15.9% larger than those of the robot without spine motion. Furthermore, a simplified sagittal plane model of quadruped mammals is introduced. The simplified model also has a spinal driving joint. Using a similar process as the prototype experiments, six group simulation experiments with the simplified model are conducted. The results of the simulation experiments show that the maximum rear leg horizontal thrusts of the simplified mode with spine motion are 68.2%-71.3% larger than those of the simplified mode without spine motion. Hence, it is found that spine motion can increase the average running speed and the intrinsic reason of speed increase is the improvement of the maximum rear leg horizontal thrust.

Low-Cost Rescue Robot for Disaster Management in a Developing Country: Development of a Prototype Using Locally Available Technology

NASA Technical Reports Server (NTRS)

Mahmud, Faisal; Hossain, S. G. M.; Bin, Jobair

2010-01-01

The use of robots in different fields is common and effective in developed countries. In case of incident management or emergency rescue after a disaster, robots are often used to lessen the human effort where it is either impossible or life-threatening for rescuers. Though developed countries can afford robotic-effort for pro-disaster management, the scenario is totally opposite for developing and under-developed countries to engage such a machine-help due to high cost of the machines and high maintenance cost as well. In this research paper, the authors proposed a low-cost "Rescue-Robot" for pro-disaster management which can overcome the budget-constraints as well as fully capable of rescue purposes for incident management. Here, all the research works were performed in Bangladesh - a developing country in South Asia. A disaster struck structure was chosen and a thorough survey was performed to understand the real-life environment for the prototype. The prototype was developed considering the results of this survey and it was manufactured using all locally available components and facilities.

Advances in upper limb stroke rehabilitation: a technology push.

PubMed

Loureiro, Rui C V; Harwin, William S; Nagai, Kiyoshi; Johnson, Michelle

2011-10-01

Strokes affect thousands of people worldwide leaving sufferers with severe disabilities affecting their daily activities. In recent years, new rehabilitation techniques have emerged such as constraint-induced therapy, biofeedback therapy and robot-aided therapy. In particular, robotic techniques allow precise recording of movements and application of forces to the affected limb, making it a valuable tool for motor rehabilitation. In addition, robot-aided therapy can utilise visual cues conveyed on a computer screen to convert repetitive movement practice into an engaging task such as a game. Visual cues can also be used to control the information sent to the patient about exercise performance and to potentially address psychosomatic variables influencing therapy. This paper overviews the current state-of-the-art on upper limb robot-mediated therapy with a focal point on the technical requirements of robotic therapy devices leading to the development of upper limb rehabilitation techniques that facilitate reach-to-touch, fine motor control, whole-arm movements and promote rehabilitation beyond hospital stay. The reviewed literature suggest that while there is evidence supporting the use of this technology to reduce functional impairment, besides the technological push, the challenge ahead lies on provision of effective assessment of outcome and modalities that have a stronger impact transferring functional gains into functional independence.

Manufacturing Laboratory for Next Generation Engineers

DTIC Science & Technology

2013-12-16

automated CNC machines, rapid prototype systems, robotic assembly systems, metrology , and non-traditional systems such as a waterjet cutter, EDM machine...CNC machines, rapid prototype systems, robotic assembly systems, metrology , and non-traditional systems such as a waterjet cutter, EDM machine, plasma...System Metrology and Quality Control Equipment - This area already had a CMM and other well known quality control instrumentation. It has been enhanced

3D laptop for defense applications

NASA Astrophysics Data System (ADS)

Edmondson, Richard; Chenault, David

2012-06-01

Polaris Sensor Technologies has developed numerous 3D display systems using a US Army patented approach. These displays have been developed as prototypes for handheld controllers for robotic systems and closed hatch driving, and as part of a TALON robot upgrade for 3D vision, providing depth perception for the operator for improved manipulation and hazard avoidance. In this paper we discuss the prototype rugged 3D laptop computer and its applications to defense missions. The prototype 3D laptop combines full temporal and spatial resolution display with the rugged Amrel laptop computer. The display is viewed through protective passive polarized eyewear, and allows combined 2D and 3D content. Uses include robot tele-operation with live 3D video or synthetically rendered scenery, mission planning and rehearsal, enhanced 3D data interpretation, and simulation.

Real-Time Motion Planning and Safe Navigation in Dynamic Multi-Robot Environments

DTIC Science & Technology

2006-12-15

referee against a robot for pushing or hitting an opponent excessively, as well as for a non- goalie robot entering the team’s own defense area. The DSS... pulling ” a search graph by choosing random samples and then trying to connect a path to those points, some planners “push” samples by first choosing...implement the various roles (attacker, goalie , defender), which in turn build on sub-tactics known as skills [16]. One primitive skill used by almost all

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1988-01-01

The focus of the work is to develop and perform a set of research projects using laboratory models of satellite robots. These devices use air cushion technology to simulate in two dimensions the drag-free, zero-g conditions of space. Five research areas are examined: cooperative manipulation on a fixed base; cooperative manipulation on a free-floating base; global navigation and control of a free-floating robot; an alternative transport mode call Locomotion Enhancement via Arm Push-Off (LEAP), and adaptive control of LEAP.

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.

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

PubMed

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

2011-01-01

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

Localization of a Robotic Crawler for CANDU Fuel Channel Inspection

NASA Astrophysics Data System (ADS)

Manning, Mark

This thesis discusses the design and development of a pipe crawling robot for the purpose of CANDU fuel channel inspection. The pipe crawling robot shall be capable of deploying the existing CIGAR (Channel Inspection and Gauging Apparatus for Reactors) sensor head. The main focus of this thesis is the design of the localization system for this robot and the many tests that were completed to demonstrate its accuracy. The proposed localization system consists of three redundant resolver wheels mounted to the robot's frame and two resolvers that are mounted inside a custom made cable drum. This cable drum shall be referred to in this thesis as the emergency retrieval device. This device serves the dual-purpose of providing absolute position measurements (via the cable that is tethered to the robot) as well as retrieving the robot if it is inoperable. The estimated accuracy of the proposed design is demonstrated with the use of a proof-of-concept prototype and a custom made test bench that uses a vision system to provide a more accurate estimate of the robot's position. The only major difference between the proof-of-concept prototype and the proposed solution is that the more expensive radiation hardened components were not used in the proof-of-concept prototype design. For example, the proposed solution shall use radiation hardened resolver wheels, whereas the proof-of-concept prototype used encoder wheels. These encoder wheels provide the same specified accuracy as the radiation hardened resolvers for the most realistic results possible. The rationale behind the design of the proof-of-concept prototype, the proposed final design, the design of the localization system test bench, and the test plan for developing all of the components of the design related to the robot's localization system are discussed in the thesis. The test plan provides a step by step guide to the configuration and optimization of an Unscented Kalman Filter (UKF). The UKF was selected as the ideal sensor fusion algorithm for use in this application. Benchmarking was completed to compare the accuracy achieved by the UKF algorithm to other data fusion algorithms. When compared to other algorithms, the UKF demonstrated the best accuracy when considering all likely sources of error such as sensor failure and surface unevenness. The test results show that the localization system is able to achieve a worst case positional accuracy of +/- 3.6 mm for the robot crawler over the full 6350 mm distance that the robot travels inside the pressure tube. This is extrapolated from the test results completed over the shorter length test bench with simulated surface unevenness. The key benefits of the pipe crawling robot when compared to the current system include: reduced dosage to workers and the reduced outage time. The advantages are due to the fact that the robot can be automated and multiple inspection robots can be deployed simultaneously. The current inspection system is only able to complete one inspection at a time.

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

NASA Astrophysics Data System (ADS)

Polishuk, Alexander; Verner, Igor; Mir, Ronen

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

2016 Summer Series - Terry Fong - Planetary Exploration Reinvented

NASA Image and Video Library

2016-07-07

The allure of deep space drives humanity’s curiosity to further explore the universe, but the risks associated with spaceflight are still limiting. Technological advancements in robotics and data processing are pushing the envelope of Human planetary exploration and habitation. Dr. Terry Fong from the NASA Ames’ Intelligent Robotics Group will describe how we are reinventing the approach to explore the universe.

PD-like controller for delayed bilateral teleoperation of wheeled robots

NASA Astrophysics Data System (ADS)

Slawiñski, E.; Mut, V.; Santiago, D.

2016-08-01

This paper proposes a proportional derivative (PD)-like controller applied to the delayed bilateral teleoperation of wheeled robots with force feedback in face of asymmetric and varying-time delays. In contrast to bilateral teleoperation of manipulator robots, in these systems, there is a mismatch between the models of the master and slave (mobile robot), problem that is approached in this work, where the system stability is analysed. From this study, it is possible to infer the control parameters, depending on the time delay, necessary to assure stability. Finally, the performance of the delayed teleoperation system is evaluated through tests where a human operator drives a 3D simulator as well as a mobile robot for pushing objects.

Study on a practical robotic follower to support home oxygen therapy patients--questionnaire-based concept evaluation by the patients-.

PubMed

Endo, Gen; Iemura, Yu; Fukushima, Edwardo F; Hirose, Shigeo; Iribe, Masatsugu; Ikeda, Ryota; Onishi, Kohei; Maeda, Naoto; Takubo, Toshio; Ohira, Mineko

2013-06-01

Home oxygen therapy (HOT) is a medical treatment for the patients suffering from severe lung diseases. Although walking outdoors is recommended for the patients to maintain physical strength, the patients always have to carry a portable oxygen supplier which is not sufficiently light weight for this purpose. Our ultimate goal is to develop a mobile robot to carry an oxygen tank and follow a patient in an urban outdoor environment. We have proposed a mobile robot with a tether interface to detect the relative position of the foregoing patient. In this paper, we report the questionnaire-based evaluation about the two developed prototypes by the HOT patients. We conduct maneuvering experiments, and then obtained questionnaire-based evaluations from the 20 patients. The results show that the basic following performance is sufficient and the pulling force of the tether is sufficiently small for the patients. Moreover, the patients prefer the small-sized prototype for compactness and light weight to the middle-sized prototype which can carry larger payload. We also obtained detailed requests to improve the robots. Finally the results show the general concept of the robot is favorably received by the patients.

The application of virtual prototyping methods to determine the dynamic parameters of mobile robot

NASA Astrophysics Data System (ADS)

Kurc, Krzysztof; Szybicki, Dariusz; Burghardt, Andrzej; Muszyńska, Magdalena

2016-04-01

The paper presents methods used to determine the parameters necessary to build a mathematical model of an underwater robot with a crawler drive. The parameters present in the dynamics equation will be determined by means of advanced mechatronic design tools, including: CAD/CAE software andMES modules. The virtual prototyping process is described as well as the various possible uses (design adaptability) depending on the optional accessories added to the vehicle. A mathematical model is presented to show the kinematics and dynamics of the underwater crawler robot, essential for the design stage.

The Design, Prototyping, and Formative Evaluation of an Assistive Robotic Table (ART) for Stroke Patients.

PubMed

Threatt, Anthony L; Merino, Jessica; Brooks, Johnell O; Healy, Stan; Truesdail, Constance; Manganelli, Joseph; Walker, Ian; Green, Keith Evan

2017-04-01

This article presents the results of an exploratory study in which 14 healthcare subject matter experts (H-SMEs) in addition to four research and design subject matter experts (RD-SMEs) at a regional rehabilitation hospital engaged in a series of complementary, participatory activities in order to design an assistive robotic table (ART). As designers, human factor experts, and healthcare professionals continue to work to integrate assistive human-robot technologies in healthcare, it is imperative to understand how the technology affects patient care from clinicians' perspectives. Fourteen clinical H-SMEs rated a subset of conceptual ART design ideas; participated in the iterative design process of ART; and evaluated a final cardboard prototype, the rehabilitation hospital's current over-the-bed table (OBT), an ART built with true materials, and two therapy surface prototypes. Four RD-SMEs conducted a heuristic evaluation on the ART built with true materials. Data were analyzed by frequency and content analysis. The results include a design and prototype for the next generation ART and a pneumatically controlled therapy surface, a broadened list of specifications for the future design and implementation of assistive robotic furniture, and final observations. When compared to the rehabilitation hospital's current OBT, the developed ART in this study was successful. Designing novel features is dependent upon ensuring patient safety. The inclusion of clinicians in the participatory iterative design and evaluation process and the use of personas provided a broadened list of specifications for the successful implementation of assistive robotic furniture.

Local ventilation solution for large, warm emission sources.

PubMed

Kulmala, Ilpo; Hynynen, Pasi; Welling, Irma; Säämänen, Arto

2007-01-01

In a foundry casting line, contaminants are released from a large area. Casting fumes include both volatile and particulate compounds. The volatile fraction contains hydrocarbons, whereas the particulate fraction mostly comprises a mixture of vaporized metal fumes. Casting fumes lower the air quality in foundries. The design of local ventilation for the casting area is a challenging task, because of the large casting area and convection plumes from warm moulds. A local ventilation solution for the mould casting area was designed and dimensioned with the aid of computational fluid dynamic (CFD) calculations. According to the calculations, the most efficient solution was a push-pull ventilation system. The prototype of the push-pull system was built and tested in actual operation at the foundry. The push flow was generated by a free plane jet that blew across the 10 m wide casting area towards an exhaust hood on the opposite side of the casting lines. The capture efficiency of the prototype was determined by the tracer gas method. The measured capture efficiencies with push jet varied between 40 and 80%, depending on the distance between the source and the exhaust. With the aid of the push flow, the average capture efficiency was increased from 40 (without jet) to 60%.

Robotic Access to Planetary Surfaces Capability Roadmap

NASA Technical Reports Server (NTRS)

2005-01-01

A set of robotic access to planetary surfaces capability developments and supporting infrastructure have been identified. Reference mission pulls derived from ongoing strategic planning. Capability pushes to enable broader mission considerations. Facility and flight test capability needs. Those developments have been described to the level of detail needed for high-level planning. Content and approach. Readiness and metrics. Rough schedule and cost. Connectivity to mission concepts.

Affect in Human-Robot Interaction

DTIC Science & Technology

2014-01-01

is capable of learning and producing a large number of facial expressions based on Ekman’s Facial Action Coding System, FACS (Ekman and Friesen 1978... tactile (pushed, stroked, etc.), auditory (loud sound), temperature and olfactory (alcohol, smoke, etc.). The personality of the robot consists of...robot’s behavior through decision-making, learning , or action selection, a number of researchers used the fuzzy logic approach to emotion generation

Autonomy and manual operation in a small robotic system for under-vehicle inspections at security checkpoints

NASA Astrophysics Data System (ADS)

Smuda, William; Muench, Paul L.; Gerhart, Grant R.; Moore, Kevin L.

2002-07-01

Unmanned ground vehicle (UGV) technology can be used in a number of ways to assist in counter-terrorism activities. In addition to the conventional uses of tele-operated robots for unexploded ordinance handling and disposal, water cannons and other crowd control devices, robots can also be employed for a host of terrorism deterrence and detection applications. In previous research USU developed a completely autonomous prototype robot for performing under- vehicle inspections in parking areas (ODIS). Testing of this prototype and discussions with the user community indicated that neither the technology nor the users are ready for complete autonomy. In this paper we present a robotic system based on ODIS that balances the users' desire/need for tele- operation with a limited level of autonomy that enhances the performance of the robot. The system can be used by both civilian law enforcement and military police to replace the traditional mirror on a stick system of looking under cars for bombs and contraband.

3D Printed Robotic Hand

NASA Technical Reports Server (NTRS)

Pizarro, Yaritzmar Rosario; Schuler, Jason M.; Lippitt, Thomas C.

2013-01-01

Dexterous robotic hands are changing the way robots and humans interact and use common tools. Unfortunately, the complexity of the joints and actuations drive up the manufacturing cost. Some cutting edge and commercially available rapid prototyping machines now have the ability to print multiple materials and even combine these materials in the same job. A 3D model of a robotic hand was designed using Creo Parametric 2.0. Combining "hard" and "soft" materials, the model was printed on the Object Connex350 3D printer with the purpose of resembling as much as possible the human appearance and mobility of a real hand while needing no assembly. After printing the prototype, strings where installed as actuators to test mobility. Based on printing materials, the manufacturing cost of the hand was $167, significantly lower than other robotic hands without the actuators since they have more complex assembly processes.

Control and Guidance of Low-Cost Robots via Gesture Perception for Monitoring Activities in the Home

PubMed Central

Sempere, Angel D.; Serna-Leon, Arturo; Gil, Pablo; Puente, Santiago; Torres, Fernando

2015-01-01

This paper describes the development of a low-cost mini-robot that is controlled by visual gestures. The prototype allows a person with disabilities to perform visual inspections indoors and in domestic spaces. Such a device could be used as the operator's eyes obviating the need for him to move about. The robot is equipped with a motorised webcam that is also controlled by visual gestures. This camera is used to monitor tasks in the home using the mini-robot while the operator remains quiet and motionless. The prototype was evaluated through several experiments testing the ability to use the mini-robot’s kinematics and communication systems to make it follow certain paths. The mini-robot can be programmed with specific orders and can be tele-operated by means of 3D hand gestures to enable the operator to perform movements and monitor tasks from a distance. PMID:26690448

Energy Efficient Legged Robotics at Sandia Labs

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

Buerger, Steve

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

Energy Efficient Legged Robotics at Sandia Labs

ScienceCinema

Buerger, Steve

2018-05-07

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

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.

Prototype crawling robotics system for remote visual inspection of high-mast light poles.

DOT National Transportation Integrated Search

1997-01-01

This report presents the results of a project to develop a crawling robotics system for the remote visual inspection of high-mast light poles in Virginia. The first priority of this study was to develop a simple robotics application that would reduce...

Automated 3D reconstruction of interiors with multiple scan views

NASA Astrophysics Data System (ADS)

Sequeira, Vitor; Ng, Kia C.; Wolfart, Erik; Goncalves, Joao G. M.; Hogg, David C.

1998-12-01

This paper presents two integrated solutions for realistic 3D model acquisition and reconstruction; an early prototype, in the form of a push trolley, and a later prototype in the form of an autonomous robot. The systems encompass all hardware and software required, from laser and video data acquisition, processing and output of texture-mapped 3D models in VRML format, to batteries for power supply and wireless network communications. The autonomous version is also equipped with a mobile platform and other sensors for the purpose of automatic navigation. The applications for such a system range from real estate and tourism (e.g., showing a 3D computer model of a property to a potential buyer or tenant) or as tool for content creation (e.g., creating 3D models of heritage buildings or producing broadcast quality virtual studios). The system can also be used in industrial environments as a reverse engineering tool to update the design of a plant, or as a 3D photo-archive for insurance purposes. The system is Internet compatible: the photo-realistic models can be accessed via the Internet and manipulated interactively in 3D using a common Web browser with a VRML plug-in. Further information and example reconstructed models are available on- line via the RESOLV web-page at http://www.scs.leeds.ac.uk/resolv/.

Toward humanoid robots for operations in complex urban environments

NASA Astrophysics Data System (ADS)

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

2010-04-01

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

Use of robotics for nondestructive inspection of steel highway bridges and structures : final report.

DOT National Transportation Integrated Search

2005-01-01

This report presents the results of a project to finalize and apply a crawling robotic system for the remote visual inspection of high-mast light poles. The first part of the project focused on finalizing the prototype crawler robot hardware and cont...

Implementation of Push Recovery Strategy Using Triple Linear Inverted Pendulum Model in “T-FloW” Humanoid Robot

NASA Astrophysics Data System (ADS)

Dimas Pristovani, R.; Raden Sanggar, D.; Dadet, Pramadihanto.

2018-04-01

Push recovery is one of humanbehaviorwhich is a strategy to defend the body from anexternal force in any environment. This paper describes push recovery strategy which usesMIMO decoupled control system method. The dynamics system uses aquasi-dynamic system based on triple linear inverted pendulum model (TLIPM). The analysis of TLIPMuses zero moment point (ZMP) calculation from ZMP simplification in last research. By using this simplification of dynamics system, the control design can be simplified into 3 serial SISOwith known and uncertain disturbance models in each inverted pendulum. Each pendulum has different plan to damp the external force effect. In this experiment, PID controller (closed- loop)is used to arrange the damp characteristic.The experiment result shows thatwhen using push recovery control strategy (closed-loop control) is about 85.71% whilewithout using push recovery control strategy (open-loop control) it is about 28.57%.

Energy Efficient Legged Robotics at Sandia Labs, Part 2

ScienceCinema

Buerger, Steve; Mazumdar, Ani; Spencer, Steve

2018-01-16

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

Energy Efficient Legged Robotics at Sandia Labs, Part 2

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

Buerger, Steve; Mazumdar, Ani; Spencer, Steve

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

Evaluation of Surgical Devices Using an Artificial Pediatric Thoracic Model: A Comparison Between Robot-Assisted Thoracoscopic Suturing Versus Conventional Video-Assisted Thoracoscopic Suturing.

PubMed

Takazawa, Shinya; Ishimaru, Tetsuya; Harada, Kanako; Deie, Kyoichi; Hinoki, Akinari; Uchida, Hiroo; Sugita, Naohiko; Mitsuishi, Mamoru; Iwanaka, Tadashi; Fujishiro, Jun

2018-05-01

Pediatric robot-assisted surgery is increasingly being performed, but it is difficult to perform this procedure in infants. A pediatric thoracoscopic model of a 1-year-old patient was developed in our previous study, and this model was used to evaluate the use of a surgical robot for infant surgery. Eight pediatric surgeons performed an intracorporeal suturing and knot-tying task using the da Vinci Xi Robotic Surgical System. The task completion time, number of needle manipulations, and force applied during suturing of the robot-assisted thoracoscopic surgery (RATS) group were compared with those of the video-assisted thoracoscopic surgery (VATS) group whose data had been collected from the same 8 surgeons in our previous study. The RATS group showed a significantly shorter completion time than the VATS group in the knot-tying phase (P = .016) and in the total phase (P = .0078). The RATS group showed a significantly smaller number of manipulations than the VATS group in the total phase (P = .039). The RATS group showed a significantly smaller pushing force index than the VATS group in the suturing phase (P = .031), knot-tying phase (P = .031), and in the total phase (P = .031). A seventh rib in the model was dislocated in all RATS group cases. The da Vinci Surgical System might be useful in infants because of fast movement and small pushing force. However, the robotic 8 mm instruments were too large for use in the thoracic cavity of the 1-year-old infant.

Test Methods for Robot Agility in Manufacturing.

PubMed

Downs, Anthony; Harrison, William; Schlenoff, Craig

2016-01-01

The paper aims to define and describe test methods and metrics to assess industrial robot system agility in both simulation and in reality. The paper describes test methods and associated quantitative and qualitative metrics for assessing robot system efficiency and effectiveness which can then be used for the assessment of system agility. The paper describes how the test methods were implemented in a simulation environment and real world environment. It also shows how the metrics are measured and assessed as they would be in a future competition. The test methods described in this paper will push forward the state of the art in software agility for manufacturing robots, allowing small and medium manufacturers to better utilize robotic systems. The paper fulfills the identified need for standard test methods to measure and allow for improvement in software agility for manufacturing robots.

How to push a block along a wall

NASA Technical Reports Server (NTRS)

Mason, Matthew T.

1989-01-01

Some robot tasks require manipulation of objects that may be touching other fixed objects. The effects of friction and kinematic constraint must be anticipated, and may even be exploited to accomplish the task. An example task, a dynamic analysis, and appropriate effector motions are presented. The goal is to move a rectangular block along a wall, so that one side of the block maintains contact with the wall. Two solutions that push the block along the wall are discussed.

Design Of An Intelligent Robotic System Organizer Via Expert System Tecniques

NASA Astrophysics Data System (ADS)

Yuan, Peter H.; Valavanis, Kimon P.

1989-02-01

Intelligent Robotic Systems are a special type of Intelligent Machines. When modeled based on Vle theory of Intelligent Controls, they are composed of three interactive levels, namely: organization, coordination, and execution, ordered according, to the ,Principle of Increasing, Intelligence with Decreasing Precl.sion. Expert System techniques, are used to design an Intelligent Robotic System Organizer with a dynamic Knowledge Base and an interactive Inference Engine. Task plans are formulated using, either or both of a Probabilistic Approach and Forward Chapling Methodology, depending on pertinent information associated with a spec;fic requested job. The Intelligent Robotic System, Organizer is implemented and tested on a prototype system operating in an uncertain environment. An evaluation of-the performance, of the prototype system is conducted based upon the probability of generating a successful task sequence versus the number of trials taken by the organizer.

Person-like intelligent systems architectures for robotic shared control and automated operations

NASA Technical Reports Server (NTRS)

Erickson, Jon D.; Aucoin, Paschal J., Jr.; Ossorio, Peter G.

1992-01-01

An approach to rendering robotic systems as 'personlike' as possible to achieve needed capabilities is outlined. Human characteristics such as knowledge, motivation, know-how, performance, achievement and individual differences corresponding to propensities and abilities can be supplied, within limits, with computing software and hardware to robotic systems provided with sufficiently rich sensory configurations. Pushing these limits is the developmental path for more and more personlike robotic systems. The portions of the Person Concept that appear to be most directly relevant to this effort are described in the following topics: reality concepts (the state-of-affairs system and descriptive formats, behavior as intentional action, individual persons (person characteristics), social patterns of behavior (social practices), and boundary conditions (status maxims). Personlike robotic themes and considerations for a technical development plan are also discussed.

Compact Tactile Sensors for Robot Fingers

NASA Technical Reports Server (NTRS)

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

2004-01-01

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

Rapid Prototyping Platform for Robotics Applications

ERIC Educational Resources Information Center

Hwang, Kao-Shing; Hsiao, Wen-Hsu; Shing, Gaung-Ting; Chen, Kim-Joan

2011-01-01

For the past several years, a team in the Department of Electrical Engineering (EE), National Chung Cheng University, Taiwan, has been establishing a pedagogical approach to embody embedded systems in the context of robotics. To alleviate the burden on students in the robotics curriculum in their junior and senior years, a training platform on…

Systematic variation of prosthetic foot spring affects center-of-mass mechanics and metabolic cost during walking.

PubMed

Zelik, Karl E; Collins, Steven H; Adamczyk, Peter G; Segal, Ava D; Klute, Glenn K; Morgenroth, David C; Hahn, Michael E; Orendurff, Michael S; Czerniecki, Joseph M; Kuo, Arthur D

2011-08-01

Lower-limb amputees expend more energy to walk than non-amputees and have an elevated risk of secondary disabilities. Insufficient push-off by the prosthetic foot may be a contributing factor. We aimed to systematically study the effect of prosthetic foot mechanics on gait, to gain insight into fundamental prosthetic design principles. We varied a single parameter in isolation, the energy-storing spring in a prototype prosthetic foot, the controlled energy storage and return (CESR) foot, and observed the effect on gait. Subjects walked on the CESR foot with three different springs. We performed parallel studies on amputees and on non-amputees wearing prosthetic simulators. In both groups, spring characteristics similarly affected ankle and body center-of-mass (COM) mechanics and metabolic cost. Softer springs led to greater energy storage, energy return, and prosthetic limb COM push-off work. But metabolic energy expenditure was lowest with a spring of intermediate stiffness, suggesting biomechanical disadvantages to the softest spring despite its greater push-off. Disadvantages of the softest spring may include excessive heel displacements and COM collision losses. We also observed some differences in joint kinetics between amputees and non-amputees walking on the prototype foot. During prosthetic push-off, amputees exhibited reduced energy transfer from the prosthesis to the COM along with increased hip work, perhaps due to greater energy dissipation at the knee. Nevertheless, the results indicate that spring compliance can contribute to push-off, but with biomechanical trade-offs that limit the degree to which greater push-off might improve walking economy. © 2011 IEEE

Systematic variation of prosthetic foot spring affects center-of-mass mechanics and metabolic cost during walking

PubMed Central

Zelik, Karl E.; Collins, Steven H.; Adamczyk, Peter G.; Segal, Ava D.; Klute, Glenn K.; Morgenroth, David C.; Hahn, Michael E.; Orendurff, Michael S.; Czerniecki, Joseph M.; Kuo, Arthur D.

2014-01-01

Lower-limb amputees expend more energy to walk than non-amputees and have an elevated risk of secondary disabilities. Insufficient push-off by the prosthetic foot may be a contributing factor. We aimed to systematically study the effect of prosthetic foot mechanics on gait, to gain insight into fundamental prosthetic design principles. We varied a single parameter in isolation, the energy-storing spring in a prototype prosthetic foot, the Controlled Energy Storage and Return (CESR) foot, and observed the effect on gait. Subjects walked on the CESR foot with three different springs. We performed parallel studies on amputees and on non-amputees wearing prosthetic simulators. In both groups, spring characteristics similarly affected ankle and body center-of-mass (COM) mechanics and metabolic cost. Softer springs led to greater energy storage, energy return and prosthetic limb COM push-off work. But metabolic energy expenditure was lowest with a spring of intermediate stiffness, suggesting biomechanical disadvantages to the softest spring despite its greater push-off. Disadvantages of the softest spring may include excessive heel displacements and COM collision losses. We also observed some differences in joint kinetics between amputees and non-amputees walking on the prototype foot. During prosthetic push-off, amputees exhibited reduced energy transfer from the prosthesis to the COM along with increased hip work, perhaps due to greater energy dissipation at the knee. Nevertheless, the results indicate that spring compliance can contribute to push-off, but with biomechanical trade-offs that limit the degree to which greater push-off might improve walking economy. PMID:21708509

Perception and Perspective in Robotics

DTIC Science & Technology

2003-01-01

data, the bottom row shows the segmented views that are tized to just two luminance levels. The dark line cen- the best match with these prototypes. The...and Mataric , 1999) for one effort in the ate an active, developing, malleable perceptual system robotic domain). The human interacting with the robot...learning will be im- Robot s an Sys(ems,)volumenI,pleentd. heinstructor demonstrates the task while Goldberg, D). and Mataric , M. 1. (1999

Counter Tunnel Exploration, Mapping, and Localization with an Unmanned Ground Vehicle

DTIC Science & Technology

2014-05-01

support terrorist activity. Past robotic tunnel exploration efforts have had limited success in aiding law enforcement to explore and map the suspect...cross-border tunnels. These efforts have made use of adapted explosive ordnance disposal (EOD) or pipe inspection robotic systems that are not ideally... Robotics Enterprise (JGRE) to develop a prototype robotic system for counter-tunnel operations, focusing on exploration, mapping, and characterization of

Test Methods for Robot Agility in Manufacturing

PubMed Central

Downs, Anthony; Harrison, William; Schlenoff, Craig

2017-01-01

Purpose The paper aims to define and describe test methods and metrics to assess industrial robot system agility in both simulation and in reality. Design/methodology/approach The paper describes test methods and associated quantitative and qualitative metrics for assessing robot system efficiency and effectiveness which can then be used for the assessment of system agility. Findings The paper describes how the test methods were implemented in a simulation environment and real world environment. It also shows how the metrics are measured and assessed as they would be in a future competition. Practical Implications The test methods described in this paper will push forward the state of the art in software agility for manufacturing robots, allowing small and medium manufacturers to better utilize robotic systems. Originality / value The paper fulfills the identified need for standard test methods to measure and allow for improvement in software agility for manufacturing robots. PMID:28203034

Clearing a Pile of Unknown Objects using Interactive Perception

DTIC Science & Technology

2012-11-01

blocks and the shampoo . The robot now decides to grasp the bottle of shampoo . Next, the tissue box and the chunk of wood are pushed and grasped. The...20 seconds. Poking an object requires 12 (a) Initial pile (b) Poking macaroni box (c) After poking (d) Grasping shampoo (e) After grasping (f) Pooking...objects: a tissue box, a chunk of wood, a bottle of shampoo , a box of macaroni, and toy blocks. The algorithm switches between pushing to verify

Social service robots to support independent living : Experiences from a field trial.

PubMed

Pripfl, J; Körtner, T; Batko-Klein, D; Hebesberger, D; Weninger, M; Gisinger, C

2016-06-01

Assistive robots could be a future means to support independent living for seniors. This article provides insights into the latest developments in social service robots (SSR) based on the recently finished HOBBIT project. The idea of the HOBBIT project was to develop a low-cost SSR which is able to reduce the risk of falling, to detect falls and handle emergencies in private homes. The main objective of the project was to raise the technology to a level that allows the robot to be fully autonomously deployed in the private homes of older users and to evaluate technology market readiness, utility, usability and affordability under real-world conditions. During the initial phase of the project, a first prototype (PT1) was developed. The results of laboratory tests with PT1 were used for the development of a second prototype (PT2), which was finally tested in seven households of senior adults (mean age 79 years) for 3 weeks each, i.e. in total more than 5 months. The results showed that PT2 is intuitive to handle and that the functions offered meet the needs of older users; however, the robot was considered more as a toy than a supportive device for independent living. Furthermore, despite an emergency function of the robot, perceived security did not increase. Reasons for this might be a lack of technological robustness and slow performance of the prototype and also the good health conditions of the users; however, users believed that a market-ready version of the robot would be vital for supporting people who are more fragile and more socially isolated. Thus, SSRs have the potential to support independent living of older people although the technology has to be considerably improved to reach market readiness.

Towards the development of a spring-based continuum robot for neurosurgery

NASA Astrophysics Data System (ADS)

Kim, Yeongjin; Cheng, Shing Shin; Desai, Jaydev P.

2015-03-01

Brain tumor is usually life threatening due to the uncontrolled growth of abnormal cells native to the brain or the spread of tumor cells from outside the central nervous system to the brain. The risks involved in carrying out surgery within such a complex organ can cause severe anxiety in cancer patients. However, neurosurgery, which remains one of the more effective ways of treating brain tumors focused in a confined volume, can have a tremendously increased success rate if the appropriate imaging modality is used for complete tumor removal. Magnetic resonance imaging (MRI) provides excellent soft-tissue contrast and is the imaging modality of choice for brain tumor imaging. MRI combined with continuum soft robotics has immense potential to be the revolutionary treatment technique in the field of brain cancer. It eliminates the concern of hand tremor and guarantees a more precise procedure. One of the prototypes of Minimally Invasive Neurosurgical Intracranial Robot (MINIR-II), which can be classified as a continuum soft robot, consists of a snake-like body made of three segments of rapid prototyped plastic springs. It provides improved dexterity with higher degrees of freedom and independent joint control. It is MRI-compatible, allowing surgeons to track and determine the real-time location of the robot relative to the brain tumor target. The robot was manufactured in a single piece using rapid prototyping technology at a low cost, allowing it to disposable after each use. MINIR-II has two DOFs at each segment with both joints controlled by two pairs of MRI-compatible SMA spring actuators. Preliminary motion tests have been carried out using vision-tracking method and the robot was able to move to different positions based on user commands.

A small, cheap, and portable reconnaissance robot

NASA Astrophysics Data System (ADS)

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

2005-05-01

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

Operation analysis of a Chebyshev-Pantograph leg mechanism for a single DOF biped robot

NASA Astrophysics Data System (ADS)

Liang, Conghui; Ceccarelli, Marco; Takeda, Yukio

2012-12-01

In this paper, operation analysis of a Chebyshev-Pantograph leg mechanism is presented for a single degree of freedom (DOF) biped robot. The proposed leg mechanism is composed of a Chebyshev four-bar linkage and a pantograph mechanism. In contrast to general fully actuated anthropomorphic leg mechanisms, the proposed leg mechanism has peculiar features like compactness, low-cost, and easy-operation. Kinematic equations of the proposed leg mechanism are formulated for a computer oriented simulation. Simulation results show the operation performance of the proposed leg mechanism with suitable characteristics. A parametric study has been carried out to evaluate the operation performance as function of design parameters. A prototype of a single DOF biped robot equipped with two proposed leg mechanisms has been built at LARM (Laboratory of Robotics and Mechatronics). Experimental test shows practical feasible walking ability of the prototype, as well as drawbacks are discussed for the mechanical design.

The JPL Serpentine Robot: A 12 DOF System for Inspection

NASA Technical Reports Server (NTRS)

Paljug, E.; Ohm, T.; Hayati, S.

1995-01-01

The Serpentine Robot is a prototype hyper-redundant (snake-like) manipulator system developed at the Jet Propulsion Laboratory. It is designed to navigate and perform tasks in obstructed and constrained environments in which conventional 6 DOF manipulators cannot function. Described are the robot mechanical design, a joint assembly low level inverse kinematic algorithm, control development, and applications.

A Multidisciplinary Industrial Robot Approach for Teaching Mechatronics-Related Courses

ERIC Educational Resources Information Center

Garduño-Aparicio, Mariano; Rodríguez-Reséndiz, Juvenal; Macias-Bobadilla, Gonzalo; Thenozhi, Suresh

2018-01-01

This paper presents a robot prototype for an undergraduate laboratory program designed to fulfill the criteria laid out by ABET. The main objective of the program is for students to learn some basic concepts of embedded systems and robotics, and apply them in practice. For that purpose, various practical laboratory exercises were prepared to teach…

Lyndon B. Johnson Space Center (JSC) proposed dual-use technology investment program in intelligent robotics

NASA Technical Reports Server (NTRS)

Erickson, Jon D.

1994-01-01

This paper presents an overview of the proposed Lyndon B. Johnson Space Center (JSC) precompetitive, dual-use technology investment project in robotics. New robotic technology in advanced robots, which can recognize and respond to their environments and to spoken human supervision so as to perform a variety of combined mobility and manipulation tasks in various sectors, is an objective of this work. In the U.S. economy, such robots offer the benefits of improved global competitiveness in a critical industrial sector; improved productivity by the end users of these robots; a growing robotics industry that produces jobs and profits; lower cost health care delivery with quality improvements; and, as these 'intelligent' robots become acceptable throughout society, an increase in the standard of living for everyone. In space, such robots will provide improved safety, reliability, and productivity as Space Station evolves, and will enable human space exploration (by human/robot teams). The proposed effort consists of partnerships between manufacturers, universities, and JSC to develop working production prototypes of these robots by leveraging current development by both sides. Currently targeted applications are in the manufacturing, health care, services, and construction sectors of the U.S. economy and in the inspection, servicing, maintenance, and repair aspects of space exploration. But the focus is on the generic software architecture and standardized interfaces for custom modules tailored for the various applications allowing end users to customize a robot as PC users customize PC's. Production prototypes would be completed in 5 years under this proposal.

Lyndon B. Johnson Space Center (JSC) proposed dual-use technology investment program in intelligent robots

NASA Technical Reports Server (NTRS)

Erikson, Jon D.

1994-01-01

This paper presents an overview of the proposed Lyndon B. Johnson Space Center (JSC) precompetitive, dual-use technology investment project in robotics. New robotic technology in advanced robots, which can recognize and respond to their environments and to spoken human supervision so as to perform a variety of combined mobility and manipulation tasks in various sectors, is an obejective of this work. In the U.S. economy, such robots offer the benefits of improved global competitiveness in a critical industrial sector; improved productivity by the end users of these robots; a growing robotics industry that produces jobs and profits; lower cost health care delivery with quality improvements; and, as these 'intelligent' robots become acceptable throughout society, an increase in the standard of living for everyone. In space, such robots will provide improved safety, reliability, and productivity as Space Station evolves, and will enable human space exploration (by human/robot teams). The proposed effort consists of partnerships between manufacturers, universities, and JSC to develop working production prototypes of these robots by leveraging current development by both sides. Currently targeted applications are in the manufacturing, health care, services, and construction sectors of the U.S. economy and in the inspection, servicing, maintenance, and repair aspects of space exploration. But the focus is on the generic software architecture and standardized interfaces for custom modules tailored for the various applications allowing end users to customize a robot as PC users customize PC's. Production prototypes would be completed in 5 years under this proposal.

TET Explorers: Pushing back the frontiers of Science

NASA Astrophysics Data System (ADS)

Curtis, S. A.; Clark, P. E.; Garvin, J. B.; Rilee, M. L.; Dorband, J. E.; Cheung, C. Y.; Sams, J. E.

2005-12-01

We are in the process of developing Tetrahedral Explorer Technologies (TETs) for the extreme mobility needed to explore remote, rugged terrain. TET architecture is based on the tetrahedron as building block, acting singly or interconnected, where apices act as nodes from which struts reversibly deploy. Conformable tetrahedra are the simplest space-filling form the way triangles are the simplest plane-filling facets. The tetrahedral framework acts as a simple skeletal muscular structure. Reconfigurable architecture is essential in exploration because reaching features of the greatest potential interest requires crossing a wide range of terrains. Thus, areas of interest are relatively inaccessible to permanently appendaged vehicles. For example, morphology and geochemistry of interior basins, walls, and ejecta blankets of impact structures must all be studied to understand the nature of an impact event. The crater floor might be relatively flat and navigable, while typical crater walls are variably sloping, and dominated by unconsolidated debris. To be totally functional, structures must form pseudo-appendages varying in size, rate, and manner of deployment (gait). We have already prototyped a simple robotic walker from a single reconfigurable tetrahedron capable of tumbling and are simulating and building a prototype of the more evolved 12Tetrahedral Walker (Autonomous Lunar Investigator) which has interior nodes for payload, more continuous motion, and is commandable through a user friendly interface. Our current applications consist of a more differentiated architecture to form detachable, reconfigurable, reshapable linearly extendable bodies (Class W or Worm), ranging from arms terminating in opposable digits (Class S or Spider) to act as manual assistant subsystems on rovers, to autonomous pseudo-hominid clamberers (Class M or Mammal), with extensions terminating in a wider range of sensors. We are now simulating Class W and Class S gaits and will be building a prototype rover arm. Ultimately, complex continuous n-tetrahedral structures, more advanced versions of Class A, will have deployable outer skin, and even higher degrees of freedom. Combined high and low level intelligence through an extended neural interface will allow `shape shifting' for required function, from surface-conformable lander to amorphous rover to concave surface formation for antenna function. Such architecture will consist of reusable, reconfigurable, mobile, and self-repairing structures, capable of acting as a multi-functional infrastructure. TET systems will act as robotic adjuncts to human explorers, enabling access to otherwise inaccessible resources essential to sustaining human presence.

The SONG prototype: Efficiency of a robotic telescope

NASA Astrophysics Data System (ADS)

Andersen, M. F.; Grundahl, F.; Beck, A. H.; Pallé, P.

2016-12-01

The Stellar Observations Network Group prototype telescope at the Teide Observatory has been operating in scientific mode since March 2014. The first year of observations has entirely been carried out using the high resolution echelle spectrograph. Several asteroseismic targets were selected for scientific and technical verification. A few bright subgiants and one red giant were chosen since the oscillations in these stars have large amplitudes and the periods long enough to easily be detected. These targets would also be used for evaluation of the instruments since long term observations of single targets would reveal potential problems. In this paper the performance of the first robotic SONG node is described to illustrate the efficiency and possibilities in having a robotic telescope.

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.

Air Force construction automation/robotics

NASA Technical Reports Server (NTRS)

Nease, AL; Dusseault, Christopher

1994-01-01

The Air Force has several unique requirements that are being met through the development of construction robotic technology. The missions associated with these requirements place construction/repair equipment operators in potentially harmful situations. Additionally, force reductions require that human resources be leveraged to the maximum extent possible and that more stringent construction repair requirements push for increased automation. To solve these problems, the U.S. Air Force is undertaking a research and development effort at Tyndall AFB, FL to develop robotic teleoperation, telerobotics, robotic vehicle communications, automated damage assessment, vehicle navigation, mission/vehicle task control architecture, and associated computing environment. The ultimate goal is the fielding of robotic repair capability operating at the level of supervised autonomy. The authors of this paper will discuss current and planned efforts in construction/repair, explosive ordnance disposal, hazardous waste cleanup, fire fighting, and space construction.

Design of rehabilitation robot hand for fingers CPM training

NASA Astrophysics Data System (ADS)

Zhou, Hongfu; Chan, T. W.; Tong, K. Y.; Kwong, K. K.; Yao, Xifan

2008-10-01

This paper presents a low-cost prototype for rehabilitation robot aide patient do hands CPM (continuous passive motion) training. The design of the prototype is based on the principle of Rutgers Master II glove, but it is better in performance for more improvement made. In the design, it uses linear motors to replace pneumatic actuators to make the product more portable and mobile. It increases finger training range to 180 degree for the full range training of hand finger holding and extension. Also the prototype can not only be wearing on palm and fore arm do training for face to face with finger move together, but also be put in the opposite hand glove wear direction for hand rehabilitation training. During the research, Solidworks is used as the tool for mechanical design and movement simulation. It proved through experiment that the prototype made in the research is appropriate for hand do CPM training.

Rotorcraft and Enabling Robotic Rescue

NASA Technical Reports Server (NTRS)

Young, Larry A.

2010-01-01

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

TELEsarPHONE: Mutual Telexistence Master-Slave Communication System Based on Retroreflective Projection Technology

NASA Astrophysics Data System (ADS)

Tachi, Susumu; Kawakami, Naoki; Nii, Hideaki; Watanabe, Kouichi; Minamizawa, Kouta

TELEsarPHONE is a conceptual prototype of a mutual telexistence system, designed for face-to-face telecommunication via robots. Because of the development of telexistence technology, we can acquire a feeling that we are present in several actual remote places using remote robots as our surrogates and can work and act freely there. However, people in the place where someone telexists using a robot see only the robot, and they cannot feel the existence of the telexisting person. Mutual telexistence aims to solve this problem so that the existence of a telexisting person (visitor) is apparent to the people in the remote environment by providing mutual sensations of presence. On the basis of the concept of mutual telexistence, we have designed and developed a prototype of a telexistence master-slave system for remote communication by applying retroreflective projection technology. In the TELEsarPHONE system, the face and chest of the slave robot TELESAR II are covered by retroreflective material. To provide the feeling of existence, the real-time image of the visitor is projected onto the robot so that people can see the visitor in real time.

Lunar rovers and local positioning system

NASA Astrophysics Data System (ADS)

Avery, James; Su, Renjeng

1991-11-01

Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In addition, a four degree mechanical manipulator especially suited for coordinated teleoperation was conceptually designed and is currently being analyzed. This manipulator will be integrated into the rovers as their end effector. Twenty internal LAN cards fabricated by a commercial firm are being used, a prototype manipulator and a range finder for a positioning system were built, a prototype two-motor controller was designed, and one of the robots is performing its first telerobotic motion. In addition, the robots' internal LAN's were coordinated and tested, hardware design upgrades based on fabrication and fit experience were completed, and the positioning system is running.

Lunar rovers and local positioning system

NASA Technical Reports Server (NTRS)

Avery, James; Su, Renjeng

1991-01-01

Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In addition, a four degree mechanical manipulator especially suited for coordinated teleoperation was conceptually designed and is currently being analyzed. This manipulator will be integrated into the rovers as their end effector. Twenty internal LAN cards fabricated by a commercial firm are being used, a prototype manipulator and a range finder for a positioning system were built, a prototype two-motor controller was designed, and one of the robots is performing its first telerobotic motion. In addition, the robots' internal LAN's were coordinated and tested, hardware design upgrades based on fabrication and fit experience were completed, and the positioning system is running. The rover system is able to perform simple tasks such as sensing and signaling; coordination systems which allow construction tasks to begin were established, and soon coordinated teams of robots in the laboratory will be able to manipulate common objects.

Design and implementation of a compliant robot with force feedback and strategy planning software

NASA Technical Reports Server (NTRS)

Premack, T.; Strempek, F. M.; Solis, L. A.; Brodd, S. S.; Cutler, E. P.; Purves, L. R.

1984-01-01

Force-feedback robotics techniques are being developed for automated precision assembly and servicing of NASA space flight equipment. Design and implementation of a prototype robot which provides compliance and monitors forces is in progress. Computer software to specify assembly steps and makes force feedback adjustments during assembly are coded and tested for three generically different precision mating problems. A model program demonstrates that a suitably autonomous robot can plan its own strategy.

The effects of overall robot shape on the emotions invoked in users and the perceived personalities of robot.

PubMed

Hwang, Jihong; Park, Taezoon; Hwang, Wonil

2013-05-01

The affective interaction between human and robots could be influenced by various aspects of robots, which are appearance, countenance, gesture, voice, etc. Among these, the overall shape of robot could play a key role in invoking desired emotions to the users and bestowing preferred personalities to robots. In this regard, the present study experimentally investigates the effects of overall robot shape on the emotions invoked in users and the perceived personalities of robot with an objective of deriving guidelines for the affective design of service robots. In so doing, 27 different shapes of robot were selected, modeled and fabricated, which were combinations of three different shapes of head, trunk and limb (legs and arms) - rectangular-parallelepiped, cylindrical and human-like shapes. For the experiment, visual images and real prototypes of these robot shapes were presented to participants, and emotions invoked and personalities perceived from the presented robots were measured. The results showed that the overall shape of robot arouses any of three emotions named 'concerned', 'enjoyable' and 'favorable', among which 'concerned' emotion is negatively correlated with the 'big five personality factors' while 'enjoyable' and 'favorable' emotions are positively correlated. It was found that the 'big five personality factors', and 'enjoyable' and 'favorable' emotions are more strongly perceived through the real prototypes than through the visual images. It was also found that the robot shape consisting of cylindrical head, human-like trunk and cylindrical head is the best for 'conscientious' personality and 'favorable' emotion, the robot shape consisting of cylindrical head, human-like trunk and human-like limb for 'extroverted' personality, the robot shape consisting of cylindrical head, cylindrical trunk and cylindrical limb for 'anti-neurotic' personality, and the robot shape consisting of rectangular-parallelepiped head, human-like trunk and human-like limb for 'enjoyable' emotion. Copyright © 2012 Elsevier Ltd and The Ergonomics Society. All rights reserved.

An octopus-bioinspired solution to movement and manipulation for soft robots.

PubMed

Calisti, M; Giorelli, M; Levy, G; Mazzolai, B; Hochner, B; Laschi, C; Dario, P

2011-09-01

Soft robotics is a challenging and promising branch of robotics. It can drive significant improvements across various fields of traditional robotics, and contribute solutions to basic problems such as locomotion and manipulation in unstructured environments. A challenging task for soft robotics is to build and control soft robots able to exert effective forces. In recent years, biology has inspired several solutions to such complex problems. This study aims at investigating the smart solution that the Octopus vulgaris adopts to perform a crawling movement, with the same limbs used for grasping and manipulation. An ad hoc robot was designed and built taking as a reference a biological hypothesis on crawling. A silicone arm with cables embedded to replicate the functionality of the arm muscles of the octopus was built. This novel arm is capable of pushing-based locomotion and object grasping, mimicking the movements that octopuses adopt when crawling. The results support the biological observations and clearly show a suitable way to build a more complex soft robot that, with minimum control, can perform diverse tasks.

Force-sensed interface for control and training space robot

NASA Astrophysics Data System (ADS)

Moiseev, O. S.; Sarsadskikh, A. S.; Povalyaev, N. D.; Gorbunov, V. I.; Kulakov, F. M.; Vasilev, V. V.

2018-05-01

A method of positional and force-torque control of robots is proposed. Prototypes of the system and the master handle have been created. Algorithm of bias estimation and gravity compensation for force-torque sensor and force-torque trajectory correction are described.

Interactive intelligent remote operations: application to space robotics

NASA Astrophysics Data System (ADS)

Dupuis, Erick; Gillett, G. R.; Boulanger, Pierre; Edwards, Eric; Lipsett, Michael G.

1999-11-01

A set of tolls addressing the problems specific to the control and monitoring of remote robotic systems from extreme distances has been developed. The tools include the capability to model and visualize the remote environment, to generate and edit complex task scripts, to execute the scripts to supervisory control mode and to monitor and diagnostic equipment from multiple remote locations. Two prototype systems are implemented for demonstration. The first demonstration, using a prototype joint design called Dexter, shows the applicability of the approach to space robotic operation in low Earth orbit. The second demonstration uses a remotely controlled excavator in an operational open-pit tar sand mine. This demonstrates that the tools developed can also be used for planetary exploration operations as well as for terrestrial mining applications.

Space missions for automation and robotics technologies (SMART) program

NASA Technical Reports Server (NTRS)

Ciffone, D. L.; Lum, H., Jr.

1985-01-01

The motivations, features and expected benefits and applications of the NASA SMART program are summarized. SMART is intended to push the state of the art in automation and robotics, a goal that Public Law 98-371 mandated be an inherent part of the Space Station program. The effort would first require tests of sensors, manipulators, computers and other subsystems as seeds for the evolution of flight-qualified subsystems. Consideration is currently being given to robotics systems as add-ons to the RMS, MMU and OMV and a self-contained automation and robotics module which would be tended by astronaut visits. Probable experimentation and development paths that would be pursued with the equipment are discussed, along with the management structure and procedures for the program. The first hardware flight is projected for 1989.

Prototyping context-aware nursing support mobile system.

PubMed

Esashi, Misa; Nakano, Tomohiro; Onose, Nao; Sato, Kikue; Hikita, Tomoko; Hoya, Reiko; Okamoto, Kazuya; Ohboshi, Naoki; Kuroda, Tomohiro

2016-08-01

A context aware nursing support system to push right information to the right person at the right moment is the key to increase clinical safety under a computerized hospital. We prototyped a system which obtains context from positions of nurses and list of expected clinical procedures. A WoZ test showed that the proposed approach has potential to decrease incidents caused by information delivery error.

3D Printer Instrumentation to Create Varied Geometries of Robotic Limbs and Heterogeneous Granular Media

DTIC Science & Technology

2015-05-20

Transfer Robo Ant The 3D printer was used to rapidly prototype a robot ant . The robot ant was used to model the behavior of the fire ant and to model...computer models and 3D printed ant robots are shown below. Snake Bot We used the 3D printed to rapidly design a modular, easily-modified snake...living organism (modern mudskippers, a terrestrial fish) and extinct early tetrapods (e.g. Ichthyostega, Acanthostega) while allowing us to explore

Design and Implementation of a Quadruped Bionic Robot Based on Virtual Prototype Technology

NASA Astrophysics Data System (ADS)

Wang, Li

2017-10-01

Design out a quadruped bionic robot with nine degrees of freedom. Conduct virtual assembly and trotting gait simulation on the robot by using NX software. Present the angular velocity and angular displacement curves of the diagonal two legs’ hip joints and knee joints, thus to instruct the practical assemble and control of the robot. The fact that the movement effect of the physical model is consistent with the simulation verifies the validity and practicability of virtual assembly and motion simulation. both.

