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Sample records for robot automaatne vi

  1. Enhanced control and sensing for the REMOTEC ANDROS Mk VI robot. CRADA final report

    SciTech Connect

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

    1998-08-01

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

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

    SciTech Connect

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

    1997-08-01

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

  3. Robotics.

    ERIC Educational Resources Information Center

    Waddell, Steve; Doty, Keith L.

    1999-01-01

    "Why Teach Robotics?" (Waddell) suggests that the United States lags behind Europe and Japan in use of robotics in industry and teaching. "Creating a Course in Mobile Robotics" (Doty) outlines course elements of the Intelligent Machines Design Lab. (SK)

  4. Robotics

    SciTech Connect

    Scheide, A.W.

    1983-11-01

    This article reviews some of the technical areas and history associated with robotics, provides information relative to the formation of a Robotics Industry Committee within the Industry Applications Society (IAS), and describes how all activities relating to robotics will be coordinated within the IEEE. Industrial robots are being used for material handling, processes such as coating and arc welding, and some mechanical and electronics assembly. An industrial robot is defined as a programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for a variety of tasks. The initial focus of the Robotics Industry Committee will be on the application of robotics systems to the various industries that are represented within the IAS.

  5. Robotics

    NASA Technical Reports Server (NTRS)

    1985-01-01

    An overview of research being done into the use of robotic devices in space by MSFC is discussed. The video includes footage and explanations of robots being used to blast layers of thermal coating from the Space Shuttle's external tanks, the Shuttle's Remote Manipulator Arm, and animations of an Orbiting Maneuvering Vehicle to retrieve and repair satellites.

  6. Robotics

    NASA Technical Reports Server (NTRS)

    Ambrose, Robert O.

    2007-01-01

    Lunar robotic functions include: 1. Transport of crew and payloads on the surface of the moon; 2. Offloading payloads from a lunar lander; 3. Handling the deployment of surface systems; with 4. Human commanding of these functions from inside a lunar vehicle, habitat, or extravehicular (space walk), with Earth-based supervision. The systems that will perform these functions may not look like robots from science fiction. In fact, robotic functions may be automated trucks, cranes and winches. Use of this equipment prior to the crew s arrival or in the potentially long periods without crews on the surface, will require that these systems be computer controlled machines. The public release of NASA's Exploration plans at the 2nd Space Exploration Conference (Houston, December 2006) included a lunar outpost with as many as four unique mobility chassis designs. The sequence of lander offloading tasks involved as many as ten payloads, each with a unique set of geometry, mass and interface requirements. This plan was refined during a second phase study concluded in August 2007. Among the many improvements to the exploration plan were a reduction in the number of unique mobility chassis designs and a reduction in unique payload specifications. As the lunar surface system payloads have matured, so have the mobility and offloading functional requirements. While the architecture work continues, the community can expect to see functional requirements in the areas of surface mobility, surface handling, and human-systems interaction as follows: Surface Mobility 1. Transport crew on the lunar surface, accelerating construction tasks, expanding the crew s sphere of influence for scientific exploration, and providing a rapid return to an ascent module in an emergency. The crew transport can be with an un-pressurized rover, a small pressurized rover, or a larger mobile habitat. 2. Transport Extra-Vehicular Activity (EVA) equipment and construction payloads. 3. Transport habitats and

  7. Towards Pervasive Robotics

    DTIC Science & Technology

    2003-01-01

    Towards Pervasive Robotics Artur M. Arsenio Artificial Intelligence Lab - Massachusetts Institute of Technology 545 Technology Square, Room NE43-936...MA 02139 arsenio@ai.mit.edu Abstract Pervasive robotics will require, in a near future, small, light and cheap robots that exhibit complex behaviors...These demands led to the development of the M2-M4 Macaco project - a robotic active vi- sion head. Macaco is a portable system, capable of emulating

  8. Robotics

    NASA Technical Reports Server (NTRS)

    Rothschild, Lynn J.

    2012-01-01

    Earth's upper atmosphere is an extreme environment: dry, cold, and irradiated. It is unknown whether our aerobiosphere is limited to the transport of life, or there exist organisms that grow and reproduce while airborne (aerophiles); the microenvironments of suspended particles may harbor life at otherwise uninhabited altitudes[2]. The existence of aerophiles would significantly expand the range of planets considered candidates for life by, for example, including the cooler clouds of a hot Venus-like planet. The X project is an effort to engineer a robotic exploration and biosampling payload for a comprehensive survey of Earth's aerobiology. While many one-shot samples have been retrieved from above 15 km, their results are primarily qualitative; variations in method confound comparisons, leaving such major gaps in our knowledge of aerobiology as quantification of populations at different strata and relative species counts[1]. These challenges and X's preliminary solutions are explicated below. X's primary balloon payload is undergoing a series of calibrations before beginning flights in Spring 2012. A suborbital launch is currently planned for Summer 2012. A series of ground samples taken in Winter 2011 is being used to establish baseline counts and identify likely background contaminants.

  9. Mucopolysaccharidosis VI

    PubMed Central

    2010-01-01

    Mucopolysaccharidosis VI (MPS VI) is a lysosomal storage disease with progressive multisystem involvement, associated with a deficiency of arylsulfatase B leading to the accumulation of dermatan sulfate. Birth prevalence is between 1 in 43,261 and 1 in 1,505,160 live births. The disorder shows a wide spectrum of symptoms from slowly to rapidly progressing forms. The characteristic skeletal dysplasia includes short stature, dysostosis multiplex and degenerative joint disease. Rapidly progressing forms may have onset from birth, elevated urinary glycosaminoglycans (generally >100 μg/mg creatinine), severe dysostosis multiplex, short stature, and death before the 2nd or 3rd decades. A more slowly progressing form has been described as having later onset, mildly elevated glycosaminoglycans (generally <100 μg/mg creatinine), mild dysostosis multiplex, with death in the 4th or 5th decades. Other clinical findings may include cardiac valve disease, reduced pulmonary function, hepatosplenomegaly, sinusitis, otitis media, hearing loss, sleep apnea, corneal clouding, carpal tunnel disease, and inguinal or umbilical hernia. Although intellectual deficit is generally absent in MPS VI, central nervous system findings may include cervical cord compression caused by cervical spinal instability, meningeal thickening and/or bony stenosis, communicating hydrocephalus, optic nerve atrophy and blindness. The disorder is transmitted in an autosomal recessive manner and is caused by mutations in the ARSB gene, located in chromosome 5 (5q13-5q14). Over 130 ARSB mutations have been reported, causing absent or reduced arylsulfatase B (N-acetylgalactosamine 4-sulfatase) activity and interrupted dermatan sulfate and chondroitin sulfate degradation. Diagnosis generally requires evidence of clinical phenotype, arylsulfatase B enzyme activity <10% of the lower limit of normal in cultured fibroblasts or isolated leukocytes, and demonstration of a normal activity of a different sulfatase enzyme

  10. Mucopolysaccharidosis VI.

    PubMed

    Valayannopoulos, Vassili; Nicely, Helen; Harmatz, Paul; Turbeville, Sean

    2010-04-12

    Mucopolysaccharidosis VI (MPS VI) is a lysosomal storage disease with progressive multisystem involvement, associated with a deficiency of arylsulfatase B leading to the accumulation of dermatan sulfate. Birth prevalence is between 1 in 43,261 and 1 in 1,505,160 live births. The disorder shows a wide spectrum of symptoms from slowly to rapidly progressing forms. The characteristic skeletal dysplasia includes short stature, dysostosis multiplex and degenerative joint disease. Rapidly progressing forms may have onset from birth, elevated urinary glycosaminoglycans (generally >100 microg/mg creatinine), severe dysostosis multiplex, short stature, and death before the 2nd or 3rd decades. A more slowly progressing form has been described as having later onset, mildly elevated glycosaminoglycans (generally <100 microg/mg creatinine), mild dysostosis multiplex, with death in the 4th or 5th decades. Other clinical findings may include cardiac valve disease, reduced pulmonary function, hepatosplenomegaly, sinusitis, otitis media, hearing loss, sleep apnea, corneal clouding, carpal tunnel disease, and inguinal or umbilical hernia. Although intellectual deficit is generally absent in MPS VI, central nervous system findings may include cervical cord compression caused by cervical spinal instability, meningeal thickening and/or bony stenosis, communicating hydrocephalus, optic nerve atrophy and blindness. The disorder is transmitted in an autosomal recessive manner and is caused by mutations in the ARSB gene, located in chromosome 5 (5q13-5q14). Over 130 ARSB mutations have been reported, causing absent or reduced arylsulfatase B (N-acetylgalactosamine 4-sulfatase) activity and interrupted dermatan sulfate and chondroitin sulfate degradation. Diagnosis generally requires evidence of clinical phenotype, arylsulfatase B enzyme activity <10% of the lower limit of normal in cultured fibroblasts or isolated leukocytes, and demonstration of a normal activity of a different sulfatase

  11. Ecological Interfaces for Improving Mobile Robot Teleoperation

    DTIC Science & Technology

    2007-10-01

    IEEE TRANSACTIONS ON ROBOTICS , VOL. 23, NO. 5, OCTOBER 2007 927 Ecological Interfaces for Improving Mobile Robot Teleoperation Curtis W. Nielsen...928 IEEE TRANSACTIONS ON ROBOTICS , VOL. 23, NO. 5, OCTOBER 2007 technologies in the user studies, while Section VI concludes the paper and summarizes...done by 930 IEEE TRANSACTIONS ON ROBOTICS , VOL. 23, NO. 5, OCTOBER 2007 Fig. 2. Ecological paradigm combines information into a single integrated display

  12. Exploratorium: Robots.

    ERIC Educational Resources Information Center

    Brand, Judith, Ed.

    2002-01-01

    This issue of Exploratorium Magazine focuses on the topic robotics. It explains how to make a vibrating robotic bug and features articles on robots. Contents include: (1) "Where Robot Mice and Robot Men Run Round in Robot Towns" (Ray Bradbury); (2) "Robots at Work" (Jake Widman); (3) "Make a Vibrating Robotic Bug" (Modesto Tamez); (4) "The Robot…

  13. Robotic surgery

    MedlinePlus

    Robot-assisted surgery; Robotic-assisted laparoscopic surgery; Laparoscopic surgery with robotic assistance ... computer station and directs the movements of a robot. Small surgical tools are attached to the robot's ...

  14. Robot and robot system

    NASA Technical Reports Server (NTRS)

    Behar, Alberto E. (Inventor); Marzwell, Neville I. (Inventor); Wall, Jonathan N. (Inventor); Poole, Michael D. (Inventor)

    2011-01-01

    A robot and robot system that are capable of functioning in a zero-gravity environment are provided. The robot can include a body having a longitudinal axis and having a control unit and a power source. The robot can include a first leg pair including a first leg and a second leg. Each leg of the first leg pair can be pivotally attached to the body and constrained to pivot in a first leg pair plane that is substantially perpendicular to the longitudinal axis of the body.

  15. CASSY Robot

    NASA Astrophysics Data System (ADS)

    Pittman, Anna; Wright, Ann; Rice, Aaron; Shyaka, Claude

    2014-03-01

    The CASSY Robot project involved two square robots coded in RobotC. The goal was to code a robot to do a certain set of tasks autonomously. To begin with, our task was to code the robot so that it would roam a certain area, marked off by black tape. When the robot hit the black tape, it knew to back up and turn around. It was able to do this thanks to the light sensor that was attached to the bottom of the robot. Also, whenever the robot hit an obstacle, it knew to stop, back up, and turn around. This was primarily to prevent the robot from hurting itself if it hit an obstacle. This was accomplished by using touch sensors set up as bumpers. Once that was accomplished, we attached sonar sensors and created code so that one robot was able to find and track the other robot in a sort of intruder/police scenario. The overall goal of this project was to code the robot so that we can test it against a robot coded exactly the same, but using Layered Mode Selection Logic. Professor.

  16. Engineering Test Satellite VI (ETS-VI)

    NASA Technical Reports Server (NTRS)

    Horii, M.; Funakawa, K.

    1991-01-01

    The Engineering Test Satellite-VI (ETS-VI) is being developed as the third Japanese three-axis stabilized engineering test satellite to establish the 2-ton geostationary operational satellite bus system and to demonstrate the high performance satellite communication technology for future operational satellites. The satellite is expected to be stationed at 154 deg east latitude. It will be launched from the Tanegashima Space Center in Japan by a type H-II launch vehicle. The Deep Space Network (DSN) will support the prelaunch compatibility test, data interface verification testing, and launch rehersals. The DSN primary support period is from launch through the final AEF plus 1 hour. Contingency support is from final AEF plus 1 hour until launch plus 1 month. The coverage will consist of all the 26-m antennas as prime and the 34-m antennas at Madrid and Canberra as backup. Maximum support will consist of two 8-hour tracks per station for a 7-day period, plus the contingency support, if required. Information is given in tabular form for DSN support, telemetry, command, and tracking support responsibility.

  17. Army Robotics

    DTIC Science & Technology

    2009-10-07

    Army Robotics 07 October 2009 Dr. Grant Gerhart, Senior Research Scientist Bernard Theisen, Joint Center for Robotics DISTRIBUTION STATEMENT A... Robots 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Grant Gerhart; Bernard Theisen 5d. PROJECT NUMBER 5e. TASK...CBRNE • IED Defeat Systems • Disarm / Disrupt • Reconnaissance • Investigation • Explosive Sniffer • Common Robotic Kit • EOD • Convoy • Log

  18. Space Robotics

    DTIC Science & Technology

    1982-08-01

    ACCESSION NO 3. RECIPIENTS CATALOG NUIA3.R CMU-RI-TR-82-10 I4 1 (. 4. ;,;-LL (and Sublitle) S. TYPE OF REPORT & PERIOD CovEREO SPACE ROBOTICS Interim... Robotics Institute Pittsburgh, PA. 15213 It. CONTROLLING OFFICE NAME AND ADDRESS 12. REPORT DATE Office of Naval Research -August 1982 Arlington, VA 22217...SXnet.eE . Space Robotics Richard E. Korf Department of Computer Science and The Robotics Institute Carnegie-Mellon University Pittsburgh, Oetusylvania

  19. TARDEC Robotics

    DTIC Science & Technology

    2010-01-12

    unclassified TARDEC Robotics Dr. James L. Overholt Director, Joint Center for Robotics US Army TARDEC Report Documentation Page Form ApprovedOMB No...COVERED - 4. TITLE AND SUBTITLE TARDEC Robotics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) James L. Overholt... Robotics , Network and Control Components with a Focus on Customer Driven Requirements to Provide Full System Solutions to the War Fighter Technology

  20. (Robotic hands)

    SciTech Connect

    Mann, R.C.

    1988-09-23

    The traveler attended the International Workshop on Robot Hands at the Palace Hotel in Dubrovnik, Yugoslavia. The traveler presented a lecture on An integrated sensor system for the ORNL mobile robot.'' The traveler obtained important information on current R D efforts in multi-fingered robot hands and object recognition using touch sensing.

  1. Basic Robotics.

    ERIC Educational Resources Information Center

    Mullen, Frank

    This curriculum outline consists of instructional materials and information concerning resources for use in teaching a course in robotics. Addressed in the individual sections of the outline are the following topics: the nature of an industrial robot; the parts of an industrial robot (the manipulator, the power structure, and the control system);…

  2. Industrial Robots.

    ERIC Educational Resources Information Center

    Reed, Dean; Harden, Thomas K.

    Robots are mechanical devices that can be programmed to perform some task of manipulation or locomotion under automatic control. This paper discusses: (1) early developments of the robotics industry in the United States; (2) the present structure of the industry; (3) noneconomic factors related to the use of robots; (4) labor considerations…

  3. TARDEC Robotics

    DTIC Science & Technology

    2011-03-01

    TARDEC Robotics Dr. Greg Hudas Greg.hudas@us.army.mil UNCLASSIFIED: Dist A. Approved for public release Report Documentation Page Form ApprovedOMB...COVERED - 4. TITLE AND SUBTITLE TARDEC Robotics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Dr. Greg Hudas...ANSI Std Z39-18 Excellence in Robotics Outreach & University Shaping Requirements Building Modeling & Simulation Component Development International

  4. ROBOT WRITING,

    DTIC Science & Technology

    Technical writers who are hypnotized by the mechanical metaphor inevitably produce robot writing - a separate language, distantly related to the...prose of Darwin, Huxley, Jeans, and Einstein. Where they were clear, fresh, and graceful, the robot writer is hard, dull, and clumsy. Where they were...merely human, the robot writer is infallible, prefabricated, impersonal, and irresponsible. These four characteristics are interlinked. An example of one usually illustrates the other three.

  5. Robot Programming.

    DTIC Science & Technology

    1982-12-01

    8217AD-A127 233 ROBOT PROGRRMMING(U) MASSACHUSETTS INST OFGTECHi/ CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB T LOZANO-PEREZ UNCLASSIFIED DC8 AI-9 N884...CATALOG NUMBER * a ~AIM 698 R a is 4. TITLE (and Subtitle) S. TYPE OF REPORT & PERIOD COVERED Robot Programming Memorandum 6. PERFORMING ORG. REPORT...34R Distribution is Unlimted .. SUPPLEMENTARY NOTES None 1. KEY WORDS (Continue on r verea aide ii neeaortm and Identify by block number) *Q. Robotics

  6. Robotics research

    SciTech Connect

    Brady, M.; Paul, R.

    1984-01-01

    Organized around a view of robotics as ''the intelligent connection of perception to action,'' the fifty-three contributions collected in this book present leading current research in one of the fastest moving fields of artificial intelligence. Readings Include: Hand-Eye Coordination in Rope Handling; 3-D Balance Using 2-D algorithms. A Model Driven Visual Inspection Module: Stereo Vision: Complexity and Constraints; Interpretation of Contact Geometers from Force Measurement; The Utah MIT Dextrous Hand: Work in Progress; Hierarchical Nonlinear Control for Robots; VAL-11; A Robot Programming Language and Control System; Technological Barriers in Robotics: A Perspective from Industry.

  7. Hopping robot

    DOEpatents

    Spletzer, Barry L.; Fischer, Gary J.; Marron, Lisa C.; Martinez, Michael A.; Kuehl, Michael A.; Feddema, John T.

    2001-01-01

    The present invention provides a hopping robot that includes a misfire tolerant linear actuator suitable for long trips, low energy steering and control, reliable low energy righting, miniature low energy fuel control. The present invention provides a robot with hopping mobility, capable of traversing obstacles significant in size relative to the robot and capable of operation on unpredictable terrain over long range. The present invention further provides a hopping robot with misfire-tolerant combustion actuation, and with combustion actuation suitable for use in oxygen-poor environments.

  8. Robotics 101

    ERIC Educational Resources Information Center

    Sultan, Alan

    2011-01-01

    Robots are used in all kinds of industrial settings. They are used to rivet bolts to cars, to move items from one conveyor belt to another, to gather information from other planets, and even to perform some very delicate types of surgery. Anyone who has watched a robot perform its tasks cannot help but be impressed by how it works. This article…

  9. Robotic Surgery

    NASA Technical Reports Server (NTRS)

    2000-01-01

    The Automated Endoscopic System for Optimal Positioning, or AESOP, was developed by Computer Motion, Inc. under a SBIR contract from the Jet Propulsion Lab. AESOP is a robotic endoscopic positioning system used to control the motion of a camera during endoscopic surgery. The camera, which is mounted at the end of a robotic arm, previously had to be held in place by the surgical staff. With AESOP the robotic arm can make more precise and consistent movements. AESOP is also voice controlled by the surgeon. It is hoped that this technology can be used in space repair missions which require precision beyond human dexterity. A new generation of the same technology entitled the ZEUS Robotic Surgical System can make endoscopic procedures even more successful. ZEUS allows the surgeon control various instruments in its robotic arms, allowing for the precision the procedure requires.

  10. Robot Design

    NASA Technical Reports Server (NTRS)

    1988-01-01

    Martin Marietta Aero and Naval Systems has advanced the CAD art to a very high level at its Robotics Laboratory. One of the company's major projects is construction of a huge Field Material Handling Robot for the Army's Human Engineering Lab. Design of FMR, intended to move heavy and dangerous material such as ammunition, was a triumph in CAD Engineering. Separate computer problems modeled the robot's kinematics and dynamics, yielding such parameters as the strength of materials required for each component, the length of the arms, their degree of freedom and power of hydraulic system needed. The Robotics Lab went a step further and added data enabling computer simulation and animation of the robot's total operational capability under various loading and unloading conditions. NASA computer program (IAC), integrated Analysis Capability Engineering Database was used. Program contains a series of modules that can stand alone or be integrated with data from sensors or software tools.

  11. Robotic transportation.

    PubMed

    Lob, W S

    1990-09-01

    Mobile robots perform fetch-and-carry tasks autonomously. An intelligent, sensor-equipped mobile robot does not require dedicated pathways or extensive facility modification. In the hospital, mobile robots can be used to carry specimens, pharmaceuticals, meals, etc. between supply centers, patient areas, and laboratories. The HelpMate (Transitions Research Corp.) mobile robot was developed specifically for hospital environments. To reach a desired destination, Help-Mate navigates with an on-board computer that continuously polls a suite of sensors, matches the sensor data against a pre-programmed map of the environment, and issues drive commands and path corrections. A sender operates the robot with a user-friendly menu that prompts for payload insertion and desired destination(s). Upon arrival at its selected destination, the robot prompts the recipient for a security code or physical key and awaits acknowledgement of payload removal. In the future, the integration of HelpMate with robot manipulators, test equipment, and central institutional information systems will open new applications in more localized areas and should help overcome difficulties in filling transport staff positions.

  12. [Robotic surgery].

    PubMed

    Sándor, József; Haidegger, Tamás; Kormos, Katalin; Ferencz, Andrea; Csukás, Domokos; Bráth, Endre; Szabó, Györgyi; Wéber, György

    2013-10-01

    Due to the fast spread of laparoscopic cholecystectomy, surgical procedures have been changed essentially. The new techniques applied for both abdominal and thoracic procedures provided the possibility for minimally invasive access with all its advantages. Robots - originally developed for industrial applications - were retrofitted for laparoscopic procedures. The currently prevailing robot-assisted surgery is ergonomically more advantageous for the surgeon, as well as for the patient through the more precise preparative activity thanks to the regained 3D vision. The gradual decrease of costs of robotic surgical systems and development of new generations of minimally invasive devices may lead to substantial changes in routine surgical procedures.

  13. Subsumption Robotics

    DTIC Science & Technology

    1998-01-01

    Subsumption Robotics Christopher K. DeBolt Naval EOD Technology Division 2008 Stump Neck Road Indian Head, MD 20640-5070 phone: (301) 744-6850, Ext...eodmgate.navsea.navy.mil; nguyent.eodtc@eodmgate.navsea.navy.mil Helen Greiner and Polly K. Pook I.S. Robotics phone: (617) 629-0055 e-mail: helen@isr.com , pook...408) 656-3462 e-mail: healey@me.nps.navy.mil LONG-TERM GOALS Through the use of subsumption architectures, low cost, simple robots can be developed

  14. From training to robot behavior: towards custom scenarios for robotics in training programs for ASD.

    PubMed

    Gillesen, J C C; Barakova, E I; Huskens, B E B M; Feijs, L M G

    2011-01-01

    Successful results have been booked with using robotics in therapy interventions for autism spectrum disorders (ASD). However, to make the best use of robots, the behavior of the robot needs to be tailored to the learning objectives and personal characteristics of each unique individual with ASD. Currently training practices include adaptation of the training programs to the condition of each individual client, based on the particular learning goals or the mood of the client. To include robots in such training will imply that the trainers are enabled to control a robot through an intuitive interface. For this purpose we use a visual programming environment called TiViPE as an interface between robot and trainer, where scenarios for specific learning objectives can easily be put together as if they were graphical LEGO-like building blocks. This programming platform is linked to the NAO robot from Aldebaran Robotics. A process flow for converting trainers' scenarios was developed to make sure the gist of the original scenarios was kept intact. We give an example of how a scenario is processed, and implemented into the clinical setting, and how detailed parts of a scenario can be developed.

  15. Robotic arm

    DOEpatents

    Kwech, Horst

    1989-04-18

    A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

  16. Robotic vehicle

    DOEpatents

    Box, W.D.

    1998-08-11

    A robotic vehicle is described for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendible appendages, each of which is radially extendible relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendible members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle. 20 figs.

  17. Robotic vehicle

    DOEpatents

    Box, W.D.

    1997-02-11

    A robotic vehicle is described for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle. 20 figs.

  18. Robotic vehicle

    DOEpatents

    Box, W. Donald

    1998-01-01

    A robotic vehicle for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle.

  19. Robotic vehicle

    DOEpatents

    Box, W. Donald

    1997-01-01

    A robotic vehicle for travel through a conduit. The robotic vehicle includes forward and rear housings each having a hub portion, and each being provided with surface engaging mechanisms for selectively engaging the walls of the conduit such that the housings can be selectively held in stationary positions within the conduit. The surface engaging mechanisms of each housing includes a plurality of extendable appendages, each of which is radially extendable relative to the operatively associated hub portion between a retracted position and a radially extended position. The robotic vehicle also includes at least three selectively extendable members extending between the forward and rear housings, for selectively changing the distance between the forward and rear housings to effect movement of the robotic vehicle.

  20. Robot Rescue

    NASA Technical Reports Server (NTRS)

    Morring, Frank, Jr.

    2004-01-01

    Tests with robots and the high-fidelity Hubble Space Telescope mockup astronauts use to train for servicing missions have convinced NASA managers it may be possible to maintain and upgrade the orbiting observatory without sending a space shuttle to do the job. In a formal request last week, the agency gave bidders until July 16 to sub-mit proposals for a robotic mission to the space telescope before the end of 2007. At a minimum, the mission would attach a rocket motor to deorbit the telescope safely when its service life ends. In the best case, it would use state-of-the- art robotics to prolong its life on orbit and install new instruments. With the space shuttle off-limits for the job under strict post-Columbia safety policies set by Administrator Sean O'Keefe, NASA has designed a "straw- man" robotic mission that would use an Atlas V or Delta N to launch a 20,ooO-lb. "Hubble Robotic Vehicle" to service the telescope. There, a robotic arm would grapple it, much as the shuttle does.

  1. Handbook of industrial robotics

    SciTech Connect

    Nof, S.Y.

    1985-01-01

    This book presents papers on the application of artificial intelligence to robots used in industrial plants. Topics considered include vision systems, elements of industrial robot software, robot teaching, the off-line programming of robots, a structured programming robot language, task-level manipulator programming, expert systems, and the role of the computer in robot intelligence.

  2. Tutorial on robotics

    SciTech Connect

    Lee, C.S.G.; Gonzalez, R.C.; Fu, K.S.

    1986-01-01

    Basic fundamentals in robotics are presented in this tutorial. Topics covered are as follows: robot arm kinematics; robot arm dynamics; planning or manipulator trajectories; servo control for manipulators; force sensing and control; robot vision systems; robot programming languages; and machine intelligence and robot planning.

  3. Medical robotics.

    PubMed

    Ferrigno, Giancarlo; Baroni, Guido; Casolo, Federico; De Momi, Elena; Gini, Giuseppina; Matteucci, Matteo; Pedrocchi, Alessandra

    2011-01-01

    Information and communication technology (ICT) and mechatronics play a basic role in medical robotics and computer-aided therapy. In the last three decades, in fact, ICT technology has strongly entered the health-care field, bringing in new techniques to support therapy and rehabilitation. In this frame, medical robotics is an expansion of the service and professional robotics as well as other technologies, as surgical navigation has been introduced especially in minimally invasive surgery. Localization systems also provide treatments in radiotherapy and radiosurgery with high precision. Virtual or augmented reality plays a role for both surgical training and planning and for safe rehabilitation in the first stage of the recovery from neurological diseases. Also, in the chronic phase of motor diseases, robotics helps with special assistive devices and prostheses. Although, in the past, the actual need and advantage of navigation, localization, and robotics in surgery and therapy has been in doubt, today, the availability of better hardware (e.g., microrobots) and more sophisticated algorithms(e.g., machine learning and other cognitive approaches)has largely increased the field of applications of these technologies,making it more likely that, in the near future, their presence will be dramatically increased, taking advantage of the generational change of the end users and the increasing request of quality in health-care delivery and management.

  4. Rehabilitation robotics.

    PubMed

    Krebs, H I; Volpe, B T

    2013-01-01

    This chapter focuses on rehabilitation robotics which can be used to augment the clinician's toolbox in order to deliver meaningful restorative therapy for an aging population, as well as on advances in orthotics to augment an individual's functional abilities beyond neurorestoration potential. The interest in rehabilitation robotics and orthotics is increasing steadily with marked growth in the last 10 years. This growth is understandable in view of the increased demand for caregivers and rehabilitation services escalating apace with the graying of the population. We provide an overview on improving function in people with a weak limb due to a neurological disorder who cannot properly control it to interact with the environment (orthotics); we then focus on tools to assist the clinician in promoting rehabilitation of an individual so that s/he can interact with the environment unassisted (rehabilitation robotics). We present a few clinical results occurring immediately poststroke as well as during the chronic phase that demonstrate superior gains for the upper extremity when employing rehabilitation robotics instead of usual care. These include the landmark VA-ROBOTICS multisite, randomized clinical study which demonstrates clinical gains for chronic stroke that go beyond usual care at no additional cost.

  5. Rehabilitation robotics

    PubMed Central

    KREBS, H.I.; VOLPE, B.T.

    2015-01-01

    This chapter focuses on rehabilitation robotics which can be used to augment the clinician’s toolbox in order to deliver meaningful restorative therapy for an aging population, as well as on advances in orthotics to augment an individual’s functional abilities beyond neurorestoration potential. The interest in rehabilitation robotics and orthotics is increasing steadily with marked growth in the last 10 years. This growth is understandable in view of the increased demand for caregivers and rehabilitation services escalating apace with the graying of the population. We will provide an overview on improving function in people with a weak limb due to a neurological disorder who cannot properly control it to interact with the environment (orthotics); we will then focus on tools to assist the clinician in promoting rehabilitation of an individual so that s/he can interact with the environment unassisted (rehabilitation robotics). We will present a few clinical results occurring immediately poststroke as well as during the chronic phase that demonstrate superior gains for the upper extremity when employing rehabilitation robotics instead of usual care. These include the landmark VA-ROBOTICS multisite, randomized clinical study which demonstrates clinical gains for chronic stroke that go beyond usual care at no additional cost. PMID:23312648

  6. Generic robot architecture

    DOEpatents

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID

    2010-09-21

    The present invention provides methods, computer readable media, and apparatuses for a generic robot architecture providing a framework that is easily portable to a variety of robot platforms and is configured to provide hardware abstractions, abstractions for generic robot attributes, environment abstractions, and robot behaviors. The generic robot architecture includes a hardware abstraction level and a robot abstraction level. The hardware abstraction level is configured for developing hardware abstractions that define, monitor, and control hardware modules available on a robot platform. The robot abstraction level is configured for defining robot attributes and provides a software framework for building robot behaviors from the robot attributes. Each of the robot attributes includes hardware information from at least one hardware abstraction. In addition, each robot attribute is configured to substantially isolate the robot behaviors from the at least one hardware abstraction.

  7. Cooperating mobile robots

    DOEpatents

    Harrington, John J.; Eskridge, Steven E.; Hurtado, John E.; Byrne, Raymond H.

    2004-02-03

    A miniature mobile robot provides a relatively inexpensive mobile robot. A mobile robot for searching an area provides a way for multiple mobile robots in cooperating teams. A robotic system with a team of mobile robots communicating information among each other provides a way to locate a source in cooperation. A mobile robot with a sensor, a communication system, and a processor, provides a way to execute a strategy for searching an area.

  8. Robotic Vehicle

    NASA Technical Reports Server (NTRS)

    1994-01-01

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

  9. Robot Swarms

    NASA Technical Reports Server (NTRS)

    Morring, Frank, Jr.

    2005-01-01

    Engineers and interns at this NASA field center are building the prototype of a robotic rover that could go where no wheeled rover has gone before-into the dark cold craters at the lunar poles and across the Moon s rugged highlands-like a walking tetrahedron. With NASA pushing to meet President Bush's new exploration objectives, the robots taking shape here today could be on the Moon in a decade. In the longer term, the concept could lead to shape-shifting robot swarms designed to explore distant planetary surfaces in advance of humans. "If you look at all of NASA s projections of the future, anyone s projections of the space program, they re all rigid-body architecture," says Steven Curtis, principal investigator on the effort. "This is not rigid-body. The whole key here is flexibility and reconfigurability with a capital R."

  10. Robot Manipulators

    NASA Technical Reports Server (NTRS)

    1988-01-01

    Space Shuttle's Remote Manipulator System (Canadarm) is a 50 foot robot arm used to deploy, retrieve or repair satellites in orbit. Initial spinoff version is designed to remove, inspect and replace large components of Ontario Hydro's CANDU nuclear reactors, which supply 50 percent of Ontario Hydro's total power reduction. CANDU robot is the first of SPAR's Remote Manipulator Systems intended for remote materials handling operations in nuclear servicing, chemical processing, smelting and manufacturing. Inco Limited used remote manipulator for remote control mining equipment to enhance safety and productivity of Inco's hardrock mining operations. System not only improves safety in a hazardous operation that costs more than a score of lives annually, it also increases productivity fourfold. Remote Manipulator System Division is also manufacturing a line of industrial robots and developing additional system for nuclear servicing, mining, defense and space operations.

  11. Robot Hand

    NASA Technical Reports Server (NTRS)

    1986-01-01

    Robots are limited only by the dexterity of the hand. Dr. Salisbury, in conjunction with Stanford, Caltech and Jet Propulsion Laboratory, developed the Salisbury Hand which has three, three-jointed human-like fingers. The tips are covered with a resilient, high friction material for gripping. The robot hand can manipulate objects by finger motion, and adapts to different aims. Advanced software allows the hand to interpret information from fingertip sensors. Further development is expected. A company has been formed to reproduce the device; copies have been delivered to several laboratories.

  12. Robot Tools

    NASA Technical Reports Server (NTRS)

    1996-01-01

    Mecanotron, now division of Robotics and Automation Corporation, developed a quick-change welding method called the Automatic Robotics Tool-change System (ARTS) under Marshall Space Flight Center and Rockwell International contracts. The ARTS system has six tool positions ranging from coarse sanding disks and abrasive wheels to cloth polishing wheels with motors of various horsepower. The system is used by fabricators of plastic body parts for the auto industry, by Texas Instruments for making radar domes, and for advanced composites at Aerospatiale in France.

  13. Robot gripper

    NASA Technical Reports Server (NTRS)

    Webb, Winston S. (Inventor)

    1987-01-01

    An electronic force-detecting robot gripper for gripping objects and attaching to an external robot arm is disclosed. The gripper comprises motor apparatus, gripper jaws, and electrical circuits for driving the gripper motor and sensing the amount of force applied by the jaws. The force applied by the jaws is proportional to a threshold value of the motor current. When the motor current exceeds the threshold value, the electrical circuits supply a feedback signal to the electrical control circuit which, in turn, stops the gripper motor.

  14. Robotics Challenge: Cognitive Robot for General Missions

    DTIC Science & Technology

    2015-01-01

    ROBOTICS CHALLENGE: COGNITIVE ROBOT FOR GENERAL MISSIONS UNIVERSITY OF KANSAS JANUARY 2015 FINAL TECHNICAL REPORT... ROBOTICS CHALLENGE: COGNITIVE ROBOT FOR GENERAL MISSIONS 5a. CONTRACT NUMBER FA8750-12-1-0302 5b. GRANT NUMBER N/A 5c. PROGRAM ELEMENT NUMBER 62702E...a complicated environment, a robotic system requires both high-level command facilities and low- level sensing/control mechanisms. This report

  15. Robotics in Construction.

    DTIC Science & Technology

    1986-01-01

    MICROCOPY RESOLUTION TEST CHART NATIONAL BUREAU OF STANDARDS 1963 A 0 ROBOTICS IN CONSTRUCTIONt 10 BY MICHAEL R. BROZZO A REPORT PRESENTED TO THE GRADUATE... ROBOTS AND ROBOTICS ---------------------------- 3 2.1 HISTORY ------------------------------------------- 3 CHAPTER THREE - BASIC ROBOT MOVEMENTS...CHAPTER FOUR - BASIC ROBOT COMPONENTS ------------------------ 8 4.1 GENERAL ------------------------------------------- 8 4.1.1 Manipulator

  16. Beyond Robotics

    ERIC Educational Resources Information Center

    Tally, Beth; Laverdure, Nate

    2006-01-01

    Chantilly High School Academy Robotics Team Number 612 from Chantilly, Virginia, is an award-winning team of high school students actively involved with FIRST (For Inspiration and Recognition of Science and Technology), a multinational nonprofit organization that inspires students to transform culture--making science, math, engineering and…

  17. Robotic Surgery

    ERIC Educational Resources Information Center

    Childress, Vincent W.

    2007-01-01

    The medical field has many uses for automated and remote-controlled technology. For example, if a tissue sample is only handled in the laboratory by a robotic handling system, then it will never come into contact with a human. Such a system not only helps to automate the medical testing process, but it also helps to reduce the chances of…

  18. Tandem mobile robot system

    DOEpatents

    Buttz, James H.; Shirey, David L.; Hayward, David R.

    2003-01-01

    A robotic vehicle system for terrain navigation mobility provides a way to climb stairs, cross crevices, and navigate across difficult terrain by coupling two or more mobile robots with a coupling device and controlling the robots cooperatively in tandem.

  19. Robotic System

    NASA Technical Reports Server (NTRS)

    1984-01-01

    A complicated design project, successfully carried out by New York manufacturing consultant with help from NERAC, Inc., resulted in new type robotic system being marketed for industrial use. Consultant Robert Price, operating at E.S.I, Inc. in Albany, NY, sought help from NERAC to develop an automated tool for deburring the inside of 8 inch breech ring assemblies for howitzers produced by Watervliet Arsenal. NERAC conducted a search of the NASA data base and six others. From information supplied, Price designed a system consisting of a standard industrial robot arm, with a specially engineered six-axis deburring tool fitted to it. A microcomputer and computer program direct the tool on its path through the breech ring. E.S.I. markets the system to aerospace and metal cutting industries for deburring, drilling, routing and refining machined parts.

  20. Climbing robot

    NASA Astrophysics Data System (ADS)

    Kerley, James J.; May, Edward L.; Ecklund, Wayne D.

    1993-11-01

    A mobile robot for traversing any surface consisting of a number of interconnected segments, each interconnected segment having an upper 'U' frame member, a lower 'U' frame member, a compliant joint between the upper 'U' frame member and the lower 'U' frame member, a number of linear actuators between the two frame members acting to provide relative displacement between the frame members, a foot attached to the lower 'U' frame member for adherence of the segment to the surface, an inter-segment attachment attached to the upper 'U' frame member for interconnecting the segments, a power source connected to the linear actuator, and a computer/controller for independently controlling each linear actuator in each interconnected segment such that the mobile robot moves in a caterpillar like fashion.

  1. Protostars and Planets VI

    NASA Astrophysics Data System (ADS)

    Beuther, Henrik; Klessen, Ralf S.; Dullemond, Cornelis P.; Henning, Thomas

    star and planet formation. They are used by students to dive into new topics, and they are much valued by experienced researchers as a comprehensive overview of the field with all its interactions. We hope that you will enjoy reading (and learning from) this book as much as we do. The organization of the Protostars and Planets conference was carried out in close collaboration between the Max Planck Institute for Astronomy and the Center for Astronomy of the University Heidelberg, with generous support from the German Science Foundation. This volume is a product of effort and care by many people. First and foremost, we want to acknowledge the 250 contributing authors, as it is only due to their expertise and knowledge that such a comprehensive review compendium in all its depth and breadth is possible. The Protostars and Planets VI conference and this volume was a major undertaking, with support and contributions by many people and institutions. We like to thank the members of the Scientific Advisory Committee who selected the 38 teams and chapters out of more than 120 submitted proposals. Similarly, we are grateful to the reviewers, who provided valuable input and help to the chapter authors. The book would also not have been possible without the great support of Renée Dotson and other staff from USRA’s Lunar and Planetary Institute, who handled the detailed processing of all manuscripts and the production of the book, and of Allyson Carter and other staff from the University of Arizona Press. We are also grateful to Richard Binzel, the General Editor of the Space Science Series, for his constant support during the long process, from the original concept to this final product. Finally, we would like to express a very special thank you to the entire conference local organizing committee, and in particular, Carmen Cuevas and Natali Jurina, for their great commitment to the project and for a very fruitful and enjoyable collaboration.

  2. Robot environment expert system

    NASA Technical Reports Server (NTRS)

    Potter, J. L.

    1985-01-01

    The Robot Environment Expert System uses a hexidecimal tree data structure to model a complex robot environment where not only the robot arm moves, but also the robot itself and other objects may move. The hextree model allows dynamic updating, collision avoidance and path planning over time, to avoid moving objects.

  3. Robots and manipulators

    NASA Technical Reports Server (NTRS)

    Heer, E.

    1981-01-01

    Robots are defined and described for various applications. The key feature of robots is programmability, which allows teleoperation, repair work in hazardous situations, and unsupervised operation in industrial functions. Two types of robots now exist: special purpose, with equipment for a specific task; and general purpose, which include nonservo-controlled robots, servo-controlled robots, and sensory control robots. Sensory robots are the most sophisticated, and are equipped with both internal control sensors and external sensors such as TV cameras, pressure detectors, laser range finders, etc. Sensory feedback to a central computer enables the robots to make appropriate modifications to the control program to adapt to new situations. Pattern recognition and scans for size are features of the TV sensors, and programs to develop a universal effector (hand) are outlined. Finally, robot programming in terms of manual, walkthrough, and textual methods are described, and the potential uses of robots for space and undersea construction and repair are discussed.

  4. Robotic Telesurgery Research

    DTIC Science & Technology

    2010-03-01

    dexterous workspace, as in the NB2.1 [5]. This robotic platform is designed specifically for Laparoendoscopic Single - Site Surgery (LESS), and consists...Laparoendoscopic Single - Site Surgery using a Multi-Functional Miniature In Vivo Robot,” The International Journal of Medical Robotics and Computer Assisted...Farritor, S.M., Oleynikov, D. “Laparoendoscopic Single - Site Surgery using a Multi-Functional Miniature In Vivo Robot,” Minimally Invasive Robotic

  5. Collaborative Robotics Design Considerations

    DTIC Science & Technology

    2004-05-06

    I~D~·L Paper Number Collaborative Robotics Design Considerations ABSTRACT As research advances individual robot capabilities, a logical...progression is the use of multiple robots to complete a task more effectively. Mission performance can be improved by the ability to allocate robots with...diverse capabilities to perform different parts of a complex task. To paraphrase [[10], there are many advantages to enabling robotic collaborative

  6. Robotic Vision for Welding

    NASA Technical Reports Server (NTRS)

    Richardson, R. W.

    1986-01-01

    Vision system for robotic welder looks at weld along axis of welding electrode. Gives robot view of most of weld area, including yet-unwelded joint, weld pool, and completed weld bead. Protected within welding-torch body, lens and fiber bundle give robot closeup view of weld in progress. Relayed to video camera on robot manipulator frame, weld image provides data for automatic control of robot motion and welding parameters.

  7. Robotic vehicle

    DOEpatents

    Box, W.D.

    1994-03-15

    A robotic vehicle is described for travel through an enclosed or partially enclosed conduit or pipe including vertical and/or horizontal conduit or pipe. The robotic vehicle comprises forward and rear housings each provided with a surface engaging mechanism for selectively engaging the walls of the conduit through which the vehicle is travelling, whereby the housings are selectively held in a stationary position within the conduit. The vehicle also includes at least three selectively extendable members, each of which defines a cavity therein. The forward end portion of each extendable member is secured to the forward housing and the rear end portion of each housing is secured to the rear housing. Each of the extendable members is independently extendable from a retracted position to an extended position upon the injection of a gas under pressure into the cavity of the extendable member such that the distance between the forward housing and the rear housing can be selectively increased. Further, each of the extendable members is independently retractable from the extended position to the retracted position upon the application of a vacuum to the cavity of the extendable member such that the distance between the forward housing and the rear housing can be selectively decreased. 11 figures.

  8. Robotic vehicle

    DOEpatents

    Box, W.D.

