Robotics Strategy White Paper

DTIC Science & Technology

2009-03-19

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

Robot-based tele-echography: clinical evaluation of the TER system in abdominal aortic exploration.

PubMed

Martinelli, Thomas; Bosson, Jean-Luc; Bressollette, Luc; Pelissier, Franck; Boidard, Eric; Troccaz, Jocelyne; Cinquin, Philippe

2007-11-01

The TER system is a robot-based tele-echography system allowing remote ultrasound examination. The specialist moves a mock-up of the ultrasound probe at the master site, and the robot reproduces the movements of the real probe, which sends back ultrasound images and force feedback. This tool could be used to perform ultrasound examinations in small health care centers or from isolated sites. The objective of this study was to prove, under real conditions, the feasibility and reliability of the TER system in detecting abdominal aortic and iliac aneurysms. Fifty-eight patients were included in 2 centers in Brest and Grenoble, France. The remote examination was compared with the reference standard, the bedside examination, for aorta and iliac artery diameter measurement, detection and description of aneurysms, detection of atheromatosis, the duration of the examination, and acceptability. All aneurysms (8) were detected by both techniques as intramural thrombosis and extension to the iliac arteries. The interobserver correlation coefficient was 0.982 (P < .0001) for aortic diameters. The rate of concordance between 2 operators in evaluating atheromatosis was 84% +/- 11% (95% confidence interval). Our study on 58 patients suggests that the TER system could be a reliable, acceptable, and effective robot-based system for performing remote abdominal aortic ultrasound examinations. Research is continuing to improve the equipment for general abdominal use.

Tele-surgery simulation with a patient organ model for robotic surgery training.

PubMed

Suzuki, S; Suzuki, N; Hattori, A; Hayashibe, M; Konishi, K; Kakeji, Y; Hashizume, M

2005-12-01

Robotic systems are increasingly being incorporated into general laparoscopic and thoracoscopic surgery to perform procedures such as cholecystectomy and prostatectomy. Robotic assisted surgery allows the surgeon to conduct minimally invasive surgery with increased accuracy and with potential benefits for patients. However, current robotic systems have their limitations. These include the narrow operative field of view, which can make instrument manipulation difficult. Current robotic applications are also tailored to specific surgical procedures. For these reasons, there is an increasing demand on surgeons to master the skills of instrument manipulation and their surgical application within a controlled environment. This study describes the development of a surgical simulator for training and mastering procedures performed with the da Vinci surgical system. The development of a tele-surgery simulator and the construction of a training center are also described, which will enable surgeons to simulate surgery from or in remote places, to collaborate over long distances, and for off-site expert assistance. Copyright 2005 John Wiley & Sons, Ltd.

Mobile tele-echography: user interface design.

PubMed

Cañero, Cristina; Thomos, Nikolaos; Triantafyllidis, George A; Litos, George C; Strintzis, Michael Gerassimos

2005-03-01

Ultrasound imaging allows the evaluation of the degree of emergency of a patient. However, in some instances, a well-trained sonographer is unavailable to perform such echography. To cope with this issue, the Mobile Tele-Echography Using an Ultralight Robot (OTELO) project aims to develop a fully integrated end-to-end mobile tele-echography system using an ultralight remote-controlled robot for population groups that are not served locally by medical experts. This paper focuses on the user interface of the OTELO system, consisting of the following parts: an ultrasound video transmission system providing real-time images of the scanned area, an audio/video conference to communicate with the paramedical assistant and with the patient, and a virtual-reality environment, providing visual and haptic feedback to the expert, while capturing the expert's hand movements. These movements are reproduced by the robot at the patient site while holding the ultrasound probe against the patient skin. In addition, the user interface includes an image processing facility for enhancing the received images and the possibility to include them into a database.

A virtual reality-based method of decreasing transmission time of visual feedback for a tele-operative robotic catheter operating system.

PubMed

Guo, Jin; Guo, Shuxiang; Tamiya, Takashi; Hirata, Hideyuki; Ishihara, Hidenori

2016-03-01

An Internet-based tele-operative robotic catheter operating system was designed for vascular interventional surgery, to afford unskilled surgeons the opportunity to learn basic catheter/guidewire skills, while allowing experienced physicians to perform surgeries cooperatively. Remote surgical procedures, limited by variable transmission times for visual feedback, have been associated with deterioration in operability and vascular wall damage during surgery. At the patient's location, the catheter shape/position was detected in real time and converted into three-dimensional coordinates in a world coordinate system. At the operation location, the catheter shape was reconstructed in a virtual-reality environment, based on the coordinates received. The data volume reduction significantly reduced visual feedback transmission times. Remote transmission experiments, conducted over inter-country distances, demonstrated the improved performance of the proposed prototype. The maximum error for the catheter shape reconstruction was 0.93 mm and the transmission time was reduced considerably. The results were positive and demonstrate the feasibility of remote surgery using conventional network infrastructures. Copyright © 2015 John Wiley & Sons, Ltd.

Telerobotic management system: coordinating multiple human operators with multiple robots

NASA Astrophysics Data System (ADS)

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

2003-09-01

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

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

NASA Astrophysics Data System (ADS)

Aziz, Sarmad

2013-05-01

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

Beaming into the News: A System for and Case Study of Tele-Immersive Journalism.

PubMed

Kishore, Sameer; Navarro, Xavi; Dominguez, Eva; de la Pena, Nonny; Slater, Mel

2016-05-25

We show how a combination of virtual reality and robotics can be used to beam a physical representation of a person to a distant location, and describe an application of this system in the context of journalism. Full body motion capture data of a person is streamed and mapped in real time, onto the limbs of a humanoid robot present at the remote location. A pair of cameras in the robot's 'eyes' stream stereoscopic video back to the HMD worn by the visitor, and a two-way audio connection allows the visitor to talk to people in the remote destination. By fusing the multisensory data of the visitor with the robot, the visitor's 'consciousness' is transformed to the robot's body. This system was used by a journalist to interview a neuroscientist and a chef 900 miles distant, about food for the brain, resulting in an article published in the popular press.

Beaming into the News: A System for and Case Study of Tele-Immersive Journalism.

PubMed

Kishore, Sameer; Navarro, Xavi; Dominguez, Eva; De La Pena, Nonny; Slater, Mel

2018-03-01

We show how a combination of virtual reality and robotics can be used to beam a physical representation of a person to a distant location, and describe an application of this system in the context of journalism. Full body motion capture data of a person is streamed and mapped in real time, onto the limbs of a humanoid robot present at the remote location. A pair of cameras in the robots eyes stream stereoscopic video back to the HMD worn by the visitor, and a two-way audio connection allows the visitor to talk to people in the remote destination. By fusing the multisensory data of the visitor with the robot, the visitors consciousness is transformed to the robots body. This system was used by a journalist to interview a neuroscientist and a chef 900 miles distant, about food for the brain, resulting in an article published in the popular press.

Research and Development for Advanced Tele-maintenance Capability with Remote Serial Console Access and Proactive Monitoring of Medical Devices

DTIC Science & Technology

2009-09-01

Tele-maintenance Capability with Remote Serial Console Access and Proactive Monitoring of Medical Devices PRINCIPAL INVESTIGATOR...Remote Serial Console Access and Proactive Monitoring of Medical Devices 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d...ORGANIZATION REPORT NUMBER Concepteers LLC 880 Bergen Avenue, Suite 403 Jersey City, NJ 07306 9. SPONSORING / MONITORING

Reactions to a remote-controlled video-communication robot in seniors' homes: a pilot study of feasibility and acceptance.

PubMed

Seelye, Adriana M; Wild, Katherine V; Larimer, Nicole; Maxwell, Shoshana; Kearns, Peter; Kaye, Jeffrey A

2012-12-01

Remote telepresence provided by tele-operated robotics represents a new means for obtaining important health information, improving older adults' social and daily functioning and providing peace of mind to family members and caregivers who live remotely. In this study we tested the feasibility of use and acceptance of a remotely controlled robot with video-communication capability in independently living, cognitively intact older adults. A mobile remotely controlled robot with video-communication ability was placed in the homes of eight seniors. The attitudes and preferences of these volunteers and those of family or friends who communicated with them remotely via the device were assessed through survey instruments. Overall experiences were consistently positive, with the exception of one user who subsequently progressed to a diagnosis of mild cognitive impairment. Responses from our participants indicated that in general they appreciated the potential of this technology to enhance their physical health and well-being, social connectedness, and ability to live independently at home. Remote users, who were friends or adult children of the participants, were more likely to test the mobility features and had several suggestions for additional useful applications. Results from the present study showed that a small sample of independently living, cognitively intact older adults and their remote collaterals responded positively to a remote controlled robot with video-communication capabilities. Research is needed to further explore the feasibility and acceptance of this type of technology with a variety of patients and their care contacts.

Health care in remote areas.

PubMed

Padeken, D; Sotiriou, D; Boddy, K; Gerzer, R

1995-02-01

Migration from space medicine toward telemedicine services is described by potential application areas in highly populated and remote areas of Europe. Special emphasis is laid upon links between mobile patient monitoring and health care in remote areas. Pilot projects are described for home (mobile) monitoring of newborn infants endangered by sudden infant death (SID) and adults suffering from sleep apnoea. Health care in remote areas is described by the "TeleClinic-project" which will link national nodes for telemedicine services in several European states for the mobile European citizen. Another project describes the future potential of robotics for semiautonomous ultrasound diagnostics and for realtime interaction of remote experts with diagnostics and therapy.

A Low-Cost Tele-Imaging Platform for Developing Countries

PubMed Central

Adambounou, Kokou; Adjenou, Victor; Salam, Alex P.; Farin, Fabien; N’Dakena, Koffi Gilbert; Gbeassor, Messanvi; Arbeille, Philippe

2014-01-01

Purpose: To design a “low-cost” tele-imaging method allowing real-time tele-ultrasound expertise, delayed tele-ultrasound diagnosis, and tele-radiology between remote peripherals hospitals and clinics (patient centers) and university hospital centers (expert center). Materials and methods: A system of communication via internet (IP camera and remote access software) enabling transfer of ultrasound videos and images between two centers allows a real-time tele-radiology expertise in the presence of a junior sonographer or radiologist at the patient center. In the absence of a sonographer or radiologist at the patient center, a 3D reconstruction program allows a delayed tele-ultrasound diagnosis with images acquired by a lay operator (e.g., midwife, nurse, technician). The system was tested both with high and low bandwidth. The system can further accommodate non-ultrasound tele-radiology (conventional radiography, mammography, and computer tomography for example). The system was tested on 50 patients between CHR Tsevie in Togo (40 km from Lomé-Togo and 4500 km from Tours-France) and CHU Campus at Lomé and CHU Trousseau in Tours. Results: A real-time tele-expertise was successfully performed with a delay of approximately 1.5 s with an internet bandwidth of around 1 Mbps (IP Camera) and 512 kbps (remote access software). A delayed tele-ultrasound diagnosis was also performed with satisfactory results. The transmission of radiological images from the patient center to the expert center was of adequate quality. Delayed tele-ultrasound and tele-radiology was possible even in the presence of a low-bandwidth internet connection. Conclusion: This tele-imaging method, requiring nothing by readily available and inexpensive technology and equipment, offers a major opportunity for telemedicine in developing countries. PMID:25250306

Reactions to a Remote-Controlled Video-Communication Robot in Seniors' Homes: A Pilot Study of Feasibility and Acceptance

PubMed Central

Seelye, Adriana M.; Larimer, Nicole; Maxwell, Shoshana; Kearns, Peter; Kaye, Jeffrey A.

2012-01-01

Abstract Objective: Remote telepresence provided by tele-operated robotics represents a new means for obtaining important health information, improving older adults' social and daily functioning and providing peace of mind to family members and caregivers who live remotely. In this study we tested the feasibility of use and acceptance of a remotely controlled robot with video-communication capability in independently living, cognitively intact older adults. Materials and Methods: A mobile remotely controlled robot with video-communication ability was placed in the homes of eight seniors. The attitudes and preferences of these volunteers and those of family or friends who communicated with them remotely via the device were assessed through survey instruments. Results: Overall experiences were consistently positive, with the exception of one user who subsequently progressed to a diagnosis of mild cognitive impairment. Responses from our participants indicated that in general they appreciated the potential of this technology to enhance their physical health and well-being, social connectedness, and ability to live independently at home. Remote users, who were friends or adult children of the participants, were more likely to test the mobility features and had several suggestions for additional useful applications. Conclusions: Results from the present study showed that a small sample of independently living, cognitively intact older adults and their remote collaterals responded positively to a remote controlled robot with video-communication capabilities. Research is needed to further explore the feasibility and acceptance of this type of technology with a variety of patients and their care contacts. PMID:23082794

Pilot study on verification of effectiveness on operability of assistance system for robotic tele-surgery using simulation.

PubMed

Kawamura, Kazuya; Kobayashi, Yo; Fujie, Masakatsu G

2010-01-01

Tele-surgery enables medical care even in remote regions, and has been accomplished in clinical cases by means of dedicated communication lines. To make tele-surgery a more widespread method of providing medical care, a surgical environment needs to be made available using public lines of communication, such as the Internet. Moreover, a support system during surgery is required, as the use of surgical tools is performed in an environment subject to delay. In our research, we focus on the operability of specific tasks conducted by surgeons during a medical procedure, with the aim of clarifying, by means of a simulation, the optimum environment for robotic tele-surgery. In the study, we set up experimental systems using our proposed simulation system. In addition, we investigate the mental workloads on subjects and verify the effect of visual-assistance information as a pilot study. The operability of the task of gripping soft tissue was evaluated using a subjective workload assessment tool, the NASA Task Load Index. Results show that the tasks were completed, but the workload did not improve to less than 300ms and 400ms in the simulated environment. Verifying the effect of the support system was an important task under a more-than 200ms delay using this experiment, and future studies will evaluate the operability of the system under varying conditions of comfort. In addition, an intra-operative assistance system will be constructed using a simulation.

Modeling and Design of an Electro-Rheological Fluid Based Haptic System for Tele-Operation of Space Robots

NASA Technical Reports Server (NTRS)

Mavroidis, Constantinos; Pfeiffer, Charles; Paljic, Alex; Celestino, James; Lennon, Jamie; Bar-Cohen, Yoseph

2000-01-01

For many years, the robotic community sought to develop robots that can eventually operate autonomously and eliminate the need for human operators. However, there is an increasing realization that there are some tasks that human can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robot can be employed to perform these tasks. Remotely performing these types of tasks requires operating robots as human surrogates. While current "hand master" haptic systems are able to reproduce the feeling of rigid objects, they present great difficulties in emulating the feeling of remote/virtual stiffness. In addition, they tend to be heavy, cumbersome and usually they only allow limited operator workspace. In this paper a novel haptic interface is presented to enable human-operators to "feel" and intuitively mirror the stiffness/forces at remote/virtual sites enabling control of robots as human-surrogates. This haptic interface is intended to provide human operators intuitive feeling of the stiffness and forces at remote or virtual sites in support of space robots performing dexterous manipulation tasks (such as operating a wrench or a drill). Remote applications are referred to the control of actual robots whereas virtual applications are referred to simulated operations. The developed haptic interface will be applicable to IVA operated robotic EVA tasks to enhance human performance, extend crew capability and assure crew safety. The electrically controlled stiffness is obtained using constrained ElectroRheological Fluids (ERF), which changes its viscosity under electrical stimulation. Forces applied at the robot end-effector due to a compliant environment will be reflected to the user using this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted. In this paper, we will present the results of our modeling, simulation, and initial testing of such an electrorheological fluid (ERF) based haptic device.

[Robotics in general surgery: personal experience, critical analysis and prospectives].

PubMed

Fracastoro, Gerolamo; Borzellino, Giuseppe; Castelli, Annalisa; Fiorini, Paolo

2005-01-01

Today mini invasive surgery has the chance to be enhanced with sophisticated informative systems (Computer Assisted Surgery, CAS) like robotics, tele-mentoring and tele-presence. ZEUS and da Vinci, present in more than 120 Centres in the world, have been used in many fields of surgery and have been tested in some general surgical procedures. Since the end of 2003, we have performed 70 experimental procedures and 24 operations of general surgery with ZEUS robotic system, after having properly trained 3 surgeons and the operating room staff. Apart from the robot set-up, the mean operative time of the robotic operations was similar to the laparoscopic ones; no complications due to robotic technique occurred. The Authors report benefits and disadvantages related to robots' utilization, problems still to be solved and the possibility to make use of them with tele-surgery, training and virtual surgery.

Vision systems for manned and robotic ground vehicles

NASA Astrophysics Data System (ADS)

Sanders-Reed, John N.; Koon, Phillip L.

2010-04-01

A Distributed Aperture Vision System for ground vehicles is described. An overview of the hardware including sensor pod, processor, video compression, and displays is provided. This includes a discussion of the choice between an integrated sensor pod and individually mounted sensors, open architecture design, and latency issues as well as flat panel versus head mounted displays. This technology is applied to various ground vehicle scenarios, including closed-hatch operations (operator in the vehicle), remote operator tele-operation, and supervised autonomy for multi-vehicle unmanned convoys. In addition, remote vision for automatic perimeter surveillance using autonomous vehicles and automatic detection algorithms is demonstrated.

Photovoltaic Power System and Power Distribution Demonstration for the Desert RATS Program

NASA Technical Reports Server (NTRS)

Colozza, Anthony; Jakupca, Ian; Mintz, Toby; Herlacher, Mike; Hussey, Sam

2012-01-01

A stand alone, mobile photovoltaic power system along with a cable deployment system was designed and constructed to take part in the Desert Research And Technology Studies (RATS) lunar surface human interaction evaluation program at Cinder Lake, Arizona. The power system consisted of a photovoltaic array/battery system. It is capable of providing 1 kW of electrical power. The system outputs were 48 V DC, 110 V AC, and 220 V AC. A cable reel with 200 m of power cable was used to provide power from the trailer to a remote location. The cable reel was installed on a small trailer. The reel was powered to provide low to no tension deployment of the cable. The cable was connected to the 220 V AC output of the power system trailer. The power was then converted back to 110 V AC on the cable deployment trailer for use at the remote site. The Scout lunar rover demonstration vehicle was used to tow the cable trailer and deploy the power cable. This deployment was performed under a number of operational scenarios, manned operation, remote operation and tele-robotically. Once deployed, the cable was used to provide power, from the power system trailer, to run various operational tasks at the remote location.

Tele-rehabilitation using in-house wearable ankle rehabilitation robot.

PubMed

Jamwal, Prashant K; Hussain, Shahid; Mir-Nasiri, Nazim; Ghayesh, Mergen H; Xie, Sheng Q

2018-01-01

This article explores wide-ranging potential of the wearable ankle robot for in-house rehabilitation. The presented robot has been conceptualized following a brief analysis of the existing technologies, systems, and solutions for in-house physical ankle rehabilitation. Configuration design analysis and component selection for ankle robot have been discussed as part of the conceptual design. The complexities of human robot interaction are closely encountered while maneuvering a rehabilitation robot. We present a fuzzy logic-based controller to perform the required robot-assisted ankle rehabilitation treatment. Designs of visual haptic interfaces have also been discussed, which will make the treatment interesting, and the subject will be motivated to exert more and regain lost functions rapidly. The complex nature of web-based communication between user and remotely sitting physiotherapy staff has also been discussed. A high-level software architecture appended with robot ensures user-friendly operations. This software is made up of three important components: patient-related database, graphical user interface (GUI), and a library of exercises creating virtual reality-specifically developed for ankle rehabilitation.

[Communication subsystem design of tele-screening system for diabetic retinopathy].

PubMed

Chen, Jian; Pan, Lin; Zheng, Shaohua; Yu, Lun

2013-12-01

A design scheme of a tele-screening system for diabetic retinopathy (DR) has been proposed, especially the communication subsystem. The scheme uses serial communication module consisting of ARM 7 microcontroller and relays to connect remote computer and fundus camera, and also uses C++ programming language based on MFC to design the communication software consisting of therapy and diagnostic information module, video/audio surveillance module and fundus camera control module. The scheme possesses universal property in some remote medical treatment systems which are similar to the system.

Lunar Sample Return Missions Using a Tele-Robotic Lander

NASA Astrophysics Data System (ADS)

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

2018-02-01

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

Web Environment for Programming and Control of a Mobile Robot in a Remote Laboratory

ERIC Educational Resources Information Center

dos Santos Lopes, Maísa Soares; Gomes, Iago Pacheco; Trindade, Roque M. P.; da Silva, Alzira F.; de C. Lima, Antonio C.

2017-01-01

Remote robotics laboratories have been successfully used for engineering education. However, few of them use mobile robots to to teach computer science. This article describes a mobile robot Control and Programming Environment (CPE) and its pedagogical applications. The system comprises a remote laboratory for robotics, an online programming tool,…

Optimisation Issues of High Throughput Medical Data and Video Streaming Traffic in 3G Wireless Environments.

PubMed

Istepanian, R S H; Philip, N

2005-01-01

In this paper we describe some of the optimisation issues relevant to the requirements of high throughput of medical data and video streaming traffic in 3G wireless environments. In particular we present a challenging 3G mobile health care application that requires a demanding 3G medical data throughput. We also describe the 3G QoS requirement of mObile Tele-Echography ultra-Light rObot system (OTELO that is designed to provide seamless 3G connectivity for real-time ultrasound medical video streams and diagnosis from a remote site (robotic and patient station) manipulated by an expert side (specialists) that is controlling the robotic scanning operation and presenting a real-time feedback diagnosis using 3G wireless communication links.

Virtual university applied to telesurgery: from teleeducation to telemanipulation.

PubMed

Marescaux, J; Soler, L; Mutter, D; Leroy, J; Vix, M; Koehl, C; Clément, J M

2000-01-01

PROBLEM/BACKGROUND: In order to improve patient care by minimal invasive surgery (MIS), we perfected a Virtual TeleSurgical University that allows for teleeducation, teleconcertation, surgical planning and telemanipulation, through new Virtual Reality and multimedia systems. The organization of this innovative school was federated around three major research programs. First, the TESUS program focused on the teletransmission of medical information, allowing for videoconferencing around the world and telementoring. Next, the WeBS-Surg program is a multimedia continuous surgical education system on internet, that allows for teleeducation and teleconcertation between world experts in MIS. Then, the MASTER program (Minimal Access Surgery by Telecommunications and Robotics) allowed the development of the third millenium Operating room. It included Virtual Reality systems that delineate automatically anatomical and pathological structures of a patients from him CT-scan, and that allow for an interactive surgical planning and force-feed-back simulation. It also included a telesurgical robot named Zeus controlled by surgeons through telemanipulation system. Tests and validation shows that all these systems improved all steps of the surgical procedure: preoperatively due to a better continuous education and a computer assisted surgical planning, and peroperatively due to teleconcertation, telementoring and telemanipulation systems. Revolutionary tools for minimal invasive surgery learning, planning and performing are all ready available. These tools represents the first prototype of the computer assisted tele-robotical surgery that will be the future of surgery.

Tele-mental health brings expert input to EPs, speeds treatment.

PubMed

2014-08-01

Faced with rising demand from patients with mental health problems, Mercy San Juan Medical Center in Carmichael, CA, is using telemedicine to connect many of these patients with psychiatrists. With input from the psychiatrists, emergency physicians feel more comfortable initiating treatment for these patients, many of whom can then be discharged with instructions to pursue outpatient follow-up. Further, the expert consults help physicians determine whether patients who have been placed on involuntary holds require inpatient treatment or can be safely treated and discharged. The technology required for the remote sessions is contained on robots that can move from room to room in the ED. The ED targets two groups of patients for tele-mental health visits: patients who present with concerns that the emergency physicians do not feel comfortable treating without input from psychiatrists, and patients who have been in the ED for an extended period of time, and it is clear that they will not be transported to an inpatient psychiatric facility any time soon. Currently, 25%-30% of the mental health patients who present to the ED are being touched by the remote psychiatrists; however, administrators are looking to increase that percentage to 50%-75%. They are also interested in potentially conducting regular rounds of the mental health patients with the remote psychiatrists.

The AMADEE-15 Mars simulation

NASA Astrophysics Data System (ADS)

Groemer, Gernot; Losiak, Anna; Soucek, Alexander; Plank, Clemens; Zanardini, Laura; Sejkora, Nina; Sams, Sebastian

2016-12-01

We report on the AMADEE-15 mission, a 12-day Mars analog field test at the Kaunertal Glacier in Austria. Eleven experiments were conducted by a field crew at the test site under simulated martian surface exploration conditions and coordinated by a Mission Support Center in Innsbruck, Austria. The experiments' research fields encompassed geology, human factors, astrobiology, robotics, tele-science, exploration, and operations research. A Remote Science Support team analyzed field data in near real time, providing planning input for a flight control team to manage a complex system of field assets in a realistic work flow, including: two advanced space suit simulators; and four robotic and aerial vehicles. Field operations were supported by a dedicated flight planning group, an external control center tele-operating the PULI-rover, and a medical team. A 10-min satellite communication delay and other limitations pertinent to human planetary surface activities were introduced. This paper provides an overview of the geological context and environmental conditions of the test site and the mission architecture, with a focus on the mission's communication infrastructure. We report on the operational workflows and the experiments conducted, as well as a novel approach of measuring mission success through the introduction of general analog mission transferrable performance indicators.

Virtual TeleRehab: a case study.

PubMed

Pareto, Lena; Johansson, Britt; Zeller, Sally; Sunnerhagen, Katharina S; Rydmark, Martin; Broeren, Jurgen

2011-01-01

We examined the efficacy of a remotely based occupational therapy intervention. A 40-year-old woman who suffered a stroke participated in a telerehabilitation program. The intervention method is based on virtual reality gaming to enhance the training experience and to facilitate the relearning processes. The results indicate that Virtual TeleRehab is an effective method for motivational, economical, and practical reasons by combining game-based rehabilitation in the home with weekly distance meetings.

The MARS2013 Mars analog mission.

PubMed

Groemer, Gernot; Soucek, Alexander; Frischauf, Norbert; Stumptner, Willibald; Ragonig, Christoph; Sams, Sebastian; Bartenstein, Thomas; Häuplik-Meusburger, Sandra; Petrova, Polina; Evetts, Simon; Sivenesan, Chan; Bothe, Claudia; Boyd, Andrea; Dinkelaker, Aline; Dissertori, Markus; Fasching, David; Fischer, Monika; Föger, Daniel; Foresta, Luca; Fritsch, Lukas; Fuchs, Harald; Gautsch, Christoph; Gerard, Stephan; Goetzloff, Linda; Gołebiowska, Izabella; Gorur, Paavan; Groemer, Gerhard; Groll, Petra; Haider, Christian; Haider, Olivia; Hauth, Eva; Hauth, Stefan; Hettrich, Sebastian; Jais, Wolfgang; Jones, Natalie; Taj-Eddine, Kamal; Karl, Alexander; Kauerhoff, Tilo; Khan, Muhammad Shadab; Kjeldsen, Andreas; Klauck, Jan; Losiak, Anna; Luger, Markus; Luger, Thomas; Luger, Ulrich; McArthur, Jane; Moser, Linda; Neuner, Julia; Orgel, Csilla; Ori, Gian Gabriele; Paternesi, Roberta; Peschier, Jarno; Pfeil, Isabella; Prock, Silvia; Radinger, Josef; Ramirez, Barbara; Ramo, Wissam; Rampey, Mike; Sams, Arnold; Sams, Elisabeth; Sandu, Oana; Sans, Alejandra; Sansone, Petra; Scheer, Daniela; Schildhammer, Daniel; Scornet, Quentin; Sejkora, Nina; Stadler, Andrea; Stummer, Florian; Taraba, Michael; Tlustos, Reinhard; Toferer, Ernst; Turetschek, Thomas; Winter, Egon; Zanella-Kux, Katja

2014-05-01

We report on the MARS2013 mission, a 4-week Mars analog field test in the northern Sahara. Nineteen experiments were conducted by a field crew in Morocco under simulated martian surface exploration conditions, supervised by a Mission Support Center in Innsbruck, Austria. A Remote Science Support team analyzed field data in near real time, providing planning input for the management of a complex system of field assets; two advanced space suit simulators, four robotic vehicles, an emergency shelter, and a stationary sensor platform in a realistic work flow were coordinated by a Flight Control Team. A dedicated flight planning group, external control centers for rover tele-operations, and a biomedical monitoring team supported the field operations. A 10 min satellite communication delay and other limitations pertinent to human planetary surface activities were introduced. The fields of research for the experiments were geology, human factors, astrobiology, robotics, tele-science, exploration, and operations research. This paper provides an overview of the geological context and environmental conditions of the test site and the mission architecture, in particular the communication infrastructure emulating the signal travel time between Earth and Mars. We report on the operational work flows and the experiments conducted, including a deployable shelter prototype for multiple-day extravehicular activities and contingency situations.

Tele-autonomous systems: New methods for projecting and coordinating intelligent action at a distance

NASA Technical Reports Server (NTRS)

Conway, Lynn; Volz, Richard; Walker, Michael W.

1989-01-01

There is a growing need for humans to perform complex remote operations and to extend the intelligence and experience of experts to distant applications. It is asserted that a blending of human intelligence, modern information technology, remote control, and intelligent autonomous systems is required, and have coined the term tele-autonomous technology, or tele-automation, for methods producing intelligent action at a distance. Tele-automation goes beyond autonomous control by blending in human intelligence. It goes beyond tele-operation by incorporating as much autonomy as possible and/or reasonable. A new approach is discussed for solving one of the fundamental problems facing tele-autonomous systems: The need to overcome time delays due to telemetry and signal propagation. New concepts are introduced called time and position clutches, that allow the time and position frames between the local user control and the remote device being controlled, to be desynchronized respectively. The design and implementation of these mechanisms are described in detail. It is demonstrated that these mechanisms lead to substantial telemanipulation performance improvements, including the result of improvements even in the absence of time delays. The new controls also yield a simple protocol for control handoffs of manipulation tasks between local operators and remote systems.

Surgical Robotics Research in Cardiovascular Disease

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

Pohost, Gerald M; Guthrie, Barton L; Steiner, Charles

This grant is to support a research in robotics at three major medical centers: the University of Southern California-USC- (Project 1); the University of Alabama at Birmingham-UAB-(Project 2); and the Cleveland Clinic Foundation-CCF-(Project 3). Project 1 is oriented toward cardiovascular applications, while projects 2 and 3 are oriented toward neurosurgical applications. The main objective of Project 1 is to develop an approach to assist patients in maintaining a constant level of stress while undergoing magnetic resonance imaging or spectroscopy. The specific project is to use handgrip to detect the changes in high energy phosphate metabolism between rest and stress. Themore » high energy phosphates, ATP and phosphocreatine (PCr) are responsible for the energy of the heart muscle (myocardium) responsible for its contractile function. If the blood supply to the myocardium in insufficient to support metabolism and contractility during stress, the high energy phosphates, particularly PCr, will decrease in concentration. The high energy phosphates can be tracked using phosphorus-31 magnetic resonance spectroscopy ({sup 31}P MRS). In Project 2 the UAB Surgical Robotics project focuses on the use of virtual presence to assist with remote surgery and surgical training. The goal of this proposal was to assemble a pilot system for proof of concept. The pilot project was completed successfully and was judged to demonstrate that the concept of remote surgical assistance as applied to surgery and surgical training was feasible and warranted further development. The main objective of Project 3 is to develop a system to allow for the tele-robotic delivery of instrumentation during a functional neurosurgical procedure (Figure 3). Instrumentation such as micro-electrical recording probes or deep brain stimulation leads. Current methods for the delivery of these instruments involve the integration of linear actuators to stereotactic navigation systems. The control of these delivery devices utilizes an open-loop configuration involving a team consisting of neurosurgeon, neurologist and neurophysiologist all present and participating in the decision process of delivery. We propose the development of an integrated system which provides for distributed decision making and tele-manipulation of the instrument delivery system.« less

Attitudinal Change in Elderly Citizens Toward Social Robots: The Role of Personality Traits and Beliefs About Robot Functionality

PubMed Central

Damholdt, Malene F.; Nørskov, Marco; Yamazaki, Ryuji; Hakli, Raul; Hansen, Catharina Vesterager; Vestergaard, Christina; Seibt, Johanna

2015-01-01

Attitudes toward robots influence the tendency to accept or reject robotic devices. Thus it is important to investigate whether and how attitudes toward robots can change. In this pilot study we investigate attitudinal changes in elderly citizens toward a tele-operated robot in relation to three parameters: (i) the information provided about robot functionality, (ii) the number of encounters, (iii) personality type. Fourteen elderly residents at a rehabilitation center participated. Pre-encounter attitudes toward robots, anthropomorphic thinking, and personality were assessed. Thereafter the participants interacted with a tele-operated robot (Telenoid) during their lunch (c. 30 min.) for up to 3 days. Half of the participants were informed that the robot was tele-operated (IC) whilst the other half were naïve to its functioning (UC). Post-encounter assessments of attitudes toward robots and anthropomorphic thinking were undertaken to assess change. Attitudes toward robots were assessed with a new generic 35-items questionnaire (attitudes toward social robots scale: ASOR-5), offering a differentiated conceptualization of the conditions for social interaction. There was no significant difference between the IC and UC groups in attitude change toward robots though trends were observed. Personality was correlated with some tendencies for attitude changes; Extraversion correlated with positive attitude changes to intimate-personal relatedness with the robot (r = 0.619) and to psychological relatedness (r = 0.581) whilst Neuroticism correlated negatively (r = -0.582) with mental relatedness with the robot. The results tentatively suggest that neither information about functionality nor direct repeated encounters are pivotal in changing attitudes toward robots in elderly citizens. This may reflect a cognitive congruence bias where the robot is experienced in congruence with initial attitudes, or it may support action-based explanations of cognitive dissonance reductions, given that robots, unlike computers, are not yet perceived as action targets. Specific personality traits may be indicators of attitude change relating to specific domains of social interaction. Implications and future directions are discussed. PMID:26635646

Attitudinal Change in Elderly Citizens Toward Social Robots: The Role of Personality Traits and Beliefs About Robot Functionality.

PubMed

Damholdt, Malene F; Nørskov, Marco; Yamazaki, Ryuji; Hakli, Raul; Hansen, Catharina Vesterager; Vestergaard, Christina; Seibt, Johanna

2015-01-01

Attitudes toward robots influence the tendency to accept or reject robotic devices. Thus it is important to investigate whether and how attitudes toward robots can change. In this pilot study we investigate attitudinal changes in elderly citizens toward a tele-operated robot in relation to three parameters: (i) the information provided about robot functionality, (ii) the number of encounters, (iii) personality type. Fourteen elderly residents at a rehabilitation center participated. Pre-encounter attitudes toward robots, anthropomorphic thinking, and personality were assessed. Thereafter the participants interacted with a tele-operated robot (Telenoid) during their lunch (c. 30 min.) for up to 3 days. Half of the participants were informed that the robot was tele-operated (IC) whilst the other half were naïve to its functioning (UC). Post-encounter assessments of attitudes toward robots and anthropomorphic thinking were undertaken to assess change. Attitudes toward robots were assessed with a new generic 35-items questionnaire (attitudes toward social robots scale: ASOR-5), offering a differentiated conceptualization of the conditions for social interaction. There was no significant difference between the IC and UC groups in attitude change toward robots though trends were observed. Personality was correlated with some tendencies for attitude changes; Extraversion correlated with positive attitude changes to intimate-personal relatedness with the robot (r = 0.619) and to psychological relatedness (r = 0.581) whilst Neuroticism correlated negatively (r = -0.582) with mental relatedness with the robot. The results tentatively suggest that neither information about functionality nor direct repeated encounters are pivotal in changing attitudes toward robots in elderly citizens. This may reflect a cognitive congruence bias where the robot is experienced in congruence with initial attitudes, or it may support action-based explanations of cognitive dissonance reductions, given that robots, unlike computers, are not yet perceived as action targets. Specific personality traits may be indicators of attitude change relating to specific domains of social interaction. Implications and future directions are discussed.

Telemedicine for patients with rheumatic diseases: Systematic review and proposal for research agenda.

PubMed

Piga, Matteo; Cangemi, Ignazio; Mathieu, Alessandro; Cauli, Alberto

2017-08-01

To systematically review the scientific literature regarding tele-rheumatology and draw conclusions about feasibility, effectiveness, and patient satisfaction. PubMed, Scopus, and Cochrane database searches were performed (April 2016) using relevant MeSH and keyword terms for telemedicine and rheumatic diseases. Articles were selected if reporting outcomes for feasibility, effectiveness, and patient satisfaction and methodologically appraised using the Cochrane Collaboration's tool for assessing risk of bias and a modified version of CONSORT 2010 Statement. A total of 177 articles were screened, 23 were selected for the present review but only 9 were RCTs. Five studies reported on feasibility, 14 effectiveness, and 9 satisfaction rates for different tele-rheumatology interventions grouped in synchronous (remotely delivered consultation) and asynchronous (remote disease activity assessment; tele-monitoring of treatment strategies or rehabilitation; and remotely delivered self-management programs). Seven studies (30.4%) were on rheumatoid arthritis, 2 (8.7%) were on systemic sclerosis (1 including also rheumatoid arthritis patients), 5 (21.7%) on fibromyalgia, 2 (8.7%) on osteoarthritis, 3 (13.0%) on juvenile idiopathic arthritis and 4 (17.4%) on mixed disease cohorts. Interventions and outcomes heterogeneity prevented meta-analysis of results. Overall, feasibility and patient satisfaction rates were high or very high across intervention types. Effectiveness was equal or higher than standard face-to-face approach in controlled trials which, however, were affected by small sample size and lack of blinding participants according to appraisal tools. Telemedicine may provide a well-accepted way to remotely deliver consultation, treatment and monitoring disease activity in rheumatology. Higher quality RCTs demonstrating effectiveness of different tele-rheumatology interventions are needed. Copyright © 2017 Elsevier Inc. All rights reserved.

Exploring TeleRobotics: A Radio-Controlled Robot

ERIC Educational Resources Information Center

Deal, Walter F., III; Hsiung, Steve C.

2007-01-01

Robotics is a rich and exciting multidisciplinary area to study and learn about electronics and control technology. The interest in robotic devices and systems provides the technology teacher with an excellent opportunity to make many concrete connections between electronics, control technology, and computers and science, engineering, and…

Enhancing Tele-robotics with Immersive Virtual Reality

DTIC Science & Technology

2017-11-03

graduate and undergraduate students within the Digital Gaming and Simulation, Computer Science, and psychology programs have actively collaborated...investigates the use of artificial intelligence and visual computing. Numerous fields across the human-computer interaction and gaming research areas...invested in digital gaming and simulation to cognitively stimulate humans by computers, forming a $10.5B industry [1]. On the other hand, cognitive

Rationale and Roadmap for Moon Exploration

NASA Astrophysics Data System (ADS)

Foing, B. H.; ILEWG Team

We discuss the different rationale for Moon exploration. This starts with areas of scientific investigations: clues on the formation and evolution of rocky planets, accretion and bombardment in the inner solar system, comparative planetology processes (tectonic, volcanic, impact cratering, volatile delivery), records astrobiology, survival of organics; past, present and future life. The rationale includes also the advancement of instrumentation: Remote sensing miniaturised instruments; Surface geophysical and geochemistry package; Instrument deployment and robotic arm, nano-rover, sampling, drilling; Sample finder and collector. There are technologies in robotic and human exploration that are a drive for the creativity and economical competitivity of our industries: Mecha-electronics-sensors; Tele control, telepresence, virtual reality; Regional mobility rover; Autonomy and Navigation; Artificially intelligent robots, Complex systems, Man-Machine interface and performances. Moon-Mars Exploration can inspire solutions to global Earth sustained development: In-Situ Utilisation of resources; Establishment of permanent robotic infrastructures, Environmental protection aspects; Life sciences laboratories; Support to human exploration. We also report on the IAA Cosmic Study on Next Steps In Exploring Deep Space, and ongoing IAA Cosmic Studies, ILEWG/IMEWG ongoing activities, and we finally discuss possible roadmaps for robotic and human exploration, starting with the Moon-Mars missions for the coming decade, and building effectively on joint technology developments.

Optimized Algorithms for Prediction Within Robotic Tele-Operative Interfaces

NASA Technical Reports Server (NTRS)

Martin, Rodney A.; Wheeler, Kevin R.; Allan, Mark B.; SunSpiral, Vytas

2010-01-01

Robonaut, the humanoid robot developed at the Dexterous Robotics Labo ratory at NASA Johnson Space Center serves as a testbed for human-rob ot collaboration research and development efforts. One of the recent efforts investigates how adjustable autonomy can provide for a safe a nd more effective completion of manipulation-based tasks. A predictiv e algorithm developed in previous work was deployed as part of a soft ware interface that can be used for long-distance tele-operation. In this work, Hidden Markov Models (HMM?s) were trained on data recorded during tele-operation of basic tasks. In this paper we provide the d etails of this algorithm, how to improve upon the methods via optimization, and also present viable alternatives to the original algorithmi c approach. We show that all of the algorithms presented can be optim ized to meet the specifications of the metrics shown as being useful for measuring the performance of the predictive methods. 1

Research in mobile robotics at ORNL/CESAR (Oak Ridge National Laboratory/Center for Engineering Systems Advanced Research)

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

Mann, R.C.; Weisbin, C.R.; Pin, F.G.

1989-01-01

This paper reviews ongoing and planned research with mobile autonomous robots at the Oak Ridge National Laboratory (ORNL), Center for Engineering Systems Advanced Research (CESAR). Specifically we report on results obtained with the robot HERMIES-IIB in navigation, intelligent sensing, learning, and on-board parallel computing in support of these functions. We briefly summarize an experiment with HERMIES-IIB that demonstrates the capability of smooth transitions between robot autonomy and tele-operation. This experiment results from collaboration among teams at the Universities of Florida, Michigan, Tennessee, and Texas; and ORNL in a program targeted at robotics for advanced nuclear power stations. We conclude bymore » summarizing ongoing R D with our new mobile robot HERMIES-III which is equipped with a seven degree-of-freedom research manipulator arm. 12 refs., 4 figs.« less

Considerations for human-machine interfaces in tele-operations

NASA Technical Reports Server (NTRS)

Newport, Curt

1991-01-01

Numerous factors impact on the efficiency of tele-operative manipulative work. Generally, these are related to the physical environment of the tele-operator and how he interfaces with robotic control consoles. The capabilities of the operator can be influenced by considerations such as temperature, eye strain, body fatigue, and boredom created by repetitive work tasks. In addition, the successful combination of man and machine will, in part, be determined by the configuration of the visual and physical interfaces available to the teleoperator. The design and operation of system components such as full-scale and mini-master manipulator controllers, servo joysticks, and video monitors will have a direct impact on operational efficiency. As a result, the local environment and the interaction of the operator with the robotic control console have a substantial effect on mission productivity.

Tele-counseling and social-skill trainings using JGNII optical network and a mirror-interface system

NASA Astrophysics Data System (ADS)

Hashimoto, Sayuri; Hashimoto, Nobuyuki; Onozawa, Akira; Hosoya, Eiichi; Harada, Ikuo; Okunaka, Junzo

2007-09-01

"Tele-presence" communication using JGNII - an exclusive optical-fiber network system - was applied to social-skills training in the form of child-rearing support. This application focuses on internet counseling and social training skills that require interactive verbal and none-verbal communications. The motivation for this application is supporting local communities by constructing tele-presence education and entertainment systems using recently available, inexpensive IP networks. This latest application of tele-presence communication uses mirror-interface system which provides to users in remote locations a shared quasi-space where they can see themselves as if they were in the same room by overlapping video images from remote locations.

Remote clinical assessment of gastrointestinal endoscopy (tele-endoscopy): an initial experience.

PubMed Central

Kim, C. Y.; Etemad, B.; Glenn, T. F.; Mackey, H. A.; Viator, G. E.; Wallace, M. B.; Mokhashi, M. S.; Cotton, P. B.; Hawes, R. H.

2000-01-01

BACKGROUND: Gastrointestinal (GI) endoscopy is an effective tool to screen for cancers of the digestive tract. However, access to endoscopy is limited in many parts of South Carolina. This trial is a part of a prospective multi-part study for remote cancer screening in coastal South Carolina. This pilot study was to evaluate the quality of tele-endoscopy for cancer screening. METHODS: 10 patients scheduled for endoscopic procedures were observed simultaneously by the endoscopist and a remote observer connected over a 512 kbps ISDN line. Findings by both were compared for concordance on malignant or premalignant lesions. RESULTS: The image quality was adequate to support remote diagnosis of GI cancer and abnormal lesions by an experienced observer. However, assessment of the esophagogastric junction for Barrett's esophagus was equivocal. CONCLUSIONS: Overall, our tele-endoscopy setup shows great promise for remote supervision or observation of endoscopic procedures done by nurse endoscopists. Tele-endoscopy is both adequate and feasible for diagnosis of most gastrointestinal lesions. Subtle lesions still may be missed in our current setup. However, improvements are being made in our setup to address the problem with resolution prior to further evaluation. PMID:11079918

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.

Point-of-Care Programming for Neuromodulation: A Feasibility Study Using Remote Presence.

PubMed

Mendez, Ivar; Song, Michael; Chiasson, Paula; Bustamante, Luis

2013-01-01

The expansion of neuromodulation and its indications has resulted in hundreds of thousands of patients with implanted devices worldwide. Because all patients require programming, this growth has created a heavy burden on neuromodulation centers and patients. Remote point-of-care programming may provide patients with real-time access to neuromodulation expertise in their communities. To test the feasibility of remotely programming a neuromodulation device using a remote-presence robot and to determine the ability of an expert programmer to telementor a nonexpert in programming the device. A remote-presence robot (RP-7) was used for remote programming. Twenty patients were randomly assigned to either conventional programming or a robotic session. The expert remotely mentored 10 nurses with no previous experience to program the devices of patients assigned to the remote-presence sessions. Accuracy of programming, adverse events, and satisfaction scores for all participants were assessed. There was no difference in the accuracy or clinical outcomes of programming between the standard and remote-presence sessions. No adverse events occurred in any session. The patients, nurses, and the expert programmer expressed high satisfaction scores with the remote-presence sessions. This study establishes the proof-of-principle that remote programming of neuromodulation devices using telepresence and expert telementoring of an individual with no previous experience to accurately program a device is feasible. We envision a time in the future when patients with implanted devices will have real-time access to neuromodulation expertise from the comfort of their own home.

Tele-Ophthalmology for Age-Related Macular Degeneration and Diabetic Retinopathy Screening: A Systematic Review and Meta-Analysis.

PubMed

Kawaguchi, Atsushi; Sharafeldin, Noha; Sundaram, Aishwarya; Campbell, Sandy; Tennant, Matthew; Rudnisky, Christopher; Weis, Ezekiel; Damji, Karim F

2018-04-01

To synthesize high-quality evidence to compare traditional in-person screening and tele-ophthalmology screening. Only randomized controlled trials (RCTs) were included in this systematic review and meta-analysis. The intervention of interest was any type of tele-ophthalmology, including screening of diseases using remote devices. Studies involved patients receiving care from any trained provider via tele-ophthalmology, compared with those receiving equivalent face-to-face care. A search was executed on the following databases: Medline, EMBASE, EBM Reviews, Global Health, EBSCO-CINAHL, SCOPUS, ProQuest Dissertations and Theses Global, OCLC Papers First, and Web of Science Core Collection. Six outcomes of care for age-related macular degeneration (AMD), diabetic retinopathy (DR), or glaucoma were measured and analyzed. Two hundred thirty-seven records were assessed at the full-text level; six RCTs fulfilled inclusion criteria and were included in this review. Four studies involved participants with diabetes mellitus, and two studies examined choroidal neovascularization in AMD. Only data of detection of disease and participation in the screening program were used for the meta-analysis. Tele-ophthalmology had a 14% higher odds to detect disease than traditional examination; however, the result was not statistically significant (n = 2,012, odds ratio: 1.14, 95% confidence interval (CI): 0.52-2.53, p = 0.74). Meta-analysis results show that odds of having DR screening in the tele-ophthalmology group was 13.15 (95% CI: 8.01-21.61; p < 0.001) compared to the traditional screening program. The current evidence suggests that tele-ophthalmology for DR and age-related macular degeneration is as effective as in-person examination and potentially increases patient participation in screening.

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

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.

Towards a Location-based Service for Early Mental Health Interventions in Disaster Response Using Minimalistic Tele-operated Android Robots Technology

NASA Astrophysics Data System (ADS)

Vahidi, H.; Mobasheri, A.; Alimardani, M.; Guan, Q.; Bakillah, M.

2014-04-01

Providing early mental health services during disaster is a great challenge in the disaster response phase. Lack of access to adequate mental-health professionals in the early stages of large-scale disasters dramatically influences the trend of a successful mental health aid. In this paper, a conceptual framework has been suggested for adopting cellphone-type tele-operated android robots in the early stages of disasters for providing the early mental health services for disaster survivors by developing a locationbased and participatory approach. The techniques of enabling GI-services in a Peer-to-Peer (P2P) environment were studied to overcome the limitations of current centralized services. Therefore, the aim of this research study is to add more flexibility and autonomy to GI web services (WMS, WFS, WPS, etc.) and alleviate to some degree the inherent limitations of these centralized systems. A P2P system Architecture is presented for the location-based service using minimalistic tele-operated android robots, and some key techniques of implementing this service using BestPeer were studied for developing this framework.

NASA Virtual Glovebox (VBX): Emerging Simulation Technology for Space Station Experiment Design, Development, Training and Troubleshooting

NASA Technical Reports Server (NTRS)

Smith, Jeffrey D.; Twombly, I. Alexander; Maese, A. Christopher; Cagle, Yvonne; Boyle, Richard

2003-01-01

The International Space Station demonstrates the greatest capabilities of human ingenuity, international cooperation and technology development. The complexity of this space structure is unprecedented; and training astronaut crews to maintain all its systems, as well as perform a multitude of research experiments, requires the most advanced training tools and techniques. Computer simulation and virtual environments are currently used by astronauts to train for robotic arm manipulations and extravehicular activities; but now, with the latest computer technologies and recent successes in areas of medical simulation, the capability exists to train astronauts for more hands-on research tasks using immersive virtual environments. We have developed a new technology, the Virtual Glovebox (VGX), for simulation of experimental tasks that astronauts will perform aboard the Space Station. The VGX may also be used by crew support teams for design of experiments, testing equipment integration capability and optimizing the procedures astronauts will use. This is done through the 3D, desk-top sized, reach-in virtual environment that can simulate the microgravity environment in space. Additional features of the VGX allow for networking multiple users over the internet and operation of tele-robotic devices through an intuitive user interface. Although the system was developed for astronaut training and assisting support crews, Earth-bound applications, many emphasizing homeland security, have also been identified. Examples include training experts to handle hazardous biological and/or chemical agents in a safe simulation, operation of tele-robotic systems for assessing and diffusing threats such as bombs, and providing remote medical assistance to field personnel through a collaborative virtual environment. Thus, the emerging VGX simulation technology, while developed for space- based applications, can serve a dual use facilitating homeland security here on Earth.

Hardware platform for multiple mobile robots

NASA Astrophysics Data System (ADS)

Parzhuber, Otto; Dolinsky, D.

2004-12-01

This work is concerned with software and communications architectures that might facilitate the operation of several mobile robots. The vehicles should be remotely piloted or tele-operated via a wireless link between the operator and the vehicles. The wireless link will carry control commands from the operator to the vehicle, telemetry data from the vehicle back to the operator and frequently also a real-time video stream from an on board camera. For autonomous driving the link will carry commands and data between the vehicles. For this purpose we have developed a hardware platform which consists of a powerful microprocessor, different sensors, stereo- camera and Wireless Local Area Network (WLAN) for communication. The adoption of IEEE802.11 standard for the physical and access layer protocols allow a straightforward integration with the internet protocols TCP/IP. For the inspection of the environment the robots are equipped with a wide variety of sensors like ultrasonic, infrared proximity sensors and a small inertial measurement unit. Stereo cameras give the feasibility of the detection of obstacles, measurement of distance and creation of a map of the room.

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

DTIC Science & Technology

2016-12-01

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

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master–Slave Systems

PubMed Central

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master–slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user’s wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a universal, flexible, and intuitive interface allowing for the performance of effective tele-manipulations. PMID:28421179

Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master-Slave Systems.

PubMed

Brygo, Anais; Sarakoglou, Ioannis; Grioli, Giorgio; Tsagarakis, Nikos

2017-01-01

Endowing tele-manipulation frameworks with the capability to accommodate a variety of robotic hands is key to achieving high performances through permitting to flexibly interchange the end-effector according to the task considered. This requires the development of control policies that not only cope with asymmetric master-slave systems but also whose high-level components are designed in a unified space in abstraction from the devices specifics. To address this dual challenge, a novel synergy port is developed that resolves the kinematic, sensing, and actuation asymmetries of the considered system through generating motion and force feedback references in the hardware-independent hand postural synergy space. It builds upon the concept of the Cartesian-based synergy matrix, which is introduced as a tool mapping the fingertips Cartesian space to the directions oriented along the grasp principal components. To assess the effectiveness of the proposed approach, the synergy port has been integrated into the control system of a highly asymmetric tele-manipulation framework, in which the 3-finger hand exoskeleton HEXOTRAC is used as a master device to control the SoftHand, a robotic hand whose transmission system relies on a single motor to drive all joints along a soft synergistic path. The platform is further enriched with the vision-based motion capture system Optitrack to monitor the 6D trajectory of the user's wrist, which is used to control the robotic arm on which the SoftHand is mounted. Experiments have been conducted with the humanoid robot COMAN and the KUKA LWR robotic manipulator. Results indicate that this bilateral interface is highly intuitive and allows users with no prior experience to reach, grasp, and transport a variety of objects exhibiting very different shapes and impedances. In addition, the hardware and control solutions proved capable of accommodating users with different hand kinematics. Finally, the proposed control framework offers a universal, flexible, and intuitive interface allowing for the performance of effective tele-manipulations.

Cloud-based robot remote control system for smart factory

NASA Astrophysics Data System (ADS)

Wu, Zhiming; Li, Lianzhong; Xu, Yang; Zhai, Jingmei

2015-12-01

With the development of internet technologies and the wide application of robots, there is a prospect (trend/tendency) of integration between network and robots. A cloud-based robot remote control system over networks for smart factory is proposed, which enables remote users to control robots and then realize intelligent production. To achieve it, a three-layer system architecture is designed including user layer, service layer and physical layer. Remote control applications running on the cloud server is developed on Microsoft Azure. Moreover, DIV+ CSS technologies are used to design human-machine interface to lower maintenance cost and improve development efficiency. Finally, an experiment is implemented to verify the feasibility of the program.

A remote assessment system with a vision robot and wearable sensors.