Pilot clinical trial of a robot-aided neuro-rehabilitation workstation with stroke patients

NASA Astrophysics Data System (ADS)

Krebs, Hermano I.; Hogan, Neville; Aisen, Mindy L.; Volpe, Bruce T.

1996-12-01

This paper summarizes our efforts to apply robotics and automation technology to assist, enhance, quantify, and document neuro-rehabilitation. It reviews a pilot clinical trial involving twenty stroke patients with a prototype robot-aided rehabilitation facility developed at MIT and tested at Burke Rehabilitation Hospital. In particular, we present a few results: (a) on the patient's tolerance of the procedure, (b) whether peripheral manipulation of the impaired limb influences brain recovery, (c) on the development of a robot-aided assessment procedure.

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

NASA Astrophysics Data System (ADS)

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

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

The use of robotics for nondestructive inspection of steel highway bridges and structures: interim report.

DOT National Transportation Integrated Search

1998-01-01

This interim report describes the progress during the first year of a project to develop robotics hardware for nondestructive evaluation of steel structures. The project objectives are to (1) develop and test an improved prototype (POLECAT-II) crawli...

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

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

Carnegie Mellon University

2008-09-30

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

A Modular Robotic System with Applications to Space Exploration

NASA Technical Reports Server (NTRS)

Hancher, Matthew D.; Hornby, Gregory S.

2006-01-01

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

Development of Autonomous Boat-Type Robot for Automated Velocity Measurement in Straight Natural River

NASA Astrophysics Data System (ADS)

Sanjou, Michio; Nagasaka, Tsuyoshi

2017-11-01

The present study describes an automated system to measure the river flow velocity. A combination of the camera-tracking system and the Proportional/Integral/Derivative (PID) control could enable the boat-type robot to remain in position against the mainstream; this results in reasonable evaluation of the mean velocity by a duty ratio which corresponds to rotation speed of the screw propeller. A laser range finder module was installed to measure the local water depth. Reliable laboratory experiments with the prototype boat robot and electromagnetic velocimetry were conducted to obtain a calibration curve that connects the duty ratio and mean current velocity. The remaining accuracy in the target point was also examined quantitatively. The fluctuation in the spanwise direction is within half of the robot length. It was therefore found that the robot remains well within the target region. We used two-dimensional navigation tests to guarantee that the prototype moved smoothly to the target points and successfully measured the streamwise velocity profiles across the mainstream. Moreover, the present robot was found to move successfully not only in the laboratory flume but also in a small natural river. The robot could move smoothly from the starting point near the operator's site toward the target point where the velocity is measured, and it could evaluate the cross-sectional discharge.

Human machine interaction via the transfer of power and information signals

NASA Technical Reports Server (NTRS)

Kazerooni, H.; Foslien, W. K.; Anderson, B. J.; Hessburg, T. M.

1989-01-01

Robot manipulators are designed to perform tasks which would otherwise be executed by a human operator. No manipulator can even approach the speed and accuracy with which humans execute these tasks. But manipulators have the capability to exceed human ability in one particular area: strength. Through any reasonable observation and experience, the human's ability to perform a variety of physical tasks is limited not by his intelligence, but by his physical strength. If, in the appropriate environment, we can more closely integrate the mechanical power of a machine with intellectually driven human hand under the supervisory control of the human's intellect, we will then have a system which is superior to a loosely-integrated combination of a human and his fully automated robot as in the present day robotic systems. We must therefore develop a fundamental approach to the problem of this extending human mechanical power in certain environments. Extenders will be a class of robots worn by humans to increase human mechanical ability, while the wearer's intellect remains the central intelligent control system for manipulating the extender. The human body, in physical contact with the extender, exchanges information signals and power with the extender. Commands are transferred to the extender via the contact forces between the wearer and the extender as opposed to use of joystick (master arm), push-button or key-board to execute such commands that were used in previous man amplifiers. Instead, the operator becomes an integral part of the extender while executing the task. In this unique configuration the mechanical power transfer between the human and extender occurs in addition to information signal transfer. When the wearer uses the extender to touch and manipulate an object, the extender transfers to the wearer's hand, in feedback fashion, a scaled-down value of the actual external load which the extender is manipulating. This natural feedback force on the wearer's hand allows him to feel the scaled-down value of the external forces in the manipulations. Extenders can be utilized to maneuver very heavy loads in factories, shipyards, airports, and construction sites. In some instances, for example, extenders can replace forklifts. The experimental results for a prototype extender are discussed.

Nasa's Ant-Inspired Swarmie Robots

NASA Technical Reports Server (NTRS)

Leucht, Kurt W.

2016-01-01

As humans push further beyond the grasp of earth, robotic missions in advance of human missions will play an increasingly important role. These robotic systems will find and retrieve valuable resources as part of an in-situ resource utilization (ISRU) strategy. They will need to be highly autonomous while maintaining high task performance levels. NASA Kennedy Space Center has teamed up with the Biological Computation Lab at the University of New Mexico to create a swarm of small, low-cost, autonomous robots to be used as a ground-based research platform for ISRU missions. The behavior of the robot swarm mimics the central-place foraging strategy of ants to find and collect resources in a previously unmapped environment and return those resources to a central site. This talk will guide the audience through the Swarmie robot project from its conception by students in a New Mexico research lab to its robot trials in an outdoor parking lot at NASA. The software technologies and techniques used on the project will be discussed, as well as various challenges and solutions that were encountered by the development team along the way.

A robotic wheelchair

NASA Technical Reports Server (NTRS)

Miller, David P.; Grant, Edward

1994-01-01

Many people who are mobility impaired are incapable, for a variety of reasons, of using an ordinary wheelchair. These people must rely on either a power wheelchair, which they control, or another person to push and guide them while they are in an ordinary or power wheelchair. Power wheelchairs can be difficult to operate. If a person has additional disabilities, either in perception or fine motor control of their hands, a power chair can be difficult or impossible for them to use safely. Having one person push and guide a person who is mobility impaired is very expensive, and if the disabled person is otherwise independent, very inefficient and frustrating. This paper describes a low-cost robotic addition to a power wheelchair that assists the rider of the chair in avoiding obstacles, going to pre-designated places, and maneuvering through doorways and other narrow or crowded areas. This system can be interfaced to a variety of input devices, and can give the operator as much or as little moment by moment control of the chair as they wish.

Steerable Hopping Six-Legged Robot

NASA Technical Reports Server (NTRS)

Younse, Paulo; Aghazarian, Hrand

2010-01-01

The figure depicts selected aspects of a six-legged robot that moves by hopping and that can be steered in the sense that it can be launched into a hop in a controllable direction. This is a prototype of hopping robots being developed for use in scientific exploration of rough terrain on remote planets that have surface gravitation less than that of Earth. Hopping robots could also be used on Earth, albeit at diminished hopping distances associated with the greater Earth gravitation. The upper end of each leg is connected through two universal joints to an upper and a lower hexagonal frame, such that the tilt of the leg depends on the relative position of the two frames. Two non-back-driveable worm-gear motor drives are used to control the relative position of the two frames along two axes 120 apart, thereby controlling the common tilt of all six legs and thereby, further, controlling the direction of hopping. Each leg includes an upper and a lower aluminum frame segment with a joint between them. A fiberglass spring, connected via hinges to both segments, is used to store hopping energy prior to launch into a hop and to cushion the landing at the end of the hop. A cable for loading the spring is run into each leg through the center of the universal joints and then down along the center lines of the segments to the lower end of the leg. A central spool actuated by a motor with a harmonic drive and an electromagnetic clutch winds in all six cables to compress all six springs (thereby also flexing all six legs) simultaneously. To ensure that all the legs push off and land in the same direction, timing- belt pulley drives are attached to the leg segments, restricting the flexing and extension of all six legs to a common linear motion. In preparation for a hop, the spool can be driven to load the spring legs by an amount corresponding to a desired hop distance within range. The amount of compression can be computed from the reading of a shaft-angle encoder that indicates the amount by which the spool has been turned. When the robot is ready to hop, the electromagnetic clutch disengages the motor from the spool, thus releasing the cable restraints on the springs and allowing the springs to extend all six legs simultaneously.

Preliminary Testing of a Compact, Bone-Attached Robot for Otologic Surgery

PubMed Central

Dillon, Neal P.; Balachandran, Ramya; dit Falisse, Antoine Motte; Wanna, George B.; Labadie, Robert F.; Withrow, Thomas J.; Fitzpatrick, J. Michael; Webster, Robert J.

2014-01-01

Otologic surgery often involves a mastoidectomy procedure, in which part of the temporal bone is milled away in order to visualize critical structures embedded in the bone and safely access the middle and inner ear. We propose to automate this portion of the surgery using a compact, bone-attached milling robot. A high level of accuracy is required to avoid damage to vital anatomy along the surgical path, most notably the facial nerve, making this procedure well-suited for robotic intervention. In this study, several of the design considerations are discussed and a robot design and prototype are presented. The prototype is a 4 degrees-of-freedom robot similar to a four-axis milling machine that mounts to the patient’s skull. A positioning frame, containing fiducial markers and attachment points for the robot, is rigidly attached to the skull of the patient, and a CT scan is acquired. The target bone volume is manually segmented in the CT by the surgeon and automatically converted to a milling path and robot trajectory. The robot is then attached to the positioning frame and is used to drill the desired volume. The accuracy of the entire system (image processing, planning, robot) was evaluated at several critical locations within or near the target bone volume with a mean free space accuracy result of 0.50 mm or less at all points. A milling test in a phantom material was then performed to evaluate the surgical workflow. The resulting milled volume did not violate any critical structures. PMID:25477726

Robotic Assistance in Medication Management: Development and Evaluation of a Prototype.

PubMed

Schweitzer, Marco; Hoerbst, Alexander

2016-01-01

An increasing number of elderly people and the prevalence of multimorbid conditions often lead to age-related problems for patients in handling their common polypharmaceutical, domestic everyday medication. Ambient Assisted Living therefore provides means to support an elderly's everyday life. In the present paper we investigated the viability of using a commercial mass-produced humanoid robot system to support the domestic medication of an elderly person. A prototypical software application based on the NAO-robot platform was implemented to remind the patient for drug intakes, check for drug-drug-interactions, document the compliance and assist through the complete process of individual medication. A technical and functional evaluation of the system in a laboratory setting revealed versatile and viable results, though further investigations are needed to examine the practical use in an applied field.

Field Tested Service Oriented Robotic Architecture: Case Study

NASA Technical Reports Server (NTRS)

Flueckiger, Lorenzo; Utz, Hanz

2012-01-01

This paper presents the lessons learned from six years of experiments with planetary rover prototypes running the Service Oriented Robotic Architecture (SORA) developed by the Intelligent Robotics Group (IRG) at NASA Ames Research Center. SORA relies on proven software methods and technologies applied to the robotic world. Based on a Service Oriented Architecture and robust middleware, SORA extends its reach beyond the on-board robot controller and supports the full suite of software tools used during mission scenarios from ground control to remote robotic sites. SORA has been field tested in numerous scenarios of robotic lunar and planetary exploration. The results of these high fidelity experiments are illustrated through concrete examples that have shown the benefits of using SORA as well as its limitations.

Design and user evaluation of a wheelchair mounted robotic assisted transfer device.

PubMed

Grindle, Garrett G; Wang, Hongwu; Jeannis, Hervens; Teodorski, Emily; Cooper, Rory A

2015-01-01

The aim of this study is to describe the robotic assisted transfer device (RATD) and an initial focus group evaluation by end users. The purpose of the device is to aid in the transfers of people with disabilities to and from their electric powered wheelchair (EPW) onto other surfaces. The device can be used for both stand-pivot transfers and fully dependent transfers, where the person being transferred is in a sling and weight is fully on the robot. The RATD is fixed to an EPW to allow for its use in community settings. A functional prototype of the RATD was designed and fabricated. The prototype was presented to a group of 16 end users and feedback on the device was obtained via a survey and group discussion. Thirteen out of sixteen (83%) participants agreed that it was important to develop this type of technology. They also indicated that user, caregiver, and robotic controls were important features to be included in the device. Participants in this study suggested that they would be accepting the use of robotic technology for transfers and a majority did not feel that they would be embarrassed to use this technology.

Virtual remote center of motion control for needle placement robots.

PubMed

Boctor, Emad M; Webster, Robert J; Mathieu, Herve; Okamura, Allison M; Fichtinger, Gabor

2004-01-01

We present an algorithm that enables percutaneous needle-placement procedures to be performed with unencoded, unregistered, minimally calibrated robots while removing the constraint of placing the needle tip on a mechanically enforced Remote Center of Motion (RCM). The algorithm requires only online tracking of the surgical tool and a five-degree-of-freedom (5-DOF) robot comprising three prismatic DOF and two rotational DOF. An incremental adaptive motion control cycle guides the needle to the insertion point and also orients it to align with the target-entry-point line. The robot executes RCM motion without having a physically constrained fulcrum point. The proof-of-concept prototype system achieved 0.78 mm translation accuracy and 1.4 degrees rotational accuracy (this is within the tracker accuracy) within 17 iterative steps (0.5-1 s). This research enables robotic assistant systems for image-guided percutaneous procedures to be prototyped/constructed more quickly and less expensively than has been previously possible. Since the clinical utility of such systems is clear and has been demonstrated in the literature, our work may help promote widespread clinical adoption of this technology by lowering system cost and complexity.

Small Dog-Like Quadruped Robot Powered With McKibben Air Muscles

NASA Technical Reports Server (NTRS)

Lacy, John M.

2005-01-01

Planetary surface robotic exploration is typically done by wheeled robots, which are limited to traveling on relatively flat terrain. The goal of this project was to design a bio-inspired robot to mimic the movements and agility of animals to navigate in various types of natural terrain, such as found on Mars. My objective for the summer was to design and construct a quadruped robot with a locomotion gait similar to a small dog. The design includes four legs and an actuated flexible spine for added mobility and performance; each leg has three joints - hip, knee, and ankle. I created 3D CAD models and machined the pieces for the assemblies of each part. One of the key areas of concern is weight vs. power issues for the driving force of locomotion. To maximize the power-to-weight ratio, I used McKibben air muscles to drive the motion of the quadruped. The prototype went through several iterations to analyze performance, with adjustments made to each assembly. We expect the final working prototype will be capable of standing unassisted and pronking into the air without active control. It will serve as a research platform for future bio-inspired control algorithms.

Elastic Inflatable Actuators for Soft Robotic Applications.

PubMed

Gorissen, Benjamin; Reynaerts, Dominiek; Konishi, Satoshi; Yoshida, Kazuhiro; Kim, Joon-Wan; De Volder, Michael

2017-11-01

The 20th century's robotic systems have been made from stiff materials, and much of the developments have pursued ever more accurate and dynamic robots, which thrive in industrial automation, and will probably continue to do so for decades to come. However, the 21st century's robotic legacy may very well become that of soft robots. This emerging domain is characterized by continuous soft structures that simultaneously fulfill the role of robotic link and actuator, where prime focus is on design and fabrication of robotic hardware instead of software control. These robots are anticipated to take a prominent role in delicate tasks where classic robots fail, such as in minimally invasive surgery, active prosthetics, and automation tasks involving delicate irregular objects. Central to the development of these robots is the fabrication of soft actuators. This article reviews a particularly attractive type of soft actuators that are driven by pressurized fluids. These actuators have recently gained traction on the one hand due to the technology push from better simulation tools and new manufacturing technologies, and on the other hand by a market pull from applications. This paper provides an overview of the different advanced soft actuator configurations, their design, fabrication, and applications. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

A novel semi-automatic snake robot for natural orifice transluminal endoscopic surgery: preclinical tests in animal and human cadaver models (with video).

PubMed

Son, Jaebum; Cho, Chang Nho; Kim, Kwang Gi; Chang, Tae Young; Jung, Hyunchul; Kim, Sung Chun; Kim, Min-Tae; Yang, Nari; Kim, Tae-Yun; Sohn, Dae Kyung

2015-06-01

Natural orifice transluminal endoscopic surgery (NOTES) is an emerging surgical technique. We aimed to design, create, and evaluate a new semi-automatic snake robot for NOTES. The snake robot employs the characteristics of both a manual endoscope and a multi-segment snake robot. This robot is inserted and retracted manually, like a classical endoscope, while its shape is controlled using embedded robot technology. The feasibility of a prototype robot for NOTES was evaluated in animals and human cadavers. The transverse stiffness and maneuverability of the snake robot appeared satisfactory. It could be advanced through the anus as far as the peritoneal cavity without any injury to adjacent organs. Preclinical tests showed that the device could navigate the peritoneal cavity. The snake robot has advantages of high transverse force and intuitive control. This new robot may be clinically superior to conventional tools for transanal NOTES.

From Research to Flight: Surviving the TRL Valley of Death for Robotic and Human Exploration

NASA Technical Reports Server (NTRS)

Johnson, Les

2009-01-01

Fundamental research is critical to taking the next giant leap in the scientific exploration of space. NASA should be pushing the envelope and asking "what if?" .. Technology push enables new capabilities. When NASA began, everything was enabling. .. Technology pull is often required to meet current mission requirements. Technology management requires more than issuing NRAs and overseeing contracts. Continuous assessment, peer review, and system systems studies are vital to credible TRL advancement. A strategy for taking technology R&D to new heights will lead to discoveries at far-reaching destinations..

Design of Smart Home Systems Prototype Using MyRIO

NASA Astrophysics Data System (ADS)

Ratna Wati, Dwi Ann; Abadianto, Dika

2017-06-01

This paper presents the design of smart home systems prototype. It applies. MyRIO 1900 embedded device as the main controller of the smart home systems. The systems include wireless monitoring systems and email based notifications as well as data logging. The prototype systems use simulated sensor such as temperature sensor, push button as proximity sensor, and keypad while its simulated actuators are buzzer as alarm system, LED as light and LCD. Based on the test and analysis, the smart home systems prototype as well as the wireless monitoring systems have real time responses when input signals are available. Tbe performance of MyRIO controller is excellent and it results in a stable system.

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

PubMed

Padir, Taşkin; Skorinko, Jeanine; Dimitrov, Velin

2015-01-01

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

A Recipe for Soft Fluidic Elastomer Robots

PubMed Central

Marchese, Andrew D.; Katzschmann, Robert K.

2015-01-01

Abstract This work provides approaches to designing and fabricating soft fluidic elastomer robots. That is, three viable actuator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their internal channel structure, namely, ribbed, cylindrical, and pleated. Additionally, three distinct casting-based fabrication processes are explored: lamination-based casting, retractable-pin-based casting, and lost-wax-based casting. Furthermore, two ways of fabricating a multiple DOF robot are explored: casting the complete robot as a whole and casting single degree of freedom (DOF) segments with subsequent concatenation. We experimentally validate each soft actuator morphology and fabrication process by creating multiple physical soft robot prototypes. PMID:27625913

A Recipe for Soft Fluidic Elastomer Robots.

PubMed

Marchese, Andrew D; Katzschmann, Robert K; Rus, Daniela

2015-03-01

This work provides approaches to designing and fabricating soft fluidic elastomer robots. That is, three viable actuator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their internal channel structure, namely, ribbed, cylindrical, and pleated. Additionally, three distinct casting-based fabrication processes are explored: lamination-based casting, retractable-pin-based casting, and lost-wax-based casting. Furthermore, two ways of fabricating a multiple DOF robot are explored: casting the complete robot as a whole and casting single degree of freedom (DOF) segments with subsequent concatenation. We experimentally validate each soft actuator morphology and fabrication process by creating multiple physical soft robot prototypes.

The effects of a controlled energy storage and return prototype prosthetic foot on transtibial amputee ambulation

PubMed Central

Segal, Ava D.; Zelik, Karl E.; Klute, Glenn K.; Morgenroth, David C.; Hahn, Michael E.; Orendurff, Michael S.; Adamczyk, Peter G.; Collins, Steven H.; Kuo, Arthur D.; Czerniecki, Joseph M.

2015-01-01

The lack of functional ankle musculature in lower limb amputees contributes to the reduced prosthetic ankle push-off, compensations at other joints and more energetically costly gait commonly observed in comparison to non-amputees. A variety of energy storing and return prosthetic feet have been developed to address these issues but have not been shown to sufficiently improve amputee biomechanics and energetic cost, perhaps because the timing and magnitude of energy return is not controlled. The goal of this study was to examine how a prototype microprocessor-controlled prosthetic foot designed to store some of the energy during loading and return it during push-off affects amputee gait. Unilateral transtibial amputees wore the Controlled Energy Storage and Return prosthetic foot (CESR), a conventional foot (CONV), and their previously prescribed foot (PRES) in random order. Three-dimensional gait analysis and net oxygen consumption were collected as participants walked at constant speed. The CESR foot demonstrated increased energy storage during early stance, increased prosthetic foot peak push-off power and work, increased prosthetic limb center of mass (COM) push-off work and decreased intact limb COM collision work compared to CONV and PRES. The biological contribution of the positive COM work for CESR was reduced compared to CONV and PRES. However, the net metabolic cost for CESR did not change compared to CONV and increased compared to PRES, which may partially reflect the greater weight, lack of individualized size and stiffness and relatively less familiarity for CESR and CONV. Controlled energy storage and return enhanced prosthetic push-off, but requires further design modifications to improve amputee walking economy. PMID:22100728

The effects of a controlled energy storage and return prototype prosthetic foot on transtibial amputee ambulation.

PubMed

Segal, Ava D; Zelik, Karl E; Klute, Glenn K; Morgenroth, David C; Hahn, Michael E; Orendurff, Michael S; Adamczyk, Peter G; Collins, Steven H; Kuo, Arthur D; Czerniecki, Joseph M

2012-08-01

The lack of functional ankle musculature in lower limb amputees contributes to the reduced prosthetic ankle push-off, compensations at other joints and more energetically costly gait commonly observed in comparison to non-amputees. A variety of energy storing and return prosthetic feet have been developed to address these issues but have not been shown to sufficiently improve amputee biomechanics and energetic cost, perhaps because the timing and magnitude of energy return is not controlled. The goal of this study was to examine how a prototype microprocessor-controlled prosthetic foot designed to store some of the energy during loading and return it during push-off affects amputee gait. Unilateral transtibial amputees wore the Controlled Energy Storage and Return prosthetic foot (CESR), a conventional foot (CONV), and their previously prescribed foot (PRES) in random order. Three-dimensional gait analysis and net oxygen consumption were collected as participants walked at constant speed. The CESR foot demonstrated increased energy storage during early stance, increased prosthetic foot peak push-off power and work, increased prosthetic limb center of mass (COM) push-off work and decreased intact limb COM collision work compared to CONV and PRES. The biological contribution of the positive COM work for CESR was reduced compared to CONV and PRES. However, the net metabolic cost for CESR did not change compared to CONV and increased compared to PRES, which may partially reflect the greater weight, lack of individualized size and stiffness and relatively less familiarity for CESR and CONV. Controlled energy storage and return enhanced prosthetic push-off, but requires further design modifications to improve amputee walking economy. Published by Elsevier B.V.

Evaluation of Generation Alternation Models in Evolutionary Robotics

NASA Astrophysics Data System (ADS)

Oiso, Masashi; Matsumura, Yoshiyuki; Yasuda, Toshiyuki; Ohkura, Kazuhiro

For efficient implementation of Evolutionary Algorithms (EA) to a desktop grid computing environment, we propose a new generation alternation model called Grid-Oriented-Deletion (GOD) based on comparison with the conventional techniques. In previous research, generation alternation models are generally evaluated by using test functions. However, their exploration performance on the real problems such as Evolutionary Robotics (ER) has not been made very clear yet. Therefore we investigate the relationship between the exploration performance of EA on an ER problem and its generation alternation model. We applied four generation alternation models to the Evolutionary Multi-Robotics (EMR), which is the package-pushing problem to investigate their exploration performance. The results show that GOD is more effective than the other conventional models.

Microwave integrated circuit radiometer front-ends for the Push Broom Microwave Radiometer

NASA Technical Reports Server (NTRS)

Harrington, R. F.; Hearn, C. P.

1982-01-01

Microwave integrated circuit front-ends for the L-band, S-band and C-band stepped frequency null-balanced noise-injection Dicke-switched radiometer to be installed in the NASA Langley airborne prototype Push Broom Microwave Radiometer (PBMR) are described. These front-ends were developed for the fixed frequency of 1.413 GHz and the variable frequencies of 1.8-2.8 GHz and 3.8-5.8 GHz. Measurements of the noise temperature of these units were made at 55.8 C, and the results of these tests are given. While the overall performance was reasonable, improvements need to be made in circuit losses and noise temperatures, which in the case of the C-band were from 1000 to 1850 K instead of the 500 K specified. Further development of the prototypes is underway to improve performance and extend the frequency range.

Air Force construction automation/robotics

NASA Technical Reports Server (NTRS)

Nease, A. D.; Alexander, E. F.

1993-01-01

The Air Force has several missions which generate unique requirements that are being met through the development of construction robotic technology. One especially important mission will be the conduct of Department of Defense (DOD) space activities. Space operations and other missions place construction/repair equipment operators in dangerous environments and potentially harmful situations. Additionally, force reductions require that human resources be leveraged to the maximum extent possible, and more stringent construction repair requirements push for increased automation. To solve these problems, the U.S. Air Force is undertaking a research and development effort at Tyndall AFB, FL, to develop robotic construction/repair equipment. This development effort involves the following technologies: teleoperation, telerobotics, construction operations (excavation, grading, leveling, tool change), robotic vehicle communications, vehicle navigation, mission/vehicle task control architecture, and associated computing environment. The ultimate goal is the fielding of a robotic repair capability operating at the level of supervised autonomy. This paper will discuss current and planned efforts in space construction/repair, explosive ordnance disposal, hazardous waste cleanup, and fire fighting.

Stabilization of a three-dimensional limit cycle walking model through step-to-step ankle control.

PubMed

Kim, Myunghee; Collins, Steven H

2013-06-01

Unilateral, below-knee amputation is associated with an increased risk of falls, which may be partially related to a loss of active ankle control. If ankle control can contribute significantly to maintaining balance, even in the presence of active foot placement, this might provide an opportunity to improve balance using robotic ankle-foot prostheses. We investigated ankle- and hip-based walking stabilization methods in a three-dimensional model of human gait that included ankle plantarflexion, ankle inversion-eversion, hip flexion-extension, and hip ad/abduction. We generated discrete feedback control laws (linear quadratic regulators) that altered nominal actuation parameters once per step. We used ankle push-off, lateral ankle stiffness and damping, fore-aft foot placement, lateral foot placement, or all of these as control inputs. We modeled environmental disturbances as random, bounded, unexpected changes in floor height, and defined balance performance as the maximum allowable disturbance value for which the model walked 500 steps without falling. Nominal walking motions were unstable, but were stabilized by all of the step-to-step control laws we tested. Surprisingly, step-by-step modulation of ankle push-off alone led to better balance performance (3.2% leg length) than lateral foot placement (1.2% leg length) for these control laws. These results suggest that appropriate control of robotic ankle-foot prosthesis push-off could make balancing during walking easier for individuals with amputation.

Bridging the Gap in Robotics Education.

ERIC Educational Resources Information Center

Warnat, Winifred I.

New technologies will produce a radical restructuring of work, including a devaluation of current work skills and the creation of new ones at an ever-increasing rate. The robotics industry provides a prototype for the impact of technology on society, and a context for examining the relevancy of schooling in preparing individuals to function within…

Design of a Prototype Autonomous Amphibious WHEGS(Trademark) Robot for Surf-Zone Operations

DTIC Science & Technology

2005-06-01

Control Loop ........................................................................ 9 Figure 7. Physical Layout (without GPS bracket ...12 Figure 8. Side View showing GPS Bracket ........................................................ 13 Figure 9...without GPS bracket ) 13 Figure 8. Side View showing GPS Bracket 1. Body Construction The design of the robot body for this thesis was made to

Durable Tactile Glove for Human or Robot Hand

NASA Technical Reports Server (NTRS)

Butzer, Melissa; Diftler, Myron A.; Huber, Eric

2010-01-01

A glove containing force sensors has been built as a prototype of tactile sensor arrays to be worn on human hands and anthropomorphic robot hands. The force sensors of this glove are mounted inside, in protective pockets; as a result of this and other design features, the present glove is more durable than earlier models.

ALLIANCE: An architecture for fault tolerant, cooperative control of heterogeneous mobile robots

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

Parker, L.E.

1995-02-01

This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control in robot missions involving loosely coupled, largely independent tasks. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since suchmore » cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, the author describes in detail experimental results of an implementation of this architecture on a team of physical mobile robots performing a cooperative box pushing demonstration. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes in the capabilities of the robot team.« less

Survey of robot lawn mowers

NASA Astrophysics Data System (ADS)

Hicks, Rob W., II; Hall, Ernest L.

2000-10-01

Lawn mowing is considered by many to be one of the most boring and tiring routine household tasks. It is also one of the most promising personal robot applications. Several devices have not been invented and some manufactured products are available for lawn mowing. The purpose of this paper is to survey the state of the art in robotic lawn mowers to highlight the requirements and capabilities of current devices. A brief survey of available robot products, typical patents and some test bed prototypes are presented. Some enabling technologies which could make the devices more capable are also suggested. Some predictions indicate that the robot lawn mower will be the breakthrough device in robotics. The significance of this research lies in the presentation of an overview of a potential major market for personal robots.

Improved walking ability with wearable robot-assisted training in patients suffering chronic stroke.

PubMed

Li, Lifang; Ding, Li; Chen, Na; Mao, Yurong; Huang, Dongfeng; Li, Le

2015-01-01

Wearable robotic devices provide safe and intensive rehabilitation, enabling repeated motions for motor function recovery in stroke patients. The aim of this small case series was to demonstrate the training effects of a three-week robotic leg orthosis, and to investigate possible mechanisms of the sensory-motor alterations and improvements by using gait analysis and EMG. Three survivors of chronic strokes participated in robot-assisted gait therapy for three weeks. EMG signals from the rectus femoris (RF), tibialis anterior (TA), biceps femoris (BF), and medial gastrocnemius (MG), as well as kinetics and kinematics data of the lower limb, were recorded before and after the training. The normalized root mean squared (RMS) values of the muscles, the joint moments, joint angles, and the results of two clinical scales (Berg Balance scale, BBS, and the lower extremity subscale of Fugl-Meyer assessment, LE-FMA) were used for analysis. All participants experienced improved balance and functional performances and increased BBS and LE-FMA scores. The EMG results showed there was an increase of the normalized RMS values of the MG and BF on the affected side. Additionally, EMG activities of the agonist and antagonist pair (i.e. RF and BF) appeared to return to similar levels after training. The peak moment of hip flexor, knee extensor, and plantar flexor, which all contributed to push-off power, were found to have increased after training. In summary, the three-week training period using the wearable RLO improved the three participants' gait performance by regaining push-off power and improved muscle activation and walking speed.

Microgravity, Mesh-Crawling Legged Robots

NASA Technical Reports Server (NTRS)

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

2008-01-01

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

Foot-controlled robotic-enabled endoscope holder for endoscopic sinus surgery: A cadaveric feasibility study.

PubMed

Chan, Jason Y K; Leung, Iris; Navarro-Alarcon, David; Lin, Weiyang; Li, Peng; Lee, Dennis L Y; Liu, Yun-hui; Tong, Michael C F

2016-03-01

To evaluate the feasibility of a unique prototype foot-controlled robotic-enabled endoscope holder (FREE) in functional endoscopic sinus surgery. Cadaveric study. Using human cadavers, we investigated the feasibility, advantages, and disadvantages of the robotic endoscope holder in performing endoscopic sinus surgery with two hands in five cadaver heads, mimicking a single nostril three-handed technique. The FREE robot is relatively easy to use. Setup was quick, taking less than 3 minutes from docking the robot at the head of the bed to visualizing the middle meatus. The unit is also relatively small, takes up little space, and currently has four degrees of freedom. The learning curve for using the foot control was short. The use of both hands was not hindered by the presence of the endoscope in the nasal cavity. The tremor filtration also aided in the smooth movement of the endoscope, with minimal collisions. The FREE endoscope holder in an ex-vivo cadaver test corroborated the feasibility of the robotic prototype, which allows for a two-handed approach to surgery equal to a single nostril three-handed technique without the holder that may reduce operating time. Further studies will be needed to evaluate its safety profile and use in other areas of endoscopic surgery. NA. Laryngoscope, 126:566-569, 2016. © 2015 The American Laryngological, Rhinological and Otological Society, Inc.

Brain computer interface for operating a robot

NASA Astrophysics Data System (ADS)

Nisar, Humaira; Balasubramaniam, Hari Chand; Malik, Aamir Saeed

2013-10-01

A Brain-Computer Interface (BCI) is a hardware/software based system that translates the Electroencephalogram (EEG) signals produced by the brain activity to control computers and other external devices. In this paper, we will present a non-invasive BCI system that reads the EEG signals from a trained brain activity using a neuro-signal acquisition headset and translates it into computer readable form; to control the motion of a robot. The robot performs the actions that are instructed to it in real time. We have used the cognitive states like Push, Pull to control the motion of the robot. The sensitivity and specificity of the system is above 90 percent. Subjective results show a mixed trend of the difficulty level of the training activities. The quantitative EEG data analysis complements the subjective results. This technology may become very useful for the rehabilitation of disabled and elderly people.

Robot-Aided Neurorehabilitation

PubMed Central

Krebs, Hermano Igo; Hogan, Neville; Aisen, Mindy L.; Volpe, Bruce T.

2009-01-01

Our goal is to apply robotics and automation technology to assist, enhance, quantify, and document neurorehabilitation. This paper reviews a clinical trial involving 20 stroke patients with a prototype robot-aided rehabilitation facility developed at the Massachusetts Institute of Technology, Cambridge, (MIT) and tested at Burke Rehabilitation Hospital, White Plains, NY. It also presents our approach to analyze kinematic data collected in the robot-aided assessment procedure. In particular, we present evidence 1) that robot-aided therapy does not have adverse effects, 2) that patients tolerate the procedure, and 3) that peripheral manipulation of the impaired limb may influence brain recovery. These results are based on standard clinical assessment procedures. We also present one approach using kinematic data in a robot-aided assessment procedure. PMID:9535526

Design Principles for Rapid Prototyping Forces Sensors using 3D Printing.

PubMed

Kesner, Samuel B; Howe, Robert D

2011-07-21

Force sensors provide critical information for robot manipulators, manufacturing processes, and haptic interfaces. Commercial force sensors, however, are generally not adapted to specific system requirements, resulting in sensors with excess size, cost, and fragility. To overcome these issues, 3D printers can be used to create components for the quick and inexpensive development of force sensors. Limitations of this rapid prototyping technology, however, require specialized design principles. In this paper, we discuss techniques for rapidly developing simple force sensors, including selecting and attaching metal flexures, using inexpensive and simple displacement transducers, and 3D printing features to aid in assembly. These design methods are illustrated through the design and fabrication of a miniature force sensor for the tip of a robotic catheter system. The resulting force sensor prototype can measure forces with an accuracy of as low as 2% of the 10 N measurement range.

Starbugs: focal plane fiber positioning technology

NASA Astrophysics Data System (ADS)

Goodwin, Michael; Heijmans, Jeroen; Saunders, Ian; Brzeski, Jurek; Saunders, Will; Muller, Rolf; Haynes, Roger; Gilbert, James

2010-07-01

We report on the technological achievements of our latest Starbug prototypes and their implications for smart focal plane fiber positioning applications for wide-field astronomy. The Starbugs are innovative self-motile miniature robotic devices that can simultaneously and independently position fibers or payloads over a field plate located at the telescope's focal plane. The Starbugs concept overcomes many of the limitations associated with the traditional 'pick and place' positioners where a robot places fixed buttons onto the field plate. The new Starbug prototypes use piezoelectric actuators and have the following features: (i) new 'lift-and-step' method (discrete step) for accurate positioning over different surfaces; and (ii) operate in an inverted hanging position underneath a transparent field plate, removing the need for fibercable retractors. In this paper, we present aspects of the Starbug prototypes, including the theoretical model, mechanical design, experimental setup, algorithms, performance and applications for astronomical instrumentation.

Robotic gaming prototype for upper limb exercise: Effects of age and embodiment on user preferences and movement.

PubMed

Eizicovits, Danny; Edan, Yael; Tabak, Iris; Levy-Tzedek, Shelly

2018-01-01

Effective human-robot interactions in rehabilitation necessitates an understanding of how these should be tailored to the needs of the human. We report on a robotic system developed as a partner on a 3-D everyday task, using a gamified approach. To: (1) design and test a prototype system, to be ultimately used for upper-limb rehabilitation; (2) evaluate how age affects the response to such a robotic system; and (3) identify whether the robot's physical embodiment is an important aspect in motivating users to complete a set of repetitive tasks. 62 healthy participants, young (<30 yo) and old (>60 yo), played a 3D tic-tac-toe game against an embodied (a robotic arm) and a non-embodied (a computer-controlled lighting system) partner. To win, participants had to place three cups in sequence on a physical 3D grid. Cup picking-and-placing was chosen as a functional task that is often practiced in post-stroke rehabilitation. Movement of the participants was recorded using a Kinect camera. The timing of the participants' movement was primed by the response time of the system: participants moved slower when playing with the slower embodied system (p = 0.006). The majority of participants preferred the robot over the computer-controlled system. Slower response time of the robot compared to the computer-controlled one only affected the young group's motivation to continue playing. We demonstrated the feasibility of the system to encourage the performance of repetitive 3D functional movements, and track these movements. Young and old participants preferred to interact with the robot, compared with the non-embodied system. We contribute to the growing knowledge concerning personalized human-robot interactions by (1) demonstrating the priming of the human movement by the robotic movement - an important design feature, and (2) identifying response-speed as a design variable, the importance of which depends on the age of the user.

Mothers of Invention: Hubble Engineers Push Robotic 'Evolution' to Save Telescope, Enable New Exploration

NASA Technical Reports Server (NTRS)

Morring, Frank, Jr.

2004-01-01

Robotic technology being developed out of necessity to keep the Hubble Space Telescope operating could also lead to new levels of man-machine team-work in deep-space exploration down the road-if it survives the near-term scramble for funding. Engineers here who have devoted their NASA careers to the concept of humans servicing the telescope in orbit are planning modifications to International Space Station (ISS) robots that would leave the humans on the ground. The work. forced by post-Columbia flight rules that killed a planned shuttle-servicing mission to Hubble, marks another step in the evolution of robot-partners for human space explorers. "Hubble has always been a pathfider for this agency," says Mike Weiss. Hubble deputy program manager technical. "When the space station was flown and assembled, Hubble was the pathfinder. not just for modularity, but for operations, for assembly techniques. Exploration is the next step. Things we're going to do on Hubble are going to be applied to exploration. It's not just putting a robot in space. It's operating a robot in space. It's adapting that robot to what needs to be done the next time you're up there."

Finger-Shaped GelForce: Sensor for Measuring Surface Traction Fields for Robotic Hand.

PubMed

Sato, K; Kamiyama, K; Kawakami, N; Tachi, S

2010-01-01

It is believed that the use of haptic sensors to measure the magnitude, direction, and distribution of a force will enable a robotic hand to perform dexterous operations. Therefore, we develop a new type of finger-shaped haptic sensor using GelForce technology. GelForce is a vision-based sensor that can be used to measure the distribution of force vectors, or surface traction fields. The simple structure of the GelForce enables us to develop a compact finger-shaped GelForce for the robotic hand. GelForce that is developed on the basis of an elastic theory can be used to calculate surface traction fields using a conversion equation. However, this conversion equation cannot be analytically solved when the elastic body of the sensor has a complicated shape such as the shape of a finger. Therefore, we propose an observational method and construct a prototype of the finger-shaped GelForce. By using this prototype, we evaluate the basic performance of the finger-shaped GelForce. Then, we conduct a field test by performing grasping operations using a robotic hand. The results of this test show that using the observational method, the finger-shaped GelForce can be successfully used in a robotic hand.

The Minimally Invasive Manipulator: an ergonomic and economic non-robotic alternative for endoscopy?

PubMed

Bosma, Jesse; Aarts, Sanne; Jaspers, Joris

2015-02-01

Since the da Vinci robotic system was introduced, it has been reported to have ergonomic advantages over conventional laparoscopy (COV). High investments associated with this system challenged us to design a more economical, mechanical alternative for improvement of laparoscopic ergonomics: the Minimally Invasive Manipulator (MIM). An earlier reported MIM prototype was investigated. Its shortcomings were input for the establishment of design criteria for a new prototype. A new prototype was developed, aiming at improved intuitiveness and ergonomics. The handle and instrument tip were redesigned and the parallelogram mechanism was converted from linear moving parts to mainly rotating parts. The new prototype was tested by a panel of experts and novices during an indicative ergonomic experiment. A major advantage of the MIM seems to be the possibility to perform laparoscopic surgery in a sitting position, in line with the working axis, instead of standing at the side of the patient. At an estimated cost level of 10% of the da Vinci system, the MIM can be an economical alternative for the enhancement of laparoscopy ergonomics. However, further development for clinical feasibility is necessary.

Medical Robotic and Telesurgical Simulation and Education Research

DTIC Science & Technology

2014-09-01

versions of the device for sale . A B 13 C D Figure 6: The Computer Aided Design of the Dome (A-B) and the last High Fidelity Prototype (C...FRxS Advanced Etc. Etc. Virtual Worlds for Robotic Surgery 31 HumanSim Preview for iPad is available on iTunes VIRTURLHEROES OMS ION O F

A Multidisciplinary PBL Robot Control Project in Automation and Electronic Engineering

ERIC Educational Resources Information Center

Hassan, Houcine; Domínguez, Carlos; Martínez, Juan-Miguel; Perles, Angel; Capella, Juan-Vicente; Albaladejo, José

2015-01-01

This paper presents a multidisciplinary problem-based learning (PBL) project consisting of the development of a robot arm prototype and the implementation of its control system. The project is carried out as part of Industrial Informatics (II), a compulsory third-year course in the Automation and Electronic Engineering (AEE) degree program at the…

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

NASA Technical Reports Server (NTRS)

Fluckiger, Lorenzo Jean Marc E; Utz, Hans Heinrich

2013-01-01

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

Autonomous Evolution of Dynamic Gaits with Two Quadruped Robots

NASA Technical Reports Server (NTRS)

Hornby, Gregory S.; Takamura, Seichi; Yamamoto, Takashi; Fujita, Masahiro

2004-01-01

A challenging task that must be accomplished for every legged robot is creating the walking and running behaviors needed for it to move. In this paper we describe our system for autonomously evolving dynamic gaits on two of Sony's quadruped robots. Our evolutionary algorithm runs on board the robot and uses the robot's sensors to compute the quality of a gait without assistance from the experimenter. First we show the evolution of a pace and trot gait on the OPEN-R prototype robot. With the fastest gait, the robot moves at over 10/min/min., which is more than forty body-lengths/min. While these first gaits are somewhat sensitive to the robot and environment in which they are evolved, we then show the evolution of robust dynamic gaits, one of which is used on the ERS-110, the first consumer version of AIBO.

Endocavity Ultrasound Probe Manipulators

PubMed Central

Stoianovici, Dan; Kim, Chunwoo; Schäfer, Felix; Huang, Chien-Ming; Zuo, Yihe; Petrisor, Doru; Han, Misop

2014-01-01

We developed two similar structure manipulators for medical endocavity ultrasound probes with 3 and 4 degrees of freedom (DoF). These robots allow scanning with ultrasound for 3-D imaging and enable robot-assisted image-guided procedures. Both robots use remote center of motion kinematics, characteristic of medical robots. The 4-DoF robot provides unrestricted manipulation of the endocavity probe. With the 3-DoF robot the insertion motion of the probe must be adjusted manually, but the device is simpler and may also be used to manipulate external-body probes. The robots enabled a novel surgical approach of using intraoperative image-based navigation during robot-assisted laparoscopic prostatectomy (RALP), performed with concurrent use of two robotic systems (Tandem, T-RALP). Thus far, a clinical trial for evaluation of safety and feasibility has been performed successfully on 46 patients. This paper describes the architecture and design of the robots, the two prototypes, control features related to safety, preclinical experiments, and the T-RALP procedure. PMID:24795525

Smart SPHERES: A Telerobotic Free-Flyer for Intravehicular Activities in Space

NASA Technical Reports Server (NTRS)

Fong, Terrence; Micire, Mark J.; Morse, Ted; Park, Eric; Provencher, Chris; To, Vinh; Wheeler, D. W.; Mittman, David; Torres, R. Jay; Smith, Ernest

2013-01-01

Smart SPHERES is a prototype free-flying space robot based on the SPHERES platform. Smart SPHERES can be remotely operated by astronauts inside a spacecraft, or by mission controllers on the ground. We developed Smart SPHERES to perform a variety of intravehicular activities (IVA), such as operations inside the International Space Station (ISS). These IVA tasks include environmental monitoring surveys (radiation, sound levels, etc.), inventory, and mobile camera work. In this paper, we first discuss the motivation for free-flying space robots. We then describe the development of the Smart SPHERES prototype, including avionics, software, and data communications. Finally, we present results of initial flight tests on-board the ISS.

Smart SPHERES: A Telerobotic Free-Flyer for Intravehicular Activities in Space

NASA Technical Reports Server (NTRS)

Fong, Terrence; Micire, Mark J.; Morse, Ted; Park, Eric; Provencher, Chris

2013-01-01

Smart SPHERES is a prototype free-flying space robot based on the SPHERES platform. Smart SPHERES can be remotely operated by astronauts inside a spacecraft, or by mission controllers on the ground. We developed Smart SPHERES to perform a variety of intravehicular activities (IVA), such as operations inside the International Space Station (ISS). These IVA tasks include environmental monitoring surveys (radiation, sound levels, etc.), inventory, and mobile camera work. In this paper, we first discuss the motivation for free- flying space robots. We then describe the development of the Smart SPHERES prototype, including avionics, software, and data communications. Finally, we present results of initial flight tests on-board the ISS.

Oh No, Henrietta Got Out!

ERIC Educational Resources Information Center

Lottero-Perdue, Pamela; Grabia, Kathryn; Sandifer, Cody

2017-01-01

In a kindergarten classroom, exclamations like "Oh no!" may be causes for concern. However, when the students in Mrs. Grabia's classroom shouted "Oh no!" and "Uh oh!" during an engineering-infused 5E lesson, it meant that a persistent little robot had pushed its way out of the fences they had created. It also meant…

Virtual collaborative environments: programming and controlling robotic devices remotely

NASA Astrophysics Data System (ADS)

Davies, Brady R.; McDonald, Michael J., Jr.; Harrigan, Raymond W.

1995-12-01

This paper describes a technology for remote sharing of intelligent electro-mechanical devices. An architecture and actual system have been developed and tested, based on the proposed National Information Infrastructure (NII) or Information Highway, to facilitate programming and control of intelligent programmable machines (like robots, machine tools, etc.). Using appropriate geometric models, integrated sensors, video systems, and computing hardware; computer controlled resources owned and operated by different (in a geographic sense as well as legal sense) entities can be individually or simultaneously programmed and controlled from one or more remote locations. Remote programming and control of intelligent machines will create significant opportunities for sharing of expensive capital equipment. Using the technology described in this paper, university researchers, manufacturing entities, automation consultants, design entities, and others can directly access robotic and machining facilities located across the country. Disparate electro-mechanical resources will be shared in a manner similar to the way supercomputers are accessed by multiple users. Using this technology, it will be possible for researchers developing new robot control algorithms to validate models and algorithms right from their university labs without ever owning a robot. Manufacturers will be able to model, simulate, and measure the performance of prospective robots before selecting robot hardware optimally suited for their intended application. Designers will be able to access CNC machining centers across the country to fabricate prototypic parts during product design validation. An existing prototype architecture and system has been developed and proven. Programming and control of a large gantry robot located at Sandia National Laboratories in Albuquerque, New Mexico, was demonstrated from such remote locations as Washington D.C., Washington State, and Southern California.

Microrobotics surveillance: discrete and continuous starbot

NASA Astrophysics Data System (ADS)

Mayyas, M.; Lee, W. H.; Stephanou, Harry

2011-05-01

This paper focuses on robotic technologies and operational capabilities of multiscale robots that demonstrate a unique class of Microsystems with the ability to navigate diverse terrains and environments. We introduce two classes of robots which combine multiple locomotion modalities including centimeter scale Discrete and Continuous robots which are referred here by D-Starbot and C-Starbot, respectively. The first generation of the robots were obtained to allow rapid shape reconfiguration and flipping recovery to accomplish tasks such as lowering and raising to dexterously go over and under obstacles, deform to roll over hostile location as well as squeezing through opening smaller than its sizes. The D-Starbot is based on novel mechanisms that allow shape reconfiguration to accomplish tasks such as lowering and raising to go over and under obstacles as well as squeezing through small voids. The CStarbot is a new class of foldable robots that is generally designed to provide a high degree of manufacturability. It consists of flexible structures that are built out of composite laminates with embedded microsystems. The design concept of C-Starbot are suitable for robots that could emulate and combine multiple locomotion modalities such as walking, running, crawling, gliding, clinging, climbing, flipping and jumping. The first generation of C-Starbot has centimeter scale structure consisting of flexible flaps, each being coupled with muscle-like mechanism. Untethered D-Starbot designs are prototyped and tested for multifunctional locomotion capabilities in indoor and outdoor environments. We present foldable mechanism and initial prototypes of C-Starbot capable of hopping and squeezing at different environments. The kinematic performance of flexible robots is thoroughly presented using the large elastic deflection of a single arm which is actuated by pulling force acting at variable angles and under payload and friction forces.

Evaluation of a completely robotized neurosurgical operating microscope.

PubMed

Kantelhardt, Sven R; Finke, Markus; Schweikard, Achim; Giese, Alf

2013-01-01

Operating microscopes are essential for most neurosurgical procedures. Modern robot-assisted controls offer new possibilities, combining the advantages of conventional and automated systems. We evaluated the prototype of a completely robotized operating microscope with an integrated optical coherence tomography module. A standard operating microscope was fitted with motors and control instruments, with the manual control mode and balance preserved. In the robot mode, the microscope was steered by a remote control that could be fixed to a surgical instrument. External encoders and accelerometers tracked microscope movements. The microscope was additionally fitted with an optical coherence tomography-scanning module. The robotized microscope was tested on model systems. It could be freely positioned, without forcing the surgeon to take the hands from the instruments or avert the eyes from the oculars. Positioning error was about 1 mm, and vibration faded in 1 second. Tracking of microscope movements, combined with an autofocus function, allowed determination of the focus position within the 3-dimensional space. This constituted a second loop of navigation independent from conventional infrared reflector-based techniques. In the robot mode, automated optical coherence tomography scanning of large surface areas was feasible. The prototype of a robotized optical coherence tomography-integrated operating microscope combines the advantages of a conventional manually controlled operating microscope with a remote-controlled positioning aid and a self-navigating microscope system that performs automated positioning tasks such as surface scans. This demonstrates that, in the future, operating microscopes may be used to acquire intraoperative spatial data, volume changes, and structural data of brain or brain tumor tissue.

System Design and Locomotion of Superball, an Untethered Tensegrity Robot

NASA Technical Reports Server (NTRS)

Sabelhaus, Andrew P.; Bruce, Jonathan; Caluwaerts, Ken; Manovi, Pavlo; Firoozi, Roya Fallah; Dobi, Sarah; Agogino, Alice M.; Sunspiral, Vytas

2015-01-01

The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

Honda humanoid robots development.

PubMed

Hirose, Masato; Ogawa, Kenichi

2007-01-15

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

Mechatronics Education: From Paper Design to Product Prototype Using LEGO NXT Parts

NASA Astrophysics Data System (ADS)

Lofaro, Daniel M.; Le, Tony Truong Giang; Oh, Paul

The industrial design cycle starts with design then simulation, prototyping, and testing. When the tests do not match the design requirements the design process is started over again. It is important for students to experience this process before they leave their academic institution. The high cost of the prototype phase, due to CNC/Rapid Prototype machine costs, makes hands on study of this process expensive for students and the academic institutions. This document shows that the commercially available LEGO NXT Robot kit is a viable low cost surrogate to the expensive industrial CNC/Rapid Prototype portion of the industrial design cycle.

The role of robotics in computer controlled polishing of large and small optics

NASA Astrophysics Data System (ADS)

Walker, David; Dunn, Christina; Yu, Guoyu; Bibby, Matt; Zheng, Xiao; Wu, Hsing Yu; Li, Hongyu; Lu, Chunlian

2015-08-01

Following formal acceptance by ESO of three 1.4m hexagonal off-axis prototype mirror segments, one circular segment, and certification of our optical test facility, we turn our attention to the challenge of segment mass-production. In this paper, we focus on the role of industrial robots, highlighting complementarity with Zeeko CNC polishing machines, and presenting results using robots to provide intermediate processing between CNC grinding and polishing. We also describe the marriage of robots and Zeeko machines to automate currently manual operations; steps towards our ultimate vision of fully autonomous manufacturing cells, with impact throughout the optical manufacturing community and beyond.

Self-Reconfigurable Robots

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

HENSINGER, DAVID M.; JOHNSTON, GABRIEL A.; HINMAN-SWEENEY, ELAINE M.

2002-10-01

A distributed reconfigurable micro-robotic system is a collection of unlimited numbers of distributed small, homogeneous robots designed to autonomously organize and reorganize in order to achieve mission-specified geometric shapes and functions. This project investigated the design, control, and planning issues for self-configuring and self-organizing robots. In the 2D space a system consisting of two robots was prototyped and successfully displayed automatic docking/undocking to operate dependently or independently. Additional modules were constructed to display the usefulness of a self-configuring system in various situations. In 3D a self-reconfiguring robot system of 4 identical modules was built. Each module connects to its neighborsmore » using rotating actuators. An individual component can move in three dimensions on its neighbors. We have also built a self-reconfiguring robot system consisting of 9-module Crystalline Robot. Each module in this robot is actuated by expansion/contraction. The system is fully distributed, has local communication (to neighbors) capabilities and it has global sensing capabilities.« less

Miniature Robotic Spacecraft for Inspecting Other Spacecraft

NASA Technical Reports Server (NTRS)

Fredrickson, Steven; Abbott, Larry; Duran, Steve; Goode, Robert; Howard, Nathan; Jochim, David; Rickman, Steve; Straube, Tim; Studak, Bill; Wagenknecht, Jennifer;

Magnetic resonance-compatible robotic and mechatronics systems for image-guided interventions and rehabilitation: a review study.