    1996-03-12

    A robotic vehicle is described for travel through an enclosed or partially enclosed conduit or pipe including vertical and/or horizontal conduit or pipe. The robotic vehicle comprises forward and rear housings each provided with a surface engaging mechanism for selectively engaging the walls of the conduit through which the vehicle is travelling, whereby the housings are selectively held in a stationary position within the conduit. The vehicle also includes at least three selectively extendable members, each of which defines a cavity therein. The forward end portion of each extendable member is secured to the forward housing and the rear end portion of each housing is secured to the rear housing. Each of the extendable members is independently extendable from a retracted position to an extended position upon the injection of a gas under pressure into the cavity of the extendable member such that the distance between the forward housing and the rear housing can be selectively increased. Further, each of the extendable members is independently retractable from the extended position to the retracted position upon the application of a vacuum to the cavity of the extendable member such that the distance between the forward housing and the rear housing can be selectively decreased. 14 figs.

  9. Robotic vehicle

    DOEpatents

    Box, W. Donald

    1996-01-01

    A robotic vehicle (10) for travel through an enclosed or partially enclosed conduit or pipe including vertical and/or horizontal conduit or pipe. The robotic vehicle (10) comprises forward and rear housings (32 and 12) each provided with a surface engaging mechanism for selectively engaging the walls of the conduit through which the vehicle is travelling, whereby the housings (32 and 12) are selectively held in a stationary position within the conduit. The vehicle (10) also includes at least three selectively extendable members (46), each of which defines a cavity (56) therein. The forward end portion (50) of each extendable member (46) is secured to the forward housing (32) and the rear end portion (48) of each housing is secured to the rear housing (12). Each of the extendable members (46) is independently extendable from a retracted position to an extended position upon the injection of a gas under pressure into the cavity (56) of the extendable member such that the distance between the forward housing (32 ) and the rear housing (12) can be selectively increased. Further, each of the extendable members (46) is independently retractable from the extended position to the retracted position upon the application of a vacuum to the cavity (56) of the extendable member (46) such that the distance between the forward housing (32) and the rear housing (12) can be selectively decreased.

  10. Robotic vehicle

    DOEpatents

    Box, W. Donald

    1994-01-01

    A robotic vehicle (10) for travel through an enclosed or partially enclosed conduit or pipe including vertical and/or horizontal conduit or pipe. The robotic vehicle (10) comprises forward and rear housings (32 and 12) each provided with a surface engaging mechanism for selectively engaging the walls of the conduit through which the vehicle is travelling, whereby the housings (32 and 12) are selectively held in a stationary position within the conduit. The vehicle (10) also includes at least three selectively extendable members (46), each of which defines a cavity (56) therein. The forward end portion (50) of each extendable member (46) is secured to the forward housing (32) and the rear end portion (48) of each housing is secured to the rear housing (12). Each of the extendable members (46) is independently extendable from a retracted position to an extended position upon the injection of a gas under pressure into the cavity (56) of the extendable member such that the distance between the forward housing (32 ) and the rear housing (12) can be selectively increased. Further, each of the extendable members (46) is independently retractable from the extended position to the retracted position upon the application of a vacuum to the cavity (56) of the extendable member (46) such that the distance between the forward housing (32) and the rear housing (12) can be selectively decreased.

  11. Hexapod Robot

    NASA Technical Reports Server (NTRS)

    Begody, Ericka

    2016-01-01

    The project I am working on at NASA-Johnson Space Center in Houston, TX is a hexapod robot. This project was started by various engineers at the Trick Lab. The goal of this project is to have the hexapod track a yellow ball or possibly another object from left to right and up/down. The purpose is to have it track an object like a real creature. The project will consist of using software and hardware. This project started with a hexapod robot which uses a senor bar to track a yellow ball but with a limited field of vision. The sensor bar acts as the robots "head." Two servos will be added to the hexapod to create flexion and extension of the head. The neck and head servos will have to be programmed to be added to the original memory map of the existing servos. I will be using preexisting code. The main programming language that will be used to add to the preexisting code is C++. The trick modeling and simulation software will also be used in the process to improve its tracking and movement. This project will use a trial and error approach, basically seeing what works and what does not. The first step is to initially understand how the hexapod works. To get a general understanding of how the hexapod maneuvers and plan on how to had a neck and head servo which works with the rest of the body. The second step would be configuring the head and neck servos with the leg servos. During this step, limits will be programmed specifically for the each servo. By doing this, the servo is limited to how far it can rotate both clockwise and counterclockwise and this is to prevent hardware damage. The hexapod will have two modes in which it works in. The first mode will be if the sensor bar does not detect an object. If the object it is programmed to look for is not in its view it will automatically scan from left to right 3 times then up and down once. The second mode will be if the sensor bar does detect the object. In this mode the hexapod will track the object from left to

  12. Robotic intelligence kernel

    DOEpatents

    Bruemmer, David J.

    2009-11-17

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

  13. DOE/NE robotics for advanced reactors

    SciTech Connect

    Not Available

    1991-01-01

    This document details activities during this reporting period. The Michigan group has developed, built, and tested a general purpose interface circuit for DC motors and encoders. This interface is based on an advanced microchip, the HCTL 1100 manufactured by Hewlett Packard. The HCTL 1100 can be programmed by a host computer in real-time, allowing sophisticated motion control for DC motors. At the University of Florida, work on modeling the details of the seismic isolators and the jack mechanism has been completed. A separate 3D solid view of the seismic isolator floor, with the full set of isolators shown in detail, has been constructed within IGRIP. ORNL led the robotics team at the ALMR review meeting. Discussions were held with General Electric (GE) engineers and contractors on the robotic needs for the ALMR program. The Tennessee group has completed geometric modeling of the Andros Mark VI mobile platform with two fixed tracks and for articulated tracks, the give degree-of-freedom manipulator and its end-effector, and two cameras. A graphical control of panel was developed which allow the user to operate the simulated robot. The University of Texas team visited ORNL to complete the implementation of computed-torque controller on the CESARm manipulator. This controller was previously developed and computer simulations were carried out specifically for the CESARm robot.

  14. Intelligent robots and computer vision

    SciTech Connect

    Casasent, D.P.

    1985-01-01

    This book presents the papers given at a conference which examined artificial intelligence and image processing in relation to robotics. Topics considered at the conference included feature extraction and pattern recognition for computer vision, image processing for intelligent robotics, robot sensors, image understanding and artificial intelligence, optical processing techniques in robotic applications, robot languages and programming, processor architectures for computer vision, mobile robots, multisensor fusion, three-dimensional modeling and recognition, intelligent robots applications, and intelligent robot systems.

  15. Humanoid Robot

    NASA Technical Reports Server (NTRS)

    Linn, Douglas M. (Inventor); Ambrose, Robert O. (Inventor); Diftler, Myron A. (Inventor); Askew, Scott R. (Inventor); Platt, Robert (Inventor); Mehling, Joshua S. (Inventor); Radford, Nicolaus A. (Inventor); Strawser, Phillip A. (Inventor); Bridgwater, Lyndon (Inventor); Wampler, II, Charles W. (Inventor); Abdallah, Muhammad E. (Inventor); Ihrke, Chris A. (Inventor); Reiland, Matthew J. (Inventor); Sanders, Adam M. (Inventor); Reich, David M. (Inventor); Hargrave, Brian (Inventor); Parsons, Adam H. (Inventor); Permenter, Frank N. (Inventor); Davis, Donald R. (Inventor)

    2013-01-01

    A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.

  16. PRoViScout: a planetary scouting rover demonstrator

    NASA Astrophysics Data System (ADS)

    Paar, Gerhard; Woods, Mark; Gimkiewicz, Christiane; Labrosse, Frédéric; Medina, Alberto; Tyler, Laurence; Barnes, David P.; Fritz, Gerald; Kapellos, Konstantinos

    2012-01-01

    Mobile systems exploring Planetary surfaces in future will require more autonomy than today. The EU FP7-SPACE Project ProViScout (2010-2012) establishes the building blocks of such autonomous exploration systems in terms of robotics vision by a decision-based combination of navigation and scientific target selection, and integrates them into a framework ready for and exposed to field demonstration. The PRoViScout on-board system consists of mission management components such as an Executive, a Mars Mission On-Board Planner and Scheduler, a Science Assessment Module, and Navigation & Vision Processing modules. The platform hardware consists of the rover with the sensors and pointing devices. We report on the major building blocks and their functions & interfaces, emphasizing on the computer vision parts such as image acquisition (using a novel zoomed 3D-Time-of-Flight & RGB camera), mapping from 3D-TOF data, panoramic image & stereo reconstruction, hazard and slope maps, visual odometry and the recognition of potential scientifically interesting targets.

  17. Robotics for Human Exploration

    NASA Technical Reports Server (NTRS)

    Fong, Terrence; Deans, Mathew; Bualat, Maria

    2013-01-01

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

  18. Competencies Identification for Robotics Training.

    ERIC Educational Resources Information Center

    Tang, Le D.

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

  19. Robot strings: Long, thin continuum robots

    NASA Astrophysics Data System (ADS)

    Walker, I. D.

    We describe and discuss the development of long, thin, continuous “ string-like” robots aimed at Space exploration missions. These continuous backbone “ continuum” robots are inspired by numerous biological structures, particularly vines, worms, and the tongues of animals such as the anteater. The key novelty is the high length-to-diameter ratio of the robots. This morphology offers penetration into, and exploration of, significantly narrower and deeper environments than accessible using current robot technology. In this paper, we introduce new design alternatives for long thin continuum robots, based on an analysis and extension of three core existing continuum robot design types. The designs are evaluated based on their mechanical feasibility, structural properties, kinematic simplicity, and degrees of freedom.

  20. Unmanned Systems: A Lab-Based Robotic Arm for Grasping

    DTIC Science & Technology

    2015-06-01

    normal hand movements were completed and were successful. 14. SUBJECT TERMS robotic arm, glove controller, dynamics, DH parameters 15...Experiments with flex sensors on the glove for normal hand movements were completed and were successful. vi THIS PAGE INTENTIONALLY LEFT BLANK vii TABLE...was to integrate the JACO arm into an efficient, real-time and humanlike system where the trajectory motion emulates natural human arm movement

  1. Mucopolysaccharidosis VI: pathophysiology, diagnosis and treatment.

    PubMed

    Harmatz, Paul; Shediac, Renee

    2017-01-01

    Mucopolysaccharidosis VI (MPS VI), or Maroteaux-Lamy syndrome, is an autosomal recessive lysosomal storage disorder caused by deficient activity of the enzyme arylsulfatase B (ASB). Progressive accumulation of glycosaminoglycans (GAGs) in organs and tissues leads to the development of multisystem clinical manifestations. The presentation of MPS VI is genotypically and phenotypically diverse, with a large number of potential disease-causing mutations and a phenotypic spectrum ranging from very slowly to very rapidly progressing disease. Diagnosis of MPS VI relies on presence of clinical features, increased GAG levels in urine or low ASB activity in dried blood spots, and measurement of enzyme activity levels in leukocytes or fibroblasts. The management of MPS VI involves enzyme replacement therapy and medical and surgical treatment of disease manifestations. Liquid chromatography/tandem mass spectrometry of GAG-derived disaccharides in blood or urine is emerging as a valuable method in the diagnosis, prognosis and assessment of therapeutic efficacy in MPS VI.

  2. Phase VI Glove Durability Testing

    NASA Technical Reports Server (NTRS)

    Mitchell, Kathryn C.

    2010-01-01

    The current state-of-the-art space suit gloves, the Phase VI gloves, have an operational life of 25 - 8 hour Extravehicular Activities (EVAs) in a clean, controlled ISS environment. Future planetary outpost missions create the need for space suit gloves which can endure up to 90 - 8 hour traditional EVAs or 576 - 45 minute suit port-based EVAs in a dirty, uncontrolled planetary environment. Prior to developing improved space suit gloves for use in planetary environments, it is necessary to understand how the current state-of-the-art performs in these environments. The Phase VI glove operational life has traditionally been certified through cycle testing consisting of ISS-based tasks in a clean environment, and glove durability while performing planetary EVA tasks in a dirty environment has not previously been characterized. Testing was performed in the spring of 2010 by the NASA Johnson Space Center Crew and Thermal Systems Division to characterize the durability of the Phase VI Glove and identify areas of the glove design which need improvement to meet the requirements of future NASA missions. Lunar simulant was used in this test to help replicate the dirty lunar environment, and generic planetary surface EVA tasks were performed during testing. A total of 50 manned, pressurized test sessions were completed in the Extravehicular Mobility Unit (EMU) using one pair of Phase VI gloves as the test article. The 50 test sessions were designed to mimic the total amount of pressurized cycling the gloves would experience over a 6 month planetary outpost mission. The gloves were inspected at periodic intervals throughout testing, to assess their condition at various stages in the test and to monitor the gloves for failures. Additionally, motion capture and force data were collected during 18 of the 50 test sessions to assess the accuracy of the cycle model predictions used in testing and to feed into the development of improved cycle model tables. This paper provides a

  3. Phase VI Glove Durability Testing

    NASA Technical Reports Server (NTRS)

    Mitchell, Kathryn

    2011-01-01

    The current state-of-the-art space suit gloves, the Phase VI gloves, have an operational life of 25 -- 8 hour Extravehicular Activities (EVAs) in a dust free, manufactured microgravity EVA environment. Future planetary outpost missions create the need for space suit gloves which can endure up to 90 -- 8 hour traditional EVAs or 576 -- 45 minute suit port-based EVAs in a dirty, uncontrolled planetary environment. Prior to developing improved space suit gloves for use in planetary environments, it is necessary to understand how the current state-of-the-art performs in these environments. The Phase VI glove operational life has traditionally been certified through cycle testing consisting of International Space Station (ISS)-based EVA tasks in a clean environment, and glove durability while performing planetary EVA tasks in a dirty environment has not previously been characterized. Testing was performed in the spring of 2010 by the NASA Johnson Space Center (JSC) Crew and Thermal Systems Division (CTSD) to characterize the durability of the Phase VI Glove and identify areas of the glove design which need improvement to meet the requirements of future NASA missions. Lunar simulant was used in this test to help replicate the dirty lunar environment, and generic planetary surface EVA tasks were performed during testing. A total of 50 manned, pressurized test sessions were completed in the Extravehicular Mobility Unit (EMU) using one pair of Phase VI gloves as the test article. The 50 test sessions were designed to mimic the total amount of pressurized cycling the gloves would experience over a 6 month planetary outpost mission. The gloves were inspected periodically throughout testing, to assess their condition at various stages in the test and to monitor the gloves for failures. Additionally, motion capture and force data were collected during 18 of the 50 test sessions to assess the accuracy of the cycle model predictions used in testing and to feed into the

  4. Shotcrete for underground support VI

    SciTech Connect

    Not Available

    1993-01-01

    This proceedings consists of papers presented at the Shotcrete for Underground Support VI Conference held in Niagara-on-the-Lake, Ontario, Canada, May 2-6, 1993. It covers three broad themes concerning shotcrete - engineering, research, and applications. Specifically, the proceedings presents papers on: (1) materials engineering; (2) shotcrete research; (3) engineering design; and (4) tunneling, soil nailing, and mining applications. The book concludes by presenting an international compilation of guidelines and recommendations on shotcrete. Papers have been processed separately for inclusion on the data base.

  5. Stable suspension for Vi-agglutination tests

    PubMed Central

    Ando, Koji; Shimojo, Hiroto

    1953-01-01

    Two methods of preparing a stable suspension for Vi-agglutination tests are discussed. Both maintain Vi-agglutinability and O-inagglutinability after storage at 37°C for 6 months, and the second also maintains the Vi-capsule-staining property. The first method involves the addition of 0.5% CaCl2 to a heavy saline Vi-suspension, while in the second a similar suspension is treated with an 0.2% solution of chrome alum. PMID:20603972

  6. Robotic Lander Prototype

    NASA Video Gallery

    NASA engineers successfully integrated and completed system testing on a new robotic lander recently at Teledyne Brown Engineering’s facility in Huntsville in support of the Robotic Lunar Lander ...

  7. Robotic Lander Development Project

    NASA Video Gallery

    The Robotic Lander Development Project at the Marshall Center is testing a prototype lander that will aid in the design and development of a new generation of small, smart, versatile robotic lander...

  8. Robotic Intelligence Kernel: Communications

    SciTech Connect

    Walton, Mike C.

    2009-09-16

    The INL Robotic Intelligence Kernel-Comms is the communication server that transmits information between one or more robots using the RIK and one or more user interfaces. It supports event handling and multiple hardware communication protocols.

  9. Robots and the Economy.

    ERIC Educational Resources Information Center

    Albus, James S.

    1984-01-01

    Spectacular advances in microcomputers are forging new technological frontiers in robotics. For example, many factories will be totally automated. Economic implications of the new technology of robotics for the future are examined. (RM)

  10. Robotic Surveying

    SciTech Connect

    Suzy Cantor-McKinney; Michael Kruzic

    2007-03-01

    ZAPATA ENGINEERING challenged our engineers and scientists, which included robotics expertise from Carnegie Mellon University, to design a solution to meet our client's requirements for rapid digital geophysical and radiological data collection of a munitions test range with no down-range personnel. A prime concern of the project was to minimize exposure of personnel to unexploded ordnance and radiation. The field season was limited by extreme heat, cold and snow. Geographical Information System (GIS) tools were used throughout this project to accurately define the limits of mapped areas, build a common mapping platform from various client products, track production progress, allocate resources and relate subsurface geophysical information to geographical features for use in rapidly reacquiring targets for investigation. We were hopeful that our platform could meet the proposed 35 acres per day, towing both a geophysical package and a radiological monitoring trailer. We held our breath and crossed our fingers as the autonomous Speedrower began to crawl across the playa lakebed. We met our proposed production rate, and we averaged just less than 50 acres per 12-hour day using the autonomous platform with a path tracking error of less than +/- 4 inches. Our project team mapped over 1,800 acres in an 8-week (4 days per week) timeframe. The expertise of our partner, Carnegie Mellon University, was recently demonstrated when their two autonomous vehicle entries finished second and third at the 2005 Defense Advanced Research Projects Agency (DARPA) Grand Challenge. 'The Grand Challenge program was established to help foster the development of autonomous vehicle technology that will some day help save the lives of Americans who are protecting our country on the battlefield', said DARPA Grand Challenge Program Manager, Ron Kurjanowicz. Our autonomous remote-controlled vehicle (ARCV) was a modified New Holland 2550 Speedrower retrofitted to allow the machine

  11. Immune suppression induced by Vi capsular polysaccharide is overcome by Vi-DT conjugate vaccine.

    PubMed

    An, So Jung; Yoon, Yeon Kyung; Kothari, Sudeep; Kim, Deok Ryun; Kim, Jeong Ah; Kothari, Neha; Lee, Eugene; Park, Tai Hyun; Carbis, Rodney

    2012-02-01

    The influence pre-exposure of mice to Vi capsular polysaccharide, purified from Salmonella enterica Serovar Typhi, on the subsequent immune response induced by a Vi-diphtheria toxoid (Vi-DT) conjugate was evaluated. Vi induced low anti Vi IgG titers with the dominant subclass being IgG3. The Vi-DT conjugate induced high titers of anti Vi IgG with the dominant subclass being IgG1 but with considerable quantities of IgG2a, IgG2b and IgG3. Priming of mice with Vi suppressed the response to a subsequent dose of conjugate and the suppression was overcome by a second dose of conjugate. Priming with conjugate prevented suppression of the anti Vi response and subsequent dosing with Vi raised titers back to previous levels but did not boost to new higher levels. The anti DT IgG response to one dose of conjugate was relatively strong and protracted and continued to rise for 12 weeks, compared to the response to one dose of DT which was poor and peaked at two weeks. The prolonged anti DT response was most likely due to the slow release of DT from the conjugate lattice as it degrades within the mouse resulting in a continuous stimulation of the immune response. The presence of increasing amounts of un-conjugated Vi, up to 50%, administered with the conjugate resulted in increasingly higher levels of both anti Vi and anti DT. Larger amounts of un-conjugated Vi inhibited the anti Vi response. These findings have implications for vaccine quality and a limit for un-conjugated polysaccharide should not exceed 50% and from a vaccine program perspective if the results presented here translate to humans then a Vi conjugate, once it becomes available, should replace Vi polysaccharide vaccines.

  12. RHOBOT: Radiation hardened robotics

    SciTech Connect

    Bennett, P.C.; Posey, L.D.

    1997-10-01

    A survey of robotic applications in radioactive environments has been conducted, and analysis of robotic system components and their response to the varying types and strengths of radiation has been completed. Two specific robotic systems for accident recovery and nuclear fuel movement have been analyzed in detail for radiation hardness. Finally, a general design approach for radiation-hardened robotics systems has been developed and is presented. This report completes this project which was funded under the Laboratory Directed Research and Development program.

  13. Tool Changer For Robot

    NASA Technical Reports Server (NTRS)

    Voellmer, George M.

    1992-01-01

    Mechanism enables robot to change tools on end of arm. Actuated by motion of robot: requires no additional electrical or pneumatic energy to make or break connection between tool and wrist at end of arm. Includes three basic subassemblies: wrist interface plate attached to robot arm at wrist, tool interface plate attached to tool, and holster. Separate tool interface plate and holster provided for each tool robot uses.

  14. Robotics Research for Cybersecurity

    DTIC Science & Technology

    2012-01-24

    Wei-Min Shen 1/24/12 Page 1 of 3 Robotics Research for Cybersecurity Wei-Min Shen Polymorphic Robotics Laboratory USC/ISI, 4676 Admiralty Way...Marina del Rey, CA 90292 Phone: 310-448-8710, Fax: 310-822-0751 Email: shen@isi.edu, Web: http://www.isi.edu/ robots / Executive Summary This...project is to conduct a comprehensive study of robotics research in the context of cybersecurity. Specifically, 1) Create a realistic cybersecurity test

  15. Ground Vehicle Robotics

    DTIC Science & Technology

    2013-08-20

    Ground Vehicle Robotics Jim Parker Associate Director, Ground Vehicle Robotics UNCLASSIFIED: Distribution Statement A. Approved for public...DATE 20 AUG 2013 2. REPORT TYPE Briefing Charts 3. DATES COVERED 09-05-2013 to 15-08-2013 4. TITLE AND SUBTITLE Ground Vehicle Robotics 5a...Willing to take Risk on technology -User Evaluated -Contested Environments -Operational Data Applied Robotics for Installation & Base Ops -Low Risk

  16. Telepresence and Intervention Robotics

    DTIC Science & Technology

    2000-11-01

    UNCLASSIFIED Defense Technical Information Center Compilation Part Notice ADPO10628 TITLE: Telepresence and Intervention Robotics DISTRIBUTION...comprise the compilation report: ADPO10609 thru ADP010633 UNCLASSIFIED 20-1 TELEPRESENCE AND INTERVENTION ROBOTICS Nathalie Cislo Laboratoire de...Robotique de Paris 10-12, Avenue de 1’Europe 78140 VWlizy-Villacoublay, FRANCE cislo@robot.uvsq.fr ABSTRACT In the field of Mobile Robotics applications

  17. Neptunium(vi) chain and neptunium(vi/v) mixed valence cluster complexes.

    PubMed

    Cornet, Stéphanie M; Häller, L Jonas L; Sarsfield, Mark J; Collison, David; Helliwell, Madeleine; May, Iain; Kaltsoyannis, Nikolas

    2009-02-28

    The synthesis of [Np(VI)O(2)Cl(2)(thf)](n) offers the potential for more detailed exploration of neptunyl(vi) chemistry, while the synthesis of the mixed valence cluster complex [{Np(VI)O(2)Cl(2)}{Np(V)O(2)Cl(thf)(3)}(2)] allows molecular neptunyl(v) 'cation-cation' interactions to be probed.

  18. Robotics of human movements.

    PubMed

    van der Smagt, Patrick; Grebenstein, Markus; Urbanek, Holger; Fligge, Nadine; Strohmayr, Michael; Stillfried, Georg; Parrish, Jonathon; Gustus, Agneta

    2009-01-01

    The construction of robotic systems that can move the way humans do, with respect to agility, stability and precision, is a necessary prerequisite for the successful integration of robotic systems in human environments. We explain human-centered views on robotics, based on the three basic ingredients (1) actuation; (2) sensing; and (3) control, and formulate detailed examples thereof.

  19. Building a Better Robot

    ERIC Educational Resources Information Center

    Navah, Jan

    2012-01-01

    Kids love to build robots, letting their imaginations run wild with thoughts of what they might look like and what they could be programmed to do. Yet when students use cereal boxes and found objects to make robots, often the projects look too similar and tend to fall apart. This alternative allows students to "build" robots in a different way,…

  20. Robotics development programs overview

    SciTech Connect

    Heckendorn, F.M.

    1990-11-01

    This paper discusses the applications of robotics at the Westinghouse Savannah River Site. The Savannah River Laboratory (SRL) continues to provide support to the Savannah River Site (SRS) in many areas of Robotics and Remote Vision. An overview of the current and near term future developments are presented. The driving forces for Robotics and Vision developments at SRS include the classic reasons for industrial robotics installation (i.e. repetitive and undesirable jobs) and those reasons related to radioactive environments. Protection of personnel from both radiation and radioactive contamination benefit greatly from both Robotics and Telerobotics. Additionally, the quality of information available from remote locations benefits greatly from the ability to visually monitor and remotely sense. The systems discussed include a glovebox waste handling and bagout robot, a shielded cells robot for radioactive waste sample transfer, waste handling gantry robots, a two armed master/slave manipulator as an attachment to a gantry robot, navigation robot research/testing, demonstration of the mobile underwater remote cleaning and inspection device, a camera deployment robot to support remote crane operations and for deployment of radiation sensors directly over a hazardous site, and demonstration of a large mobile robot for high radiation environments. Development of specialized and limited life vision/viewing systems for hazardous environments is also discussed.

  1. Networking a mobile robot

    NASA Astrophysics Data System (ADS)

    McKee, Gerard T.

    1994-10-01

    Conventional mobile robotic systems are `stand alone'. Program development involves loading programs into the mobile, via an umbilical. Autonomous operation, in this context, means `isolation': the user cannot interact with the program as the robot is moving around. Recent research in `swarm robotics' has exploited wireless networks as a means of providing inter- robot communication, but the population is still isolated from the human user. In this paper we report on research we are conducting into the provision of mobile robots as resources on a local area computer network, and thus breaking the isolation barrier. We are making use of new multimedia workstation and wireless networking technology to link the robots to the network in order to provide a new type of resource for the user. We model the robot as a set of resources and propose a client-server architecture as the basis for providing user access to the robots. We describe the types of resources each robot can provide and we outline the potential for cooperative robotics, human-robot cooperation, and teleoperation and autonomous robot behavior within this context.

  2. Robotic Telesurgery Research

    DTIC Science & Technology

    2010-10-01

    concepts have been pursued to provide imaging capabilities for use in robotic surgery . The first concept involves developing a camera system that...Oleynikov, D. Project Title: CAESAR: Computer Automated Enhanced Support and Analysis for Robotic Surgery Source of Support: Intelligent Automation, Inc...successful autonomous robotic surgery . REFERENCES Dolghi, O., Strabala, K., Wortman, T., Goede, M., Farritor, S., & Oleynikov. (2010). Miniature

  3. Mobile robot knowledge base

    NASA Astrophysics Data System (ADS)

    Heath Pastore, Tracy; Barnes, Mitchell; Hallman, Rory

    2005-05-01

    Robot technology is developing at a rapid rate for both commercial and Department of Defense (DOD) applications. As a result, the task of managing both technology and experience information is growing. In the not-to-distant past, tracking development efforts of robot platforms, subsystems and components was not too difficult, expensive, or time consuming. To do the same today is a significant undertaking. The Mobile Robot Knowledge Base (MRKB) provides the robotics community with a web-accessible, centralized resource for sharing information, experience, and technology to more efficiently and effectively meet the needs of the robot system user. The resource includes searchable information on robot components, subsystems, mission payloads, platforms, and DOD robotics programs. In addition, the MRKB website provides a forum for technology and information transfer within the DOD robotics community and an interface for the Robotic Systems Pool (RSP). The RSP manages a collection of small teleoperated and semi-autonomous robotic platforms, available for loan to DOD and other qualified entities. The objective is to put robots in the hands of users and use the test data and fielding experience to improve robot systems.

  4. Total portal robotic pneumonectomy.

    PubMed

    Rodriguez, Jose R

    2013-09-01

    Robotic pulmonary lobectomies have been reported to be technically and oncologically achievable; however, only three robotic pneumonectomy cases have been described. Two of them used a mini thoracotomy. We describe one case of a total portal robotic pneumonectomy without utility incision. We describe the step-by-step process.

  5. Inertially Aided Robotics

    DTIC Science & Technology

    1989-12-31

    0031 dis~bti:,1 is uitsnjt( Deczmllcr 31: 1989 92-05530 2:.-: 3o : T >VE?-A ~ : Inertially Aided Robotics FINAL REPORT for Contract No. DAAHO1 -88-D-0057...1 2 Advantages of Inertially Aided Robotics ...86 iii List of Figures Figure 1 - Robot Manipulator having Joint Sensor Based Control ..................... 2

  6. Robotic Intelligence Kernel: Visualization

    SciTech Connect

    2009-09-16

    The INL Robotic Intelligence Kernel-Visualization is the software that supports the user interface. It uses the RIK-C software to communicate information to and from the robot. The RIK-V illustrates the data in a 3D display and provides an operating picture wherein the user can task the robot.

  7. Robotic Follow Algorithm

    SciTech Connect

    2005-03-30

    The Robotic Follow Algorithm enables allows any robotic vehicle to follow a moving target while reactively choosing a route around nearby obstacles. The robotic follow behavior can be used with different camera systems and can be used with thermal or visual tracking as well as other tracking methods such as radio frequency tags.

  8. Modular robot

    DOEpatents

    Ferrante, T.A.

    1997-11-11

    A modular robot may comprise a main body having a structure defined by a plurality of stackable modules. The stackable modules may comprise a manifold, a valve module, and a control module. The manifold may comprise a top surface and a bottom surface having a plurality of fluid passages contained therein, at least one of the plurality of fluid passages terminating in a valve port located on the bottom surface of the manifold. The valve module is removably connected to the manifold and selectively fluidically connects the plurality of fluid passages contained in the manifold to a supply of pressurized fluid and to a vent. The control module is removably connected to the valve module and actuates the valve module to selectively control a flow of pressurized fluid through different ones of the plurality of fluid passages in the manifold. The manifold, valve module, and control module are mounted together in a sandwich-like manner and comprise a main body. A plurality of leg assemblies are removably connected to the main body and are removably fluidically connected to the fluid passages in the manifold so that each of the leg assemblies can be selectively actuated by the flow of pressurized fluid in different ones of the plurality of fluid passages in the manifold. 12 figs.

  9. Modular robot

    DOEpatents

    Ferrante, Todd A.

    1997-01-01

    A modular robot may comprise a main body having a structure defined by a plurality of stackable modules. The stackable modules may comprise a manifold, a valve module, and a control module. The manifold may comprise a top surface and a bottom surface having a plurality of fluid passages contained therein, at least one of the plurality of fluid passages terminating in a valve port located on the bottom surface of the manifold. The valve module is removably connected to the manifold and selectively fluidically connects the plurality of fluid passages contained in the manifold to a supply of pressurized fluid and to a vent. The control module is removably connected to the valve module and actuates the valve module to selectively control a flow of pressurized fluid through different ones of the plurality of fluid passages in the manifold. The manifold, valve module, and control module are mounted together in a sandwich-like manner and comprise a main body. A plurality of leg assemblies are removably connected to the main body and are removably fluidically connected to the fluid passages in the manifold so that each of the leg assemblies can be selectively actuated by the flow of pressurized fluid in different ones of the plurality of fluid passages in the manifold.

  10. Intelligent robots and computer vision

    SciTech Connect

    Casasent, D.P.

    1986-01-01

    This book presents the papers given at a conference on artificial intelligence and robot vision. Topics considered at the conference included pattern recognition, image processing for intelligent robotics, three-dimensional vision (depth and motion), vision modeling and shape estimation, spatial reasoning, the symbolic processing visual information, robotic sensors and applications, intelligent control architectures for robot systems, robot languages and programming, human-machine interfaces, robotics applications, and architectures of robotics.

  11. [Occupational exposure to chromium(VI) compounds].

    PubMed

    Skowroń, Jolanta; Konieczko, Katarzyna

    2015-01-01

    This article discusses the effect of chromium(VI) (Cr(VI)) on human health under conditions of acute and chronic exposure in the workplace. Chromium(VI) compounds as carcinogens and/or mutagens pose a direct danger to people exposed to them. If carcinogens cannot be eliminated from the work and living environments, their exposure should be reduced to a minimum. In the European Union the proposed binding occupational exposure limit value (BOELV) for chromium(VI) of 0.025 mg/m³ is still associated with high cancer risk. Based on the Scientific Commitee of Occupational Exposure Limits (SCOEL) document chromium(VI) concentrations at 0.025 mg/m³ increases the risk of lung cancer in 2-14 cases per 1000 exposed workers. Exposure to chromium(VI) compounds expressed in Cr(VI) of 0.01 mg Cr(VI)/m3; is responsible for the increased number of lung cancer cases in 1-6 per 1000 people employed in this condition for the whole period of professional activity.

  12. [Robotics in pediatric surgery].

    PubMed

    Camps, J I

    2011-10-01

    Despite the extensive use of robotics in the adult population, the use of robotics in pediatrics has not been well accepted. There is still a lack of awareness from pediatric surgeons on how to use the robotic equipment, its advantages and indications. Benefit is still controversial. Dexterity and better visualization of the surgical field are one of the strong values. Conversely, cost and a lack of small instruments prevent the use of robotics in the smaller patients. The aim of this manuscript is to present the controversies about the use of robotics in pediatric surgery.

  13. Miniaturized autonomous robot

    NASA Astrophysics Data System (ADS)

    Ishihara, Hidenori; Fukuda, Toshio

    1998-01-01

    Many projects developing the miniaturized autonomous robot have been carried out in the whole world. This paper deals with our challenges developing a miniaturized autonomous robot. The miniaturized autonomous robot is defined as the miniaturized closed-loop system with micro processor, microactuators and microsensors. We have developed the micro autonomous robotic system (MARS) consisting of the microprocessor, microsensors, microactuators, communication units and batteries. The MARS controls itself by the downloaded program supplied through the IR communication system. In this paper, we demonstrate several performance of the MARS, and discuss the properties of the miniaturized autonomous robot.

  14. Robotic technology in urology

    PubMed Central

    Murphy, D; Challacombe, B; Khan, M S; Dasgupta, P

    2006-01-01

    Urology has increasingly become a technology‐driven specialty. The advent of robotic surgical systems in the past 10 years has led to urologists becoming the world leaders in the use of such technology. In this paper, we review the history and current status of robotic technology in urology. From the earliest uses of robots for transurethral resection of the prostate, to robotic devices for manipulating laparoscopes and to the current crop of master–slave devices for robotic‐assisted laparoscopic surgery, the evolution of robotics in the urology operating theatre is presented. Future possibilities, including the prospects for nanotechnology in urology, are awaited. PMID:17099094

  15. Robotics Technical Note 102.

    DTIC Science & Technology

    1981-06-01

    IAfl-AIBZ 4U2 AIR FORCE BUSINESS RESEARCH MANAGEMENT CENTER WRIGHT-ETC F/6 13/8 I ROBOTICS TECHNIICAL NOTE 102.(U) JUN Al B M BLABIERSALL UNCLASSIFE...CATALOG uME 1T4.T7- Subtitle S. TYPE OF REPOR & PERIOO COVERED Technical Note 102 Robotics 𔄁 FInal r ---- 6. PERFORMING O1G. REPORT NUMBER C 7. A tNORa B...Identify by block number) Robotics Manufacturing Industrial Robots Robot Technology SRobotics Application BQ~.STRACT (Continue on revere* side It

  16. The Radiolysis of AmVI Solutions

    SciTech Connect

    Bruce J. Mincher

    2013-06-01

    The reduction of bismuthate-produced AmVI by 60Co gamma-rays was measured using post-irradiation UV/Vis spectroscopy. The reduction of AmVI by radiolysis was rapid, producing AmV as the sole product. Relatively low absorbed doses in the ~0.3 kGy range quantitatively reduced a solution of 2.5 x 10-4 M AmVI. The addition of bismuthate to samples during irradiation did not appear to protect AmVI from radiolytic reduction during these experiments. It was also shown here that AmV is very stable toward radiation. The quantitative reduction of the AmVI concentration here corresponds to 1.4 hours of exposure to a process solution, however the actual americium concentrations will be higher and the expected contact times short when using centrifugal contactors. Thus, the reduction rate found in these initial experiments may not be excessive.

  17. Space robotics in Japan

    NASA Astrophysics Data System (ADS)

    Whittaker, William; Lowrie, James W.; McCain, Harry; Bejczy, Antal; Sheridan, Tom; Kanade, Takeo; Allen, Peter

    1994-03-01

    Japan has been one of the most successful countries in the world in the realm of terrestrial robot applications. The panel found that Japan has in place a broad base of robotics research and development, ranging from components to working systems for manufacturing, construction, and human service industries. From this base, Japan looks to the use of robotics in space applications and has funded work in space robotics since the mid-1980's. The Japanese are focusing on a clear image of what they hope to achieve through three objectives for the 1990's: developing long-reach manipulation for tending experiments on Space Station Freedom, capturing satellites using a free-flying manipulator, and surveying part of the moon with a mobile robot. This focus and a sound robotics infrastructure is enabling the young Japanese space program to develop relevant systems for extraterrestrial robotics applications.

  18. Space robotics in Japan

    NASA Technical Reports Server (NTRS)

    Whittaker, William; Lowrie, James W.; Mccain, Harry; Bejczy, Antal; Sheridan, Tom; Kanade, Takeo; Allen, Peter

    1994-01-01

    Japan has been one of the most successful countries in the world in the realm of terrestrial robot applications. The panel found that Japan has in place a broad base of robotics research and development, ranging from components to working systems for manufacturing, construction, and human service industries. From this base, Japan looks to the use of robotics in space applications and has funded work in space robotics since the mid-1980's. The Japanese are focusing on a clear image of what they hope to achieve through three objectives for the 1990's: developing long-reach manipulation for tending experiments on Space Station Freedom, capturing satellites using a free-flying manipulator, and surveying part of the moon with a mobile robot. This focus and a sound robotics infrastructure is enabling the young Japanese space program to develop relevant systems for extraterrestrial robotics applications.

  19. Intelsat VI - A continuing evolution

    NASA Astrophysics Data System (ADS)

    Bennett, S. B.; Braverman, D. J.

    1984-11-01

    Design, launch, and performance features of the Intelsat VI satellite scheduled for 1986 launch are described. The spacecraft will operated with SS/TDMA techniques and six antenna beams, weigh 23 kg at the beginning of life, carry 80,000 half-circuits, and will be borne aloft by either the STS or Ariane 4. The communications equipment will include Cand K-band receivers, 14/11 GHz upconverters, traveling wave tube amplifiers, and 50 input and output filters. Total interconnectivity will be present for all uplinks and downlinks, which will issue spot and shaped beam coverage of the hemisphere. Satellite power is to be supplied by solar panels furnishing 2 kW continuously and eclipse power is to be drawn from two 44 Ah NiH batteries. Orbit maintenance and attitude control are assigned to six 22 N thrusters.

  20. Marsupial robots for law enforcement

    NASA Astrophysics Data System (ADS)

    Murphy, Robin R.

    2001-02-01

    Marsupial robots are a type of heterogeneous mobile robot team. A mother robot transports, supports, and recovers one or more daughter robots. This paper will cover the marsupial robot concept, the application of law enforcement, and recent results in collaborative teleoperation for the related task of urban search and rescue.

  1. Emissions of chromium (VI) from arc welding.

    PubMed

    Heung, William; Yun, Myoung-Jin; Chang, Daniel P Y; Green, Peter G; Halm, Chris

    2007-02-01

    The presence of Cr in the +6 oxidation state (Cr[VI]) is still observed in ambient air samples in California despite steps taken to reduce emissions from plating operations. One known source of emission of Cr(VI) is welding, especially with high Cr-content materials, such as stainless steels. An experimental effort was undertaken to expand and update Cr(VI) emission factors by conducting tests on four types of arc-welding operations: gas-metal arc welding (GMAW), shielded metal arc welding (SMAW), fluxcore arc welding, and pulsed GMAW. Standard American Welding Society hood results were compared with a total enclosure method that permitted isokinetic sampling for particle size-cut measurement, as well as total collection of the aerosol. The fraction of Cr(VI) emitted per unit mass of Cr electrode consumed was determined. Consistent with AP-42 data, initial results indicate that a significant fraction of the total Cr in the aerosol is in the +6 oxidation state. The fraction of Cr(VI) and total aerosol mass produced by the different arc welding methods varies with the type of welding process used. Self-shielded electrodes that do not use a shield gas, for example, SMAW, produce greater amounts of Cr(VI) per unit mass of electrode consumed. The formation of Cr(VI) from standard electrode wires used for welding mild steel was below the method detection limit after eliminating an artifact in the analytical method used.

  2. Evolution of robotic arms.

    PubMed

    Moran, Michael E

    2007-01-01

    The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond the human arm. da Vinci designed the first sophisticated robotic arm in 1495 with four degrees-of-freedom and an analog on-board controller supplying power and programmability. von Kemplen's chess-playing automaton left arm was quite sophisticated. Unimate introduced the first industrial robotic arm in 1961, it has subsequently evolved into the PUMA arm. In 1963 the Rancho arm was designed; Minsky's Tentacle arm appeared in 1968, Scheinman's Stanford arm in 1969, and MIT's Silver arm in 1974. Aird became the first cyborg human with a robotic arm in 1993. In 2000 Miguel Nicolalis redefined possible man-machine capacity in his work on cerebral implantation in owl-monkeys directly interfacing with robotic arms both locally and at a distance. The robotic arm is the end-effector of robotic systems and currently is the hallmark feature of the da Vinci Surgical System making its entrance into surgical application. But, despite the potential advantages of this computer-controlled master-slave system, robotic arms have definite limitations. Ongoing work in robotics has many potential solutions to the drawbacks of current robotic surgical systems.

  3. Anaerobic bio-removal of uranium (VI) and chromium (VI): comparison of microbial community structure.

    PubMed

    Martins, Mónica; Faleiro, Maria Leonor; Chaves, Sandra; Tenreiro, Rogério; Santos, Erika; Costa, Maria Clara

    2010-04-15

    Several microbial communities, obtained from uranium contaminated and non-contaminated samples, were investigated for their ability to remove uranium (VI) and the cultures capable for this removal were further assessed on their efficiency for chromium (VI) removal. The highest efficiency for removal of both metals was observed on a consortium from a non-contaminated soil collected in Monchique thermal place, which was capable to remove 91% of 22 mg L(-1) U(VI) and 99% of 13 mg L(-1) Cr(VI). This study revealed that uranium (VI) removing communities have also ability to remove chromium (VI), but when uranium (VI) was replaced by chromium (VI) several differences in the structure of all bacterial communities were observed. TGGE and phylogenetic analysis of 16S rRNA gene showed that the uranium (VI) removing bacterial consortia are mainly composed by members of Rhodocyclaceae family and Clostridium genus. On the other hand, bacteria from Enterobacteriaceae family were detected in the community with ability for chromium (VI) removal. The existence of members of Enterobacteriaceae and Rhodocyclaceae families never reported as chromium or uranium removing bacteria, respectively, is also a relevant finding, encouraging the exploitation of microorganisms with new abilities that can be useful for bioremediation.

