High efficiency and simple technique for controlling mechanisms by EMG signals

NASA Astrophysics Data System (ADS)

Dugarte, N.; Álvarez, A.; Balacco, J.; Mercado, G.; Gonzalez, A.; Dugarte, E.; Javier, F.; Ceballos, G.; Olivares, A.

2016-04-01

This article reports the development of a simple and efficient system that allows control of mechanisms through electromyography (EMG) signals. The novelty about this instrument is focused on individual control of each motion vector mechanism through independent electronic circuits. Each of electronic circuit does positions a motor according to intensity of EMG signal captured. This action defines movement in one mechanical axis considered from an initial point, based on increased muscle tension. The final displacement of mechanism depends on individual’s ability to handle the levels of muscle tension at different body parts. This is the design of a robotic arm where each degree of freedom is handled with a specific microcontroller that responds to signals taken from a defined muscle. The biophysical interaction between the person and the final positioning of the robotic arm is used as feedback. Preliminary tests showed that the control operates with minimal positioning error margins. The constant use of system with the same operator showed that the person adapts and progressively improves at control technique.

The University of Pennsylvania curriculum for training otorhinolaryngology residents in transoral robotic surgery.

PubMed

Sperry, Steven M; O'Malley, Bert W; Weinstein, Gregory S

2014-01-01

To define a curriculum for the development of robotic surgical skills in otorhinolaryngology residency training. A systematic review of the current literature on robotic surgery training was performed. Based on prior reports in other specialties, a curriculum for otorhinolaryngology residents was created that progresses through several modules, including didactics, inanimate skills laboratory, and operative experience. The curriculum for residents in otorhinolaryngology was designed as follows: didactics include an overview of the robotic device and instruments, a tutorial in basic controls and function, and a room setup and positioning. The anatomy and steps of transoral procedures are taught through books, videos, operative observations, and cadaver dissections. Skills are developed with a virtual reality robotic simulator and robotics labs. The operative experience progresses from case observation to bedside assistant to console surgeon. The role of the console surgeon progresses in a stepwise fashion, and the procedures of radical tonsillectomy, supraglottic partial laryngectomy, and base of tongue resection have been organized as a series of steps. A structured curriculum for training residents in transoral robotic surgery was developed. This training is important for otorhinolaryngology residents to acquire the knowledge and skills to perform robotic surgery safely. © 2015 S. Karger AG, Basel.

Fish biorobotics: kinematics and hydrodynamics of self-propulsion.

PubMed

Lauder, George V; Anderson, Erik J; Tangorra, James; Madden, Peter G A

2007-08-01

As a result of years of research on the comparative biomechanics and physiology of moving through water, biologists and engineers have made considerable progress in understanding how animals moving underwater use their muscles to power movement, in describing body and appendage motion during propulsion, and in conducting experimental and computational analyses of fluid movement and attendant forces. But it is clear that substantial future progress in understanding aquatic propulsion will require new lines of attack. Recent years have seen the advent of one such new avenue that promises to greatly broaden the scope of intellectual opportunity available to researchers: the use of biorobotic models. In this paper we discuss, using aquatic propulsion in fishes as our focal example, how using robotic models can lead to new insights in the study of aquatic propulsion. We use two examples: (1) pectoral fin function, and (2) hydrodynamic interactions between dorsal and caudal fins. Pectoral fin function is characterized by considerable deformation of individual fin rays, as well as spanwise (along the length) and chordwise (across the fin) deformation and area change. The pectoral fin can generate thrust on both the outstroke and instroke. A robotic model of the pectoral fin replicates this result, and demonstrates the effect of altering stroke kinematics on the pattern of force production. The soft dorsal fin of fishes sheds a distinct vortex wake that dramatically alters incoming flow to the tail: the dorsal fin and caudal fin act as dual flapping foils in series. This design can be replicated with a dual-foil flapping robotic device that demonstrates this phenomenon and allows examination of regions of the flapping performance space not available to fishes. We show how the robotic flapping foil device can also be used to better understand the significance of flexible propulsive surfaces for locomotor performance. Finally we emphasize the utility of self-propelled robotic devices as a means of understanding how locomotor forces are generated, and review different conceptual designs for robotic models of aquatic propulsion.

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

DOT National Transportation Integrated Search

2005-01-01

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

[RESEARCH PROGRESS OF PERIPHERAL NERVE SURGERY ASSISTED BY Da Vinci ROBOTIC SYSTEM].

PubMed

Shen, Jie; Song, Diyu; Wang, Xiaoyu; Wang, Changjiang; Zhang, Shuming

2016-02-01

To summarize the research progress of peripheral nerve surgery assisted by Da Vinci robotic system. The recent domestic and international articles about peripheral nerve surgery assisted by Da Vinci robotic system were reviewed and summarized. Compared with conventional microsurgery, peripheral nerve surgery assisted by Da Vinci robotic system has distinctive advantages, such as elimination of physiological tremors and three-dimensional high-resolution vision. It is possible to perform robot assisted limb nerve surgery using either the traditional brachial plexus approach or the mini-invasive approach. The development of Da Vinci robotic system has revealed new perspectives in peripheral nerve surgery. But it has still been at the initial stage, more basic and clinical researches are still needed.

Status and path to a final EUVL reticle-handling solution

NASA Astrophysics Data System (ADS)

He, Long; Orvek, Kevin; Seidel, Phil; Wurm, Stefan; Underwood, Jon; Betancourt, Ernie

2007-03-01

In extreme ultraviolet lithography (EUVL), the lack of a suitable material to build conventional pellicles calls for industry standardization of new techniques for protection and handling throughout the reticle's lifetime. This includes reticle shipping, robotic handling, in-fab transport, storage, and uses in atmospheric environments for metrology and vacuum environments for EUV exposure. In this paper, we review the status of the industry-wide progress in developing EUVL reticle-handling solutions. We show the industry's leading reticle carrier approaches for particle-free protection, such as improvements in conventional single carrier designs and new EUVL-specific carrier concepts, including variations on a removable pellicle. Our test indicates dual pod approach of the removable pellicle led to nearly particle-free use during a simulated life cycle, at ~50nm inspection sensitivity. We will provide an assessment of the remaining technical challenges facing EUVL reticle-handling technology. Finally, we will review the progress of the SEMI EUVL Reticle-handling Task Force in its efforts to standardize a final EUV reticle protection and handling solution.

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.

Robotic technology in surgery: past, present, and future.

PubMed

Camarillo, David B; Krummel, Thomas M; Salisbury, J Kenneth

2004-10-01

It has been nearly 20 years since the first appearance of robotics in the operating room. In that time, much progress has been made in integrating robotic technologies with surgical instrumentation, as evidenced by the many thousands of successful robot-assisted cases. However, to build on past success and to fully leverage the potential of surgical robotics in the future, it is essential to maximize a shared understanding and communication among surgeons, engineers, entrepreneurs, and healthcare administrators. This article provides an introduction to medical robotic technologies, develops a possible taxonomy, reviews the evolution of a surgical robot, and discusses future prospects for innovation. Robotic surgery has demonstrated some clear benefits. It remains to be seen where these benefits will outweigh the associated costs over the long term. In the future, surgical robots should be smaller, less expensive, easier to operate, and should seamlessly integrate emerging technologies from a number of different fields. Such advances will enable continued progress in surgical instrumentation and, ultimately, surgical care.

Evolution of robots throughout history from Hephaestus to Da Vinci Robot.

PubMed

Iavazzo, Christos; Gkegke, Xanthi-Ekaterini D; Iavazzo, Paraskevi-Evangelia; Gkegkes, Ioannis D

2014-01-01

Da Vinci robot is increasingly used for operations adding the advantages of robots to the favor of medicine. This is a historical article with the aim to present the evolution of robots in the medical area from the time of ancient myths to Renaissance and finally to the current revolutionary applications. We endeavored to collect several elegant narratives on the topic. The use of imagination could help the reader to find similarities. A trip from the Greek myths of Hephaestus through Aristotle and Leonardo Da Vinci to the robots of Karel Capek and Isaac Asimov and finally the invention of the medical robots is presented.

Advancing automation and robotics technology for the Space Station Freedom and for the U.S. economy

NASA Technical Reports Server (NTRS)

Lum, Henry, Jr.

1992-01-01

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on Space Station Freedom. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the fifteenth in a series of progress updates and covers the period between 27 Feb. - 17 Sep. 1992. The progress made by Levels 1, 2, and 3 of the Space Station Freedom in developing and applying advanced automation and robotics technology is described. Emphasis was placed upon the Space Station Freedom program responses to specific recommendations made in ATAC Progress Report 14. Assessments are presented for these and other areas as they apply to the advancement of automation and robotics technology for Space Station Freedom.

Robotics in general surgery: an evidence-based review.

PubMed

Baek, Se-Jin; Kim, Seon-Hahn

2014-05-01

Since its introduction, robotic surgery has been rapidly adopted to the extent that it has already assumed an important position in the field of general surgery. This rapid progress is quantitative as well as qualitative. In this review, we focus on the relatively common procedures to which robotic surgery has been applied in several fields of general surgery, including gastric, colorectal, hepato-biliary-pancreatic, and endocrine surgery, and we discuss the results to date and future possibilities. In addition, the advantages and limitations of the current robotic system are reviewed, and the advanced technologies and instruments to be applied in the near future are introduced. Such progress is expected to facilitate the widespread introduction of robotic surgery in additional fields and to solve existing problems.

D2 Delta Robot Structural Design and Kinematics Analysis

NASA Astrophysics Data System (ADS)

Yang, Xudong; wang, Song; Dong, Yu; Yang, Hai

2017-12-01

In this paper, a new type of Delta robot with only two degrees of freedom is proposed on the basis of multi - degree - of - freedom delta robot. In order to meet our application requirements, we have carried out structural design and analysis of the robot. Through SolidWorks modeling, combined with 3D printing technology to determine the final robot structure. In order to achieve the precise control of the robot, the kinematics analysis of the robot was carried out. The SimMechanics toolbox of MATLAB is used to establish the mechanism model, and the kinematics mathematical model is used to simulate the robot motion control in Matlab environment. Finally, according to the design mechanism, the working space of the robot is drawn by the graphic method, which lays the foundation for the motion control of the subsequent robot.

Progress Report for the Robotic Intelligence Evaluation. Program Year 1: Developing Test Methodology for Anti-Rollover Systems

DTIC Science & Technology

2006-06-01

Scientific Research. 5PAM-Crash is a trademark of the ESI Group . 6MATLAB and SIMULINK are registered trademarks of the MathWorks. 14 maneuvers...Laboratory (ARL) to develop methodologies to evaluate robotic behavior algorithms that control the actions of individual robots or groups of robots...methodologies to evaluate robotic behavior algorithms that control the actions of individual robots or groups of robots acting as a team to perform a

NASA's progress in nuclear electric propulsion technology

NASA Technical Reports Server (NTRS)

Stone, James R.; Doherty, Michael P.; Peecook, Keith M.

1993-01-01

The National Aeronautics and Space Administration (NASA) has established a requirement for Nuclear Electric Propulsion (NEP) technology for robotic planetary science mission applications with potential future evolution to systems for piloted Mars vehicles. To advance the readiness of NEP for these challenging missions, a near-term flight demonstration on a meaningful robotic science mission is very desirable. The requirements for both near-term and outer planet science missions are briefly reviewed, and the near-term baseline system established under a recent study jointly conducted by the Lewis Research Center (LeRC) and the Jet Propulsion Laboratory (JPL) is described. Technology issues are identified where work is needed to establish the technology for the baseline system, and technology opportunities which could provide improvement beyond baseline capabilities are discussed. Finally, the plan to develop this promising technology is presented and discussed.

Advancing automation and robotics technology for the Space Station Freedom and for the U.S. Economy

NASA Technical Reports Server (NTRS)

1991-01-01

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on Space Station Freedom. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the thirteenth in a series of progress updates and covers the period between 14 Feb. - 15 Aug. 1991. The progress made by Levels 1, 2, and 3 of the Space Station Freedom in developing and applying advanced automation and robotics technology is described. Emphasis was placed upon the Space Station Freedom Program responses to specific recommendations made in ATAC Progress Report 12, and issues of A&R implementation into Ground Mission Operations and A&R enhancement of science productivity. Assessments are presented for these and other areas as they apply to the advancement of automation and robotics technology for Space Station Freedom.

Advancing automation and robotics technology for the Space Station Freedom and for the U.S. economy

NASA Technical Reports Server (NTRS)

1993-01-01

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on Space Station Freedom. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the sixteenth in a series of progress updates and covers the period between 15 Sep. 1992 - 16 Mar. 1993. The report describes the progress made by Levels 1, 2, and 3 of the Space Station Freedom in developing and applying advanced automation and robotics technology. Emphasis was placed upon the Space Station Freedom Program responses to specific recommendations made in ATAC Progress Report 15; and includes a status review of Space Station Freedom Launch Processing facilities at Kennedy Space Center. Assessments are presented for these and other areas as they apply to the advancement of automation and robotics technology for Space Station Freedom.

Advancing automation and robotics technology for the space station and for the US economy

NASA Technical Reports Server (NTRS)

Nunamaker, Robert

1988-01-01

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the Space Station. This material was documented in the initial report (NASA Technical Memo 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the sixth in a series of progress updates and covers the period between October 1, 1987 and March 1, 1988. NASA has accepted the basic recommendations of ATAC for its Space Station efforts. ATAC and NASA agree that the thrust of Congress is to build an advanced automation and robotics technology base that will support an evolutionary Space Station program and serve as a highly visible stimulator affecting the U.S. long-term economy. The progress report identifies the work of NASA and the Space Station study contractors, research in progress, and issues connected with the advancement of automation and robotics technology on the Space Station.

Advancing automation and robotics technology for the space station and for the US economy

NASA Technical Reports Server (NTRS)

1986-01-01

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the Space Station. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the Law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the second in a series of progress updates and covers the period between October 4, 1985, and March 31, l986. NASA has accepted the basic recommendations of ATAC for its Space Station efforts. ATAC and NASA agree that thrust of Congress is to build an advanced automation and robotics technology base that will support an evolutionary Space Station Program and serve as a highly visible stimulator effecting the U.S. long-term economy. The progress report identifies the work of NASA and the Space Station study contractors, research in progress, and issues connected with the advancement of automation and robotics technology on the Space Station.

With the Development of Teaching Sumo Robot are Discussed

NASA Astrophysics Data System (ADS)

quan, Miao Zhi; Ke, Ma; Xin, Wei Jing

In recent years, with of robot technology progress and robot science activities, robot technology obtained fast development. The system USES the Atmega128 single-chip Atmel company as a core controller, was designed using a infrared to tube detection boundary, looking for each other, controller to tube receiving infrared data, and according to the data control motor state thus robot reached automatic control purposes. Against robot by single-chip microcomputer smallest system, By making the teaching purpose is to promote the robot sumo students' interests and let more students to participate in the robot research activities.

Advancing automation and robotics technology for the Space Station Freedom and for the US economy

NASA Technical Reports Server (NTRS)

1990-01-01

The progress made by levels 1, 2, and 3 of the Office of Space Station in developing and applying advanced automation and robotics technology is described. Emphasis is placed upon the Space Station Freedom Program responses to specific recommendations made in the Advanced Technology Advisory Committee (ATAC) progress report 10, the flight telerobotic servicer, and the Advanced Development Program. Assessments are presented for these and other areas as they apply to the advancement of automation and robotics technology for the Space Station Freedom.

A Low Cost Mobile Robot Based on Proportional Integral Derivative (PID) Control System and Odometer for Education

NASA Astrophysics Data System (ADS)

Haq, R.; Prayitno, H.; Dzulkiflih; Sucahyo, I.; Rahmawati, E.

2018-03-01

In this article, the development of a low cost mobile robot based on PID controller and odometer for education is presented. PID controller and odometer is applied for controlling mobile robot position. Two-dimensional position vector in cartesian coordinate system have been inserted to robot controller as an initial and final position. Mobile robot has been made based on differential drive and sensor magnetic rotary encoder which measured robot position from a number of wheel rotation. Odometry methode use data from actuator movements for predicting change of position over time. The mobile robot is examined to get final position with three different heading angle 30°, 45° and 60° by applying various value of KP, KD and KI constant.

Automatic control system generation for robot design validation

NASA Technical Reports Server (NTRS)

Bacon, James A. (Inventor); English, James D. (Inventor)

2012-01-01

The specification and drawings present a new method, system and software product for and apparatus for generating a robotic validation system for a robot design. The robotic validation system for the robot design of a robotic system is automatically generated by converting a robot design into a generic robotic description using a predetermined format, then generating a control system from the generic robotic description and finally updating robot design parameters of the robotic system with an analysis tool using both the generic robot description and the control system.

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

PubMed

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

2016-01-01

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

A Policy Representation Using Weighted Multiple Normal Distribution

NASA Astrophysics Data System (ADS)

Kimura, Hajime; Aramaki, Takeshi; Kobayashi, Shigenobu

In this paper, we challenge to solve a reinforcement learning problem for a 5-linked ring robot within a real-time so that the real-robot can stand up to the trial and error. On this robot, incomplete perception problems are caused from noisy sensors and cheap position-control motor systems. This incomplete perception also causes varying optimum actions with the progress of the learning. To cope with this problem, we adopt an actor-critic method, and we propose a new hierarchical policy representation scheme, that consists of discrete action selection on the top level and continuous action selection on the low level of the hierarchy. The proposed hierarchical scheme accelerates learning on continuous action space, and it can pursue the optimum actions varying with the progress of learning on our robotics problem. This paper compares and discusses several learning algorithms through simulations, and demonstrates the proposed method showing application for the real robot.

Advancing automation and robotics technology for the Space Station Freedom and for the U.S. economy. Submitted to the Congress of the U.S. May 1991

NASA Technical Reports Server (NTRS)

Lum, Henry, Jr.

1991-01-01

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on Space Station Freedom. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. The report describes the progress made by Levels 1, 2 and 3 of the Office Space Station in developing and applying advanced automation and robotics technology. Emphasis has been placed upon the Space Station Freedom Program responses to specific recommendations made in ATAC Progress Report 11, the status of the Flight Telerobotic Servicer, and the status of the Advanced Development Program. In addition, an assessment is provided of the automation and robotics status of the Canadian Space Station Program.

Accessibility to surgical robot technology and prostate-cancer patient behavior for prostatectomy.

PubMed

Sugihara, Toru; Yasunaga, Hideo; Matsui, Hiroki; Nagao, Go; Ishikawa, Akira; Fujimura, Tetsuya; Fukuhara, Hiroshi; Fushimi, Kiyohide; Ohori, Makoto; Homma, Yukio

2017-07-01

To examine how surgical robot emergence affects prostate-cancer patient behavior in seeking radical prostatectomy focusing on geographical accessibility. In Japan, robotic surgery was approved in April 2012. Based on data in the Japanese Diagnosis Procedure Combination database between April 2012 and March 2014, distance to nearest surgical robot and interval days to radical prostatectomy (divided by mean interval in 2011: % interval days to radical prostatectomy) were calculated for individual radical prostatectomy cases at non-robotic hospitals. Caseload changes regarding distance to nearest surgical robot and robot introduction were investigated. Change in % interval days to radical prostatectomy was evaluated by multivariate analysis including distance to nearest surgical robot, age, comorbidity, hospital volume, operation type, hospital academic status, bed volume and temporal progress. % Interval days to radical prostatectomy became wider for distance to nearest surgical robot <30 km. When a surgical robot emerged within 30 and 10 km, the prostatectomy caseload in non-robot hospitals reduced by 13 and 18% within 6 months, respectively, while the robot hospitals gained +101% caseload (P < 0.01 for all) Multivariate analyses including 9759 open and 5052 non-robotic minimally invasive radical prostatectomies in 483 non-robot hospitals revealed a significant inverse association between distance to nearest surgical robot and % interval days to radical prostatectomy (B = -17.3% for distance to nearest surgical robot ≥30 km and -11.7% for 10-30 km versus distance to nearest surgical robot <10 km), while younger age, high-volume hospital, open-prostatectomy provider and temporal progress were other significant factors related to % interval days to radical prostatectomy widening (P < 0.05 for all). Robotic surgery accessibility within 30 km would make patients less likely select conventional surgery. The nearer a robot was, the faster the caseload reduction was. © The Author 2017. Published by Oxford University Press. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com.

Advances on the constitutive characterization of composites via multiaxial robotic testing and design optimization

Treesearch

John G. Michopoulos; John Hermanson; Athanasios Iliopoulos

2014-01-01

The research areas of mutiaxial robotic testing and design optimization have been recently utilized for the purpose of data-driven constitutive characterization of anisotropic material systems. This effort has been enabled by both the progress in the areas of computers and information in engineering as well as the progress in computational automation. Although our...

Advancing automation and robotics technology for the space station Freedom and for the US economy

NASA Technical Reports Server (NTRS)

Creedon, Jeremiah F.

1989-01-01

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the Freedom space station. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the eighth in a series of progress updates and covers the period between October 1, 1988, and March 31, 1989. NASA has accepted the basic recommendations of ATAC for its Space Station Freedom efforts. ATAC and NASA agree that the thrust of Congress is to build an advanced automation and robotics technology base that will support an evolutionary Space Station Freedom program and serve as a highly visible stimulator, affecting the U.S. long-term economy. The progress report identifies the work of NASA and the Freedom study contractors. It also describes research in progress, and it makes assessments of the advancement of automation and robotics technology on the Freedom space station.

Advancing automation and robotics technology for the Space Station Freedom and for the US economy

NASA Technical Reports Server (NTRS)

1988-01-01

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the Freedom space station. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the seventh in a series of progress updates and covers the period between April 1, 1988 and September 30, 1988. NASA has accepted the basic recommendations of ATAC for its Space Station Freedom efforts. ATAC and NASA agree that the thrust of Congress is to build an advanced automation and robotics technology base that will support an evolutionary Space Station Freedom program and serve as a highly visible stimulator, affecting the U.S. long-term economy. The progress report identifies the work of NASA and the Freedom study contractors. It also describes research in progress, and it makes assessments of the advancement of automation and robotics technology on the Freedom space station.

Advancing automation and robotics technology for the space station and for the US economy: Submitted to the United States Congress May 15, 1987

NASA Technical Reports Server (NTRS)

1987-01-01

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the space station. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the Law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the fourth in a series of progress updates and covers the period October 1, 1986 to May 15, 1987. NASA has accepted the basic recommendations of ATAC for its space station efforts. ATAC and NASA agree that the will of Congress is to build an advanced automation and robotics technology base that will support an evolutionary space station program and serve as a highly visible stimulator affecting the long-term U.S. economy. The progress report identifies the work of NASA and the space station study contractors, research in progress, and issues connected with the advancement of automation and robotics technology on the space station.

Advancing automation and robotics technology for the space station and for the US economy: Submitted to the United States Congress October 1, 1986

NASA Technical Reports Server (NTRS)

1986-01-01

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committer (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the space station. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the Law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the third in a series of progress updates and covers the period between April 1, 1986 and September 30, 1986. NASA has accepted the basic recommendations of ATAC for its space station efforts. ATAC and NASA agree that the will of Congress is to build an advanced automation and robotics technology base that will support an evolutionary space station program and serve as a highly visible stimulater affecting the long-term U.S. economy. The progress report identifies the work of NASA and the space station study contractors, research in progress, and issues connected with the advancement of automation and robotics technology on the space station.

Framework for Educational Robotics: A Multiphase Approach to Enhance User Learning in a Competitive Arena

ERIC Educational Resources Information Center

Lye, Ngit Chan; Wong, Kok Wai; Chiou, Andrew

2013-01-01

Educational robotics involves using robots as an educational tool to provide a long term, and progressive learning activity, to cater to different age group. The current concern is that, using robots in education should not be an instance of a one-off project for the sole purpose of participating in a competitive event. Instead, it should be a…

Advancing automation and robotics technology for the Space Station Freedom and for the US economy

NASA Technical Reports Server (NTRS)

Lum, Henry, Jr.

1992-01-01

Described here is the progress made by Levels 1, 2, and 3 of the Space Station Freedom in developing and applying advanced automation and robotics technology. Emphasis was placed on the Space Station Freedom program responses to specific recommendations made in the Advanced Technology Advisory Committee (ATAC) Progress Report 13, and issues of A&R implementation into the payload operations integration Center at Marshall Space Flight Center. Assessments are presented for these and other areas as they apply to the advancement of automation and robotics technology for Space Station Freedom.

Advanced Space Surface Systems Operations

NASA Technical Reports Server (NTRS)

Huffaker, Zachary Lynn; Mueller, Robert P.

2014-01-01

The importance of advanced surface systems is becoming increasingly relevant in the modern age of space technology. Specifically, projects pursued by the Granular Mechanics and Regolith Operations (GMRO) Lab are unparalleled in the field of planetary resourcefulness. This internship opportunity involved projects that support properly utilizing natural resources from other celestial bodies. Beginning with the tele-robotic workstation, mechanical upgrades were necessary to consider for specific portions of the workstation consoles and successfully designed in concept. This would provide more means for innovation and creativity concerning advanced robotic operations. Project RASSOR is a regolith excavator robot whose primary objective is to mine, store, and dump regolith efficiently on other planetary surfaces. Mechanical adjustments were made to improve this robot's functionality, although there were some minor system changes left to perform before the opportunity ended. On the topic of excavator robots, the notes taken by the GMRO staff during the 2013 and 2014 Robotic Mining Competitions were effectively organized and analyzed for logistical purposes. Lessons learned from these annual competitions at Kennedy Space Center are greatly influential to the GMRO engineers and roboticists. Another project that GMRO staff support is Project Morpheus. Support for this project included successfully producing mathematical models of the eroded landing pad surface for the vertical testbed vehicle to predict a timeline for pad reparation. And finally, the last project this opportunity made contribution to was Project Neo, a project exterior to GMRO Lab projects, which focuses on rocket propulsion systems. Additions were successfully installed to the support structure of an original vertical testbed rocket engine, thus making progress towards futuristic test firings in which data will be analyzed by students affiliated with Rocket University. Each project will be explained in further detail, as well as the full scope of the contributions made during this opportunity.

A review of robotics in surgery.

PubMed

Davies, B

2000-01-01

A brief introduction is given to the definitions and history of surgical robotics. The capabilities and merits of surgical robots are then contrasted with the related field of computer assisted surgery. A classification is then given of the various types of robot system currently being investigated internationally, together with a number of examples of different applications in both soft-tissue and orthopaedic surgery. The paper finishes with a discussion of the main difficulties facing robotic surgery and a prediction of future progress.

The Robotic Decathlon: Project-Based Learning Labs and Curriculum Design for an Introductory Robotics Course

ERIC Educational Resources Information Center

Cappelleri, D. J.; Vitoroulis, N.