PubMed

Zhang, Tong; Wang, Jue; Ren, Yumiao; Li, Jianjun

2004-01-01

This paper describes an ongoing researched remote rehabilitation assessment system that has a 6-freedom double-eyes vision robot to catch vision information, and a group of wearable sensors to acquire biomechanical signals. A server computer is fixed on the robot, to provide services to the robot's controller and all the sensors. The robot is connected to Internet by wireless channel, and so do the sensors to the robot. Rehabilitation professionals can semi-automatically practise an assessment program via Internet. The preliminary results show that the smart device, including the robot and the sensors, can improve the quality of remote assessment, and reduce the complexity of operation at a distance.

The effects of TeleWound management on use of service and financial outcomes.

PubMed

Rees, Riley S; Bashshur, Noura

2007-12-01

This study investigated the effects of a TeleWound program on the use of service and financial outcomes among homebound patients with chronic wounds. The TeleWound program consisted of a Web-based transmission of digital photographs together with a clinical protocol. It enabled homebound patients with chronic pressure ulcers to be monitored remotely by a plastic surgeon. Chronic wounds are highly prevalent among chronically ill patients in the United States (U.S.). About 5 million chronically ill patients in the U.S. have chronic wounds, and the aggregate cost of their care exceeds $20 billion annually. Although 25% of home care referrals in the U.S. are for wounds, less than 0.2% of the registered nurses in the U.S. are wound care certified. This implies that the majority of patients with chronic wounds may not be receiving optimal care in their home environments. We hypothesized that TeleWound management would reduce visits to the emergency department (ED), hospitalization, length of stay, and visit acuity. Hence, it would improve financial performance for the hospital. A quasi-experimental design was used. A sample of 19 patients receiving this intervention was observed prospectively for 2 years. This was matched to a historical control group of an additional 19 patients from hospital records. Findings from the study revealed that TeleWound patients had fewer ED visits, fewer hospitalizations, and shorter length of stay, as compared to the control group. Overall, they encumbered lower cost. The results of this clinical study are striking and provide strong encouragement that a single provider can affect positive clinical and financial outcomes using a telemedicine wound care program. TeleWound was found to be a credible modality to manage pressure ulcers at lower cost and possibly better health outcomes. The next step in this process is to integrate the model into daily practice at bellwether medical centers to determine programmatic effectiveness in larger clinical arenas.

Electrorheological Fluid Based Force Feedback Device

NASA Technical Reports Server (NTRS)

Pfeiffer, Charles; Bar-Cohen, Yoseph; Mavroidis, Constantinos; Dolgin, Benjamin

1999-01-01

Parallel to the efforts to develop fully autonomous robots, it is increasingly being realized that there are applications where it is essential to have a fully controlled robot and "feel" its operating conditions, i.e. telepresence. This trend is a result of the increasing efforts to address tasks where humans can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robots can be employed to perform these tasks. Such robots need to be assisted by a human that remotely controls the operation. To address the goal of operating robots as human surrogates, the authors launched a study of mechanisms that provide mechanical feedback. For this purpose, electrorheological fluids (ERF) are being investigated for the potential application as miniature haptic devices. This family of electroactive fluids has the property of changing the viscosity during electrical stimulation. Consequently, ERF can be used to produce force feedback haptic devices for tele-operated control of medical and space robotic systems. Forces applied at the robot end-effector due to a compliant environment are reflected to the user using an ERF device where a change in the system viscosity will occur proportionally to the transmitted force. Analytical model and control algorithms are being developed taking into account the non-linearities of these type of devices. This paper will describe the concept and the developed mechanism of ERF based force feedback. The test process and the physical properties of this device will be described and the results of preliminary tests will be presented.

Dual benefit robotics programs at Sandia National Laboratories

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

Jones, A.T.

Sandia National Laboratories has one of the largest integrated robotics laboratories in the United States. Projects include research, development, and application of one-of-a-kind systems, primarily for the Department of Energy (DOE) complex. This work has been underway for more than 10 years. It began with on-site activities that required remote operation, such as reactor and nuclear waste handling. Special purpose robot systems were developed using existing commercial manipulators and fixtures and programs designed in-house. These systems were used in applications such as servicing the Sandia pulsed reactor and inspecting remote roof bolts in an underground radioactive waste disposal facility. Inmore » the beginning, robotics was a small effort, but with increasing attention to the use of robots for hazardous operations, efforts now involve a staff of more than 100 people working in a broad robotics research, development, and applications program that has access to more than 30 robotics systems.« less

Efficacy of a telerehabilitation intervention programme using biofeedback among computer operators.

PubMed

Golebowicz, Merav; Levanon, Yafa; Palti, Ram; Ratzon, Navah Z

2015-01-01

Computer operators spend long periods of time sitting in a static posture at computer workstations and therefore have an increased exposure to work-related musculoskeletal disorders (WRMSD). The present study is aimed at investigating the feasibility and effectiveness of a tele-biofeedback ergonomic intervention programme among computer operators suffering from WRMSD. Twelve subjects with WRMSD were assigned an ergonomic intervention accompanied by remote tele-biofeedback training, which was practised at their workstations. Evaluations of pain symptoms and locations, body posture and psychosocial characteristics were carried out before and after the intervention in the workplace. The hypothesis was partially verified as it showed improved body position at the workstation and decreased pain in some body parts. Tele-biofeedback, as part of an intervention, appears to be feasible and efficient for computer operators who suffer from WRMSD. This study encourages further research on tele-health within the scope of occupational therapy practice. Practitioner summary: Research concerning tele-health using biofeedback is scarce. The present study analyses the feasibility and partial effectiveness of a tele-biofeedback ergonomic intervention programme for computer operators suffering from WRMSD. The uniqueness and singularity of this study is the usage of remote communication between participants and practitioners through the Internet.

A Browser-Server-Based Tele-audiology System That Supports Multiple Hearing Test Modalities

PubMed Central

Yao, Daoyuan; Givens, Gregg

2015-01-01

Abstract Introduction: Millions of global citizens suffering from hearing disorders have limited or no access to much needed hearing healthcare. Although tele-audiology presents a solution to alleviate this problem, existing remote hearing diagnosis systems support only pure-tone tests, leaving speech and other test procedures unsolved, due to the lack of software and hardware to enable communication required between audiologists and their remote patients. This article presents a comprehensive remote hearing test system that integrates the two most needed hearing test procedures: a pure-tone audiogram and a speech test. Materials and Methods: This enhanced system is composed of a Web application server, an embedded smart Internet-Bluetooth® (Bluetooth SIG, Kirkland, WA) gateway (or console device), and a Bluetooth-enabled audiometer. Several graphical user interfaces and a relational database are hosted on the application server. The console device has been designed to support the tests and auxiliary communication between the local site and the remote site. Results: The study was conducted at an audiology laboratory. Pure-tone audiogram and speech test results from volunteers tested with this tele-audiology system are comparable with results from the traditional face-to-face approach. Conclusions: This browser-server–based comprehensive tele-audiology offers a flexible platform to expand hearing services to traditionally underserved groups. PMID:25919376

A Browser-Server-Based Tele-audiology System That Supports Multiple Hearing Test Modalities.

PubMed

Yao, Jianchu Jason; Yao, Daoyuan; Givens, Gregg

2015-09-01

Millions of global citizens suffering from hearing disorders have limited or no access to much needed hearing healthcare. Although tele-audiology presents a solution to alleviate this problem, existing remote hearing diagnosis systems support only pure-tone tests, leaving speech and other test procedures unsolved, due to the lack of software and hardware to enable communication required between audiologists and their remote patients. This article presents a comprehensive remote hearing test system that integrates the two most needed hearing test procedures: a pure-tone audiogram and a speech test. This enhanced system is composed of a Web application server, an embedded smart Internet-Bluetooth(®) (Bluetooth SIG, Kirkland, WA) gateway (or console device), and a Bluetooth-enabled audiometer. Several graphical user interfaces and a relational database are hosted on the application server. The console device has been designed to support the tests and auxiliary communication between the local site and the remote site. The study was conducted at an audiology laboratory. Pure-tone audiogram and speech test results from volunteers tested with this tele-audiology system are comparable with results from the traditional face-to-face approach. This browser-server-based comprehensive tele-audiology offers a flexible platform to expand hearing services to traditionally underserved groups.

Perception system and functions for autonomous navigation in a natural environment

NASA Technical Reports Server (NTRS)

Chatila, Raja; Devy, Michel; Lacroix, Simon; Herrb, Matthieu

1994-01-01

This paper presents the approach, algorithms, and processes we developed for the perception system of a cross-country autonomous robot. After a presentation of the tele-programming context we favor for intervention robots, we introduce an adaptive navigation approach, well suited for the characteristics of complex natural environments. This approach lead us to develop a heterogeneous perception system that manages several different terrain representatives. The perception functionalities required during navigation are listed, along with the corresponding representations we consider. The main perception processes we developed are presented. They are integrated within an on-board control architecture we developed. First results of an ambitious experiment currently underway at LAAS are then presented.

Space teleoperation research. American Nuclear Society Executive conference: Remote operations and robotics in the nuclear industry; remote maintenance in other hostile environments

NASA Technical Reports Server (NTRS)

Meintel, A. J., Jr.; Will, R. W.

1985-01-01

This presentation consists of four sections. The first section is a brief introduction to the NASA Space Program. The second portion summarized the results of a congressionally mandated study of automation and robotics for space station. The third portion presents a number of concepts for space teleoperator systems. The remainder of the presentation describes Langley Research Center's teleoperator/robotic research to support remote space operations.

Telescience testbed experiments for biomedical studies: fertilization potential recording of amphibian eggs using tele-manipulation under stereoscopic vision.

PubMed

Watanabe, S; Tanaka, M; Wada, Y; Suzuki, H; Takagi, S; Mori, S; Fukai, K; Kanazawa, Y; Takagi, M; Hirakawa, K; Ogasawara, K; Tsumura, K; Ogawa, K; Matsumoto, K; Nagaoka, S; Suzuki, T; Shimura, D; Yamashita, M; Nishio, S

1994-07-01

The telescience testbed experiments were carried out to test and investigate the tele-manipulation techniques in the intracellular potential recording of amphibian eggs. Implementation of telescience testbed was set up in the two separated laboratories of the Tsukuba Space center of NASDA, which were connected by tele-communication links. Manipulators respective for a microelectrode and a sample stage of microscope were moved by computers, of which command signals were transmitted from a computer in a remote control room. The computer in the control room was operated by an investigator (PI) who controlled the movement of each manipulator remotely. A stereoscopic vision of the microscope image were prepared by using a head mounted display (HMD) and were indispensable to the intracellular single cell recording. The fertilization potential of amphibian eggs was successfully obtained through the remote operating system.

Telescience workstation

NASA Technical Reports Server (NTRS)

Brown, Robert L.; Doyle, Dee; Haines, Richard F.; Slocum, Michael

1989-01-01

As part of the Telescience Testbed Pilot Program, the Universities Space Research Association/ Research Institute for Advanced Computer Science (USRA/RIACS) proposed to support remote communication by providing a network of human/machine interfaces, computer resources, and experimental equipment which allows: remote science, collaboration, technical exchange, and multimedia communication. The telescience workstation is intended to provide a local computing environment for telescience. The purpose of the program are as follows: (1) to provide a suitable environment to integrate existing and new software for a telescience workstation; (2) to provide a suitable environment to develop new software in support of telescience activities; (3) to provide an interoperable environment so that a wide variety of workstations may be used in the telescience program; (4) to provide a supportive infrastructure and a common software base; and (5) to advance, apply, and evaluate the telescience technolgy base. A prototype telescience computing environment designed to bring practicing scientists in domains other than their computer science into a modern style of doing their computing was created and deployed. This environment, the Telescience Windowing Environment, Phase 1 (TeleWEn-1), met some, but not all of the goals stated above. The TeleWEn-1 provided a window-based workstation environment and a set of tools for text editing, document preparation, electronic mail, multimedia mail, raster manipulation, and system management.

Software development to support sensor control of robot arc welding

NASA Technical Reports Server (NTRS)

Silas, F. R., Jr.

1986-01-01

The development of software for a Digital Equipment Corporation MINC-23 Laboratory Computer to provide functions of a workcell host computer for Space Shuttle Main Engine (SSME) robotic welding is documented. Routines were written to transfer robot programs between the MINC and an Advanced Robotic Cyro 750 welding robot. Other routines provide advanced program editing features while additional software allows communicatin with a remote computer aided design system. Access to special robot functions were provided to allow advanced control of weld seam tracking and process control for future development programs.

Telemedicine in Gastroenterohepatology

PubMed Central

Zildzic, Muharem; Salihefendic, Nizama; Krupic, Ferid; Beganovic, Emina; Zunic, Lejla; Masic, Izet

2014-01-01

Telemedicine itself is not the medical profession, it is not a medical specialty, but the way in which the medical profession conduct its activity. Therefore we are talking about tele otorhinolaryngology, tele cardiology or tele pathology. In the definition of a multitude of telemedicine that can be found in the literature is the following: Telemedicine is a system that supports the process of health care by providing ways and means for more efficient exchange of information that allows multitude of activities related to health care, including health care and health personnel, including education, administration and treatment. Telemedicine applications include tele diagnosis, tele consultation, tele monitoring, tele-care, tele consultations and remote access to information contained in one or more databases. It turned out that telemedicine is an important factor in technological, professional, financial and organizational uniformity of development of the health system. Telemedicine, although a new area, to a large extent already changed the ways of providing health care, and even more influence on the ways of designing the future of medicine. PMID:25395732

Research on the inspection robot for cable tunnel

NASA Astrophysics Data System (ADS)

Xin, Shihao

2017-03-01

Robot by mechanical obstacle, double end communication, remote control and monitoring software components. The mechanical obstacle part mainly uses the tracked mobile robot mechanism, in order to facilitate the design and installation of the robot, the other auxiliary swing arm; double side communication part used a combination of communication wire communication with wireless communication, great improve the communication range of the robot. When the robot is controlled by far detection range, using wired communication control, on the other hand, using wireless communication; remote control part mainly completes the inspection robot walking, navigation, positioning and identification of cloud platform control. In order to improve the reliability of its operation, the preliminary selection of IPC as the control core the movable body selection program hierarchical structure as a design basis; monitoring software part is the core part of the robot, which has a definite diagnosis Can be instead of manual simple fault judgment, instead the robot as a remote actuators, staff as long as the remote control can be, do not have to body at the scene. Four parts are independent of each other but are related to each other, the realization of the structure of independence and coherence, easy maintenance and coordination work. Robot with real-time positioning function and remote control function, greatly improves the IT operation. Robot remote monitor, to avoid the direct contact with the staff and line, thereby reducing the accident casualties, for the safety of the inspection work has far-reaching significance.

Developing a telepresence robot for interpersonal communication with the elderly in a home environment.

PubMed

Tsai, Tzung-Cheng; Hsu, Yeh-Liang; Ma, An-I; King, Trevor; Wu, Chang-Huei

2007-08-01

"Telepresence" is an interesting field that includes virtual reality implementations with human-system interfaces, communication technologies, and robotics. This paper describes the development of a telepresence robot called Telepresence Robot for Interpersonal Communication (TRIC) for the purpose of interpersonal communication with the elderly in a home environment. The main aim behind TRIC's development is to allow elderly populations to remain in their home environments, while loved ones and caregivers are able to maintain a higher level of communication and monitoring than via traditional methods. TRIC aims to be a low-cost, lightweight robot, which can be easily implemented in the home environment. Under this goal, decisions on the design elements included are discussed. In particular, the implementation of key autonomous behaviors in TRIC to increase the user's capability of projection of self and operation of the telepresence robot, in addition to increasing the interactive capability of the participant as a dialogist are emphasized. The technical development and integration of the modules in TRIC, as well as human factors considerations are then described. Preliminary functional tests show that new users were able to effectively navigate TRIC and easily locate visual targets. Finally the future developments of TRIC, especially the possibility of using TRIC for home tele-health monitoring and tele-homecare visits are discussed.

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

NASA Technical Reports Server (NTRS)

Fernandez, Ken; Hinman, Elaine

1987-01-01

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

Tele-monitoring of ventilator-dependent patients: a European Respiratory Society Statement.

PubMed

Ambrosino, Nicolino; Vitacca, Michele; Dreher, Michael; Isetta, Valentina; Montserrat, Josep M; Tonia, Thomy; Turchetti, Giuseppe; Winck, Joao Carlos; Burgos, Felip; Kampelmacher, Michael; Vagheggini, Guido

2016-09-01

The estimated prevalence of ventilator-dependent individuals in Europe is 6.6 per 100 000 people. The increasing number and costs of these complex patients make present health organisations largely insufficient to face their needs. As a consequence, their burden lays mostly over families. The need to reduce healthcare costs and to increase safety has prompted the development of tele-monitoring for home ventilatory assistance.A European Respiratory Society Task Force produced a literature research based statement on commonly accepted clinical criteria for indications, follow-up, equipment, facilities, legal and economic issues of tele-monitoring of these patients.Many remote health monitoring systems are available, ensuring safety, feasibility, effectiveness, sustainability and flexibility to face different patients' needs. The legal problems associated with tele-monitoring are still controversial. National and European Union (EU) governments should develop guidelines and ethical, legal, regulatory, technical, administrative standards for remote medicine. The economic advantages, if any, of this new approach must be compared to a "gold standard" of home care that is very variable among different European countries and within each European country.Much more research is needed before considering tele-monitoring a real improvement in the management of these patients. Copyright ©ERS 2016.

Tele-assistance for semi-autonomous robots

NASA Technical Reports Server (NTRS)

Rogers, Erika; Murphy, Robin R.

1994-01-01

This paper describes a new approach in semi-autonomous mobile robots. In this approach the robot has sufficient computerized intelligence to function autonomously under a certain set of conditions, while the local system is a cooperative decision making unit that combines human and machine intelligence. Communication is then allowed to take place in a common mode and in a common language. A number of exception-handling scenarios that were constructed as a result of experiments with actual sensor data collected from two mobile robots were presented.

Value of interactive scanning for improving the outcome of new-learners in transcontinental tele-echocardiography (VISION-in-Tele-Echo) study.

PubMed

Bansal, Manish; Singh, Shaanemeet; Maheshwari, Puneet; Adams, David; McCulloch, Marti L; Dada, Tanuj; Sengupta, Shantanu P; Kasliwal, Ravi R; Pellikka, Patricia A; Sengupta, Partho P

2015-01-01

Point-of-care (POC) echocardiography may be helpful for mass triage, but such a strategy requires adequately trained sonographers at the remote site. The aim of this study was to test the feasibility of using a novel POC echocardiography training program for improving physicians' imaging skills during preanesthetic cardiac evaluations performed in a community camp organized for treating cataract blindness. Seventeen physicians were provided 6 hours of training in the use of POC echocardiography; nine were taught on site and eight were taught online through a transcontinental tele-echocardiography system. The trained physicians subsequently scanned elderly patients undergoing cataract surgery. The quality of images was graded, and agreement between local physicians' interpretations and Web-based interpretations by worldwide experts was compared. A total of 968 studies were performed, with 660 used for validating physicians' competence. Major cardiac abnormalities were seen in 136 patients (14.2%), with 32 (3.3%) deemed prohibitive to surgery in unmonitored settings. Although good-quality images were obtained more frequently by physicians trained on site rather than online (P = .03), there were no differences between the two groups in agreement with expert interpretations. The majority of physicians (70.6%) expressed satisfaction with the training (average Likert-type scale score, 4.24 of 5), with no difference seen between the two groups. The training resulted in significant improvements in self-perceived competence in all components of POC echocardiography (P < .001 for all). This study establishes the feasibility of using short-duration, one-on-one, personalized transcontinental tele-echocardiography education for wider dissemination of echocardiographic skills to local physicians in remote communities, essential for optimizing global cardiovascular health. Copyright © 2015 American Society of Echocardiography. Published by Elsevier Inc. All rights reserved.

Shared control of a medical robot with haptic guidance.

PubMed

Xiong, Linfei; Chng, Chin Boon; Chui, Chee Kong; Yu, Peiwu; Li, Yao

2017-01-01

Tele-operation of robotic surgery reduces the radiation exposure during the interventional radiological operations. However, endoscope vision without force feedback on the surgical tool increases the difficulty for precise manipulation and the risk of tissue damage. The shared control of vision and force provides a novel approach of enhanced control with haptic guidance, which could lead to subtle dexterity and better maneuvrability during MIS surgery. The paper provides an innovative shared control method for robotic minimally invasive surgery system, in which vision and haptic feedback are incorporated to provide guidance cues to the clinician during surgery. The incremental potential field (IPF) method is utilized to generate a guidance path based on the anatomy of tissue and surgical tool interaction. Haptic guidance is provided at the master end to assist the clinician during tele-operative surgical robotic task. The approach has been validated with path following and virtual tumor targeting experiments. The experiment results demonstrate that comparing with vision only guidance, the shared control with vision and haptics improved the accuracy and efficiency of surgical robotic manipulation, where the tool-position error distance and execution time are reduced. The validation experiment demonstrates that the shared control approach could help the surgical robot system provide stable assistance and precise performance to execute the designated surgical task. The methodology could also be implemented with other surgical robot with different surgical tools and applications.

Efficacy of a Telehealth Intervention on Colonoscopy Uptake When Cost Is a Barrier: The Family CARE Cluster Randomized Controlled Trial.

PubMed

Steffen, Laurie E; Boucher, Kenneth M; Damron, Barbara H; Pappas, Lisa M; Walters, Scott T; Flores, Kristina G; Boonyasiriwat, Watcharaporn; Vernon, Sally W; Stroup, Antoinette M; Schwartz, Marc D; Edwards, Sandra L; Kohlmann, Wendy K; Lowery, Jan T; Wiggins, Charles L; Hill, Deirdre A; Higginbotham, John C; Burt, Randall; Simmons, Rebecca G; Kinney, Anita Y

2015-09-01

We tested the efficacy of a remote tailored intervention Tele-Cancer Risk Assessment and Evaluation (TeleCARE) compared with a mailed educational brochure for improving colonoscopy uptake among at-risk relatives of colorectal cancer patients and examined subgroup differences based on participant reported cost barriers. Family members of colorectal cancer patients who were not up-to-date with colonoscopy were randomly assigned as family units to TeleCARE (N = 232) or an educational brochure (N = 249). At the 9-month follow-up, a cost resource letter listing resources for free or reduced-cost colonoscopy was mailed to participants who had reported cost barriers and remained nonadherent. Rates of medically verified colonoscopy at the 15-month follow-up were compared on the basis of group assignment and within group stratification by cost barriers. In intent-to-treat analysis, 42.7% of participants in TeleCARE and 24.1% of participants in the educational brochure group had a medically verified colonoscopy [OR, 2.37; 95% confidence interval (CI) 1.59-3.52]. Cost was identified as a barrier in both groups (TeleCARE = 62.5%; educational brochure = 57.0%). When cost was not a barrier, the TeleCARE group was almost four times as likely as the comparison to have a colonoscopy (OR, 3.66; 95% CI, 1.85-7.24). The intervention was efficacious among those who reported cost barriers; the TeleCARE group was nearly twice as likely to have a colonoscopy (OR, 1.99; 95% CI, 1.12-3.52). TeleCARE increased colonoscopy regardless of cost barriers. Remote interventions may bolster screening colonoscopy regardless of cost barriers and be more efficacious when cost barriers are absent. ©2015 American Association for Cancer Research.

A Remote Lab for Experiments with a Team of Mobile Robots

PubMed Central

Casini, Marco; Garulli, Andrea; Giannitrapani, Antonio; Vicino, Antonio

2014-01-01

In this paper, a remote lab for experimenting with a team of mobile robots is presented. Robots are built with the LEGO Mindstorms technology and user-defined control laws can be directly coded in the Matlab programming language and validated on the real system. The lab is versatile enough to be used for both teaching and research purposes. Students can easily go through a number of predefined mobile robotics experiences without having to worry about robot hardware or low-level programming languages. More advanced experiments can also be carried out by uploading custom controllers. The capability to have full control of the vehicles, together with the possibility to define arbitrarily complex environments through the definition of virtual obstacles, makes the proposed facility well suited to quickly test and compare different control laws in a real-world scenario. Moreover, the user can simulate the presence of different types of exteroceptive sensors on board of the robots or a specific communication architecture among the agents, so that decentralized control strategies and motion coordination algorithms can be easily implemented and tested. A number of possible applications and real experiments are presented in order to illustrate the main features of the proposed mobile robotics remote lab. PMID:25192316

A remote lab for experiments with a team of mobile robots.

PubMed

Casini, Marco; Garulli, Andrea; Giannitrapani, Antonio; Vicino, Antonio

2014-09-04

In this paper, a remote lab for experimenting with a team of mobile robots is presented. Robots are built with the LEGO Mindstorms technology and user-defined control laws can be directly coded in the Matlab programming language and validated on the real system. The lab is versatile enough to be used for both teaching and research purposes. Students can easily go through a number of predefined mobile robotics experiences without having to worry about robot hardware or low-level programming languages. More advanced experiments can also be carried out by uploading custom controllers. The capability to have full control of the vehicles, together with the possibility to define arbitrarily complex environments through the definition of virtual obstacles, makes the proposed facility well suited to quickly test and compare different control laws in a real-world scenario. Moreover, the user can simulate the presence of different types of exteroceptive sensors on board of the robots or a specific communication architecture among the agents, so that decentralized control strategies and motion coordination algorithms can be easily implemented and tested. A number of possible applications and real experiments are presented in order to illustrate the main features of the proposed mobile robotics remote lab.

Supervisory autonomous local-remote control system design: Near-term and far-term applications

NASA Technical Reports Server (NTRS)

Zimmerman, Wayne; Backes, Paul

1993-01-01

The JPL Supervisory Telerobotics Laboratory (STELER) has developed a unique local-remote robot control architecture which enables management of intermittent bus latencies and communication delays such as those expected for ground-remote operation of Space Station robotic systems via the TDRSS communication platform. At the local site, the operator updates the work site world model using stereo video feedback and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. The operator can then employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the object under any degree of time-delay. The remote site performs the closed loop force/torque control, task monitoring, and reflex action. This paper describes the STELER local-remote robot control system, and further describes the near-term planned Space Station applications, along with potential far-term applications such as telescience, autonomous docking, and Lunar/Mars rovers.

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

PubMed

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

2012-09-01

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

Fault-Tolerant Control For A Robotic Inspection System

NASA Technical Reports Server (NTRS)

Tso, Kam Sing

1995-01-01

Report describes first phase of continuing program of research on fault-tolerant control subsystem of telerobotic visual-inspection system. Goal of program to develop robotic system for remotely controlled visual inspection of structures in outer space.

Design issues for stereo vision systems used on tele-operated robotic platforms

NASA Astrophysics Data System (ADS)

Edmondson, Richard; Vaden, Justin; Hyatt, Brian; Morris, Jim; Pezzaniti, J. Larry; Chenault, David B.; Tchon, Joe; Barnidge, Tracy; Kaufman, Seth; Pettijohn, Brad

2010-02-01

The use of tele-operated Unmanned Ground Vehicles (UGVs) for military uses has grown significantly in recent years with operations in both Iraq and Afghanistan. In both cases the safety of the Soldier or technician performing the mission is improved by the large standoff distances afforded by the use of the UGV, but the full performance capability of the robotic system is not utilized due to insufficient depth perception provided by the standard two dimensional video system, causing the operator to slow the mission to ensure the safety of the UGV given the uncertainty of the perceived scene using 2D. To address this Polaris Sensor Technologies has developed, in a series of developments funded by the Leonard Wood Institute at Ft. Leonard Wood, MO, a prototype Stereo Vision Upgrade (SVU) Kit for the Foster-Miller TALON IV robot which provides the operator with improved depth perception and situational awareness, allowing for shorter mission times and higher success rates. Because there are multiple 2D cameras being replaced by stereo camera systems in the SVU Kit, and because the needs of the camera systems for each phase of a mission vary, there are a number of tradeoffs and design choices that must be made in developing such a system for robotic tele-operation. Additionally, human factors design criteria drive optical parameters of the camera systems which must be matched to the display system being used. The problem space for such an upgrade kit will be defined, and the choices made in the development of this particular SVU Kit will be discussed.

The Future Training Room.

ERIC Educational Resources Information Center

Barbian, Jeff

2001-01-01

Looks at some of the electronic learning technology that has already been developed and will become common for training, including robots, lucid dreaming, tele-immersion, human interface technology, among others. (JOW)

3min. poster presentations of B01

NASA Astrophysics Data System (ADS)

Foing, Bernard H.

We give a report on recommendations from ILEWG International conferences held at Cape Canaveral in 2008 (ICEUM10), and in Beijing in May 2010 with IAF (GLUC -ICEUM11). We discuss the different rationale for Moon exploration. Priorities for scientific investigations include: clues on the formation and evolution of rocky planets, accretion and bombardment in the inner solar system, comparative planetology processes (tectonic, volcanic, impact cratering, volatile delivery), historical records, astrobiology, survival of organics; past, present and future life. The ILEWG technology task group set priorities for the advancement of instrumenta-tion: Remote sensing miniaturised instruments; Surface geophysical and geochemistry package; Instrument deployment and robotic arm, nano-rover, sampling, drilling; Sample finder and collector. Regional mobility rover; Autonomy and Navigation; Artificially intelligent robots, Complex systems. The ILEWG ExogeoLab pilot project was developed as support for instru-ments, landers, rovers,and preparation for cooperative robotic village. The ILEWG lunar base task group looked at minimal design concepts, technologies in robotic and human exploration with Tele control, telepresence, virtual reality; Man-Machine interface and performances. The ILEWG ExoHab pilot project has been started with support from agencies and partners. We discuss ILEWG terrestrial Moon-Mars campaigns for validation of technologies, research and human operations. We indicate how Moon-Mars Exploration can inspire solutions to global Earth sustained development: In-Situ Utilisation of resources; Establishment of permanent robotic infrastructures, Environmental protection aspects; Life sciences laboratories; Support to human exploration. Co-Authors: ILEWG Task Groups on: Science, Technology, Robotic village, Lunar Bases , Commercial and Societal aspects, Roadmap synergies with other programmes, Public en-gagemnet and Outreach, Young Lunar Explorers.

A novel tele-medical environment appropriate for use in tele-advisory and tele-surgery cases.

PubMed

Chatzipapadopoulos, F; Georgantas, N; Kotaras, A; Mamais, G; Tombros, S; Tselikis, G

1996-08-01

Tele-medical systems have been recently introduced in the field of networking as promising applications that can significantly improve the offering of medical treatment by providing services such as tele-advising, tele-surgery and remote monitoring in places where the presence of doctors or any medical specialists is difficult or time consuming. Some already existent networking models can be used for the establishment of a connection between the communicating sides. The offered network's security is also a significant factor. The present paper describes a software environment implementing a particular aspect of a tele-medical system. The developed system includes features such as direct communication between doctors and medical assistants, medical information acquisition and storing and high band information transfer in real-time. TCP/IP point-to-point protocol has been used for the implementation of the non bandwidth-critical connections. The application introduces novel features with the use of ATM connection for supporting the time-critical service of video transfer to and from the medical database.

Telemedicine Based Ultrasound for Detecting Neonatal Heart Disease in Babies at Remote Military or Native American Health Care Facilities

DTIC Science & Technology

2009-09-01

Telemedicine & Advanced Technology Research Center (TATRC). The additional funds are being used to extend the life of the TeleEcho Project in order to...practitioners for the Tele-ECHO project. This is held at Madigan Army Medical Center in the clinic and the NICU . Learning objectives: 1. Learners will...support and expertise. Funding is provided through AMEDD Advanced Medical Technology Initiative (AAMTI) FY09, APC-T690 Special Fund for TeleEcho. The

Robotics and tele-manipulation: update and perspectives in urology.

PubMed

Frede, T; Jaspers, J; Hammady, A; Lesch, J; Teber, D; Rassweiler, J

2007-06-01

Robotic surgery in urology has become a reality in the year 2007 with several thousand robotic prostatectomies having been performed already worldwide. Compared to conventional laparoscopy, the process of learning the robotic technique is short and the operative results are comparable to those of conventional laparoscopy or even open surgery. However, there are still some disadvantages with the robotic systems, mainly technical (tactile feedback) and financial (investment and running costs). Alternative and more inexpensive technologies must be considered in order to overcome the difficulties of conventional laparoscopy (instrument handling, degrees of freedom, 3-D vision), while also integrating advantages of the robotic systems.

Remote Sonography in Routine Clinical Practice Between Two Isolated Medical Centers and the University Hospital Using a Robotic Arm: A 1-Year Study.

PubMed

Georgescu, Monica; Sacccomandi, Arnaud; Baudron, Bernard; Arbeille, Philippe L

2016-04-01

A robotic arm was developed by our laboratory for tele-operated echography on patients in locations isolated from a trained sonographer. The objective of the study was to evaluate, over a 1-year period, the use of the robotic arm for telesonography performed by a sonographer located at the University Hospital (Tours, France) on patients in two isolated medical centers 50 km away linked via the Internet. A nonsonographer operator (physician or paramedic) located the ultrasound probe attached to the robotic arm over the appropriate acoustic window for the organ of interest by rolling the whole robotic arm and mechanical support across the floor. The expert sonographer then telemanipulated the robotic arm via an Internet connection and adjusted the orientation of the probe until the most appropriate organ view for delivering a diagnosis was obtained. Three hundred telesonography examinations were performed within 1 year: 68 (22.7%) on abdominal organs, 20 (6.7%) on pelvic organs, 138 (46%) on supraaortic vessels (carotid artery), 33 (11%) on the thyroid, 30 (10%) on leg veins, and 11 (3.7%) on the kidney and urinary tract. Telesonography could not be achieved in 10 of the 300 cases due to poor image quality on obese patients or those presenting poor echogenicity. These cases were re-examined at the university hospital by a sonographer. The rate of telesonography exams over the 1-year period was 1.5 per day for the "general population" medical site and 1 per week for the "elderly patient" medical site. This study demonstrated that telesonography using a robotic arm can be routinely used for providing echographic diagnoses on patients isolated from imaging centers.

Robotics Scoping Study to Evaluate Advances in Robotics Technologies that Support Enhanced Efficiencies for Yucca Mountain Repository Operations

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

T. Burgess; M. Noakes; P. Spampinato

This paper presents an evaluation of robotics and remote handling technologies that have the potential to increase the efficiency of handling waste packages at the proposed Yucca Mountain High-Level Nuclear Waste Repository. It is expected that increased efficiency will reduce the cost of operations. The goal of this work was to identify technologies for consideration as potential projects that the U.S. Department of Energy Office of Civilian Radioactive Waste Management, Office of Science and Technology International Programs, could support in the near future, and to assess their ''payback'' value. The evaluation took into account the robotics and remote handling capabilitiesmore » planned for incorporation into the current baseline design for the repository, for both surface and subsurface operations. The evaluation, completed at the end of fiscal year 2004, identified where significant advantages in operating efficiencies could accrue by implementing any given robotics technology or approach, and included a road map for a multiyear R&D program for improvements to remote handling technology that support operating enhancements.« less

In Silico Investigation of a Surgical Interface for Remote Control of Modular Miniature Robots in Minimally Invasive Surgery

PubMed Central

Zygomalas, Apollon; Giokas, Konstantinos; Koutsouris, Dimitrios

2014-01-01

Aim. Modular mini-robots can be used in novel minimally invasive surgery techniques like natural orifice transluminal endoscopic surgery (NOTES) and laparoendoscopic single site (LESS) surgery. The control of these miniature assistants is complicated. The aim of this study is the in silico investigation of a remote controlling interface for modular miniature robots which can be used in minimally invasive surgery. Methods. The conceptual controlling system was developed, programmed, and simulated using professional robotics simulation software. Three different modes of control were programmed. The remote controlling surgical interface was virtually designed as a high scale representation of the respective modular mini-robot, therefore a modular controlling system itself. Results. With the proposed modular controlling system the user could easily identify the conformation of the modular mini-robot and adequately modify it as needed. The arrangement of each module was always known. The in silico investigation gave useful information regarding the controlling mode, the adequate speed of rearrangements, and the number of modules needed for efficient working tasks. Conclusions. The proposed conceptual model may promote the research and development of more sophisticated modular controlling systems. Modular surgical interfaces may improve the handling and the dexterity of modular miniature robots during minimally invasive procedures. PMID:25295187

In silico investigation of a surgical interface for remote control of modular miniature robots in minimally invasive surgery.

PubMed

Zygomalas, Apollon; Giokas, Konstantinos; Koutsouris, Dimitrios

2014-01-01

Aim. Modular mini-robots can be used in novel minimally invasive surgery techniques like natural orifice transluminal endoscopic surgery (NOTES) and laparoendoscopic single site (LESS) surgery. The control of these miniature assistants is complicated. The aim of this study is the in silico investigation of a remote controlling interface for modular miniature robots which can be used in minimally invasive surgery. Methods. The conceptual controlling system was developed, programmed, and simulated using professional robotics simulation software. Three different modes of control were programmed. The remote controlling surgical interface was virtually designed as a high scale representation of the respective modular mini-robot, therefore a modular controlling system itself. Results. With the proposed modular controlling system the user could easily identify the conformation of the modular mini-robot and adequately modify it as needed. The arrangement of each module was always known. The in silico investigation gave useful information regarding the controlling mode, the adequate speed of rearrangements, and the number of modules needed for efficient working tasks. Conclusions. The proposed conceptual model may promote the research and development of more sophisticated modular controlling systems. Modular surgical interfaces may improve the handling and the dexterity of modular miniature robots during minimally invasive procedures.

Evaluating Intention to Use Remote Robotics Experimentation in Programming Courses

ERIC Educational Resources Information Center

Cheng, Pericles L.

2017-01-01

The Digital Agenda for Europe (2015) states that there will be 825,000 unfilled vacancies for Information and Communications Technology by 2020. This lack of IT professionals stems from the small number of students graduating in computer science. To retain more students in the field, teachers can use remote robotic experiments to explain difficult…

Experiences with the JPL telerobot testbed: Issues and insights

NASA Technical Reports Server (NTRS)

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

1989-01-01

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

Remote tele-mentored ultrasound for non-physician learners using FaceTime: A feasibility study in a low-income country.

PubMed

Robertson, Thomas E; Levine, Andrea R; Verceles, Avelino C; Buchner, Jessica A; Lantry, James H; Papali, Alfred; Zubrow, Marc T; Colas, L Nathalie; Augustin, Marc E; McCurdy, Michael T

2017-08-01

Ultrasound (US) is a burgeoning diagnostic tool and is often the only available imaging modality in low- and middle-income countries (LMICs). However, bedside providers often lack training to acquire or interpret US images. We conducted a study to determine if a remote tele-intensivist could mentor geographically removed LMIC providers to obtain quality and clinically useful US images. Nine Haitian non-physician health care workers received a 20-minute training on basic US techniques. A volunteer was connected to an intensivist located in the USA via FaceTime. The intensivist remotely instructed the non-physicians to ultrasound five anatomic sites. The tele-intensivist evaluated the image quality and clinical utility of performing tele-ultrasound in a LMIC. The intensivist agreed (defined as "agree" or "strongly agree" on a five-point Likert scale) that 90% (57/63) of the FaceTime images were high quality. The intensivist felt comfortable making clinical decisions using FaceTime images 89% (56/63) of the time. Non-physicians can feasibly obtain high-quality and clinically relevant US images using video chat software in LMICs. Commercially available software can connect providers in institutions in LMICs to geographically removed intensivists at a relatively low cost and without the need for extensive training of local providers. Copyright © 2017 Elsevier Inc. All rights reserved.

Tele-operated search robot for human detection using histogram of oriented objects

NASA Astrophysics Data System (ADS)

Cruz, Febus Reidj G.; Avendaño, Glenn O.; Manlises, Cyrel O.; Avellanosa, James Jason G.; Abina, Jyacinth Camille F.; Masaquel, Albert M.; Siapno, Michael Lance O.; Chung, Wen-Yaw

2017-02-01

Disasters such as typhoons, tornadoes, and earthquakes are inevitable. Aftermaths of these disasters include the missing people. Using robots with human detection capabilities to locate the missing people, can dramatically reduce the harm and risk to those who work in such circumstances. This study aims to: design and build a tele-operated robot; implement in MATLAB an algorithm for the detection of humans; and create a database of human identification based on various positions, angles, light intensity, as well as distances from which humans will be identified. Different light intensities were made by using Photoshop to simulate smoke, dust and water drops conditions. After processing the image, the system can indicate either a human is detected or not detected. Testing with bodies covered was also conducted to test the algorithm's robustness. Based on the results, the algorithm can detect humans with full body shown. For upright and lying positions, detection can happen from 8 feet to 20 feet. For sitting position, detection can happen from 2 feet to 20 feet with slight variances in results because of different lighting conditions. The distances greater than 20 feet, no humans can be processed or false negatives can occur. For bodies covered, the algorithm can detect humans in cases made under given circumstances. On three positions, humans can be detected from 0 degrees to 180 degrees under normal, with smoke, with dust, and with water droplet conditions. This study was able to design and build a tele-operated robot with MATLAB algorithm that can detect humans with an overall precision of 88.30%, from which a database was created for human identification based on various conditions, where humans will be identified.

ROMPS critical design review. Volume 2: Robot module design documentation

NASA Technical Reports Server (NTRS)

Dobbs, M. E.

1992-01-01

The robot module design documentation for the Remote Operated Materials Processing in Space (ROMPS) experiment is compiled. This volume presents the following information: robot module modifications; Easylab commands definitions and flowcharts; Easylab program definitions and flowcharts; robot module fault conditions and structure charts; and C-DOC flow structure and cross references.

The robot and the satellite for tele-operating echographic examination in Earth isolated sites, or onboard ISS.

PubMed

Arbeille, Ph; Ruiz, J; Ayoub, J; Vieyres, P; Porcher, M; Boulay, J; Moreau, V; Poisson, G

2004-07-01

The objective was to design and validate a method for tele-operating (from an expert site) an echographic examination in an isolated site. The isolated places, defined as areas with reduced medical facilities, could be secondary hospitals 20 to 50 km from the university hospital, or dispensaries in Africa or Amazonia, or a moving structure like a rescue vehicle or the International Space Station (ISS). At the expert center, the ultrasound medical expert moves a fictive probe, connected to a computer (n degrees 1) which sends, the coordinate changes of this probe via an ISDN or satellite line to a second computer (n degrees 2), located at the isolated site, which applies them to the robotic arm holding the real echographic probe. The system was tested at Tours Hospital on 105 patients. A complete investigation (visualization) of all the organs requested for different clinical cases was obtained in 76% of the cases with the robot, and 87% at the reference echography: In 11% of the cases, at least one of the organ visualized at reference echo could not be investigated by the robot, thus the diagnostic was not done. The number of repositioning was higher for the robot (6.5 +/- 2) than for the reference echo (5.1 +/- 2 = or > 24% more with robot). The duration of the examination was higher with the robot (16 +/- 10 min) than for the reference echography (11 +/- 4 min = or > +43% with the robot compare to reference echography. The system was also tested successfully using satellite links in a limited number of cases (approx 30).

EMR-based TeleGeriatric system.

PubMed

Pallawala, P M; Lun, K C

2001-01-01

As medical services improve due to new technologies and breakthroughs, it has lead to an increasingly aging population. There has been much discussion and debate on how to solve various aspects such as psychological, socio-economic and medical problems related to aging. Our effort is to implement a feasible telegeriatric medical service with the use of the state of the art technology to deliver medical services efficiently to remote sites where elderly homes are based. The TeleGeriatric system will lead to rapid decision-making in the presence of acute or subacute emergencies. This triage will also lead to a reduction of unnecessary admission. It will enable the doctors who visit these elderly homes once a week basis to improve their geriatric management skills by communication with geriatric specialist. Nursing skills in the geriatric care will also benefit from this system. Integrated electronic medical record (EMR) system will be indispensable in the face of emergency admissions to hospitals. Evolution of EMR database would lead to future research in telegeriatrics and will help to identify the areas where telegeriatrics can be optimally used. This system is based on current web browsing technology and broadband communication. The TeleGeriatric web based server is developed using Java Technology. The TeleGeriatric database server was developed using Microsoft SQL server. Both are based at the Medical Informatics Programme, National University of Singapore. Two elderly homes situated in the periphery of Singapore and a leading government hospital in geriatric care have been chosen for the project. These 3 institutions and National University of Singapore are connected via ADSL protocol. ADSL connection supports high bandwidth, which is necessary for high quality videoconferencing. Each time a patient needs a teleconsultation a nurse or a doctor in the remote site sends the patient's record to the TeleGeriatric server. The TeleGeriatric server forwards the request to the Alexandra Hospital for consultation. Geriatrics specialists at the Alexandra Hospital carry out teleward rounds twice weekly and on demand basis. Following the implementation of the system, a trial run has been done. Total results have demonstrated a high degree of coordination and cooperation between remote site and the Alexandra Hospital. Also the patient compliance is very high and they prefer teleconsultation. Initial results show that the TeleGeriatric system has definite advantages in managing geriatric patients at a remote site. As the system evolves, further research will show the areas where telegeriatrics can be used optimally.

Towards Supervising Remote Dexterous Robots Across Time Delay

NASA Technical Reports Server (NTRS)

Hambuchen, Kimberly; Bluethmann, William; Goza, Michael; Ambrose, Robert; Wheeler, Kevin; Rabe, Ken

2006-01-01

The President s Vision for Space Exploration, laid out in 2004, relies heavily upon robotic exploration of the lunar surface in early phases of the program. Prior to the arrival of astronauts on the lunar surface, these robots will be required to be controlled across space and time, posing a considerable challenge for traditional telepresence techniques. Because time delays will be measured in seconds, not minutes as is the case for Mars Exploration, uploading the plan for a day seems excessive. An approach for controlling dexterous robots under intermediate time delay is presented, in which software running within a ground control cockpit predicts the intention of an immersed robot supervisor, then the remote robot autonomously executes the supervisor s intended tasks. Initial results are presented.

Barriers and Facilitators for Sustainability of Tele-Homecare Programs: A Systematic Review.

PubMed

Radhakrishnan, Kavita; Xie, Bo; Berkley, Amy; Kim, Miyong

2016-02-01

To identify the barriers and facilitators for sustainability of tele-homecare programs implemented by home health nursing agencies for chronic disease management. English-language articles on home telehealth in the CINAHL, PubMed/MEDLINE, PsychInfo, Web of Science, and Cochrane Reviews databases published from January 1996 to December 2013. We performed a systematic literature review. Data extraction using PRISMA guidelines and quality appraisal using the Mixed Methods Appraisal Tool (MMAT) were conducted on relevant empirical studies. Thematic analysis across the studies and narrative summaries were used to synthesize the findings from the included studies. Of the initial 3,920 citations, we identified 16 articles of moderate quality meeting our inclusion criteria. Perceptions on effectiveness of tele-homecare programs for achieving intended outcomes; tailoring of tele-homecare programs to patient characteristics and needs; relationship and communication between patient, nurse, and other health care professional users of tele-homecare; home health organizational process and culture; and technology quality, capability, and usability impacted the sustainability of tele-homecare programs. The findings of this systematic review provide implications for sustained usage of tele-homecare programs by home health nursing agencies and can help such programs realize their potential for chronic disease management. © Health Research and Educational Trust.

Tele-Autonomous control involving contact. Final Report Thesis; [object localization

NASA Technical Reports Server (NTRS)

Shao, Lejun; Volz, Richard A.; Conway, Lynn; Walker, Michael W.

1990-01-01

Object localization and its application in tele-autonomous systems are studied. Two object localization algorithms are presented together with the methods of extracting several important types of object features. The first algorithm is based on line-segment to line-segment matching. Line range sensors are used to extract line-segment features from an object. The extracted features are matched to corresponding model features to compute the location of the object. The inputs of the second algorithm are not limited only to the line features. Featured points (point to point matching) and featured unit direction vectors (vector to vector matching) can also be used as the inputs of the algorithm, and there is no upper limit on the number of the features inputed. The algorithm will allow the use of redundant features to find a better solution. The algorithm uses dual number quaternions to represent the position and orientation of an object and uses the least squares optimization method to find an optimal solution for the object's location. The advantage of using this representation is that the method solves for the location estimation by minimizing a single cost function associated with the sum of the orientation and position errors and thus has a better performance on the estimation, both in accuracy and speed, than that of other similar algorithms. The difficulties when the operator is controlling a remote robot to perform manipulation tasks are also discussed. The main problems facing the operator are time delays on the signal transmission and the uncertainties of the remote environment. How object localization techniques can be used together with other techniques such as predictor display and time desynchronization to help to overcome these difficulties are then discussed.

The Costs of Critical Care Telemedicine Programs

PubMed Central

Falk, Derik M.; Bonello, Robert S.; Kahn, Jeremy M.; Perencevich, Eli; Cram, Peter

2013-01-01

Background: Implementation of telemedicine programs in ICUs (tele-ICUs) may improve patient outcomes, but the costs of these programs are unknown. We performed a systematic literature review to summarize existing data on the costs of tele-ICUs and collected detailed data on the costs of implementing a tele-ICU in a network of Veterans Health Administration (VHA) hospitals. Methods: We conducted a systematic review of studies published between January 1, 1990, and July 1, 2011, reporting costs of tele-ICUs. Studies were summarized, and key cost data were abstracted. We then obtained the costs of implementing a tele-ICU in a network of seven VHA hospitals and report these costs in light of the existing literature. Results: Our systematic review identified eight studies reporting tele-ICU costs. These studies suggested combined implementation and first year of operation costs for a tele-ICU of $50,000 to $100,000 per monitored ICU-bed. Changes in patient care costs after tele-ICU implementation ranged from a $3,000 reduction to a $5,600 increase in hospital cost per patient. VHA data suggested a cost for implementation and first year of operation of $70,000 to $87,000 per ICU-bed, depending on the depreciation methods applied. Conclusions: The cost of tele-ICU implementation is substantial, and the impact of these programs on hospital costs or profits is unclear. Until additional data become available, clinicians and administrators should carefully weigh the clinical and economic aspects of tele-ICUs when considering investing in this technology. PMID:22797291

The costs of critical care telemedicine programs: a systematic review and analysis.

PubMed

Kumar, Gaurav; Falk, Derik M; Bonello, Robert S; Kahn, Jeremy M; Perencevich, Eli; Cram, Peter

2013-01-01

Implementation of telemedicine programs in ICUs (tele-ICUs) may improve patient outcomes, but the costs of these programs are unknown. We performed a systematic literature review to summarize existing data on the costs of tele-ICUs and collected detailed data on the costs of implementing a tele-ICU in a network of Veterans Health Administration (VHA) hospitals. We conducted a systematic review of studies published between January 1, 1990, and July 1, 2011, reporting costs of tele-ICUs. Studies were summarized, and key cost data were abstracted. We then obtained the costs of implementing a tele-ICU in a network of seven VHA hospitals and report these costs in light of the existing literature. Our systematic review identified eight studies reporting tele-ICU costs. These studies suggested combined implementation and first year of operation costs for a tele-ICU of $50,000 to $100,000 per monitored ICU-bed. Changes in patient care costs after tele-ICU implementation ranged from a $3,000 reduction to a $5,600 increase in hospital cost per patient. VHA data suggested a cost for implementation and first year of operation of $70,000 to $87,000 per ICU-bed, depending on the depreciation methods applied. The cost of tele-ICU implementation is substantial, and the impact of these programs on hospital costs or profits is unclear. Until additional data become available, clinicians and administrators should carefully weigh the clinical and economic aspects of tele-ICUs when considering investing in this technology.

Remote Viewer for Maritime Robotics Software

NASA Technical Reports Server (NTRS)

Kuwata, Yoshiaki; Wolf, Michael; Huntsberger, Terrance L.; Howard, Andrew B.

2013-01-01

This software is a viewer program for maritime robotics software that provides a 3D visualization of the boat pose, its position history, ENC (Electrical Nautical Chart) information, camera images, map overlay, and detected tracks.

Resources for Underwater Robotics Education

ERIC Educational Resources Information Center

Wallace, Michael L.; Freitas, William M.

2016-01-01

4-H clubs can build and program underwater robots from raw materials. An annotated resource list for engaging youth in building underwater remotely operated vehicles (ROVs) is provided. This article is a companion piece to the Research in Brief article "Building Teen Futures with Underwater Robotics" in this issue of the "Journal of…

Tele-Operated Lunar Rover Navigation Using Lidar

NASA Technical Reports Server (NTRS)

Pedersen, Liam; Allan, Mark B.; Utz, Hans, Heinrich; Deans, Matthew C.; Bouyssounouse, Xavier; Choi, Yoonhyuk; Fluckiger, Lorenzo; Lee, Susan Y.; To, Vinh; Loh, Jonathan;

Tele-Supervised Adaptive Ocean Sensor Fleet

NASA Technical Reports Server (NTRS)

Lefes, Alberto; Podnar, Gregg W.; Dolan, John M.; Hosler, Jeffrey C.; Ames, Troy J.

2009-01-01

The Tele-supervised Adaptive Ocean Sensor Fleet (TAOSF) is a multi-robot science exploration architecture and system that uses a group of robotic boats (the Ocean-Atmosphere Sensor Integration System, or OASIS) to enable in-situ study of ocean surface and subsurface characteristics and the dynamics of such ocean phenomena as coastal pollutants, oil spills, hurricanes, or harmful algal blooms (HABs). The OASIS boats are extended- deployment, autonomous ocean surface vehicles. The TAOSF architecture provides an integrated approach to multi-vehicle coordination and sliding human-vehicle autonomy. One feature of TAOSF is the adaptive re-planning of the activities of the OASIS vessels based on sensor input ( smart sensing) and sensorial coordination among multiple assets. The architecture also incorporates Web-based communications that permit control of the assets over long distances and the sharing of data with remote experts. Autonomous hazard and assistance detection allows the automatic identification of hazards that require human intervention to ensure the safety and integrity of the robotic vehicles, or of science data that require human interpretation and response. Also, the architecture is designed for science analysis of acquired data in order to perform an initial onboard assessment of the presence of specific science signatures of immediate interest. TAOSF integrates and extends five subsystems developed by the participating institutions: Emergent Space Tech - nol ogies, Wallops Flight Facility, NASA s Goddard Space Flight Center (GSFC), Carnegie Mellon University, and Jet Propulsion Laboratory (JPL). The OASIS Autonomous Surface Vehicle (ASV) system, which includes the vessels as well as the land-based control and communications infrastructure developed for them, controls the hardware of each platform (sensors, actuators, etc.), and also provides a low-level waypoint navigation capability. The Multi-Platform Simulation Environment from GSFC is a surrogate for the OASIS ASV system and allows for independent development and testing of higher-level software components. The Platform Communicator acts as a proxy for both actual and simulated platforms. It translates platform-independent messages from the higher control systems to the device-dependent communication protocols. This enables the higher-level control systems to interact identically with heterogeneous actual or simulated platforms.