PubMed

Tsekos, Nikolaos V; Khanicheh, Azadeh; Christoforou, Eftychios; Mavroidis, Constantinos

2007-01-01

The continuous technological progress of magnetic resonance imaging (MRI), as well as its widespread clinical use as a highly sensitive tool in diagnostics and advanced brain research, has brought a high demand for the development of magnetic resonance (MR)-compatible robotic/mechatronic systems. Revolutionary robots guided by real-time three-dimensional (3-D)-MRI allow reliable and precise minimally invasive interventions with relatively short recovery times. Dedicated robotic interfaces used in conjunction with fMRI allow neuroscientists to investigate the brain mechanisms of manipulation and motor learning, as well as to improve rehabilitation therapies. This paper gives an overview of the motivation, advantages, technical challenges, and existing prototypes for MR-compatible robotic/mechatronic devices.

Characteristics and requirements of robotic manipulators for space operations

NASA Technical Reports Server (NTRS)

Andary, James F.; Hewitt, Dennis R.; Spidaliere, Peter D.; Lambeck, Robert W.

1992-01-01

A robotic manipulator, DTF-1, developed as part of the Flight Telerobotic Servicer (FTS) project at Goddard Space Flight Center is discussed focusing on the technical, operational, and safety requirements. The DTF-1 system design, which is based on the manipulator, gripper, cameras, computer, and an operator control station incorporates the fundamental building blocks of the original FTS, the end product of which was to have been a light-weight, dexterous telerobotic device. For the first time in the history of NASA, space technology and robotics were combined to find new and unique solutions to the demanding requirements of flying a sophisticated robotic manipulator in space. DTF-1 is considered to be the prototype for all future development in space robotics.

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

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

PubMed

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

2018-04-30

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

State Estimation for Tensegrity Robots

NASA Technical Reports Server (NTRS)

Caluwaerts, Ken; Bruce, Jonathan; Friesen, Jeffrey M.; Sunspiral, Vytas

2016-01-01

Tensegrity robots are a class of compliant robots that have many desirable traits when designing mass efficient systems that must interact with uncertain environments. Various promising control approaches have been proposed for tensegrity systems in simulation. Unfortunately, state estimation methods for tensegrity robots have not yet been thoroughly studied. In this paper, we present the design and evaluation of a state estimator for tensegrity robots. This state estimator will enable existing and future control algorithms to transfer from simulation to hardware. Our approach is based on the unscented Kalman filter (UKF) and combines inertial measurements, ultra wideband time-of-flight ranging measurements, and actuator state information. We evaluate the effectiveness of our method on the SUPERball, a tensegrity based planetary exploration robotic prototype. In particular, we conduct tests for evaluating both the robot's success in estimating global position in relation to fixed ranging base stations during rolling maneuvers as well as local behavior due to small-amplitude deformations induced by cable actuation.

On the Biomimetic Design of Agile-Robot Legs

PubMed Central

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

2011-01-01

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

A prototype supervised intelligent robot for helping astronauts

NASA Technical Reports Server (NTRS)

Erickson, J. D.; Grimm, K. A.; Pendleton, T. W.

1994-01-01

The development status is described of a prototype supervised intelligent robot for space application for purposes of (1) helping the crew of a spacecraft such as the Space Station with various tasks such as holding objects and retrieving/replacing tools and other objects from/into storage, and for purposes of (2) retrieving detached objects, such as equipment or crew, that have become separated from their spacecraft. In addition to this set of tasks in this low Earth orbiting spacecraft environment, it is argued that certain aspects of the technology can be viewed as generic in approach, thereby offering insight into intelligent robots for other tasks and environments. Also described are characterization results on the usable reduced gravity environment in an aircraft flying parabolas (to simulate weightlessness) and results on hardware performance there. These results show it is feasible to use that environment for evaluative testing of dexterous grasping based on real-time visual sensing of freely rotating and translating objects.

On the biomimetic design of agile-robot legs.

PubMed

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

2011-01-01

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

Dynamics and control of cable-suspended parallel robots for giant telescopes

NASA Astrophysics Data System (ADS)

Zhuang, Peng; Yao, Zhengqiu

2006-06-01

A cable-suspended parallel robot utilizes the basic idea of Stewart platform but replaces parallel links with cables and linear actuators with winches. It has many advantages over a conventional crane. The concept of applying a cable-suspended parallel robot into the construction and maintenance of giant telescope is presented in this paper. Compared with the mass and travel of the moving platform of the robot, the mass and deformation of the cables can be disregarded. Based on the premises, the kinematic and dynamic models of the robot are built. Through simulation, the inertia and gravity of moving platform are found to have dominant effect on the dynamic characteristic of the robot, while the dynamics of actuators can be disregarded, so a simplified dynamic model applicable to real-time control is obtained. Moreover, according to control-law partitioning approach and optimization theory, a workspace model-based controller is proposed considering the characteristic that the cables can only pull but not push. The simulation results indicate that the controller possesses good accuracy in pose and speed tracking, and keeps the cables in reliable tension by maintaining the minimum strain above a certain given value, thus ensures smooth motion and accurate localization for moving platform.

Co-robotic ultrasound imaging: a cooperative force control approach

NASA Astrophysics Data System (ADS)

Finocchi, Rodolfo; Aalamifar, Fereshteh; Fang, Ting Yun; Taylor, Russell H.; Boctor, Emad M.

2017-03-01

Ultrasound (US) imaging remains one of the most commonly used imaging modalities in medical practice. However, due to the physical effort required to perform US imaging tasks, 63-91% of ultrasonographers develop musculoskeletal disorders throughout their careers. The goal of this work is to provide ultrasonographers with a system that facilitates and reduces strain in US image acquisition. To this end, we propose a system for admittance force robot control that uses the six-degree-of-freedom UR5 industrial robot. A six-axis force sensor is used to measure the forces and torques applied by the sonographer on the probe. As the sonographer pushes against the US probe, the robot complies with these forces, following the user's desired path. A one-axis load cell is used to measure contact forces between the patient and the probe in real time. When imaging, the robot augments the axial forces applied by the user, lessening the physical effort required. User studies showed an overall decrease in hand tremor while imaging at high forces, improvements in image stability, and a decrease in difficulty and strenuousness.

An overview of the program to place advanced automation and robotics on the Space Station

NASA Technical Reports Server (NTRS)

Heydorn, Richard P.

1987-01-01

The preliminary design phase of the Space Station has uncovered a large number of potential uses of automation and robotics, most of which deal with the assembly and operation of the Station. If NASA were to vigorously push automation and robotics concepts in the design, the Station crew would probably be free to spend a substantial portion of time on payload activities. However, at this point NASA has taken a conservative attitude toward automation and robotics. For example, the belief is that robotics should evolve through telerobotics and that uses of artificial intelligence should be initially used in an advisory capacity. This conservativeness is in part due to the new and untested nature of automation and robotics; but, it is also due to emphases plased on designing the Station to the so-called upfront cost without thoroughly understanding the life cycle cost. Presumably automation and robotics has a tendency to increase the initial cost of the Space Station but could substantially reduce the life cycle cost. To insure that NASA will include some form of robotic capability, Congress directed to set aside funding. While this stimulates the development of robotics, it does not necessarily stimulate uses of artificial intelligence. However, since the initial development costs of some forms of artificial intelligence, such as expert systems, are in general lower than they are for robotics one is likely to see several expert systems being used on the Station.

Experimental Robot Model Adjustments Based on Force–Torque Sensor Information

PubMed Central

2018-01-01

The computational complexity of humanoid robot balance control is reduced through the application of simplified kinematics and dynamics models. However, these simplifications lead to the introduction of errors that add to other inherent electro-mechanic inaccuracies and affect the robotic system. Linear control systems deal with these inaccuracies if they operate around a specific working point but are less precise if they do not. This work presents a model improvement based on the Linear Inverted Pendulum Model (LIPM) to be applied in a non-linear control system. The aim is to minimize the control error and reduce robot oscillations for multiple working points. The new model, named the Dynamic LIPM (DLIPM), is used to plan the robot behavior with respect to changes in the balance status denoted by the zero moment point (ZMP). Thanks to the use of information from force–torque sensors, an experimental procedure has been applied to characterize the inaccuracies and introduce them into the new model. The experiments consist of balance perturbations similar to those of push-recovery trials, in which step-shaped ZMP variations are produced. The results show that the responses of the robot with respect to balance perturbations are more precise and the mechanical oscillations are reduced without comprising robot dynamics. PMID:29534477

Cyber-physical approach to the network-centric robotics control task

NASA Astrophysics Data System (ADS)

Muliukha, Vladimir; Ilyashenko, Alexander; Zaborovsky, Vladimir; Lukashin, Alexey

2016-10-01

Complex engineering tasks concerning control for groups of mobile robots are developed poorly. In our work for their formalization we use cyber-physical approach, which extends the range of engineering and physical methods for a design of complex technical objects by researching the informational aspects of communication and interaction between objects and with an external environment [1]. The paper analyzes network-centric methods for control of cyber-physical objects. Robots or cyber-physical objects interact with each other by transmitting information via computer networks using preemptive queueing system and randomized push-out mechanism [2],[3]. The main field of application for the results of our work is space robotics. The selection of cyber-physical systems as a special class of designed objects is due to the necessity of integrating various components responsible for computing, communications and control processes. Network-centric solutions allow using universal means for the organization of information exchange to integrate different technologies for the control system.

NASA in Silicon Valley Live - Episode 02 - Self-driving Robots, Planes and Automobiles

NASA Image and Video Library

2018-01-26

NASA in Silicon Valley Live is a live show streamed on Twitch.tv that features conversations with the various researchers, scientists, engineers and all around cool people who work at NASA to push the boundaries of innovation. In this episode livestreamed on January 26, 2018, we explore autonomy, or “self-driving” technologies with Terry Fong, NASA chief roboticist, and Diana Acosta, technical lead for autonomous systems and robotics. Video credit: NASA/Ames Research Center NASA's Ames Research Center is located in California's Silicon Valley. Follow us on social media to hear about the latest developments in space, science, technology and aeronautics.

A Kinect-Based Real-Time Compressive Tracking Prototype System for Amphibious Spherical Robots

PubMed Central

Pan, Shaowu; Shi, Liwei; Guo, Shuxiang

2015-01-01

A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requires high levels of robustness, precision, environmental adaptability and real-time performance of the visual tracking system. In keeping with the application characteristics of our amphibious spherical robot, which was proposed for flexible and economical underwater exploration in 2012, an improved RGB-D visual tracking algorithm is proposed and implemented. Given the limited power source and computational capabilities of mobile robots, compressive tracking (CT), which is the effective and efficient algorithm that was proposed in 2012, was selected as the basis of the proposed algorithm to process colour images. A Kalman filter with a second-order motion model was implemented to predict the state of the target and select candidate patches or samples for the CT tracker. In addition, a variance ratio features shift (VR-V) tracker with a Kalman estimation mechanism was used to process depth images. Using a feedback strategy, the depth tracking results were used to assist the CT tracker in updating classifier parameters at an adaptive rate. In this way, most of the deficiencies of CT, including drift and poor robustness to occlusion and high-speed target motion, were partly solved. To evaluate the proposed algorithm, a Microsoft Kinect sensor, which combines colour and infrared depth cameras, was adopted for use in a prototype of the robotic tracking system. The experimental results with various image sequences demonstrated the effectiveness, robustness and real-time performance of the tracking system. PMID:25856331

A Kinect-based real-time compressive tracking prototype system for amphibious spherical robots.

PubMed

Pan, Shaowu; Shi, Liwei; Guo, Shuxiang

2015-04-08

A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requires high levels of robustness, precision, environmental adaptability and real-time performance of the visual tracking system. In keeping with the application characteristics of our amphibious spherical robot, which was proposed for flexible and economical underwater exploration in 2012, an improved RGB-D visual tracking algorithm is proposed and implemented. Given the limited power source and computational capabilities of mobile robots, compressive tracking (CT), which is the effective and efficient algorithm that was proposed in 2012, was selected as the basis of the proposed algorithm to process colour images. A Kalman filter with a second-order motion model was implemented to predict the state of the target and select candidate patches or samples for the CT tracker. In addition, a variance ratio features shift (VR-V) tracker with a Kalman estimation mechanism was used to process depth images. Using a feedback strategy, the depth tracking results were used to assist the CT tracker in updating classifier parameters at an adaptive rate. In this way, most of the deficiencies of CT, including drift and poor robustness to occlusion and high-speed target motion, were partly solved. To evaluate the proposed algorithm, a Microsoft Kinect sensor, which combines colour and infrared depth cameras, was adopted for use in a prototype of the robotic tracking system. The experimental results with various image sequences demonstrated the effectiveness, robustness and real-time performance of the tracking system.

Design and Prototyping of Hard Real Time Systems

DTIC Science & Technology

1990-06-01

AD’-A254 097 DESIGNadPROTOTYPING (9 lliIlhIIIIIl/IIIIIliIliiiiliii OF HARD REAL TIME SYSTEMS Electronics Research Laboratory - - __University of...e ...*...*... . e * ... , .. * 311 2.9 Design of Real - Time Systems with Application to Robotics...Right now we are looking into possible techniques and the implications on the system architecture and partitioning. 2.9. Design of Real - Time Systems with

Robotic renal surgery: The future or a passing curiosity?

PubMed Central

Warren, Jeff; da Silva, Vitor; Caumartin, Yves; Luke, Patrick P.W.

2009-01-01

The development, advancement and clinical integration of robotic technology in surgery continue at a staggering pace. In no other discipline has this rapid evolution occurred to a greater degree than in urology. Although radical prostatectomy has grown to become the prototypical application for the robot, the role of the robot in renal surgery remains controversial. Herein we review the literature on robotic renal surgery. A comprehensive PubMed literature search was performed to identify all published reports relating to robotic renal surgery. All clinically related articles involving human participants were critically appraised in this review. Fifty-one clinical articles were included, encompassing robot-assisted pyeloplasty, nephrectomy, nephroureterectomy, living-donor nephrectomy and partial nephrectomy. Feasibility has been shown for each of these procedures. Robot-assisted techniques have been described for almost all renal-related procedures. However, the intersect between feasibility and necessity as it pertains to robotic renal surgery has yet to be defined. Also, the high cost of surgical robotic technology mandates critical appraisal before adoption, especially in a publicly funded health care system, such as the one present in Canada. PMID:19543471

Hopping Robot with Wheels

NASA Technical Reports Server (NTRS)

Barlow, Edward; Marzwell, Nevellie; Fuller, Sawyer; Fionni, Paolo; Tretton, Andy; Burdick, Joel; Schell, Steve

2003-01-01

A small prototype mobile robot is capable of (1) hopping to move rapidly or avoid obstacles and then (2) moving relatively slowly and precisely on the ground by use of wheels in the manner of previously reported exploratory robots of the "rover" type. This robot is a descendant of a more primitive hopping robot described in "Minimally Actuated Hopping Robot" (NPO- 20911), NASA Tech Briefs, Vol. 26, No. 11 (November 2002), page 50. There are many potential applications for robots with hopping and wheeled-locomotion (roving) capabilities in diverse fields of endeavor, including agriculture, search-and-rescue operations, general military operations, removal or safe detonation of land mines, inspection, law enforcement, and scientific exploration on Earth and remote planets. The combination of hopping and roving enables this robot to move rapidly over very rugged terrain, to overcome obstacles several times its height, and then to position itself precisely next to a desired target. Before a long hop, the robot aims itself in the desired hopping azimuth and at a desired takeoff angle above horizontal. The robot approaches the target through a series of hops and short driving operations utilizing the steering wheels for precise positioning.

A Simple Interface for 3D Position Estimation of a Mobile Robot with Single Camera

PubMed Central

Chao, Chun-Tang; Chung, Ming-Hsuan; Chiou, Juing-Shian; Wang, Chi-Jo

2016-01-01

In recent years, there has been an increase in the number of mobile robots controlled by a smart phone or tablet. This paper proposes a visual control interface for a mobile robot with a single camera to easily control the robot actions and estimate the 3D position of a target. In this proposal, the mobile robot employed an Arduino Yun as the core processor and was remote-controlled by a tablet with an Android operating system. In addition, the robot was fitted with a three-axis robotic arm for grasping. Both the real-time control signal and video transmission are transmitted via Wi-Fi. We show that with a properly calibrated camera and the proposed prototype procedures, the users can click on a desired position or object on the touchscreen and estimate its 3D coordinates in the real world by simple analytic geometry instead of a complicated algorithm. The results of the measurement verification demonstrates that this approach has great potential for mobile robots. PMID:27023556

Parallel Robot for Lower Limb Rehabilitation Exercises.

PubMed

Rastegarpanah, Alireza; Saadat, Mozafar; Borboni, Alberto

2016-01-01

The aim of this study is to investigate the capability of a 6-DoF parallel robot to perform various rehabilitation exercises. The foot trajectories of twenty healthy participants have been measured by a Vicon system during the performing of four different exercises. Based on the kinematics and dynamics of a parallel robot, a MATLAB program was developed in order to calculate the length of the actuators, the actuators' forces, workspace, and singularity locus of the robot during the performing of the exercises. The calculated length of the actuators and the actuators' forces were used by motion analysis in SolidWorks in order to simulate different foot trajectories by the CAD model of the robot. A physical parallel robot prototype was built in order to simulate and execute the foot trajectories of the participants. Kinect camera was used to track the motion of the leg's model placed on the robot. The results demonstrate the robot's capability to perform a full range of various rehabilitation exercises.

Parallel Robot for Lower Limb Rehabilitation Exercises

PubMed Central

Saadat, Mozafar; Borboni, Alberto

2016-01-01

The aim of this study is to investigate the capability of a 6-DoF parallel robot to perform various rehabilitation exercises. The foot trajectories of twenty healthy participants have been measured by a Vicon system during the performing of four different exercises. Based on the kinematics and dynamics of a parallel robot, a MATLAB program was developed in order to calculate the length of the actuators, the actuators' forces, workspace, and singularity locus of the robot during the performing of the exercises. The calculated length of the actuators and the actuators' forces were used by motion analysis in SolidWorks in order to simulate different foot trajectories by the CAD model of the robot. A physical parallel robot prototype was built in order to simulate and execute the foot trajectories of the participants. Kinect camera was used to track the motion of the leg's model placed on the robot. The results demonstrate the robot's capability to perform a full range of various rehabilitation exercises. PMID:27799727

A Simple Interface for 3D Position Estimation of a Mobile Robot with Single Camera.

PubMed

Chao, Chun-Tang; Chung, Ming-Hsuan; Chiou, Juing-Shian; Wang, Chi-Jo

2016-03-25

In recent years, there has been an increase in the number of mobile robots controlled by a smart phone or tablet. This paper proposes a visual control interface for a mobile robot with a single camera to easily control the robot actions and estimate the 3D position of a target. In this proposal, the mobile robot employed an Arduino Yun as the core processor and was remote-controlled by a tablet with an Android operating system. In addition, the robot was fitted with a three-axis robotic arm for grasping. Both the real-time control signal and video transmission are transmitted via Wi-Fi. We show that with a properly calibrated camera and the proposed prototype procedures, the users can click on a desired position or object on the touchscreen and estimate its 3D coordinates in the real world by simple analytic geometry instead of a complicated algorithm. The results of the measurement verification demonstrates that this approach has great potential for mobile robots.

Development of a Guide-Dog Robot: Leading and Recognizing a Visually-Handicapped Person using a LRF

NASA Astrophysics Data System (ADS)

Saegusa, Shozo; Yasuda, Yuya; Uratani, Yoshitaka; Tanaka, Eiichirou; Makino, Toshiaki; Chang, Jen-Yuan (James

A conceptual Guide-Dog Robot prototype to lead and to recognize a visually-handicapped person is developed and discussed in this paper. Key design features of the robot include a movable platform, human-machine interface, and capability of avoiding obstacles. A novel algorithm enabling the robot to recognize its follower's locomotion as well to detect the center of corridor is proposed and implemented in the robot's human-machine interface. It is demonstrated that using the proposed novel leading and detecting algorithm along with a rapid scanning laser range finder (LRF) sensor, the robot is able to successfully and effectively lead a human walking in corridor without running into obstacles such as trash boxes or adjacent walking persons. Position and trajectory of the robot leading a human maneuvering in common corridor environment are measured by an independent LRF observer. The measured data suggest that the proposed algorithms are effective to enable the robot to detect center of the corridor and position of its follower correctly.

Robotic tele-existence

NASA Technical Reports Server (NTRS)

Tachi, Susumu; Arai, Hirohiko; Maeda, Taro

1989-01-01

Tele-existence is an advanced type of teleoperation system that enables a human operator at the controls to perform remote manipulation tasks dexterously with the feeling that he or she exists in the remote anthropomorphic robot in the remote environment. The concept of a tele-existence is presented, the principle of the tele-existence display method is explained, some of the prototype systems are described, and its space application is discussed.

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

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

Susan Burkett; Hagen Schempf

2006-01-31

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

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

NASA Astrophysics Data System (ADS)

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

2003-09-01

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

Dexterity-Enhanced Telerobotic Microsurgery

NASA Technical Reports Server (NTRS)

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

1997-01-01

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

Are We There Yet? ... Developing In Situ Fabrication and Repair (ISFR) Technologies to Explore and Live on the Moon and Mars

NASA Technical Reports Server (NTRS)

Bodiford, Melanie P.; Gilley, Scott D.; Howard, Richard W.; Kennedy, James P.; Ray, Julie A.

2005-01-01

NASA's human exploration initiative poses great opportunity and great risk for manned missions to the Moon and Mars. Engineers and Scientists at the Marshall Space Flight Center (MSFC) are evaluating current technologies for in situ resource-based exploration fabrication and repair applications. Several technologies to be addressed in this paper have technology readiness levels (TRLs) that are currently mature enough to pursue for exploration purposes. However, many technologies offer promising applications but these must be pulled along by the demands and applications of this great initiative. The In Situ Fabrication and Repair (ISFR) Element will supply and push state of the art technologies for applications such as habitat structure development, in situ resource utilization for tool and part fabrication, and repair and replacement of common life support elements, as well as non-destructive evaluation. This paper will address current rapid prototyping technologies, their ISFR applications and near term advancements. We will discuss the anticipated need to utilize in situ resources to produce replacement parts and fabricate repairs to vehicles, habitats, life support and quality of life elements. Many ISFR technology developments will incorporate automated deployment and robotic construction and fabrication techniques. The current state of the art for these applications is fascinating, but the future is out of this world.

Validation of the ULCEAT methodology by applying it in retrospect to the Roboticbed.

PubMed

Nakamura, Mio; Suzurikawa, Jun; Tsukada, Shohei; Kume, Yohei; Kawakami, Hideo; Inoue, Kaoru; Inoue, Takenobu

2015-01-01

In answer to the increasing demand for care by the Japanese oldest portion of the population, an extensive programme of life support robots is under development, advocated by the Japanese government. Roboticbed^® (RB) is developed to facilitate patients in their daily life in making independent transfers from and to the bed. The bed is intended both for elderly and persons with a disability. The purpose of this study is to examine the validity of the user and user's life centred clinical evaluation of assistive technology (ULCEAT) methodology. To support user centred development of life support robots the ULCEAT method was developed. By means of the ULCEAT method the target users and the use environment were re-established in an earlier study. The validity of the method is tested by re-evaluating the development of RB in retrospect. Six participants used the first prototype of RB (RB1) and eight participants used the second prototype of RB (RB2). The results indicated that the functionality was improved owing to the end-user evaluations. Therefore, we confirmed the content validity of the proposed ULCEAT method. In this study we confirmed the validation of the ULCEAT methodology by applying it in retrospect to RB using development process. This method will be used for the development of Life-support robots and prototype assistive technologies.

Robots and cyborgs: to be or to have a body?

PubMed

Palese, Emma

2012-06-01

Starting with service robotics and industrial robotics, this paper aims to suggest philosophical reflections about the relationship between body and machine, between man and technology in our contemporary world. From the massive use of the cell phone to the robots which apparently "feel" and show emotions like humans do. From the wearable exoskeleton to the prototype reproducing the artificial sense of touch, technological progress explodes to the extent of embodying itself in our nakedness. Robotics, indeed, is inspired by biology in order to develop a new kind of technology affecting human life. This is a bio-robotic approach, which is fulfilled in the figure of the cyborg and consequently in the loss of human nature. Today, humans have reached the possibility to modify and create their own body following their personal desires. But what is the limit of this achievement? For this reason, we all must question ourselves whether we have or whether we are a body.

Ultra-Wideband Time-Difference-of-Arrival High Resolution 3D Proximity Tracking System

NASA Technical Reports Server (NTRS)

Ni, Jianjun; Arndt, Dickey; Ngo, Phong; Phan, Chau; Dekome, Kent; Dusl, John

2010-01-01

This paper describes a research and development effort for a prototype ultra-wideband (UWB) tracking system that is currently under development at NASA Johnson Space Center (JSC). The system is being studied for use in tracking of lunar./Mars rovers and astronauts during early exploration missions when satellite navigation systems are not available. U IATB impulse radio (UWB-IR) technology is exploited in the design and implementation of the prototype location and tracking system. A three-dimensional (3D) proximity tracking prototype design using commercially available UWB products is proposed to implement the Time-Difference- Of-Arrival (TDOA) tracking methodology in this research effort. The TDOA tracking algorithm is utilized for location estimation in the prototype system, not only to exploit the precise time resolution possible with UWB signals, but also to eliminate the need for synchronization between the transmitter and the receiver. Simulations show that the TDOA algorithm can achieve the fine tracking resolution with low noise TDOA estimates for close-in tracking. Field tests demonstrated that this prototype UWB TDOA High Resolution 3D Proximity Tracking System is feasible for providing positioning-awareness information in a 3D space to a robotic control system. This 3D tracking system is developed for a robotic control system in a facility called "Moonyard" at Honeywell Defense & System in Arizona under a Space Act Agreement.

Parametric motion control of robotic arms: A biologically based approach using neural networks

NASA Technical Reports Server (NTRS)

Bock, O.; D'Eleuterio, G. M. T.; Lipitkas, J.; Grodski, J. J.

1993-01-01

A neural network based system is presented which is able to generate point-to-point movements of robotic manipulators. The foundation of this approach is the use of prototypical control torque signals which are defined by a set of parameters. The parameter set is used for scaling and shaping of these prototypical torque signals to effect a desired outcome of the system. This approach is based on neurophysiological findings that the central nervous system stores generalized cognitive representations of movements called synergies, schemas, or motor programs. It has been proposed that these motor programs may be stored as torque-time functions in central pattern generators which can be scaled with appropriate time and magnitude parameters. The central pattern generators use these parameters to generate stereotypical torque-time profiles, which are then sent to the joint actuators. Hence, only a small number of parameters need to be determined for each point-to-point movement instead of the entire torque-time trajectory. This same principle is implemented for controlling the joint torques of robotic manipulators where a neural network is used to identify the relationship between the task requirements and the torque parameters. Movements are specified by the initial robot position in joint coordinates and the desired final end-effector position in Cartesian coordinates. This information is provided to the neural network which calculates six torque parameters for a two-link system. The prototypical torque profiles (one per joint) are then scaled by those parameters. After appropriate training of the network, our parametric control design allowed the reproduction of a trained set of movements with relatively high accuracy, and the production of previously untrained movements with comparable accuracy. We conclude that our approach was successful in discriminating between trained movements and in generalizing to untrained movements.

Task-specific ankle robotics gait training after stroke: a randomized pilot study.

PubMed

Forrester, Larry W; Roy, Anindo; Hafer-Macko, Charlene; Krebs, Hermano I; Macko, Richard F

2016-06-02

An unsettled question in the use of robotics for post-stroke gait rehabilitation is whether task-specific locomotor training is more effective than targeting individual joint impairments to improve walking function. The paretic ankle is implicated in gait instability and fall risk, but is difficult to therapeutically isolate and refractory to recovery. We hypothesize that in chronic stroke, treadmill-integrated ankle robotics training is more effective to improve gait function than robotics focused on paretic ankle impairments. Participants with chronic hemiparetic gait were randomized to either six weeks of treadmill-integrated ankle robotics (n = 14) or dose-matched seated ankle robotics (n = 12) videogame training. Selected gait measures were collected at baseline, post-training, and six-week retention. Friedman, and Wilcoxon Sign Rank and Fisher's exact tests evaluated within and between group differences across time, respectively. Six weeks post-training, treadmill robotics proved more effective than seated robotics to increase walking velocity, paretic single support, paretic push-off impulse, and active dorsiflexion range of motion. Treadmill robotics durably improved gait dorsiflexion swing angle leading 6/7 initially requiring ankle braces to self-discarded them, while their unassisted paretic heel-first contacts increased from 44 % to 99.6 %, versus no change in assistive device usage (0/9) following seated robotics. Treadmill-integrated, but not seated ankle robotics training, durably improves gait biomechanics, reversing foot drop, restoring walking propulsion, and establishing safer foot landing in chronic stroke that may reduce reliance on assistive devices. These findings support a task-specific approach integrating adaptive ankle robotics with locomotor training to optimize mobility recovery. NCT01337960. https://clinicaltrials.gov/ct2/show/NCT01337960?term=NCT01337960&rank=1.

ARTIE: An Integrated Environment for the Development of Affective Robot Tutors

PubMed Central

Imbernón Cuadrado, Luis-Eduardo; Manjarrés Riesco, Ángeles; De La Paz López, Félix

2016-01-01

Over the last decade robotics has attracted a great deal of interest from teachers and researchers as a valuable educational tool from preschool to highschool levels. The implementation of social-support behaviors in robot tutors, in particular in the emotional dimension, can make a significant contribution to learning efficiency. With the aim of contributing to the rising field of affective robot tutors we have developed ARTIE (Affective Robot Tutor Integrated Environment). We offer an architectural pattern which integrates any given educational software for primary school children with a component whose function is to identify the emotional state of the students who are interacting with the software, and with the driver of a robot tutor which provides personalized emotional pedagogical support to the students. In order to support the development of affective robot tutors according to the proposed architecture, we also provide a methodology which incorporates a technique for eliciting pedagogical knowledge from teachers, and a generic development platform. This platform contains a component for identiying emotional states by analysing keyboard and mouse interaction data, and a generic affective pedagogical support component which specifies the affective educational interventions (including facial expressions, body language, tone of voice,…) in terms of BML (a Behavior Model Language for virtual agent specification) files which are translated into actions of a robot tutor. The platform and the methodology are both adapted to primary school students. Finally, we illustrate the use of this platform to build a prototype implementation of the architecture, in which the educational software is instantiated with Scratch and the robot tutor with NAO. We also report on a user experiment we carried out to orient the development of the platform and of the prototype. We conclude from our work that, in the case of primary school students, it is possible to identify, without using intrusive and expensive identification methods, the emotions which most affect the character of educational interventions. Our work also demonstrates the feasibility of a general-purpose architecture of decoupled components, in which a wide range of educational software and robot tutors can be integrated and then used according to different educational criteria. PMID:27536230

ARTIE: An Integrated Environment for the Development of Affective Robot Tutors.

PubMed

Imbernón Cuadrado, Luis-Eduardo; Manjarrés Riesco, Ángeles; De La Paz López, Félix

2016-01-01

Over the last decade robotics has attracted a great deal of interest from teachers and researchers as a valuable educational tool from preschool to highschool levels. The implementation of social-support behaviors in robot tutors, in particular in the emotional dimension, can make a significant contribution to learning efficiency. With the aim of contributing to the rising field of affective robot tutors we have developed ARTIE (Affective Robot Tutor Integrated Environment). We offer an architectural pattern which integrates any given educational software for primary school children with a component whose function is to identify the emotional state of the students who are interacting with the software, and with the driver of a robot tutor which provides personalized emotional pedagogical support to the students. In order to support the development of affective robot tutors according to the proposed architecture, we also provide a methodology which incorporates a technique for eliciting pedagogical knowledge from teachers, and a generic development platform. This platform contains a component for identiying emotional states by analysing keyboard and mouse interaction data, and a generic affective pedagogical support component which specifies the affective educational interventions (including facial expressions, body language, tone of voice,…) in terms of BML (a Behavior Model Language for virtual agent specification) files which are translated into actions of a robot tutor. The platform and the methodology are both adapted to primary school students. Finally, we illustrate the use of this platform to build a prototype implementation of the architecture, in which the educational software is instantiated with Scratch and the robot tutor with NAO. We also report on a user experiment we carried out to orient the development of the platform and of the prototype. We conclude from our work that, in the case of primary school students, it is possible to identify, without using intrusive and expensive identification methods, the emotions which most affect the character of educational interventions. Our work also demonstrates the feasibility of a general-purpose architecture of decoupled components, in which a wide range of educational software and robot tutors can be integrated and then used according to different educational criteria.

UGV History 101: A Brief History of Unmanned Ground Vehicle (UGV) Development Efforts

DTIC Science & Technology

1995-01-01

robots). These successful demonstrations led to the formulation of the Teleoperated Mobile Anti-Armor Platform ( TMAP ) program, and prototype systems were...Unfortunately, Congressional direction in December 1987 prohibited the emplacement of weapons systems on robots, and the TMAP was retargeted to the...Technology Demonstration project, a demonstration incorporating both the Army’s TMAPs and the GATERS TOV was held at Camp Pendleton in September 1989

An anthropomorphic design for a minimally invasive surgical system based on a survey of surgical technologies, techniques and training.

PubMed

Tzemanaki, Antonia; Walters, Peter; Pipe, Anthony Graham; Melhuish, Chris; Dogramadzi, Sanja

2014-09-01

Over the past century, abdominal surgery has seen a rapid transition from open procedures to less invasive methods, such as robot-assisted minimally invasive surgery (MIS). This study aimed to investigate and discuss the needs of MIS in terms of instrumentation and to inform the design of a novel instrument. A survey was conducted among surgeons regarding their opinions on surgical training, surgical systems, how satisfied they were with them and how easy they were to use. A concept for MIS robotic instrumentation was then developed and a series of focus groups with surgeons were run to discuss it. The initial prototype of the robotic instruments, herein demonstrated, comprises modular rigid links with soft joints actuated by shape memory alloy helix actuators; these instruments are controlled using a sensory hand exoskeleton. The results of the survey, as well as those of the focus groups, are presented here. A first prototype of the system was built and initial laboratory tests have been conducted in order to evaluate this approach. The analysed data from both the survey and the focus groups justify the chosen concept of an anthropomorphic MIS robotic system which imitates the natural motion of the hands. Copyright © 2013 John Wiley & Sons, Ltd.

A cost-effective intelligent robotic system with dual-arm dexterous coordination and real-time vision

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Chen, Alexander Y. K.

1991-01-01

Dexterous coordination of manipulators based on the use of redundant degrees of freedom, multiple sensors, and built-in robot intelligence represents a critical breakthrough in development of advanced manufacturing technology. A cost-effective approach for achieving this new generation of robotics has been made possible by the unprecedented growth of the latest microcomputer and network systems. The resulting flexible automation offers the opportunity to improve the product quality, increase the reliability of the manufacturing process, and augment the production procedures for optimizing the utilization of the robotic system. Moreover, the Advanced Robotic System (ARS) is modular in design and can be upgraded by closely following technological advancements as they occur in various fields. This approach to manufacturing automation enhances the financial justification and ensures the long-term profitability and most efficient implementation of robotic technology. The new system also addresses a broad spectrum of manufacturing demand and has the potential to address both complex jobs as well as highly labor-intensive tasks. The ARS prototype employs the decomposed optimization technique in spatial planning. This technique is implemented to the framework of the sensor-actuator network to establish the general-purpose geometric reasoning system. The development computer system is a multiple microcomputer network system, which provides the architecture for executing the modular network computing algorithms. The knowledge-based approach used in both the robot vision subsystem and the manipulation control subsystems results in the real-time image processing vision-based capability. The vision-based task environment analysis capability and the responsive motion capability are under the command of the local intelligence centers. An array of ultrasonic, proximity, and optoelectronic sensors is used for path planning. The ARS currently has 18 degrees of freedom made up by two articulated arms, one movable robot head, and two charged coupled device (CCD) cameras for producing the stereoscopic views, and articulated cylindrical-type lower body, and an optional mobile base. A functional prototype is demonstrated.

VORTEX: Versatile and open subsea robot for technical experiment: Prototyping software architecture for the next AUV and ROV generation

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

Rigaud, V.; Le Rest, E.; Marce, L.

1994-12-31

This paper describes a new experimental vehicle named V.O.R.T.E.X. (Versatile and Open subsea Robot for Technical EXperiment) built by the Subsea Robotics Laboratory at the French institute for Sea exploitation (Ifremer). The aim of this project is to work out the metamorphosis of a classical ROV architecture into an AUV architecture in particular for the control and programming architecture design. This vehicle is also designed to emulate the new IFREMER ROV6000 and the future Abyssal Survey Vehicle AUV, from a functional point of view.

Hydraulic Robotic Surgical Tool Changing Manipulator

PubMed Central

Pourghodrat, Abolfazl; Nelson, Carl A.; Oleynikov, Dmitry

2017-01-01

Natural orifice transluminal endoscopic surgery (NOTES) is a surgical technique to perform “scarless” abdominal operations. Robotic technology has been exploited to improve NOTES and circumvent its limitations. Lack of a multitasking platform is a major limitation. Manual tool exchange can be time consuming and may lead to complications such as bleeding. Previous multifunctional manipulator designs use electric motors. These designs are bulky, slow, and expensive. This paper presents design, prototyping, and testing of a hydraulic robotic tool changing manipulator. The manipulator is small, fast, low-cost, and capable of carrying four different types of laparoscopic instruments. PMID:28450979

EXOS research on master controllers for robotic devices

NASA Technical Reports Server (NTRS)

Marcus, Beth A.; An, Ben; Eberman, Brian

1992-01-01

Two projects are currently being conducted by EXOS under the Small Business Innovation Research (SBIR) program with NASA. One project will develop a force feedback device for controlling robot hands, the other will develop an elbow and shoulder exoskeleton which can be integrated with other EXOS devices to provide whole robot arm and hand control. Aspects covered are the project objectives, important research issues which have arisen during the developments, and interim results of the projects. The Phase 1 projects currently underway will result in hardware prototypes and identification of research issues required for complete system development and/or integration.

The Middlesex University rehabilitation robot.

PubMed

Parsons, B; White, A; Prior, S; Warner, P

2005-01-01

This paper describes the development of an electrically powered wheelchair-mounted manipulator for use by severely disabled persons. A detailed review is given explaining the specification. It describes the construction of the device and its control architecture. The prototype robot used several gesture recognition and other input systems. The system has been tested on disabled and non-disabled users. They observed that it was easy to use but about 50% slower than comparable systems before design modifications were incorporated. The robot has a payload of greater than 1 kg with a maximum reach of 0.7-0.9 m.

Modeling and analysis of a meso-hydraulic climbing robot with artificial muscle actuation.

PubMed

Chapman, Edward M; Jenkins, Tyler E; Bryant, Matthew

2017-11-08

This paper presents a fully coupled electro-hydraulic model of a bio-inspired climbing robot actuated by fluidic artificial muscles (FAMs). This analysis expands upon previous FAM literature by considering not only the force and contraction characteristics of the actuator, but the complete hydraulic and electromechanical circuits as well as the dynamics of the climbing robot. This analysis allows modeling of the time-varying applied pressure, electrical current, and actuator contraction for accurate prediction of the robot motion, energy consumption, and mechanical work output. The developed model is first validated against mechanical and electrical data collected from a proof-of-concept prototype robot. The model is then employed to study the system-level sensitivities of the robot locomotion efficiency and average climbing speed to several design and operating parameters. The results of this analysis demonstrate that considering only the transduction efficiency of the FAM actuators is insufficient to maximize the efficiency of the complete robot, and that a holistic approach can lead to significant improvements in performance.

ShouldeRO, an alignment-free two-DOF rehabilitation robot for the shoulder complex.

PubMed

Dehez, Bruno; Sapin, Julien

2011-01-01

This paper presents a robot aimed to assist the shoulder movements of stroke patients during their rehabilitation process. This robot has the general form of an exoskeleton, but is characterized by an action principle on the patient no longer requiring a tedious and accurate alignment of the robot and patient's joints. It is constituted of a poly-articulated structure whose actuation is deported and transmission is ensured by Bowden cables. It manages two of the three rotational degrees of freedom (DOFs) of the shoulder. Quite light and compact, its proximal end can be rigidly fixed to the patient's back on a rucksack structure. As for its distal end, it is connected to the arm through passive joints and a splint guaranteeing the robot action principle, i.e. exert a force perpendicular to the patient's arm, whatever its configuration. This paper also presents a first prototype of this robot and some experimental results such as the arm angular excursions reached with the robot in the three joint planes. © 2011 IEEE

The mechanical design of a humanoid robot with flexible skin sensor for use in psychiatric therapy

NASA Astrophysics Data System (ADS)

Burns, Alec; Tadesse, Yonas

2014-03-01

In this paper, a humanoid robot is presented for ultimate use in the rehabilitation of children with mental disorders, such as autism. Creating affordable and efficient humanoids could assist the therapy in psychiatric disability by offering multimodal communication between the humanoid and humans. Yet, the humanoid development needs a seamless integration of artificial muscles, sensors, controllers and structures. We have designed a human-like robot that has 15 DOF, 580 mm tall and 925 mm arm span using a rapid prototyping system. The robot has a human-like appearance and movement. Flexible sensors around the arm and hands for safe human-robot interactions, and a two-wheel mobile platform for maneuverability are incorporated in the design. The robot has facial features for illustrating human-friendly behavior. The mechanical design of the robot and the characterization of the flexible sensors are presented. Comprehensive study on the upper body design, mobile base, actuators selection, electronics, and performance evaluation are included in this paper.

Development of a robotic device for facilitating learning by children who have severe disabilities.

PubMed

Cook, Albert M; Meng, Max Q H; Gu, Jason J; Howery, Kathy

2002-09-01

This paper presents technical aspects of a robot manipulator developed to facilitate learning by young children who are generally unable to grasp objects or speak. The severity of these physical disabilities also limits assessment of their cognitive and language skills and abilities. The CRS robot manipulator was adapted for use by children who have disabilities. Our emphasis is on the technical control aspects of the development of an interface and communication environment between the child and the robot arm. The system is designed so that each child has user control and control procedures that are individually adapted. Control interfaces include large push buttons, keyboards, laser pointer, and head-controlled switches. Preliminary results have shown that young children who have severe disabilities can use the robotic arm system to complete functional play-related tasks. Developed software allows the child to accomplish a series of multistep tasks by activating one or more single switches. Through a single switch press the child can replay a series of preprogrammed movements that have a development sequence. Children using this system engaged in three-step sequential activities and were highly responsive to the robotic tasks. This was in marked contrast to other interventions using toys and computer games.

Current status of endovascular catheter robotics.

PubMed

Lumsden, Alan B; Bismuth, Jean

2018-06-01

In this review, we will detail the evolution of endovascular therapy as the basis for the development of catheter-based robotics. In parallel, we will outline the evolution of robotics in the surgical space and how the convergence of technology and the entrepreneurs who push this evolution have led to the development of endovascular robots. The current state-of-the-art and future directions and potential are summarized for the reader. Information in this review has been drawn primarily from our personal clinical and preclinical experience in use of catheter robotics, coupled with some ground-breaking work reported from a few other major centers who have embraced the technology's capabilities and opportunities. Several case studies demonstrating the unique capabilities of a precisely controlled catheter are presented. Most of the preclinical work was performed in the advanced imaging and navigation laboratory. In this unique facility, the interface of advanced imaging techniques and robotic guidance is being explored. Although this procedure employs a very high-tech approach to navigation inside the endovascular space, we have conveyed the kind of opportunities that this technology affords to integrate 3D imaging and 3D control. Further, we present the opportunity of semi-autonomous motion of these devices to a target. For the interventionist, enhanced precision can be achieved in a nearly radiation-free environment.

Development of robust behaviour recognition for an at-home biomonitoring robot with assistance of subject localization and enhanced visual tracking.

PubMed

Imamoglu, Nevrez; Dorronzoro, Enrique; Wei, Zhixuan; Shi, Huangjun; Sekine, Masashi; González, José; Gu, Dongyun; Chen, Weidong; Yu, Wenwei

2014-01-01

Our research is focused on the development of an at-home health care biomonitoring mobile robot for the people in demand. Main task of the robot is to detect and track a designated subject while recognizing his/her activity for analysis and to provide warning in an emergency. In order to push forward the system towards its real application, in this study, we tested the robustness of the robot system with several major environment changes, control parameter changes, and subject variation. First, an improved color tracker was analyzed to find out the limitations and constraints of the robot visual tracking considering the suitable illumination values and tracking distance intervals. Then, regarding subject safety and continuous robot based subject tracking, various control parameters were tested on different layouts in a room. Finally, the main objective of the system is to find out walking activities for different patterns for further analysis. Therefore, we proposed a fast, simple, and person specific new activity recognition model by making full use of localization information, which is robust to partial occlusion. The proposed activity recognition algorithm was tested on different walking patterns with different subjects, and the results showed high recognition accuracy.

Development of Robust Behaviour Recognition for an at-Home Biomonitoring Robot with Assistance of Subject Localization and Enhanced Visual Tracking

PubMed Central

Imamoglu, Nevrez; Dorronzoro, Enrique; Wei, Zhixuan; Shi, Huangjun; González, José; Gu, Dongyun; Yu, Wenwei

2014-01-01

Our research is focused on the development of an at-home health care biomonitoring mobile robot for the people in demand. Main task of the robot is to detect and track a designated subject while recognizing his/her activity for analysis and to provide warning in an emergency. In order to push forward the system towards its real application, in this study, we tested the robustness of the robot system with several major environment changes, control parameter changes, and subject variation. First, an improved color tracker was analyzed to find out the limitations and constraints of the robot visual tracking considering the suitable illumination values and tracking distance intervals. Then, regarding subject safety and continuous robot based subject tracking, various control parameters were tested on different layouts in a room. Finally, the main objective of the system is to find out walking activities for different patterns for further analysis. Therefore, we proposed a fast, simple, and person specific new activity recognition model by making full use of localization information, which is robust to partial occlusion. The proposed activity recognition algorithm was tested on different walking patterns with different subjects, and the results showed high recognition accuracy. PMID:25587560

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.

EXOS research on force-reflecting controllers

NASA Astrophysics Data System (ADS)

Eberman, Brian S.; An, Bin

1993-03-01

EXOS has developed two state of the art prototype master controllers for controlling robot hands and manipulators under the Small Business Innovation Research (SBIR) program with NASA. One such device is a two degree-of-freedom Sensing and Force Reflecting Exoskeleton (SAFiRE) worn on the operator's hand. The device measures the movement of the index finger and reflects the interaction forces between the slave robot and the environment to the human finger. The second device is a position sensing Exoskeleton ArmMaster (EAM) worn by a human operator. The device simultaneously tracks the motions of the operator's three DOF shoulder and two DOF elbow. Both of these devices are currently used to control robots at NASA. We are currently developing a full fingered SAFiRE and a position sensing and force reflecting EAM under two second phase SBIR grants with NASA. This paper will include discussions of: (1) the design of the current prototypes, (2) kinematics of the EAM and force control of the SAFiRE, (3) design issues that must be addressed in developing more advanced versions, and (4) our progress to date in addressing these issues.

Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems.

PubMed

Zheng, Hao; Shen, Xiangrong

2013-11-25

This paper presents a new type of muscle-like actuator, namely double-acting (DA) sleeve muscle actuator, which is suitable for the actuation of biologically-inspired and biomedical robotic systems, especially those serving human-assistance purposes (prostheses, orthoses, etc .). Developed based on the traditional pneumatic muscle actuator, the new DA sleeve muscle incorporates a unique insert at the center. With the insert occupying the central portion of the internal volume, this new actuator enjoys multiple advantages relative to the traditional pneumatic muscle, including a consistent increase of force capacity over the entire range of motion, and a significant decrease of energy consumption in operation. Furthermore, the insert encompasses an additional chamber, which generates an extension force when pressurized. As such, this new actuator provides a unique bi-directional actuation capability, and, thus, has a potential to significantly simplify the design of a muscle actuator-powered robotic system. To demonstrate this new actuator concept, a prototype has been designed and fabricated, and experiments conducted on this prototype demonstrated the enhanced force capacity and the unique bi-directional actuation capability.

Virtual Reality System Offers a Wide Perspective

NASA Technical Reports Server (NTRS)

2008-01-01

Robot Systems Technology Branch engineers at Johnson Space Center created the remotely controlled Robonaut for use as an additional "set of hands" in extravehicular activities (EVAs) and to allow exploration of environments that would be too dangerous or difficult for humans. One of the problems Robonaut developers encountered was that the robot s interface offered an extremely limited field of vision. Johnson robotics engineer, Darby Magruder, explained that the 40-degree field-of-view (FOV) in initial robotic prototypes provided very narrow tunnel vision, which posed difficulties for Robonaut operators trying to see the robot s surroundings. Because of the narrow FOV, NASA decided to reach out to the private sector for assistance. In addition to a wider FOV, NASA also desired higher resolution in a head-mounted display (HMD) with the added ability to capture and display video.

Advanced robot locomotion.

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

Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry

This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics naturalmore » human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.« less

An egocentric vision based assistive co-robot.

PubMed

Zhang, Jingzhe; Zhuang, Lishuo; Wang, Yang; Zhou, Yameng; Meng, Yan; Hua, Gang

2013-06-01

We present the prototype of an egocentric vision based assistive co-robot system. In this co-robot system, the user is wearing a pair of glasses with a forward looking camera, and is actively engaged in the control loop of the robot in navigational tasks. The egocentric vision glasses serve for two purposes. First, it serves as a source of visual input to request the robot to find a certain object in the environment. Second, the motion patterns computed from the egocentric video associated with a specific set of head movements are exploited to guide the robot to find the object. These are especially helpful for quadriplegic individuals who do not have needed hand functionality for interaction and control with other modalities (e.g., joystick). In our co-robot system, when the robot does not fulfill the object finding task in a pre-specified time window, it would actively solicit user controls for guidance. Then the users can use the egocentric vision based gesture interface to orient the robot towards the direction of the object. After that the robot will automatically navigate towards the object until it finds it. Our experiments validated the efficacy of the closed-loop design to engage the human in the loop.

Robotic Vehicle

NASA Technical Reports Server (NTRS)

1994-01-01

A commercially available ANDROS Mark V-A robot was used by Jet Propulsion Laboratory (JPL) as the departure point in the development of the HAZBOT III, a prototype teleoperated mobile robot designed for response to emergencies. Teleoperated robots contribute significantly to reducing human injury levels by performing tasks too hazardous for humans. ANDROS' manufacturer, REMOTEC, Inc., in turn, adopted some of the JPL concepts, particularly the control panel. HAZBOT III has exceptional mobility, employs solid state electronics and brushless DC motors for safer operation, and is designed so combustible gases cannot penetrate areas containing electronics and motors. Other features include the six-degree-of-freedom manipulator, the 30-pound squeeze force parallel jaw gripper and two video cameras, one for general viewing and navigation and the other for manipulation/grasping.

A spherical parallel three degrees-of-freedom robot for ankle-foot neuro-rehabilitation.

PubMed

Malosio, Matteo; Negri, Simone Pio; Pedrocchi, Nicola; Vicentini, Federico; Caimmi, Marco; Molinari Tosatti, Lorenzo

2012-01-01

The ankle represents a fairly complex bone structure, resulting in kinematics that hinders a flawless robot-assisted recovery of foot motility in impaired subjects. The paper proposes a novel device for ankle-foot neuro-rehabilitation based on a mechatronic redesign of the remarkable Agile Eye spherical robot on the basis of clinical requisites. The kinematic design allows the positioning of the ankle articular center close to the machine rotation center with valuable benefits in term of therapy functions. The prototype, named PKAnkle, Parallel Kinematic machine for Ankle rehabilitation, provides a 6-axes load cell for the measure of subject interaction forces/torques, and it integrates a commercial EMG-acquisition system. Robot control provides active and passive therapeutic exercises.

Surgical energy device using steam jet for robotic assisted surgery.

PubMed

Yoshiki, Hitoshi; Tadano, Kotaro; Ban, Daisuke; Ohuchi, Katsuhiro; Tanabe, Minoru; Kawashima, Kenji

2015-01-01

In robotic assisted surgery, the carbonization and the adherence of coagulated tissues caused by surgical energy devices are problems. We propose a surgical energy device using a steam jet to solve the problems. The device applies a steam jet and performs coagulation and hemostasis. The exposed tissue is heated quickly with latent heat of the steam. The carbonization and the adherence of the tissue can be avoided. We prototyped a steam jet coagulator to prove the concept. The coagulator was mounted on the laparoscopic surgical robot. The effectiveness of the coagulation and hemostasis using steam was confirmed by the in vitro experiment on the chicken's liver and the in vivo experiments on the pig's spleen under the robotic assisted laparoscopic environment.

A soft wearable robot for the shoulder: Design, characterization, and preliminary testing.

PubMed

O'Neill, Ciaran T; Phipps, Nathan S; Cappello, Leonardo; Paganoni, Sabrina; Walsh, Conor J

2017-07-01

In this paper, we present a soft wearable robot for the shoulder which has the potential to assist individuals suffering from a range of neuromuscular conditions affecting the shoulder to perform activities of daily living. This wearable robot combines two types of soft textile pneumatic actuators which were custom developed for this particular application to support the upper arm through shoulder abduction and horizontal flexion/extension. The advantage of a textile-based approach is that the robot can be lightweight, low-profile, comfortable and non-restrictive to the wearer, and easy to don like an item of clothing. The actuator's ability to fold flat when not in use allows the robot to be almost invisible under clothing, potentially allowing the user to avoid any stigma associated with using assistive devices in public. To abduct the arm, a textilebased pneumatic actuator was developed to fit within the axilla to push the arm upwards, while a pair of smaller actuators pivot the abduction actuator to allow for horizontal extension and flexion. The individual textile actuators were experimentally evaluated before being integrated into a wearable garment. Human subject testing was performed to evaluate the ability of the robot to assist the arm by monitoring changes in biological muscle activity when comparing the robot powered on and off. Preliminary results show large reductions in muscular effort in targeted muscles, demonstrating the feasibility and promise of such a soft wearable robot for the shoulder.