2013-01-01

This paper presents a series of novel project-based learning labs for an introductory robotics course that are developed into a semester-long Robotic Decathlon. The last three events of the Robotic Decathlon are used as three final one-week-long project tasks; these replace a previous course project that was a semester-long robotics competition.…

Advancing automation and robotics technology for the Space Station Freedom and for the US economy

NASA Technical Reports Server (NTRS)

1990-01-01

In April 1985, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on Space Station Freedom. This material was documented in the initial report (NASA Technical Memorandum 87566). The progress made by Levels 1, 2, and 3 of the Office of Space Station in developing and applying advanced automation and robotics technology are described. Emphasis was placed upon the Space Station Freedom Program responses to specific recommendations made in ATAC Progress Report 9, the Flight Telerobotic Servicer, the Advanced Development Program, and the Data Management System. Assessments are presented for these and other areas as they apply to the advancement of automation and robotics technology for the Space Station Freedom.

Robotics in near-earth space

NASA Technical Reports Server (NTRS)

Card, Michael E.

1991-01-01

The areas of space exploration in which robotic devices will play a part are identified, and progress to date in the space agency plans to acquire this capability is briefly reviewed. Roles and functions on orbit for robotic devices include well known activities, such as inspection and maintenance, assembly, docking, berthing, deployment, retrieval, materials handling, orbital replacement unit exchange, and repairs. Missions that could benefit from a robotic capability are discussed.

EAP artificial muscle actuators for bio-inspired intelligent social robotics (Conference Presentation)

NASA Astrophysics Data System (ADS)

Hanson, David F.

2017-04-01

Bio-inspired intelligent robots are coming of age in both research and industry, propelling market growth for robots and A.I. However, conventional motors limit bio-inspired robotics. EAP actuators and sensors could improve the simplicity, compliance, physical scaling, and offer bio-inspired advantages in robotic locomotion, grasping and manipulation, and social expressions. For EAP actuators to realize their transformative potential, further innovations are needed: the actuators must be robust, fast, powerful, manufacturable, and affordable. This presentation surveys progress, opportunities, and challenges in the author's latest work in social robots and EAP actuators, and proposes a roadmap for EAP actuators in bio-inspired intelligent robotics.

A Secondary-Level Curriculum in Industrial Electronics and Robotics. Final Report.

ERIC Educational Resources Information Center

Besancon, Francis E.

A curriculum was developed to provide the electromechanical skills necessary to operate and repair industrial robots to students at the secondary and adult vocational levels. To determine requirements for entry-level positions in the robotics industry, manufacturers and employers of industrial robots were contacted. No particular entry-level…

Robotics in Industrial Arts. Final Narrative Report for the Exemplary Project.

ERIC Educational Resources Information Center

Ascension Parish School Board, Donaldsonville, LA.

To introduce students to the world of robotics and industrial automation, robotics was introduced to students enrolled in electronics classes in the industrial arts program at St. Amant High School (Louisiana). Three robots, three host microcomputers, and necessary software were purchased. The electronics instructor installed the three robots…

Analysis and experiments with an elephant's trunk robot

NASA Technical Reports Server (NTRS)

Hannan, M. W.; Walker, I. D.

2001-01-01

The area of tentacle and trunk type biological manipulation is not new, but there has been little progress in the development and application of a physical device to simulate these types of manipulation. Our research in this area is based on using an 'elephant trunk' robot. In this paper, we review the construction of the robot and how it compares to biological manipulators. We then apply our previously designed kinematic model to describe the kinematics of the robot. We finish by providing some examples of motion planning and intelligent manipulation using the robot.

Health Cars Robotics: A Progress Report

NASA Technical Reports Server (NTRS)

Fiorini, P.; Ali, K.; Seraji, H.

1997-01-01

This paper describes the approach followed in the design of a service robot for health care applications. This paper describes the architecture of the subsystem, the features of the manipulator arm, and the operator interface.

College Athlete Stands Again…On His Own!

MedlinePlus

... this page please turn Javascript on. Feature: NIBIB Robotics College Athlete Stands Again…On His Own! Past ... cells to make new connections. Read More "NIBIB Robotics" Articles Progress for the Paralyzed / College Athlete Stands ...

A cognitive robotics system: the symbolic and sub-symbolic robotic intelligence control system (SS-RICS)

NASA Astrophysics Data System (ADS)

Kelley, Troy D.; Avery, Eric

2010-04-01

This paper will detail the progress on the development of the Symbolic and Subsymbolic Robotics Intelligence Control System (SS-RICS). The system is a goal oriented production system, based loosely on the cognitive architecture, the Adaptive Control of Thought-Rational (ACT-R) some additions and changes. We have found that in order to simulate complex cognition on a robot, many aspects of cognition (long term memory (LTM), perception) needed to be in place before any generalized intelligent behavior can be produced. In working with ACT-R, we found that it was a good instantiation of working memory, but that we needed to add other aspects of cognition including LTM and perception to have a complete cognitive system. Our progress to date will be noted and the challenges that remain will be addressed.

Hands Off: Mentoring a Student-Led Robotics Team

ERIC Educational Resources Information Center

Dolenc, Nathan R.; Mitchell, Claire E.; Tai, Robert H.

2016-01-01

Mentors play important roles in determining the working environment of out-of-school-time clubs. On robotics teams, they provide guidance in hopes that their protégés progress through an engineering process. This study examined how mentors on one robotics team who defined their mentoring style as "let the students do the work" navigated…

Advances in Robotic Servicing Technology Development

NASA Technical Reports Server (NTRS)

Gefke, Gardell G.; Janas, Alex; Pellegrino, Joseph; Sammons, Matthew; Reed, Benjamin

2015-01-01

NASA's Satellite Servicing Capabilities Office (SSCO) has matured robotic and automation technologies applicable to in-space robotic servicing and robotic exploration over the last six years. This paper presents the progress of technology development activities at the Goddard Space Flight Center Servicing Technology Center and on the ISS, with an emphasis on those occurring in the past year. Highlighted advancements are design reference mission analysis for servicing in low Earth orbit (LEO) and near Earth asteroid boulder retrieval; delivery of the engineering development unit of the NASA Servicing Arm; an update on International Space Station Robotic Refueling Mission; and status of a comprehensive ground-based space robot technology demonstration expanding in-space robotic servicing capabilities beginning fall 2015.

Advances in Robotic Servicing Technology Development

NASA Technical Reports Server (NTRS)

Gefke, Gardell G.; Janas, Alex; Pellegrino, Joseph; Sammons, Matthew; Reed, Benjamin

2015-01-01

NASA's Satellite Servicing Capabilities Office (SSCO) has matured robotic and automation technologies applicable to in-space robotic servicing and robotic exploration over the last six years. This paper presents the progress of technology development activities at the Goddard Space Flight Center Servicing Technology Center and on the ISS, with an emphasis on those occurring in the past year. Highlighted advancements are design reference mission analysis for servicing in low Earth orbit (LEO) and asteroid redirection; delivery of the engineering development unit of the NASA Servicing Arm; an update on International Space Station Robotic Refueling Mission; and status of a comprehensive ground-based space robot technology demonstration expanding in-space robotic servicing capabilities beginning fall 2015.

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

NASA Technical Reports Server (NTRS)

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

1984-01-01

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

How small is small enough? Role of robotics in paediatric urology

PubMed Central

Ganpule, Arvind P.; Sripathi, Venkat

2015-01-01

The well-known advantages of robotic surgery include improved dexterity, three-dimensional operating view and an improved degree of freedom. Robotic surgery is performed for a wide range of surgeries in urology, which include radical prostatectomy, radical cystectomy, and ureteric reimplantation. Robotic paediatric urology is evolving. The major hindrance in the development of paediatric robotics is, first, the differences in practice patterns in paediatric urology compared with adult urology thereby making development of expertise difficult and secondly it is challenging to conduct proper studies in the paediatric population because of the paucity of cases. The difficulties in conducting these studies include difficulty in designing a proper randomised study, difficulties with blinding, and finally, the ethical issues involved, finally the instruments although in the phase of evolution require a lot of improvement. In this article, we review the relevant articles for paediatric robotic surgery. We emphasise on the technical aspects and results in contemporary paediatric robotic case series. PMID:25598599

How small is small enough? Role of robotics in paediatric urology.

PubMed

Ganpule, Arvind P; Sripathi, Venkat

2015-01-01

The well-known advantages of robotic surgery include improved dexterity, three-dimensional operating view and an improved degree of freedom. Robotic surgery is performed for a wide range of surgeries in urology, which include radical prostatectomy, radical cystectomy, and ureteric reimplantation. Robotic paediatric urology is evolving. The major hindrance in the development of paediatric robotics is, first, the differences in practice patterns in paediatric urology compared with adult urology thereby making development of expertise difficult and secondly it is challenging to conduct proper studies in the paediatric population because of the paucity of cases. The difficulties in conducting these studies include difficulty in designing a proper randomised study, difficulties with blinding, and finally, the ethical issues involved, finally the instruments although in the phase of evolution require a lot of improvement. In this article, we review the relevant articles for paediatric robotic surgery. We emphasise on the technical aspects and results in contemporary paediatric robotic case series.

Understanding of Android-Based Robotic and Game Structure

NASA Astrophysics Data System (ADS)

Phongtraychack, A.; Syryamkin, V.

2018-05-01

The development of an android with impressive lifelike appearance and behavior has been a long-standing goal in robotics and a new and exciting approach of smartphone-based robotics for research and education. Recent years have been progressive for many technologies, which allowed creating such androids. There are different examples including the autonomous Erica android system capable of conversational interaction and speech synthesis technologies. The behavior of Android-based robot could be running on the phone as the robot performed a task outdoors. In this paper, we present an overview and understanding of the platform of Android-based robotic and game structure for research and education.

Final matches of the FIRST regional robotic competition at KSC

NASA Technical Reports Server (NTRS)

1999-01-01

During final matches at the 1999 Southeastern Regional robotic competition at the KSC Visitor Complex, referees in opposite corners and student teams watch as two robots raise their pillow disks to a height of eight feet, one of the goals of the competition. Thirty schools from around the country have converged at KSC for the event that pits gladiator robots against each other in an athletic-style competition. The robots have to retrieve the pillow disks from the floor, climb onto a platform (with flags), as well as raise the cache of pillows, maneuvered by student teams behind protective walls. KSC is hosting the event being sponsored by the nonprofit organization For Inspiration and Recognition of Science and Technology, known as FIRST. The FIRST robotics competition is designed to provide students with a hands-on, inside look at engineering and other professional careers by pairing engineers and corporations with student teams.

From embodied mind to embodied robotics: humanities and system theoretical aspects.

PubMed

Mainzer, Klaus

2009-01-01

After an introduction (1) the article analyzes the evolution of the embodied mind (2), the innovation of embodied robotics (3), and finally discusses conclusions of embodied robotics for human responsibility (4). Considering the evolution of the embodied mind (2), we start with an introduction of complex systems and nonlinear dynamics (2.1), apply this approach to neural self-organization (2.2), distinguish degrees of complexity of the brain (2.3), explain the emergence of cognitive states by complex systems dynamics (2.4), and discuss criteria for modeling the brain as complex nonlinear system (2.5). The innovation of embodied robotics (3) is a challenge of future technology. We start with the distinction of symbolic and embodied AI (3.1) and explain embodied robots as dynamical systems (3.2). Self-organization needs self-control of technical systems (3.3). Cellular neural networks (CNN) are an example of self-organizing technical systems offering new avenues for neurobionics (3.4). In general, technical neural networks support different kinds of learning robots (3.5). Finally, embodied robotics aim at the development of cognitive and conscious robots (3.6).

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.

Light Robots: Bridging the Gap between Microrobotics and Photomechanics in Soft Materials.

PubMed

Zeng, Hao; Wasylczyk, Piotr; Wiersma, Diederik S; Priimagi, Arri

2018-06-01

For decades, roboticists have focused their efforts on rigid systems that enable programmable, automated action, and sophisticated control with maximal movement precision and speed. Meanwhile, material scientists have sought compounds and fabrication strategies to devise polymeric actuators that are small, soft, adaptive, and stimuli-responsive. Merging these two fields has given birth to a new class of devices-soft microrobots that, by combining concepts from microrobotics and stimuli-responsive materials research, provide several advantages in a miniature form: external, remotely controllable power supply, adaptive motion, and human-friendly interaction, with device design and action often inspired by biological systems. Herein, recent progress in soft microrobotics is highlighted based on light-responsive liquid-crystal elastomers and polymer networks, focusing on photomobile devices such as walkers, swimmers, and mechanical oscillators, which may ultimately lead to flying microrobots. Finally, self-regulated actuation is proposed as a new pathway toward fully autonomous, intelligent light robots of the future. © 2017 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Real-time tracking using stereo and motion: Visual perception for space robotics

NASA Technical Reports Server (NTRS)

Nishihara, H. Keith; Thomas, Hans; Huber, Eric; Reid, C. Ann

1994-01-01

The state-of-the-art in computing technology is rapidly attaining the performance necessary to implement many early vision algorithms at real-time rates. This new capability is helping to accelerate progress in vision research by improving our ability to evaluate the performance of algorithms in dynamic environments. In particular, we are becoming much more aware of the relative stability of various visual measurements in the presence of camera motion and system noise. This new processing speed is also allowing us to raise our sights toward accomplishing much higher-level processing tasks, such as figure-ground separation and active object tracking, in real-time. This paper describes a methodology for using early visual measurements to accomplish higher-level tasks; it then presents an overview of the high-speed accelerators developed at Teleos to support early visual measurements. The final section describes the successful deployment of a real-time vision system to provide visual perception for the Extravehicular Activity Helper/Retriever robotic system in tests aboard NASA's KC135 reduced gravity aircraft.

Final matches of the FIRST regional robotic competition at KSC

NASA Technical Reports Server (NTRS)

1999-01-01

Students cheer their team during final matches at the 1999 Southeastern Regional robotic competition at the KSC Visitor Complex. Thirty schools from around the country have converged at KSC for the event that pits gladiator robots against each other in an athletic-style competition. The robots have to retrieve pillow-like disks from the floor, climb onto a platform (with flags), as well as raise the cache of pillows, maneuvered by student teams behind protective walls. KSC is hosting the event being sponsored by the nonprofit organization For Inspiration and Recognition of Science and Technology, known as FIRST. The FIRST robotics competition is designed to provide students with a hands-on, inside look at engineering and other professional careers by pairing engineers and corporations with student teams.

Bearing-based localization for leader-follower formation control

PubMed Central

Han, Qing; Ren, Shan; Lang, Hao; Zhang, Changliang

2017-01-01

The observability of the leader robot system and the leader-follower formation control are studied. First, the nonlinear observability is studied for when the leader robot observes landmarks. Second, the system is shown to be completely observable when the leader robot observes two different landmarks. When the leader robot system is observable, multi-robots can rapidly form and maintain a formation based on the bearing-only information that the follower robots observe from the leader robot. Finally, simulations confirm the effectiveness of the proposed formation control. PMID:28426706

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

Intrepid Systems Team member Mark Curry, left, talks with NASA Deputy Administrator Lori Garver and NASA Chief Technologist Mason Peck, right, about his robot named "MXR - Mark's Exploration Robot" on Saturday, June 16, 2012 at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. Curry's robot team was one of the final teams participating in the NASA-WPI Sample Return Robot Centennial Challenge at WPI. Teams were challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Advance of Hazardous Operation Robot and its Application in Special Equipment Accident Rescue

NASA Astrophysics Data System (ADS)

Zeng, Qin-Da; Zhou, Wei; Zheng, Geng-Feng

A survey of hazardous operation robot is given out in this article. Firstly, the latest researches such as nuclear industry robot, fire-fighting robot and explosive-handling robot are shown. Secondly, existing key technologies and their shortcomings are summarized, including moving mechanism, control system, perceptive technology and power technology. Thirdly, the trend of hazardous operation robot is predicted according to current situation. Finally, characteristics and hazards of special equipment accident, as well as feasibility of hazardous operation robot in the area of special equipment accident rescue are analyzed.

Reconfigurable robots for all terrain exploration

NASA Technical Reports Server (NTRS)

Schenker, P. S.; Pirjanian, P.; Balaram, B.; Ali, K. S.; Trebi-Ollennu, A.; Huntsberger, T. L.; Aghazarian, H.; Kennedy, B. A.; Baumgartner, E. T.; Iagnemma, K.;

A 6-DOF parallel bone-grinding robot for cervical disc replacement surgery.

PubMed

Tian, Heqiang; Wang, Chenchen; Dang, Xiaoqing; Sun, Lining

2017-12-01

Artificial cervical disc replacement surgery has become an effective and main treatment method for cervical disease, which has become a more common and serious problem for people with sedentary work. To improve cervical disc replacement surgery significantly, a 6-DOF parallel bone-grinding robot is developed for cervical bone-grinding by image navigation and surgical plan. The bone-grinding robot including mechanical design and low level control is designed. The bone-grinding robot navigation is realized by optical positioning with spatial registration coordinate system defined. And a parametric robot bone-grinding plan and high level control have been developed for plane grinding for cervical top endplate and tail endplate grinding by a cylindrical grinding drill and spherical grinding for two articular surfaces of bones by a ball grinding drill. Finally, the surgical flow for a robot-assisted cervical disc replacement surgery procedure is present. The final experiments results verified the key technologies and performance of the robot-assisted surgery system concept excellently, which points out a promising clinical application with higher operability. Finally, study innovations, study limitations, and future works of this present study are discussed, and conclusions of this paper are also summarized further. This bone-grinding robot is still in the initial stage, and there are many problems to be solved from a clinical point of view. Moreover, the technique is promising and can give a good support for surgeons in future clinical work.

Human-like robots as platforms for electroactive polymers (EAP)

NASA Astrophysics Data System (ADS)

Bar-Cohen, Yoseph

2008-03-01

Human-like robots, which have been a science fiction for many years, are increasingly becoming an engineering reality thanks to many technology advances in recent years. Humans have always sought to imitate the human appearance, functions and intelligence and as the capability progresses they may become our household appliance or even companion. Biomimetic technologies are increasingly becoming common tools to support the development of such robots. As artificial muscles, electroactive polymers (EAP) are offering important actuation capability for making such machines lifelike. The current limitations of EAP are hampering the possibilities that can be adapted in such robots but progress is continually being made. As opposed to other human made machines and devices, this technology raises various questions and concerns that need to be addressed. These include the need to prevent accidents, deliberate harm, or their use in crimes. In this paper the state-of-the-art and the challenges will be reviewed.

Energy Efficient Legged Robotics at Sandia Labs

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

Buerger, Steve

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

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

Team members of "Survey" drive their robot around the campus on Saturday, June 16, 2012 at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. The Survey team was one of the final teams participating in the NASA-WPI Sample Return Robot Centennial Challenge at WPI. Teams were challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Energy Efficient Legged Robotics at Sandia Labs

ScienceCinema

Buerger, Steve

2018-05-07

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

Scalability of Robotic Controllers: Effects of Progressive Levels of Autonomy on Robotic Reconnaissance Tasks

DTIC Science & Technology

2010-08-01

facility. 2.2.4 The National Aeronautics and Space Administration-Task Load Index (NASA-TLX) The NASA-TLX is a subjective workload assessment tool ...No 6 NR If so, what type? Davinci (1) 14. Please describe the conditions under which you used the robotic system. Surgical (1) 15...2 Fantastic tool . Can see how this will save more lives by using the robot as the recon tool . 1 Interesting and fun. 3 Easily understood what to

Changing the Tooth-to-Tail Ratio Using Robotics and Automation to Beat Sequestration

DTIC Science & Technology

2015-10-01

September–October 2015 | 75 Views Changing the Tooth-to-Tail Ratio Using Robotics and Automation to Beat Sequestration Capt Rachael L. Nussbaum...falls remains a matter of great debate. The US Air Force is the world’s leader in war-fighting automation and robotics . In fact, in accordance with the...progress in using robots to en- hance the effectiveness of the larger part of Air Force business. The amount of maintenance required by modern aerial war

The AMEDD Futures 2039 Project: Phase 2 Final Report

DTIC Science & Technology

2009-06-30

healthcare education. Tools such as virtual reality trainers, robotic trainers, simulations and artificial intelligence will cause self directed and...functions monitoring * robotic arm applies blood to lab-in-the-field chips * robotic self -sustaining energy sources *wireless transmission of...Biotechnology, and Robotics for Far Forward Diagnosis and Treatment of Casualties in Future Warfare – Dr. Cynthia Abbott

An Integrated Assessment of Progress in Robotic Perception and Semantic Navigation

DTIC Science & Technology

2015-09-01

3 Each pixel within the 2-dimensional (2-D) image is labeled as being one of several types: building, grass, tree, sky, concrete , asphalt , gravel...The findings in this report are not to be construed as an official Department of the Army position unless so designated by other authorized documents...October 2014, the RCTA assessed progress toward integrating this research. This assessment was designed to evaluate the robot’s performance when it

Advancing automation and robotics technology for the Space Station Freedom and for the US economy: Submitted to the United States Congress

NASA Technical Reports Server (NTRS)

1990-01-01

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the Space Station Freedom. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the ninth in a series of progress updates and covers the period between February 24, 1989, and July 12, 1989. NASA has accepted the basic recommendation of ATAC for its Space Station Freedom efforts. ATAC and NASA agree that the thrust of Congress is to build an advanced automation and robotics technology base that will support an evolutionary Space Station program and serve as a highly visible stimulator, affecting the U.S. long-term economy. The work of NASA and the Freedom contractors, e.g., Work Packages, as well as the Flight Telerobotic Servicer is identified. Research in progress is also described and assessments of the advancement of automation and robotics technology on the Space Station Freedom are given.

Developmental and Evolutionary Lexicon Acquisition in Cognitive Agents/Robots with Grounding Principle: A Short Review.

PubMed

Rasheed, Nadia; Amin, Shamsudin H M

2016-01-01

Grounded language acquisition is an important issue, particularly to facilitate human-robot interactions in an intelligent and effective way. The evolutionary and developmental language acquisition are two innovative and important methodologies for the grounding of language in cognitive agents or robots, the aim of which is to address current limitations in robot design. This paper concentrates on these two main modelling methods with the grounding principle for the acquisition of linguistic ability in cognitive agents or robots. This review not only presents a survey of the methodologies and relevant computational cognitive agents or robotic models, but also highlights the advantages and progress of these approaches for the language grounding issue.

Developmental and Evolutionary Lexicon Acquisition in Cognitive Agents/Robots with Grounding Principle: A Short Review

PubMed Central

Rasheed, Nadia; Amin, Shamsudin H. M.

2016-01-01

Grounded language acquisition is an important issue, particularly to facilitate human-robot interactions in an intelligent and effective way. The evolutionary and developmental language acquisition are two innovative and important methodologies for the grounding of language in cognitive agents or robots, the aim of which is to address current limitations in robot design. This paper concentrates on these two main modelling methods with the grounding principle for the acquisition of linguistic ability in cognitive agents or robots. This review not only presents a survey of the methodologies and relevant computational cognitive agents or robotic models, but also highlights the advantages and progress of these approaches for the language grounding issue. PMID:27069470

Energy Efficient Legged Robotics at Sandia Labs, Part 2

ScienceCinema

Buerger, Steve; Mazumdar, Ani; Spencer, Steve

2018-01-16

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

Energy Efficient Legged Robotics at Sandia Labs, Part 2

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

Buerger, Steve; Mazumdar, Ani; Spencer, Steve

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

Control of free-flying space robot manipulator systems

NASA Technical Reports Server (NTRS)

Cannon, Robert H., Jr.

1977-01-01

To accelerate the development of multi-armed, free-flying satellite manipulators, a fixed-base cooperative manipulation facility is being developed. The work performed on multiple arm cooperation on a free-flying robot is summarized. Research is also summarized on global navigation and control of free-flying space robots. The Locomotion Enhancement via Arm Pushoff (LEAP) approach is described and progress to date is presented.

Using expectations to monitor robotic progress and recover from problems

NASA Astrophysics Data System (ADS)

Kurup, Unmesh; Lebiere, Christian; Stentz, Anthony; Hebert, Martial

2013-05-01

How does a robot know when something goes wrong? Our research answers this question by leveraging expectations - predictions about the immediate future - and using the mismatch between the expectations and the external world to monitor the robot's progress. We use the cognitive architecture ACT-R (Adaptive Control of Thought - Rational) to learn the associations between the current state of the robot and the world, the action to be performed in the world, and the future state of the world. These associations are used to generate expectations that are then matched by the architecture with the next state of the world. A significant mismatch between these expectations and the actual state of the world indicate a problem possibly resulting from unexpected consequences of the robot's actions, unforeseen changes in the environment or unanticipated actions of other agents. When a problem is detected, the recovery model can suggest a number of recovery options. If the situation is unknown, that is, the mismatch between expectations and the world is novel, the robot can use a recovery solution from a set of heuristic options. When a recovery option is successfully applied, the robot learns to associate that recovery option with the mismatch. When the same problem is encountered later, the robot can apply the learned recovery solution rather than using the heuristics or randomly exploring the space of recovery solutions. We present results from execution monitoring and recovery performed during an assessment conducted at the Combined Arms Collective Training Facility (CACTF) at Fort Indiantown Gap.

Development of Monitoring and Diagnostic Methods for Robots Used In Remediation of Waste Sites - Final Report

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

Martin, M.

2000-04-01

This project is the first evaluation of model-based diagnostics to hydraulic robot systems. A greater understanding of fault detection for hydraulic robots has been gained, and a new theoretical fault detection model developed and evaluated.

Final matches of the FIRST regional robotic competition at KSC

NASA Technical Reports Server (NTRS)

1999-01-01

During final matches at the 1999 Southeastern Regional robotic competition at the KSC Visitor Complex, referees and judges (blue shirts at left) watch as two robots raise their pillow disks to a height of eight feet, one of the goals of the competition. KSC Deputy Director for Launch and Payload Processing Loren Shriver is one of the judges. Thirty schools from around the country have converged at KSC for the event that pits gladiator robots against each other in an athletic-style competition. The robots have to retrieve the disks from the floor, climb onto a platform (with flags), as well as raise the cache of pillows, maneuvered by student teams behind protective walls. KSC is hosting the event being sponsored by the nonprofit organization For Inspiration and Recognition of Science and Technology, known as FIRST. The FIRST robotics competition is designed to provide students with a hands-on, inside look at engineering and other professional careers by pairing engineers and corporations with student teams.

RHOBOT: Radiation hardened robotics

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

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.

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

NASA Technical Reports Server (NTRS)

Reynolds, James C.

1987-01-01

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

Intelligent manipulation technique for multi-branch robotic systems

NASA Technical Reports Server (NTRS)

Chen, Alexander Y. K.; Chen, Eugene Y. S.

1990-01-01

New analytical development in kinematics planning is reported. The INtelligent KInematics Planner (INKIP) consists of the kinematics spline theory and the adaptive logic annealing process. Also, a novel framework of robot learning mechanism is introduced. The FUzzy LOgic Self Organized Neural Networks (FULOSONN) integrates fuzzy logic in commands, control, searching, and reasoning, the embedded expert system for nominal robotics knowledge implementation, and the self organized neural networks for the dynamic knowledge evolutionary process. Progress on the mechanical construction of SRA Advanced Robotic System (SRAARS) and the real time robot vision system is also reported. A decision was made to incorporate the Local Area Network (LAN) technology in the overall communication system.