Telerobot local-remote control architecture for space flight program applications

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

NIITEK-NVESD AMDS program and interim field-ready system

NASA Astrophysics Data System (ADS)

Hibbard, Mark W.; Etebari, Ali

2010-04-01

NIITEK (Non-Intrusive Inspection Technology, Inc) develops and fields vehicle-mounted mine and buried threat detection systems. Since 2003, the NIITEK has developed and tested a remote robot-mounted mine detection system for use in the NVESD AMDS program. This paper will discuss the road map of development since the outset of the program, including transition from a data collection platform towards a militarized field-ready system for immediate use as a remote countermine and buried threat detection solution with real-time autonomous threat classification. The detection system payload has been integrated on both the iRobot Packbot and the Foster-Miller Talon robot. This brief will discuss the requirements for a successful near-term system, the progressive development of the system, our current real-time capabilities, and our planned upgrades for moving into and supporting field testing, evaluation, and ongoing operation.

The KIDROP model of combining strategies for providing retinopathy of prematurity screening in underserved areas in India using wide-field imaging, tele-medicine, non-physician graders and smart phone reporting

PubMed Central

Vinekar, Anand; Gilbert, Clare; Dogra, Mangat; Kurian, Mathew; Shainesh, Gangadharan; Shetty, Bhujang; Bauer, Noel

2014-01-01

Aim: To report the Karnataka Internet Assisted Diagnosis of Retinopathy of Prematurity (KIDROP) program for retinopathy of prematurity (ROP) screening in underserved rural areas using an indigenously developed tele-ROP model. Materials and Methods: KIDROP currently provides ROP screening and treatment services in three zones and 81 neonatal units in Karnataka, India. Technicians were trained to use a portable Retcam Shuttle (Clarity, USA) and validated against ROP experts performing indirect ophthalmoscopy. An indigenously developed 20-point score (STAT score) graded their ability (Level I to III) to image and decide follow-up based on a three-way algorithm. Images were also uploaded on a secure tele-ROP platform and accessed and reported by remote experts on their smart phones (iPhone, Apple). Results: 6339 imaging sessions of 1601 infants were analyzed. A level III technician agreed with 94.3% of all expert decisions. The sensitivity, specificity, positive predictive value and negative predictive value for treatment grade disease were 95.7, 93.2, 81.5 and 98.6 respectively. The kappa for technicians to decide discharge of babies was 0.94 (P < 0.001). Only 0.4% of infants needing treatment were missed. The kappa agreement of experts reporting on the iPhone vs Retcam for treatment requiring and mild ROP were 0.96 and 0.94 (P < 0.001) respectively. Conclusions: This is the first and largest real-world program to employ accredited non-physicians to grade and report ROP. The KIDROP tele-ROP model demonstrates that ROP services can be delivered to the outreach despite lack of specialists and may be useful in other middle-income countries with similar demographics. PMID:24492500

How does tele-learning compare with other forms of education delivery? A systematic review of tele-learning educational outcomes for health professionals.

PubMed

Tomlinson, Jo; Shaw, Tim; Munro, Ana; Johnson, Ros; Madden, D Lynne; Phillips, Rosemary; McGregor, Deborah

2013-11-01

Telecommuniciation technologies, including audio and videoconferencing facilities, afford geographically dispersed health professionals the opportunity to connect and collaborate with others. Recognised for enabling tele-consultations and tele-collaborations between teams of health care professionals and their patients, these technologies are also well suited to the delivery of distance learning programs, known as tele-learning. To determine whether tele-learning delivery methods achieve equivalent learning outcomes when compared with traditional face-to-face education delivery methods. A systematic literature review was commissioned by the NSW Ministry of Health to identify results relevant to programs applying tele-learning delivery methods in the provision of education to health professionals. The review found few studies that rigorously compared tele-learning with traditional formats. There was some evidence, however, to support the premise that tele-learning models achieve comparable learning outcomes and that participants are generally satisfied with and accepting of this delivery method. The review illustrated that tele-learning technologies not only enable distance learning opportunities, but achieve comparable learning outcomes to traditional face-to-face models. More rigorous evidence is required to strengthen these findings and should be the focus of future tele-learning research.

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.

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

Development and Implementation of Tele-Savvy for Dementia Caregivers: A Department of Veterans Affairs Clinical Demonstration Project.

PubMed

Griffiths, Patricia C; Whitney, M Kate; Kovaleva, Mariya; Hepburn, Kenneth

2016-02-01

To test fidelity and preliminary efficacy of Tele-Savvy, an internet-based version of the in-person, evidence-based psychoeducation Savvy Caregiver Program (SCP) for dementia caregivers. Tele-Savvy used synchronous (tele-conferences) and asynchronous components (video modules) to provide program access to caregivers in their homes. SCP experts were surveyed to evaluate Tele-Savvy's fidelity to SCP. A convenience sample of 30 dementia caregivers from the Atlanta VA Medical Center enrolled in the Tele-Savvy clinical demonstration program. Twenty-two caregivers completed both pre- and postprogram evaluations, which included measures of caregiver stress and competence and behavioral and psychological symptoms of dementia (BPSD). Expert review confirmed Tele-Savvy's fidelity with and, in certain domains, improvement on the original. Participants demonstrated moderately high initial levels of burden, anxiety, and depressive symptoms all of which decreased significantly postprogram in an intention to treat analysis. Similar reductions were seen in care recipients' BPSD and caregivers' reactions to them. Marginally significant increases in caregiver competence were observed. Caregiver and expert panel evaluations of program quality were enthusiastic. An effective online caregiver psychoeducation program could provide greatly expanded access for caregivers who cannot attend in person for reasons of distance, transportation limitations, and caregiving responsibilities. Further testing in a controlled trial is needed to establish program efficacy. Published by Oxford University Press on behalf of the Gerontological Society of America 2015.

Developing a Tele-Robotic Platform for Bridge Inspection

DOT National Transportation Integrated Search

2011-05-01

There are many bridges in Virginia with high traffic volumes or difficult access conditions which make these bridges difficult and expensive to inspect. In addition, the inspection of many bridges exposes the inspectors to hazardous conditions such a...

Impact of a chronic disease self-management program on health care utilization in rural communities: a retrospective cohort study using linked administrative data.

PubMed

Jaglal, Susan B; Guilcher, Sara J T; Hawker, Gillian; Lou, Wendy; Salbach, Nancy M; Manno, Michael; Zwarenstein, Merrick

2014-05-01

Internationally, chronic disease self-management programs (CDSMPs) have been widely promoted with the assumption that confident, knowledgeable patients practicing self-management behavior will experience improved health and utilize fewer healthcare resources. However, there is a paucity of published data supporting this claim and the majority of the evidence is based on self-report. We used a retrospective cohort study using linked administrative health data. Data from 104 tele-CDSMP participants from 13 rural and remote communities in the province of Ontario, Canada were linked to administrative databases containing emergency department (ED) and physician visits and hospitalizations. Patterns of health care utilization prior to and after participation in the tele-CDSMP were compared. Poisson Generalized Estimating Equations regression was used to examine the impact of the tele-CDSMP on health care utilization after adjusting for covariates. There were no differences in patterns of health care utilization before and after participating in the tele-CDSMP. Among participants ≤ 66 years, however, there was a 34% increase in physician visits in the 12 months following the program (OR = 1.34, 95% CI 1.11-1.61) and a trend for decreased ED visits in those >66 years (OR = 0.59, 95% CI 0.33-1.06). This is the first study to examine health care use following participation in the CDSMP in a Canadian population and to use administrative data to measure health care utilization. Similar to other studies that used self-report measures to evaluate health care use we found no differences in health care utilization before and after participation in the CDSMP. Future research needs to confirm our findings and examine the impact of the CDSMP on health care utilization in different age groups to help to determine whether these interventions are more effective with select population groups.

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.

Parents' perceptions of tele-audiological testing in a rural hearing screening program in South India.

PubMed

Ramkumar, Vidya; Selvakumar, K; Vanaja, C S; Hall, James W; Nagarajan, Roopa; Neethi, J

2016-10-01

Tele-diagnostic audiological testing in a hearing screening program for infants and young children is a novel practice, and this study is the first to explore its application in a rural community. It is important to understand parental perceptions and confidence when introducing a new process such as tele-audiological diagnostic testing in rural areas. A questionnaire with 17 rater-administered items was designed to elicit comments concerning the quality of tele-hearing testing and video-conferencing, access to tele-hearing testing, and parents' attitudes regarding tele-hearing testing in the village. The questionnaire was administered by an audiologist not involved in tele-diagnostic testing to avoid bias. Parents perceived tele-hearing testing as equal in quality to in-person testing. Technical factors such as good video-conferencing quality and logistical factors such as ease of access due to reasonable travel time to testing facility could have influenced these perceptions. While these results show tele-hearing testing is an acceptable alternative, occasional poor signal quality should be addressed prior to large-scale implementation. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

Medical Robotic and Tele surgical Simulation Education Research

DTIC Science & Technology

2017-05-01

training exercises, DVSS = 40, dVT = 65, and RoSS = 52 for skills development. All three offer 3D visual images but use different display technologies...capabilities with an emphasis on their educational skills. They offer unique advantages and capabilities in training robotic sur- geons. Each device has been...evaluate the transfer of training effect of each simulator. Collectively, this work will offer end users and potential buyers a comparison of the value

Building an environment model using depth information

NASA Technical Reports Server (NTRS)

Roth-Tabak, Y.; Jain, Ramesh

1989-01-01

Modeling the environment is one of the most crucial issues for the development and research of autonomous robot and tele-perception. Though the physical robot operates (navigates and performs various tasks) in the real world, any type of reasoning, such as situation assessment, planning or reasoning about action, is performed based on information in its internal world. Hence, the robot's intentional actions are inherently constrained by the models it has. These models may serve as interfaces between sensing modules and reasoning modules, or in the case of telerobots serve as interface between the human operator and the distant robot. A robot operating in a known restricted environment may have a priori knowledge of its whole possible work domain, which will be assimilated in its World Model. As the information in the World Model is relatively fixed, an Environment Model must be introduced to cope with the changes in the environment and to allow exploring entirely new domains. Introduced here is an algorithm that uses dense range data collected at various positions in the environment to refine and update or generate a 3-D volumetric model of an environment. The model, which is intended for autonomous robot navigation and tele-perception, consists of cubic voxels with the possible attributes: Void, Full, and Unknown. Experimental results from simulations of range data in synthetic environments are given. The quality of the results show great promise for dealing with noisy input data. The performance measures for the algorithm are defined, and quantitative results for noisy data and positional uncertainty are presented.

COSTS AND COST-EFFECTIVENESS OF A TELE-ICU PROGRAM IN SIX INTENSIVE CARE UNITS IN A LARGE HEALTHCARE SYSTEM

PubMed Central

Franzini, Luisa; Sail, Kavita R.; Thomas, Eric J; Wueste, Laura

2011-01-01

Purpose To estimate the costs and cost-effectiveness of a tele-ICU program. Materials and methods We used an observational study with ICU patients cared for during the pre-tele-ICU period and ICU patients cared for during the post-tele-ICU period in 6 ICUs at 5 hospitals, part of a large non-profit health care system in the Gulf Coast region. We obtained data on a sample of 4142 ICU patients: 2,034 in the pre-tele-ICU period and 2,108 in the post-tele-ICU period. Economic outcomes were hospital costs, ICU costs and floor costs, measured for average daily costs, costs per case, and costs per patient. Results After the implementation of the tele-ICU, the hospital daily cost increased from $4,302 to $5,340 (24%), the hospital cost per case from $21,967 to $31,318 (43%), and the cost per patient from $20,231 to $25,846 (28%). While the tele-ICU intervention was not cost effective in patients with SAPS II ≤ 50, it was cost effective in the sickest patients with SAPS II > 50 (17% of patients) as it decreased hospital mortality without increasing costs significantly. Conclusions Hospital administrators may conclude that a tele-ICU program aimed at the sickest patients is cost effective. PMID:21376515

Experiments in teleoperator and autonomous control of space robotic vehicles

NASA Technical Reports Server (NTRS)

Alexander, Harold L.

1991-01-01

A program of research embracing teleoperator and automatic navigational control of freely flying satellite robots is presented. Current research goals include: (1) developing visual operator interfaces for improved vehicle teleoperation; (2) determining the effects of different visual interface system designs on operator performance; and (3) achieving autonomous vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space-robot simulator vehicle currently under development. Visual-interface design options under investigation include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and the provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion.

Validation of DPOAE screening conducted by village health workers in a rural community with real-time click evoked tele-auditory brainstem response.

PubMed

Ramkumar, Vidya; Vanaja, C S; Hall, James W; Selvakumar, K; Nagarajan, Roopa

2018-05-01

This study assessed the validity of DPOAE screening conducted by village health workers (VHWs) in a rural community. Real-time click evoked tele-auditory brainstem response (tele-ABR) was used as the gold standard to establish validity. A cross-sectional design was utilised to compare the results of screening by VHWs to those obtained via tele-ABR. Study samples: One hundred and nineteen subjects (0 to 5 years) were selected randomly from a sample of 2880 infants and young children who received DPOAE screening by VHWs. Real time tele-ABR was conducted by using satellite or broadband internet connectivity at the village. An audiologist located at the tertiary care hospital conducted tele-ABR testing through a remote computing paradigm. Tele-ABR was recorded using standard recording parameters recommended for infants and young children. Wave morphology, repeatability and peak latency data were used for ABR analysis. Tele-ABR and DPOAE findings were compared for 197 ears. The sensitivity of DPOAE screening conducted by the VHW was 75%, and specificity was 91%. The negative and positive predictive values were 98.8% and 27.2%, respectively. The validity of DPOAE screening conducted by trained VHW was acceptable. This study supports the engagement of grass-root workers in community-based hearing health care provision.

Effects of home-based tele-exercise on sarcopenia among community-dwelling elderly adults: Body composition and functional fitness.

PubMed

Hong, Jeeyoung; Kim, Jeongeun; Kim, Suk Wha; Kong, Hyoun-Joong

2017-01-01

This study aims to develop a form of tele-exercise that would enable real-time interactions between exercise instructors and community-dwelling elderly people and to investigate its effects on improvement of sarcopenia-related factors of body composition and functional fitness among the elderly. Randomized, controlled trial, with a 12-week intervention period. Community-dwelling senior citizens in Gangseo-gu, Seoul, South Korea. The participants were 23 elderly individuals (tele-exercise group: 11, control group: 12), aged 69 to 93years. The tele-exercise program was developed utilizing a 15-in. all-in-one PC and video conferencing software (Skype™), with broadband Internet connectivity. The tele-exercise group performed supervised resistance exercise at home for 20-40min a day three times per week for 12weeks. The remote instructor provided one-on-one instruction to each participant during the intervention. The control group maintained their lifestyles without any special intervention. The sarcopenia-related factors of body composition and functional fitness were examined prior to, as well as following, a 12-week intervention period. The data were analyzed with a two-way repeated measures ANOVA. There were significant improvements in lower limb muscle mass (p=0.017), appendicular lean soft tissue (p=0.032), total muscle mass (p=0.033), and chair sit-and-reach length (p=0.019) for the tele-exercise group compared to the control group. No group×time interaction effects were detected for the 2-min step, chair stand, and time effects (p<0.05). Video conferencing-based supervised resistance exercise had positive effects on sarcopenia-related factors such as total-body skeletal muscle mass, appendicular lean soft tissue, lower limb muscle mass, and the chair sit-and-reach scores among community-dwelling elderly adults. These results imply that tele-exercise can be a new and effective intervention method for increasing skeletal muscle mass and the physical functioning of the lower limbs from the perspective of sarcopenia improvement among the elderly. Copyright © 2016 Elsevier Inc. All rights reserved.

Hazardous Environment Robotics

NASA Technical Reports Server (NTRS)

1996-01-01

Jet Propulsion Laboratory (JPL) developed video overlay calibration and demonstration techniques for ground-based telerobotics. Through a technology sharing agreement with JPL, Deneb Robotics added this as an option to its robotics software, TELEGRIP. The software is used for remotely operating robots in nuclear and hazardous environments in industries including automotive and medical. The option allows the operator to utilize video to calibrate 3-D computer models with the actual environment, and thus plan and optimize robot trajectories before the program is automatically generated.

Tele-transmission of EEG recordings.

PubMed

Lemesle, M; Kubis, N; Sauleau, P; N'Guyen The Tich, S; Touzery-de Villepin, A

2015-03-01

EEG recordings can be sent for remote interpretation. This article aims to define the tele-EEG procedures and technical guidelines. Tele-EEG is a complete medical act that needs to be carried out with the same quality requirements as a local one in terms of indications, formulation of the medical request and medical interpretation. It adheres to the same quality requirements for its human resources and materials. It must be part of a medical organization (technical and medical network) and follow all rules and guidelines of good medical practices. The financial model of this organization must include costs related to performing the EEG recording, operating and maintenance of the tele-EEG network and medical fees of the physician interpreting the EEG recording. Implementing this organization must be detailed in a convention between all parties involved: physicians, management of the healthcare structure, and the company providing the tele-EEG service. This convention will set rules for network operation and finance, and also the continuous training of all staff members. The tele-EEG system must respect all rules for safety and confidentiality, and ensure the traceability and storing of all requests and reports. Under these conditions, tele-EEG can optimize the use of human resources and competencies in its zone of utilization and enhance the organization of care management. Copyright © 2015. Published by Elsevier SAS.

Robotics technology developments in the United States space telerobotics program

NASA Technical Reports Server (NTRS)

Lavery, David

1994-01-01

In the same way that the launch of Yuri Gagarin in April 1961 announced the beginning of human space flight, last year's flight of the German ROTEX robot flight experiment is heralding the start of a new era of space robotics. After a gap of twelve years since the introduction of a new capability in space remote manipulation, ROTEX is the first of at least ten new robotic systems and experiments which will fly before the year 2000. As a result of redefining the development approach for space robotic systems, and capitalizing on opportunities associated with the assembly and maintenance of the space station, the space robotics community is preparing a whole new generation of operational robotic capabilities. Expanding on the capabilities of earlier manipulation systems such as the Viking and Surveyor soil scoops, the Russian Lunakhods, and the Shuttle Remote Manipulator System (RMS), these new space robots will augment astronaut on-orbit capabilities and extend virtual human presence to lunar and planetary surfaces.

Towards an SEMG-based tele-operated robot for masticatory rehabilitation.

PubMed

Kalani, Hadi; Moghimi, Sahar; Akbarzadeh, Alireza

2016-08-01

This paper proposes a real-time trajectory generation for a masticatory rehabilitation robot based on surface electromyography (SEMG) signals. We used two Gough-Stewart robots. The first robot was used as a rehabilitation robot while the second robot was developed to model the human jaw system. The legs of the rehabilitation robot were controlled by the SEMG signals of a tele-operator to reproduce the masticatory motion in the human jaw, supposedly mounted on the moving platform, through predicting the location of a reference point. Actual jaw motions and the SEMG signals from the masticatory muscles were recorded and used as output and input, respectively. Three different methods, namely time-delayed neural networks, time delayed fast orthogonal search, and time-delayed Laguerre expansion technique, were employed and compared to predict the kinematic parameters. The optimal model structures as well as the input delays were obtained for each model and each subject through a genetic algorithm. Equations of motion were obtained by the virtual work method. Fuzzy method was employed to develop a fuzzy impedance controller. Moreover, a jaw model was developed to demonstrate the time-varying behavior of the muscle lengths during the rehabilitation process. The three modeling methods were capable of providing reasonably accurate estimations of the kinematic parameters, although the accuracy and training/validation speed of time-delayed fast orthogonal search were higher than those of the other two aforementioned methods. Also, during a simulation study, the fuzzy impedance scheme proved successful in controlling the moving platform for the accurate navigation of the reference point in the desired trajectory. SEMG has been widely used as a control command for prostheses and exoskeleton robots. However, in the current study by employing the proposed rehabilitation robot the complete continuous profile of the clenching motion was reproduced in the sagittal plane. Copyright © 2016. Published by Elsevier Ltd.

Transferring brain-computer interfaces beyond the laboratory: successful application control for motor-disabled users.

PubMed

Leeb, Robert; Perdikis, Serafeim; Tonin, Luca; Biasiucci, Andrea; Tavella, Michele; Creatura, Marco; Molina, Alberto; Al-Khodairy, Abdul; Carlson, Tom; Millán, José D R

2013-10-01

Brain-computer interfaces (BCIs) are no longer only used by healthy participants under controlled conditions in laboratory environments, but also by patients and end-users, controlling applications in their homes or clinics, without the BCI experts around. But are the technology and the field mature enough for this? Especially the successful operation of applications - like text entry systems or assistive mobility devices such as tele-presence robots - requires a good level of BCI control. How much training is needed to achieve such a level? Is it possible to train naïve end-users in 10 days to successfully control such applications? In this work, we report our experiences of training 24 motor-disabled participants at rehabilitation clinics or at the end-users' homes, without BCI experts present. We also share the lessons that we have learned through transferring BCI technologies from the lab to the user's home or clinics. The most important outcome is that 50% of the participants achieved good BCI performance and could successfully control the applications (tele-presence robot and text-entry system). In the case of the tele-presence robot the participants achieved an average performance ratio of 0.87 (max. 0.97) and for the text entry application a mean of 0.93 (max. 1.0). The lessons learned and the gathered user feedback range from pure BCI problems (technical and handling), to common communication issues among the different people involved, and issues encountered while controlling the applications. The points raised in this paper are very widely applicable and we anticipate that they might be faced similarly by other groups, if they move on to bringing the BCI technology to the end-user, to home environments and towards application prototype control. Copyright © 2013 Elsevier B.V. All rights reserved.

Tele-Education in South Africa

PubMed Central

Mars, Maurice

2014-01-01

Introduction: Telemedicine includes the use of information and communication technology for education in the health sector, tele-education. Sub-Saharan Africa has an extreme shortage of health professionals and as a result, doctors to teach doctors and students. Tele-education has the potential to provide access to education both formal and continuing medical education. While the uptake of telemedicine in Africa is low, there are a number of successful and sustained tele-education programs. The aims of this study were (i) to review the literature on tele-education in South Africa, (ii) describe tele-education activities at the University of KwaZulu-Natal (UKZ-N) in South Africa, and (iii) review the development of these programs with respect to current thinking on eHealth project implementation. Method: A literature review of tele-education in South Africa was undertaken. The development of the tele-education services at UKZ-N from 2001 to present is described. The approaches taken are compared with current teaching on eHealth implementation and a retrospective design-reality gap analysis is made. Results: Tele-education has been in use in South Africa since the 1970s. Several forms of tele-education are in place at the medical schools and in some Provincial Departments of Health (DOH). Despite initial attempts by the National DOH, there are no national initiatives in tele-education. At UKZ-N, a tele-education service has been running since 2001 and appears to be sustainable and reaching maturity, with over 1,400 h of videoconferenced education offered per year. The service has expanded to offer videoconferenced education into Africa using different ways of delivering tele-education. Conclusion: Tele-education has been used in different forms for many years in the health sector in South Africa. There is little hard evidence of its educational merit or economic worth. What it apparent is that it improves access to education and training in resource constrained settings. The development of local and international tele-education at the UKZ-N has not followed what is currently considered to be best practice but shows how programs can develop if there is a real need and the solution assists in meeting the need. Further work is required to analyze the economics of these tele-education endeavors. PMID:25405146

Development of a Tele-Micro-Robot for Telemanipulation of a Microscopic Environment

NASA Technical Reports Server (NTRS)

Goldfarb, Michael

1998-01-01

The objective of the proposed work was to design and develop the mechanical equivalent of a stereomicroscope in order to eliminate the mismatch that currently exists between one's ability to observe a microscopic environment and one's ability to manipulate it.

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

NASA Technical Reports Server (NTRS)

Bualat, Maria; Fong, Terrence

2013-01-01

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

A pilot study for the integration of cytometry reports in digital cytology telemedicine applications.

PubMed

Giansanti, Daniele; Cerroni, Fabio; Amodeo, Rachele; Filoni, Marco; Giovagnoli, Maria Rosaria

2010-01-01

Up to date, tele-pathology in the three different forms of application, "dynamic", "static" and "virtual microscopy" has been mainly based on tele-hystology remote consulting. Today the diffusion of specialized WAN connections is guiding the research of new applications of tele-pathology. A specific analysis has been conducted, focused on digital cytology, in the biomedical laboratory of Sant'Andrea Hospital to investigate the technologies potentially useful to integrate in the LAN/WAN for telemedicine applications. Among the possible tools useful to be integrated in the LAN/WAN for telemedicine applications, the cytometry equipment available in the technical unity of cytometry has been considered important. The study finally provides a proposal for a tele-consulting architecture for the integration of cytometry reports both in the hospital LAN and the WAN for possible cooperative diagnosis and second opinion support.

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

Internet application to tele-audiology--"nothin' but net".

PubMed

Givens, Gregg D; Elangovan, Saravanan

2003-12-01

The Telehealth program at East Carolina University has developed a system for real-time assessment of auditory thresholds using computer driven control of a remote audiometer via the Internet. The present study used 45 adult participants in a double-blind study of 2 different systems: a conventional audiometer and an audiometer operated remotely via the Internet. The audiometric thresholds assessed by these 2 systems varied by no more than 1.3 dB for air conduction and 1.2 dB for bone conduction. The results demonstrated the feasibility of this new "telehearing" audiometric system. With the rapid development of Internet-based applications, telehealth has the potential to provide important healthcare coverage for rural areas where specialized audiological services are lacking.

iPhone otoscopes: Currently available, but reliable for tele-otoscopy in the hands of parents?

PubMed

Shah, Manan Udayan; Sohal, Maheep; Valdez, Tulio A; Grindle, Christopher R

2018-03-01

Tele-otoscopy has been validated for tympanostomy surveillance and remote diagnosis when images are recorded by trained professionals. The CellScope iPhone Otoscope is a device that may be used for tele-otoscopy and it enables parents to record their children's ear examinations and send the films for remote physician diagnosis. This study aims to determine the ability to diagnose, and the reliability of the diagnosis when utilizing video exams obtained by a parent versus video exams obtained by an otolaryngologist. Parents of children ages 17 years or younger attempted recordings of the tympanic membrane of their children with the CellScope after a video tutorial; a physician subsequently used the device to record the same ear. Recordings occurred prior to standard pediatric otolaryngology office evaluation. Later, a remote pediatric otolaryngologist attempted diagnosis solely based on the videos, blinded to whether the examination was filmed by a parent or physician. Interrater reliability between video diagnosis and original diagnosis on pneumatic otoscopy was measured, and objective tympanic membrane landmarks visualized on the films were recorded. Eighty ears were enrolled and recorded. There was low interrater agreement (k = 0.42) between diagnosis based on parent videos as compared with pneumatic otoscopy. There was high agreement (k = 0.71) between diagnosis based on physician videos and pneumatic otoscopy. Physician videos and parent videos had only slight agreement on objective landmarks identified (k = 0.087). iPhone otoscopy provides reliable tele-otoscopy images in when used by trained professionals but, currently, images obtained by parents are not suitable for use in diagnosis. Copyright © 2018 Elsevier B.V. All rights reserved.

The role of health information technology on critical care services in Thailand.

PubMed

Wacharasint, Petch

2014-01-01

Health information technology (IT) has become an important part of current medical practice, especially in critical care services. One significant advance is the use of telemedicine which was initiated in Thailand nearly two decades ago. Telemedicine is also used in the intensive care unit or what has been termed the "Tele-ICU". It has evolved as an alternate paradigm linking the intensivist and critical care specialists to critically ill patients in remote areas. In this article, the author has reviewed the evidence of health IT on critical care services in Thailand, focusing on telemedicine, as well as the concept of the 'Tele-ICU' and its challenges. These factors may assist intensivists to reach more critically ill patients in remote areas.

The TERESA project: from space research to ground tele-echography

NASA Technical Reports Server (NTRS)

Vieyres, Pierre; Poisson, Gerard; Courreges, Fabien; Merigeaux, Olivier; Arbeille, Philippe

2003-01-01

Ultrasound examinations represent one of the major diagnostic modalities of future healthcare. They are currently used to support medical space research but require a high skilled operator for both probe positioning on the patient's skin and image interpretation. TERESA is a tele-echography project that proposes a solution to bring astronauts and remotely located patients on ground quality ultrasound examinations despite the lack of a specialist at the location of the wanted medical act.

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.

Workshop on Critical ORI Issues Held in Bordeaux, France on OCtober 27 - 29, 1992. Program and Abstracts.

DTIC Science & Technology

1992-10-29

These people try to make their robotic vehicle as intelligent and autonomous as possible with the current state of technology. The robot only interacts... Robotics Peter J. Burt David Sarnoff Research Center Princeton, NJ 08543-5300 U.S.A. The ability of an operator to drive a remotely piloted vehicle depends...RESUPPLY - System which can rapidly and autonomously load and unload palletized ammunition. (18) AUTONOMOUS COMBAT EVACUATION VEHICLE - Robotic arms

Experiments in teleoperator and autonomous control of space robotic vehicles

NASA Technical Reports Server (NTRS)

Alexander, Harold L.

1990-01-01

A research program and strategy are described which include fundamental teleoperation issues and autonomous-control issues of sensing and navigation for satellite robots. The program consists of developing interfaces for visual operation and studying the consequences of interface designs as well as developing navigation and control technologies based on visual interaction. A space-robot-vehicle simulator is under development for use in virtual-environment teleoperation experiments and neutral-buoyancy investigations. These technologies can be utilized in a study of visual interfaces to address tradeoffs between head-tracking and manual remote cameras, panel-mounted and helmet-mounted displays, and stereoscopic and monoscopic display systems. The present program can provide significant data for the development of control experiments for autonomously controlled satellite robots.

Sprint: The first flight demonstration of the external work system robots

NASA Technical Reports Server (NTRS)

Price, Charles R.; Grimm, Keith

1995-01-01

The External Works Systems (EWS) 'X Program' is a new NASA initiative that will, in the next ten years, develop a new generation of space robots for active and participative support of zero g external operations. The robotic development will center on three areas: the assistant robot, the associate robot, and the surrogate robot that will support external vehicular activities (EVA) prior to and after, during, and instead of space-suited human external activities respectively. The EWS robotics program will be a combination of technology developments and flight demonstrations for operational proof of concept. The first EWS flight will be a flying camera called 'Sprint' that will seek to demonstrate operationally flexible, remote viewing capability for EVA operations, inspections, and contingencies for the space shuttle and space station. This paper describes the need for Sprint and its characteristics.

Utilization of the NASA Robonaut as a Surgical Avatar in Telemedicine

NASA Technical Reports Server (NTRS)

Dean, Marc; Diftler, Myron

2015-01-01

The concept of teleoperated robotic surgery is not new; however, most of the work to date has utilized specialized robots designed for specific set of surgeries. This activity explores the use of a humanoid robot to perform surgical procedures using the same hand held instruments that a human surgeon employs. For this effort, the tele-operated Robonaut (R2) was selected due to its dexterity, its ability to perform a wide range of tasks, and its adaptability to changing environments. To evaluate this concept, a series of challenges was designed with the goal of assessing the feasibility of utilizing Robonaut as a telemedicine based surgical avatar.

Telecare and Social Link Solution for Ambient Assisted Living Using a Robot Companion with Visiophony

NASA Astrophysics Data System (ADS)

Varène, Thibaut; Hillereau, Paul; Simonnet, Thierry

An increasing number of people are in need of help at home (elderly, isolated and/or disabled persons; people with mild cognitive impairment). Several solutions can be considered to maintain a social link while providing tele-care to these people. Many proposals suggest the use of a robot acting as a companion. In this paper we will look at an environment constrained solution, its drawbacks (such as latency) and its advantages (flexibility, integration…). A key design choice is to control the robot using a unified Voice over Internet Protocol (VoIP) solution, while addressing bandwidth limitations, providing good communication quality and reducing transmission latency

Supervising Remote Humanoids Across Intermediate Time Delay

NASA Technical Reports Server (NTRS)

Hambuchen, Kimberly; Bluethmann, William; Goza, Michael; Ambrose, Robert; Rabe, Kenneth; Allan, Mark

2006-01-01

The President's Vision for Space Exploration, laid out in 2004, relies heavily upon robotic exploration of the lunar surface in early phases of the program. Prior to the arrival of astronauts on the lunar surface, these robots will be required to be controlled across space and time, posing a considerable challenge for traditional telepresence techniques. Because time delays will be measured in seconds, not minutes as is the case for Mars Exploration, uploading the plan for a day seems excessive. An approach for controlling humanoids under intermediate time delay is presented. This approach uses software running within a ground control cockpit to predict an immersed robot supervisor's motions which the remote humanoid autonomously executes. Initial results are presented.

Diagnosis of retinal detachments by a tele-ophthalmology screening program.

PubMed

McCord, Sarah A; Lynch, Mary G; Maa, April Y

2018-01-01

In 2015, a tele-ophthalmology program was undertaken at the Atlanta Veterans Affairs Medical Center to provide screening eye care for veterans in their primary care clinics. Though this program was developed as a screening tool, the availability of these services in primary care clinics has enabled triage of certain acute eye complaints. These case reports describe two patients who were diagnosed with retinal detachments through this program, although their primary care providers had triaged them as requiring non-urgent referrals to the eye clinic. Although many patients are seen for acute ocular complaints in primary care clinics and emergency departments, providers in such settings may lack the ability to adequately examine eyes and thus triage ocular complaints. These cases demonstrate the ability of tele-ophthalmology to assist in diagnosing urgent ocular conditions in primary care clinics. Though tele-ophthalmology has been accepted in some parts of the world, in the United States of America it remains widely underutilized. These cases highlight the ability of tele-ophthalmology to close the gap in acute eye care coverage that exists in the USA, most prominently in rural regions.

Selection of Batteries and Fuel Cells for Yucca Mountain Robots

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

Upadhye, R S

2003-12-08

The Performance Confirmation program of the Yucca Mountain Repository Development Project needs to employ remotely operated robots to work inside the emplacement drifts which will have an environment unsuitable for humans (radiation environment of up to 200 rad/hour (mostly gamma rays, some neutrons)) and maximum temperatures of 180 C. The robots will be required to operate inside the drifts for up to 8 hours per mission. Based on available functional requirements, we have developed the following specifications for the power needed by the robots:

[Haptic tracking control for minimally invasive robotic surgery].

PubMed

Xu, Zhaohong; Song, Chengli; Wu, Wenwu

2012-06-01

Haptic feedback plays a significant role in minimally invasive robotic surgery (MIRS). A major deficiency of the current MIRS is the lack of haptic perception for the surgeon, including the commercially available robot da Vinci surgical system. In this paper, a dynamics model of a haptic robot is established based on Newton-Euler method. Because it took some period of time in exact dynamics solution, we used a digital PID arithmetic dependent on robot dynamics to ensure real-time bilateral control, and it could improve tracking precision and real-time control efficiency. To prove the proposed method, an experimental system in which two Novint Falcon haptic devices acting as master-slave system has been developed. Simulations and experiments showed proposed methods could give instrument force feedbacks to operator, and bilateral control strategy is an effective method to master-slave MIRS. The proposed methods could be used to tele-robotic system.

NASA's Robotic Mining Competition Provides Undergraduates Full Life Cycle Systems Engineering Experience

NASA Technical Reports Server (NTRS)

Stecklein, Jonette

2017-01-01

NASA has held an annual robotic mining competition for teams of university/college students since 2010. This competition is yearlong, suitable for a senior university engineering capstone project. It encompasses the full project life cycle from ideation of a robot design, through tele-operation of the robot collecting regolith in simulated Mars conditions, to disposal of the robot systems after the competition. A major required element for this competition is a Systems Engineering Paper in which each team describes the systems engineering approaches used on their project. The score for the Systems Engineering Paper contributes 25% towards the team’s score for the competition’s grand prize. The required use of systems engineering on the project by this competition introduces the students to an intense practical application of systems engineering throughout a full project life cycle.

Traverse Planning Experiments for Future Planetary Surface Exploration

NASA Technical Reports Server (NTRS)

Hoffman, Stephen J.; Voels, Stephen A.; Mueller, Robert P.; Lee, Pascal C.

2012-01-01

The purpose of the investigation is to evaluate methodology and data requirements for remotely-assisted robotic traverse of extraterrestrial planetary surface to support human exploration program, assess opportunities for in-transit science operations, and validate landing site survey and selection techniques during planetary surface exploration mission analog demonstration at Haughton Crater on Devon Island, Nunavut, Canada. Additionally, 1) identify quality of remote observation data sets (i.e., surface imagery from orbit) required for effective pre-traverse route planning and determine if surface level data (i.e., onboard robotic imagery or other sensor data) is required for a successful traverse, and if additional surface level data can improve traverse efficiency or probability of success (TRPF Experiment). 2) Evaluate feasibility and techniques for conducting opportunistic science investigations during this type of traverse. (OSP Experiment). 3) Assess utility of remotely-assisted robotic vehicle for landing site validation survey. (LSV Experiment).

Environmental restoration and waste management: Robotics technology development program: Robotics 5-year program plan

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

Not Available

In FY 1990 Robotics Technology Development Program (RTDP) planning teams visited five DOE sites. These sites were selected by the Office of Technology Development to provide a needs basis for developing a 5-Year Plan. Visits to five DOE sites provided identification of needs for robotics technology development to support Environmental Restoration and Waste Management (ER WM) projects at those sites. Additional site visits will be conducted in the future to expand the planning basis. This volume summarizes both the results of the site visits and the needs and requirements of the priority ER WM activities at the sites, including potentialmore » needs for robotics and remote systems technology. It also discusses hazards associated with the site activities and any problems or technical uncertainties associated with dealing with the hazards in the performance of the ER WM work. Robotic or remote systems currently under development for remediation projects or waste operations are also discussed. The information in this document is organized principally by site, activity, and priority. Section 2.0, Site Needs, is based on information from the site visit reports and provides a summary which focuses on the site needs and requirements for each priority activity. Section 2.0 also records evaluations and discussions by the RTDP team following the site visit. Section 3.0, Commonality Assessment, documents similar site needs where common, or cross-cutting, robotics technology might be applied to several activities. Section 4.0 contains a summary of the site needs and requirements in tabular form. 1 tab.« less

Telecommunications model for continuing education of health professionals: the Royal Brompton case.

PubMed

Kotis, Takis

2003-01-01

Telemedicine is said to be helpful to both patients and providers, but we need real-world examples to demonstrate its effectiveness. This paper presents such an example. Royal Brompton, under the Tele-remedy Program of EC Telecom, conducted a project with the Children's Hospital of Athens, Greece, to provide remote diagnosis management and continuing education for heart disease, using European ISDN technology. Preliminary results showed that, when carried out in a large scale multi-site environment, Teleremedy program significantly reduced geographic and socio-economic isolation for the patient and the professional isolation for the physician. Comparison of original vs. transmitted data revealed no significant differences, with diagnosis accuracy of 100%.

A compact high-definition low-cost digital stereoscopic video camera for rapid robotic surgery development.

PubMed

Carlson, Jay; Kowalczuk, Jędrzej; Psota, Eric; Pérez, Lance C

2012-01-01

Robotic surgical platforms require vision feedback systems, which often consist of low-resolution, expensive, single-imager analog cameras. These systems are retooled for 3D display by simply doubling the cameras and outboard control units. Here, a fully-integrated digital stereoscopic video camera employing high-definition sensors and a class-compliant USB video interface is presented. This system can be used with low-cost PC hardware and consumer-level 3D displays for tele-medical surgical applications including military medical support, disaster relief, and space exploration.

NASA's Robotics Mining Competition Provides Undergraduates Full Life Cycle Systems Engineering Experience

NASA Technical Reports Server (NTRS)

Stecklein, Jonette

2017-01-01

NASA has held an annual robotic mining competition for teams of university/college students since 2010. This competition is yearlong, suitable for a senior university engineering capstone project. It encompasses the full project life cycle from ideation of a robot design to actual tele-operation of the robot in simulated Mars conditions mining and collecting simulated regolith. A major required element for this competition is a Systems Engineering Paper in which each team describes the systems engineering approaches used on their project. The score for the Systems Engineering Paper contributes 25% towards the team's score for the competition's grand prize. The required use of systems engineering on the project by this competition introduces the students to an intense practical application of systems engineering throughout a full project life cycle.

Controlling multiple security robots in a warehouse environment

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

Robotics in cardiac surgery: the Istanbul experience.

PubMed

Sagbas, Ertan; Akpinar, Belhhan; Sanisoglu, Ilhan; Caynak, Baris; Guden, Mustafa; Ozbek, Ugur; Bayramoglu, Zehra; Bayindir, Osman

2006-06-01

Robots are sensor-based tools capable of performing precise, accurate and versatile actions. Initially designed to spare humans from risky tasks, robots have progressed into revolutionary tools for surgeons. Tele-operated robots, such as the da Vinci (Intuitive Surgical, Mountain View, CA), have allowed cardiac procedures to start benefiting from robotics as an enhancement to traditional minimally invasive surgery. The aim of this text was to discuss our experience with the da Vinci system during a 12 month period in which 61 cardiac patients were operated on. There were 59 coronary bypass patients (CABG) and two atrial septal defect (ASD) closures. Two patients (3.3%) had to be converted to median sternotomy because of pleural adhesions. There were no procedure- or device-related complications. Our experience suggests that robotics can be integrated into routine cardiac surgical practice. Systematic training, team dedication and proper patient selection are important factors that determine the success of a robotic surgery programme. Copyright 2006 John Wiley & Sons, Ltd.

Clinical and financial considerations for implementing an ICU telemedicine program.

PubMed

Kruklitis, Robert J; Tracy, Joseph A; McCambridge, Matthew M

2014-06-01

As the population in the United States increases and ages, the need to provide high-quality, safe, and cost-effective care to the most critically ill patients will be of great importance. With the projected shortage of intensivists, innovative changes to improve efficiency and increase productivity will be necessary. Telemedicine programs in the ICUs (tele-ICUs) are a successful strategy to improve intensivist access to critically ill patients. Although significant capital and maintenance costs are associated with tele-ICUs, these costs can be offset by indirect financial benefits, such as decreased length of stay. To achieve the positive clinical outcomes desired, tele-ICUs must be carefully designed and implemented. In this article, we discuss the clinical benefits of tele-ICUs. We review the financial considerations, including direct and indirect reimbursement and development and maintenance costs. Finally, we review design and implementation considerations for tele-ICUs.

A pilot trial of tele-ophthalmology for diagnosis of chronic blurred vision.

PubMed

Tan, Johnson Choon Hwai; Poh, Eugenie Wei Ting; Srinivasan, Sanjay; Lim, Tock Han

2013-02-01

We evaluated the accuracy of tele-ophthalmology in diagnosing the major causes of chronic blurring of vision. Thirty consecutive patients attending a primary eye-care facility in Singapore (the Ang Mo Kio Polyclinic, AMKP) with the symptom of chronic blurred vision were recruited. An ophthalmic technician was trained to perform Snellen acuity; auto-refraction; intraocular pressure measurement; red-colour perimetry; video recordings of extraocular movement, cover tests and pupillary reactions; and anterior segment and fundus photography. Digital information was transmitted to a tertiary hospital in Singapore (the Tan Tock Seng Hospital) via a tele-ophthalmology system for teleconsultation with an ophthalmologist. The diagnoses were compared with face-to-face consultation by another ophthalmologist at the AMKP. A user experience questionnaire was administered at the end of the consultation. Using face-to-face consultation as the gold standard, tele-ophthalmology achieved 100% sensitivity and specificity in diagnosing media opacity (n = 29), maculopathy (n = 23) and keratopathy (n = 30) of any type; and 100% sensitivity and 92% specificity in diagnosing optic neuropathy of any type (n = 24). The majority of the patients (97%) were satisfied with the tele-ophthalmology workflow and consultation. The tele-ophthalmology system was able to detect causes of chronic blurred vision accurately. It has the potential to deliver high-accuracy diagnostic eye support to remote areas if suitably trained ophthalmic technicians are available.

Advanced design for orbital debris removal in support of solar system exploration

NASA Technical Reports Server (NTRS)

1991-01-01

The development of an Autonomous Space Processor for Orbital Debris (ASPOD) is the ultimate goal. The craft will process, in situ, orbital debris using resources available in low Earth orbit (LEO). The serious problem of orbital debris is briefly described and the nature of the large debris population is outlined. This year, focus was on development of a versatile robotic manipulator to augment an existing robotic arm; incorporation of remote operation of robotic arms; and formulation of optimal (time and energy) trajectory planning algorithms for coordinating robotic arms. The mechanical design of the new arm is described in detail. The versatile work envelope is explained showing the flexibility of the new design. Several telemetry communication systems are described which will enable the remote operation of the robotic arms. The trajectory planning algorithms are fully developed for both the time-optimal and energy-optimal problem. The optimal problem is solved using phase plane techniques while the energy optimal problem is solved using dynamics programming.

Autonomous space processor for orbital debris

NASA Technical Reports Server (NTRS)

Ramohalli, Kumar; Marine, Micky; Colvin, James; Crockett, Richard; Sword, Lee; Putz, Jennifer; Woelfle, Sheri

1991-01-01

The development of an Autonomous Space Processor for Orbital Debris (ASPOD) was the goal. The nature of this craft, which will process, in situ, orbital debris using resources available in low Earth orbit (LEO) is explained. The serious problem of orbital debris is briefly described and the nature of the large debris population is outlined. The focus was on the development of a versatile robotic manipulator to augment an existing robotic arm, the incorporation of remote operation of the robotic arms, and the formulation of optimal (time and energy) trajectory planning algorithms for coordinated robotic arms. The mechanical design of the new arm is described in detail. The work envelope is explained showing the flexibility of the new design. Several telemetry communication systems are described which will enable the remote operation of the robotic arms. The trajectory planning algorithms are fully developed for both the time optimal and energy optimal problems. The time optimal problem is solved using phase plane techniques while the energy optimal problem is solved using dynamic programming.

Miniature Intermittent Contact Switch

NASA Technical Reports Server (NTRS)

Sword, Antony

1972-01-01

This tech brief concerns work to provide a shock-resistant switch capable of being actuated by forces of varying magnitude and direction, primarily for use as a sensor on remote control (tele-operator) and prosthetic devices.

Robotic acquisition programs: technical and performance challenges

NASA Astrophysics Data System (ADS)

Thibadoux, Steven A.

2002-07-01

The Unmanned Ground Vehicles/ Systems Joint Project Office (UGV/S JPO) is developing and fielding a variety of tactical robotic systems for the Army and Marine Corps. The Standardized Robotic System (SRS) provides a family of common components that can be installed in existing military vehicles, to allow unmanned operation of the vehicle and its payloads. The Robotic Combat Support System (RCSS) will be a medium sized unmanned system with interchangeable attachments, allowing a remote operator to perform a variety of engineering tasks. The Gladiator Program is a USMC initiative for a small to medium sized, highly mobile UGV to conduct scout/ surveillance missions and to carry various lethal and non-lethal payloads. Acquisition plans for these programs require preplanned evolutionary block upgrades to add operational capability, as new technology becomes available. This paper discusses technical and performance issues that must be resolved and the enabling technologies needed for near term block upgrades of these first generation robotic systems. Additionally, two Joint Robotics Program (JRP) initiatives, Robotic Acquisition through Virtual Environments and Networked Simulations (RAVENS) and Joint Architecture for Unmanned Ground Systems (JAUGS), will be discussed. RAVENS and JAUGS will be used to efficiently evaluate and integrate new technologies to be incorporated in system upgrades.

Tele-Manipulation with Two Asymmetric Slaves: Two Operators Perform Better Than One.

PubMed

van Oosterhout, Jeroen; Heemskerk, Cock J M; de Baar, Marco R; van der Helm, Frans C T; Abbink, David A

2018-01-01

Certain tele-manipulation tasks require manipulation by two asymmetric slaves, for example, a crane for hoisting and a dexterous robotic arm for fine manipulation. It is unclear how to best design human-in-the-loop control over two asymmetric slaves. The goal of this paper is to quantitatively compare the standard approach of two co-operating operators that each control a single subtask, to a single operator performing bi-manual control over the two subtasks, and a uni-manual control approach. In a human factors experiment, participants performed a heavy load maneuvering and mounting task using a vertical crane and a robotic arm. We hypothesize that bi-manual control yields worse task performance and control activity compared to co-operation, because of conflicting spatial and temporal constraints. Literature suggests that uni-manual operators should perform better than co-operation, as co-operators critically depend on each other's actions. However, other literature provides evidence that individual operators have limited capabilities in controlling asymmetric axes of two dynamic systems. The results show that the two co-operators perform the maneuvering and mounting task faster than either bi- or uni-manual operators. Compared to co-operators, uni-manual operators required more control activity for the vertical crane and less for the robotic arm. In conclusion, this study suggests that when controlling two asymmetric slaves, a co-operating pair of operators performs better than a single operator.

Staff Acceptance of Tele-ICU Coverage

PubMed Central

Chan, Paul S.; Cram, Peter

2011-01-01

Background: Remote coverage of ICUs is increasing, but staff acceptance of this new technology is incompletely characterized. We conducted a systematic review to summarize existing research on acceptance of tele-ICU coverage among ICU staff. Methods: We searched for published articles pertaining to critical care telemedicine systems (aka, tele-ICU) between January 1950 and March 2010 using PubMed, Cumulative Index to Nursing and Allied Health Literature, Global Health, Web of Science, and the Cochrane Library and abstracts and presentations delivered at national conferences. Studies were included if they provided original qualitative or quantitative data on staff perceptions of tele-ICU coverage. Studies were imported into content analysis software and coded by tele-ICU configuration, methodology, participants, and findings (eg, positive and negative staff evaluations). Results: Review of 3,086 citations yielded 23 eligible studies. Findings were grouped into four categories of staff evaluation: overall acceptance level of tele-ICU coverage (measured in 70% of studies), impact on patient care (measured in 96%), impact on staff (measured in 100%), and organizational impact (measured in 48%). Overall acceptance was high, despite initial ambivalence. Favorable impact on patient care was perceived by > 82% of participants. Staff impact referenced enhanced collaboration, autonomy, and training, although scrutiny, malfunctions, and contradictory advice were cited as potential barriers. Staff perceived the organizational impact to vary. An important limitation of available studies was a lack of rigorous methodology and validated survey instruments in many studies. Conclusions: Initial reports suggest high levels of staff acceptance of tele-ICU coverage, but more rigorous methodologic study is required. PMID:21051386

Development and Deployment of Robonaut 2 to the International Space Station

NASA Technical Reports Server (NTRS)

Ambrose, Robert O.

2011-01-01

The development of the Robonaut 2 (R2) system was a joint endeavor with NASA and General Motors, producing robots strong enough to do work, yet safe enough to be trusted to work near humans. To date two R2 units have been produced, designated as R2A and R2B. This follows more than a decade of work on the Robonaut 1 units that produced advances in dexterity, tele-presence, remote supervision across time delay, combining mobility with manipulation, human-robot interaction, force control and autonomous grasping. Design challenges for the R2 included higher speed, smaller packaging, more dexterous fingers, more sensitive perception, soft drivetrain design, and the overall implementation of a system software approach for human safety, At the time of this writing the R2B unit was poised for launch to the International Space Station (ISS) aboard STS-133. R2 will be the first humanoid robot in space, and is arguably the most sophisticated robot in the world, bringing NASA into the 21st century as the world's leader in this field. Joining the other robots already on ISS, the station is now an exciting lab for robot experiments and utilization. A particular challenge for this project has been the design and certification of the robot and its software for work near humans. The 3 layer software systems will be described, and the path to ISS certification will be reviewed. R2 will go through a series of ISS checkout tests during 2011. A taskboard was shipped with the robot that will be used to compare R2B's dexterous manipulation in zero gravity with the ground robot s ability to handle similar objects in Earth s gravity. R2's taskboard has panels with increasingly difficult tasks, starting with switches, progressing to connectors and eventually handling softgoods. The taskboard is modular, and new interfaces and experiments will be built up using equipment already on ISS. Since the objective is to test R2 performing tasks with human interfaces, hardware abounds on ISS and the crew will be involved to help select tasks that are dull, dirty or dangerous. Future plans for R2 include a series of upgrades, evolving from static IVA (Intravehicular Activity) operations, to mobile IVA, then EVA (Extravehicular Activity).

Enabling the mission through trans-atlantic remote mentored musculoskeletal ultrasound: case report of a portable hand-carried tele-ultrasound system for medical relief missions.

PubMed

Kirkpatrick, Andrew W; Blaivas, Michael; Sargsyan, Ashot E; McBeth, Paul B; Patel, Chirag; Xiao, Zhengwen; Pian, Linping; Panebianco, Nova; Hamilton, Douglas R; Ball, Chad G; Dulchavsky, Scott A

2013-07-01

Modern medical practice has become extremely dependent upon diagnostic imaging technologies to confirm the results of clinical examination and to guide the response to therapies. Of the various diagnostic imaging techniques, ultrasound is the most portable modality and one that is repeatable, dynamic, relatively cheap, and safe as long as the imaging provided is accurately interpreted. It is, however, the most user-dependent, a characteristic that has prompted the development of remote guidance techniques, wherein remote experts guide distant users through the use of information technologies. Medical mission work often brings specialist physicians to less developed locations, where they wish to provide the highest levels of care but are often bereft of diagnostic imaging resources on which they depend. Furthermore, if these personnel become ill or injured, their own care received may not be to the standard they have left at home. We herein report the utilization of a compact hand-carried remote tele-ultrasound system that allowed real-time diagnosis and follow-up of an acutely torn adductor muscle by a team of ultrasonographers, surgeons, and physicians. The patient was one of the mission surgeons who was guided to self-image. The virtual network of supporting experts was located across North America, whereas the patient was in Lome, Togo, West Africa. The system consisted of a hand-carried ultrasound, the output of which was digitized and streamed to the experts within standard voice-over-Internet-protocol software with an embedded simultaneous videocamera image of the ultrasonographer's hands using a customized graphical user interface. The practical concept of a virtual tele-ultrasound support network was illustrated through the clinical guidance of multiple physicians, including National Aeronautics and Space Administration Medical Operations remote guiders, Olympic team-associated surgeons, and ultrasound-focused emergentologists.

The development and feasibility of an online aphasia group intervention and networking program - TeleGAIN.

PubMed

Pitt, Rachelle; Theodoros, Deborah; Hill, Anne J; Russell, Trevor

2017-09-04

Aphasia group therapy offers many benefits, however people with aphasia report difficulty accessing groups and speech-language pathologists are faced with many challenges in providing aphasia group therapy. Telerehabilitation may offer an alternative service delivery option. An online aphasia group therapy program - Telerehabilitation Group Aphasia Intervention and Networking (TeleGAIN) - has been developed according to the guidelines of the Medical Research Council (MRC) framework for complex interventions. The purpose of this paper is to describe the development of TeleGAIN and the results of a pilot trial to determine feasibility and acceptability. The development of TeleGAIN was informed through literature reviews in relevant topic areas, consideration of expert opinion and application of the social cognitive theory. TeleGAIN was then modelled through a feasibility pilot trial with four people with aphasia. TeleGAIN appeared to be feasible and acceptable to participants and able to be implemented as planned. Participant satisfaction with treatment was high and results suggested some potential for improvements in language functioning and communication-related quality of life. TeleGAIN appeared to be feasible and acceptable, however the study highlighted issues related to technology, clinical implementation and participant-specific factors that should be addressed prior to a larger trial.