  4. GRACE and GEORGE: Autonomous Robots for the AAAI Robot Challenge

    DTIC Science & Technology

    2004-01-01

    GRACE and GEORGE: Autonomous Robots for the AAAI Robot Challenge Reid Simmons, Allison Bruce, Dani Goldberg, Adam Goode, Michael Montemerlo, Nicholas...2004 2. REPORT TYPE 3. DATES COVERED - 4. TITLE AND SUBTITLE GRACE and GEORGE: Autonomous Robots for the AAAI Robot Challenge 5a. CONTRACT...Simmons. “A Social Robot that Stands in Line.” Autonomous Robots , 12:3 pp.313-324, May 2002. [Ortony, 1988] A. Ortony, G. L. Clore, and A. Collins

  5. Humanlike Robots - The Upcoming Revolution in Robotics

    NASA Technical Reports Server (NTRS)

    Bar-Cohen, Yoseph

    2009-01-01

    Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

  6. Humanlike robots: the upcoming revolution in robotics

    NASA Astrophysics Data System (ADS)

    Bar-Cohen, Yoseph

    2009-08-01

    Humans have always sought to imitate the human appearance, functions and intelligence. Human-like robots, which for many years have been a science fiction, are increasingly becoming an engineering reality resulting from the many advances in biologically inspired technologies. These biomimetic technologies include artificial intelligence, artificial vision and hearing as well as artificial muscles, also known as electroactive polymers (EAP). Robots, such as the vacuum cleaner Rumba and the robotic lawnmower, that don't have human shape, are already finding growing use in homes worldwide. As opposed to other human-made machines and devices, this technology raises also various questions and concerns and they need to be addressed as the technology advances. These include the need to prevent accidents, deliberate harm, or their use in crime. In this paper the state-of-the-art of the ultimate goal of biomimetics, the development of humanlike robots, the potentials and the challenges are reviewed.

  7. INL Multi-Robot Control Interface

    SciTech Connect

    2005-03-30

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

  8. 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.

  9. Robots in modern industry

    NASA Technical Reports Server (NTRS)

    Heer, E.

    1981-01-01

    A survey is presented of robotic device types and capabilities, and an assessment is made of the relative benefits they confer in present and planned numbers on such industrial countries as Japan, the U.S., and West Germany. Attention is also given to possible social impacts of large-scale implementation, and the need for close consultation between management and labor is stressed. It is reported that, while the hourly cost of robot labor remained at between $4.00 and $4.60 over the period 1960-present, human hourly labor costs (including fringe benefits) have risen from less than $4.00 to nearly $17.00. Among the types of devices described are: (1) remotely controlled manipulator vehicles; (2) undersea robotic craft; (3) servo-controlled robots; and (4) articulated robots. Also covered are robot programming languages derived from such standard languages as ALGOL, FORTRAN, and BASIC.

  10. ROBOTIC SURGERY: BIOETHICAL ASPECTS

    PubMed Central

    SIQUEIRA-BATISTA, Rodrigo; SOUZA, Camila Ribeiro; MAIA, Polyana Mendes; SIQUEIRA, Sávio Lana

    2016-01-01

    ABSTRACT Introduction: The use of robots in surgery has been increasingly common today, allowing the emergence of numerous bioethical issues in this area. Objective: To present review of the ethical aspects of robot use in surgery. Method: Search in Pubmed, SciELO and Lilacs crossing the headings "bioethics", "surgery", "ethics", "laparoscopy" and "robotic". Results: Of the citations obtained, were selected 17 articles, which were used for the preparation of the article. It contains brief presentation on robotics, its inclusion in health and bioethical aspects, and the use of robots in surgery. Conclusion: Robotic surgery is a reality today in many hospitals, which makes essential bioethical reflection on the relationship between health professionals, automata and patients. PMID:28076489

  11. Robotic surgical simulation.

    PubMed

    Liss, Michael A; McDougall, Elspeth M

    2013-01-01

    Robotic surgery has undergone exponential growth and has ever developing utilization. The explosion of new technologies and regulation have led to challenges in training surgeons who desire this skill set. We review the current state of robotic simulation and incorporation of simulation into surgical training curricula. In addition to the literature review, results of a questionnaire survey study of 21 expert and novice surgeons attending a Urologic Robotic Oncology conference using 3 different robotic skill simulation devices are discussed. An increasing number of robotic surgery simulators have had some degree of validation study of their use in surgical education curricula and proficiency testing. Although simulators are advantageous, confirmation of construct and predictive validity of robotic simulators and their reliability as a training tool will be necessary before they are integrated into the surgical credentialing process.

  12. Survival of falling robots

    NASA Astrophysics Data System (ADS)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-02-01

    As mobile robots are used in more uncertain and dangerous environments, it will become important to design them so that they can survive falls. In this paper, we examine a number of mechanisms and strategies that animals use to withstand these potentially catastrophic events and extend them to the design of robots. A brief survey of several aspects of how common cats survive falls provides an understanding of the issues involved in preventing traumatic injury during a falling event. After outlining situations in which robots might fall, a number of factors affecting their survival are described. From this background, several robot design guidelines are derived. These include recommendations for the physical structure of the robot as well as requirements for the robot control architecture. A control architecture is proposed based on reactive control techniques and action-oriented perception that is geared to support this form of survival behavior.

  13. Survival of falling robots

    NASA Technical Reports Server (NTRS)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-01-01

    As mobile robots are used in more uncertain and dangerous environments, it will become important to design them so that they can survive falls. In this paper, we examine a number of mechanisms and strategies that animals use to withstand these potentially catastrophic events and extend them to the design of robots. A brief survey of several aspects of how common cats survive falls provides an understanding of the issues involved in preventing traumatic injury during a falling event. After outlining situations in which robots might fall, a number of factors affecting their survival are described. From this background, several robot design guidelines are derived. These include recommendations for the physical structure of the robot as well as requirements for the robot control architecture. A control architecture is proposed based on reactive control techniques and action-oriented perception that is geared to support this form of survival behavior.

  14. Robotics and expert systems

    SciTech Connect

    Not Available

    1986-01-01

    This volume contains papers presented at ROBEXS' 86, the Second Annual Workshop on Robotics and Expert Systems. Many diverse perspectives on automation problems, and on the merging of robotics and expert systems technology with conventional systems, are contained in this book. The contents include: Integrated Expert Systems Applications; Expert Systems Theory and Applications, Robotics, Intelligent Control, CAD/CAE/CAM, AI Tools, Human Factors, and intelligent Interfaces.

  15. Robotic liver surgery

    PubMed Central

    Leung, Universe

    2014-01-01

    Robotic surgery is an evolving technology that has been successfully applied to a number of surgical specialties, but its use in liver surgery has so far been limited. In this review article we discuss the challenges of minimally invasive liver surgery, the pros and cons of robotics, the evolution of medical robots, and the potentials in applying this technology to liver surgery. The current data in the literature are also presented. PMID:25392840

  16. NASA Robot Brain Surgeon

    NASA Technical Reports Server (NTRS)

    1997-01-01

    Mechanical Engineer Michael Guerrero works on the Robot Brain Surgeon testbed in the NeuroEngineering Group at the Ames Research Center, Moffett Field, California. Principal investigator Dr. Robert W. Mah states that potentially the simple robot will be able to feel brain structures better than any human surgeon, making slow, very precise movements during an operation. The brain surgery robot that may give surgeons finer control of surgical instruments during delicate brain operations is still under development.

  17. TARDEC Ground Vehicle Robotics

    DTIC Science & Technology

    2013-05-30

    TARDEC Ground Vehicle Robotics Mr. Jim Parker, Associate Director Dr. Greg Hudas, Chief Engineer UNCLASSIFIED: Distribution Statement A (OPSEC...TARDEC Ground Vehicle Robotics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Jim Parker; Greg Hudas 5d. PROJECT...Provide Transition-Ready, Cost-Effective, and Innovative Robotics and Control System Solutions for Manned, Optionally-Manned, and Unmanned Ground Vehicles

  18. A Modular Robotic Architecture

    DTIC Science & Technology

    1990-11-01

    DATES COVERED AD-A232 007 Januar 1991 professional paper5 FUNOING NUMBERS A MODULAR ROBOTIC ARCHITECTURE PR: ZE92 WU: DN300029 PE: 0602936N - S. AUTHOR...mobile robots will help alleviate these problems, and, if made widely available, will promote standardization and compatibility among systems throughout...the industry. The Modular Robotic Architecture (MRA) is a generic control system that meets the above needs by providing developers with a standard set

  19. Ground Vehicle Robotics Presentation

    DTIC Science & Technology

    2012-08-14

    Mr. Jim Parker Associate Director Ground Vehicle Robotics Distribution Statement A. Approved for public release Report Documentation Page...Briefing 3. DATES COVERED 01-07-2012 to 01-08-2012 4. TITLE AND SUBTITLE Ground Vehicle Robotics Presentation 5a. CONTRACT NUMBER 5b. GRANT...ABSTRACT Provide Transition-Ready, Cost-Effective, and Innovative Robotics and Control System Solutions for Manned, Optionally-Manned, and Unmanned

  20. Robotic Security Systems

    DTIC Science & Technology

    2003-12-01

    robotic security platforms that automatically respond in an adaptive fashion to potential disturbances reported by a broad-area field of fixed unattended...sensors represents a powerful new defensive tool for mitigating the terrorist threat. Background The primary purpose of any robotic system is to...mobile robots , the predominant challenge is one of perception, in that the very nature of mobility introduces a never-ending sequence of dynamically

  1. Army Medical Robotics Research

    DTIC Science & Technology

    2007-01-01

    Army Medical Robotics Research Gary Gilbert, Ph.D., U.S. Army TATRC, Ph: (301) 619-4043, Fax: (301) 619-2518 gilbert@tatrc.org, www.tatrc.org...politically sensitive low intensity combat in urban terrain. Research progress has been made in the areas of robotics ; artificial intelligence...institutions have demonstrated intelligent robots that execute functions ranging from performing mechanical repairs to playing soccer. The military has

  2. Robotics Strategy White Paper

    DTIC Science & Technology

    2009-03-19

    VIRGINIA 23651-1087 REPlY TO A1Tl!NTlON OF ATFC-DS 19 MEMORANDUM FOR SEE DISTRIBUTION SUBJECT: Robotics Strategy White Paper 1. The enclosed... Robotics Strategy White Paper is the result of a collaborative effort between the U.S. Anny Training and Doctrine Command (TRADOC) and the Tank-Automotive...Research, Development and Engineering Center (TARDEC). This paper builds on a confederated Anny robotics "strategy" that is described by senior leader

  3. AMAS Robotics Seminar Brief

    DTIC Science & Technology

    2011-07-19

    Unclassified Unclassified 19 July 2011 AMAS ROBOTICS SEMINAR BRIEF Aaron Hart, Product Integrator, RS JPO DISTRIBUTION STATEMENT A. Approved for...19-07-2011 to 19-07-2011 4. TITLE AND SUBTITLE robotics seminar brief 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6...12. DISTRIBUTION/AVAILABILITY STATEMENT Approved for public release; distribution unlimited 13. SUPPLEMENTARY NOTES AMAS ROBOTICS SEMINAR BRIEF 14

  4. Artificial Intelligence and Robotics.

    DTIC Science & Technology

    1984-02-01

    D-Ai42 488 ARTIFICIAL INEELLIGENCE AND ROBOTICS (U) MASSACHUSETTS i/1 INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB M BRADY FEB 84 AI-M-756...Subtile) S. TYPE OF REPORT A PERIOD COVERED Artificial Intelligence and Robotics 6. PERFORMING ORG. REPORT NUMBER 7. AUTHOR(*) S. CONTRACT OR GRANT NUMBER...Identify by block niiniber) -. Since Robotics is the field concerned with the connection of perception to action, Artificial Intelligence must have a

  5. Compliant Robotic Structures

    DTIC Science & Technology

    1985-08-01

    robotic structure is one or more continuously flexible arms -hat can be controlled to manipulate objects. A typical arm is comprised of ... of ideas for the design of versatile, strong robotic manipulators. In this paper a mathematical model of an elephant trunk lifting a weight is...Results may be used for the design of robotic actuators driven by internal pressure. I,g or 67 I* .,.. INTRODUCTION Improvement in the

  6. Industrial robots: Handbook

    NASA Astrophysics Data System (ADS)

    Kozyrev, Iu. G.

    Topics covered include terms, definitions, and classification; operator-directed manipulators; autooperators as used in automated pressure casting; construction and application of industrial robots; and the operating bases of automated systems. Attention is given to adaptive and interactive robots; gripping mechanisms; applications to foundary production, press-forging plants, heat treatment, welding, and assembly operations. A review of design recommendations includes a determination of fundamental structural and technological indicators for industrial robots and a consideration of drive mechanisms.

  7. Extended Analysis of Mo VI

    NASA Astrophysics Data System (ADS)

    Edlén, B.; Rahimullah, K.; Tauheed, A.; Chaghtai, M. S. Z.

    1985-09-01

    The analysis of the RbI-like spectrum Mo VI has been extended to include a total of some 110 classified lines and 44 energy levels belonging to the one-electron configurations 4s24p6(1S) nl with n ranging up to 9 and l up to 7. The analysis is based on recordings of vacuum spark spectra made at Lund in the region 230-2350 Å, complemented by a list of lines from 2193 to 6336 Å observed and identified by Romanov and Striganov in a Penning type arc discharge. The one-electron level system is partly mixed with core-excited configurations, not treated in the present paper. Especially the nf series is strongly perturbed by 4s24p54d2, and an anomalous behaviour of the ng series is explained by interaction with the 2G term of 4s4p64d2. The ionization limit, derived from 6h, 7i and 8k by means of the polarization formula, is found to be 555 132 ± 2 cm-1.

  8. II-VI widegap superlattices

    NASA Astrophysics Data System (ADS)

    Taguchi, T.; Yamada, Y.; Endoh, Y.; Nozue, Y.; Mullins, J. T.; Ohno, T.; Masumoto, Y.; Takeda, S.

    We review our recent results of the excitonic properties in ZnSeZnS and Cd xZn 1-xSZnS strained-layer superlattices (SLSs). The most important physical insights in the II-VI widegap superlattices are to understand the relationship between the optical properties of quasi-two-dimensional exciton and strain because the well layer frequently receives biaxial compression or tension. The strain thus causes the significant shifts of the bandgap and splitting of the valence band. Semi-quantative calculations lead to an expectation that ZnSeZnS SLS always exhibits a type I band lineup within 100 Å thicknesses of the ZnSe well at a constant ZnS barrier width of several tens angstrom. This is in good agreement with the experimental results of exciton absorption and its luminescence excitation spectra. The Cd 0.3Zn 0.7SZnS SLSs with a range of well widths can produce intense excitonic emissions around 3.4 eV at room temperature due to the quantum confinement of excitons in the ternary CdZnS well. In order to elucidate localisation and relaxation processes of excitons, we have for the first time reported a multiple-LO-phonon emission process in the excitation spectra. The electric-field studies suggest that the concomitant decrease in intensity and the energy downshift of the exciton line may originate from the quantum confined Stark effect.

  9. Asteroid Redirect Mission: Robotic Segment

    NASA Video Gallery

    This concept animation illustrates the robotic segment of NASA's Asteroid Redirect Mission. The Asteroid Redirect Vehicle, powered by solar electric propulsion, travels to a large asteroid to robot...

  10. Children's Perception and Interpretation of Robots and Robot Behaviour

    NASA Astrophysics Data System (ADS)

    Bhamjee, Sajida; Griffiths, Frances; Palmer, Julie

    Technology is advancing rapidly; especially in the field of robotics. The purpose of this study was to examine children's perception and interpretation of robots and robot behaviour. The study was divided into two phases: phase one involved 144 children (aged 7-8) from two primary schools drawing a picture of a robot and then writing a story about the robot that they had drawn. In phase two, in small groups, 90 children observed four e-puck robots interacting within an arena. The children were asked three questions during the observation: 'What do you think the robots are doing?', 'Why are they doing these things?' and 'What is going on inside the robot?' The results indicated that children can hold multiple understandings of robots simultaneously. Children tend to attribute animate characteristics to robots. Although this may be explained by their stage of development, it may also influence how their generation integrates robots into society.

  11. Hopping Robot with Wheels

    NASA Technical Reports Server (NTRS)

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

    2003-01-01

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

  12. Human-Robot Interaction

    NASA Technical Reports Server (NTRS)

    Sandor, Aniko; Cross, E. Vincent, II; Chang, Mai Lee

    2015-01-01

    Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera

  13. [Robots and intellectual property].

    PubMed

    Larrieu, Jacques

    2013-12-01

    This topic is part of the global issue concerning the necessity to adapt intellectual property law to constant changes in technology. The relationship between robots and IP is dual. On one hand, the robots may be regarded as objects of intellectual property. A robot, like any new machine, could qualify for a protection by a patent. A copyright may protect its appearance if it is original. Its memory, like a database, could be covered by a sui generis right. On the other hand, the question of the protection of the outputs of the robot must be raised. The robots, as the physical embodiment of artificial intelligence, are becoming more and more autonomous. Robot-generated works include less and less human inputs. Are these objects created or invented by a robot copyrightable or patentable? To whom the ownership of these IP rights will be allocated? To the person who manufactured the machine ? To the user of the robot? To the robot itself? All these questions are worth discussing.

  14. Robotics for welding research

    SciTech Connect

    Braun, G.; Jones, J.

    1984-09-01

    The welding metallurgy research and education program at Colorado School of Mines (CSM) is helping industries make the transition toward automation by training students in robotics. Industry's interest is primarily in pick and place operations, although robotics can increase efficiency in areas other than production. Training students to develop fully automated robotic welding systems will usher in new curriculum requirements in the area of computers and microprocessors. The Puma 560 robot is CSM's newest acquisition for welding research 5 references, 2 figures, 1 table.

  15. [Robotic surgery in gynecology].

    PubMed

    Csorba, Roland

    2012-06-24

    Minimally invasive surgery has revolutionized gynecological interventions over the past 30 years. The introduction of the da Vinci robotic surgery in 2005 has resulted in large changes in surgical management. The robotic platform allows less experienced laparoscopic surgeons to perform more complex procedures. It can be utilized mainly in general gynecology and reproductive gynecology. The robot is being increasingly used for procedures such as hysterectomy, myomectomy, adnexal surgery, and tubal anastomosis. In urogynecology, the robot is being utilized for sacrocolopexy as well. In the field of gynecologic oncology, the robot is being increasingly used for hysterectomy and lymphadenectomy in oncologic diseases. Despite the rapid and widespread adaption of robotic surgery in gynecology, there are no randomized trials comparing its efficacy and safety to other traditional surgical approaches. This article presents the development, technical aspects and indications of robotic surgery in gynecology, based on the previously published reviews. Robotic surgery can be highly advantageous with the right amount of training, along with appropriate patient selection. Patients will have less blood loss, less post-operative pain, faster recovery, and fewer complications compared to open surgery and laparoscopy. However, until larger randomized control trials are completed which report long-term outcomes, robotic surgery cannot be stated to have priority over other surgical methods.

  16. Advanced robot locomotion.

    SciTech Connect

    Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.

    2007-01-01

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

  17. Robotic Thumb Assembly

    NASA Technical Reports Server (NTRS)

    Ihrke, Chris A. (Inventor); Bridgwater, Lyndon (Inventor); Platt, Robert (Inventor); Wampler, II, Charles W. (Inventor); Goza, S. Michael (Inventor)

    2013-01-01

    An improved robotic thumb for a robotic hand assembly is provided. According to one aspect of the disclosure, improved tendon routing in the robotic thumb provides control of four degrees of freedom with only five tendons. According to another aspect of the disclosure, one of the five degrees of freedom of a human thumb is replaced in the robotic thumb with a permanent twist in the shape of a phalange. According to yet another aspect of the disclosure, a position sensor includes a magnet having two portions shaped as circle segments with different center points. The magnet provides a linearized output from a Hall effect sensor.

  18. Experiments in autonomous robotics

    SciTech Connect

    Hamel, W.R.

    1987-01-01

    The Center for Engineering Systems Advanced Research (CESAR) is performing basic research in autonomous robotics for energy-related applications in hazardous environments. The CESAR research agenda includes a strong experimental component to assure practical evaluation of new concepts and theories. An evolutionary sequence of mobile research robots has been planned to support research in robot navigation, world sensing, and object manipulation. A number of experiments have been performed in studying robot navigation and path planning with planar sonar sensing. Future experiments will address more complex tasks involving three-dimensional sensing, dexterous manipulation, and human-scale operations.

  19. 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.

  20. Rheology of water ices V and VI

    USGS Publications Warehouse

    Durham, W.B.; Stern, L.A.; Kirby, S.H.

    1996-01-01

    We have measured the mechanical strength (??) of pure water ices V and VI under steady state deformation conditions. Constant displacement rate compressional tests were conducted in a gas apparatus at confining pressures from 400 250 K. Ices V and VI are thus Theologically distinct but by coincidence have approximately the same strength under the conditions chosen for these experiments. To avoid misidentification, these tests are therefore accompanied by careful observations of the occurrences and characteristics of phase changes. One sample each of ice V and VI was quenched at pressure to metastably retain the high-pressure phase and the acquired deformation microstructures; X ray diffraction analysis of these samples confirmed the phase identification. Surface replicas of the deformed and quenched samples suggest that ice V probably deforms largely by dislocation creep, while ice VI deforms by a more complicated process involving substantial grain size reduction through recrystallization.

  1. XAS investigations of Fe(VI).

    SciTech Connect

    Kemner, K. M.; Kelly, S. D.; Orlandini, K. A.; Tsapin, A. I.; Goldfeld, M. G.; Perfiliev, Y. D.; Nealson, K. H.; Environmental Research; APS-USR; Jet Propulsion Lab.; Moscow State Univ.

    2001-03-01

    Recent attention has been given to a reexamination of results from the early Viking missions to Mars that suggested the presence of one or more strong oxidants in Martian soil. Since Fe is one of the main constituents of the Martian surface and Fe(VI) is known to be a highly reactive, strong oxidant, we have made XANES and EXAFS measurements of Fe(II), Fe(III), Fe(IV), and Fe(VI) in solid and solution forms. Results from these studies indicate a pre-edge XANES feature from Fe(VI) samples similar to that commonly seen from Cr(VI) samples. Results of first shell analysis indicate a linear relationship between the Fe-O bond length and Fe valence state.

  2. ORNL fission product release tests VI-6

    SciTech Connect

    Osborne, M.F.; Lorenz, R.A.; Collins, J.L.; Lee, C.S.

    1991-01-01

    The ORNL fission product release tests investigate release and transport of the major fission products from high-burnup fuel under LWR accident conditions. The two most recent tests (VI-4 and VI-5) were conducted in hydrogen. In three previous tests in this series (VI-1, VI-2, and VI-3), which had been conducted in steam, the oxidized Zircaloy cladding remained largely intact and acted as a barrier to steam reaction with the UO{sub 2}. Test VI-6 was designed to insure significant oxidation of the UO{sub 2} fuel, which has been shown to enhance release of certain fission products, especially molybdenum and ruthenium. The BR3 fuel specimen used in test VI-6 will be heated in hydrogen to 2300 K; the Zircaloy cladding is expected to melt and runoff at {approximately}2150 K. Upon reaching the 2300 K test temperature, the test atmosphere will be changed to steam, and that temperature will be maintained for 60 min, with the three collection trains being operated for 2-, 18-, and 40-min periods. The releases of {sup 85}Kr and {sup 137}Cs will be monitored continuously throughout the test. Posttest analyses of the material collected on the three trains will provide results on the release and transport of Mo, Ru, Sb, Te, Ba, Ce, and Eu as a function of time at 2300 K. Continuous monitoring of the hydrogen produced during the steam atmosphere period at high temperature will provide a measure of the oxidation rate of the cladding and fuel. Following delays in approval of the safety documentation and in decontamination of the hot cell and test apparatus, test VI-6 will be conducted in late May.

  3. 40 CFR Appendix Vi to Part 266 - Stack Plume Rise

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... 40 Protection of Environment 28 2012-07-01 2012-07-01 false Stack Plume Rise VI Appendix VI to Part 266 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) SOLID WASTES (CONTINUED... FACILITIES Pt. 266, App. VI Appendix VI to Part 266—Stack Plume Rise Flow rate (m3/s) Exhaust Temperature...

  4. 40 CFR Appendix Vi to Part 266 - Stack Plume Rise

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 40 Protection of Environment 28 2013-07-01 2013-07-01 false Stack Plume Rise VI Appendix VI to Part 266 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) SOLID WASTES (CONTINUED... FACILITIES Pt. 266, App. VI Appendix VI to Part 266—Stack Plume Rise Flow rate (m3/s) Exhaust Temperature...

  5. 40 CFR Appendix Vi to Part 266 - Stack Plume Rise

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 40 Protection of Environment 26 2010-07-01 2010-07-01 false Stack Plume Rise VI Appendix VI to Part 266 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) SOLID WASTES (CONTINUED... FACILITIES Pt. 266, App. VI Appendix VI to Part 266—Stack Plume Rise Flow rate (m3/s) Exhaust Temperature...

  6. 40 CFR Appendix Vi to Part 266 - Stack Plume Rise

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... 40 Protection of Environment 27 2011-07-01 2011-07-01 false Stack Plume Rise VI Appendix VI to Part 266 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) SOLID WASTES (CONTINUED... FACILITIES Pt. 266, App. VI Appendix VI to Part 266—Stack Plume Rise Flow rate (m3/s) Exhaust Temperature...

  7. 40 CFR Appendix Vi to Part 266 - Stack Plume Rise

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 40 Protection of Environment 27 2014-07-01 2014-07-01 false Stack Plume Rise VI Appendix VI to Part 266 Protection of Environment ENVIRONMENTAL PROTECTION AGENCY (CONTINUED) SOLID WASTES (CONTINUED... FACILITIES Pt. 266, App. VI Appendix VI to Part 266—Stack Plume Rise Flow rate (m3/s) Exhaust Temperature...

  8. Structure of the human annexin VI gene

    SciTech Connect

    Smith, P.D.; Moss, S.E.; Davies, A.; Crumpton, M.J.

    1994-03-29

    The authors report the structure of the human annexin VI gene and compare the intron-exon organization with the known structures of the human annexin I and II genes. The gene is {approximately}60 kbp long and contains 26 exons. Consistent with the published annexin VI cDNA sequence, the genomic sequence at the 3{prime} end does not contain a canonical polyadenylation signal. The genomic sequence upstream of the transcription start site contains TATAA and CAAT motifs. The spatial organization of the exons does not reveal any obvious similarities between the two halves of the annexin VI gene. Comparison of the intron-exon boundary positions of the annexin VI gene with those of annexins I and II reveals that within the repeated domains the break points are perfectly conserved except for exon 8, which is one codon smaller in annexin II. The corresponding point in the second half of annexin VI is represented by two exons, exons 20 and 21. The latter exon is alternatively spliced, giving rise to two annexin VI isoforms that differ with respect to a 6-amino acid insertion at the start of repeat 7. 32 refs., 6 figs.

  9. Ferrate(VI) oxidation of aqueous cyanide

    SciTech Connect

    Sharma, V.K.; Rivera, W.; Smith, J.O.; O`Brien, B.

    1998-09-01

    The rates of oxidation of cyanide with Fe(VI) were measured as a function of pH and temperature. The reaction was found to be first order for each reactant. The rates decrease with increasing pH. The energy of activation was found to be 38.9 {+-} 1.0 kJ mol{sup {minus}1} at pH 9.0. The removal of cyanide by oxidation with Fe(VI) was studied at pH 7.5, 9.0, and 12.0. Fe(VI) removal efficiency was greater at pH 9.0 than at pH 7.5 and 12.0. At pH 9.0, Fe(VI) molar consumption was nearly equal to that of oxidized cyanide. Cyanate and nitrite ions were identified as the products of the reaction at pH 7.5. The experiments indicated 1:1 stoichiometric conversion of cyanide to nitrite ion at pH 9.0 and 12.0. Experiments were conducted to test the Fe(VI) removal efficiency of cyanide in electroplating rinsewater. The results indicate that Fe(VI) has the potential to serve as a reliable and safe oxidative treatment for removing cyanide in wastewater effluent.

  10. Multi-robot control interface

    DOEpatents

    Bruemmer, David J [Idaho Falls, ID; Walton, Miles C [Idaho Falls, ID

    2011-12-06

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

  11. Canadian space robotic activities

    NASA Astrophysics Data System (ADS)

    Sallaberger, Christian; Space Plan Task Force, Canadian Space Agency

    The Canadian Space Agency has chosen space robotics as one of its key niche areas, and is currently preparing to deliver the first flight elements for the main robotic system of the international space station. The Mobile Servicing System (MSS) is the Canadian contribution to the international space station. It consists of three main elements. The Space Station Remote Manipulator System (SSRMS) is a 7-metre, 7-dof, robotic arm. The Special Purpose Dextrous Manipulator (SPDM), a smaller 2-metre, 7-dof, robotic arm can be used independently, or attached to the end of the SSRMS. The Mobile Base System (MBS) will be used as a support platform and will also provide power and data links for both the SSRMS and the SPDM. A Space Vision System (SVS) has been tested on Shuttle flights, and is being further developed to enhance the autonomous capabilities of the MSS. The CSA also has a Strategic Technologies in Automation and Robotics Program which is developing new technologies to fulfill future robotic space mission needs. This program is currently developing in industry technological capabilities in the areas of automation of operations, autonomous robotics, vision systems, trajectory planning and object avoidance, tactile and proximity sensors, and ground control of space robots. Within the CSA, a robotic testbed and several research programs are also advancing technologies such as haptic devices, control via head-mounted displays, predictive and preview displays, and the dynamic characterization of robotic arms. Canada is also now developing its next Long Term Space Plan. In this context, a planetary exploration program is being considered, which would utilize Canadian space robotic technologies in this new arena.

  12. Robotic Intelligence Kernel: Architecture

    SciTech Connect

    2009-09-16

    The INL Robotic Intelligence Kernel Architecture (RIK-A) is a multi-level architecture that supports a dynamic autonomy structure. The RIK-A is used to coalesce hardware for sensing and action as well as software components for perception, communication, behavior and world modeling into a framework that can be used to create behaviors for humans to interact with the robot.

  13. Robot Rodeo 2013

    ScienceCinema

    Deuel, Jake

    2016-07-12

    Sandia National Laboratories hosted the seventh annual Western National Robot Rodeo and Capability Exercise in June 2013. The five-day event is a lively and challenging competition that draws civilian and military bomb squad teams from across the country to see who can most effectively defuse dangerous situations with the help of robots.

  14. Robot Rodeo 2013

    SciTech Connect

    Deuel, Jake

    2013-08-27

    Sandia National Laboratories hosted the seventh annual Western National Robot Rodeo and Capability Exercise in June 2013. The five-day event is a lively and challenging competition that draws civilian and military bomb squad teams from across the country to see who can most effectively defuse dangerous situations with the help of robots.

  15. Next generation space robot

    NASA Technical Reports Server (NTRS)

    Iwata, Tsutomu; Oda, Mitsushige; Imai, Ryoichi

    1989-01-01

    The recent research effort on the next generation space robots is presented. The goals of this research are to develop the fundamental technologies and to acquire the design parameters of the next generation space robot. Visual sensing and perception, dexterous manipulation, man machine interface and artificial intelligence techniques such as task planning are identified as the key technologies.

  16. Real World Robotics.

    ERIC Educational Resources Information Center

    Clark, Lisa J.

    2002-01-01

    Introduces a project for elementary school students in which students build a robot by following instructions and then write a computer program to run their robot by using LabView graphical development software. Uses ROBOLAB curriculum which is designed for grade levels K-12. (YDS)

  17. Robotics technology discipline

    NASA Technical Reports Server (NTRS)

    Montemerlo, Melvin D.

    1990-01-01

    Viewgraphs on robotics technology discipline for Space Station Freedom are presented. Topics covered include: mechanisms; sensors; systems engineering processes for integrated robotics; man/machine cooperative control; 3D-real-time machine perception; multiple arm redundancy control; manipulator control from a movable base; multi-agent reasoning; and surfacing evolution technologies.

  18. Motivating Students with Robotics

    ERIC Educational Resources Information Center

    Brand, Brenda; Collver, Michael; Kasarda, Mary

    2008-01-01

    In recent years, the need to advance the number of individuals pursuing science, technology, engineering, and mathematics fields has gained much attention. The Montgomery County/Virginia Tech Robotics Collaborative (MCVTRC), a yearlong high school robotics program housed in an educational shop facility in Montgomery County, Virginia, seeks to…

  19. Robotics in medicine

    NASA Astrophysics Data System (ADS)

    Kuznetsov, D. N.; Syryamkin, V. I.

    2015-11-01

    Modern technologies play a very important role in our lives. It is hard to imagine how people can get along without personal computers, and companies - without powerful computer centers. Nowadays, many devices make modern medicine more effective. Medicine is developing constantly, so introduction of robots in this sector is a very promising activity. Advances in technology have influenced medicine greatly. Robotic surgery is now actively developing worldwide. Scientists have been carrying out research and practical attempts to create robotic surgeons for more than 20 years, since the mid-80s of the last century. Robotic assistants play an important role in modern medicine. This industry is new enough and is at the early stage of development; despite this, some developments already have worldwide application; they function successfully and bring invaluable help to employees of medical institutions. Today, doctors can perform operations that seemed impossible a few years ago. Such progress in medicine is due to many factors. First, modern operating rooms are equipped with up-to-date equipment, allowing doctors to make operations more accurately and with less risk to the patient. Second, technology has enabled to improve the quality of doctors' training. Various types of robots exist now: assistants, military robots, space, household and medical, of course. Further, we should make a detailed analysis of existing types of robots and their application. The purpose of the article is to illustrate the most popular types of robots used in medicine.

  20. The Uranus Mobile Robot

    DTIC Science & Technology

    1990-09-01

    Schematics 26 Wi List of Figures 1 Neptune and Pluto .. .. .. .. .. ... .. ... ... ... ... .... 2 2 Uranus...began building our first mobile robot, Pluto (see Figure 1 a). We envisioned Pluto as the ultimate indoor robot within the grasp of current technology...smooth arced trajectory while rotating about its center. This omni-directionality combined with very precise positioning would allow Pluto to easily

  1. Neurotechnology for Biomimetic Robots

    DTIC Science & Technology

    2007-11-02

    This award funded in part, the travel of three investigators to the international conference on Neurotechnology for Biomimetic Robots. The three...investigators participated in a conference held at Northeastern University May 14-16 on the subject of ’ Neurotechnology for Biomimetic Robots’. Each

  2. Concurrent programming and robotics

    SciTech Connect

    Cox, I.J.; Gehani, N.H.

    1989-04-01

    Many current robot systems exhibit a significant degree of concurrency, doing many activities in parallel. Future sensor-based robots are expected to exhibit even more concurrency. Programs to control such robots are characterized by the need to wait for external events and/or handle interrupts, deal with concurrent activities, synchronize actions with external events, and communicate with other robots and processes. In this paper, the authors focus on the advantages of concurrent programming for robotics and suggest that a general-purpose language with the right facilities is a good vehicle for robot programming. In this context they discuss Concurrent C, an upward-compatible extension of the C language that provides high-level concurrent programming facilities. They give an historical perspective of concurrent programming followed by a brief description of Concurrent C and how Concurrent C programs communicate with robots and devices. They show by examples how Concurrent C simplifies writing robot programs. Of specific interest are the process interaction and related interrupt handling facilities.

  3. Going Green Robots

    ERIC Educational Resources Information Center

    Nelson, Jacqueline M.

    2011-01-01

    In looking at the interesting shapes and sizes of old computer parts, creating robots quickly came to the author's mind. In this article, she describes how computer parts can be used creatively. Students will surely enjoy creating their very own robots while learning about the importance of recycling in the society. (Contains 1 online resource.)

  4. Robotics and Industrial Arts.

    ERIC Educational Resources Information Center

    Edmison, Glenn A.; And Others

    Robots are becoming increasingly common in American industry. By l990, they will revolutionize the way industry functions, replacing hundreds of workers and doing hot, dirty jobs better and more quickly than the workers could have done them. Robotics should be taught in high school industrial arts programs as a major curriculum component. The…

  5. INL Generic Robot Architecture

    SciTech Connect

    2005-03-30

    The INL Generic Robot Architecture is a generic, extensible software framework that can be applied across a variety of different robot geometries, sensor suites and low-level proprietary control application programming interfaces (e.g. mobility, aria, aware, player, etc.).

  6. Robot Vision Library

    NASA Technical Reports Server (NTRS)

    Howard, Andrew B.; Ansar, Adnan I.; Litwin, Todd E.; Goldberg, Steven B.

    2009-01-01

    The JPL Robot Vision Library (JPLV) provides real-time robot vision algorithms for developers who are not vision specialists. The package includes algorithms for stereo ranging, visual odometry and unsurveyed camera calibration, and has unique support for very wideangle lenses

  7. Honda humanoid robots development.

    PubMed

    Hirose, Masato; Ogawa, Kenichi

    2007-01-15

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

  8. Intelligent Articulated Robot

    NASA Astrophysics Data System (ADS)

    Nyein, Aung Kyaw; Thu, Theint Theint

    2008-10-01

    In this paper, an articulated type of industrial used robot is discussed. The robot is mainly intended to be used in pick and place operation. It will sense the object at the specified place and move it to a desired location. A peripheral interface controller (PIC16F84A) is used as the main controller of the robot. Infrared LED and IR receiver unit for object detection and 4-bit bidirectional universal shift registers (74LS194) and high current and high voltage Darlington transistors arrays (ULN2003) for driving the arms' motors are used in this robot. The amount of rotation for each arm is regulated by the limit switches. The operation of the robot is very simple but it has the ability of to overcome resetting position after power failure. It can continue its work from the last position before the power is failed without needing to come back to home position.

  9. [The robotic surgeon training].

    PubMed

    Crestani, Alessandro; Rossanese, Marta; Abbinante, Maria; Calandriello, Mattia; Kungulli, Afrovita; Giannarini, Gianluca; Ficarra, Vincenzo

    2015-10-01

    The widespread robotic surgery in the world highlighted the relevance of the training programs for young urologists and residents. In the last years, urologic societies and some independent robotic surgeons strongly worked to standardize some general and specific training modules. Theoretical and practical sections of robotic training programs have been recently specified. The role of simulators, dry and wet laboratories, bedside assistance, and modular (step-by-step) training at console represent the most relevant elements of robotic surgeon training. Ideally, these didactic tools should be available in modern training centers. The development of structured robotic training programs should be considered as one of the priorities that the urologic community must take into account in the near future.

  10. Characterization of Amoeba proteus myosin VI immunoanalog.

    PubMed

    Dominik, Magdalena; Kłopocka, Wanda; Pomorski, Paweł; Kocik, Elzbieta; Redowicz, Maria Jolanta

    2005-07-01

    Amoeba proteus, the highly motile free-living unicellular organism, has been widely used as a model to study cell motility. However, molecular mechanisms underlying its unique locomotion and intracellular actin-based-only trafficking remain poorly understood. A search for myosin motors responsible for vesicular transport in these giant cells resulted in detection of 130-kDa protein interacting with several polyclonal antibodies against different tail regions of human and chicken myosin VI. This protein was binding to actin in the ATP-dependent manner, and immunoprecipitated with anti-myosin VI antibodies. In order to characterize its possible functions in vivo, its cellular distribution and colocalization with actin filaments and dynamin II during migration and pinocytosis were examined. In migrating amoebae, myosin VI immunoanalog localized to vesicular structures, particularly within the perinuclear and sub-plasma membrane areas, and colocalized with dynamin II immunoanalog and actin filaments. The colocalization was even more evident in pinocytotic cells as proteins concentrated within pinocytotic pseudopodia. Moreover, dynamin II and myosin VI immunoanalogs cosedimented with actin filaments, and were found on the same isolated vesicles. Blocking endogenous myosin VI immunoanalog with anti-myosin VI antibodies inhibited the rate of pseudopodia protrusion (about 19% decrease) and uroidal retraction (about 28% decrease) but did not affect cell morphology and the manner of cell migration. Treatment with anti-human dynamin II antibodies led to changes in directionality of amebae migration and affected the rate of only uroidal translocation (about 30% inhibition). These results indicate that myosin VI immunoanalog is expressed in protist Amoeba proteus and may be involved in vesicle translocation and cell locomotion.

  11. Utilizing Robot Operating System (ROS) in Robot Vision and Control

    DTIC Science & Technology

    2015-09-01

    OPERATING SYSTEM (ROS) IN ROBOT VISION AND CONTROL by Joshua S. Lum September 2015 Thesis Advisor: Xiaoping Yun Co-Advisor: Zac Staples...Master’s Thesis 4. TITLE AND SUBTITLE UTILIZING ROBOT OPERATING SYSTEM (ROS) IN ROBOT VISION AND CONTROL 5. FUNDING NUMBERS 6. AUTHOR(S) Lum, Joshua S...release; distribution is unlimited UTILIZING ROBOT OPERATING SYSTEM (ROS) IN ROBOT VISION AND CONTROL Joshua S. Lum Captain, United States

  12. Expanding Frontiers of Humanoid Robotics

    DTIC Science & Technology

    2000-08-01

    From the IEEE Intelligent Systems Special Issue on Humanoid Robotics , July/August 2000 GUEST EDITORS’ Expanding Frontiers of Humanoid Robotics ...Mark L. Swinson, DARPA David J. Bruemmer, Strategic Analysis Mobile robots pose a unique set of challenges to artificial intelligence researchers...the constraints of logical correctness but also some assortment of crosscutting, physical constraints. Particularly interesting among these robots

  13. Robots in Space -Psychological Aspects

    NASA Technical Reports Server (NTRS)

    Sipes, Walter E.

    2006-01-01

    A viewgraph presentation on the psychological aspects of developing robots to perform routine operations associated with monitoring, inspection, maintenance and repair in space is shown. The topics include: 1) Purpose; 2) Vision; 3) Current Robots in Space; 4) Ground Based Robots; 5) AERCam; 6) Rotating Bladder Robot (ROBLR); 7) DART; 8) Robonaut; 9) Full Immersion Telepresence Testbed; 10) ERA; and 11) Psychological Aspects

  14. [Application of robots in stomatology].

    PubMed

    Zhou, Meng-Qi; Zhang, Jin-Ning; Hong, Jin

    2016-10-01

    Recently, the robot technology has been developed rapidly and the medical robot has been used in many clinical areas, especially in the field of stomatology. The application of robot in stomatology will break the traditional mode of treatment and bring a new technological revolution. This paper introduced the advantages, the current situation and the development prospect of applying robot in stomatology.

  15. A Survey of Space Robotics

    NASA Technical Reports Server (NTRS)

    Pedersen, L.; Kortenkamp, D.; Wettergreen, D.; Nourbakhsh, I.; Korsmeyer, David (Technical Monitor)

    2003-01-01

    In this paper we summarize a survey conducted by NASA to determine the state-of-the-art in space robotics and to predict future robotic capabilities under either nominal and intensive development effort. The space robotics assessment study examined both in-space operations including assembly, inspection, and maintenance and planetary surface operations like mobility and exploration. Applications of robotic autonomy and human-robot cooperation were considered. The study group devised a decomposition of robotic capabilities and then suggested metrics to specify the technical challenges associated with each. The conclusion of this paper identifies possible areas in which investment in space robotics could lead to significant advances of important technologies.

  16. Robotic Surgery for Thoracic Disease.

    PubMed

    Yamashita, Shin-Ichi; Yoshida, Yasuhiro; Iwasaki, Akinori

    2016-01-01

    Robotic surgeries have developed in the general thoracic field over the past decade, and publications on robotic surgery outcomes have accumulated. However, controversy remains about the application of robotic surgery, with a lack of well-established evidence. Robotic surgery has several advantages such as natural movement of the surgeon's hands when manipulating the robotic arms and instruments controlled by computer-assisted systems. Most studies have reported the feasibility and safety of robotic surgery based on acceptable morbidity and mortality compared to open or video-assisted thoracic surgery (VATS). Furthermore, there are accumulated data to indicate longer operation times and shorter hospital stay in robotic surgery. However, randomized controlled trials between robotic and open or VATS procedures are needed to clarify the advantage of robotic surgery. In this review, we focused the literature about robotic surgery used to treat lung cancer and mediastinal tumor.

  17. Partner Ballroom Dance Robot -PBDR-

    NASA Astrophysics Data System (ADS)

    Kosuge, Kazuhiro; Takeda, Takahiro; Hirata, Yasuhisa; Endo, Mitsuru; Nomura, Minoru; Sakai, Kazuhisa; Koizumi, Mizuo; Oconogi, Tatsuya

    In this research, we have developed a dance partner robot, which has been developed as a platform for realizing the effective human-robot coordination with physical interaction. The robot could estimate the next dance step intended by a human and dance the step with the human. This paper introduce the robot referred to as PBDR (Partner Ballroom Dance Robot), which has performed graceful dancing with the human in EXPO 2005, Aichi, Japan.