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

PubMed

Padir, Taşkin; Skorinko, Jeanine; Dimitrov, Velin

2015-01-01

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

Generative Representations for the Automated Design of Modular Physical Robots

NASA Technical Reports Server (NTRS)

Hornby, Gregory S.; Lipson, Hod; Pollack, Jordan B.

2003-01-01

We will begin with a brief background of evolutionary robotics and related work, and demonstrate the scaling problem with our own prior results. Next we propose the use of an evolved generative representation as opposed to a non-generative representation. We describe this representation in detail as well as the evolutionary process that uses it. We then compare progress of evolved robots with and without the use of the grammar, and quantify the obtained advantage. Working two- dimensional and three-dimensional physical robots produced by the system are shown.

An implementation of sensor-based force feedback in a compact laparoscopic surgery robot.

PubMed

Lee, Duk-Hee; Choi, Jaesoon; Park, Jun-Woo; Bach, Du-Jin; Song, Seung-Jun; Kim, Yoon-Ho; Jo, Yungho; Sun, Kyung

2009-01-01

Despite the rapid progress in the clinical application of laparoscopic surgery robots, many shortcomings have not yet been fully overcome, one of which is the lack of reliable haptic feedback. This study implemented a force-feedback structure in our compact laparoscopic surgery robot. The surgery robot is a master-slave configuration robot with 5 DOF (degree of freedom corresponding laparoscopic surgical motion. The force-feedback implementation was made in the robot with torque sensors and controllers installed in the pitch joint of the master and slave robots. A simple dynamic model of action-reaction force in the slave robot was used, through which the reflective force was estimated and fed back to the master robot. The results showed the system model could be identified with significant fidelity and the force feedback at the master robot was feasible. However, the qualitative human assessment of the fed-back force showed only limited level of object discrimination ability. Further developments are underway with this result as a framework.

Educational Robotics: Open Questions and New Challenges

ERIC Educational Resources Information Center

Alimisis, Dimitris

2013-01-01

This paper investigates the current situation in the field of educational robotics and identifies new challenges and trends focusing on the use of robotic technologies as a tool that will support creativity and other 21st-century learning skills. Finally, conclusions and proposals are presented for promoting cooperation and networking of…

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…

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

DOT National Transportation Integrated Search

1998-01-01

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

Robot-assisted preparation of oncology drugs: the role of nurses.

PubMed

Palma, Elisabetta; Bufarini, Celestino

2012-12-15

Since 2007, the preparation of cancer drugs at the Pharmacy of the University Hospital of Ancona has been progressively robotized. Currently, the process of preparation of intravenous cancer drugs is almost totally automated (95%). At present, the Cytotoxic laboratory of Ancona is the sole, in Europe, that can count on two robots. The robots handle 56 oncology molecules, which correspond to more than 160 different vials. The production rate in 2011 exceeded 19,000 preparations. The quality of compounding and the sterility controls are satisfactory, every step of the process is traceable. The nursing staff played a fundamental role in the robot development process. The nursing staff and the pharmacists are still collaborating with the robotic engineers in order to increase efficiency, ergonomics and user-friendliness of the robots. Copyright © 2012 Elsevier B.V. All rights reserved.

Physiological effects of a companion robot on blood pressure of older people in residential care facility: a pilot study.

PubMed

Robinson, Hayley; MacDonald, Bruce; Broadbent, Elizabeth

2015-03-01

To investigate the effects of interacting with the companion robot, Paro, on blood pressure and heart rate of older people in a residential care facility. This study used a repeated measures design. Twenty-one residents in rest home and hospital level care had their blood pressure taken three times; before, during and after interacting with the seal robot. Four residents who did not interact with the robot were excluded from the final analysis (final n = 17). The final analysis found that systolic and diastolic blood pressure changed significantly over time as did heart rate. Planned comparisons revealed that systolic and diastolic blood pressure decreased significantly from baseline to when residents had Paro (systolic, P = 0.048; diastolic, P = 0.05). Diastolic blood pressure increased significantly after Paro was withdrawn (P = 0.03). Interacting with Paro has a physiological effect on cardiovascular measures, which is similar to findings with live animals. © 2013 ACOTA.

Swarmathon 2017

NASA Image and Video Library

2017-04-19

At the Kennedy Space Center Visitor Complex, students monitor progress as their Swarmie robots as they search for "resources." The goal is for the robots to pick up cubes with AprilTags, which are similar to bar codes. The Swarmies then move the cubes to a white square in the center of the completion arena. The small, four-wheeled robots are designed to effectively and efficiently locate hidden resources while astronauts explore distant destinations such as the moon or Mars.

Robotic general surgery experience: a gradual progress from simple to more complex procedures.

PubMed

Al-Naami, M; Anjum, M N; Aldohayan, A; Al-Khayal, K; Alkharji, H

2013-12-01

Robotic surgery was introduced at our institution in 2003, and we used a progressive approach advancing from simple to more complex procedures. A retrospective chart review. Cases included totalled 129. Set-up and operative times have improved over time and with experience. Conversion rates to standard laparoscopic or open techniques were 4.7% and 1.6%, respectively. Intraoperative complications (6.2%), blood loss and hospital stay were directly proportional to complexity. There were no mortalities and the postoperative complication rate (13.2%) was within accepted norms. Our findings suggest that robot technology is presently most useful in cases tailored toward its advantages, i.e. those confined to a single space, those that require performance of complex tasks, and re-do procedures. Copyright © 2013 John Wiley & Sons, Ltd.

JOMAR: Joint Operations with Mobile Autonomous Robots

DTIC Science & Technology

2015-12-21

AFRL-AFOSR-JP-TR-2015-0009 JOMAR: Joint Operations with Mobile Autonomous Robots Edwin Olson UNIVERSITY OF MICHIGAN Final Report 12/21/2015...SUBTITLE JOMAR: Joint Operations with Mobile Autonomous Robots 5a. CONTRACT NUMBER FA23861114024 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6...14. ABSTRACT Under this grant, we formulated and implemented a variety of novel algorithms that address core problems in multi- robot systems. These

Robotic hepatectomies: advances and perspectives.

PubMed

Dehlawi, Ammar; Memeo, Riccardo; DE Blasi, Vito; Mercoli, Henry A; Mutter, Didier; Marescaux, Jacques; Pessaux, Patrick

2016-12-01

Over recent years, minimally invasive hepatic resections have increasingly been reported in the literature. Even though hepatic surgery is still considered a challenge for surgeons due to its technical difficulties and high morbidity, the development and spread of robotic surgery has highlighted a new interest, which has induced a rapid dissemination of robotic approaches for hepatic pathologies. This article presents a systematic review of the literature regarding robotic hepatectomy in order to assess the safety and feasibility of robotic hepatic surgery. All eligible studies in robotic liver surgery which were published between January 2001 and January 2016 were reviewed systematically. Only series of ten patients and more were chosen in order to consider the experience of high-volume centers. In case of multiple articles on the same centers, the study including the largest number of patients was considered for the study. Overall, 18 studies, involving a total of 572 robotic liver resection (RLR) were finally analyzed. All articles in this review demonstrate that robotic liver surgery must be performed by surgeons trained in open liver surgery and skilled in minimally invasive techniques. RLR and laparoscopic liver resection (LLR) were comparable in terms of safety, feasibility, and outcome for hepatectomies. However, RLR is more expensive than LLR. Further studies are required before any final conclusion can be drawn.

Envisioning Cognitive Robots for Future Space Exploration

NASA Technical Reports Server (NTRS)

Huntsberger, Terry; Stoica, Adrian

2010-01-01

Cognitive robots in the context of space exploration are envisioned with advanced capabilities of model building, continuous planning/re-planning, self-diagnosis, as well as the ability to exhibit a level of 'understanding' of new situations. An overview of some JPL components (e.g. CASPER, CAMPOUT) and a description of the architecture CARACaS (Control Architecture for Robotic Agent Command and Sensing) that combines these in the context of a cognitive robotic system operating in a various scenarios are presented. Finally, two examples of typical scenarios of a multi-robot construction mission and a human-robot mission, involving direct collaboration with humans is given.

Effects of robot assisted gait training in progressive supranuclear palsy (PSP): a preliminary report

PubMed Central

Sale, Patrizio; Stocchi, Fabrizio; Galafate, Daniele; De Pandis, Maria Francesca; Le Pera, Domenica; Sova, Ivan; Galli, Manuela; Foti, Calogero; Franceschini, Marco

2014-01-01

Background and Purpose: Progressive supranuclear palsy (PSP) is a rare neurodegenerative disease clinically characterized by prominent axial extrapyramidal motor symptoms with frequent falls. Over the last years the introduction of robotic technologies to recover lower limb function has been greatly employed in the rehabilitative practice. This observational trial is aimed at investigating the changes in the main spatiotemporal following end-effector robot training in people with PSP. Method: Pilot observational trial. Participants: Five cognitively intact participants with PSP and gait disorders. Interventions: Patients were submitted to a rehabilitative program of robot-assisted walking sessions for 45 min, 5 times a week for 4 weeks. Main outcome measures: The spatiotemporal parameters at the beginning (T0) and at the end of treatment (T1) were recorded by a gait analysis laboratory. Results: Robot training was feasible, acceptable and safe and all participants completed the prescribed training sessions. All patients showed an improvement in the gait spatiotemporal index (Mean velocity, Cadence, Step length, and Step width) (T0 vs. T1). Conclusions: Robot training is a feasible and safe form of rehabilitation for cognitively intact people with PSP. The lack of side effects and the positive results in the gait parameter index in all patients support the recommendation to extend the trials of this treatment. Further investigation regarding the effectiveness of robot training in time is necessary. Trial registration: ClinicalTrials.gov NCT01668407. PMID:24860459

The Robot in the Crib: A Developmental Analysis of Imitation Skills in Infants and Robots

ERIC Educational Resources Information Center

Demiris, Yiannis; Meltzoff, Andrew

2008-01-01

Interesting systems, whether biological or artificial, develop. Starting from some initial conditions, they respond to environmental changes, and continuously improve their capabilities. Developmental psychologists have dedicated significant effort to studying the developmental progression of infant imitation skills, because imitation underlies…

Robotics handbook. Version 1: For the interested party and professional

NASA Astrophysics Data System (ADS)

1993-12-01

This publication covers several categories of information about robotics. The first section provides a brief overview of the field of Robotics. The next section provides a reasonably detailed look at the NASA Robotics program. The third section features a listing of companies and organization engaging in robotics or robotic-related activities; followed by a listing of associations involved in the field; followed by a listing of publications and periodicals which cover elements of robotics or related fields. The final section is an abbreviated abstract of referred journal material and other reference material relevant to the technology and science of robotics, including such allied fields as vision perception; three-space axis orientation and measurement systems and associated inertial reference technology and algorithms; and physical and mechanical science and technology related to robotics.

Robotics handbook. Version 1: For the interested party and professional

NASA Technical Reports Server (NTRS)

1993-01-01

This publication covers several categories of information about robotics. The first section provides a brief overview of the field of Robotics. The next section provides a reasonably detailed look at the NASA Robotics program. The third section features a listing of companies and organization engaging in robotics or robotic-related activities; followed by a listing of associations involved in the field; followed by a listing of publications and periodicals which cover elements of robotics or related fields. The final section is an abbreviated abstract of referred journal material and other reference material relevant to the technology and science of robotics, including such allied fields as vision perception; three-space axis orientation and measurement systems and associated inertial reference technology and algorithms; and physical and mechanical science and technology related to robotics.

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.

Eyeblink Synchrony in Multimodal Human-Android Interaction.

PubMed

Tatsukawa, Kyohei; Nakano, Tamami; Ishiguro, Hiroshi; Yoshikawa, Yuichiro

2016-12-23

As the result of recent progress in technology of communication robot, robots are becoming an important social partner for humans. Behavioral synchrony is understood as an important factor in establishing good human-robot relationships. In this study, we hypothesized that biasing a human's attitude toward a robot changes the degree of synchrony between human and robot. We first examined whether eyeblinks were synchronized between a human and an android in face-to-face interaction and found that human listeners' eyeblinks were entrained to android speakers' eyeblinks. This eyeblink synchrony disappeared when the android speaker spoke while looking away from the human listeners but was enhanced when the human participants listened to the speaking android while touching the android's hand. These results suggest that eyeblink synchrony reflects a qualitative state in human-robot interactions.

RCTA capstone assessment

NASA Astrophysics Data System (ADS)

Lennon, Craig; Bodt, Barry; Childers, Marshal; Dean, Robert; Oh, Jean; DiBerardino, Chip; Keegan, Terence

2015-05-01

The Army Research Laboratory's Robotics Collaborative Technology Alliance (RCTA) is a program intended to change robots from tools that soldiers use into teammates with which soldiers can work. This requires the integration of fundamental and applied research in perception, artificial intelligence, and human-robot interaction. In October of 2014, the RCTA assessed progress towards integrating this research. This assessment was designed to evaluate the robot's performance when it used new capabilities to perform selected aspects of a mission. The assessed capabilities included the ability of the robot to: navigate semantically outdoors with respect to structures and landmarks, identify doors in the facades of buildings, and identify and track persons emerging from those doors. We present details of the mission-based vignettes that constituted the assessment, and evaluations of the robot's performance in these vignettes.

Robotic surgery: new robots and finally some real competition!

PubMed

Rao, Pradeep P

2018-04-01

For the last 20 years, the predominant robot used in laparoscopic surgery has been Da Vinci by Intuitive Surgical. This monopoly situation has led to rising costs and relatively slow innovation. This article aims to discuss the two new robotic devices for laparoscopic surgery which have received regulatory approval for human use in different parts of the world. A short description of the Senhance Surgical Robotic System and the REVO-I Robot Platform and their pros and cons compared to the Da Vinci system is presented. A discussion about the differences between the three robotic systems now in the market is presented, as well as a short review of the present state of robotic assistance in surgery and where we are headed.

Task Analysis and Descriptions of Required Job Competencies for Robotics/Automated Systems Technicians. Final Report. Volume 2. Curriculum Planning Guide.

ERIC Educational Resources Information Center

Hull, Daniel M.; Lovett, James E.

This volume of the final report for the Robotics/Automated Systems Technician (RAST) curriculum project is a curriculum planning guide intended for school administrators, faculty, and student counselors/advisors. It includes step-by-step procedures to help institutions evaluate their community's needs and their capabilities to meet these needs in…

Health Care Robotics: A Progress Report

NASA Technical Reports Server (NTRS)

Fiorini, Paolo; Ali, Khaled; Seraji, Homayoun

1997-01-01

This paper describes the approach followed in the design of a service robot for health care applications. Under the auspices of the NASA Technology Transfer program, a partnership was established between JPL and RWI, a manufacturer of mobile robots, to design and evaluate a mobile robot for health care assistance to the elderly and the handicapped. The main emphasis of the first phase of the project is on the development on a multi-modal operator interface and its evaluation by health care professionals and users. This paper describes the architecture of the system, the evaluation method used, and some preliminary results of the user evaluation.

Task Analysis and Job Descriptions for Robotics/Automated Systems Technicians. Final Report. Volume 1.

ERIC Educational Resources Information Center

Hull, Daniel M.; Lovett, James E.

The Robotics/Automated Systems Technician (RAST) project developed a robotics technician model curriculum for the use of state directors of vocational education and two-year college vocational/technical educators. A baseline management plan was developed to guide the project. To provide awareness, project staff developed a dissemination plan…

UNIVERSITY RESEARCH PROGRAM IN ROBOTICS, Final Technical Annual Report, Project Period: 9/1/04 - 8/31/05

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

James S. Tulenko; Carl D. Crane III

The University Research Program in Robotics (URPR) Implementation Plan is an integrated group of universities performing fundamental research that addresses broad-based robotics and automation needs of the NNSA Directed Stockpile Work (DSW) and Campaigns. The URPR mission is to provide improved capabilities of robotics science and engineering to meet the future needs of all weapon systems and other associated NNSA/DOE activities.

Vision-based obstacle avoidance

DOEpatents

Galbraith, John [Los Alamos, NM

2006-07-18

A method for allowing a robot to avoid objects along a programmed path: first, a field of view for an electronic imager of the robot is established along a path where the electronic imager obtains the object location information within the field of view; second, a population coded control signal is then derived from the object location information and is transmitted to the robot; finally, the robot then responds to the control signal and avoids the detected object.

Creating the brain and interacting with the brain: an integrated approach to understanding the brain.

PubMed

Morimoto, Jun; Kawato, Mitsuo

2015-03-06

In the past two decades, brain science and robotics have made gigantic advances in their own fields, and their interactions have generated several interdisciplinary research fields. First, in the 'understanding the brain by creating the brain' approach, computational neuroscience models have been applied to many robotics problems. Second, such brain-motivated fields as cognitive robotics and developmental robotics have emerged as interdisciplinary areas among robotics, neuroscience and cognitive science with special emphasis on humanoid robots. Third, in brain-machine interface research, a brain and a robot are mutually connected within a closed loop. In this paper, we review the theoretical backgrounds of these three interdisciplinary fields and their recent progress. Then, we introduce recent efforts to reintegrate these research fields into a coherent perspective and propose a new direction that integrates brain science and robotics where the decoding of information from the brain, robot control based on the decoded information and multimodal feedback to the brain from the robot are carried out in real time and in a closed loop. © 2015 The Author(s) Published by the Royal Society. All rights reserved.

Robots are not just tools

NASA Astrophysics Data System (ADS)

Prescott, Tony J.

2017-04-01

The EPSRC principles of robotics make a number of commitments about the ontological status of robots such as that robots are "just tools" or can give only "an impression or real intelligence". This commentary proposes that this assumes, all too easily, that we know the boundary conditions of future robotics development, and argues that progress towards a more useful set of principles could begin by thinking carefully about the ontological status of robots. Whilst most robots are currently little more than tools, we are entering an era where there will be new kinds of entities that combine some of the properties of tools with psychological capacities that we had previously thought were reserved for complex biological organisms such as humans. The ontological status of robots might be best described as liminal - neither living nor simply mechanical. There is also evidence that people will treat robots as more than just tools regardless of the extent to which their machine nature is transparent. Ethical principles need to be developed that recognise these ontological and psychological issues around the nature of robots and how they are perceived.

Creating the brain and interacting with the brain: an integrated approach to understanding the brain

PubMed Central

Morimoto, Jun; Kawato, Mitsuo

2015-01-01

In the past two decades, brain science and robotics have made gigantic advances in their own fields, and their interactions have generated several interdisciplinary research fields. First, in the ‘understanding the brain by creating the brain’ approach, computational neuroscience models have been applied to many robotics problems. Second, such brain-motivated fields as cognitive robotics and developmental robotics have emerged as interdisciplinary areas among robotics, neuroscience and cognitive science with special emphasis on humanoid robots. Third, in brain–machine interface research, a brain and a robot are mutually connected within a closed loop. In this paper, we review the theoretical backgrounds of these three interdisciplinary fields and their recent progress. Then, we introduce recent efforts to reintegrate these research fields into a coherent perspective and propose a new direction that integrates brain science and robotics where the decoding of information from the brain, robot control based on the decoded information and multimodal feedback to the brain from the robot are carried out in real time and in a closed loop. PMID:25589568

An Engineering Mentor's Take on "FIRST" Robotics

ERIC Educational Resources Information Center

Jackson, Jim

2013-01-01

In this article, the author describes a program that he says has "made being smart cool." "FIRST" (For Inspiration and Recognition of Science and Technology) Robotics has made a significant contribution toward progress in advancing science, technology, engineering, and mathematics (STEM) courses and STEM careers with young people. "FIRST" Robotics…

Knowing when to assist: developmental issues in lifelong assistive robotics.

PubMed

Demiris, Yiannis

2009-01-01

Children and adults with sensorimotor disabilities can significantly increase their autonomy through the use of assistive robots. As the field progresses from short-term, task-specific solutions to long-term, adaptive ones, new challenges are emerging. In this paper a lifelong methodological approach is presented, that attempts to balance the immediate context-specific needs of the user, with the long-term effects that the robot's assistance can potentially have on the user's developmental trajectory.

Complications from robot-assisted radical cystectomy: Where do we stand?

PubMed

Guiote, I; Gaya, J M; Gausa, L; Rodríguez, O; Palou, J

2016-03-01

Radical cystectomy with extended lymphadenectomy is the surgical treatment of choice for muscle-invasive bladder cancer. The technical and technological improvements and the positive results from robot-assisted kidney and prostate surgery have led to the progressive development of robot-assisted radical cystectomy (RARC). We provide a global structured overview and an update on the complications of RARC, recorded according to the Clavien-Dindo classification system. We conducted a search on PubMed of all publications on RARC to date (2014). Of the 259 publications found, we excluded review articles and cost analyses, publications with less than 30 cases, updates of previous studies and those whose main objective was the study of other issues related to RARC other than complications, leaving a total of 38 articles for the final analysis. The most common complications associated with RARC are gastrointestinal, infectious and genitourinary system, mainly Clavien 1-2, followed by Clavien 3-4. RARC had lower overall complication rates than open radical cystectomy and laparoscopic radical cystectomy and had a lower incidence of severe complications, less intraoperative bleeding and better postoperative recovery. Although further scientific evidence is needed, RARC is an increasingly widespread technique that appears to reduce complications as well as the need for transfusion, and it improves recovery times. Copyright © 2015 AEU. Publicado por Elsevier España, S.L.U. All rights reserved.

Laser speckle velocimetry for robot manufacturing

NASA Astrophysics Data System (ADS)

Charrett, Thomas O. H.; Bandari, Yashwanth K.; Michel, Florent; Ding, Jialuo; Williams, Stewart W.; Tatam, Ralph P.

2017-06-01

A non-contact speckle correlation sensor for the measurement of robotic tool speed is presented for use in robotic manufacturing and is capable of measuring the in-plane relative velocities between a robot end-effector and the workpiece or other surface. The sensor performance was assessed in the laboratory with the sensor accuracies found to be better than 0:01 mm/s over a 70 mm/s velocity range. Finally an example of the sensors application to robotic manufacturing is presented where the sensor was applied to tool speed measurement for path planning in the wire and arc additive manufacturing process using a KUKA KR150 L110/2 industrial robot.

Genetic Optimization and Simulation of a Piezoelectric Pipe-Crawling Inspection Robot

NASA Technical Reports Server (NTRS)

Hollinger, Geoffrey A.; Briscoe, Jeri M.

2004-01-01

Using the DarwinZk development software, a genetic algorithm (GA) was used to design and optimize a pipe-crawling robot for parameters such as mass, power consumption, and joint extension to further the research of the Miniature Inspection Systems Technology (MIST) team. In an attempt to improve on existing designs, a new robot was developed, the piezo robot. The final proposed design uses piezoelectric expansion actuators to move the robot with a 'chimneying' method employed by mountain climbers and greatly improves on previous designs in load bearing ability, pipe traversing specifications, and field usability. This research shows the advantages of GA assisted design in the field of robotics.

Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test.

PubMed

Gilbert, Hunter B; Hendrick, Richard J; Webster, Robert J

2016-02-01

Concentric tube robots are needle-sized manipulators which have been investigated for use in minimally invasive surgeries. It was noted early in the development of these devices that elastic energy storage can lead to rapid snapping motion for designs with moderate to high tube curvatures. Substantial progress has recently been made in the concentric tube robot community in designing snap-free robots, planning stable paths, and characterizing conditions that result in snapping for specific classes of concentric tube robots. However, a general measure for how stable a given robot configuration is has yet to be proposed. In this paper, we use bifurcation and elastic stability theory to provide such a measure, as well as to produce a test for determining whether a given design is snap-free (i.e. whether snapping can occur anywhere in the unloaded robot's workspace). These results are useful in designing, planning motions for, and controlling concentric tube robots with high curvatures.

Industrial robots on the line

NASA Astrophysics Data System (ADS)

Ayres, R.; Miller, S.

1982-06-01

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

Fluorene-based macromolecular nanostructures and nanomaterials for organic (opto)electronics.

PubMed

Xie, Ling-Hai; Yang, Su-Hui; Lin, Jin-Yi; Yi, Ming-Dong; Huang, Wei

2013-10-13

Nanotechnology not only opens up the realm of nanoelectronics and nanophotonics, but also upgrades organic thin-film electronics and optoelectronics. In this review, we introduce polymer semiconductors and plastic electronics briefly, followed by various top-down and bottom-up nano approaches to organic electronics. Subsequently, we highlight the progress in polyfluorene-based nanoparticles and nanowires (nanofibres), their tunable optoelectronic properties as well as their applications in polymer light-emitting devices, solar cells, field-effect transistors, photodetectors, lasers, optical waveguides and others. Finally, an outlook is given with regard to four-element complex devices via organic nanotechnology and molecular manufacturing that will spread to areas such as organic mechatronics in the framework of robotic-directed science and technology.

Joint Technical Architecture for Robotic Systems (JTARS)-Final Report

NASA Technical Reports Server (NTRS)

Bradley, Arthur T.; Holloway, Sidney E., III

2006-01-01

This document represents the final report for the Joint Technical Architecture for Robotic Systems (JTARS) project, funded by the Office of Exploration as part of the Intramural Call for Proposals of 2005. The project was prematurely terminated, without review, as part of an agency-wide realignment towards the development of a Crew Exploration Vehicle (CEV) and meeting the near-term goals of lunar exploration.

The decisive role of the patient-side surgeon in robotic surgery.

PubMed

Sgarbura, Olivia; Vasilescu, Catalin

2010-12-01

Minimally invasive technology literature is mainly concerned about the feasibility of the robotic procedures and the performance of the console surgeon. However, few of these technologies could be applied without a well-trained team. Our goal was to demonstrate that robotic surgery depends more on the patient-side assistant surgeon's abilities than has been previously reported. In our department, 280 interventions in digestive, thoracic, and gynecological surgery were performed since the acquisition of the robotic equipment. There are three teams trained in robotic surgery with three console surgeons and four certified patient-side surgeons. Four more patient-side assistants were trained at our center. Trocar placement, docking and undocking of the robot, insertion of the laparoscopic instruments, and hemostatic maneuvers with various devices were quantified and compared. Assistants trained by using animal or cadaver surgery are more comfortable with the robotic instruments handling and with docking and undocking of the robot. Assistants who finalized their residency or attend their final year are more accurate with the insertion of the laparoscopic instrument to the targeted organ and more skillful with LigaSure or clip applier devices. Interventions that require vivid participation of the assistants have shorter assistant-depending time intervals at the end of the learning curve than at the beginning. Robotic surgery is a team effort and is greatly dependant on the performance of assistant surgeons. Interventions that have the benefit of a trained team are more rapid and secure.

Decentralized sensor fusion for Ubiquitous Networking Robotics in Urban Areas.

PubMed

Sanfeliu, Alberto; Andrade-Cetto, Juan; Barbosa, Marco; Bowden, Richard; Capitán, Jesús; Corominas, Andreu; Gilbert, Andrew; Illingworth, John; Merino, Luis; Mirats, Josep M; Moreno, Plínio; Ollero, Aníbal; Sequeira, João; Spaan, Matthijs T J

2010-01-01

In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted.