Humanlike robot hands controlled by brain activity arouse illusion of ownership in operators

PubMed Central

Alimardani, Maryam; Nishio, Shuichi; Ishiguro, Hiroshi

2013-01-01

Operators of a pair of robotic hands report ownership for those hands when they hold image of a grasp motion and watch the robot perform it. We present a novel body ownership illusion that is induced by merely watching and controlling robot's motions through a brain machine interface. In past studies, body ownership illusions were induced by correlation of such sensory inputs as vision, touch and proprioception. However, in the presented illusion none of the mentioned sensations are integrated except vision. Our results show that during BMI-operation of robotic hands, the interaction between motor commands and visual feedback of the intended motions is adequate to incorporate the non-body limbs into one's own body. Our discussion focuses on the role of proprioceptive information in the mechanism of agency-driven illusions. We believe that our findings will contribute to improvement of tele-presence systems in which operators incorporate BMI-operated robots into their body representations. PMID:23928891

Telerobotics test bed for space structure assembly

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

Virtual rapid response: the next evolution of tele-ICU.

PubMed

Hawkins, Carrie L

2012-01-01

The first of its kind in the Veterans Affairs (VA) system, the Denver VA Medical Center's tele-intensive care unit (ICU) program is unique because it is entirely nurse driven. A nontraditional tele-ICU model, the program was tailored to meet the needs of rural veterans by using critical care nursing expertise in Denver, Colorado. An experienced CCRN-certified nurse manages the system 24 hours a day, 7 days a week, from Eastern Colorado Health Care System. The virtual ICU provides rapid response interventions through virtual technology. This tele-ICU technology allows for a "virtual handshake" by nursing staff at the start of the shift and a report on potential patient issues. Clinical relationships have been strengthened between all 5 VA facilities in the Rocky Mountain Region, increasing the likelihood of early consultation at the onset of clinical decline of a patient. In addition, the tele-ICU nurse is available for immediate nursing consultation and support, coordinates point-to-point virtual consultation between physicians at the rural sites and specialists in Denver, and assists in expediting critical care transfers. The primary objectives for the tele-ICU program include improving quality and access of care to critical care services in rural sites, reducing community fee basis costs and frequency of transfers, and increasing collaboration and collegiality among nursing and medical staff in all Region 19's medical centers.

Membrane-mirror-based autostereoscopic display for tele-operation and teleprescence applications

NASA Astrophysics Data System (ADS)

McKay, Stuart; Mair, Gordon M.; Mason, Steven; Revie, Kenneth

2000-05-01

An autostereoscopic display for telepresence and tele- operation applications has been developed at the University of Strathclyde in Glasgow, Scotland. The research is a collaborative effort between the Imaging Group and the Transparent Telepresence Research Group, both based at Strathclyde. A key component of the display is the directional screen; a 1.2-m diameter Stretchable Membrane Mirror is currently used. This patented technology enables large diameter, small f No., mirrors to be produced at a fraction of the cost of conventional optics. Another key element of the present system is an anthropomorphic and anthropometric stereo camera sensor platform. Thus, in addition to mirror development, research areas include sensor platform design focused on sight, hearing, research areas include sensor platform design focused on sight, hearing, and smell, telecommunications, display systems for all visual, aural and other senses, tele-operation, and augmented reality. The sensor platform is located at the remote site and transmits live video to the home location. Applications for this technology are as diverse as they are numerous, ranging from bomb disposal and other hazardous environment applications to tele-conferencing, sales, education and entertainment.

The Canadian experience: Using telemedicine for the support of medical care at remote sites

NASA Technical Reports Server (NTRS)

House, Maxwell

1991-01-01

While the majority of Canadians live in a narrow strip about 200 miles wide just north of the 45th parallel, a significant proportion of the population lives in non-urban, remote and sometimes isolated areas. Given this widely dispersed population, the provision of health services has always been a challenge. A list of non-urban health needs include the following: consulting services; clinical laboratory resources; investigative techniques (e.g., EEG, radiology, ultrasound, nuclear medicine); continuing education for physicians, nurses and other health professionals; teaching and training programs for administrative and support staff (dietary, housekeeping, maintenance); community health education and improved general education for health workers and families. For nearly three decades physicians and other health care professionals in the United States and Canada have been exploring the application of telecommunications to health care in rural and remote areas. The terms telemedicine and telehealth are used interchangeably to describe this activity. The prefix 'tele' refers to distance and now includes all types of communication over distance that support health care and health educational programs. Actually, telemedicine is as old as the telephone, which is still the most widely used communications technology in health care.

Child and youth telepsychiatry in rural and remote primary care.

PubMed

Pignatiello, Antonio; Teshima, John; Boydell, Katherine M; Minden, Debbie; Volpe, Tiziana; Braunberger, Peter G

2011-01-01

Young people with psychological or psychiatric problems are managed largely by primary care practitioners, many of whom feel inadequately trained, ill equipped, and uncomfortable with this responsibility. Accessing specialist pediatric and psychological services, often located in and near large urban centers, is a particular challenge for rural and remote communities. Live interactive videoconferencing technology (telepsychiatry) presents innovative opportunities to bridge these service gaps. The TeleLink Mental Health Program at The Hospital for Sick Children in Toronto offers a comprehensive, collaborative model of enhancing local community systems of care in rural and remote Ontario using videoconferencing. With a focus on clinical consultation, collaborative care, education and training, evaluation, and research, ready access to pediatric psychiatrists and other specialist mental health service providers can effectively extend the boundaries of the medical home. Medical trainees in urban teaching centers are also expanding their knowledge of and comfort level with rural mental health issues, various complementary service models, and the potentials of videoconferencing in providing psychiatric and psychological services. Committed and enthusiastic champions, a positive attitude, creativity, and flexibility are a few of the necessary attributes ensuring viability and integration of telemental health programs. Copyright © 2011 Elsevier Inc. All rights reserved.

A graphical, rule based robotic interface system

NASA Technical Reports Server (NTRS)

Mckee, James W.; Wolfsberger, John

1988-01-01

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

Experiments with an EVA Assistant Robot

NASA Technical Reports Server (NTRS)

Burridge, Robert R.; Graham, Jeffrey; Shillcutt, Kim; Hirsh, Robert; Kortenkamp, David

2003-01-01

Human missions to the Moon or Mars will likely be accompanied by many useful robots that will assist in all aspects of the mission, from construction to maintenance to surface exploration. Such robots might scout terrain, carry tools, take pictures, curate samples, or provide status information during a traverse. At NASA/JSC, the EVA Robotic Assistant (ERA) project has developed a robot testbed for exploring the issues of astronaut-robot interaction. Together with JSC's Advanced Spacesuit Lab, the ERA team has been developing robot capabilities and testing them with space-suited test subjects at planetary surface analog sites. In this paper, we describe the current state of the ERA testbed and two weeks of remote field tests in Arizona in September 2002. A number of teams with a broad range of interests participated in these experiments to explore different aspects of what must be done to develop a program for robotic assistance to surface EVA. Technologies explored in the field experiments included a fuel cell, new mobility platform and manipulator, novel software and communications infrastructure for multi-agent modeling and planning, a mobile science lab, an "InfoPak" for monitoring the spacesuit, and delayed satellite communication to a remote operations team. In this paper, we will describe this latest round of field tests in detail.

TeleMEDiana: telesurgery and telemedicine by satellite and the Internet

NASA Astrophysics Data System (ADS)

Dobrosavljevic, Sneja; Welter, Roger

2002-08-01

The rapid development of technology and its integration into the spectrum of medical care are creating a pressing need for healthcare professionals to continuously update their knowledge and skills. In view of these needs the European Association of Visceral Surgery (AECV) which had been a platform for medical congresses in Luxembourg (1988, 1992, 1995, 1998) has developed TeleMEDiana a new broadband communication service introducing standards of excellence in Continuous Medical Education.TeleMEDiana broadcast a daily program with pedagogically enhanced video content in a number of therapeutic areas to MD's, professors and students in hospitals, universities and research centers. The educational programs are provided by leading European hospitals which have joined the TeleMEDiana Scientific Network TSN. The scientific integrity is certified by an international committee composed of recognized pioneers. Committed to deliver high resolution video streaming, TeleMEDiana has set up and successfully tested a new platform built on secure and cost-efficient satellite operator SES-ASTRA complemented by the Internet and can deliver programs to any workplace equipped with satellite dishes and high-quality set-top boxes. Telemediana offers herewith an optimal collaboration and dissemination platform to decisive players involved in Continuing Medical Education.

Development of a program for tele-rehabilitation of COPD patients across sectors: co-innovation in a network

PubMed Central

Dinesen, Birthe; Seeman, Janne; Gustafsson, Jeppe

2011-01-01

Introduction The aim of the Telekat project is to prevent re-admissions of patients with chronic obstructive pulmonary disease (COPD) by developing a preventive program of tele-rehabilitation across sectors for COPD patients. The development of the program is based on a co-innovation process between COPD patients, relatives, healthcare professionals and representatives from private firms and universities. This paper discusses the obstacles that arise in the co-innovation process of developing an integrated technique for tele-rehabilitation of COPD patients. Theory Network and innovation theory. Methods The case study was applied. A triangulation of data collection techniques was used: documents, observations (123 hours), qualitative interviews (n=32) and action research. Findings Obstacles were identified in the network context; these obstacles included the mindset of the healthcare professionals, inter-professionals relations, views of technology as a tool and competing visions for the goals of tele-rehabilitation. Conclusion We have identified obstacles that emerge in the co-innovation process when developing a programme for tele-rehabilitation of COPD patients in an inter-organizational context. Action research has been carried out and can have helped to facilitate the co-innovation process. PMID:21637709

Semi-Automated Diagnosis, Repair, and Rework of Spacecraft Electronics

NASA Technical Reports Server (NTRS)

Struk, Peter M.; Oeftering, Richard C.; Easton, John W.; Anderson, Eric E.

2008-01-01

NASA's Constellation Program for Exploration of the Moon and Mars places human crews in extreme isolation in resource scarce environments. Near Earth, the discontinuation of Space Shuttle flights after 2010 will alter the up- and down-mass capacity for the International Space Station (ISS). NASA is considering new options for logistics support strategies for future missions. Aerospace systems are often composed of replaceable modular blocks that minimize the need for complex service operations in the field. Such a strategy however, implies a robust and responsive logistics infrastructure with relatively low transportation costs. The modular Orbital Replacement Units (ORU) used for ISS requires relatively large blocks of replacement hardware even though the actual failed component may really be three orders of magnitude smaller. The ability to perform in-situ repair of electronics circuits at the component level can dramatically reduce the scale of spares and related logistics cost. This ability also reduces mission risk, increases crew independence and improves the overall supportability of the program. The Component-Level Electronics Assembly Repair (CLEAR) task under the NASA Supportability program was established to demonstrate the practicality of repair by first investigating widely used soldering materials and processes (M&P) performed by modest manual means. The work will result in program guidelines for performing manual repairs along with design guidance for circuit reparability. The next phase of CLEAR recognizes that manual repair has its limitations and some highly integrated devices are extremely difficult to handle and demand semi-automated equipment. Further, electronics repairs require a broad range of diagnostic capability to isolate the faulty components. Finally repairs must pass functional tests to determine that the repairs are successful and the circuit can be returned to service. To prevent equipment demands from exceeding spacecraft volume capacity and skill demands from exceeding crew time and training limits, the CLEAR project is examining options provided by non-real time tele-operations, robotics, and a new generation of diagnostic equipment. This paper outlines a strategy to create an effective repair environment where, with the support of ground based engineers, crewmembers can diagnose, repair and test flight electronics in-situ. This paper also discusses the implications of successful tele-robotic repairs when expanded to rework and reconfiguration of used flight assets for building Constellation infrastructure elements.

Crash in Australian outback ends NASA ballooning season

NASA Astrophysics Data System (ADS)

Harris, Margaret

2010-06-01

NASA has temporarily suspended all its scientific balloon launches after the balloon-borne Nuclear Compton Tele scope (NCT) crashed during take-off, scattering a trail of debris across the remote launch site and overturning a nearby parked car.

Telecommunications for Mars Rovers and Robotic Mission

NASA Technical Reports Server (NTRS)

Horne, W. D.; Hastrup, R.; Cesarone, R.

1997-01-01

The Mars exploration program of NASA and the international community will evolve from an early emphasis on orbital remote sensing toward in-situ science activity on, or just above, the Martian surface.

Telecommunications for Mars Rovers and Robotic Missions

NASA Technical Reports Server (NTRS)

Horne, W. D.; Hastrup, R.; Cesarone, R.

1997-01-01

The Mars exploration program of NASA and the international community will evolve from an early emphasis on orbital remote sensing toward in situ science activity on, or just above, the Martian surface.

A software communication tool for the tele-ICU.

PubMed

Pimintel, Denise M; Wei, Shang Heng; Odor, Alberto

2013-01-01

The Tele Intensive Care Unit (tele-ICU) supports a high volume, high acuity population of patients. There is a high-volume of incoming and outgoing calls, especially during the evening and night hours, through the tele-ICU hubs. The tele-ICU clinicians must be able to communicate effectively to team members in order to support the care of complex and critically ill patients while supporting and maintaining a standard to improve time to intervention. This study describes a software communication tool that will improve the time to intervention, over the paper-driven communication format presently used in the tele-ICU. The software provides a multi-relational database of message instances to mine information for evaluation and quality improvement for all entities that touch the tele-ICU. The software design incorporates years of critical care and software design experience combined with new skills acquired in an applied Health Informatics program. This software tool will function in the tele-ICU environment and perform as a front-end application that gathers, routes, and displays internal communication messages for intervention by priority and provider.

An intelligent tele-healthcare environment offering person-centric and wellness-maintenance services.

PubMed

Abidi, S S

2001-06-01

Worldwide healthcare delivery trends are undergoing a subtle paradigm shift--patient centered services as opposed to provider centered services and wellness maintenance as opposed to illness management. In this paper we present a Tele-Healthcare project TIDE--Tele-Healthcare Information and Diagnostic Environment. TIDE manifests an 'intelligent' healthcare environment that aims to ensure lifelong coverage of person-specific health maintenance decision-support services--i.e., both wellness maintenance and illness management services--ubiquitously available via the Internet/WWW. Taking on an all-encompassing health maintenance role--spanning from wellness to illness issues--the functionality of TIDE involves the generation and delivery of (a) Personalized, Pro-active, Persistent, Perpetual, and Present wellness maintenance services, and (b) remote diagnostic services for managing noncritical illnesses. Technically, TIDE is an amalgamation of diverse computer technologies--Artificial Intelligence, Internet, Multimedia, Databases, and Medical Informatics--to implement a sophisticated healthcare delivery infostructure.

How to develop a tele-ICU model?

PubMed

Rogove, Herb

2012-01-01

The concept of the tele-ICU (intensive care unit) is about 30 years old and more hospitals are utilizing it to cover multiple hospitals in their system or for hospitals that lack on-site critical care coverage such as in the rural setting. Doing a needs analysis, picking the appropriate committee to oversee development of the correct model, choosing quality metrics to measure, and designing an implementation plan that has a timeline is how the process should begin. Research including visitation to established programs and connecting with professional societies are helpful. Developing both a business and financial plan will optimize the value of a tele-ICU program. The innovative ICU nursing director will help to integrate a telemedicine program seamlessly with the on-site program to insure a successful program that benefits patients, their families, the ICU staff, and the hospital.

Autonomous mobile robot for radiologic surveys

DOEpatents

Dudar, A.M.; Wagner, D.G.; Teese, G.D.

1994-06-28

An apparatus is described for conducting radiologic surveys. The apparatus comprises in the main a robot capable of following a preprogrammed path through an area, a radiation monitor adapted to receive input from a radiation detector assembly, ultrasonic transducers for navigation and collision avoidance, and an on-board computer system including an integrator for interfacing the radiation monitor and the robot. Front and rear bumpers are attached to the robot by bumper mounts. The robot may be equipped with memory boards for the collection and storage of radiation survey information. The on-board computer system is connected to a remote host computer via a UHF radio link. The apparatus is powered by a rechargeable 24-volt DC battery, and is stored at a docking station when not in use and/or for recharging. A remote host computer contains a stored database defining paths between points in the area where the robot is to operate, including but not limited to the locations of walls, doors, stationary furniture and equipment, and sonic markers if used. When a program consisting of a series of paths is downloaded to the on-board computer system, the robot conducts a floor survey autonomously at any preselected rate. When the radiation monitor detects contamination, the robot resurveys the area at reduced speed and resumes its preprogrammed path if the contamination is not confirmed. If the contamination is confirmed, the robot stops and sounds an alarm. 5 figures.

Autonomous mobile robot for radiologic surveys

DOEpatents

Dudar, Aed M.; Wagner, David G.; Teese, Gregory D.

1994-01-01

An apparatus for conducting radiologic surveys. The apparatus comprises in the main a robot capable of following a preprogrammed path through an area, a radiation monitor adapted to receive input from a radiation detector assembly, ultrasonic transducers for navigation and collision avoidance, and an on-board computer system including an integrator for interfacing the radiation monitor and the robot. Front and rear bumpers are attached to the robot by bumper mounts. The robot may be equipped with memory boards for the collection and storage of radiation survey information. The on-board computer system is connected to a remote host computer via a UHF radio link. The apparatus is powered by a rechargeable 24-volt DC battery, and is stored at a docking station when not in use and/or for recharging. A remote host computer contains a stored database defining paths between points in the area where the robot is to operate, including but not limited to the locations of walls, doors, stationary furniture and equipment, and sonic markers if used. When a program consisting of a series of paths is downloaded to the on-board computer system, the robot conducts a floor survey autonomously at any preselected rate. When the radiation monitor detects contamination, the robot resurveys the area at reduced speed and resumes its preprogrammed path if the contamination is not confirmed. If the contamination is confirmed, the robot stops and sounds an alarm.

[Telemedicine in Bolivia: RAFT-Altiplano project, experiences, future prospects, and recommendations].

PubMed

Vargas, Alejandro; Ugalde, Miguel; Vargas, Reynaldo; Narvaez, Ramiro; Geissbuhler, Antoine

2014-01-01

The objective of the RAFT-Altiplano project (RAFT: Réseau en Afrique Francophone pour la Télémédecine, or African Francophone Telemedicine Network) is to evaluate the viability, potential, and risks of implementing and developing a telemedicine network in the context of a developing country-specifically, the Altiplano region of Bolivia-to improve access to medical care and continuing education in a rural area. The activities described in this report took place between 2011 and 2013. Digital telemedicine equipment was donated to the health centers and a Microsoft®-based platform capable of integration with other technologies (using standardized formats) was developed to manage documents and clinical content electronically. Health professionals were trained in teleconsultation and the teleconsultation workflow was designed. The tele-education system used is Dudal, which requires only a small bandwidth. After three years of implementation, an organized working structure of teleconsultation and tele-education tools, adapted to the Latin American context, is now in place and connections have been established with hospitals, institutions, and health centers. The project has improved access to specialized medical care in remote health centers and third-level hospitals in urban areas, and it has become the foundation for development of the national project "TeleSalud for Bolivia" promoted by the Ministry of Health, which involves use of the new Bolivian satellite, Túpac Katari. It is viable to develop and set up telemedicine tools to serve the population in remote regions of Bolivia when they are made available to government and municipal health institutions and communication between them and the health centers takes place in a coordinated manner. The sharing of experiences, challenges, and risks encountered is very useful in designing and implementing the telemedicine project "TeleSalud for Bolivia" on a national scale.

Simulating the dynamic interaction of a robotic arm and the Space Shuttle remote manipulator system. M.S. Thesis - George Washington Univ., Dec. 1994

NASA Technical Reports Server (NTRS)

Garrahan, Steven L.; Tolson, Robert H.; Williams, Robert L., II

1995-01-01

Industrial robots are usually attached to a rigid base. Placing the robot on a compliant base introduces dynamic coupling between the two systems. The Vehicle Emulation System (VES) is a six DOF platform that is capable of modeling this interaction. The VES employs a force-torque sensor as the interface between robot and base. A computer simulation of the VES is presented. Each of the hardware and software components is described and Simulink is used as the programming environment. The simulation performance is compared with experimental results to validate accuracy. A second simulation which models the dynamic interaction of a robot and a flexible base acts as a comparison to the simulated motion of the VES. Results are presented that compare the simulated VES motion with the motion of the VES hardware using the same admittance model. The two computer simulations are compared to determine how well the VES is expected to emulate the desired motion. Simulation results are given for robots mounted to the end effector of the Space Shuttle Remote Manipulator System (SRMS). It is shown that for fast motions of the two robots studied, the SRMS experiences disturbances on the order of centimeters. Larger disturbances are possible if different manipulators are used.

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.

Dynamic photogrammetric calibration of industrial robots

NASA Astrophysics Data System (ADS)

Maas, Hans-Gerd

1997-07-01

Today's developments in industrial robots focus on aims like gain of flexibility, improvement of the interaction between robots and reduction of down-times. A very important method to achieve these goals are off-line programming techniques. In contrast to conventional teach-in-robot programming techniques, where sequences of actions are defined step-by- step via remote control on the real object, off-line programming techniques design complete robot (inter-)action programs in a CAD/CAM environment. This poses high requirements to the geometric accuracy of a robot. While the repeatability of robot poses in the teach-in mode is often better than 0.1 mm, the absolute pose accuracy potential of industrial robots is usually much worse due to tolerances, eccentricities, elasticities, play, wear-out, load, temperature and insufficient knowledge of model parameters for the transformation from poses into robot axis angles. This fact necessitates robot calibration techniques, including the formulation of a robot model describing kinematics and dynamics of the robot, and a measurement technique to provide reference data. Digital photogrammetry as an accurate, economic technique with realtime potential offers itself for this purpose. The paper analyzes the requirements posed to a measurement technique by industrial robot calibration tasks. After an overview on measurement techniques used for robot calibration purposes in the past, a photogrammetric robot calibration system based on off-the- shelf lowcost hardware components will be shown and results of pilot studies will be discussed. Besides aspects of accuracy, reliability and self-calibration in a fully automatic dynamic photogrammetric system, realtime capabilities are discussed. In the pilot studies, standard deviations of 0.05 - 0.25 mm in the three coordinate directions could be achieved over a robot work range of 1.7 X 1.5 X 1.0 m3. The realtime capabilities of the technique allow to go beyond kinematic robot calibration and perform dynamic robot calibration as well as photogrammetric on-line control of a robot in action.

Lessons Learned from Pit Viper System Deployment

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

Catalan, Michael A.; Alzheimer, James M.; Valdez, Patrick LJ

2002-04-11

Tele-operated and robotic systems operated in unstructured field environments pose unique challenges for tool design. Since field tasks are not always well defined and the robot work area usually cannot be designed for ease of operation, the tools must be versatile. It's important to carefully consider the orientation of the grip the robot takes on the tool, as it's not easily changed in the field. The stiffness of the robot and the possibility of robot positioning errors encourages the use of non-contact or minimal-contact tooling. While normal hand tools can usually be modified for use by the robot, this ismore » not always the most effective approach. It's desirable to have tooling that is relatively independent of the robot; in this case, the robot places the tool near the desired work location and the tool performs its task relatively independently. Here we consider the adaptation of a number of tools for cleanup of a radioactively contaminated piping junction and valve pit. The tasks to be considered are debris removal (small nuts and bolts and pipe up to 100 mm in diameter), size reduction, surface cleaning, and support of past practice crane-based methods for working in the pits.« less

Hand-held medical robots.

PubMed

Payne, Christopher J; Yang, Guang-Zhong

2014-08-01

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

Six-year prevalence and incidence of diabetic retinopathy and cost-effectiveness of tele-ophthalmology in Manitoba.

PubMed

Kanjee, Raageen; Dookeran, Ravi I; Mathen, Mathen K; Stockl, Frank A; Leicht, Richard

2017-11-01

The purpose of this study was to evaluate the diabetic retinopathy (DR) tele-ophthalmology screening program in Manitoba to determine prevalence and incidence of DR, as well as to estimate the program's cost-effectiveness. Retrospective chart review. A total of 4676 patients with type 2 diabetes examined 9334 times from 2007 to 2013. Focused ophthalmic histories were recorded and examinations were performed by trained nurses, including visual acuities, intraocular pressure, and mydriatic 7 standard field stereoscopic fundus photography. Images were evaluated by retinal specialists according to the Early Treatment of Diabetic Retinopathy Study criteria. DR prevalence and incidence were then calculated during the study period. Cost-effectiveness was estimated by comparing the cost of running the tele-ophthalmology program compared with the cost of screening the same volume of patients in-office. The average prevalence of any DR in each year was 25.1%. The cumulative incidence of DR across 6 years was 17.1% (95% CI, 15.4%-18.7%). The average savings per tele-ophthalmology examination was $1007. DR is highly prevalent among the studied population. Tele-ophthalmology provides a cost-effective means of monitoring patients as well as identifying new or treatable disease. Copyright © 2017. Published by Elsevier Inc.

3D display for enhanced tele-operation and other applications

NASA Astrophysics Data System (ADS)

Edmondson, Richard; Pezzaniti, J. Larry; Vaden, Justin; Hyatt, Brian; Morris, James; Chenault, David; Bodenhamer, Andrew; Pettijohn, Bradley; Tchon, Joe; Barnidge, Tracy; Kaufman, Seth; Kingston, David; Newell, Scott

2010-04-01

In this paper, we report on the use of a 3D vision field upgrade kit for TALON robot consisting of a replacement flat panel stereoscopic display, and multiple stereo camera systems. An assessment of the system's use for robotic driving, manipulation, and surveillance operations was conducted. A replacement display, replacement mast camera with zoom, auto-focus, and variable convergence, and a replacement gripper camera with fixed focus and zoom comprise the upgrade kit. The stereo mast camera allows for improved driving and situational awareness as well as scene survey. The stereo gripper camera allows for improved manipulation in typical TALON missions.

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

NASA Astrophysics Data System (ADS)

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

2012-06-01

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

Tele-ICU and Patient Safety Considerations.

PubMed

Hassan, Erkan

The tele-ICU is designed to leverage, not replace, the need for bedside clinical expertise in the diagnosis, treatment, and assessment of various critical illnesses. Tele-ICUs are primarily decentralized or centralized models with differing advantages and disadvantages. The centralized model has sufficiently powered published data to be associated with improved mortality and ICU length of stay in a cost-effective manner. Factors associated with improved clinical outcomes include improved compliance with best practices; providing off-hours implementation of the bedside physician's care plan; and identification of and rapid response to physiological instability (initial clinical review within 1 hour) and rapid response to alerts, alarms, or direct notification by bedside clinicians. With improved communication and frequent review of patients between the tele-ICU and the bedside clinicians, the bedside clinician can provide the care that only they can provide. Although technology continues to evolve at a rapid pace, technology alone will most likely not improve clinical outcomes. Technology will enable us to process real or near real-time data into complex and powerful predictive algorithms. However, the remote and bedside teams must work collaboratively to develop care processes to better monitor, prioritize, standardize, and expedite care to drive greater efficiencies and improve patient safety.

Implementation and evaluation of a tele-education system for the diagnosis of ophthalmic disease by international trainees

PubMed Central

Campbell, J. Peter; Swan, Ryan; Jonas, Karyn; Ostmo, Susan; Ventura, Camila V.; Martinez-Castellanos, Maria A.; Anzures, Rachelle Go Ang Sam; Chiang, Michael F.; Chan, R.V. Paul

2015-01-01

Tele-education systems are increasingly being utilized in medical education worldwide. Due to limited human resources in healthcare in low and middle-income countries, developing online systems that are accessible to medical trainees in underserved areas potentially represents a highly efficient and effective method of improving the quantity and quality of the health care workforce. We developed, implemented, and evaluated an interactive web-based tele-education system (based on internationally accepted, image-based guidelines) for the diagnosis of retinopathy of prematurity among ophthalmologists-in-training in Brazil, Mexico, and the Philippines. We demonstrate that participation in this tele-education program improved diagnostic accuracy and reliability, and was preferred to standard pedagogical methods. This system may be employed not only in training, but also in international certification programs, and the process may be generalizable to other image-based specialties, such as dermatology and radiology. PMID:26958168

Implementation and evaluation of a tele-education system for the diagnosis of ophthalmic disease by international trainees.

PubMed

Campbell, J Peter; Swan, Ryan; Jonas, Karyn; Ostmo, Susan; Ventura, Camila V; Martinez-Castellanos, Maria A; Anzures, Rachelle Go Ang Sam; Chiang, Michael F; Chan, R V Paul

Tele-education systems are increasingly being utilized in medical education worldwide. Due to limited human resources in healthcare in low and middle-income countries, developing online systems that are accessible to medical trainees in underserved areas potentially represents a highly efficient and effective method of improving the quantity and quality of the health care workforce. We developed, implemented, and evaluated an interactive web-based tele-education system (based on internationally accepted, image-based guidelines) for the diagnosis of retinopathy of prematurity among ophthalmologists-in-training in Brazil, Mexico, and the Philippines. We demonstrate that participation in this tele-education program improved diagnostic accuracy and reliability, and was preferred to standard pedagogical methods. This system may be employed not only in training, but also in international certification programs, and the process may be generalizable to other image-based specialties, such as dermatology and radiology.

STRIPE: Remote Driving Using Limited Image Data

NASA Technical Reports Server (NTRS)

Kay, Jennifer S.

1997-01-01

Driving a vehicle, either directly or remotely, is an inherently visual task. When heavy fog limits visibility, we reduce our car's speed to a slow crawl, even along very familiar roads. In teleoperation systems, an operator's view is limited to images provided by one or more cameras mounted on the remote vehicle. Traditional methods of vehicle teleoperation require that a real time stream of images is transmitted from the vehicle camera to the operator control station, and the operator steers the vehicle accordingly. For this type of teleoperation, the transmission link between the vehicle and operator workstation must be very high bandwidth (because of the high volume of images required) and very low latency (because delayed images can cause operators to steer incorrectly). In many situations, such a high-bandwidth, low-latency communication link is unavailable or even technically impossible to provide. Supervised TeleRobotics using Incremental Polyhedral Earth geometry, or STRIPE, is a teleoperation system for a robot vehicle that allows a human operator to accurately control the remote vehicle across very low bandwidth communication links, and communication links with large delays. In STRIPE, a single image from a camera mounted on the vehicle is transmitted to the operator workstation. The operator uses a mouse to pick a series of 'waypoints' in the image that define a path that the vehicle should follow. These 2D waypoints are then transmitted back to the vehicle, where they are used to compute the appropriate steering commands while the next image is being transmitted. STRIPE requires no advance knowledge of the terrain to be traversed, and can be used by novice operators with only minimal training. STRIPE is a unique combination of computer and human control. The computer must determine the 3D world path designated by the 2D waypoints and then accurately control the vehicle over rugged terrain. The human issues involve accurate path selection, and the prevention of disorientation, a common problem across all types of teleoperation systems. STRIPE is the only semi-autonomous teleoperation system that can accurately follow paths designated in monocular images on varying terrain. The thesis describes the STRIPE algorithm for tracking points using the incremental geometry model, insight into the design and redesign of the interface, an analysis of the effects of potential errors, details of the user studies, and hints on how to improve both the algorithm and interface for future designs.

TELE-X and its role in a future operational Nordic satellite system

NASA Astrophysics Data System (ADS)

Anderson, Lars

In the middle of 1987 it is planned to launch TELE-X, the first Nordic telecommunications satellite. The Swedish-Norwegian company NOTELSAT (Nordic Telecommunications Satellite Corporation) will be responsible for the operation of the TELE-X system. Via the experimental TELE-X satellite the Nordic countries will get access to direct broadcasting of two TV-programs and at least four digital sound programs in stereo by use of two transponders in the 12.2 to 12.5 GHz band. The programs are planned to be composed of nationally produced programs in Norway. Sweden and Finland. By means of distributing these programs via satellite they will reach up to 4 times as many viewers and listernes as presently in the terrestrial national systems. The basic motivations for exchanging programs are to strengthen the cultural ties between the Nordic countries and to give the individuals more freedom in the choice of programs. Another goal is to give the public a better sound and picture quality than can be achieved today. These quality improvements shall be met by using small receiver parabolas of less than 1 m in diameter. Contributing to the improved quality is the choice of the C-MAC (Multiplexed Analoque Components) modulation system. TELE-X is a multipurpose satellite which besides the two TV-transponders will have two transponders for data/video communication in the frequency band 12.5 to 12.75 GHz. The choice of system for data and video is based on the philosophy of thin-route traffic between small and low cost earth stations (1.8 to 2.5 m) placed directly at the subscribers premises. The system includes an advanced Data/Video Control Station which automatically connects the traffic stations with standarized transmission speeds up to 2 Mbps. The system which is based on the SCPC/DAMA method can be expanded up to 5000 traffic stations. Numerous data/video applications will be investigated in the initial experimental phase of the project which also will be used for market development of the services. The following text describes the dimensioning criteria for the TELE-X experimental system and a possible specification for an operational system.

The Global Education Network for Retinopathy of Prematurity (Gen-Rop): Development, Implementation, and Evaluation of A Novel Tele-Education System (An American Ophthalmological Society Thesis).

PubMed

Chan, R V Paul; Patel, Samir N; Ryan, Michael C; Jonas, Karyn E; Ostmo, Susan; Port, Alexander D; Sun, Grace I; Lauer, Andreas K; Chiang, Michael F

2015-01-01

To describe the design, implementation, and evaluation of a tele-education system developed to improve diagnostic competency in retinopathy of prematurity (ROP) by ophthalmology residents. A secure Web-based tele-education system was developed utilizing a repository of over 2,500 unique image sets of ROP. For each image set used in the system, a reference standard ROP diagnosis was established. Performance by ophthalmology residents (postgraduate years 2 to 4) from the United States and Canada in taking the ROP tele-education program was prospectively evaluated. Residents were presented with image-based clinical cases of ROP during a pretest, posttest, and training chapters. Accuracy and reliability of ROP diagnosis (eg, plus disease, zone, stage, category) were determined using sensitivity, specificity, and the kappa statistic calculations of the results from the pretest and posttest. Fifty-five ophthalmology residents were provided access to the ROP tele-education program. Thirty-one ophthalmology residents completed the program. When all training levels were analyzed together, a statistically significant increase was observed in sensitivity for the diagnosis of plus disease, zone, stage, category, and aggressive posterior ROP (P<.05). Statistically significant changes in specificity for identification of stage 2 or worse (P=.027) and pre-plus (P=.028) were observed. A tele-education system for ROP education is effective in improving diagnostic accuracy of ROP by ophthalmology residents. This system may have utility in the setting of both healthcare and medical education reform by creating a validated method to certify telemedicine providers and educate the next generation of ophthalmologists.

Adding navigation, artificial audition and vital sign monitoring capabilities to a telepresence mobile robot for remote home care applications.

PubMed

Laniel, Sebastien; Letourneau, Dominic; Labbe, Mathieu; Grondin, Francois; Polgar, Janice; Michaud, Francois

2017-07-01

A telepresence mobile robot is a remote-controlled, wheeled device with wireless internet connectivity for bidirectional audio, video and data transmission. In health care, a telepresence robot could be used to have a clinician or a caregiver assist seniors in their homes without having to travel to these locations. Many mobile telepresence robotic platforms have recently been introduced on the market, bringing mobility to telecommunication and vital sign monitoring at reasonable costs. What is missing for making them effective remote telepresence systems for home care assistance are capabilities specifically needed to assist the remote operator in controlling the robot and perceiving the environment through the robot's sensors or, in other words, minimizing cognitive load and maximizing situation awareness. This paper describes our approach adding navigation, artificial audition and vital sign monitoring capabilities to a commercially available telepresence mobile robot. This requires the use of a robot control architecture to integrate the autonomous and teleoperation capabilities of the platform.

An open real-time tele-stethoscopy system.

PubMed

Foche-Perez, Ignacio; Ramirez-Payba, Rodolfo; Hirigoyen-Emparanza, German; Balducci-Gonzalez, Fernando; Simo-Reigadas, Francisco-Javier; Seoane-Pascual, Joaquin; Corral-Peñafiel, Jaime; Martinez-Fernandez, Andres

2012-08-23

Acute respiratory infections are the leading cause of childhood mortality. The lack of physicians in rural areas of developing countries makes difficult their correct diagnosis and treatment. The staff of rural health facilities (health-care technicians) may not be qualified to distinguish respiratory diseases by auscultation. For this reason, the goal of this project is the development of a tele-stethoscopy system that allows a physician to receive real-time cardio-respiratory sounds from a remote auscultation, as well as video images showing where the technician is placing the stethoscope on the patient's body. A real-time wireless stethoscopy system was designed. The initial requirements were: 1) The system must send audio and video synchronously over IP networks, not requiring an Internet connection; 2) It must preserve the quality of cardiorespiratory sounds, allowing to adapt the binaural pieces and the chestpiece of standard stethoscopes, and; 3) Cardiorespiratory sounds should be recordable at both sides of the communication. In order to verify the diagnostic capacity of the system, a clinical validation with eight specialists has been designed. In a preliminary test, twelve patients have been auscultated by all the physicians using the tele-stethoscopy system, versus a local auscultation using traditional stethoscope. The system must allow listen the cardiac (systolic and diastolic murmurs, gallop sound, arrhythmias) and respiratory (rhonchi, rales and crepitations, wheeze, diminished and bronchial breath sounds, pleural friction rub) sounds. The design, development and initial validation of the real-time wireless tele-stethoscopy system are described in detail. The system was conceived from scratch as open-source, low-cost and designed in such a way that many universities and small local companies in developing countries may manufacture it. Only free open-source software has been used in order to minimize manufacturing costs and look for alliances to support its improvement and adaptation. The microcontroller firmware code, the computer software code and the PCB schematics are available for free download in a subversion repository hosted in SourceForge. It has been shown that real-time tele-stethoscopy, together with a videoconference system that allows a remote specialist to oversee the auscultation, may be a very helpful tool in rural areas of developing countries.

Controlling mechanisms over the internet

NASA Astrophysics Data System (ADS)

Lumia, Ronald

1997-01-01

The internet, widely available throughout the world, can be used to control robots, machine tools, and other mechanisms. This paper will describe a low-cost virtual collaborative environment (VCE) which will connect users with distant equipment. The system is based on PC technology, and incorporates off-line-programming with on-line execution. A remote user programs the systems graphically and simulates the motions and actions of the mechanism until satisfied with the functionality of the program. The program is then transferred from the remote site to the local site where the real equipment exists. At the local site, the simulation is run again to check the program from a safety standpoint. Then, the local user runs the program on the real equipment. During execution, a camera in the real workspace provides an image back to the remote user through a teleconferencing system. The system costs approximately 12,500 dollars and represents a low-cost alternative to the Sandia National Laboratories VCE.

Evolution of telemedicine in the space program and earth applications.

PubMed

Nicogossian, A E; Pober, D F; Roy, S A

2001-01-01

Remote monitoring of crew, spacecraft, and environmental health has always been an integral part of the National Aeronautics and Space Administration's (NASA's) operations. Crew safety and mission success face a number of challenges in outerspace, including physiological adaptations to microgravity, radiation exposure, extreme temperatures and vacuum, and psychosocial reactions to space flight. The NASA effort to monitor and maintain crew health, system performance, and environmental integrity in space flight is a sophisticated and coordinated program of telemedicine combining cutting-edge engineering with medical expertise. As missions have increased in complexity, NASA telemedicine capabilities have grown apace, underlying its role in the field. At the same time, the terrestrial validation of telemedicine technologies to bring healthcare to remote locations provides feedback, improvement, and enhancement of the space program. As NASA progresses in its space exploration program, astronauts will join missions lasting months, even years, that take them millions of miles from home. These long-duration missions necessitate further technological breakthroughs in tele-operations and autonomous technology. Earth-based monitoring will no longer be real-time, requiring telemedicine capabilities to advance with future explorers as they travel deeper into space. The International Space Station will serve as a testbed for the telemedicine technologies to enable future missions as well as improve the quality of healthcare delivery on Earth.

Evolution of telemedicine in the space program and earth applications

NASA Technical Reports Server (NTRS)

Nicogossian, A. E.; Pober, D. F.; Roy, S. A.

2001-01-01

Remote monitoring of crew, spacecraft, and environmental health has always been an integral part of the National Aeronautics and Space Administration's (NASA's) operations. Crew safety and mission success face a number of challenges in outerspace, including physiological adaptations to microgravity, radiation exposure, extreme temperatures and vacuum, and psychosocial reactions to space flight. The NASA effort to monitor and maintain crew health, system performance, and environmental integrity in space flight is a sophisticated and coordinated program of telemedicine combining cutting-edge engineering with medical expertise. As missions have increased in complexity, NASA telemedicine capabilities have grown apace, underlying its role in the field. At the same time, the terrestrial validation of telemedicine technologies to bring healthcare to remote locations provides feedback, improvement, and enhancement of the space program. As NASA progresses in its space exploration program, astronauts will join missions lasting months, even years, that take them millions of miles from home. These long-duration missions necessitate further technological breakthroughs in tele-operations and autonomous technology. Earth-based monitoring will no longer be real-time, requiring telemedicine capabilities to advance with future explorers as they travel deeper into space. The International Space Station will serve as a testbed for the telemedicine technologies to enable future missions as well as improve the quality of healthcare delivery on Earth.

Tongue-Based Electrotactile Feedback to Perceive Objects Grasped by a Robotic Manipulator: Preliminary Results

DTIC Science & Technology

2001-10-25

INTRODUCTION There has been significant work in developing prostheses controlled by people with amputations or high- level quadriplegia . Tele...distribution of force and pressure, and shape of the contact region facilitates grasp stability and successful manipulation [3]. For people with quadriplegia ...cord injury. By using the tongue, tactile sensory deficiencies experienced by people with high-level quadriplegia may be overcome [4, 5]. Employing

Remotely controlling of mobile robots using gesture captured by the Kinect and recognized by machine learning method

NASA Astrophysics Data System (ADS)

Hsu, Roy CHaoming; Jian, Jhih-Wei; Lin, Chih-Chuan; Lai, Chien-Hung; Liu, Cheng-Ting

2013-01-01

The main purpose of this paper is to use machine learning method and Kinect and its body sensation technology to design a simple, convenient, yet effective robot remote control system. In this study, a Kinect sensor is used to capture the human body skeleton with depth information, and a gesture training and identification method is designed using the back propagation neural network to remotely command a mobile robot for certain actions via the Bluetooth. The experimental results show that the designed mobile robots remote control system can achieve, on an average, more than 96% of accurate identification of 7 types of gestures and can effectively control a real e-puck robot for the designed commands.

Tele-Pediatric Intensive Care for Critically Ill Children in Syria.

PubMed

Ghbeis, Muhammad Bakr; Steffen, Katherine M; Braunlin, Elizabeth A; Beilman, Gregory J; Dahman, Jay; Ostwani, Waseem; Steiner, Marie E

2017-12-12

Armed conflicts can result in humanitarian crises and have major impacts on civilians, of whom children represent a significant proportion. Usual pediatric medical care is often disrupted and trauma resulting from war-related injuries is often devastating. High pediatric mortality rates are thus experienced in these ravaged medical environments. Using simple communication technology to provide real-time management recommendations from highly trained pediatric personnel can provide substantive clinical support and have a significant impact on pediatric morbidity and mortality. We implemented a "Tele-Pediatric Intensive Care" program (Tele-PICU) to provide real-time management consultation for critically ill and injured pediatric patients in Syria with intensive care needs. Over the course of 7 months, 19 cases were evaluated, ranging in age from 1 day to 11 years. Consultation questions addressed a wide range of critical care needs. Five patients are known to have survived, three were transferred, five died, and six outcomes were unknown. Based on this limited undertaking with its positive impact on survival, further development of Tele-PICU-based efforts with attention to implementation and barriers identified through this program is desirable. Even limited Tele-PICU can provide timely and potentially lifesaving assistance to pediatric care providers. Future efforts are encouraged.

Tele-auscultation support system with mixed reality navigation.

PubMed

Hori, Kenta; Uchida, Yusuke; Kan, Tsukasa; Minami, Maya; Naito, Chisako; Kuroda, Tomohiro; Takahashi, Hideya; Ando, Masahiko; Kawamura, Takashi; Kume, Naoto; Okamoto, Kazuya; Takemura, Tadamasa; Yoshihara, Hiroyuki

2013-01-01

The aim of this research is to develop an information support system for tele-auscultation. In auscultation, a doctor requires to understand condition of applying a stethoscope, in addition to auscultatory sounds. The proposed system includes intuitive navigation system of stethoscope operation, in addition to conventional audio streaming system of auscultatory sounds and conventional video conferencing system for telecommunication. Mixed reality technology is applied for intuitive navigation of the stethoscope. Information, such as position, contact condition and breath, is overlaid on a view of the patient's chest. The contact condition of the stethoscope is measured by e-textile contact sensors. The breath is measured by a band type breath sensor. In a simulated tele-auscultation experiment, the stethoscope with the contact sensors and the breath sensor were evaluated. The results show that the presentation of the contact condition was not understandable enough for navigating the stethoscope handling. The time series of the breath phases was usable for the remote doctor to understand the breath condition of the patient.

Telepresence system development for application to the control of remote robotic systems

NASA Technical Reports Server (NTRS)

Crane, Carl D., III; Duffy, Joseph; Vora, Rajul; Chiang, Shih-Chien

1989-01-01

The recent developments of techniques which assist an operator in the control of remote robotic systems are described. In particular, applications are aimed at two specific scenarios: The control of remote robot manipulators; and motion planning for remote transporter vehicles. Common to both applications is the use of realistic computer graphics images which provide the operator with pertinent information. The specific system developments for several recently completed and ongoing telepresence research projects are described.

A Human Factors Analysis of Proactive Support in Human-Robot Teaming

DTIC Science & Technology

2015-09-28

teammate is remotely controlling a robot while working with an intelligent robot teammate ‘Mary’. Our main result shows that the subjects generally...IEEE/RSJ Intl. Conference on Intelligent Robots and Systems Conference Date: September 28, 2015 A Human Factors Analysis of Proactive Support in Human...human teammate is remotely controlling a robot while working with an intelligent robot teammate ‘Mary’. Our main result shows that the subjects

The Global Education Network for Retinopathy of Prematurity (Gen-Rop): Development, Implementation, and Evaluation of A Novel Tele-Education System (An American Ophthalmological Society Thesis)

PubMed Central

Chan, R.V. Paul; Patel, Samir N.; Ryan, Michael C.; Jonas, Karyn E.; Ostmo, Susan; Port, Alexander D.; Sun, Grace I.; Lauer, Andreas K.; Chiang, Michael F.

2015-01-01

Purpose: To describe the design, implementation, and evaluation of a tele-education system developed to improve diagnostic competency in retinopathy of prematurity (ROP) by ophthalmology residents. Methods: A secure Web-based tele-education system was developed utilizing a repository of over 2,500 unique image sets of ROP. For each image set used in the system, a reference standard ROP diagnosis was established. Performance by ophthalmology residents (postgraduate years 2 to 4) from the United States and Canada in taking the ROP tele-education program was prospectively evaluated. Residents were presented with image-based clinical cases of ROP during a pretest, posttest, and training chapters. Accuracy and reliability of ROP diagnosis (eg, plus disease, zone, stage, category) were determined using sensitivity, specificity, and the kappa statistic calculations of the results from the pretest and posttest. Results: Fifty-five ophthalmology residents were provided access to the ROP tele-education program. Thirty-one ophthalmology residents completed the program. When all training levels were analyzed together, a statistically significant increase was observed in sensitivity for the diagnosis of plus disease, zone, stage, category, and aggressive posterior ROP (P<.05). Statistically significant changes in specificity for identification of stage 2 or worse (P=.027) and pre-plus (P=.028) were observed. Conclusions: A tele-education system for ROP education is effective in improving diagnostic accuracy of ROP by ophthalmology residents. This system may have utility in the setting of both healthcare and medical education reform by creating a validated method to certify telemedicine providers and educate the next generation of ophthalmologists. PMID:26538772

Method and associated apparatus for capturing, servicing, and de-orbiting earth satellites using robotics

NASA Technical Reports Server (NTRS)

Cepollina, Frank J. (Inventor); Corbo, James E. (Inventor); Burns, Richard D. (Inventor); Jedhrich, Nicholas M. (Inventor); Holz, Jill M. (Inventor)

2009-01-01

This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR, and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time as well as the ability to intervene using manual override to teleoperate the robot.

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.

Robots to assist daily activities: views of older adults with Alzheimer's disease and their caregivers.

PubMed

Wang, Rosalie H; Sudhama, Aishwarya; Begum, Momotaz; Huq, Rajibul; Mihailidis, Alex

2017-01-01

Robots have the potential to both enable older adults with dementia to perform daily activities with greater independence, and provide support to caregivers. This study explored perspectives of older adults with Alzheimer's disease (AD) and their caregivers on robots that provide stepwise prompting to complete activities in the home. Ten dyads participated: Older adults with mild-to-moderate AD and difficulty completing activity steps, and their family caregivers. Older adults were prompted by a tele-operated robot to wash their hands in the bathroom and make a cup of tea in the kitchen. Caregivers observed interactions. Semi-structured interviews were conducted individually. Transcribed interviews were thematically analyzed. Three themes summarized responses to robot interactions: contemplating a future with assistive robots, considering opportunities with assistive robots, and reflecting on implications for social relationships. Older adults expressed opportunities for robots to help in daily activities, were open to the idea of robotic assistance, but did not want a robot. Caregivers identified numerous opportunities and were more open to robots. Several wanted a robot, if available. Positive consequences of robots in caregiving scenarios could include decreased frustration, stress, and relationship strain, and increased social interaction via the robot. A negative consequence could be decreased interaction with caregivers. Few studies have investigated in-depth perspectives of older adults with dementia and their caregivers following direct interaction with an assistive prompting robot. To fulfill the potential of robots, continued dialogue between users and developers, and consideration of robot design and caregiving relationship factors are necessary.

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

PubMed Central

Gao, Junyao; Zhao, Fangzhou; Liu, Yi

2017-01-01

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

UAV-guided navigation for ground robot tele-operation in a military reconnaissance environment.

PubMed

Chen, Jessie Y C

2010-08-01

A military reconnaissance environment was simulated to examine the performance of ground robotics operators who were instructed to utilise streaming video from an unmanned aerial vehicle (UAV) to navigate his/her ground robot to the locations of the targets. The effects of participants' spatial ability on their performance and workload were also investigated. Results showed that participants' overall performance (speed and accuracy) was better when she/he had access to images from larger UAVs with fixed orientations, compared with other UAV conditions (baseline- no UAV, micro air vehicle and UAV with orbiting views). Participants experienced the highest workload when the UAV was orbiting. Those individuals with higher spatial ability performed significantly better and reported less workload than those with lower spatial ability. The results of the current study will further understanding of ground robot operators' target search performance based on streaming video from UAVs. The results will also facilitate the implementation of ground/air robots in military environments and will be useful to the future military system design and training community.

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

NASA Astrophysics Data System (ADS)

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

2015-05-01

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

Sea Perch Project

NASA Image and Video Library

2010-12-11

David Lalejini, an employee of the Naval Research Laboratory at NASA's John C. Stennis Space Center, helps a pair of teachers deploy a remotely-operated underwater Sea Perch robot during workshop activities Dec. 11. The Stennis Education Office teamed with Naval Research Laboratory counterparts to conduct a two-day workshop Dec. 10-11 for Louisiana and Mississippi teachers. During the no-cost workshop, teachers learned to build and operate Sea Perch robots. The teachers now can take the Sea Perch Program back to students.

Sea Perch Project

NASA Technical Reports Server (NTRS)

2010-01-01

David Lalejini, an employee of the Naval Research Laboratory at NASA's John C. Stennis Space Center, helps a pair of teachers deploy a remotely-operated underwater Sea Perch robot during workshop activities Dec. 11. The Stennis Education Office teamed with Naval Research Laboratory counterparts to conduct a two-day workshop Dec. 10-11 for Louisiana and Mississippi teachers. During the no-cost workshop, teachers learned to build and operate Sea Perch robots. The teachers now can take the Sea Perch Program back to students.

Sandia National Laboratories: Employee & Retiree Resources: Remote Access

Science.gov Websites

Programs Nuclear Weapons About Nuclear Weapons Safety & Security Weapons Science & Technology Robotics R&D 100 Awards Laboratory Directed Research & Development Technology Deployment Centers Audit Sandia's Economic Impact Licensing & Technology Transfer Browse Technology Portfolios

Telegenetics: application of a tele-education program in genetic syndromes for Brazilian students

PubMed Central

MAXIMINO, Luciana Paula; PICOLINI-PEREIRA, Mirela Machado; CARVALHO, José Luiz Brito

2014-01-01

With the high occurrence of genetic anomalies in Brazil and the manifestations of communication disorders associated with these conditions, the development of educative actions that comprise these illnesses can bring unique benefits in the identification and appropriate treatment of these clinical pictures. Objective The aim of this study was to develop and analyze an educational program in genetic syndromes for elementary students applied in two Brazilian states, using an Interactive Tele-education model. Material and Methods The study was carried out in 4 schools: two in the state of São Paulo, Southeast Region, Brazil, and two in the state of Amazonas, North Region, Brazil. Forty-five students, both genders, aged between 13 and 14 years, of the 9th grade of the basic education of both public and private system, were divided into two groups: 21 of São Paulo Group (SPG) and 24 of Amazonas Group (AMG). The educational program lasted about 3 months and was divided into two stages including both classroom and distance activities on genetic syndromes. The classroom activity was carried out separately in each school, with expository lessons, graphs and audiovisual contents. In the activity at a distance the educational content was presented to students by means of the Interactive Tele-education model. In this stage, the students had access a Cybertutor, using the Young Doctor Project methodology. In order to measure the effectiveness of the educational program, the Problem Situation Questionnaire (PSQ) and the Web Site Motivational Analysis Checklist adapted (FPM) were used. Results The program developed was effective for knowledge acquisition in 80% of the groups. FPM showed a high satisfaction index from the participants in relation to the Interactive Tele-education, evaluating the program as "awesome course". No statistically significant differences between the groups regarding type of school or state were observed. Conclusion Thus, the Tele-Education Program can be used as a tool for educational purposes in genetic syndromes of other populations, in several regions of Brazil. PMID:25591016

How Does Tele-Mental Health Affect Group Therapy Process? Secondary Analysis of a Noninferiority Trial

ERIC Educational Resources Information Center

Greene, Carolyn J.; Morland, Leslie A.; Macdonald, Alexandra; Frueh, B. Christopher; Grubbs, Kathleen M.; Rosen, Craig S.

2010-01-01

Objective: Video teleconferencing (VTC) is used for mental health treatment delivery to geographically remote, underserved populations. However, few studies have examined how VTC affects individual or group psychotherapy processes. This study compares process variables such as therapeutic alliance and attrition among participants receiving anger…

Ecological Interfaces for Improving Mobile Robot Teleoperation

DTIC Science & Technology

2007-10-01

reviewers’ comments. C. W. Nielsen is with the Idaho National Laboratory, Idaho Falls, ID 83415 USA (e-mail: curtis.nielsen@inl.gov). M . A. Goodrich is with...tele- operation. Section III presents the ecological interface paradigm and describes the 3-D interface. Section IV presents the sum- maries from new...in an empty laboratory environment that was filled with cardboard boxes and was more than 700 m from the operator. The display that the test subjects

Technical Report on Tele-Communications.