Self-organization via active exploration in robotic applications. Phase 2: Hybrid hardware prototype

NASA Technical Reports Server (NTRS)

Oegmen, Haluk

1993-01-01

In many environments human-like intelligent behavior is required from robots to assist and/or replace human operators. The purpose of these robots is to reduce human time and effort in various tasks. Thus the robot should be robust and as autonomous as possible in order to eliminate or to keep to a strict minimum its maintenance and external control. Such requirements lead to the following properties: fault tolerance, self organization, and intelligence. A good insight into implementing these properties in a robot can be gained by considering human behavior. In the first phase of this project, a neural network architecture was developed that captures some fundamental aspects of human categorization, habit, novelty, and reinforcement behavior. The model, called FRONTAL, is a 'cognitive unit' regulating the exploratory behavior of the robot. In the second phase of the project, FRONTAL was interfaced with an off-the-shelf robotic arm and a real-time vision system. The components of this robotic system, a review of FRONTAL, and simulation studies are presented in this report.

Preliminary research of a novel center-driven robot for upper extremity rehabilitation.

PubMed

Cao, Wujing; Zhang, Fei; Yu, Hongliu; Hu, Bingshan; Meng, Qiaoling

2018-01-19

Loss of upper limb function often appears after stroke. Robot-assisted systems are becoming increasingly common in upper extremity rehabilitation. Rehabilitation robot provides intensive motor therapy, which can be performed in a repetitive, accurate and controllable manner. This study aims to propose a novel center-driven robot for upper extremity rehabilitation. A new power transmission mechanism is designed to transfer the power to elbow and shoulder joints from three motors located on the base. The forward and inverse kinematics equations of the center-driven robot (CENTROBOT) are deduced separately. The theoretical values of the scope of joint movements are obtained with the Denavit-Hartenberg parameters method. A prototype of the CENTROBOT is developed and tested. The elbow flexion/extension, shoulder flexion/extension and shoulder adduction/abduction can be realized of the center-driven robot. The angles value of joints are in conformity with the theoretical value. The CENTROBOT reduces the overall size of the robot arm, the influence of motor noise, radiation and other adverse factors by setting all motors on the base. It can satisfy the requirements of power and movement transmission of the robot arm.

MR guided FUS therapy with a Robotic Assistance System

NASA Astrophysics Data System (ADS)

Jenne, Jürgen W.; Krafft, Axel J.; Maier, Florian; Rauschenberg, Jaane; Semmler, Wolfhard; Huber, Peter E.; Bock, Michael

2009-04-01

Magnetic Resonance imaging guided Focus Ultrasound Surgery (MRgFUS) is a highly precise method to ablate tissue non-invasively. To date, there is only one commercial MRgFUS system available and only a few are in a prototype stage. The objective of this ongoing project is to establish an MRgFUS therapy unit as add-on for a commercially available robotic assistance system originally designed for percutaneous needle interventions in whole-body MR scanners.

Animatronics Workshop: a theater + engineering collaboration at a high school.

PubMed

Alford, Jennifer Ginger; Jacob, Lucas; Dietz, Paul

2013-01-01

The Animatronics Workshop is a learning experience in which kids conceive and construct a robotic show. They write the story, build the robotic mechanisms and the set, perform voice acting, and create the motion tracks. This provides a deep cross-disciplinary experience, teaching participants how to think creatively across traditional areas of expertise. In an intensive three-day prototype workshop in summer 2013, 14 high school students created a three-character show.

Particle protection capability of SEMI-compliant EUV-pod carriers

NASA Astrophysics Data System (ADS)

Huang, George; He, Long; Lystad, John; Kielbaso, Tom; Montgomery, Cecilia; Goodwin, Frank

2010-04-01

With the projected rollout of pre-production extreme ultraviolet lithography (EUVL) scanners in 2010, EUVL pilot line production will become a reality in wafer fabrication companies. Among EUVL infrastructure items that must be ready, EUV mask carriers remain critical. To keep non-pellicle EUV masks free from particle contamination, an EUV pod concept has been extensively studied. Early prototypes demonstrated nearly particle-free results at a 53 nm PSL equivalent inspection sensitivity during EUVL mask robotic handling, shipment, vacuum pump-purge, and storage. After the passage of SEMI E152, which specifies the EUV pod mechanical interfaces, standards-compliant EUV pod prototypes, including a production version inner pod and prototype outer pod, were built and tested. Their particle protection capability results are reported in this paper. A state-of-the-art blank defect inspection tool was used to quantify their defect protection capability during mask robotic handling, shipment, and storage tests. To ensure the availability of an EUV pod for 2010 pilot production, the progress and preliminary test results of pre-production EUV outer pods are reported as well.

Design and dynamic modeling of electrorheological fluid-based variable-stiffness fin for robotic fish

NASA Astrophysics Data System (ADS)

Bazaz Behbahani, Sanaz; Tan, Xiaobo

2017-08-01

Fish actively control their stiffness in different swimming conditions. Inspired by such an adaptive behavior, in this paper we study the design, prototyping, and dynamic modeling of compact, tunable-stiffness fins for robotic fish, where electrorheological (ER) fluid serves as the enabling element. A multi-layer composite fin with an ER fluid core is prototyped and utilized to investigate the influence of electrical field on its performance. Hamilton's principle is used to derive the dynamic equations of motion of the flexible fin, and Lighthill's large-amplitude elongated-body theory is adopted to estimate the hydrodynamic force when the fin undergoes base-actuated rotation. The dynamic equations are then discretized using the finite element method, to obtain an approximate numerical solution. Experiments are conducted on the prototyped flexible ER fluid-filled beam for parameter identification and validation of the proposed model, and for examining the effectiveness of electrically controlled stiffness tuning. In particular, it is found that the natural frequency is increased by almost 40% when the applied electric field changes from 0 to 1.5× {10}6 {{V}} {{{m}}}-1.

Handheld magnetic sensor for measurement of tension

NASA Astrophysics Data System (ADS)

Singal, K.; Rajamani, R.

2012-04-01

This letter develops an analytical formulation for measurement of tension in a string using a handheld sensor. By gently pushing the sensor against the string, the tension in the string can be obtained. An experimental sensor prototype is constructed to verify the analytical formulation. The centimeter-sized prototype utilizes three moving pistons and magnetic field based measurements of their positions. Experimental data show that the sensor can accurately measure tension on a bench top rig. The developed sensor could be useful in a variety of orthopedic surgical procedures, including knee replacement, hip replacement, ligament repair, shoulder stabilization, and tendon repair.

Treadmill vs. overground walking: different response to physical interaction.

PubMed

Ochoa, Julieth; Sternad, Dagmar; Hogan, Neville

2017-10-01

Rehabilitation of human motor function is an issue of growing significance, and human-interactive robots offer promising potential to meet the need. For the lower extremity, however, robot-aided therapy has proven challenging. To inform effective approaches to robotic gait therapy, it is important to better understand unimpaired locomotor control: its sensitivity to different mechanical contexts and its response to perturbations. The present study evaluated the behavior of 14 healthy subjects who walked on a motorized treadmill and overground while wearing an exoskeletal ankle robot. Their response to a periodic series of ankle plantar flexion torque pulses, delivered at periods different from, but sufficiently close to, their preferred stride cadence, was assessed to determine whether gait entrainment occurred, how it differed across conditions, and if the adapted motor behavior persisted after perturbation. Certain aspects of locomotor control were exquisitely sensitive to walking context, while others were not. Gaits entrained more often and more rapidly during overground walking, yet, in all cases, entrained gaits synchronized the torque pulses with ankle push-off, where they provided assistance with propulsion. Furthermore, subjects entrained to perturbation periods that required an adaption toward slower cadence, even though the pulses acted to accelerate gait, indicating a neural adaptation of locomotor control. Lastly, during 15 post-perturbation strides, the entrained gait period was observed to persist more frequently during overground walking. This persistence was correlated with the number of strides walked at the entrained gait period (i.e., longer exposure), which also indicated a neural adaptation. NEW & NOTEWORTHY We show that the response of human locomotion to physical interaction differs between treadmill and overground walking. Subjects entrained to a periodic series of ankle plantar flexion torque pulses that shifted their gait cadence, synchronizing ankle push-off with the pulses (so that they assisted propulsion) even when gait cadence slowed. Entrainment was faster overground and, on removal of torque pulses, the entrained gait period persisted more prominently overground, indicating a neural adaptation of locomotor control. Copyright © 2017 the American Physiological Society.

A novel traveling wave piezoelectric actuated tracked mobile robot utilizing friction effect

NASA Astrophysics Data System (ADS)

Wang, Liang; Shu, Chengyou; Jin, Jiamei; Zhang, Jianhui

2017-03-01

A novel traveling wave piezoelectric-actuated tracked mobile robot with potential application to robotic rovers was proposed and investigated in this study. The proposed tracked mobile robot is composed of a parallelogram-frame-structure piezoelectric transducer with four rings and a metal track. Utilizing the converse piezoelectric and friction effects, traveling waves were propagated in the rings and then the metal track was actuated by the piezoelectric transducer. Compared with traditional tracked mechanisms, the proposed tracked mobile robot has a simpler and more compact structure without lubricant, which eliminates the problem of lubricant volatilization and deflation, thus, it could be operated in the vacuum environment. Dynamic characteristics were simulated and measured to reveal the mechanism of actuating track of the piezoelectric transducer. Experimental investigations of the traveling wave piezoelectric-actuated tracked mobile robot were then carried out, and the results indicated that the robot prototype with a pair of exciting voltages of 460 Vpp is able to achieve a maximum velocity of 57 mm s-1 moving on the foam plate and possesses the obstacle crossing capability with a maximum height of 27 mm. The proposed tracked mobile robot exhibits potential to be the driving system of robotic rovers.

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

PubMed

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

2009-10-01

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

Hall Thruster Technology for NASA Science Missions

NASA Technical Reports Server (NTRS)

Manzella, David; Oh, David; Aadland, Randall

2005-01-01

The performance of a prototype Hall thruster designed for Discovery-class NASA science mission applications was evaluated at input powers ranging from 0.2 to 2.9 kilowatts. These data were used to construct a throttle profile for a projected Hall thruster system based on this prototype thruster. The suitability of such a Hall thruster system to perform robotic exploration missions was evaluated through the analysis of a near Earth asteroid sample return mission. This analysis demonstrated that a propulsion system based on the prototype Hall thruster offers mission benefits compared to a propulsion system based on an existing ion thruster.

On the development of a reactive sensor-based robotic system

NASA Technical Reports Server (NTRS)

Hexmoor, Henry H.; Underwood, William E., Jr.

1989-01-01

Flexible robotic systems for space applications need to use local information to guide their action in uncertain environments where the state of the environment and even the goals may change. They have to be tolerant of unexpected events and robust enough to carry their task to completion. Tactical goals should be modified while maintaining strategic goals. Furthermore, reactive robotic systems need to have a broader view of their environments than sensory-based systems. An architecture and a theory of representation extending the basic cycles of action and perception are described. This scheme allows for dynamic description of the environment and determining purposive and timely action. Applications of this scheme for assembly and repair tasks using a Universal Machine Intelligence RTX robot are being explored, but the ideas are extendable to other domains. The nature of reactivity for sensor-based robotic systems and implementation issues encountered in developing a prototype are discussed.

A Mobile Robot for Remote Response to Incidents Involving Hazardous Materials

NASA Technical Reports Server (NTRS)

Welch, Richard V.

1994-01-01

This paper will describe a teleoperated mobile robot system being developed at JPL for use by the JPL Fire Department/HAZMAT Team. The project, which began in October 1990, is focused on prototyping a robotic vehicle which can be quickly deployed and easily operated by HAZMAT Team personnel allowing remote entry and exploration of a hazardous material incident site. The close involvement of JPL Fire Department personnel has been critical in establishing system requirements as well as evaluating the system. The current robot, called HAZBOT III, has been especially designed for operation in environments that may contain combustible gases. Testing of the system with the Fire Department has shown that teleoperated robots can successfully gain access to incident sites allowing hazardous material spills to be remotely located and identified. Work is continuing to enable more complex missions through enhancement of the operator interface and by allowing tetherless operation.

Lower Limb Rehabilitation Using Patient Data

PubMed Central

Saadat, Mozafar

2016-01-01

The aim of this study is to investigate the performance of a 6-DoF parallel robot in tracking the movement of the foot trajectory of a paretic leg during a single stride. The foot trajectories of nine patients with a paretic leg including both males and females have been measured and analysed by a Vicon system in a gait laboratory. Based on kinematic and dynamic analysis of a 6-DoF UPS parallel robot, an algorithm was developed in MATLAB to calculate the length of the actuators and their required forces during all trajectories. The workspace and singularity points of the robot were then investigated in nine different cases. A 6-DoF UPS parallel robot prototype with high repeatability was designed and built in order to simulate a single stride. Results showed that the robot was capable of tracking all of the trajectories with the maximum position error of 1.2 mm. PMID:27721648

ROBOSIM, a simulator for robotic systems

NASA Technical Reports Server (NTRS)

Hinman, Elaine M.; Fernandez, Ken; Cook, George E.

1991-01-01

ROBOSIM, a simulator for robotic systems, was developed by NASA to aid in the rapid prototyping of automation. ROBOSIM has allowed the development of improved robotic systems concepts for both earth-based and proposed on-orbit applications while significantly reducing development costs. In a cooperative effort with an area university, ROBOSIM was further developed for use in the classroom as a safe and cost-effective way of allowing students to study robotic systems. Students have used ROBOSIM to study existing robotic systems and systems which they have designed in the classroom. Since an advanced simulator/trainer of this type is beneficial not only to NASA projects and programs but industry and academia as well, NASA is in the process of developing this technology for wider public use. An update on the simulators's new application areas, the improvements made to the simulator's design, and current efforts to ensure the timely transfer of this technology are presented.

Dynamic analysis of a bio-inspired climbing robot using ADAMS-Simulink co-simulation

NASA Astrophysics Data System (ADS)

Chattopadhyay, P.; Dikshit, H.; Majumder, A.; Ghoshal, S.; Maity, A.

2018-04-01

Climbing robot has been an area of interest since the demand of inspection of pipeline, nuclear power plant, and various big structure is growing up rapidly. This paper represents the development of a bio-inspired modular robot which mimics inchworm locomotion during climbing. In the present paper, the climbing motion is achieved only on a flat vertical plane by magnetic adhesion principle. The robot is modelled as a 4-link planar mechanism with three revolute joints actuated by DC servo motors. Sinusoidal gait pattern is used to approximate the motion of an inchworm. The dynamics of the robot is presented by using ADAMS/MATLAB co-simulation methodology. The simulation result gives the maximum value of joint torque during one complete cycle of motion. This torque value is used for the selection of servo motor specifications required to build the prototype.

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.

Continuously distributed magnetization profile for millimeter-scale elastomeric undulatory swimming

NASA Astrophysics Data System (ADS)

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

2014-04-01

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

Low-cost educational robotics applied to physics teaching in Brazil

NASA Astrophysics Data System (ADS)

Souza, Marcos A. M.; Duarte, José R. R.

2015-07-01

In this paper, we propose some of the strategies and methodologies for teaching high-school physics topics through an educational robotics show. This exhibition was part of a set of actions promoted by a Brazilian government program of incentive for teaching activities, whose primary focus is the training of teachers, the improvement of teaching in public schools, the dissemination of science, and the formation of new scientists and researchers. By means of workshops, banners and the prototyping of robotics, we were able to create a connection between the study areas and their surroundings, making learning meaningful and accessible for the students involved and contributing to their cognitive development.

TAIPAN instrument fibre positioner and Starbug robots: engineering overview

NASA Astrophysics Data System (ADS)

Staszak, Nicholas F.; Lawrence, Jon; Brown, David M.; Brown, Rebecca; Zhelem, Ross; Goodwin, Michael; Kuehn, Kyler; Lorente, Nuria P. F.; Nichani, Vijay; Waller, Lew; Case, Scott; Content, Robert; Hopkins, Andrew M.; Klauser, Urs; Pai, Naveen; Mueller, Rolf; Mali, Slavko; Vuong, Minh V.

2016-07-01

TAIPAN will conduct a stellar and galaxy survey of the Southern sky. The TAIPAN positioner is being developed as a prototype for the MANIFEST instrument on the GMT. The design for TAIPAN incorporates 150 optical fibres (with an upgrade path to 300) situated within independently controlled robotic positioners known as Starbugs. Starbugs allow precise parallel positioning of individual fibres, thus significantly reducing instrument configuration time and increasing the amount of observing time. Presented is an engineering overview of the UKST upgrade of the completely new Instrument Spider Assembly utilized to support the Starbug Fibre Positioning Robot and current status of the Starbug itself.

Dynamics of underwater legged locomotion: modeling and experiments on an octopus-inspired robot.

PubMed

Calisti, M; Corucci, F; Arienti, A; Laschi, C

2015-07-30

This paper studies underwater legged locomotion (ULL) by means of a robotic octopus-inspired prototype and its associated model. Two different types of propulsive actions are embedded into the robot model: reaction forces due to leg contact with the ground and hydrodynamic forces such as the drag arising from the sculling motion of the legs. Dynamic parameters of the model are estimated by means of evolutionary techniques and subsequently the model is exploited to highlight some distinctive features of ULL. Specifically, the separation between the center of buoyancy (CoB)/center of mass and density affect the stability and speed of the robot, whereas the sculling movements contribute to propelling the robot even when its legs are detached from the ground. The relevance of these effects is demonstrated through robotic experiments and model simulations; moreover, by slightly changing the position of the CoB in the presence of the same feed-forward activation, a number of different behaviors (i.e. forward and backward locomotion at different speeds) are achieved.

Artificial Intelligence and Robotics.

DTIC Science & Technology

1984-02-01

assertibly, seam welding and surface finishing, have clearly revealed the inabilities of current robots. Research prototypes have explored the use of...oriletats SysCtes fhat sae iuch representaios iay’n riot be ca al~esr todn solt ion givn roemes Teeaifch userr a complete ear pronsldurens and...rangle of1 possible (sequences of) *(4411pli:4444 4140 \\ -s. that r( ima rarlteed to achieve the goal, llotwitlhst and ing errors. lProt:4hli1)"i~ bv fh

Digital-Electronic/Optical Apparatus Would Recognize Targets

NASA Technical Reports Server (NTRS)

Scholl, Marija S.

1994-01-01

Proposed automatic target-recognition apparatus consists mostly of digital-electronic/optical cross-correlator that processes infrared images of targets. Infrared images of unknown targets correlated quickly with images of known targets. Apparatus incorporates some features of correlator described in "Prototype Optical Correlator for Robotic Vision System" (NPO-18451), and some of correlator described in "Compact Optical Correlator" (NPO-18473). Useful in robotic system; to recognize and track infrared-emitting, moving objects as variously shaped hot workpieces on conveyor belt.

Microsurgical robotic system for the deep surgical field: development of a prototype and feasibility studies in animal and cadaveric models.

PubMed

Morita, Akio; Sora, Shigeo; Mitsuishi, Mamoru; Warisawa, Shinichi; Suruman, Katopo; Asai, Daisuke; Arata, Junpei; Baba, Shoichi; Takahashi, Hidechika; Mochizuki, Ryo; Kirino, Takaaki

2005-08-01

To enhance the surgeon's dexterity and maneuverability in the deep surgical field, the authors developed a master-slave microsurgical robotic system. This concept and the results of preliminary experiments are reported in this paper. The system has a master control unit, which conveys motion commands in six degrees of freedom (X, Y, and Z directions; rotation; tip flexion; and grasping) to two arms. The slave manipulator has a hanging base with an additional six degrees of freedom; it holds a motorized operating unit with two manipulators (5 mm in diameter, 18 cm in length). The accuracy of the prototype in both shallow and deep surgical fields was compared with routine freehand microsurgery. Closure of a partial arteriotomy and complete end-to-end anastomosis of the carotid artery (CA) in the deep operative field were performed in 20 Wistar rats. Three routine surgical procedures were also performed in cadavers. The accuracy of pointing with the nondominant hand in the deep surgical field was significantly improved through the use of robotics. The authors successfully closed the partial arteriotomy and completely anastomosed the rat CAs in the deep surgical field. The time needed for stitching was significantly shortened over the course of the first 10 rat experiments. The robotic instruments also moved satisfactorily in cadavers, but the manipulators still need to be smaller to fit into the narrow intracranial space. Computer-controlled surgical manipulation will be an important tool for neurosurgery, and preliminary experiments involving this robotic system demonstrate its promising maneuverability.

Controlled flight of a biologically inspired, insect-scale robot.

PubMed

Ma, Kevin Y; Chirarattananon, Pakpong; Fuller, Sawyer B; Wood, Robert J

2013-05-03

Flies are among the most agile flying creatures on Earth. To mimic this aerial prowess in a similarly sized robot requires tiny, high-efficiency mechanical components that pose miniaturization challenges governed by force-scaling laws, suggesting unconventional solutions for propulsion, actuation, and manufacturing. To this end, we developed high-power-density piezoelectric flight muscles and a manufacturing methodology capable of rapidly prototyping articulated, flexure-based sub-millimeter mechanisms. We built an 80-milligram, insect-scale, flapping-wing robot modeled loosely on the morphology of flies. Using a modular approach to flight control that relies on limited information about the robot's dynamics, we demonstrated tethered but unconstrained stable hovering and basic controlled flight maneuvers. The result validates a sufficient suite of innovations for achieving artificial, insect-like flight.

Physics-Based Robot Motion Planning in Dynamic Multi-Body Environments

DTIC Science & Technology

2010-05-10

be actuated by external influences and interactions, such as being carried or pushed. Foreign-controlled bodies are actively actuated, but by external...from the action space A. How this action is generated can strongly influence the overall behavior and performance of our planner and will be discussed in...evolving game-state and unpredictable player -input), an animator cannot manually adjust these controls in advance. The planning approaches introduced in

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1989-01-01

Control techniques for self-contained, autonomous free-flying space robots are being tested and developed. Free-flying space robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require astronaut extra-vehicular activity (EVA). Use of robots will provide economic savings as well as improved astronaut safety by reducing and in many cases, eliminating the need for human EVA. The focus of the work is to develop and carry out a set of research projects using laboratory models of satellite robots. These devices use air-cushion-vehicle (ACV) technology to simulate in two dimensions the drag-free, zero-g conditions of space. Current work is divided into six major projects or research areas. Fixed-base cooperative manipulation work represents our initial entry into multiple arm cooperation and high-level control with a sophisticated user interface. The floating-base cooperative manipulation project strives to transfer some of the technologies developed in the fixed-base work onto a floating base. The global control and navigation experiment seeks to demonstrate simultaneous control of the robot manipulators and the robot base position so that tasks can be accomplished while the base is undergoing a controlled motion. The multiple-vehicle cooperation project's goal is to demonstrate multiple free-floating robots working in teams to carry out tasks too difficult or complex for a single robot to perform. The Location Enhancement Arm Push-off (LEAP) activity's goal is to provide a viable alternative to expendable gas thrusters for vehicle propulsion wherein the robot uses its manipulators to throw itself from place to place. Because the successful execution of the LEAP technique requires an accurate model of the robot and payload mass properties, it was deemed an attractive testbed for adaptive control technology.

An Open-Structure Treadmill Gait Trainer: From Research to Application.

PubMed

Li, Jian; Chen, Diansheng; Fan, Yubo

2017-01-01

Lower limb rehabilitation robots are designed to enhance gait function in individuals with motor impairments. Although numerous rehabilitation robots have been developed, only few of these robots have been used in practical health care, particularly in China. The objective of this study is to construct a lower limb rehabilitation robot and bridge the gap between research and application. Open structure to facilitate practical application was created for the whole robot. Three typical movement patterns of a single leg were adopted in designing the exoskeletons, and force models for patient training were established and analyzed under three different conditions, respectively, and then a control system and security strategy were introduced. After establishing the robot, a preliminary experiment on the actual use of a prototype by patients was conducted to validate the functionality of the robot. The experiment showed that different patients and stages displayed different performances, and results on the trend variations across patients and across stages confirmed the validity of the robot and suggested that the design may lead to a system that could be successful in the treatment of patients with walking disorders in China. Furthermore, this study could provide a reference for a similar application design.

Cooperative crossing of traffic intersections in a distributed robot system

NASA Astrophysics Data System (ADS)

Rausch, Alexander; Oswald, Norbert; Levi, Paul

1995-09-01

In traffic scenarios a distributed robot system has to cope with problems like resource sharing, distributed planning, distributed job scheduling, etc. While travelling along a street segment can be done autonomously by each robot, crossing of an intersection as a shared resource forces the robot to coordinate its actions with those of other robots e.g. by means of negotiations. We discuss the issue of cooperation on the design of a robot control architecture. Task and sensor specific cooperation between robots requires the robots' architectures to be interlinked at different hierarchical levels. Inside each level control cycles are running in parallel and provide fast reaction on events. Internal cooperation may occur between cycles of the same level. Altogether the architecture is matrix-shaped and contains abstract control cycles with a certain degree of autonomy. Based upon the internal structure of a cycle we consider the horizontal and vertical interconnection of cycles to form an individual architecture. Thereafter we examine the linkage of several agents and its influence on an interacting architecture. A prototypical implementation of a scenario, which combines aspects of active vision and cooperation, illustrates our approach. Two vision-guided vehicles are faced with line following, intersection recognition and negotiation.

Adaptive model-based assistive control for pneumatic direct driven soft rehabilitation robots.

PubMed

Wilkening, Andre; Ivlev, Oleg

2013-06-01

Assistive behavior and inherent compliance are assumed to be the essential properties for effective robot-assisted therapy in neurological as well as in orthopedic rehabilitation. This paper presents two adaptive model-based assistive controllers for pneumatic direct driven soft rehabilitation robots that are based on separated models of the soft-robot and the patient's extremity, in order to take into account the individual patient's behavior, effort and ability during control, what is assumed to be essential to relearn lost motor functions in neurological and facilitate muscle reconstruction in orthopedic rehabilitation. The high inherent compliance of soft-actuators allows for a general human-robot interaction and provides the base for effective and dependable assistive control. An inverse model of the soft-robot with estimated parameters is used to achieve robot transparency during treatment and inverse adaptive models of the individual patient's extremity allow the controllers to learn on-line the individual patient's behavior and effort and react in a way that assist the patient only as much as needed. The effectiveness of the controllers is evaluated with unimpaired subjects using a first prototype of a soft-robot for elbow training. Advantages and disadvantages of both controllers are analyzed and discussed.

Microsurgery robots: addressing the needs of high-precision surgical interventions.

PubMed

Mattos, Leonardo S; Caldwell, Darwin G; Peretti, Giorgio; Mora, Francesco; Guastini, Luca; Cingolani, Roberto

2016-01-01

Robotics has a significant potential to enhance the overall capacity and efficiency of healthcare systems. Robots can help surgeons perform better quality operations, leading to reductions in the hospitalisation time of patients and in the impact of surgery on their postoperative quality of life. In particular, robotics can have a significant impact on microsurgery, which presents stringent requirements for superhuman precision and control of the surgical tools. Microsurgery is, in fact, expected to gain importance in a growing range of surgical specialties as novel technologies progressively enable the detection, diagnosis and treatment of diseases at earlier stages. Within such scenarios, robotic microsurgery emerges as one of the key components of future surgical interventions, and will be a vital technology for addressing major surgical challenges. Nonetheless, several issues have yet to be overcome in terms of mechatronics, perception and surgeon-robot interfaces before microsurgical robots can achieve their full potential in operating rooms. Research in this direction is progressing quickly and microsurgery robot prototypes are gradually demonstrating significant clinical benefits in challenging applications such as reconstructive plastic surgery, ophthalmology, otology and laryngology. These are reassuring results offering confidence in a brighter future for high-precision surgical interventions.

Function-based design process for an intelligent ground vehicle vision system

NASA Astrophysics Data System (ADS)

Nagel, Robert L.; Perry, Kenneth L.; Stone, Robert B.; McAdams, Daniel A.

2010-10-01

An engineering design framework for an autonomous ground vehicle vision system is discussed. We present both the conceptual and physical design by following the design process, development and testing of an intelligent ground vehicle vision system constructed for the 2008 Intelligent Ground Vehicle Competition. During conceptual design, the requirements for the vision system are explored via functional and process analysis considering the flows into the vehicle and the transformations of those flows. The conceptual design phase concludes with a vision system design that is modular in both hardware and software and is based on a laser range finder and camera for visual perception. During physical design, prototypes are developed and tested independently, following the modular interfaces identified during conceptual design. Prototype models, once functional, are implemented into the final design. The final vision system design uses a ray-casting algorithm to process camera and laser range finder data and identify potential paths. The ray-casting algorithm is a single thread of the robot's multithreaded application. Other threads control motion, provide feedback, and process sensory data. Once integrated, both hardware and software testing are performed on the robot. We discuss the robot's performance and the lessons learned.

Gravity compensation of an upper extremity exoskeleton.

PubMed

Moubarak, S; Pham, M T; Moreau, R; Redarce, T

2010-01-01

This paper presents a new gravity compensation method for an upper extremity exoskeleton mounted on a wheel chair. This new device is dedicated to regular and efficient rehabilitation training for post-stroke and injured people without the continuous presence of a therapist. The exoskeleton is a wearable robotic device attached to the human arm. The user provides information signals to the controller by means of the force sensors around the wrist and the arm, and the robot controller generates the appropriate control signals for different training strategies and paradigms. This upper extremity exoskeleton covers four basic degrees of freedom of the shoulder and the elbow joints with three additional adaptability degrees of freedom in order to match the arm anatomy of different users. For comfortable and efficient rehabilitation, a new heuristic method have been studied and applied on our prototype in order to calculate the gravity compensation model without the need to identify the mass parameters. It is based on the geometric model of the robot and accurate torque measurements of the prototype's actuators in a set of specifically chosen joint positions. The weight effect has been successfully compensated so that the user can move his arm freely while wearing the exoskeleton without feeling its mass.

Design of a piezoelectric inchworm actuator and compliant end effector for minimally invasive surgery

NASA Astrophysics Data System (ADS)

Canfield, Shawn; Edinger, Ben; Frecker, Mary I.; Koopmann, Gary H.

1999-06-01

Recent advances in robotics, tele-robotics, smart material actuators, and mechatronics raise new possibilities for innovative developments in millimeter-scale robotics capable of manipulating objects only fractions of a millimeter in size. These advances can have a wide range of applications in the biomedical community. A potential application of this technology is in minimally invasive surgery (MIS). The focus of this paper is the development of a single degree of freedom prototype to demonstrate the viability of smart materials, force feedback and compliant mechanisms for minimally invasive surgery. The prototype is a compliant gripper that is 7-mm by 17-mm, made from a single piece of titanium that is designed to function as a needle driver for small scale suturing. A custom designed piezoelectric `inchworm' actuator drives the gripper. The integrated system is computer controlled providing a user interface device capable of force feedback. The design methodology described draws from recent advances in three emerging fields in engineering: design of innovative tools for MIS, design of compliant mechanisms, and design of smart materials and actuators. The focus of this paper is on the design of a millimeter-scale inchworm actuator for use with a compliant end effector in MIS.

Dr. Thomas Zurbuchen Visits Swamp Works

NASA Image and Video Library

2016-11-18

Thomas Zurbuchen, in plaid shirt, NASA's associate administrator for the Science Mission Directorate, listens to a presentation at the Swamp Works facility at NASA's Kennedy Space Center in Florida. In the foreground is a prototype robotic exploration vehicle.

Rapid Prototyping of Robotic Systems

DTIC Science & Technology

2007-06-01

Nowak, S. Peterson, “Feature Oriented Domain Analysis ( FODA ) Feasibility Study,” Technical Report, CMU/SEI-90-TR-21, Software Engineering Institute...32 3. Embedded System Control Language..............................................33 viii 4. Architecture Analysis and Design Language...41 5. Analysis

Rapid, Reliable Shape Setting of Superelastic Nitinol for Prototyping Robots

PubMed Central

Gilbert, Hunter B.; Webster, Robert J.

2016-01-01

Shape setting Nitinol tubes and wires in a typical laboratory setting for use in superelastic robots is challenging. Obtaining samples that remain superelastic and exhibit desired precurvatures currently requires many iterations, which is time consuming and consumes a substantial amount of Nitinol. To provide a more accurate and reliable method of shape setting, in this paper we propose an electrical technique that uses Joule heating to attain the necessary shape setting temperatures. The resulting high power heating prevents unintended aging of the material and yields consistent and accurate results for the rapid creation of prototypes. We present a complete algorithm and system together with an experimental analysis of temperature regulation. We experimentally validate the approach on Nitinol tubes that are shape set into planar curves. We also demonstrate the feasibility of creating general space curves by shape setting a helical tube. The system demonstrates a mean absolute temperature error of 10°C. PMID:27648473

Rapid, Reliable Shape Setting of Superelastic Nitinol for Prototyping Robots.

PubMed

Gilbert, Hunter B; Webster, Robert J

Shape setting Nitinol tubes and wires in a typical laboratory setting for use in superelastic robots is challenging. Obtaining samples that remain superelastic and exhibit desired precurvatures currently requires many iterations, which is time consuming and consumes a substantial amount of Nitinol. To provide a more accurate and reliable method of shape setting, in this paper we propose an electrical technique that uses Joule heating to attain the necessary shape setting temperatures. The resulting high power heating prevents unintended aging of the material and yields consistent and accurate results for the rapid creation of prototypes. We present a complete algorithm and system together with an experimental analysis of temperature regulation. We experimentally validate the approach on Nitinol tubes that are shape set into planar curves. We also demonstrate the feasibility of creating general space curves by shape setting a helical tube. The system demonstrates a mean absolute temperature error of 10°C.

Mobile Robot for Exploring Cold Liquid/Solid Environments

NASA Technical Reports Server (NTRS)

Bergh, Charles; Zimmerman, Wayne

2006-01-01

The Planetary Autonomous Amphibious Robotic Vehicle (PAARV), now at the prototype stage of development, was originally intended for use in acquiring and analyzing samples of solid, liquid, and gaseous materials in cold environments on the shores and surfaces, and at shallow depths below the surfaces, of lakes and oceans on remote planets. The PAARV also could be adapted for use on Earth in similar exploration of cold environments in and near Arctic and Antarctic oceans and glacial and sub-glacial lakes.

Oxygen-Free Welding Contact Tips

NASA Technical Reports Server (NTRS)

Pike, James F.

1993-01-01

Contact tips for gas/metal arc welding (GMAW) fabricated from oxygen-free copper. Prototype tips tested in robotic welding, for which application intended. Reduces electrical erosion, increases electrical conductivity, and reduces mechanical wear. Productivity of robotic welding increases while time during welding interrupted for removal and replacement of contact tips minimal. Improves alignment of joints and filler metal, reducing rate of rejection and repair of unacceptable weldments. Utility extends beyond aerospace industry to mass production of various types of hardware, including heavy off-highway construction equipment.

A novel four-wire-driven robotic catheter for radio-frequency ablation treatment.

PubMed

Yoshimitsu, Kitaro; Kato, Takahisa; Song, Sang-Eun; Hata, Nobuhiko

2014-09-01

   Robotic catheters have been proposed to increase the efficacy and safety of the radio-frequency ablation treatment. The robotized motion of current robotic catheters mimics the motion of manual ones-namely, deflection in one direction and rotation around the catheter. With the expectation that the higher dexterity may achieve further efficacy and safety of the robotically driven treatment, we prototyped a four-wire-driven robotic catheter with the ability to deflect in two- degree-of-freedom motions in addition to rotation.    A novel quad-directional structure with two wires was designed and developed to attain yaw and pitch motion in the robotic catheter. We performed a mechanical evaluation of the bendability and maneuverability of the robotic catheter and compared it with current manual catheters.    We found that the four-wire-driven robotic catheter can achieve a pitching angle of 184.7[Formula: see text] at a pulling distance of wire for 11 mm, while the yawing angle was 170.4[Formula: see text] at 11 mm. The robotic catheter could attain the simultaneous two- degree-of-freedom motions in a simulated cardiac chamber.    The results indicate that the four-wire-driven robotic catheter may offer physicians the opportunity to intuitively control a catheter and smoothly approach the focus position that they aim to ablate.

Combining psychological and engineering approaches to utilizing social robots with children with autism.

PubMed

Dickstein-Fischer, Laurie; Fischer, Gregory S

2014-01-01

It is estimated that Autism Spectrum Disorder (ASD) affects 1 in 68 children. Early identification of an ASD is exceedingly important to the introduction of an intervention. We are developing a robot-assisted approach that will serve as an improved diagnostic and early intervention tool for children with autism. The robot, named PABI® (Penguin for Autism Behavioral Interventions), is a compact humanoid robot taking on an expressive cartoon-like embodiment. The robot is affordable, durable, and portable so that it can be used in various settings including schools, clinics, and the home. Thus enabling significantly enhanced and more readily available diagnosis and continuation of care. Through facial expressions, body motion, verbal cues, stereo vision-based tracking, and a tablet computer, the robot is capable of interacting meaningfully with an autistic child. Initial implementations of the robot, as part of a comprehensive treatment model (CTM), include Applied Behavioral Analysis (ABA) therapy where the child interacts with a tablet computer wirelessly interfaced with the robot. At the same time, the robot makes meaningful expressions and utterances and uses stereo cameras in eyes to track the child, maintain eye contact, and collect data such as affect and gaze direction for charting of progress. In this paper we present the clinical justification, anticipated usage with corresponding requirements, prototype development of the robotic system, and demonstration of a sample application for robot-assisted ABA therapy.

Scenario-Based Assessment of User Needs for Point-of-Care Robots.

PubMed

Lee, Hyeong Suk; Kim, Jeongeun

2018-01-01

This study aimed to derive specific user requirements and barriers in a real medical environment to define the essential elements and functions of two types of point-of-care (POC) robot: a telepresence robot as a tool for teleconsultation, and a bedside robot to provide emotional care for patients. An analysis of user requirements was conducted; user needs were gathered and identified, and detailed, realistic scenarios were created. The prototype robots were demonstrated in physical environments for envisioning and evaluation. In all, three nurses and three clinicians participated as evaluators to observe the demonstrations and evaluate the robot systems. The evaluators were given a brief explanation of each scene and the robots' functionality. Four major functions of the teleconsultation robot were defined and tested in the demonstration. In addition, four major functions of the bedside robot were evaluated. Among the desired functions for a teleconsultation robot, medical information delivery and communication had high priority. For a bedside robot, patient support, patient monitoring, and healthcare provider support were the desired functions. The evaluators reported that the teleconsultation robot can increase support from and access to specialists and resources. They mentioned that the bedside robot can improve the quality of hospital life. Problems identified in the demonstration were those of space conflict, communication errors, and safety issues. Incorporating this technology into healthcare services will enhance communication and teamwork skills across distances and thereby facilitate teamwork. However, repeated tests will be needed to evaluate and ensure improved performance.

Scenario-Based Assessment of User Needs for Point-of-Care Robots

PubMed Central

Lee, Hyeong Suk

2018-01-01

Objectives This study aimed to derive specific user requirements and barriers in a real medical environment to define the essential elements and functions of two types of point-of-care (POC) robot: a telepresence robot as a tool for teleconsultation, and a bedside robot to provide emotional care for patients. Methods An analysis of user requirements was conducted; user needs were gathered and identified, and detailed, realistic scenarios were created. The prototype robots were demonstrated in physical environments for envisioning and evaluation. In all, three nurses and three clinicians participated as evaluators to observe the demonstrations and evaluate the robot systems. The evaluators were given a brief explanation of each scene and the robots' functionality. Four major functions of the teleconsultation robot were defined and tested in the demonstration. In addition, four major functions of the bedside robot were evaluated. Results Among the desired functions for a teleconsultation robot, medical information delivery and communication had high priority. For a bedside robot, patient support, patient monitoring, and healthcare provider support were the desired functions. The evaluators reported that the teleconsultation robot can increase support from and access to specialists and resources. They mentioned that the bedside robot can improve the quality of hospital life. Problems identified in the demonstration were those of space conflict, communication errors, and safety issues. Conclusions Incorporating this technology into healthcare services will enhance communication and teamwork skills across distances and thereby facilitate teamwork. However, repeated tests will be needed to evaluate and ensure improved performance. PMID:29503748

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect.

PubMed

Ando, Noriyasu; Emoto, Shuhei; Kanzaki, Ryohei

2016-12-19

Robotic odor source localization has been a challenging area and one to which biological knowledge has been expected to contribute, as finding odor sources is an essential task for organism survival. Insects are well-studied organisms with regard to odor tracking, and their behavioral strategies have been applied to mobile robots for evaluation. This "bottom-up" approach is a fundamental way to develop biomimetic robots; however, the biological analyses and the modeling of behavioral mechanisms are still ongoing. Therefore, it is still unknown how such a biological system actually works as the controller of a robotic platform. To answer this question, we have developed an insect-controlled robot in which a male adult silkmoth (Bombyx mori) drives a robot car in response to odor stimuli; this can be regarded as a prototype of a future insect-mimetic robot. In the cockpit of the robot, a tethered silkmoth walked on an air-supported ball and an optical sensor measured the ball rotations. These rotations were translated into the movement of the two-wheeled robot. The advantage of this "hybrid" approach is that experimenters can manipulate any parameter of the robot, which enables the evaluation of the odor-tracking capability of insects and provides useful suggestions for robotic odor-tracking. Furthermore, these manipulations are non-invasive ways to alter the sensory-motor relationship of a pilot insect and will be a useful technique for understanding adaptive behaviors.

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.

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

NASA Astrophysics Data System (ADS)

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

2018-05-01

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

High-frequency imaging radar for robotic navigation and situational awareness

NASA Astrophysics Data System (ADS)

Thomas, David J.; Luo, Changan; Knox, Robert

2011-05-01

With increasingly available high frequency radar components, the practicality of imaging radar for mobile robotic applications is now practical. Navigation, ODOA, situational awareness and safety applications can be supported in small light weight packaging. Radar has the additional advantage of being able sense through aerosols, smoke and dust that can be difficult for many optical systems. The ability to directly measure the range rate of an object is also an advantage in radar applications. This paper will explore the applicability of high frequency imaging radar for mobile robotics and examine a W-band 360 degree imaging radar prototype. Indoor and outdoor performance data will be analyzed and evaluated for applicability to navigation and situational awareness.

Wireless technologies for robotic endoscope in gastrointestinal tract.

PubMed

Gao, P; Yan, G; Wang, Z; Liu, H

2012-07-01

This paper introduces wireless technologies for use with robotic endoscopes in the gastrointestinal tract. The technologies include wireless power transmission (WPT), wireless remote control (WRC), and wireless image transmission (WIT). WPT, based on the electromagnetic coupling principle, powers active locomotion actuators and other peripherals in large air gaps. WRC, based on real-time bidirectional communication, has a multikernel frame in vivo to realize real-time multitasking. WIT provides a continuous dynamic image with a revolution of 320 × 240 pixel at 30 fps for in vitro diagnosis. To test these wireless technologies, three robotic endoscope prototypes were fabricated and equipped with the customized modules. The experimental results show that the wireless technologies have value for clinical applications.

Microfluidic-Based Robotic Sampling System for Radioactive Solutions

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

Jack D. Law; Julia L. Tripp; Tara E. Smith

A novel microfluidic based robotic sampling system has been developed for sampling and analysis of liquid solutions in nuclear processes. This system couples the use of a microfluidic sample chip with a robotic system designed to allow remote, automated sampling of process solutions in-cell and facilitates direct coupling of the microfluidic sample chip with analytical instrumentation. This system provides the capability for near real time analysis, reduces analytical waste, and minimizes the potential for personnel exposure associated with traditional sampling methods. A prototype sampling system was designed, built and tested. System testing demonstrated operability of the microfluidic based sample systemmore » and identified system modifications to optimize performance.« less

Space robotic experiment in JEM flight demonstration

NASA Technical Reports Server (NTRS)

Nagatomo, Masanori; Tanaka, Masaki; Nakamura, Kazuyuki; Tsuda, Shinichi

1994-01-01

Japan is collaborating on the multinational space station program. The JEM, Japanese Experiment Module, has both a pressurized module and an Exposed Facility (EF). JEM Remote Manipulator System (JEMRMS) will play a dominant role in handling/servicing payloads and the maintenance of the EF, and consists of two robotic arms, a main arm and a small fine arm. JEM Flight Demonstration (JFD) is a space robotics experiment using the prototype small fine arm to demonstrate its capability, prior to the Space Station operation. The small fine arm will be installed in the Space Shuttle cargo bay and operated by a crew from a dedicated workstation in the Aft Flight Deck of the orbiter.

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.

Design and Evolution of a Modular Tensegrity Robot Platform

NASA Technical Reports Server (NTRS)

Bruce, Jonathan; Caluwaerts, Ken; Iscen, Atil; Sabelhaus, Andrew P.; SunSpiral, Vytas

2014-01-01

NASA Ames Research Center is developing a compliant modular tensegrity robotic platform for planetary exploration. In this paper we present the design and evolution of the platform's main hardware component, an untethered, robust tensegrity strut, with rich sensor feedback and cable actuation. Each strut is a complete robot, and multiple struts can be combined together to form a wide range of complex tensegrity robots. Our current goal for the tensegrity robotic platform is the development of SUPERball, a 6-strut icosahedron underactuated tensegrity robot aimed at dynamic locomotion for planetary exploration rovers and landers, but the aim is for the modular strut to enable a wide range of tensegrity morphologies. SUPERball is a second generation prototype, evolving from the tensegrity robot ReCTeR, which is also a modular, lightweight, highly compliant 6-strut tensegrity robot that was used to validate our physics based NASA Tensegrity Robot Toolkit (NTRT) simulator. Many hardware design parameters of the SUPERball were driven by locomotion results obtained in our validated simulator. These evolutionary explorations helped constrain motor torque and speed parameters, along with strut and string stress. As construction of the hardware has finalized, we have also used the same evolutionary framework to evolve controllers that respect the built hardware parameters.

Nonlinear conduction via solitons in a topological mechanical insulator.

PubMed

Chen, Bryan Gin-ge; Upadhyaya, Nitin; Vitelli, Vincenzo

2014-09-09

Networks of rigid bars connected by joints, termed linkages, provide a minimal framework to design robotic arms and mechanical metamaterials built of folding components. Here, we investigate a chain-like linkage that, according to linear elasticity, behaves like a topological mechanical insulator whose zero-energy modes are localized at the edge. Simple experiments we performed using prototypes of the chain vividly illustrate how the soft motion, initially localized at the edge, can in fact propagate unobstructed all of the way to the opposite end. Using real prototypes, simulations, and analytical models, we demonstrate that the chain is a mechanical conductor, whose carriers are nonlinear solitary waves, not captured within linear elasticity. Indeed, the linkage prototype can be regarded as the simplest example of a topological metamaterial whose protected mechanical excitations are solitons, moving domain walls between distinct topological mechanical phases. More practically, we have built a topologically protected mechanism that can perform basic tasks such as transporting a mechanical state from one location to another. Our work paves the way toward adopting the principle of topological robustness in the design of robots assembled from activated linkages as well as in the fabrication of complex molecular nanostructures.

Influence of part orientation on the geometric accuracy in robot-based incremental sheet metal forming

NASA Astrophysics Data System (ADS)

Störkle, Denis Daniel; Seim, Patrick; Thyssen, Lars; Kuhlenkötter, Bernd

2016-10-01

This article describes new developments in an incremental, robot-based sheet metal forming process (`Roboforming') for the production of sheet metal components for small lot sizes and prototypes. The dieless kinematic-based generation of the shape is implemented by means of two industrial robots, which are interconnected to a cooperating robot system. Compared to other incremental sheet metal forming (ISF) machines, this system offers high geometrical form flexibility without the need of any part-dependent tools. The industrial application of ISF is still limited by certain constraints, e.g. the low geometrical accuracy. Responding to these constraints, the authors present the influence of the part orientation and the forming sequence on the geometric accuracy. Their influence is illustrated with the help of various experimental results shown and interpreted within this article.

Design of a robotic gait trainer using spring over muscle actuators for ankle stroke rehabilitation.

PubMed

Bharadwaj, Kartik; Sugar, Thomas G; Koeneman, James B; Koeneman, Edward J

2005-11-01

Repetitive task training is an effective form of rehabilitation for people suffering from debilitating injuries of stroke. We present the design and working concept of a robotic gait trainer (RGT), an ankle rehabilitation device for assisting stroke patients during gait. Structurally based on a tripod mechanism, the device is a parallel robot that incorporates two pneumatically powered, double-acting, compliant, spring over muscle actuators as actuation links which move the ankle in dorsiflex ion/plantarflexion and inversion/eversion. A unique feature in the tripod design is that the human anatomy is part of the robot, the first fixed link being the patient's leg. The kinematics and workspace of the tripod device have been analyzed determining its range of motion. Experimental gait data from an able-bodied person wearing the working RGT prototype are presented.

Designing a social and assistive robot for seniors.

PubMed

Eftring, H; Frennert, S

2016-06-01

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

A prototype stationary Fourier transform spectrometer for near-infrared absorption spectroscopy.

PubMed

Li, Jinyang; Lu, Dan-feng; Qi, Zhi-mei

2015-09-01

A prototype stationary Fourier transform spectrometer (FTS) was constructed with a fiber-coupled lithium niobate (LiNbO3) waveguide Mach-Zehnder interferometer (MZI) for the purpose of rapid on-site spectroscopy of biological and chemical measurands. The MZI contains push-pull electrodes for electro-optic modulation, and its interferogram as a plot of intensity against voltage was obtained by scanning the modulating voltage from -60 to +60 V in 50 ms. The power spectrum of input signal was retrieved by Fourier transform processing of the interferogram combined with the wavelength dispersion of half-wave voltage determined for the MZI used. The prototype FTS operates in the single-mode wavelength range from 1200 to 1700 nm and allows for reproducible spectroscopy. A linear concentration dependence of the absorbance at λmax = 1451 nm for water in ethanolic solution was obtained using the prototype FTS. The near-infrared spectroscopy of solid samples was also implemented, and the different spectra obtained with different materials evidenced the chemical recognition capability of the prototype FTS. To make this prototype FTS practically applicable, work on improving its spectral resolution by increasing the maximum optical path length difference is in progress.

Forming Human-Robot Teams Across Time and Space

NASA Technical Reports Server (NTRS)

Hambuchen, Kimberly; Burridge, Robert R.; Ambrose, Robert O.; Bluethmann, William J.; Diftler, Myron A.; Radford, Nicolaus A.

2012-01-01

NASA pushes telerobotics to distances that span the Solar System. At this scale, time of flight for communication is limited by the speed of light, inducing long time delays, narrow bandwidth and the real risk of data disruption. NASA also supports missions where humans are in direct contact with robots during extravehicular activity (EVA), giving a range of zero to hundreds of millions of miles for NASA s definition of "tele". . Another temporal variable is mission phasing. NASA missions are now being considered that combine early robotic phases with later human arrival, then transition back to robot only operations. Robots can preposition, scout, sample or construct in advance of human teammates, transition to assistant roles when the crew are present, and then become care-takers when the crew returns to Earth. This paper will describe advances in robot safety and command interaction approaches developed to form effective human-robot teams, overcoming challenges of time delay and adapting as the team transitions from robot only to robots and crew. The work is predicated on the idea that when robots are alone in space, they are still part of a human-robot team acting as surrogates for people back on Earth or in other distant locations. Software, interaction modes and control methods will be described that can operate robots in all these conditions. A novel control mode for operating robots across time delay was developed using a graphical simulation on the human side of the communication, allowing a remote supervisor to drive and command a robot in simulation with no time delay, then monitor progress of the actual robot as data returns from the round trip to and from the robot. Since the robot must be responsible for safety out to at least the round trip time period, the authors developed a multi layer safety system able to detect and protect the robot and people in its workspace. This safety system is also running when humans are in direct contact with the robot, so it involves both internal fault detection as well as force sensing for unintended external contacts. The designs for the supervisory command mode and the redundant safety system will be described. Specific implementations were developed and test results will be reported. Experiments were conducted using terrestrial analogs for deep space missions, where time delays were artificially added to emulate the longer distances found in space.

An Industrial Perspective of CAM/ROB Fuzzy Integrated Postprocessing Implementation for Redundant Robotic Workcells Applicability for Big Volume Prototyping

NASA Astrophysics Data System (ADS)

Andrés, J.; Gracia, L.; Tornero, J.; García, J. A.; González, F.

2009-11-01

The implementation of a postprocessor for the NX™ platform (Siemens Corp.) is described in this paper. It is focused on a milling redundant robotic milling workcell consisting of one KUKA KR 15/2 manipulator (6 rotary joints, KRC2 controller) mounted on a linear axis and synchronized with a rotary table (i.e., two additional joints). For carrying out a milling task, a choice among a set of possible configurations is required, taking into account the ability to avoid singular configurations by using both additional joints. Usually, experience and knowledge of the workman allow an efficient control in these cases, but being it a tedious job. Similarly to this expert knowledge, a stand-alone fuzzy controller has been programmed with Matlab's Fuzzy Logic Toolbox (The MathWorks, Inc.). Two C++ programs complement the translation of the toolpath tracking (expressed in the Cartesian space) from the NX™-CAM module into KRL (KUKA Robot Language). In order to avoid singularities or joint limits, the location of the robot and the workpiece during the execution of the task is fit after an inverse kinematics position analysis and a fuzzy inference (i.e., fuzzy criterion in the Joint Space). Additionally, the applicability of robot arms for the manufacture of big volume prototypes with this technique is proven by means of one case studied. It consists of a big orographic model to simulate floodways, return flows and retention storage of a reservoir in the Mijares river (Puebla de Arenoso, Spain). This article deals with the problem for a constant tool orientation milling process and sets the technological basis for future research at five axis milling operations.

Technology for an intelligent, free-flying robot for crew and equipment retrieval in space

NASA Technical Reports Server (NTRS)

Erickson, J. D.; Reuter, G. J.; Healey, Kathleen J.; Phinney, D. E.