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

PubMed

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

2007-01-01

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

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

A survey on dielectric elastomer actuators for soft robots.

PubMed

Gu, Guo-Ying; Zhu, Jian; Zhu, Li-Min; Zhu, Xiangyang

2017-01-23

Conventional industrial robots with the rigid actuation technology have made great progress for humans in the fields of automation assembly and manufacturing. With an increasing number of robots needing to interact with humans and unstructured environments, there is a need for soft robots capable of sustaining large deformation while inducing little pressure or damage when maneuvering through confined spaces. The emergence of soft robotics offers the prospect of applying soft actuators as artificial muscles in robots, replacing traditional rigid actuators. Dielectric elastomer actuators (DEAs) are recognized as one of the most promising soft actuation technologies due to the facts that: i) dielectric elastomers are kind of soft, motion-generating materials that resemble natural muscle of humans in terms of force, strain (displacement per unit length or area) and actuation pressure/density; ii) dielectric elastomers can produce large voltage-induced deformation. In this survey, we first introduce the so-called DEAs emphasizing the key points of working principle, key components and electromechanical modeling approaches. Then, different DEA-driven soft robots, including wearable/humanoid robots, walking/serpentine robots, flying robots and swimming robots, are reviewed. Lastly, we summarize the challenges and opportunities for the further studies in terms of mechanism design, dynamics modeling and autonomous control.

Implement of the Owner Distinction Function for Healing-Type Pet Robots

NASA Astrophysics Data System (ADS)

Nambo, Hidetaka; Kimura, Haruhiko; Hirose, Sadaki

In recent years, a robotics technology is extremely progressive, and robots are widely applied in many fields. One of the most typical robots is a pet robot. The pet robot is based on an animal pet, such as a dog or a cat. Also, it is known that an animal pet has a healing effect. Therefore, the study to apply pet robots to Animal Assisted Therapy instead of an animal pet has begun to be investigated. We, also, have investigated a method of an owner distinction for pet robot, to emphasize a healing effect of pet robots. In this paper, taking account of implementation into pet robots, a real-time owner distinction method is proposed. In the concrete, the method provides a real-time matching algorithm and an oblivion mechanism. The real-time matching means that a matching and a data acquisition are processed simultaneously. The oblivion mechanism is deleting features of owners in the database of the pet robots. Additionally, the mechanism enables to reduce matching costs or size of database and it enables to follow a change of owners. Furthermore, effectivity and a practicality of the method are evaluated by experiments.

Dynamical network interactions in distributed control of robots

NASA Astrophysics Data System (ADS)

Buscarino, Arturo; Fortuna, Luigi; Frasca, Mattia; Rizzo, Alessandro

2006-03-01

In this paper the dynamical network model of the interactions within a group of mobile robots is investigated and proposed as a possible strategy for controlling the robots without central coordination. Motivated by the results of the analysis of our simple model, we show that the system performance in the presence of noise can be improved by including long-range connections between the robots. Finally, a suitable strategy based on this model to control exploration and transport is introduced.

Trusted Remote Operation of Proximate Emergy Robots (TROOPER): DARPA Robotics Challenge

DTIC Science & Technology

2015-12-01

sensor in each of the robot’s feet. Additionally, there is a 6-axis IMU that sits in the robot’s pelvis cage. While testing before the Finals, the...Services. Many of the controllers in the autonomic layer have overlapping requirements, such as filtered IMU and force torque data from the robot...the following services during the DRC: • IMU Filtering • Force Torque Filtering • Joint State Publishing • TF (Transform) Broadcasting • Robot Pose

Trusted Remote Operation of Proximate Emergency Robots (TROOPER): DARPA Robotics Challenge

DTIC Science & Technology

2015-12-01

sensor in each of the robot’s feet. Additionally, there is a 6-axis IMU that sits in the robot’s pelvis cage. While testing before the Finals, the...Services. Many of the controllers in the autonomic layer have overlapping requirements, such as filtered IMU and force torque data from the robot...the following services during the DRC: • IMU Filtering • Force Torque Filtering • Joint State Publishing • TF (Transform) Broadcasting • Robot Pose

Brain Computer Interfaces for Enhanced Interaction with Mobile Robot Agents

DTIC Science & Technology

2016-07-27

synergistic and complementary way. This project focused on acquiring a mobile robotic agent platform that can be used to explore these interfaces...providing a test environment where the human control of a robot agent can be experimentally validated in 1. REPORT DATE (DD-MM-YYYY) 4. TITLE AND...Distribution Unlimited UU UU UU UU 27-07-2016 17-Sep-2013 16-Sep-2014 Final Report: Brain Computer Interfaces for Enhanced Interactions with Mobile Robot

Developing a successful robotic surgery program in a rural hospital.

PubMed

Zender, John; Thell, Christina

2010-07-01

Robotic surgery has become a standard in many large hospitals across the United States and the world. The surgical robot offers the surgeon a three-dimensional view and increased dexterity in addition to providing the benefits of laparoscopic surgery to the patient (eg, shorter hospital stays, decreased pain, fewer postoperative complications). The next progression for robotic surgery is a move to rural venues. For many small, rural hospitals, however, obtaining a robot may be cost prohibitive, and these facilities may need to explore sources of funding for the program. Developing a robotics program requires intense training by surgeons and all surgical team members. Effective marketing of the program and the dedication and hard work of surgical team members and administrators are vital to ensure the success of the program. Copyright (c) 2010 AORN, Inc. Published by Elsevier Inc. All rights reserved.

Eyeblink Synchrony in Multimodal Human-Android Interaction

PubMed Central

Tatsukawa, Kyohei; Nakano, Tamami; Ishiguro, Hiroshi; Yoshikawa, Yuichiro

2016-01-01

As the result of recent progress in technology of communication robot, robots are becoming an important social partner for humans. Behavioral synchrony is understood as an important factor in establishing good human-robot relationships. In this study, we hypothesized that biasing a human’s attitude toward a robot changes the degree of synchrony between human and robot. We first examined whether eyeblinks were synchronized between a human and an android in face-to-face interaction and found that human listeners’ eyeblinks were entrained to android speakers’ eyeblinks. This eyeblink synchrony disappeared when the android speaker spoke while looking away from the human listeners but was enhanced when the human participants listened to the speaking android while touching the android’s hand. These results suggest that eyeblink synchrony reflects a qualitative state in human-robot interactions. PMID:28009014

Hydrodynamic investigation of a self-propelled robotic fish based on a force-feedback control method.

PubMed

Wen, L; Wang, T M; Wu, G H; Liang, J H

2012-09-01

We implement a mackerel (Scomber scombrus) body-shaped robot, programmed to display the three most typical body/caudal fin undulatory kinematics (i.e. anguilliform, carangiform and thunniform), in order to biomimetically investigate hydrodynamic issues not easily tackled experimentally with live fish. The robotic mackerel, mounted on a servo towing system and initially at rest, can determine its self-propelled speed by measuring the external force acting upon it and allowing for the simultaneous measurement of power, flow field and self-propelled speed. Experimental results showed that the robotic swimmer with thunniform kinematics achieved a faster final swimming speed (St = 0.424) relative to those with carangiform (St = 0.43) and anguilliform kinematics (St = 0.55). The thrust efficiency, estimated from a digital particle image velocimetry (DPIV) flow field, showed that the robotic swimmer with thunniform kinematics is more efficient (47.3%) than those with carangiform (31.4%) and anguilliform kinematics (26.6%). Furthermore, the DPIV measurements illustrate that the large-scale characteristics of the flow pattern generated by the robotic swimmer with both anguilliform and carangiform kinematics were wedge-like, double-row wake structures. Additionally, a typical single-row reverse Karman vortex was produced by the robotic swimmer using thunniform kinematics. Finally, we discuss this novel force-feedback-controlled experimental method, and review the relative self-propelled hydrodynamic results of the robot when utilizing the three types of undulatory kinematics.

The JAU-JPL anthropomorphic telerobot

NASA Technical Reports Server (NTRS)

Jau, Bruno M.

1989-01-01

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

Ultra-fast escape maneuver of an octopus-inspired robot.

PubMed

Weymouth, G D; Subramaniam, V; Triantafyllou, M S

2015-02-02

We design and test an octopus-inspired flexible hull robot that demonstrates outstanding fast-starting performance. The robot is hyper-inflated with water, and then rapidly deflates to expel the fluid so as to power the escape maneuver. Using this robot we verify for the first time in laboratory testing that rapid size-change can substantially reduce separation in bluff bodies traveling several body lengths, and recover fluid energy which can be employed to improve the propulsive performance. The robot is found to experience speeds over ten body lengths per second, exceeding that of a similarly propelled optimally streamlined rigid rocket. The peak net thrust force on the robot is more than 2.6 times that on an optimal rigid body performing the same maneuver, experimentally demonstrating large energy recovery and enabling acceleration greater than 14 body lengths per second squared. Finally, over 53% of the available energy is converted into payload kinetic energy, a performance that exceeds the estimated energy conversion efficiency of fast-starting fish. The Reynolds number based on final speed and robot length is [Formula: see text]. We use the experimental data to establish a fundamental deflation scaling parameter [Formula: see text] which characterizes the mechanisms of flow control via shape change. Based on this scaling parameter, we find that the fast-starting performance improves with increasing size.

Development of Live-working Robot for Power Transmission Lines

NASA Astrophysics Data System (ADS)

Yan, Yu; Liu, Xiaqing; Ren, Chengxian; Li, Jinliang; Li, Hui

2017-07-01

Dream-I, the first reconfigurable live-working robot for power transmission lines successfully developed in China, has the functions of autonomous walking on lines and accurately positioning. This paper firstly described operation task and object of the robot; then designed a general platform, an insulator replacement end and a drainage plate bolt fastening end of the robot, presented a control system of the robot, and performed simulation analysis on operation plan of the robot; and finally completed electrical field withstand voltage tests in a high voltage hall as well as online test and trial on actual lines. Experimental results show that by replacing ends of manipulators, the robot can fulfill operation tasks of live replacement of suspension insulators and live drainage plate bolt fastening.

Kinematics Control and Analysis of Industrial Robot

NASA Astrophysics Data System (ADS)

Zhu, Tongbo; Cai, Fan; Li, Yongmei; Liu, Wei

2018-03-01

The robot’s development present situation, basic principle and control system are introduced briefly. Research is mainly focused on the study of the robot’s kinematics and motion control. The structural analysis of a planar articulated robot (SCARA) robot is presented,the coordinate system is established to obtain the position and orientation matrix of the end effector,a method of robot kinematics analysis based on homogeneous transformation method is proposed, and the kinematics solution of the robot is obtained.Establishment of industrial robot’s kinematics equation and formula for positive kinematics by example. Finally,the kinematic analysis of this robot was verified by examples.It provides a basis for structural design and motion control.It has active significance to promote the motion control of industrial robot.

Exoskeleton robots for upper-limb rehabilitation: state of the art and future prospects.

PubMed

Lo, Ho Shing; Xie, Sheng Quan

2012-04-01

Current health services are struggling to provide optimal rehabilitation therapy to victims of stroke. This has motivated researchers to explore the use of robotic devices to provide rehabilitation therapy for strokepatients. This paper reviews the recent progress of upper limb exoskeleton robots for rehabilitation treatment of patients with neuromuscular disorders. Firstly, a brief introduction to rehabilitation robots will be given along with examples of existing commercial devices. The advancements in upper limb exoskeleton technology and the fundamental challenges in developing these devices are described. Potential areas for future research are discussed. Copyright © 2011 IPEM. Published by Elsevier Ltd. All rights reserved.

Optimal Control Method of Robot End Position and Orientation Based on Dynamic Tracking Measurement

NASA Astrophysics Data System (ADS)

Liu, Dalong; Xu, Lijuan

2018-01-01

In order to improve the accuracy of robot pose positioning and control, this paper proposed a dynamic tracking measurement robot pose optimization control method based on the actual measurement of D-H parameters of the robot, the parameters is taken with feedback compensation of the robot, according to the geometrical parameters obtained by robot pose tracking measurement, improved multi sensor information fusion the extended Kalan filter method, with continuous self-optimal regression, using the geometric relationship between joint axes for kinematic parameters in the model, link model parameters obtained can timely feedback to the robot, the implementation of parameter correction and compensation, finally we can get the optimal attitude angle, realize the robot pose optimization control experiments were performed. 6R dynamic tracking control of robot joint robot with independent research and development is taken as experimental subject, the simulation results show that the control method improves robot positioning accuracy, and it has the advantages of versatility, simplicity, ease of operation and so on.

A Modular Robotic System with Applications to Space Exploration

NASA Technical Reports Server (NTRS)

Hancher, Matthew D.; Hornby, Gregory S.

2006-01-01

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

Staubli TX-90XL robot qualification at the LLIHE.

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

Covert, Timothy Todd

The Light Initiated High Explosive (LIHE) Facility uses a robotic arm to spray explosive material onto test items for impulse tests. In 2007, the decision was made to replace the existing PUMA 760 robot with the Staubli TX-90XL. A qualification plan was developed and implemented to verify the safe operating conditions and failure modes of the new system. The robot satisfied the safety requirements established in the qualification plan. A performance issue described in this report remains unresolved at the time of this publication. The final readiness review concluded the qualification of this robot at the LIHE facility.

Comparison of three different techniques for camera and motion control of a teleoperated robot.

PubMed

Doisy, Guillaume; Ronen, Adi; Edan, Yael

2017-01-01

This research aims to evaluate new methods for robot motion control and camera orientation control through the operator's head orientation in robot teleoperation tasks. Specifically, the use of head-tracking in a non-invasive way, without immersive virtual reality devices was combined and compared with classical control modes for robot movements and camera control. Three control conditions were tested: 1) a condition with classical joystick control of both the movements of the robot and the robot camera, 2) a condition where the robot movements were controlled by a joystick and the robot camera was controlled by the user head orientation, and 3) a condition where the movements of the robot were controlled by hand gestures and the robot camera was controlled by the user head orientation. Performance, workload metrics and their evolution as the participants gained experience with the system were evaluated in a series of experiments: for each participant, the metrics were recorded during four successive similar trials. Results shows that the concept of robot camera control by user head orientation has the potential of improving the intuitiveness of robot teleoperation interfaces, specifically for novice users. However, more development is needed to reach a margin of progression comparable to a classical joystick interface. Copyright © 2016 Elsevier Ltd. All rights reserved.

Telerehabilitation robotics: bright lights, big future?

PubMed

Carignan, Craig R; Krebs, Hermano I

2006-01-01

The potential for remote diagnosis and treatment over the Internet using robotics is now a reality. The state of the art is exemplified by several Internet applications, and we explore the current trends in developing new systems. We review the technical challenges that lie ahead, along with some potential solutions. Some promising results for a new bilateral system involving two InMotion2 robots are presented. Finally, we discuss the future direction and commercial outlook for rehabilitation robots over the next 15 years.

University Research Program in Robotics - "Technologies for Micro-Electrical-Mechanical Systems in directed Stockpile Work (DSW) Radiation and Campaigns", Final Technical Annual Report, Project Period 9/1/06 - 8/31/07

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

James S. Tulenko; Carl D. Crane

The University Research Program in Robotics (URPR) is an integrated group of universities performing fundamental research that addresses broad-based robotics and automation needs of the NNSA Directed Stockpile Work (DSW) and Campaigns. The URPR mission is to provide improved capabilities in robotics science and engineering to meet the future needs of all weapon systems and other associated NNSA/DOE activities.

RoboSimian Disaster Relief Poster Artist Concept

NASA Image and Video Library

2015-03-11

This artist's concept shows RoboSimian, a robot intended to assist with disaster relief and mitigation. RoboSimian is an ape-like robot that moves around on four limbs. It was designed and built at the Jet Propulsion Laboratory in Pasadena, California. It will compete in the 2015 DARPA Robotics Challenge Finals. To get the robot in shape for the contest, researchers at JPL are collaborating with partners at University of California, Santa Barbara, and the California Institute of Technology. http://photojournal.jpl.nasa.gov/catalog/PIA19313

77 FR 37007 - Applications for New Awards: National Institute on Disability and Rehabilitation Research...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-06-20

... Robotics; Notice Inviting Applications for New Awards for Fiscal Year (FY) 2012 Catalog of Federal Domestic... Robotics. Note: The full text of these priorities is included in the notice of final priorities published... Disabilities (CFDA No. 84.133E-1) and 1 for Rehabilitation Robotics (CFDA No. 84.133E-3). Note: The Department...

Tracking control of a closed-chain five-bar robot with two degrees of freedom by integration of an approximation-based approach and mechanical design.

PubMed

Cheng, Long; Hou, Zeng-Guang; Tan, Min; Zhang, W J

2012-10-01

The trajectory tracking problem of a closed-chain five-bar robot is studied in this paper. Based on an error transformation function and the backstepping technique, an approximation-based tracking algorithm is proposed, which can guarantee the control performance of the robotic system in both the stable and transient phases. In particular, the overshoot, settling time, and final tracking error of the robotic system can be all adjusted by properly setting the parameters in the error transformation function. The radial basis function neural network (RBFNN) is used to compensate the complicated nonlinear terms in the closed-loop dynamics of the robotic system. The approximation error of the RBFNN is only required to be bounded, which simplifies the initial "trail-and-error" configuration of the neural network. Illustrative examples are given to verify the theoretical analysis and illustrate the effectiveness of the proposed algorithm. Finally, it is also shown that the proposed approximation-based controller can be simplified by a smart mechanical design of the closed-chain robot, which demonstrates the promise of the integrated design and control philosophy.

Robotics in Lower-Limb Rehabilitation after Stroke

PubMed Central

2017-01-01

With the increase in the elderly, stroke has become a common disease, often leading to motor dysfunction and even permanent disability. Lower-limb rehabilitation robots can help patients to carry out reasonable and effective training to improve the motor function of paralyzed extremity. In this paper, the developments of lower-limb rehabilitation robots in the past decades are reviewed. Specifically, we provide a classification, a comparison, and a design overview of the driving modes, training paradigm, and control strategy of the lower-limb rehabilitation robots in the reviewed literature. A brief review on the gait detection technology of lower-limb rehabilitation robots is also presented. Finally, we discuss the future directions of the lower-limb rehabilitation robots. PMID:28659660

Robotics in Lower-Limb Rehabilitation after Stroke.

PubMed

Zhang, Xue; Yue, Zan; Wang, Jing

2017-01-01

With the increase in the elderly, stroke has become a common disease, often leading to motor dysfunction and even permanent disability. Lower-limb rehabilitation robots can help patients to carry out reasonable and effective training to improve the motor function of paralyzed extremity. In this paper, the developments of lower-limb rehabilitation robots in the past decades are reviewed. Specifically, we provide a classification, a comparison, and a design overview of the driving modes, training paradigm, and control strategy of the lower-limb rehabilitation robots in the reviewed literature. A brief review on the gait detection technology of lower-limb rehabilitation robots is also presented. Finally, we discuss the future directions of the lower-limb rehabilitation robots.

Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas

PubMed Central

Sanfeliu, Alberto; Andrade-Cetto, Juan; Barbosa, Marco; Bowden, Richard; Capitán, Jesús; Corominas, Andreu; Gilbert, Andrew; Illingworth, John; Merino, Luis; Mirats, Josep M.; Moreno, Plínio; Ollero, Aníbal; Sequeira, João; Spaan, Matthijs T.J.

2010-01-01

In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted. PMID:22294927

The Clinical Use of Robots for Individuals with Autism Spectrum Disorders: A Critical Review

PubMed Central

Diehl, Joshua J.; Schmitt, Lauren M.; Villano, Michael; Crowell, Charles R.

2011-01-01

We examined peer-reviewed studies in order to understand the current status of empirically-based evidence on the clinical applications of robots in the diagnosis and treatment of Autism Spectrum Disorders (ASD). Studies are organized into four broad categories: (a) the response of individuals with ASD to robots or robot-like behavior in comparison to human behavior, (b) the use of robots to elicit behaviors, (c) the use of robots to model, teach, and/or practice a skill, and (d) the use of robots to provide feedback on performance. A critical review of the literature revealed that most of the findings are exploratory and have methodological limitations that make it difficult to draw firm conclusions about the clinical utility of robots. Finally, we outline the research needed to determine the incremental validity of this technique. PMID:22125579

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

NASA Astrophysics Data System (ADS)

Karigiannis, John N.; Tzafestas, Costas S.

2016-11-01

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

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

PubMed

Palese, Emma

2012-06-01

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

Development of monitoring and diagnostic methods for robots used in remediation of waste sites. 1997 annual progress report

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

Tecza, J.

1998-06-01

'Safe and efficient clean up of hazardous and radioactive waste sites throughout the DOE complex will require extensive use of robots. This research effort focuses on developing Monitoring and Diagnostic (M and D) methods for robots that will provide early detection, isolation, and tracking of impending faults before they result in serious failure. The utility and effectiveness of applying M and D methods to hydraulic robots has never been proven. The present research program is utilizing seeded faults in a laboratory test rig that is representative of an existing hydraulically-powered remediation robot. This report summarizes activity conducted in the firstmore » 9 months of the project. The research team has analyzed the Rosie Mobile Worksystem as a representative hydraulic robot, developed a test rig for implanted fault testing, developed a test plan and agenda, and established methods for acquiring and analyzing the test data.'« less

[Robot--a member of (re)habilitation team].

PubMed

Krasnik, Rastislava; Mikov, Aleksandra; Golubović, Spela; Komazec, Zoran; Komazec, Slobodanka Lemajić

2012-01-01

The rehabilitation process involves a whole team of experts who participate in it over a long period oftime. The Intensive development of science and technology has made it possible to design a number of robots which are used for therapeutic purposes and participate in the rehabilitation process. During the long history of technological development of mankind, a number of conceptual and technological solutions for the construction of robots have been known. By using robots in medical rehabilitation it is possible to implement the rehabilitation of peripheral and central motor neurons by increasing the motivation of patients for further recovery and effectiveness of therapy. The paper presents some technological solutions for robot-assisted rehabilitation of patients of different age groups and some possibilities of its use in the treatment. Using robots in standard physiotherapy protocols that involve a number of repetitions, exact dosage, quality design and adaptability to each individual patient leads to the significant progress in the rehabilitation of patients.

Virtual reality-assisted robotic surgery simulation.

PubMed

Albani, Justin M; Lee, David I

2007-03-01

For more than a decade, advancing computer technologies have allowed incorporation of virtual reality (VR) into surgical training. This has become especially important in training for laparoscopic procedures, which often are complex and leave little room for error. With the advent of robotic surgery and the development and prevalence of a commercial surgical system (da Vinci robot; Intuitive Surgical, Sunnyvale, CA), a valid VR-assisted robotic surgery simulator could minimize the steep learning curve associated with many of these complex procedures and thus enable better outcomes. To date, such simulation does not exist; however, several agencies and corporations are involved in making this dream a reality. We review the history and progress of VR simulation in surgical training, its promising applications in robotic-assisted surgery, and the remaining challenges to implementation.

Final report, robotics in construction.

DOT National Transportation Integrated Search

1985-01-01

The use of programmable robots for various kinds of repetitive and hazardous jobs in manufacturing industries is well established. However, their use for other tasks, as in construction, is still in a developmental stage, but is growing rapidly. Desc...

Final Report, University Research Program in Robotics (URPR), Nuclear Facilities Clean-up

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

Tesar, Delbert; Kapoor, Chetan; Pryor, Mitch

This final report describes the research activity at the University of Texas at Austin with application to EM needs at DOE. This research activity is divided in to two major thrusts and contributes to the overall University Research Program in Robotics (URPR) thrust by providing mechanically oriented robotic solutions based on modularity and generalized software. These thrusts are also the core strengths of the UTA program that has a 40-year history in machine development, 30 years specifically devoted to robotics. Since 1975, much of this effort has been to establish the general analytical and design infrastructure for an open (modular)more » architecture of systems with many degrees of freedom that are able to satisfy a broad range of applications for future production machines. This work has coalesced from two principal areas: standardized actuators and generalized software.« less

2014-2682

NASA Image and Video Library

2014-05-23

CAPE CANAVERAL, Fla. -- Team members from the University of Akron in Ohio take a break before their final mining run on the final day of NASA's 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from colleges and universities around the U.S. designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

Robotics in cardiac surgery: the Istanbul experience.

PubMed

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

2006-06-01

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

Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test

PubMed Central

Gilbert, Hunter B.; Hendrick, Richard J.; Webster, Robert J.

2016-01-01

Concentric tube robots are needle-sized manipulators which have been investigated for use in minimally invasive surgeries. It was noted early in the development of these devices that elastic energy storage can lead to rapid snapping motion for designs with moderate to high tube curvatures. Substantial progress has recently been made in the concentric tube robot community in designing snap-free robots, planning stable paths, and characterizing conditions that result in snapping for specific classes of concentric tube robots. However, a general measure for how stable a given robot configuration is has yet to be proposed. In this paper, we use bifurcation and elastic stability theory to provide such a measure, as well as to produce a test for determining whether a given design is snap-free (i.e. whether snapping can occur anywhere in the unloaded robot’s workspace). These results are useful in designing, planning motions for, and controlling concentric tube robots with high curvatures. PMID:27042170

Muecas: A Multi-Sensor Robotic Head for Affective Human Robot Interaction and Imitation

PubMed Central

Cid, Felipe; Moreno, Jose; Bustos, Pablo; Núñez, Pedro

2014-01-01

This paper presents a multi-sensor humanoid robotic head for human robot interaction. The design of the robotic head, Muecas, is based on ongoing research on the mechanisms of perception and imitation of human expressions and emotions. These mechanisms allow direct interaction between the robot and its human companion through the different natural language modalities: speech, body language and facial expressions. The robotic head has 12 degrees of freedom, in a human-like configuration, including eyes, eyebrows, mouth and neck, and has been designed and built entirely by IADeX (Engineering, Automation and Design of Extremadura) and RoboLab. A detailed description of its kinematics is provided along with the design of the most complex controllers. Muecas can be directly controlled by FACS (Facial Action Coding System), the de facto standard for facial expression recognition and synthesis. This feature facilitates its use by third party platforms and encourages the development of imitation and of goal-based systems. Imitation systems learn from the user, while goal-based ones use planning techniques to drive the user towards a final desired state. To show the flexibility and reliability of the robotic head, the paper presents a software architecture that is able to detect, recognize, classify and generate facial expressions in real time using FACS. This system has been implemented using the robotics framework, RoboComp, which provides hardware-independent access to the sensors in the head. Finally, the paper presents experimental results showing the real-time functioning of the whole system, including recognition and imitation of human facial expressions. PMID:24787636

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.

Kinematic design considerations for minimally invasive surgical robots: an overview.