ERIC Educational Resources Information Center

San Mateo County PACE Center, Redwood City, CA.

To provide background material for those interested in tele-communication in education and for those planning to implement such programs in their schools, a research study was conducted to gather information from a variety of sources including educational and technical experts, conference participation, visits to schools conducting projects, and…

Dynamic analysis of space robot remote control system

NASA Astrophysics Data System (ADS)

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

2018-05-01

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

Medical Equipment Tele- and Condition-Based Maintenance with Enhanced Remote Diagnostic Access (RDA) and Computer Vision

DTIC Science & Technology

2010-04-01

failing to comply with a collection of information if it does not display a currently valid OMB control number. 1. REPORT DATE APR 2010 2. REPORT...The second is a ‘mechanical’ part that is controlled by circuit boards and is accessible by the technician via the serial console and running...was the use of conventional remote access solution designed for telecommuters or teleworkers in the Information Technology (IT) world, such as a

Bilateral Impedance Control For Telemanipulators

NASA Technical Reports Server (NTRS)

Moore, Christopher L.

1993-01-01

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

Applications of virtual reality technology in pathology.

PubMed

Grimes, G J; McClellan, S A; Goldman, J; Vaughn, G L; Conner, D A; Kujawski, E; McDonald, J; Winokur, T; Fleming, W

1997-01-01

TelePath(SM) a telerobotic system utilizing virtual microscope concepts based on high quality still digital imaging and aimed at real-time support for surgery by remote diagnosis of frozen sections. Many hospitals and clinics have an application for the remote practice of pathology, particularly in the area of reading frozen sections in support of surgery, commonly called anatomic pathology. The goal is to project the expertise of the pathologist into the remote setting by giving the pathologist access to the microscope slides with an image quality and human interface comparable to what the pathologist would experience at a real rather than a virtual microscope. A working prototype of a virtual microscope has been defined and constructed which has the needed performance in both the image quality and human interface areas for a pathologist to work remotely. This is accomplished through the use of telerobotics and an image quality which provides the virtual microscope the same diagnostic capabilities as a real microscope. The examination of frozen sections is performed a two-dimensional world. The remote pathologist is in a virtual world with the same capabilities as a "real" microscope, but response times may be slower depending on the specific computing and telecommunication environments. The TelePath system has capabilities far beyond a normal biological microscope, such as the ability to create a low power image of the entire sample using multiple images digitally matched together; the ability to digitally retrace a viewing trajectory; and the ability to archive images using CD ROM and other mass storage devices.

Object recognition for autonomous robot utilizing distributed knowledge database

NASA Astrophysics Data System (ADS)

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

2003-10-01

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

Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback

PubMed Central

Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S.

2014-01-01

This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N. PMID:25126446

Teleoperation System with Hybrid Pneumatic-Piezoelectric Actuation for MRI-Guided Needle Insertion with Haptic Feedback.

PubMed

Shang, Weijian; Su, Hao; Li, Gang; Fischer, Gregory S

2013-01-01

This paper presents a surgical master-slave tele-operation system for percutaneous interventional procedures under continuous magnetic resonance imaging (MRI) guidance. This system consists of a piezoelectrically actuated slave robot for needle placement with integrated fiber optic force sensor utilizing Fabry-Perot interferometry (FPI) sensing principle. The sensor flexure is optimized and embedded to the slave robot for measuring needle insertion force. A novel, compact opto-mechanical FPI sensor interface is integrated into an MRI robot control system. By leveraging the complementary features of pneumatic and piezoelectric actuation, a pneumatically actuated haptic master robot is also developed to render force associated with needle placement interventions to the clinician. An aluminum load cell is implemented and calibrated to close the impedance control loop of the master robot. A force-position control algorithm is developed to control the hybrid actuated system. Teleoperated needle insertion is demonstrated under live MR imaging, where the slave robot resides in the scanner bore and the user manipulates the master beside the patient outside the bore. Force and position tracking results of the master-slave robot are demonstrated to validate the tracking performance of the integrated system. It has a position tracking error of 0.318mm and sine wave force tracking error of 2.227N.

Connected Audiological Rehabilitation: 21st Century Innovations

PubMed Central

Saunders, Gabrielle H.; Chisolm, Theresa H.

2016-01-01

Background Tele-audiology provides a means to offer audiologic rehabilitation (AR) in a cost-, resource-, and time-effective manner. If designed appropriately, it also has the capability of personalizing rehabilitation to the user in terms of content, depth of detail, etc., thus permitting selection of the best content for a particular individual. Synchronous/real-time data collection, store and forward telehealth, remote monitoring and mobile health using smartphone applications have each been applied to components of audiologic rehabilitation intervention (sensory management, instruction in the use of technology and control of the listening environment, perceptual and communication strategies training, and counseling). In this article, the current state of tele-audiological rehabilitation interventions are described and discussed. Results The provision of AR via tele-audiology potentially provides a cost-effective mechanism for addressing barriers to the routine provision of AR beyond provisions of hearing technology. Furthermore, if designed appropriately, it has the capability of personalizing rehabilitation to the user in terms of content, depth of detail, etc., thus permitting selection of the best content for a particular individual. However, effective widespread implementation of tele-audiology will be dependent on good education of patients and clinician alike, and researchers must continue to examine the effectiveness of these new approaches to AR in order to ensure clinicians provide effective evidence-based rehabilitation to their patients. Conclusions While several barriers to the widespread use of tele-audiology for audiologic rehabilitation currently exist, it is concluded that through education of patients and clinicians alike, it will gain greater support from practitioners and patients over time and will become successfully and widely implemented. PMID:26415970

A performance analysis method for distributed real-time robotic systems: A case study of remote teleoperation

NASA Technical Reports Server (NTRS)

Lefebvre, D. R.; Sanderson, A. C.

1994-01-01

Robot coordination and control systems for remote teleoperation applications are by necessity implemented on distributed computers. Modeling and performance analysis of these distributed robotic systems is difficult, but important for economic system design. Performance analysis methods originally developed for conventional distributed computer systems are often unsatisfactory for evaluating real-time systems. The paper introduces a formal model of distributed robotic control systems; and a performance analysis method, based on scheduling theory, which can handle concurrent hard-real-time response specifications. Use of the method is illustrated by a case of remote teleoperation which assesses the effect of communication delays and the allocation of robot control functions on control system hardware requirements.

Remote Assessment of Lunar Resource Potential

NASA Technical Reports Server (NTRS)

Taylor, G. Jeffrey

1992-01-01

Assessing the resource potential of the lunar surface requires a well-planned program to determine the chemical and mineralogical composition of the Moon's surface at a range of scales. The exploration program must include remote sensing measurements (from both Earth's surface and lunar orbit), robotic in situ analysis of specific places, and eventually, human field work by trained geologists. Remote sensing data is discussed. Resource assessment requires some idea of what resources will be needed. Studies thus far have concentrated on oxygen and hydrogen production for propellant and life support, He-3 for export as fuel for nuclear fusion reactors, and use of bulk regolith for shielding and construction materials. The measurement requirements for assessing these resources are given and discussed briefly.

Robotic vehicle uses acoustic sensors for voice detection and diagnostics

NASA Astrophysics Data System (ADS)

Young, Stuart H.; Scanlon, Michael V.

2000-07-01

An acoustic sensor array that cues an imaging system on a small tele- operated robotic vehicle was used to detect human voice and activity inside a building. The advantage of acoustic sensors is that it is a non-line of sight (NLOS) sensing technology that can augment traditional LOS sensors such as visible and IR cameras. Acoustic energy emitted from a target, such as from a person, weapon, or radio, will travel through walls and smoke, around corners, and down corridors, whereas these obstructions would cripple an imaging detection system. The hardware developed and tested used an array of eight microphones to detect the loudest direction and automatically setter a camera's pan/tilt toward the noise centroid. This type of system has applicability for counter sniper applications, building clearing, and search/rescue. Data presented will be time-frequency representations showing voice detected within rooms and down hallways at various ranges. Another benefit of acoustics is that it provides the tele-operator some situational awareness clues via low-bandwidth transmission of raw audio data for the operator to interpret with either headphones or through time-frequency analysis. This data can be useful to recognize familiar sounds that might indicate the presence of personnel, such as talking, equipment, movement noise, etc. The same array also detects the sounds of the robot it is mounted on, and can be useful for engine diagnostics and trouble shooting, or for self-noise emanations for stealthy travel. Data presented will characterize vehicle self noise over various surfaces such as tiles, carpets, pavement, sidewalk, and grass. Vehicle diagnostic sounds will indicate a slipping clutch and repeated unexpected application of emergency braking mechanism.

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...

An efficient cardiac mapping strategy for radiofrequency catheter ablation with active learning.

PubMed

Feng, Yingjing; Guo, Ziyan; Dong, Ziyang; Zhou, Xiao-Yun; Kwok, Ka-Wai; Ernst, Sabine; Lee, Su-Lin

2017-07-01

A major challenge in radiofrequency catheter ablation procedures is the voltage and activation mapping of the endocardium, given a limited mapping time. By learning from expert interventional electrophysiologists (operators), while also making use of an active-learning framework, guidance on performing cardiac voltage mapping can be provided to novice operators or even directly to catheter robots. A learning from demonstration (LfD) framework, based upon previous cardiac mapping procedures performed by an expert operator, in conjunction with Gaussian process (GP) model-based active learning, was developed to efficiently perform voltage mapping over right ventricles (RV). The GP model was used to output the next best mapping point, while getting updated towards the underlying voltage data pattern as more mapping points are taken. A regularized particle filter was used to keep track of the kernel hyperparameter used by GP. The travel cost of the catheter tip was incorporated to produce time-efficient mapping sequences. The proposed strategy was validated on a simulated 2D grid mapping task, with leave-one-out experiments on 25 retrospective datasets, in an RV phantom using the Stereotaxis Niobe ® remote magnetic navigation system, and on a tele-operated catheter robot. In comparison with an existing geometry-based method, regression error was reduced and was minimized at a faster rate over retrospective procedure data. A new method of catheter mapping guidance has been proposed based on LfD and active learning. The proposed method provides real-time guidance for the procedure, as well as a live evaluation of mapping sufficiency.

Tele Hyper Virtuality

NASA Technical Reports Server (NTRS)

Terashima, Nobuyoshi

1994-01-01

In the future, remote images sent over communication lines will be reproduced in virtual reality (VR). This form of virtual telecommunications, which will allow observers to engage in an activity as though it were real, is the focus of considerable attention. Taken a step further, real and unreal objects will be placed in a single space to create an extremely realistic environment. Here, imaginary and other life forms as well as people and animals in remote locations will gather via telecommunication lines that create a common environment where life forms can work and interact together. Words, gestures, diagrams and other forms of communication will be used freely in performing work. Actual construction of a system based on this new concept will not only provide people with experiences that would have been impossible in the past, but will also inspire new applications in which people will function in environments where it would have been difficult if not impossible for them to function until now. This paper describes Tele Hyper Virtuality concept, its definition, applications, the key technologies to accomplish it and future prospects.

Google glass-based remote control of a mobile robot

NASA Astrophysics Data System (ADS)

Yu, Song; Wen, Xi; Li, Wei; Chen, Genshe

2016-05-01

In this paper, we present an approach to remote control of a mobile robot via a Google Glass with the multi-function and compact size. This wearable device provides a new human-machine interface (HMI) to control a robot without need for a regular computer monitor because the Google Glass micro projector is able to display live videos around robot environments. In doing it, we first develop a protocol to establish WI-FI connection between Google Glass and a robot and then implement five types of robot behaviors: Moving Forward, Turning Left, Turning Right, Taking Pause, and Moving Backward, which are controlled by sliding and clicking the touchpad located on the right side of the temple. In order to demonstrate the effectiveness of the proposed Google Glass-based remote control system, we navigate a virtual Surveyor robot to pass a maze. Experimental results demonstrate that the proposed control system achieves the desired performance.

An open real-time tele-stethoscopy system

PubMed Central

2012-01-01

Background Acute respiratory infections are the leading cause of childhood mortality. The lack of physicians in rural areas of developing countries makes difficult their correct diagnosis and treatment. The staff of rural health facilities (health-care technicians) may not be qualified to distinguish respiratory diseases by auscultation. For this reason, the goal of this project is the development of a tele-stethoscopy system that allows a physician to receive real-time cardio-respiratory sounds from a remote auscultation, as well as video images showing where the technician is placing the stethoscope on the patient’s body. Methods A real-time wireless stethoscopy system was designed. The initial requirements were: 1) The system must send audio and video synchronously over IP networks, not requiring an Internet connection; 2) It must preserve the quality of cardiorespiratory sounds, allowing to adapt the binaural pieces and the chestpiece of standard stethoscopes, and; 3) Cardiorespiratory sounds should be recordable at both sides of the communication. In order to verify the diagnostic capacity of the system, a clinical validation with eight specialists has been designed. In a preliminary test, twelve patients have been auscultated by all the physicians using the tele-stethoscopy system, versus a local auscultation using traditional stethoscope. The system must allow listen the cardiac (systolic and diastolic murmurs, gallop sound, arrhythmias) and respiratory (rhonchi, rales and crepitations, wheeze, diminished and bronchial breath sounds, pleural friction rub) sounds. Results The design, development and initial validation of the real-time wireless tele-stethoscopy system are described in detail. The system was conceived from scratch as open-source, low-cost and designed in such a way that many universities and small local companies in developing countries may manufacture it. Only free open-source software has been used in order to minimize manufacturing costs and look for alliances to support its improvement and adaptation. The microcontroller firmware code, the computer software code and the PCB schematics are available for free download in a subversion repository hosted in SourceForge. Conclusions It has been shown that real-time tele-stethoscopy, together with a videoconference system that allows a remote specialist to oversee the auscultation, may be a very helpful tool in rural areas of developing countries. PMID:22917062

A Practical Comparison of Motion Planning Techniques for Robotic Legs in Environments with Obstacles

NASA Technical Reports Server (NTRS)

Smith, Tristan B.; Chavez-Clemente, Daniel

2009-01-01

ATHLETE is a large six-legged tele-operated robot. Each foot is a wheel; travel can be achieved by walking, rolling, or some combination of the two. Operators control ATHLETE by selecting parameterized commands from a command dictionary. While rolling can be done efficiently, any motion involving steps is cumbersome - each step can require multiple commands and take many minutes to complete. In this paper, we consider four different algorithms that generate a sequence of commands to take a step. We consider a baseline heuristic, a randomized motion planning algorithm, and two variants of A* search. Results for a variety of terrains are presented, and we discuss the quantitative and qualitative tradeoffs between the approaches.

Five-year experience of tele-ophthalmology for diabetic retinopathy screening in a rural population.

PubMed

Rodríguez Villa, S; Alonso Álvarez, C; de Dios Del Valle, R; Salazar Méndez, R; Cuesta García, M; Ruiz García, M J; Cubillas Martín, M; Rodríguez Vazquez, M

2016-09-01

To identify the prevalence and risk factors of diabetic retinopathy (DR) among rural inhabitants included in a tele-ophthalmology program. To analyse diagnostic accuracy among primary care physicians, concordance with ophthalmologists, and financial savings. An observational randomised study was conducted on 394 patients included in a tele-ophthalmology program (from January 2010 to January 2015). An analysis was performed on the clinical characteristics, DR findings in retinography images, and correspondence between the request for a second interpretation by an ophthalmologist, and previously established criteria for it: presence of moderate to severe DR, vision loss, poor image quality and/or intraocular pressure >22mmHg. Statistical analysis was performed using the SPSS program (Student t and χ(2) tests). DR prevalence was 12.1%. Patients with glycosylated haemoglobin values >7.68% or those treated with a combination of insulin and oral antidiabetic drugs showed a higher risk of DR (P<.05). 43.3% of patients correctly referred to ophthalmologists showed moderate to severe DR. Unnecessary referrals to specialists were improved from 91.7% in 2010 to 98.6% in 2014. It is estimated that the program has made a total saving of €152,550.45. Tele-ophthalmology programs are a useful tool in DR screening. Primary care physicians are able to distinguish patients who need specialist care, avoiding unnecessary referrals to ophthalmologists, and saving costs. Copyright © 2016 Sociedad Española de Oftalmología. Published by Elsevier España, S.L.U. All rights reserved.

Reach the Unreached -IIRS Outreach program for enhanced learning to all

NASA Astrophysics Data System (ADS)

Krishna Murthy, Y. V. N.; Raju, P. L. N.; Srivastav, S. K.; Karnatak, H.; Gupta, P. Kumar; Mahadevaswamy, M.; Viswakarma, J.

2014-11-01

With the advent of Information and Communication Technology and improved broadband internet connectivity has enhanced the scope of learning any time anywhere, going beyond the traditional classroom approach. To support distance learning, Indian Space Research Organisation, Government of India has launched dedicated communication satellite called EDUSAT in 2004. The satellite is widely used for variety of applications like Tele-education, Tele-medicine, Village Resource Centres, mobile satellite services, disaster management support and television broadcasting educating farmers for agriculture and other purposes. One of the prime applications of EDUSAT satellite is tele-education at various levels (i.e. school level/UG /PG level) by different ministries / autonomous organizations / departments/institutions/universities in India effectively utilized the EDUSAT for Tele-education. The initial focus of IIRS was to use EDUSAT/INSAT 4CR satellite for distance learning but extended the scope to use broadband internet so that access to large number of institutions/universities /individuals with little cost the User. IIRS distance learning program initiated in 2007 and successfully conducted 12 programs in the last eight years. The first course was attended from twelve universities and the number of institutions /universities increased manifold. The thirteenth course is progress with more than 210 institutions /universities /departments /individuals with more than 3200 number of participants attending the program live and interactive. IIRS program is unique and interactive and demand is increasing not only universities but among research institutions, user departments and individuals.

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

DTIC Science & Technology

2010-08-01

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

Tele-surgery: a new virtual tool for medical education.

PubMed

Russomano, Thais; Cardoso, Ricardo B; Fernandes, Jefferson; Cardoso, Paulizan G; Alves, Jarcedy M; Pianta, Christina D; Souza, Hamilton P; Lopes, Maria Helena I

2009-01-01

The rapid evolution of telecommunication technology has enabled advances to be made in low cost video-conferencing through the improvement of high speed computer communication networks and the enhancement of Internet security protocols. As a result of this progress, eHealth education programs are becoming a reality in universities, providing the opportunity for students to have greater interaction at live surgery classes by means of virtual participation. Undergraduate students can be introduced to new concepts of medical care, remote second opinion and to telecommunication systems, whilst virtually experiencing surgical procedures and lectures. The better access this provides to the operating theater environment, the patient and the surgeon can improve the learning process for students. An analogical system was used for this experimental pilot project due to the benefits of it being low cost with a comparatively easy setup. The tele-surgery lectures were also transmitted to other universities by means of a Pentium 4 computer using open source software and connected to a portable image acquisition device located in the São Lucas University Hospital. Telemedicine technology has proven to be an important instrument for the improvement of medical education and health care. This study allowed health professionals, professors and students to have greater interaction during surgical procedures, thus enabling a greater opportunity for knowledge exchange.

Adaptive Control Of Remote Manipulator

NASA Technical Reports Server (NTRS)

Seraji, Homayoun

1989-01-01

Robotic control system causes remote manipulator to follow closely reference trajectory in Cartesian reference frame in work space, without resort to computationally intensive mathematical model of robot dynamics and without knowledge of robot and load parameters. System, derived from linear multivariable theory, uses relatively simple feedforward and feedback controllers with model-reference adaptive control.

NASA Center for Intelligent Robotic Systems for Space Exploration

NASA Technical Reports Server (NTRS)

1990-01-01

NASA's program for the civilian exploration of space is a challenge to scientists and engineers to help maintain and further develop the United States' position of leadership in a focused sphere of space activity. Such an ambitious plan requires the contribution and further development of many scientific and technological fields. One research area essential for the success of these space exploration programs is Intelligent Robotic Systems. These systems represent a class of autonomous and semi-autonomous machines that can perform human-like functions with or without human interaction. They are fundamental for activities too hazardous for humans or too distant or complex for remote telemanipulation. To meet this challenge, Rensselaer Polytechnic Institute (RPI) has established an Engineering Research Center for Intelligent Robotic Systems for Space Exploration (CIRSSE). The Center was created with a five year $5.5 million grant from NASA submitted by a team of the Robotics and Automation Laboratories. The Robotics and Automation Laboratories of RPI are the result of the merger of the Robotics and Automation Laboratory of the Department of Electrical, Computer, and Systems Engineering (ECSE) and the Research Laboratory for Kinematics and Robotic Mechanisms of the Department of Mechanical Engineering, Aeronautical Engineering, and Mechanics (ME,AE,&M), in 1987. This report is an examination of the activities that are centered at CIRSSE.

Virtual Reality Robotic Operation Simulations Using MEMICA Haptic System

NASA Technical Reports Server (NTRS)

Bar-Cohen, Y.; Mavroidis, C.; Bouzit, M.; Dolgin, B.; Harm, D. L.; Kopchok, G. E.; White, R.

2000-01-01

There is an increasing realization that some tasks can be performed significantly better by humans than robots but, due to associated hazards, distance, etc., only a robot can be employed. Telemedicine is one area where remotely controlled robots can have a major impact by providing urgent care at remote sites. In recent years, remotely controlled robotics has been greatly advanced. The robotic astronaut, "Robonaut," at NASA Johnson Space Center is one such example. Unfortunately, due to the unavailability of force and tactile feedback capability the operator must determine the required action using only visual feedback from the remote site, which limits the tasks that Robonaut can perform. There is a great need for dexterous, fast, accurate teleoperated robots with the operator?s ability to "feel" the environment at the robot's field. Recently, we conceived a haptic mechanism called MEMICA (Remote MEchanical MIrroring using Controlled stiffness and Actuators) that can enable the design of high dexterity, rapid response, and large workspace system. Our team is developing novel MEMICA gloves and virtual reality models to allow the simulation of telesurgery and other applications. The MEMICA gloves are designed to have a high dexterity, rapid response, and large workspace and intuitively mirror the conditions at a virtual site where a robot is simulating the presence of the human operator. The key components of MEMICA are miniature electrically controlled stiffness (ECS) elements and Electrically Controlled Force and Stiffness (ECFS) actuators that are based on the sue of Electro-Rheological Fluids (ERF). In this paper the design of the MEMICA system and initial experimental results are presented.

Step-by-step training in basic laparoscopic skills using two-way web conferencing software for remote coaching: A multicenter randomized controlled study.

PubMed

Mizota, Tomoko; Kurashima, Yo; Poudel, Saseem; Watanabe, Yusuke; Shichinohe, Toshiaki; Hirano, Satoshi

2018-07-01

Despite its advantages, few trainees outside of North America have access to simulation training. We hypothesized that a stepwise training method using tele-mentoring system would be an efficient technique for training in basic laparoscopic skills. Residents were randomized into two groups and trained to proficiency in intracorporeal suturing. The stepwise group (SG) practiced the task step-by-step, while the other group practiced comprehensively (CG). Each participant received weekly coaching via two-way web conferencing software. The duration of the coaching sessions and self-practice time were compared between the two groups. Twenty residents from 15 institutions participated, and all achieved proficiency. Coaching sessions using tele-mentoring system were completed without difficulties. The SG required significantly shorter coaching time per session than the CG (p = .002). There was no significant difference in self-practice time. The stepwise training method with the tele-mentoring system appears to make efficient use of surgical trainees' and trainers' time. Copyright © 2017 Elsevier Inc. All rights reserved.

The Role of Retinal Imaging and Portable Screening Devices in Tele-ophthalmology Applications for Diabetic Retinopathy Management.

PubMed

DeBuc, Delia Cabrera

2016-12-01

In the years since its introduction, retinal imaging has transformed our capability to visualize the posterior pole of the eye. Increasing practical advances in mobile technology, regular monitoring, and population screening for diabetic retinopathy management offer the opportunity for further development of cost-effective applications through remote assessment of the diabetic eye using portable retinal cameras, smart-phone-based devices and telemedicine networks. Numerous retinal imaging methods and mobile technologies in tele-ophthalmology applications have been reported for diabetic retinopathy screening and management. They provide several advantages of automation, sensitivity, specificity, portability, and miniaturization for the development of point-of-care diagnostics for eye complications in diabetes. The aim of this paper is to review the role of retinal imaging and mobile technologies in tele-ophthalmology applications for diabetic retinopathy screening and management. At large, although improvements in current technology and telemedicine services are still needed, telemedicine has demonstrated to be a worthy tool to support health caregivers in the effective management and prevention of diabetes and its complications.

A novel interface for the telementoring of robotic surgery.

PubMed

Shin, Daniel H; Dalag, Leonard; Azhar, Raed A; Santomauro, Michael; Satkunasivam, Raj; Metcalfe, Charles; Dunn, Matthew; Berger, Andre; Djaladat, Hooman; Nguyen, Mike; Desai, Mihir M; Aron, Monish; Gill, Inderbir S; Hung, Andrew J

2015-08-01

To prospectively evaluate the feasibility and safety of a novel, second-generation telementoring interface (Connect(™) ; Intuitive Surgical Inc., Sunnyvale, CA, USA) for the da Vinci robot. Robotic surgery trainees were mentored during portions of robot-assisted prostatectomy and renal surgery cases. Cases were assigned as traditional in-room mentoring or remote mentoring using Connect. While viewing two-dimensional, real-time video of the surgical field, remote mentors delivered verbal and visual counsel, using two-way audio and telestration (drawing) capabilities. Perioperative and technical data were recorded. Trainee robotic performance was rated using a validated assessment tool by both mentors and trainees. The mentoring interface was rated using a multi-factorial Likert-based survey. The Mann-Whitney and t-tests were used to determine statistical differences. We enrolled 55 mentored surgical cases (29 in-room, 26 remote). Perioperative variables of operative time and blood loss were similar between in-room and remote mentored cases. Robotic skills assessment showed no significant difference (P > 0.05). Mentors preferred remote over in-room telestration (P = 0.05); otherwise no significant difference existed in evaluation of the interfaces. Remote cases using wired (vs wireless) connections had lower latency and better data transfer (P = 0.005). Three of 18 (17%) wireless sessions were disrupted; one was converted to wired, one continued after restarting Connect, and the third was aborted. A bipolar injury to the colon occurred during one (3%) in-room mentored case; no intraoperative injuries were reported during remote sessions. In a tightly controlled environment, the Connect interface allows trainee robotic surgeons to be telementored in a safe and effective manner while performing basic surgical techniques. Significant steps remain prior to widespread use of this technology. © 2014 The Authors BJU International © 2014 BJU International Published by John Wiley & Sons Ltd.

Singapore Tele-technology Aided Rehabilitation in Stroke (STARS) trial: protocol of a randomized clinical trial on tele-rehabilitation for stroke patients.

PubMed

Koh, Gerald Choon-Huat; Yen, Shih Cheng; Tay, Arthur; Cheong, Angela; Ng, Yee Sien; De Silva, Deidre Anne; Png, Carolina; Caves, Kevin; Koh, Karen; Kumar, Yogaprakash; Phan, Shi Wen; Tai, Bee Choo; Chen, Cynthia; Chew, Effie; Chao, Zhaojin; Chua, Chun En; Koh, Yen Sin; Hoenig, Helen

2015-09-05

Most acute stroke patients with disabilities do not receive recommended rehabilitation following discharge to the community. Functional and social barriers are common reasons for non-adherence to post-discharge rehabilitation. Home rehabilitation is an alternative to centre-based rehabilitation but is costlier. Tele-rehabilitation is a possible solution, allowing for remote supervision of rehabilitation and eliminating access barriers. The objective of the Singapore Tele-technology Aided Rehabilitation in Stroke (STARS) trial is to determine if a novel tele-rehabilitation intervention for the first three months after stroke admission improves functional recovery compared to usual care. This is a single blind (evaluator blinded), parallel, two-arm randomised controlled trial study design involving 100 recent stroke patients. The inclusion criteria are age ≥40 years, having caregiver support and recent stroke defined as stroke diagnosis within 4 weeks. Consenting participants will be randomized with varying block size of 4 or 6 assuming a 1:1 treatment allocation with the participating centre as the stratification factor. The baseline assessment will be done within 4 weeks of stroke onset, followed by follow-up assessments at 3 and 6 months. The tele-rehabilitation intervention lasts for 3 months and includes exercise 5-days-a-week using an iPad-based system that allows recording of daily exercise with video and sensor data and weekly video-conferencing with tele-therapists after data review. Those allocated to the control group will receive usual care. The primary outcome measure is improvement in life task's social activity participation at three months as measured by the disability component of the Jette Late Life Functional and Disability Instrument (LLFDI). Secondary outcome variables consist of gait speed (Timed 5-Meter Walk Test) and endurance (Two-Minute Walk test), performance of basic activities of daily living (Shah-modified Barthel Index), balance confidence (Activities-Specific Balance Confidence Scale), patient self-reported health-related quality-of-life [Euro-QOL (EQ-5D)], health service utilization (Singapore Stroke Study Health Service Utilization Form) and caregiver reported stress (Zarit Caregiver Burden Inventory). The goal of this trial is to provide evidence on the potential benefit and cost-effectiveness of this novel tele-rehabilitation programme which will guide health care decision-making and potentially improve performance of post-stroke community-based rehabilitation. This trial protocol was registered under ClinicalTrials.gov on 18 July 2013 as study title "The Singapore Tele-technology Aided Rehabilitation in Stroke (STARS) Study" (ID: The STARS Study, ClinicalTrials.gov Identifier: NCT01905917 ).

Hand controller commonality evaluation process

NASA Technical Reports Server (NTRS)

Stuart, Mark A.; Bierschwale, John M.; Wilmington, Robert P.; Adam, Susan C.; Diaz, Manuel F.; Jensen, Dean G.

1990-01-01

A hand controller evaluation process has been developed to determine the appropriate hand controller configurations for supporting remotely controlled devices. These devices include remote manipulator systems (RMS), dexterous robots, and remotely-piloted free flyers. Standard interfaces were developed to evaluate six different hand controllers in three test facilities including dynamic computer simulations, kinematic computer simulations, and physical simulations. The hand controllers under consideration were six degree-of-freedom (DOF) position and rate minimaster and joystick controllers, and three-DOF rate controllers. Task performance data, subjective comments, and anthropometric data obtained during tests were used for controller configuration recommendations to the SSF Program.

I-PFO: the new technology for simple and flexible implementation of high productive on-the-fly remote processes

NASA Astrophysics Data System (ADS)

Müllegger, Andreas; Ryba, Tracey

2017-02-01

Standardized production systems which can be implemented, programmed, maintained and sourced in a simple and efficient way are key for a successful global production of automobiles or related parts at component suppliers. This is also valid for systems, which are built by laser based processes. One of the key applications is remote laser welding (RLW) of "Body in White" (BIW) parts (such as hang-on parts, B-Pillars, side frames, etc.), but also builtin components (such as car seats, batteries, etc.). The majority of RLW applications are based on the implementation of a 3-D scanner optic (e.g. the PFO 3D from TRUMPF) which positions the laser beam on the various component surfaces to be welded. Over the past 10 years it has been proven that the most efficient way to build up the RLW process is to have a system where an industrial robot and a scanner optic are combined in one production cell. They usually cooperate within an "On-The-Fly" (OTF) process as this ensures minimum cycle times. Until now there are several technologies on the market which can coordinate both the robot and scanner in the OTF mode. But none of them meet all requirements of global standardized production solutions. With the introduction of the I-PFO (Intelligent Programmable Focusing Optics) technology the situation has changed. It is now possible to program or adopt complex remote processes in a fast and easy way by the "Teach-in" function via the robot teach pendant. Additionally a 3D offline designer software is an option for this system. It automatically creates the ideal remote process based on the part, fixture, production cell and required process parameters. The I-PFO technology doesn't need additional hardware due to the fact that it runs on the controller within the PFO 3D. Furthermore it works together with different types of industrial robots (e.g. ABB, Fanuc and KUKA) which allow highest flexibility for the production planning phase. Finally a single TRUMPF laser source can supply up to six I-PFOs. This guarantees maximum beam-on time at the production line. Within this report the concept of the I-PFO technology (with mentioned functions) is described and is compared to the other existing ways for Remote Laser processing.

Human Assisted Robotic Vehicle Studies - A conceptual end-to-end mission architecture

NASA Astrophysics Data System (ADS)

Lehner, B. A. E.; Mazzotta, D. G.; Teeney, L.; Spina, F.; Filosa, A.; Pou, A. Canals; Schlechten, J.; Campbell, S.; Soriano, P. López

2017-11-01

With current space exploration roadmaps indicating the Moon as a proving ground on the way to human exploration of Mars, it is clear that human-robotic partnerships will play a key role for successful future human space missions. This paper details a conceptual end-to-end architecture for an exploration mission in cis-lunar space with a focus on human-robot interactions, called Human Assisted Robotic Vehicle Studies (HARVeSt). HARVeSt will build on knowledge of plant growth in space gained from experiments on-board the ISS and test the first growth of plants on the Moon. A planned deep space habitat will be utilised as the base of operations for human-robotic elements of the mission. The mission will serve as a technology demonstrator not only for autonomous tele-operations in cis-lunar space but also for key enabling technologies for future human surface missions. The successful approach of the ISS will be built on in this mission with international cooperation. Mission assets such as a modular rover will allow for an extendable mission and to scout and prepare the area for the start of an international Moon Village.

Vision Algorithms to Determine Shape and Distance for Manipulation of Unmodeled Objects

NASA Technical Reports Server (NTRS)

Montes, Leticia; Bowers, David; Lumia, Ron

1998-01-01

This paper discusses the development of a robotic system for general use in an unstructured environment. This is illustrated through pick and place of randomly positioned, un-modeled objects. There are many applications for this project, including rock collection for the Mars Surveyor Program. This system is demonstrated with a Puma560 robot, Barrett hand, Cognex vision system, and Cimetrix simulation and control, all running on a PC. The demonstration consists of two processes: vision system and robotics. The vision system determines the size and location of the unknown objects. The robotics part consists of moving the robot to the object, configuring the hand based on the information from the vision system, then performing the pick/place operation. This work enhances and is a part of the Low Cost Virtual Collaborative Environment which provides remote simulation and control of equipment.

CHIMERA II - A real-time multiprocessing environment for sensor-based robot control

NASA Technical Reports Server (NTRS)

Stewart, David B.; Schmitz, Donald E.; Khosla, Pradeep K.

1989-01-01

A multiprocessing environment for a wide variety of sensor-based robot system, providing the flexibility, performance, and UNIX-compatible interface needed for fast development of real-time code is addressed. The requirements imposed on the design of a programming environment for sensor-based robotic control is outlined. The details of the current hardware configuration are presented, along with the details of the CHIMERA II software. Emphasis is placed on the kernel, low-level interboard communication, user interface, extended file system, user-definable and dynamically selectable real-time schedulers, remote process synchronization, and generalized interprocess communication. A possible implementation of a hierarchical control model, the NASA/NBS standard reference model for telerobot control system is demonstrated.

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.

Demonstration of the Low-Cost Virtual Collaborative Environment (VCE)

NASA Technical Reports Server (NTRS)

Bowers, David; Montes, Leticia; Ramos, Angel; Joyce, Brendan; Lumia, Ron

1997-01-01

This paper demonstrates the feasibility of a low-cost approach of remotely controlling equipment. Our demonstration system consists of a PC, the PUMA 560 robot with Barrett hand, and commercially available controller and teleconferencing software. The system provides a graphical user interface which allows a user to program equipment tasks and preview motions i.e., simulate the results. Once satisfied that the actions are both safe and accomplish the task, the remote user sends the data over the Internet to the local site for execution on the real equipment. A video link provides visual feedback to the remote sight. This technology lends itself readily to NASA's upcoming Mars expeditions by providing remote simulation and control of equipment.

Remote Excavation System technology evaluation report: Buried Waste Robotics Program

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

Not Available

1993-09-01

This document describes the results from the Remote Excavation System demonstration and testing conducted at the Idaho National Engineering Laboratory during June and July 1993. The purpose of the demonstration was to ascertain the feasibility of the system for skimming soil and removing various types of buried waste in a safe manner and within all regulatory requirements, and to compare the performances of manual and remote operation of a backhoe. The procedures and goals of the demonstration were previously defined in The Remote Excavation System Test Plan, which served as a guideline for evaluating the various components of the systemmore » and discussed the procedures used to conduct the tests.« less

"Tele"working in Higher Education: What Managers Should Know "before" Developing Teleworking Policies

ERIC Educational Resources Information Center

Waters, Kristin Albright

2015-01-01

Over the last several decades, changes in the workplace within higher education has led to the notion of teleworking: the opportunity for employees to complete work in a remote location. This article will review the various concepts of teleworking, as well as the pros, cons, and implications for the work environment within higher education.

Proceedings of the Seventh International Space University Alumni Conference

NASA Technical Reports Server (NTRS)

Bailey, Sheila (Editor)

1998-01-01

The Seventh Alumni Conference of the International Space University, coordinated by the ISU U.S. Alumni Organization (IUSAO), was held at Cleveland State University in Cleveland, Ohio on Friday, July 24, 1998. These proceedings are a record of the presentations. The following topics are included: Remote sensing education in developing countries; Integrated global observing strategy; NASA's current earth science program; Europe's lunar initiative; Lunarsat: Searching for the South Polar cold traps; Asteroid hazards; ESA exobiological activities; Space testbed for photovoltaics; Teledesic Space infrastructure; Space instrument's concurrent design; NASA advanced fuel program; Mission preparation and training for the European Robotic Arm (ERA); and Global access to remote sensing systems.

Construction of a high-tech operating room for image-guided surgery using VR.

PubMed

Suzuki, Naoki; Hattori, Asaki; Suzuki, Shigeyuki; Otake, Yoshito; Hayashibe, Mitsuhiro; Kobayashi, Susumu; Nezu, Takehiko; Sakai, Haruo; Umezawa, Yuji

2005-01-01

This project aimed to construct an operating room to implement high dimensional (3D, 4D) medical imaging and medical virtual reality techniques that would enable clinical tests for new surgical procedures. We designed and constructed such an operating room at Dai-san Hospital, the Jikei Univ. School of Medicine, Tokyo, Japan. The room was equipped with various facilities for image-guided, robot and tele- surgery. In this report, we describe an outline of our "high-tech operating room" and future plans.

Cyber integrated MEMS microhand for biological applications

NASA Astrophysics Data System (ADS)

Weissman, Adam; Frazier, Athena; Pepen, Michael; Lu, Yen-Wen; Yang, Shanchieh Jay

2009-05-01

Anthropomorphous robotic hands at microscales have been developed to receive information and perform tasks for biological applications. To emulate a human hand's dexterity, the microhand requires a master-slave interface with a wearable controller, force sensors, and perception displays for tele-manipulation. Recognizing the constraints and complexity imposed in developing feedback interface during miniaturization, this project address the need by creating an integrated cyber environment incorporating sensors with a microhand, haptic/visual display, and object model, to emulates human hands' psychophysical perception at microscale.

Learning in tele-autonomous systems using Soar

NASA Technical Reports Server (NTRS)

Laird, John E.; Yager, Eric S.; Tuck, Christopher M.; Hucka, Michael

1989-01-01

Robo-Soar is a high-level robot arm control system implemented in Soar. Robo-Soar learns to perform simple block manipulation tasks using advice from a human. Following learning, the system is able to perform similar tasks without external guidance. It can also learn to correct its knowledge, using its own problem solving in addition to outside guidance. Robo-Soar corrects its knowledge by accepting advice about relevance of features in its domain, using a unique integration of analytic and empirical learning techniques.

An initial trial of a prototype telepathology system featuring static imaging with discrete control of the remote microscope.

PubMed

Winokur, T S; McClellan, S; Siegal, G P; Reddy, V; Listinsky, C M; Conner, D; Goldman, J; Grimes, G; Vaughn, G; McDonald, J M

1998-07-01

Routine diagnosis of pathology images transmitted over telecommunications lines remains an elusive goal. Part of the resistance stems from the difficulty of enabling image selection by the remote pathologist. To address this problem, a telepathology microscope system (TelePath, TeleMedicine Solutions, Birmingham, Ala) that has features associated with static and dynamic imaging systems was constructed. Features of the system include near real time image transmission, provision of a tiled overview image, free choice of any fields at any desired optical magnification, and automated tracking of the pathologist's image selection. All commands and images are discrete, avoiding many inherent problems of full motion video and continuous remote control. A set of 64 slides was reviewed by 3 pathologists in a simulated frozen section environment. Each pathologist provided diagnoses for all 64 slides, as well as qualitative information about the system. Thirty-one of 192 diagnoses disagreed with the reference diagnosis that had been reached before the trial began. Qf the 31, 13 were deferrals and 12 were diagnoses of cases that had a deferral as the reference diagnosis. In 6 cases, the diagnosis disagreed with the reference diagnosis yielding an overall accuracy of 96.9%. Confidence levels in the diagnoses were high. This trial suggests that this system provides high-quality anatomic pathology services, including intraoperative diagnoses, over telecommunications lines.

Robots, systems, and methods for hazard evaluation and visualization

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

Nielsen, Curtis W.; Bruemmer, David J.; Walton, Miles C.

A robot includes a hazard sensor, a locomotor, and a system controller. The robot senses a hazard intensity at a location of the robot, moves to a new location in response to the hazard intensity, and autonomously repeats the sensing and moving to determine multiple hazard levels at multiple locations. The robot may also include a communicator to communicate the multiple hazard levels to a remote controller. The remote controller includes a communicator for sending user commands to the robot and receiving the hazard levels from the robot. A graphical user interface displays an environment map of the environment proximatemore » the robot and a scale for indicating a hazard intensity. A hazard indicator corresponds to a robot position in the environment map and graphically indicates the hazard intensity at the robot position relative to the scale.« less

The development of a tele-monitoring system for physiological parameters based on the B/S model.

PubMed

Shuicai, Wu; Peijie, Jiang; Chunlan, Yang; Haomin, Li; Yanping, Bai

2010-01-01

The development of a new physiological multi-parameter remote monitoring system is based on the B/S model. The system consists of a server monitoring center, Internet network and PC-based multi-parameter monitors. Using the B/S model, the clients can browse web pages via the server monitoring center and download and install ActiveX controls. The physiological multi-parameters are collected, displayed and remotely transmitted. The experimental results show that the system is stable, reliable and operates in real time. The system is suitable for use in physiological multi-parameter remote monitoring for family and community healthcare. Copyright © 2010 Elsevier Ltd. All rights reserved.

Testbed for remote telepresence research

NASA Astrophysics Data System (ADS)

Adnan, Sarmad; Cheatham, John B., Jr.

1992-11-01

Teleoperated robots offer solutions to problems associated with operations in remote and unknown environments, such as space. Teleoperated robots can perform tasks related to inspection, maintenance, and retrieval. A video camera can be used to provide some assistance in teleoperations, but for fine manipulation and control, a telepresence system that gives the operator a sense of actually being at the remote location is more desirable. A telepresence system comprised of a head-tracking stereo camera system, a kinematically redundant arm, and an omnidirectional mobile robot has been developed at the mechanical engineering department at Rice University. This paper describes the design and implementation of this system, its control hardware, and software. The mobile omnidirectional robot has three independent degrees of freedom that permit independent control of translation and rotation, thereby simulating a free flying robot in a plane. The kinematically redundant robot arm has eight degrees of freedom that assist in obstacle and singularity avoidance. The on-board control computers permit control of the robot from the dual hand controllers via a radio modem system. A head-mounted display system provides the user with a stereo view from a pair of cameras attached to the mobile robotics system. The head tracking camera system moves stereo cameras mounted on a three degree of freedom platform to coordinate with the operator's head movements. This telepresence system provides a framework for research in remote telepresence, and teleoperations for space.

Robot-assisted home hazard assessment for fall prevention: a feasibility study.

PubMed

Sadasivam, Rajani S; Luger, Tana M; Coley, Heather L; Taylor, Benjamin B; Padir, Taskin; Ritchie, Christine S; Houston, Thomas K

2014-01-01

We examined the feasibility of using a remotely manoeuverable robot to make home hazard assessments for fall prevention. We employed use-case simulations to compare robot assessments with in-person assessments. We screened the homes of nine elderly patients (aged 65 years or more) for fall risks using the HEROS screening assessment. We also assessed the participants' perspectives of the remotely-operated robot in a survey. The nine patients had a median Short Blessed Test score of 8 (interquartile range, IQR 2-20) and a median Life-Space Assessment score of 46 (IQR 27-75). Compared to the in-person assessment (mean = 4.2 hazards identified per participant), significantly more home hazards were perceived in the robot video assessment (mean = 7.0). Only two checklist items (adequate bedroom lighting and a clear path from bed to bathroom) had more than 60% agreement between in-person and robot video assessment. Participants were enthusiastic about the robot and did not think it violated their privacy. The study found little agreement between the in-person and robot video hazard assessments. However, it identified several research questions about how to best use remotely-operated robots.

Telemedicine Enables Broader Access to Movement Disorders Curricula for Medical Students.

PubMed

Cubo, Esther; Doumbe, Jacques; López, Emiliano; Lopez, Guadalupe A; Gatto, Emilia; Persi, Gabriel; Guttman, Mark

2017-01-01

The impact of tele-education for movement disorders on medical students is unknown. The present study had three objectives. First, to create a tele-education program for medical students in regions with limited access to movement disorders curricula. Second, to analyze the feasibility, satisfaction, and improvement of medical knowledge. Third, to assess the main reasons of medical students for attending this course. In 2016, a program was piloted in a low-middle income (Cameroon) and a middle-high income (Argentina) country. Medical students were offered a free movement disorder tele-education program (four medical schools in Argentina, and 1 medical school in Cameroon). Six real-time videoconferences covering hyperkinetic and hypokinetic movement disorders were included. Evaluations included attendance, pre- and post-medical knowledge, and satisfaction questionnaires. The study included 151 undergraduate medical students (79.4% from Argentina, 20.6% from Cameroon). Feasibility was acceptable with 100% and 85.7% of the videoconferences completed in Argentina and Cameroon, respectively. Attendance was higher in Argentina compared to Cameroon (75% vs. 33.1%). According to student reports, the topics and innovative educational environment were the main reasons for attendance. Both groups ranked satisfaction as moderate to high, and medical knowledge improved similarly in both countries. Tele-education can improve movement disorders knowledge in medical schools in high-middle and low-middle income countries lacking access to other educational opportunities.

Robotic assembly and maintenance of future space stations based on the ISS mission operations experience

NASA Astrophysics Data System (ADS)

Rembala, Richard; Ower, Cameron

2009-10-01

MDA has provided 25 years of real-time engineering support to Shuttle (Canadarm) and ISS (Canadarm2) robotic operations beginning with the second shuttle flight STS-2 in 1981. In this capacity, our engineering support teams have become familiar with the evolution of mission planning and flight support practices for robotic assembly and support operations at mission control. This paper presents observations on existing practices and ideas to achieve reduced operational overhead to present programs. It also identifies areas where robotic assembly and maintenance of future space stations and space-based facilities could be accomplished more effectively and efficiently. Specifically, our experience shows that past and current space Shuttle and ISS assembly and maintenance operations have used the approach of extensive preflight mission planning and training to prepare the flight crews for the entire mission. This has been driven by the overall communication latency between the earth and remote location of the space station/vehicle as well as the lack of consistent robotic and interface standards. While the early Shuttle and ISS architectures included robotics, their eventual benefits on the overall assembly and maintenance operations could have been greater through incorporating them as a major design driver from the beginning of the system design. Lessons learned from the ISS highlight the potential benefits of real-time health monitoring systems, consistent standards for robotic interfaces and procedures and automated script-driven ground control in future space station assembly and logistics architectures. In addition, advances in computer vision systems and remote operation, supervised autonomous command and control systems offer the potential to adjust the balance between assembly and maintenance tasks performed using extra vehicular activity (EVA), extra vehicular robotics (EVR) and EVR controlled from the ground, offloading the EVA astronaut and even the robotic operator on-orbit of some of the more routine tasks. Overall these proposed approaches when used effectively offer the potential to drive down operations overhead and allow more efficient and productive robotic operations.

Reconnaissance and Autonomy for Small Robots (RASR) team: MAGIC 2010 challenge

NASA Astrophysics Data System (ADS)

Lacaze, Alberto; Murphy, Karl; Del Giorno, Mark; Corley, Katrina

2012-06-01

The Reconnaissance and Autonomy for Small Robots (RASR) team developed a system for the coordination of groups of unmanned ground vehicles (UGVs) that can execute a variety of military relevant missions in dynamic urban environments. Historically, UGV operations have been primarily performed via tele-operation, requiring at least one dedicated operator per robot, and requiring substantial real-time bandwidth to accomplish those missions. Our team goal was to develop a system that can provide long-term value to the war-fighter, utilizing MAGIC-2010 as a stepping stone. To that end, we self-imposed a set of constraints that would force us to develop technology that could readily be used by the military in the near term: • Use a relevant (deployed) platform • Use low-cost, reliable sensors • Develop an expandable and modular control system with innovative software algorithms to minimize the computing footprint required • Minimize required communications bandwidth and handle communication losses • Minimize additional power requirements to maximize battery life and mission duration

Experimental setup for evaluating an adaptive user interface for teleoperation control

NASA Astrophysics Data System (ADS)

Wijayasinghe, Indika B.; Peetha, Srikanth; Abubakar, Shamsudeen; Saadatzi, Mohammad Nasser; Cremer, Sven; Popa, Dan O.

2017-05-01

A vital part of human interactions with a machine is the control interface, which single-handedly could define the user satisfaction and the efficiency of performing a task. This paper elaborates the implementation of an experimental setup to study an adaptive algorithm that can help the user better tele-operate the robot. The formulation of the adaptive interface and associate learning algorithms are general enough to apply when the mapping between the user controls and the robot actuators is complex and/or ambiguous. The method uses a genetic algorithm to find the optimal parameters that produce the input-output mapping for teleoperation control. In this paper, we describe the experimental setup and associated results that was used to validate the adaptive interface to a differential drive robot from two different input devices; a joystick, and a Myo gesture control armband. Results show that after the learning phase, the interface converges to an intuitive mapping that can help even inexperienced users drive the system to a goal location.

Research state-of-the-art of mobile robots in China

NASA Astrophysics Data System (ADS)

Wu, Lin; Zhao, Jinglun; Zhang, Peng; Li, Shiqing

1991-03-01

Several newly developed mobile robots in china are described in the paper. It includes masterslave telerobot sixleged robot biped walking robot remote inspection robot crawler moving robot and autonomous mobi le vehicle . Some relevant technology are also described.

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.

Crew/Robot Coordinated Planetary EVA Operations at a Lunar Base Analog Site

NASA Technical Reports Server (NTRS)

Diftler, M. A.; Ambrose, R. O.; Bluethmann, W. J.; Delgado, F. J.; Herrera, E.; Kosmo, J. J.; Janoiko, B. A.; Wilcox, B. H.; Townsend, J. A.; Matthews, J. B.;

Calvin-Rehoboth Robotic Twin Telescopes

NASA Astrophysics Data System (ADS)

Haarsma, D. B.; Molnar, L. A.; VanBaak, D. A.

2004-12-01

The astronomy program at Calvin College, like many small colleges, is limited by poor weather and light pollution at its midwestern campus and by limited free time on the part of its astronomy faculty. Nonetheless we believe direct access to the physical universe is key to the science education both of science majors and nonmajors. Recent advances in hardware and software for modest robotic telescopes have made it possible for colleges like ours to incorporate the use of a remote bservatory into our curriculum within typical financial and time constraints. In this poster we make our first report on the installation of two robotic telescopes (one on campus and one at a remote site in New Mexico) using largely off-the-shelf components. Students learn first with the local telescope in order to understand the equipment and procedures, but obtain the majority of their data with the remote telescope. Equipment development is done first with the local telescope, and then implemented on the remote telescope (where time spent in development is difficult). We received an NSF CCLI grant and matching college funds in the summer of 2002. The local telescope was installed in the spring of 2003, and the New Mexico telescope was ready for remote operation in January 2004. Our poster will describe our equipment choices, including a few components (such as an equipment rack for the back end of the telescope) which we designed ourselves. It will also detail classroom use of the equipment in its first two semesters by students at a range of levels. A copy of the poster and many additional details of the project are available on the Calvin observatory website, http://www.calvin.edu/observatory/.

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.

How to set up a low cost tele-ultrasound capable videoconferencing system with wide applicability

PubMed Central

2012-01-01

Background Worldwide ultrasound equipment accessibility is at an all-time high, as technology improves and costs decrease. Ensuring that patients benefit from more accurate resuscitation and diagnoses from a user-dependent technology, such as ultrasound, requires accurate examination, typically entailing significant training. Remote tele-mentored ultrasound (RTUS) examination is, however, a technique pioneered in space medicine that has increased applicability on earth. We, thus, sought to create and demonstrate a cost-minimal approach and system with potentially global applicability. Methods The cost-minimal RTUS system was constructed by utilizing a standard off-the-shelf laptop computer that connected to the internet through an internal wireless receiver and/or was tethered through a smartphone. A number of portable hand-held ultrasound devices were digitally streamed into the laptop utilizing a video converter. Both the ultrasound video and the output of a head-mounted video camera were transmitted over freely available Voice Over Internet Protocol (VOIP) software to remote experts who could receive and communicate using any mobile device (computer, tablet, or smartphone) that could access secure VOIP transmissions from the internet. Results The RTUS system allowed real-time mentored tele-ultrasound to be conducted from a variety of settings that were inside buildings, outside on mountainsides, and even within aircraft in flight all unified by the simple capability of receiving and transmitting VOIP transmissions. . Numerous types of ultrasound examinations were conducted such as abdominal and thoracic examinations with a variety of users mentored who had previous skills ranging from none to expert. Internet connectivity was rarely a limiting factor, with competing logistical and scheduling demands of the participants predominating. Conclusions RTUS examinations can educate and guide point of care clinical providers to enhance their use of ultrasound. The scope of the examinations conducted is limited only by the time available and the criticality of the subject being examined. As internet connectivity will only improve worldwide, future developments need to focus on the human factors to optimize tele-sonographic interactions. PMID:22871099

BioBlocks: Programming Protocols in Biology Made Easier.

PubMed

Gupta, Vishal; Irimia, Jesús; Pau, Iván; Rodríguez-Patón, Alfonso

2017-07-21

The methods to execute biological experiments are evolving. Affordable fluid handling robots and on-demand biology enterprises are making automating entire experiments a reality. Automation offers the benefit of high-throughput experimentation, rapid prototyping, and improved reproducibility of results. However, learning to automate and codify experiments is a difficult task as it requires programming expertise. Here, we present a web-based visual development environment called BioBlocks for describing experimental protocols in biology. It is based on Google's Blockly and Scratch, and requires little or no experience in computer programming to automate the execution of experiments. The experiments can be specified, saved, modified, and shared between multiple users in an easy manner. BioBlocks is open-source and can be customized to execute protocols on local robotic platforms or remotely, that is, in the cloud. It aims to serve as a de facto open standard for programming protocols in Biology.

Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model

PubMed Central

Konstantinova, Jelizaveta; Xu, Guanghua; He, Bo; Aminzadeh, Vahid; Xie, Jun; Wurdemann, Helge; Althoefer, Kaspar

2017-01-01

Haptic information in robotic surgery can significantly improve clinical outcomes and help detect hard soft-tissue inclusions that indicate potential abnormalities. Visual representation of tissue stiffness information is a cost-effective technique. Meanwhile, direct force feedback, although considerably more expensive than visual representation, is an intuitive method of conveying information regarding tissue stiffness to surgeons. In this study, real-time visual stiffness feedback by sliding indentation palpation is proposed, validated, and compared with force feedback involving human subjects. In an experimental tele-manipulation environment, a dynamically updated color map depicting the stiffness of probed soft tissue is presented via a graphical interface. The force feedback is provided, aided by a master haptic device. The haptic device uses data acquired from an F/T sensor attached to the end-effector of a tele-manipulated robot. Hard nodule detection performance is evaluated for 2 modes (force feedback and visual stiffness feedback) of stiffness feedback on an artificial organ containing buried stiff nodules. From this artificial organ, a virtual-environment tissue model is generated based on sliding indentation measurements. Employing this virtual-environment tissue model, we compare the performance of human participants in distinguishing differently sized hard nodules by force feedback and visual stiffness feedback. Results indicate that the proposed distributed visual representation of tissue stiffness can be used effectively for hard nodule identification. The representation can also be used as a sufficient substitute for force feedback in tissue palpation. PMID:28248996

Implementation of a model of robotic tele-presence (RTP) in the neuro-ICU: effect on critical care nursing team satisfaction.

PubMed

Rincon, Fred; Vibbert, Matthew; Childs, Valerie; Fry, Robin; Caliguri, Dennis; Urtecho, Jacqueline; Rosenwasser, Robert; Jallo, Jack

2012-08-01

Robotic tele-presence (RTP) is a form of mobile telemedicine, which enables a direct face-to-face rapid response by the physician, instead of the traditional telephonic paradigm. We hypothesized that a model of RTP for after-hour ICU rounds and emergencies would be associated with improved ICU nurse satisfaction. We implemented a prospective nighttime multidisciplinary ICU round time, using RTP at our neuro-ICU. To test for critical ICU nurse team satisfaction, a questionnaire was implemented. The primary outcome was nurse satisfaction measured through a questionnaire with answers trichotomized into: agreement, disagreement, and no opinion. The occurrence of outcomes was compared between the groups by χ2 or Fisher exact tests for the difference in proportions (PD) with Bonferroni correction for multiple pairwise comparisons. In total, 34 nurses completed the pre-survey and 40 nurses completed the post-survey. Night nurses were more likely to agree that RTP was associated with: ICU physicians being sufficiently available in the ICU (agreement 6-20%, PD 14%, p = 0.008), present during acute emergencies (agreement 44-65%, PD 21%, p = 0.007), and had enough time to get questions answered from the physician team (agreement 41-53%, PD 11%, p = NS). This data suggest improvement in critical care nursing team satisfaction with a model of RTP in the neuroscience ICU, particularly during nighttime hours. RTP is a tool that may enhance communication among components of the ICU team.

Evaluation of stiffness feedback for hard nodule identification on a phantom silicone model.

PubMed

Li, Min; Konstantinova, Jelizaveta; Xu, Guanghua; He, Bo; Aminzadeh, Vahid; Xie, Jun; Wurdemann, Helge; Althoefer, Kaspar

2017-01-01

Haptic information in robotic surgery can significantly improve clinical outcomes and help detect hard soft-tissue inclusions that indicate potential abnormalities. Visual representation of tissue stiffness information is a cost-effective technique. Meanwhile, direct force feedback, although considerably more expensive than visual representation, is an intuitive method of conveying information regarding tissue stiffness to surgeons. In this study, real-time visual stiffness feedback by sliding indentation palpation is proposed, validated, and compared with force feedback involving human subjects. In an experimental tele-manipulation environment, a dynamically updated color map depicting the stiffness of probed soft tissue is presented via a graphical interface. The force feedback is provided, aided by a master haptic device. The haptic device uses data acquired from an F/T sensor attached to the end-effector of a tele-manipulated robot. Hard nodule detection performance is evaluated for 2 modes (force feedback and visual stiffness feedback) of stiffness feedback on an artificial organ containing buried stiff nodules. From this artificial organ, a virtual-environment tissue model is generated based on sliding indentation measurements. Employing this virtual-environment tissue model, we compare the performance of human participants in distinguishing differently sized hard nodules by force feedback and visual stiffness feedback. Results indicate that the proposed distributed visual representation of tissue stiffness can be used effectively for hard nodule identification. The representation can also be used as a sufficient substitute for force feedback in tissue palpation.

Future of robotic space exploration: visions and prospects

NASA Astrophysics Data System (ADS)

Haidegger, Tamas

Autonomous and remote controlled mobile robots and manipulators have already proved their utility throughout several successful national and international space missions. NASA and ESA both sent robots and probes to Mars and beyond in the past years, and the Space Shuttle and Space Station Remote Manipulator Systems brought recognition to CSA. These achievements gained public attention and acknowledgement; however, all are based on technologies developed decades ago. Even the Canadian Dexter robotic arm-to be delivered to the International Space Station this year-had been completed many years ago. In the past decade robotics has become ubiquitous, and the speed of development has increased significantly, opening space for grandiose future plans of autonomous exploration missions. In the mean time, space agencies throughout the world insist on running their own costly human space flight programs. A recent workshop at NASA dealing with the issue stated that the primary reason behind US human space exploration is not science; rather the USA wants to maintain its international leadership in this field. A second space-race may fall upon us, fueled by the desire of the developing space powers to prove their capabilities, mainly driven by national pride. The aim of the paper is to introduce the upcoming unmanned space exploration scenarios that are already feasible with present day robotic technology and to show their humandriven alternatives. Astronauts are to conquer Mars in the foreseeable future, in but robots could go a lot further already. Serious engineering constraints and possibilities are to be discussed, along with issues beyond research and development. Future mission design planning must deal with both the technological and political aspects of space. Compromising on the scientific outcome may pay well by taking advantage of public awareness and nation and international interests.

Collaborative volume visualization with applications to underwater acoustic signal processing

NASA Astrophysics Data System (ADS)

Jarvis, Susan; Shane, Richard T.

2000-08-01

Distributed collaborative visualization systems represent a technology whose time has come. Researchers at the Fraunhofer Center for Research in Computer Graphics have been working in the areas of collaborative environments and high-end visualization systems for several years. The medical application. TeleInVivo, is an example of a system which marries visualization and collaboration. With TeleInvivo, users can exchange and collaboratively interact with volumetric data sets in geographically distributed locations. Since examination of many physical phenomena produce data that are naturally volumetric, the visualization frameworks used by TeleInVivo have been extended for non-medical applications. The system can now be made compatible with almost any dataset that can be expressed in terms of magnitudes within a 3D grid. Coupled with advances in telecommunications, telecollaborative visualization is now possible virtually anywhere. Expert data quality assurance and analysis can occur remotely and interactively without having to send all the experts into the field. Building upon this point-to-point concept of collaborative visualization, one can envision a larger pooling of resources to form a large overview of a region of interest from contributions of numerous distributed members.

"Tele Pour Tous" in Rural Ivory Coast: Audience, Impact, Perceptions: Report of Two Surveys Conducted in January and April, 1977.

ERIC Educational Resources Information Center

Etaix, Mireille; Lenglet, Frans

This report presents the results of two surveys conducted in January and April 1977 in the Ivory Coast to assess the impact of the "Tele Pour Tous" programs on rural audiences in terms of awareness, learning, and action. Descriptions of the socio-economic characteristics of the audience and their viewing patterns were sought, and…

TRUST-tPA trial: Telemedicine for remote collaboration with urgentists for stroke-tPA treatment.

PubMed

Mazighi, Mikael; Meseguer, Elena; Labreuche, Julien; Miroux, Patrick; Le Gall, Catherine; Roy, Patricia; Tubach, Florence; Amarenco, Pierre

2017-01-01

Background Previous observational studies have shown that telemedicine is feasible and safe to deliver intravenous (IV) recombinant tissue plasminogen activator (rt-PA). However, implementation of telemedicine may be challenging. To illustrate this fact, we report a study showing that telemedicine failed to improve clinical outcome and analyze the reasons for this shortcoming. Methods We established a tele-stroke network of 10 emergency rooms (ERs) of community hospitals connected to a stroke center to perform a randomized, open-label clinical trial with blinded outcome evaluation. Eligible patients were randomly assigned to either a usual care arm (i.e. immediate transfer to the stroke center and administration of IV rt-PA if indication was confirmed upon stroke arrival) or tele-thrombolysis arm (i.e. immediate administration of IV rt-PA in ER and transfer to the stroke center). The primary efficacy outcome was an excellent outcome (modified Rankin scale (mRS) 0-1 at 90 days). Secondary endpoints included favorable outcome (90-day mRS 0-2) and early neurological improvement (NIHSS score 0-1 at 24 hours or a decrease of ≥ 4 points within 24 hours). Safety outcomes included symptomatic intracerebral hemorrhage (ICH) per ECASS II definition, any ICH and all-cause mortality. Results During an accrual time of 48 months, because of a slow enrollment rate, only 49 of 270 patients initially planned for inclusion were randomized into usual care ( n = 23) and tele-thrombolysis ( n = 26). Despite random assignment, patients allocated to tele-thrombolysis were older and had more severe stroke than patients allocated to usual care. The median duration of video-conference was 23 minutes in the usual care arm and 73 minutes in the tele-thrombolysis arm. Eighty-four percent of patients in the tele-thrombolysis arm were treated by IV rt-PA in comparison to 18% in the usual care arm. In univariate analysis but not after adjustment for age and baseline NIHSS, patients allocated in the usual care arm had a higher rate of excellent or favorable outcome. There were no differences in safety outcomes, with only one symptomatic ICH occurring in the tele-thrombolysis arm. Conclusions Stroke patients included in the telemedicine arm of the TRUST-tPA trial increased their rt-PA eligibility five-fold. However, the efficacy and safety remains to be determined (ClinicalTrials.org, NCT00279149).

Assessment of Internet-based tele-medicine in Africa (the RAFT project).

PubMed

Bagayoko, Cheick Oumar; Müller, Henning; Geissbuhler, Antoine

2006-01-01

The objectives of this paper on the Réseau Afrique Francophone de Télémédecine (RAFT) project are the evaluation of feasibility, potential, problems and risks of an Internet-based tele-medicine network in developing countries of Africa. The RAFT project was started in Western African countries 5 years ago and has now extended to other regions of Africa as well (i.e. Madagascar, Rwanda). A project for the development of a national tele-medicine network in Mali was initiated in 2001, extended to Mauritania in 2002 and to Morocco in 2003. By 2006, a total of nine countries are connected. The entire technical infrastructure is based on Internet technologies for medical distance learning and tele-consultations. The results are a tele-medicine network that has been in productive use for over 5 years and has enabled various collaboration channels, including North-to-South (from Europe to Africa), South-to-South (within Africa), and South-to-North (from Africa to Europe) distance learning and tele-consultations, plus many personal exchanges between the participating hospitals and Universities. It has also unveiled a set of potential problems: (a) the limited importance of North-to-South collaborations when there are major differences in the available resources or the socio-cultural contexts between the collaborating parties; (b) the risk of an induced digital divide if the periphery of the health system in developing countries is not involved in the development of the network; and (c) the need for the development of local medical content management skills. Particularly point (c) is improved through the collaboration between the various countries as professionals from the medical and the computer science field are sharing courses and resources. Personal exchanges between partners in the project are frequent, and several persons received an education at one of the partner Universities. As conclusion, we can say that the identified risks have to be taken into account when designing large-scale tele-medicine projects in developing countries. These problems can be mitigated by fostering South-South collaboration channels, by the use of satellite-based Internet connectivity in remote areas, the appreciation of local knowledge and its publication on-line. The availability of such an infrastructure also facilitates the development of other projects, courses, and local content creation.

Telearch - Integrated visual simulation environment for collaborative virtual archaeology.

NASA Astrophysics Data System (ADS)

Kurillo, Gregorij; Forte, Maurizio

Archaeologists collect vast amounts of digital data around the world; however, they lack tools for integration and collaborative interaction to support reconstruction and interpretation process. TeleArch software is aimed to integrate different data sources and provide real-time interaction tools for remote collaboration of geographically distributed scholars inside a shared virtual environment. The framework also includes audio, 2D and 3D video streaming technology to facilitate remote presence of users. In this paper, we present several experimental case studies to demonstrate the integration and interaction with 3D models and geographical information system (GIS) data in this collaborative environment.

The 1989 NASA-ASEE Summer Faculty Fellowship Program in Aeronautics and Research

NASA Technical Reports Server (NTRS)

Boroson, Harold R.; Soffen, Gerald A.; Fan, Dah-Nien

1989-01-01

The 1989 NASA-ASEE Summer Faculty Fellowship Program at the Goddard Space Flight Center was conducted during 5 Jun. 1989 to 11 Aug. 1989. The research projects were previously assigned. Work summaries are presented for the following topics: optical properties data base; particle acceleration; satellite imagery; telemetry workstation; spectroscopy; image processing; stellar spectra; optical radar; robotics; atmospheric composition; semiconductors computer networks; remote sensing; software engineering; solar flares; and glaciers.

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.

Telerobot control system

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

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.

Tele-yoga for Chronic Pain: Current Status and Future Directions.

PubMed

Mathersul, Danielle C; Mahoney, Louise A; Bayley, Peter J

2018-01-01

Pain is a pervasive, debilitating disorder that is resistant to long-term pharmacological interventions. Although psychological therapies such as cognitive behavior therapy demonstrate moderate efficacy, many individuals continue to have ongoing difficulties following treatment. There is a current trend to establish complementary and integrative health interventions for chronic pain, for which yoga has been found to have exciting potential. Nevertheless, an important consideration within the field is accessibility to adequate care. Telehealth can be used to provide real-time interactive video conferencing leading to increased access to health care for individuals located remotely or who otherwise have difficulty accessing services, perhaps through issues of mobility or proximity of adequate services. This article assesses the current status and feasibility of implementing tele-yoga for chronic pain. Methodological limitations and recommendations for future research are discussed.

Tele-yoga for Chronic Pain: Current Status and Future Directions

PubMed Central

Mahoney, Louise A; Bayley, Peter J

2018-01-01

Pain is a pervasive, debilitating disorder that is resistant to long-term pharmacological interventions. Although psychological therapies such as cognitive behavior therapy demonstrate moderate efficacy, many individuals continue to have ongoing difficulties following treatment. There is a current trend to establish complementary and integrative health interventions for chronic pain, for which yoga has been found to have exciting potential. Nevertheless, an important consideration within the field is accessibility to adequate care. Telehealth can be used to provide real-time interactive video conferencing leading to increased access to health care for individuals located remotely or who otherwise have difficulty accessing services, perhaps through issues of mobility or proximity of adequate services. This article assesses the current status and feasibility of implementing tele-yoga for chronic pain. Methodological limitations and recommendations for future research are discussed. PMID:29637012

Assessment of Haptic Interaction for Home-Based Physical Tele-Therapy using Wearable Devices and Depth Sensors.

PubMed

Barmpoutis, Angelos; Alzate, Jose; Beekhuizen, Samantha; Delgado, Horacio; Donaldson, Preston; Hall, Andrew; Lago, Charlie; Vidal, Kevin; Fox, Emily J

2016-01-01

In this paper a prototype system is presented for home-based physical tele-therapy using a wearable device for haptic feedback. The haptic feedback is generated as a sequence of vibratory cues from 8 vibrator motors equally spaced along an elastic wearable band. The motors guide the patients' movement as they perform a prescribed exercise routine in a way that replaces the physical therapists' haptic guidance in an unsupervised or remotely supervised home-based therapy session. A pilot study of 25 human subjects was performed that focused on: a) testing the capability of the system to guide the users in arbitrary motion paths in the space and b) comparing the motion of the users during typical physical therapy exercises with and without haptic-based guidance. The results demonstrate the efficacy of the proposed system.

Basic Operational Robotics Instructional System

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

Robotics

NASA Astrophysics Data System (ADS)

Popov, E. P.; Iurevich, E. I.

The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

Integrated Planning for Telepresence With Time Delays

NASA Technical Reports Server (NTRS)

Johnston, Mark; Rabe, Kenneth

2009-01-01

A conceptual "intelligent assistant" and an artificial-intelligence computer program that implements the intelligent assistant have been developed to improve control exerted by a human supervisor over a robot that is so distant that communication between the human and the robot involves significant signal-propagation delays. The goal of the effort is not only to help the human supervisor monitor and control the state of the robot, but also to improve the efficiency of the robot by allowing the supervisor to "work ahead". The intelligent assistant is an integrated combination of an artificial-intelligence planner and a monitor of states of both the human supervisor and the remote robot. The novelty of the system lies in the way it uses the planner to reason about the states at both ends of the time delay. The purpose served by the assistant is to provide advice to the human supervisor about current and future activities, derived from a sequence of high-level goals to be achieved.

System architecture for asynchronous multi-processor robotic control system

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

Applying robotics to HAZMAT

NASA Technical Reports Server (NTRS)

Welch, Richard V.; Edmonds, Gary O.

1994-01-01

The use of robotics in situations involving hazardous materials can significantly reduce the risk of human injuries. The Emergency Response Robotics Project, which began in October 1990 at the Jet Propulsion Laboratory, is developing a teleoperated mobile robot allowing HAZMAT (hazardous materials) teams to remotely respond to incidents involving hazardous materials. The current robot, called HAZBOT III, can assist in locating characterizing, identifying, and mitigating hazardous material incidents without risking entry team personnel. The active involvement of the JPL Fire Department HAZMAT team has been vital in developing a robotic system which enables them to perform remote reconnaissance of a HAZMAT incident site. This paper provides a brief review of the history of the project, discusses the current system in detail, and presents other areas in which robotics can be applied removing people from hazardous environments/operations.

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

NASA Astrophysics Data System (ADS)

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

2012-06-01

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

Auto-converging stereo cameras for 3D robotic tele-operation

NASA Astrophysics Data System (ADS)

Edmondson, Richard; Aycock, Todd; Chenault, David

2012-06-01

Polaris Sensor Technologies has developed a Stereovision Upgrade Kit for TALON robot to provide enhanced depth perception to the operator. This kit previously required the TALON Operator Control Unit to be equipped with the optional touchscreen interface to allow for operator control of the camera convergence angle adjustment. This adjustment allowed for optimal camera convergence independent of the distance from the camera to the object being viewed. Polaris has recently improved the performance of the stereo camera by implementing an Automatic Convergence algorithm in a field programmable gate array in the camera assembly. This algorithm uses scene content to automatically adjust the camera convergence angle, freeing the operator to focus on the task rather than adjustment of the vision system. The autoconvergence capability has been demonstrated on both visible zoom cameras and longwave infrared microbolometer stereo pairs.

Organizational and Teamwork Factors of Tele-Intensive Care Units.

PubMed

Wilkes, Michael S; Marcin, James P; Ritter, Lois A; Pruitt, Sherilyn

2016-09-01

Use of tele-intensive care involves organizational and teamwork factors across geographic locations. This situation adds to the complexity of collaboration in providing quality patient-centered care. To evaluate cross-agency teamwork of health care professionals caring for patients in tele-intensive care units in rural and urban regions. A national qualitative study was conducted in 3 US geographic regions with tele-intensive care programs. Discussions and interviews were held with key participants during site visits at 3 hub sites (specialist services location) and 8 rural spoke sites (patient location). The effects of communication and culture between the hub team and the spoke team on use of the services and effectiveness of care were evaluated. A total of 34 participants were interviewed. Specific organizational and teamwork factors significantly affect the functionality of a tele-intensive care unit. Key operational and cultural barriers that limit the benefits of the units include unrealistic expectations about operational capabilities, lack of trust, poorly defined leadership, and a lack of communication policies. Potential solutions include education on spoke facility resources, clearly defined expectations and role reversal education, team-building activities, and feedback mechanisms to share concerns, successes, and suggestions. Proper administration and attention to important cultural and teamwork factors are essential to making tele-intensive care units effective, practical, and sustainable. ©2016 American Association of Critical-Care Nurses.

The importance of shared mental models and shared situation awareness for transforming robots from tools to teammates

NASA Astrophysics Data System (ADS)

Ososky, Scott; Schuster, David; Jentsch, Florian; Fiore, Stephen; Shumaker, Randall; Lebiere, Christian; Kurup, Unmesh; Oh, Jean; Stentz, Anthony

2012-06-01

Current ground robots are largely employed via tele-operation and provide their operators with useful tools to extend reach, improve sensing, and avoid dangers. To move from robots that are useful as tools to truly synergistic human-robot teaming, however, will require not only greater technical capabilities among robots, but also a better understanding of the ways in which the principles of teamwork can be applied from exclusively human teams to mixed teams of humans and robots. In this respect, a core characteristic that enables successful human teams to coordinate shared tasks is their ability to create, maintain, and act on a shared understanding of the world and the roles of the team and its members in it. The team performance literature clearly points towards two important cornerstones for shared understanding of team members: mental models and situation awareness. These constructs have been investigated as products of teams as well; amongst teams, they are shared mental models and shared situation awareness. Consequently, we are studying how these two constructs can be measured and instantiated in human-robot teams. In this paper, we report results from three related efforts that are investigating process and performance outcomes for human robot teams. Our investigations include: (a) how human mental models of tasks and teams change whether a teammate is human, a service animal, or an advanced automated system; (b) how computer modeling can lead to mental models being instantiated and used in robots; (c) how we can simulate the interactions between human and future robotic teammates on the basis of changes in shared mental models and situation assessment.

Use of video-based education and tele-health home monitoring after liver transplantation: Results of a novel pilot study.

PubMed

Ertel, Audrey E; Kaiser, Tiffany E; Abbott, Daniel E; Shah, Shimul A

2016-10-01

In this observational study, we analyzed the feasibility and early results of a perioperative, video-based educational program and tele-health home monitoring model on postoperative care management and readmissions for patients undergoing liver transplantation. Twenty consecutive liver transplantation recipients were provided with tele-health home monitoring and an educational video program during the perioperative period. Vital statistics were tracked and monitored daily with emphasis placed on readings outside of the normal range (threshold violations). Additionally, responses to effectiveness questionnaires were collected retrospectively for analysis. In the study, 19 of the 20 patients responded to the effectiveness questionnaire, with 95% reporting having watched all 10 videos, 68% watching some more than once, and 100% finding them effective in improving their preparedness for understanding their postoperative care. Among these 20 patients, there was an observed 19% threshold violation rate for systolic blood pressure, 6% threshold violation rate for mean blood glucose concentrations, and 8% threshold violation rate for mean weights. This subset of patients had a 90-day readmission rate of 30%. This observational study demonstrates that tele-health home monitoring and video-based educational programs are feasible in liver transplantation recipients and seem to be effective in enhancing the monitoring of vital statistics postoperatively. These data suggest that smart technology is effective in creating a greater awareness and understanding of how to manage postoperative care after liver transplantation. Copyright © 2016 Elsevier Inc. All rights reserved.

Design and implement of mobile equipment management system based on QRcode

NASA Astrophysics Data System (ADS)

Yu, Runze; Duan, Xiaohui; Jiao, Bingli

2017-08-01

A mobile equipment management system based on QRcode is proposed for remote and convenient device management. Unlike conventional systems, the system here makes managers accessible to real-time information with smart phones. Compared with the conventional method, which can only be operated with specific devices, this lightweight and efficient tele management mode is conducive to the asset management in multiple scenarios.

[Tele-medicine system for high-risk asthmatic patients].

PubMed

Kokubu, F; Suzuki, H; Sano, Y; Kihara, N; Adachi, M

1999-07-01

We have developed a tele-medicine system to monitor the airway status at home for patients with poorly controlled asthma, whereby a nurse provides instructions to individuals via the telephone to help them manage exacerbation under the supervision of their physicians. We examined the effectiveness of this system with a randomized control study. Patients with high hospitalization risk were enrolled in the study by screening patients for those with multiple previous emergency room visits and randomly assigned to either the tele-medicine or control group. After six months of participation in the program, the number of emergency room visits decreased significantly and the activities of daily living were improved in the tele-medicine group. Most of the patients in the tele-medicine group were able to continue measuring and transmitting peak expiratory flow (PEF) value successfully, and at six months had noticed an improvement in PEF. We therefore conclude that the system effectively contributes to the management of poorly controlled asthma. In addition, further consideration suggests that the reduction of emergency room visits may lead to reduction in hospitalization since we found a good correlation between number of emergency room visits and hospitalization from the studies published previously.

Mental health services for Nunavut children and youth: evaluating a telepsychiatry pilot project.

PubMed

Volpe, T; Boydell, K M; Pignatiello, A

2014-01-01

This study examines the delivery of psychiatric consultation services using videoconferencing technology to health and mental health workers in the Nunavut territory of Canada. The research provides insights into the TeleLink Mental Health Program and the delivery of professional-to-professional program consultations and continuing education seminars. Participant observation of 12 program consultations and four continuing education sessions was conducted. Individual interviews were conducted with the consulting psychiatrist and the lead program coordinator in Nunavut. As well, a focus group was held with Nunavut workers who participated in the televideo sessions. The study found a number of factors that facilitated or hindered the process and content of a consultation-based telepsychiatry program and its effect on building capacity among frontline staff. Four main themes emerged related to the delivery of psychiatric services via televideo: gaining access, ensuring culturally appropriate services, providing relevant continuing education, and offering stable and confidential technology. Live interactive videoconferencing technology is an innovative and effective way of delivering specialized mental health services to professionals working in remote areas of Nunavut. Study results provide important strategies for expanding this approach to other jurisdictions in Nunavut and other Inuit regions.

History of remote operations and robotics in nuclear facilities. Robotics and Intelligent Systems Program

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

Herndon, J.N.

1992-05-01

The field of remote technology is continuing to evolve to support man`s efforts to perform tasks in hostile environments. Remote technology has roots which reach into the early history of man. Fireplace pokers, blacksmith`s tongs, and periscopes are examples of the beginnings of remote technology. The technology which we recognize today has evolved over the last 45-plus years to support human operations in hostile environments such as nuclear fission and fusion, space, underwater, hazardous chemical, and hazardous manufacturing. The four major categories of approach to remote technology have been (1) protective clothing and equipment for direct human entry, (2) extendedmore » reach tools using distance for safety, (3) telemanipulators with barriers for safety, and (4) teleoperators incorporating mobility with distance and/or barriers for safety. The government and commercial nuclear industry has driven the development of the majority of the actual teleoperator hardware available today. This hardware has been developed due to the unsatisfactory performance of the protective-clothing approach in many hostile applications. Systems which have been developed include crane/impact wrench systems, unilateral power manipulators, mechanical master/slaves, and servomanipulators. Work for space applications has been primarily research oriented with few successful space applications, although the shuttle`s remote manipulator system has been successful. In the last decade, underwater applications have moved forward significantly, with the offshore oil industry and military applications providing the primary impetus. This document consists of viewgraphs and subtitled figures.« less

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

NASA Technical Reports Server (NTRS)

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

2013-01-01

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

Neural networks for satellite remote sensing and robotic sensor interpretation

NASA Astrophysics Data System (ADS)

Martens, Siegfried

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

Design and Calibration of a New 6 DOF Haptic Device

PubMed Central

Qin, Huanhuan; Song, Aiguo; Liu, Yuqing; Jiang, Guohua; Zhou, Bohe

2015-01-01

For many applications such as tele-operational robots and interactions with virtual environments, it is better to have performance with force feedback than without. Haptic devices are force reflecting interfaces. They can also track human hand positions simultaneously. A new 6 DOF (degree-of-freedom) haptic device was designed and calibrated in this study. It mainly contains a double parallel linkage, a rhombus linkage, a rotating mechanical structure and a grasping interface. Benefited from the unique design, it is a hybrid structure device with a large workspace and high output capability. Therefore, it is capable of multi-finger interactions. Moreover, with an adjustable base, operators can change different postures without interrupting haptic tasks. To investigate the performance regarding position tracking accuracy and static output forces, we conducted experiments on a three-dimensional electric sliding platform and a digital force gauge, respectively. Displacement errors and force errors are calculated and analyzed. To identify the capability and potential of the device, four application examples were programmed. PMID:26690449

Remote access thyroid surgery

PubMed Central

Bhatia, Parisha; Mohamed, Hossam Eldin; Kadi, Abida; Walvekar, Rohan R.

2015-01-01

Robot assisted thyroid surgery has been the latest advance in the evolution of thyroid surgery after endoscopy assisted procedures. The advantage of a superior field vision and technical advancements of robotic technology have permitted novel remote access (trans-axillary and retro-auricular) surgical approaches. Interestingly, several remote access surgical ports using robot surgical system and endoscopic technique have been customized to avoid the social stigma of a visible scar. Current literature has displayed their various advantages in terms of post-operative outcomes; however, the associated financial burden and also additional training and expertise necessary hinder its widespread adoption into endocrine surgery practices. These approaches offer excellent cosmesis, with a shorter learning curve and reduce discomfort to surgeons operating ergonomically through a robotic console. This review aims to provide details of various remote access techniques that are being offered for thyroid resection. Though these have been reported to be safe and feasible approaches for thyroid surgery, further evaluation for their efficacy still remains. PMID:26425450

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.

Method and associated apparatus for capturing, servicing and de-orbiting earth satellites using robotics

NASA Technical Reports Server (NTRS)

Burns, Richard D. (Inventor); Cepollina, Frank J. (Inventor); Jedhrich, Nicholas M. (Inventor); Holz, Jill M. (Inventor); Corbo, James E. (Inventor)

2008-01-01

This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR; and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time, as well as the ability to intervene using manual override to teleoperate the robot.In one embodiment, a vehicle used for carrying out the method of this invention comprises an ejection module, which includes the robot, and a de-orbit module. Once servicing is completed by the robot, the ejection module separates from the de-orbit module, leaving the de-orbit module attached to the satellite for de-orbiting the same at a future time. Upon separation, the ejection module can either de-orbit itself or rendezvous with another satellite for servicing. The ability to de-orbit a spacecraft further allows the opportunity to direct the landing of the spent satellite in a safe location away from population centers, such as the ocean.

Method and associated apparatus for capturing, servicing and de-orbiting earth satellites using robotics

NASA Technical Reports Server (NTRS)

Burns, Richard D. (Inventor); Jedhrich, Nicholas M. (Inventor); Cepollina, Frank J. (Inventor); Holz, Jill M. (Inventor); Corbo, James E. (Inventor)

2007-01-01

This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR; and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time, as well as the ability to intervene using manual override to teleoperate the robot.In one embodiment, a vehicle used for carrying out the method of this invention comprises an ejection module, which includes the robot, and a de-orbit module. Once servicing is completed by the robot, the ejection module separates from the de-orbit module, leaving the de-orbit module attached to the satellite for de-orbiting the same at a future time. Upon separation, the ejection module can either de-orbit itself or rendezvous with another satellite for servicing. The ability to de-orbit a spacecraft further allows the opportunity to direct the landing of the spent satellite in a safe location away from population centers, such as the ocean.

Method and associated apparatus for capturing, servicing, and de-orbiting earth satellites using robotics

NASA Technical Reports Server (NTRS)

Holz, Jill M. (Inventor); Corbo, James E. (Inventor); Burns, Richard D. (Inventor); Cepollina, Frank J. (Inventor); Jedhrich, Nicholas M. (Inventor)

2009-01-01

This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR; and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time, as well as the ability to intervene using manual override to teleoperate the robot.In one embodiment, a vehicle used for carrying out the method of this invention comprises an ejection module, which includes the robot, and a de-orbit module. Once servicing is completed by the robot, the ejection module separates from the de-orbit module, leaving the de-orbit module attached to the satellite for de-orbiting the same at a future time. Upon separation, the ejection module can either de-orbit itself or rendezvous with another satellite for servicing. The ability to de-orbit a spacecraft further allows the opportunity to direct the landing of the spent satellite in a safe location away from population centers, such as the ocean.

Method and associated apparatus for capturing, servicing, and de-orbiting earth satellites using robotics

NASA Technical Reports Server (NTRS)

Burns, Richard D. (Inventor); Cepollina, Frank J. (Inventor); Jedhrich, Nicholas M. (Inventor); Holz, Jill M. (Inventor); Corbo, James E. (Inventor)

2007-01-01

This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR; and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time, as well as the ability to intervene using manual override to teleoperate the robot.In one embodiment, a vehicle used for carrying out the method of this invention comprises an ejection module, which includes the robot, and a de-orbit module. Once servicing is completed by the robot, the ejection module separates from the de-orbit module, leaving the de-orbit module attached to the satellite for de-orbiting the same at a future time. Upon separation, the ejection module can either de-orbit itself or rendezvous with another satellite for servicing. The ability to de-orbit a spacecraft further allows the opportunity to direct the landing of the spent satellite in a safe location away from population centers, such as the ocean.

In-Class Robot Flyby of an Endoplanet

NASA Astrophysics Data System (ADS)

Chadwick, A. J.; Capaldi, T.; Aurnou, J. M.

2013-12-01

For our Introduction to Computing class, we have developed a miniature robotic spacecraft mission that performs a flyby of an in-class 'endoplanet.' Our constructed endoplanet contains an internal dipole magnet, tilted with a dip angle that is unknown a priori. The spacecraft analog is a remotely controlled LEGO MINDSTORMS robot programmed using LabVIEW. Students acquire magnetic field data via a first spacecraft flyby past the endoplanet. This dataset is then imported into MATLAB, and is inverted to create a model of the magnet's orientation and dipole moment. Students use their models to predict the magnetic field profile along a different flyby path. They then test the accuracy of their models, comparing their predictions against the data acquired from this secondary flyby. We will be demonstrating this device at our poster in the Moscone Center.

United States Air Force Graduate Student Research Program for 1990. Program Technical Report. Volume 1

DTIC Science & Technology

1991-06-05

functions on the excavator. 28-6 m0 E Figure 1: Conceptual User Interface for the Rapid Runway Repair (RRR) Remote Control System IV. COMMUNICATION SYSTEM...Vehicle Systems Conference, Dayton, OH. Mariani, D., 1988, "Robotic Vehicle Communications Interoperability," RD& E Center Technical Report, US Army Tank...D.g e : BS Va;,derbilt University Specialty: Computer Engineering Electrical Eng. Dept. Absigned: Arnold Er-gineering Nashville, TN 37240 Developmer

Remote hardware-reconfigurable robotic camera

NASA Astrophysics Data System (ADS)

Arias-Estrada, Miguel; Torres-Huitzil, Cesar; Maya-Rueda, Selene E.

2001-10-01

In this work, a camera with integrated image processing capabilities is discussed. The camera is based on an imager coupled to an FPGA device (Field Programmable Gate Array) which contains an architecture for real-time computer vision low-level processing. The architecture can be reprogrammed remotely for application specific purposes. The system is intended for rapid modification and adaptation for inspection and recognition applications, with the flexibility of hardware and software reprogrammability. FPGA reconfiguration allows the same ease of upgrade in hardware as a software upgrade process. The camera is composed of a digital imager coupled to an FPGA device, two memory banks, and a microcontroller. The microcontroller is used for communication tasks and FPGA programming. The system implements a software architecture to handle multiple FPGA architectures in the device, and the possibility to download a software/hardware object from the host computer into its internal context memory. System advantages are: small size, low power consumption, and a library of hardware/software functionalities that can be exchanged during run time. The system has been validated with an edge detection and a motion processing architecture, which will be presented in the paper. Applications targeted are in robotics, mobile robotics, and vision based quality control.

RTML: remote telescope markup language and you

NASA Astrophysics Data System (ADS)

Hessman, F. V.

2001-12-01

In order to coordinate the use of robotic and remotely operated telescopes in networks -- like Göttingen's MOnitoring NEtwork of Telescopes (MONET) -- a standard format for the exchange of observing requests and reports is needed. I describe the benefits of Remote Telescope Markup Language (RTML), an XML-based protocol originally developed by the Hands-On Universe Project, which is being used and further developed by several robotic telescope projects and firms.

National French survey on tele-transmission of EEG recordings: More than a simple technological challenge.

PubMed

Sauleau, Paul; Despatin, Jane; Cheng, Xufei; Lemesle, Martine; Touzery-de Villepin, Anne; N'Guyen The Tich, Sylvie; Kubis, Nathalie

2016-04-01

Assessment of current practice and the need for tele-transmission and remote interpretation of EEG in France. Transmission of EEG to a distant center could be a promising solution to the problem of decreasing availability of neurophysiologists for EEG interpretation, in order to provide equity within health care services in France. This practice should logically follow the legal framework of telemedicine and the recommendations that were recently edited by the Société de neurophysiologie clinique de langue française (SNCLF) and the Ligue française contre l'épilepsie (LCFE). A national survey was designed and performed under the auspices of the SNCLF. This survey reveals that there is an important gap between the official recommendations and the "reality on the ground". These local organizations were mainly established through the impulse of individual initiatives, rarely driven by health regulatory authorities and sometimes far from legal frameworks. For the majority, they result from a need to improve medical care, especially in pediatrics and neonatology, and to ensure continuity of care. When present, tele-transmission of EEG is often only partially satisfactory, since many technical procedures have to be improved. Conversely, the lack of tele-transmission of EEG would penalize medical care for some patients. The survey shows both the wealth of local initiatives and the fragility of most existing networks, emphasizing the need for better cooperation between regulatory authorities and health care professionals to establish or improve the transmission of EEG in France. Copyright © 2016 Elsevier Masson SAS. All rights reserved.

Rapid Deployment of International Tele-Intensive Care Unit Services in War-Torn Syria.

PubMed

Moughrabieh, Anas; Weinert, Craig

2016-02-01

The conflict in Syria has created the largest humanitarian emergency of the twenty-first century. The 4-year Syrian conflict has destroyed hospitals and severely reduced the capacity of intensive care units (ICUs) and on-site intensivists. The crisis has triggered attempts from abroad to support the medical care of severely injured and acutely ill civilians inside Syria, including application of telemedicine. Within the United States, tele-ICU programs have been operating for more than a decade, albeit with high start-up costs and generally long development times. With the benefit of lessons drawn from those domestic models, the Syria Tele-ICU program was launched in December 2012 to manage the care of ICU patients in parts of Syria by using inexpensive, off-the-shelf video cameras, free social media applications, and a volunteer network of Arabic-speaking intensivists in North America and Europe. Within 1 year, 90 patients per month in three ICUs were receiving tele-ICU services. At the end of 2015, a network of approximately 20 participating intensivists was providing clinical decision support 24 hours per day to five civilian ICUs in Syria. The volunteer clinicians manage patients at a distance of more than 6,000 miles, separated by seven or eight time zones between North America and Syria. The program is implementing a cloud-based electronic medical record for physician documentation and a medication administration record for nurses. There are virtual chat rooms for patient rounds, radiology review, and trainee teaching. The early success of the program shows how a small number of committed physicians can use inexpensive equipment spawned by the Internet revolution to support from afar civilian health care delivery in a high-conflict country.

Distance Learning in North Dakota: A Cross-Technology Study of the Schools, Administrators, Coordinators, Instructors, and Students. Two-Way Interactive Television, AudioGraphic Tele-Learning, [and] Instruction by Satellite.

ERIC Educational Resources Information Center

Hobbs, Vicki M.

In 1990 a comparative analysis was conducted of North Dakota student achievement across three forms of distance education: instruction by satellite, audiographic tele-learning, and two way interactive educational television. Based in part on the 1988 study of a German by Satellite program in Missouri and North Dakota, this study mailed…

Robotic positioning of standard electrophysiology catheters: a novel approach to catheter robotics.

PubMed

Knight, Bradley; Ayers, Gregory M; Cohen, Todd J

2008-05-01

Robotic systems have been developed to manipulate and position electrophysiology (EP) catheters remotely. One limitation of existing systems is their requirement for specialized catheters or sheaths. We evaluated a system (Catheter Robotics Remote Catheter Manipulation System [RCMS], Catheter Robotics, Inc., Budd Lake, New Jersey) that manipulates conventional EP catheters placed through standard introducer sheaths. The remote controller functions much like the EP catheter handle, and the system permits repeated catheter disengagement for manual manipulation without requiring removal of the catheter from the body. This study tested the hypothesis that the RCMS would be able to safely and effectively position catheters at various intracardiac sites and obtain thresholds and electrograms similar to those obtained with manual catheter manipulation. Two identical 7 Fr catheters (Blazer II; Boston Scientific Corp., Natick, Massachusetts) were inserted into the right femoral veins of 6 mongrel dogs through separate, standard 7 Fr sheaths. The first catheter was manually placed at a right ventricular endocardial site. The second catheter handle was placed in the mating holder of the RCMS and moved to approximately the same site as the first catheter using the Catheter Robotics RCMS. The pacing threshold was determined for each catheter. This sequence was performed at 2 right atrial and 2 right ventricular sites. The distance between the manually and robotically placed catheters tips was measured, and pacing thresholds and His-bundle recordings were compared. The heart was inspected at necropsy for signs of cardiac perforation or injury. Compared to manual positioning, remote catheter placement produced the same pacing threshold at 7/24 sites, a lower threshold at 11/24 sites, and a higher threshold at only 6/24 sites (p > 0.05). The average distance between catheter tips was 0.46 +/- 0.32 cm (median 0.32, range 0.13-1.16 cm). There was no difference between right atrial and right ventricular sites (p > 0.05). His-bundle electrograms were equal in amplitude and timing. Further, the remote navigation catheter was able to be disengaged, manually manipulated, then reengaged in the robot without issue. There was no evidence of perforation. The Catheter Robotics remote catheter manipulation system, which uses conventional EP catheters and introducer sheaths, appears to be safe and effective at directing EP catheters to intracardiac sites and achieving pacing thresholds and electrograms equivalent to manually placed catheters. Further clinical studies are needed to confirm these observations.

Robotic vehicle with multiple tracked mobility platforms

DOEpatents

Salton, Jonathan R [Albuquerque, NM; Buttz, James H [Albuquerque, NM; Garretson, Justin [Albuquerque, NM; Hayward, David R [Wetmore, CO; Hobart, Clinton G [Albuquerque, NM; Deuel, Jr., Jamieson K.

2012-07-24

A robotic vehicle having two or more tracked mobility platforms that are mechanically linked together with a two-dimensional coupling, thereby forming a composite vehicle of increased mobility. The robotic vehicle is operative in hazardous environments and can be capable of semi-submersible operation. The robotic vehicle is capable of remote controlled operation via radio frequency and/or fiber optic communication link to a remote operator control unit. The tracks have a plurality of track-edge scallop cut-outs that allow the tracks to easily grab onto and roll across railroad tracks, especially when crossing the railroad tracks at an oblique angle.

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

NASA Technical Reports Server (NTRS)

Zornetzer, Steve; Gage, Douglas

2005-01-01

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

A mobile phone based remote patient monitoring system for chronic disease management.

PubMed

Trudel, Mathieu; Cafazzo, Joseph A; Hamill, Melinda; Igharas, Walter; Tallevi, Kevin; Picton, Peter; Lam, Jack; Rossos, Peter G; Easty, Anthony C; Logan, Alexander

2007-01-01

Rising concern over the poor state of chronic disease management led to the user-informed design and development of a home tele-monitoring system. Focus groups with patients and primary care providers guided the research team towards a design that would accommodate the workflow and concerns of the healthcare providers and the low use and comfort with technology found among the patient population. The system was trialed in a before-and-after pilot study of 34 patients with diabetes and hypertension. Findings demonstrate a significant improvement in systolic and diastolic blood pressure. An RCT beginning in 2007 is being conducted to confirm these findings. It is hypothesized that this user-centred approach, utilizing focus groups, iterative design and human factors methods of evaluation, will lead to the next-generation of home tele-monitoring applications that are more intuitive, less cumbersome, and ultimately bring about greater patient compliance and better physician management.

Teleoperator/robot technology can help solve biomedical problems

NASA Technical Reports Server (NTRS)

Heer, E.; Bejczy, A. K.

1975-01-01

Teleoperator and robot technology appears to offer the possibility to apply these techniques to the benefit for the severely handicapped giving them greater self reliance and independence. Major problem areas in the development of prostheses and remotely controlled devices for the handicapped are briefly discussed, and the parallelism with problems in the development of teleoperator/robots identified. A brief description of specific ongoing and projected developments in the area of remotely controlled devices (wheelchairs and manipulators) is provided.

Tier-scalable reconnaissance: the future in autonomous C4ISR systems has arrived: progress towards an outdoor testbed

NASA Astrophysics Data System (ADS)

Fink, Wolfgang; Brooks, Alexander J.-W.; Tarbell, Mark A.; Dohm, James M.

2017-05-01

Autonomous reconnaissance missions are called for in extreme environments, as well as in potentially hazardous (e.g., the theatre, disaster-stricken areas, etc.) or inaccessible operational areas (e.g., planetary surfaces, space). Such future missions will require increasing degrees of operational autonomy, especially when following up on transient events. Operational autonomy encompasses: (1) Automatic characterization of operational areas from different vantages (i.e., spaceborne, airborne, surface, subsurface); (2) automatic sensor deployment and data gathering; (3) automatic feature extraction including anomaly detection and region-of-interest identification; (4) automatic target prediction and prioritization; (5) and subsequent automatic (re-)deployment and navigation of robotic agents. This paper reports on progress towards several aspects of autonomous C4ISR systems, including: Caltech-patented and NASA award-winning multi-tiered mission paradigm, robotic platform development (air, ground, water-based), robotic behavior motifs as the building blocks for autonomous tele-commanding, and autonomous decision making based on a Caltech-patented framework comprising sensor-data-fusion (feature-vectors), anomaly detection (clustering and principal component analysis), and target prioritization (hypothetical probing).

ODIS the under-vehicle inspection robot: development status update

NASA Astrophysics Data System (ADS)

Freiburger, Lonnie A.; Smuda, William; Karlsen, Robert E.; Lakshmanan, Sridhar; Ma, Bing

2003-09-01

Unmanned ground vehicle (UGV) technology can be used in a number of ways to assist in counter-terrorism activities. Robots can be employed for a host of terrorism deterrence and detection applications. As reported in last year's Aerosense conference, the U.S. Army Tank Automotive Research, Development and Engineering Center (TARDEC) and Utah State University (USU) have developed a tele-operated robot called ODIS (Omnidirectional Inspection System) that is particularly effective in performing under-vehicle inspections at security checkpoints. ODIS' continuing development for this task is heavily influenced by feedback received from soldiers and civilian law enforcement personnel using ODIS-prototypes in an operational environment. Our goal is to convince civilian law enforcement and military police to replace the traditional "mirror on a stick" system of looking under cars for bombs and contraband with ODIS. This paper reports our efforts in the past one year in terms of optimizing ODIS for the visual inspection task. Of particular concern is the design of the vision system. This paper documents details on the various issues relating to ODIS' vision system - sensor, lighting, image processing, and display.

Traditional Nurse Triage vs. Physician Tele-Presence in a Pediatric Emergency Department

PubMed Central

Marconi, Greg P.; Chang, Todd; Pham, Phung K.; Grajower, Daniel N.; Nager, Alan L.

2014-01-01

Objectives To compare traditional nurse triage (TNT) in a Pediatric Emergency Department (PED) to physician tele-presence (PTP). Methods Prospective, 2×2 crossover study with random assignment using a sample of walk-in patients seeking care in a PED at a large, tertiary care children’s hospital, from May 2012 to January 2013. Outcomes of triage times, documentation errors, triage scores, and survey responses were compared between TNT and PTP. Comparison between PTP to actual treating PED physicians regarding the accuracy of ordering blood and urine tests, throat cultures, and radiologic imaging was also studied. Results Paired samples t-tests showed a statistically significant difference in triage time between TNT and PTP (p=0.03), but no significant difference in documentation errors (p=0.10). Triage scores of TNT were 71% accurate, compared to PTP, which were 95% accurate. Both parents and children had favorable scores regarding PTP and the majority indicated they would prefer PTP again at their next PED visit. PTP diagnostic ordering was comparable to the actual PED physician ordering, showing no statistical differences. Conclusions Utilizing physician tele-presence technology to remotely perform triage is a feasible alternative to traditional nurse triage, with no clinically significant differences in time, triage scores, errors and patient and parent satisfaction. PMID:24445223

A Motionless Camera

NASA Technical Reports Server (NTRS)

1994-01-01

Omniview, a motionless, noiseless, exceptionally versatile camera was developed for NASA as a receiving device for guiding space robots. The system can see in one direction and provide as many as four views simultaneously. Developed by Omniview, Inc. (formerly TRI) under a NASA Small Business Innovation Research (SBIR) grant, the system's image transformation electronics produce a real-time image from anywhere within a hemispherical field. Lens distortion is removed, and a corrected "flat" view appears on a monitor. Key elements are a high resolution charge coupled device (CCD), image correction circuitry and a microcomputer for image processing. The system can be adapted to existing installations. Applications include security and surveillance, teleconferencing, imaging, virtual reality, broadcast video and military operations. Omniview technology is now called IPIX. The company was founded in 1986 as TeleRobotics International, became Omniview in 1995, and changed its name to Interactive Pictures Corporation in 1997.

User interface for a tele-operated robotic hand system

DOEpatents

Crawford, Anthony L

2015-03-24

Disclosed here is a user interface for a robotic hand. The user interface anchors a user's palm in a relatively stationary position and determines various angles of interest necessary for a user's finger to achieve a specific fingertip location. The user interface additionally conducts a calibration procedure to determine the user's applicable physiological dimensions. The user interface uses the applicable physiological dimensions and the specific fingertip location, and treats the user's finger as a two link three degree-of-freedom serial linkage in order to determine the angles of interest. The user interface communicates the angles of interest to a gripping-type end effector which closely mimics the range of motion and proportions of a human hand. The user interface requires minimal contact with the operator and provides distinct advantages in terms of available dexterity, work space flexibility, and adaptability to different users.

Robotics and telecommunication systems to provide better access to ultrasound expertise in the OR.

PubMed

Angelini, L; Papaspyropoulos, V

2000-01-01

Surgery has begun to evolve as a result of the intense use of technological innovations. The result of this is better services for patients and enormous opportunities for the producers of biomedical instruments. The surgeon and the technologist are fast becoming allies in applying the latest developments of robotics, image treatment, simulation, sensors and telecommunications to surgery, in particular to the emerging field of minimally-invasive surgery. Ultrasonography is at present utilised both for diagnostic and therapeutic purposes in various fields. Intraoperative US examination can be of primary importance, especially when dealing with space-occupying lesions. The widening use of minimally-invasive surgery has furthered the development of US for use during this type of surgery. The success of a US examination requires not only a correct execution of the procedure, but also a correct interpretation of the images. We describe two projects that combine robotics and telecommunication systems to provide better access to US expertise in the operating room. The Midstep project has as its object the realisation of two robotic arms, one for the distant control of the US probe during laparoscopic surgery and the second to perform tele-interventional US. The second project, part of the Strategic CNR Project-'Robotics in Surgery', involves the realisation of a common platform for tracking and targeting surgical instruments in video-assisted surgery.

The ACE multi-user web-based Robotic Observatory Control System

NASA Astrophysics Data System (ADS)

Mack, P.

2003-05-01

We have developed an observatory control system that can be operated in interactive, remote or robotic modes. In interactive and remote mode the observer typically acquires the first object then creates a script through a window interface to complete observations for the rest of the night. The system closes early in the event of bad weather. In robotic mode observations are submitted ahead of time through a web-based interface. We present observations made with a 1.0-m telescope using these methods.

A New Simulation Framework for Autonomy in Robotic Missions

NASA Technical Reports Server (NTRS)

Flueckiger, Lorenzo; Neukom, Christian

2003-01-01

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

The Leipzig experience with robotic valve surgery.

PubMed

Autschbach, R; Onnasch, J F; Falk, V; Walther, T; Krüger, M; Schilling, L O; Mohr, F W

2000-01-01

The study describes the single-center experience using robot-assisted videoscopic mitral valve surgery and the early results with a remote telemanipulator-assisted approach for mitral valve repair. Out of a series of 230 patients who underwent minimally invasive mitral valve surgery, in 167 patients surgery was performed with the use of robotic assistance. A voice-controlled robotic arm was used for videoscopic guidance in 152 cases. Most recently, a computer-enhanced telemanipulator was used in 15 patients to perform the operation remotely. The mitral valve was repaired in 117 and replaced in all other patients. The voice-controlled robotic arm (AESOP 3000) facilitated videoscopic-assisted mitral valve surgery. The procedure was completed without the need for an additional assistant as "solo surgery." Additional procedures like radiofrequency ablation and tricuspid valve repair were performed in 21 and 4 patients, respectively. Duration of bypass and clamp time was comparable to conventional procedures (107 A 34 and 50 A 16 min, respectively). Hospital mortality was 1.2%. Using the da Vinci telemanipulation system, remote mitral valve repair was successfully performed in 13 of 15 patients. Robotic-assisted less invasive mitral valve surgery has evolved to a reliable technique with reproducible results for primary operations and for reoperations. Robotic assistance has enabled a solo surgery approach. The combination with radiofrequency ablation (Mini Maze) in patients with chronic atrial fibrillation has proven to be beneficial. The use of telemanipulation systems for remote mitral valve surgery is promising, but a number of problems have to be solved before the introduction of a closed chest mitral valve procedure.

UROLOGIC ROBOTS AND FUTURE DIRECTIONS

PubMed Central

Mozer, Pierre; Troccaz, Jocelyne; Stoianovici, Dan

2009-01-01

Purpose of review Robot-assisted laparoscopic surgery in urology has gained immense popularity with the Da Vinci system but a lot of research teams are working on new robots. The purpose of this paper is to review current urologic robots and present future developments directions. Recent findings Future systems are expected to advance in two directions: improvements of remote manipulation robots and developments of image-guided robots. Summary The final goal of robots is to allow safer and more homogeneous outcomes with less variability of surgeon performance, as well as new tools to perform tasks based on medical transcutaneous imaging, in a less invasive way, at lower costs. It is expected that improvements for remote system could be augmented reality, haptic feed back, size reduction and development of new tools for NOTES surgery. The paradigm of image-guided robots is close to a clinical availability and the most advanced robots are presented with end-user technical assessments. It is also notable that the potential of robots lies much further ahead than the accomplishments of the daVinci system. The integration of imaging with robotics holds a substantial promise, because this can accomplish tasks otherwise impossible. Image guided robots have the potential to offer a paradigm shift. PMID:19057227

Urologic robots and future directions.