1990-01-01

Crew rescue and equipment retrieval is a Space Station Freedom requirement. During Freedom's lifetime, there is a high probability that a number of objects will accidently become separated. Members of the crew, replacement units, and key tools are examples. Retrieval of these objects within a short time is essential. Systems engineering studies were conducted to identify system requirements and candidate approaches. One such approach, based on a voice-supervised, intelligent, free-flying robot was selected for further analysis. A ground-based technology demonstration, now in its second phase, was designed to provide an integrated robotic hardware and software testbed supporting design of a space-borne system. The ground system, known as the EVA Retriever, is examining the problem of autonomously planning and executing a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles. The current prototype is an anthropomorphic manipulator unit with dexterous arms and hands attached to a robot body and latched in a manned maneuvering unit. A precision air-bearing floor is used to simulate space. Sensor data include two vision systems and force/proximity/tactile sensors on the hands and arms. Planning for a shuttle file experiment is underway. A set of scenarios and strawman requirements were defined to support conceptual development. Initial design activities are expected to begin in late 1989 with the flight occurring in 1994. The flight hardware and software will be based on lessons learned from both the ground prototype and computer simulations.

Robotic Technology Efforts at the NASA/Johnson Space Center

NASA Technical Reports Server (NTRS)

Diftler, Ron

2017-01-01

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

Robotic Technology Efforts at the NASA/Johnson Space Center

NASA Technical Reports Server (NTRS)

Diftler, Ron

2017-01-01

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

A hardware/software environment to support R D in intelligent machines and mobile robotic systems

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

Mann, R.C.

1990-01-01

The Center for Engineering Systems Advanced Research (CESAR) serves as a focal point at the Oak Ridge National Laboratory (ORNL) for basic and applied research in intelligent machines. R D at CESAR addresses issues related to autonomous systems, unstructured (i.e. incompletely known) operational environments, and multiple performing agents. Two mobile robot prototypes (HERMIES-IIB and HERMIES-III) are being used to test new developments in several robot component technologies. This paper briefly introduces the computing environment at CESAR which includes three hypercube concurrent computers (two on-board the mobile robots), a graphics workstation, VAX, and multiple VME-based systems (several on-board the mobile robots).more » The current software environment at CESAR is intended to satisfy several goals, e.g.: code portability, re-usability in different experimental scenarios, modularity, concurrent computer hardware transparent to applications programmer, future support for multiple mobile robots, support human-machine interface modules, and support for integration of software from other, geographically disparate laboratories with different hardware set-ups. 6 refs., 1 fig.« less

Measurement of Vibrations in Two Tower-Typed Assistant Personal Robot Implementations with and without a Passive Suspension System

PubMed Central

Moreno, Javier; Clotet, Eduard; Tresanchez, Marcel; Martínez, Dani; Casanovas, Jordi; Palacín, Jordi

2017-01-01

This paper presents the vibration pattern measurement of two tower-typed holonomic mobile robot prototypes: one based on a rigid mechanical structure, and the other including a passive suspension system. Specific to the tower-typed mobile robots is that the vibrations that originate in the lower part of the structure are transmitted and amplified to the higher areas of the tower, causing an unpleasant visual effect and mechanical stress. This paper assesses the use of a suspension system aimed at minimizing the generation and propagation of vibrations in the upper part of the tower-typed holonomic robots. The two robots analyzed were equipped with onboard accelerometers to register the acceleration over the X, Y, and Z axes in different locations and at different velocities. In all the experiments, the amplitude of the vibrations showed a typical Gaussian pattern which has been modeled with the value of the standard deviation. The results have shown that the measured vibrations in the head of the mobile robots, including a passive suspension system, were reduced by a factor of 16. PMID:28505108

Transoral robotic surgery in head and neck cancer.

PubMed

Hans, S; Delas, B; Gorphe, P; Ménard, M; Brasnu, D

2012-02-01

Robots have invaded industry and, more recently, the field of medicine. Following the development of various prototypes, Intuitive Surgical® has developed the Da Vinci surgical robot. This robot, designed for abdominal surgery, has been widely used in urology since 2000. The many advantages of this transoral robotic surgery (TORS) are described in this article. Its disadvantages are essentially its high cost and the absence of tactile feedback. The first feasibility studies in head and neck cancer, conducted in animals, dummies and cadavers, were performed in 2005, followed by the first publications in patients in 2006. The first series including more than 20 patients treated by TORS demonstrated the feasibility for the following sites: oropharynx, supraglottic larynx and hypopharynx. However, these studies did not validate the oncological results of the TORS technique. TORS decreases the number of tracheotomies, and allows more rapid swallowing rehabilitation and a shorter length of hospital stay. Technical improvements are expected. Smaller, more ergonomic, new generation robots, therefore more adapted to the head and neck, will probably be available in the future. Copyright © 2011 Elsevier Masson SAS. All rights reserved.

Design of a Robotic Ankle Joint for a Microspine-Based Robot

NASA Technical Reports Server (NTRS)

Thatte, Nitish

2011-01-01

Successful robotic exploration of near-Earth asteroids necessitates a method of securely anchoring to the surface of these bodies without gravitational assistance. Microspine grip- per arrays that can grasp rock faces are a potential solution to this problem. A key component of a future microspine-based rover will be the ankle used to attach each microspine gripper to the robot. The ankle's purpose is twofold: 1) to allow the gripper to conform to the rock so a higher percentage of microspines attach to the surface, and 2) to neutralize torques that may dislodge the grippers from the wall. Parts were developed using computer aided design and manufactured using a variety of methods including selective laser sintering, CNC milling, and traditional manual machining techniques. Upon completion of the final prototype, the gripper and ankle system was tested to demonstrate robotic engagement and disengagement of the gripper and to determine load bearing ability. The immediate application of this project is to out t the Lemur IIb robot so it can climb and hang from rock walls.

Design of a novel wheeled tensegrity robot: a comparison of tensegrity concepts and a prototype for travelling air ducts.

PubMed

Carreño, Francisco; Post, Mark A

2018-01-01

Efforts in the research of tensegrity structures applied to mobile robots have recently been focused on a purely tensegrity solution to all design requirements. Locomotion systems based on tensegrity structures are currently slow and complex to control. Although wheeled locomotion provides better efficiency over distances there is no literature available on the value of wheeled methods with respect to tensegrity designs, nor on how to transition from a tensegrity structure to a fixed structure in mobile robotics. This paper is the first part of a larger study that aims to combine the flexibility, light weight, and strength of a tensegrity structure with the efficiency and simple control of a wheeled locomotion system. It focuses on comparing different types of tensegrity structure for applicability to a mobile robot, and experimentally finding an appropriate transitional region from a tensegrity structure to a conventional fixed structure on mobile robots. It applies this transitional structure to what is, to the authors' knowledge, the design of the world's first wheeled tensegrity robot that has been designed with the goal of traversing air ducts.

The contact condition influence on stability and energy efficiency of quadruped robot

NASA Astrophysics Data System (ADS)

Lei, Jingtao; Wang, Tianmiao; Gao, Feng

2008-10-01

Quadruped robot has attribute of serial and parallel manipulator with multi-loop mechanism, with more DOF of each leg and intermittent contact with ground during walking, the trot gait of quadruped robot belongs to dynamic waking, compared to the crawl gait, the walking speed is higher, but the robot becomes unstable, it is difficult to keep dynamically stable walking. In this paper, we mainly analyze the condition for the quadruped robot to realize dynamically stable walking, establish centroid orbit equation based on ZMP (Zero Moment Point) stability theory, on the other hand , we study contact impact and friction influence on stability and energy efficiency. Because of the periodic contact between foots and ground, the contact impact and friction are considered to establish spring-damp nonlinear dynamics model. Robot need to be controlled to meet ZMP stability condition and contact constraint condition. Based on the virtual prototyping model, we study control algorithm considering contact condition, the contact compensator and friction compensator are adopted. The contact force and the influence of different contact conditions on the energy efficiency during whole gait cycle are obtained.

Calibration Of An Omnidirectional Vision Navigation System Using An Industrial Robot

NASA Astrophysics Data System (ADS)

Oh, Sung J.; Hall, Ernest L.

1989-09-01

The characteristics of an omnidirectional vision navigation system were studied to determine position accuracy for the navigation and path control of a mobile robot. Experiments for calibration and other parameters were performed using an industrial robot to conduct repetitive motions. The accuracy and repeatability of the experimental setup and the alignment between the robot and the sensor provided errors of less than 1 pixel on each axis. Linearity between zenith angle and image location was tested at four different locations. Angular error of less than 1° and radial error of less than 1 pixel were observed at moderate speed variations. The experimental information and the test of coordinated operation of the equipment provide understanding of characteristics as well as insight into the evaluation and improvement of the prototype dynamic omnivision system. The calibration of the sensor is important since the accuracy of navigation influences the accuracy of robot motion. This sensor system is currently being developed for a robot lawn mower; however, wider applications are obvious. The significance of this work is that it adds to the knowledge of the omnivision sensor.

A novel remote center of motion mechanism for the force-reflective master robot of haptic tele-surgery systems.

PubMed

Hadavand, Mostafa; Mirbagheri, Alireza; Behzadipour, Saeed; Farahmand, Farzam

2014-06-01

An effective master robot for haptic tele-surgery applications needs to provide a solution for the inversed movements of the surgical tool, in addition to sufficient workspace and manipulability, with minimal moving inertia. A novel 4 + 1-DOF mechanism was proposed, based on a triple parallelogram linkage, which provided a Remote Center of Motion (RCM) at the back of the user's hand. The kinematics of the robot was analyzed and a prototype was fabricated and evaluated by experimental tests. With a RCM at the back of the user's hand the actuators far from the end effector, the robot could produce the sensation of hand-inside surgery with minimal moving inertia. The target workspace was achieved with an acceptable manipulability. The trajectory tracking experiments revealed small errors, due to backlash at the joints. The proposed mechanism meets the basic requirements of an effective master robot for haptic tele-surgery applications. Copyright © 2013 John Wiley & Sons, Ltd.

Sandia National Laboratories proof-of-concept robotic security vehicle

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

Harrington, J.J.; Jones, D.P.; Klarer, P.R.

1989-01-01

Several years ago Sandia National Laboratories developed a prototype interior robot that could navigate autonomously inside a large complex building to air and test interior intrusion detection systems. Recently the Department of Energy Office of Safeguards and Security has supported the development of a vehicle that will perform limited security functions autonomously in a structured exterior environment. The goal of the first phase of this project was to demonstrate the feasibility of an exterior robotic vehicle for security applications by using converted interior robot technology, if applicable. An existing teleoperational test bed vehicle with remote driving controls was modified andmore » integrated with a newly developed command driving station and navigation system hardware and software to form the Robotic Security Vehicle (RSV) system. The RSV, also called the Sandia Mobile Autonomous Navigator (SANDMAN), has been successfully used to demonstrate that teleoperated security vehicles which can perform limited autonomous functions are viable and have the potential to decrease security manpower requirements and improve system capabilities. 2 refs., 3 figs.« less

Knowledge assistant for robotic environmental characterization

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

Feddema, J.; Rivera, J.; Tucker, S.

1996-08-01

A prototype sensor fusion framework called the {open_quotes}Knowledge Assistant{close_quotes} has been developed and tested on a gantry robot at Sandia National Laboratories. This Knowledge Assistant guides the robot operator during the planning, execution, and post analysis stages of the characterization process. During the planning stage, the Knowledge Assistant suggests robot paths and speeds based on knowledge of sensors available and their physical characteristics. During execution, the Knowledge Assistant coordinates the collection of data through a data acquisition {open_quotes}specialist.{close_quotes} During execution and postanalysis, the Knowledge Assistant sends raw data to other {open_quotes}specialists,{close_quotes} which include statistical pattern recognition software, a neural network,more » and model-based search software. After the specialists return their results, the Knowledge Assistant consolidates the information and returns a report to the robot control system where the sensed objects and their attributes (e.g., estimated dimensions, weight, material composition, etc.) are displayed in the world model. This report highlights the major components of this system.« less

Automated Sample Exchange Robots for the Structural Biology Beam Lines at the Photon Factory

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

Hiraki, Masahiko; Watanabe, Shokei; Yamada, Yusuke

2007-01-19

We are now developing automated sample exchange robots for high-throughput protein crystallographic experiments for onsite use at synchrotron beam lines. It is part of the fully automated robotics systems being developed at the Photon Factory, for the purposes of protein crystallization, monitoring crystal growth, harvesting and freezing crystals, mounting the crystals inside a hutch and for data collection. We have already installed the sample exchange robots based on the SSRL automated mounting system at our insertion device beam lines BL-5A and AR-NW12A at the Photon Factory. In order to reduce the time required for sample exchange further, a prototype ofmore » a double-tonged system was developed. As a result of preliminary experiments with double-tonged robots, the sample exchange time was successfully reduced from 70 seconds to 10 seconds with the exception of the time required for pre-cooling and warming up the tongs.« less

A locust-inspired miniature jumping robot.

PubMed

Zaitsev, Valentin; Gvirsman, Omer; Ben Hanan, Uri; Weiss, Avi; Ayali, Amir; Kosa, Gabor

2015-11-25

Unmanned ground vehicles are mostly wheeled, tracked, or legged. These locomotion mechanisms have a limited ability to traverse rough terrain and obstacles that are higher than the robot's center of mass. In order to improve the mobility of small robots it is necessary to expand the variety of their motion gaits. Jumping is one of nature's solutions to the challenge of mobility in difficult terrain. The desert locust is the model for the presented bio-inspired design of a jumping mechanism for a small mobile robot. The basic mechanism is similar to that of the semilunar process in the hind legs of the locust, and is based on the cocking of a torsional spring by wrapping a tendon-like wire around the shaft of a miniature motor. In this study we present the jumping mechanism design, and the manufacturing and performance analysis of two demonstrator prototypes. The most advanced jumping robot demonstrator is power autonomous, weighs 23 gr, and is capable of jumping to a height of 3.35 m, covering a distance of 1.37 m.

Gait Planning and Stability Control of a Quadruped Robot

PubMed Central

Li, Junmin; Wang, Jinge; Yang, Simon X.; Zhou, Kedong; Tang, Huijuan

2016-01-01

In order to realize smooth gait planning and stability control of a quadruped robot, a new controller algorithm based on CPG-ZMP (central pattern generator-zero moment point) is put forward in this paper. To generate smooth gait and shorten the adjusting time of the model oscillation system, a new CPG model controller and its gait switching strategy based on Wilson-Cowan model are presented in the paper. The control signals of knee-hip joints are obtained by the improved multi-DOF reduced order control theory. To realize stability control, the adaptive speed adjustment and gait switch are completed by the real-time computing of ZMP. Experiment results show that the quadruped robot's gaits are efficiently generated and the gait switch is smooth in the CPG control algorithm. Meanwhile, the stability of robot's movement is improved greatly with the CPG-ZMP algorithm. The algorithm in this paper has good practicability, which lays a foundation for the production of the robot prototype. PMID:27143959

Gait Planning and Stability Control of a Quadruped Robot.

PubMed

Li, Junmin; Wang, Jinge; Yang, Simon X; Zhou, Kedong; Tang, Huijuan

2016-01-01

In order to realize smooth gait planning and stability control of a quadruped robot, a new controller algorithm based on CPG-ZMP (central pattern generator-zero moment point) is put forward in this paper. To generate smooth gait and shorten the adjusting time of the model oscillation system, a new CPG model controller and its gait switching strategy based on Wilson-Cowan model are presented in the paper. The control signals of knee-hip joints are obtained by the improved multi-DOF reduced order control theory. To realize stability control, the adaptive speed adjustment and gait switch are completed by the real-time computing of ZMP. Experiment results show that the quadruped robot's gaits are efficiently generated and the gait switch is smooth in the CPG control algorithm. Meanwhile, the stability of robot's movement is improved greatly with the CPG-ZMP algorithm. The algorithm in this paper has good practicability, which lays a foundation for the production of the robot prototype.

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

PubMed Central

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

2011-01-01

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

Robotics Algorithms Provide Nutritional Guidelines

NASA Technical Reports Server (NTRS)

2009-01-01

On July 5, 1997, a small robot emerged from its lander like an insect from an egg, crawling out onto the rocky surface of Mars. About the size of a child s wagon, NASA s Sojourner robot was the first successful rover mission to the Red Planet. For 83 sols (Martian days, typically about 40 minutes longer than Earth days), Sojourner - largely remote controlled by NASA operators on Earth - transmitted photos and data unlike any previously collected. Sojourner was perhaps the crowning achievement of the NASA Space Telerobotics Program, an Agency initiative designed to push the limits of robotics in space. Telerobotics - devices that merge the autonomy of robotics with the direct human control of teleoperators - was already a part of NASA s efforts; probes like the Viking landers that preceded Sojourner on Mars, for example, were telerobotic applications. The Space Telerobotics Program, a collaboration between Ames Research Center, Johnson Space Center, Jet Propulsion Laboratory (JPL), and multiple universities, focused on developing remote-controlled robotics for three main purposes: on-orbit assembly and servicing, science payload tending, and planetary surface robotics. The overarching goal was to create robots that could be guided to build structures in space, monitor scientific experiments, and, like Sojourner, scout distant planets in advance of human explorers. While telerobotics remains a significant aspect of NASA s efforts, as evidenced by the currently operating Spirit and Opportunity Mars rovers, the Hubble Space Telescope, and many others - the Space Telerobotics Program was dissolved and redistributed within the Agency the same year as Sojourner s success. The program produced a host of remarkable technologies and surprising inspirations, including one that is changing the way people eat

Nonparametric Online Learning Control for Soft Continuum Robot: An Enabling Technique for Effective Endoscopic Navigation

PubMed Central

Lee, Kit-Hang; Fu, Denny K.C.; Leong, Martin C.W.; Chow, Marco; Fu, Hing-Choi; Althoefer, Kaspar; Sze, Kam Yim; Yeung, Chung-Kwong

2017-01-01

Abstract Bioinspired robotic structures comprising soft actuation units have attracted increasing research interest. Taking advantage of its inherent compliance, soft robots can assure safe interaction with external environments, provided that precise and effective manipulation could be achieved. Endoscopy is a typical application. However, previous model-based control approaches often require simplified geometric assumptions on the soft manipulator, but which could be very inaccurate in the presence of unmodeled external interaction forces. In this study, we propose a generic control framework based on nonparametric and online, as well as local, training to learn the inverse model directly, without prior knowledge of the robot's structural parameters. Detailed experimental evaluation was conducted on a soft robot prototype with control redundancy, performing trajectory tracking in dynamically constrained environments. Advanced element formulation of finite element analysis is employed to initialize the control policy, hence eliminating the need for random exploration in the robot's workspace. The proposed control framework enabled a soft fluid-driven continuum robot to follow a 3D trajectory precisely, even under dynamic external disturbance. Such enhanced control accuracy and adaptability would facilitate effective endoscopic navigation in complex and changing environments. PMID:29251567

Nonparametric Online Learning Control for Soft Continuum Robot: An Enabling Technique for Effective Endoscopic Navigation.

PubMed

Lee, Kit-Hang; Fu, Denny K C; Leong, Martin C W; Chow, Marco; Fu, Hing-Choi; Althoefer, Kaspar; Sze, Kam Yim; Yeung, Chung-Kwong; Kwok, Ka-Wai

2017-12-01

Bioinspired robotic structures comprising soft actuation units have attracted increasing research interest. Taking advantage of its inherent compliance, soft robots can assure safe interaction with external environments, provided that precise and effective manipulation could be achieved. Endoscopy is a typical application. However, previous model-based control approaches often require simplified geometric assumptions on the soft manipulator, but which could be very inaccurate in the presence of unmodeled external interaction forces. In this study, we propose a generic control framework based on nonparametric and online, as well as local, training to learn the inverse model directly, without prior knowledge of the robot's structural parameters. Detailed experimental evaluation was conducted on a soft robot prototype with control redundancy, performing trajectory tracking in dynamically constrained environments. Advanced element formulation of finite element analysis is employed to initialize the control policy, hence eliminating the need for random exploration in the robot's workspace. The proposed control framework enabled a soft fluid-driven continuum robot to follow a 3D trajectory precisely, even under dynamic external disturbance. Such enhanced control accuracy and adaptability would facilitate effective endoscopic navigation in complex and changing environments.

Laser assisted robotic surgery in cornea transplantation

NASA Astrophysics Data System (ADS)

Rossi, Francesca; Micheletti, Filippo; Magni, Giada; Pini, Roberto; Menabuoni, Luca; Leoni, Fabio; Magnani, Bernardo

2017-03-01

Robotic surgery is a reality in several surgical fields, such as in gastrointestinal surgery. In ophthalmic surgery the required high spatial precision is limiting the application of robotic system, and even if several attempts have been designed in the last 10 years, only some application in retinal surgery were tested in animal models. The combination of photonics and robotics can really open new frontiers in minimally invasive surgery, improving the precision, reducing tremor, amplifying scale of motion, and automating the procedure. In this manuscript we present the preliminary results in developing a vision guided robotic platform for laser-assisted anterior eye surgery. The robotic console is composed by a robotic arm equipped with an "end effector" designed to deliver laser light to the anterior corneal surface. The main intended application is for laser welding of corneal tissue in laser assisted penetrating keratoplasty and endothelial keratoplasty. The console is equipped with an integrated vision system. The experiment originates from a clear medical demand in order to improve the efficacy of different surgical procedures: when the prototype will be optimized, other surgical areas will be included in its application, such as neurosurgery, urology and spinal surgery.

A robotic platform for laser welding of corneal tissue

NASA Astrophysics Data System (ADS)

Rossi, Francesca; Micheletti, Filippo; Magni, Giada; Pini, Roberto; Menabuoni, Luca; Leoni, Fabio; Magnani, Bernardo

2017-07-01

Robotic surgery is a reality in several surgical fields, such as in gastrointestinal surgery. In ophthalmic surgery the required high spatial precision is limiting the application of robotic system, and even if several attempts have been designed in the last 10 years, only some application in retinal surgery were tested in animal models. The combination of photonics and robotics can really open new frontiers in minimally invasive surgery, improving the precision, reducing tremor, amplifying scale of motion, and automating the procedure. In this manuscript we present the preliminary results in developing a vision guided robotic platform for laser-assisted anterior eye surgery. The robotic console is composed by a robotic arm equipped with an "end effector" designed to deliver laser light to the anterior corneal surface. The main intended application is for laser welding of corneal tissue in laser assisted penetrating keratoplasty and endothelial keratoplasty. The console is equipped with an integrated vision system. The experiment originates from a clear medical demand in order to improve the efficacy of different surgical procedures: when the prototype will be optimized, other surgical areas will be included in its application, such as neurosurgery, urology and spinal surgery.

Implementation of a piezoelectrically actuated self-contained quadruped robot

NASA Astrophysics Data System (ADS)

Ho, Thanhtam; Lee, Sangyoon

2009-05-01

In this paper we present the development of a mesoscale self-contained quadruped mobile robot that employs two pieces of piezoelectric actuators for the bounding gait locomotion, i.e., two rear legs have the same movement and two front legs do too. The actuator named LIPCA (LIghtweight Piezoceramic Composite curved Actuator) is a piezocomposite actuator that uses a PZT layer that is sandwiched between composite materials of carbon/epoxy and glass/epoxy layers to amplify the displacement. A biomimetic concept is applied to the design of the robot in a simplified way, such that each leg of the robot has only one degree of freedom. Considering that LIPCA requires a high input voltage and possesses capacitive characteristics, a small power supply circuit using PICO chips is designed for the implementation of selfcontained mobile robot. The prototype with the weight of 125 gram and the length of 120 mm can locomote with the bounding gait. Experiments showed that the robot can locomote at about 50 mm/sec with the circuit on board and the operation time is about 5 minutes, which can be considered as a meaningful progress toward the goal of building an autonomous legged robot actuated by piezoelectric actuators.

[Study on the center-driven multiple degrees of freedom upper limb rehabilitation training robot].

PubMed

Huang, Xiaohai; Yu, Hongliu; Wang, Jinchao; Dong, Qi; Zhang, Linling; Meng, Qiaoling; Li, Sujiao; Wang, Duojin

2018-03-01

With the aging of the society, the number of stroke patients has been increasing year by year. Compared with the traditional rehabilitation therapy, the application of upper limb rehabilitation robot has higher efficiency and better rehabilitation effect, and has become an important development direction in the field of rehabilitation. In view of the current development status and the deficiency of upper limb rehabilitation robot system, combined with the development trend of all kinds of products of the upper limb rehabilitation robot, this paper designed a center-driven upper limb rehabilitation training robot for cable transmission which can help the patients complete 6 degrees of freedom (3 are driven, 3 are underactuated) training. Combined the structure of robot with more joints rehabilitation training, the paper choosed a cubic polynomial trajectory planning method in the joint space planning to design two trajectories of eating and lifting arm. According to the trajectory equation, the movement trajectory of each joint of the robot was drawn in MATLAB. It laid a foundation for scientific and effective rehabilitation training. Finally, the experimental prototype is built, and the mechanical structure and design trajectories are verified.

Robotic surgery in children: adopt now, await, or dismiss?

PubMed

Cundy, Thomas P; Marcus, Hani J; Hughes-Hallett, Archie; Khurana, Sanjeev; Darzi, Ara

2015-12-01

The role of robot-assisted surgery in children remains controversial. This article aims to distil this debate into an evidence informed decision-making taxonomy; to adopt this technology (1) now, (2) later, or (3) not at all. Robot-assistance is safe, feasible and effective in selected cases as an adjunctive tool to enhance capabilities of minimally invasive surgery, as it is known today. At present, expectations of rigid multi-arm robotic systems to deliver higher quality care are over-estimated and poorly substantiated by evidence. Such systems are associated with high costs. Further comparative effectiveness evidence is needed to define the case-mix for which robot-assistance might be indicated. It seems unlikely that we should expect compelling patient benefits when it is only the mode of minimally invasive surgery that differs. Only large higher-volume institutions that share the robot amongst multiple specialty groups are likely to be able to sustain higher associated costs with today's technology. Nevertheless, there is great potential for next-generation surgical robotics to enable better ways to treat childhood surgical diseases through less invasive techniques that are not possible today. This will demand customized technology for selected patient populations or procedures. Several prototype robots exclusively designed for pediatric use are already under development. Financial affordability must be a high priority to ensure clinical accessibility.

Controlling Tensegrity Robots through Evolution using Friction based Actuation

NASA Technical Reports Server (NTRS)

Kothapalli, Tejasvi; Agogino, Adrian K.

2017-01-01

Traditional robotic structures have limitations in planetary exploration as their rigid structural joints are prone to damage in new and rough terrains. In contrast, robots based on tensegrity structures, composed of rods and tensile cables, offer a highly robust, lightweight, and energy efficient solution over traditional robots. In addition tensegrity robots can be highly configurable by rearranging their topology of rods, cables and motors. However, these highly configurable tensegrity robots pose a significant challenge for locomotion due to their complexity. This study investigates a control pattern for successful locomotion in tensegrity robots through an evolutionary algorithm. A twelve-rod hardware model is rapidly prototyped to utilize a new actuation method based on friction. A web-based physics simulation is created to model the twelve-rod tensegrity ball structure. Square-waves are used as control policies for the actuators of the tensegrity structure. Monte Carlo trials are run to find the most successful number of amplitudes for the square-wave control policy. From the results, an evolutionary algorithm is implemented to find the most optimized solution for locomotion of the twelve-rod tensegrity structure. The software pattern coupled with the new friction based actuation method can serve as the basis for highly efficient tensegrity robots in space exploration.

Kinematics and dynamics analysis of a quadruped walking robot with parallel leg mechanism

NASA Astrophysics Data System (ADS)

Wang, Hongbo; Sang, Lingfeng; Hu, Xing; Zhang, Dianfan; Yu, Hongnian

2013-09-01

It is desired to require a walking robot for the elderly and the disabled to have large capacity, high stiffness, stability, etc. However, the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple function. Therefore, Improvement of enhancing capacity and functions of the walking robot is an important research issue. According to walking requirements and combining modularization and reconfigurable ideas, a quadruped/biped reconfigurable walking robot with parallel leg mechanism is proposed. The proposed robot can be used for both a biped and a quadruped walking robot. The kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are optimized. The results show that performance of the walking robot is optimal when the circumradius R, r of the upper and lower platform of leg mechanism are 161.7 mm, 57.7 mm, respectively. Based on the optimal results, the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory, and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed, which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk process. Besides laying a theoretical foundation for development of the prototype, the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.

Sozzy: a hormone-driven autonomous vacuum cleaner

NASA Astrophysics Data System (ADS)

Yamamoto, Masaki

1994-02-01

Domestic robots are promising examples of the application of robotics to personal life. There have been many approaches in this field, but no successful results exist. The problem is that domestic environments are more difficult for robots than other environments, such as factory floors or office floors. Consequently, conventional approaches using a model of human intelligence to design robots have not been successful. In this paper, we report on a prototyped domestic vacuum-cleaning robot that is designed to be able to handle complex environments. The control software is composed of two layers, both of which are generally inspired by behaviors of living creatures. The first layer corresponds to a dynamically reconfigurable system of behaviors implemented in the subsumption architecture. The ability of the robot to support alternate configurations of its behaviors provides the robot with increased robustness. We have conveniently labeled particular configurations as specific `emotions' according to the interpretation of observers of the robot's behavior. The second layer simulates the hormone system. The hormone system is modeled using state variables, increased or decreased by stimuli from the environment. The hormone condition selects the robot's most suitable emotion, according to the changing environments. The robot hardware is built of off-the-shelf parts, such as an embedded CPU, inexpensive home-appliance sensors, and small motors. These parts keep the total building cost to a minimum. The robot also has a vacuum cleaning function to demonstrate its capability to perform useful tasks. We tested the robot in our laboratory, and successfully videotaped its robust behaviors. We also confirmed the hormone system to enhance the robot's plasticity and lifelike quality.

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.

A multimodal interface for real-time soldier-robot teaming

NASA Astrophysics Data System (ADS)

Barber, Daniel J.; Howard, Thomas M.; Walter, Matthew R.

2016-05-01

Recent research and advances in robotics have led to the development of novel platforms leveraging new sensing capabilities for semantic navigation. As these systems becoming increasingly more robust, they support highly complex commands beyond direct teleoperation and waypoint finding facilitating a transition away from robots as tools to robots as teammates. Supporting future Soldier-Robot teaming requires communication capabilities on par with human-human teams for successful integration of robots. Therefore, as robots increase in functionality, it is equally important that the interface between the Soldier and robot advances as well. Multimodal communication (MMC) enables human-robot teaming through redundancy and levels of communications more robust than single mode interaction. Commercial-off-the-shelf (COTS) technologies released in recent years for smart-phones and gaming provide tools for the creation of portable interfaces incorporating MMC through the use of speech, gestures, and visual displays. However, for multimodal interfaces to be successfully used in the military domain, they must be able to classify speech, gestures, and process natural language in real-time with high accuracy. For the present study, a prototype multimodal interface supporting real-time interactions with an autonomous robot was developed. This device integrated COTS Automated Speech Recognition (ASR), a custom gesture recognition glove, and natural language understanding on a tablet. This paper presents performance results (e.g. response times, accuracy) of the integrated device when commanding an autonomous robot to perform reconnaissance and surveillance activities in an unknown outdoor environment.

Empowering Older Patients to Engage in Self Care: Designing an Interactive Robotic Device

PubMed Central

Tiwari, Priyadarshi; Warren, Jim; Day, Karen

2011-01-01

Objectives: To develop and test an interactive robot mounted computing device to support medication management as an example of a complex self-care task in older adults. Method: A Grounded Theory (GT), Participatory Design (PD) approach was used within three Action Research (AR) cycles to understand design requirements and test the design configuration addressing the unique task requirements. Results: At the end of the first cycle a conceptual framework was evolved. The second cycle informed architecture and interface design. By the end of third cycle residents successfully interacted with the dialogue system and were generally satisfied with the robot. The results informed further refinement of the prototype. Conclusion: An interactive, touch screen based, robot-mounted information tool can be developed to support healthcare needs of older people. Qualitative methods such as the hybrid GT-PD-AR approach may be particularly helpful for innovating and articulating design requirements in challenging situations. PMID:22195203

Empowering older patients to engage in self care: designing an interactive robotic device.

PubMed

Tiwari, Priyadarshi; Warren, Jim; Day, Karen

2011-01-01

To develop and test an interactive robot mounted computing device to support medication management as an example of a complex self-care task in older adults. A Grounded Theory (GT), Participatory Design (PD) approach was used within three Action Research (AR) cycles to understand design requirements and test the design configuration addressing the unique task requirements. At the end of the first cycle a conceptual framework was evolved. The second cycle informed architecture and interface design. By the end of third cycle residents successfully interacted with the dialogue system and were generally satisfied with the robot. The results informed further refinement of the prototype. An interactive, touch screen based, robot-mounted information tool can be developed to support healthcare needs of older people. Qualitative methods such as the hybrid GT-PD-AR approach may be particularly helpful for innovating and articulating design requirements in challenging situations.

Mobile robot motion estimation using Hough transform

NASA Astrophysics Data System (ADS)

Aldoshkin, D. N.; Yamskikh, T. N.; Tsarev, R. Yu

2018-05-01

This paper proposes an algorithm for estimation of mobile robot motion. The geometry of surrounding space is described with range scans (samples of distance measurements) taken by the mobile robot’s range sensors. A similar sample of space geometry in any arbitrary preceding moment of time or the environment map can be used as a reference. The suggested algorithm is invariant to isotropic scaling of samples or map that allows using samples measured in different units and maps made at different scales. The algorithm is based on Hough transform: it maps from measurement space to a straight-line parameters space. In the straight-line parameters, space the problems of estimating rotation, scaling and translation are solved separately breaking down a problem of estimating mobile robot localization into three smaller independent problems. The specific feature of the algorithm presented is its robustness to noise and outliers inherited from Hough transform. The prototype of the system of mobile robot orientation is described.

Advanced mechanisms for robotics

NASA Technical Reports Server (NTRS)

Vranish, John M.

1992-01-01

An overview of applied research and development at NASA-Goddard (GSFC) on mechanisms and the collision avoidance skin for robots is presented. First the work on robot end effectors is outlined, followed by a brief discussion on robot-friendly payload latching mechanisms and compliant joints. This, in turn, is followed by the collision avoidance/management skin and the GSFC research on magnetostrictive direct drive motors. Finally, a new project, the artificial muscle, is introduced. Each of the devices is described in sufficient detail to permit a basic understanding of its purpose, fundamental principles of operation, and capabilities. In addition, the development status of each is reported along with descriptions of breadboards and prototypes and their test results. In each case, the implications of the research for commercialization is discussed. The chronology of the presentation will give a clear idea of both the evolution of the R&D in recent years and its likely direction in the future.

Requirements analysis and preliminary design of a robotic assistant for reconstructive microsurgery.

PubMed

Vanthournhout, L; Herman, B; Duisit, J; Château, F; Szewczyk, J; Lengelé, B; Raucent, B

2015-08-01

Microanastomosis is a microsurgical gesture that involves suturing two very small blood vessels together. This gesture is used in many operations such as avulsed member auto-grafting, pediatric surgery, reconstructive surgery - including breast reconstruction by free flap. When vessels have diameters smaller than one millimeter, hand tremors make movements difficult to control. This paper introduces our preliminary steps towards robotic assistance for helping surgeons to perform microanastomosis in optimal conditions, in order to increase gesture quality and reliability even on smaller diameters. A general needs assessment and an experimental motion analysis were performed to define the requirements of the robot. Geometric parameters of the kinematic structure were then optimized to fulfill specific objectives. A prototype of the robot is currently being designed and built in order to providing a sufficient increase in accuracy without prolonging the duration of the procedure.

Data management for biofied building

NASA Astrophysics Data System (ADS)

Matsuura, Kohta; Mita, Akira

2015-03-01

Recently, Smart houses have been studied by many researchers to satisfy individual demands of residents. However, they are not feasible yet as they are very costly and require many sensors to be embedded into houses. Therefore, we suggest "Biofied Building". In Biofied Building, sensor agent robots conduct sensing, actuation, and control in their house. The robots monitor many parameters of human lives such as walking postures and emotion continuously. In this paper, a prototype network system and a data model for practical application for Biofied Building is pro-posed. In the system, functions of robots and servers are divided according to service flows in Biofield Buildings. The data model is designed to accumulate both the building data and the residents' data. Data sent from the robots and data analyzed in the servers are automatically registered into the database. Lastly, feasibility of this system is verified through lighting control simulation performed in an office space.

Theseus: tethered distributed robotics (TDR)

NASA Astrophysics Data System (ADS)

Digney, Bruce L.; Penzes, Steven G.

2003-09-01

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

The ARAMIS project: a concept robot and technical design.

PubMed

Colizzi, Lucio; Lidonnici, Antonio; Pignolo, Loris

2009-11-01

To describe the ARAMIS (Automatic Recovery Arm Motility Integrated System) project, a concept robot applicable in the neuro-rehabilitation of the paretic upper limb after stroke. Methods, results and conclusion: The rationale and engineering of a state-of-the-art, hardware/software integrated robot system, its mechanics, ergonomics, electric/electronics features providing control, safety and suitability of use are described. An ARAMIS prototype has been built and is now available for clinical tests. It allows the therapist to design neuro-rehabilitative (synchronous or asynchronous) training protocols in which sample exercises are generated by a single exoskeleton (operated by the patient's unaffected arm or by the therapist's arm) and mirrored in real-time or offline by the exoskeleton supporting the paretic arm.

Rover and Telerobotics Technology Program

NASA Technical Reports Server (NTRS)

Weisbin, Charles R.

1998-01-01

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

Hydraulically amplified self-healing electrostatic actuators with muscle-like performance

NASA Astrophysics Data System (ADS)

Acome, E.; Mitchell, S. K.; Morrissey, T. G.; Emmett, M. B.; Benjamin, C.; King, M.; Radakovitz, M.; Keplinger, C.

2018-01-01

Existing soft actuators have persistent challenges that restrain the potential of soft robotics, highlighting a need for soft transducers that are powerful, high-speed, efficient, and robust. We describe a class of soft actuators, termed hydraulically amplified self-healing electrostatic (HASEL) actuators, which harness a mechanism that couples electrostatic and hydraulic forces to achieve a variety of actuation modes. We introduce prototypical designs of HASEL actuators and demonstrate their robust, muscle-like performance as well as their ability to repeatedly self-heal after dielectric breakdown—all using widely available materials and common fabrication techniques. A soft gripper handling delicate objects and a self-sensing artificial muscle powering a robotic arm illustrate the wide potential of HASEL actuators for next-generation soft robotic devices.

Visual identification and similarity measures used for on-line motion planning of autonomous robots in unknown environments

NASA Astrophysics Data System (ADS)

Martínez, Fredy; Martínez, Fernando; Jacinto, Edwar

2017-02-01

In this paper we propose an on-line motion planning strategy for autonomous robots in dynamic and locally observable environments. In this approach, we first visually identify geometric shapes in the environment by filtering images. Then, an ART-2 network is used to establish the similarity between patterns. The proposed algorithm allows that a robot establish its relative location in the environment, and define its navigation path based on images of the environment and its similarity to reference images. This is an efficient and minimalist method that uses the similarity of landmark view patterns to navigate to the desired destination. Laboratory tests on real prototypes demonstrate the performance of the algorithm.

Truss Assembly and Welding by Intelligent Precision Jigging Robots

NASA Technical Reports Server (NTRS)

Komendera, Erik; Dorsey, John T.; Doggett, William R.; Correll, Nikolaus

2014-01-01

This paper describes an Intelligent Precision Jigging Robot (IPJR) prototype that enables the precise alignment and welding of titanium space telescope optical benches. The IPJR, equipped with micron accuracy sensors and actuators, worked in tandem with a lower precision remote controlled manipulator. The combined system assembled and welded a 2 m truss from stock titanium components. The calibration of the IPJR, and the difference between the predicted and the truss dimensions as-built, identified additional sources of error that should be addressed in the next generation of IPJRs in 2D and 3D.

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

NASA Astrophysics Data System (ADS)

Ingram, Russ; Sikes, John

2010-04-01

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

Embedded object concept: case balancing two-wheeled robot

NASA Astrophysics Data System (ADS)

Vallius, Tero; Röning, Juha

2007-09-01

This paper presents the Embedded Object Concept (EOC) and a telepresence robot system which is a test case for the EOC. The EOC utilizes common object-oriented methods used in software by applying them to combined Lego-like software-hardware entities. These entities represent objects in object-oriented design methods, and they are the building blocks of embedded systems. The goal of the EOC is to make the designing of embedded systems faster and easier. This concept enables people without comprehensive knowledge in electronics design to create new embedded systems, and for experts it shortens the design time of new embedded systems. We present the current status of a telepresence robot created with Atomi-objects, which is the name for our implementation of the embedded objects. The telepresence robot is a relatively complex test case for the EOC. The robot has been constructed using incremental device development, which is made possible by the architecture of the EOC. The robot contains video and audio exchange capability and a controlling system for driving with two wheels. The robot consists of Atomi-objects, demonstrating the suitability of the EOC for prototyping and easy modifications, and proving the capabilities of the EOC by realizing a function that normally requires a computer. The computer counterpart is a regular PC with audio and video capabilities running with a robot control application. The robot is functional and successfully tested.

Obstacle negotiation control for a mobile robot suspended on overhead ground wires by optoelectronic sensors

NASA Astrophysics Data System (ADS)

Zheng, Li; Yi, Ruan

2009-11-01

Power line inspection and maintenance already benefit from developments in mobile robotics. This paper presents mobile robots capable of crossing obstacles on overhead ground wires. A teleoperated robot realizes inspection and maintenance tasks on power transmission line equipment. The inspection robot is driven by 11 motor with two arms, two wheels and two claws. The inspection robot is designed to realize the function of observation, grasp, walk, rolling, turn, rise, and decline. This paper is oriented toward 100% reliable obstacle detection and identification, and sensor fusion to increase the autonomy level. An embedded computer based on PC/104 bus is chosen as the core of control system. Visible light camera and thermal infrared Camera are both installed in a programmable pan-and-tilt camera (PPTC) unit. High-quality visual feedback rapidly becomes crucial for human-in-the-loop control and effective teleoperation. The communication system between the robot and the ground station is based on Mesh wireless networks by 700 MHz bands. An expert system programmed with Visual C++ is developed to implement the automatic control. Optoelectronic laser sensors and laser range scanner were installed in robot for obstacle-navigation control to grasp the overhead ground wires. A novel prototype with careful considerations on mobility was designed to inspect the 500KV power transmission lines. Results of experiments demonstrate that the robot can be applied to execute the navigation and inspection tasks.

A novel manipulation method of human body ownership using an fMRI-compatible master-slave system.

PubMed

Hara, Masayuki; Salomon, Roy; van der Zwaag, Wietske; Kober, Tobias; Rognini, Giulio; Nabae, Hiroyuki; Yamamoto, Akio; Blanke, Olaf; Higuchi, Toshiro

2014-09-30

Bodily self-consciousness has become an important topic in cognitive neuroscience aiming to understand how the brain creates a unified sensation of the self in a body. Specifically, full body illusion (FBI) in which changes in bodily self-consciousness are experimentally introduced by using visual-tactile stimulation has led to improve understanding of these mechanisms. This paper introduces a novel approach to the classic FBI paradigm using a robotic master-slave system which allows us to examine interactions between action and the sense of body ownership in behavioral and MRI experiments. In the proposed approach, the use of the robotic master-slave system enables unique stimulation in which experimental participants can administer tactile cues on their own back using active self-touch. This active self-touch has never been employed in FBI experiments and it allows to test the role of sensorimotor integration and agency (the feeling of control over our actions) in FBI paradigms. The objective of this study is to propose a robotic-haptic platform allowing a new FBI paradigm including the active self-touch in MRI environments. This paper, first, describes the design concept and the performance of the prototype device in the fMRI environment (for 3T and 7T MRI scanners). In addition, the prototype device is applied to a classic FBI experiment, and we verify that the use of the prototype device succeeded in inducing the FBI. These results indicate that the proposed approach has a potential to drive advances in our understanding of human body ownership and agency by allowing novel manipulation and paradigms. Copyright © 2014 Elsevier B.V. All rights reserved.

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

Hagen Schempf; Daphne D'Zurko

Under funding from the Department of Energy (DOE) and the Northeast Gas Association (NGA), Carnegie Mellon University (CMU) developed an untethered, wireless remote controlled inspection robot dubbed Explorer. The project entailed the design and prototyping of a wireless self-powered video-inspection robot capable of accessing live 6- and 8-inch diameter cast-iron and steel mains, while traversing turns and Ts and elbows under real-time control with live video feedback to an operator. The design is that of a segmented actively articulated and wheel-leg powered robot design, with fisheye imaging capability and self-powered battery storage and wireless real-time communication link. The prototype wasmore » functionally tested in an above ground pipe-network, in order to debug all mechanical, electrical and software subsystems, and develop the necessary deployment and retrieval, as well as obstacle-handling scripts. A pressurized natural gas test-section was used to certify it for operation in natural gas at up to 60 psig. Two subsequent live-main field-trials in both cast-iron and steel pipe, demonstrated its ability to be safely launched, operated and retrieved under real-world conditions. The system's ability to safely and repeatably exidrecover from angled and vertical launchers, traverse multi-thousand foot long pipe-sections, make T and varied-angle elbow-turns while wirelessly sending live video and handling command and control messages, was clearly demonstrated. Video-inspection was clearly shown to be a viable tool to understand the state of this critical buried infrastructure, irrespective of low- (cast-iron) or high-pressure (steel) conditions. This report covers the different aspects of specifications, requirements, design, prototyping, integration and testing and field-trialing of the Explorer platform.« less

Flight Telerobotic Servicer prototype simulator

NASA Astrophysics Data System (ADS)

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

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

The MANIFEST prototyping design study

NASA Astrophysics Data System (ADS)

Lawrence, Jonathan S.; Ben-Ami, Sagi; Brown, David M.; Brown, Rebecca A.; Case, Scott; Chapman, Steve; Churilov, Vladimir; Colless, Matthew; Content, Robert; Depoy, Darren; Evans, Ian; Farrell, Tony; Goodwin, Michael; Jacoby, George; Klauser, Urs; Kuehn, Kyler; Lorente, Nuria P. F.; Mali, Slavko; Marshall, Jennifer; Muller, Rolf; Nichani, Vijay; Pai, Naveen; Prochaska, Travis; Saunders, Will; Schmidt, Luke; Shortridge, Keith; Staszak, Nicholas F.; Szentgyorgyi, Andrew; Tims, Julia; Vuong, Minh V.; Waller, Lewis G.; Zhelem, Ross

2016-08-01

MANIFEST is a facility multi-object fibre system for the Giant Magellan Telescope, which uses `Starbug' fibre positioning robots. MANIFEST, when coupled to the telescope's planned seeing-limited instruments, GMACS, and G-CLEF, offers access to: larger fields of view; higher multiplex gains; versatile reformatting of the focal plane via IFUs; image-slicers; and in some cases higher spatial and spectral resolution. The Prototyping Design Study phase for MANIFEST, nearing completion, has focused on developing a working prototype of a Starbugs system, called TAIPAN, for the UK Schmidt Telescope, which will conduct a stellar and galaxy survey of the Southern sky. The Prototyping Design Study has also included work on the GMT instrument interfaces. In this paper, we outline the instrument design features of TAIPAN, highlight the modifications that will be necessary for the MANIFEST implementation, and provide an update on the MANIFEST/instrument interfaces.

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

NASA Astrophysics Data System (ADS)

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

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

Augmented robotic device for EVA hand manoeuvres

NASA Astrophysics Data System (ADS)

Matheson, Eloise; Brooker, Graham

2012-12-01

During extravehicular activities (EVAs), pressurised space suits can lead to difficulties in performing hand manoeuvres and fatigue. This is often the cause of EVAs being terminated early, or taking longer to complete. Assistive robotic gloves can be used to augment the natural motion of a human hand, meaning work can be carried out more efficiently with less stress to the astronaut. Lightweight and low profile solutions must be found in order for the assistive robotic glove to be easily integrated with a space suit pressure garment. Pneumatic muscle actuators combined with force sensors are one such solution. These actuators are extremely light, yet can output high forces using pressurised gases as the actuation drive. Their movement is omnidirectional, so when combined with a flexible exoskeleton that itself provides a degree of freedom of movement, individual fingers can be controlled during flexion and extension. This setup allows actuators and other hardware to be stored remotely on the user's body, resulting in the least possible mass being supported by the hand. Two prototype gloves have been developed at the University of Sydney; prototype I using a fibreglass exoskeleton to provide flexion force, and prototype II using torsion springs to achieve the same result. The gloves have been designed to increase the ease of human movements, rather than to add unnatural ability to the hand. A state space control algorithm has been developed to ensure that human initiated movements are recognised, and calibration methods have been implemented to accommodate the different characteristics of each wearer's hands. For this calibration technique, it was necessary to take into account the natural tremors of the human hand which may have otherwise initiated unexpected control signals. Prototype I was able to actuate the user's hand in 1 degree of freedom (DOF) from full flexion to partial extension, and prototype II actuated a user's finger in 2 DOF with forces achieved comparable to those of a natural, healthy hand. The minimum mass held by the user on the hand was 240 g, with remote hardware, including a compressed air bottle, having a further mass of 1.6 kg. These results indicate that the design is able to augment human motion in a low profile, low mass package, and could be a valuable addition to a space suit during an EVA.

A Novel Shape Memory Alloy Annuloplasty Ring for Minimally Invasive Surgery: Design, Fabrication, and Evaluation

PubMed Central

Purser, Molly F.; Richards, Andrew L.; Cook, Richard C.; Osborne, Jason A.; Cormier, Denis R.; Buckner, Gregory D.

2013-01-01

A novel annuloplasty ring with a shape memory alloy core has been developed to facilitate minimally invasive mitral valve repair. In its activated (austenitic) phase, this prototype ring has comparable mechanical properties to commercial semi-rigid rings. In its pre-activated (martensitic) phase, this ring is flexible enough to be introduced through an 8-mm trocar and easily manipulated with robotic instruments within the confines of a left atrial model. The core is constructed of 0.50 mm diameter NiTi, which is maintained below its martensitic transition temperature (24 °C) during deployment and suturing. After suturing, the ring is heated above its austenitic transition temperature (37 °C, normal human body temperature) enabling the NiTi core to attain its optimal geometry and stiffness characteristics indefinitely. This article summarizes the design, fabrication, and evaluation of this prototype ring. Experimental results suggest that the NiTi core ring could be a viable alternative to flexible bands in robot-assisted minimally invasive mitral valve repair. PMID:20652747

An application of multiattribute decision analysis to the Space Station Freedom program. Case study: Automation and robotics technology evaluation

NASA Technical Reports Server (NTRS)

Smith, Jeffrey H.; Levin, Richard R.; Carpenter, Elisabeth J.

1990-01-01

The results are described of an application of multiattribute analysis to the evaluation of high leverage prototyping technologies in the automation and robotics (A and R) areas that might contribute to the Space Station (SS) Freedom baseline design. An implication is that high leverage prototyping is beneficial to the SS Freedom Program as a means for transferring technology from the advanced development program to the baseline program. The process also highlights the tradeoffs to be made between subsidizing high value, low risk technology development versus high value, high risk technology developments. Twenty one A and R Technology tasks spanning a diverse array of technical concepts were evaluated using multiattribute decision analysis. Because of large uncertainties associated with characterizing the technologies, the methodology was modified to incorporate uncertainty. Eight attributes affected the rankings: initial cost, operation cost, crew productivity, safety, resource requirements, growth potential, and spinoff potential. The four attributes of initial cost, operations cost, crew productivity, and safety affected the rankings the most.

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.

Evaluation of Sensor Configurations for Robotic Surgical Instruments

PubMed Central

Gómez-de-Gabriel, Jesús M.; Harwin, William

2015-01-01

Designing surgical instruments for robotic-assisted minimally-invasive surgery (RAMIS) is challenging due to constraints on the number and type of sensors imposed by considerations such as space or the need for sterilization. A new method for evaluating the usability of virtual teleoperated surgical instruments based on virtual sensors is presented. This method uses virtual prototyping of the surgical instrument with a dual physical interaction, which allows testing of different sensor configurations in a real environment. Moreover, the proposed approach has been applied to the evaluation of prototypes of a two-finger grasper for lump detection by remote pinching. In this example, the usability of a set of five different sensor configurations, with a different number of force sensors, is evaluated in terms of quantitative and qualitative measures in clinical experiments with 23 volunteers. As a result, the smallest number of force sensors needed in the surgical instrument that ensures the usability of the device can be determined. The details of the experimental setup are also included. PMID:26516863

Evaluation of Sensor Configurations for Robotic Surgical Instruments.

PubMed

Gómez-de-Gabriel, Jesús M; Harwin, William

2015-10-27

Designing surgical instruments for robotic-assisted minimally-invasive surgery (RAMIS) is challenging due to constraints on the number and type of sensors imposed by considerations such as space or the need for sterilization. A new method for evaluating the usability of virtual teleoperated surgical instruments based on virtual sensors is presented. This method uses virtual prototyping of the surgical instrument with a dual physical interaction, which allows testing of different sensor configurations in a real environment. Moreover, the proposed approach has been applied to the evaluation of prototypes of a two-finger grasper for lump detection by remote pinching. In this example, the usability of a set of five different sensor configurations, with a different number of force sensors, is evaluated in terms of quantitative and qualitative measures in clinical experiments with 23 volunteers. As a result, the smallest number of force sensors needed in the surgical instrument that ensures the usability of the device can be determined. The details of the experimental setup are also included.

Commercial Capaciflector

NASA Technical Reports Server (NTRS)

Vranish, John M.

1991-01-01

A capacitive proximity/tactile sensor with unique performance capabilities ('capaciflector' or capacitive reflector) is being developed by NASA/Goddard Space Flight Center (GSFC) for use on robots and payloads in space in the interests of safety, efficiency, and ease of operation. Specifically, this sensor will permit robots and their attached payloads to avoid collisions in space with humans and other objects and to dock these payloads in a cluttered environment. The sensor is simple, robust, and inexpensive to manufacture with obvious and recognized commercial possibilities. Accordingly, NASA/GSFC, in conjunction with industry, is embarking on an effort to 'spin' this technology off into the private sector. This effort includes prototypes aimed at commercial applications. The principles of operation of these prototypes are described along with hardware, software, modelling, and test results. The hardware description includes both the physical sensor in terms of a flexible printed circuit board and the electronic circuitry. The software description will include filtering and detection techniques. The modelling will involve finite element electric field analysis and will underline techniques used for design optimization.