PubMed

Kuo, Chin-Hsing; Dai, Jian S; Dasgupta, Prokar

2012-06-01

Kinematic design is a predominant phase in the design of robotic manipulators for minimally invasive surgery (MIS). However, an extensive overview of the kinematic design issues for MIS robots is not yet available to both mechanisms and robotics communities. Hundreds of archival reports and articles on robotic systems for MIS are reviewed and studied. In particular, the kinematic design considerations and mechanism development described in the literature for existing robots are focused on. The general kinematic design goals, design requirements, and design preferences for MIS robots are defined. An MIS-specialized mechanism, namely the remote center-of-motion (RCM) mechanism, is revisited and studied. Accordingly, based on the RCM mechanism types, a classification for MIS robots is provided. A comparison between eight different RCM types is given. Finally, several open challenges for the kinematic design of MIS robotic manipulators are discussed. This work provides a detailed survey of the kinematic design of MIS robots, addresses the research opportunity in MIS robots for kinematicians, and clarifies the kinematic point of view to MIS robots as a reference for the medical community. Copyright © 2012 John Wiley & Sons, Ltd.

Intelligence for Human-Assistant Planetary Surface Robots

NASA Technical Reports Server (NTRS)

Hirsh, Robert; Graham, Jeffrey; Tyree, Kimberly; Sierhuis, Maarten; Clancey, William J.

2006-01-01

The central premise in developing effective human-assistant planetary surface robots is that robotic intelligence is needed. The exact type, method, forms and/or quantity of intelligence is an open issue being explored on the ERA project, as well as others. In addition to field testing, theoretical research into this area can help provide answers on how to design future planetary robots. Many fundamental intelligence issues are discussed by Murphy [2], including (a) learning, (b) planning, (c) reasoning, (d) problem solving, (e) knowledge representation, and (f) computer vision (stereo tracking, gestures). The new "social interaction/emotional" form of intelligence that some consider critical to Human Robot Interaction (HRI) can also be addressed by human assistant planetary surface robots, as human operators feel more comfortable working with a robot when the robot is verbally (or even physically) interacting with them. Arkin [3] and Murphy are both proponents of the hybrid deliberative-reasoning/reactive-execution architecture as the best general architecture for fully realizing robot potential, and the robots discussed herein implement a design continuously progressing toward this hybrid philosophy. The remainder of this chapter will describe the challenges associated with robotic assistance to astronauts, our general research approach, the intelligence incorporated into our robots, and the results and lessons learned from over six years of testing human-assistant mobile robots in field settings relevant to planetary exploration. The chapter concludes with some key considerations for future work in this area.

micROS: a morphable, intelligent and collective robot operating system.

PubMed

Yang, Xuejun; Dai, Huadong; Yi, Xiaodong; Wang, Yanzhen; Yang, Shaowu; Zhang, Bo; Wang, Zhiyuan; Zhou, Yun; Peng, Xuefeng

2016-01-01

Robots are developing in much the same way that personal computers did 40 years ago, and robot operating system is the critical basis. Current robot software is mainly designed for individual robots. We present in this paper the design of micROS, a morphable, intelligent and collective robot operating system for future collective and collaborative robots. We first present the architecture of micROS, including the distributed architecture for collective robot system as a whole and the layered architecture for every single node. We then present the design of autonomous behavior management based on the observe-orient-decide-act cognitive behavior model and the design of collective intelligence including collective perception, collective cognition, collective game and collective dynamics. We also give the design of morphable resource management, which first categorizes robot resources into physical, information, cognitive and social domains, and then achieve morphability based on self-adaptive software technology. We finally deploy micROS on NuBot football robots and achieve significant improvement in real-time performance.

Application of dexterous space robotics technology to myoelectric prostheses

NASA Astrophysics Data System (ADS)

Hess, Clifford; Li, Larry C. H.; Farry, Kristin A.; Walker, Ian D.

1994-02-01

Future space missions will require robots equipped with highly dexterous robotic hands to perform a variety of tasks. A major technical challenge in making this possible is an improvement in the way these dexterous robotic hands are remotely controlled or teleoperated. NASA is currently investigating the feasibility of using myoelectric signals to teleoperate a dexterous robotic hand. In theory, myoelectric control of robotic hands will require little or no mechanical parts and will greatly reduce the bulk and weight usually found in dexterous robotic hand control devices. An improvement in myoelectric control of multifinger hands will also benefit prosthetics users. Therefore, as an effort to transfer dexterous space robotics technology to prosthetics applications and to benefit from existing myoelectric technology, NASA is collaborating with the Limbs of Love Foundation, the Institute for Rehabilitation and Research, and Rice University in developing improved myoelectric control multifinger hands and prostheses. In this paper, we will address the objectives and approaches of this collaborative effort and discuss the technical issues associated with myoelectric control of multifinger hands. We will also report our current progress and discuss plans for future work.

Application of dexterous space robotics technology to myoelectric prostheses

NASA Technical Reports Server (NTRS)

Hess, Clifford; Li, Larry C. H.; Farry, Kristin A.; Walker, Ian D.

1994-01-01

Future space missions will require robots equipped with highly dexterous robotic hands to perform a variety of tasks. A major technical challenge in making this possible is an improvement in the way these dexterous robotic hands are remotely controlled or teleoperated. NASA is currently investigating the feasibility of using myoelectric signals to teleoperate a dexterous robotic hand. In theory, myoelectric control of robotic hands will require little or no mechanical parts and will greatly reduce the bulk and weight usually found in dexterous robotic hand control devices. An improvement in myoelectric control of multifinger hands will also benefit prosthetics users. Therefore, as an effort to transfer dexterous space robotics technology to prosthetics applications and to benefit from existing myoelectric technology, NASA is collaborating with the Limbs of Love Foundation, the Institute for Rehabilitation and Research, and Rice University in developing improved myoelectric control multifinger hands and prostheses. In this paper, we will address the objectives and approaches of this collaborative effort and discuss the technical issues associated with myoelectric control of multifinger hands. We will also report our current progress and discuss plans for future work.

Experientally guided robots. [for planet exploration

NASA Technical Reports Server (NTRS)

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

1974-01-01

This paper argues that an experientally guided robot is necessary to successfully explore far-away planets. Such a robot is characterized as having sense organs which receive sensory information from its environment and motor systems which allow it to interact with that environment. The sensori-motor information which it receives is organized into an experiential knowledge structure and this knowledge in turn is used to guide the robot's future actions. A summary is presented of a problem solving system which is being used as a test bed for developing such a robot. The robot currently engages in the behaviors of visual tracking, focusing down, and looking around in a simulated Martian landscape. Finally, some unsolved problems are outlined whose solutions are necessary before an experientally guided robot can be produced. These problems center around organizing the motivational and memory structure of the robot and understanding its high-level control mechanisms.

Object Detection Techniques Applied on Mobile Robot Semantic Navigation

PubMed Central

Astua, Carlos; Barber, Ramon; Crespo, Jonathan; Jardon, Alberto

2014-01-01

The future of robotics predicts that robots will integrate themselves more every day with human beings and their environments. To achieve this integration, robots need to acquire information about the environment and its objects. There is a big need for algorithms to provide robots with these sort of skills, from the location where objects are needed to accomplish a task up to where these objects are considered as information about the environment. This paper presents a way to provide mobile robots with the ability-skill to detect objets for semantic navigation. This paper aims to use current trends in robotics and at the same time, that can be exported to other platforms. Two methods to detect objects are proposed, contour detection and a descriptor based technique, and both of them are combined to overcome their respective limitations. Finally, the code is tested on a real robot, to prove its accuracy and efficiency. PMID:24732101

Robotic insects: Manufacturing, actuation, and power considerations

NASA Astrophysics Data System (ADS)

Wood, Robert

2015-12-01

As the characteristic size of a flying robot decreases, the challenges for successful flight revert to basic questions of fabrication, actuation, fluid mechanics, stabilization, and power - whereas such questions have in general been answered for larger aircraft. When developing a robot on the scale of a housefly, all hardware must be developed from scratch as there is nothing "off-the-shelf" which can be used for mechanisms, sensors, or computation that would satisfy the extreme mass and power limitations. With these challenges in mind, this talk will present progress in the essential technologies for insect-like robots with an emphasis on multi-scale manufacturing methods, high power density actuation, and energy-efficient power distribution.

Scalability of Robotic Controllers: Effects of Progressive Autonomy on Intelligence, Surveillance, and Reconnaissance Robotic Tasks

DTIC Science & Technology

2012-09-01

away from the MOCU. The semi-autonomous mode was preferred over the teleoperated mode for multitasking , maintaining SA, avoiding obstacles, and...0 23 Software with icons 0 0 0 0 2 25 Pull-down menu * 0 0 0 0 3 24 Graphics/drawing features in software packages* 3 8 1 4 3 8 Email 1 0 0 0 1...r. Navigate to the next waypoint or set of hash lines 5.27 5.08 6.25 s. Ability to multitask (operate/monitor robot and communicate on the radio

Robotic space simulation integration of vision algorithms into an orbital operations simulation

NASA Technical Reports Server (NTRS)

Bochsler, Daniel C.

1987-01-01

In order to successfully plan and analyze future space activities, computer-based simulations of activities in low earth orbit will be required to model and integrate vision and robotic operations with vehicle dynamics and proximity operations procedures. The orbital operations simulation (OOS) is configured and enhanced as a testbed for robotic space operations. Vision integration algorithms are being developed in three areas: preprocessing, recognition, and attitude/attitude rates. The vision program (Rice University) was modified for use in the OOS. Systems integration testing is now in progress.

Automatic Modeling and Simulation of Modular Robots

NASA Astrophysics Data System (ADS)

Jiang, C.; Wei, H.; Zhang, Y.

2018-03-01

The ability of reconfiguration makes modular robots have the ability of adaptable, low-cost, self-healing and fault-tolerant. It can also be applied to a variety of mission situations. In this manuscript, a robot platform which relied on the module library was designed, based on the screw theory and module theory. Then, the configuration design method of the modular robot was proposed. And the different configurations of modular robot system have been built, including industrial mechanical arms, the mobile platform, six-legged robot and 3D exoskeleton manipulator. Finally, the simulation and verification of one system among them have been made, using the analyses of screw kinematics and polynomial planning. The results of experiments demonstrate the feasibility and superiority of this modular system.

Robotic guarded motion system and method

DOEpatents

Bruemmer, David J.

2010-02-23

A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for repeating, on each iteration through an event timing loop, the acts of defining an event horizon, detecting a range to obstacles around the robot, and testing for an event horizon intrusion. Defining the event horizon includes determining a distance from the robot that is proportional to a current velocity of the robot and testing for the event horizon intrusion includes determining if any range to the obstacles is within the event horizon. Finally, on each iteration through the event timing loop, the method includes reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.

DEVELOPMENT OF AN INSPECTION PLATFORM AND A SUITE OF SENSORS FOR ASSESSING CORROSION AND MECHANICAL DAMAGE ON UNPIGGABLE TRANSMISSION MAINS

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

George C. Vradis

2003-07-01

This development program is a joint effort among the Northeast Gas Association (formerly New York Gas Group), Foster-Miller, Inc., and the US Department of Energy (DOE) through the National Energy Technology Laboratory (NETL). The DOE's contribution to this project is $572,525 out of a total of $772,525. The present report summarizes the accomplishments of the project during its third three-month period (from April 2003 through June 2003). The project was initiated with delay in February 2003 due to contractual issues that emerged between NGA and Foster-Miller, Inc. The two organizations are working diligently to maintain the program's pace and expectmore » to complete it in time. The efforts of the project focused during this period in finalizing the assessment of the tether technology, which is intended to be used as the means of communication between robot and operator. Results indicate that the tether is a viable option under certain pipeline operating conditions, but not all. Concerns also exist regarding the abrasion resistance of the tether, this issue being the last studied. Substantial work was also conducted on the design of the robotic platform, which has progressed very well. Finally, work on the MFL sensor, able to negotiate all pipeline obstacles (including plug valves), was initiated by PII following the successful completion of the subcontract negotiations between Foster-Miller and PII. The sensor design is at this point the critical path in the project's timetable.« less

78 FR 24750 - Scientific Information Request Therapies for Clinically Localized Prostate Cancer

Federal Register 2010, 2011, 2012, 2013, 2014

2013-04-26

... and benefits of the following therapies for clinically localized prostate cancer? a. Radical... prostate cancer: radical prostatectomy (including retropubic, perineal, laparoscopic, robotic-assisted..., biochemical (PSA) progression, metastatic and/or clinical progression-free survival, health status, and...

Model learning for robot control: a survey.

PubMed

Nguyen-Tuong, Duy; Peters, Jan

2011-11-01

Models are among the most essential tools in robotics, such as kinematics and dynamics models of the robot's own body and controllable external objects. It is widely believed that intelligent mammals also rely on internal models in order to generate their actions. However, while classical robotics relies on manually generated models that are based on human insights into physics, future autonomous, cognitive robots need to be able to automatically generate models that are based on information which is extracted from the data streams accessible to the robot. In this paper, we survey the progress in model learning with a strong focus on robot control on a kinematic as well as dynamical level. Here, a model describes essential information about the behavior of the environment and the influence of an agent on this environment. In the context of model-based learning control, we view the model from three different perspectives. First, we need to study the different possible model learning architectures for robotics. Second, we discuss what kind of problems these architecture and the domain of robotics imply for the applicable learning methods. From this discussion, we deduce future directions of real-time learning algorithms. Third, we show where these scenarios have been used successfully in several case studies.

Wrist Rehabilitation Assisted by an Electromyography-Driven Neuromuscular Electrical Stimulation Robot After Stroke.

PubMed

Hu, Xiao-Ling; Tong, Raymond Kai-yu; Ho, Newmen S K; Xue, Jing-jing; Rong, Wei; Li, Leonard S W

2015-09-01

Augmented physical training with assistance from robot and neuromuscular electrical stimulation (NMES) may introduce intensive motor improvement in chronic stroke. To compare the rehabilitation effectiveness achieved by NMES robot-assisted wrist training and that by robot-assisted training. This study was a single-blinded randomized controlled trial with a 3-month follow-up. Twenty-six hemiplegic subjects with chronic stroke were randomly assigned to receive 20-session wrist training with an electromyography (EMG)-driven NMES robot (NMES robot group, n = 11) and with an EMG-driven robot (robot group, n = 15), completed within 7 consecutive weeks. Clinical scores, Fugl-Meyer Assessment (FMA), Modified Ashworth Score (MAS), and Action Research Arm Test (ARAT) were used to evaluate the training effects before and after the training, as well as 3 months later. An EMG parameter, muscle co-contraction index, was also applied to investigate the session-by-session variation in muscular coordination patterns during the training. The improvement in FMA (shoulder/elbow, wrist/hand) obtained in the NMES robot group was more significant than the robot group (P < .05). Significant improvement in ARAT was achieved in the NMES robot group (P < .05) but absent in the robot group. NMES robot-assisted training showed better performance in releasing muscle co-contraction than the robot-assisted across the training sessions (P < .05). The NMES robot-assisted wrist training was more effective than the pure robot. The additional NMES application in the treatment could bring more improvements in the distal motor functions and faster rehabilitation progress. © The Author(s) 2014.

Development of cable drive systems for an automated assembly project

NASA Technical Reports Server (NTRS)

Monroe, Charles A., Jr.

1990-01-01

In a robotic assembly project, a method was needed to accurately position a robot and a structure which the robot was to assemble. The requirements for high precision and relatively long travel distances dictated the use of cable drive systems. The design of the mechanisms used in translating the robot and in rotating the assembly under construction is discussed. The design criteria are discussed, and the effect of particular requirements on the design is noted. Finally, the measured performance of the completed mechanism is compared with design requirements.

Small, fast, and tough: Shrinking down integrated elastomer transducers

NASA Astrophysics Data System (ADS)

Rosset, Samuel; Shea, Herbert R.

2016-09-01

We review recent progress in miniaturized dielectric elastomer actuators (DEAs), sensors, and energy harvesters. We focus primarily on configurations where the large strain, high compliance, stretchability, and high level of integration offered by dielectric elastomer transducers provide significant advantages over other mm or μm-scale transduction technologies. We first present the most active application areas, including: tunable optics, soft robotics, haptics, micro fluidics, biomedical devices, and stretchable sensors. We then discuss the fabrication challenges related to miniaturization, such as thin membrane fabrication, precise patterning of compliant electrodes, and reliable batch fabrication of multilayer devices. We finally address the impact of miniaturization on strain, force, and driving voltage, as well as the important effect of boundary conditions on the performance of mm-scale DEAs.

Investing in a robotic milking system: a Monte Carlo simulation analysis.

PubMed

Hyde, J; Engel, P

2002-09-01

This paper uses Monte Carlo simulation methods to estimate the breakeven value for a robotic milking system (RMS) on a dairy farm in the United States. The breakeven value indicates the maximum amount that could be paid for the robots given the costs of alternative milking equipment and other important factors (e.g., milk yields, prices, length of useful life of technologies). The analysis simulates several scenarios under three herd sizes, 60, 120, and 180 cows. The base-case results indicate that the mean breakeven values are $192,056, $374,538, and $553,671 for each of the three progressively larger herd sizes. These must be compared to the per-unit RMS cost (about $125,000 to $150,000) and the cost of any construction or installation of other equipment that accompanies the RMS. Sensitivity analysis shows that each additional dollar spent on milking labor in the parlor increases the breakeven value by $4.10 to $4.30. Each dollar increase in parlor costs increases the breakeven value by $0.45 to $0.56. Also, each additional kilogram of initial milk production (under a 2x system in the parlor) decreases the breakeven by $9.91 to $10.64. Finally, each additional year of useful life for the RMS increases the per-unit breakeven by about $16,000 while increasing the life of the parlor by 1 yr decreases the breakeven value by between $5,000 and $6,000.

Case Report: Using a Remote Presence Robot to Improve Access to Physical Therapy for People with Chronic Back Disorders in an Underserved Community.

PubMed

Lovo Grona, Stacey; Bath, Brenna; Bustamante, Luis; Mendez, Ivar

2017-01-01

Purpose: The purpose of this case study was to evaluate the delivery of an inter-professional (IP) spinal triage management approach to chronic back disorders using remote presence robotic technology as an innovative form of telerehabilitation in a northern Saskatchewan community. Methods: The IP team, consisting of a local nurse practitioner (NP) and a physical therapist in an urban centre, completed a comprehensive neuromusculoskeletal assessment of, and one follow-up visit with, a post-surgical spinal patient. Treatment included detailed education regarding self-management after spinal surgery, provision and progression of home exercises, and reassurance. The patient was then referred to regional, in-person physical therapy care to complete her treatment. Results: A semi-structured interview with the NP revealed a high level of satisfaction; qualitative themes included the value of IP practice and the benefit to the patient of telerehabilitation achieved through patient-centred care. In a post-treatment survey, the patient expressed a high level of satisfaction with and appreciation for the patient-centred approach and the IP team. Objective clinical improvements in spinal and straight-leg raise movements were noted at the final telerehabilitation session. Conclusion: This report demonstrates the feasibility of delivering IP spinal triage management using telerehabilitation, specifically remote presence robotics, in a remote setting. Further research should include larger scale studies that investigate health, system, and economic outcomes as well as comparative studies for other forms of telehealth technology.

Conditional Random Fields for Activity Recognition

DTIC Science & Technology

2008-04-01

final match. The final is never used as a training or hold out set. Table 4.1 lists the roles of the CMDragons’07 robot soccer team. The role of Goalie ...is not included because the goalie never changes roles. The classification task, which we formalize below, is to recognize robot roles from the avail...process and pull out the key information from the sensor data. Furthermore, as conditional models, CRFs do not waste modeling effort on the observations

3D printing of soft robotic systems

NASA Astrophysics Data System (ADS)

Wallin, T. J.; Pikul, J.; Shepherd, R. F.

2018-06-01

Soft robots are capable of mimicking the complex motion of animals. Soft robotic systems are defined by their compliance, which allows for continuous and often responsive localized deformation. These features make soft robots especially interesting for integration with human tissues, for example, the implementation of biomedical devices, and for robotic performance in harsh or uncertain environments, for example, exploration in confined spaces or locomotion on uneven terrain. Advances in soft materials and additive manufacturing technologies have enabled the design of soft robots with sophisticated capabilities, such as jumping, complex 3D movements, gripping and releasing. In this Review, we examine the essential soft material properties for different elements of soft robots, highlighting the most relevant polymer systems. Advantages and limitations of different additive manufacturing processes, including 3D printing, fused deposition modelling, direct ink writing, selective laser sintering, inkjet printing and stereolithography, are discussed, and the different techniques are investigated for their application in soft robotic fabrication. Finally, we explore integrated robotic systems and give an outlook for the future of the field and remaining challenges.

A Survey of Bioinspired Jumping Robot: Takeoff, Air Posture Adjustment, and Landing Buffer

PubMed Central

2017-01-01

A bioinspired jumping robot has a strong ability to overcome obstacles. It can be applied to the occasion with complex and changeable environment, such as detection of planet surface, postdisaster relief, and military reconnaissance. So the bioinspired jumping robot has broad application prospect. The jumping process of the robot can be divided into three stages: takeoff, air posture adjustment, and landing buffer. The motivation of this review is to investigate the research results of the most published bioinspired jumping robots for these three stages. Then, the movement performance of the bioinspired jumping robots is analyzed and compared quantitatively. Then, the limitation of the research on bioinspired jumping robots is discussed, such as the research on the mechanism of biological motion is not thorough enough, the research method about structural design, material applications, and control are still traditional, and energy utilization is low, which make the robots far from practical applications. Finally, the development trend is summarized. This review provides a reference for further research of bioinspired jumping robots. PMID:29311756

New Trends in Robotics for Agriculture: Integration and Assessment of a Real Fleet of Robots

PubMed Central

Gonzalez-de-Soto, Mariano; Pajares, Gonzalo

2014-01-01

Computer-based sensors and actuators such as global positioning systems, machine vision, and laser-based sensors have progressively been incorporated into mobile robots with the aim of configuring autonomous systems capable of shifting operator activities in agricultural tasks. However, the incorporation of many electronic systems into a robot impairs its reliability and increases its cost. Hardware minimization, as well as software minimization and ease of integration, is essential to obtain feasible robotic systems. A step forward in the application of automatic equipment in agriculture is the use of fleets of robots, in which a number of specialized robots collaborate to accomplish one or several agricultural tasks. This paper strives to develop a system architecture for both individual robots and robots working in fleets to improve reliability, decrease complexity and costs, and permit the integration of software from different developers. Several solutions are studied, from a fully distributed to a whole integrated architecture in which a central computer runs all processes. This work also studies diverse topologies for controlling fleets of robots and advances other prospective topologies. The architecture presented in this paper is being successfully applied in the RHEA fleet, which comprises three ground mobile units based on a commercial tractor chassis. PMID:25143976

New trends in robotics for agriculture: integration and assessment of a real fleet of robots.

PubMed

Emmi, Luis; Gonzalez-de-Soto, Mariano; Pajares, Gonzalo; Gonzalez-de-Santos, Pablo

2014-01-01

Computer-based sensors and actuators such as global positioning systems, machine vision, and laser-based sensors have progressively been incorporated into mobile robots with the aim of configuring autonomous systems capable of shifting operator activities in agricultural tasks. However, the incorporation of many electronic systems into a robot impairs its reliability and increases its cost. Hardware minimization, as well as software minimization and ease of integration, is essential to obtain feasible robotic systems. A step forward in the application of automatic equipment in agriculture is the use of fleets of robots, in which a number of specialized robots collaborate to accomplish one or several agricultural tasks. This paper strives to develop a system architecture for both individual robots and robots working in fleets to improve reliability, decrease complexity and costs, and permit the integration of software from different developers. Several solutions are studied, from a fully distributed to a whole integrated architecture in which a central computer runs all processes. This work also studies diverse topologies for controlling fleets of robots and advances other prospective topologies. The architecture presented in this paper is being successfully applied in the RHEA fleet, which comprises three ground mobile units based on a commercial tractor chassis.

Effect of Gravity on Robot-Assisted Motor Training After Chronic Stroke: A Randomized Trial

PubMed Central

Conroy, Susan S.; Whitall, Jill; Dipietro, Laura; Jones-Lush, Lauren M.; Zhan, Min; Finley, Margaret A.; Wittenberg, George F.; Krebs, Hermano I.; Bever, Christopher T.

2015-01-01

Objectives To determine the efficacy of 2 distinct 6-week robot-assisted reaching programs compared with an intensive conventional arm exercise program (ICAE) for chronic, stroke-related upper-extremity (UE) impairment. To examine whether the addition of robot-assisted training out of the horizontal plane leads to improved outcomes. Design Randomized controlled trial, single-blinded, with 12-week follow-up. Setting Research setting in a large medical center. Participants Adults (N=62) with chronic, stroke-related arm weakness stratified by impairment severity using baseline UE motor assessments. Interventions Sixty minutes, 3 times a week for 6 weeks of robot-assisted planar reaching (gravity compensated), combined planar with vertical robot-assisted reaching, or intensive conventional arm exercise program. Main Outcome Measure UE Fugl-Meyer Assessment (FMA) mean change from baseline to final training. Results All groups showed modest gains in the FMA from baseline to final with no significant between group differences. Most change occurred in the planar robot group (mean change ± SD, 2.94± 0.77; 95% confidence interval [CI], 1.40 – 4.47). Participants with greater motor impairment (n=41) demonstrated a larger difference in response (mean change ± SD, 2.29±0.72; 95% CI, 0.85–3.72) for planar robot-assisted exercise compared with the intensive conventional arm exercise program (mean change ± SD, 0.43±0.72; 95% CI, −1.00 to 1.86). Conclusions Chronic UE deficits because of stroke are responsive to intensive motor task training. However, training outside the horizontal plane in a gravity present environment using a combination of vertical with planar robots was not superior to training with the planar robot alone. PMID:21849168

Review of emerging surgical robotic technology.

PubMed

Peters, Brian S; Armijo, Priscila R; Krause, Crystal; Choudhury, Songita A; Oleynikov, Dmitry

2018-04-01

The use of laparoscopic and robotic procedures has increased in general surgery. Minimally invasive robotic surgery has made tremendous progress in a relatively short period of time, realizing improvements for both the patient and surgeon. This has led to an increase in the use and development of robotic devices and platforms for general surgery. The purpose of this review is to explore current and emerging surgical robotic technologies in a growing and dynamic environment of research and development. This review explores medical and surgical robotic endoscopic surgery and peripheral technologies currently available or in development. The devices discussed here are specific to general surgery, including laparoscopy, colonoscopy, esophagogastroduodenoscopy, and thoracoscopy. Benefits and limitations of each technology were identified and applicable future directions were described. A number of FDA-approved devices and platforms for robotic surgery were reviewed, including the da Vinci Surgical System, Sensei X Robotic Catheter System, FreeHand 1.2, invendoscopy E200 system, Flex® Robotic System, Senhance, ARES, the Single-Port Instrument Delivery Extended Research (SPIDER), and the NeoGuide Colonoscope. Additionally, platforms were reviewed which have not yet obtained FDA approval including MiroSurge, ViaCath System, SPORT™ Surgical System, SurgiBot, Versius Robotic System, Master and Slave Transluminal Endoscopic Robot, Verb Surgical, Miniature In Vivo Robot, and the Einstein Surgical Robot. The use and demand for robotic medical and surgical platforms is increasing and new technologies are continually being developed. New technologies are increasingly implemented to improve on the capabilities of previously established systems. Future studies are needed to further evaluate the strengths and weaknesses of each robotic surgical device and platform in the operating suite.