PubMed

Mozer, Pierre; Troccaz, Jocelyne; Stoianovici, Dan

2009-01-01

Robot-assisted laparoscopic surgery in urology has gained immense popularity with the daVinci system, but a lot of research teams are working on new robots. The purpose of this study is to review current urologic robots and present future development directions. Future systems are expected to advance in two directions: improvements of remote manipulation robots and developments of image-guided robots. The final goal of robots is to allow safer and more homogeneous outcomes with less variability of surgeon performance, as well as new tools to perform tasks on the basis of medical transcutaneous imaging, in a less invasive way, at lower costs. It is expected that improvements for a remote system could be augmented in reality, with haptic feedback, size reduction, and development of new tools for natural orifice translumenal endoscopic surgery. The paradigm of image-guided robots is close to clinical availability and the most advanced robots are presented with end-user technical assessments. It is also notable that the potential of robots lies much further ahead than the accomplishments of the daVinci system. The integration of imaging with robotics holds a substantial promise, because this can accomplish tasks otherwise impossible. Image-guided robots have the potential to offer a paradigm shift.

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

NASA Technical Reports Server (NTRS)

Mollakarimi, Cindy; Hamid, Tamin

1990-01-01

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

Development and Control of Multi-Degree-of-Freedom Mobile Robot for Acquisition of Road Environmental Modes

NASA Astrophysics Data System (ADS)

Murata, Naoya; Katsura, Seiichiro

Acquisition of information about the environment around a mobile robot is important for purposes such as controlling the robot from a remote location and in situations such as that when the robot is running autonomously. In many researches, audiovisual information is used. However, acquisition of information about force sensation, which is included in environmental information, has not been well researched. The mobile-hapto, which is a remote control system with force information, has been proposed, but the robot used for the system can acquire only the horizontal component of forces. For this reason, in this research, a three-wheeled mobile robot that consists of seven actuators was developed and its control system was constructed. It can get information on horizontal and vertical forces without using force sensors. By using this robot, detailed information on the forces in the environment can be acquired and the operability of the robot and its capability to adjust to the environment are expected to improve.

Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body Manipulation

NASA Technical Reports Server (NTRS)

Hebert, Paul; Ma, Jeremy; Borders, James; Aydemir, Alper; Bajracharya, Max; Hudson, Nicolas; Shankar, Krishna; Karumanchi, Sisir; Douillard, Bertrand; Burdick, Joel

2015-01-01

The use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called "supervised-autonomy" is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation that integrates high level human cognition and commanding with the intelligence and processing power of autonomous systems. Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURROGATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected by a single 7-DOF torso, mounted on a tracked-wheel base. We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously. We use a concept of "behaviors" to chain together sequences of "actions" for the robot to perform which is then executed real time.

Remote-controlled vision-guided mobile robot system

NASA Astrophysics Data System (ADS)

Ande, Raymond; Samu, Tayib; 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 the remote controlled emergency stop and vision systems for an autonomous mobile robot. The remote control provides human supervision and emergency stop capabilities for the autonomous vehicle. The vision guidance provides automatic operation. A mobile robot test-bed has been constructed using a golf cart base. The mobile robot (Bearcat) was built for the Association for Unmanned Vehicle Systems (AUVS) 1997 competition. The mobile robot has full speed control with guidance provided by a vision system and an obstacle avoidance system using ultrasonic sensors systems. Vision guidance is accomplished using two CCD cameras with zoom lenses. The vision data is processed by a high speed tracking device, communicating with the computer the X, Y coordinates of blobs along the lane markers. The system also has three emergency stop switches and a remote controlled emergency stop switch that can disable the traction motor and set the brake. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles.

Human-Automation Allocations for Current Robotic Space Operations

NASA Technical Reports Server (NTRS)

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

2018-01-01

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

Exact and explicit optimal solutions for trajectory planning and control of single-link flexible-joint manipulators

NASA Technical Reports Server (NTRS)

Chen, Guanrong

1991-01-01

An optimal trajectory planning problem for a single-link, flexible joint manipulator is studied. A global feedback-linearization is first applied to formulate the nonlinear inequality-constrained optimization problem in a suitable way. Then, an exact and explicit structural formula for the optimal solution of the problem is derived and the solution is shown to be unique. It turns out that the optimal trajectory planning and control can be done off-line, so that the proposed method is applicable to both theoretical analysis and real time tele-robotics control engineering.

An Intelligent Catheter System Robotic Controlled Catheter System

PubMed Central

Negoro, M.; Tanimoto, M.; Arai, F.; Fukuda, T.; Fukasaku, K.; Takahashi, I.; Miyachi, S.

2001-01-01

Summary We have developed a novel catheter system, an intelligent catheter system, which is able to control a catheter by an externally-placed controller. This system has made from master-slave mechanism and has following three components; 1) a joy stick as a master (for operators) 2)a catheter controller as a slave (for a patient),3)a micro force sensor as a sensing device. This catheter tele-guiding system has abilities to perform intravascular procedures from the distant places. It may help to reduce the radiation exposures to the operators and also to help train young doctors. PMID:20663387

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

A historical perspective of remote operations and robotics in nuclear facilities. Robotics and Intelligent Systems Program

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

Herndon, J.N.

1992-12-31

The field of remote technology is continuing to evolve to support man`s efforts to perform tasks in hostile environments. The technology which we recognize today as remote technology has evolved over the last 45 years to support human operations in hostile environments such as nuclear fission and fusion, space, underwater, hazardous chemical, and hazardous manufacturing. The four major categories of approach to remote technology have been (1) protective clothing and equipment for direct human entry, (2) extended reach tools using distance for safety, (3) telemanipulators with barriers for safety, and (4) teleoperators incorporating mobility with distance and/or barriers for safety.more » The government and commercial nuclear industry has driven the development of the majority of the actual teleoperator hardware available today. This hardware has been developed largely due to the unsatisfactory performance of the protective-clothing approach in many hostile applications. Manipulation systems which have been developed include crane/impact wrench systems, unilateral power manipulators, mechanical master/slaves, and servomanipulators. Viewing systems have included periscopes, shield windows, and television systems. Experience over the past 45 years indicates that maintenance system flexibility is essential to typical repair tasks because they are usually not repetitive, structured, or planned. Fully remote design (manipulation, task provisions, remote tooling, and facility synergy) is essential to work task efficiency. Work for space applications has been primarily research oriented with relatively few successful space applications, although the shuttle`s remote manipulator system has been quite successful. In the last decade, underwater applications have moved forward significantly, with the offshore oil industry and military applications providing the primary impetus.« less

Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm.

PubMed

Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae; Kim, Tae Il; Yi, Byung Ju

2017-01-01

Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site.

Immersive Virtual Reality with Applications to Tele-Operation and Training

DTIC Science & Technology

2016-03-07

to design accurate models for the control of a remote agent by retargeting human gestures (or body part movements) on the control structure of the...which is designed to co-operate with human inhabitants will need to posses, on some levels, a theory of mind [20]. This will enable the system to...University of Houston-Victoria, a designated Hispanic Serving Institution of higher education. The requested equipment and instrumentation will be

Estimating time available for sensor fusion exception handling

NASA Astrophysics Data System (ADS)

Murphy, Robin R.; Rogers, Erika

1995-09-01

In previous work, we have developed a generate, test, and debug methodology for detecting, classifying, and responding to sensing failures in autonomous and semi-autonomous mobile robots. An important issue has arisen from these efforts: how much time is there available to classify the cause of the failure and determine an alternative sensing strategy before the robot mission must be terminated? In this paper, we consider the impact of time for teleoperation applications where a remote robot attempts to autonomously maintain sensing in the presence of failures yet has the option to contact the local for further assistance. Time limits are determined by using evidential reasoning with a novel generalization of Dempster-Shafer theory. Generalized Dempster-Shafer theory is used to estimate the time remaining until the robot behavior must be suspended because of uncertainty; this becomes the time limit on autonomous exception handling at the remote. If the remote cannot complete exception handling in this time or needs assistance, responsibility is passed to the local, while the remote assumes a `safe' state. An intelligent assistant then facilitates human intervention, either directing the remote without human assistance or coordinating data collection and presentation to the operator within time limits imposed by the mission. The impact of time on exception handling activities is demonstrated using video camera sensor data.

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.

VERDEX: A virtual environment demonstrator for remote driving applications

NASA Technical Reports Server (NTRS)

Stone, Robert J.

1991-01-01

One of the key areas of the National Advanced Robotics Centre's enabling technologies research program is that of the human system interface, phase 1 of which started in July 1989 and is currently addressing the potential of virtual environments to permit intuitive and natural interactions between a human operator and a remote robotic vehicle. The aim of the first 12 months of this program (to September, 1990) is to develop a virtual human-interface demonstrator for use later as a test bed for human factors experimentation. This presentation will describe the current state of development of the test bed, and will outline some human factors issues and problems for more general discussion. In brief, the virtual telepresence system for remote driving has been designed to take the following form. The human operator will be provided with a helmet-mounted stereo display assembly, facilities for speech recognition and synthesis (using the Marconi Macrospeak system), and a VPL DataGlove Model 2 unit. The vehicle to be used for the purposes of remote driving is a Cybermotion Navmaster K2A system, which will be equipped with a stereo camera and microphone pair, mounted on a motorized high-speed pan-and-tilt head incorporating a closed-loop laser ranging sensor for camera convergence control (currently under contractual development). It will be possible to relay information to and from the vehicle and sensory system via an umbilical or RF link. The aim is to develop an interactive audio-visual display system capable of presenting combined stereo TV pictures and virtual graphics windows, the latter featuring control representations appropriate for vehicle driving and interaction using a graphical 'hand,' slaved to the flex and tracking sensors of the DataGlove and an additional helmet-mounted Polhemus IsoTrack sensor. Developments planned for the virtual environment test bed include transfer of operator control between remote driving and remote manipulation, dexterous end effector integration, virtual force and tactile sensing (also the focus of a current ARRL contract, initially employing a 14-pneumatic bladder glove attachment), and sensor-driven world modeling for total virtual environment generation and operator-assistance in remote scene interrogation.

Mapping of unknown industrial plant using ROS-based navigation mobile robot

NASA Astrophysics Data System (ADS)

Priyandoko, G.; Ming, T. Y.; Achmad, M. S. H.

2017-10-01

This research examines how humans work with teleoperated unmanned mobile robot inspection in industrial plant area resulting 2D/3D map for further critical evaluation. This experiment focuses on two parts, the way human-robot doing remote interactions using robust method and the way robot perceives the environment surround as a 2D/3D perspective map. ROS (robot operating system) as a tool was utilized in the development and implementation during the research which comes up with robust data communication method in the form of messages and topics. RGBD SLAM performs the visual mapping function to construct 2D/3D map using Kinect sensor. The results showed that the mobile robot-based teleoperated system are successful to extend human perspective in term of remote surveillance in large area of industrial plant. It was concluded that the proposed work is robust solution for large mapping within an unknown construction building.

Understanding of and applications for robot vision guidance at KSC

NASA Technical Reports Server (NTRS)

Shawaga, Lawrence M.

1988-01-01

The primary thrust of robotics at KSC is for the servicing of Space Shuttle remote umbilical docking functions. In order for this to occur, robots performing servicing operations must be capable of tracking a swaying Orbiter in Six Degrees of Freedom (6-DOF). Currently, in NASA KSC's Robotic Applications Development Laboratory (RADL), an ASEA IRB-90 industrial robot is being equipped with a real-time computer vision (hardware and software) system to allow it to track a simulated Orbiter interface (target) in 6-DOF. The real-time computer vision system effectively becomes the eyes for the lab robot, guiding it through a closed loop visual feedback system to move with the simulated Orbiter interface. This paper will address an understanding of this vision guidance system and how it will be applied to remote umbilical servicing at KSC. In addition, other current and future applications will be addressed.

Remote Systems Experience at the Oak Ridge National Laboratory--A Summary of Lessons Learned

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

Noakes, Mark W; Burgess, Thomas W; Rowe, John C

2011-01-01

Oak Ridge National Laboratory (ORNL) has a long history in the development of remote systems to support the nuclear environment. ORNL, working in conjunction with Central Research Laboratories, created what is believed to be the first microcomputer-based implementation of dual-arm master-slave remote manipulation. As part of the Consolidated Fuel Reprocessing Program, ORNL developed the dual-arm advanced servomanipulator focusing on remote maintainability for systems exposed to high radiation fields. ORNL also participated in almost all of the various technical areas of the U.S. Department of Energy s Robotics Technology Development Program, while leading the Decontamination and Decommissioning and Tank Waste Retrievalmore » categories. Over the course of this involvement, ORNL has developed a substantial base of working knowledge as to what works when and under what circumstances for many types of remote systems tasks as well as operator interface modes, control bandwidth, and sensing requirements to name a few. By using a select list of manipulator systems that is not meant to be exhaustive, this paper will discuss history and outcome of development, field-testing, deployment, and operations from a lessons learned perspective. The final outcome is a summary paper outlining ORNL experiences and guidelines for transition of developmental remote systems to real-world hazardous environments.« less

Tele-ICU "myth busters".

PubMed

Venditti, Angelo; Ronk, Chanda; Kopenhaver, Tracey; Fetterman, Susan

2012-01-01

Tele-intensive care unit (ICU) technology has been proven to bridge the gap between available resources and quality care for many health care systems across the country. Tele-ICUs allow the standardization of care and provide a second set of eyes traditionally not available in the ICU. A growing body of literature supports the use of tele-ICUs based on improved outcomes and reduction in errors. To date, the literature has not effectively outlined the limitations of this technology related to response to changes in patient care, interventions, and interaction with the care team. This information can potentially have a profound impact on service expectations. Some misconceptions about tele-ICU technology include the following: tele-ICU is "watching" 24 hours a day, 7 days a week; tele-ICU is a telemetry unit; tele-ICU is a stand-alone crisis intervention tool; tele-ICU decreases staffing at the bedside; tele-ICU clinical roles are clearly defined and understood; and tele-ICUs are not cost-effective to operate. This article outlines the purpose of tele-ICU technology, reviews outcomes, and "busts" myths about tele-ICU technology.

TERRA: Building New Communities for Advanced Biofuels

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

Cornelius, Joe; Mockler, Todd; Tuinstra, Mitch

ARPA-E’s Transportation Energy Resources from Renewable Agriculture (TERRA) program is bringing together top experts from different disciplines – agriculture, robotics and data analytics – to rethink the production of advanced biofuel crops. ARPA-E Program Director Dr. Joe Cornelius discusses the TERRA program and explains how ARPA-E’s model enables multidisciplinary collaboration among diverse communities. The video focuses on two TERRA projects—Donald Danforth Center and Purdue University—that are developing and integrating cutting-edge remote sensing platforms, complex data analytics tools and plant breeding technologies to tackle the challenge of sustainably increasing biofuel stocks.

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

NASA Astrophysics Data System (ADS)

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

2013-08-01

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

Robotic Surgical Training in an Academic Institution

PubMed Central

Chitwood, W. Randolph; Nifong, L. Wiley; Chapman, William H. H.; Felger, Jason E.; Bailey, B. Marcus; Ballint, Tara; Mendleson, Kim G.; Kim, Victor B.; Young, James A.; Albrecht, Robert A.

2001-01-01

Objective To detail robotic procedure development and clinical applications for mitral valve, biliary, and gastric reflux operations, and to implement a multispecialty robotic surgery training curriculum for both surgeons and surgical teams. Summary Background Data Remote, accurate telemanipulation of intracavitary instruments by general and cardiac surgeons is now possible. Complex technologic advancements in surgical robotics require well-designed training programs. Moreover, efficient robotic surgical procedures must be developed methodically and safely implemented clinically. Methods Advanced training on robotic systems provides surgeon confidence when operating in tiny intracavitary spaces. Three-dimensional vision and articulated instrument control are essential. The authors’ two da Vinci robotic systems have been dedicated to procedure development, clinical surgery, and training of surgical specialists. Their center has been the first United States site to train surgeons formally in clinical robotics. Results Established surgeons and residents have been trained using a defined robotic surgical educational curriculum. Also, 30 multispecialty teams have been trained in robotic mechanics and electronics. Initially, robotic procedures were developed experimentally and are described. In the past year the authors have performed 52 robotic-assisted clinical operations: 18 mitral valve repairs, 20 cholecystectomies, and 14 Nissen fundoplications. These respective operations required 108, 28, and 73 minutes of robotic telemanipulation to complete. Procedure times for the last half of the abdominal operations decreased significantly, as did the knot-tying time in mitral operations. There have been no deaths and few complications. One mitral patient had postoperative bleeding. Conclusion Robotic surgery can be performed safely with excellent results. The authors have developed an effective curriculum for training teams in robotic surgery. After training, surgeons have applied these methods effectively and safely. PMID:11573041

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

PubMed Central

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

2017-01-01

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

Enabling Arctic Research Through Science and Engineering Partnerships

NASA Astrophysics Data System (ADS)

Kendall, E. A.; Valentic, T. A.; Stehle, R. H.

2014-12-01

Under an Arctic Research Support and Logistics contract from NSF (GEO/PLR), SRI International, as part of the CH2M HILL Polar Services (CPS) program, forms partnerships with Arctic research teams to provide data transfer, remote operations, and safety/operations communications. This teamwork is integral to the success of real-time science results and often allows for unmanned operations which are both cost-effective and safer. The CPS program utilizes a variety of communications networks, services and technologies to support researchers and instruments throughout the Arctic, including Iridium, VSAT, Inmarsat BGAN, HughesNet, TeleGreenland, radios, and personal locator beacons. Program-wide IT and communications limitations are due to the broad categories of bandwidth, availability, and power. At these sites it is essential to conserve bandwidth and power through using efficient software, coding and scheduling techniques. There are interesting new products and services on the horizon that the program may be able to take advantage of in the future such as Iridium NEXT, Inmarsat Xpress, and Omnispace mobile satellite services. Additionally, there are engineering and computer software opportunities to develop more efficient products. We will present an overview of science/engineering partnerships formed by the CPS program, discuss current limitations and identify future technological possibilities that could further advance Arctic science goals.

Interactive Exploration Robots: Human-Robotic Collaboration and Interactions

NASA Technical Reports Server (NTRS)

Fong, Terry

2017-01-01

For decades, NASA has employed different operational approaches for human and robotic missions. Human spaceflight missions to the Moon and in low Earth orbit have relied upon near-continuous communication with minimal time delays. During these missions, astronauts and mission control communicate interactively to perform tasks and resolve problems in real-time. In contrast, deep-space robotic missions are designed for operations in the presence of significant communication delay - from tens of minutes to hours. Consequently, robotic missions typically employ meticulously scripted and validated command sequences that are intermittently uplinked to the robot for independent execution over long periods. Over the next few years, however, we will see increasing use of robots that blend these two operational approaches. These interactive exploration robots will be remotely operated by humans on Earth or from a spacecraft. These robots will be used to support astronauts on the International Space Station (ISS), to conduct new missions to the Moon, and potentially to enable remote exploration of planetary surfaces in real-time. In this talk, I will discuss the technical challenges associated with building and operating robots in this manner, along with lessons learned from research conducted with the ISS and in the field.

Automating CapCom Using Mobile Agents and Robotic Assistants

NASA Technical Reports Server (NTRS)

Clancey, William J.; Sierhaus, Maarten; Alena, Richard L.; Berrios, Daniel; Dowding, John; Graham, Jeffrey S.; Tyree, Kim S.; Hirsh, Robert L.; Garry, W. Brent; Semple, Abigail

2005-01-01

We have developed and tested an advanced EVA communications and computing system to increase astronaut self-reliance and safety, reducing dependence on continuous monitoring and advising from mission control on Earth. This system, called Mobile Agents (MA), is voice controlled and provides information verbally to the astronauts through programs called personal agents. The system partly automates the role of CapCom in Apollo-including monitoring and managing EVA navigation, scheduling, equipment deployment, telemetry, health tracking, and scientific data collection. EVA data are stored automatically in a shared database in the habitat/vehicle and mirrored to a site accessible by a remote science team. The program has been developed iteratively in the context of use, including six years of ethnographic observation of field geology. Our approach is to develop automation that supports the human work practices, allowing people to do what they do well, and to work in ways they are most familiar. Field experiments in Utah have enabled empirically discovering requirements and testing alternative technologies and protocols. This paper reports on the 2004 system configuration, experiments, and results, in which an EVA robotic assistant (ERA) followed geologists approximately 150 m through a winding, narrow canyon. On voice command, the ERA took photographs and panoramas and was directed to move and wait in various locations to serve as a relay on the wireless network. The MA system is applicable to many space work situations that involve creating and navigating from maps (including configuring equipment for local topology), interacting with piloted and unpiloted rovers, adapting to environmental conditions, and remote team collaboration involving people and robots.

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

Mobile Autonomous Humanoid Assistant

NASA Technical Reports Server (NTRS)

Diftler, M. A.; Ambrose, R. O.; Tyree, K. S.; Goza, S. M.; Huber, E. L.

2004-01-01

A mobile autonomous humanoid robot is assisting human co-workers at the Johnson Space Center with tool handling tasks. This robot combines the upper body of the National Aeronautics and Space Administration (NASA)/Defense Advanced Research Projects Agency (DARPA) Robonaut system with a Segway(TradeMark) Robotic Mobility Platform yielding a dexterous, maneuverable humanoid perfect for aiding human co-workers in a range of environments. This system uses stereo vision to locate human team mates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form human assistant behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

Deployment and early experience with remote-presence patient care in a community hospital.

PubMed

Petelin, J B; Nelson, M E; Goodman, J

2007-01-01

The introduction of the RP6 (InTouch Health, Santa Barbara, CA, USA) remote-presence "robot" appears to offer a useful telemedicine device. The authors describe the deployment and early experience with the RP6 in a community hospital and provided a live demonstration of the system on April 16, 2005 during the Emerging Technologies Session of the 2005 SAGES Meeting in Fort Lauderdale, Florida. The RP6 is a 5-ft 4-in. tall, 215-pound robot that can be remotely controlled from an appropriately configured computer located anywhere on the Internet (i.e., on this planet). The system is composed of a control station (a computer at the central station), a mechanical robot, a wireless network (at the remote facility: the hospital), and a high-speed Internet connection at both the remote (hospital) and central locations. The robot itself houses a rechargeable power supply. Its hardware and software allows communication over the Internet with the central station, interpretation of commands from the central station, and conversion of the commands into mechanical and nonmechanical actions at the remote location, which are communicated back to the central station over the Internet. The RP6 system allows the central party (e.g., physician) to control the movements of the robot itself, see and hear at the remote location (hospital), and be seen and heard at the remote location (hospital) while not physically there. Deployment of the RP6 system at the hospital was accomplished in less than a day. The wireless network at the institution was already in place. The control station setup time ranged from 1 to 4 h and was dependent primarily on the quality of the Internet connection (bandwidth) at the remote locations. Patients who visited with the RP6 on their discharge day could be discharged more than 4 h earlier than with conventional visits, thereby freeing up hospital beds on a busy med-surg floor. Patient visits during "off hours" (nights and weekends) were three times more efficient than conventional visits during these times (20 min per visit vs 40-min round trip travel + 20-min visit). Patients and nursing personnel both expressed tremendous satisfaction with the remote-presence interaction. The authors' early experience suggests a significant benefit to patients, hospitals, and physicians with the use of RP6. The implications for future development are enormous.

Component-Level Electronic-Assembly Repair (CLEAR) System Architecture

NASA Technical Reports Server (NTRS)

Oeftering, Richard C.; Bradish, Martin A.; Juergens, Jeffrey R.; Lewis, Michael J.; Vrnak, Daniel R.

2011-01-01

This document captures the system architecture for a Component-Level Electronic-Assembly Repair (CLEAR) capability needed for electronics maintenance and repair of the Constellation Program (CxP). CLEAR is intended to improve flight system supportability and reduce the mass of spares required to maintain the electronics of human rated spacecraft on long duration missions. By necessity it allows the crew to make repairs that would otherwise be performed by Earth based repair depots. Because of practical knowledge and skill limitations of small spaceflight crews they must be augmented by Earth based support crews and automated repair equipment. This system architecture covers the complete system from ground-user to flight hardware and flight crew and defines an Earth segment and a Space segment. The Earth Segment involves database management, operational planning, and remote equipment programming and validation processes. The Space Segment involves the automated diagnostic, test and repair equipment required for a complete repair process. This document defines three major subsystems including, tele-operations that links the flight hardware to ground support, highly reconfigurable diagnostics and test instruments, and a CLEAR Repair Apparatus that automates the physical repair process.

Composite video and graphics display for multiple camera viewing system in robotics and teleoperation

NASA Technical Reports Server (NTRS)

Diner, Daniel B. (Inventor); Venema, Steven C. (Inventor)

1991-01-01

A system for real-time video image display for robotics or remote-vehicle teleoperation is described that has at least one robot arm or remotely operated vehicle controlled by an operator through hand-controllers, and one or more television cameras and optional lighting element. The system has at least one television monitor for display of a television image from a selected camera and the ability to select one of the cameras for image display. Graphics are generated with icons of cameras and lighting elements for display surrounding the television image to provide the operator information on: the location and orientation of each camera and lighting element; the region of illumination of each lighting element; the viewed region and range of focus of each camera; which camera is currently selected for image display for each monitor; and when the controller coordinate for said robot arms or remotely operated vehicles have been transformed to correspond to coordinates of a selected or nonselected camera.

Composite video and graphics display for camera viewing systems in robotics and teleoperation

NASA Technical Reports Server (NTRS)

Diner, Daniel B. (Inventor); Venema, Steven C. (Inventor)

1993-01-01

A system for real-time video image display for robotics or remote-vehicle teleoperation is described that has at least one robot arm or remotely operated vehicle controlled by an operator through hand-controllers, and one or more television cameras and optional lighting element. The system has at least one television monitor for display of a television image from a selected camera and the ability to select one of the cameras for image display. Graphics are generated with icons of cameras and lighting elements for display surrounding the television image to provide the operator information on: the location and orientation of each camera and lighting element; the region of illumination of each lighting element; the viewed region and range of focus of each camera; which camera is currently selected for image display for each monitor; and when the controller coordinate for said robot arms or remotely operated vehicles have been transformed to correspond to coordinates of a selected or nonselected camera.

A system-level approach to automation research

NASA Technical Reports Server (NTRS)

Harrison, F. W.; Orlando, N. E.

1984-01-01

Automation is the application of self-regulating mechanical and electronic devices to processes that can be accomplished with the human organs of perception, decision, and actuation. The successful application of automation to a system process should reduce man/system interaction and the perceived complexity of the system, or should increase affordability, productivity, quality control, and safety. The expense, time constraints, and risk factors associated with extravehicular activities have led the Automation Technology Branch (ATB), as part of the NASA Automation Research and Technology Program, to investigate the use of robots and teleoperators as automation aids in the context of space operations. The ATB program addresses three major areas: (1) basic research in autonomous operations, (2) human factors research on man-machine interfaces with remote systems, and (3) the integration and analysis of automated systems. This paper reviews the current ATB research in the area of robotics and teleoperators.

KSC-2014-2603

NASA Image and Video Library

2014-05-19

CAPE CANAVERAL, Fla. – Students from Oakton Community College in Illinois prepare their robot for NASA’s Robotics Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Ben Smegelsky

KSC-2014-2612

NASA Image and Video Library

2014-05-20

CAPE CANAVERAL, Fla. – College and university teams prepare their robots for NASA’s Robotics Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Ben Smegelsky

KSC-2014-2613

NASA Image and Video Library

2014-05-20

CAPE CANAVERAL, Fla. – A college team prepares its robot for a trial run at NASA’s Robotics Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Ben Smegelsky

KSC-2014-2605

NASA Image and Video Library

2014-05-19

CAPE CANAVERAL, Fla. – College students prepare their robot for NASA’s Robotics Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Ben Smegelsky

Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm

PubMed Central

Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae

2017-01-01

Purpose Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. Materials and Methods The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. Results A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. Conclusion This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site. PMID:27873506

Dual use display systems for telerobotics

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

Robot Tracer with Visual Camera

NASA Astrophysics Data System (ADS)

Jabbar Lubis, Abdul; Dwi Lestari, Yuyun; Dafitri, Haida; Azanuddin

2017-12-01

Robot is a versatile tool that can function replace human work function. The robot is a device that can be reprogrammed according to user needs. The use of wireless networks for remote monitoring needs can be utilized to build a robot that can be monitored movement and can be monitored using blueprints and he can track the path chosen robot. This process is sent using a wireless network. For visual robot using high resolution cameras to facilitate the operator to control the robot and see the surrounding circumstances.

Utilisation of Wearable Computing for Space Programmes Test Activities Optimasation

NASA Astrophysics Data System (ADS)

Basso, V.; Lazzari, D.; Alemanni, M.

2004-08-01

New technologies are assuming a relevant importance in the Space business domain also in the Assembly Integration and Test (AIT) activities allowing process optimization and capability that were unthinkable only few years ago. This paper has the aim to describe Alenia Spazio (ALS) gained experience on the remote interaction techniques as a results of collaborations established both on European Communities (EC) initiatives, with Alenia Aeronautica (ALA) and Politecnico of Torino (POLITO). The H/W and S/W components performances increase and costs reduction due to the home computing massive utilization (especially demanded by the games business) together with the network technology possibility (offered by the web as well as the hi-speed links and the wireless communications) allow today to re-think the traditional AIT process activities in the light of the multimedia data exchange: graphical, voice video and by sure more in the future. Aerospace business confirm its innovation vocation which in the year '80 represents the cradle of the CAD systems and today is oriented to the 3D data visualization/ interaction technologies and remote visualisation/ interaction in collaborative way on a much more user friendly bases (i.e. not for specialists). Fig. 1 collects AIT extended scenario studied and adopted by ALS in these years. ALS experimented two possibilities of remote visualization/interaction: Portable [e.g. Fig.2 Personal Digital Assistant (PDA), Wearable] and walls (e.g.VR-Lab) screens as both 2D/3D visualisation and interaction devices which could support many types of traditional (mainly based on EGSE and PDM/CAD utilisation/reports) company internal AIT applications: 1. design review support 2. facility management 3. storage management 4. personnel training 5. integration sequences definition 6. assembly and test operations follow up 7. documentation review and external access to AIT activities for remote operations (e.g. tele-testing) EGSE Portable Clean room Walls PDM/CAD Tele-operations Product Control room External World

Robotic anesthesia: not the realm of science fiction any more.

PubMed

Hemmerling, Thomas M; Terrasini, Nora

2012-12-01

Robots are present in surgery, to a much lesser extent in the field of anesthesia. The purpose of this review is to show the latest and most important findings in robotic anesthesia. Moreover, this review argues the importance and utility of robots in anesthesia. Over the years, many closed-loop systems have been developed; they were able to control only one or two of the three components of anesthesia: hypnosis, analgesia, or muscle relaxation. McSleepy controls all three components of anesthesia, from induction to emergence of anesthesia. Telemedical applications have not only led to remote monitoring but even to remotely controlled anesthesia, such as transcontinental anesthesia. A new closed-loop system for sedation, called Sedasys, could revolutionize the field of nonoperating room sedation. 'Manual robots' are used to help and replace anesthesiologists performing anesthesia procedures. Specific robots for intubation and nerve blocks have been developed and tested in humans. Robots can improve performance in anesthesia and healthcare. Closed-loop systems are the basis for pharmacological robots. Safe anesthetic care might be delivered through teleanesthesia whenever qualified personnel are not available or need support. Mechanical robots are being developed for anesthesia care.

Long-term hand tele-rehabilitation on the PlayStation 3: benefits and challenges.

PubMed

Burdea, Grigore C; Jain, Abhishek; Rabin, Bryan; Pellosie, Richard; Golomb, Meredith

2011-01-01

Rehabilitation interventions for the hand have shown benefits for children with Hemiplegia due to cerebral palsy or traumatic brain injury. Longer interventions are facilitated if training is provided in the patient's home, due to easier access to care and reduced impact on school or work activities. Providing remote rehabilitation over lengthy periods of time has however its own challenges. This paper presents two pediatric patients with hemiplegia, who practiced virtual hand rehabilitation games using a modified PlayStation 3 and 5DT sensing gloves. Despite severe initial hand spasticity, and occasional technology shortcomings, the subjects practiced for about 14 months, and 6 months, respectively. Game performance data for the second patient is presented. Follow-up evaluations 14 months from the removal of the PlayStation 3 from the home of the child with cerebral palsy showed that the patient had good retention in terms of grasp strength, hand function and bone health. Challenges of long-term home tele-rehabilitation are also discussed.

Evaluating satisfaction of patients with stutter regarding the tele-speech therapy method and infrastructure.

PubMed

Eslami Jahromi, Maryam; Ahmadian, Leila

2018-07-01

Investigating the required infrastructure for the implementation of telemedicine and the satisfaction of target groups improves the acceptance of this technology and facilitates the delivery of healthcare services. The aim of this study was to assess the satisfaction of patients with stutter concerning the therapeutic method and the infrastructure used to receive tele-speech therapy services. This descriptive-analytical study was conducted on all patients with stutter aged between 14 and 39 years at Jahrom Social Welfare Bureau (n = 30). The patients underwent speech therapy sessions through video conferencing with Skype. Data were collected by a researcher-made questionnaire. Its content validity was confirmed by three medical informatics specialists. Data were analyzed using SPSS version 19. The mean and standard deviation of patient satisfaction scores concerning the infrastructure and the tele-speech therapy method were 3.15 ± 0.52 and 3.49 ± 0.52, respectively. No significant relationship was found between the patients satisfaction and their gender, education level and age (p > 0.05). The results of this study showed that the number of speech therapy sessions did not affect the overall satisfaction of the patients (p > 0.05), but the number of therapeutic sessions had a direct relationship with their satisfaction with the infrastructure used for tele-speech therapy (p < 0.05). The present study showed that patients were satisfied with tele-speech therapy. According to most patients the low speed of the Internet connection in the country was a major challenge for receiving tele-speech therapy. The results suggest that healthcare planner and policy makers invest on increasing bandwidth to improve the success rate of telemedicine programs. Copyright © 2018 Elsevier B.V. All rights reserved.

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.

A Data Model for Teleconsultation in Managing High-Risk Pregnancies: Design and Preliminary Evaluation

PubMed Central

Deldar, Kolsoum

2017-01-01

Background Teleconsultation is a guarantor for virtual supervision of clinical professors on clinical decisions made by medical residents in teaching hospitals. Type, format, volume, and quality of exchanged information have a great influence on the quality of remote clinical decisions or tele-decisions. Thus, it is necessary to develop a reliable and standard model for these clinical relationships. Objective The goal of this study was to design and evaluate a data model for teleconsultation in the management of high-risk pregnancies. Methods This study was implemented in three phases. In the first phase, a systematic review, a qualitative study, and a Delphi approach were done in selected teaching hospitals. Systematic extraction and localization of diagnostic items to develop the tele-decision clinical archetypes were performed as the second phase. Finally, the developed model was evaluated using predefined consultation scenarios. Results Our review study has shown that present medical consultations have no specific structure or template for patient information exchange. Furthermore, there are many challenges in the remote medical decision-making process, and some of them are related to the lack of the mentioned structure. The evaluation phase of our research has shown that data quality (P<.001), adequacy (P<.001), organization (P<.001), confidence (P<.001), and convenience (P<.001) had more scores in archetype-based consultation scenarios compared with routine-based ones. Conclusions Our archetype-based model could acquire better and higher scores in the data quality, adequacy, organization, confidence, and convenience dimensions than ones with routine scenarios. It is probable that the suggested archetype-based teleconsultation model may improve the quality of physician-physician remote medical consultations. PMID:29242181

Improving patient access to specialized health care: the Telehealth Network of Minas Gerais, Brazil

PubMed Central

Alkmim, Maria Beatriz; Figueira, Renato Minelli; Marcolino, Milena Soriano; Cardoso, Clareci Silva; Pena de Abreu, Monica; Cunha, Lemuel Rodrigues; da Cunha, Daniel Ferreira; Antunes, Andre Pires; de A Resende, Adélson Geraldo; Resende, Elmiro Santos

2012-01-01

Abstract Problem The Brazilian population lacks equitable access to specialized health care and diagnostic tests, especially in remote municipalities, where health professionals often feel isolated and staff turnover is high. Telehealth has the potential to improve patients’ access to specialized health care, but little is known about it in terms of cost-effectiveness, access to services or user satisfaction. Approach In 2005, the State Government of Minas Gerais, Brazil, funded the establishment of the Telehealth Network, intended to connect university hospitals with the state’s remote municipal health departments; support professionals in providing tele-assistance; and perform tele-electrocardiography and teleconsultations. The network uses low-cost equipment and has employed various strategies to overcome the barriers to telehealth use. Local setting The Telehealth Network connects specialists in state university hospitals with primary health-care professionals in 608 municipalities of the large state of Minas Gerais, many of them in remote areas. Relevant changes From June 2006 to October 2011, 782 773 electrocardiograms and 30 883 teleconsultations were performed through the network, and 6000 health professionals were trained in its use. Most of these professionals (97%) were satisfied with the system, which was cost-effective, economically viable and averted 81% of potential case referrals to distant centres. Lessons learnt To succeed, a telehealth service must be part of a collaborative network, meet the real needs of local health professionals, use simple technology and have at least some face-to-face components. If applied to health problems for which care is in high demand, this type of service can be economically viable and can help to improve patient access to specialized health care. PMID:22589571

Telescope Fabra ROA Montsec: A New Robotic Wide Field Baker-Nunn Facility

NASA Astrophysics Data System (ADS)

Fors, Octavi; Núñez, Jorge; Muiños, José Luis; Montojo, Francisco Javier; Baena-Gallé, Roberto; Boloix, Jaime; Morcillo, Ricardo; Merino, María Teresa; Downey, Elwood C.; Mazur, Michael J.

2013-05-01

A Baker-Nunn Camera (BNC), originally installed at the Real Instituto y Observatorio de la Armada (ROA) in 1958, was refurbished and robotized. The new facility, called Telescope Fabra ROA Montsec (TFRM), was installed at the Observatori Astronòmic del Montsec (OAdM). The process of refurbishment is described in detail. Most of the steps of the refurbishment project were accomplished by purchasing commercial components, which involve little posterior engineering assembling work. The TFRM is a 0.5 m aperture f/0.96 optically modified BNC, which offers a unique combination of instrumental specifications: fully robotic and remote operation, wide field of view (4°.4 × 4°.4), moderate limiting magnitude (V ˜ 19.5 mag), ability of tracking at arbitrary right ascension (α) and declination (δ) rates, as well as opening and closing CCD shutter at will during an exposure. Nearly all kinds of image survey programs can benefit from those specifications. Apart from other less time-consuming programs, since the beginning of science TFRM operations we have been conducting two specific and distinct surveys: super-Earths transiting around M-type dwarfs stars, and geostationary debris in the context of Space Situational Awareness/Space Surveillance and Tracking (SSA/SST) programs. Preliminary results for both cases will be shown.

Achievement of a Sense of Operator Presence in Remote Manipulation.

DTIC Science & Technology

1980-10-01

L., R. Sun and H. F. M. Van der Loos, "Terminal Device Centered Control of Manipulation for a Rehabilitative Robot ," Prepublished paper submitted to...87 Appendix B: Robot Institute of America Information . . . . . .. 90 Preliminary Results of Worldwide Survey . . . . . . . 91 Robot ...Manufacturers and Distributors . . . . . . . . 99 Robot Researchers . . . . . . . . . . . . . . . . .. 102 III LIST OF FIGURES Title Page Frontispiece

Tele-periodontics - Oral health care at a grass root level.

PubMed

Avula, Haritha

2015-01-01

A new concept of tele-periodontics, which merges the innovative technology of telecommunications and the field of periodontics, is proposed. This new field of tele-periodontics will have an infinite potential where access to a specialist will be provided at a grass root level, enhancing effective delivery of therapy and information to the rural and under privileged areas. It would allow the specialist and the patient to interact either by video conferencing (real time) or through supportive information (store and forward) over geographic distances. Different probabilities of tele-periodontics such as tele consultation, tele training, tele education and tele support are also discussed in this paper.

Tele-periodontics - Oral health care at a grass root level

PubMed Central

Avula, Haritha

2015-01-01

A new concept of tele-periodontics, which merges the innovative technology of telecommunications and the field of periodontics, is proposed. This new field of tele-periodontics will have an infinite potential where access to a specialist will be provided at a grass root level, enhancing effective delivery of therapy and information to the rural and under privileged areas. It would allow the specialist and the patient to interact either by video conferencing (real time) or through supportive information (store and forward) over geographic distances. Different probabilities of tele-periodontics such as tele consultation, tele training, tele education and tele support are also discussed in this paper. PMID:26644730

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

PubMed

Gravez, P

2003-11-01

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

KSC-2014-2652

NASA Image and Video Library

2014-05-22

CAPE CANAVERAL, Fla. – A mining team exits the Caterpillar Mining Area with its robot as another team prepares to lower its robot into the simulated Martian soil during NASA’s 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from colleges and universities around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

Robotic Lunar Rover Technologies and SEI Supporting Technologies at Sandia National Laboratories

NASA Technical Reports Server (NTRS)

Klarer, Paul R.

1992-01-01

Existing robotic rover technologies at Sandia National Laboratories (SNL) can be applied toward the realization of a robotic lunar rover mission in the near term. Recent activities at the SNL-RVR have demonstrated the utility of existing rover technologies for performing remote field geology tasks similar to those envisioned on a robotic lunar rover mission. Specific technologies demonstrated include low-data-rate teleoperation, multivehicle control, remote site and sample inspection, standard bandwidth stereo vision, and autonomous path following based on both internal dead reckoning and an external position location update system. These activities serve to support the use of robotic rovers for an early return to the lunar surface by demonstrating capabilities that are attainable with off-the-shelf technology and existing control techniques. The breadth of technical activities at SNL provides many supporting technology areas for robotic rover development. These range from core competency areas and microsensor fabrication facilities, to actual space qualification of flight components that are designed and fabricated in-house.

Australian national networked tele-test facility for integrated systems

NASA Astrophysics Data System (ADS)

Eshraghian, Kamran; Lachowicz, Stefan W.; Eshraghian, Sholeh

2001-11-01

The Australian Commonwealth government recently announced a grant of 4.75 million as part of a 13.5 million program to establish a world class networked IC tele-test facility in Australia. The facility will be based on a state-of-the-art semiconductor tester located at Edith Cowan University in Perth that will operate as a virtual centre spanning Australia. Satellite nodes will be located at the University of Western Australia, Griffith University, Macquarie University, Victoria University and the University of Adelaide. The facility will provide vital equipment to take Australia to the frontier of critically important and expanding fields in microelectronics research and development. The tele-test network will provide state of the art environment for the electronics and microelectronics research and the industry community around Australia to test and prototype Very Large Scale Integrated (VLSI) circuits and other System On a Chip (SOC) devices, prior to moving to the manufacturing stage. Such testing is absolutely essential to ensure that the device performs to specification. This paper presents the current context in which the testing facility is being established, the methodologies behind the integration of design and test strategies and the target shape of the tele-testing Facility.

The RoboConsultant: telementoring and remote presence in the operating room during minimally invasive urologic surgeries using a novel mobile robotic interface.

PubMed

Agarwal, Rahul; Levinson, Adam W; Allaf, Mohamad; Makarov, Danil; Nason, Alex; Su, Li-Ming

2007-11-01

Remote presence is the ability of an individual to project himself from one location to another to see, hear, roam, talk, and interact just as if that individual were actually there. The objective of this study was to evaluate the efficacy and functionality of a novel mobile robotic telementoring system controlled by a portable laptop control station linked via broadband Internet connection. RoboConsultant (RemotePresence-7; InTouch Health, Sunnyvale, CA) was employed for the purpose of intraoperative telementoring and consultation during five laparoscopic and endoscopic urologic procedures. Robot functionality including navigation, zoom capability, examination of external and internal endoscopic camera views, and telestration were evaluated. The robot was controlled by a senior surgeon from various locations ranging from an adjacent operating room to an affiliated hospital 5 miles away. The RoboConsultant performed without connection failure or interruption in each case, allowing the consulting surgeon to immerse himself and navigate within the operating room environment and provide effective communication, mentoring, telestration, and consultation. RoboConsultant provided clear, real-time, and effective telementoring and telestration and allowed the operator to experience remote presence in the operating room environment as a surgical consultant. The portable laptop control station and wireless connectivity allowed the consultant to be mobile and interact with the operating room team from virtually any location. In the future, the remote presence provided by the RoboConsultant may provide useful and effective intraoperative consultation by expert surgeons located in remote sites.

Hand Gesture Based Wireless Robotic Arm Control for Agricultural Applications

NASA Astrophysics Data System (ADS)

Kannan Megalingam, Rajesh; Bandhyopadhyay, Shiva; Vamsy Vivek, Gedela; Juned Rahi, Muhammad

2017-08-01

One of the major challenges in agriculture is harvesting. It is very hard and sometimes even unsafe for workers to go to each plant and pluck fruits. Robotic systems are increasingly combined with new technologies to automate or semi automate labour intensive work, such as e.g. grape harvesting. In this work we propose a semi-automatic method for aid in harvesting fruits and hence increase productivity per man hour. A robotic arm fixed to a rover roams in the in orchard and the user can control it remotely using the hand glove fixed with various sensors. These sensors can position the robotic arm remotely to harvest the fruits. In this paper we discuss the design of hand glove fixed with various sensors, design of 4 DoF robotic arm and the wireless control interface. In addition the setup of the system and the testing and evaluation under lab conditions are also presented in this paper.

KSC-2014-2639

NASA Image and Video Library

2014-05-21

CAPE CANAVERAL, Fla. – Team members from the University of Florida in Gainesville prepare their robot for the mining portion of NASA's 2014 Robotics Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Frankie Martin

KSC-2014-2638

NASA Image and Video Library

2014-05-21

CAPE CANAVERAL, Fla. – The Hawai'l Marsbot Team members from Kapi'olani Community College in Hawaii prepare their robot for the mining portion of NASA's 2014 Robotics Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Frankie Martin

KSC-2014-2653

NASA Image and Video Library

2014-05-22

CAPE CANAVERAL, Fla. – College and university teams prepare their robots for the mining portion of NASA’s 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

2014-2684

NASA Image and Video Library

2014-05-23

CAPE CANAVERAL, Fla. -- The University of North Dakota's robotic miner digs in the simulated Martian soil in the Caterpillar Mining Arena on the final day of NASA's 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from colleges and universities around the U.S. designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

KSC-2014-2646

NASA Image and Video Library

2014-05-21

CAPE CANAVERAL, Fla. – Competition judges monitor the progress of a robot digging in the simulated Martian soil in the Caterpillar Mining Arena during NASA’s 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

KSC-2014-2647

NASA Image and Video Library

2014-05-21

CAPE CANAVERAL, Fla. – A robot digs in the simulated Martian soil in the Caterpillar Mining Arena during NASA’s 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

2014-2683

NASA Image and Video Library

2014-05-23

CAPE CANAVERAL, Fla. -- Team members prepare their robot to dig in simulated Martian soil in the Caterpillar Mining Arena on the final day of NASA's 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from colleges and universities around the U.S. designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

KSC-2014-2656

NASA Image and Video Library

2014-05-22

CAPE CANAVERAL, Fla. – Competition judges monitor two team's robots digging in the simulated Martian soil in the Caterpillar Mining Arena during NASA’s 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from colleges and universities around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

KSC-2014-2648

NASA Image and Video Library

2014-05-21

CAPE CANAVERAL, Fla. – Competition judges monitor the progress of a robot digging in the simulated Martian soil in the Caterpillar Mining Arena during NASA’s 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from colleges and universities around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

KSC-2014-2649

NASA Image and Video Library

2014-05-21

CAPE CANAVERAL, Fla. – A robot digs in the simulated Martian soil in the Caterpillar Mining Arena during NASA’s 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from colleges and universities around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

KSC-2014-2654

NASA Image and Video Library

2014-05-22

CAPE CANAVERAL, Fla. – Team members check their robot before the start of a mining session in simulated Martian soil in the Caterpillar Mining Arena during NASA’s 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from colleges and universities around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

KSC-2014-2640

NASA Image and Video Library

2014-05-21

CAPE CANAVERAL, Fla. – Team members from the University of Alabama prepare their robot for the mining portion of NASA's 2014 Robotics Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Frankie Martin

KSC-2014-2637

NASA Image and Video Library

2014-05-21

CAPE CANAVERAL, Fla. – Team members from the University of North Dakota prepare their robot for the mining portion of NASA's 2014 Robotics Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Frankie Martin

Watching elderly and disabled person's physical condition by remotely controlled monorail robot

NASA Astrophysics Data System (ADS)

Nagasaka, Yasunori; Matsumoto, Yoshinori; Fukaya, Yasutoshi; Takahashi, Tomoichi; Takeshita, Toru

2001-10-01

We are developing a nursing system using robots and cameras. The cameras are mounted on a remote controlled monorail robot which moves inside a room and watches the elderly. It is necessary to pay attention to the elderly at home or nursing homes all time. This requires staffs to pay attention to them at every time. The purpose of our system is to help those staffs. This study intends to improve such situation. A host computer controls a monorail robot to go in front of the elderly using the images taken by cameras on the ceiling. A CCD camera is mounted on the monorail robot to take pictures of their facial expression or movements. The robot sends the images to a host computer that checks them whether something unusual happens or not. We propose a simple calibration method for positioning the monorail robots to track the moves of the elderly for keeping their faces at center of camera view. We built a small experiment system, and evaluated our camera calibration method and image processing algorithm.

A new minimally invasive heart surgery instrument for atrial fibrillation treatment: first in vitro and animal tests.

PubMed

Abadie, J; Faure, A; Chaillet, N; Rougeot, P; Beaufort, D; Goldstein, J P; Finlay, P A; Bogaerts, G

2006-06-01

The paper presents a new robotic system for beating heart surgery. The final goal of this project is to develop a tele-operated system for the thoracoscopic treatment of patients with atrial fibrillation. The system consists of a robot that moves an innovative end-effector used to perform lines as in the Cox-Maze technique. The device is an electrode mesh that is introduced in the thorax through a trocar and is deployed inside the left atrium, where it can create selective ablation lines at any atrial region, using radio frequency. The current version of the umbrella has 22 electrodes. Using visual feedback from an ultrasound based navigation system, the surgeon can choose which electrodes on the mesh to activate. Once the umbrella is in contact with the endocardium of the left atrium, at the expected position, the surgeon activates the chosen electrodes sequentially. The umbrella can then be moved to another position. In vitro and in vivo animal tests have been carried out in order to test and improve the instrument, the robotic system and the operative procedure. The performed trials proved the ability of the system to treat atrial fibrillation. More in vivo tests are currently being performed to make the robot and its device ready for clinical use. Copyright 2006 John Wiley & Sons, Ltd.

The HAAPI (Home Arm Assistance Progression Initiative) Trial: A Novel Robotics Delivery Approach in Stroke Rehabilitation.

PubMed

Wolf, Steven L; Sahu, Komal; Bay, R Curtis; Buchanan, Sharon; Reiss, Aimee; Linder, Susan; Rosenfeldt, Anson; Alberts, Jay

2015-01-01

Geographical location, socioeconomic status, and logistics surrounding transportation impede access of poststroke individuals to comprehensive rehabilitative services. Robotic therapy may enhance telerehabilitation by delivering consistent and state-of-the art therapy while allowing remote monitoring and adjusting therapy for underserved populations. The Hand Mentor Pro (HMP) was incorporated within a home exercise program (HEP) to improve upper-extremity (UE) functional capabilities poststroke. To determine the efficacy of a home-based telemonitored robotic-assisted therapy as part of a HEP compared with a dose-matched HEP-only intervention among individuals less than 6 months poststroke and characterized as underserved. In this prospective, single-blinded, multisite, randomized controlled trial, 99 hemiparetic participants with limited access to UE rehabilitation were randomized to either (1) the experimental group, which received combined HEP and HMP for 3 h/d ×5 days ×8 weeks, or (2) the control group, which received HEP only at an identical dosage. Weekly communication between the supervising therapist and participant promoted compliance and progression of the HEP and HMP prescription. The Action Research Arm Test and Wolf Motor Function Test along with the Fugl-Meyer Assessment (UE) were primary and secondary outcome measures, respectively, undertaken before and after the interventions. Both groups demonstrated improvement across all UE outcomes. Robotic + HEP and HEP only were both effectively delivered remotely. There was no difference between groups in change in motor function over time. Additional research is necessary to determine the appropriate dosage of HMP and HEP. © The Author(s) 2015.

The HAAPI (Home Arm Assistance Progression Initiative) Trial: - A Novel Robotics Delivery Approach in Stroke Rehabilitation

PubMed Central

Wolf, Steven L.; Sahu, Komal; Bay, R. Curtis; Buchanan, Sharon; Reiss, Aimee; Linder, Susan; Rosenfeldt, Anson; Alberts, Jay

2015-01-01

Background Geographical location, socioeconomic status and logistics surrounding transportation impede access of post-stroke individuals to comprehensive rehabilitative services. Robotic therapy may enhance telerehabilitation by delivering consistent and state-of-the art therapy while allowing for the remote monitoring and adjusting therapy for underserved populations. The Hand Mentor Pro (HMP), was incorporated within a home exercise program (HEP) to improve upper extremity functional capabilities post-stroke. Objective To determine the efficacy of a home-based telemonitored robotic-assisted therapy as part of a HEP compared with a dose-matched HEP-only intervention among individuals less than 6 months post-stroke and characterized as underserved. Methods In this prospective, single-blinded, multisite, randomized controlled trial, 99 hemiparetic participants with limited access to upper extremity rehabilitation were randomized to the: 1) experimental group which received combined HEP and HMP for 3 hrs/day x 5 days x 8 weeks; or 2) control group which received HEP only at an identical dosage. Weekly communication between the supervising therapist and participant promoted compliance and progression of the HEP and HMP prescription. The Action Research Arm Test and Wolf Motor Function Test along with the Fugl Meyer Assessment (upper extremity) were primary and secondary outcome measures respectively, undertaken before and after the interventions. Results Both groups demonstrated improvement across all upper extremity outcomes. Conclusions Robotic+HEP and HEP only were both effectively delivered remotely. There was no difference between groups in change in motor function over time, additional research is necessary to determine appropriate dosage of HMP and HEP. PMID:25782693

Untethered Recyclable Tubular Actuators with Versatile Locomotion for Soft Continuum Robots.