  18. Guarded Motion for Mobile Robots

    SciTech Connect

    2005-03-30

    The Idaho National Laboratory (INL) has created codes that ensure that a robot will come to a stop at a precise, specified distance from any obstacle regardless of the robot's initial speed, its physical characteristics, and the responsiveness of the low-level motor control schema. This Guarded Motion for Mobile Robots system iteratively adjusts the robot's action in response to information about the robot's environment.

  19. Micro autonomous robotic system

    NASA Astrophysics Data System (ADS)

    Ishihara, Hidenori; Fukuda, Toshio

    1995-12-01

    This paper deals with the structural proposal of the micro autonomous robotic system, and shows the design of the prototype. We aim at developing the micro robot, which autonomously acts based on its detection, in order to propose a solution to constitute the micro autonomous robotic system. However, as miniaturizing the size, the number of the sensors gets restricted and the information from them becomes lack. Lack of the information makes it difficult to realize an intelligence of quality. Because of that, the micro robotic system needs to develop the simple algorithm. In this paper, we propose the simply logical algorithms to control the actuator, and show the performance of the micro robot controlled by them, and design the Micro Line Trace Robot, which dimension is about 1 cm cube and which moves along the black line on the white-colored ground, and the programmable micro autonomous robot, which dimension is about 2 cm cube and which performs according to the program optionally.

  20. Future of robotic surgery.

    PubMed

    Lendvay, Thomas Sean; Hannaford, Blake; Satava, Richard M

    2013-01-01

    In just over a decade, robotic surgery has penetrated almost every surgical subspecialty and has even replaced some of the most commonly performed open oncologic procedures. The initial reports on patient outcomes yielded mixed results, but as more medical centers develop high-volume robotics programs, outcomes appear comparable if not improved for some applications. There are limitations to the current commercially available system, and new robotic platforms, some designed to compete in the current market and some to address niche surgical considerations, are being developed that will change the robotic landscape in the next decade. Adoption of these new systems will be dependent on overcoming barriers to true telesurgery that range from legal to logistical. As additional surgical disciplines embrace robotics and open surgery continues to be replaced by robotic approaches, it will be imperative that adequate education and training keep pace with technology. Methods to enhance surgical performance in robotics through the use of simulation and telementoring promise to accelerate learning curves and perhaps even improve surgical readiness through brief virtual-reality warm-ups and presurgical rehearsal. All these advances will need to be carefully and rigorously validated through not only patient outcomes, but also cost efficiency.

  1. Robotic comfort zones

    NASA Astrophysics Data System (ADS)

    Likhachev, Maxim; Arkin, Ronald C.

    2000-10-01

    The paper investigates how the psychological notion of comfort can be useful in the design of robotic systems. A review of the existing study of human comfort, especially regarding its presence in infants, is conducted with the goal being to determine the relevant characteristics for mapping it onto the robotics domain. Focus is place on the identification of the salient features in the environment that affect the comfort level. Factors involved include current state familiarity, working conditions, the amount and location of available resources, etc. As part of our newly developed comfort function theory, the notion of an object as a psychological attachment for a robot is also introduced, as espoused in Bowlby's theory of attachment. The output space of the comfort function and its dependency on the comfort level are analyzed. The results of the derivation of this comfort function are then presented in terms of the impact they have on robotic behavior. Justification for the use of the comfort function are then presented in terms of the impact they have on robotic behavior. Justification for the use of the comfort function in the domain of robotics is presented with relevance for real-world operations. Also, a transformation of the theoretical discussion into a mathematical framework suitable for implementation within a behavior-based control system is presented. The paper concludes with results of simulation studies and real robot experiments using the derived comfort function.

  2. Autonomous mobile robot

    SciTech Connect

    Mattaboni, P.J.

    1987-01-20

    This patent describes a mobile robot of the type having (a) a vision system, (b) memory means for storing data derived from the robot vision system, and (c) a computer for processing data derived from the robot's vision system, the improvement wherein the robot's vision system comprises (i) a first array of ranging transducers for obtaining data on the position and distance of far objects in a volume of space, the transducers of the first array being symmetrically disposed on the mobile robot with respect to an axis of symmetry within the mobile robot. Each transducer of the first array is fixed in position with respect to that axis of symmetry and sees a portion of the volume of space seen by its entire array; (ii) a second array of ranging transducers for obtaining data of the position and distance of near objects in the same or an overlapping volume of space, the transducers of the second array being symmetrically disposed on the mobile robot with respect to the axis of symmetry. Each transducer of the second array is fixed in position with respect to the axis of symmetry and sees a portion of the volume of space seen by its entire array, the angle of view of the transducers of the second array being different from the angle of view of the transducers of the first array with respect to the same object in space; and (iii) means for polling the ranging transducers in sequences determined by the computer.

  3. Toward cognitive robotics

    NASA Astrophysics Data System (ADS)

    Laird, John E.

    2009-05-01

    Our long-term goal is to develop autonomous robotic systems that have the cognitive abilities of humans, including communication, coordination, adapting to novel situations, and learning through experience. Our approach rests on the recent integration of the Soar cognitive architecture with both virtual and physical robotic systems. Soar has been used to develop a wide variety of knowledge-rich agents for complex virtual environments, including distributed training environments and interactive computer games. For development and testing in robotic virtual environments, Soar interfaces to a variety of robotic simulators and a simple mobile robot. We have recently made significant extensions to Soar that add new memories and new non-symbolic reasoning to Soar's original symbolic processing, which should significantly improve Soar abilities for control of robots. These extensions include episodic memory, semantic memory, reinforcement learning, and mental imagery. Episodic memory and semantic memory support the learning and recalling of prior events and situations as well as facts about the world. Reinforcement learning provides the ability of the system to tune its procedural knowledge - knowledge about how to do things. Mental imagery supports the use of diagrammatic and visual representations that are critical to support spatial reasoning. We speculate on the future of unmanned systems and the need for cognitive robotics to support dynamic instruction and taskability.

  4. Singular Instantons and Painlevé VI

    NASA Astrophysics Data System (ADS)

    Muñiz Manasliski, Richard

    2016-06-01

    We consider a two parameter family of instantons, which is studied in [Sadun L., Comm. Math. Phys. 163 (1994), 257-291], invariant under the irreducible action of SU_2 on S^4, but which are not globally defined. We will see that these instantons produce solutions to a one parameter family of Painlevé VI equations (P_VI}) and we will give an explicit expression of the map between instantons and solutions to P_{VI}. The solutions are algebraic only for that values of the parameters which correspond to the instantons that can be extended to all of S^4. This work is a generalization of [Muñiz Manasliski R., Contemp. Math., Vol. 434, Amer. Math. Soc., Providence, RI, 2007, 215-222] and [Muñiz Manasliski R., J. Geom. Phys. 59 (2009), 1036-1047, arXiv:1602.07221], where instantons without singularities are studied.

  5. Door breaching robotic manipulator

    NASA Astrophysics Data System (ADS)

    Schoenfeld, Erik; Parrington, Lawrence; von Muehlen, Stephan

    2008-04-01

    As unmanned systems become more commonplace in military, police, and other security forces, they are tasked to perform missions that the original hardware was not designed for. Current military robots are built for rough outdoor conditions and have strong inflexible manipulators designed to handle a wide range of operations. However, these manipulators are not well suited for some essential indoor tasks, including opening doors. This is a complicated kinematic task that places prohibitively difficult control challenges on the robot and the operator. Honeybee and iRobot have designed a modular door-breaching manipulator that mechanically simplifies the demands upon operator and robot. The manipulator connects to the existing robotic arm of the iRobot PackBot EOD. The gripper is optimized for grasping a variety of door knobs, levers, and car-door handles. It works in conjunction with a compliant wrist and magnetic lock-out mechanism that allows the wrist to remain rigid until the gripper has a firm grasp of the handle and then bend with its rotation and the swing of the door. Once the door is unlatched, the operator simply drives the robot through the doorway while the wrist compensates for the complex, multiple degree-of-freedom motion of the door. Once in the doorway the operator releases the handle, the wrist pops back into place, and the robot is ready for the next door. The new manipulator dramatically improves a robot's ability to non-destructively breach doors and perform an inspection of a room's content, a capability that was previously out of reach of unmanned systems.

  6. Soft Robotics: New Perspectives for Robot Bodyware and Control

    PubMed Central

    Laschi, Cecilia; Cianchetti, Matteo

    2014-01-01

    The remarkable advances of robotics in the last 50 years, which represent an incredible wealth of knowledge, are based on the fundamental assumption that robots are chains of rigid links. The use of soft materials in robotics, driven not only by new scientific paradigms (biomimetics, morphological computation, and others), but also by many applications (biomedical, service, rescue robots, and many more), is going to overcome these basic assumptions and makes the well-known theories and techniques poorly applicable, opening new perspectives for robot design and control. The current examples of soft robots represent a variety of solutions for actuation and control. Though very first steps, they have the potential for a radical technological change. Soft robotics is not just a new direction of technological development, but a novel approach to robotics, unhinging its fundamentals, with the potential to produce a new generation of robots, in the support of humans in our natural environments. PMID:25022259

  7. Agile Walking Robot

    NASA Technical Reports Server (NTRS)

    Larimer, Stanley J.; Lisec, Thomas R.; Spiessbach, Andrew J.; Waldron, Kenneth J.

    1990-01-01

    Proposed agile walking robot operates over rocky, sandy, and sloping terrain. Offers stability and climbing ability superior to other conceptual mobile robots. Equipped with six articulated legs like those of insect, continually feels ground under leg before applying weight to it. If leg sensed unexpected object or failed to make contact with ground at expected point, seeks alternative position within radius of 20 cm. Failing that, robot halts, examines area around foot in detail with laser ranging imager, and replans entire cycle of steps for all legs before proceeding.

  8. Autonomous mobile robot teams

    NASA Technical Reports Server (NTRS)

    Agah, Arvin; Bekey, George A.

    1994-01-01

    This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

  9. Modelling robot construction systems

    NASA Technical Reports Server (NTRS)

    Grasso, Chris

    1990-01-01

    TROTER's are small, inexpensive robots that can work together to accomplish sophisticated construction tasks. To understand the issues involved in designing and operating a team of TROTER's, the robots and their components are being modeled. A TROTER system that features standardized component behavior is introduced. An object-oriented model implemented in the Smalltalk programming language is described and the advantages of the object-oriented approach for simulating robot and component interactions are discussed. The presentation includes preliminary results and a discussion of outstanding issues.

  10. Advanced mechanisms for robotics

    NASA Technical Reports Server (NTRS)

    Vranish, John M.

    1991-01-01

    An overview of applied research and development at the Goddard Space Flight Center (GSFC) on mechanisms and collision avoidance skin for robots is presented. The work on robot end effectors is outlined, followed by a brief discussion of robot-friendly payload latching mechanisms and compliant joints. This is followed by discussions of the collision avoidance/management skin and the GSFC research on magnetorestrictive direct drive motors. A new project, the artificial muscle, is introduced. Each of the devices is described sufficiently to permit a basic understanding of its purpose, capabilities, and operating fundamentals. The implications for commercialization are discussed.

  11. Robotics in shoulder rehabilitation

    PubMed Central

    Sicuri, Chiara; Porcellini, Giuseppe; Merolla, Giovanni

    2014-01-01

    Summary In the last few decades, several researches have been conducted in the field of robotic rehabilitation to meet the intensive, repetitive and task-oriented training, with the goal to recover the motor function. Up to now, robotic rehabilitation studies of the upper extremity have generally focused on stroke survivors leaving less explored the field of orthopaedic shoulder rehabilitation. In this review we analyse the present status of robotic technologies, in order to understand which are the current indications and which may be the future perspective for their application in both neurological and orthopaedic shoulder rehabilitation. PMID:25332937

  12. Robotics: An introduction

    SciTech Connect

    Mc Cloy, D.; Harris, D.

    1986-01-01

    This book is an account encompassing the entire range of disciplines involved in robotics: mechanical, electrical, electronic, and software design, as well as the related technologies of pick-and-place devices, walking machines, teleoperators, and prosthetics. The book explores the evolution of robotics and major trends in the field, and covers an array of robot configurations and mechanisms. It also looks at fundamentals such as actuation, control, measurement, computers, sensing and interaction with the environment, and pattern recognition. Important economic and financial aspects as well as safety and social implications are detailed.

  13. Robots and telechirs

    SciTech Connect

    Thring, M.W.

    1985-01-01

    This volume outlines an engineering approach and includes relevant social aspects of the impact of robotic automation. The book explains the basic principles and theory, discusses design and investigates current methods to produce practical, reliable robots. Specific topics include the theory and practice of mechanical arms, hands and legs. The use of robotics in industry and of telechirs in mines, underwater, and in such dangerous situations as handling explosives are also covered, as are the mechanisms of the human body in doing these tasks.

  14. Joint Robotics Program

    DTIC Science & Technology

    2008-04-23

    Åèìáëáíáçå= oÉëÉ~êÅÜ=póãéçëáìã= JOINT ROBOTICS PROGRAM Published: 23 April 2008 by Joel Brown and Paul Varian 5th Annual Acquisition Research...3. DATES COVERED 00-00-2008 to 00-00-2008 4. TITLE AND SUBTITLE Joint Robotics Program 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM...ëóåÉêÖó=Ñçê=áåÑçêãÉÇ=ÅÜ~åÖÉ=======- 464 - = = Joint Robotics Program Presenter: Joel Brown, Defense Acquisition University Author: Paul Varian

  15. Artificial Intelligence and Robotics.

    DTIC Science & Technology

    1982-09-20

    8217’AD-A122 414 ARTIFICIAL INTELLIGENCE AND ROBOTICS (.) ARMY SCIENCE 1/j 13OARD WA SH INGTON Od I C PEDEN ET AL. 20 SEP 82 UNCLASSIFIED F/G 15/3 NL LEE...AND ACQUISITION WASHINGTON, D. C. 20310 A RMY CIENCE BOARD AD HOC SUBGROUP REPORT ON ARTIFICIAL INTELLIGENCE AND ROBOTICS SEPTEMBER 1982 DTIC DEC 1 5...TITLE (aid Subtitle) S TYPE OF REPORT & PERIOD COVERED Army Science Board AHSG Report Final Artificial Intelligence and Robotics S. PERFORMING ORG

  16. Robots in astronomy

    NASA Astrophysics Data System (ADS)

    Baruch, John E. F.

    A development history and a development trends evaluation are presented for the growth of automation and robotics in industry and in observational astronomy, with a view to the distinctive problems of each field of application. Recent concepts concerning the astronomical use of robots as personal assistants are noted, and an effort is made to discern ways in which technology guides both methods and perceptions. Current programs for robotic and automated telescope development are noted, and it is argued that international standards should soon be formulated for this technology.

  17. MVACS Robotic Arm

    NASA Technical Reports Server (NTRS)

    Bonitz, R.; Slostad, J.; Bon, B.; Braun, D.; Brill, R.; Buck, C.; Fleischner, R.; Haldeman, A.; Herman, J.; Hertzel, M.; Noon, D.; Pixler, G.; Schenker, P.; Ton, T.; Tucker, C.; Zimmerman, W.

    2000-01-01

    The primary purpose of the Mars Volatiles and Climate Surveyor (MVACS) Robotic Arm is to support to the other MVACS science instruments by digging trenches in the Martian soil; acquiring and dumping soil samples into the thermal evolved gas analyzer (TEGA); positioning the Soil Temperature Probe (STP) in the soil: positioning the Robotic Arm Air Temperature Sensor (RAATS) at various heights above the surface, and positioning the Robotic Arm Camera (RAC) for taking images of the surface, trench, soil samples, magnetic targets and other objects of scientific interest within its workspace.

  18. Architecture for robot intelligence

    NASA Technical Reports Server (NTRS)

    Peters, II, Richard Alan (Inventor)

    2004-01-01

    An architecture for robot intelligence enables a robot to learn new behaviors and create new behavior sequences autonomously and interact with a dynamically changing environment. Sensory information is mapped onto a Sensory Ego-Sphere (SES) that rapidly identifies important changes in the environment and functions much like short term memory. Behaviors are stored in a DBAM that creates an active map from the robot's current state to a goal state and functions much like long term memory. A dream state converts recent activities stored in the SES and creates or modifies behaviors in the DBAM.

  19. Software Architecture for Planetary and Lunar Robotics

    NASA Technical Reports Server (NTRS)

    Utz, Hans; Fong, Teny; Nesnas, Iasa A. D.

    2006-01-01

    A viewgraph presentation on the role that software architecture plays in space and lunar robotics is shown. The topics include: 1) The Intelligent Robotics Group; 2) The Lunar Mission; 3) Lunar Robotics; and 4) Software Architecture for Space Robotics.

  20. Miniature in vivo robotics and novel robotic surgical platforms.

    PubMed

    Shah, Bhavin C; Buettner, Shelby L; Lehman, Amy C; Farritor, Shane M; Oleynikov, Dmitry

    2009-05-01

    Robotic surgical systems, such as the da Vinci Surgical System (Intuitive Surgical, Inc., Sunnyvale, California), have revolutionized laparoscopic surgery but are limited by large size, increased costs, and limitations in imaging. Miniature in vivo robots are being developed that are inserted entirely into the peritoneal cavity for laparoscopic and natural orifice transluminal endoscopic surgical (NOTES) procedures. In the future, miniature camera robots and microrobots should be able to provide a mobile viewing platform. This article discusses the current state of miniature robotics and novel robotic surgical platforms and the development of future robotic technology for general surgery and urology.

  1. Continuum limbed robots for locomotion

    NASA Astrophysics Data System (ADS)

    Mutlu, Alper

    This thesis focuses on continuum robots based on pneumatic muscle technology. We introduce a novel approach to use these muscles as limbs of lightweight legged robots. The flexibility of the continuum legs of these robots offers the potential to perform some duties that are not possible with classical rigid-link robots. Potential applications are as space robots in low gravity, and as cave explorer robots. The thesis covers the fabrication process of continuum pneumatic muscles and limbs. It also provides some new experimental data on this technology. Afterwards, the designs of two different novel continuum robots - one tripod, one quadruped - are introduced. Experimental data from tests using the robots is provided. The experimental results are the first published example of locomotion with tripod and quadruped continuum legged robots. Finally, discussion of the results and how far this technology can go forward is presented.

  2. Robotics and remote systems applications

    SciTech Connect

    Rabold, D.E.

    1996-05-01

    This article is a review of numerous remote inspection techniques in use at the Savannah River (and other) facilities. These include: (1) reactor tank inspection robot, (2) californium waste removal robot, (3) fuel rod lubrication robot, (4) cesium source manipulation robot, (5) tank 13 survey and decontamination robots, (6) hot gang valve corridor decontamination and junction box removal robots, (7) lead removal from deionizer vessels robot, (8) HB line cleanup robot, (9) remote operation of a front end loader at WIPP, (10) remote overhead video extendible robot, (11) semi-intelligent mobile observing navigator, (12) remote camera systems in the SRS canyons, (13) cameras and borescope for the DWPF, (14) Hanford waste tank camera system, (15) in-tank precipitation camera system, (16) F-area retention basin pipe crawler, (17) waste tank wall crawler and annulus camera, (18) duct inspection, and (19) deionizer resin sampling.

  3. Robotic follow system and method

    DOEpatents

    Bruemmer, David J [Idaho Falls, ID; Anderson, Matthew O [Idaho Falls, ID

    2007-05-01

    Robot platforms, methods, and computer media are disclosed. The robot platform includes perceptors, locomotors, and a system controller, which executes instructions for a robot to follow a target in its environment. The method includes receiving a target bearing and sensing whether the robot is blocked front. If the robot is blocked in front, then the robot's motion is adjusted to avoid the nearest obstacle in front. If the robot is not blocked in front, then the method senses whether the robot is blocked toward the target bearing and if so, sets the rotational direction opposite from the target bearing, and adjusts the rotational velocity and translational velocity. If the robot is not blocked toward the target bearing, then the rotational velocity is adjusted proportional to an angle of the target bearing and the translational velocity is adjusted proportional to a distance to the nearest obstacle in front.

  4. Position versus force control: using the 2-DOF robotic ankle trainer to assess ankle's motor control.

    PubMed

    Farjadian, Amir B; Nabian, Mohsen; Hartman, Amber; Corsino, Johnathan; Mavroidis, Constantinos; Holden, Maureen K

    2014-01-01

    An estimated of 2,000,000 acute ankle sprains occur annually in the United States. Furthermore, ankle disabilities are caused by neurological impairments such as traumatic brain injury, cerebral palsy and stroke. The virtually interfaced robotic ankle and balance trainer (vi-RABT) was introduced as a cost-effective platform-based rehabilitation robot to improve overall ankle/balance strength, mobility and control. The system is equipped with 2 degrees of freedom (2-DOF) controlled actuation along with complete means of angle and torque measurement mechanisms. Vi-RABT was used to assess ankle strength, flexibility and motor control in healthy human subjects, while playing interactive virtual reality games on the screen. The results suggest that in the task with 2-DOF, subjects have better control over ankle's position vs. force.

  5. Robots on the Roof

    NASA Video Gallery

    The Aerosol Robotic Network (AERONET) is one of the first places that scientists turn when volcanoes, wildfires, pollution plumes, dust storms and many other phenomena—both natural and manmade—...

  6. DOE Robotics Project

    SciTech Connect

    Not Available

    1991-01-01

    This document provide the bimonthly progress reports on the Department of Energy (DOE) Robotics Project by the University of Michigan. Reports are provided for the time periods of December 90/January 91 through June 91/July 91. (FI)

  7. Biological Soft Robotics.

    PubMed

    Feinberg, Adam W

    2015-01-01

    In nature, nanometer-scale molecular motors are used to generate force within cells for diverse processes from transcription and transport to muscle contraction. This adaptability and scalability across wide temporal, spatial, and force regimes have spurred the development of biological soft robotic systems that seek to mimic and extend these capabilities. This review describes how molecular motors are hierarchically organized into larger-scale structures in order to provide a basic understanding of how these systems work in nature and the complexity and functionality we hope to replicate in biological soft robotics. These span the subcellular scale to macroscale, and this article focuses on the integration of biological components with synthetic materials, coupled with bioinspired robotic design. Key examples include nanoscale molecular motor-powered actuators, microscale bacteria-controlled devices, and macroscale muscle-powered robots that grasp, walk, and swim. Finally, the current challenges and future opportunities in the field are addressed.

  8. Operator roles in robotics

    SciTech Connect

    Lyman, J.; Madni, A.M.

    1984-01-01

    The authors suggest that operator roles in robotics can be classified under the categories of monitor, manager, and maintainer. With increasingly sophisticated applications of machine intelligence, however, these roles will require explicit and continuing reassessment. 5 references.

  9. Microprocessors, Robotics, and Work.

    ERIC Educational Resources Information Center

    DeVore, Paul W.

    1982-01-01

    The author explores several recent technological developments which will have an impact on future technical education. These developments include the revolution in information services, robotics, job changes and eliminations, changing role of the worker, and quality of life. (CT)

  10. Rolling friction robot fingers

    NASA Technical Reports Server (NTRS)

    Vranish, John M. (Inventor)

    1992-01-01

    A low friction, object guidance, and gripping finger device for a robotic end effector on a robotic arm is disclosed, having a pair of robotic fingers each having a finger shaft slideably located on a gripper housing attached to the end effector. Each of the robotic fingers has a roller housing attached to the finger shaft. The roller housing has a ball bearing mounted centering roller located at the center, and a pair of ball bearing mounted clamping rollers located on either side of the centering roller. The object has a recess to engage the centering roller and a number of seating ramps for engaging the clamping rollers. The centering roller acts to position and hold the object symmetrically about the centering roller with respect to the X axis and the clamping rollers act to position and hold the object with respect to the Y and Z axis.

  11. Robotic aortic surgery.

    PubMed

    Duran, Cassidy; Kashef, Elika; El-Sayed, Hosam F; Bismuth, Jean

    2011-01-01

    Surgical robotics was first utilized to facilitate neurosurgical biopsies in 1985, and it has since found application in orthopedics, urology, gynecology, and cardiothoracic, general, and vascular surgery. Surgical assistance systems provide intelligent, versatile tools that augment the physician's ability to treat patients by eliminating hand tremor and enabling dexterous operation inside the patient's body. Surgical robotics systems have enabled surgeons to treat otherwise untreatable conditions while also reducing morbidity and error rates, shortening operative times, reducing radiation exposure, and improving overall workflow. These capabilities have begun to be realized in two important realms of aortic vascular surgery, namely, flexible robotics for exclusion of complex aortic aneurysms using branched endografts, and robot-assisted laparoscopic aortic surgery for occlusive and aneurysmal disease.

  12. Robotics in urologic oncology

    PubMed Central

    Jain, Saurabh; Gautam, Gagan

    2015-01-01

    Robotic surgery was initially developed to overcome problems faced during conventional laparoscopic surgeries and to perform telesurgery at distant locations. It has now established itself as the epitome of minimally invasive surgery (MIS). It is one of the most significant advances in MIS in recent years and is considered by many as a revolutionary technology, capable of influencing the future of surgery. After its introduction to urology, robotic surgery has redefined the management of urological malignancies. It promises to make difficult urological surgeries easier, safer and more acceptable to both the surgeon and the patient. Robotic surgery is slowly, but surely establishing itself in India. In this article, we provide an overview of the advantages, disadvantages, current status, and future applications of robotic surgery for urologic cancers in the context of the Indian scenario. PMID:25598598

  13. K-10 Robots

    NASA Video Gallery

    Robots, scientists, engineers and flight controllers from NASA's Ames Research Center at Moffett Field, Calif., and NASA's Johnson Space Center in Houston, gathered at NASA Ames to perform a series...

  14. Robots in operating theatres.

    PubMed Central

    Buckingham, R. A.; Buckingham, R. O.

    1995-01-01

    Robots designed for surgery have three main advantages over humans. They have greater three dimensional spatial accuracy, are more reliable, and can achieve much greater precision. Although few surgical robots are yet in clinical trials one or two have advanced to the stage of seeking approval from the UK's Medical Devices Agency and the US Federal Drug Administration. Safety is a key concern. A robotic device can be designed in an intrinsically safe way by restricting its range of movement to an area where it can do no damage. Furthermore, safety can be increased by making it passive, guided at all times by a surgeon. Nevertheless, some of the most promising developments may come from robots that are active (monitored rather than controlled by the surgeon) and not limited to intrinsically safe motion. Images Fig 1 Fig 3 Fig 4 PMID:8520340

  15. FIRST Robotics Kickoff

    NASA Technical Reports Server (NTRS)

    2007-01-01

    NASA engineers Scott Olive (left) and Bo Clarke answer questions during the 2007 FIRST (For Inspiration and Recognition of Science and Technology) Robotics Competition regional kickoff event held Saturday, Jan. 6, 2007, at StenniSphere, the visitor center at NASA Stennis Space Center near Bay St. Louis, Miss. The SSC employees and FIRST Robotics volunteer mentors are standing near a mock-up of the playing field for the FIRST Robotics' 2007 `Rack n' Roll' challenge. Roughly 300 students and adult volunteers - representing 29 high schools from four states - attended the kickoff to hear the rules of `Rack n' Roll.' The teams will spend the next six weeks building and programming robots from parts kits they received Saturday, then battle their creations at regional spring competitions in New Orleans, Houston, Atlanta and other cities around the nation. FIRST aims to inspire students in the pursuit of engineering and technology studies and careers.

  16. Robotics in Colorectal Surgery

    PubMed Central

    Weaver, Allison; Steele, Scott

    2016-01-01

    Over the past few decades, robotic surgery has developed from a futuristic dream to a real, widely used technology. Today, robotic platforms are used for a range of procedures and have added a new facet to the development and implementation of minimally invasive surgeries. The potential advantages are enormous, but the current progress is impeded by high costs and limited technology. However, recent advances in haptic feedback systems and single-port surgical techniques demonstrate a clear role for robotics and are likely to improve surgical outcomes. Although robotic surgeries have become the gold standard for a number of procedures, the research in colorectal surgery is not definitive and more work needs to be done to prove its safety and efficacy to both surgeons and patients. PMID:27746895

  17. Wheeled hopping robot

    DOEpatents

    Fischer, Gary J.

    2010-08-17

    The present invention provides robotic vehicles having wheeled and hopping mobilities that are capable of traversing (e.g. by hopping over) obstacles that are large in size relative to the robot and, are capable of operation in unpredictable terrain over long range. The present invention further provides combustion powered linear actuators, which can include latching mechanisms to facilitate pressurized fueling of the actuators, as can be used to provide wheeled vehicles with a hopping mobility.

  18. Military Space Robotics

    DTIC Science & Technology

    1987-04-30

    space will need to be designed for service by autonomous robots. Objects in space will have to be hardened for protection against directed- energy ...weapons, kinetic- energy weapons, and natural radiation. Extraterrestrial m~itrials (ETM) will be preferable as a lower-cost alternative to earth-launched...RESOURCES IN ORBIT ROBOTS IN ORBIT ABILITY TO UTILIZE ETM TO CONSTRUCT ABILITY TO CONSTRUCT LARGE ORBITAL RESOURCES STRUCTURES IN ORBIT . ABILITY TO FORM

  19. Robotics and general surgery.

    PubMed

    Jacob, Brian P; Gagner, Michel

    2003-12-01

    Robotics are now being used in all surgical fields, including general surgery. By increasing intra-abdominal articulations while operating through small incisions, robotics are increasingly being used for a large number of visceral and solid organ operations, including those for the gallbladder, esophagus, stomach, intestines, colon, and rectum, as well as for the endocrine organs. Robotics and general surgery are blending for the first time in history and as a specialty field should continue to grow for many years to come. We continuously demand solutions to questions and limitations that are experienced in our daily work. Laparoscopy is laden with limitations such as fixed axis points at the trocar insertion sites, two-dimensional video monitors, limited dexterity at the instrument tips, lack of haptic sensation, and in some cases poor ergonomics. The creation of a surgical robot system with 3D visual capacity seems to deal with most of these limitations. Although some in the surgical community continue to test the feasibility of these surgical robots and to question the necessity of such an expensive venture, others are already postulating how to improve the next generation of telemanipulators, and in so doing are looking beyond today's horizon to find simpler solutions. As the robotic era enters the world of the general surgeon, more and more complex procedures will be able to be approached through small incisions. As technology catches up with our imaginations, robotic instruments (as opposed to robots) and 3D monitoring will become routine and continue to improve patient care by providing surgeons with the most precise, least traumatic ways of treating surgical disease.

  20. Modularity in robotic systems

    NASA Technical Reports Server (NTRS)

    Tesar, Delbert; Butler, Michael S.

    1989-01-01

    Most robotic systems today are designed one at a time, at a high cost of time and money. This wasteful approach has been necessary because the industry has not established a foundation for the continued evolution of intelligent machines. The next generation of robots will have to be generic, versatile machines capable of absorbing new technology rapidly and economically. This approach is demonstrated in the success of the personal computer, which can be upgraded or expanded with new software and hardware at virtually every level. Modularity is perceived as a major opportunity to reduce the 6 to 7 year design cycle time now required for new robotic manipulators, greatly increasing the breadth and speed of diffusion of robotic systems in manufacturing. Modularity and its crucial role in the next generation of intelligent machines are the focus of interest. The main advantages that modularity provides are examined; types of modules needed to create a generic robot are discussed. Structural modules designed by the robotics group at the University of Texas at Austin are examined to demonstrate the advantages of modular design.

  1. Robot goniophotometry at PTB

    NASA Astrophysics Data System (ADS)

    Lindemann, M.; Maass, R.; Sauter, G.

    2015-04-01

    The total luminous flux of a light source is the complete integration of its spectral radiance distribution weighted with the photopic observer and taken over all parts of its surface and over the full solid angle of emittance. The spatial distributions are measured with various types of goniophotometers and the PTB robot goniophotometer is a new type with many unique features. It is built as an arrangement of three robots with arms of more than 6 m in length and with 7 degrees of freedom each. The extreme flexibility of the robots allows computer controlled tracks with variable radii and speeds up to 3 m and 1 m s-1, respectively. One robot aligns the light source and the two other robots move photometers and array spectrometers in their hemispheres simultaneously measuring planar illuminance and the related relative spectral distribution. The robot goniophotometer is optimized for the realisation of the luminous flux unit, the lumen and it is completely characterized in this report. The relevant properties and correction factors are explained, as well as the implementation of techniques for synchronisation and stabilisation of spatially resolved or integrated photometric and colorimetric quantities. Finally, all contributions are combined in the model of evaluation for the (total) luminous flux value and the measurement uncertainty associated with that value is evaluated in the presented uncertainty budget. The goniophotometric determination of the values for colorimetric quantities is explained for the total luminous flux and the spatially distributed radiant power.

  2. Robotic surgery in gynecology

    PubMed Central

    Sinha, Rooma; Sanjay, Madhumati; Rupa, B.; Kumari, Samita

    2015-01-01

    FDA approved Da Vinci Surgical System in 2005 for gynecological surgery. It has been rapidly adopted and it has already assumed an important position at various centers where this is available. It comprises of three components: A surgeon's console, a patient-side cart with four robotic arms and a high-definition three-dimensional (3D) vision system. In this review we have discussed various robotic-assisted laparoscopic benign gynecological procedures like myomectomy, hysterectomy, endometriosis, tubal anastomosis and sacrocolpopexy. A PubMed search was done and relevant published studies were reviewed. Surgeries that can have future applications are also mentioned. At present most studies do not give significant advantage over conventional laparoscopic surgery in benign gynecological disease. However robotics do give an edge in more complex surgeries. The conversion rate to open surgery is lesser with robotic assistance when compared to laparoscopy. For myomectomy surgery, Endo wrist movement of robotic instrument allows better and precise suturing than conventional straight stick laparoscopy. The robotic platform is a logical step forward to laparoscopy and if cost considerations are addressed may become popular among gynecological surgeons world over. PMID:25598600

  3. 76 FR 60593 - Title VI; Proposed Circular

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-09-29

    ... Federal Transit Administration Title VI; Proposed Circular AGENCY: Federal Transit Administration (FTA... Federal Transit Administration (FTA) has placed in the docket and on its Web site, proposed guidance in... locations will be ADA- and transit-accessible. For details about the exact location of each...

  4. Data testing of ENDF/B-VI

    SciTech Connect

    MacFarlane, R.E.

    1994-06-01

    A number of the fast reactor and thermal reactor benchmarks have been analyzed using nuclear data from ENDF/B-VI Release 2. Data were prepared with the NJOY nuclear data processing system in MATXS and ACE formats. Transport calculations were preformed with ONEDANT and TWODANT using transport tables prepared by the TRANSX code and with the MCNP Monte Carlo code.

  5. 29 CFR 1910.1026 - Chromium (VI).

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... anticipated future exposure to chromium (VI); any history of respiratory system dysfunction; any history of... them by the use of respiratory protection that complies with the requirements of paragraph (g) of this... respiratory protection that complies with the requirements of paragraph (g) of this section to achieve the...

  6. 29 CFR 1926.1126 - Chromium (VI).

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... chromium (VI); any history of respiratory system dysfunction; any history of asthma, dermatitis, skin... use of respiratory protection that complies with the requirements of paragraph (f) of this section... achieve compliance with the PEL. (f) Respiratory protection—(1) General. Where respiratory protection...

  7. 29 CFR 1926.1126 - Chromium (VI).

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... chromium (VI); any history of respiratory system dysfunction; any history of asthma, dermatitis, skin... use of respiratory protection that complies with the requirements of paragraph (f) of this section... achieve compliance with the PEL. (f) Respiratory protection—(1) General. Where respiratory protection...

  8. 29 CFR 1915.1026 - Chromium (VI).

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... chromium (VI); any history of respiratory system dysfunction; any history of asthma, dermatitis, skin... them by the use of respiratory protection that complies with the requirements of paragraph (f) of this... achieve compliance with the PEL. (f) Respiratory protection—(1) General. Where respiratory protection...

  9. 29 CFR 1915.1026 - Chromium (VI).

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... chromium (VI); any history of respiratory system dysfunction; any history of asthma, dermatitis, skin... them by the use of respiratory protection that complies with the requirements of paragraph (f) of this... achieve compliance with the PEL. (f) Respiratory protection—(1) General. Where respiratory protection...

  10. 29 CFR 1910.1026 - Chromium (VI).

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... anticipated future exposure to chromium (VI); any history of respiratory system dysfunction; any history of... them by the use of respiratory protection that complies with the requirements of paragraph (g) of this... respiratory protection that complies with the requirements of paragraph (g) of this section to achieve the...

  11. 29 CFR 1910.1026 - Chromium (VI).

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... anticipated future exposure to chromium (VI); any history of respiratory system dysfunction; any history of... them by the use of respiratory protection that complies with the requirements of paragraph (g) of this... respiratory protection that complies with the requirements of paragraph (g) of this section to achieve the...

  12. 29 CFR 1926.1126 - Chromium (VI).

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... chromium (VI); any history of respiratory system dysfunction; any history of asthma, dermatitis, skin... use of respiratory protection that complies with the requirements of paragraph (f) of this section... achieve compliance with the PEL. (f) Respiratory protection—(1) General. Where respiratory protection...

  13. 29 CFR 1915.1026 - Chromium (VI).

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... chromium (VI); any history of respiratory system dysfunction; any history of asthma, dermatitis, skin... them by the use of respiratory protection that complies with the requirements of paragraph (f) of this... achieve compliance with the PEL. (f) Respiratory protection—(1) General. Where respiratory protection...

  14. 29 CFR 1910.1026 - Chromium (VI).

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... anticipated future exposure to chromium (VI); any history of respiratory system dysfunction; any history of... them by the use of respiratory protection that complies with the requirements of paragraph (g) of this... respiratory protection that complies with the requirements of paragraph (g) of this section to achieve the...

  15. 29 CFR 1910.1026 - Chromium (VI).

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... anticipated future exposure to chromium (VI); any history of respiratory system dysfunction; any history of... them by the use of respiratory protection that complies with the requirements of paragraph (g) of this... respiratory protection that complies with the requirements of paragraph (g) of this section to achieve the...

  16. Application of robots in space.

    NASA Technical Reports Server (NTRS)

    Johnsen, E. G.

    1971-01-01

    Robots are defined as electromechanical systems (with local computers) receiving inputs from sensors, and in turn, controlling motors and effectors to do tasks requiring some measure of intelligence and permitting the whole system to interact with the real world. Robot systems for space applications are categorized into three general groups consisting of roving exploration robots, spacecraft robots, and planet development robots. The functions of systems in each category are defined in terms of intended applications, and requirements for operating and decision making are outlined. Further developments which must be achieved in robot technology are summarized.

  17. Robotic hand with modular extensions

    DOEpatents

    Salisbury, Curt Michael; Quigley, Morgan

    2015-01-20

    A robotic device is described herein. The robotic device includes a frame that comprises a plurality of receiving regions that are configured to receive a respective plurality of modular robotic extensions. The modular robotic extensions are removably attachable to the frame at the respective receiving regions by way of respective mechanical fuses. Each mechanical fuse is configured to trip when a respective modular robotic extension experiences a predefined load condition, such that the respective modular robotic extension detaches from the frame when the load condition is met.

  18. 23 CFR 200.7 - FHWA Title VI policy.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 23 Highways 1 2010-04-01 2010-04-01 false FHWA Title VI policy. 200.7 Section 200.7 Highways FEDERAL HIGHWAY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION CIVIL RIGHTS TITLE VI PROGRAM AND RELATED STATUTES-IMPLEMENTATION AND REVIEW PROCEDURES § 200.7 FHWA Title VI policy. It is the policy of the FHWA to ensure compliance with Title VI of the...

  19. 23 CFR 200.7 - FHWA Title VI policy.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 23 Highways 1 2011-04-01 2011-04-01 false FHWA Title VI policy. 200.7 Section 200.7 Highways FEDERAL HIGHWAY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION CIVIL RIGHTS TITLE VI PROGRAM AND RELATED STATUTES-IMPLEMENTATION AND REVIEW PROCEDURES § 200.7 FHWA Title VI policy. It is the policy of the FHWA to ensure compliance with Title VI of the...

  20. 23 CFR 200.7 - FHWA Title VI policy.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... 23 Highways 1 2013-04-01 2013-04-01 false FHWA Title VI policy. 200.7 Section 200.7 Highways FEDERAL HIGHWAY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION CIVIL RIGHTS TITLE VI PROGRAM AND RELATED... ensure compliance with Title VI of the Civil Rights Act of 1964; 49 CFR part 21; and related statutes...

  1. 23 CFR 200.7 - FHWA Title VI policy.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... 23 Highways 1 2012-04-01 2012-04-01 false FHWA Title VI policy. 200.7 Section 200.7 Highways FEDERAL HIGHWAY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION CIVIL RIGHTS TITLE VI PROGRAM AND RELATED... ensure compliance with Title VI of the Civil Rights Act of 1964; 49 CFR part 21; and related statutes...

  2. 23 CFR 200.7 - FHWA Title VI policy.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... 23 Highways 1 2014-04-01 2014-04-01 false FHWA Title VI policy. 200.7 Section 200.7 Highways FEDERAL HIGHWAY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION CIVIL RIGHTS TITLE VI PROGRAM AND RELATED... ensure compliance with Title VI of the Civil Rights Act of 1964; 49 CFR part 21; and related statutes...

  3. U(VI) reduction to mononuclear U(VI) by desulfitobacterium spp.

    SciTech Connect

    Fletcher, K. E.; Boyanov, M. I.; Thomas, S. H.; Wu, Q.; Kemner, K. M.; Loffler, F. E.

    2010-06-15

    The bioreduction of U(VI) to U(IV) affects uranium mobility and fate in contaminated subsurface environments and is best understood in Gram-negative model organisms such as Geobacter and Shewanella spp. This study demonstrates that U(VI) reduction is a common trait of Gram-positive Desulfitobacterium spp. Five different Desulfitobacterium isolates reduced 100 {mu}M U(VI) to U(IV) in <10 days, whereas U(VI) remained soluble in abiotic and heat-killed controls. U(VI) reduction in live cultures was confirmed using X-ray absorption near-edge structure (XANES) analysis. Interestingly, although bioreduction of U(VI) is almost always reported to yield the uraninite mineral (UO{sub 2}), extended X-ray absorption fine structure (EXAFS) analysis demonstrated that the U(IV) produced in the Desulfitobacterium cultures was not UO{sub 2}. The EXAFS data indicated that the U(IV) product was a phase or mineral composed of mononuclear U(IV) atoms closely surrounded by light element shells. This atomic arrangement likely results from inner-sphere bonds between U(IV) and C/N/O- or P/S-containing ligands, such as carbonate or phosphate. The formation of a distinct U(IV) phase warrants further study because the characteristics of the reduced material affect uranium stability and fate in the contaminated subsurface.

  4. ENDF-201, ENDF/B-VI summary documentation supplement 1, ENDF/HE-VI summary documentation

    SciTech Connect

    McLane, V.

    1996-12-01

    The National Nuclear Data Center (NNDC) provides coordination for and serves as the secretariat to the Cross Section Evaluation Working Group (CSWEG). CSEWG is responsible for the oversight of the ENDF/B Evaluated Nuclear Data File. All data are checked and reviewed by CSEWG, and the file is maintained at the NNDC. For a description of the ENDF/B-VI file, see the ENDF-102 Data Formats and Procedures for the Evaluated Nuclear Data File ENDF-6. The purpose of this addendum to the ENDF/B-VI Summary Documentation is to provide documentation of Releases 1, 2, 3, and 4 for the ENDF/B-VI and ENDF/HE-VI evaluated nuclear data libraries. These releases contain many new and revised evaluations for the neutron, photo-atomic interaction, radioactive decay data, spontaneous fission product yield, neutron-induced fission product yield, thermal neutron scattering, proton, deuteron, and triton sublibraries. The summaries have been extracted mainly from the ENDF/B-VI File 1 comments (MT = 451), which have been checked, edited, and may also include supplementary information. Some summaries have been provided by the evaluators in electronic format, while others are extracted from reports on the evaluations. All references have been checked and corrected, or updated where appropriate. A list of the laboratories which have contributed evaluations used in ENDF/B-VI is given.

  5. An overview of artificial intelligence and robotics. Volume 2: Robotics

    NASA Technical Reports Server (NTRS)

    Gevarter, W. B.