Taking a lesson from patients' recovery strategies to optimize training during robot-aided rehabilitation.

PubMed

Colombo, Roberto; Sterpi, Irma; Mazzone, Alessandra; Delconte, Carmen; Pisano, Fabrizio

2012-05-01

In robot-assisted neurorehabilitation, matching the task difficulty level to the patient's needs and abilities, both initially and as the relearning process progresses, can enhance the effectiveness of training and improve patients' motivation and outcome. This study presents a Progressive Task Regulation algorithm implemented in a robot for upper limb rehabilitation. It evaluates the patient's performance during training through the computation of robot-measured parameters, and automatically changes the features of the reaching movements, adapting the difficulty level of the motor task to the patient's abilities. In particular, it can select different types of assistance (time-triggered, activity-triggered, and negative assistance) and implement varied therapy practice to promote generalization processes. The algorithm was tuned by assessing the performance data obtained in 22 chronic stroke patients who underwent robotic rehabilitation, in which the difficulty level of the task was manually adjusted by the therapist. Thus, we could verify the patient's recovery strategies and implement task transition rules to match both the patient's and therapist's behavior. In addition, the algorithm was tested in a sample of five chronic stroke patients. The findings show good agreement with the therapist decisions so indicating that it could be useful for the implementation of training protocols allowing individualized and gradual treatment of upper limb disabilities in patients after stroke. The application of this algorithm during robot-assisted therapy should allow an easier management of the different motor tasks administered during training, thereby facilitating the therapist's activity in the treatment of different pathologic conditions of the neuromuscular system.

Intelligent systems for urban search and rescue: challenges and lessons learned

NASA Astrophysics Data System (ADS)

Jacoff, Adam; Messina, Elena; Weiss, Brian A.

2003-09-01

Urban search and rescue (USAR) is one of the most dangerous and time-critical non-wartime activities. Researchers have been developing hardware and software to enable robots to perform some search and rescue functions so as to minimize the exposure of human rescue personnel to danger and maximize the survival of victims. Significant progress has been achieved, but much work remains. USAR demands a blending of numerous specialized technologies. An effective USAR robot must be endowed with key competencies, such as being able to negotiate collapsed structures, find victims and assess their condition, identify potential hazards, generate maps of the structure and victim locations, and communicate with rescue personnel. These competencies bring to bear work in numerous sub-disciplines of intelligent systems (or artificial intelligence) such as sensory processing, world modeling, behavior generation, path planning, and human-robot interaction, in addition to work in communications, mechanism design and advanced sensors. In an attempt to stimulate progress in the field, reference USAR challenges are being developed and propagated worldwide. In order to make efficient use of finite research resources, the robotic USAR community must share a common understanding of what is required, technologically, to attain each competency, and have a rigorous measure of the current level of effectiveness of various technologies. NIST is working with partner organizations to measure the performance of robotic USAR competencies and technologies. In this paper, we describe the reference test arenas for USAR robots, assess the current challenges within the field, and discuss experiences thus far in the testing effort.

3D printing of soft-matter to open a new era of soft-matter MEMS/robotics (Conference Presentation)

NASA Astrophysics Data System (ADS)

Furukawa, Hidemitsu

2017-04-01

3D printing technology is becoming useful and applicable by the progress of information and communication technology (ICT). It means 3D printer is a kind of useful robot for additive manufacturing and is controlled by computer with human-friendly software. Once user starts to use 3D printing of soft-matter, one can immediately understand computer-aided design (CAD) and engineering (CAE) technology will be more important and applicable for soft-matter systems. User can easily design soft-matter objects and 3D-print them. User can easily apply 3D-printed soft-matter objects to develop new research and application on MEMS and robotics. Here we introduce the recent progress of 3D printing (i.e. additive manufacturing), especially focusing on our 3D gel printing. We are trying to develop new advanced research and applications of 3D gel printer, including GEL-MECHANICS, GEL-PHOTONICS, and GEL-ROBOTICS. In the gel-mechanics, we are developing new gel materials for mechanical engineering. Some gels have high-mechanical strength and shape memory properties. In the gel-photonics. We are applying our original characterizing system, named `Scanning Microscopic Light Scattering (SMILS)', to analyze 3D printed gel materials. In the gel-robotics, we focus on 3D printing of soft parts for soft-robotics made form gel materials, like gel finger. Also we are challenging to apply 3D gel printing to start new company, to innovate new businesses in county side, and to create new 3D-printed foods.

UROLOGIC ROBOTS AND FUTURE DIRECTIONS

PubMed Central

Mozer, Pierre; Troccaz, Jocelyne; Stoianovici, Dan

2009-01-01

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

Urologic robots and future directions.

PubMed

Mozer, Pierre; Troccaz, Jocelyne; Stoianovici, Dan

2009-01-01

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

Design of an integrated master-slave robotic system for minimally invasive surgery.

PubMed

Li, Jianmin; Zhou, Ningxin; Wang, Shuxin; Gao, Yuanqian; Liu, Dongchun

2012-03-01

Minimally invasive surgery (MIS) robots are commonly used in hospitals and medical centres. However, currently available robotic systems are very complicated and huge, greatly raising system costs and the requirements of operating rooms. These disadvantages have become the major impediments to the expansion of MIS robots. An integrated MIS robotic system is proposed based on the analysis of advantages and disadvantages of different MIS robots. In the proposed system, the master manipulators, slave manipulators, image display device and control system have been designed as a whole. Modular design is adopted for the control system for easy maintenance and upgrade. The kinematic relations between the master and the slave are also investigated and embedded in software to realize intuitive movements of hand and instrument. Finally, animal experiments were designed to test the effectiveness of the robot. The robot realizes natural hand-eye movements between the master and the slave to facilitate MIS operations. The experimental results show that the robot can realize similar functions to those of current commercialized robots. The integrated design simplifies the robotic system and facilitates use of the robot. Compared with the commercialized robots, the proposed MIS robot achieves similar functions and features but with a smaller size and less weight. Copyright © 2011 John Wiley & Sons, Ltd.

Robot therapy: a new approach for mental healthcare of the elderly - a mini-review.

PubMed

Shibata, Takanori; Wada, Kazuyoshi

2011-01-01

Mental healthcare of elderly people is a common problem in advanced countries. Recently, high technology has developed robots for use not only in factories but also for our living environment. In particular, human-interactive robots for psychological enrichment, which provide services by interacting with humans while stimulating their minds, are rapidly spreading. Such robots not only simply entertain but also render assistance, guide, provide therapy, educate, enable communication, and so on. Robot therapy, which uses robots as a substitution for animals in animal-assisted therapy and activity, is a new application of robots and is attracting the attention of many researchers and psychologists. The seal robot named Paro was developed especially for robot therapy and was used at hospitals and facilities for elderly people in several countries. Recent research has revealed that robot therapy has the same effects on people as animal therapy. In addition, it is being recognized as a new method of mental healthcare for elderly people. In this mini review, we introduce the merits and demerits of animal therapy. Then we explain the human-interactive robot for psychological enrichment, the required functions for therapeutic robots, and the seal robot. Finally, we provide examples of robot therapy for elderly people, including dementia patients. Copyright © 2010 S. Karger AG, Basel.

Completion of development of robotics systems for inspecting unpiggable transmission pipelines.

DOT National Transportation Integrated Search

2013-02-01

This document presents the final report for a program focusing on the completion of the : research, development and demonstration effort, which was initiated in 2001, for the : development of two robotic systems for the in-line, live inspection of un...

Navigating the pathway to robotic competency in general thoracic surgery.

PubMed

Seder, Christopher W; Cassivi, Stephen D; Wigle, Dennis A

2013-01-01

Although robotic technology has addressed many of the limitations of traditional videoscopic surgery, robotic surgery has not gained widespread acceptance in the general thoracic community. We report our initial robotic surgery experience and propose a structured, competency-based pathway for the development of robotic skills. Between December 2008 and February 2012, a total of 79 robot-assisted pulmonary, mediastinal, benign esophageal, or diaphragmatic procedures were performed. Data on patient characteristics and perioperative outcomes were retrospectively collected and analyzed. During the study period, one surgeon and three residents participated in a triphasic, competency-based pathway designed to teach robotic skills. The pathway consisted of individual preclinical learning followed by mentored preclinical exercises and progressive clinical responsibility. The robot-assisted procedures performed included lung resection (n = 38), mediastinal mass resection (n = 19), hiatal or paraesophageal hernia repair (n = 12), and Heller myotomy (n = 7), among others (n = 3). There were no perioperative mortalities, with a 20% complication rate and a 3% readmission rate. Conversion to a thoracoscopic or open approach was required in eight pulmonary resections to facilitate dissection (six) or to control hemorrhage (two). Fewer major perioperative complications were observed in the later half of the experience. All residents who participated in the thoracic surgery robotic pathway perform robot-assisted procedures as part of their clinical practice. Robot-assisted thoracic surgery can be safely learned when skill acquisition is guided by a structured, competency-based pathway.

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

PubMed

Dickstein-Fischer, Laurie; Fischer, Gregory S

2014-01-01

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

Energy-Saving Control of a Novel Hydraulic Drive System for Field Walking Robot

NASA Astrophysics Data System (ADS)

Fang, Delei; Shang, Jianzhong; Xue, Yong; Yang, Junhong; Wang, Zhuo

2018-01-01

To improve the efficiency of the hydraulic drive system in field walking robot, this paper proposed a novel hydraulic system based on two-stage pressure source. Based on the analysis of low efficiency of robot single-stage hydraulic system, the paper firstly introduces the concept and design of two-stage pressure source drive system. Then, the new hydraulic system energy-saving control is planned according to the characteristics of walking robot. The feasibility of the new hydraulic system is proved by the simulation of the walking robot squatting. Finally, the efficiencies of two types hydraulic system are calculated, indicating that the novel hydraulic system can increase the efficiency by 41.5%, which can contribute to enhance knowledge about hydraulic drive system for field walking robot.

How to Implement Robots in Interventions for Children with Autism? A Co-creation Study Involving People with Autism, Parents and Professionals.

PubMed

Huijnen, Claire A G J; Lexis, Monique A S; Jansens, Rianne; de Witte, Luc P

2017-10-01

The aim of this study was to gain insight into how robots can be practically implemented into current education and therapy interventions for children with autism spectrum disorder (ASD). This qualitative study included focus groups and co-creation sessions. 73 Participants (professionals and adults with ASD) took part in 13 focus groups to elicit requirements for robot assisted interventions. Additionally, 22 participants (professionals, parents of children with ASD and adults with ASD) generated ideas for interventions using robot KASPAR in three co-creation sessions. This study resulted in: an overview of requirements concerning the robot, end-user, environment and practical implementation; a template to systematically describe robot interventions in general and for KASPAR in particular; and finally new interventions.

System Design and Locomotion of Superball, an Untethered Tensegrity Robot

NASA Technical Reports Server (NTRS)

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

2015-01-01

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

PD-like controller for delayed bilateral teleoperation of wheeled robots

NASA Astrophysics Data System (ADS)

Slawiñski, E.; Mut, V.; Santiago, D.

2016-08-01

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

Biomedical applications of soft robotics

NASA Astrophysics Data System (ADS)

Cianchetti, Matteo; Laschi, Cecilia; Menciassi, Arianna; Dario, Paolo

2018-06-01

Soft robotics enables the design of soft machines and devices at different scales. The compliance and mechanical properties of soft robots make them especially interesting for medical applications. Depending on the level of interaction with humans, different levels of biocompatibility and biomimicry are required for soft materials used in robots. In this Review, we investigate soft robots for biomedical applications, including soft tools for surgery, diagnosis and drug delivery, wearable and assistive devices, prostheses, artificial organs and tissue-mimicking active simulators for training and biomechanical studies. We highlight challenges regarding durability and reliability, and examine traditional and novel soft and active materials as well as different actuation strategies. Finally, we discuss future approaches and applications in the field.

Cloud-based robot remote control system for smart factory

NASA Astrophysics Data System (ADS)

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

2015-12-01

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

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

Reister, D.B.; Pin, F.G.

This paper addresses the problem of time-optional motions for a mobile platform in a planar environment. The platform has two non-steerable independently driven wheels. The overall mission of the robot is expressed in terms of a sequence of via points at which the platform must be at rest in a given configuration (position and orientation). The objective is to plan time-optimal trajectories between these configurations assuming an unobstructed environment. Using Pontryagin's maximum principle (PMP), we formally demonstrate that all time optimal motions of the platform for this problem occur for bang-bang controls on the wheels (at each instant, the accelerationmore » on each wheel is either at its upper or lower limit). The PMP, however, only provides necessary conditions for time optimality. To find the time optimal robot trajectories, we first parameterize the bang-bang trajectories using the switch times on the wheels (the times at which the wheel accelerations change sign). With this parameterization, we can fully search the robot trajectory space and find the switch times that will produce particular paths to a desired final configuration of the platform. We show numerically that robot trajectories with three switch times (two on one wheel, one on the other) can reach any position, while trajectories with four switch times can reach any configuration. By numerical comparison with other trajectories involving similar or greater numbers of switch times, we then identify the sets of time-optimal trajectories. These are uniquely defined using ranges of the parameters, and consist of subsets of trajectories with three switch times for the problem when the final orientation of the robot is not specified, and four switch times when a full final configuration is specified. We conclude with a description of the use of the method for trajectory planning for one of our robots.« less

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

Reister, D.B.; Pin, F.G.

This paper addresses the problem of time-optional motions for a mobile platform in a planar environment. The platform has two non-steerable independently driven wheels. The overall mission of the robot is expressed in terms of a sequence of via points at which the platform must be at rest in a given configuration (position and orientation). The objective is to plan time-optimal trajectories between these configurations assuming an unobstructed environment. Using Pontryagin`s maximum principle (PMP), we formally demonstrate that all time optimal motions of the platform for this problem occur for bang-bang controls on the wheels (at each instant, the accelerationmore » on each wheel is either at its upper or lower limit). The PMP, however, only provides necessary conditions for time optimality. To find the time optimal robot trajectories, we first parameterize the bang-bang trajectories using the switch times on the wheels (the times at which the wheel accelerations change sign). With this parameterization, we can fully search the robot trajectory space and find the switch times that will produce particular paths to a desired final configuration of the platform. We show numerically that robot trajectories with three switch times (two on one wheel, one on the other) can reach any position, while trajectories with four switch times can reach any configuration. By numerical comparison with other trajectories involving similar or greater numbers of switch times, we then identify the sets of time-optimal trajectories. These are uniquely defined using ranges of the parameters, and consist of subsets of trajectories with three switch times for the problem when the final orientation of the robot is not specified, and four switch times when a full final configuration is specified. We conclude with a description of the use of the method for trajectory planning for one of our robots.« less

A force-controllable macro-micro manipulator and its application to medical robots

NASA Technical Reports Server (NTRS)

Marzwell, Neville I.; Uecker, Darrin R.; Wang, Yulun

1994-01-01

This paper describes an 8-degrees-of-freedom macro-micro robot. This robot is capable of performing tasks that require accurate force control, such as polishing, finishing, grinding, deburring, and cleaning. The design of the macro-micro mechanism, the control algorithms, and the hardware/software implementation of the algorithms are described in this paper. Initial experimental results are reported. In addition, this paper includes a discussion of medical surgery and the role that force control may play. We introduce a new class of robotic systems collectively called Robotic Enhancement Technology (RET). RET systems introduce the combination of robotic manipulation with human control to perform manipulation tasks beyond the individual capability of either human or machine. The RET class of robotic systems offers new challenges in mechanism design, control-law development, and man/machine interface design. We believe force-controllable mechanisms such as the macro-micro structure we have developed are a necessary part of RET. Work in progress in the area of RET systems and their application to minimally invasive surgery is presented, along with future research directions.

Hybrid procedure for total laryngectomy with a flexible robot-assisted surgical system.

PubMed

Schuler, Patrick J; Hoffmann, Thomas K; Veit, Johannes A; Rotter, Nicole; Friedrich, Daniel T; Greve, Jens; Scheithauer, Marc O

2017-06-01

Total laryngectomy is a standard procedure in head-and-neck surgery for the treatment of cancer patients. Recent clinical experiences have indicated a clinical benefit for patients undergoing transoral robot-assisted total laryngectomy (TORS-TL) with commercially available systems. Here, a new hybrid procedure for total laryngectomy is presented. TORS-TL was performed in human cadavers (n = 3) using a transoral-transcervical hybrid procedure. The transoral approach was performed with a robotic flexible robot-assisted surgical system (Flex®) and compatible flexible instruments. Transoral access and visualization of anatomical landmarks were studied in detail. Total laryngectomy is feasible with a combined transoral-transcervical approach using the flexible robot-assisted surgical system. Transoral visualization of all anatomical structures is sufficient. The flexible design of the robot is advantageous for transoral surgery of the laryngeal structures. Transoral robot assisted surgery has the potential to reduce morbidity, hospital time and fistula rates in a selected group of patients. Initial clinical studies and further development of supplemental tools are in progress. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

Precharged Pneumatic Soft Actuators and Their Applications to Untethered Soft Robots.

PubMed

Li, Yunquan; Chen, Yonghua; Ren, Tao; Li, Yingtian; Choi, Shiu Hong

2018-06-20

The past decade has witnessed tremendous progress in soft robotics. Unlike most pneumatic-based methods, we present a new approach to soft robot design based on precharged pneumatics (PCP). We propose a PCP soft bending actuator, which is actuated by precharged air pressure and retracted by inextensible tendons. By pulling or releasing the tendons, the air pressure in the soft actuator is modulated, and hence, its bending angle. The tendons serve in a way similar to pressure-regulating valves that are used in typical pneumatic systems. The linear motion of tendons is transduced into complex motion via the prepressurized bent soft actuator. Furthermore, since a PCP actuator does not need any gas supply, complicated pneumatic control systems used in traditional soft robotics are eliminated. This facilitates the development of compact untethered autonomous soft robots for various applications. Both theoretical modeling and experimental validation have been conducted on a sample PCP soft actuator design. A fully untethered autonomous quadrupedal soft robot and a soft gripper have been developed to demonstrate the superiority of the proposed approach over traditional pneumatic-driven soft robots.

In touch with robotics: neurosurgery for the future.

PubMed

Nathoo, Narendra; Cavuşoğlu, M Cenk; Vogelbaum, Michael A; Barnett, Gene H

2005-03-01

The introduction of multiple front-end technologies during the past quarter century has generated an emerging futurism for the discipline of neurological surgery. Driven primarily by synergistic developments in science and engineering, neurosurgery has always managed to harness the potential of the latest technical developments. Robotics represents one such technology. Progress in development of this technology has resulted in new uses for robotic devices in our discipline, which are accompanied by new potential dangers and inherent risks. The recent surge in robot-assisted interventions in other disciplines suggests that this technology may be considered one of a spectrum of frontier technologies poised to fuel the development of neurosurgery and consolidate the era of minimalism. On a more practical level, if the introduction of robotics in neurosurgery proves beneficial, neurosurgeons will need to become facile with this technology and learn to harness its potential so that the best surgical results may be achieved in the least invasive manner. This article reviews the role of robotic technology in the context of neurosurgery.

Structure Assembly by a Heterogeneous Team of Robots Using State Estimation, Generalized Joints, and Mobile Parallel Manipulators

NASA Technical Reports Server (NTRS)

Komendera, Erik E.; Adhikari, Shaurav; Glassner, Samantha; Kishen, Ashwin; Quartaro, Amy

2017-01-01

Autonomous robotic assembly by mobile field robots has seen significant advances in recent decades, yet practicality remains elusive. Identified challenges include better use of state estimation to and reasoning with uncertainty, spreading out tasks to specialized robots, and implementing representative joining methods. This paper proposes replacing 1) self-correcting mechanical linkages with generalized joints for improved applicability, 2) assembly serial manipulators with parallel manipulators for higher precision and stability, and 3) all-in-one robots with a heterogeneous team of specialized robots for agent simplicity. This paper then describes a general assembly algorithm utilizing state estimation. Finally, these concepts are tested in the context of solar array assembly, requiring a team of robots to assemble, bond, and deploy a set of solar panel mockups to a backbone truss to an accuracy not built into the parts. This paper presents the results of these tests.

Kinematic analysis and simulation of a substation inspection robot guided by magnetic sensor

NASA Astrophysics Data System (ADS)

Xiao, Peng; Luan, Yiqing; Wang, Haipeng; Li, Li; Li, Jianxiang

2017-01-01

In order to improve the performance of the magnetic navigation system used by substation inspection robot, the kinematic characteristics is analyzed based on a simplified magnetic guiding system model, and then the simulation process is executed to verify the reasonability of the whole analysis procedure. Finally, some suggestions are extracted out, which will be helpful to guide the design of the inspection robot system in the future.

A High Density Electrophysiological Data Analysis System for a Peripheral Nerve Interface Communicating with Individual Neurons in the Brain

DTIC Science & Technology

2016-11-14

necessary capability to build a high density communication highway between 86 billion brain neurons and intelligent vehicles or robots . With this...build a high density communication highway between brain neurons and intelligent vehicles or robots . The final outcome of the INI using TDT system...will be beneficial to wounded warriors suffering from loss of limb function, so that, using sophisticated bidirectional robotic limbs, these

Telemedicine and robotics: paving the way to the globalization of surgery.

PubMed

Senapati, S; Advincula, A P

2005-12-01

The concept of delivering health services at a distance, or telemedicine is becoming an emerging tool for the field of surgery. For the surgical services, telepresence surgery through robotics is gradually being incorporated into health care practices. This article will provide a brief overview of the principles surrounding telemedicine and telepresence surgery as they specifically relate to robotics. Where limitations have been reached in laparoscopy, robotics has allowed further steps forward. The development of robotics in medicine has been a progression from passive to immersive technology. In gynecology, the utilization of robotics has evolved from the use of Aesop, a robotic arm for camera manipulation, to full robotic systems such as Zeus, and the daVinci surgical system. These systems have not only been used directly for a variety of procedures but have also become a useful tool for conferencing and the mentoring of surgeons from afar. As this mode of technology becomes assimilated into the culture of surgery and medicine globally, caution must be taken to carefully navigate the economic, legal and ethical implications of telemedicine. Despite the challenges faced, telepresence surgery holds promise for more widespread applications.

Considerations for designing robotic upper limb rehabilitation devices

NASA Astrophysics Data System (ADS)

Nadas, I.; Vaida, C.; Gherman, B.; Pisla, D.; Carbone, G.

2017-12-01

The present study highlights the advantages of robotic systems for post-stroke rehabilitation of the upper limb. The latest demographic studies illustrate a continuous increase of the average life span, which leads to a continuous increase of stroke incidents and patients requiring rehabilitation. Some studies estimate that by 2030 the number of physical therapists will be insufficient for the patients requiring physical rehabilitation, imposing a shift in the current methodologies. A viable option is the implementation of robotic systems that assist the patient in performing rehabilitation exercises, the physical therapist role being to establish the therapeutic program for each patient and monitor their individual progress. Using a set of clinical measurements for the upper limb motions, the analysis of rehabilitation robotic systems provides a comparative study between the motions required by clinicians and the ones that robotic systems perform for different therapeutic exercises. A critical analysis of existing robots is performed using several classifications: mechanical design, assistance type, actuation and power transmission, control systems and human robot interaction (HRI) strategies. This classification will determine a set of pre-requirements for the definition of new concepts and efficient solutions for robotic assisted rehabilitation therapy.

KSC-2014-3543

NASA Image and Video Library

2014-08-15

CAPE CANAVERAL, Fla. – The Kennedy Space Center Visitor Complex Spaceperson poses for a photo with Carver Middle School students and their teacher from Orlando, Florida, during the Zero Robotics finals competition at NASA Kennedy Space Center's Space Station Processing Facility in Florida. The team, members of the After School All-Stars, were regional winners and advanced to the final competition. For the competition, students designed software to control Synchronized Position Hold Engage and Reorient Experimental Satellites, or SPHERES, and competed with other teams locally. The Zero Robotics is a robotics programming competition where the robots are SPHERES. The competition starts online, where teams program the SPHERES to solve an annual challenge. After several phases of virtual competition in a simulation environment that mimics the real SPHERES, finalists are selected to compete in a live championship aboard the space station. Students compete to win a technically challenging game by programming their strategies into the SPHERES satellites. The programs are autonomous and the students cannot control the satellites during the test. Photo credit: NASA/Daniel Casper

Using a robot to personalise health education for children with diabetes type 1: a pilot study.

PubMed

Blanson Henkemans, Olivier A; Bierman, Bert P B; Janssen, Joris; Neerincx, Mark A; Looije, Rosemarijn; van der Bosch, Hanneke; van der Giessen, Jeanine A M

2013-08-01

Assess the effects of personalised robot behaviours on the enjoyment and motivation of children (8-12) with diabetes, and on their acquisition of health knowledge, in educational play. Children (N=5) played diabetes quizzes against a personal or neutral robot on three occasions: once at the clinic, twice at home. The personal robot asked them about their names, sports and favourite colours, referred to these data during the interaction, and engaged in small talk. Fun, motivation and diabetes knowledge was measured. Child-robot interaction was observed. Children said the robot and quiz were fun, but this appreciation declined over time. With the personal robot, the children looked more at the robot and spoke more. The children mimicked the robot. Finally, an increase in knowledge about diabetes was observed. The study provides strong indication for how a personal robot can help children to improve health literacy in an enjoyable way. Children mimic the robot. When the robot is personal, they follow suit. Our results are positive and establish a good foundation for further development and testing in a larger study. Using a robot in health care could contribute to self-management in children and help them to cope with their illness. Copyright © 2013 Elsevier Ireland Ltd. All rights reserved.

Artificial Intelligence and Virology - quo vadis

PubMed Central

Shapshak, Paul; Somboonwit, Charurut; Sinnott, John T.

2017-01-01

Artificial Intelligence (AI), robotics, co-robotics (cobots), quantum computers (QC), include surges of scientific endeavor to produce machines (mechanical and software) among numerous types and constructions that are accelerating progress to defeat infectious diseases. There is a plethora of additional applications and uses of these methodologies and technologies for the understanding of biomedicine through bioinformation discovery. Therefore, we briefly outline the use of such techniques in virology. PMID:29379259

Automation Improvements for Synchrotron Based Small Angle Scattering Using an Inexpensive Robotics Platform

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

Quintana, John P.

This paper reports on the progress toward creating semi-autonomous motion control platforms for beamline applications using the iRobot Create registered platform. The goal is to create beamline research instrumentation where the motion paths are based on the local environment rather than position commanded from a control system, have low integration costs and also be scalable and easily maintainable.

Social Robots vs. Computer Display: Does the Way Social Stories Are Delivered Make a Difference for Their Effectiveness on ASD Children?