Design-validation of a hand exoskeleton using musculoskeletal modeling.

PubMed

Hansen, Clint; Gosselin, Florian; Ben Mansour, Khalil; Devos, Pierre; Marin, Frederic

2018-04-01

Exoskeletons are progressively reaching homes and workplaces, allowing interaction with virtual environments, remote control of robots, or assisting human operators in carrying heavy loads. Their design is however still a challenge as these robots, being mechanically linked to the operators who wear them, have to meet ergonomic constraints besides usual robotic requirements in terms of workspace, speed, or efforts. They have in particular to fit the anthropometry and mobility of their users. This traditionally results in numerous prototypes which are progressively fitted to each individual person. In this paper, we propose instead to validate the design of a hand exoskeleton in a fully digital environment, without the need for a physical prototype. The purpose of this study is thus to examine whether finger kinematics are altered when using a given hand exoskeleton. Therefore, user specific musculoskeletal models were created and driven by a motion capture system to evaluate the fingers' joint kinematics when performing two industrial related tasks. The kinematic chain of the exoskeleton was added to the musculoskeletal models and its compliance with the hand movements was evaluated. Our results show that the proposed exoskeleton design does not influence fingers' joints angles, the coefficient of determination between the model with and without exoskeleton being consistently high (R 2 ¯=0.93) and the nRMSE consistently low (nRMSE¯ = 5.42°). These results are promising and this approach combining musculoskeletal and robotic modeling driven by motion capture data could be a key factor in the ergonomics validation of the design of orthotic devices and exoskeletons prior to manufacturing. Copyright © 2017 Elsevier Ltd. All rights reserved.

Friction enhancement in concertina locomotion of snakes

PubMed Central

Marvi, Hamidreza; Hu, David L.

2012-01-01

Narrow crevices are challenging terrain for most organisms and biomimetic robots. Snakes move through crevices using sequential folding and unfolding of their bodies in the manner of an accordion or concertina. In this combined experimental and theoretical investigation, we elucidate this effective means of moving through channels. We measure the frictional properties of corn snakes, their body kinematics and the transverse forces they apply to channels of varying width and inclination. To climb channels inclined at 60°, we find snakes use a combination of ingenious friction-enhancing techniques, including digging their ventral scales to double their frictional coefficient and pushing channel walls transversely with up to nine times body weight. Theoretical modelling of a one-dimensional n-linked crawler is used to calculate the transverse force factor of safety: we find snakes push up to four times more than required to prevent sliding backwards, presumably trading metabolic energy for an assurance of wall stability. PMID:22728386

Friction enhancement in concertina locomotion of snakes.

PubMed

Marvi, Hamidreza; Hu, David L

2012-11-07

Narrow crevices are challenging terrain for most organisms and biomimetic robots. Snakes move through crevices using sequential folding and unfolding of their bodies in the manner of an accordion or concertina. In this combined experimental and theoretical investigation, we elucidate this effective means of moving through channels. We measure the frictional properties of corn snakes, their body kinematics and the transverse forces they apply to channels of varying width and inclination. To climb channels inclined at 60°, we find snakes use a combination of ingenious friction-enhancing techniques, including digging their ventral scales to double their frictional coefficient and pushing channel walls transversely with up to nine times body weight. Theoretical modelling of a one-dimensional n-linked crawler is used to calculate the transverse force factor of safety: we find snakes push up to four times more than required to prevent sliding backwards, presumably trading metabolic energy for an assurance of wall stability.

Understanding the adoption dynamics of medical innovations: affordances of the da Vinci robot in the Netherlands.

PubMed

Abrishami, Payam; Boer, Albert; Horstman, Klasien

2014-09-01

This study explored the rather rapid adoption of a new surgical device - the da Vinci robot - in the Netherlands despite the high costs and its controversial clinical benefits. We used the concept 'affordances' as a conceptual-analytic tool to refer to the perceived promises, symbolic meanings, and utility values of an innovation constructed in the wider social context of use. This concept helps us empirically understand robot adoption. Data from 28 in-depth interviews with diverse purposively-sampled stakeholders, and from medical literature, policy documents, Health Technology Assessment reports, congress websites and patients' weblogs/forums between April 2009 and February 2014 were systematically analysed from the perspective of affordances. We distinguished five interrelated affordances of the robot that accounted for shaping and fulfilling its rapid adoption: 'characteristics-related' affordances such as smart nomenclature and novelty, symbolising high-tech clinical excellence; 'research-related' affordances offering medical-technical scientific excellence; 'entrepreneurship-related' affordances for performing better-than-the-competition; 'policy-related' affordances indicating the robot's liberalised provision and its reduced financial risks; and 'communication-related' affordances of the robot in shaping patients' choices and the public's expectations by resonating promising discourses while pushing uncertainties into the background. These affordances make the take-up and use of the da Vinci robot sound perfectly rational and inevitable. This Dutch case study demonstrates the fruitfulness of the affordances approach to empirically capturing the contextual dynamics of technology adoption in health care: exploring in-depth actors' interaction with the technology while considering the interpretative spaces created in situations of use. This approach can best elicit real-life value of innovations, values as defined through the eyes of (potential) users. Copyright © 2014 Elsevier Ltd. All rights reserved.

Training modalities in robot-mediated upper limb rehabilitation in stroke: a framework for classification based on a systematic review.

PubMed

Basteris, Angelo; Nijenhuis, Sharon M; Stienen, Arno H A; Buurke, Jaap H; Prange, Gerdienke B; Amirabdollahian, Farshid

2014-07-10

Robot-mediated post-stroke therapy for the upper-extremity dates back to the 1990s. Since then, a number of robotic devices have become commercially available. There is clear evidence that robotic interventions improve upper limb motor scores and strength, but these improvements are often not transferred to performance of activities of daily living. We wish to better understand why. Our systematic review of 74 papers focuses on the targeted stage of recovery, the part of the limb trained, the different modalities used, and the effectiveness of each. The review shows that most of the studies so far focus on training of the proximal arm for chronic stroke patients. About the training modalities, studies typically refer to active, active-assisted and passive interaction. Robot-therapy in active assisted mode was associated with consistent improvements in arm function. More specifically, the use of HRI features stressing active contribution by the patient, such as EMG-modulated forces or a pushing force in combination with spring-damper guidance, may be beneficial.Our work also highlights that current literature frequently lacks information regarding the mechanism about the physical human-robot interaction (HRI). It is often unclear how the different modalities are implemented by different research groups (using different robots and platforms). In order to have a better and more reliable evidence of usefulness for these technologies, it is recommended that the HRI is better described and documented so that work of various teams can be considered in the same group and categories, allowing to infer for more suitable approaches. We propose a framework for categorisation of HRI modalities and features that will allow comparing their therapeutic benefits.

Individual muscle control using an exoskeleton robot for muscle function testing.

PubMed

Ueda, Jun; Ming, Ding; Krishnamoorthy, Vijaya; Shinohara, Minoru; Ogasawara, Tsukasa

2010-08-01

Healthy individuals modulate muscle activation patterns according to their intended movement and external environment. Persons with neurological disorders (e.g., stroke and spinal cord injury), however, have problems in movement control due primarily to their inability to modulate their muscle activation pattern in an appropriate manner. A functionality test at the level of individual muscles that investigates the activity of a muscle of interest on various motor tasks may enable muscle-level force grading. To date there is no extant work that focuses on the application of exoskeleton robots to induce specific muscle activation in a systematic manner. This paper proposes a new method, named "individual muscle-force control" using a wearable robot (an exoskeleton robot, or a power-assisting device) to obtain a wider variety of muscle activity data than standard motor tasks, e.g., pushing a handle by hand. A computational algorithm systematically computes control commands to a wearable robot so that a desired muscle activation pattern for target muscle forces is induced. It also computes an adequate amount and direction of a force that a subject needs to exert against a handle by his/her hand. This individual muscle control method enables users (e.g., therapists) to efficiently conduct neuromuscular function tests on target muscles by arbitrarily inducing muscle activation patterns. This paper presents a basic concept, mathematical formulation, and solution of the individual muscle-force control and its implementation to a muscle control system with an exoskeleton-type robot for upper extremity. Simulation and experimental results in healthy individuals justify the use of an exoskeleton robot for future muscle function testing in terms of the variety of muscle activity data.

Training modalities in robot-mediated upper limb rehabilitation in stroke: a framework for classification based on a systematic review

PubMed Central

2014-01-01

Robot-mediated post-stroke therapy for the upper-extremity dates back to the 1990s. Since then, a number of robotic devices have become commercially available. There is clear evidence that robotic interventions improve upper limb motor scores and strength, but these improvements are often not transferred to performance of activities of daily living. We wish to better understand why. Our systematic review of 74 papers focuses on the targeted stage of recovery, the part of the limb trained, the different modalities used, and the effectiveness of each. The review shows that most of the studies so far focus on training of the proximal arm for chronic stroke patients. About the training modalities, studies typically refer to active, active-assisted and passive interaction. Robot-therapy in active assisted mode was associated with consistent improvements in arm function. More specifically, the use of HRI features stressing active contribution by the patient, such as EMG-modulated forces or a pushing force in combination with spring-damper guidance, may be beneficial. Our work also highlights that current literature frequently lacks information regarding the mechanism about the physical human-robot interaction (HRI). It is often unclear how the different modalities are implemented by different research groups (using different robots and platforms). In order to have a better and more reliable evidence of usefulness for these technologies, it is recommended that the HRI is better described and documented so that work of various teams can be considered in the same group and categories, allowing to infer for more suitable approaches. We propose a framework for categorisation of HRI modalities and features that will allow comparing their therapeutic benefits. PMID:25012864

Once-per-step control of ankle-foot prosthesis push-off work reduces effort associated with balance during walking.

PubMed

Kim, Myunghee; Collins, Steven H

2015-05-01

Individuals with below-knee amputation have more difficulty balancing during walking, yet few studies have explored balance enhancement through active prosthesis control. We previously used a dynamical model to show that prosthetic ankle push-off work affects both sagittal and frontal plane dynamics, and that appropriate step-by-step control of push-off work can improve stability. We hypothesized that this approach could be applied to a robotic prosthesis to partially fulfill the active balance requirements of human walking, thereby reducing balance-related activity and associated effort for the person using the device. We conducted experiments on human participants (N = 10) with simulated amputation. Prosthetic ankle push-off work was varied on each step in ways expected to either stabilize, destabilize or have no effect on balance. Average ankle push-off work, known to affect effort, was kept constant across conditions. Stabilizing controllers commanded more push-off work on steps when the mediolateral velocity of the center of mass was lower than usual at the moment of contralateral heel strike. Destabilizing controllers enforced the opposite relationship, while a neutral controller maintained constant push-off work regardless of body state. A random disturbance to landing foot angle and a cognitive distraction task were applied, further challenging participants' balance. We measured metabolic rate, foot placement kinematics, center of pressure kinematics, distraction task performance, and user preference in each condition. We expected the stabilizing controller to reduce active control of balance and balance-related effort for the user, improving user preference. The best stabilizing controller lowered metabolic rate by 5.5% (p = 0.003) and 8.5% (p = 0.02), and step width variability by 10.0% (p = 0.009) and 10.7% (p = 0.03) compared to conditions with no control and destabilizing control, respectively. Participants tended to prefer stabilizing controllers. These effects were not due to differences in average push-off work, which was unchanged across conditions, or to average gait mechanics, which were also unchanged. Instead, benefits were derived from step-by-step adjustments to prosthesis behavior in response to variations in mediolateral velocity at heel strike. Once-per-step control of prosthetic ankle push-off work can reduce both active control of foot placement and balance-related metabolic energy use during walking.

Design and control of compliant tensegrity robots through simulation and hardware validation

PubMed Central

Caluwaerts, Ken; Despraz, Jérémie; Işçen, Atıl; Sabelhaus, Andrew P.; Bruce, Jonathan; Schrauwen, Benjamin; SunSpiral, Vytas

2014-01-01

To better understand the role of tensegrity structures in biological systems and their application to robotics, the Dynamic Tensegrity Robotics Lab at NASA Ames Research Center, Moffett Field, CA, USA, has developed and validated two software environments for the analysis, simulation and design of tensegrity robots. These tools, along with new control methodologies and the modular hardware components developed to validate them, are presented as a system for the design of actuated tensegrity structures. As evidenced from their appearance in many biological systems, tensegrity (‘tensile–integrity’) structures have unique physical properties that make them ideal for interaction with uncertain environments. Yet, these characteristics make design and control of bioinspired tensegrity robots extremely challenging. This work presents the progress our tools have made in tackling the design and control challenges of spherical tensegrity structures. We focus on this shape since it lends itself to rolling locomotion. The results of our analyses include multiple novel control approaches for mobility and terrain interaction of spherical tensegrity structures that have been tested in simulation. A hardware prototype of a spherical six-bar tensegrity, the Reservoir Compliant Tensegrity Robot, is used to empirically validate the accuracy of simulation. PMID:24990292

Towards autonomous locomotion: CPG-based control of smooth 3D slithering gait transition of a snake-like robot.

PubMed

Bing, Zhenshan; Cheng, Long; Chen, Guang; Röhrbein, Florian; Huang, Kai; Knoll, Alois

2017-04-04

Snake-like robots with 3D locomotion ability have significant advantages of adaptive travelling in diverse complex terrain over traditional legged or wheeled mobile robots. Despite numerous developed gaits, these snake-like robots suffer from unsmooth gait transitions by changing the locomotion speed, direction, and body shape, which would potentially cause undesired movement and abnormal torque. Hence, there exists a knowledge gap for snake-like robots to achieve autonomous locomotion. To address this problem, this paper presents the smooth slithering gait transition control based on a lightweight central pattern generator (CPG) model for snake-like robots. First, based on the convergence behavior of the gradient system, a lightweight CPG model with fast computing time was designed and compared with other widely adopted CPG models. Then, by reshaping the body into a more stable geometry, the slithering gait was modified, and studied based on the proposed CPG model, including the gait transition of locomotion speed, moving direction, and body shape. In contrast to sinusoid-based method, extensive simulations and prototype experiments finally demonstrated that smooth slithering gait transition can be effectively achieved using the proposed CPG-based control method without generating undesired locomotion and abnormal torque.

Modeling and Experiments with a High-Performance Flexible Swimming Robot

NASA Astrophysics Data System (ADS)

Wiens, Alexander; Hosoi, Anette

2017-11-01

Conventionally, fish-like swimming robots consist of a chain of rigid links connected by a series of rigid actuators. Devices of this nature have demonstrated impressive speeds and maneuverability, but from a practical perspective, their mechanical complexity makes them expensive to build and prone to failure. To address this problem, we present an alternative design approach which employs a single actuator to generate undulatory waves along a passive flexible structure. Through simulations and experiments we find that our robot can match the speed and agility of its rigid counterparts, while being simple, robust, and significantly less expensive. Physically, our robot consists of a small ellipsoidal head connected to a long flexible beam. Actuation is provided by a motor-driven flywheel within the head, which oscillates to produce a periodic torque. This torque propagates along the beam to generate an undulatory wave and propel the robot forwards. We construct a numerical model of the system using Lighthill's large-amplitude elongated-body theory coupled with a nonlinear model of elastic beam deformation. We then use this simulation to optimize the velocity and efficiency of the robot. The optimized design is validated through experiments with a prototype device. NSF DMS-1517842.

Additive Manufacturing of Parts and Tooling in Robotic Systems

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

Love, Lonnie J.; Hassen, Ahmed A.; Chesser, Phillip C.

ORNL worked with Transcend Robotics, LLC to explore additive manufacturing of the two-piece compression body for their ARTI mobile robot platform. Extrusion compression molding was identified as an effective means of manufacturing these parts. ORNL consulted on modifications to the housing design to accommodate the selected manufacturing process. Parts were printed using ORNL's FDM machines for testing and evaluation of the design as a precursor to molding the parts. The assembly and evaluation of the parts proved favorable and minor design changes to improve assembly and performance were identified.The goal is to develop a light weight and rugged two-part roboticmore » enclosure for an unmanned ground vehicle UGV) that will be used in search and rescue applications. The FDM parts fabricated by ORNL allowed Transcend Robotics to assemble a prototype robot and verify that the new parts will meet the performance requirements. ORNL fabricated enclosure parts out of ABS and Nylon 12 materials such that the design could be tested prior to fabricating tooling for compression molding of Nylon 6 with carbon fiber fill. The robot was performance tested and compared with the previous manufacturing techniques and found to have superior performance.« less

Assessment of Perceived Attractiveness, Usability, and Societal Impact of a Multimodal Robotic Assistant for Aging Patients With Memory Impairments.

PubMed

Gerłowska, Justyna; Skrobas, Urszula; Grabowska-Aleksandrowicz, Katarzyna; Korchut, Agnieszka; Szklener, Sebastian; Szczęśniak-Stańczyk, Dorota; Tzovaras, Dimitrios; Rejdak, Konrad

2018-01-01

The aim of the present study is to present the results of the assessment of clinical application of the robotic assistant for patients suffering from mild cognitive impairments (MCI) and Alzheimer Disease (AD). The human-robot interaction (HRI) evaluation approach taken within the study is a novelty in the field of social robotics. The proposed assessment of the robotic functionalities are based on end-user perception of attractiveness, usability and potential societal impact of the device. The methods of evaluation applied consist of User Experience Questionnaire (UEQ), AttrakDiff and the societal impact inventory tailored for the project purposes. The prototype version of the Robotic Assistant for MCI patients at Home (RAMCIP) was tested in a semi-controlled environment at the Department of Neurology (Lublin, Poland). Eighteen elderly participants, 10 healthy and 8 MCI, performed everyday tasks and functions facilitated by RAMCIP. The tasks consisted of semi-structuralized scenarios like: medication intake, hazardous events prevention, and social interaction. No differences between the groups of subjects were observed in terms of perceived attractiveness, usability nor-societal impact of the device. The robotic assistant societal impact and attractiveness were highly assessed. The usability of the device was reported as neutral due to the short time of interaction.

Assessment of Perceived Attractiveness, Usability, and Societal Impact of a Multimodal Robotic Assistant for Aging Patients With Memory Impairments

PubMed Central

Gerłowska, Justyna; Skrobas, Urszula; Grabowska-Aleksandrowicz, Katarzyna; Korchut, Agnieszka; Szklener, Sebastian; Szczęśniak-Stańczyk, Dorota; Tzovaras, Dimitrios; Rejdak, Konrad

2018-01-01

The aim of the present study is to present the results of the assessment of clinical application of the robotic assistant for patients suffering from mild cognitive impairments (MCI) and Alzheimer Disease (AD). The human-robot interaction (HRI) evaluation approach taken within the study is a novelty in the field of social robotics. The proposed assessment of the robotic functionalities are based on end-user perception of attractiveness, usability and potential societal impact of the device. The methods of evaluation applied consist of User Experience Questionnaire (UEQ), AttrakDiff and the societal impact inventory tailored for the project purposes. The prototype version of the Robotic Assistant for MCI patients at Home (RAMCIP) was tested in a semi-controlled environment at the Department of Neurology (Lublin, Poland). Eighteen elderly participants, 10 healthy and 8 MCI, performed everyday tasks and functions facilitated by RAMCIP. The tasks consisted of semi-structuralized scenarios like: medication intake, hazardous events prevention, and social interaction. No differences between the groups of subjects were observed in terms of perceived attractiveness, usability nor-societal impact of the device. The robotic assistant societal impact and attractiveness were highly assessed. The usability of the device was reported as neutral due to the short time of interaction.

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

NASA Astrophysics Data System (ADS)

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

2013-04-01

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

NASA Ames and Future of Space Exploration, Science, and Aeronautics

NASA Technical Reports Server (NTRS)

Cohen, Jacob

2015-01-01

Pushing the frontiers of aeronautics and space exploration presents multiple challenges. NASA Ames Research Center is at the forefront of tackling these issues, conducting cutting edge research in the fields of air traffic management, entry systems, advanced information technology, intelligent human and robotic systems, astrobiology, aeronautics, space, earth and life sciences and small satellites. Knowledge gained from this research helps ensure the success of NASA's missions, leading us closer to a world that was only imagined as science fiction just decades ago.

Olivas participating in EVA during Expedition/STS-117 Joint Operations

NASA Image and Video Library

2007-06-15

ISS015-E-12938 (15 June 2007) --- Anchored to a foot restraint on Space Shuttle Atlantis' remote manipulator system (RMS) robotic arm, astronaut John "Danny" Olivas, STS-117 mission specialist, moves toward Atlantis' port orbital maneuvering system (OMS) pod that was damaged during the shuttle's climb to orbit. During the repair, Olivas pushed the turned up portion of the thermal blanket back into position, used a medical stapler to secure the layers of the blanket, and pinned it in place against adjacent thermal tile.

A review of physical security robotics at Sandia National Laboratories

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

Roerig, S.C.

1990-01-01

As an outgrowth of research into physical security technologies, Sandia is investigating the role of robotics in security systems. Robotics may allow more effective utilization of guard forces, especially in scenarios where personnel would be exposed to harmful environments. Robots can provide intrusion detection and assessment functions for failed sensors or transient assets, can test existing fixed site sensors, and can gather additional intelligence and dispense delaying elements. The Robotic Security Vehicle (RSV) program for DOE/OSS is developing a fieldable prototype for an exterior physical security robot based upon a commercial four wheel drive vehicle. The RSV will be capablemore » of driving itself, being driven remotely, or being driven by an onboard operator around a site and will utilize its sensors to alert an operator to unusual conditions. The Remote Security Station (RSS) program for the Defense Nuclear Agency is developing a proof-of-principle robotic system which will be used to evaluate the role, and associated cost, of robotic technologies in exterior security systems. The RSS consists of an independent sensor pod, a mobile sensor platform and a control and display console. Sensor data fusion is used to optimize the system's intrusion detection performance. These programs are complementary, the RSV concentrates on developing autonomous mobility, while the RSS thrust is on mobile sensor employment. 3 figs.« less

A close inspection and vibration sensing aerial robot for steel structures with an EPM-based landing device

NASA Astrophysics Data System (ADS)

Takeuchi, Kazuya; Masuda, Arata; Akahori, Shunsuke; Higashi, Yoshiyuki; Miura, Nanako

2017-04-01

This paper proposes an aerial robot that can land on and cling to a steel structure using electric permanent magnets to be- have as a vibration sensor probe for use in vibration-based structural health monitoring. In the last decade, structural health monitoring techniques have been studied intensively to tackle with serious social issues that most of the infrastructures in advanced countries are being deteriorated. In the typical concept of the structural health monitoring, vibration sensors like accelerometers are installed in the structure to continuously collect the dynamical response of the operating structure to find a symptom of the structural damage. It is unreasonable, however, to permanently deploy the sensors to numerous infrastructures because most of the infrastructures except for those of primary importance do not need continuous measurement and evaluation. In this study, the aerial robot plays a role of a mobile detachable sensor unit. The design guidelines of the aerial robot that performs the vibration measurement from the analysis model of the robot is shown. Experiments to evaluate the frequency response function of the acceleration measured by the robot with respect to the acceleration at the point where the robot adheres are carried out. And the experimental results show that the prototype robot can measure the acceleration of the host structure accurately up to 150 Hz.

Role of Pectoral Fin Flexibility in Robotic Fish Performance

NASA Astrophysics Data System (ADS)

Bazaz Behbahani, Sanaz; Tan, Xiaobo

2017-08-01

Pectoral fins play a vital role in the maneuvering and locomotion of fish, and they have become an important actuation mechanism for robotic fish. In this paper, we explore the effect of flexibility of robotic fish pectoral fins on the robot locomotion performance and mechanical efficiency. A dynamic model for the robotic fish is presented, where the flexible fin is modeled as multiple rigid elements connected via torsional springs and dampers. Blade element theory is used to capture the hydrodynamic force on the fin. The model is validated with experimental results obtained on a robotic fish prototype, equipped with 3D-printed fins of different flexibility. The model is then used to analyze the impacts of fin flexibility and power/recovery stroke speed ratio on the robot swimming speed and mechanical efficiency. It is found that, in general, flexible fins demonstrate advantages over rigid fins in speed and efficiency at relatively low fin-beat frequencies, while rigid fins outperform flexible fins at higher frequencies. For a given fin flexibility, the optimal frequency for speed performance differs from the optimal frequency for mechanical efficiency. In addition, for any given fin, there is an optimal power/recovery stroke speed ratio, typically in the range of 2-3, that maximizes the speed performance. Overall, the presented model offers a promising tool for fin flexibility and gait design, to achieve speed and efficiency objectives for robotic fish actuated with pectoral fins.

Artificial Intelligence Is for Real: Undergraduate Students Should Know about It.

ERIC Educational Resources Information Center

Liebowitz, Jay

1988-01-01

Discussion of the possibilities of introducing artificial intelligence (AI) into the undergraduate curriculum highlights the introduction of AI in an introduction to information processing course for business students at George Washington University. Topics discussed include robotics, expert systems prototyping in class, and the interdisciplinary…

A multitasking behavioral control system for the Robotic All-Terrain Lunar Exploration Rover (RATLER)

NASA Technical Reports Server (NTRS)

Klarer, Paul

1993-01-01

An approach for a robotic control system which implements so called 'behavioral' control within a realtime multitasking architecture is proposed. The proposed system would attempt to ameliorate some of the problems noted by some researchers when implementing subsumptive or behavioral control systems, particularly with regard to multiple processor systems and realtime operations. The architecture is designed to allow synchronous operations between various behavior modules by taking advantage of a realtime multitasking system's intertask communications channels, and by implementing each behavior module and each interconnection node as a stand-alone task. The potential advantages of this approach over those previously described in the field are discussed. An implementation of the architecture is planned for a prototype Robotic All Terrain Lunar Exploration Rover (RATLER) currently under development and is briefly described.

Design of a biomimetic robotic octopus arm.

PubMed

Laschi, C; Mazzolai, B; Mattoli, V; Cianchetti, M; Dario, P

2009-03-01

This paper reports the rationale and design of a robotic arm, as inspired by an octopus arm. The octopus arm shows peculiar features, such as the ability to bend in all directions, to produce fast elongations, and to vary its stiffness. The octopus achieves these unique motor skills, thanks to its peculiar muscular structure, named muscular hydrostat. Different muscles arranged on orthogonal planes generate an antagonistic action on each other in the muscular hydrostat, which does not change its volume during muscle contractions, and allow bending and elongation of the arm and stiffness variation. By drawing inspiration from natural skills of octopus, and by analysing the geometry and mechanics of the muscular structure of its arm, we propose the design of a robot arm consisting of an artificial muscular hydrostat structure, which is completely soft and compliant, but also able to stiffen. In this paper, we discuss the design criteria of the robotic arm and how this design and the special arrangement of its muscular structure may bring the building of a robotic arm into being, by showing the results obtained by mathematical models and prototypical mock-ups.

Knowledge assistant: A sensor fusion framework for robotic environmental characterization

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

Feddema, J.T.; Rivera, J.J.; Tucker, S.D.

1996-12-01

A prototype sensor fusion framework called the {open_quotes}Knowledge Assistant{close_quotes} has been developed and tested on a gantry robot at Sandia National Laboratories. This Knowledge Assistant guides the robot operator during the planning, execution, and post analysis stages of the characterization process. During the planning stage, the Knowledge Assistant suggests robot paths and speeds based on knowledge of sensors available and their physical characteristics. During execution, the Knowledge Assistant coordinates the collection of data through a data acquisition {open_quotes}specialist.{close_quotes} During execution and post analysis, the Knowledge Assistant sends raw data to other {open_quotes}specialists,{close_quotes} which include statistical pattern recognition software, a neuralmore » network, and model-based search software. After the specialists return their results, the Knowledge Assistant consolidates the information and returns a report to the robot control system where the sensed objects and their attributes (e.g. estimated dimensions, weight, material composition, etc.) are displayed in the world model. This paper highlights the major components of this system.« less

Development and evaluation of the Stingray, an amphibious maritime interdiction operations unmanned ground vehicle

NASA Astrophysics Data System (ADS)

Nguyen, Hoa G.; Castelli, Robin

2014-06-01

The U.S. Navy and Marine Corps conduct thousands of Maritime Interdiction Operations (MIOs) every year around the globe. Navy Visit, Board, Search, and Seizure (VBSS) teams regularly board suspect ships and perform search operations, often in hostile environments. There is a need for a small tactical robot that can be deployed ahead of the team to provide enhanced situational awareness in these boarding, breaching, and clearing operations. In 2011, the Space and Naval Warfare Systems Center Pacific conducted user evaluations on a number of small throwable robots and sensors, verified the requirements, and developed the key performance parameters (KPPs) for an MIO robot. Macro USA Corporation was then tasked to design and develop two prototype systems, each consisting of one control/display unit and two small amphibious Stingray robots. Technical challenges included the combination paddle wheel/shock-absorbing wheel, the tradeoff between impact resistance, size, and buoyancy, and achieving adequate traction on wet surfaces. This paper describes the technical design of these robots and the results of subsequent user evaluations by VBSS teams.

A New Approach for Human Forearm Motion Assist by Actuated Artificial Joint-An Inner Skeleton Robot

NASA Astrophysics Data System (ADS)

Kundu, Subrata Kumar; Kiguchi, Kazuo; Teramoto, Kenbu

In order to help the physical activities of the elderly or physically disabled persons, we propose a new concept of a power-assist inner skeleton robot (i.e., actuated artificial joint) that is supposed to assist the human daily life motion from inside of the human body. This paper presents an implantable 2 degree of freedom (DOF) inner skeleton robot that is designed to assist human elbow flexion-extension motion and forearm supination-pronation motion for daily life activities. We have developed a prototype of the inner skeleton robot that is supposed to assist the motion from inside of the body and act as an actuated artificial joint. The proposed system is controlled based on the activation patterns of the electromyogram (EMG) signals of the user's muscles by applying fuzzy-neuro control method. A joint actuator with angular position sensor is designed for the inner skeleton robot and a T-Mechanism is proposed to keep the bone arrangement similar to the normal human articulation after the elbow arthroplasty. The effectiveness of the proposed system has been evaluated by experiment.

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

NASA Technical Reports Server (NTRS)

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

2014-01-01

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

Developing a 3-DOF Compliant Perching Arm for a Free-Flying Robot on the International Space Station

NASA Technical Reports Server (NTRS)

Park, In-Won; Smith, Marion F.; Sanchez, Hugo S.; Wong, Sze Wun; Piacenza, Pedro; Ciocarlie, Matei

2017-01-01

This paper presents the design and control of the 3-DOF compliant perching arm for the free-flying Astrobee robots that will operate inside the International Space Station (ISS). The robots are intended to serve as a flexible platform for future guest scientists to use for zero-gravity robotics research - thus, the arm is designed to support manipulation research. It provides a 1-DOF underactuated tendon-driven gripper capable of enveloping a range of objects of different shapes and sizes. Co-located RGB camera and LIDAR sensors provide perception. The Astrobee robots will be capable of grasping each other in flight, to simulate orbital capture scenarios. The arm's end-effector module is swappable on-orbit, allowing guest scientists to add upgraded grippers, or even additional arm degrees of freedom. The design of the arm balances research capabilities with Astrobee's operational need to perch on ISS handrails to reduce power consumption. Basic arm functioning and grip strength were evaluated using an integrated Astrobee prototype riding on a low-friction air bearing.

Automated Robot Movement in the Mapped Area Using Fuzzy Logic for Wheel Chair Application

NASA Astrophysics Data System (ADS)

Siregar, B.; Efendi, S.; Ramadhana, H.; Andayani, U.; Fahmi, F.

2018-03-01

The difficulties of the disabled to move make them unable to live independently. People with disabilities need supporting device to move from place to place. For that, we proposed a solution that can help people with disabilities to move from one room to another automatically. This study aims to create a wheelchair prototype in the form of a wheeled robot as a means to learn the automatic mobilization. The fuzzy logic algorithm was used to determine motion direction based on initial position, ultrasonic sensors reading in avoiding obstacles, infrared sensors reading as a black line reader for the wheeled robot to move smooth and smartphone as a mobile controller. As a result, smartphones with the Android operating system can control the robot using Bluetooth. Here Bluetooth technology can be used to control the robot from a maximum distance of 15 meters. The proposed algorithm was able to work stable for automatic motion determination based on initial position, and also able to modernize the wheelchair movement from one room to another automatically.

Architectural setup for online monitoring and control of process parameters in robot-based ISF

NASA Astrophysics Data System (ADS)

Störkle, Denis Daniel; Thyssen, Lars; Kuhlenkötter, Bernd

2017-10-01

This article describes new developments in an incremental, robot-based sheet metal forming process (Roboforming) for the production of sheet metal components for small lot sizes and prototypes. The dieless kinematic-based generation of the shape is implemented by means of two industrial robots, which are interconnected to a cooperating robot system. Compared to other incremental sheet forming (ISF) machines, this system offers high geometrical design flexibility without the need of any part-dependent tools. However, the industrial application of ISF is still limited by certain constraints, e.g. the low geometrical accuracy. Responding to these constraints, the authors introduce a new architectural setup extending the current one by a superordinate process control. This sophisticated control consists of two modules, i.e. the compensation of the two industrial robots' low structural stiffness as well as a combined force/torque control. It is assumed that this contribution will lead to future research and development projects in which the authors will thoroughly investigate ISF process parameters influencing the geometric accuracy of the forming results.

Desert Research and Technology Studies (RATS) 2007 Field Campaign Objectives and Results

NASA Technical Reports Server (NTRS)

Kosmo, Joseph; Romig, Barbara

2008-01-01

Desert "RATS" (Research and Technology Studies) is a combined, multi-discipline group of inter-NASA center scientists and engineers, net-working and collaborating with representatives of industry and academia, for the purpose of conducting planetary surface exploration-focused remote field exercises. These integrated testing exercises conducted under representative analog Lunar and Mars surface terrain conditions, provide NASA the capability to validate experimental prototype hardware and software systems as well as to evaluate and develop mission operational techniques in order to identify and establish technical requirements and identify potential technology "gaps" applicable for future planetary human exploration. The 2007 D-RATS field campaign test activities were initiated based on the major themes and objectives of a notional 5-year plan developed for conducting relative analog test activities in support of the engineering evaluation and assessment of various system architectural requirements, conceptual prototype support equipment and selected technologies necessary for the establishment of a lunar outpost. Specifically, the major objectives included measuring task efficiency during robot, human, and human-robot interactive tasks associated with lunar outpost site surveying and reconnaissance activities and deployment of a representative solar panel power and distribution system. In addition, technology demonstrations were conducted with a new Lithium-ion battery and autonomous software to coordinate multiple robot activities. Secondary objectives were evaluating airlock concept mockups and prototype removable space suit over-garment elements for dust mitigation, and upgrades to the prototype extravehicular activities (EVA) communication and information system. Dry run test activities, prior to testing at a designated remote field site location, were initially conducted at the Johnson Space Center (JSC) Remote Field Demonstration Test Site. This is a multi-acre external test site located at JSC and has detailed representative terrain features simulating both Lunar and Mars surface characteristics. Both the local JSC and remote field test sites have terrain conditions that are representative and characteristic of both the Moon and Mars, such as strewn rock and volcanic ash fields, craters, rolling plains, hills, gullies, slopes, and outcrops. The D-RATS 2007 field campaign, representing the completion of its tenth year of analog testing, was conducted at the large Cinder Lake volcanic ash bed area adjacent to Flagstaff, Arizona.

Cryogenic Autogenous Pressurization Testing for Robotic Refueling Mission 3

NASA Technical Reports Server (NTRS)

Boyle, R.; DiPirro, M.; Tuttle, J.; Francis, J.; Mustafi, S.; Li, X.; Barfknecht, P.; DeLee, C. H.; McGuire, J.

2015-01-01

A wick-heater system has been selected for use to pressurize the Source Dewar of the Robotic Refueling Mission Phase 3 on-orbit cryogen transfer experiment payload for the International Space Station. Experimental results of autogenous pressurization of liquid argon and liquid nitrogen using a prototype wick-heater system are presented. The wick-heater generates gas to increase the pressure in the tank while maintaining a low bulk fluid temperature. Pressurization experiments were performed in 2013 to characterize the performance of the wick heater. This paper describes the experimental setup, pressurization results, and analytical model correlations.

Development of a Meso-Scale SMA-Based Torsion Actuator for Image-Guided Procedures.

PubMed

Sheng, Jun; Gandhi, Dheeraj; Gullapalli, Rao; Simard, J Marc; Desai, Jaydev P

2017-02-01

This paper presents the design, modeling, and control of a meso-scale torsion actuator based on shape memory alloy (SMA) for image-guided surgical procedures. Developing a miniature torsion actuator is challenging, but it opens the possibility of significantly enhancing the robot agility and maneuverability. The proposed torsion actuator is bi-directionally actuated by a pair of antagonistic SMA torsion springs through alternate Joule heating and natural cooling. The torsion actuator is integrated into a surgical robot prototype to demonstrate its working performance in the humid environment under C-Arm CT image guidance.

Results Of Automating A Photolithography Cell In A Clean Tunnel

NASA Astrophysics Data System (ADS)

June, David H.

1987-01-01

A prototype automated photobay was installed in an existing fab area utilizing flexible material handling techniques within a clean tunnel. The project objective was to prove design concepts of automated cassette-to-cassette handling within a clean tunnel that isolated operators from the wafers being processed. Material handling was by monorail track transport system to feed cassettes to pick and place robots. The robots loaded and unloaded cassettes of wafers to each of the various pieces of process equipment. The material handling algorithms, recipe downloading and statistical process control functions were all performed by custom software on the photobay cell controller.

Development of a Meso-Scale SMA-Based Torsion Actuator for Image-Guided Procedures

PubMed Central

Sheng, Jun; Gandhi, Dheeraj; Gullapalli, Rao; Simard, J. Marc; Desai, Jaydev P.

2016-01-01

This paper presents the design, modeling, and control of a meso-scale torsion actuator based on shape memory alloy (SMA) for image-guided surgical procedures. Developing a miniature torsion actuator is challenging, but it opens the possibility of significantly enhancing the robot agility and maneuverability. The proposed torsion actuator is bi-directionally actuated by a pair of antagonistic SMA torsion springs through alternate Joule heating and natural cooling. The torsion actuator is integrated into a surgical robot prototype to demonstrate its working performance in the humid environment under C-Arm CT image guidance. PMID:28210189

Active chainmail fabrics for soft robotic applications

NASA Astrophysics Data System (ADS)

Ransley, Mark; Smitham, Peter; Miodownik, Mark

2017-08-01

This paper introduces a novel type of smart textile with electronically responsive flexibility. The chainmail inspired fabric is modelled parametrically and simulated via a rigid body physics framework with an embedded model of temperature controlled actuation. Our model assumes that individual fabric linkages are rigid and deform only through their own actuation, thereby decoupling flexibility from stiffness. A physical prototype of the active fabric is constructed and it is shown that flexibility can be significantly controlled through actuator strains of ≤10%. Applications of these materials to soft-robotics such as dynamically reconfigurable orthoses and splints are discussed.

Applications in Robotics and Controls

NASA Astrophysics Data System (ADS)

Youcef-Toumi, Kamal

2008-06-01

Recent industry trends have set new standards in business dealings and trades. Issues such as time to market, shoter market wondows, product performance, rapid increase of product complexity, costly mistakes, costly late introductions, and customer expectations have changed significantly. These trends have also influenced to a great extend the academic world. Some of these trends will be illustrated through examples which include automated systems, robotics, biotechnollogy, and nanotechnology. The examples will include concepts and prototypes of engineering systems in the macro, micro and nanodomains. The presentation also amphasizes the merging of the traditionally segregated disciplines into one multidisciplinary modeling, design, optimization and control approach.

Artificial humanoid for the elderly people.

PubMed

Simou, Panagiota; Alexiou, Athanasios; Tiligadis, Konstantinos

2015-01-01

While frailty and other multi-scale factors have to be correlated during a geriatric assessment, few prototype robots have already been developed in order to measure and provide real-time information, concerning elderly daily activities. Cognitive impairment and alterations on daily functions should be immediate recognized from caregivers, in order to be prevented and probably treated. In this chapter we recognize the necessity of artificial robots during the personal service of the elderly population, not only as a mobile laboratory-geriatrician, but mainly as a socialized digital humanoid able to develop social behavior and activate memories and emotions.

Workspace analysis and design improvement of a carotid flow measurement system.

PubMed

Carbone, G; Nakadate, R; Solis, J; Ceccarelli, M; Takanishi, A; Minagawa, E; Sugawara, M; Niki, K

2010-11-01

Heart and cerebrovascular diseases such as arteriosclerosis and myocardial ischemia dysfunction are currently among the main causes of death in developed countries. Recently, wave intensity (WI), which is an index used to obtain the force of cardiac contraction, has been investigated as a method for early-stage diagnosis of the above-mentioned diseases. Nevertheless, experimental tests have proven that the manual measurements of WI by means of commercial ultrasonic diagnostic systems require too much time and can be affected by the operator's skills. For this purpose, the introduction of robotic-assisted technology has advantages in terms of repetitiveness and accuracy of the measurement procedure. Therefore, at Waseda University, the development of a carotid blood flow measurement system has been proposed to support doctors while using ultrasound diagnostic equipment to measure the WI. This robotic system is composed of a serial robot with a wrist having a six-degree-of-freedom (6-DOF) parallel mechanism. The main focus is to obtain a suitable workspace performance of the 6-DOF parallel mechanism wrist. In this paper, a workspace analysis is carried out on a wrist prototype built for the Waseda-Tokyo Women's Medical Aloka Blood Flow Measurement System No.1 Refined (WTA-1R). Then, mechanical design enhancements are proposed and validated to provide a suitable workspace performance both as reachable workspace and dexterity, and a refined prototype WTA-1RII has been built.

Solar Thermal Utility-Scale Joint Venture Program (USJVP) Final Report

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

MANCINI,THOMAS R.

2001-04-01

Several years ago Sandia National Laboratories developed a prototype interior robot [1] that could navigate autonomously inside a large complex building to aid and test interior intrusion detection systems. Recently the Department of Energy Office of Safeguards and Security has supported the development of a vehicle that will perform limited security functions autonomously in a structured exterior environment. The goal of the first phase of this project was to demonstrate the feasibility of an exterior robotic vehicle for security applications by using converted interior robot technology, if applicable. An existing teleoperational test bed vehicle with remote driving controls was modifiedmore » and integrated with a newly developed command driving station and navigation system hardware and software to form the Robotic Security Vehicle (RSV) system. The RSV, also called the Sandia Mobile Autonomous Navigator (SANDMAN), has been successfully used to demonstrate that teleoperated security vehicles which can perform limited autonomous functions are viable and have the potential to decrease security manpower requirements and improve system capabilities.« less

Development and demonstration of a telerobotic excavation system

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

Development of a Wearable Assist Robot for Walk Rehabilitation After Knee Arthroplasty Surgery

NASA Astrophysics Data System (ADS)

Terada, H.; Zhu, Y.; Horiguchi, K.; Nakamura, M.; Takahashi, R.

In Japan, it is popular that the disease knee joints will be replaced to artificial joints by surgery. And we have to assist so many patients for walk rehabilitation. So, the wearable assist robot has been developed. This robot includes the knee motion assist mechanism and the hip joint support mechanism. Especially, the knee motion assist mechanism consists of a non-circular gear and grooved cams. This mechanism rotates and slides simultaneously, which has two degree-of-freedom. Also, the hip joint support mechanism consists of a hip brace and a ball-joint. This mechanism can avoid motion constraints which are the internal or external rotation and the adduction or abduction. Then, the control algorithm, which considers an assisting timing for the walk rehabilitation, has been proposed. A sensing system of a walk state for this control system uses a heel contacts sensor and knee and hip joint rotation angle sensors. Also, the prototype robot has been tested. And it is confirmed that the assisting system is useful.

Speed control for a mobile robot

NASA Astrophysics Data System (ADS)

Kolli, Kaylan C.; Mallikarjun, Sreeram; Kola, Krishnamohan; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a speed control for a modular autonomous mobile robot controller. The speed control of the traction motor is essential for safe operation of a mobile robot. The challenges of autonomous operation of a vehicle require safe, runaway and collision free operation. A mobile robot test-bed has been constructed using a golf cart base. The computer controlled speed control has been implemented and works with guidance provided by vision system and obstacle avoidance using ultrasonic sensors systems. A 486 computer through a 3- axis motion controller supervises the speed control. The traction motor is controlled via the computer by an EV-1 speed control. Testing of the system was done both in the lab and on an outside course with positive results. This design is a prototype and suggestions for improvements are also given. The autonomous speed controller is applicable for any computer controlled electric drive mobile vehicle.

Free-standing leaping experiments with a power-autonomous elastic-spined quadruped

NASA Astrophysics Data System (ADS)

Pusey, Jason L.; Duperret, Jeffrey M.; Haynes, G. Clark; Knopf, Ryan; Koditschek, Daniel E.

2013-05-01

We document initial experiments with Canid, a freestanding, power-autonomous quadrupedal robot equipped with a parallel actuated elastic spine. Research into robotic bounding and galloping platforms holds scientific and engineering interest because it can both probe biological hypotheses regarding bounding and galloping mammals and also provide the engineering community with a new class of agile, efficient and rapidly-locomoting legged robots. We detail the design features of Canid that promote our goals of agile operation in a relatively cheap, conventionally prototyped, commercial off-the-shelf actuated platform. We introduce new measurement methodology aimed at capturing our robot's "body energy" during real time operation as a means of quantifying its potential for agile behavior. Finally, we present joint motor, inertial and motion capture data taken from Canid's initial leaps into highly energetic regimes exhibiting large accelerations that illustrate the use of this measure and suggest its future potential as a platform for developing efficient, stable, hence useful bounding gaits.

Planning Robotic Manipulation Strategies for Sliding Objects

NASA Astrophysics Data System (ADS)

Peshkin, Michael A.

Automated planning of grasping or manipulation requires an understanding of both the physics and the geometry of manipulation, and a representation of that knowledge which facilitates the search for successful strategies. We consider manipulation on a level conveyor belt or tabletop, on which a part may slide when touched by a robot. Manipulation plans for a given part must succeed in the face of two types of uncertainty: that of the details of surfaces in contact, and that of the initial configuration of the part. In general the points of contact between the part and the surface it slides on will be unknown, so the motion of the part in response to a push cannot be predicted exactly. Using a simple variational principle (which is derived), we find the set of possible motions of a part for a given push, for all collections of points of contact. The answer emerges as a locus of centers of rotation (CORs). Manipulation plans made using this locus will succeed despite unknown details of contact. Results of experimental tests of the COR loci are presented. Uncertainty in the initial configuration of a part is usually also present. To plan in the presence of uncertainty, configuration maps are defined, which map all configurations of a part before an elementary operation to all possible outcomes, thus encapsulating the physics and geometry of the operation. The configuration map for an operation sequence is a product of configuration maps of elementary operations. Using COR loci we compute configuration maps for elementary sliding operations. Appropriate search techniques are applied to find operation sequences which succeed in the presence of uncertainty in the initial configuration and unknown details of contact. Such operation sequences may be used as parts feeder designs or as manipulation or grasping strategies for robots. As an example we demonstrate the automated design of a class of passive parts feeders consisting of multiple sequential fences across a conveyor belt.

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

PubMed

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

2017-11-28

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

Origami-based earthworm-like locomotion robots.

PubMed

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

2017-10-16

Inspired by the morphology characteristics of the earthworms and the excellent deformability of origami structures, this research creates a novel earthworm-like locomotion robot through exploiting the origami techniques. In this innovation, appropriate actuation mechanisms are incorporated with origami ball structures into the earthworm-like robot 'body', and the earthworm's locomotion mechanism is mimicked to develop a gait generator as the robot 'centralized controller'. The origami ball, which is a periodic repetition of waterbomb units, could output significant bidirectional (axial and radial) deformations in an antagonistic way similar to the earthworm's body segment. Such bidirectional deformability can be strategically programmed by designing the number of constituent units. Experiments also indicate that the origami ball possesses two outstanding mechanical properties that are beneficial to robot development: one is the structural multistability in the axil direction that could contribute to the robot control implementation; and the other is the structural compliance in the radial direction that would increase the robot robustness and applicability. To validate the origami-based innovation, this research designs and constructs three robot segments based on different axial actuators: DC-motor, shape-memory-alloy springs, and pneumatic balloon. Performance evaluations reveal their merits and limitations, and to prove the concept, the DC-motor actuation is selected for building a six-segment robot prototype. Learning from earthworms' fundamental locomotion mechanism-retrograde peristalsis wave, seven gaits are automatically generated; controlled by which, the robot could achieve effective locomotion with qualitatively different modes and a wide range of average speeds. The outcomes of this research could lead to the development of origami locomotion robots with low fabrication costs, high customizability, light weight, good scalability, and excellent re-configurability.

USDC based rapid penetrator of packed soil

NASA Technical Reports Server (NTRS)

Bao, Xiaoqi; Bar-Cohen, Yoseph; Chang, Zensheu; Sherrit, Stewart; Badescu, Mircea

2006-01-01

Environment protection requires more testing and analysis tools. To detect buried chemical containers or other objects embedded in soil and avoid possible damages of them, a penetrator of packed soil operated using low pushing force was developed. The design was based on a novel driving mechanism of the ultrasonic/sonic driller/corer (USDC) device developed in the NDEAA lab at JPL [Bar-Cohen et al 2001, Bao et al 2003]. In the penetrator, a small free-flying mass is energized by a piezoelectric transducer and impacts a rod probe on its shoulder at frequencies of hundreds times per second. The impacts help the probe to penetrate the packed soil rapidly. A great reduction of the needed pushing force for penetration was achieved. The details of the design of the prototype penetrator and the results of performance tests are presented.

The Resonating Arm Exerciser: design and pilot testing of a mechanically passive rehabilitation device that mimics robotic active assistance

PubMed Central

2013-01-01

Background Robotic arm therapy devices that incorporate actuated assistance can enhance arm recovery, motivate patients to practice, and allow therapists to deliver semi-autonomous training. However, because such devices are often complex and actively apply forces, they have not achieved widespread use in rehabilitation clinics or at home. This paper describes the design and pilot testing of a simple, mechanically passive device that provides robot-like assistance for active arm training using the principle of mechanical resonance. Methods The Resonating Arm Exerciser (RAE) consists of a lever that attaches to the push rim of a wheelchair, a forearm support, and an elastic band that stores energy. Patients push and pull on the lever to roll the wheelchair back and forth by about 20 cm around a neutral position. We performed two separate pilot studies of the device. In the first, we tested whether the predicted resonant properties of RAE amplified a user’s arm mobility by comparing his or her active range of motion (AROM) in the device achieved during a single, sustained push and pull to the AROM achieved during rocking. In a second pilot study designed to test the therapeutic potential of the device, eight participants with chronic stroke (35 ± 24 months since injury) and a mean, stable, initial upper extremity Fugl-Meyer (FM) score of 17 ± 8 / 66 exercised with RAE for eight 45 minute sessions over three weeks. The primary outcome measure was the average AROM measured with a tilt sensor during a one minute test, and the secondary outcome measures were the FM score and the visual analog scale for arm pain. Results In the first pilot study, we found people with a severe motor impairment after stroke intuitively found the resonant frequency of the chair, and the mechanical resonance of RAE amplified their arm AROM by a factor of about 2. In the second pilot study, AROM increased by 66% ± 20% (p = 0.003). The mean FM score increase was 8.5 ± 4 pts (p = 0.009). Subjects did not report discomfort or an increase in arm pain with rocking. Improvements were sustained at three months. Conclusions These results demonstrate that a simple mechanical device that snaps onto a manual wheelchair can use resonance to assist arm training, and that such training shows potential for safely increasing arm movement ability for people with severe chronic hemiparetic stroke. PMID:23597303

The Resonating Arm Exerciser: design and pilot testing of a mechanically passive rehabilitation device that mimics robotic active assistance.

PubMed

Zondervan, Daniel K; Palafox, Lorena; Hernandez, Jorge; Reinkensmeyer, David J

2013-04-18

Robotic arm therapy devices that incorporate actuated assistance can enhance arm recovery, motivate patients to practice, and allow therapists to deliver semi-autonomous training. However, because such devices are often complex and actively apply forces, they have not achieved widespread use in rehabilitation clinics or at home. This paper describes the design and pilot testing of a simple, mechanically passive device that provides robot-like assistance for active arm training using the principle of mechanical resonance. The Resonating Arm Exerciser (RAE) consists of a lever that attaches to the push rim of a wheelchair, a forearm support, and an elastic band that stores energy. Patients push and pull on the lever to roll the wheelchair back and forth by about 20 cm around a neutral position. We performed two separate pilot studies of the device. In the first, we tested whether the predicted resonant properties of RAE amplified a user's arm mobility by comparing his or her active range of motion (AROM) in the device achieved during a single, sustained push and pull to the AROM achieved during rocking. In a second pilot study designed to test the therapeutic potential of the device, eight participants with chronic stroke (35 ± 24 months since injury) and a mean, stable, initial upper extremity Fugl-Meyer (FM) score of 17 ± 8 / 66 exercised with RAE for eight 45 minute sessions over three weeks. The primary outcome measure was the average AROM measured with a tilt sensor during a one minute test, and the secondary outcome measures were the FM score and the visual analog scale for arm pain. In the first pilot study, we found people with a severe motor impairment after stroke intuitively found the resonant frequency of the chair, and the mechanical resonance of RAE amplified their arm AROM by a factor of about 2. In the second pilot study, AROM increased by 66% ± 20% (p = 0.003). The mean FM score increase was 8.5 ± 4 pts (p = 0.009). Subjects did not report discomfort or an increase in arm pain with rocking. Improvements were sustained at three months. These results demonstrate that a simple mechanical device that snaps onto a manual wheelchair can use resonance to assist arm training, and that such training shows potential for safely increasing arm movement ability for people with severe chronic hemiparetic stroke.