    1982-01-01

    This report provides an overview of the rapidly changing field of robotics. The report incorporates definitions of the various types of robots, a summary of the basic concepts, utilized in each of the many technical areas, review of the state of the art and statistics of robot manufacture and usage. Particular attention is paid to the status of robot development, the organizations involved, their activities, and their funding.

  6. A history of robots: from science fiction to surgical robotics.

    PubMed

    Hockstein, N G; Gourin, C G; Faust, R A; Terris, D J

    2007-01-01

    Surgical robotics is an evolving field with great advances having been made over the last decade. The origin of robotics was in the science-fiction literature and from there industrial applications, and more recently commercially available, surgical robotic devices have been realized. In this review, we examine the field of robotics from its roots in literature to its development for clinical surgical use. Surgical mills and telerobotic devices are discussed, as are potential future developments.

  7. Deployer: A Robot-Deploying Robot

    DTIC Science & Technology

    2003-04-01

    6: Bandicoot 11 Figure 7: Deployer mast in a.) retracted, b.) extending, and c.) fully extended positions. 13 Figure 8: Wombat climbing stairs with...mast in a.) retracted, b.)extending, and c.) fully extended positions. 13 Deploy er Outfitting - Wombat The second Urban Robot, Wombat (Fig.8), was...equipped with a single, rear-mounted ISIS transceiver and a Swarm Radio to communicate with all of the Joeys. In addition, Wombat was equipped with

  8. Socially intelligent robots: dimensions of human-robot interaction.

    PubMed

    Dautenhahn, Kerstin

    2007-04-29

    Social intelligence in robots has a quite recent history in artificial intelligence and robotics. However, it has become increasingly apparent that social and interactive skills are necessary requirements in many application areas and contexts where robots need to interact and collaborate with other robots or humans. Research on human-robot interaction (HRI) poses many challenges regarding the nature of interactivity and 'social behaviour' in robot and humans. The first part of this paper addresses dimensions of HRI, discussing requirements on social skills for robots and introducing the conceptual space of HRI studies. In order to illustrate these concepts, two examples of HRI research are presented. First, research is surveyed which investigates the development of a cognitive robot companion. The aim of this work is to develop social rules for robot behaviour (a 'robotiquette') that is comfortable and acceptable to humans. Second, robots are discussed as possible educational or therapeutic toys for children with autism. The concept of interactive emergence in human-child interactions is highlighted. Different types of play among children are discussed in the light of their potential investigation in human-robot experiments. The paper concludes by examining different paradigms regarding 'social relationships' of robots and people interacting with them.

  9. Supersmart Robots: The Next Generation of Robots Has Evolutionary Capabilities

    ERIC Educational Resources Information Center

    Simkins, Michael

    2008-01-01

    Robots that can learn new behaviors. Robots that can reproduce themselves. Science fiction? Not anymore. Roboticists at Cornell's Computational Synthesis Lab have developed just such engineered creatures that offer interesting implications for education. The team, headed by Hod Lipson, was intrigued by the question, "How can you get robots to be…

  10. Robots for Astrobiology!

    NASA Technical Reports Server (NTRS)

    Boston, Penelope J.

    2016-01-01

    The search for life and its study is known as astrobiology. Conducting that search on other planets in our Solar System is a major goal of NASA and other space agencies, and a driving passion of the community of scientists and engineers around the world. We practice for that search in many ways, from exploring and studying extreme environments on Earth, to developing robots to go to other planets and help us look for any possible life that may be there or may have been there in the past. The unique challenges of space exploration make collaborations between robots and humans essential. The products of those collaborations will be novel and driven by the features of wholly new environments. For space and planetary environments that are intolerable for humans or where humans present an unacceptable risk to possible biologically sensitive sites, autonomous robots or telepresence offer excellent choices. The search for life signs on Mars fits within this category, especially in advance of human landed missions there, but also as assistants and tools once humans reach the Red Planet. For planetary destinations where we do not envision humans ever going in person, like bitterly cold icy moons, or ocean worlds with thick ice roofs that essentially make them planetary-sized ice caves, we will rely on robots alone to visit those environments for us and enable us to explore and understand any life that we may find there. Current generation robots are not quite ready for some of the tasks that we need them to do, so there are many opportunities for roboticists of the future to advance novel types of mobility, autonomy, and bio-inspired robotic designs to help us accomplish our astrobiological goals. We see an exciting partnership between robotics and astrobiology continually strengthening as we jointly pursue the quest to find extraterrestrial life.

  11. ISS Update: Robotic Refueling Mission

    NASA Video Gallery

    NASA Public Affairs Officer Dan Huot interviews Alex Janas, robotics operator from the Goddard Space Flight Center, about the Robotic Refueling Mission that has been taking place on the space stati...

  12. Artificial intelligence: Robots with instincts

    NASA Astrophysics Data System (ADS)

    Adami, Christoph

    2015-05-01

    An evolutionary algorithm has been developed that allows robots to adapt to unforeseen change. The robots learn behaviours quickly and instinctively by mining the memory of their past achievements. See Letter p.503

  13. Industrial Robots on the Line.

    ERIC Educational Resources Information Center

    Ayres, Robert; Miller, Steve

    1982-01-01

    Explores the history of robotics and its effects upon the manufacturing industry. Topics include robots' capabilities and limitations, the factory of the future, displacement of the workforce, and implications for management and labor. (SK)

  14. 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.

  15. Robots Aboard International Space Station

    NASA Video Gallery

    Ames Research Center, MIT and Johnson Space Center have two new robotics projects aboard the International Space Station (ISS). Robonaut 2, a two-armed humanoid robot with astronaut-like dexterity,...

  16. Pediatric robotic urologic surgery-2014.

    PubMed

    Kearns, James T; Gundeti, Mohan S

    2014-07-01

    We seek to provide a background of the current state of pediatric urologic surgery including a brief history, procedural outcomes, cost considerations, future directions, and the state of robotic surgery in India. Pediatric robotic urology has been shown to be safe and effective in cases ranging from pyeloplasty to bladder augmentation with continent urinary diversion. Complication rates are in line with other methods of performing the same procedures. The cost of robotic surgery continues to decrease, but setting up pediatric robotic urology programs can be costly in terms of both monetary investment and the training of robotic surgeons. The future directions of robot surgery include instrument and system refinements, augmented reality and haptics, and telesurgery. Given the large number of children in India, there is huge potential for growth of pediatric robotic urology in India. Pediatric robotic urologic surgery has been established as safe and effective, and it will be an important tool in the future of pediatric urologic surgery worldwide.

  17. Remote Education Based on Robot Edutainment

    NASA Astrophysics Data System (ADS)

    Yorita, Akihiro; Hashimoto, Takuya; Kobayashi, Hiroshi; Kubota, Naoyuki

    This paper discusses the role of robots in remote education. There are three different aims of robot edutainment, i.e., Learning on Robots, Learning through Robots, and Learning with Robots. The last is to apply human-friendly robots instead of personal computers for computer-assisted instruction. Especially, natural communication capability is required to educational robots in the learning with robots. In this paper, we apply human-friendly robots to remote education and discuss the requirements and specifications of robots for the remote education.

  18. Aerial Explorers and Robotic Ecosystems

    NASA Technical Reports Server (NTRS)

    Young, Larry A.; Pisanich, Greg

    2004-01-01

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

  19. Cooperative Autonomous Robots for Reconnaissance

    DTIC Science & Technology

    2009-03-06

    REPORT Cooperative Autonomous Robots for Reconnaissance 14. ABSTRACT 16. SECURITY CLASSIFICATION OF: Collaborating mobile robots equipped with WiFi ...Cooperative Autonomous Robots for Reconnaissance Report Title ABSTRACT Collaborating mobile robots equipped with WiFi transceivers are configured as a mobile...equipped with WiFi transceivers are configured as a mobile ad-hoc network. Algorithms are developed to take advantage of the distributed processing

  20. Higher Order Languages for Robots,

    DTIC Science & Technology

    1986-10-01

    and procedures for math, I/O, character manipula- 4; tion, robot motion , and line tracking give pre-defined methods for real world control, which...and Shin (5) describe five levels of robot programming: task- " oriented, structured programming, primitive motion , point-to-point, and micro...spray painting robot the programmer (usually a shop floor operator) leads the robot through all of the motions for locating, moving, and orienting the

  1. Teen Sized Humanoid Robot: Archie

    NASA Astrophysics Data System (ADS)

    Baltes, Jacky; Byagowi, Ahmad; Anderson, John; Kopacek, Peter

    This paper describes our first teen sized humanoid robot Archie. This robot has been developed in conjunction with Prof. Kopacek’s lab from the Technical University of Vienna. Archie uses brushless motors and harmonic gears with a novel approach to position encoding. Based on our previous experience with small humanoid robots, we developed software to create, store, and play back motions as well as control methods which automatically balance the robot using feedback from an internal measurement unit (IMU).

  2. Investigating the Implementation of Robotics.

    DTIC Science & Technology

    1984-02-01

    igating the Implementation of Robotics j Linda Argote and Paul S. Goodman I CML-RI-TRS84-9I Investigating the Implementation of Robotics #Linda...Argote and Paul S. Goodman CMU-RI-TR-84-9 The Robotics Institute Carnegie-Mellon University Pittsburgh, Pennsylvania 15213 Fecbruary 1984 JUN~jg 4...Copyright ®1984 Carnegie-Mellon UniversityA UA Support for this research was provided by the Graduate School of Industrial Administration, thc Robotics

  3. US Army TARDEC: Robotics Overview

    DTIC Science & Technology

    2010-03-25

    unclassified US ARMY TARDEC Robotics Overview Bernard Theisen, Joint Center for Robotics 25 March 2010 Reference herein to any specific commercial...4. TITLE AND SUBTITLE US ARMY TARDEC Robotics Overview 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Bernard... Robotics Industry Partnerships Academia PartnershipsGovernment Partnerships TRADOC Community Outreach • S&T Support to the RS-JPO • Develops and Fosters

  4. ICAM Robotics Application Guide (RAG)

    DTIC Science & Technology

    1980-04-01

    ROBOTICS APPLICATION MB GENERAL DYNAMICS CORPORATION FORT WORTH DIVISION FORT WORTH, TEXAS 76101 APRIL 1980 TECHNICAL REPORT AFWAL-TR-80-4042...DOCUMENTATION PAGE AyvJAijfTR-so-AOA^vnntnuFri ’ AT)(-ß05O CTXZ/, l. GOVT ACCESSION NO Ull’i ICAM Robotics Application Guide (RAG) m . vlJ L...Effector Flexible Automation Industrial Robot Manipulator Robotics Work Volume 20. ABSTRACT (Continue on reverse erde II necessary end

  5. O VI Emission from the Interstellar Medium

    NASA Technical Reports Server (NTRS)

    Shelton, Robin L.

    2004-01-01

    This project's primary goal was to examine the Local Bubble, a large hot bubble surrounding the solar neighborhood. In order to do this, we observed the 1032 and 1038 A resonance line emission from O VI in the bubble and used the,results to comment on models for the Local Bubble and its embedded clouds. In order to maximize the signal to noise of our spectrum, we combined the awarded guest investigator observation with unpublished FUSE In Orbit Checkout observations. The resulting spectrum was sufficiently good as to enable us to place tight 2 sigma upper limits on the intensities of the 1032 and the 1038 A resonance lines. We also measured or placed upper limits on the other cosmic lines in the bandpass, including C III and C II. These are the first known ultraviolet emission line measurements and/or upper limits for the gas in the Local Bubble (as opposed to gas anywhere along long lines of sight). With the O VI upper limits, we were able to quantitatively evaluate competing theories for the origins of the Local Bubble. The upper limits are well below those expected in the Breitschwerdt model (which proposes that during its its early development, the Local Bubble rapidly expanded beyond its nascent cloud and, as a result, is now vastly underionized). The upper limits on the O VI resonance line doublet intensity and the measurement of the C III intensity, garnered from this project, combined with measurements of the O VI column density, garnered from another project, are so far below the predictions, that they make a good case for eliminating the Breitschwerdt model from the field of possibilities. Thus, instead of being vastly underionized, the Local Bubble is near ionizational equilibrium. In addition, the upper limits challenge the other well-known model for the Local Bubble. In that model, the Local Bubble was blown by a series of supernova explosions and winds and contains a myriad of evaporating clouds. The intensity of the O VI resonance line doublet

  6. Quantum robots plus environments.

    SciTech Connect

    Benioff, P.

    1998-07-23

    A quantum robot is a mobile quantum system, including an on board quantum computer and needed ancillary systems, that interacts with an environment of quantum systems. Quantum robots carry out tasks whose goals include making specified changes in the state of the environment or carrying out measurements on the environment. The environments considered so far, oracles, data bases, and quantum registers, are seen to be special cases of environments considered here. It is also seen that a quantum robot should include a quantum computer and cannot be simply a multistate head. A model of quantum robots and their interactions is discussed in which each task, as a sequence of alternating computation and action phases,is described by a unitary single time step operator T {approx} T{sub a} + T{sub c} (discrete space and time are assumed). The overall system dynamics is described as a sum over paths of completed computation (T{sub c}) and action (T{sub a}) phases. A simple example of a task, measuring the distance between the quantum robot and a particle on a 1D lattice with quantum phase path dispersion present, is analyzed. A decision diagram for the task is presented and analyzed.

  7. Robotics, Ethics, and Nanotechnology

    NASA Astrophysics Data System (ADS)

    Ganascia, Jean-Gabriel

    It may seem out of character to find a chapter on robotics in a book about nanotechnology, and even more so a chapter on the application of ethics to robots. Indeed, as we shall see, the questions look quite different in these two fields, i.e., in robotics and nanoscience. In short, in the case of robots, we are dealing with artificial beings endowed with higher cognitive faculties, such as language, reasoning, action, and perception, whereas in the case of nano-objects, we are talking about invisible macromolecules which act, move, and duplicate unseen to us. In one case, we find ourselves confronted by a possibly evil double of ourselves, and in the other, a creeping and intangible nebula assails us from all sides. In one case, we are faced with an alter ego which, although unknown, is clearly perceptible, while in the other, an unspeakable ooze, the notorious grey goo, whose properties are both mysterious and sinister, enters and immerses us. This leads to a shift in the ethical problem situation: the notion of responsibility can no longer be worded in the same terms because, despite its otherness, the robot can always be located somewhere, while in the case of nanotechnologies, myriad nanometric objects permeate everywhere, disseminating uncontrollably.

  8. Robotic microsurgery optimization.

    PubMed

    Brahmbhatt, Jamin V; Gudeloglu, Ahmet; Liverneaux, Philippe; Parekattil, Sijo J

    2014-05-01

    The increased application of the da Vinci robotic platform (Intuitive Surgical Inc.) for microsurgery has led to the development of new adjunctive surgical instrumentation. In microsurgery, the robotic platform can provide high definition 12×-15× digital magnification, broader range of motion, fine instrument handling with decreased tremor, reduced surgeon fatigue, and improved surgical productivity. This paper presents novel adjunctive tools that provide enhanced optical magnification, micro-Doppler sensing of vessels down to a 1-mm size, vein mapping capabilities, hydro-dissection, micro-ablation technology (with minimal thermal spread-CO2 laser technology), and confocal microscopy to provide imaging at a cellular level. Microsurgical outcomes from the use of these tools in the management of patients with infertility and chronic groin and testicular pain are reviewed. All these instruments have been adapted for the robotic console and enhance the robot-assisted microsurgery experience. As the popularity of robot-assisted microsurgery grows, so will its breadth of instrumentation.

  9. Biologically inspired intelligent robots

    NASA Astrophysics Data System (ADS)

    Bar-Cohen, Yoseph; Breazeal, Cynthia

    2003-07-01

    Humans throughout history have always sought to mimic the appearance, mobility, functionality, intelligent operation, and thinking process of biological creatures. This field of biologically inspired technology, having the moniker biomimetics, has evolved from making static copies of human and animals in the form of statues to the emergence of robots that operate with realistic behavior. Imagine a person walking towards you where suddenly you notice something weird about him--he is not real but rather he is a robot. Your reaction would probably be "I can't believe it but this robot looks very real" just as you would react to an artificial flower that is a good imitation. You may even proceed and touch the robot to check if your assessment is correct but, as oppose to the flower case, the robot may be programmed to respond physical and verbally. This science fiction scenario could become a reality as the current trend continues in developing biologically inspired technologies. Technology evolution led to such fields as artificial muscles, artificial intelligence, and artificial vision as well as biomimetic capabilities in materials science, mechanics, electronics, computing science, information technology and many others. This paper will review the state of the art and challenges to biologically-inspired technologies and the role that EAP is expected to play as the technology evolves.

  10. Engineering robust intelligent robots

    NASA Astrophysics Data System (ADS)

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

    2010-01-01

    The purpose of this paper is to discuss the challenge of engineering robust intelligent robots. Robust intelligent robots may be considered as ones that not only work in one environment but rather in all types of situations and conditions. Our past work has described sensors for intelligent robots that permit adaptation to changes in the environment. We have also described the combination of these sensors with a "creative controller" that permits adaptive critic, neural network learning, and a dynamic database that permits task selection and criteria adjustment. However, the emphasis of this paper is on engineering solutions which are designed for robust operations and worst case situations such as day night cameras or rain and snow solutions. This ideal model may be compared to various approaches that have been implemented on "production vehicles and equipment" using Ethernet, CAN Bus and JAUS architectures and to modern, embedded, mobile computing architectures. Many prototype intelligent robots have been developed and demonstrated in terms of scientific feasibility but few have reached the stage of a robust engineering solution. Continual innovation and improvement are still required. The significance of this comparison is that it provides some insights that may be useful in designing future robots for various manufacturing, medical, and defense applications where robust and reliable performance is essential.

  11. Surgery with cooperative robots.

    PubMed

    Lehman, Amy C; Berg, Kyle A; Dumpert, Jason; Wood, Nathan A; Visty, Abigail Q; Rentschler, Mark E; Platt, Stephen R; Farritor, Shane M; Oleynikov, Dmitry

    2008-03-01

    Advances in endoscopic techniques for abdominal procedures continue to reduce the invasiveness of surgery. Gaining access to the peritoneal cavity through small incisions prompted the first significant shift in general surgery. The complete elimination of external incisions through natural orifice access is potentially the next step in reducing patient trauma. While minimally invasive techniques offer significant patient advantages, the procedures are surgically challenging. Robotic surgical systems are being developed that address the visualization and manipulation limitations, but many of these systems remain constrained by the entry incisions. Alternatively, miniature in vivo robots are being developed that are completely inserted into the peritoneal cavity for laparoscopic and natural orifice procedures. These robots can provide vision and task assistance without the constraints of the entry incision, and can reduce the number of incisions required for laparoscopic procedures. In this study, a series of minimally invasive animal-model surgeries were performed using multiple miniature in vivo robots in cooperation with existing laparoscopy and endoscopy tools as well as the da Vinci Surgical System. These procedures demonstrate that miniature in vivo robots can address the visualization constraints of minimally invasive surgery by providing video feedback and task assistance from arbitrary orientations within the peritoneal cavity.

  12. The problem with multiple robots

    NASA Technical Reports Server (NTRS)

    Huber, Marcus J.; Kenny, Patrick G.

    1994-01-01

    The issues that can arise in research associated with multiple, robotic agents are discussed. Two particular multi-robot projects are presented as examples. This paper was written in the hope that it might ease the transition from single to multiple robot research.

  13. Robotics and Intelligent Systems Program

    SciTech Connect

    Not Available

    1987-06-01

    This report gives brief descriptions of the projects associated with the Robotics and Intelligent Systems Program (RISP). Projects included in the report are (1) Remote Operations Demonstration Facility; (2) M-2 Servomanipulator; (3) The Advanced Servomanipulator; (4) Hostile Environment Robotic Machine Intelligence Experiment Series robots); and (5) Telerobotic Concepts. These devices have application in nuclear industry and space environments. (JDH)

  14. Heterogeneous Multi-Robot Cooperation

    DTIC Science & Technology

    1994-02-01

    the objects the robots manipulate are hazardous waste. I have not actually applied the robots to reA toxic waste spills, since they are simply small...1993] Bruce Randall Donald, James Jennings, and Daniela Rus. To- wards a theory of information invariants for cooperating autonomous mobile robots

  15. Adaptive Language Games with Robots

    NASA Astrophysics Data System (ADS)

    Steels, Luc

    2010-11-01

    This paper surveys recent research into language evolution using computer simulations and robotic experiments. This field has made tremendous progress in the past decade going from simple simulations of lexicon formation with animallike cybernetic robots to sophisticated grammatical experiments with humanoid robots.

  16. Humans and Robots. Educational Brief.

    ERIC Educational Resources Information Center

    National Aeronautics and Space Administration, Washington, DC.

    This brief discusses human movement and robotic human movement simulators. The activity for students in grades 5-12 provides a history of robotic movement and includes making an End Effector for the robotic arms used on the Space Shuttle and the International Space Station (ISS). (MVL)

  17. KC-135 materials handling robotics

    NASA Technical Reports Server (NTRS)

    Workman, Gary L.

    1991-01-01

    Robot dynamics and control will become an important issue for implementing productive platforms in space. Robotic operations will become necessary for man-tended stations and for efficient performance of routine operations in a manned platform. The current constraints on the use of robotic devices in a microgravity environment appears to be due to an anticipated increase in acceleration levels due to manipulator motion and for safety concerns. The objective of this study will be to provide baseline data to meet that need. Most texts and papers dealing with the kinematics and dynamics of robots assume that the manipulator is composed of joints separated by rigid links. However, in recent years several groups have begun to study the dynamics of flexible manipulators, primarily for applying robots in space and for improving the efficiency and precision of robotic systems. Robotic systems which are being planned for implementation in space have a number of constraints to overcome. Additional concepts which have to be worked out in any robotic implementation for a space platform include teleoperation and degree of autonomous control. Some significant results in developing a robotic workcell for performing robotics research on the KC-135 aircraft in preperation for space-based robotics applications in the future were generated. In addition, it was shown that TREETOPS can be used to simulate the dynamics of robot manipulators for both space and ground-based applications.

  18. Robotic Design for the Classroom

    NASA Technical Reports Server (NTRS)

    Culbert, Chris; Burns, Kaylynn

    2001-01-01

    This slide presentation reviews the use of robotic design to interest students in science and engineering. It describes one program, BEST, and resources that area available to design and create a robot. BEST is a competition for sixth and seventh graders that is designed to engage gifted and talented students. A couple of scenarios involving the use of a robot are outlined.

  19. Robot Technology: Implications for Education.

    ERIC Educational Resources Information Center

    Post, Paul E.; And Others

    1988-01-01

    Provides an introduction to robotic technology, and describes current robot models. Three ways of using robots in education are discussed--as exemplars of other processes, as objects of instruction, and as prosthetic aids--and selection criteria are outlined. (17 references) (CLB)

  20. Future perspectives in robotic surgery.

    PubMed

    Wedmid, Alexei; Llukani, Elton; Lee, David I

    2011-09-01

    Robotics of the current day have advanced significantly from early computer-aided design/manufacturing systems to modern master-slave robotic systems that replicate the surgeon's exact movements onto robotic instruments in the patient. • Globally >300,000 robotic procedures were completed in 2010, including ≈98,000 robot-assisted radical prostatectomies. • Broadening applications of robotics for urological procedures are being investigated in both adult and paediatric urology. • The use of the current robotic system continues to be further refined. Increasing experience has optimized port placement reducing arm collisions to allow for more expedient surgery. Improved three-dimensional camera magnification provides improved intraoperative identification of structures. • Robotics has probably improved the learning curve of laparoscopic surgery while still maintaining its patient recovery advantages and outcomes. • The future of robotic surgery will take this current platform forward by improving haptic (touch) feedback, improving vision beyond even the magnified eye, improving robot accessibility with a reduction of entry ports and miniaturizing the slave robot. • Here, we focus on the possible advancements that may change the future landscape of robotic surgery.

  1. Final Technical Report -- GEO-VI - USGEO

    SciTech Connect

    Hirsch, Leonard

    2009-11-30

    Representatives of US earth observations departments and agencies, other participating governments, NGOs and civil society participated in the Sixth Plenary Meeting of the Group on Earth Observations (GEO-VI), hosted by the United States in Washington, DC on November 17 and 18, 2009. The meeting was held in the Atrium Ballroom of the Ronald Reagan International Trade Center. Exhibitions of international Earth observation technology and programs were held concurrently in the same venue. A number of GEO committee meetings and side events were held in conjunction with the GEO-VI Plenary, including the GEO-IGOS Symposium on Earth observation science and applications, the GEOSS in the Americas Forum on Coastal Zones, and separate meetings of the GEO Communities of Practice on Carbon, Health, and Air Quality.

  2. Proceedings of Minnowbrook Workshops I to VI

    NASA Technical Reports Server (NTRS)

    2012-01-01

    This DVD collection includes the complete proceedings of Minnowbrook Workshops I through VI. Titles include Minnowbrook I - 1993 Workshop on End-Stage Boundary Layer Transition (NASA/CP-2007-214667, CASI ID 20070038942), Minnowbrook II - 1997 Workshop on Boundary Layer Transition in Turbomachines (NASA/CP-1998-206958, CASI ID 19980206205), Minnowbrook III - 2000 Workshop on Boundary Layer Transition and Unsteady Aspects of Turbomachinery Flow (NASA/CP-2001-210888, CASI ID 20020067662), Minnowbrook IV - 2003 Workshop on Transition and Unsteady Aspects of Turbomachinery Flows (NASA TM-2004-212913, CASI ID 20040121174), Minnowbrook V - 2006 Workshop on Unsteady Flows in Turbomachinery (NASA/CP-2006-214484, CASI ID 20070024781), and Minnowbrook VI - 2009 Workshop on Flow Physics and Control for Internal and External Aerodynamics (NACA/CP-2010-216112, CASI ID 20100018557).

  3. Benign recurrent VI nerve palsy in childhood.

    PubMed

    Bixenman, W W; von Noorden, G K

    1981-01-01

    The case of a child with six documented episodes of benign recurrent unilateral VI nerve palsy between the ages of 2 1/2 months and 3 years is presented. Despite the recognized self-limiting course of this disorder, its possible evolution into a comitant esotropia makes close follow-up mandatory. The practical aspects of management including maintenance occlusion therapy are stressed as well as the need for prompt surgical intervention once the acquired stabismus has become stabilized. The etiology of benign VI nerve palsy of childhood may have the same immunological basis as other cases of para-infectious neuropathy. This isolated postinfective cranial mononeuropathy easily blends into the continuum of neurological involvement seen with the Landry-Guillian-Barre syndrome. With recovery from the initial episode, the abducens nerve may have become predisposed to recurrent inflammatory episodes and recurrent loss of function. Most often these recurrences are triggered by febrile illnesses of childhood.

  4. HalleyVI - a station for science

    NASA Astrophysics Data System (ADS)

    Rose, Mike; Tuplin, Karl

    2013-04-01

    There has been a research station at Halley in Antarctica (75°35'S, 26°34'W) since 1956. Halley has a long and successful scientific record, notably the discovery of the Ozone Hole and significant contributions to areas as diverse as Geology and Space physics. Halley is located on a floating and flowing iceshelf with constant surface accumulation. These conditions have resulted in the necessary regular rebuilding of the station and HalleyVI has just been completed. Halley VI has been fully scientifically operational since Feb 2012. The station supports a chemical and turbulence clean area, an electromagnetic quiet zone, an area for radars, and flexible facilities on the station to support a wide variety of science activities. This presentation outlines the major features of the new station, its current scientific activities, and the facilities that allow the hosting of a wide variety of scientific experiments.

  5. Diagnostic and treatment strategies in mucopolysaccharidosis VI

    PubMed Central

    Vairo, Filippo; Federhen, Andressa; Baldo, Guilherme; Riegel, Mariluce; Burin, Maira; Leistner-Segal, Sandra; Giugliani, Roberto

    2015-01-01

    Mucopolysaccharidosis VI (MPS VI) is a very rare autosomal recessive disorder caused by mutations in the ARSB gene, which lead to deficient activity of the lysosomal enzyme ASB. This enzyme is important for the breakdown of the glycosaminoglycans (GAGs) dermatan sulfate and chondroitin sulfate, which accumulate in body tissues and organs of MPS VI patients. The storage of GAGs (especially dermatan sulfate) causes bone dysplasia, joint restriction, organomegaly, heart disease, and corneal clouding, among several other problems, and reduced life span. Despite the fact that most cases are severe, there is a spectrum of severity and some cases are so attenuated that diagnosis is made late in life. Although the analysis of urinary GAGs and/or the measurement of enzyme activity in dried blood spots are useful screening methods, the diagnosis is based in the demonstration of the enzyme deficiency in leucocytes or fibroblasts, and/or in the identification of pathogenic mutations in the ARSB gene. Specific treatment with enzyme replacement has been available since 2005. It is safe and effective, bringing measurable benefits and increased survival to patients. As several evidences indicate that early initiation of therapy may lead to a better outcome, newborn screening is being considered for this condition, and it is already in place in selected areas where the incidence of MPS VI is increased. However, as enzyme replacement therapy is not curative, associated therapies should be considered, and research on innovative therapies continues. The management of affected patients by a multidisciplinary team with experience in MPS diseases is highly recommended. PMID:26586959

  6. Human-Robot Interaction

    NASA Technical Reports Server (NTRS)

    Rochlis-Zumbado, Jennifer; Sandor, Aniko; Ezer, Neta

    2012-01-01

    Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is a new Human Research Program (HRP) risk. HRI is a research area that seeks to understand the complex relationship among variables that affect the way humans and robots work together to accomplish goals. The DRP addresses three major HRI study areas that will provide appropriate information for navigation guidance to a teleoperator of a robot system, and contribute to the closure of currently identified HRP gaps: (1) Overlays -- Use of overlays for teleoperation to augment the information available on the video feed (2) Camera views -- Type and arrangement of camera views for better task performance and awareness of surroundings (3) Command modalities -- Development of gesture and voice command vocabularies

  7. Transoral Robotic Surgery.

    PubMed

    Yee, Shokjean

    2017-01-01

    Transoral robotic surgery (TORS) is a technique used to treat oral, throat, and skull base cancers using a minimally invasive robotic approach through the mouth and throat. The TORS procedure allows deeper access and dissection of suspicious lesions and neoplastic growths in the oral cavity and those that extend from the throat to the base of the skull. Robotic surgery allows the surgeon to operate in tight spaces without a large open incision. This article discusses symptoms and risk factors of oral, throat, and skull base cancers; types of procedures that can be performed using the TORS approach; specialized instrumentation; patient selection; surgical advantages and disadvantages; patient benefits; and the role of the surgical team in preparing to intraoperatively care for the TORS patient.

  8. Advanced mechanisms for robotics

    NASA Technical Reports Server (NTRS)

    Vranish, John M.

    1992-01-01

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

  9. The universal robot

    NASA Technical Reports Server (NTRS)

    Moravec, Hans

    1993-01-01

    Our artifacts are getting smarter, and a loose parallel with the evolution of animal intelligence suggests one future course for them. Computerless industrial machinery exhibits the behavioral flexibility of single-celled organisms. Today's best computer-controlled robots are like the simpler invertebrates. A thousand-fold increase in computer power in the next decade should make possible machines with reptile-like sensory and motor competence. Properly configured, such robots could do in the physical world what personal computers now do in the world of data - act on our behalf as literal-minded slaves. Growing computer power over the next half-century will allow this reptile stage to be surpassed, in stages producing robots that learn like mammals, model their world like primates, and eventually reason like humans. Depending on your point of view, humanity will then have produced a worthy successor, or transcended some of its inherited limitations and so transformed itself into something quite new.

  10. ISS Robotic Student Programming

    NASA Technical Reports Server (NTRS)

    Barlow, J.; Benavides, J.; Hanson, R.; Cortez, J.; Le Vasseur, D.; Soloway, D.; Oyadomari, K.

    2016-01-01

    The SPHERES facility is a set of three free-flying satellites launched in 2006. In addition to scientists and engineering, middle- and high-school students program the SPHERES during the annual Zero Robotics programming competition. Zero Robotics conducts virtual competitions via simulator and on SPHERES aboard the ISS, with students doing the programming. A web interface allows teams to submit code, receive results, collaborate, and compete in simulator-based initial rounds and semi-final rounds. The final round of each competition is conducted with SPHERES aboard the ISS. At the end of 2017 a new robotic platform called Astrobee will launch, providing new game elements and new ground support for even more student interaction.

  11. The universal robot

    NASA Astrophysics Data System (ADS)

    Moravec, Hans

    1993-12-01

    Our artifacts are getting smarter, and a loose parallel with the evolution of animal intelligence suggests one future course for them. Computerless industrial machinery exhibits the behavioral flexibility of single-celled organisms. Today's best computer-controlled robots are like the simpler invertebrates. A thousand-fold increase in computer power in the next decade should make possible machines with reptile-like sensory and motor competence. Properly configured, such robots could do in the physical world what personal computers now do in the world of data - act on our behalf as literal-minded slaves. Growing computer power over the next half-century will allow this reptile stage to be surpassed, in stages producing robots that learn like mammals, model their world like primates, and eventually reason like humans. Depending on your point of view, humanity will then have produced a worthy successor, or transcended some of its inherited limitations and so transformed itself into something quite new.

  12. FIRST robots compete

    NASA Technical Reports Server (NTRS)

    2000-01-01

    FIRST teams and their robots work to go through the right motions at the FIRST competition. Students from all over the country are at the KSC Visitor Complex for the FIRST (For Inspiration and Recognition of Science and Technology) Southeast Regional competition March 9-11 in the Rocket Garden. Teams of high school students are testing the limits of their imagination using robots they have designed, with the support of business and engineering professionals and corporate sponsors, to compete in a technological battle against other schools' robots. Of the 30 high school teams competing, 16 are Florida teams co-sponsored by NASA and KSC contractors. Local high schools participating are Astronaut, Bayside, Cocoa Beach, Eau Gallie, Melbourne, Melbourne Central Catholic, Palm Bay, Rockledge, Satellite, and Titusville.

  13. Put Your Robot In, Put Your Robot Out: Sequencing through Programming Robots in Early Childhood

    ERIC Educational Resources Information Center

    Kazakoff, Elizabeth R.; Bers, Marina Umaschi

    2014-01-01

    This article examines the impact of programming robots on sequencing ability in early childhood. Thirty-four children (ages 4.5-6.5 years) participated in computer programming activities with a developmentally appropriate tool, CHERP, specifically designed to program a robot's behaviors. The children learned to build and program robots over three…

  14. Embedding knowledge in robot controllers

    SciTech Connect

    Puttre, M.

    1994-06-01

    This article reports that finding the right robot for a task and programming it remain key issues facing the industry. Developers, meanwhile, are striving to embed more applications knowledge in robot controllers using high-level languages and autonomy. Although robot components such as motors, arms, and sensors have become highly advanced, the control software and systems integration necessary to support rapidly configurable factory settings have been slow to emerge. The requirements for industrial robots currently are geared more toward performance than autonomy. However, as agile manufacturing issues gain importance, robot flexibility will also become an important requirement.

  15. Robust Software Architecture for Robots

    NASA Technical Reports Server (NTRS)

    Aghazanian, Hrand; Baumgartner, Eric; Garrett, Michael

    2009-01-01

    Robust Real-Time Reconfigurable Robotics Software Architecture (R4SA) is the name of both a software architecture and software that embodies the architecture. The architecture was conceived in the spirit of current practice in designing modular, hard, realtime aerospace systems. The architecture facilitates the integration of new sensory, motor, and control software modules into the software of a given robotic system. R4SA was developed for initial application aboard exploratory mobile robots on Mars, but is adaptable to terrestrial robotic systems, real-time embedded computing systems in general, and robotic toys.

  16. Joint service EOD robotics program

    NASA Astrophysics Data System (ADS)

    Hacker, Kurt; Brezina, Byron; DeBolt, Chris

    2006-05-01

    Within the military, the Explosive Ordnance Disposal (EOD) community has been an early adopter of robotic capabilities. The Joint Service EOD (JSEOD) Program is in the process of fielding its third generation of robotic systems to the EOD technicians. Robots have been an invaluable asset to the EOD technician, and they have been critical to operations in Iraq as we prosecute the IED problem. This paper provides a brief history of past EOD robotic systems, a description of currently fielded and supported systems, and the future of robotic programs within the Joint Service EOD community.

  17. Robot welding process control

    NASA Technical Reports Server (NTRS)

    Romine, Peter L.

    1991-01-01

    This final report documents the development and installation of software and hardware for Robotic Welding Process Control. Primary emphasis is on serial communications between the CYRO 750 robotic welder, Heurikon minicomputer running Hunter & Ready VRTX, and an IBM PC/AT, for offline programming and control and closed-loop welding control. The requirements for completion of the implementation of the Rocketdyne weld tracking control are discussed. The procedure for downloading programs from the Intergraph, over the network, is discussed. Conclusions are made on the results of this task, and recommendations are made for efficient implementation of communications, weld process control development, and advanced process control procedures using the Heurikon.

  18. Robotic component preparation

    SciTech Connect

    Dokos, J.R.

    1986-04-01

    This report provides information on the preparation of robotic components. Component preparation includes pretinning or solder dipping, preforming, and pretrimming of component leads. Since about 70% of all components are axial-leaded resistor-type components, it was decided to begin with them and then later develop capabilities to handle other types. The first workcell is the first phase of an overall system to pretin, preform, and pretrim all components and to feed them to an automatic insertion system. Before use of the robot, a Unimation PUMA Modal 260, pretinning and preforming was done by first hand with a shield and vented booth.

  19. Robotic retroauricular thyroid surgery

    PubMed Central

    Alabbas, Haytham; Bu Ali, Daniah

    2016-01-01

    Surgery is the gold standard treatment for patients with thyroid cancer or nodules suspicious for cancer. Open conventional approach is the standard surgical approach. However, a visible neck incision could be a concern for most young female patients, especially for patients with a history of healing with keloid or hypertrophic scars. Robotic remote access approaches have evolved into a safe and feasible approach in selected patients, providing a hidden scar with good patient satisfaction. This review will focus on the performance and safety of robotic retroauricular thyroid surgery. PMID:28149806

  20. Dextrous robot hands

    NASA Technical Reports Server (NTRS)

    Venkataraman, Subramanian T. (Editor); Iberall, Thea (Editor)

    1990-01-01

    Recent studies of human hand function and their implications for the design of robot hands are discussed in reviews and reports. Topics addressed include human grasp choice and robotic grasp analysis, opposition space and human prehension, coordination in normal and prosthetic reaching, and intelligent exploration by the human hand. Consideration is given to a task-oriented dextrous manipulation architecture, the control architecture for the Belgrade/USC hand, the analysis of multifingered grasping and manipulation, and tactile sensing for shape interpretation. Diagrams, graphs, and photographs are provided.

  1. Transoral robotic thyroid surgery

    PubMed Central

    Clark, James H.; Kim, Hoon Yub

    2015-01-01

    There is currently significant demand for minimally invasive thyroid surgery; however the majority of proposed surgical approaches necessitate a compromise between minimal tissue dissection with a visible cervical scar or extensive tissue dissection with a remote, hidden scar. The development of transoral endoscopic thyroid surgery however provides an approach which is truly minimally invasive, as it conceals the incision within the oral cavity without significantly increasing the amount of required dissection. The transoral endoscopic approach however presents multiple technical challenges, which could be overcome with the incorporation of a robotic operating system. This manuscript summarizes the literature on the feasibility and current clinical experience with transoral robotic thyroid surgery. PMID:26425456

  2. Microwave vision for robots

    NASA Technical Reports Server (NTRS)

    Lewandowski, Leon; Struckman, Keith

    1994-01-01

    Microwave Vision (MV), a concept originally developed in 1985, could play a significant role in the solution to robotic vision problems. Originally our Microwave Vision concept was based on a pattern matching approach employing computer based stored replica correlation processing. Artificial Neural Network (ANN) processor technology offers an attractive alternative to the correlation processing approach, namely the ability to learn and to adapt to changing environments. This paper describes the Microwave Vision concept, some initial ANN-MV experiments, and the design of an ANN-MV system that has led to a second patent disclosure in the robotic vision field.

  3. Robotic Planetary Drill Tests

    NASA Technical Reports Server (NTRS)

    Glass, Brian J.; Thompson, S.; Paulsen, G.

    2010-01-01

    Several proposed or planned planetary science missions to Mars and other Solar System bodies over the next decade require subsurface access by drilling. This paper discusses the problems of remote robotic drilling, an automation and control architecture based loosely on observed human behaviors in drilling on Earth, and an overview of robotic drilling field test results using this architecture since 2005. Both rotary-drag and rotary-percussive drills are targeted. A hybrid diagnostic approach incorporates heuristics, model-based reasoning and vibration monitoring with neural nets. Ongoing work leads to flight-ready drilling software.

  4. Open Issues in Evolutionary Robotics.

    PubMed

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

    2016-01-01

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

  5. Hiding robot inertia using resonance.

    PubMed

    Vallery, Heike; Duschau-Wicke, Alexander; Riener, Robert

    2010-01-01

    To enable compliant training modes with a rehabilitation robot, an important prerequisite is that any undesired human-robot interaction forces caused by robot dynamics must be avoided, either by an appropriate mechanical design or by compensating control strategies. Our recently proposed control scheme of "Generalized Elasticities" employs potential fields to compensate for robot dynamics, including inertia, beyond what can be done using closed-loop force control. In this paper, we give a simple mechanical equivalent using the example of the gait rehabilitation robot Lokomat. The robot consists of an exoskeleton that is attached to a frame around the patient's pelvis. This frame is suspended by a springloaded parallelogram structure. The mechanism allows vertical displacement while providing almost constant robot gravity compensation. However, inertia of the device when the patient's pelvis moves up and down remains a source of large interaction forces, which are reflected in increased ground reaction forces. Here, we investigate an alternative suspension: To hide not only gravity, but also robot inertia during vertical pelvis motion, we suspend the robot frame by a stiff linear spring that allows the robot to oscillate vertically at an eigenfrequency close to the natural gait frequency. This mechanism reduces human-robot interaction forces, which is demonstrated in pilot experimental results.

  6. 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

  7. A bioinspired modular aquatic robot

    NASA Astrophysics Data System (ADS)

    Tallapragada, Phanindra; Pollard, Beau

    2016-11-01

    Several bio inspired swimming robots exist which seek to emulate the morphology of fish and the flapping motion of the tail and fins or other appendages and body of aquatic creatures. The locomotion of such robots and the aquatic animals that they seek to emulate is determined to a large degree by the changes in the shape of the body, which produce periodic changes in the momentum of the body and the creation and interaction of the vorticity field in the fluid with the body. We demonstrate an underactuated robot which swims due to the periodic changes in the angular momentum of the robot effected by the motion of an internal rotor. The robot is modular, unactuated tail like segments can be easily added to the robot. These segments modulate the interaction of the body with the fluid to produce a variety of passive shape changes that can allow the robot to swim in different modes.

  8. Robots in industry: an overview.

    PubMed

    Edwards, M

    1984-03-01

    Although the introduction of robots into manufacturing technology is a relatively recent phenomenon, there are indications that a rapid increase in the numbers of robots employed in industry is already taking place. Robots may be found in a wide variety of settings, performing a wide range of functions. These functions may be characterised in terms of whether the robot manipulates a tool or handles a workpiece. The human tasks associated with all robot installations are programming and maintenance. Other tasks vary depending on the particular robot application but are likely to fall into one of four categories. The use of robots has implications for safety and it is apparent that greater emphasis than hitherto must be laid on the design and implementation of procedures to ensure safety.

  9. Reinforcement learning for robot control

    NASA Astrophysics Data System (ADS)

    Smart, William D.; Pack Kaelbling, Leslie

    2002-02-01

    Writing control code for mobile robots can be a very time-consuming process. Even for apparently simple tasks, it is often difficult to specify in detail how the robot should accomplish them. Robot control code is typically full of magic numbers that must be painstakingly set for each environment that the robot must operate in. The idea of having a robot learn how to accomplish a task, rather than being told explicitly is an appealing one. It seems easier and much more intuitive for the programmer to specify what the robot should be doing, and let it learn the fine details of how to do it. In this paper, we describe JAQL, a framework for efficient learning on mobile robots, and present the results of using it to learn control policies for simple tasks.