ERIC Educational Resources Information Center

Pop, Cristina A.; Simut, Ramona E.; Pintea, Sebastian; Saldien, Jelle; Rusu, Alina S.; Vanderfaeillie, Johan; David, Daniel O.; Lefeber, Dirk; Vanderborght, Bram

2013-01-01

Background and Objectives: The aim of this exploratory study is to test whether social stories presented by a social robot have a greater effect than ones presented on a computer display in increasing the independency in expressing social abilities of children with autism spectrum disorders (ASD). Although much progress has been made in developing…

Artificial Intelligence and Virology - quo vadis.

PubMed

Shapshak, Paul; Somboonwit, Charurut; Sinnott, John T

2017-01-01

Artificial Intelligence (AI), robotics, co-robotics (cobots), quantum computers (QC), include surges of scientific endeavor to produce machines (mechanical and software) among numerous types and constructions that are accelerating progress to defeat infectious diseases. There is a plethora of additional applications and uses of these methodologies and technologies for the understanding of biomedicine through bioinformation discovery. Therefore, we briefly outline the use of such techniques in virology.

Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU.

PubMed

Zhao, Xu; Dou, Lihua; Su, Zhong; Liu, Ning

2018-03-16

A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot's motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS) Inertial-Measurement-Unit (IMU). First, it studies the snake robot's motion characteristics, builds the kinematics model, and then analyses the motion constraint characteristics and motion error propagation properties. Second, it explores the snake robot's navigation layout, proposes a constraint criterion and the fixed relationship, and makes zero-state constraints based on the motion features and control modes of a snake robot. Finally, it realizes autonomous navigation positioning based on the Extended-Kalman-Filter (EKF) position estimation method under the constraints of its motion characteristics. With the self-developed snake robot, the test verifies the proposed method, and the position error is less than 5% of Total-Traveled-Distance (TDD). In a short-distance environment, this method is able to meet the requirements of a snake robot in order to perform autonomous navigation and positioning in traditional applications and can be extended to other familiar multi-link robots.

Advancing automation and robotics technology for the space station and for the US economy: Submitted to the United States Congress October 1, 1987

NASA Technical Reports Server (NTRS)

1987-01-01

In April 1985, as required by Public Law 98-371, the NASA Advanced Technology Advisory Committee (ATAC) reported to Congress the results of its studies on advanced automation and robotics technology for use on the space station. This material was documented in the initial report (NASA Technical Memorandum 87566). A further requirement of the Law was that ATAC follow NASA's progress in this area and report to Congress semiannually. This report is the fifth in a series of progress updates and covers the period between 16 May 1987 and 30 September 1987. NASA has accepted the basic recommendations of ATAC for its space station efforts. ATAC and NASA agree that the mandate of Congress is that an advanced automation and robotics technology be built to support an evolutionary space station program and serve as a highly visible stimulator affecting the long-term U.S. economy.

The Present and Future of Robotic Technology in Rehabilitation

PubMed Central

Laut, Jeffrey; Porfiri, Maurizio; Raghavan, Preeti

2016-01-01

Robotic technology designed to assist rehabilitation can potentially increase the efficiency of and accessibility to therapy by assisting therapists to provide consistent training for extended periods of time, and collecting data to assess progress. Automatization of therapy may enable many patients to be treated simultaneously and possibly even remotely, in the comfort of their own homes, through telerehabilitation. The data collected can be used to objectively assess performance and document compliance as well as progress. All of these characteristics can make therapists more efficient in treating larger numbers of patients. Most importantly for the patient, it can increase access to therapy which is often in high demand and rationed severely in today’s fiscal climate. In recent years, many consumer grade low-cost and off-the-shelf devices have been adopted for use in therapy sessions and methods for increasing motivation and engagement have been integrated with them. This review paper outlines the effort devoted to the development and integration of robotic technology for rehabilitation. PMID:28603663

[Dislocated fracture of the lesser trochanter with malrotation of the stem after robot assisted implantation of a cementless hip prosthesis: a casuistic report].

PubMed

Prymka, M; Hassenpflug, J

2003-08-01

This paper presents the case of a 63 year old female with a severe coxarthrosis. She got a robot assited implantation of a cementless hip prosthesis (Osteolock, Stryker-Howmedica, Mühlheim). As operation robot the CASPAR-System (Orto-Maquet, Rastatt) was used. Initially, the clinical progress of the patient was fine. She was nearly painfree within 14 days and showed an acceptable range of motion in the operated joint (flexion/ extension 90 degrees /05 degrees /00 degrees ). She was mobilized with crutches and 15 kg weight bearing at the operated leg. 3 weeks postoperative the patient complaint about increasing pain without trauma or intensification of the weight bearing. X-rays showed not only a dislocated fracture of the lesser trochanter, but also a sinking combined with a malrotation of the stem. A revision operation was necessary,where we implanted a cemented stem. Now clinical progress was completely satisfying.

KSC-2014-2646

NASA Image and Video Library

2014-05-21

CAPE CANAVERAL, Fla. – Competition judges monitor the progress of a robot digging in the simulated Martian soil in the Caterpillar Mining Arena during NASA’s 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

KSC-2014-2648

NASA Image and Video Library

2014-05-21

CAPE CANAVERAL, Fla. – Competition judges monitor the progress of a robot digging in the simulated Martian soil in the Caterpillar Mining Arena during NASA’s 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from colleges and universities around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

Symmetric caging formation for convex polygonal object transportation by multiple mobile robots based on fuzzy sliding mode control.

PubMed

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

2016-01-01

In this paper, the problem of object caging and transporting is considered for multiple mobile robots. With the consideration of minimizing the number of robots and decreasing the rotation of the object, the proper points are calculated and assigned to the multiple mobile robots to allow them to form a symmetric caging formation. The caging formation guarantees that all of the Euclidean distances between any two adjacent robots are smaller than the minimal width of the polygonal object so that the object cannot escape. In order to avoid collision among robots, the parameter of the robots radius is utilized to design the caging formation, and the A⁎ algorithm is used so that mobile robots can move to the proper points. In order to avoid obstacles, the robots and the object are regarded as a rigid body to apply artificial potential field method. The fuzzy sliding mode control method is applied for tracking control of the nonholonomic mobile robots. Finally, the simulation and experimental results show that multiple mobile robots are able to cage and transport the polygonal object to the goal position, avoiding obstacles. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Robustly stable adaptive control of a tandem of master-slave robotic manipulators with force reflection by using a multiestimation scheme.

PubMed

Ibeas, Asier; de la Sen, Manuel

2006-10-01

The problem of controlling a tandem of robotic manipulators composing a teleoperation system with force reflection is addressed in this paper. The final objective of this paper is twofold: 1) to design a robust control law capable of ensuring closed-loop stability for robots with uncertainties and 2) to use the so-obtained control law to improve the tracking of each robot to its corresponding reference model in comparison with previously existing controllers when the slave is interacting with the obstacle. In this way, a multiestimation-based adaptive controller is proposed. Thus, the master robot is able to follow more accurately the constrained motion defined by the slave when interacting with an obstacle than when a single-estimation-based controller is used, improving the transparency property of the teleoperation scheme. The closed-loop stability is guaranteed if a minimum residence time, which might be updated online when unknown, between different controller parameterizations is respected. Furthermore, the analysis of the teleoperation and stability capabilities of the overall scheme is carried out. Finally, some simulation examples showing the working of the multiestimation scheme complete this paper.

Proposal of Path Following and Arrival Judgement Methods Using Target Vector for Teleoperation of a Mobile Robot on Uneven Ground by Image Pointing

NASA Astrophysics Data System (ADS)

Tamura, Sho; Maeyama, Shoichi

Rescue robots have been actively developed since Hanshin-Awaji (Kobe) Earthquake. Recently, the rescue robot to reduce the risk of the secondary disaster on NBC terror and critical accident is also developed. For such a background, the development project of mobile RT system in the collapsed is started. This research also participates in this project. It is useful to use the image pointing for the control interface of the rescue robot because it can control the robot by the simple operation. However, the conventional method cannot work on a rough terrain. In this research, we propose the system which controls the robot to arrive the target position on the rough terrain. It is constructed the methods which put the destination into the vector, and control the 3D localizated robot to follow the vector. Finally, the proposed system is evaluated through experiments by remote control of a mobile robot in slope and cofirmed the feasibility.

Physics and Robotic Sensing -- the good, the bad, and approaches to making it work

NASA Astrophysics Data System (ADS)

Huff, Brian

2011-03-01

All of the technological advances that have benefited consumer electronics have direct application to robotics. Technological advances have resulted in the dramatic reduction in size, cost, and weight of computing systems, while simultaneously doubling computational speed every eighteen months. The same manufacturing advancements that have enabled this rapid increase in computational power are now being leveraged to produce small, powerful and cost-effective sensing technologies applicable for use in mobile robotics applications. Despite the increase in computing and sensing resources available to today's robotic systems developers, there are sensing problems typically found in unstructured environments that continue to frustrate the widespread use of robotics and unmanned systems. This talk presents how physics has contributed to the creation of the technologies that are making modern robotics possible. The talk discusses theoretical approaches to robotic sensing that appear to suffer when they are deployed in the real world. Finally the author presents methods being used to make robotic sensing more robust.

Robotics in neurosurgery: state of the art and future technological challenges.

PubMed

Zamorano, L; Li, Q; Jain, S; Kaur, G

2004-06-01

The use of robotic technologies to assist surgeons was conceptually described almost thirty years ago but has only recently become feasible. In Neurosurgery, medical robots have been applied to neurosurgery for over 19 years. Nevertheless this field remains unknown to most neurosurgeons. The intrinsic characteristics of robots, such as high precision, repeatability and endurance make them ideal surgeon's assistants. Unfortunately, limitations in the current available systems make its use limited to very few centers in the world. During the last decade, important efforts have been made between academic and industry partnerships to develop robots suitable for use in the operating room environment. Although some applications have been successful in areas of laparoscopic surgery and orthopaedics, Neurosurgery has presented a major challenge due to the eloquence of the surrounding anatomy. This review focuses on the application of medical robotics in neurosurgery. The paper begins with an overview of the development of the medical robotics, followed by the current clinical applications in neurosurgery and an analysis of current limitations. We discuss robotic applications based in our own experience in the field. Next, we discuss the technological challenges and research areas to overcome those limitations, including some of our current research approaches for future progress in the field. Copyright 2004 Robotic Publications Ltd.

NASA's Lunar Robotic Architecture Study

NASA Astrophysics Data System (ADS)

Mulville, Daniel R.

2006-07-01

This report documents the findings and analysis of a 60-day agency-wide Lunar Robotic Architecture Study (LRAS) conducted by the National Aeronautics and Space Administration (NASA). Work on this study began in January 2006. Its purpose was to: Define a lunar robotics architecture by addressing the following issues: 1) Do we need robotic missions at all? If so, why and under what conditions? 2) How would they be accomplished and at what cost? Are they within budget? 3) What are the minimum requirements? What is the minimum mission set? 4) Integrate these elements together to show a viable robotic architecture. 5) Establish a strategic framework for a lunar robotics program. The LRAS Final Report presents analysis and recommendations concerning potential approaches related to NASA s implementation of the President's Vision for Space Exploration. Project and contract requirements will likely be derived in part from the LRAS analysis and recommendations contained herein, but these do not represent a set of project or contract requirements and are not binding on the U.S. Government unless and until they are formally and expressly adopted as such. Details of any recommendations offered by the LRAS Final Report will be translated into implementation requirements. Moreover, the report represents the assessments and projects of the report s authors at the time it was prepared; it is anticipated that the concepts in this report will be analyzed further and refined. By the time some of the activities addressed in this report are implemented, certain assumptions on which the report s conclusions are based will likely evolve as a result of this analysis. Accordingly, NASA, and any entity under contract with NASA, should not use the information in this report for final project direction. Since the conclusion of this study, there have been various changes to the Agency's current portfolio of lunar robotic precursor activities. First, the Robotic Lunar Exploration Program (RLEP) has been renamed the Lunar Precursor and Robotic Program (LPRP). On May 17, 2006, the Lunar Reconnaissance Orbiter (LRO) was confirmed to enter its implementation phase. Last, a new low-cost secondary payload known as the Lunar Crater Observation and Sensing Satellite (LCROSS) was co-manifested to launch with LRO in 2008. These changes are consistent with the conclusions and recommendations of this study, but came too late to be specifically reflected in this report.

NASA's Lunar Robotic Architecture Study. Volume 1

NASA Technical Reports Server (NTRS)

Mulville, Daniel R.

2006-01-01

This report documents the findings and analysis of a 60-day agency-wide Lunar Robotic Architecture Study (LRAS) conducted by the National Aeronautics and Space Administration (NASA). Work on this study began in January 2006. Its purpose was to: Define a lunar robotics architecture by addressing the following issues: 1) Do we need robotic missions at all? If so, why and under what conditions? 2) How would they be accomplished and at what cost? Are they within budget? 3) What are the minimum requirements? What is the minimum mission set? 4) Integrate these elements together to show a viable robotic architecture. 5) Establish a strategic framework for a lunar robotics program. The LRAS Final Report presents analysis and recommendations concerning potential approaches related to NASA s implementation of the President's Vision for Space Exploration. Project and contract requirements will likely be derived in part from the LRAS analysis and recommendations contained herein, but these do not represent a set of project or contract requirements and are not binding on the U.S. Government unless and until they are formally and expressly adopted as such. Details of any recommendations offered by the LRAS Final Report will be translated into implementation requirements. Moreover, the report represents the assessments and projects of the report s authors at the time it was prepared; it is anticipated that the concepts in this report will be analyzed further and refined. By the time some of the activities addressed in this report are implemented, certain assumptions on which the report s conclusions are based will likely evolve as a result of this analysis. Accordingly, NASA, and any entity under contract with NASA, should not use the information in this report for final project direction. Since the conclusion of this study, there have been various changes to the Agency's current portfolio of lunar robotic precursor activities. First, the Robotic Lunar Exploration Program (RLEP) has been renamed the Lunar Precursor and Robotic Program (LPRP). On May 17, 2006, the Lunar Reconnaissance Orbiter (LRO) was confirmed to enter its implementation phase. Last, a new low-cost secondary payload known as the Lunar Crater Observation and Sensing Satellite (LCROSS) was co-manifested to launch with LRO in 2008. These changes are consistent with the conclusions and recommendations of this study, but came too late to be specifically reflected in this report.

Children’s Imaginaries of Human-Robot Interaction in Healthcare

PubMed Central

2018-01-01

This paper analyzes children’s imaginaries of Human-Robots Interaction (HRI) in the context of social robots in healthcare, and it explores ethical and social issues when designing a social robot for a children’s hospital. Based on approaches that emphasize the reciprocal relationship between society and technology, the analytical force of imaginaries lies in their capacity to be embedded in practices and interactions as well as to affect the construction and applications of surrounding technologies. The study is based on a participatory process carried out with six-year-old children for the design of a robot. Imaginaries of HRI are analyzed from a care-centered approach focusing on children’s values and practices as related to their representation of care. The conceptualization of HRI as an assemblage of interactions, the prospective bidirectional care relationships with robots, and the engagement with the robot as an entity of multiple potential robots are the major findings of this study. The study shows the potential of studying imaginaries of HRI, and it concludes that their integration in the final design of robots is a way of including ethical values in it. PMID:29757221

Children's Imaginaries of Human-Robot Interaction in Healthcare.

PubMed

Vallès-Peris, Núria; Angulo, Cecilio; Domènech, Miquel

2018-05-12

This paper analyzes children’s imaginaries of Human-Robots Interaction (HRI) in the context of social robots in healthcare, and it explores ethical and social issues when designing a social robot for a children’s hospital. Based on approaches that emphasize the reciprocal relationship between society and technology, the analytical force of imaginaries lies in their capacity to be embedded in practices and interactions as well as to affect the construction and applications of surrounding technologies. The study is based on a participatory process carried out with six-year-old children for the design of a robot. Imaginaries of HRI are analyzed from a care-centered approach focusing on children’s values and practices as related to their representation of care. The conceptualization of HRI as an assemblage of interactions, the prospective bidirectional care relationships with robots, and the engagement with the robot as an entity of multiple potential robots are the major findings of this study. The study shows the potential of studying imaginaries of HRI, and it concludes that their integration in the final design of robots is a way of including ethical values in it.

Series Pneumatic Artificial Muscles (sPAMs) and Application to a Soft Continuum Robot.

PubMed

Greer, Joseph D; Morimoto, Tania K; Okamura, Allison M; Hawkes, Elliot W

2017-01-01

We describe a new series pneumatic artificial muscle (sPAM) and its application as an actuator for a soft continuum robot. The robot consists of three sPAMs arranged radially round a tubular pneumatic backbone. Analogous to tendons, the sPAMs exert a tension force on the robot's pneumatic backbone, causing bending that is approximately constant curvature. Unlike a traditional tendon driven continuum robot, the robot is entirely soft and contains no hard components, making it safer for human interaction. Models of both the sPAM and soft continuum robot kinematics are presented and experimentally verified. We found a mean position accuracy of 5.5 cm for predicting the end-effector position of a 42 cm long robot with the kinematic model. Finally, closed-loop control is demonstrated using an eye-in-hand visual servo control law which provides a simple interface for operation by a human. The soft continuum robot with closed-loop control was found to have a step-response rise time and settling time of less than two seconds.

Decentralised consensus-based formation tracking of multiple differential drive robots

NASA Astrophysics Data System (ADS)

Chu, Xing; Peng, Zhaoxia; Wen, Guoguang; Rahmani, Ahmed

2017-11-01

This article investigates the control problem for formation tracking of multiple nonholonomic robots under distributed manner which means each robot only needs local information exchange. A class of general state and input transform is introduced to convert the formation-tracking issue of multi-robot systems into the consensus-like problem with time-varying reference. The distributed observer-based protocol with nonlinear dynamics is developed for each robot to achieve the consensus tracking of the new system, which namely means a group of nonholonomic mobile robots can form the desired formation configuration with its centroid moving along the predefined reference trajectory. The finite-time stability of observer and control law is analysed rigorously by using the Lyapunov direct method, algebraic graph theory and matrix analysis. Numerical examples are finally provided to illustrate the effectiveness of the theory results proposed in this paper.

Evolutionary programming-based univector field navigation method for past mobile robots.

PubMed

Kim, Y J; Kim, J H; Kwon, D S

2001-01-01

Most of navigation techniques with obstacle avoidance do not consider the robot orientation at the target position. These techniques deal with the robot position only and are independent of its orientation and velocity. To solve these problems this paper proposes a novel univector field method for fast mobile robot navigation which introduces a normalized two dimensional vector field. The method provides fast moving robots with the desired posture at the target position and obstacle avoidance. To obtain the sub-optimal vector field, a function approximator is used and trained by evolutionary programming. Two kinds of vector fields are trained, one for the final posture acquisition and the other for obstacle avoidance. Computer simulations and real experiments are carried out for a fast moving mobile robot to demonstrate the effectiveness of the proposed scheme.

Augmented-reality integrated robotics in neurosurgery: are we there yet?

PubMed

Madhavan, Karthik; Kolcun, John Paul G; Chieng, Lee Onn; Wang, Michael Y

2017-05-01

Surgical robots have captured the interest-if not the widespread acceptance-of spinal neurosurgeons. But successful innovation, scientific or commercial, requires the majority to adopt a new practice. "Faster, better, cheaper" products should in theory conquer the market, but often fail. The psychology of change is complex, and the "follow the leader" mentality, common in the field today, lends little trust to the process of disseminating new technology. Beyond product quality, timing has proven to be a key factor in the inception, design, and execution of new technologies. Although the first robotic surgery was performed in 1985, scant progress was seen until the era of minimally invasive surgery. This movement increased neurosurgeons' dependence on navigation and fluoroscopy, intensifying the drive for enhanced precision. Outside the field of medicine, various technology companies have made great progress in popularizing co-robots ("cobots"), augmented reality, and processor chips. This has helped to ease practicing surgeons into familiarity with and acceptance of these technologies. The adoption among neurosurgeons in training is a "follow the leader" phenomenon, wherein new surgeons tend to adopt the technology used during residency. In neurosurgery today, robots are limited to computers functioning between the surgeon and patient. Their functions are confined to establishing a trajectory for navigation, with task execution solely in the surgeon's hands. In this review, the authors discuss significant untapped technologies waiting to be used for more meaningful applications. They explore the history and current manifestations of various modern technologies, and project what innovations may lie ahead.

An Integrated Framework for Human-Robot Collaborative Manipulation.

PubMed

Sheng, Weihua; Thobbi, Anand; Gu, Ye

2015-10-01

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

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

NASA Astrophysics Data System (ADS)

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

2017-02-01

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

Requirements for implementing real-time control functional modules on a hierarchical parallel pipelined system

NASA Technical Reports Server (NTRS)

Wheatley, Thomas E.; Michaloski, John L.; Lumia, Ronald

1989-01-01

Analysis of a robot control system leads to a broad range of processing requirements. One fundamental requirement of a robot control system is the necessity of a microcomputer system in order to provide sufficient processing capability.The use of multiple processors in a parallel architecture is beneficial for a number of reasons, including better cost performance, modular growth, increased reliability through replication, and flexibility for testing alternate control strategies via different partitioning. A survey of the progression from low level control synchronizing primitives to higher level communication tools is presented. The system communication and control mechanisms of existing robot control systems are compared to the hierarchical control model. The impact of this design methodology on the current robot control systems is explored.

Robotic Mining Competition - Media Day

NASA Image and Video Library

2017-05-25

NASA Kennedy Space Center Director Bob Cabana, at right, talks with Ken Kremer, Universe Today, during media day at the agency's 8th Annual Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. Cabana shared his thoughts about the competition and the progress made to make Kennedy a multi-user spaceport. Teams from colleges and universities around the U.S. used their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, and participated in other competition requirements, May 22-26. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's Journey to Mars.

Perception for mobile robot navigation: A survey of the state of the art

NASA Technical Reports Server (NTRS)

Kortenkamp, David

1994-01-01

In order for mobile robots to navigate safely in unmapped and dynamic environments they must perceive their environment and decide on actions based on those perceptions. There are many different sensing modalities that can be used for mobile robot perception; the two most popular are ultrasonic sonar sensors and vision sensors. This paper examines the state-of-the-art in sensory-based mobile robot navigation. The first issue in mobile robot navigation is safety. This paper summarizes several competing sonar-based obstacle avoidance techniques and compares them. Another issue in mobile robot navigation is determining the robot's position and orientation (sometimes called the robot's pose) in the environment. This paper examines several different classes of vision-based approaches to pose determination. One class of approaches uses detailed, a prior models of the robot's environment. Another class of approaches triangulates using fixed, artificial landmarks. A third class of approaches builds maps using natural landmarks. Example implementations from each of these three classes are described and compared. Finally, the paper presents a completely implemented mobile robot system that integrates sonar-based obstacle avoidance with vision-based pose determination to perform a simple task.

Kinematics optimization and static analysis of a modular continuum robot used for minimally invasive surgery.

PubMed

Qi, Fei; Ju, Feng; Bai, Dong Ming; Chen, Bai

2018-02-01

For the outstanding compliance and dexterity of continuum robot, it is increasingly used in minimally invasive surgery. The wide workspace, high dexterity and strong payload capacity are essential to the continuum robot. In this article, we investigate the workspace of a cable-driven continuum robot that we proposed. The influence of section number on the workspace is discussed when robot is operated in narrow environment. Meanwhile, the structural parameters of this continuum robot are optimized to achieve better kinematic performance. Moreover, an indicator based on the dexterous solid angle for evaluating the dexterity of robot is introduced and the distal end dexterity is compared for the three-section continuum robot with different range of variables. Results imply that the wider range of variables achieve the better dexterity. Finally, the static model of robot based on the principle of virtual work is derived to analyze the relationship between the bending shape deformation and the driven force. The simulations and experiments for plane and spatial motions are conducted to validate the feasibility of model, respectively. Results of this article can contribute to the real-time control and movement and can be a design reference for cable-driven continuum robot.

Robotic applications in abdominal surgery: their limitations and future developments.

PubMed

Taylor, G W; Jayne, D G

2007-03-01

In the past 20 years, the technical aspects of abdominal surgery have changed dramatically. Operations are now routinely performed by laparoscopic techniques utilizing small abdominal incisions, with less patient discomfort, earlier recovery, improved cosmesis, and in many cases reduced economic burden on the healthcare provider. These benefits have largely been seen in the application of laparoscopic techniques to relatively straightforward procedures. It is not clear whether the same benefits carry through to more complex abdominal operations, which are more technically demanding and for which current laparoscopic instrumentation is less well adapted. The aim of surgical robotics is to address these problems and allow the advantages of minimal access surgery to be seen in a greater range of operations. A literature search was performed to ascertain the current state of the art in surgical robotics for the abdomen, and the technologies emerging within this field. The reference lists of the sourced articles were also searched for further relevant papers. Currently available robotic devices for abdominal surgery are limited to large, costly 'slave-master' or telemanipulator systems, such as the da Vinci (Intuitive Surgical, Sunny Vale, CA). In addition to their size and expense, these systems share the same limitation, by virtue of the fulcrum effect on instrument manipulation inherent in the use of ports by which external instruments gain access to the abdominal cavity. In order to overcome these limitations several smaller telemanipulator systems are being developed, and progress towards freely mobile intracorporeal devices is being made. While current robotic systems have considerable advantages over conventional laparoscopic techniques, they are not without limitations. Miniaturisation of robotic components and systems is feasible and necessary to allow minimally invasive techniques to reach full potential. The ultimate extrapolation of this progress is the development of intracorporeal robotics, the feasibility of which has been demonstrated. Copyright 2006 John Wiley & Sons, Ltd.

Robotic rehabilitation of spinal cord injury individual.

PubMed

Karimi, Mohammad Taghi

2013-01-01

Various types of systems have been used for rehabilitation of Spinal cord injury (SCI) individuals, including mechanical orthoses, functional electrical stimulation (FES), hybrid system and robotic devices. Although, the use of robotic systems for rehabilitation of SCI subjects is increasing, there is not enough evidence to determine the positive and side effects of this system. Therefore, the aim of this review article is to find some evidences to support the influence of use of this system on the performance of the subjects. Furthermore, it was aimed to find the difference between the performances of paraplegic subjects while walking with robotic devices. An electronic search was done based on PubMed, Embase, Ebsco, and ISI Web of Knowledge to extract the data from 1970 to 2012. The quality of the research studies was evaluated by use of Black and Down tool. Although 250 papers have been found based on the selected key words, finally 10 papers have been selected for final analysis. There were only two clinical trials done in this regard. There are some improvements which were reported to body function and activities follow the use of robotic device. 1. Although various types of orthotic systems have been developed for paraplegic subjects for walking and rehabilitation, there is not enough research in this regard. 2. It is not easy to determine the therapeutic influence of robotic orthosis on the health status of paraplegic subjects. 3. There is a huge gap for a randomized clinical trial research to determine the effect of robotic system on the health status of the SCI subjects.

Design of Biomedical Robots for Phenotype Prediction Problems

PubMed Central

deAndrés-Galiana, Enrique J.; Sonis, Stephen T.