PubMed

Qian, Xiaojie; Chen, Qiaomei; Yang, Yang; Xu, Yanshuang; Li, Zhen; Wang, Zhenhua; Wu, Yahe; Wei, Yen; Ji, Yan

2018-05-27

Stimuli-responsive materials offer a distinguished platform to build tether-free compact soft robots, which can combine sensing and actuation without a linked power supply. In the past, tubular soft robots have to be made by multiple components with various internal channels or complex cavities assembled together. Moreover, robust processing, complex locomotion, simple structure, and easy recyclability represent major challenges in this area. Here, it is shown that those challenges can be tackled by liquid crystalline elastomers with allyl sulfide functional groups. The light-controlled exchange reaction between allyl sulfide groups allows flexible processing of tubular soft robots/actuators, which does not need any assisting materials. Complex locomotion demonstrated here includes reversible simultaneous bending and elongation; reversible diameter expansion; and omnidirectional bending via remote infrared light control. Different modes of actuation can be programmed into the same tube without the routine assembly of multiple tubes as used in the past. In addition, the exchange reaction also makes it possible to use the same single tube repeatedly to perform different functions by erasing and reprogramming. © 2018 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Autonomous Navigation by a Mobile Robot

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance; Aghazarian, Hrand

2005-01-01

ROAMAN is a computer program for autonomous navigation of a mobile robot on a long (as much as hundreds of meters) traversal of terrain. Developed for use aboard a robotic vehicle (rover) exploring the surface of a remote planet, ROAMAN could also be adapted to similar use on terrestrial mobile robots. ROAMAN implements a combination of algorithms for (1) long-range path planning based on images acquired by mast-mounted, wide-baseline stereoscopic cameras, and (2) local path planning based on images acquired by body-mounted, narrow-baseline stereoscopic cameras. The long-range path-planning algorithm autonomously generates a series of waypoints that are passed to the local path-planning algorithm, which plans obstacle-avoiding legs between the waypoints. Both the long- and short-range algorithms use an occupancy-grid representation in computations to detect obstacles and plan paths. Maps that are maintained by the long- and short-range portions of the software are not shared because substantial localization errors can accumulate during any long traverse. ROAMAN is not guaranteed to generate an optimal shortest path, but does maintain the safety of the rover.

TERRA: Building New Communities for Advanced Biofuels

ScienceCinema

Cornelius, Joe; Mockler, Todd; Tuinstra, Mitch

2018-01-16

ARPA-E’s Transportation Energy Resources from Renewable Agriculture (TERRA) program is bringing together top experts from different disciplines – agriculture, robotics and data analytics – to rethink the production of advanced biofuel crops. ARPA-E Program Director Dr. Joe Cornelius discusses the TERRA program and explains how ARPA-E’s model enables multidisciplinary collaboration among diverse communities. The video focuses on two TERRA projects—Donald Danforth Center and Purdue University—that are developing and integrating cutting-edge remote sensing platforms, complex data analytics tools and plant breeding technologies to tackle the challenge of sustainably increasing biofuel stocks.

The Impact of Project ECHO on Participant and Patient Outcomes: A Systematic Review.

PubMed

Zhou, Carrol; Crawford, Allison; Serhal, Eva; Kurdyak, Paul; Sockalingam, Sanjeev

2016-10-01

Project Extension for Community Healthcare Outcomes (ECHO) uses tele-education to bridge knowledge gaps between specialists at academic health centers and primary care providers from remote areas. It has been implemented to address multiple medical conditions. The authors examined evidence of the impact of all Project ECHO programs on participant and patient outcomes. The authors searched PubMed, MEDLINE, EMBASE, PsycINFO, and ProQuest from January 2000 to August 2015 and the reference lists of identified reviews. Included studies were limited to those published in English, peer-reviewed articles or indexed abstracts, and those that primarily focused on Project ECHO. Editorials, commentaries, gray literature, and non-peer-reviewed articles were excluded. The authors used Moore's evaluation framework to organize study outcomes for quality assessment. The authors identified 39 studies describing Project ECHO's involvement in addressing 17 medical conditions. Evaluations of Project ECHO programs generally were limited to outcomes from Levels 1 (number of participants) to 4 (providers' competence) of Moore's framework (n = 22 studies, with some containing data from multiple levels). Studies also suggested that Project ECHO changed provider behavior (n = 1), changed patient outcomes (n = 6), and can be cost-effective (n = 2). Project ECHO is an effective and potentially cost-saving model that increases participant knowledge and patient access to health care in remote locations, but further research examining its efficacy is needed. Identifying and addressing potential barriers to Project ECHO's implementation will support the dissemination of this model as an education and practice improvement initiative.

TeleProbe: design and development of an efficient system for telepathology

NASA Astrophysics Data System (ADS)

Ahmed, Wamiq M.; Robinson, J. Paul; Ghafoor, Arif

2005-10-01

This paper describes an internet-based system for telepathology. This system provides support for multiple users and exploits the opportunities for optimization that arise in multi-user environment. Techniques for increasing system responsiveness by improving resource utilization and lowering network traffic are explored. Some of the proposed optimizations include an auto-focus module, client and server side caching, and request reordering. These systems can be an economic solution not only for remote pathology consultation but also for pathology and biology education.

Continued Development of the AF/SGR Tricorder Program for Homeland Security, Military, Public Health, and Medical Operations

DTIC Science & Technology

2012-05-15

Method for Ubiquitous Robots Based on Wireless Sensor Networks , in 1st European Conference on Smart Sensing and Context2006, Springer: Enschede, The...SUBJECT TERMS Directed Energy, Lasers, Networking , Wireless , Threat, Remote, Sensors , Database, Targets, Security, Transmit, Mobile, Unmanned...the researchers explore the potential for a network that could transport any type of sensor data now or in the future. 29 3. Methods , Assumptions

New technology applied to well logging

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

Stremel, K.

1984-11-01

Remote locations and increasingly complex geology require a higher level of sophistication in well-logging equipment and services. Applying technological advancements, well-logging contractors have developed a variety of new products and services designed to provide better quality data at reasonable prices. One of the most significant technological breakthroughs has been in satellite communications. Denver-based Western Tele-Communications Inc. is one of the few companies offering voice and data transmission services via satellite. Up to 9600 bits per second of realtime data is transmitted from terminals at remote wellsites through a main station in Denver to locations throughout the world. Because management inmore » separate offices can review well data simultaneously, critical operations decisions can be made more quickly.« less

The 50-Minute Robot.

ERIC Educational Resources Information Center

Buckland, Miram R.

1985-01-01

Sixth graders built working "robots" (or grasping bars) for remote control use during a unit on simple mechanics. Steps for making a robot are presented, including: cutting the wood, drilling and nailing, assembling the jaws, and making them work. The "jaws," used to pick up objects, illustrate principles of levers. (DH)

Towards Autonomous Inspection of Space Systems Using Mobile Robotic Sensor Platforms

NASA Technical Reports Server (NTRS)

Wong, Edmond; Saad, Ashraf; Litt, Jonathan S.

2007-01-01

The space transportation systems required to support NASA's Exploration Initiative will demand a high degree of reliability to ensure mission success. This reliability can be realized through autonomous fault/damage detection and repair capabilities. It is crucial that such capabilities are incorporated into these systems since it will be impractical to rely upon Extra-Vehicular Activity (EVA), visual inspection or tele-operation due to the costly, labor-intensive and time-consuming nature of these methods. One approach to achieving this capability is through the use of an autonomous inspection system comprised of miniature mobile sensor platforms that will cooperatively perform high confidence inspection of space vehicles and habitats. This paper will discuss the efforts to develop a small scale demonstration test-bed to investigate the feasibility of using autonomous mobile sensor platforms to perform inspection operations. Progress will be discussed in technology areas including: the hardware implementation and demonstration of robotic sensor platforms, the implementation of a hardware test-bed facility, and the investigation of collaborative control algorithms.

Robotic Arm-Assisted Sonography: Review of Technical Developments and Potential Clinical Applications.

PubMed

Swerdlow, Daniel R; Cleary, Kevin; Wilson, Emmanuel; Azizi-Koutenaei, Bamshad; Monfaredi, Reza

2017-04-01

Ultrasound imaging requires trained personnel. Advances in robotics and data transmission create the possibility of telesonography. This review introduces clinicians to current technical work in and potential applications of this developing capability. Telesonography offers advantages in hazardous or remote environments. Robotically assisted ultrasound can reduce stress injuries in sonographers and has potential utility during robotic surgery and interventional procedures.

Designing a Microhydraulically driven Mini robotic Squid

DTIC Science & Technology

2016-05-20

applications for microrobots include remote monitoring, surveillance, search and rescue, nanoassembly, medicine, and in-vivo surgery . Robotics platforms...Secretary of Defense for Research and Engineering. Designing a Microhydraulically-driven Mini- robotic Squid by Kevin Dehan Meng B.S., U.S. Air...Committee on Graduate Students 2 Designing a Microhydraulically-driven Mini- robotic Squid by Kevin Dehan Meng Submitted to the Department

Hadfield works robotic controls in the Cupola Module

NASA Image and Video Library

2013-01-10

ISS034-E-027317 (10 Jan. 2013) --- In the Cupola aboard the Earth-orbiting International Space Station, Canadian Space Agency astronaut Chris Hadfield, Expedition 34 flight engineer, works the controls at the Robotic workstation to maneuver the Space Station Remote Manipulator System (SSRMS) or CanadArm2 from its parked position to grapple the Mobile Remote Servicer (MRS) Base System (MBS) Power and Data Grapple Fixture 4 (PDGF-4).

From ships to robots: The social relations of sensing the world ocean.

PubMed

Lehman, Jessica

2018-02-01

The dominant practices of physical oceanography have recently shifted from being based on ship-based ocean sampling and sensing to being based on remote and robotic sensing using satellites, drifting floats and remotely operated and autonomous underwater vehicles. What are the implications of this change for the social relations of oceanographic science? This paper contributes to efforts to address this question, pursuing a situated view of ocean sensing technologies so as to contextualize and analyze new representations of the sea, and interactions between individual scientists, technologies and the ocean. By taking a broad view on oceanography through a 50-year shift from ship-based to remote and robotic sensing, I show the ways in which new technologies may provide an opportunity to fight what Oreskes has called 'ideologies of scientific heroism'. In particular, new sensing relations may emphasize the contributions of women and scientists from less well-funded institutions, as well as the ways in which oceanographic knowledge is always partial and dependent on interactions between nonhuman animals, technologies, and different humans. Thus, I argue that remote and robotic sensing technologies do not simply create more abstracted relations between scientists and the sea, but also may provide opportunities for more equitable scientific practice and refigured sensing relations.

The new era of robotic neck surgery: The universal application of the retroauricular approach.

PubMed

Byeon, Hyung Kwon; Koh, Yoon Woo

2015-12-01

Recent advances in technology has triggered the introduction of surgical robotics in the field of head and neck surgery and changed the landscape indefinitely. The advent of transoral robotic surgery and robotic thyroidectomy techniques has urged the extended applications of the robot to other neck surgeries including remote access surgeries. Based on earlier reports and our surgical experiences, this review will discuss in detail various robotic head and neck surgeries via retroauricular approach. © 2015 Wiley Periodicals, Inc.

Radiological tele-immersion for next generation networks.

PubMed

Ai, Z; Dech, F; Rasmussen, M; Silverstein, J C

2000-01-01

Since the acquisition of high-resolution three-dimensional patient images has become widespread, medical volumetric datasets (CT or MR) larger than 100 MB and encompassing more than 250 slices are common. It is important to make this patient-specific data quickly available and usable to many specialists at different geographical sites. Web-based systems have been developed to provide volume or surface rendering of medical data over networks with low fidelity, but these cannot adequately handle stereoscopic visualization or huge datasets. State-of-the-art virtual reality techniques and high speed networks have made it possible to create an environment for clinicians geographically distributed to immersively share these massive datasets in real-time. An object-oriented method for instantaneously importing medical volumetric data into Tele-Immersive environments has been developed at the Virtual Reality in Medicine Laboratory (VRMedLab) at the University of Illinois at Chicago (UIC). This networked-VR setup is based on LIMBO, an application framework or template that provides the basic capabilities of Tele-Immersion. We have developed a modular general purpose Tele-Immersion program that automatically combines 3D medical data with the methods for handling the data. For this purpose a DICOM loader for IRIS Performer has been developed. The loader was designed for SGI machines as a shared object, which is executed at LIMBO's runtime. The loader loads not only the selected DICOM dataset, but also methods for rendering, handling, and interacting with the data, bringing networked, real-time, stereoscopic interaction with radiological data to reality. Collaborative, interactive methods currently implemented in the loader include cutting planes and windowing. The Tele-Immersive environment has been tested on the UIC campus over an ATM network. We tested the environment with 3 nodes; one ImmersaDesk at the VRMedLab, one CAVE at the Electronic Visualization Laboratory (EVL) on east campus, and a CT scan machine in UIC Hospital. CT data was pulled directly from the scan machine to the Tele-Immersion server in our Laboratory, and then the data was synchronously distributed by our Onyx2 Rack server to all the VR setups. Instead of permitting medical volume visualization at one VR device, by combining teleconferencing, tele-presence, and virtual reality, the Tele-Immersive environment will enable geographically distributed clinicians to intuitively interact with the same medical volumetric models, point, gesture, converse, and see each other. This environment will bring together clinicians at different geographic locations to participate in Tele-Immersive consultation and collaboration.

Bidirectional and Multi-User Telerehabilitation System: Clinical Effect on Balance, Functional Activity, and Satisfaction in Patients with Chronic Stroke Living in Long-Term Care Facilities

PubMed Central

Lin, Kwan-Hwa; Chen, Chin-Hsing; Chen, You-Yin; Huang, Wen-Tzeng; Lai, Jin-Shin; Yu, Shang-Ming; Chang, Yuan-Jen

2014-01-01

Background The application of internet technology for telerehabilitation in patients with stroke has developed rapidly. Objective The current study aimed to evaluate the effect of a bidirectional and multi-user telerehabilitation system on balance and satisfaction in patients with chronic stroke living in long-term care facilities (LTCFs). Method This pilot study used a multi-site, blocked randomization design. Twenty-four participants from three LTCFs were recruited, and the participants were randomly assigned into the telerehabilitation (Tele) and conventional therapy (Conv) groups within each LTCF. Tele group received telerehabilitation but the Conv group received conventional therapy with two persons in each group for three sessions per week and for four weeks. The outcome measures included Berg Balance Scale (BBS), Barthel Index (BI), and the telerehabilitation satisfaction of the participants. Setting A telerehabilitation system included “therapist end” in a laboratory, and the “client end” in LTCFs. The conventional therapy was conducted in LTCFs. Results Training programs conducted for both the Tele and Conv groups showed significant effects within groups on the participant BBS as well as the total and self-care scores of BI. No significant difference between groups could be demonstrated. The satisfaction of participants between the Tele and the Conv groups also did not show significant difference. Conclusions This pilot study indicated that the multi-user telerehabilitation program is feasible for improving the balance and functional activity similar to conventional therapy in patients with chronic stroke living in LTCFs. PMID:25019632

Magnetic resonance imaging compatible remote catheter navigation system with 3 degrees of freedom.

PubMed

Tavallaei, M A; Lavdas, M K; Gelman, D; Drangova, M

2016-08-01

To facilitate MRI-guided catheterization procedures, we present an MRI-compatible remote catheter navigation system that allows remote navigation of steerable catheters with 3 degrees of freedom. The system consists of a user interface (master), a robot (slave), and an ultrasonic motor control servomechanism. The interventionalist applies conventional motions (axial, radial and plunger manipulations) on an input catheter in the master unit; this user input is measured and used by the servomechanism to control a compact catheter manipulating robot, such that it replicates the interventionalist's input motion on the patient catheter. The performance of the system was evaluated in terms of MRI compatibility (SNR and artifact), feasibility of remote navigation under real-time MRI guidance, and motion replication accuracy. Real-time MRI experiments demonstrated that catheter was successfully navigated remotely to desired target references in all 3 degrees of freedom. The system had an absolute value error of [Formula: see text]1 mm in axial catheter motion replication over 30 mm of travel and [Formula: see text] for radial catheter motion replication over [Formula: see text]. The worst case SNR drop was observed to be [Formula: see text]3 %; the robot did not introduce any artifacts in the MR images. An MRI-compatible compact remote catheter navigation system has been developed that allows remote navigation of steerable catheters with 3 degrees of freedom. The proposed system allows for safe and accurate remote catheter navigation, within conventional closed-bore scanners, without degrading MR image quality.

Effects of a tele-prehabilitation program or an in-person prehabilitation program in surgical candidates awaiting total hip or knee arthroplasty: Protocol of a pilot single blind randomized controlled trial.

PubMed

Doiron-Cadrin, Patrick; Kairy, Dahlia; Vendittoli, Pascal-André; Lowry, Véronique; Poitras, Stéphane; Desmeules, François

2016-12-15

The accessibility for total joint arthroplasty often comes up against long wait lists, and may lead to deleterious effects for the awaiting patients. This pilot single blind randomized controlled trial aims to evaluate the impact of a telerehabilitation prehabilitation program before a hip or knee arthroplasty compared to in-person prehabilitation or to usual wait for surgery. Thirty-six patients on a wait list for a total hip or knee arthroplasty will be recruited and randomly assigned to one of three groups. The in-person prehabilitation group (n = 12) will receive a 12-week rehabilitation program (2 sessions/week) including education, exercises of the lower limb and cardiovascular training. Patients in the tele-prehabilitation group (n = 12) will receive the same intervention using a telecommunication software. The control group (n = 12) will be provided with the hospital's usual documentation before surgery. The Lower Extremity Functional Scale (LEFS) will be the primary outcome measure taken at baseline and at 12 weeks. Secondary measures will include self-reported function and quality of life as well as performance tests. A mixed-model, 2-way repeated-measure ANOVA will be used to analyse the effects of the rehabilitation programs. This pilot study is the first to evaluate the feasibility and the impact of a telerehabilitation prehabilitation program for patients awaiting a total joint arthroplasty. The results of this pilot-RCT will set the foundations for further research in the fields of rehabilitation and tele-medicine for patients suffering from lower limb osteoarthritis. ClinicalTrials.gov: NCT02636751.

OzBot and haptics: remote surveillance to physical presence

NASA Astrophysics Data System (ADS)

Mullins, James; Fielding, Mick; Nahavandi, Saeid

2009-05-01

This paper reports on robotic and haptic technologies and capabilities developed for the law enforcement and defence community within Australia by the Centre for Intelligent Systems Research (CISR). The OzBot series of small and medium surveillance robots have been designed in Australia and evaluated by law enforcement and defence personnel to determine suitability and ruggedness in a variety of environments. Using custom developed digital electronics and featuring expandable data busses including RS485, I2C, RS232, video and Ethernet, the robots can be directly connected to many off the shelf payloads such as gas sensors, x-ray sources and camera systems including thermal and night vision. Differentiating the OzBot platform from its peers is its ability to be integrated directly with haptic technology or the 'haptic bubble' developed by CISR. Haptic interfaces allow an operator to physically 'feel' remote environments through position-force control and experience realistic force feedback. By adding the capability to remotely grasp an object, feel its weight, texture and other physical properties in real-time from the remote ground control unit, an operator's situational awareness is greatly improved through Haptic augmentation in an environment where remote-system feedback is often limited.

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...

Event-Based Sensing and Control for Remote Robot Guidance: An Experimental Case

PubMed Central

Santos, Carlos; Martínez-Rey, Miguel; Santiso, Enrique

2017-01-01

This paper describes the theoretical and practical foundations for remote control of a mobile robot for nonlinear trajectory tracking using an external localisation sensor. It constitutes a classical networked control system, whereby event-based techniques for both control and state estimation contribute to efficient use of communications and reduce sensor activity. Measurement requests are dictated by an event-based state estimator by setting an upper bound to the estimation error covariance matrix. The rest of the time, state prediction is carried out with the Unscented transformation. This prediction method makes it possible to select the appropriate instants at which to perform actuations on the robot so that guidance performance does not degrade below a certain threshold. Ultimately, we obtained a combined event-based control and estimation solution that drastically reduces communication accesses. The magnitude of this reduction is set according to the tracking error margin of a P3-DX robot following a nonlinear trajectory, remotely controlled with a mini PC and whose pose is detected by a camera sensor. PMID:28878144

DOE Robotic and Remote Systems Assistance to the Government of Japan

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

Derek Wadsworth; Victor Walker

At the request of the Government of Japan, DOE did a complex wide survey of available remotely operated and robotic systems to assist in the initial assessment of the damage to the Fukushima Daiichi reactors following an earthquake and subsequent tsunami. As a result several radiation hardened cameras and a Talon robot were identified as systems that could immediately assist in the effort and were subsequently sent to Japan. These systems were transferred to the Government of Japan and used to map radiation levels surrounding the damaged facilities. This report describes the equipment, its use, data collected, and lessons learnedmore » from the experience.« less

Advanced Space Surface Systems Operations

NASA Technical Reports Server (NTRS)

Huffaker, Zachary Lynn; Mueller, Robert P.

2014-01-01

The importance of advanced surface systems is becoming increasingly relevant in the modern age of space technology. Specifically, projects pursued by the Granular Mechanics and Regolith Operations (GMRO) Lab are unparalleled in the field of planetary resourcefulness. This internship opportunity involved projects that support properly utilizing natural resources from other celestial bodies. Beginning with the tele-robotic workstation, mechanical upgrades were necessary to consider for specific portions of the workstation consoles and successfully designed in concept. This would provide more means for innovation and creativity concerning advanced robotic operations. Project RASSOR is a regolith excavator robot whose primary objective is to mine, store, and dump regolith efficiently on other planetary surfaces. Mechanical adjustments were made to improve this robot's functionality, although there were some minor system changes left to perform before the opportunity ended. On the topic of excavator robots, the notes taken by the GMRO staff during the 2013 and 2014 Robotic Mining Competitions were effectively organized and analyzed for logistical purposes. Lessons learned from these annual competitions at Kennedy Space Center are greatly influential to the GMRO engineers and roboticists. Another project that GMRO staff support is Project Morpheus. Support for this project included successfully producing mathematical models of the eroded landing pad surface for the vertical testbed vehicle to predict a timeline for pad reparation. And finally, the last project this opportunity made contribution to was Project Neo, a project exterior to GMRO Lab projects, which focuses on rocket propulsion systems. Additions were successfully installed to the support structure of an original vertical testbed rocket engine, thus making progress towards futuristic test firings in which data will be analyzed by students affiliated with Rocket University. Each project will be explained in further detail, as well as the full scope of the contributions made during this opportunity.

Using robotic telecommunications to triage pediatric disaster victims.

PubMed

Burke, Rita V; Berg, Bridget M; Vee, Paul; Morton, Inge; Nager, Alan; Neches, Robert; Wetzel, Randall; Upperman, Jeffrey S

2012-01-01

During a disaster, hospitals may be overwhelmed and have an insufficient number of pediatric specialists available to care for injured children. The aim of this study was to determine the feasibility of remotely providing pediatric expertise via a robot to treat pediatric victims. In 2008, Los Angeles County held 2 drills involving telemedicine. The first was the Tri-Hospital drill in which 3 Los Angeles County hospitals, one being a pediatric hospital, participated. The disaster scenario involved a Metrolink train crash, resulting in a large surge of traumatic injuries. The second drill involved multiple agencies and was called the Great California Shakeout, a simulated earthquake exercise. The telemedicine equipment installed is an InTouch Health, Inc, Santa Barbara, CA robotic telecommunications system. We used mixed-methods to evaluate the use of telemedicine during these drills. Pediatric specialists successfully provided remote triage and treatment consults of victims via the robot. The robot proved to be a useful means to extend resources and provide expert consult if pediatric specialists were unable to physically be at the site. Telemedicine can be used in the delayed treatment areas as well as for training first receivers to collaborate with specialists in remote locations to triage and treat seriously injured pediatric victims. Copyright © 2012 Elsevier Inc. All rights reserved.

How NASA Utilizes Dashboards to Help Ensure Mission Success

NASA Technical Reports Server (NTRS)

Blakeley, Chris

2013-01-01

NASA is actively planning to expand human spaceflight and robotic exploration beyond low Earth orbit. To prepare for the challenge of exploring these destinations in space, NASA conducts missions here on Earth in remote locations that have physical similarities to extreme space environments. Program managers for the Advanced Exploration Systems program requested a simple way to track financial information to ensure that each task stayed within their budgetary constraints. Using SAP BusinessObjects Dashboards (Formerly Xcelsius), a dashboard was created to satisfy all of their key requirements. Lessons learned, along with some tips and tricks, will be highlighted during this session.

Semiautonomous teleoperation system with vision guidance

NASA Astrophysics Data System (ADS)

Yu, Wai; Pretlove, John R. G.

1998-12-01

This paper describes the ongoing research work on developing a telerobotic system in Mechatronic Systems and Robotics Research group at the University of Surrey. As human operators' manual control of remote robots always suffer from reduced performance and difficulties in perceiving information from the remote site, a system with a certain level of intelligence and autonomy will help to solve some of these problems. Thus, this system has been developed for this purpose. It also serves as an experimental platform to test the idea of using the combination of human and computer intelligence in teleoperation and finding out the optimum balance between them. The system consists of a Polhemus- based input device, a computer vision sub-system and a graphical user interface which communicates the operator with the remote robot. The system description is given in this paper as well as the preliminary experimental results of the system evaluation.

Analysis of remote operating systems for space-based servicing operations. Volume 2: Study results

NASA Technical Reports Server (NTRS)

1985-01-01

The developments in automation and robotics have increased the importance of applications for space based servicing using remotely operated systems. A study on three basic remote operating systems (teleoperation, telepresence and robotics) was performed in two phases. In phase one, requirements development, which consisted of one three-month task, a group of ten missions were selected. These included the servicing of user equipment on the station and the servicing of the station itself. In phase two, concepts development, which consisted of three tasks, overall system concepts were developed for the selected missions. These concepts, which include worksite servicing equipment, a carrier system, and payload handling equipment, were evaluated relative to the configurations of the overall worksite. It is found that the robotic/teleoperator concepts are appropriate for relatively simple structured tasks, while the telepresence/teleoperator concepts are applicable for missions that are complex, unstructured tasks.

A tele-home care system exploiting the DVB-T technology and MHP.

PubMed

Angius, G; Pani, D; Raffo, L; Randaccio, P; Seruis, S

2008-01-01

The aim of this research work is the development of a low-cost system for telemedicine based on the DVB-T technology. The diffusion of DVB-T standard and the low cost of DVB-T set-top boxes bring the vision of a capillary distribution of tele-home care monitoring systems with easy-to-use patient's interface. Exploiting the potentiality of the DVB-T set-top box, we transformed it into an "on-demand tele-home care interface". The Xlet we developed is able to govern the functionality of an external microcontroller-based unit for the acquisition of the bio-signals of interest. The uplink connection is used to send the exam results to a remote care center. The Xlet providing the patient interface on the set-top box is uploaded by a DVB-T broadcaster without any intervention in the patient's home. A prototypal low-cost base station for the acquisition of the patient's signals (1-lead ECG) has been developed. It is able to be connected to the set-top box via an infrared link. A smart-card-based system is in charge for the customization of the Xlet for every patient. The proposed system, based on a currently widespread infrastructure, is able to allow the patients monitoring from home without any installation procedure. Even untrained (or elderly) people can easily use such system due to their practice with the basic DVB-T home-entertainment equipments.

A mathematical framework for combining decisions of multiple experts toward accurate and remote diagnosis of malaria using tele-microscopy.

PubMed

Mavandadi, Sam; Feng, Steve; Yu, Frank; Dimitrov, Stoyan; Nielsen-Saines, Karin; Prescott, William R; Ozcan, Aydogan

2012-01-01

We propose a methodology for digitally fusing diagnostic decisions made by multiple medical experts in order to improve accuracy of diagnosis. Toward this goal, we report an experimental study involving nine experts, where each one was given more than 8,000 digital microscopic images of individual human red blood cells and asked to identify malaria infected cells. The results of this experiment reveal that even highly trained medical experts are not always self-consistent in their diagnostic decisions and that there exists a fair level of disagreement among experts, even for binary decisions (i.e., infected vs. uninfected). To tackle this general medical diagnosis problem, we propose a probabilistic algorithm to fuse the decisions made by trained medical experts to robustly achieve higher levels of accuracy when compared to individual experts making such decisions. By modelling the decisions of experts as a three component mixture model and solving for the underlying parameters using the Expectation Maximisation algorithm, we demonstrate the efficacy of our approach which significantly improves the overall diagnostic accuracy of malaria infected cells. Additionally, we present a mathematical framework for performing 'slide-level' diagnosis by using individual 'cell-level' diagnosis data, shedding more light on the statistical rules that should govern the routine practice in examination of e.g., thin blood smear samples. This framework could be generalized for various other tele-pathology needs, and can be used by trained experts within an efficient tele-medicine platform.

The use of remote presence for health care delivery in a northern Inuit community: a feasibility study

PubMed Central

Mendez, Ivar; Jong, Michael; Keays-White, Debra; Turner, Gail

2013-01-01

Objective To evaluate the feasibility of remote presence for improving the health of residents in a remote northern Inuit community. Study design A pilot study assessed patient's, nurse's and physician's satisfaction with and the use of the remote presence technology aiding delivery of health care to a remote community. A preliminary cost analysis of this technology was also performed. Methods This study deployed a remote presence RP-7 robot to the isolated Inuit community of Nain, Newfoundland and Labrador for 15 months. The RP-7 is wirelessly controlled by a laptop computer equipped with audiovisual capability and a joystick to maneuver the robot in real time to aid in the assessing and care of patients from a distant location. Qualitative data on physician's, patient's, caregiver's and staff's satisfaction were collected as well as information on its use and characteristics and the number of air transports required to the referral center and associated costs. Results A total of 252 remote presence sessions occurred during the study period, with 89% of the sessions involving direct patient assessment or monitoring. Air transport was required in only 40% of the cases that would have been otherwise transported normally. Patients and their caregivers, nurses and physicians all expressed a high level of satisfaction with the remote presence technology and deemed it beneficial for improved patient care, workloads and job satisfaction. Conclusions These results show the feasibility of deploying a remote presence robot in a distant northern community and a high degree of satisfaction with the technology. Remote presence in the Canadian North has potential for delivering a cost-effective health care solution to underserviced communities reducing the need for the transport of patients and caregivers to distant referral centers. PMID:23984292

The use of remote presence for health care delivery in a northern Inuit community: a feasibility study.

PubMed

Mendez, Ivar; Jong, Michael; Keays-White, Debra; Turner, Gail

2013-01-01

To evaluate the feasibility of remote presence for improving the health of residents in a remote northern Inuit community. A pilot study assessed patient's, nurse's and physician's satisfaction with and the use of the remote presence technology aiding delivery of health care to a remote community. A preliminary cost analysis of this technology was also performed. This study deployed a remote presence RP-7 robot to the isolated Inuit community of Nain, Newfoundland and Labrador for 15 months. The RP-7 is wirelessly controlled by a laptop computer equipped with audiovisual capability and a joystick to maneuver the robot in real time to aid in the assessing and care of patients from a distant location. Qualitative data on physician's, patient's, caregiver's and staff's satisfaction were collected as well as information on its use and characteristics and the number of air transports required to the referral center and associated costs. A total of 252 remote presence sessions occurred during the study period, with 89% of the sessions involving direct patient assessment or monitoring. Air transport was required in only 40% of the cases that would have been otherwise transported normally. Patients and their caregivers, nurses and physicians all expressed a high level of satisfaction with the remote presence technology and deemed it beneficial for improved patient care, workloads and job satisfaction. These results show the feasibility of deploying a remote presence robot in a distant northern community and a high degree of satisfaction with the technology. Remote presence in the Canadian North has potential for delivering a cost-effective health care solution to underserviced communities reducing the need for the transport of patients and caregivers to distant referral centers.

A Dynamic Image Quality Evaluation of Videofluoroscopy Images: Considerations for Telepractice Applications.

PubMed

Burns, Clare L; Keir, Benjamin; Ward, Elizabeth C; Hill, Anne J; Farrell, Anna; Phillips, Nick; Porter, Linda

2015-08-01

High-quality fluoroscopy images are required for accurate interpretation of videofluoroscopic swallow studies (VFSS) by speech pathologists and radiologists. Consequently, integral to developing any system to conduct VFSS remotely via telepractice is ensuring that the quality of the VFSS images transferred via the telepractice system is optimized. This study evaluates the extent of change observed in image quality when videofluoroscopic images are transmitted from a digital fluoroscopy system to (a) current clinical equipment (KayPentax Digital Swallowing Workstation, and b) four different telepractice system configurations. The telepractice system configurations consisted of either a local C20 or C60 Cisco TelePresence System (codec unit) connected to the digital fluoroscopy system and linked to a second remote C20 or C60 Cisco TelePresence System via a network running at speeds of either 2, 4 or 6 megabits per second (Mbit/s). Image quality was tested using the NEMA XR 21 Phantom, and results demonstrated some loss in spatial resolution, low contrast detectability and temporal resolution for all transferred images when compared to the fluoroscopy source. When using higher capacity codec units and/or the highest bandwidths to support data transmission, image quality transmitted through the telepractice system was found to be comparable if not better than the current clinical system. This study confirms that telepractice systems can be designed to support fluoroscopy image transfer and highlights important considerations when developing telepractice systems for VFSS analysis to ensure high-quality radiological image reproduction.

KSC-2013-2998

NASA Image and Video Library

2013-06-29

CAPE CANAVERAL, Fla. -- Inside the new "Space Shuttle Atlantis" facility at the Kennedy Space Center Visitor Complex in Florida, guests gather around the spacecraft on display with payload bay doors open and remote manipulator system robot arm extended. The new $100 million facility includes interactive exhibits that tell the story of the 30-year Space Shuttle Program and highlight the future of space exploration. The "Space Shuttle Atlantis" exhibit formally opened to the public on June 29, 2013.Photo credit: NASA/Jim Grossmann

KSC-2013-2997

NASA Image and Video Library

2013-06-29

CAPE CANAVERAL, Fla. -- Inside the new "Space Shuttle Atlantis" facility at the Kennedy Space Center Visitor Complex in Florida, 40 astronauts posed with the spacecraft on display with payload bay doors open and remote manipulator system robot arm extended. The new $100 million facility includes interactive exhibits that tell the story of the 30-year Space Shuttle Program and highlight the future of space exploration. The "Space Shuttle Atlantis" exhibit formally opened to the public on June 29, 2013.Photo credit: NASA/Jim Grossmann

Centers for the commercial development of space

NASA Technical Reports Server (NTRS)

Walker, Susan E. (Editor)

1989-01-01

In 1985, NASA initiated an innovative effort called Centers for the Commercial Development of Space (CCDS). The CCDS program was designed to increase private-sector interest and investment in space-related activities, while encouraging U.S. economic leadership and stimulating advances in promising areas of research and development. Research conducted in the Centers handling the following areas is summarized: materials processing; life sciences; remote sensing; automation and robotics; space propulsion; space structures and materials; and space power.

Gigapan Voyage for Robotic Recon

NASA Technical Reports Server (NTRS)

Lee, Susan Y.; Moorse, Theodore Fitzgerald; Park, Eric J.

2010-01-01

Gigapan Voyage (GV) is a self-contained remotely-operable Gigapan capturing system that is currently being developed by the Intelligent Robotics Group (IRG) at NASA Ames Research Center. Gigapan Voyage was primarily designed to be integrated onto Johnson Space Center s Lunar Electric Rovers (LER). While on LER, Gigapan Voyage was used by scientists and astronauts during the 2009 and 2010 Desert RATS field tests. The concept behind Gigapan Voyage is to merge all the sub-components of the commercial GigaPan system into an all-in-one system that can capture, stitch, and display Gigapans in an automated way via a simple web interface. The GV system enables NASA to quickly and easily add remote-controlled Gigapan capturing capability onto rovers with minimal integration effort. Key Words: Geology, NASA, Black Point Lava Flow, Robot, K10, LER, Gigapan Voyage, Desert RATS, Intelligent Robotics Group

Inspection Robot Based Mobile Sensing and Power Line Tracking for Smart Grid

PubMed Central

Byambasuren, Bat-erdene; Kim, Donghan; Oyun-Erdene, Mandakh; Bold, Chinguun; Yura, Jargalbaatar

2016-01-01

Smart sensing and power line tracking is very important in a smart grid system. Illegal electricity usage can be detected by remote current measurement on overhead power lines using an inspection robot. There is a need for accurate detection methods of illegal electricity usage. Stable and correct power line tracking is a very prominent issue. In order to correctly track and make accurate measurements, the swing path of a power line should be previously fitted and predicted by a mathematical function using an inspection robot. After this, the remote inspection robot can follow the power line and measure the current. This paper presents a new power line tracking method using parabolic and circle fitting algorithms for illegal electricity detection. We demonstrate the effectiveness of the proposed tracking method by simulation and experimental results. PMID:26907274

Inspection Robot Based Mobile Sensing and Power Line Tracking for Smart Grid.

PubMed

Byambasuren, Bat-Erdene; Kim, Donghan; Oyun-Erdene, Mandakh; Bold, Chinguun; Yura, Jargalbaatar

2016-02-19

Smart sensing and power line tracking is very important in a smart grid system. Illegal electricity usage can be detected by remote current measurement on overhead power lines using an inspection robot. There is a need for accurate detection methods of illegal electricity usage. Stable and correct power line tracking is a very prominent issue. In order to correctly track and make accurate measurements, the swing path of a power line should be previously fitted and predicted by a mathematical function using an inspection robot. After this, the remote inspection robot can follow the power line and measure the current. This paper presents a new power line tracking method using parabolic and circle fitting algorithms for illegal electricity detection. We demonstrate the effectiveness of the proposed tracking method by simulation and experimental results.

Autonomous exploration and mapping of unknown environments

NASA Astrophysics Data System (ADS)

Owens, Jason; Osteen, Phil; Fields, MaryAnne

2012-06-01

Autonomous exploration and mapping is a vital capability for future robotic systems expected to function in arbitrary complex environments. In this paper, we describe an end-to-end robotic solution for remotely mapping buildings. For a typical mapping system, an unmanned system is directed to enter an unknown building at a distance, sense the internal structure, and, barring additional tasks, while in situ, create a 2-D map of the building. This map provides a useful and intuitive representation of the environment for the remote operator. We have integrated a robust mapping and exploration system utilizing laser range scanners and RGB-D cameras, and we demonstrate an exploration and metacognition algorithm on a robotic platform. The algorithm allows the robot to safely navigate the building, explore the interior, report significant features to the operator, and generate a consistent map - all while maintaining localization.

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

PubMed

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

2014-09-01

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

Leveraging Scarce Resources With Bone Health TeleECHO to Improve the Care of Osteoporosis.

PubMed

Lewiecki, E Michael; Rochelle, Rachelle; Bouchonville, Matthew F; Chafey, David H; Olenginski, Thomas P; Arora, Sanjeev

2017-12-01

Osteoporosis is a common condition with serious consequences because of fractures. Despite availability of treatments to reduce fracture risk, there is a large osteoporosis treatment gap that has reached crisis proportions. There are too few specialists to provide services for patients who need them. Bone Health Extension for Community Health Care Outcomes (TeleECHO) is a strategy using real-time ongoing videoconferencing technology to mentor health care professionals in rural and underserved communities to achieve an advanced level of knowledge for the care of patients with skeletal diseases. Over the first 21 months of weekly Bone Health TeleECHO programs, there were 263 registered health care professionals in the United States and several other countries, with 221 attending at least 1 online clinic and typically 35 to 40 attendees at each session at the end of the reported period. Assessment of self-confidence in 20 domains of osteoporosis care showed substantial improvement with the ECHO intervention ( P = 0.005). Bone Health TeleECHO can contribute to mitigating the crisis in osteoporosis care by leveraging scarce resources, providing motivated practitioners with skills to provide better skeletal health care, closer to home, with greater convenience, and lower cost than referral to a specialty center. Bone Health TeleECHO can be replicated in any location worldwide to reach anyone with Internet access, allowing access in local time zones and languages. The ECHO model of learning can be applied to other aspects of bone care, including the education of fracture liaison service coordinators, residents and fellows, and physicians with an interest in rare bone diseases.

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

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

The magic glove: a gesture-based remote controller for intelligent mobile robots

NASA Astrophysics Data System (ADS)

Luo, Chaomin; Chen, Yue; Krishnan, Mohan; Paulik, Mark

2012-01-01

This paper describes the design of a gesture-based Human Robot Interface (HRI) for an autonomous mobile robot entered in the 2010 Intelligent Ground Vehicle Competition (IGVC). While the robot is meant to operate autonomously in the various Challenges of the competition, an HRI is useful in moving the robot to the starting position and after run termination. In this paper, a user-friendly gesture-based embedded system called the Magic Glove is developed for remote control of a robot. The system consists of a microcontroller and sensors that is worn by the operator as a glove and is capable of recognizing hand signals. These are then transmitted through wireless communication to the robot. The design of the Magic Glove included contributions on two fronts: hardware configuration and algorithm development. A triple axis accelerometer used to detect hand orientation passes the information to a microcontroller, which interprets the corresponding vehicle control command. A Bluetooth device interfaced to the microcontroller then transmits the information to the vehicle, which acts accordingly. The user-friendly Magic Glove was successfully demonstrated first in a Player/Stage simulation environment. The gesture-based functionality was then also successfully verified on an actual robot and demonstrated to judges at the 2010 IGVC.

RM-10A robotic manipulator system

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

White, J.R.; Coughlan, J.B.; Harvey, H.W.

1988-01-01

The REMOTE RM-10A is a man-replacement manipulator system that has been developed specifically for use in radioactive and other hazardous environments. It can be teleoperated, with man-in-the-loop, for unstructured tasks or programmed to perform routine tasks automatically much like robots in the automated manufacturing industry. The RM-10A is a servomanipulator utilizing a closed-loop, microprocessor-based control system. The system consists of a slave assembly, master control station, and interconnecting cabling. The slave assembly is the part of the system that enters the hostile environment. It is man-like is size and configuration with two identical arms attached to a torso structure. Eachmore » arm attaches to the torso using two captive screws and two guide pins. The guide pins position and stabilize an arm during removal and reinstallation and also align the two electrical connectors located in the arm support plate and torso. These features allow easy remote replacement of an arm, and commonality of the arms allow interchangeability. The water-resistant slave assembly is equipped with gaskets and O-ring seals in the torso and arm and camera assemblies. In addition, each slave arm's elbow, wrist, and tong are protected by replaceable polyurethane boots. An upper camera assembly, consisting of a color television (TV) camera, 6:1 zoom lens, and a pan/tilt unit, mount to the torso to provide remote viewing capability.« less

Optimal design of a novel remote center-of-motion mechanism for minimally invasive surgical robot

NASA Astrophysics Data System (ADS)

Sun, Jingyuan; Yan, Zhiyuan; Du, Zhijiang

2017-06-01

Surgical robot with a remote center-of-motion (RCM) plays an important role in minimally invasive surgery (MIS) field. To make the mechanism has high flexibility and meet the demand of movements during processing of operation, an optimized RCM mechanism is proposed in this paper. Then, the kinematic performance and workspace are analyzed. Finally, a new optimization objective function is built by using the condition number index and the workspace index.

KSC-2014-2650

NASA Image and Video Library

2014-05-21

CAPE CANAVERAL, Fla. – A robot dumps its load of simulated Martian soil in a collector in the Caterpillar Mining Arena during NASA’s 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. A competition judge monitors the progress. More than 35 teams from colleges and universities around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

Automation, robotics, and inflight training for manned Mars missions

NASA Technical Reports Server (NTRS)

Holt, Alan C.

1986-01-01

The automation, robotics, and inflight training requirements of manned Mars missions will be supported by similar capabilities developed for the space station program. Evolutionary space station onboard training facilities will allow the crewmembers to minimize the amount of training received on the ground by providing extensive onboard access to system and experiment malfunction procedures, maintenance procedures, repair procedures, and associated video sequences. Considerable on-the-job training will also be conducted for space station management, mobile remote manipulator operations, proximity operations with the Orbital Maneuvering Vehicle (and later the Orbit Transfer Vehicle), and telerobotics and mobile robots. A similar approach could be used for manned Mars mission training with significant additions such as high fidelity image generation and simulation systems such as holographic projection systems for Mars landing, ascent, and rendezvous training. In addition, a substantial increase in the use of automation and robotics for hazardous and tedious tasks would be expected for Mars mission. Mobile robots may be used to assist in the assembly, test and checkout of the Mars spacecraft, in the handling of nuclear components and hazardous chemical propellent transfer operations, in major spacecraft repair tasks which might be needed (repair of a micrometeroid penetration, for example), in the construction of a Mars base, and for routine maintenance of the base when unmanned.

Health-related Culinary Education: A Summary of Representative Emerging Programs for Health Professionals and Patients.

PubMed

Polak, Rani; Phillips, Edward M; Nordgren, Julia; La Puma, John; La Barba, Julie; Cucuzzella, Mark; Graham, Robert; Harlan, Timothy S; Burg, Tracey; Eisenberg, David

2016-01-01

Beneficial correlations are suggested between food preparation and home food preparation of healthy choices. Therefore, there is an emergence of culinary medicine (CM) programs directed at both patients and medical professionals which deliver education emphasizing skills such as shopping, food storage, and meal preparation. The goal of this article is to provide a description of emerging CM programs and to imagine how this field can mature. During April 2015, 10 CM programs were identified by surveying CM and lifestyle medicine leaders. Program directors completed a narrative describing their program's structure, curricula, educational design, modes of delivery, funding, and cost. Interviews were conducted in an effort to optimize data collection. All 10 culinary programs deliver medical education curricula educating 2654 health professionals per year. Educational goals vary within the domains of (1) provider's self-behavior, (2) nutritional knowledge and (3) prescribing nutrition. Six programs deliver patients' curricula, educating 4225 individuals per year. These programs' content varies and focuses on either specific diets or various culinary behaviors. All the programs' directors are health professionals who are also either credentialed chefs or have a strong culinary background. Nine of these programs offer culinary training in either a hands-on or visual demonstration within a teaching kitchen setting, while one delivers remote culinary tele-education. Seven programs track outcomes using various questionnaires and biometric data. There is currently no consensus about learning objectives, curricular domains, staffing, and facility requirements associated with CM, and there has been little research to explore its impact. A shared strategy is needed to collectively overcome these challenges.

Pulsating star research from Antarctica

NASA Astrophysics Data System (ADS)

Chadid, Merieme

2017-09-01

This invited talk discusses the pulsating star research from the heart of Antarctica and the scientific polar challenges in the extreme environment of Antarctica, and how the new polar technology could cope with unresolved stellar pulsation enigmas and evolutionary properties challenges towards an understanding of the mysteries of the Universe. PAIX, the first robotic photometer Antarctica program, has been successfully launched during the polar night 2007. This ongoing program gives a new insight to cope with unresolved stellar enigmas and stellar oscillation challenges with a great opportunity to benefit from an access to the best astronomical site on Earth, Dome C. PAIX achieves astrophysical measurement time-series of stellar fields, challenging photometry from space. A continuous and an uninterrupted series of multi-color photometric observations has been collected each polar night - 150 days - without regular interruption, Earth's rotation effect. PAIX shows the first light curve from Antarctica and first step for the astronomy in Antarctica giving new insights in remote polar observing runs and robotic instruments towards a new technology.

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.

Field testing of tele-operation versus shared and traded control for military assets: an evaluation involving real-time embedded simulation and soldier assessment

NASA Astrophysics Data System (ADS)

Metcalfe, Jason S.; Alban, Jillyn; Cosenzo, Keryl; Johnson, Tony; Capstick, Erin

2010-04-01

Those applying autonomous technologies to military systems strive to enhance human-robot and robot-robot performance. Beyond performance, the military must be concerned with local area security. Characterized as "secure mobility", military systems must enable safe and effective terrain traversal concurrent with maintenance of situational awareness (SA). One approach to interleaving these objectives is supervisory control, with popular options being shared and traded control. Yet, with the scale and expense of military assets, common technical issues such as transition time and safeguarding become critical; especially as they interact with Soldier capabilities. Study is required to enable selection of control methods that optimize Soldier-system performance while safeguarding both individually. The current report describes a study utilizing experimental military vehicles and simulation systems enabling teleoperation and supervisory control. Automated triggering of SA demands was interspersed with a set of challenging driving maneuvers in a 'teleoperation-like' context to examine the influence of supervisory control on Soldier-system performance. Results indicated that direct application of supervisory control, while beneficial under particular demands, requires continued development to be perceived by Soldiers as useful. Future efforts should more tightly couple the information exchanged between the Soldier and system to overcome current challenges not addressed by standard control methods.

A scenario for a web-based radiation treatment planning structure: A new tool for quality assurance procedure?

PubMed

Kouloulias, V E; Ntasis, E; Poortmans, Ph; Maniatis, T A; Nikita, K S

2003-01-01

The desire to develop web-based platforms for remote collaboration among physicians and technologists is becoming a great challenge. In this paper we describe a web-based radiotherapy treatment planning (WBRTP) system to facilitate decentralized radiotherapy services by allowing remote treatment planning and quality assurance (QA) of treatment delivery. Significant prerequisites are digital storage of relevant data as well as efficient and reliable telecommunication system between collaborating units. The system of WBRTP includes video conferencing, display of medical images (CT scans, dose distributions etc), replication of selected data from a common database, remote treatment planning, evaluation of treatment technique and follow-up of the treated patients. Moreover the system features real-time remote operations in terms of tele-consulting like target volume delineation performed by a team of experts at different and distant units. An appraisal of its possibilities in quality assurance in radiotherapy is also discussed. As a conclusion, a WBRTP system would not only be a medium for communication between experts in oncology but mainly a tool for improving the QA in radiotherapy.

Smartphones, tele-ophthalmology, and VISION 2020

PubMed Central

Mohammadpour, Mehrdad; Heidari, Zahra; Mirghorbani, Masoud; Hashemi, Hassan

2017-01-01

Telemedicine is an emerging field in recent medical achievements with rapid development. The “smartphone” availability has increased in both developed and developing countries even among people in rural and remotes areas. Tele-based services can be used for screening ophthalmic diseases and also monitoring patients with known diseases. Electronic ophthalmologic records of the patients including captured images by smartphones from anterior and posterior segments of the eye will be evaluated by ophthalmologists, and if patients require further evaluations, they will be referred to experts in the relevant field. Eye diseases such as cataract, glaucoma, age-related macular degeneration, diabetic retinopathy, and retinopathy of prematurity are the most common causes of blindness in many countries and beneficial use of teleophthalmology with smartphones will be a good way to achieve the aim of VISION 2020 all over the world. Numerous studies have shown that teleophthalmology is similar to the conventional eye care system in clinical outcomes and even provides more patient satisfaction as it saves time and cost. This review explains how teleophthalmology helps to improve patient outcomes through smartphones. PMID:29259912

Improving Access to Pediatric Cardiology in Cape Verde via a Collaborative International Telemedicine Service.

PubMed

Lapão, Luís Velez; Correia, Artur

2015-01-01

This paper addresses the role of international telemedicine services in supporting the evacuation procedures from Cape Verde to Portugal, enabling better quality and cost reductions in the management of the global health system. The Cape Verde, as other African countries, health system lacks many medical specialists, like pediatric cardiologists, neurosurgery, etc. In this study, tele-cardiology shows good results as diagnostic support to the evacuation decision. Telemedicine services show benefits while monitoring patients in post-evacuation, helping to address the lack of responsive care in some specialties whose actual use will help save resources both in provision and in management of the evacuation procedures. Additionally, with tele-cardiology collaborative service many evacuations can be avoided whereas many cases will be treated and followed locally in Cape Verde with remote technical support from Portugal. This international telemedicine service enabled more efficient evacuations, by reducing expenses in travel and housing, and therefore contributed to the health system's improvement. This study provides some evidence of how important telemedicine really is to cope with both the geography and the shortage of physicians.

SyRoTek--Distance Teaching of Mobile Robotics

ERIC Educational Resources Information Center

Kulich, M.; Chudoba, J.; Kosnar, K.; Krajnik, T.; Faigl, J.; Preucil, L.

2013-01-01

E-learning is a modern and effective approach for training in various areas and at different levels of education. This paper gives an overview of SyRoTek, an e-learning platform for mobile robotics, artificial intelligence, control engineering, and related domains. SyRoTek provides remote access to a set of fully autonomous mobile robots placed in…

Remote Control and Children's Understanding of Robots

ERIC Educational Resources Information Center

Somanader, Mark C.; Saylor, Megan M.; Levin, Daniel T.

2011-01-01

Children use goal-directed motion to classify agents as living things from early in infancy. In the current study, we asked whether preschoolers are flexible in their application of this criterion by introducing them to robots that engaged in goal-directed motion. In one case the robot appeared to move fully autonomously, and in the other case it…

Monitoring and Controlling an Underwater Robotic Arm

NASA Technical Reports Server (NTRS)

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

2009-01-01

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

The promise of telemedicine.

PubMed

Newton, Michael J

2014-01-01

We have developed an extraordinary capability to capture and transmit digital ocular imaging, enabling remote interpretation of every aspect of the eye. The issues regarding telemedicine were primarily technical and procedural when this journal first reviewed the topic in 1999. Fourteen years later, telemedicine presents strikingly different challenges-legal, ethical, and professional. Some "tele-ophthalmology" applications have now become a reliable part of daily practice. Although it offers improved health care at lower cost to more people, telemedicine could also radically transform the traditional doctor-patient interaction. Copyright © 2014 Elsevier Inc. All rights reserved.

Creature co-op: Achieving robust remote operations with a community of low-cost robots

NASA Technical Reports Server (NTRS)

Bonasso, R. Peter

1990-01-01

The concept is advanced of carrying out space based remote missions using a cooperative of low cost robot specialists rather than monolithic, multipurpose systems. A simulation is described wherein a control architecture for such a system of specialists is being investigated. Early results show such co-ops to be robust in the face of unforeseen circumstances. Descriptions of the platforms and sensors modeled and the beacon and retriever creatures that make up the co-op are included.

NASA's commercial space program - Initiatives for the future

NASA Technical Reports Server (NTRS)

Rose, James T.; Stone, Barbara A.

1990-01-01

NASA's commercial development of the space program aimed at the stimulation and assistance of expanded private sector involvement and investment in civil space activities is discussed, focusing on major new program initiatives and their implementation. NASA's Centers for the Commercial Development of Space (CCDS) program, composed of competitively selected consortia of universities, industries, and government involved in early research and testing phases of potentially commercially viable technologies is described. The 16 centers concentrate on seven different technical areas such as automation and robotics; remote sensing; life sciences; and space power, propulsion, and structures. Private sector participation, CCDS technology development, government and commercially supplied access to space in support of CCDS programs, CCDS hardware development, and CCDS spinoffs are discussed together with various cooperative and reimbursable agreements between NASA and the private sector.

KSC-2014-2651

NASA Image and Video Library

2014-05-22

CAPE CANAVERAL, Fla. – A mining competition participant talks with a representative at the Ground Systems Development and Operations booth during NASA’s 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from colleges and universities around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

2014-2682

NASA Image and Video Library

2014-05-23

CAPE CANAVERAL, Fla. -- Team members from the University of Akron in Ohio take a break before their final mining run on the final day of NASA's 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from colleges and universities around the U.S. designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

KSC-2014-2629

NASA Image and Video Library

2014-05-21

CAPE CANAVERAL, Fla. – Members of the West Virginia University color guard stand at attention during presentation of the U.S. Flag at the opening ceremony of NASA’s 2014 Robotics Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Frankie Martin