  10. Robotic servicing of EOS instruments

    NASA Technical Reports Server (NTRS)

    Razzaghi, Andrea I.; Juberts, Maris

    1990-01-01

    This paper addresses robotic servicing of the Earth Observing Satellite (EOS) instruments. The goals of implementing a robotic servicing system on EOS would be to maintain the instruments throughout the required mission life and minimize life-cycle costs. To address robot servicing, an initial design concept has been developed which will be applied to a representative EOS instrument. This instrument will be used as a model for determining the most practical level of servicing of its parts, and how to design these parts for robot servicing. Using this representative EOS instrument as a model, a generic design scheme will be developed that can be applied to all EOS instruments. The first task is to determine how to identify which parts must be designed for robot servicing. Next, the requirements imposed on the instruments and the servicing robot when designing for robot serviceability must be examined.

  11. Intelligent Robots for Factory Automation

    NASA Astrophysics Data System (ADS)

    Hall, E. L.; Oh, S. J.

    1985-04-01

    Industrial robots are now proven technology in a variety of applications including welding, materials handling, spray painting, machine loading and assembly. However, to fully realize the potential of these universal manipulators , "intelligence" needs to be added to the industrial robot. This involves adding sensory capability and machine intelligence to the controls. The "intelligence" may be added externally or as integral components of the robot. These new "intelligent robots" promise to greatly enhance the versatility of the robot for factory applications. The purpose of this paper is to present a brief review of the techniques and applications of intelligent robots for factory automation and to suggest possible designs for the intelligent robot of the future.

  12. [Robotic surgery in gynecology].

    PubMed

    Hibner, Michał; Marianowski, Piotr; Szymusik, Iwona; Wielgós, Mirosław

    2012-12-01

    Introduction of robotic surgery in the first decade of the 21 century was one of the biggest breakthroughs in surgery since the introduction of anesthesia. For the first time in history the surgeon was placed remotely from the patient and was able to operate with the device that has more degrees of freedom than human hand. Initially developed for the US Military in order to allow surgeons to be removed from the battlefield, surgical robots quickly made a leap to the mainstream medicine. One of the first surgical uses for the robot was cardiac surgery but it is urology and prostate surgery that gave it a widespread popularity Gynecologic surgeons caught on very quickly and it is estimated that 31% of hysterectomies done in the United States in 2012 will be done robotically. With over half a million hysterectomies done each year in the US alone, gynecologic surgery is one of the main driving forces behind the growth of robotic surgery Other applications in gynecology include myomectomy oophorectomy and ovarian cystectomy resection of endometriosis and lymphadenectomy Advantages of the surgical robot are clearly seen in myomectomy The wrist motion allows for better more precise suturing than conventional "straight stick" laparoscopy The strength of the arms allow for better pulling of the suture and the third arm for holding the suture on tension. Other advantage of the robot is scaling of the movements when big movement on the outside translates to very fine movement on the inside. This enables much more precise surgery and may be important in the procedures like tubal anastomosis and implantation of the ureter Three-dimensional vision provides excellent depth of field perception. It is important for surgeons who are switching from open surgeries and preliminary evidence shows that it may allow for better identification of lesions like endometriosis. Another big advantage of robotics is that the surgeon sits comfortably with his/her arms and head supported. This

  13. Few-layer III-VI and IV-VI 2D semiconductor transistors

    NASA Astrophysics Data System (ADS)

    Sucharitakul, Sukrit; Liu, Mei; Kumar, Rajesh; Sankar, Raman; Chou, Fang C.; Chen, Yit-Tsong; Gao, Xuan

    Since the discovery of atomically thin graphene, a large variety of exfoliable 2D materials have been thoroughly explored for their exotic transport behavior and promises in technological breakthroughs. While most attention on 2D materials beyond graphene is focused on transition metal-dichalcogenides, relatively less attention is paid to layered III-VI and IV-VI semiconductors such as InSe, SnSe etc which bear stronger potential as 2D materials with high electron mobility or thermoelectric figure of merit. We will discuss our recent work on few-layer InSe 2D field effect transistors which exhibit carrier mobility approaching 1000 cm2/Vs and ON-OFF ratio exceeding 107 at room temperature. In addition, the fabrication and device performance of transistors made of mechanically exfoliated multilayer IV-VI semiconductor SnSe and SnSe2 will be discussed.

  14. Cooperative robotics: bringing autonomy to explosive ordnance disposal robots

    NASA Astrophysics Data System (ADS)

    Del Signore, Michael J.; Czop, Andrew; Hacker, Kurt

    2008-04-01

    An ongoing effort within the US Naval EOD Technology Division (NAVEODTECHDIV) is exploring the integration of autonomous robotic technologies onto current and future Explosive Ordnance Disposal (EOD) robot platforms. The Cooperative Robotics program, though the support of the Joint Ground Robotics Enterprise (JGRE), has identified several autonomous robotic technologies useful to the EOD operator, and with the collaboration of academia and industry is in the process of bringing these technologies to EOD robot operators in the field. Initiated in January 2007, the Cooperative Robotics program includes the demonstration of various autonomous technologies to the EOD user community, and the optimization of these technologies for use on small EOD Unmanned Ground Vehicles (UGVs) in relevant environments. Through close interaction with actual EOD operators, these autonomous behaviors will be designed to work within the bounds of current EOD Tactics, Techniques, and Procedures (TTP). This paper will detail the ongoing and future efforts encompassing the Cooperative Robotics program including: technology demonstrations of autonomous robotic capabilities, development of autonomous capability requirements based on user focus groups, optimization of autonomous UGV behaviors to enable use in relevant environments based on current EOD TTP, and finally the transition of these technologies to current and future EOD robotic systems.

  15. New frontiers for psychology and education: robotics.

    PubMed

    Caci, Barbara; D'Amico, Antonella; Cardaci, Maurizio

    2004-06-01

    The paper reviews the first attempts to study the educational and psychological usefulness of robotics: (1) the social and cooperative dimensions involved in the robot-building activities; (2) the reasoning strategies implied in building and programming robots; (3) the influences of robotics on mathematical and scientific achievement; (4) the use of robotics in modification of social skills of autistic children.

  16. Role of anions and reaction conditions in the preparation of uranium(VI), neptunium(VI), and plutonium(VI) borates.

    PubMed

    Wang, Shuao; Villa, Eric M; Diwu, Juan; Alekseev, Evgeny V; Depmeier, Wulf; Albrecht-Schmitt, Thomas E

    2011-03-21

    U(VI), Np(VI), and Pu(VI) borates with the formula AnO(2)[B(8)O(11)(OH)(4)] (An = U, Np, Pu) have been prepared via the reactions of U(VI) nitrate, Np(VI) perchlorate, or Pu(IV) or Pu(VI) nitrate with molten boric acid. These compounds are all isotypic and consist of a linear actinyl(VI) cation, AnO(2)(2+), surrounded by BO(3) triangles and BO(4) tetrahedra to create an AnO(8) hexagonal bipyramidal environment. The actinyl bond lengths are consistent with actinide contraction across this series. The borate anions bridge between actinyl units to create sheets. Additional BO(3) triangles and BO(4) tetrahedra extend from the polyborate layers and connect these sheets together to form a three-dimensional chiral framework structure. UV-vis-NIR absorption and fluorescence spectroscopy confirms the hexavalent oxidation state in all three compounds. Bond-valence parameters are developed for Np(VI).

  17. Role of Anions and Reaction Conditions in the Preparation of Uranium(VI), Neptunium(VI), and Plutonium(VI) Borates

    SciTech Connect

    none,

    2011-02-03

    U(VI), Np(VI), and Pu(VI) borates with the formula AnO2[B8O11(OH)4] (An = U, Np, Pu) have been prepared via the reactions of U(VI) nitrate, Np(VI) perchlorate, or Pu(IV) or Pu(VI) nitrate with molten boric acid. These compounds are all isotypic and consist of a linear actinyl(VI) cation, AnO22+, surrounded by BO3 triangles and BO4 tetrahedra to create an AnO8 hexagonal bipyramidal environment. The actinyl bond lengths are consistent with actinide contraction across this series. The borate anions bridge between actinyl units to create sheets. Additional BO3 triangles and BO4 tetrahedra extend from the polyborate layers and connect these sheets together to form a three-dimensional chiral framework structure. UV-vis-NIR absorption and fluorescence spectroscopy confirms the hexavalent oxidation state in all three compounds. Bond-valence parameters are developed for Np(VI).

  18. Savannah River Site Robotics

    SciTech Connect

    2010-01-01

    Meet Sandmantis and Frankie, two advanced robotic devices that are key to cleanup at Savannah River Site. Sandmantis cleans hard, residual waste off huge underground storage tanks. Frankie is equipped with unique satellite capabilities and sensing abilties that can determine what chemicals still reside in the tanks in a cost effective manner.

  19. MRV - Modular Robotic Vehicle

    NASA Technical Reports Server (NTRS)

    Ridley, Justin; Bluethmann, Bill

    2015-01-01

    The Modular Robotic Vehicle, or MRV, completed in 2013, was developed at the Johnson Space Center in order to advance technologies which have applications for future vehicles both in space and on Earth. With seating for two people, MRV is a fully electric vehicle modeled as a "city car", suited for busy urban environments.

  20. Savannah River Site Robotics

    ScienceCinema

    None

    2016-07-12

    Meet Sandmantis and Frankie, two advanced robotic devices that are key to cleanup at Savannah River Site. Sandmantis cleans hard, residual waste off huge underground storage tanks. Frankie is equipped with unique satellite capabilities and sensing abilties that can determine what chemicals still reside in the tanks in a cost effective manner.

  1. Artificial intelligence and robotics

    SciTech Connect

    Peden, I.C.; Braddock, J.V.; Brown, W.; Langendorf, R.M.

    1982-09-01

    This report examines the state-of-the-art in artificial intelligence and robotics technologies and their potential in terms of Army needs. Assessment includes battlefield technology, research and technology insertions, management considerations and recommendations related to research and development personnel, and recommendations regarding the Army's involvement in the automated plant.

  2. Brain controlled robots.

    PubMed

    Kawato, Mitsuo

    2008-06-01

    In January 2008, Duke University and the Japan Science and Technology Agency (JST) publicized their successful control of a brain-machine interface for a humanoid robot by a monkey brain across the Pacific Ocean. The activities of a few hundred neurons were recorded from a monkey's motor cortex in Miguel Nicolelis's lab at Duke University, and the kinematic features of monkey locomotion on a treadmill were decoded from neural firing rates in real time. The decoded information was sent to a humanoid robot, CB-i, in ATR Computational Neuroscience Laboratories located in Kyoto, Japan. This robot was developed by the JST International Collaborative Research Project (ICORP) as the "Computational Brain Project." CB-i's locomotion-like movement was video-recorded and projected on a screen in front of the monkey. Although the bidirectional communication used a conventional Internet connection, its delay was suppressed below one over several seconds, partly due to a video-streaming technique, and this encouraged the monkey's voluntary locomotion and influenced its brain activity. This commentary introduces the background and future directions of the brain-controlled robot.

  3. Information Robots and Manipulators.

    ERIC Educational Resources Information Center

    Katys, G. P.; And Others

    In the modern concept a robot is a complex automatic cybernetics system capable of executing various operations in the sphere of human activity and in various respects combining the imitative capacity of the physical and mental activity of man. They are a class of automatic information systems intended for search, collection, processing, and…

  4. Space robot simulator vehicle

    NASA Technical Reports Server (NTRS)

    Cannon, R. H., Jr.; Alexander, H.

    1985-01-01

    A Space Robot Simulator Vehicle (SRSV) was constructed to model a free-flying robot capable of doing construction, manipulation and repair work in space. The SRSV is intended as a test bed for development of dynamic and static control methods for space robots. The vehicle is built around a two-foot-diameter air-cushion vehicle that carries batteries, power supplies, gas tanks, computer, reaction jets and radio equipment. It is fitted with one or two two-link manipulators, which may be of many possible designs, including flexible-link versions. Both the vehicle body and its first arm are nearly complete. Inverse dynamic control of the robot's manipulator has been successfully simulated using equations generated by the dynamic simulation package SDEXACT. In this mode, the position of the manipulator tip is controlled not by fixing the vehicle base through thruster operation, but by controlling the manipulator joint torques to achieve the desired tip motion, while allowing for the free motion of the vehicle base. One of the primary goals is to minimize use of the thrusters in favor of intelligent control of the manipulator. Ways to reduce the computational burden of control are described.

  5. Robot Serviced Space Facility

    NASA Technical Reports Server (NTRS)

    Purves, Lloyd R. (Inventor)

    1992-01-01

    A robot serviced space facility includes multiple modules which are identical in physical structure, but selectively differing in function. and purpose. Each module includes multiple like attachment points which are identically placed on each module so as to permit interconnection with immediately adjacent modules. Connection is made through like outwardly extending flange assemblies having identical male and female configurations for interconnecting to and locking to a complementary side of another flange. Multiple rows of interconnected modules permit force, fluid, data and power transfer to be accomplished by redundant circuit paths. Redundant modules of critical subsystems are included. Redundancy of modules and of interconnections results in a space complex with any module being removable upon demand, either for module replacement or facility reconfiguration. without eliminating any vital functions of the complex. Module replacement and facility assembly or reconfiguration are accomplished by a computer controlled articulated walker type robotic manipulator arm assembly having two identical end-effectors in the form of male configurations which are identical to those on module flanges and which interconnect to female configurations on other flanges. The robotic arm assembly moves along a connected set or modules by successively disconnecting, moving and reconnecting alternate ends of itself to a succession of flanges in a walking type maneuver. To transport a module, the robot keeps the transported module attached to one of its end-effectors and uses another flange male configuration of the attached module as a substitute end-effector during walking.

  6. [Radical prostatectomy - pro robotic].

    PubMed

    Gillitzer, R

    2012-05-01

    Anatomical radical prostatectomy was introduced in the early 1980s by Walsh and Donker. Elucidation of key anatomical structures led to a significant reduction in the morbidity of this procedure. The strive to achieve similar oncological and functional results to this gold standard open procedure but with further reduction of morbidity through a minimally invasive access led to the establishment of laparoscopic prostatectomy. However, this procedure is complex and difficult and is associated with a long learning curve. The technical advantages of robotically assisted surgery coupled with the intuitive handling of the device led to increased precision and shortening of the learning curve. These main advantages, together with a massive internet presence and aggressive marketing, have resulted in a rapid dissemination of robotic radical prostatectomy and an increasing patient demand. However, superiority of robotic radical prostatectomy in comparison to the other surgical therapeutic options has not yet been proven on a scientific basis. Currently robotic-assisted surgery is an established technique and future technical improvements will certainly further define its role in urological surgery. In the end this technical innovation will have to be balanced against the very high purchase and running costs, which remain the main limitation of this technology.

  7. Autonomous Robot Skill Acquisition

    DTIC Science & Technology

    2011-05-01

    Research. ix ABSTRACT AUTONOMOUS ROBOT SKILL ACQUISITION MAY 2011 GEORGE DIMITRI KONIDARIS B.Sc., UNIVERSITY OF THE WITWATERSRAND B.Sc. Hons., UNIVERSITY...OF THE WITWATERSRAND M.Sc., UNIVERSITY OF EDINBURGH Ph.D., UNIVERSITY OF MASSACHUSETTS AMHERST Directed by: Professor Andrew G. Barto Among the most

  8. Robots in the Kindergarten.

    ERIC Educational Resources Information Center

    Keller, Joan; Shanahan, Dolores

    1983-01-01

    Describes work with kindergarten children to improve their development of estimation, decision making, divergent thinking, directionality, numerical concepts, and creative problem solving skills through learning to program and control the robot Big Trak, a truck which moves along the floor in response to their commands. (EAO)

  9. Robotic surgery in gynecology.

    PubMed

    Alkatout, Ibrahim; Mettler, Liselotte; Maass, Nicolai; Ackermann, Johannes

    2016-01-01

    Robotic surgery is the most dynamic development in the sector of minimally invasive operations currently. It should not be viewed as an alternative to laparoscopy, but as the next step in a process of technological evolution. The advancement of robotic surgery, in terms of the introduction of the Da Vinci Xi, permits the variable use of optical devices in all four trocars. Due to the new geometry of the "patient cart," an operation can be performed in all spatial directions without re-docking. Longer instruments and the markedly narrower mechanical elements of the "patient cart" provide greater flexibility as well as access similar to those of traditional laparoscopy. Currently, robotic surgery is used for a variety of indications in the treatment of benign gynecological diseases as well as malignant ones. Interdisciplinary cooperation and cooperation over large geographical distances have been rendered possible by telemedicine, and will ensure comprehensive patient care in the future by highly specialized surgery teams. In addition, the second operation console and the operation simulator constitute a new dimension in advanced surgical training. The disadvantages of robotic surgery remain the high costs of acquisition and maintenance as well as the laborious training of medical personnel before they are confident with using the technology.

  10. Robot Manipulator Control.

    DTIC Science & Technology

    1983-03-07

    This report presents a synthetic approach for calculating the control of robot manipulators. The initial control problem is broken down into linear ... control and modelling problems. The approach allows derivation of numerous schemes (adaptive or not) of control proposed in the literature and suggests

  11. Emotions in robot psychology.

    PubMed

    Nitsch, V; Popp, M

    2014-10-01

    In his famous thought experiments on synthetic vehicles, Valentino Braitenberg stipulated that simple stimulus-response reactions in an organism could evoke the appearance of complex behavior, which, to the unsuspecting human observer, may even appear to be driven by emotions such as fear, aggression, and even love (Braitenberg, Vehikel. Experimente mit künstlichen Wesen, Lit Verlag, 2004). In fact, humans appear to have a strong propensity to anthropomorphize, driven by our inherent desire for predictability that will quickly lead us to discern patterns, cause-and-effect relationships, and yes, emotions, in animated entities, be they natural or artificial. But might there be reasons, that we should intentionally "implement" emotions into artificial entities, such as robots? How would we proceed in creating robot emotions? And what, if any, are the ethical implications of creating "emotional" robots? The following article aims to shed some light on these questions with a multi-disciplinary review of recent empirical investigations into the various facets of emotions in robot psychology.

  12. Robotic and Survey Telescopes

    NASA Astrophysics Data System (ADS)

    Woźniak, Przemysław

    Robotic telescopes are revolutionizing the way astronomers collect their dataand conduct sky surveys. This chapter begins with a discussion of principles thatguide the process of designing, constructing, and operating telescopes andobservatories that offer a varying degree of automation, from instruments remotelycontrolled by observers to fully autonomous systems requiring no humansupervision during their normal operations. Emphasis is placed on designtrade-offs involved in building end-to-end systems intended for a wide range ofscience applications. The second part of the chapter contains descriptions ofseveral projects and instruments, both existing and currently under development.It is an attempt to provide a representative selection of actual systems thatillustrates state of the art in technology, as well as important ideas and milestonesin the development of the field. The list of presented instruments spans the fullrange in size starting from small all-sky monitors, through midrange robotic andsurvey telescopes, and finishing with large robotic instruments and surveys.Explosive growth of telescope networking is enabling entirely new modesof interaction between the survey and follow-up observing. Increasingimportance of standardized communication protocols and software is stressed.These developments are driven by the fusion of robotic telescope hardware,massive storage and databases, real-time knowledge extraction, and datacross-correlation on a global scale. The chapter concludes with examplesof major science results enabled by these new technologies and futureprospects.

  13. Industrial robot's vision systems

    NASA Astrophysics Data System (ADS)

    Iureva, Radda A.; Raskin, Evgeni O.; Komarov, Igor I.; Maltseva, Nadezhda K.; Fedosovsky, Michael E.

    2016-03-01

    Due to the improved economic situation in the high technology sectors, work on the creation of industrial robots and special mobile robotic systems are resumed. Despite this, the robotic control systems mostly remained unchanged. Hence one can see all advantages and disadvantages of these systems. This is due to lack of funds, which could greatly facilitate the work of the operator, and in some cases, completely replace it. The paper is concerned with the complex machine vision of robotic system for monitoring of underground pipelines, which collects and analyzes up to 90% of the necessary information. Vision Systems are used to identify obstacles to the process of movement on a trajectory to determine their origin, dimensions and character. The object is illuminated in a structured light, TV camera records projected structure. Distortions of the structure uniquely determine the shape of the object in view of the camera. The reference illumination is synchronized with the camera. The main parameters of the system are the basic distance between the generator and the lights and the camera parallax angle (the angle between the optical axes of the projection unit and camera).

  14. Linearization of Robot Manipulators

    NASA Technical Reports Server (NTRS)

    Kreutz, Kenneth

    1987-01-01

    Four nonlinear control schemes equivalent. Report discusses theory of nonlinear feedback control of robot manipulator, emphasis on control schemes making manipulator input and output behave like decoupled linear system. Approach, called "exact external linearization," contributes efforts to control end-effector trajectories, positions, and orientations.

  15. Robotic surgery in gynecology

    PubMed Central

    Alkatout, Ibrahim; Mettler, Liselotte; Maass, Nicolai; Ackermann, Johannes

    2016-01-01

    Robotic surgery is the most dynamic development in the sector of minimally invasive operations currently. It should not be viewed as an alternative to laparoscopy, but as the next step in a process of technological evolution. The advancement of robotic surgery, in terms of the introduction of the Da Vinci Xi, permits the variable use of optical devices in all four trocars. Due to the new geometry of the “patient cart,” an operation can be performed in all spatial directions without re-docking. Longer instruments and the markedly narrower mechanical elements of the “patient cart” provide greater flexibility as well as access similar to those of traditional laparoscopy. Currently, robotic surgery is used for a variety of indications in the treatment of benign gynecological diseases as well as malignant ones. Interdisciplinary cooperation and cooperation over large geographical distances have been rendered possible by telemedicine, and will ensure comprehensive patient care in the future by highly specialized surgery teams. In addition, the second operation console and the operation simulator constitute a new dimension in advanced surgical training. The disadvantages of robotic surgery remain the high costs of acquisition and maintenance as well as the laborious training of medical personnel before they are confident with using the technology. PMID:27990092

  16. Mathematics and "Lego" Robots

    ERIC Educational Resources Information Center

    Hansen, Janus Halkier; Traeholt, Rune

    2007-01-01

    For the last four years, Soenderholm School, near the town of Aalborg, Northjutland, Denmark, has had an optional subject in the seventh grade called First "Lego" League (FLL). FLL is an international contest which aims to advance pupils' scientific interest. The task is for participants to build and program a "Lego" robot able…

  17. Robotic Water Blast Cleaner

    NASA Technical Reports Server (NTRS)

    Sharpe, M. H.; Roberts, M. L.; Hill, W. E.; Jackson, C. H.

    1983-01-01

    Water blasting system under development removes hard, dense, extraneous material from surfaces. High pressure pump forces water at supersonic speed through nozzle manipulated by robot. Impact of water blasts away unwanted material from workpiece rotated on air bearing turntable. Designed for removing thermal-protection material, system is adaptable to such industrial processes as cleaning iron or steel castings.

  18. Robotic Firefighting Technologies

    DTIC Science & Technology

    2010-12-01

    designed to strap to the firefighter’s waist line; the ergonomic fit provides comfort to the operator during use of the Fire Defender UFV. Robotic...5 3.2. Technical Design Approach .................................................................................................7...3.2.1. System Design Modification................................................................................................7 3.3. System

  19. Soldier universal robot controller

    NASA Astrophysics Data System (ADS)

    Hyams, Jeffrey; Batavia, Parag; Liao, Elizabeth; Somerville, Andrew

    2008-04-01

    The Soldier Universal Robot Controller (SURC) is a modular OCU designed for simultaneous control of heterogeneous unmanned vehicles. It has a well defined, published API., defined using XML schemas, that allows other potential users of the system to develop their own modules for rapid integration with SURC. The SURC architecture is broken down into three layers: User Interface, Core Functions, and Transport. The User Interface layer is the front end module which provides the human computer interface for user control of robots. The Core layer is further divided into the following modules: Capabilities, Tactical, Mobility, and World Model. The Capabilities module keeps track of the known robots and provides a list of specifications and services. The Mobility module provides path planning via D*, while the Tactical module provides higher level mission planning (multi-agent/multi-mission) capabilities for collaborative operations. The World Model module is a relational database which stores world model objects. Finally, a Transport module provides translation from the SURC architecture to the robot specific messaging protocols (such as JAUS). This allows fast integration of new robot protocols into an existing SURC implementation to enable a new system to rapidly leverage existing SURC capabilities. The communication between different modules within the SURC architecture is done via XML. This gives developers and users the flexibility to extend existing messages without breaking backwards compatibility. The modularity of SURC offers users and developers alike the capability to create custom modules and plug them into place, as long as they follow the pre defined messaging API for that module.

  20. Robotic Rock Classification

    NASA Technical Reports Server (NTRS)

    Hebert, Martial

    1999-01-01

    This report describes a three-month research program undertook jointly by the Robotics Institute at Carnegie Mellon University and Ames Research Center as part of the Ames' Joint Research Initiative (JRI.) The work was conducted at the Ames Research Center by Mr. Liam Pedersen, a graduate student in the CMU Ph.D. program in Robotics under the supervision Dr. Ted Roush at the Space Science Division of the Ames Research Center from May 15 1999 to August 15, 1999. Dr. Martial Hebert is Mr. Pedersen's research adviser at CMU and is Principal Investigator of this Grant. The goal of this project is to investigate and implement methods suitable for a robotic rover to autonomously identify rocks and minerals in its vicinity, and to statistically characterize the local geological environment. Although primary sensors for these tasks are a reflection spectrometer and color camera, the goal is to create a framework under which data from multiple sensors, and multiple readings on the same object, can be combined in a principled manner. Furthermore, it is envisioned that knowledge of the local area, either a priori or gathered by the robot, will be used to improve classification accuracy. The key results obtained during this project are: The continuation of the development of a rock classifier; development of theoretical statistical methods; development of methods for evaluating and selecting sensors; and experimentation with data mining techniques on the Ames spectral library. The results of this work are being applied at CMU, in particular in the context of the Winter 99 Antarctica expedition in which the classification techniques will be used on the Nomad robot. Conversely, the software developed based on those techniques will continue to be made available to NASA Ames and the data collected from the Nomad experiments will also be made available.

  1. Uranium(VI) Diffusion in Low-Permeability Subsurface Materials

    SciTech Connect

    Liu, Chongxuan; Zhong, Lirong; Zachara, John M.

    2010-01-01

    Uranium(VI) diffusion was investigated in a fine-grained saprolite sediment that was collected from U.S. Department of Energy (DOE) Oak Ridge site, TN, where uranium contamination in groundwater is a major environmental concern. U(VI) diffusion was studied in a diffusion cell with one cell end in contact with a large, air-equilibrated electrolyte reservoir. The pH, carbonate and U(VI) concentrations in the reservoir solution were varied to investigate the effect of solution chemical composition and uranyl speciation on U(VI) diffusion. The rates of U(VI) diffusion were evaluated by monitoring the U(VI) concentration in the reservoir solution as a function of time; and by measuring the total concentration of U(VI) extracted from the sediment as a function of time and distance in the diffusion cells. The estimated apparent rate of U(VI) diffusion varied significantly with pH with the slowest rate observed at pH 7 as a result of strong adsorptive retardation. The estimated retardation factor was generally consistent with a surface complexation model. Numerical simulations indicated that a species-based diffusion model that incorporated both aqueous and surface complexation reactions was required to describe U(VI) diffusion in the low permeability material under variable geochemical conditions. Our results implied that low permeability materials will play an important role in storing U(VI) and attenuating U(VI) plume migration at circumneutral pH conditions, and will serve as a long-term source for releasing U(VI) back to the nearby aquifer during and after aquifer decontamination.

  2. Semiconductors A(III)B(VI): Translation

    NASA Astrophysics Data System (ADS)

    Akhundov, G. A.; Abdullaev, G. B.; Guseynov, G. D.; Mekhtiyev, R. F.; Aliyeva, M. Kh.

    1993-11-01

    Semiconductors A(III) B(VI) crystallize in laminated or chain structures and contain nine valence electrons in each molecule. Connection in the layers and the chains is predominantly covalent, and Van der Waal between the layers and the chains. Calculated data of the energy spectrum of these compounds are absent, and the available experimental studies are insufficient for understanding of the zone structures. We have obtained and studied single crystals of GaS, GaSe, GaTe, InSe, and TiSe.

  3. ViSC Social Competence Program.

    PubMed

    Strohmeier, Dagmar; Hoffmann, Christine; Schiller, Eva-Maria; Stefanek, Elisabeth; Spiel, Christiane

    2012-01-01

    The ViSC Social Competence Program has been implemented in Austrian schools within the scope of a national strategy plan, Together Against Violence. The program is a primary preventive program designed for grades 5 to 8. The prevention of aggression and bullying is defined as a school development task, and the initial implementation of the program lasts one school year. The program consists of universal and specific actions that are implemented through in-school teacher training and a class project for students. The program was evaluated with a randomized intervention control group design. Data were collected from teachers and students. Results suggest that the program reduces aggression in schools.

  4. Vič Goes to Near Space

    NASA Astrophysics Data System (ADS)

    Merhar, Vida Kariž; Capuder, Rok; Maroševič, Timotej; Artač, Sonja; Mozer, Alenka; Štekovič, Maja

    2016-11-01

    In the school year 2012-2013 about 50 students (Fig. 1), managed by mentors (teachers from the middle school Gimnazija Vič in Ljubljana, Slovenia) created an atmospheric probe and launched it into an altitude of more than 30 km above Earth's surface. The aim of this "space expedition" was to take pictures of Earth and to measure how air pressure, the temperature, CO2 and O2 concentrations, the level of UVA and UVB radiation, and the amount of light change with altitude. There was also a yeast sample placed inside and outside of the probe. Here we report on some of the successes and failures of this endeavor.

  5. Robots hooked on drugs. Robotic automation expands pharmacy services.

    PubMed

    Marietti, C

    1997-11-01

    Hospitals are not known for automating labor-intensive tasks but robots are just beginning to make inroads in health-care. The first--and still only--robot grew from a class assignment to use an established technology in a new growth industry. The established technology was bar coding; the industry health-care; and the result a robotic device for the hospital pharmacy.

  6. Coordinated Control Of Mobile Robotic Manipulators

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun

    1995-01-01

    Computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Applicable to variety of mobile robotic manipulators, including robots that move along tracks (typically, painting and welding robots), robots mounted on gantries and capable of moving in all three dimensions, wheeled robots, and compound robots (consisting of robots mounted on other robots). Theoretical basis discussed in several prior articles in NASA Tech Briefs, including "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes With Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).

  7. Cr(VI) reduction in continuous-flow coculture bioreactor

    SciTech Connect

    Wang, Y.T.; Chirwa, E.M.; Shen, H.

    2000-04-01

    A continuous-flow coculture bioreactor with a phenol-degrading organism, Pseudomonas putida DMP-1, and a Cr(VI)-reducing species, Escherichia coli ATCC 33456, was developed for simultaneous removal of phenol and Cr(VI). Phenol was the sole energy and carbon source added to the coculture along with a basal medium and hexavalent chromium. The coculture bioreactor was operated under three liquid detention times (0.20, 0.31, and 0.52 days) with phenol and Cr(VI) loadings ranging from 2,500 to 8,200 mg/L/day and 4.5-33.2 mg/L/day, respectively. After 279 days of continuous operation, eight quasi-steady-state operation conditions were obtained with near complete removal of phenol and Cr(VI). Elevated levels of Cr(VI) and phenol were observed in the effluent under a high influent Cr(VI) concentration (16 mg/L) or a short liquid detention time (0.20 days). The system recovered from Cr(VI) toxicity after influent Cr(VI) level was reduced. Chromium mass balance analysis revealed that nearly all of the influent Cr(VI) was reduced to Cr(III) in the coculture bioreactor through biological activity. Spectra of UV-Vis and mass spectrometers suggested that phenol metabolites produced by P. putida were utilized by E. coli.

  8. Reductive immobilization of uranium(VI) by amorphous iron sulfide.

    PubMed

    Hua, Bin; Deng, Baolin

    2008-12-01

    Batch experiments were used to evaluate the reductive immobilization of hexavalent uranium (U(VI)) by synthesized, amorphous iron sulfide (FeS) in the anoxic environment. The tests were initiated by spiking 168.0 microM U(VI) to 0.18 g/L FeS suspensions under a CO2-free condition with pH varied from 5.99 to 10.17. The immobilization rate of U(VI) was determined by monitoring the changes of aqueous U(VI) concentration, and the reduction rate of U(VI) associated with FeS was determined by the difference between the total spiked U(VI) and the extractable amount of U(VI) by 25 mM NaHCO3 solution. The results showed that a rapid removal of U(VI) from the aqueous phase occurred within 1 h under all pH conditions accompanied by a simultaneous release of Fe(ll), whereas the reduction of U(VI) associated with FeS took hours to over a week for completion. The reduction rate was greatly increased with decreasing pH within the examined pH range. Product analysis by X-ray photoelectron spectroscopy showed the formation of U3O8/4O9/UO2, polysulfide, and ferric iron.

  9. Interactive autonomy and robotic skills

    NASA Technical Reports Server (NTRS)

    Kellner, A.; Maediger, B.

    1994-01-01

    Current concepts of robot-supported operations for space laboratories (payload servicing, inspection, repair, and ORU exchange) are mainly based on the concept of 'interactive autonomy' which implies autonomous behavior of the robot according to predefined timelines, predefined sequences of elementary robot operations and within predefined world models supplying geometrical and other information for parameter instantiation on the one hand, and the ability to override and change the predefined course of activities by human intervention on the other hand. Although in principle a very powerful and useful concept, in practice the confinement of the robot to the abstract world models and predefined activities appears to reduce the robot's stability within real world uncertainties and its applicability to non-predefined parts of the world, calling for frequent corrective interaction by the operator, which in itself may be tedious and time-consuming. Methods are presented to improve this situation by incorporating 'robotic skills' into the concept of interactive autonomy.

  10. Survey of robot lawn mowers

    NASA Astrophysics Data System (ADS)

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

    2000-10-01

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

  11. Virtual robotics laboratory for research

    NASA Astrophysics Data System (ADS)

    McKee, Gerard T.

    1995-09-01

    We report on work currently underway to put a robotics laboratory onto the Internet in support of teaching and research in robotics and artificial intelligence in higher education institutions in the UK. The project is called Netrolab. The robotics laboratory comprises a set of robotics resources including a manipulator, a mobile robot with an on-board monocular active vision head and a set of sonar sensing modules, and a set of laboratory cameras to allow the user to see into the laboratory. The paper will report on key aspect of the project aimed at using multimedia tools and object-oriented techniques to network the robotics resources and to allow them to be configured into complex teaching and experimental modules. The paper will outline both the current developments of Netrolab and provide a perspective on the future development of networked virtual laboratories for research.

  12. Robotic Surgery in Gynecologic Oncology

    PubMed Central

    DeBernardo, Robert; Starks, David; Barker, Nichole; Armstrong, Amy; Kunos, Charles A.

    2011-01-01

    Robotic surgery for the management of gynecologic cancers allows for minimally invasive surgical removal of cancer-bearing organs and tissues using sophisticated surgeon-manipulated, robotic surgical instrumentation. Early on, gynecologic oncologists recognized that minimally invasive surgery was associated with less surgical morbidity and that it shortened postoperative recovery. Now, robotic surgery represents an effective alternative to conventional laparotomy. Since its widespread adoption, minimally invasive surgery has become an option not only for the morbidly obese but for women with gynecologic malignancy where conventional laparotomy has been associated with significant morbidity. As such, this paper considers indications for robotic surgery, reflects on outcomes from initial robotic surgical outcomes data, reviews cost efficacy and implications in surgical training, and discusses new roles for robotic surgery in gynecologic cancer management. PMID:22190946

  13. Robot computer problem solving system

    NASA Technical Reports Server (NTRS)

    Merriam, E. W.; Becker, J. D.

    1973-01-01

    A robot computer problem solving system which represents a robot exploration vehicle in a simulated Mars environment is described. The model exhibits changes and improvements made on a previously designed robot in a city environment. The Martian environment is modeled in Cartesian coordinates; objects are scattered about a plane; arbitrary restrictions on the robot's vision have been removed; and the robot's path contains arbitrary curves. New environmental features, particularly the visual occlusion of objects by other objects, were added to the model. Two different algorithms were developed for computing occlusion. Movement and vision capabilities of the robot were established in the Mars environment, using LISP/FORTRAN interface for computational efficiency. The graphical display program was redesigned to reflect the change to the Mars-like environment.

  14. 2013 Robotics Science & Systems Conference Travel Support

    DTIC Science & Technology

    2015-01-21

    SECURITY CLASSIFICATION OF: The 2013 Robotics : Science and Systems Conference will bring together researchers working on algorithmic or mathematical...foundations of robotics , robotics applications, and analysis of robotic systems. High quality, original papers are solicited in all areas of robotics ...conference will be single track to allow attendees an opportunity to experience the best research in all areas of robotics . The program will include

  15. Study Tour of Industrial Robots in Japan.

    DTIC Science & Technology

    1979-08-01

    robots in Japanese manufacturing industry. Visits to fourteen organizations are described of which some seven were engaged in the design and manufacture of... robots as well as in their application. The majority of robots seen were engaged in spot-welding and arc-welding applications, although it was...these appear to be classified as robots when statistics are presented in Japan. No intelligent robots were seen, and very few programmable numerically controlled robot controllers were in evidence. (Author)

  16. State Estimation for Humanoid Robots

    DTIC Science & Technology

    2015-07-01

    natural for a controller to produce force commands to the robot using inverse dynamics. Model based control and state estimation relies on the accuracy of...produce force commands to the robot using inverse dynamics. Model based control and state estimation relies on the accuracy of the model. We address the...natural for a controller to produce force commands to the robot using inverse dynamics. Model based control and state estimation relies on the accuracy of

  17. Task-Level Robot Learning

    DTIC Science & Technology

    1988-08-01

    Massachusetts Institute of Techonology 1988 Accession For *JTIS GRA&I DTIC TAB Unanlounced fl Just ificatlon By _, Dntribut Ion/- Ava il.,blity Codes Avail...Cartesian coordinates to the sensor system. In a different context, the stereo vision model of a mobile robot [Brooks, Flynn, and Marill 1987] is...A.M. Flynn, and T. Marill, "Self-Calibration of Motion and Stereo Vision for Mobile Robots", Fourth Intl. Symposium on Robotics Research, (Santa Cruz

  18. Evaluating Autonomous Ground-Robots

    DTIC Science & Technology

    2012-06-14

    executed o Time taken for computation of hazard detection (did robots ‘stop to think ’) o Number and nature of obstacles detected, avoided, etc o...Evaluating Autonomous Ground- Robots Anthony Finn 1 , Adam Jacoff 2 , Mike Del Rose 3 , Bob Kania 3 , Udam Silva 4 and Jon Bornstein 5...Abstract The robotics community benefits from common test methods and metrics of performance to focus their research. As a result, many performance

  19. Joint Center for Robotics (JCR)

    DTIC Science & Technology

    2008-04-15

    Unclassified 1 Joint Center for Robotics (JCR) Dr. Jim Overholt 15 April 2008 DISTRIBUTION STATEMENT A. Approved for public release; distribution is...REPORT DATE APR 2008 2. REPORT TYPE N/A 3. DATES COVERED - 4. TITLE AND SUBTITLE Joint Center for Robotics (JCR) 5a. CONTRACT NUMBER 5b. GRANT...ANSI Std Z39-18 Unclassified 2 TARDEC JCR Robotics CAST Projects & Cells “White Hat” Organization - Understand the needs of the user and create

  20. Perception and Perspective in Robotics

    DTIC Science & Technology

    2003-01-01

    Perception and Perspective in Robotics Paul Fitzpatrick (paulfitz@ai.mit.edu) MIT Artificial Intelligence Laboratory, Cambridge, MA 02139 USA...Abstract To a robot , the world is a sea of ambiguity, in which it will -t;. sink or swim depending on the robustness of its percep- 4Ey (1 Fa_0 tual...abilities. But robust machine perception has proven (3 Dx•) (IS DOF9) difficult to achieve. This paper argues that robots must be given not just particular

  1. Military Robotics and Collateral Damage

    DTIC Science & Technology

    2004-06-01

    Applications and Operations Military Robotics and Collateral Damage Robert Douglass (Primary POC) SET Associates 3811 N. Fairfax...2004 4. TITLE AND SUBTITLE Military Robotics and Collateral Damage 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S...Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18 Abstract We explore a concept of a combined force of air and ground combat robots

  2. Autonomous Realtime Threat-Hunting Robot (ARTHR

    ScienceCinema

    INL

    2016-07-12

    Idaho National Laboratory researchers developed an intelligent plug-and-play robot payload that transforms commercial robots into effective first responders for deadly chemical, radiological and explosive threats.

  3. Autonomous Realtime Threat-Hunting Robot (ARTHR

    SciTech Connect

    INL

    2008-05-29

    Idaho National Laboratory researchers developed an intelligent plug-and-play robot payload that transforms commercial robots into effective first responders for deadly chemical, radiological and explosive threats.

  4. Students Learn About Station Robotics

    NASA Video Gallery

    From NASA's International Space Station Mission Control Center, Robotics Systems Flight Controller Jason Dyer participates in a Digital Learning Network (DLN) event with students at East Stroudsber...

  5. Robotic Booking Of Coolant Tubes

    NASA Technical Reports Server (NTRS)

    Wagner, Garret E.; Gutow, David A.; Gilbert, Jeffrey L.; Deily, David C.

    1994-01-01

    Robotic tube-booking subsystem proposed for use in automated manufacturing cell described in "Robotic Processing of Rocket-Engine Nozzles" (MFS-29927). Includes electric or pneumatic end effector that inspects gaps under guidance of control processor connected to robotic vision subsystem. After inspecting each gap, end effector books tubes in vicinity, then reinspects to ensure attainment of desired gap. Makes entire tube-gap area brazeable, without damage to tubes, with consistent results. In addition, robotic booking takes less time and costs less than manual booking.

  6. Utility robotic planning: case studies

    SciTech Connect

    Roman, H.T.; Travato, S.A.; Irving, T.L.; Patnaude, L.G.

    1986-03-01

    Currently, the utility use of robotic devices is most appropriate in nuclear power plants. Four utilities are currently approaching the task of robotic applications. The planning program of each of the utilities is discussed. The following similarities of approach are noted: Plant operating personnel are surveyed for application ideas, and a company task force is established involving these personnel to determine specific application needs and cost-benefit. The state-of-the-art of various robotic devices is evaluated and selected equipment is tested in existing plants. The robotic experience gained from nuclear plant applications is extended to other non-nuclear areas. 2 figures, 1 table.

  7. ARIES NDA Robot operators` manual

    SciTech Connect

    Scheer, N.L.; Nelson, D.C.

    1998-05-01

    The ARIES NDA Robot is an automation device for servicing the material movements for a suite of Non-destructive assay (NDA) instruments. This suite of instruments includes a calorimeter, a gamma isotopic system, a segmented gamma scanner (SGS), and a neutron coincidence counter (NCC). Objects moved by the robot include sample cans, standard cans, and instrument plugs. The robot computer has an RS-232 connection with the NDA Host computer, which coordinates robot movements and instrument measurements. The instruments are expected to perform measurements under the direction of the Host without operator intervention. This user`s manual describes system startup, using the main menu, manual operation, and error recovery.

  8. Robot Would Reconfigure Modular Equipment

    NASA Technical Reports Server (NTRS)

    Purves, Lloyd R.

    1993-01-01

    Special-purpose sets of equipment, packaged in identical modules with identical interconnecting mechanisms, attached to or detached from each other by specially designed robot, according to proposal. Two-arm walking robot connects and disconnects modules, operating either autonomously or under remote supervision. Robot walks along row of connected modules by grasping successive attachment subassemblies in hand-over-hand motion. Intended application for facility or station in outer space; robot reconfiguration scheme makes it unnecessary for astronauts to venture outside spacecraft or space station. Concept proves useful on Earth in assembly, disassembly, or reconfiguration of equipment in such hostile environments as underwater, near active volcanoes, or in industrial process streams.