The Summer Robotic Autonomy Course

NASA Technical Reports Server (NTRS)

Nourbakhsh, Illah R.

2002-01-01

We offered a first Robotic Autonomy course this summer, located at NASA/Ames' new NASA Research Park, for approximately 30 high school students. In this 7-week course, students worked in ten teams to build then program advanced autonomous robots capable of visual processing and high-speed wireless communication. The course made use of challenge-based curricula, culminating each week with a Wednesday Challenge Day and a Friday Exhibition and Contest Day. Robotic Autonomy provided a comprehensive grounding in elementary robotics, including basic electronics, electronics evaluation, microprocessor programming, real-time control, and robot mechanics and kinematics. Our course then continued the educational process by introducing higher-level perception, action and autonomy topics, including teleoperation, visual servoing, intelligent scheduling and planning and cooperative problem-solving. We were able to deliver such a comprehensive, high-level education in robotic autonomy for two reasons. First, the content resulted from close collaboration between the CMU Robotics Institute and researchers in the Information Sciences and Technology Directorate and various education program/project managers at NASA/Ames. This collaboration produced not only educational content, but will also be focal to the conduct of formative and summative evaluations of the course for further refinement. Second, CMU rapid prototyping skills as well as the PI's low-overhead perception and locomotion research projects enabled design and delivery of affordable robot kits with unprecedented sensory- locomotory capability. Each Trikebot robot was capable of both indoor locomotion and high-speed outdoor motion and was equipped with a high-speed vision system coupled to a low-cost pan/tilt head. As planned, follow the completion of Robotic Autonomy, each student took home an autonomous, competent robot. This robot is the student's to keep, as she explores robotics with an extremely capable tool in the midst of a new community for roboticists. CMU provided undergraduate course credit for this official course, 16-162U, for 13 students, with all other students receiving course credit from National Hispanic University.

A multitasking behavioral control system for the Robotic All Terrain Lunar Exploration Rover (RATLER)

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

Klarer, P.

1994-03-01

The design of a multitasking behavioral control system for the Robotic All Terrain Lunar Exploration Rover (RATLER) is described. The control system design attempts to ameliorate some of the problems noted by some researchers when implementing subsumption or behavioral control systems, particularly with regard to multiple processor systems and real-time operations. The architecture is designed to allow both synchronous and asynchronous operations between various behavior modules by taking advantage of intertask communications channels, and by implementing each behavior module and each interconnection node as a stand-alone task. The potential advantages of this approach over those previously described in the fieldmore » are discussed. An implementation of the architecture is planned for a prototype Robotic All Terrain Lunar Exploration Rover (RATLER) currently under development, and is briefly described.« less

Prototyping of Remote Experiment and Exercise Systems for an Engineering Education based on World Wide Web

NASA Astrophysics Data System (ADS)

Iwatsuki, Masami; Kato, Yoriyuki; Yonekawa, Akira

State-of-the-art Internet technologies allow us to provide advanced and interactive distance education services. However, we could not help but gather students for experiments and exercises in an education for engineering because large-scale equipments and expensive software are required. On the other hand, teleoperation systems with robot manipulator or vehicle via Internet have been developed in the field of robotics. By fusing these two techniques, we can realize remote experiment and exercise systems for the engineering education based on World Wide Web. This paper presents how to construct the remote environment that allows students to take courses on experiment and exercise independently of their locations. By using the proposed system, users can exercise and practice remotely about control of a manipulator and a robot vehicle and programming of image processing.

Design and Fabrication of Soft Morphing Ray Propulsor: Undulator and Oscillator.

PubMed

Kim, Hyung-Soo; Lee, Jang-Yeob; Chu, Won-Shik; Ahn, Sung-Hoon

2017-03-01

A soft morphing ray propulsor capable of generating an undulating motion in its pectoral fins was designed and fabricated. The propulsor used shape memory alloy for actuation, and the body was made with soft polymers. To determine the effects of undulation in the fins, two models that differed in terms of the presence of undulation were fabricated using different polymer materials. The experimental models were tested with a dynamometer to measure and compare thrust tendencies. Thrust measurements were conducted with various fin beat frequencies. Using the experimental data, the concept of an optimized standalone version of the ray robot was suggested and its prototype was fabricated. The fabricated robot was able to swim as fast as 0.26 body length per second and 38% more efficient than other smart material-based ray-like underwater robots.

Three-dimensional computer-aided human factors engineering analysis of a grafting robot.

PubMed

Chiu, Y C; Chen, S; Wu, G J; Lin, Y H

2012-07-01

The objective of this research was to conduct a human factors engineering analysis of a grafting robot design using computer-aided 3D simulation technology. A prototype tubing-type grafting robot for fruits and vegetables was the subject of a series of case studies. To facilitate the incorporation of human models into the operating environment of the grafting robot, I-DEAS graphic software was applied to establish individual models of the grafting robot in line with Jack ergonomic analysis. Six human models (95th percentile, 50th percentile, and 5th percentile by height for both males and females) were employed to simulate the operating conditions and working postures in a real operating environment. The lower back and upper limb stresses of the operators were analyzed using the lower back analysis (LBA) and rapid upper limb assessment (RULA) functions in Jack. The experimental results showed that if a leg space is introduced under the robot, the operator can sit closer to the robot, which reduces the operator's level of lower back and upper limbs stress. The proper environmental layout for Taiwanese operators for minimum levels of lower back and upper limb stress are to set the grafting operation at 23.2 cm away from the operator at a height of 85 cm and with 45 cm between the rootstock and scion units.

Characterization of an acoustic actuation mechanism for robotic propulsion in low Reynolds number environments

NASA Astrophysics Data System (ADS)

House, Christopher; Armstrong, Jenelle; Burkhardt, John; Firebaugh, Samara

2014-06-01

With the end goal of medical applications such as non-invasive surgery and targeted drug delivery, an acoustically driven resonant structure is proposed for microrobotic propulsion. At the proposed scale, the low Reynolds number environment requires non-reciprocal motion from the robotic structure for propulsion; thus, a "flapper" with multiple, flexible joints, has been designed to produce excitation modes that involve the necessary flagella-like bending for non-reciprocal motion. The key design aspect of the flapper structure involves a very thin joint that allows bending in one (vertical) direction, but not the opposing direction. This allows for the second mass and joint to bend in a manner similar to a dolphin's "kick" at the bottom of their stroke, resulting in forward thrust. A 130 mm x 50 mm x 0.2 mm prototype of a swimming robot that utilizes the flapper was fabricated out of acrylic using a laser cutter. The robot was tested in water and in a water-glycerine solution designed to mimic microscale fluid conditions. The robot exhibited forward propulsion when excited by an underwater speaker at its resonance mode, with velocities up to 2.5 mm/s. The robot also displayed frequency selectivity, leading to the possibility of exploring a steering mechanism with alternatively tuned flappers. Additional tests were conducted with a robot at a reduced size scale.

A Self-Organizing Interaction and Synchronization Method between a Wearable Device and Mobile Robot.

PubMed

Kim, Min Su; Lee, Jae Geun; Kang, Soon Ju

2016-06-08

In the near future, we can expect to see robots naturally following or going ahead of humans, similar to pet behavior. We call this type of robots "Pet-Bot". To implement this function in a robot, in this paper we introduce a self-organizing interaction and synchronization method between wearable devices and Pet-Bots. First, the Pet-Bot opportunistically identifies its owner without any human intervention, which means that the robot self-identifies the owner's approach on its own. Second, Pet-Bot's activity is synchronized with the owner's behavior. Lastly, the robot frequently encounters uncertain situations (e.g., when the robot goes ahead of the owner but meets a situation where it cannot make a decision, or the owner wants to stop the Pet-Bot synchronization mode to relax). In this case, we have adopted a gesture recognition function that uses a 3-D accelerometer in the wearable device. In order to achieve the interaction and synchronization in real-time, we use two wireless communication protocols: 125 kHz low-frequency (LF) and 2.4 GHz Bluetooth low energy (BLE). We conducted experiments using a prototype Pet-Bot and wearable devices to verify their motion recognition of and synchronization with humans in real-time. The results showed a guaranteed level of accuracy of at least 94%. A trajectory test was also performed to demonstrate the robot's control performance when following or leading a human in real-time.

The Charlotte (TM) intra-vehicular robot

NASA Technical Reports Server (NTRS)

Swaim, Patrick L.; Thompson, Clark J.; Campbell, Perry D.

1994-01-01

NASA has identified telerobotics and telescience as essential technologies to reduce the crew extra-vehicular activity (EVA) and intra-vehicular activity (IVA) workloads. Under this project, we are developing and flight testing a novel IVA robot to relieve the crew of tedious and routine tasks. Through ground telerobotic control of this robot, we will enable ground researchers to routinely interact with experiments in space. Our approach is to develop an IVA robot system incrementally by employing a series of flight tests with increasing complexity. This approach has the advantages of providing an early IVA capability that can assist the crew, demonstrate capabilities that ground researchers can be confident of in planning for future experiments, and allow incremental refinement of system capabilities and insertion of new technology. In parallel with this approach to flight testing, we seek to establish ground test beds, in which the requirements of payload experimenters can be further investigated. In 1993 we reviewed manifested SpaceHab experiments and defined IVA robot requirements to assist in their operation. We also examined previous IVA robot designs and assessed them against flight requirements. We rejected previous design concepts on the basis of threat to crew safety, operability, and maintainability. Based on this insight, we developed an entirely new concept for IVA robotics, the CHARLOTTE robot system. Ground based testing of a prototype version of the system has already proven its ability to perform most common tasks demanded of the crew, including operation of switches, buttons, knobs, dials, and performing video surveys of experiments and switch panels.

Soft mobile robots driven by foldable dielectric elastomer actuators

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

Sun, Wenjie; Liu, Fan; Ma, Ziqi

A cantilever beam with elastic hinge pulled antagonistically by two dielectric elastomer (DE) membranes in tension forms a foldable actuator if one DE membrane is subject to a voltage and releases part of tension. Simply placing parallel rigid bars on the prestressed DE membranes results in enhanced actuators working in a pure shear state. We report design, analysis, fabrication, and experiment of soft mobile robots that are moved by such foldable DE actuators. We describe systematic measurement of the foldable actuators and perform theoretical analysis of such actuators based on minimization of total energy, and a good agreement is achievedmore » between model prediction and measurement. We develop two versions of prototypes of soft mobile robots driven either by two sets of DE membranes or one DE membrane and elastic springs. We demonstrate locomotion of these soft mobile robots and highlight several key design parameters that influence locomotion of the robots. A 45 g soft robot driven by a cyclic triangle voltage with amplitude 7.4 kV demonstrates maximal stroke 160 mm or maximal rolling velocity 42 mm/s. The underlying mechanics and physics of foldable DE actuators can be leveraged to develop other soft machines for various applications.« less

Design and control of compliant tensegrity robots through simulation and hardware validation.

PubMed

Caluwaerts, Ken; Despraz, Jérémie; Işçen, Atıl; Sabelhaus, Andrew P; Bruce, Jonathan; Schrauwen, Benjamin; SunSpiral, Vytas

2014-09-06

To better understand the role of tensegrity structures in biological systems and their application to robotics, the Dynamic Tensegrity Robotics Lab at NASA Ames Research Center, Moffett Field, CA, USA, has developed and validated two software environments for the analysis, simulation and design of tensegrity robots. These tools, along with new control methodologies and the modular hardware components developed to validate them, are presented as a system for the design of actuated tensegrity structures. As evidenced from their appearance in many biological systems, tensegrity ('tensile-integrity') structures have unique physical properties that make them ideal for interaction with uncertain environments. Yet, these characteristics make design and control of bioinspired tensegrity robots extremely challenging. This work presents the progress our tools have made in tackling the design and control challenges of spherical tensegrity structures. We focus on this shape since it lends itself to rolling locomotion. The results of our analyses include multiple novel control approaches for mobility and terrain interaction of spherical tensegrity structures that have been tested in simulation. A hardware prototype of a spherical six-bar tensegrity, the Reservoir Compliant Tensegrity Robot, is used to empirically validate the accuracy of simulation. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

An under-actuated origami gripper with adjustable stiffness joints for multiple grasp modes

NASA Astrophysics Data System (ADS)

Firouzeh, Amir; Paik, Jamie

2017-05-01

Under-actuated robots offer multiple degrees of freedom without much added complexity to the actuation and control. Utilizing adjustable stiffness joints in these robots allows us to control their stable configurations and their mode of interaction with the environment. In this paper, we present the design of tendon-driven robotic origami (robogami) joints with adjustable stiffness. The proposed designs allow us to place joints along any direction in the plane of the robot and in the normal direction to the plane. The layer-by-layer manufacturing of robogamis facilitates the design and manufacturing of robots with different arrangement of joints for different applications. We use thermally activated shape memory polymer to control the joint stiffness. The manufacturing of the polymer layer is compatible with the layer-by-layer manufacturing process of the robogamis which results in scalable and customizable robots. To demonstrate, we prototyped an under-actuated gripper with three fingers and only one input actuation. The grasp mode of the gripper is set by adjusting the configuration of the locked joints and modulating the stiffness of the active joints. We present a model to estimate the configuration and the contact forces of the gripper at different settings that will assist us in design and control of future generation of under-actuated robogamis.

A dragline-forming mobile robot inspired by spiders.

PubMed

Wang, Liyu; Culha, Utku; Iida, Fumiya

2014-03-01

Mobility of wheeled or legged machines can be significantly increased if they are able to move from a solid surface into a three-dimensional space. Although that may be achieved by addition of flying mechanisms, the payload fraction will be the limiting factor in such hybrid mobile machines for many applications. Inspired by spiders producing draglines to assist locomotion, the paper proposes an alternative mobile technology where a robot achieves locomotion from a solid surface into a free space. The technology resembles the dragline production pathway in spiders to a technically feasible degree and enables robots to move with thermoplastic spinning of draglines. As an implementation, a mobile robot has been prototyped with thermoplastic adhesives as source material of the draglines. Experimental results show that a dragline diameter range of 1.17-5.27 mm was achievable by the 185 g mobile robot in descending locomotion from the solid surface of a hanging structure with a power consumption of 4.8 W and an average speed of 5.13 cm min(-1). With an open-loop controller consisting of sequences of discrete events, the robot has demonstrated repeatable dragline formation with a relative deviation within -4% and a length close to the metre scale.

Parametric optimization in virtual prototyping environment of the control device for a robotic system used in thin layers deposition

NASA Astrophysics Data System (ADS)

Enescu (Balaş, M. L.; Alexandru, C.

2016-08-01

The paper deals with the optimal design of the control system for a 6-DOF robot used in thin layers deposition. The optimization is based on parametric technique, by modelling the design objective as a numerical function, and then establishing the optimal values of the design variables so that to minimize the objective function. The robotic system is a mechatronic product, which integrates the mechanical device and the controlled operating device.The mechanical device of the robot was designed in the CAD (Computer Aided Design) software CATIA, the 3D-model being then transferred to the MBS (Multi-Body Systems) environment ADAMS/View. The control system was developed in the concurrent engineering concept, through the integration with the MBS mechanical model, by using the DFC (Design for Control) software solution EASY5. The necessary angular motions in the six joints of the robot, in order to obtain the imposed trajectory of the end-effector, have been established by performing the inverse kinematic analysis. The positioning error in each joint of the robot is used as design objective, the optimization goal being to minimize the root mean square during simulation, which is a measure of the magnitude of the positioning error varying quantity.

Piezoresistive pressure sensor array for robotic skin

NASA Astrophysics Data System (ADS)

Mirza, Fahad; Sahasrabuddhe, Ritvij R.; Baptist, Joshua R.; Wijesundara, Muthu B. J.; Lee, Woo H.; Popa, Dan O.

2016-05-01

Robots are starting to transition from the confines of the manufacturing floor to homes, schools, hospitals, and highly dynamic environments. As, a result, it is impossible to foresee all the probable operational situations of robots, and preprogram the robot behavior in those situations. Among human-robot interaction technologies, haptic communication is an intuitive physical interaction method that can help define operational behaviors for robots cooperating with humans. Multimodal robotic skin with distributed sensors can help robots increase perception capabilities of their surrounding environments. Electro-Hydro-Dynamic (EHD) printing is a flexible multi-modal sensor fabrication method because of its direct printing capability of a wide range of materials onto substrates with non-uniform topographies. In past work we designed interdigitated comb electrodes as a sensing element and printed piezoresistive strain sensors using customized EHD printable PEDOT:PSS based inks. We formulated a PEDOT:PSS derivative ink, by mixing PEDOT:PSS and DMSO. Bending induced characterization tests of prototyped sensors showed high sensitivity and sufficient stability. In this paper, we describe SkinCells, robot skin sensor arrays integrated with electronic modules. 4x4 EHD-printed arrays of strain sensors was packaged onto Kapton sheets and silicone encapsulant and interconnected to a custom electronic module that consists of a microcontroller, Wheatstone bridge with adjustable digital potentiometer, multiplexer, and serial communication unit. Thus, SkinCell's electronics can be used for signal acquisition, conditioning, and networking between sensor modules. Several SkinCells were loaded with controlled pressure, temperature and humidity testing apparatuses, and testing results are reported in this paper.

Paired evaluation of calvarial reconstruction with prototyped titanium implants with and without ceramic coating.

PubMed

Calderoni, Davi Reis; Gilioli, Rovilson; Munhoz, André Luiz Jardini; Maciel Filho, Rubens; Zavaglia, Cecília Amélia de Carvalho; Lambert, Carlos Salles; Lopes, Eder Socrates Najar; Toro, Ivan Felizardo Contrera; Kharmandayan, Paulo

2014-09-01

To investigate the osseointegration properties of prototyped implants with tridimensionally interconnected pores made of the Ti6Al4V alloy and the influence of a thin calcium phosphate coating. Bilateral critical size calvarial defects were created in thirty Wistar rats and filled with coated and uncoated implants in a randomized fashion. The animals were kept for 15, 45 and 90 days. Implant mechanical integration was evaluated with a push-out test. Bone-implant interface was analyzed using scanning electron microscopy. The maximum force to produce initial displacement of the implants increased during the study period, reaching values around 100N for both types of implants. Intimate contact between bone and implant was present, with progressive bone growth into the pores. No significant differences were seen between coated and uncoated implants. Adequate osseointegration can be achieved in calvarial reconstructions using prototyped Ti6Al4V Implants with the described characteristics of surface and porosity.

Equipment development for automated assembly of solar modules

NASA Technical Reports Server (NTRS)

Hagerty, J. J.

1982-01-01

Prototype equipment was developed which allows for totally automated assembly in the three major areas of module manufacture: cell stringing, encapsulant layup and cure and edge sealing. The equipment is designed to be used in conjunction with a standard Unimate 2000B industrial robot although the design is adaptable to other transport systems.

Precise Truss Assembly Using Commodity Parts and Low Precision Welding

NASA Technical Reports Server (NTRS)

Komendera, Erik; Reishus, Dustin; Dorsey, John T.; Doggett, W. R.; Correll, Nikolaus

2014-01-01

Hardware and software design and system integration for an intelligent precision jigging robot (IPJR), which allows high precision assembly using commodity parts and low-precision bonding, is described. Preliminary 2D experiments that are motivated by the problem of assembling space telescope optical benches and very large manipulators on orbit using inexpensive, stock hardware and low-precision welding are also described. An IPJR is a robot that acts as the precise "jigging", holding parts of a local structure assembly site in place, while an external low precision assembly agent cuts and welds members. The prototype presented in this paper allows an assembly agent (for this prototype, a human using only low precision tools), to assemble a 2D truss made of wooden dowels to a precision on the order of millimeters over a span on the order of meters. The analysis of the assembly error and the results of building a square structure and a ring structure are discussed. Options for future work, to extend the IPJR paradigm to building in 3D structures at micron precision are also summarized.

A cable-driven parallel robots application: modelling and simulation of a dynamic cable model in Dymola

NASA Astrophysics Data System (ADS)

Othman, M. F.; Kurniawan, R.; Schramm, D.; Ariffin, A. K.

2018-05-01

Modeling a cable model in multibody dynamics simulation tool which dynamically varies in length, mass and stiffness is a challenging task. Simulation of cable-driven parallel robots (CDPR) for instance requires a cable model that can dynamically change in length for every desired pose of the platform. Thus, in this paper, a detailed procedure for modeling and simulation of a dynamic cable model in Dymola is proposed. The approach is also applicable for other types of Modelica simulation environments. The cable is modeled using standard mechanical elements like mass, spring, damper and joint. The parameters of the cable model are based on the factsheet of the manufacturer and experimental results. Its dynamic ability is tested by applying it on a complete planar CDPR model in which the parameters are based on a prototype named CABLAR, which is developed in Chair of Mechatronics, University of Duisburg-Essen. The prototype has been developed to demonstrate an application of CDPR as a goods storage and retrieval machine. The performance of the cable model during the simulation is analyzed and discussed.

Olivas participating in EVA during Expedition/STS-117 Joint Operations

NASA Image and Video Library

2007-06-15

ISS015-E-12948 (15 June 2007) --- Anchored to a foot restraint on Space Shuttle Atlantis' remote manipulator system (RMS) robotic arm, astronaut John "Danny" Olivas, STS-117 mission specialist, moves toward Atlantis' port orbital maneuvering system (OMS) pod that was damaged during the shuttle's climb to orbit last week. During the repair, Olivas pushed the turned up portion of the thermal blanket back into position, used a medical stapler to secure the layers of the blanket, and pinned it in place against adjacent thermal tile.

Olivas participating in EVA during Expedition/STS-117 Joint Operations

NASA Image and Video Library

2007-06-15

ISS015-E-12939 (15 June 2007) --- Anchored to a foot restraint on Space Shuttle Atlantis' remote manipulator system (RMS) robotic arm, astronaut John "Danny" Olivas, STS-117 mission specialist, moves toward Atlantis' port orbital maneuvering system (OMS) pod that was damaged during the shuttle's climb to orbit last week. During the repair, Olivas pushed the turned up portion of the thermal blanket back into position, used a medical stapler to secure the layers of the blanket, and pinned it in place against adjacent thermal tile.

The Stanford Automated Mounter: Pushing the limits of sample exchange at the SSRL macromolecular crystallography beamlines

DOE PAGES

Russi, Silvia; Song, Jinhu; McPhillips, Scott E.; ...

2016-02-24

The Stanford Automated Mounter System, a system for mounting and dismounting cryo-cooled crystals, has been upgraded to increase the throughput of samples on the macromolecular crystallography beamlines at the Stanford Synchrotron Radiation Lightsource. This upgrade speeds up robot maneuvers, reduces the heating/drying cycles, pre-fetches samples and adds an air-knife to remove frost from the gripper arms. As a result, sample pin exchange during automated crystal quality screening now takes about 25 s, five times faster than before this upgrade.

The Stanford Automated Mounter: Pushing the limits of sample exchange at the SSRL macromolecular crystallography beamlines

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

Russi, Silvia; Song, Jinhu; McPhillips, Scott E.

The Stanford Automated Mounter System, a system for mounting and dismounting cryo-cooled crystals, has been upgraded to increase the throughput of samples on the macromolecular crystallography beamlines at the Stanford Synchrotron Radiation Lightsource. This upgrade speeds up robot maneuvers, reduces the heating/drying cycles, pre-fetches samples and adds an air-knife to remove frost from the gripper arms. As a result, sample pin exchange during automated crystal quality screening now takes about 25 s, five times faster than before this upgrade.

Development of miniaturized light endoscope-holder robot for laparoscopic surgery.

PubMed

Long, Jean-Alexandre; Cinquin, Philippe; Troccaz, Jocelyne; Voros, Sandrine; Berkelman, Peter; Descotes, Jean-Luc; Letoublon, Christian; Rambeaud, Jean-Jacques

2007-08-01

We have conducted experiments with an innovatively designed robot endoscope holder for laparoscopic surgery that is small and low cost. A compact light endoscope robot (LER) that is placed on the patient's skin and can be used with the patient in the lateral or dorsal supine position was tested on cadavers and laboratory pigs in order to allow successive modifications. The current control system is based on voice recognition. The range of vision is 360 degrees with an angle of 160 degrees . Twenty-three procedures were performed. The tests made it possible to advance the prototype on a variety of aspects, including reliability, steadiness, ergonomics, and dimensions. The ease of installation of the robot, which takes only 5 minutes, and the easy handling made it possible for 21 of the 23 procedures to be performed without an assistant. The LER is a camera holder guided by the surgeon's voice that can eliminate the need for an assistant during laparoscopic surgery. The ease of installation and manufacture should make it an effective and inexpensive system for use on patients in the lateral and dorsal supine positions. Randomized clinical trials will soon validate a new version of this robot prior to marketing.

Biomechanical effects of robot assisted walking on knee joint kinematics and muscle activation pattern.

PubMed

Thangavel, Pavithra; Vidhya, S; Li, Junhua; Chew, Effie; Bezerianos, Anastasios; Yu, Haoyong

2017-07-01

Since manual rehabilitation therapy can be taxing for both the patient and the physiotherapist, a gait rehabilitation robot has been built to reduce the physical strain and increase the efficacy of the rehabilitation therapy. The prototype of the gait rehabilitation robot is designed to provide assistance while walking for patients with abnormal gait pattern and it can also be used for rehabilitation therapy to restore an individual's normal gait pattern by aiding motor recovery. The Gait Rehabilitation Robot uses gait event based synchronization, which enables the exoskeleton to provide synchronous assistance during walking that aims to reduce the lower-limb muscle activation. This study emphasizes on the biomechanical effects of assisted walking on the lower limb by analyzing the EMG signal, knee joint kinematics data that was collected from the right leg during the various experimental conditions. The analysis of the measured data shows an improved knee joint trajectory and reduction in muscle activity with assistance. The result of this study does not only assess the functionality of the exoskeleton but also provides a profound understanding of the human-robot interaction by studying the effects of assistance on the lower limb.

A bio-inspired design of a hand robotic exoskeleton for rehabilitation

NASA Astrophysics Data System (ADS)

Ong, Aira Patrice R.; Bugtai, Nilo T.

2018-02-01

This paper presents the methodology for the design of a five-degree of freedom wearable robotic exoskeleton for hand rehabilitation. The design is inspired by the biological structure and mechanism of the human hand. One of the distinct features of the device is the cable-driven actuation, which provides the flexion and extension motion. A prototype of the orthotic device has been developed to prove the model of the system and has been tested in a 3D printed mechanical hand. The result showed that the proposed device was consistent with the requirements of bionics and was able to demonstrate the flexion and extension of the system.

Collaborative autonomous sensing with Bayesians in the loop

NASA Astrophysics Data System (ADS)

Ahmed, Nisar

2016-10-01

There is a strong push to develop intelligent unmanned autonomy that complements human reasoning for applications as diverse as wilderness search and rescue, military surveillance, and robotic space exploration. More than just replacing humans for `dull, dirty and dangerous' work, autonomous agents are expected to cope with a whole host of uncertainties while working closely together with humans in new situations. The robotics revolution firmly established the primacy of Bayesian algorithms for tackling challenging perception, learning and decision-making problems. Since the next frontier of autonomy demands the ability to gather information across stretches of time and space that are beyond the reach of a single autonomous agent, the next generation of Bayesian algorithms must capitalize on opportunities to draw upon the sensing and perception abilities of humans-in/on-the-loop. This work summarizes our recent research toward harnessing `human sensors' for information gathering tasks. The basic idea behind is to allow human end users (i.e. non-experts in robotics, statistics, machine learning, etc.) to directly `talk to' the information fusion engine and perceptual processes aboard any autonomous agent. Our approach is grounded in rigorous Bayesian modeling and fusion of flexible semantic information derived from user-friendly interfaces, such as natural language chat and locative hand-drawn sketches. This naturally enables `plug and play' human sensing with existing probabilistic algorithms for planning and perception, and has been successfully demonstrated with human-robot teams in target localization applications.

RADIOLOGICAL SURVEY STATION DEVELOPMENT FOR THE PIT DISASSEMBLY AND CONVERSION PROJECT

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

Dalmaso, M.; Gibbs, K.; Gregory, D.

2011-05-22

The Savannah River National Laboratory (SRNL) has developed prototype equipment to demonstrate remote surveying of Inner and Outer DOE Standard 3013 containers for fixed and transferable contamination in accordance with DOE Standard 3013 and 10 CFR 835 Appendix B. When fully developed the equipment will be part of a larger suite of equipment used to package material in accordance with DOE Standard 3013 at the Pit Disassembly and Conversion Project slated for installation at the Savannah River Site. The prototype system consists of a small six-axis industrial robot with an end effector consisting of a force sensor, vacuum gripper andmore » a three fingered pneumatic gripper. The work cell also contains two alpha survey instruments, swipes, swipe dispenser, and other ancillary equipment. An external controller interfaces with the robot controller, survey instruments and other ancillary equipment to control the overall process. SRNL is developing automated equipment for the Pit Disassembly and Conversion (PDC) Project that is slated for the Savannah River Site (SRS). The equipment being developed is automated packaging equipment for packaging plutonium bearing materials in accordance with DOE-STD-3013-2004. The subject of this paper is the development of a prototype Radiological Survey Station (RSS). Other automated equipment being developed for the PDC includes the Bagless transfer System, Outer Can Welder, Gantry Robot System (GRS) and Leak Test Station. The purpose of the RSS is to perform a frisk and swipe of the DOE Standard 3013 Container (either inner can or outer can) to check for fixed and transferable contamination. This is required to verify that the contamination levels are within the limits specified in DOE-STD-3013-2004 and 10 CFR 835, Appendix D. The surface contamination limit for the 3013 Outer Can (OC) is 500 dpm/100 cm2 (total) and 20 dpm/100 cm2 (transferable). This paper will concentrate on the RSS developments for the 3013 OC but the system for the 3013 Inner Can (IC) is nearly identical.« less

Robotic and Human-Tended Collaborative Drilling Automation for Subsurface Exploration

NASA Technical Reports Server (NTRS)

Glass, Brian; Cannon, Howard; Stoker, Carol; Davis, Kiel

2005-01-01

Future in-situ lunar/martian resource utilization and characterization, as well as the scientific search for life on Mars, will require access to the subsurface and hence drilling. Drilling on Earth is hard - an art form more than an engineering discipline. Human operators listen and feel drill string vibrations coming from kilometers underground. Abundant mass and energy make it possible for terrestrial drilling to employ brute-force approaches to failure recovery and system performance issues. Space drilling will require intelligent and autonomous systems for robotic exploration and to support human exploration. Eventual in-situ resource utilization will require deep drilling with probable human-tended operation of large-bore drills, but initial lunar subsurface exploration and near-term ISRU will be accomplished with lightweight, rover-deployable or standalone drills capable of penetrating a few tens of meters in depth. These lightweight exploration drills have a direct counterpart in terrestrial prospecting and ore-body location, and will be designed to operate either human-tended or automated. NASA and industry now are acquiring experience in developing and building low-mass automated planetary prototype drills to design and build a pre-flight lunar prototype targeted for 2011-12 flight opportunities. A successful system will include development of drilling hardware, and automated control software to operate it safely and effectively. This includes control of the drilling hardware, state estimation of both the hardware and the lithography being drilled and state of the hole, and potentially planning and scheduling software suitable for uncertain situations such as drilling. Given that Humans on the Moon or Mars are unlikely to be able to spend protracted EVA periods at a drill site, both human-tended and robotic access to planetary subsurfaces will require some degree of standalone, autonomous drilling capability. Human-robotic coordination will be important, either between a robotic drill and humans on Earth, or a human-tended drill and its visiting crew. The Mars Analog Rio Tinto Experiment (MARTE) is a current project that studies and simulates the remote science operations between an automated drill in Spain and a distant, distributed human science team. The Drilling Automation for Mars Exploration (DAME) project, by contrast: is developing and testing standalone automation at a lunar/martian impact crater analog site in Arctic Canada. The drill hardware in both projects is a hardened, evolved version of the Advanced Deep Drill (ADD) developed by Honeybee Robotics for the Mars Subsurface Program. The current ADD is capable of 20m, and the DAME project is developing diagnostic and executive software for hands-off surface operations of the evolved version of this drill. The current drill automation architecture being developed by NASA and tested in 2004-06 at analog sites in the Arctic and Spain will add downhole diagnosis of different strata, bit wear detection, and dynamic replanning capabilities when unexpected failures or drilling conditions are discovered in conjunction with simulated mission operations and remote science planning. The most important determinant of future 1unar and martian drilling automation and staffing requirements will be the actual performance of automated prototype drilling hardware systems in field trials in simulated mission operations. It is difficult to accurately predict the level of automation and human interaction that will be needed for a lunar-deployed drill without first having extensive experience with the robotic control of prototype drill systems under realistic analog field conditions. Drill-specific failure modes and software design flaws will become most apparent at this stage. DAME will develop and test drill automation software and hardware under stressful operating conditions during several planned field campaigns. Initial results from summer 2004 tests show seven identifi distinct failure modes of the drill: cuttings-removal issues with low-power drilling into permafrost, and successful steps at executive control and initial automation.

Trainer variability during step training after spinal cord injury: Implications for robotic gait-training device design.

PubMed

Galvez, Jose A; Budovitch, Amy; Harkema, Susan J; Reinkensmeyer, David J

2011-01-01

Robotic devices are being developed to automate repetitive aspects of walking retraining after neurological injuries, in part because they might improve the consistency and quality of training. However, it is unclear how inconsistent manual training actually is or whether stepping quality depends strongly on the trainers' manual skill. The objective of this study was to quantify trainer variability of manual skill during step training using body-weight support on a treadmill and assess factors of trainer skill. We attached a sensorized orthosis to one leg of each patient with spinal cord injury and measured the shank kinematics and forces exerted by different trainers during six training sessions. An expert trainer rated the trainers' skill level based on videotape recordings. Between-trainer force variability was substantial, about two times greater than within-trainer variability. Trainer skill rating correlated strongly with two gait features: better knee extension during stance and fewer episodes of toe dragging. Better knee extension correlated directly with larger knee horizontal assistance force, but better toe clearance did not correlate with larger ankle push-up force; rather, it correlated with better knee and hip extension. These results are useful to inform robotic gait-training design.

Induced vibrations facilitate traversal of cluttered obstacles

NASA Astrophysics Data System (ADS)

Thoms, George; Yu, Siyuan; Kang, Yucheng; Li, Chen

When negotiating cluttered terrains such as grass-like beams, cockroaches and legged robots with rounded body shapes most often rolled their bodies to traverse narrow gaps between beams. Recent locomotion energy landscape modeling suggests that this locomotor pathway overcomes the lowest potential energy barriers. Here, we tested the hypothesis that body vibrations induced by intermittent leg-ground contact facilitate obstacle traversal by allowing exploration of locomotion energy landscape to find this lowest barrier pathway. To mimic a cockroach / legged robot pushing against two adjacent blades of grass, we developed an automated robotic system to move an ellipsoidal body into two adjacent beams, and varied body vibrations by controlling an oscillation actuator. A novel gyroscope mechanism allowed the body to freely rotate in response to interaction with the beams, and an IMU and cameras recorded the motion of the body and beams. We discovered that body vibrations facilitated body rolling, significantly increasing traversal probability and reducing traversal time (P <0.0001, ANOVA). Traversal probability increased with and traversal time decreased with beam separation. These results confirmed our hypothesis and support the plausibility of locomotion energy landscapes for understanding the formation of locomotor pathways in complex 3-D terrains.

A Novel Concept for Safe, Stiffness-Controllable Robot Links.

PubMed

Stilli, Agostino; Wurdemann, Helge A; Althoefer, Kaspar

2017-03-01

The recent decade has seen an astounding increase of interest and advancement in a new field of robotics, aimed at creating structures specifically for the safe interaction with humans. Softness, flexibility, and variable stiffness in robotics have been recognized as highly desirable characteristics for many applications. A number of solutions were proposed ranging from entirely soft robots (such as those composed mainly from soft materials such as silicone), via flexible continuum and snake-like robots, to rigid-link robots enhanced by joints that exhibit an elastic behavior either implemented in hardware or achieved purely by means of intelligent control. Although these are very good solutions paving the path to safe human-robot interaction, we propose here a new approach that focuses on creating stiffness controllability for the linkages between the robot joints. This article proposes a replacement for the traditionally rigid robot link-the new link is equipped with an additional capability of stiffness controllability. With this added feature, a robot can accurately carry out manipulation tasks (high stiffness), but can virtually instantaneously reduce its stiffness when a human is nearby or in contact with the robot. The key point of the invention described here is a robot link made of an airtight chamber formed by a soft and flexible, but high-strain resistant combination of a plastic mesh and silicone wall. Inflated with air to a high pressure, the mesh silicone chamber behaves like a rigid link; reducing the air pressure, softens the link and rendering the robot structure safe. This article investigates a number of link prototypes and shows the feasibility of the new concept. Stiffness tests have been performed, showing that a significant level of stiffness can be achieved-up to 40 N reaction force along the axial direction, for a 25-mm-diameter sample at 60 kPa, at an axial deformation of 5 mm. The results confirm that this novel concept to linkages for robot manipulators exhibits the beam-like behavior of traditional rigid links when fully pressurized and significantly reduced stiffness at low pressure. The proposed concept has the potential to easily create safe robots, augmenting traditional robot designs.

Concentric agonist-antagonist robots for minimally invasive surgeries

NASA Astrophysics Data System (ADS)

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

2017-03-01

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

Prototypical Concepts and Misconceptions of Plate Tectonic Boundaries

NASA Astrophysics Data System (ADS)

Sibley, D. F.; Patino, L. C.

2003-12-01

Students of geology encounter many prototypical/exemplar concepts* that include representative, but not necessarily defining, features and characteristics. This study of students' prototypical representations of plate tectonic boundaries indicates that their representations are rich sources of information about their misconceptions about plate tectonics. After lectures in plate tectonics and mountain building, 353 students in a general education geology class were asked to draw a continent-continent convergent boundary. For this study, a correct answer is defined as having the major features in correct proportions as depicted in the plate boundary diagrams on the USGS web. Fifty-two percent of the drawings were either incorrect or incomplete such that they could not be interpreted. Only 48% were readily interpretable, and of these 22% drew the boundary correctly, showing a thickening of crust where two continents collide. Thirty-three percent drew the boundary showing concave slabs of continental crust as one might imagine two pieces of firm rubber pushed together on a rigid surface and 45% depicted mountains as one might imagine inverted ice cream cones on a rigid plank. Twenty-one senior class geology majors and graduate students were given the same assignment. Forty-eight percent rendered a correct drawing, whereas 38% drew the same ice cream cone on a plank type picture that 45% of the general education students drew. In a second class of 12 geology majors, only 1 student drew a cross section of a continent-ocean boundary similar to standard representation. Four of 12 drew mountains on the top of continental crust over a subduction zone but did not draw a compensating mass within the crust or lithosphere. Prototypical drawings provide more information about students' concepts than do most multiple-choice questions. For example, sixty-two percent of theses students who drew mountains similar to foam rubber pads pushed together on a desk or ice cream cones on a plank correctly answered a multiple-choice question that would appear to indicate a better understanding than the drawings reveal. Furthermore, 12 interviewed students made statements that could be interpreted to indicate that they understood the concept of mountain building at plate tectonic boundaries better than their drawings suggest. Incoherence of multiple-choice responses, verbal statements and drawings may be common in novice learners. If cognitive scientists are correct in their model of multiple types of mental representations for the same term, then the fact that novices may hold inconsistent representations is not surprising. The fact that students at various academic levels draw very similar prototypes that are incorrect is evidence that students have distinct and persistent prototype misconceptions. * Cognitive scientists define a prototypical/exemplar concept as a mental representation of the best examples or central tendencies of a term.

Eye-in-Hand Manipulation for Remote Handling: Experimental Setup

NASA Astrophysics Data System (ADS)

Niu, Longchuan; Suominen, Olli; Aref, Mohammad M.; Mattila, Jouni; Ruiz, Emilio; Esque, Salvador

2018-03-01

A prototype for eye-in-hand manipulation in the context of remote handling in the International Thermonuclear Experimental Reactor (ITER)1 is presented in this paper. The setup consists of an industrial robot manipulator with a modified open control architecture and equipped with a pair of stereoscopic cameras, a force/torque sensor, and pneumatic tools. It is controlled through a haptic device in a mock-up environment. The industrial robot controller has been replaced by a single industrial PC running Xenomai that has a real-time connection to both the robot controller and another Linux PC running as the controller for the haptic device. The new remote handling control environment enables further development of advanced control schemes for autonomous and semi-autonomous manipulation tasks. This setup benefits from a stereovision system for accurate tracking of the target objects with irregular shapes. The overall environmental setup successfully demonstrates the required robustness and precision that remote handling tasks need.

[The advancement of robotic surgery--successes, failures, challenges].

PubMed

Haidegger, Tamás

2010-10-10

Computer-integrated robotic surgery systems appeared more than twenty years ago and since then hundreds of different prototypes have been developed. Only a fraction of them have been commercialized, mostly to support neurosurgical and orthopaedic procedures.Unquestionably, the most successful one is the da Vinci surgical system, primarily deployed in urology and general laparoscopic surgery. It is developed and marketed by Intuitive Surgical Inc. (Sunnyvale, CA, USA), the only profitable company of the segment. The da Vinci made robotic surgery is known and acknowledged throughout the world, and the great results delivered convinced most of the former critics of the technology. Success derived from the well chosen business development strategy, proficiency of the developers, appropriate timing and a huge pot of luck. This article presents the most important features of the da Vinci system, the history of development along with its medical, economical and financial aspects, and seeks the answer why this particular system became successful.

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

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

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

1989-01-01

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

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

PubMed

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

2011-06-01

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

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

PubMed Central

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

2013-01-01

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

A real-time robot arm collision avoidance system

NASA Technical Reports Server (NTRS)

Shaffer, Clifford A.; Herb, Gregory M.

1992-01-01

A data structure and update algorithm are presented for a prototype real-time collision avoidance safety system simulating a multirobot workspace. The data structure is a variant of the octree, which serves as a spatial index. An octree recursively decomposes 3D space into eight equal cubic octants until each octant meets some decomposition criteria. The N-objects octree, which indexes a collection of 3D primitive solids is used. These primitives make up the two (seven-degrees-of-freedom) robot arms and workspace modeled by the system. As robot arms move, the octree is updated to reflect their changed positions. During most update cycles, any given primitive does not change which octree nodes it is in. Thus, modification to the octree is rarely required. Cycle time for interpreting current arm joint angles, updating the octree to reflect new positions, and detecting/reporting imminent collisions averages 30 ms on an Intel 80386 processor running at 20 MHz.

Analysis of a concentric-tube robot design and feasibility for endoscopic deployment

NASA Astrophysics Data System (ADS)

Ponten, Ryan; Black, Caroline B.; Russ, Andrew J.; Rucker, D. Caleb

2017-03-01

An intraluminal endoscopic approach is desirable for most colonoscopic procedures and is growing in favor for other surgeries as tools are enhanced. Flexible robotic manipulators could further enhance the dexterity and precision of commercial endoscopic systems. In this paper, we explore the capabilities of concentric tube robots to work as tool manipulators at the tip of a colonoscope to perform endoscopic submucousal dissection (ESD) and endoscopic full thickness resection (EFTR). We provide an overview of the kinematic modeling of these manipulators, a design of a prototype manipulator and the transmission actuation system. Our analysis examines the workspace and stiffness of these manipulators being controlled at the tip of a colonoscope. We compare the results to reported surgical requirements and propose solutions for enhancing their effectiveness including notching tubes with a larger Young's Modulus. We also determine the resolution and accuracy of the actuation system.

Pushing the polymer envelope

NASA Astrophysics Data System (ADS)

Tolley, Paul R.

2005-09-01

The pressure to "push the polymer envelope" is clear, given the exploding range of demanding applications with optical components. There are two keys to success: 1. Expanded range of polymers with suitable optical properties. 2. Sophisticated manufacturing process options with an overall system perspective: -Tolerances and costs established relative to need (proof-of-concept, prototype, low to high volume production). -Designed to integrate into an assembly that meets all environmental constraints, not just size and weight, which are natural polymer advantages. (Withstanding extreme temperatures and chemical exposure is often critical, as are easy clean-up and general resistance to surface damage.) -Highly repeatable. The thesis of this paper is that systematically innovating processes we already understand on materials we already know can deliver big returns. To illustrate, we introduce HRDT1, High Refraction Diamond Turning, a patent-pending processing option to significantly reduce total costs for high index, high thermal applications.

Understanding the Uncanny: Both Atypical Features and Category Ambiguity Provoke Aversion toward Humanlike Robots

PubMed Central

Strait, Megan K.; Floerke, Victoria A.; Ju, Wendy; Maddox, Keith; Remedios, Jessica D.; Jung, Malte F.; Urry, Heather L.

2017-01-01

Robots intended for social contexts are often designed with explicit humanlike attributes in order to facilitate their reception by (and communication with) people. However, observation of an “uncanny valley”—a phenomenon in which highly humanlike entities provoke aversion in human observers—has lead some to caution against this practice. Both of these contrasting perspectives on the anthropomorphic design of social robots find some support in empirical investigations to date. Yet, owing to outstanding empirical limitations and theoretical disputes, the uncanny valley and its implications for human-robot interaction remains poorly understood. We thus explored the relationship between human similarity and people's aversion toward humanlike robots via manipulation of the agents' appearances. To that end, we employed a picture-viewing task (Nagents = 60) to conduct an experimental test (Nparticipants = 72) of the uncanny valley's existence and the visual features that cause certain humanlike robots to be unnerving. Across the levels of human similarity, we further manipulated agent appearance on two dimensions, typicality (prototypic, atypical, and ambiguous) and agent identity (robot, person), and measured participants' aversion using both subjective and behavioral indices. Our findings were as follows: (1) Further substantiating its existence, the data show a clear and consistent uncanny valley in the current design space of humanoid robots. (2) Both category ambiguity, and more so, atypicalities provoke aversive responding, thus shedding light on the visual factors that drive people's discomfort. (3) Use of the Negative Attitudes toward Robots Scale did not reveal any significant relationships between people's pre-existing attitudes toward humanlike robots and their aversive responding—suggesting positive exposure and/or additional experience with robots is unlikely to affect the occurrence of an uncanny valley effect in humanoid robotics. This work furthers our understanding of both the uncanny valley, as well as the visual factors that contribute to an agent's uncanniness. PMID:28912736

Understanding the Uncanny: Both Atypical Features and Category Ambiguity Provoke Aversion toward Humanlike Robots.

PubMed

Strait, Megan K; Floerke, Victoria A; Ju, Wendy; Maddox, Keith; Remedios, Jessica D; Jung, Malte F; Urry, Heather L

2017-01-01

Robots intended for social contexts are often designed with explicit humanlike attributes in order to facilitate their reception by (and communication with) people. However, observation of an "uncanny valley"-a phenomenon in which highly humanlike entities provoke aversion in human observers-has lead some to caution against this practice. Both of these contrasting perspectives on the anthropomorphic design of social robots find some support in empirical investigations to date. Yet, owing to outstanding empirical limitations and theoretical disputes, the uncanny valley and its implications for human-robot interaction remains poorly understood. We thus explored the relationship between human similarity and people's aversion toward humanlike robots via manipulation of the agents' appearances. To that end, we employed a picture-viewing task ( N agents = 60) to conduct an experimental test ( N participants = 72) of the uncanny valley's existence and the visual features that cause certain humanlike robots to be unnerving. Across the levels of human similarity, we further manipulated agent appearance on two dimensions, typicality (prototypic, atypical, and ambiguous) and agent identity (robot, person), and measured participants' aversion using both subjective and behavioral indices. Our findings were as follows: (1) Further substantiating its existence, the data show a clear and consistent uncanny valley in the current design space of humanoid robots. (2) Both category ambiguity, and more so, atypicalities provoke aversive responding, thus shedding light on the visual factors that drive people's discomfort. (3) Use of the Negative Attitudes toward Robots Scale did not reveal any significant relationships between people's pre-existing attitudes toward humanlike robots and their aversive responding-suggesting positive exposure and/or additional experience with robots is unlikely to affect the occurrence of an uncanny valley effect in humanoid robotics. This work furthers our understanding of both the uncanny valley, as well as the visual factors that contribute to an agent's uncanniness.

The application of robotics to microlaryngeal laser surgery.

PubMed

Buckmire, Robert A; Wong, Yu-Tung; Deal, Allison M

2015-06-01

To evaluate the performance of human subjects, using a prototype robotic micromanipulator controller in a simulated, microlaryngeal operative setting. Observational cross-sectional study. Twenty-two human subjects with varying degrees of laser experience performed CO2 laser surgical tasks within a simulated microlaryngeal operative setting using an industry standard manual micromanipulator (MMM) and a prototype robotic micromanipulator controller (RMC). Accuracy, repeatability, and ablation consistency measures were obtained for each human subject across both conditions and for the preprogrammed RMC device. Using the standard MMM, surgeons with >10 previous laser cases performed superior to subjects with fewer cases on measures of error percentage and cumulative error (P = .045 and .03, respectively). No significant differences in performance were observed between subjects using the RMC device. In the programmed (P/A) mode, the RMC performed equivalently or superiorly to experienced human subjects on accuracy and repeatability measures, and nearly an order of magnitude better on measures of ablation consistency. The programmed RMC performed significantly better for repetition error when compared to human subjects with <100 previous laser cases (P = .04). Experienced laser surgeons perform better than novice surgeons on tasks of accuracy and repeatability using the MMM device but roughly equivalently using the novel RMC. Operated in the P/A mode, the RMC performs equivalently or superior to experienced laser surgeons using the industry standard MMM for all measured parameters, and delivers an ablation consistency nearly an order of magnitude better than human laser operators. NA. © 2014 The American Laryngological, Rhinological and Otological Society, Inc.

Mechanical design of a shape memory alloy actuated prosthetic hand.

PubMed

De Laurentis, Kathryn J; Mavroidis, Constantinos

2002-01-01

This paper presents the mechanical design for a new five fingered, twenty degree-of-freedom dexterous hand patterned after human anatomy and actuated by Shape Memory Alloy artificial muscles. Two experimental prototypes of a finger, one fabricated by traditional means and another fabricated by rapid prototyping techniques, are described and used to evaluate the design. An important aspect of the Rapid Prototype technique used here is that this multi-articulated hand will be fabricated in one step, without requiring assembly, while maintaining its desired mobility. The use of Shape Memory Alloy actuators combined with the rapid fabrication of the non-assembly type hand, reduce considerably its weight and fabrication time. Therefore, the focus of this paper is the mechanical design of a dexterous hand that combines Rapid Prototype techniques and smart actuators. The type of robotic hand described in this paper can be utilized for applications requiring low weight, compactness, and dexterity such as prosthetic devices, space and planetary exploration.

3D vision system for intelligent milking robot automation

NASA Astrophysics Data System (ADS)

Akhloufi, M. A.

2013-12-01

In a milking robot, the correct localization and positioning of milking teat cups is of very high importance. The milking robots technology has not changed since a decade and is based primarily on laser profiles for teats approximate positions estimation. This technology has reached its limit and does not allow optimal positioning of the milking cups. Also, in the presence of occlusions, the milking robot fails to milk the cow. These problems, have economic consequences for producers and animal health (e.g. development of mastitis). To overcome the limitations of current robots, we have developed a new system based on 3D vision, capable of efficiently positioning the milking cups. A prototype of an intelligent robot system based on 3D vision for real-time positioning of a milking robot has been built and tested under various conditions on a synthetic udder model (in static and moving scenarios). Experimental tests, were performed using 3D Time-Of-Flight (TOF) and RGBD cameras. The proposed algorithms permit the online segmentation of teats by combing 2D and 3D visual information. The obtained results permit the teat 3D position computation. This information is then sent to the milking robot for teat cups positioning. The vision system has a real-time performance and monitors the optimal positioning of the cups even in the presence of motion. The obtained results, with both TOF and RGBD cameras, show the good performance of the proposed system. The best performance was obtained with RGBD cameras. This latter technology will be used in future real life experimental tests.

Amelia

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

Simmons, R.; Thrun, S.; Armstrong, G.

1996-12-31

Amelia was built by Real World Interface (RWI) using Xavier-a mobile robot platform developed at CMU on a B24 base from RWI-as a prototype. Amelia has substantial engineering improvements over Xavier. Amelia is built on a B21 base. It has a top speed of 32 inches per second, while improved integral dead-reckoning insures extremely accurate drive and position controls.

Exploratory Learning with Geodromo: Design of Emotional and Cognitive Factors within an Educational Cross-Media Experience

ERIC Educational Resources Information Center

Bidarra, Jose; Martins, Olimpio

2011-01-01

In this paper we present Geodromo, a prototype of an educational multimedia system, part of the Portuguese "Ciencia Viva" (Live Science) educational program, which is aimed at young people and designed with innovative characteristics. The project is based on a robotic multimedia simulator and an online puzzle game aimed at the…

Centrifugal forming and mechanical properties of silicone-based elastomers for soft robotic actuators

NASA Astrophysics Data System (ADS)

Kulkarni, Parth

This thesis describes the centrifugal forming and resulting mechanical properties of silicone-based elastomers for the manufacture of soft robotic actuators. This process is effective at removing bubbles that get entrapped within 3D-printed, enclosed molds. Conventional methods for rapid prototyping of soft robotic actuators to remove entrapped bubbles typically involve degassing under vacuum, with open-faced molds that limit the layout of formed parts to raised 2D geometries. As the functionality and complexity of soft robots increase, there is a need to mold complete 3D structures with controlled thicknesses or curvatures on multiples surfaces. In addition, characterization of the mechanical properties of common elastomers for these soft robots has lagged the development of new designs. As such, relationships between resulting material properties and processing parameters are virtually non-existent. One of the goals of this thesis is to provide guidelines and physical insights to relate the design, processing conditions, and resulting properties of soft robotic components to each other. Centrifugal forming with accelerations on the order of 100 g's is capable of forming bubble-free, true 3D components for soft robotic actuators, and resulting demonstrations in this work include an aquatic locomotor, soft gripper, and an actuator that straightens when pressurized. Finally, this work shows that the measured mechanical properties of 3D geometries fabricated within enclosed molds through centrifugal forming possess comparable mechanical properties to vacuumed materials formed from open-faced molds with raised 2D features.