  9. Robotic systems in spine surgery.

    PubMed

    Onen, Mehmet Resid; Naderi, Sait

    2014-01-01

    Surgical robotic systems have been available for almost twenty years. The first surgical robotic systems were designed as supportive systems for laparoscopic approaches in general surgery (the first procedure was a cholecystectomy in 1987). The da Vinci Robotic System is the most common system used for robotic surgery today. This system is widely used in urology, gynecology and other surgical disciplines, and recently there have been initial reports of its use in spine surgery, for transoral access and anterior approaches for lumbar inter-body fusion interventions. SpineAssist, which is widely used in spine surgery, and Renaissance Robotic Systems, which are considered the next generation of robotic systems, are now FDA approved. These robotic systems are designed for use as guidance systems in spine instrumentation, cement augmentations and biopsies. The aim is to increase surgical accuracy while reducing the intra-operative exposure to harmful radiation to the patient and operating team personnel during the intervention. We offer a review of the published literature related to the use of robotic systems in spine surgery and provide information on using robotic systems.

  10. Affective robot for elderly assistance.

    PubMed

    Carelli, Laura; Gaggioli, Andrea; Pioggia, Giovanni; De Rossi, Federico; Riva, Giuseppe

    2009-01-01

    Recently, several robotic solutions for the elderly have been proposed. However, to date, the diffusion of these devices has been limited: available robots are too cumbersome, awkward, and expensive to become widely adopted. Another key issue which reduces the appeal of assistive robots is the lack of socio-emotional interaction: affective interchanges represent key requirements to create sustainable relationships between elderly and robots. In this paper, we propose a new approach to enhance the acceptability of robotic systems, based on the introduction of affective dimensions in human-robot interaction. This strategy is aimed at designing a new generation of relational and cognitive robots fusing information from embodied unobtrusive sensory interfaces. The final objective is to develop embodied interfaces, which are able to learn and adapt their affective responses to the user's behavior. User and robot will engage in natural interactions, involving verbal and non-verbal communication, improving empathic exchange of moods and feelings. Relevant independent living and quality of life related issues will be addressed: on-going monitoring of health parameters, assistance in everyday's activities, social support and cognitive/physical exercises. We expect that the proposed strategy will enhance the user's acceptance and adoption of the assistive robotic system.

  11. NASA Robotics for Space Exploration

    NASA Technical Reports Server (NTRS)

    Fischer, RIchard T.

    2007-01-01

    This presentation focuses on NASA's use of robotics in support of space exploration. The content was taken from public available websites in an effort to minimize any ITAR or EAR issues. The agenda starts with an introduction to NASA and the "Vision for Space Exploration" followed by NASA's major areas of robotic use: Robotic Explorers, Astronaut Assistants, Space Vehicle, Processing, and In-Space Workhorse (space infrastructure). Pictorials and movies of NASA robots in use by the major NASA programs: Space Shuttle, International Space Station, current Solar Systems Exploration and Mars Exploration, and future Lunar Exploration are throughout the presentation.

  12. Robotic technology evolution and transfer

    NASA Technical Reports Server (NTRS)

    Marzwell, Neville I.

    1992-01-01

    A report concerning technology transfer in the area of robotics is presented in vugraph form. The following topics are discussed: definition of technology innovation and tech-transfer; concepts relevant for understanding tech-transfer; models advanced to portray tech-transfer process; factors identified as promoting tech-transfer; factors identified as impeding tech-transfer; what important roles do individuals fulfill in tech-transfer; federal infrastructure for promoting tech-transfer; federal infrastructure for promoting tech-transfer; robotic technology evolution; robotic technology transferred; and recommendations for successful robotics tech-transfer.

  13. Sensory Interactive Teleoperator Robotic Grasping

    NASA Technical Reports Server (NTRS)

    Alark, Keli; Lumia, Ron

    1997-01-01

    As the technological world strives for efficiency, the need for economical equipment that increases operator proficiency in minimal time is fundamental. This system links a CCD camera, a controller and a robotic arm to a computer vision system to provide an alternative method of image analysis. The machine vision system which was employed possesses software tools for acquiring and analyzing images which are received through a CCD camera. After feature extraction on the object in the image was performed, information about the object's location, orientation and distance from the robotic gripper is sent to the robot controller so that the robot can manipulate the object.

  14. 3D light robotics

    NASA Astrophysics Data System (ADS)

    Glückstad, Jesper; Palima, Darwin; Villangca, Mark; Banas, Andrew

    2016-04-01

    As celebrated by the Nobel Prize 2014 in Chemistry light-based technologies can now overcome the diffraction barrier for imaging with nanoscopic resolution by so-called super-resolution microscopy1. However, interactive investigations coupled with advanced imaging modalities at these small scale domains gradually demand the development of a new generation of disruptive tools, not only for passively observing at nanoscopic scales, but also for actively reaching into and effectively handling constituents in this size domain. This intriguing mindset has recently led to the emergence of a novel research discipline that could potentially be able to offer the full packet needed for true "active nanoscopy" by use of so-called light-driven micro-robotics or Light Robotics in short.

  15. Robot arm apparatus

    DOEpatents

    Nachbar, Henry D.

    1992-12-01

    A robot arm apparatus is provided for inspecting and/or maintaining an interior of a steam generator which has an outside wall and a port for accessing the interior of the steam generator. The robot arm apparatus includes a flexible movable conduit for conveying inspection and/or maintenance apparatus from outside the steam generator to the interior of the steam generator. The flexible conduit has a terminal working end which is translated into and around the interior of the steam generator. Three motors located outside the steam generator are employed for moving the terminal working end inside the steam generator in "x", "y", and "z" directions, respectively. Commonly conducted inspection and maintenance operations include visual inspection for damaged areas, water jet lancing for cleaning sludge deposits, core boring for obtaining sludge deposits, and scrubbing of internal parts.

  16. Robot arm apparatus

    DOEpatents

    Nachbar, Henry D.

    1992-01-01

    A robot arm apparatus is provided for inspecting and/or maintaining an interior of a steam generator which has an outside wall and a port for accessing the interior of the steam generator. The robot arm apparatus includes a flexible movable conduit for conveying inspection and/or maintenance apparatus from outside the steam generator to the interior of the steam generator. The flexible conduit has a terminal working end which is translated into and around the interior of the steam generator. Three motors located outside the steam generator are employed for moving the terminal working end inside the steam generator in "x", "y", and "z" directions, respectively. Commonly conducted inspection and maintenance operations include visual inspection for damaged areas, water jet lancing for cleaning sludge deposits, core boring for obtaining sludge deposits, and scrubbing of internal parts.

  17. Robot arm apparatus

    SciTech Connect

    Nachbar, H.D.

    1990-12-31

    A robot arm apparatus is provided for inspecting and/or maintaining an interior of a steam generator which has an outside wall and a port for accessing the interior of the steam generator. The robot arm apparatus includes a flexible movable conduit for conveying inspection and/or maintenance apparatus from outside the steam generator to the interior of the steam generator. The flexible conduit has a terminal working end which is translated into and around the interior of the steam generator. Three motors located outside the steam generator are employed for moving the terminal working end inside the steam generator in ``x,`` ``y,`` and ``z`` directions, respectively. Commonly conducted inspection and maintenance operations include visual inspection for damaged areas, water jet lancing for cleaning sludge deposits, core boring for obtaining sludge deposits, and scrubbing of internal parts.

  18. Simulation of robot manipulators

    SciTech Connect

    Kress, R.L.; Babcock, S.M.; Bills, K.C.; Kwon, D.S.; Schoenwald, D.A.

    1995-03-01

    This paper describes Oak Ridge National Laboratory`s development of an environment for the simulation of robotic manipulators. Simulation includes the modeling of kinematics, dynamics, sensors, actuators, control systems, operators, and environments. Models will be used for manipulator design, proposal evaluation, control system design and analysis, graphical preview of proposed motions, safety system development, and training. Of particular interest is the development of models for robotic manipulators having at least one flexible link. As a first application, models have been developed for the Pacific Northwest Laboratories` Flexible Beam Testbed which is a one-Degree-Of-Freedom, flexible arm with a hydraulic base actuator. Initial results show good agreement between model and experiment.

  19. Climbing robot. [caterpillar design

    NASA Technical Reports Server (NTRS)

    Kerley, James J. (Inventor); May, Edward L. (Inventor); Ecklund, Wayne D. (Inventor)

    1993-01-01

    A mobile robot for traversing any surface consisting of a number of interconnected segments, each interconnected segment having an upper 'U' frame member, a lower 'U' frame member, a compliant joint between the upper 'U' frame member and the lower 'U' frame member, a number of linear actuators between the two frame members acting to provide relative displacement between the frame members, a foot attached to the lower 'U' frame member for adherence of the segment to the surface, an inter-segment attachment attached to the upper 'U' frame member for interconnecting the segments, a power source connected to the linear actuator, and a computer/controller for independently controlling each linear actuator in each interconnected segment such that the mobile robot moves in a caterpillar like fashion.

  20. Ferrate(VI) oxidation of zinc-cyanide complex.

    PubMed

    Yngard, Ria; Damrongsiri, Seelawut; Osathaphan, Khemarath; Sharma, Virender K

    2007-10-01

    Zinc-cyanide complexes are found in gold mining effluents and in metal finishing rinse water. The effect of Zn(II) on the oxidation of cyanide by ferrate(VI) (Fe(VI)O(4)(2-), Fe(VI)) was thus investigated by studying the kinetics of the reaction of Fe(VI) with cyanide present in a potassium salt of a zinc cyanide complex (K(2)Zn(CN)(4)) and in a mixture of Zn(II) and cyanide solutions as a function of pH (9.0-11.0). The rate-law for the oxidation of Zn(CN)(4)(2-) by Fe(VI) was found to be -d[Fe(VI)]/dt=k[Fe(VI)][Zn(CN)(4)(2-)](0.5). The rate constant, k, decreased with an increase in pH. The effect of temperature (15-45 degrees C) on the oxidation was studied at pH 9.0, which gave an activation energy of 45.7+/-1.5kJmol(-1). The cyanide oxidation rate decreased in the presence of the Zn(II) ions. However, Zn(II) ions had no effect on the cyanide removal efficiency by Fe(VI) and the stoichiometry of Fe(VI) to cyanide was approximately 1:1; similar to the stoichiometry in absence of Zn(II) ions. The destruction of cyanide by Fe(VI) resulted in cyanate. The experiments on removal of cyanide from rinse water using Fe(VI) demonstrated complete conversion of cyanide to cyanate.

  1. Robotic Intelligence Kernel: Driver

    SciTech Connect

    2009-09-16

    The INL Robotic Intelligence Kernel-Driver is built on top of the RIK-A and implements a dynamic autonomy structure. The RIK-D is used to orchestrate hardware for sensing and action as well as software components for perception, communication, behavior and world modeling into a single cognitive behavior kernel that provides intrinsic intelligence for a wide variety of unmanned ground vehicle systems.

  2. Robots: Fantasy and Reality

    SciTech Connect

    Calder, Neil

    2007-04-27

    A irreverent non-technical review of the history of surprisingly animate machines, from ancient Egypt to current times. Areas include teleoperators for hazardous environments, assembly systems, medical applications, entertainment, and science fiction. The talk has over 100 slides, covering such varied topics as Memnon son of Dawn, Droz's automata, Vaucanson's duck, cathedral clocks, Von Kempelen's chess player, household robots, Asimov's laws, Disneyland, dinosaurs, and movie droids and cyborgs.

  3. BioComponent Robots

    DTIC Science & Technology

    2014-02-13

    sterile water. Culture medium was prepared with 70% Leibovitz’s L15 medium, 18% Grace’s Insect Medium, 12% fetal bovine serum (FBS), 3.4 mg/mL yeast...SECURITY CLASSIFICATION OF: The project goal was to exploit insect cell culture and tissue engineering approaches to generate biological actuators...utilizing the unique hardiness and longevity of insect cell sources for device applications for robotics. In contrast to mammalian cells and tissues

  4. 2000 FIRST Robotics Competition

    NASA Technical Reports Server (NTRS)

    Purman, Richard

    2000-01-01

    The New Horizons Regional Education Center (NHREC) in Hampton, VA sought and received NASA funding to support its participation in the 2000 FIRST Robotics competition. FIRST, Inc. (For Inspiration and Recognition of Science and Technology) is an organization which encourages the application of creative science, math, and computer science principles to solve real-world engineering problems. The FIRST competition is an international engineering contest featuring high school, government, and business partnerships.

  5. Robotic tele-existence

    NASA Technical Reports Server (NTRS)

    Tachi, Susumu; Arai, Hirohiko; Maeda, Taro

    1989-01-01

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

  6. The flight robotics laboratory

    NASA Technical Reports Server (NTRS)

    Tobbe, Patrick A.; Williamson, Marlin J.; Glaese, John R.

    1988-01-01

    The Flight Robotics Laboratory of the Marshall Space Flight Center is described in detail. This facility, containing an eight degree of freedom manipulator, precision air bearing floor, teleoperated motion base, reconfigurable operator's console, and VAX 11/750 computer system, provides simulation capability to study human/system interactions of remote systems. The facility hardware, software and subsequent integration of these components into a real time man-in-the-loop simulation for the evaluation of spacecraft contact proximity and dynamics are described.

  7. Robotic hepatectomy: initial experience of a single institution in Singapore

    PubMed Central

    Kam, Juinn Huar; Goh, Brian KP; Chan, Chung-Yip; Wong, Jen-San; Lee, Ser-Yee; Cheow, Peng-Chung; Chung, Alexander YF; Ooi, London LPJ

    2016-01-01

    INTRODUCTION In this study, we report our initial experience with robotic hepatectomy. METHODS Consecutive patients who underwent robotic hepatectomy at Singapore General Hospital, Singapore, from February 2013 to February 2015 were enrolled in this study. The difficulty level of operations was graded using a novel scoring system for laparoscopic hepatectomies. RESULTS During the two-year period, five consecutive robotic hepatectomies were performed (one left lateral sectionectomy, one non-anatomical segment II/III resection, one anatomical segment V resection with cholecystectomy, one extended right posterior sectionectomy and one non-anatomical segment V/VI resection). Two hepatectomies were performed for suspected hepatocellular carcinoma, two for solitary liver metastases and one for a large symptomatic haemangioma. The median age of the patients was 53 (range 38–66) years and the median tumour size was 2.5 (range 2.1–7.3) cm. The median total operation time was 340 (range 155–825) minutes and the median volume of blood loss was 300 (range 50–1,200) mL. There were no open conversions and no mortalities or major morbidities (> Clavien-Dindo Grade II). The difficulty level of the operations was graded as low in one case (Score 2), intermediate in three cases (Score 5, 6 and 6) and high in one case (Score 10). There was one minor morbidity, where the patient experienced Grade A bile leakage, which resolved spontaneously. The median length of postoperative hospital stay was 5 (range 4–7) days. CONCLUSION Our initial experience confirmed the feasibility and safety of robotic hepatectomy. PMID:26843059

  8. The Virtual Robotics Laboratory

    SciTech Connect

    Kress, R.L.; Love, L.J.

    1999-09-01

    The growth of the Internet has provided a unique opportunity to expand research collaborations between industry, universities, and the national laboratories. The Virtual Robotics Laboratory (VRL) is an innovative program at Oak Ridge National Laboratory (ORNL) that is focusing on the issues related to collaborative research through controlled access of laboratory equipment using the World Wide Web. The VRL will provide different levels of access to selected ORNL laboratory secondary education programs. In the past, the ORNL Robotics and Process Systems Division has developed state-of-the-art robotic systems for the Army, NASA, Department of Energy, Department of Defense, as well as many other clients. After proof of concept, many of these systems sit dormant in the laboratories. This is not out of completion of all possible research topics. but from completion of contracts and generation of new programs. In the past, a number of visiting professors have used this equipment for their own research. However, this requires that the professor, and possibly his/her students, spend extended periods at the laboratory facility. In addition, only a very exclusive group of faculty can gain access to the laboratory and hardware. The VRL is a tool that enables extended collaborative efforts without regard to geographic limitations.

  9. ROBOT TASK SCENE ANALYZER

    SciTech Connect

    William R. Hamel; Steven Everett

    2000-08-01

    Environmental restoration and waste management (ER and WM) challenges in the United States Department of Energy (DOE), and around the world, involve radiation or other hazards which will necessitate the use of remote operations to protect human workers from dangerous exposures. Remote operations carry the implication of greater costs since remote work systems are inherently less productive than contact human work due to the inefficiencies/complexities of teleoperation. To reduce costs and improve quality, much attention has been focused on methods to improve the productivity of combined human operator/remote equipment systems; the achievements to date are modest at best. The most promising avenue in the near term is to supplement conventional remote work systems with robotic planning and control techniques borrowed from manufacturing and other domains where robotic automation has been used. Practical combinations of teleoperation and robotic control will yield telerobotic work systems that outperform currently available remote equipment. It is believed that practical telerobotic systems may increase remote work efficiencies significantly. Increases of 30% to 50% have been conservatively estimated for typical remote operations. It is important to recognize that the basic hardware and software features of most modern remote manipulation systems can readily accommodate the functionality required for telerobotics. Further, several of the additional system ingredients necessary to implement telerobotic control--machine vision, 3D object and workspace modeling, automatic tool path generation and collision-free trajectory planning--are existent.

  10. Goddard Robotic Telescope

    SciTech Connect

    Sakamoto, Takanori; Donato, Davide; Gehrels, Neil; Okajima, Takashi; Ukwatta, Tilan N.

    2009-05-25

    We are constructing the 14'' fully automated optical robotic telescope, Goddard Robotic Telescope (GRT), at the Goddard Geophysical and Astronomical Observatory. The aims of our robotic telescope are 1) to follow-up the Swift/Fermi Gamma-Ray Bursts (GRBs) and 2) to perform the coordinated optical observations of the Fermi/Large Area Telescope (LAT) Active Galactic Nuclei (AGN). Our telescope system consists of the 14'' Celestron Optical Telescope Assembly (OTA), the Astro-Physics 1200GTO mount, the Apogee U47 CCD camera, the JMI's electronic focuser, and the Finger Lake Instrumentation's color filter wheel with U, B, V, R and I filters. With the focal reducer, 20'x20' field of view has been achieved. The observatory dome is the Astro Haven's 7 ft clam-shell dome. We started the scientific observations on mid-November 2008. While not observing our primary targets (GRBs and AGNs), we are planning to open our telescope time to the public for having a wider use of our telescope in both a different research field and an educational purpose.

  11. Robotics for port security

    NASA Astrophysics Data System (ADS)

    Smuda, William; Freiburger, Lonnie A.; Gerhart, Grant R.; Mallon, Lawrence

    2004-09-01

    The capacity through the use of robots with on board visual, NBC and HAZMAT sensors to rapidly and continuously screen convoys and staged exposed assets would be a force multiplier and measurably improve base and force protection at both inbound and outbound DOD and commercial facilities. This paper chronicles our experiment with the ODIS robot at the Ports of Los Angeles (POLA) and Long Beach (POLB) in July of 2003. POLA & POLB are responsible for moving over 30% of the United States trade goods. Queues of 54" container trucks routinely exceed 100 trucks, extending for over a mile from the port entrances. Spotted equipment and convoys at staging areas are a high visibility and value assets to a terrorist incident. The POLA/POLB scenario is also representative of TRANSCOM operations at the port of Basra during current operation in Iraq. The California Highway Patrol is responsible for physically inspecting these vehicles for roadworthiness and contraband, a dangerous and dirty job. We will also discuss the use of ODIS robots for this task.

  12. The Virtual Robotics Laboratory

    SciTech Connect

    Kress, R.L.; Love, L.J.

    1997-03-01

    The growth of the Internet has provided a unique opportunity to expand research collaborations between industry, universities, and the national laboratories. The Virtual Robotics Laboratory (VRL) is an innovative program at Oak Ridge National Laboratory (ORNL) that is focusing on the issues related to collaborative research through controlled access of laboratory equipment using the World Wide Web. The VRL will provide different levels of access to selected ORNL laboratory equipment to outside universities, industrial researchers, and elementary and secondary education programs. In the past, the ORNL Robotics and Process Systems Division (RPSD) has developed state-of-the-art robotic systems for the Army, NASA, Department of Energy, Department of Defense, as well as many other clients. After proof of concept, many of these systems sit dormant in the laboratories. This is not out of completion of all possible research topics, but from completion of contracts and generation of new programs. In the past, a number of visiting professors have used this equipment for their own research. However, this requires that the professor, and possibly his students, spend extended periods at the laboratory facility. In addition, only a very exclusive group of faculty can gain access to the laboratory and hardware. The VRL is a tool that enables extended collaborative efforts without regard to geographic limitations.

  13. The walking robot project

    NASA Technical Reports Server (NTRS)

    Williams, P.; Sagraniching, E.; Bennett, M.; Singh, R.

    1991-01-01

    A walking robot was designed, analyzed, and tested as an intelligent, mobile, and a terrain adaptive system. The robot's design was an application of existing technologies. The design of the six legs modified and combines well understood mechanisms and was optimized for performance, flexibility, and simplicity. The body design incorporated two tripods for walking stability and ease of turning. The electrical hardware design used modularity and distributed processing to drive the motors. The software design used feedback to coordinate the system and simple keystrokes to give commands. The walking machine can be easily adapted to hostile environments such as high radiation zones and alien terrain. The primary goal of the leg design was to create a leg capable of supporting a robot's body and electrical hardware while walking or performing desired tasks, namely those required for planetary exploration. The leg designers intent was to study the maximum amount of flexibility and maneuverability achievable by the simplest and lightest leg design. The main constraints for the leg design were leg kinematics, ease of assembly, degrees of freedom, number of motors, overall size, and weight.

  14. Mobile robot sense net

    NASA Astrophysics Data System (ADS)

    Konolige, Kurt G.; Gutmann, Steffen; Guzzoni, Didier; Ficklin, Robert W.; Nicewarner, Keith E.

    1999-08-01

    Mobile robot hardware and software is developing to the point where interesting applications for groups of such robots can be contemplated. We envision a set of mobots acting to map and perform surveillance or other task within an indoor environment (the Sense Net). A typical application of the Sense Net would be to detect survivors in buildings damaged by earthquake or other disaster, where human searchers would be put a risk. As a team, the Sense Net could reconnoiter a set of buildings faster, more reliably, and more comprehensibly than an individual mobot. The team, for example, could dynamically form subteams to perform task that cannot be done by individual robots, such as measuring the range to a distant object by forming a long baseline stereo sensor form a pari of mobots. In addition, the team could automatically reconfigure itself to handle contingencies such as disabled mobots. This paper is a report of our current progress in developing the Sense Net, after the first year of a two-year project. In our approach, each mobot has sufficient autonomy to perform several tasks, such as mapping unknown areas, navigating to specific positions, and detecting, tracking, characterizing, and classifying human and vehicular activity. We detail how some of these tasks are accomplished, and how the mobot group is tasked.

  15. U(VI) behaviour in hyperalkaline calcite systems

    NASA Astrophysics Data System (ADS)

    Smith, Kurt F.; Bryan, Nicholas D.; Swinburne, Adam N.; Bots, Pieter; Shaw, Samuel; Natrajan, Louise S.; Mosselmans, J. Frederick W.; Livens, Francis R.; Morris, Katherine

    2015-01-01

    The behaviour of U(VI) in hyperalkaline fluid/calcite systems was studied over a range of U(VI) concentrations (5.27 × 10-5 μM to 42.0 μM) and in two high pH systems, young and old synthetic cement leachate in batch sorption experiments. These systems were selected to be representative of young- (pH 13.3) and old-stage (pH 10.5) leachate evolution within a cementitious geological disposal facility. Batch sorption experiments, modelling, extended X-ray absorption fine structure spectroscopy, electron microscopy, small angle X-ray scattering and luminescence spectroscopy were used to define the speciation of U(VI) across the systems of study. At the lowest concentrations (5.27 × 10-5 μM 232U(VI)) significant U removal was observed for both old and young cement leachates, and this was successfully modelled using a first order kinetic adsorption modelling approach. At higher concentrations (>4.20 μM) in the young cement leachate, U(VI) showed no interaction with the calcite surface over an 18 month period. Small angle X-ray scattering techniques indicated that at high U concentrations (42.0 μM) and after 18 months, the U(VI) was present in a colloidal form which had little interaction with the calcite surface and consisted of both primary and aggregated particles with a radius of 7.6 ± 1.1 and 217 ± 24 Å, respectively. In the old cement leachate, luminescence spectroscopy identified two surface binding sites for U(VI) on calcite: in the system with 0.21 μM U(VI), a liebigite-like Ca2UO2(CO3)3 surface complex was identified; at higher U(VI) concentrations (0.42 μM), a second binding site of undetermined coordination was identified. At elevated U(VI) concentrations (>2.10 μM) in old cement leachate, both geochemical data and luminescence spectroscopy suggested that surface mediated precipitation was controlling U(VI) behaviour. A focused ion beam mill was used to create a section across the U(VI) precipitate-calcite interface. Transmission electron

  16. 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…

  17. GRACE: An Autonomous Robot for the AAAI Robot Challenge

    DTIC Science & Technology

    2003-01-01

    robot interaction (aside from the speech recognition) worked relatively well, there were areas for improvement. For instance, gesture recognition , which...and tracking, people following, gesture recognition , nametag reading, and face recognition. We plan to incorporate capabilities for the robot to

  18. Procedure for plutonium determination using Pu(VI) spectra

    SciTech Connect

    Walker, L.F.; Temer, D.J.; Jackson, D.D.

    1996-09-01

    This document describes a simple spectrophotometric method for determining total plutonium in nitric acid solutions based on the spectrum of Pu(VI). Plutonium samples in nitric acid are oxidized to Pu(VI) with Ce(IV) and the net absorbance at the 830 nm peak is measured.

  19. 32 CFR 2003.6 - Voting (Article VI).

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 32 National Defense 6 2013-07-01 2013-07-01 false Voting (Article VI). 2003.6 Section 2003.6 National Defense Other Regulations Relating to National Defense INFORMATION SECURITY OVERSIGHT OFFICE...) BYLAWS, RULES, AND APPEAL PROCEDURES Bylaws § 2003.6 Voting (Article VI). (a) Motions. When the Panel...

  20. 32 CFR 2003.6 - Voting (Article VI).

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 32 National Defense 6 2014-07-01 2014-07-01 false Voting (Article VI). 2003.6 Section 2003.6 National Defense Other Regulations Relating to National Defense INFORMATION SECURITY OVERSIGHT OFFICE...) BYLAWS, RULES, AND APPEAL PROCEDURES Bylaws § 2003.6 Voting (Article VI). (a) Motions. When the Panel...

  1. Myosin VI facilitates connexin 43 gap junction accretion

    PubMed Central

    Waxse, Bennett J.

    2017-01-01

    ABSTRACT In this study, we demonstrate myosin VI enrichment at Cx43 (also known as GJA1)-containing gap junctions (GJs) in heart tissue, primary cardiomyocytes and cell culture models. In primary cardiac tissue and in fibroblasts from the myosin VI-null mouse as well as in tissue culture cells transfected with siRNA against myosin VI, we observe reduced GJ plaque size with a concomitant reduction in intercellular communication, as shown by fluorescence recovery after photobleaching (FRAP) and a new method of selective calcein administration. Analysis of the molecular role of myosin VI in Cx43 trafficking indicates that myosin VI is dispensable for the delivery of Cx43 to the cell surface and connexon movement in the plasma membrane. Furthermore, we cannot corroborate clathrin or Dab2 localization at gap junctions and we do not observe a function for the myosin-VI–Dab2 complex in clathrin-dependent endocytosis of annular gap junctions. Instead, we found that myosin VI was localized at the edge of Cx43 plaques by using total internal reflection fluorescence (TIRF) microscopy and use FRAP to identify a plaque accretion defect as the primary manifestation of myosin VI loss in Cx43 homeostasis. A fuller understanding of this derangement may explain the cardiomyopathy or gliosis associated with the loss of myosin VI. PMID:28096472

  2. Kandinsky's "Composition VI": Heideggerian Poetry in Noah's Ark

    ERIC Educational Resources Information Center

    Hall, Joshua M.

    2012-01-01

    The author will begin his investigation of Wassily Kandinsky's painting "Composition VI" with Kandinsky's own commentary on the painting. He will then turn to the analysis of Kandinsky and the "Compositions" in John Sallis's book "Shades." Using this analysis as his point of departure, the author will consider how "Composition VI" resonates with…

  3. Possible problems in ENDF/B-VI.r8

    SciTech Connect

    Brown, D; Hedstrom, G

    2003-10-30

    This document lists the problems that we encountered in processing ENDF/B-VI.r8 that we suspect are problems with ENDF/B-VI.r8 itself. It also contains a comparison of linear interpolation methods. Finally, this documents proposes an alternative to the current scheme of reporting problems to the ENDF community.

  4. KENO-VI Primer: A Primer for Criticality Calculations with SCALE/KENO-VI Using GeeWiz

    SciTech Connect

    Bowman, Stephen M

    2008-09-01

    The SCALE (Standardized Computer Analyses for Licensing Evaluation) computer software system developed at Oak Ridge National Laboratory is widely used and accepted around the world for criticality safety analyses. The well-known KENO-VI three-dimensional Monte Carlo criticality computer code is one of the primary criticality safety analysis tools in SCALE. The KENO-VI primer is designed to help a new user understand and use the SCALE/KENO-VI Monte Carlo code for nuclear criticality safety analyses. It assumes that the user has a college education in a technical field. There is no assumption of familiarity with Monte Carlo codes in general or with SCALE/KENO-VI in particular. The primer is designed to teach by example, with each example illustrating two or three features of SCALE/KENO-VI that are useful in criticality analyses. The primer is based on SCALE 6, which includes the Graphically Enhanced Editing Wizard (GeeWiz) Windows user interface. Each example uses GeeWiz to provide the framework for preparing input data and viewing output results. Starting with a Quickstart section, the primer gives an overview of the basic requirements for SCALE/KENO-VI input and allows the user to quickly run a simple criticality problem with SCALE/KENO-VI. The sections that follow Quickstart include a list of basic objectives at the beginning that identifies the goal of the section and the individual SCALE/KENO-VI features that are covered in detail in the sample problems in that section. Upon completion of the primer, a new user should be comfortable using GeeWiz to set up criticality problems in SCALE/KENO-VI. The primer provides a starting point for the criticality safety analyst who uses SCALE/KENO-VI. Complete descriptions are provided in the SCALE/KENO-VI manual. Although the primer is self-contained, it is intended as a companion volume to the SCALE/KENO-VI documentation. (The SCALE manual is provided on the SCALE installation DVD.) The primer provides specific examples of

  5. Enhanced microbial reduction of Cr(VI) and U(VI) by different natural organic matter fractions

    NASA Astrophysics Data System (ADS)

    Gu, Baohua; Chen, Jie

    2003-10-01

    Although direct microbial reduction of Cr(VI) and U(VI) is known, few studies have examined the kinetics and the underlying mechanisms of the reduction of these contaminants by different natural organic matter (NOM) fractions in the presence or absence of microorganisms. In this study, NOM was found to chemically reduce Cr(VI) at pH 3, but the reduction rates were negligible at pH ˜7. The abiotic reduction of U(VI) by NOM was not observed, possibly because of the presence of small amounts of nitrate in the reactant solution. However, all NOM fractions, particularly the soil humic acid (HA), enhanced the bioreduction of Cr(VI) or U(VI) in the presence of Shewanella putrefaciens CN32. The reduction rates varied greatly among NOM fractions with different chemical and structural properties: the polyphenolic-rich NOM-PP fraction appeared to be the most reactive in abiotically reducing Cr(VI) at a low pH, but soil HA was more effective in mediating the microbial reduction of Cr(VI) and U(VI) under anaerobic, circumneutral pH conditions. These observations are attributed to an increased solubility and conformational changes of the soil HA with pH and, more importantly, its relatively high contents of polycondensed and conjugated aromatic organic moieties. An important implication of this study is that, depending on chemical and structural properties, different NOM components may play different roles in enhancing the bioreduction of Cr(VI) and U(VI) by microorganisms. Polycondensed aromatic humic materials may be particularly useful in mediating the bioreduction and rapid immobilization of these contaminant metals in soil.

  6. Autonomous Navigation for Mobile Robots with Human-Robot Interaction

    NASA Astrophysics Data System (ADS)

    Ballantyne, James; Johns, Edward; Valibeik, Salman; Wong, Charence; Yang, Guang-Zhong

    Dynamic and complex indoor environments present a challenge for mobile robot navigation. The robot must be able to simultaneously map the environment, which often has repetitive features, whilst keep track of its pose and location. This chapter introduces some of the key considerations for human guided navigation. Rather than letting the robot explore the environment fully autonomously, we consider the use of human guidance for progressively building up the environment map and establishing scene association, learning, as well as navigation and planning. After the guide has taken the robot through the environment and indicated the points of interest via hand gestures, the robot is then able to use the geometric map and scene descriptors captured during the tour to create a high-level plan for subsequent autonomous navigation within the environment. Issues related to gesture recognition, multi-cue integration, tracking, target pursuing, scene association and navigation planning are discussed.

  7. Factors affecting the adsorption of chromium (VI) on activated carbon

    SciTech Connect

    Yavuz, R.; Orbak, I.; Karatepe, N.

    2006-09-15

    The aim of this investigation was to determine the adsorption behavior of chromium (VI) on two different activated carbon samples produced from Tuncbilek lignite. The effects of the initial chromium (VI) concentration (250-1000 mg/L), temperature (297-323 K) and pH (2.0-9.5) on adsorption were investigated systematically. The effectiveness of the parameters on chromium adsorption was found to be in the order of pH, the initial Cr(VI) concentration and the temperature. Increasing the pH from 2.0 to 9.5 caused a decrease in adsorption. However, the adsorption was increased by increasing the initial Cr(VI) concentration and temperature. The multilinear mathematical model was also developed to predict the Cr(VI) adsorption on activated carbon samples within the experimental conditions.

  8. Marker for type VI secretion system effectors

    PubMed Central

    Salomon, Dor; Kinch, Lisa N.; Trudgian, David C.; Guo, Xiaofeng; Klimko, John A.; Grishin, Nick V.; Mirzaei, Hamid; Orth, Kim

    2014-01-01

    Bacteria use diverse mechanisms to kill, manipulate, and compete with other cells. The recently discovered type VI secretion system (T6SS) is widespread in bacterial pathogens and used to deliver virulence effector proteins into target cells. Using comparative proteomics, we identified two previously unidentified T6SS effectors that contained a conserved motif. Bioinformatic analyses revealed that this N-terminal motif, named MIX (marker for type six effectors), is found in numerous polymorphic bacterial proteins that are primarily located in the T6SS genome neighborhood. We demonstrate that several MIX-containing proteins are T6SS effectors and that they are not required for T6SS activity. Thus, we propose that MIX-containing proteins are T6SS effectors. Our findings allow for the identification of numerous uncharacterized T6SS effectors that will undoubtedly lead to the discovery of new biological mechanisms. PMID:24927539

  9. Superconductivity of calcium in phase VI

    NASA Astrophysics Data System (ADS)

    Szcze&şacute; niak, R.; Durajski, A. P.

    2012-01-01

    The properties of the superconducting state of calcium in phase VI were analyzed. By using the imaginary axis Eliashberg equations it has been shown, that the Coulomb pseudopotential reaches the high value equal to 0.215. In the considered case, the critical temperature is not properly described by the Allen-Dynes formula and it should be calculated with an use of the modified expression. In the paper the exact solutions of the Eliashberg equations on the real axis were also obtained. On this basis it was stated, that the effective potential of the electron-electron interaction is attractive for the frequencies lower or equal to the maximum phonon frequency. Then, the dimensionless parameter 2 Δ(0)/ kBTC = 4.10 was calculated. In the last step it has been proven, that the ratio of the electron effective mass to the bare electron mass is high and reaches its maximum equal to 2.36 for the critical temperature.

  10. Six-fold Coordinated Carbon Dioxide VI

    SciTech Connect

    Iota, V; Yoo, C; Klepeis, J; Jenei, Z

    2006-03-01

    Under standard conditions, carbon dioxide (CO{sub 2}) is a simple molecular gas and an important atmospheric constituent while silicon dioxide (SiO{sub 2}) is a covalent solid, and represents one of the fundamental minerals of the planet. The remarkable dissimilarity between these two group IV oxides is diminished at higher pressures and temperatures as CO{sub 2} transforms to a series of solid phases, from simple molecular to a fully covalent extended-solid V, structurally analogous to SiO{sub 2} tridymite. Here, we present the discovery of a new extended-solid phase of carbon dioxide (CO{sub 2}): a six-fold coordinated stishovite-like phase VI, obtained by isothermal compression of associated CO{sub 2}-II above 50GPa at 530-650K. Together with the previously reported CO{sub 2}-V and a-carbonia, this new extended phase indicates a fundamental similarity between CO{sub 2}--a prototypical molecular solid, and SiO{sub 2}--one of Earth's fundamental building blocks. The phase diagram suggests a limited stability domain for molecular CO{sub 2}-I, and proposes that the conversion to extended-network solids above 40-50 GPa occurs via intermediate phases II, III, and IV. The crystal structure of phase VI suggests strong disorder along the caxis in stishovite-like P4{sub 2}/mnm, with carbon atoms manifesting an average six-fold coordination within the framework of sp{sup 3} hybridization.

  11. Rotorcraft and Enabling Robotic Rescue

    NASA Technical Reports Server (NTRS)

    Young, Larry A.

    2010-01-01

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

  12. 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…

  13. Robot computer problem solving system

    NASA Technical Reports Server (NTRS)

    Becker, J. D.; Merriam, E. W.

    1974-01-01

    The conceptual, experimental, and practical aspects of the development of a robot computer problem solving system were investigated. The distinctive characteristics were formulated of the approach taken in relation to various studies of cognition and robotics. Vehicle and eye control systems were structured, and the information to be generated by the visual system is defined.

  14. Robotic Laser Coating Removal System

    DTIC Science & Technology

    2008-07-01

    large off- aircraft components. Additionally, this enclosure was equipped with an overhead gantry crane that is suitable for lifting of the off...52    ii LIST OF TABLES Table 2-1: Gantry Robot Work Envelope...Figure 2-3: PaR XR125 Gantry Robot.................................................................................6  Figure 2-4: Contour Following

  15. Robotics as an Educational Tool.

    ERIC Educational Resources Information Center

    Miglino, Orazio; Lund, Henrik Hautop; Cardaci, Maurizio

    1999-01-01

    Explores a new educational application of Piaget's theories of cognitive development: the use, as a teaching tool, of physical robots conceived as artificial organisms. Reviews educational projects using real robots. Shows that the use of intelligent systems to enlarge the view of biological reality could become an integral part of curricula in…

  16. Proximity Sensors Make Robot Dexterous

    NASA Technical Reports Server (NTRS)

    Hess, Cliff; Li, Larry C. H.

    1990-01-01

    Control system enables robot hand to grasp objects of varied shapes. Key features of system: reflective proximity sensors furnishing data on position, orientation, and distance of object and software protocol controlling sequence of operations in approaching and grasping objects. Reflected-beam sensing concept applied to simple opposed-jaw industrial grippers as well as to dexterous robot hands.

  17. Robot Forearm and Dexterous Hand

    NASA Technical Reports Server (NTRS)

    Lovchik, Christopher S.

    2005-01-01

    An electromechanical hand-and-forearm assembly has been developed for incorporation into an anthropomorphic robot that would be used in outer space. The assembly is designed to offer manual dexterity comparable to that of a hand inside an astronaut s suit; thus, the assembly may also be useful as a prosthesis or as an end effector on an industrial robot.

  18. Special-Purpose Robotic Welder

    NASA Technical Reports Server (NTRS)

    Mcferrin, David C.; Coby, J. Ben, Jr.; Gangl, Kenneth J.; Hoffman, David S.; Dawson, Sidney G.

    1995-01-01

    Robotic-welding apparatus developed for use in repairing main combustion chamber of rocket engine. Design features beneficial in other robotic-welding applications; for example, manufacture and repair of pressure vessels, chemical-processing vessels, etc. Design problem solved by iterative application of computer-aided techniques.

  19. Robotic Welding Of Injector Manifold

    NASA Technical Reports Server (NTRS)

    Gilbert, Jeffrey L.; Shelley, D. Mark

    1992-01-01

    Brief report presents history, up through October 1990, of continuing efforts to convert from manual to robotic gas/tungsten arc welding in fabrication of main injector inlet manifold of main engine of Space Shuttle. Includes photographs of welding machinery, welds, and weld preparations. Of interest to engineers considering establishment of robotic-welding facilities.

  20. Human Resource Implications of Robotics.

    ERIC Educational Resources Information Center

    Hunt, H. Allan; Hunt, Timothy L.

    A study examined the job creation and job displacement potential of industrial robots in the United States and specifically, in Michigan, by 1990. To complete an analysis of the impact of robotics on the American labor force, researchers combined data from previous forecasts of future unit and dollar sales projections and from interviews with…

  1. Robot computer problem solving system

    NASA Technical Reports Server (NTRS)

    Becker, J. D.; Merriam, E. W.

    1974-01-01

    The conceptual, experimental, and practical phases of developing a robot computer problem solving system are outlined. Robot intelligence, conversion of the programming language SAIL to run under the THNEX monitor, and the use of the network to run several cooperating jobs at different sites are discussed.

  2. Robotic joint experiments under ultravacuum

    NASA Technical Reports Server (NTRS)

    Borrien, A.; Petitjean, L.

    1988-01-01

    First, various aspects of a robotic joint development program, including gearbox technology, electromechanical components, lubrication, and test results, are discussed. Secondly, a test prototype of the joint allowing simulation of robotic arm dynamic effects is presented. This prototype is tested under vacuum with different types of motors and sensors to characterize the functional parameters: angular position error, mechanical backlash, gearbox efficiency, and lifetime.

  3. Space Robotics: AWIMR an Overview

    NASA Technical Reports Server (NTRS)

    Wagner, Rick

    2006-01-01

    This viewgraph presentation reviews the usages of Autonomous Walking Inspection and Maintenance Robots (AWIMR) in space. Some of the uses that these robots in support of space exploration can have are: inspection of a space craft, cleaning, astronaut assistance, assembly of a structure, repair of structures, and replenishment of supplies.

  4. Students Compete at Robotics Competition

    ERIC Educational Resources Information Center

    Technology Teacher, 2005

    2005-01-01

    July 22-23, 2005 the Indiana Robotics Invitational (IRI) was held at Lawrence North High school in Indianapolis. The IRI began in Indiana in May 2000 with 20 teams. The first invitational was nicknamed the "Hoosier Havoc." The event was coordinated by FIRST robotics team #45 (the Techno-Kats) from Kokomo, Indiana. Today, the former…

  5. Robotic Welding and Inspection System

    SciTech Connect

    H. B. Smartt; D. P. Pace; E. D. Larsen; T. R. McJunkin; C. I. Nichol; D. E. Clark; K. L. Skinner; M. L. Clark; T. G. Kaser; C. R. Tolle

    2008-06-01

    This paper presents a robotic system for GTA welding of lids on cylindrical vessels. The system consists of an articulated robot arm, a rotating positioner, end effectors for welding, grinding, ultrasonic and eddy current inspection. Features include weld viewing cameras, modular software, and text-based procedural files for process and motion trajectories.

  6. Children, Humanoid Robots and Caregivers

    DTIC Science & Technology

    2004-01-01

    therefore be placed on social learning along a child’s first-person perspectives of the world: the robot physical topological spaces , as shown in...be described along tion of the child from his mother as a different three different topological spaces : 1) the robot’s personal individual. However

  7. Robotics: Past, Present, and Future.

    ERIC Educational Resources Information Center

    Dunne, Maurice J.

    Robots are finally receiving wide-spread attention as a means to realize the goal of automating factories. In the 1960's robot use was limited by unfavorable acquisition and operating costs and the affordable control technology limiting applications to relatively simple jobs. During the 1970's productivity of manufacturing organizations declined…

  8. Automatic Robot Safety Shutdown System

    NASA Technical Reports Server (NTRS)

    Lirette, M.

    1985-01-01

    Robot turned off if acceleration exceeds preset value. Signals from accelerometer on robot arm pass through filter and amplifier, eliminating high-frequency noise and hydraulic-pump pulsations. Data digitized and processed in computer. Unit controls other machines that perform repetitive movements, including rotary tables, tracked vehicles, conveyor lines, and elevators.

  9. Robotic control and inspection verification

    NASA Technical Reports Server (NTRS)

    Davis, Virgil Leon

    1991-01-01

    Three areas of possible commercialization involving robots at the Kennedy Space Center (KSC) are discussed: a six degree-of-freedom target tracking system for remote umbilical operations; an intelligent torque sensing end effector for operating hand valves in hazardous locations; and an automatic radiator inspection device, a 13 by 65 foot robotic mechanism involving completely redundant motors, drives, and controls. Aspects concerning the first two innovations can be integrated to enable robots or teleoperators to perform tasks involving orientation and panal actuation operations that can be done with existing technology rather than waiting for telerobots to incorporate artificial intelligence (AI) to perform 'smart' autonomous operations. The third robot involves the application of complete control hardware redundancy to enable performance of work over and near expensive Space Shuttle hardware. The consumer marketplace may wish to explore commercialization of similiar component redundancy techniques for applications when a robot would not normally be used because of reliability concerns.

  10. Robotic Surgery for Lung Cancer

    PubMed Central

    Ambrogi, Marcello C; Fanucchi, Olivia; Melfi, Franco; Mussi, Alfredo

    2014-01-01

    During the last decade the role of minimally invasive surgery has been increased, especially with the introduction of the robotic system in the surgical field. The most important advantages of robotic system are represented by the wristed instrumentation and the depth perception, which can overcome the limitation of traditional thoracoscopy. However, some data still exist in literature with regard to robotic lobectomy. The majority of papers are focused on its safety and feasibility, but further studies with long follow-ups are necessary in order to assess the oncologic outcomes. We reviewed the literature on robotic lobectomy, with the main aim to better define the role of robotic system in the clinical practice. PMID:25207216

  11. Robot control with biological cells.

    PubMed

    Tsuda, Soichiro; Zauner, Klaus-Peter; Gunji, Yukio-Pegio

    2007-02-01

    At present there exists a large gap in size, performance, adaptability and robustness between natural and artificial information processors for performing coherent perception-action tasks under real-time constraints. Even the simplest organisms have an enviable capability of coping with an unknown dynamic environment. Robots, in contrast, are still clumsy if confronted with such complexity. This paper presents a bio-hybrid architecture developed for exploring an alternate approach to the control of autonomous robots. Circuits prepared from amoeboid plasmodia of the slime mold Physarum polycephalum are interfaced with an omnidirectional hexapod robot. Sensory signals from the macro-physical environment of the robot are transduced to cellular scale and processed using the unique micro-physical features of intracellular information processing. Conversely, the response form the cellular computation is amplified to yield a macroscopic output action in the environment mediated through the robot's actuators.

  12. Robotic surgery - advance or gimmick?

    PubMed

    De Wilde, Rudy L; Herrmann, Anja

    2013-06-01

    Robotic surgery is increasingly implemented as a minimally invasive approach to a variety of gynaecological procedures. The use of conventional laparoscopy by a broad range of surgeons, especially in complex procedures, is hampered by several drawbacks. Robotic surgery was created with the aim of overcoming some of the limitations. Although robotic surgery has many advantages, it is also associated with clear disadvantages. At present, the proof of superiority over access by laparotomy or laparoscopy through large randomised- controlled trials is still lacking. Until results of such trials are present, a firm conclusion about the usefulness of robotic surgery cannot be drawn. Robotic surgery is promising, making the advantages of minimally invasive surgery potentially available to a large number of surgeons and patients in the future.

  13. Anaesthesia for robotic gynaecological surgery.

    PubMed

    Gupta, K; Mehta, Y; Sarin Jolly, A; Khanna, S

    2012-07-01

    Robotic surgery is gaining widespread popularity due to advantages such as reduced blood loss, reduced postoperative pain, shorter hospital stay and better visualisation of fine structures. Robots are being used in urological, cardiac, thoracic, orthopaedic, gynaecological and general surgery. Robotic surgery received US Food and Drug Administration approval for use in gynaecological surgery in 2005. The various gynaecological robotic operations being performed are myomectomy, total and supracervical hysterectomy, ovarian cystectomy, sacral colpopexy, tubal reanastomosis, lymph node dissection, surgery of retroperitoneal ectopic pregnancy, Moskowitz procedure and endometriosis surgery. The anaesthetic considerations include difficult access to the patient intraoperatively, steep Trendelenburg position, long surgical duration and the impact of pneumoperitoneum. We highlight the complications encountered in these surgeries and methods to prevent these complications. Robotic gynaecological surgery can be safely performed after considering the physiological effects of the steep Trendelenburg position and of pneumoperitoneum. The benefits of the surgical procedure should be weighed against the risks in patients with underlying cardiorespiratory problems.

  14. Clean-room robot implementation

    SciTech Connect

    Comeau, J.L.

    1982-07-14

    A robot has been incorporated in a clean room operation in which vacuum tube parts are cleaned just prior to final assembly with a 60 lb/in/sup 2/ blast of argon gas. The robot is programmed to pick up the parts, manipulate/rotate them as necessary in the jet pattern and deposit them in a tray precleaned by the robot. A carefully studied implementation plan was followed in the procurement, installation, modification and programming of the robot facility. An unusual configuration of one tube part required a unique gripper design. A study indicated that the tube parts processed by the robot are 12% cleaner than those manually cleaned by an experienced operator.

  15. Odor sensing for robot guidance

    NASA Astrophysics Data System (ADS)

    Deveza, Reimundo; Thiel, David; Russell, Andrew; Mackay-Sim, Alan

    1994-06-01

    There is no generally applicable technique for finding the position of an autonomous mobile robot operating in an unstructured or varying environment. This article describes a project to investigate the use of short-lived navigational markers consisting of olfactory chemicals to guide mobile robots and to help them search and explore efficiently. Such a method of laying a trail to mark the path of a robot provides differential navigational information relative to the starting point and starting direction. Many insects employ olfactory cues as navigation aids and to improve their efficiency when searching for food. Three scenarios are proposed in which navigational markers can be of assistance to a mobile robot. The design and characteristics of an adsorbed mass olfactory sensor are described. This sensor was designed to be mounted on a mobile robot and is suitable for detecting and tracking olfactory chemicals. The performance of this sensor is described together with preliminary results of using it to track an odor trail.

  16. Robotic systems for homeland security

    NASA Astrophysics Data System (ADS)

    Esser, Brian; Miller, Jon; Huston, Dryver R.; Bourn, Phil

    2004-07-01

    This paper will present the concept of utilizing various mobile robotic platforms for homeland security. Highly specialized mobile robots equipped with the proper sensors and data processing capabilities have the ability to provide security and surveillance for a wide variety of applications. Large infrastructure components, such as bridges, pipelines, dams, and electrical power grids pose severe challenges for monitoring, surveillance, and protection against man-made and natural hazards. The structures are enormous, often with awkward and dangerous configurations that make it difficult, if not impossible, for continuous human surveillance. Properly outfitted robots have the potential to provide long-term surveillance without requiring continuous human supervision. Furthermore, these robotic platforms can have disaster mitigation capabilities such as evaluation of infrastructure integrity at the disaster site. The results presented will include proof-of-concept robotic platforms equipped with various sensor arrays, as well as discussion of design criteria for numerous homeland security applications.

  17. Teleautonomous guidance for mobile robots

    NASA Technical Reports Server (NTRS)

    Borenstein, J.; Koren, Y.

    1990-01-01

    Teleautonomous guidance (TG), a technique for the remote guidance of fast mobile robots, has been developed and implemented. With TG, the mobile robot follows the general direction prescribed by an operator. However, if the robot encounters an obstacle, it autonomously avoids collision with that obstacle while trying to match the prescribed direction as closely as possible. This type of shared control is completely transparent and transfers control between teleoperation and autonomous obstacle avoidance gradually. TG allows the operator to steer vehicles and robots at high speeds and in cluttered environments, even without visual contact. TG is based on the virtual force field (VFF) method, which was developed earlier for autonomous obstacle avoidance. The VFF method is especially suited to the accommodation of inaccurate sensor data (such as that produced by ultrasonic sensors) and sensor fusion, and allows the mobile robot to travel quickly without stopping for obstacles.

  18. Safety design for medical robots.

    PubMed

    Kazanzides, Peter

    2009-01-01

    The use of robots in medicine is increasing, leading to the call for specific safety standards. This is a challenging endeavor, however, because the patient must usually be placed in the robot's workspace and the medical staff must frequently interact with the robot. Although specific safety standards for medical robots do not yet exist, there are several medical device standards and well-established principles of risk analysis and safety design that can and should be applied. This paper presents a tutorial overview of safety design for medical robots, starting with a discussion of high-level safety requirements, followed by methods for risk assessment (or hazard analysis) and a brief discussion of some sample safety strategies.

  19. Preparedness in robotically assisted interventions.

    PubMed

    Coste-Manière, Eve; Adhami, Louaï; Antiphon, Patrick; Abbou, Clément-Claude

    2003-04-01

    For many years, robots have been used in manufacturing to perform a variety of delicate tasks. Their use is now being generalized to other fields, such as biology, domestic applications, and especially medicine, in which they are poised to make a significant contribution. This evolution comes from the progress made in the field of robotics and from recent changes in medical and surgical techniques, namely, developments in medical imaging and a new desire for minimally invasive interventions. This emerging combination of high-precision robotic manipulators, new medical diagnostic techniques, and efficient minimally invasive surgery has not yet been perfected. After a brief discussion of state-of-the-art robotic systems used in urology, this article discusses new challenges presented by robotic minimally invasive surgery. A computer-integrated approach aimed at increasing the efficiency of such interventions through better preparedness is presented. This approach is illustrated by a case study in human nephrectomy and a cardiac animal experiment.

  20. The FUSE Survey of 0 VI in the Galactic Halo

    NASA Technical Reports Server (NTRS)

    Sonneborn, George; Savage, B. D.; Wakker, B. P.; Sembach, K. R.; Jenkins, E. B.; Moos, H. W.; Shull, J. M.

    2003-01-01

    This paper summarizes the results of the Far-Ultraviolet Spectroscopic Explorer (FUSE) program to study 0 VI in the Milky Way halo. Spectra of 100 extragalactic objects and two distant halo stars are analyzed to obtain measures of O VI absorption along paths through the Milky Way thick disk/halo. Strong O VI absorption over the velocity range from -100 to 100 km/s reveals a widespread but highly irregular distribution of O VI, implying the existence of substantial amounts of hot gas with T approx. 3 x 10(exp 5) K in the Milky Way thick disk/halo. The overall distribution of O VI is not well described by a symmetrical plane-parallel layer of patchy O VI absorption. The simplest departure from such a model that provides a reasonable fit to the observations is a plane-parallel patchy absorbing layer with an average O VI mid-plane density of n(sub 0)(O VI) = 1.7 x 10(exp -2)/cu cm, a scale height of approx. 2.3 kpc, and a approx. 0.25 dex excess of O VI in the northern Galactic polar region. The distribution of O VI over the sky is poorly correlated with other tracers of gas in the halo, including low and intermediate velocity H I, Ha emission from the warm ionized gas at approx. l0(exp 4) K, and hot X-ray emitting gas at approx. l0(exp 6) K . The O VI has an average velocity dispersion, b approx. 60 km/s and standard deviation of 15 km/s. Thermal broadening alone cannot explain the large observed profile widths. A combination of models involving the radiative cooling of hot fountain gas, the cooling of supernova bubbles in the halo, and the turbulent mixing of warm and hot halo gases is required to explain the presence of O VI and other highly ionized atoms found in the halo. The preferential venting of hot gas from local bubbles and superbubbles into the northern Galactic polar region may explain the enhancement of O VI in the North.

  1. A Mini-Curriculum for Robotics Education.

    ERIC Educational Resources Information Center

    Jones, Preston K.

    This practicum report documents the development of a four-lesson multimedia program for robotics instruction for fourth and seventh grade students. The commercial film "Robot Revolution" and the videocassette tape "Robotics" were used, along with two author-developed slide/audiotape presentations and 14 overhead transparency foils. Two robots,…

  2. Robotic System For Greenhouse Or Nursery

    NASA Technical Reports Server (NTRS)

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

    1993-01-01

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

  3. MRH-5 Robot/Student Manual.

    ERIC Educational Resources Information Center

    Fox Valley Technical Coll., Appleton, WI.

    This student manual for the Miller MRH-5 welding robot contains nine modules on how to: safely operate the MRH-5 robot; recognize different types of data; weld a part programming the MRH-5; re-teach an already taught program; weld various joints with the MRH-5 robot; weld a desk plaque with the MRH-5 robot; perform editing functions; check/edit…

  4. Design-Oriented Enhanced Robotics Curriculum

    ERIC Educational Resources Information Center

    Yilmaz, M.; Ozcelik, S.; Yilmazer, N.; Nekovei, R.

    2013-01-01

    This paper presents an innovative two-course, laboratory-based, and design-oriented robotics educational model. The robotics curriculum exposed senior-level undergraduate students to major robotics concepts, and enhanced the student learning experience in hybrid learning environments by incorporating the IEEE Region-5 annual robotics competition…

  5. Direct Adaptive Control Of An Industrial Robot

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun; Lee, Thomas; Delpech, Michel

    1992-01-01

    Decentralized direct adaptive control scheme for six-jointed industrial robot eliminates part of overall computational burden imposed by centralized controller and degrades performance of robot by reducing sampling rate. Control and controller-adaptation laws based on observed performance of manipulator: no need to model dynamics of robot. Adaptive controllers cope with uncertainties and variations in robot and payload.

  6. Coordinated Research in Robotics and Integrated Manufacturing.

    DTIC Science & Technology

    1983-07-31

    of top rate senior people. Dur- ing the first annual contract period eight new faculty were brought to the College in robotics and manufacturing ...The University of Michigan College of Engineering COORDINATED RESEARCH IN ROBOTICS AND INTEGRATED MANUFACTURING FIRST...ANNUAL REPORT ON COORDINATED RESEARCH IN ROBOTICS AND INTEGRATED MANUFACTURING THE UNIVERSITY OF MICHIGAN Background The Center for Robotics and

  7. Megasessions for Robotic Hair Restoration.

    PubMed

    Pereira, Joa O Carlos; Pereira Filho, Joa O Carlos; Cabrera Pereira, Joa O Pedro

    2016-11-01

    A robotic system can select and remove individual hair follicles from the donor area with great precision and without fatigue. This report describes the use of the robotic system in a megasession for hair restoration. Patients were instructed to cut their hair to 1.0 to 1.2 mm before surgery. The robot selected and removed 600 to 800 grafts per hour so the follicular units (FU)s could be transplanted manually to recipient sites. The robot arm consists of a sharp inner punch and a blunt outer punch which together separate FUs from the sur- rounding tissue. Stereoscopic cameras controlled by image processing software allow the system to identify the angle and direction of hair growth. The physician and one assistant control the harvesting with a hand-held remote control and computer monitor while the patient is positioned in an adjustable chair. When the robot has harvested all the FUs they are removed by technicians with small forceps. Hairline design, creation of recipient sites, and graft placement are performed manually by the physician. Clinical photographs before and after surgery show that patients experience excellent outcomes with the robotic megasession. Phy- sician fatigue during graft extraction is reduced because the robot performs the repetitive movements without fatigue. Variability of graft extraction is minimized because the robot's optical system can be programmed to choose the best FUs. The transection rate is reduced because the robot's graft extraction system uses two needles, a sharp one to piece the skin and a blunt needle to dissect the root without trauma. A robotic megasession for hair restoration is minimally invasive, does not result in linear scars in the donor area, and is associated with minimal fatigue and discomfort for both patient and physician. Healing is rapid and patients experience a high level of satisfaction with the results. J Drugs Dermatol. 2016;15(11):1407-1412..

  8. Neptunium (VI) and neptunium (VI/V) mixed valence cluster compounds

    SciTech Connect

    May, Iain

    2008-01-01

    Neptunium has three readily accessible oxidation states, IV, V and VI, which can coexist under certain conditions, with the aqueous soluble neptunyl(V) moiety, {l_brace}NpO{sub 2}{r_brace}{sup +}, of most environmental relevance. Careful control of Np chemistry is required during actinide separation processes. In addition, the long half life of the major alpha emitting isotope ({sup 237}Np, t{sub 1/2} = 2.144 x 10{sup 6} years) renders Np a major contributor to the radiotoxicity of nuclear waste as a function of time. Significant quantities of neptunium are generated in nuclear reactors and the current surge in interest in nuclear power will lead to an increase in our need to further understand the chemistry of this element. It is clearly of importance that Np chemistry is well understood and there have been several recent investigations into the structural, spectroscopic and magnetic properties of Np compounds. However, the vast majority of this chemistry has been performed in aqueous solution, prohibiting the use of air and moisture sensitive ligands. This is in stark contrast to uranium and thorium where inert atmosphere chemistry with moisture sensitive donor ligands has flourished, yielding greater insight into the structural and electronic properties of these early actinides. For the uranyl(VI) moiety, {l_brace}UO{sub 2}{r_brace}{sup 2+}, UO{sub 2}Cl{sub 2}(thf){sub 3} (and the desolvated dimer [UO{sub 2}Cl{sub 2}(thf)]{sub 2}) have proven to be excellent moisture-free reagents for inert atmosphere uranyl chemistry. These starting reagents have been used extensively within our group to study soft donor ligand coordination in the uranyl equatorial plane and oxo-activation to Lewis acid coordination. However, until now the absence of such a starting reagent for Np has limited our ability to extend this chemistry any further across the actinide series, which is required if we are to gain a more complete understanding of 5f element chemistry. The synthesis of [Np

  9. Robotic Laparoscopic Pyeloplasty

    PubMed Central

    Mitre, Anuar I.; Hubert, Nicolas; Egrot, Christophe; Hubert, Jacques

    2014-01-01

    Background and Objectives: We aimed to assess the feasibility and outcomes of complex ureteropelvic junction obstruction cases submitted to robotic-assisted laparoscopic pyeloplasty. Methods: The records of 131 consecutive patients who underwent robotic-assisted laparoscopic pyeloplasty were reviewed. Of this initial population of cases, 17 were considered complex, consisting of either atypical anatomy (horseshoe kidneys in 3 patients) or previous ureteropelvic junction obstruction management (14 patients). The patients were divided into 2 groups: primary pyeloplasty (group 1) and complex cases (group 2). Results: The mean operative time was 117.3 ± 33.5 minutes in group 1 and 153.5 ± 31.1 minutes in group 2 (P = .002). The median hospital stay was 5.19 ± 1.66 days in group 1 and 5.90 ± 2.33 days in group 2 (P = .326). The surgical findings included 53 crossing vessels in group 1 and 5 in group 2. One patient in group 1 required conversion to open surgery because of technical difficulties. One patient in group 2, with a history of hemorrhagic rectocolitis, presented with peritonitis postoperatively due to a small colonic injury. A secondary procedure was performed after the patient had an uneventful recovery. At 3 months, significant improvement (clinical and radiologic) was present in 93% of cases in group 1 and 88.2% in group 2. At 1 year, all patients in group 2 showed satisfactory results. At a late follow-up visit, 1 patient in group 1 presented with a recurrent obstruction. Conclusions: Robotic pyeloplasty appear to be feasible and effective, showing a consistent success rate even in complex situations. Particular care should be observed during the colon dissection in patients with previous colonic pathology. PMID:24680152

  10. Robotic Arm Unwrapped

    NASA Technical Reports Server (NTRS)

    2008-01-01

    This image, taken shortly after NASA's Phoenix Mars Lander touched down on the surface of Mars, shows the spacecraft's robotic arm in its stowed configuration, with its biobarrier successfully unpeeled. The 'elbow' of the arm can be seen at the top center of the picture, and the biobarrier is the shiny film seen to the left of the arm.

    The biobarrier is an extra precautionary measure for protecting Mars from contamination with any bacteria from Earth. While the whole spacecraft was decontaminated through cleaning, filters and heat, the robotic arm was given additional protection because it is the only spacecraft part that will directly touch the ice below the surface of Mars.

    Before the arm was heated, it was sealed in the biobarrier, which is made of a trademarked film called Tedlar that holds up to baking like a turkey-basting bag. This ensures that any new bacterial spores that might have appeared during the final steps before launch and during the journey to Mars will not contact the robotic arm.

    After Phoenix landed, springs were used to pop back the barrier, giving it room to deploy.

    The base of the lander's Meteorological Station can be seen in this picture on the upper left. Because only the base of the station is showing, this image tells engineers that the instrument deployed successfully.

    The image was taken on landing day, May 25, 2008, by the spacecraft's Surface Stereo Imager.

    The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed Martin Space Systems, Denver.

  11. [Mobile autonomous robots-Possibilities and limits].

    PubMed

    Maehle, E; Brockmann, W; Walthelm, A

    2002-02-01

    Besides industrial robots, which today are firmly established in production processes, service robots are becoming more and more important. They shall provide services for humans in different areas of their professional and everyday environment including medicine. Most of these service robots are mobile which requires an intelligent autonomous behaviour. After characterising the different kinds of robots the relevant paradigms of intelligent autonomous behaviour for mobile robots are critically discussed in this paper and illustrated by three concrete examples of robots realized in Lübeck. In addition a short survey of actual kinds of surgical robots as well as an outlook to future developments is given.

  12. Robot-aided neurorehabilitation: a robot for wrist rehabilitation.

    PubMed

    Krebs, Hermano Igo; Volpe, Bruce T; Williams, Dustin; Celestino, James; Charles, Steven K; Lynch, Daniel; Hogan, Neville

    2007-09-01

    In 1991, a novel robot, MIT-MANUS, was introduced to study the potential that robots might assist in and quantify the neuro-rehabilitation of motor function. MIT-MANUS proved an excellent tool for shoulder and elbow rehabilitation in stroke patients, showing in clinical trials a reduction of impairment in movements confined to the exercised joints. This successful proof of principle as to additional targeted and intensive movement treatment prompted a test of robot training examining other limb segments. This paper focuses on a robot for wrist rehabilitation designed to provide three rotational degrees-of-freedom. The first clinical trial of the device will enroll 200 stroke survivors. Ultimately 160 stroke survivors will train with both the proximal shoulder and elbow MIT-MANUS robot, as well as with the novel distal wrist robot, in addition to 40 stroke survivor controls. So far 52 stroke patients have completed the robot training (ongoing protocol). Here, we report on the initial results on 36 of these volunteers. These results demonstrate that further improvement should be expected by adding additional training to other limb segments.

  13. Compliant Joints For Robots

    NASA Technical Reports Server (NTRS)

    Kerley, James J., Jr.

    1990-01-01

    Compliant joints devised to accommodate misalignments of tools and/or workpieces with respect to robotic manipulators. Has characteristics and appearance of both universal-joint and cable-spring-type flexible shaft coupling. Compliance derived from elastic properties of short pieces of cable. Compliance of joint determined by lengths, distances between, relative orientations, thickness of strands, number of strands, material, amount of pretwist, and number of short pieces of cable. Worm-drive mechanism used to adjust lengths to vary compliance as needed during operation.

  14. Hazardous-Materials Robot

    NASA Technical Reports Server (NTRS)

    Stone, Henry W.; Edmonds, Gary O.

    1995-01-01

    Remotely controlled mobile robot used to locate, characterize, identify, and eventually mitigate incidents involving hazardous-materials spills/releases. Possesses number of innovative features, allowing it to perform mission-critical functions such as opening and unlocking doors and sensing for hazardous materials. Provides safe means for locating and identifying spills and eliminates risks of injury associated with use of manned entry teams. Current version of vehicle, called HAZBOT III, also features unique mechanical and electrical design enabling vehicle to operate safely within combustible atmosphere.

  15. Rugged Walking Robot

    NASA Technical Reports Server (NTRS)

    Larimer, Stanley J.; Lisec, Thomas R.; Spiessbach, Andrew J.

    1990-01-01

    Proposed walking-beam robot simpler and more rugged than articulated-leg walkers. Requires less data processing, and uses power more efficiently. Includes pair of tripods, one nested in other. Inner tripod holds power supplies, communication equipment, computers, instrumentation, sampling arms, and articulated sensor turrets. Outer tripod holds mast on which antennas for communication with remote control site and video cameras for viewing local and distant terrain mounted. Propels itself by raising, translating, and lowering tripods in alternation. Steers itself by rotating raised tripod on turntable.

  16. Robotic Finger Assembly

    NASA Technical Reports Server (NTRS)

    Ihrke, Chris A. (Inventor); Bridgwater, Lyndon (Inventor); Diftler, Myron A. (Inventor); Linn, Douglas M. (Inventor); Platt, Robert (Inventor); Hargrave, Brian (Inventor); Askew, Scott R. (Inventor); Valvo, Michael C. (Inventor)

    2013-01-01

    A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.

  17. Robotic Finger Assembly

    NASA Technical Reports Server (NTRS)

    Ihrke, Chris A. (Inventor); Bridgwater, Lyndon (Inventor); Diftler, Myron A. (Inventor); Linn, Douglas Martin (Inventor); Platt, Robert J., Jr. (Inventor); Hargrave, Brian (Inventor); Askew, Scott R. (Inventor); Valvo, Michael C. (Inventor)

    2014-01-01

    A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.

  18. Phoenix Robotic Arm Rasp

    NASA Technical Reports Server (NTRS)

    2008-01-01

    This photograph shows the rasp protruding from the back of the scoop on NASA's Phoenix Mars Lander's Robotic Arm engineering model in the Payload Interoperability Testbed at the University of Arizona, Tucson.

    This is the position the rasp will assume when it drills into the Martian soil to acquire an icy soil sample for analysis.

    The Phoenix Mission is led by the University of Arizona, Tucson, on behalf of NASA. Project management of the mission is led by NASA's Jet Propulsion Laboratory, Pasadena, Calif. Spacecraft development is by Lockheed Martin Space Systems, Denver.

  19. Remote robotic countermine systems

    NASA Astrophysics Data System (ADS)

    Wells, Peter

    2010-04-01

    QinetiQ North America (QNA) has approximately 27 years experience in the mine/countermine mission area. Our expertise covers mine development, detection, and neutralization and has always been intertwined with deployment of remote robotic systems. Our countermine payload systems have been used to detect limpet mines on ship hulls, antiassault mines in shallow water and littoral zones and currently for clearance and render safe of land-based routes. In our talk, we will address the challenges encountered in addressing the ongoing countermine mission over a diverse range of operational scenarios, environmental conditions and strategic priorities.

  20. Survey of Mobile Robots.

    DTIC Science & Technology

    1985-12-01

    STANDARDS-1963-A IMY Techical Report ND. 450-90G-1R-ODWa p. 00 SURVEY OF MOBLE ROBOTS ’ Anita N& Flym Research Scientist !; "IT Artificlal Intelligence...case of an attempt at system building before the technology for the components was available. 1.3 The Stanford Cart 1973-1981 From 1973 to 1981, work...autonomous and yet still exhibit a high level of sophistication. Rapidly changing technology , including both the advent of the home computer and

  1. Precision Robotic Assembly Machine

    ScienceCinema

    None

    2016-07-12

    The world's largest laser system is the National Ignition Facility (NIF), located at Lawrence Livermore National Laboratory. NIF's 192 laser beams are amplified to extremely high energy, and then focused onto a tiny target about the size of a BB, containing frozen hydrogen gas. The target must be perfectly machined to incredibly demanding specifications. The Laboratory's scientists and engineers have developed a device called the "Precision Robotic Assembly Machine" for this purpose. Its unique design won a prestigious R&D-100 award from R&D Magazine.

  2. Electrochemical alkaline Fe(VI) water purification and remediation.

    PubMed

    Licht, Stuart; Yu, Xingwen

    2005-10-15

    Fe(VI) is an unusual and strongly oxidizing form of iron, which provides a potentially less hazardous water-purifying agent than chlorine. A novel on-line electrochemical Fe(VI) water purification methodology is introduced. Fe(VI) addition had been a barrier to its effective use in water remediation, because solid Fe(VI) salts require complex (costly) syntheses steps and solutions of Fe(VI) decompose. Online electrochemical Fe(VI) water purification avoids these limitations, in which Fe(VI) is directly prepared in solution from an iron anode as the FeO42- ion, and is added to the contaminant stream. Added FeO42- decomposes, by oxidizing a wide range of water contaminants including sulfides (demonstrated in this study) and other sulfur-containing compounds, cyanides (demonstrated in this study), arsenic (demonstrated in this study), ammonia and other nitrogen-containing compounds (previously demonstrated), a wide range of organics (phenol demonstrated in this study), algae, and viruses (each previously demonstrated).

  3. Kinetics of Microbial Reduction of Solid Phase U(VI)

    SciTech Connect

    Liu, Chongxuan; Jeon, Byong Hun; Zachara, John M.; Wang, Zheming; Dohnalkova, Alice; Fredrickson, Jim K.

    2006-10-01

    Sodium boltwoodite (NaUO2SiO3OH ?1.5H2O) was used to assess the kinetics of microbial reduction of solid phase U(VI) by a dissimilatory metal-reducing bacterium (DMRB), Shewanella oneidensis strain MR-1. The bioreduction kinetics was studied with Na-boltwoodite in suspension or within alginate beads. Concentrations of U(VI)tot and cell number were varied to evaluate the coupling of U(VI) dissolution, diffusion, and microbial activity. Batch experiments were performed in a non-growth medium with lactate as electron donor at pH 6.8 buffered with PIPES. Microscopic and spectroscopic analyses with transmission electron microscopy (TEM), energy dispersive spectroscopy (EDS), and laser-induced fluorescence spectroscopy (LIFS) collectively indicated that solid phase U(VI) was first dissolved and diffused out of grain interiors before it was reduced on bacterial surfaces and/or within the periplasm. The kinetics of solid phase U(VI) bioreduction was well described by a coupled model of bicarbonate-promoted dissolution of Na-boltwoodite, intraparticle uranyl diffusion, and Monod type bioreduction kinetics with respect to dissolved U(VI) concentration. The results demonstrated the intimate coupling of biological, chemical, and physical processes in microbial reduction of solid phase U(VI).

  4. A power autonomous monopedal robot

    NASA Astrophysics Data System (ADS)

    Krupp, Benjamin T.; Pratt, Jerry E.

    2006-05-01

    We present the design and initial results of a power-autonomous planar monopedal robot. The robot is a gasoline powered, two degree of freedom robot that runs in a circle, constrained by a boom. The robot uses hydraulic Series Elastic Actuators, force-controllable actuators which provide high force fidelity, moderate bandwidth, and low impedance. The actuators are mounted in the body of the robot, with cable drives transmitting power to the hip and knee joints of the leg. A two-stroke, gasoline engine drives a constant displacement pump which pressurizes an accumulator. Absolute position and spring deflection of each of the Series Elastic Actuators are measured using linear encoders. The spring deflection is translated into force output and compared to desired force in a closed loop force-control algorithm implemented in software. The output signal of each force controller drives high performance servo valves which control flow to each of the pistons of the actuators. In designing the robot, we used a simulation-based iterative design approach. Preliminary estimates of the robot's physical parameters were based on past experience and used to create a physically realistic simulation model of the robot. Next, a control algorithm was implemented in simulation to produce planar hopping. Using the joint power requirements and range of motions from simulation, we worked backward specifying pulley diameter, piston diameter and stroke, hydraulic pressure and flow, servo valve flow and bandwidth, gear pump flow, and engine power requirements. Components that meet or exceed these specifications were chosen and integrated into the robot design. Using CAD software, we calculated the physical parameters of the robot design, replaced the original estimates with the CAD estimates, and produced new joint power requirements. We iterated on this process, resulting in a design which was prototyped and tested. The Monopod currently runs at approximately 1.2 m/s with the weight of all

  5. Semiautonomous navigation of mobile robots

    NASA Astrophysics Data System (ADS)

    Forsberg, Johan; Hogstrom, Thomas; Wernersson, Ake V.

    1995-01-01

    The paper is on operations for semi-autonomous mobile robots. The robot is assumed to be remotely controlled by an operator. It is difficult for an operator to directly control the robot, especially over a communication link with low bandwidth and/or time delays. Therefore it is necessary to close the control loop in the robot with the operator giving high level commands. The operator is still needed as the fully autonomous robot does not exist today, except for limited scenarios. The scene around the robot is sensed using a scanning range measuring laser and a camera. The high level scene interpretation is done by the operator who also does the high level planning. Which operations the robot are to perform is indicated by pointing in the images or in a map created by the robot. Operations are functions that the robot can perform autonomously. They can be simple, like `Travel 2 m ahead', or more advanced, like `Follow the corridor and take the first door to the right'. Some typical operations are: (1) Lock the heading of the robot when driving on a `straight' line and preprogrammed 90 and 180 turns. (2) Automatically enter a camera defined line; the direction of the camera is used to drop a new coordinate frame at any time (using a knob on the keyboard). The robot will automatically enter this new line and also compensate for the overshoot. (3) Travelling along corridors. The operation is both robust and precise. The precision is about 1 cm at 1 m/s and the robot is not disturbed by people passing it in the corridor. (4) Command for passage through a door works within 1 cm and 0.5 degrees at a speed of 0.5 m/s. The range weighted Hough Transform on laser measurements extracts the walls in an indoor environment. This is used to create an internal map in the robot which is used for operations like corridor following or passing through doors. The map is also useful when presenting information to the operator.

  6. The Summer Robotic Autonomy Course

    NASA Technical Reports Server (NTRS)

    Nourbakhsh, Illah R.

    2002-01-01

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

  7. Boudreaux the Robot (a.k.a. EVA Robotic Assistant)

    NASA Technical Reports Server (NTRS)

    Shillcutt, Kimberly; Burridge, Robert; Graham, Jeffrey

    2002-01-01

    The EVA Robotic Assistant is a prototype for an autonomous rover designed to assist human astronauts. The primary focus of the research is to explore the interaction between humans and robots, particularly in extreme environments, and to develop a software infrastructure that could be applied to any type of assistant robot, whether for planetary exploration or orbital missions. This paper describes the background and current status of the project, the types of scenarios addressed in field demonstrations, the hardware and software that comprise the current prototype, and future research plans.

  8. The adsorption behavior of U(VI) on granite.

    PubMed

    Fan, Q H; Hao, L M; Wang, C L; Zheng, Z; Liu, C L; Wu, W S

    2014-03-01

    The effects of pH, counter ions and temperature on the adsorption of U(VI) on Beishan granite (BsG) were investigated in the presence and absence of fulvic acid (FA) and humic acid (HA). The adsorption edge of U(VI) on BsG suggested that U(VI) adsorption was mainly controlled by ion exchange and outer-sphere complexation at low pH, whereas inner-sphere complex was the dominant adsorption species in the pH range of 4.0-9.0. Above pH 9.0, Na2U2O7 might play an important role in the rise of U(VI) adsorption again. Counter ions such as Cl(-), SO4(2-) and PO4(3-) can provoke U(VI) adsorption on BsG to some extent, which was directly correlated to the complexing ability of U(VI)-ligand. More noticeably, the large enhancement of U(VI) adsorption in the presence of phosphate can be attributed to the ternary complex formation (BsG-PO4-UO2), precipitation ((UO2)3(PO4)2(s)) and secondary phase (Na-autunite). Both FA and HA can slightly increase U(VI) adsorption at low pH, whereas they strongly inhibited U(VI) adsorption at high pH range. Artificial synthesized granite (AsG) prepared in the laboratory is impossible to use as an analogue of natural granite because of the large difference in the adsorption and surface properties.

  9. Kinetics of Abiotic Uranium(VI) Reduction by Sulfide

    NASA Astrophysics Data System (ADS)

    Hyun, S.; Davis, J. A.; Hayes, K. F.

    2010-12-01

    Uranium(VI) reduction is an important process affecting the radionuclide’s fate under sulfate reducing conditions. In this work, kinetics of abiotic U(VI) reduction by dissolved sulfide was studied using a batch reactor. The effects of solution pH, dissolved carbonate, Ca(II), U(VI), and S(-II) concentration on the reduction kinetics were tested. The ranges of these experimental variables were designed to cover the variation in groundwater chemistry observed at the Old Rifle uranium mill tailings site (Colorado, USA). Dissolved U concentration was monitored as a function of time using inductively coupled plasma-mass spectrometry to measure the rate of U(VI) reduction. Solid phase reduction products were identified using X-ray diffraction, transmission electron microscopy, and X-ray absorption spectroscopy. The results showed that changes in the experimental variables significantly affected U(VI) reduction kinetics by dissolved sulfide. U(VI) reduction occurred under circumneutral pH while no reduction was observed under alkaline conditions. The reduction rate was slowed by increased dissolved carbonate concentration. One solid phase reduction product was identified as nanoscale uraninite (UO2+x(s)). Thermodynamic modeling showed that the dissolved U(VI) aqueous species changed as a function of solution conditions correlated with the change in the reduction rate. These results show that U(VI) aqueous speciation is important in determining abiotic U(VI) reduction kinetics by dissolved sulfide. This study also illustrates the potential importance of dissolved sulfide in field-scale modeling of U reactive transport, and is expected to contribute to the understanding of long-term effects of biostimulation on U transport at the Rifle site.

  10. Application of robotics In the clinical laboratory

    PubMed Central

    Bunce, R. A.; Broughton, P. M. G.; Browning, D. M.; Gibbons, J. E. C.; Kricka, L. J.

    1989-01-01

    The basic types of robot are explained, and the performances and costs of some commercial examples are given. The potential advantages and problems of introducing robots into clinical laboratories are identified and the specifcation of a suitable robot is developed. None of the commercially available robots meets all aspects of the specificalion, and currently the purchase of a robot is considered premature for most clinical laboratories. PMID:18925236

  11. The Human-Robot Interaction Operating System

    NASA Technical Reports Server (NTRS)

    Fong, Terrence; Kunz, Clayton; Hiatt, Laura M.; Bugajska, Magda

    2006-01-01

    In order for humans and robots to work effectively together, they need to be able to converse about abilities, goals and achievements. Thus, we are developing an interaction infrastructure called the "Human-Robot Interaction Operating System" (HRI/OS). The HRI/OS provides a structured software framework for building human-robot teams, supports a variety of user interfaces, enables humans and robots to engage in task-oriented dialogue, and facilitates integration of robots through an extensible API.

  12. Computing Relative Joint Positions of Robot Arms

    NASA Technical Reports Server (NTRS)

    Barker, L. K.

    1986-01-01

    Vector-algebra method developed for extracting Denavit-Hartenberg parameters for any assembled robot arm. Method for extracting relative joint geometry of robot arms useful to researchers who need data for existing robot arms for either validation of mathematical models or for studies involving actual control of these devices. Method, does not require robot arm to be disassembled, also useful in recalibration of misalined or bent robot arm and becomes useful industrial procedure. Merit of method is errors not propagated.

  13. Development of Inspection Robots for Bridge Cables

    PubMed Central

    Kim, Se-Hoon; Lee, Jong-Jae

    2013-01-01

    This paper presents the bridge cable inspection robot developed in Korea. Two types of the cable inspection robots were developed for cable-suspension bridges and cable-stayed bridge. The design of the robot system and performance of the NDT techniques associated with the cable inspection robot are discussed. A review on recent advances in emerging robot-based inspection technologies for bridge cables and current bridge cable inspection methods is also presented. PMID:24459453

  14. An Advanced Telereflexive Tactical Response Robot

    DTIC Science & Technology

    2001-01-01

    Autonomous Robots 1 1 ,3947 ,2001 @ 2001 Kluwer Academic Publishers. Manufactured in The Netherlands. An Advanced Telereflexive Tactical Response... Robot H.R. EVERETT, G.A. GILBREATH AND D.A. CICCIMARO SPAWAR Systems Center*, San Diego, Code D371, 53406 Woodward Road, San Diego, CA 92152-7383...centered mapping” strategy. Keywords: robotic sensors, tactical response robot robotics , teleoperated, telereflexive, non-lethal response, world modeling

  15. The climbing crawling robot (a unique cable robot for space and Earth)

    NASA Technical Reports Server (NTRS)

    Kerley, James J.; May, Edward; Eklund, Wayne

    1991-01-01

    Some of the greatest concerns in robotic designs have been the high center of gravity of the robot, the irregular or flat surface that the robot has to work on, the weight of the robot that has to handle heavy weights or use heavy forces, and the ability of the robot to climb straight up in the air. This climbing crawling robot handles these problems well with magnets, suction cups, or actuators. The cables give body to the robot and it performs very similar to a caterpillar. The computer program is simple and inexpensive as is the robot. One of the important features of this system is that the robot can work in pairs or triplets to handle jobs that would be extremely difficult for single robots. The light weight of the robot allows it to handle quite heavy weights. The number of feet give the robot many roots where a simple set of feet would give it trouble.

  16. Incorporation of neptunium(VI) into a uranyl selenite.

    PubMed

    Meredith, Nathan A; Polinski, Matthew J; Lin, Jian; Simonetti, Antonio; Albrecht-Schmitt, Thomas E

    2012-10-15

    The incorporation of neptunium(VI) into the layered uranyl selenite Cs[(UO(2))(HSeO(3))(SeO(3))] has yielded the highest level of neptunium uptake in a uranyl compound to date with an average of 12(±3)% substitution of Np(VI) for U(VI). Furthermore, this is the first case in nearly 2 decades of dedicated incorporation studies in which the oxidation state of neptunium has been determined spectroscopically in a doped uranyl compound and also the first time in which neptunium incorporation has resulted in a structural transformation.

  17. Frequency of Oxygen VI in Intervening QSO Absorption Systems

    NASA Astrophysics Data System (ADS)

    Burles, Scott; Tytler, David

    1994-12-01

    We have conducted the first survey for QSO with O VI lambda lambda 1032,1038 absorption lines. We obtained medium resolution (R ~ 1300), high signal-to-noise (~ 20) spectra of 11 QSOs (0.53<= zem <=2.08) taken with the Faint Object Spectrograph from the Hubble Space Telescope Archive. The O VI doublet is found exclusively in the Lyman-alpha forest. All previous surveys of metal lines in QSO absorption systems were done redward of Lyalpha emission, avoiding blending due to Lyman-alpha forest clouds. The higher density of lines in the Lyman-alpha forest demands new stringent criteria to ensure the identification of the O VI doublet. We used simulated spectra to determine the statistical significance of lines indentified in the Lyman-alpha forest. We found 12 O VI doublets and 9 are expected to be real. Six constitute a uniform sample with both lines exceeding a rest equivalent width of W_r =0.21 Angstroms. The number of O VI doublets per unit redshift is = 1.0 +/-0.6 at a mean absorption redshift of zave = 0.9. For comparable W_r the density of O VI absorbers is similar to Mg II (Tytler et al 1986; Steidel & Sargent 1992) and C IV absorbers (Sargent et al 1988; Bahcall et al 1993). We searched for other common ions in the O VI absorption systems. Out of 8 O VI absorption systems in which C IV is also found, C IV is stronger in all except zabs=1.0828 towards PG1206+459 which we believe is collisionally ionized. A rough estimate of the cosmological mass density of O VI is carried out. If we assume that O VI lines are linear, we get a lower limit of Omega (OVI) >= 3 times 10(-9) h(-1}_{100) . Since O > O VI, if the mean metal abundance were below 0.002 solar, then the accompanying Hydrogen and Helium would account for all baryons in the universe. We conclude that mean abundances are above 0.002 solar, and much greater if the gas is not highly ionized (O >> O VI).

  18. Atomic-Scale Characterization of II-VI Compound Semiconductors

    NASA Astrophysics Data System (ADS)

    Smith, David J.

    2013-11-01

    Alloys of II-VI compound semiconductors with suitable band gap selection potentially provide broad coverage of wavelengths for photodetector applications. Achievement of high-quality epitaxial growth is, however, essential for successful development of integrated photonic and optoelectronic devices. Atomic-scale characterization of structural defects in II-VI heterostructures using electron microscopy plays an invaluable role in accomplishing this goal. This paper reviews some recent high-resolution studies of II-VI compound semiconductors with zincblende crystal structure, as grown epitaxially on commonly used substrates. Exploratory studies using aberration-corrected electron microscopes are also briefly considered.

  19. Enhancing the electrochemical Cr(VI) reduction in aqueous solution.

    PubMed

    Barrera-Díaz, Carlos; Lugo-Lugo, Violeta; Roa-Morales, Gabriela; Natividad, R; Martínez-Delgadillo, S A

    2011-01-30

    In this study we present the cathodic Cr(VI) reduction using electrodissolution of iron anode. In batch experiments we tested four different cathodic materials; the best conditions were found when copper was used. It is observed that when more current is applied into the electrochemical cell faster reduction rates are achieved. Continuous experiments also reveal that Cr(VI) reduction could be done in a very efficient way. To confirm the experimental data, cyclic voltammetry was used and it was found that the cathodic Cr(VI) reduction is taking place.

  20. 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.