A Self-Organizing Interaction and Synchronization Method between a Wearable Device and Mobile Robot

PubMed Central

Kim, Min Su; Lee, Jae Geun; Kang, Soon Ju

2016-01-01

In the near future, we can expect to see robots naturally following or going ahead of humans, similar to pet behavior. We call this type of robots “Pet-Bot”. To implement this function in a robot, in this paper we introduce a self-organizing interaction and synchronization method between wearable devices and Pet-Bots. First, the Pet-Bot opportunistically identifies its owner without any human intervention, which means that the robot self-identifies the owner’s approach on its own. Second, Pet-Bot’s activity is synchronized with the owner’s behavior. Lastly, the robot frequently encounters uncertain situations (e.g., when the robot goes ahead of the owner but meets a situation where it cannot make a decision, or the owner wants to stop the Pet-Bot synchronization mode to relax). In this case, we have adopted a gesture recognition function that uses a 3-D accelerometer in the wearable device. In order to achieve the interaction and synchronization in real-time, we use two wireless communication protocols: 125 kHz low-frequency (LF) and 2.4 GHz Bluetooth low energy (BLE). We conducted experiments using a prototype Pet-Bot and wearable devices to verify their motion recognition of and synchronization with humans in real-time. The results showed a guaranteed level of accuracy of at least 94%. A trajectory test was also performed to demonstrate the robot’s control performance when following or leading a human in real-time. PMID:27338384

Robotic Cholecystectomy Using the Newly Developed Korean Robotic Surgical System, Revo-i: A Preclinical Experiment in a Porcine Model.

PubMed

Kang, Chang Moo; Chong, Jae Uk; Lim, Jin Hong; Park, Dong Won; Park, Sung Jun; Gim, Suhyeon; Ye, Hye Jin; Kim, Se Hoon; Lee, Woo Jung

2017-09-01

One Korean company recently successfully produced a robotic surgical system prototype called Revo-i (MSR-5000). We, therefore, conducted a preclinical study for robotic cholecystectomy using Revo-i, and this is a report of the first case of robotic cholecystectomy performed using the Revo-i system in a preclinical porcine model. Revo-i consists of a surgeon console (MSRC-5000), operation cart (MSRO-5000) and vision cart (MSRV-5000), and a 40 kg-healthy female porcine was prepared for robotic cholecystectomy with general anesthesia. The primary end point was the safe completion of these procedures using Revo-i: The total operation time was 88 minutes. The dissection time was defined as the time from the initial dissection of the Calot area to the time to complete gallbladder detachment from the liver bed: The dissection time required 14 minutes. The surgical console time was 45 minutes. There was no gallbladder perforation or significant bleeding noted during the procedure. The porcine survived for two weeks postoperatively without any complications. Like the da Vinci surgical system, the Revo-i provides a three-dimensional operative view and allows for angulated instrument motion (forceps, needle-holders, clip-appliers, scissors, bipolar energy, and hook monopolar energy), facilitating an effective laparoscopic procedure. Our experience suggests that robotic cholecystectomy can be safely completed in a porcine model using Revo-i. © Copyright: Yonsei University College of Medicine 2017.

ROPEC - ROtary PErcussive Coring Drill for Mars Sample Return

NASA Technical Reports Server (NTRS)

Chu, Philip; Spring, Justin; Zacny, Kris

2014-01-01

The ROtary Percussive Coring Drill is a light weight, flight-like, five-actuator drilling system prototype designed to acquire core material from rock targets for the purposes of Mars Sample Return. In addition to producing rock cores for sample caching, the ROPEC drill can be integrated with a number of end effectors to perform functions such as rock surface abrasion, dust and debris removal, powder and regolith acquisition, and viewing of potential cores prior to caching. The ROPEC drill and its suite of end effectors have been demonstrated with a five degree of freedom Robotic Arm mounted to a mobility system with a prototype sample cache and bit storage station.

Anthropomorphic Telemanipulation System in Terminus Control Mode

NASA Technical Reports Server (NTRS)

Jau, Bruno M.; Lewis, M. Anthony; Bejczy, Antal K.

1994-01-01

This paper describes a prototype anthropomorphic kinesthetic telepresence system that is being developed at JPL. It utilizes dexterous terminus devices in the form of an exoskeleton force-sensing master glove worn by the operator and a replica four finger anthropomorphic slave hand. The newly developed master glove is integrated with our previously developed non-anthropomorphic six degree of freedom (DOF) universal force-reflecting hand controller (FRHC). The mechanical hand and forearm are mounted to an industrial robot (PUMA 560), replacing its standard forearm. The notion of 'terminus control mode' refers to the fact that only the terminus devices (glove and robot hand) are of anthropomorphic nature, and the master and slave arms are non-anthropomorphic. The system is currently being evaluated, focusing on tool handling and astronaut equivalent task executions. The evaluation revealed the system's potential for tool handling but it also became evident that hand tool manipulations and space operations require a dual arm robot. This paper describes the system's principal components, its control and computing architecture, discusses findings of the tool handling evaluation, and explains why common tool handling and EVA space tasks require dual arm robots.

A fluid-structure interaction model of soft robotics using an active strain approach

NASA Astrophysics Data System (ADS)

Hess, Andrew; Lin, Zhaowu; Gao, Tong

2017-11-01

Soft robotic swimmers exhibit rich dynamics that stem from the non-linear interplay of the fluid and immersed soft elastic body. Due to the difficulty of handling the nonlinear two-way coupling of hydrodynamic flow and deforming elastic body, studies of flexible swimmers often employ either one-way coupling strategies with imposed motions of the solid body or some simplified elasticity models. To explore the nonlinear dynamics of soft robots powered by smart soft materials, we develop a computational model to deal with the two-way fluid/elastic structure interactions using the fictitious domain method. To mimic the dynamic response of the functional soft material under external actuations, we assume the solid phase to be neo-Hookean, and employ an active strain approach to incorporate actuation, which is based on the multiplicative decomposition of the deformation gradient tensor. We demonstrate the capability of our algorithm by performing a series of numerical explorations that manipulate an elastic structure with finite thickness, starting from simple rectangular or circular plates to soft robot prototypes such as stingrays and jellyfish.

CO2 Reduction Assembly Prototype Using Microlith-Based Sabatier Reactor for Ground Demonstration

NASA Technical Reports Server (NTRS)

Junaedi, Christian; Hawley, Kyle; Walsh, Dennis; Roychoudhury, Subir; Abney, Morgan B.; Perry, Jay L.

2014-01-01

The utilization of CO2 to produce life support consumables, such as O2 and H2O, via the Sabatier reaction is an important aspect of NASA's cabin Atmosphere Revitalization System (ARS) and In-Situ Resource Utilization (ISRU) architectures for both low-earth orbit and long-term manned space missions. Carbon dioxide can be reacted with H2, obtained from the electrolysis of water, via Sabatier reaction to produce methane and H2O. Methane can be stored and utilized as propellant while H2O can be either stored or electrolyzed to produce oxygen and regain the hydrogen atoms. Depending on the application, O2 can be used to replenish the atmosphere in human-crewed missions or as an oxidant for robotic and return missions. Precision Combustion, Inc. (PCI), with support from NASA, has previously developed an efficient and compact Sabatier reactor based on its Microlith® catalytic technology and demonstrated the capability to achieve high CO2 conversion and CH4 selectivity (i.e., =90% of the thermodynamic equilibrium values) at high space velocities and low operating temperatures. This was made possible through the use of high-heat-transfer and high-surface-area Microlith catalytic substrates. Using this Sabatier reactor, PCI designed, developed, and demonstrated a stand-alone CO2 Reduction Assembly (CRA) test system for ground demonstration and performance validation. The Sabatier reactor was integrated with the necessary balance-of-plant components and controls system, allowing an automated, single "push-button" start-up and shutdown. Additionally, the versatility of the test system prototype was demonstrated by operating it under H2-rich (H2/CO2 of >4), stoichiometric (ratio of 4), and CO2-rich conditions (ratio of <4) without affecting its performance and meeting the equilibrium-predicted water recovery rates. In this paper, the development of the CRA test system for ground demonstration will be discussed. Additionally, the performance results from testing the system at various operating conditions and the results from durability testing will be presented.

Mobile robots for localizing gas emission sources on landfill sites: is bio-inspiration the way to go?

PubMed

Hernandez Bennetts, Victor; Lilienthal, Achim J; Neumann, Patrick P; Trincavelli, Marco

2011-01-01

Roboticists often take inspiration from animals for designing sensors, actuators, or algorithms that control the behavior of robots. Bio-inspiration is motivated with the uncanny ability of animals to solve complex tasks like recognizing and manipulating objects, walking on uneven terrains, or navigating to the source of an odor plume. In particular the task of tracking an odor plume up to its source has nearly exclusively been addressed using biologically inspired algorithms and robots have been developed, for example, to mimic the behavior of moths, dung beetles, or lobsters. In this paper we argue that biomimetic approaches to gas source localization are of limited use, primarily because animals differ fundamentally in their sensing and actuation capabilities from state-of-the-art gas-sensitive mobile robots. To support our claim, we compare actuation and chemical sensing available to mobile robots to the corresponding capabilities of moths. We further characterize airflow and chemosensor measurements obtained with three different robot platforms (two wheeled robots and one flying micro-drone) in four prototypical environments and show that the assumption of a constant and unidirectional airflow, which is the basis of many gas source localization approaches, is usually far from being valid. This analysis should help to identify how underlying principles, which govern the gas source tracking behavior of animals, can be usefully "translated" into gas source localization approaches that fully take into account the capabilities of mobile robots. We also describe the requirements for a reference application, monitoring of gas emissions at landfill sites with mobile robots, and discuss an engineered gas source localization approach based on statistics as an alternative to biologically inspired algorithms.

Mobile Robots for Localizing Gas Emission Sources on Landfill Sites: Is Bio-Inspiration the Way to Go?

PubMed Central

Hernandez Bennetts, Victor; Lilienthal, Achim J.; Neumann, Patrick P.; Trincavelli, Marco

2011-01-01

Roboticists often take inspiration from animals for designing sensors, actuators, or algorithms that control the behavior of robots. Bio-inspiration is motivated with the uncanny ability of animals to solve complex tasks like recognizing and manipulating objects, walking on uneven terrains, or navigating to the source of an odor plume. In particular the task of tracking an odor plume up to its source has nearly exclusively been addressed using biologically inspired algorithms and robots have been developed, for example, to mimic the behavior of moths, dung beetles, or lobsters. In this paper we argue that biomimetic approaches to gas source localization are of limited use, primarily because animals differ fundamentally in their sensing and actuation capabilities from state-of-the-art gas-sensitive mobile robots. To support our claim, we compare actuation and chemical sensing available to mobile robots to the corresponding capabilities of moths. We further characterize airflow and chemosensor measurements obtained with three different robot platforms (two wheeled robots and one flying micro-drone) in four prototypical environments and show that the assumption of a constant and unidirectional airflow, which is the basis of many gas source localization approaches, is usually far from being valid. This analysis should help to identify how underlying principles, which govern the gas source tracking behavior of animals, can be usefully “translated” into gas source localization approaches that fully take into account the capabilities of mobile robots. We also describe the requirements for a reference application, monitoring of gas emissions at landfill sites with mobile robots, and discuss an engineered gas source localization approach based on statistics as an alternative to biologically inspired algorithms. PMID:22319493

Are we There Yet? ... Developing In-Situ Fabrication and Repair (ISFR) Technologies to Explore and Live on the Moon and Mars

NASA Technical Reports Server (NTRS)

Bassler, Julie A.; Bodiford, Melanie P.; Fiske, Michael R.; Strong, Janet D.

2005-01-01

NASA's human exploration initiative poses great opportunity and great risk for manned missions to the Moon and Mars. Engineers and Scientists at the Marshall Space Flight Center are evaluating current technologies for in situ exploration habitat and fabrication and repair applications. Several technologies to be addressed in this paper have technology readiness levels (TRLs) that are currently mature enough to pursue for exploration purposes. However, many technologies offer promising applications but these must be pulled along by the demands and applications of this great initiative. The In Situ Fabrication and Repair (ISFR) program will supply and push state of the art technologies for applications such as habitat structure development, in situ resource utilization for tool and part fabrication, and repair and replacement of common life support elements. This paper will look at the current and future habitat technology applications such as the implementation of in situ environmental elements such as caves, rilles and lavatubes, the development of lunar regolith concrete and structure design and development, thin film and inflatable technologies. We will address current rapid prototyping technologies, their ISFR applications and near term advancements. We will discuss the anticipated need to utilize in situ resources to produce replacement parts and fabricate repairs to vehicles, habitats, life support and quality of life elements. All ISFR technology developments will incorporate automated deployment and robotic construction and fabrication techniques. The current state of the art for these applications is fascinating, but the future is out of this world.

Piezoelectrically pushed rotational micromirrors using detached PZT actuators for wide-angle optical switch applications

NASA Astrophysics Data System (ADS)

Kim, Sung-Jin; Cho, Young-Ho; Nam, Hyo-Jin; Bu, Jong Uk

2008-12-01

This paper presents a torsional micromirror detached from PZT actuators (TMD), whose rotational motion is achieved by push bars in the PZT actuators, detached from the micromirror. The push bar mechanism is intended to reduce the bending, tensile and torsional constraints generated by the conventional bending bar mechanism, where the torsional micromirror is attached to the PZT actuators (TMA). We have designed, fabricated and tested the prototypes of TMDs for single-axis and dual-axis rotations, respectively. The single-axis TMD generates a static rotational angle of 6.1° at 16 Vdc, which is six times larger than that of the single-axis TMA, 0.9°. However, the rotational response curve of TMD shows hysteresis and zero offset due to the static friction from the initial contact force between the cover and the push bar in the PZT actuator. We have shown that 63.2% of the hysteresis is reduced by eliminating the initial contact force of the PZT actuator. The dual-axis TMD generates static rotational angles of 5.5° and 4.7° in the x-axis and y-axis, respectively, at 16 Vdc. The measured resonant frequencies of the dual-axis TMD are 2.1 ± 0.1 kHz in the x-axis and 1.7 ± 0.1 kHz in the y-axis. The dual-axis TMD shows stable operation without severe wear for 21.6 million cycles driven by the 16 Vp-p sinusoidal wave signal at room temperature.

Design and experimental validation of a simple controller for a multi-segment magnetic crawler robot

NASA Astrophysics Data System (ADS)

Kelley, Leah; Ostovari, Saam; Burmeister, Aaron B.; Talke, Kurt A.; Pezeshkian, Narek; Rahimi, Amin; Hart, Abraham B.; Nguyen, Hoa G.

2015-05-01

A novel, multi-segmented magnetic crawler robot has been designed for ship hull inspection. In its simplest version, passive linkages that provide two degrees of relative motion connect front and rear driving modules, so the robot can twist and turn. This permits its navigation over surface discontinuities while maintaining its adhesion to the hull. During operation, the magnetic crawler receives forward and turning velocity commands from either a tele-operator or high-level, autonomous control computer. A low-level, embedded microcomputer handles the commands to the driving motors. This paper presents the development of a simple, low-level, leader-follower controller that permits the rear module to follow the front module. The kinematics and dynamics of the two-module magnetic crawler robot are described. The robot's geometry, kinematic constraints and the user-commanded velocities are used to calculate the desired instantaneous center of rotation and the corresponding central-linkage angle necessary for the back module to follow the front module when turning. The commands to the rear driving motors are determined by applying PID control on the error between the desired and measured linkage angle position. The controller is designed and tested using Matlab Simulink. It is then implemented and tested on an early two-module magnetic crawler prototype robot. Results of the simulations and experimental validation of the controller design are presented.

Using arm and hand gestures to command robots during stealth operations

NASA Astrophysics Data System (ADS)

Stoica, Adrian; Assad, Chris; Wolf, Michael; You, Ki Sung; Pavone, Marco; Huntsberger, Terry; Iwashita, Yumi

2012-06-01

Command of support robots by the warfighter requires intuitive interfaces to quickly communicate high degree-offreedom (DOF) information while leaving the hands unencumbered. Stealth operations rule out voice commands and vision-based gesture interpretation techniques, as they often entail silent operations at night or in other low visibility conditions. Targeted at using bio-signal inputs to set navigation and manipulation goals for the robot (say, simply by pointing), we developed a system based on an electromyography (EMG) "BioSleeve", a high density sensor array for robust, practical signal collection from forearm muscles. The EMG sensor array data is fused with inertial measurement unit (IMU) data. This paper describes the BioSleeve system and presents initial results of decoding robot commands from the EMG and IMU data using a BioSleeve prototype with up to sixteen bipolar surface EMG sensors. The BioSleeve is demonstrated on the recognition of static hand positions (e.g. palm facing front, fingers upwards) and on dynamic gestures (e.g. hand wave). In preliminary experiments, over 90% correct recognition was achieved on five static and nine dynamic gestures. We use the BioSleeve to control a team of five LANdroid robots in individual and group/squad behaviors. We define a gesture composition mechanism that allows the specification of complex robot behaviors with only a small vocabulary of gestures/commands, and we illustrate it with a set of complex orders.

Using Arm and Hand Gestures to Command Robots during Stealth Operations

NASA Technical Reports Server (NTRS)

Stoica, Adrian; Assad, Chris; Wolf, Michael; You, Ki Sung; Pavone, Marco; Huntsberger, Terry; Iwashita, Yumi

2012-01-01

Command of support robots by the warfighter requires intuitive interfaces to quickly communicate high degree-of-freedom (DOF) information while leaving the hands unencumbered. Stealth operations rule out voice commands and vision-based gesture interpretation techniques, as they often entail silent operations at night or in other low visibility conditions. Targeted at using bio-signal inputs to set navigation and manipulation goals for the robot (say, simply by pointing), we developed a system based on an electromyography (EMG) "BioSleeve", a high density sensor array for robust, practical signal collection from forearm muscles. The EMG sensor array data is fused with inertial measurement unit (IMU) data. This paper describes the BioSleeve system and presents initial results of decoding robot commands from the EMG and IMU data using a BioSleeve prototype with up to sixteen bipolar surface EMG sensors. The BioSleeve is demonstrated on the recognition of static hand positions (e.g. palm facing front, fingers upwards) and on dynamic gestures (e.g. hand wave). In preliminary experiments, over 90% correct recognition was achieved on five static and nine dynamic gestures. We use the BioSleeve to control a team of five LANdroid robots in individual and group/squad behaviors. We define a gesture composition mechanism that allows the specification of complex robot behaviors with only a small vocabulary of gestures/commands, and we illustrate it with a set of complex orders.

Prototyping a Web-Enabled Decision Support System to Improve Capacity Management of Aviation Training

DTIC Science & Technology

2005-09-01

sharing, cooperation, and cost optimization International Journal of Production Economics Amsterdam, 93,94, 41-52. Retrieved July 13, 2005, from the... Journal of Production Economics , 59(1-3), 53-64. Calogero, B. (2000). Who is to blame for ERP failure? SunServer, 14(6), 8-9. Retrieved July 24...database. Bonney, M. C., Zhang, Z., Head, M. A., Tien, C. C., & Barson, R. J. (1999). Are push and pull systems really so different? International

Introduction to Space Resource Mining

NASA Technical Reports Server (NTRS)

Mueller, Robert P.

2013-01-01

There are vast amounts of resources in the solar system that will be useful to humans in space and possibly on Earth. None of these resources can be exploited without the first necessary step of extra-terrestrial mining. The necessary technologies for tele-robotic and autonomous mining have not matured sufficiently yet. The current state of technology was assessed for terrestrial and extraterrestrial mining and a taxonomy of robotic space mining mechanisms was presented which was based on current existing prototypes. Terrestrial and extra-terrestrial mining methods and technologies are on the cusp of massive changes towards automation and autonomy for economic and safety reasons. It is highly likely that these industries will benefit from mutual cooperation and technology transfer.

Verification of Commercial Motor Performance for WEAVE at the William Herschel Telescope

NASA Astrophysics Data System (ADS)

Gilbert, J.; Dalton, G.; Lewis, I.

2016-10-01

WEAVE is a 1000-fiber multi-object spectroscopic facility for the 4.2 m William Herschel Telescope. It will feature a double-headed pick-and-place fiber positioning robot comprising commercially available robotic axes. This paper presents results on the performance of these axes, obtained by testing a prototype system in the laboratory. Positioning accuracy is found to be better than the manufacturer's published values for the tested cases, indicating that the requirement for a maximum positioning error of 8.0 microns is achievable. Field reconfiguration times well within the planned 60 minute observation window are shown to be likely when individual axis movements are combined in an efficient way.

Controlling multiple manipulators using RIPS

NASA Technical Reports Server (NTRS)

Wang, Yulun; Jordan, Steve; Mangaser, Amante; Butner, Steve

1989-01-01

A prototype of the RIPS architecture (Robotic Instruction Processing System) was developed. A two arm robot control experiment is underway to characterize the architecture as well as research multi-arm control. This experiment uses two manipulators to cooperatively position an object. The location of the object is specified by the host computer's mouse. Consequently, real time kinematics and dynamics are necessary. The RIPS architecture is specialized so that it can satisfy these real time constraints. The two arm experimental set-up is discussed. A major part of this work is the continued development of a good programming environment for RIPS. The C++ language is employed and favorable results exist in the targeting of this language to the RIPS hardware.

Dual-body magnetic helical robot for drilling and cargo delivery in human blood vessels

NASA Astrophysics Data System (ADS)

Lee, Wonseo; Jeon, Seungmun; Nam, Jaekwang; Jang, Gunhee

2015-05-01

We propose a novel dual-body magnetic helical robot (DMHR) manipulated by a magnetic navigation system. The proposed DMHR can generate helical motions to navigate in human blood vessels and to drill blood clots by an external rotating magnetic field. It can also generate release motions which are relative rotational motions between dual-bodies to release the carrying cargos to a target region by controlling the magnitude of an external magnetic field. Constraint equations were derived to selectively manipulate helical and release motions by controlling external magnetic fields. The DMHR was prototyped and various experiments were conducted to demonstrate its motions and verify its manipulation methods.

Wearable computer for mobile augmented-reality-based controlling of an intelligent robot

NASA Astrophysics Data System (ADS)

Turunen, Tuukka; Roening, Juha; Ahola, Sami; Pyssysalo, Tino

2000-10-01

An intelligent robot can be utilized to perform tasks that are either hazardous or unpleasant for humans. Such tasks include working in disaster areas or conditions that are, for example, too hot. An intelligent robot can work on its own to some extent, but in some cases the aid of humans will be needed. This requires means for controlling the robot from somewhere else, i.e. teleoperation. Mobile augmented reality can be utilized as a user interface to the environment, as it enhances the user's perception of the situation compared to other interfacing methods and allows the user to perform other tasks while controlling the intelligent robot. Augmented reality is a method that combines virtual objects into the user's perception of the real world. As computer technology evolves, it is possible to build very small devices that have sufficient capabilities for augmented reality applications. We have evaluated the existing wearable computers and mobile augmented reality systems to build a prototype of a future mobile terminal- the CyPhone. A wearable computer with sufficient system resources for applications, wireless communication media with sufficient throughput and enough interfaces for peripherals has been built at the University of Oulu. It is self-sustained in energy, with enough operating time for the applications to be useful, and uses accurate positioning systems.

Estimating Tool–Tissue Forces Using a 3-Degree-of-Freedom Robotic Surgical Tool

PubMed Central

Zhao, Baoliang; Nelson, Carl A.

2016-01-01

Robot-assisted minimally invasive surgery (MIS) has gained popularity due to its high dexterity and reduced invasiveness to the patient; however, due to the loss of direct touch of the surgical site, surgeons may be prone to exert larger forces and cause tissue damage. To quantify tool–tissue interaction forces, researchers have tried to attach different kinds of sensors on the surgical tools. This sensor attachment generally makes the tools bulky and/or unduly expensive and may hinder the normal function of the tools; it is also unlikely that these sensors can survive harsh sterilization processes. This paper investigates an alternative method by estimating tool–tissue interaction forces using driving motors' current, and validates this sensorless force estimation method on a 3-degree-of-freedom (DOF) robotic surgical grasper prototype. The results show that the performance of this method is acceptable with regard to latency and accuracy. With this tool–tissue interaction force estimation method, it is possible to implement force feedback on existing robotic surgical systems without any sensors. This may allow a haptic surgical robot which is compatible with existing sterilization methods and surgical procedures, so that the surgeon can obtain tool–tissue interaction forces in real time, thereby increasing surgical efficiency and safety. PMID:27303591

A real-time robot arm collision detection system

NASA Technical Reports Server (NTRS)

Shaffer, Clifford A.; Herb, Gregory M.

1990-01-01

A data structure and update algorithm are presented for a prototype real time collision detection safety system for a multi-robot environment. The data structure is a variant of the octree, which serves as a spatial index. An octree recursively decomposes 3-D space into eight equal cubic octants until each octant meets some decomposition criteria. The octree stores cylspheres (cylinders with spheres on each end) and rectangular solids as primitives (other primitives can easily be added as required). These primitives make up the two seven degrees-of-freedom robot arms and environment modeled by the system. Octree nodes containing more than a predetermined number N of primitives are decomposed. This rule keeps the octree small, as the entire environment for the application can be modeled using a few dozen primitives. As robot arms move, the octree is updated to reflect their changed positions. During most update cycles, any given primitive does not change which octree nodes it is in. Thus, modification to the octree is rarely required. Incidents in which one robot arm comes too close to another arm or an object are reported. Cycle time for interpreting current joint angles, updating the octree, and detecting/reporting imminent collisions averages 30 milliseconds on an Intel 80386 processor running at 20 MHz.

Estimating Tool-Tissue Forces Using a 3-Degree-of-Freedom Robotic Surgical Tool.

PubMed

Zhao, Baoliang; Nelson, Carl A

2016-10-01

Robot-assisted minimally invasive surgery (MIS) has gained popularity due to its high dexterity and reduced invasiveness to the patient; however, due to the loss of direct touch of the surgical site, surgeons may be prone to exert larger forces and cause tissue damage. To quantify tool-tissue interaction forces, researchers have tried to attach different kinds of sensors on the surgical tools. This sensor attachment generally makes the tools bulky and/or unduly expensive and may hinder the normal function of the tools; it is also unlikely that these sensors can survive harsh sterilization processes. This paper investigates an alternative method by estimating tool-tissue interaction forces using driving motors' current, and validates this sensorless force estimation method on a 3-degree-of-freedom (DOF) robotic surgical grasper prototype. The results show that the performance of this method is acceptable with regard to latency and accuracy. With this tool-tissue interaction force estimation method, it is possible to implement force feedback on existing robotic surgical systems without any sensors. This may allow a haptic surgical robot which is compatible with existing sterilization methods and surgical procedures, so that the surgeon can obtain tool-tissue interaction forces in real time, thereby increasing surgical efficiency and safety.

Control of a robot dinosaur

PubMed Central

Papantoniou, V.

1999-01-01

The Palaiomation Consortium, supported by the European Commission, is building a robot Iguanodon atherfieldensis for museum display that is much more sophisticated than existing animatronic exhibits. The current half-size (2.5 m) prototype is fully autonomous, carrying its own computer and batteries. It walks around the room, choosing its own path and avoiding obstacles. A bigger version with a larger repertoire of behaviours is planned. Many design problems have had to be overcome. A real dinosaur would have had hundreds of muscles, and we have had to devise means of achieving life-like movement with a much smaller number of motors; we have limited ourselves to 20, to keep the control problems manageable. Realistic stance requires a narrower trackway and a higher centre of mass than in previous (often spider-like) legged robots, making it more difficult to maintain stability. Other important differences from previous walking robots are that the forelegs have to be shorter than the hind, and the machinery has had to be designed to fit inside a realistically shaped body shell. Battery life is about one hour, but to achieve this we have had to design the robot to have very low power consumption. Currently, this limits it to unrealistically slow movement. The control system includes a high-level instructions processor, a gait generator, a motion-coordination generator, and a kinematic model.

Towards Robot Scientists for autonomous scientific discovery

PubMed Central

2010-01-01

We review the main components of autonomous scientific discovery, and how they lead to the concept of a Robot Scientist. This is a system which uses techniques from artificial intelligence to automate all aspects of the scientific discovery process: it generates hypotheses from a computer model of the domain, designs experiments to test these hypotheses, runs the physical experiments using robotic systems, analyses and interprets the resulting data, and repeats the cycle. We describe our two prototype Robot Scientists: Adam and Eve. Adam has recently proven the potential of such systems by identifying twelve genes responsible for catalysing specific reactions in the metabolic pathways of the yeast Saccharomyces cerevisiae. This work has been formally recorded in great detail using logic. We argue that the reporting of science needs to become fully formalised and that Robot Scientists can help achieve this. This will make scientific information more reproducible and reusable, and promote the integration of computers in scientific reasoning. We believe the greater automation of both the physical and intellectual aspects of scientific investigations to be essential to the future of science. Greater automation improves the accuracy and reliability of experiments, increases the pace of discovery and, in common with conventional laboratory automation, removes tedious and repetitive tasks from the human scientist. PMID:20119518

Towards Robot Scientists for autonomous scientific discovery.

PubMed

Sparkes, Andrew; Aubrey, Wayne; Byrne, Emma; Clare, Amanda; Khan, Muhammed N; Liakata, Maria; Markham, Magdalena; Rowland, Jem; Soldatova, Larisa N; Whelan, Kenneth E; Young, Michael; King, Ross D

2010-01-04

We review the main components of autonomous scientific discovery, and how they lead to the concept of a Robot Scientist. This is a system which uses techniques from artificial intelligence to automate all aspects of the scientific discovery process: it generates hypotheses from a computer model of the domain, designs experiments to test these hypotheses, runs the physical experiments using robotic systems, analyses and interprets the resulting data, and repeats the cycle. We describe our two prototype Robot Scientists: Adam and Eve. Adam has recently proven the potential of such systems by identifying twelve genes responsible for catalysing specific reactions in the metabolic pathways of the yeast Saccharomyces cerevisiae. This work has been formally recorded in great detail using logic. We argue that the reporting of science needs to become fully formalised and that Robot Scientists can help achieve this. This will make scientific information more reproducible and reusable, and promote the integration of computers in scientific reasoning. We believe the greater automation of both the physical and intellectual aspects of scientific investigations to be essential to the future of science. Greater automation improves the accuracy and reliability of experiments, increases the pace of discovery and, in common with conventional laboratory automation, removes tedious and repetitive tasks from the human scientist.

Engineering Ultimate Self-Protection in Autonomic Agents for Space Exploration Missions

NASA Technical Reports Server (NTRS)

Sterritt, Roy; Hinchey, Mike

2005-01-01

NASA's Exploration Initiative (EI) will push space exploration missions to the limit. Future missions will be required to be self-managing as well as self-directed, in order to meet the challenges of human and robotic space exploration. We discuss security and self protection in autonomic agent based-systems, and propose the ultimate self-protection mechanism for such systems-self-destruction. Like other metaphors in Autonomic Computing, this is inspired by biological systems, and is the analog of biological apoptosis. Finally, we discus the role it might play in future NASA space exploration missions.

From Research to Flight: Surviving the TRL Valley of Death for Robotic and Human Space Exploration

NASA Technical Reports Server (NTRS)

Johnson, Les

2009-01-01

There must be a plan or opportunities for flight validation: a) To reduce the bottleneck of new technologies at the TRL Valley of Death; b) To allow frequent infusion of new technologies into flight missions. Risk must be tolerated for new technology flight experiments. Risk must also be accepted on early-adopting missions to enable new capabilities. Fundamental research is critical to taking the next giant leap in the scientific exploration of space. Technology push is often required to meet current mission requirements. Technology management requires more than issuing NRAs and overseeing contracts.

Olivas participating in EVA during Expedition/STS-117 Joint Operations

NASA Image and Video Library

2007-06-15

ISS015-E-12943 (15 June 2007) --- Anchored to a foot restraint on Space Shuttle Atlantis' remote manipulator system (RMS) robotic arm, astronaut John "Danny" Olivas, STS-117 mission specialist, repairs a 4-by-6-inch section of a thermal blanket on Atlantis' port orbital maneuvering system (OMS) pod that was damaged during the shuttle's climb to orbit last week. During the repair, Olivas pushed the turned up portion of the thermal blanket back into position, used a medical stapler to secure the layers of the blanket, and pinned it in place against adjacent thermal tile.

Olivas participating in EVA during Expedition/STS-117 Joint Operations

NASA Image and Video Library

2007-06-15

ISS015-E-12952 (15 June 2007) --- Anchored to a foot restraint on Space Shuttle Atlantis' remote manipulator system (RMS) robotic arm, astronaut John "Danny" Olivas, STS-117 mission specialist, repairs a 4-by-6-inch section of a thermal blanket on Atlantis' port orbital maneuvering system (OMS) pod that was damaged during the shuttle's climb to orbit last week. During the repair, Olivas pushed the turned up portion of the thermal blanket back into position, used a medical stapler to secure the layers of the blanket, and pinned it in place against adjacent thermal tile.

A One-Piece Lunar Regolith Bag Garage Prototype

NASA Technical Reports Server (NTRS)

Smithers, G. A.; Nehls, M. K.; Hovater, M. A.; Evans, S. W.; Miller, J. S.; Broughton, R. M., Jr.; Beale, D.; Kilinc-Balci, F.

2007-01-01

Shelter structures on the moon, even in early phases of exploration, should incorporate lunar materials as much as possible. This Technical Memorandum details the design and construction of a prototype for a one-piece regolith bag unpressurized garage concept and a materials testing program to investigate six candidate fabrics to learn how they might perform in the lunar environment. The conceptualization was that a lightweight fabric form be launched from Earth and landed on the lunar surface to be robotically filled with raw lunar regolith. Regolith bag fabric candidates included: Vectran(TM), Nextel(TM), Gore PTFE Fabric(TM), Zylon(TM), Twaron(TM), and Nomex(TM). Tensile (including post radiation exposure), fold, abrasion, and hypervelocity impact testing were performed under ambient conditions, and also performed under cold and elevated temperatures. In some cases, Johnson Space Center lunar simulant (JSC-1) was used in conjunction with testing. A series of preliminary structures was constructed during final prototype design based on the principles of the classic masonry arch. The prototype was constructed of Kevlar(TM) and filled with vermiculite. The structure is free-standing, but has not yet been load tested. Future plans would be to construct higher fidelity prototypes and to conduct appropriate tests of the structure.

Repulsive force actuated rotary micromirror

NASA Astrophysics Data System (ADS)

He, Siyuan; Ben Mrad, Ridha

2004-09-01

In this paper, a novel repulsive force based rotary micromirror is proposed. A repulsive force is produced in the rotary micromirror and the mirror plate is pushed up and away from the substrate. Therefore the rotation angle of the micromirror is not limited to the space underneath the mirror plate and thus the "pull-in" effect is completely circumvented. The novel rotary micromirror can achieve a large rotation angle with a large mirror plate. In addition the novel micromirror has a very simple structure and can be fabricated by standard surface micromachining technology. Numerical simulation is used to verify the working principle of the novel micromirror. A prototype of the novel rotary micromirror is fabricated by a commercially available surface microfabrication process called MUMPs. The prototype has a mirror size of 300μm x 300μm. The experimental measurements show that the prototype can achieve a mechanical rotation of 2.25 degrees (an optical angle of 4.5 degrees) at a driving voltage of 170 volts. A conventional surface micromachined attractive force based rotary micromirror of the same size can only achieve an angle of 0.1~0.2 degree.

A novel cluster-tube self-adaptive robot hand.

PubMed

Fu, Hong; Yang, Haokun; Song, Weishu; Zhang, Wenzeng

2017-01-01

This paper proposes a novel cluster-tube self-adaptive robot hand (CTSA Hand). The CTSA Hand consists of a base, a motor, a transmission mechanism, multiple elastic tendons, and a group of sliding-tube assemblies. Each sliding-tube assembly is composed of a sliding tube, a guide rod, two springs and a hinge. When the hand grasping an object, the object pushes some sliding tubes to different positions according to the surface shape of the object, the motor pulls the tendons tight to cluster tubes. The CTSA Hand can realize self-adaptive grasping of objects of different sizes and shapes. The CTSA Hand can grasp multiple objects simultaneously because the grasping of the hand acts as many grippers in different directions and heights. The grasping forces of the hand are adjusted by a closed-loop control system with potentiometer. Experimental results show that the CTSA Hand has the features of highly self-adaption and large grasping forces when grasping various objects.

Active Guidance of a Handheld Micromanipulator using Visual Servoing.

PubMed

Becker, Brian C; Voros, Sandrine; Maclachlan, Robert A; Hager, Gregory D; Riviere, Cameron N

2009-05-12

In microsurgery, a surgeon often deals with anatomical structures of sizes that are close to the limit of the human hand accuracy. Robotic assistants can help to push beyond the current state of practice by integrating imaging and robot-assisted tools. This paper demonstrates control of a handheld tremor reduction micromanipulator with visual servo techniques, aiding the operator by providing three behaviors: snap-to, motion-scaling, and standoff-regulation. A stereo camera setup viewing the workspace under high magnification tracks the tip of the micromanipulator and the desired target object being manipulated. Individual behaviors activate in task-specific situations when the micromanipulator tip is in the vicinity of the target. We show that the snap-to behavior can reach and maintain a position at a target with an accuracy of 17.5 ± 0.4μm Root Mean Squared Error (RMSE) distance between the tip and target. Scaling the operator's motions and preventing unwanted contact with non-target objects also provides a larger margin of safety.

A Review of Lunar Regolith Excavation Robotic Device Prototypes

NASA Technical Reports Server (NTRS)

Mueller, Robert P.; Van Susante, Paul J.

2011-01-01

The excavation of lunar regolith is desirable for use as a feedstock for oxygen production processes as well as civil engineering purposes and for the fabrication of parts and structures. This is known as In-Situ Resource Utilization (ISRU). More recently, there has been mounting evidence that water ice exists at the poles of the Moon, buried in the regolith where thermally stable conditions exist. This means that regolith excavation will be required to mine the water ice which is believed to be. mixed in with the regolith, or bonded to it. The mined water ice can then be electrolyzed to produce hydrogen and oxygen propellants which could form the basis of a cis-lunar transportation system using in-situ derived propellants. In 2007, the National Aeronautics & Space Administration (NASA) sponsored a Lunar Regolith Excavation Competition as part of its Centennial Challenges program, The competition was not won and it was held again in 2008 and 2009, when it was won by a university team. A $500,000 prize was awarded to the winning team by NASA. In 2010, NASA continued the competition as a spinoff of the Centennial Challenges, which is restricted to university participation only. This competition is known as the "Lunabotics Mining Competition" and is hosted by NASA at Kennedy Space Center. Twenty three American university teams competed in the 2010 Lunabotics Mining Competition. The competition was held again in May 2011 with over 60 teams registered, including international participation. The competition will be held again in May 2012 at Kennedy Space Center in Florida. . This paper contains a thorough review of the various regolith eX,cavation robotic device prototypes that competed in these NASA competitions, and will. classify the machines and their methods of excavation to document the variety of ideas that were spawned and built to compete at these events. It is hoped that documentation of these robots will serve to help future robotic excavation designers and provide a historical reference for future lunar mining machine endeavors.

Bio-inspired grasp control in a robotic hand with massive sensorial input.

PubMed

Ascari, Luca; Bertocchi, Ulisse; Corradi, Paolo; Laschi, Cecilia; Dario, Paolo

2009-02-01

The capability of grasping and lifting an object in a suitable, stable and controlled way is an outstanding feature for a robot, and thus far, one of the major problems to be solved in robotics. No robotic tools able to perform an advanced control of the grasp as, for instance, the human hand does, have been demonstrated to date. Due to its capital importance in science and in many applications, namely from biomedics to manufacturing, the issue has been matter of deep scientific investigations in both the field of neurophysiology and robotics. While the former is contributing with a profound understanding of the dynamics of real-time control of the slippage and grasp force in the human hand, the latter tries more and more to reproduce, or take inspiration by, the nature's approach, by means of hardware and software technology. On this regard, one of the major constraints robotics has to overcome is the real-time processing of a large amounts of data generated by the tactile sensors while grasping, which poses serious problems to the available computational power. In this paper a bio-inspired approach to tactile data processing has been followed in order to design and test a hardware-software robotic architecture that works on the parallel processing of a large amount of tactile sensing signals. The working principle of the architecture bases on the cellular nonlinear/neural network (CNN) paradigm, while using both hand shape and spatial-temporal features obtained from an array of microfabricated force sensors, in order to control the sensory-motor coordination of the robotic system. Prototypical grasping tasks were selected to measure the system performances applied to a computer-interfaced robotic hand. Successful grasps of several objects, completely unknown to the robot, e.g. soft and deformable objects like plastic bottles, soft balls, and Japanese tofu, have been demonstrated.

Improvement of the insertion axis for cochlear implantation with a robot-based system.

PubMed

Torres, Renato; Kazmitcheff, Guillaume; De Seta, Daniele; Ferrary, Evelyne; Sterkers, Olivier; Nguyen, Yann

2017-02-01

It has previously reported that alignment of the insertion axis along the basal turn of the cochlea was depending on surgeon' experience. In this experimental study, we assessed technological assistances, such as navigation or a robot-based system, to improve the insertion axis during cochlear implantation. A preoperative cone beam CT and a mastoidectomy with a posterior tympanotomy were performed on four temporal bones. The optimal insertion axis was defined as the closest axis to the scala tympani centerline avoiding the facial nerve. A neuronavigation system, a robot assistance prototype, and software allowing a semi-automated alignment of the robot were used to align an insertion tool with an optimal insertion axis. Four procedures were performed and repeated three times in each temporal bone: manual, manual navigation-assisted, robot-based navigation-assisted, and robot-based semi-automated. The angle between the optimal and the insertion tool axis was measured in the four procedures. The error was 8.3° ± 2.82° for the manual procedure (n = 24), 8.6° ± 2.83° for the manual navigation-assisted procedure (n = 24), 5.4° ± 3.91° for the robot-based navigation-assisted procedure (n = 24), and 3.4° ± 1.56° for the robot-based semi-automated procedure (n = 12). A higher accuracy was observed with the semi-automated robot-based technique than manual and manual navigation-assisted (p < 0.01). Combination of a navigation system and a manual insertion does not improve the alignment accuracy due to the lack of friendly user interface. On the contrary, a semi-automated robot-based system reduces both the error and the variability of the alignment with a defined optimal axis.

Intelligent robot trends and predictions for the .net future

NASA Astrophysics Data System (ADS)

Hall, Ernest L.

2001-10-01

An intelligent robot is a remarkably useful combination of a manipulator, sensors and controls. The use of these machines in factory automation can improve productivity, increase product quality and improve competitiveness. This paper presents a discussion of recent and future technical and economic trends. During the past twenty years the use of industrial robots that are equipped not only with precise motion control systems but also with sensors such as cameras, laser scanners, or tactile sensors that permit adaptation to a changing environment has increased dramatically. Intelligent robot products have been developed in many cases for factory automation and for some hospital and home applications. To reach an even higher degree of applications, the addition of learning may be required. Recently, learning theories such as the adaptive critic have been proposed. In this type of learning, a critic provides a grade to the controller of an action module such as a robot. The adaptive critic is a good model for human learning. In general, the critic may be considered to be the human with the teach pendant, plant manager, line supervisor, quality inspector or the consumer. If the ultimate critic is the consumer, then the quality inspector must model the consumer's decision-making process and use this model in the design and manufacturing operations. Can the adaptive critic be used to advance intelligent robots? Intelligent robots have historically taken decades to be developed and reduced to practice. Methods for speeding this development include technology such as rapid prototyping and product development and government, industry and university cooperation.

Development of a compact continuum tubular robotic system for nasopharyngeal biopsy.

PubMed

Wu, Liao; Song, Shuang; Wu, Keyu; Lim, Chwee Ming; Ren, Hongliang

2017-03-01

Traditional posterior nasopharyngeal biopsy using a flexible nasal endoscope has the risks of abrasion and injury to the nasal mucosa and thus causing trauma to the patient. Recently, a new class of robots known as continuum tubular robots (CTRs) provide a novel solution to the challenge with miniaturized size, curvilinear maneuverability, and capability of avoiding collision within the nasal environment. This paper presents a compact CTR which is 35 cm in total length, 10 cm in diameter, 2.15 kg in weight, and easy to be integrated with a robotic arm to perform more complicated operations. Structural design, end-effector design, and workspace analysis are described in detail. In addition, teleoperation of the CTR using a haptic input device is developed for position control in 3D space. Moreover, by integrating the robot with three electromagnetic tracking sensors, a navigation system together with a shape reconstruction algorithm is developed. Comprehensive experiments are conducted to test the functionality of the proposed prototype; experiment results show that under teleoperation, the system has an accuracy of 2.20 mm in following a linear path, an accuracy of 2.01 mm in following a circular path, and a latency time of 0.1 s. It is also found that the proposed shape reconstruction algorithm has a mean error of around 1 mm along the length of the tubes. Besides, the feasibility and effectiveness of the proposed robotic system being applied to posterior nasopharyngeal biopsy are demonstrated by a cadaver experiment. The proposed robotic system holds promise to enhance clinical operation in transnasal procedures.

Counter tunnel exploration, mapping, and localization with an unmanned ground vehicle

NASA Astrophysics Data System (ADS)

Larson, Jacoby; Okorn, Brian; Pastore, Tracy; Hooper, David; Edwards, Jim

2014-06-01

Covert, cross-border tunnels are a security vulnerability that enables people and contraband to illegally enter the United States. All of these tunnels to-date have been constructed for the purpose of drug smuggling, but they may also be used to support terrorist activity. Past robotic tunnel exploration efforts have had limited success in aiding law enforcement to explore and map the suspect cross-border tunnels. These efforts have made use of adapted explosive ordnance disposal (EOD) or pipe inspection robotic systems that are not ideally suited to the cross-border tunnel environment. The Counter Tunnel project was sponsored by the Office of Secretary of Defense (OSD) Joint Ground Robotics Enterprise (JGRE) to develop a prototype robotic system for counter-tunnel operations, focusing on exploration, mapping, and characterization of tunnels. The purpose of this system is to provide a safe and effective solution for three-dimensional (3D) localization, mapping, and characterization of a tunnel environment. The system is composed of the robotic mobility platform, the mapping sensor payload, and the delivery apparatus. The system is able to deploy and retrieve the robotic mobility platform through a 20-cm-diameter borehole into the tunnel. This requirement posed many challenges in order to design and package the sensor and robotic system to fit through this narrow opening and be able to perform the mission. This paper provides a short description of a few aspects of the Counter Tunnel system such as mobility, perception, and localization, which were developed to meet the unique challenges required to access, explore, and map tunnel environments.

Land, sea, and air unmanned systems research and development at SPAWAR Systems Center Pacific

NASA Astrophysics Data System (ADS)

Nguyen, Hoa G.; Laird, Robin; Kogut, Greg; Andrews, John; Fletcher, Barbara; Webber, Todd; Arrieta, Rich; Everett, H. R.

2009-05-01

The Space and Naval Warfare (SPAWAR) Systems Center Pacific (SSC Pacific) has a long and extensive history in unmanned systems research and development, starting with undersea applications in the 1960s and expanding into ground and air systems in the 1980s. In the ground domain, we are addressing force-protection scenarios using large unmanned ground vehicles (UGVs) and fixed sensors, and simultaneously pursuing tactical and explosive ordnance disposal (EOD) operations with small man-portable robots. Technology thrusts include improving robotic intelligence and functionality, autonomous navigation and world modeling in urban environments, extended operational range of small teleoperated UGVs, enhanced human-robot interaction, and incorporation of remotely operated weapon systems. On the sea surface, we are pushing the envelope on dynamic obstacle avoidance while conforming to established nautical rules-of-the-road. In the air, we are addressing cooperative behaviors between UGVs and small vertical-takeoff- and-landing unmanned air vehicles (UAVs). Underwater applications involve very shallow water mine countermeasures, ship hull inspection, oceanographic data collection, and deep ocean access. Specific technology thrusts include fiber-optic communications, adaptive mission controllers, advanced navigation techniques, and concepts of operations (CONOPs) development. This paper provides a review of recent accomplishments and current status of a number of projects in these areas.

Promoting Diversity in Undergraduate Research in Robotics-Based Seismic

NASA Astrophysics Data System (ADS)

Gifford, C. M.; Arthur, C. L.; Carmichael, B. L.; Webber, G. K.; Agah, A.

2006-12-01

The motivation for this research was to investigate forming evenly-spaced grid patterns with a team of mobile robots for future use in seismic imaging in polar environments. A team of robots was incrementally designed and simulated by incorporating sensors and altering each robot's controller. Challenges, design issues, and efficiency were also addressed. This research project incorporated the efforts of two undergraduate REU students from Elizabeth City State University (ECSU) in North Carolina, and the research staff at the Center for Remote Sensing of Ice Sheets (CReSIS) at the University of Kansas. ECSU is a historically black university. Mentoring these two minority students in scientific research, seismic, robotics, and simulation will hopefully encourage them to pursue graduate degrees in science-related or engineering fields. The goals for this 10-week internship during summer 2006 were to educate the students in the fields of seismology, robotics, and virtual prototyping and simulation. Incrementally designing a robot platform for future enhancement and evaluation was central to this research, and involved simulation of several robots working together to change seismic grid shape and spacing. This process gave these undergraduate students experience and knowledge in an actual research project for a real-world application. The two undergraduate students gained valuable research experience and advanced their knowledge of seismic imaging, robotics, sensors, and simulation. They learned that seismic sensors can be used in an array to gather 2D and 3D images of the subsurface. They also learned that robotics can support dangerous or difficult human activities, such as those in a harsh polar environment, by increasing automation, robustness, and precision. Simulating robot designs also gave them experience in programming behaviors for mobile robots. Thus far, one academic paper has resulted from their research. This paper received third place at the 2006 National Technical Association's (NTA) National Conference in Chicago. CReSIS, in conjunction with ECSU, provided these minority students with a well-rounded educational experience in a real-world research project. Their contributions will be used for future projects.

You can achieve anything with a laser: ingenuity in the design of the impossible

NASA Astrophysics Data System (ADS)

Davies, Ray

2009-06-01

In the area of Photonics Research as to what can be achieved with Low Power Photonics Sources, such as a Class 2 HeNe Laser, a Laser Diode, or an ultra high intensity LED, the Photonics Academy at OpTIC possesses a highly impressive array of functional Prototype Designs. Each of these visually attractive Prototype Designs illustrates the Ingenuity in Design that has been achieved by students, in the range of 15 - 25 years of age, who have been engaged in personal opportunities to Investigate the potential application of Photonics concepts to, and within, a whole range of highly Innovative outcomes, that are clear demonstrations of many students' individual Originality and Ingenuity in creating new ideas for the application of Low Power Photonics Concepts. This Paper will highlight some of the highly Perceptive Prototype Design achievements of students in the application of Photonics principles, with these applications ranging from the Use of a Laser to identify the Letters of a Word in an ordinary book before translating them into Braille for a Visually Handicapped person, to the transmission of audio information over a distance; from a Book Page turning device for a paralysed person, to a pair of Laser Activated Mobile Feet; from a Mobile Guide Robot for a Blind person, to a five-Laser beam Combination Lock for a high Security application; from a Laser Birefringent Seismograph, to a Laser Speckle Activated Robotic Hand; and many, many more. All of the many functioning Prototype Design ideas that will be demonstrated have one characteristic that is common, namely, they are all designed with the intention to help improve the day-to-day experiences of other people, especially those who are impaired in some way. One of the most interesting challenges that can be presented to students is to apply Low Power Laser Photonics to help any visually impaired person within a whole range of activities, and several of the Prototype Designs will illustrate that particular type of student Ingenuity and Achievement via Perceptive Knowledge in Photonics.

Froghopper-inspired direction-changing concept for miniature jumping robots.

PubMed

Jung, Gwang-Pil; Cho, Kyu-Jin

2016-09-14

To improve the maneuverability and agility of jumping robots, several researchers have studied steerable jumping mechanisms. This steering ability enables robots to reach a particular target by controlling their jumping direction. To this end, we propose a novel direction-changing concept for miniature jumping robots. The proposed concept allows robots to be steerable while exerting minimal effects on jumping performance. The key design principles were adopted from the froghopper's power-producing hind legs and the moment cancellation accomplished by synchronized leg operation. These principles were applied via a pair of symmetrically positioned legs and conventional gears, which were modeled on the froghopper's anatomy. Each leg has its own thrusting energy, which improves jumping performance by allowing the mechanism to thrust itself with both power-producing legs. Conventional gears were utilized to simultaneously operate the legs and cancel out the moments that they induce, which minimizes body spin. A prototype to verify the concept was built and tested by varying the initial jumping posture. Three jumping postures (synchronous, asynchronous, and single-legged) were tested to investigate how synchronization and moment cancelling affect jumping performance. The results show that synchronous jumping allows the mechanism to change direction from -40° to 40°, with an improved take-off speed. The proposed concept can only be steered in a limited range of directions, but it has potential for use in miniature jumping robots that can change jumping direction with a minimal drop in jumping performance.

Guidance Of A Mobile Robot Using An Omnidirectional Vision Navigation System

NASA Astrophysics Data System (ADS)

Oh, Sung J.; Hall, Ernest L.

1987-01-01

Navigation and visual guidance are key topics in the design of a mobile robot. Omnidirectional vision using a very wide angle or fisheye lens provides a hemispherical view at a single instant that permits target location without mechanical scanning. The inherent image distortion with this view and the numerical errors accumulated from vision components can be corrected to provide accurate position determination for navigation and path control. The purpose of this paper is to present the experimental results and analyses of the imaging characteristics of the omnivision system including the design of robot-oriented experiments and the calibration of raw results. Errors less than one picture element on each axis were observed by testing the accuracy and repeatability of the experimental setup and the alignment between the robot and the sensor. Similar results were obtained for four different locations using corrected results of the linearity test between zenith angle and image location. Angular error of less than one degree and radial error of less than one Y picture element were observed at moderate relative speed. The significance of this work is that the experimental information and the test of coordinated operation of the equipment provide a greater understanding of the dynamic omnivision system characteristics, as well as insight into the evaluation and improvement of the prototype sensor for a mobile robot. Also, the calibration of the sensor is important, since the results provide a cornerstone for future developments. This sensor system is currently being developed for a robot lawn mower.