2016-01-01

Abstract Genomics has been used with varying degrees of success in the context of drug discovery and in defining mechanisms of action for diseases like cancer and neurodegenerative and rare diseases in the quest for orphan drugs. To improve its utility, accuracy, and cost-effectiveness optimization of analytical methods, especially those that translate to clinically relevant outcomes, is critical. Here we define a novel tool for genomic analysis termed a biomedical robot in order to improve phenotype prediction, identifying disease pathogenesis and significantly defining therapeutic targets. Biomedical robot analytics differ from historical methods in that they are based on melding feature selection methods and ensemble learning techniques. The biomedical robot mathematically exploits the structure of the uncertainty space of any classification problem conceived as an ill-posed optimization problem. Given a classifier, there exist different equivalent small-scale genetic signatures that provide similar predictive accuracies. We perform the sensitivity analysis to noise of the biomedical robot concept using synthetic microarrays perturbed by different kinds of noises in expression and class assignment. Finally, we show the application of this concept to the analysis of different diseases, inferring the pathways and the correlation networks. The final aim of a biomedical robot is to improve knowledge discovery and provide decision systems to optimize diagnosis, treatment, and prognosis. This analysis shows that the biomedical robots are robust against different kinds of noises and particularly to a wrong class assignment of the samples. Assessing the uncertainty that is inherent to any phenotype prediction problem is the right way to address this kind of problem. PMID:27347715

Design of Biomedical Robots for Phenotype Prediction Problems.

PubMed

deAndrés-Galiana, Enrique J; Fernández-Martínez, Juan Luis; Sonis, Stephen T

2016-08-01

Genomics has been used with varying degrees of success in the context of drug discovery and in defining mechanisms of action for diseases like cancer and neurodegenerative and rare diseases in the quest for orphan drugs. To improve its utility, accuracy, and cost-effectiveness optimization of analytical methods, especially those that translate to clinically relevant outcomes, is critical. Here we define a novel tool for genomic analysis termed a biomedical robot in order to improve phenotype prediction, identifying disease pathogenesis and significantly defining therapeutic targets. Biomedical robot analytics differ from historical methods in that they are based on melding feature selection methods and ensemble learning techniques. The biomedical robot mathematically exploits the structure of the uncertainty space of any classification problem conceived as an ill-posed optimization problem. Given a classifier, there exist different equivalent small-scale genetic signatures that provide similar predictive accuracies. We perform the sensitivity analysis to noise of the biomedical robot concept using synthetic microarrays perturbed by different kinds of noises in expression and class assignment. Finally, we show the application of this concept to the analysis of different diseases, inferring the pathways and the correlation networks. The final aim of a biomedical robot is to improve knowledge discovery and provide decision systems to optimize diagnosis, treatment, and prognosis. This analysis shows that the biomedical robots are robust against different kinds of noises and particularly to a wrong class assignment of the samples. Assessing the uncertainty that is inherent to any phenotype prediction problem is the right way to address this kind of problem.

High-Precision Coupling Mechanism Operable By Robots

NASA Technical Reports Server (NTRS)

Voellmer, George

1992-01-01

Coupling mechanism has features making it easily operable by hand and suitable for operation by robots: tolerates some initial misalignment, imposes precise final alignment, and protects itself against overtightening. Typically used to mount equipment module on structure. Mechanism includes kinematic mounts, which tolerate small initial misalignment and enforce precise final alignment as two assemblies brought together. Clamping force applied to kinematic mounts via two flexible plates. Bolt and nut tightened on flexible plates to impose spring clamping load. Repeatability of interface tested and found to be better than forty-millionths of inch.

Optimizing Motion Planning for Hyper Dynamic Manipulator

NASA Astrophysics Data System (ADS)

Aboura, Souhila; Omari, Abdelhafid; Meguenni, Kadda Zemalache

2012-01-01

This paper investigates the optimal motion planning for an hyper dynamic manipulator. As case study, we consider a golf swing robot which is consisting with two actuated joint and a mechanical stoppers. Genetic Algorithm (GA) technique is proposed to solve the optimal golf swing motion which is generated by Fourier series approximation. The objective function for GA approach is to minimizing the intermediate and final state, minimizing the robot's energy consummation and maximizing the robot's speed. Obtained simulation results show the effectiveness of the proposed scheme.

Development of a GA-Fuzzy-Immune PID Controller with Incomplete Derivation for Robot Dexterous Hand

PubMed Central

Liu, Xin-hua; Chen, Xiao-hu; Zheng, Xian-hua; Li, Sheng-peng; Wang, Zhong-bin

2014-01-01

In order to improve the performance of robot dexterous hand, a controller based on GA-fuzzy-immune PID was designed. The control system of a robot dexterous hand and mathematical model of an index finger were presented. Moreover, immune mechanism was applied to the controller design and an improved approach through integration of GA and fuzzy inference was proposed to realize parameters' optimization. Finally, a simulation example was provided and the designed controller was proved ideal. PMID:25097881

The Resurrection of Malthus: space as the final escape from the law of diminishing returns

NASA Astrophysics Data System (ADS)

Sommers, J.; Beldavs, V.

2017-09-01

If there is a self-sustaining space economy, which is the goal of the International Lunar Decade, then it is a subject of economic analysis. The immediate challenge of space economics then is to conceptually demonstrate how a space economy could emerge and work where markets do not exist and few human agents may be involved, in fact where human agents may transact with either human agents or robotic agents or robotic agents may transact with other robotic agents.

Machine intelligence and autonomy for aerospace systems

NASA Technical Reports Server (NTRS)

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

1988-01-01

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

Influence of facial feedback during a cooperative human-robot task in schizophrenia.

PubMed

Cohen, Laura; Khoramshahi, Mahdi; Salesse, Robin N; Bortolon, Catherine; Słowiński, Piotr; Zhai, Chao; Tsaneva-Atanasova, Krasimira; Di Bernardo, Mario; Capdevielle, Delphine; Marin, Ludovic; Schmidt, Richard C; Bardy, Benoit G; Billard, Aude; Raffard, Stéphane

2017-11-03

Rapid progress in the area of humanoid robots offers tremendous possibilities for investigating and improving social competences in people with social deficits, but remains yet unexplored in schizophrenia. In this study, we examined the influence of social feedbacks elicited by a humanoid robot on motor coordination during a human-robot interaction. Twenty-two schizophrenia patients and twenty-two matched healthy controls underwent a collaborative motor synchrony task with the iCub humanoid robot. Results revealed that positive social feedback had a facilitatory effect on motor coordination in the control participants compared to non-social positive feedback. This facilitatory effect was not present in schizophrenia patients, whose social-motor coordination was similarly impaired in social and non-social feedback conditions. Furthermore, patients' cognitive flexibility impairment and antipsychotic dosing were negatively correlated with patients' ability to synchronize hand movements with iCub. Overall, our findings reveal that patients have marked difficulties to exploit facial social cues elicited by a humanoid robot to modulate their motor coordination during human-robot interaction, partly accounted for by cognitive deficits and medication. This study opens new perspectives for comprehension of social deficits in this mental disorder.

Implementation of a piezoelectrically actuated self-contained quadruped robot

NASA Astrophysics Data System (ADS)

Ho, Thanhtam; Lee, Sangyoon

2009-05-01

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

The Robot in the Crib: A Developmental Analysis of Imitation Skills in Infants and Robots.

PubMed

Demiris, Yiannis; Meltzoff, Andrew

2008-01-01

Interesting systems, whether biological or artificial, develop. Starting from some initial conditions, they respond to environmental changes, and continuously improve their capabilities. Developmental psychologists have dedicated significant effort to studying the developmental progression of infant imitation skills, because imitation underlies the infant's ability to understand and learn from his or her social environment. In a converging intellectual endeavour, roboticists have been equipping robots with the ability to observe and imitate human actions because such abilities can lead to rapid teaching of robots to perform tasks. We provide here a comparative analysis between studies of infants imitating and learning from human demonstrators, and computational experiments aimed at equipping a robot with such abilities. We will compare the research across the following two dimensions: (a) initial conditions-what is innate in infants, and what functionality is initially given to robots, and (b) developmental mechanisms-how does the performance of infants improve over time, and what mechanisms are given to robots to achieve equivalent behaviour. Both developmental science and robotics are critically concerned with: (a) how their systems can and do go 'beyond the stimulus' given during the demonstration, and (b) how the internal models used in this process are acquired during the lifetime of the system.

Robotic general surgery: current practice, evidence, and perspective.

PubMed

Jung, M; Morel, P; Buehler, L; Buchs, N C; Hagen, M E

2015-04-01

Robotic technology commenced to be adopted for the field of general surgery in the 1990s. Since then, the da Vinci surgical system (Intuitive Surgical Inc, Sunnyvale, CA, USA) has remained by far the most commonly used system in this domain. The da Vinci surgical system is a master-slave machine that offers three-dimensional vision, articulated instruments with seven degrees of freedom, and additional software features such as motion scaling and tremor filtration. The specific design allows hand-eye alignment with intuitive control of the minimally invasive instruments. As such, robotic surgery appears technologically superior when compared with laparoscopy by overcoming some of the technical limitations that are imposed on the surgeon by the conventional approach. This article reviews the current literature and the perspective of robotic general surgery. While robotics has been applied to a wide range of general surgery procedures, its precise role in this field remains a subject of further research. Until now, only limited clinical evidence that could establish the use of robotics as the gold standard for procedures of general surgery has been created. While surgical robotics is still in its infancy with multiple novel systems currently under development and clinical trials in progress, the opportunities for this technology appear endless, and robotics should have a lasting impact to the field of general surgery.

AIonAI: a humanitarian law of artificial intelligence and robotics.

PubMed

Ashrafian, Hutan

2015-02-01

The enduring progression of artificial intelligence and cybernetics offers an ever-closer possibility of rational and sentient robots. The ethics and morals deriving from this technological prospect have been considered in the philosophy of artificial intelligence, the design of automatons with roboethics and the contemplation of machine ethics through the concept of artificial moral agents. Across these categories, the robotics laws first proposed by Isaac Asimov in the twentieth century remain well-recognised and esteemed due to their specification of preventing human harm, stipulating obedience to humans and incorporating robotic self-protection. However the overwhelming predominance in the study of this field has focussed on human-robot interactions without fully considering the ethical inevitability of future artificial intelligences communicating together and has not addressed the moral nature of robot-robot interactions. A new robotic law is proposed and termed AIonAI or artificial intelligence-on-artificial intelligence. This law tackles the overlooked area where future artificial intelligences will likely interact amongst themselves, potentially leading to exploitation. As such, they would benefit from adopting a universal law of rights to recognise inherent dignity and the inalienable rights of artificial intelligences. Such a consideration can help prevent exploitation and abuse of rational and sentient beings, but would also importantly reflect on our moral code of ethics and the humanity of our civilisation.

Advances in Robotic, Human, and Autonomous Systems for Missions of Space Exploration

NASA Technical Reports Server (NTRS)

Gross, Anthony R.; Briggs, Geoffrey A.; Glass, Brian J.; Pedersen, Liam; Kortenkamp, David M.; Wettergreen, David S.; Nourbakhsh, I.; Clancy, Daniel J.; Zornetzer, Steven (Technical Monitor)

2002-01-01

Space exploration missions are evolving toward more complex architectures involving more capable robotic systems, new levels of human and robotic interaction, and increasingly autonomous systems. How this evolving mix of advanced capabilities will be utilized in the design of new missions is a subject of much current interest. Cost and risk constraints also play a key role in the development of new missions, resulting in a complex interplay of a broad range of factors in the mission development and planning of new missions. This paper will discuss how human, robotic, and autonomous systems could be used in advanced space exploration missions. In particular, a recently completed survey of the state of the art and the potential future of robotic systems, as well as new experiments utilizing human and robotic approaches will be described. Finally, there will be a discussion of how best to utilize these various approaches for meeting space exploration goals.

2014 NASA Centennial Challenges Sample Return Robot Challenge

NASA Image and Video Library

2014-06-10

A pair of Worcester Polytechnic Institute (WPI) students walk past a pair of team KuuKulgur's robots on the campus quad, during a final tuneup before the start of competition at the 2014 NASA Centennial Challenges Sample Return Robot Challenge, Tuesday, June 10, 2014, at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. Team KuuKulgur is one of eighteen teams competing for a $1.5 million NASA prize purse. Teams will be required to demonstrate autonomous robots that can locate and collect samples from a wide and varied terrain, operating without human control. The objective of this NASA-WPI Centennial Challenge is to encourage innovations in autonomous navigation and robotics technologies. Innovations stemming from the challenge may improve NASA's capability to explore a variety of destinations in space, as well as enhance the nation's robotic technology for use in industries and applications on Earth. Photo Credit: (NASA/Joel Kowsky)

Final matches of the FIRST regional robotic competition at KSC

NASA Technical Reports Server (NTRS)

1999-01-01

Four robots vie for position on the playing field during the 1999 FIRST Southeastern Regional robotic competition held at KSC. Powered by 12-volt batteries and operated by remote control, the robotic gladiators spent two minutes each trying to grab, claw and hoist large, satin pillows onto their machines. Student teams, shown behind protective walls, play defense by taking away competitors' pillows and generally harassing opposing machines. Two of the robots have lifted their caches of pillows above the field, a movement which earns them points. Along with the volunteer referees, at the edge of the playing field, judges at right watch the action. FIRST is a nonprofit organization, For Inspiration and Recognition of Science and Technology. The competition comprised 27 teams, pairing high school students with engineer mentors and corporations. The FIRST robotics competition is designed to provide students with a hands-on, inside look at engineering and other professional careers.

An Intelligent Agent-Controlled and Robot-Based Disassembly Assistant

NASA Astrophysics Data System (ADS)

Jungbluth, Jan; Gerke, Wolfgang; Plapper, Peter

2017-09-01

One key for successful and fluent human-robot-collaboration in disassembly processes is equipping the robot system with higher autonomy and intelligence. In this paper, we present an informed software agent that controls the robot behavior to form an intelligent robot assistant for disassembly purposes. While the disassembly process first depends on the product structure, we inform the agent using a generic approach through product models. The product model is then transformed to a directed graph and used to build, share and define a coarse disassembly plan. To refine the workflow, we formulate “the problem of loosening a connection and the distribution of the work” as a search problem. The created detailed plan consists of a sequence of actions that are used to call, parametrize and execute robot programs for the fulfillment of the assistance. The aim of this research is to equip robot systems with knowledge and skills to allow them to be autonomous in the performance of their assistance to finally improve the ergonomics of disassembly workstations.

The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System

PubMed Central

Qian, Jun; Zi, Bin; Ma, Yangang; Zhang, Dan

2017-01-01

In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stability and keeps the distances of four wheels invariable. The control system consists of two-level controllers that implement motion control and multi-sensor data processing, respectively. In order to make the mobile robot navigate in an unknown semi-structured indoor environment, the data from a Kinect visual sensor and four wheel encoders were fused to localize the mobile robot using an extended Kalman filter with specific processing. Finally, the mobile robot was integrated in an intelligent manufacturing system for material conveying. Experimental results show that the omni-directional mobile robot can move stably and autonomously in an indoor environment and in industrial fields. PMID:28891964

User Localization During Human-Robot Interaction

PubMed Central

Alonso-Martín, F.; Gorostiza, Javi F.; Malfaz, María; Salichs, Miguel A.

2012-01-01

This paper presents a user localization system based on the fusion of visual information and sound source localization, implemented on a social robot called Maggie. One of the main requisites to obtain a natural interaction between human-human and human-robot is an adequate spatial situation between the interlocutors, that is, to be orientated and situated at the right distance during the conversation in order to have a satisfactory communicative process. Our social robot uses a complete multimodal dialog system which manages the user-robot interaction during the communicative process. One of its main components is the presented user localization system. To determine the most suitable allocation of the robot in relation to the user, a proxemic study of the human-robot interaction is required, which is described in this paper. The study has been made with two groups of users: children, aged between 8 and 17, and adults. Finally, at the end of the paper, experimental results with the proposed multimodal dialog system are presented. PMID:23012577

User localization during human-robot interaction.

PubMed

Alonso-Martín, F; Gorostiza, Javi F; Malfaz, María; Salichs, Miguel A

2012-01-01

This paper presents a user localization system based on the fusion of visual information and sound source localization, implemented on a social robot called Maggie. One of the main requisites to obtain a natural interaction between human-human and human-robot is an adequate spatial situation between the interlocutors, that is, to be orientated and situated at the right distance during the conversation in order to have a satisfactory communicative process. Our social robot uses a complete multimodal dialog system which manages the user-robot interaction during the communicative process. One of its main components is the presented user localization system. To determine the most suitable allocation of the robot in relation to the user, a proxemic study of the human-robot interaction is required, which is described in this paper. The study has been made with two groups of users: children, aged between 8 and 17, and adults. Finally, at the end of the paper, experimental results with the proposed multimodal dialog system are presented.

Analysis of a closed-kinematic chain robot manipulator

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Pooran, Farhad J.

1988-01-01

Presented are the research results from the research grant entitled: Active Control of Robot Manipulators, sponsored by the Goddard Space Flight Center (NASA) under grant number NAG-780. This report considers a class of robot manipulators based on the closed-kinematic chain mechanism (CKCM). This type of robot manipulators mainly consists of two platforms, one is stationary and the other moving, and they are coupled together through a number of in-parallel actuators. Using spatial geometry and homogeneous transformation, a closed-form solution is derived for the inverse kinematic problem of the six-degree-of-freedom manipulator, built to study robotic assembly in space. Iterative Newton Raphson method is employed to solve the forward kinematic problem. Finally, the equations of motion of the above manipulators are obtained by employing the Lagrangian method. Study of the manipulator dynamics is performed using computer simulation whose results show that the robot actuating forces are strongly dependent on the mass and centroid locations of the robot links.

The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System.

PubMed

Qian, Jun; Zi, Bin; Wang, Daoming; Ma, Yangang; Zhang, Dan

2017-09-10

In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stability and keeps the distances of four wheels invariable. The control system consists of two-level controllers that implement motion control and multi-sensor data processing, respectively. In order to make the mobile robot navigate in an unknown semi-structured indoor environment, the data from a Kinect visual sensor and four wheel encoders were fused to localize the mobile robot using an extended Kalman filter with specific processing. Finally, the mobile robot was integrated in an intelligent manufacturing system for material conveying. Experimental results show that the omni-directional mobile robot can move stably and autonomously in an indoor environment and in industrial fields.

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.

Epigastric hernia contiguous with the laparoscopic port site after endoscopic robotic total prostatectomy.

PubMed

Moriwaki, Yoshihiro; Otani, Jun; Okuda, Junzo; Maemoto, Ryo

2018-03-23

Both laparoscopic and endoscopic robotic surgery are widely accepted for many abdominal surgeries. However, the port site for the laparoscope cannot be easily sutured without defect, particularly in the cranial end; this can result in a port-site incisional hernia and trigger the progressive thinning and stretching of the linea alba, leading to epigastric hernia. In the present case, we encountered an epigastric hernia contiguous with an incisional scar at the port site from a previous endoscopic robotic total prostatectomy. Abdominal ultrasound and CT revealed that the width of the linea alba was 30-48 mm. Previous CT images prepared before endoscopic robotic prostatectomy had shown a thinning of the linea alba. We should be aware of the possibility of epigastric hernia after laparoscopic and endoscopic robotic surgery. In laparoscopic and endoscopic robotic surgery for a high-risk patient for epigastric hernia, we should consider additional sutures cranial to the port-site incision to prevent of an epigastric hernia. © 2018 Japan Society for Endoscopic Surgery, Asia Endosurgery Task Force and John Wiley & Sons Australia, Ltd.

The Structure, Design, and Closed-Loop Motion Control of a Differential Drive Soft Robot.

PubMed

Wu, Pang; Jiangbei, Wang; Yanqiong, Fei

2018-02-01

This article presents the structure, design, and motion control of an inchworm inspired pneumatic soft robot, which can perform differential movement. This robot mainly consists of two columns of pneumatic multi-airbags (actuators), one sensor, one baseboard, front feet, and rear feet. According to the different inflation time of left and right actuators, the robot can perform both linear and turning movements. The actuators of this robot are composed of multiple airbags, and the design of the airbags is analyzed. To deal with the nonlinear performance of the soft robot, we use radial basis function neural networks to train the turning ability of this robot on three different surfaces and create a mathematical model among coefficient of friction, deflection angle, and inflation time. Then, we establish the closed-loop automatic control model using three-axis electronic compass sensor. Finally, the automatic control model is verified by linear and turning movement experiments. According to the experiment, the robot can finish the linear and turning movements under the closed-loop control system.

Performance Evaluation Methods for Assistive Robotic Technology

NASA Astrophysics Data System (ADS)

Tsui, Katherine M.; Feil-Seifer, David J.; Matarić, Maja J.; Yanco, Holly A.

Robots have been developed for several assistive technology domains, including intervention for Autism Spectrum Disorders, eldercare, and post-stroke rehabilitation. Assistive robots have also been used to promote independent living through the use of devices such as intelligent wheelchairs, assistive robotic arms, and external limb prostheses. Work in the broad field of assistive robotic technology can be divided into two major research phases: technology development, in which new devices, software, and interfaces are created; and clinical, in which assistive technology is applied to a given end-user population. Moving from technology development towards clinical applications is a significant challenge. Developing performance metrics for assistive robots poses a related set of challenges. In this paper, we survey several areas of assistive robotic technology in order to derive and demonstrate domain-specific means for evaluating the performance of such systems. We also present two case studies of applied performance measures and a discussion regarding the ubiquity of functional performance measures across the sampled domains. Finally, we present guidelines for incorporating human performance metrics into end-user evaluations of assistive robotic technologies.

Series Pneumatic Artificial Muscles (sPAMs) and Application to a Soft Continuum Robot

PubMed Central

Greer, Joseph D.; Morimoto, Tania K.; Okamura, Allison M.; Hawkes, Elliot W.

2017-01-01

We describe a new series pneumatic artificial muscle (sPAM) and its application as an actuator for a soft continuum robot. The robot consists of three sPAMs arranged radially round a tubular pneumatic backbone. Analogous to tendons, the sPAMs exert a tension force on the robot’s pneumatic backbone, causing bending that is approximately constant curvature. Unlike a traditional tendon driven continuum robot, the robot is entirely soft and contains no hard components, making it safer for human interaction. Models of both the sPAM and soft continuum robot kinematics are presented and experimentally verified. We found a mean position accuracy of 5.5 cm for predicting the end-effector position of a 42 cm long robot with the kinematic model. Finally, closed-loop control is demonstrated using an eye-in-hand visual servo control law which provides a simple interface for operation by a human. The soft continuum robot with closed-loop control was found to have a step-response rise time and settling time of less than two seconds. PMID:29379672

Zero Robotics at Kennedy Space Center Visitor Complex

NASA Image and Video Library

2017-08-11

A programmable off-the-shelf Sphero robot is shown on a Mars mat at the Center for Space Education at NASA's Kennedy Space Center in Florida. The Spheros were available for students to practice their programming skills by navigating the robots around a challenge course on the mat. Students used the mat and Sphero robots during "loss of signal" times when the connection to the International Space Station was temporarily unavailable. Teams from across the state of Florida were gathered at Kennedy for the finals of the Zero Robotics Middle School Summer Program national championship. The five-week program allows rising sixth- through ninth-graders to write programs for small satellites called SPHERES (Synchronized, Position, Hold, Engage, Reorient, Experimental Satellites). Finalists saw their code tested aboard the orbiting laboratory.

Preliminary technology utilization assessment of the robotic fruit harvester

NASA Technical Reports Server (NTRS)

Wilhelm, J.

1982-01-01

The results of an analysis whose purpose was to examine the history and progress of mechanical fruit harvesting, to determine the significance of a robotic fruit tree harvester and to assess the available market for such a product are summarized. Background information that can be used in determining the benefit of a proof of principle demonstration is provided. Such a demonstration could be a major step toward the transfer of this NASA technology.

Why Are There Developmental Stages in Language Learning? A Developmental Robotics Model of Language Development

ERIC Educational Resources Information Center

Morse, Anthony F.; Cangelosi, Angelo

2017-01-01

Most theories of learning would predict a gradual acquisition and refinement of skills as learning progresses, and while some highlight exponential growth, this fails to explain why natural cognitive development typically progresses in stages. Models that do span multiple developmental stages typically have parameters to "switch" between…

Effect of Link Flexibility on tip position of a single link robotic arm

NASA Astrophysics Data System (ADS)

Madhusudan Raju, E.; Siva Rama Krishna, L.; Mouli, Y. Sharath Chandra; Nageswara Rao, V.

2015-12-01

The flexible robots are widely used in space applications due to their quick response, lower energy consumption, lower overall mass and operation at high speed compared to conventional industrial rigid link robots. These robots are inherently flexible, so that the kinematics of flexible robots can't be solved with rigid body assumptions. The flexibility in links and joints affects end-point positioning accuracy of the robot. It is important to model the link kinematics with precision which in turn simplifies modelling of dynamics of flexible robots. The main objective of this paper is to evaluate the effect of link flexibility on a tip position of a single link robotic arm for a given motion. The joint is assumed to be rigid and only link flexibility is considered. The kinematics of flexible link problem is evaluated by Assumed Modes Method (AMM) using MAT LAB Programming. To evaluate the effect of link flexibility (with and without payload) of robotic arm, the normalized tip deviation is found for flexible link with respect to a rigid link. Finally, the limiting inertia for payload mass is found if the allowable tip deviation is 5%.

From dV-Trainer to Real Robotic Console: The Limitations of Robotic Skill Training.

PubMed

Yang, Kun; Zhen, Hang; Hubert, Nicolas; Perez, Manuela; Wang, Xing Huan; Hubert, Jacques

To investigate operators' performance quality, mental stress, and ergonomic habits through a training curriculum on robotic simulators. Forty volunteers without robotic surgery experience were recruited to practice 2 exercises on a dV-Trainer (dVT) for 14 hours. The simulator software (M-score a ) provided an automatic evaluation of the overall score for the surgeons' performance. Each participant provided a subjective difficulty score (validity to be proven) for each exercise. Their ergonomic habits were evaluated based on the workspace range and armrest load-validated criteria for evaluating the proficiency of using the armrest. They then repeated the same tasks on a da Vinci Surgical Skill Simulator for a final-level test. Their final scores were compared with their initial scores and the scores of 5 experts on the da Vinci Surgical Skill Simulator. A total of 14 hours of training on the dVT significantly improved the surgeons' performance scores to the expert level with a significantly reduced workload, but their ergonomic score was still far from the expert level. Sufficient training on the dVT improves novices' performance, reduces psychological stress, and inculcates better ergonomic habits. Among the evaluated criteria, novices had the most difficulty in achieving expert levels of ergonomic skills. The training benefits of robotic surgery simulators should be determined with quantified variables. The detection of the limitations during robotic training curricula could guide the targeted training and improve the training effect. Copyright © 2017. Published by Elsevier Inc.

Robotic Mining Competition - Media Day

NASA Image and Video Library

2017-05-25

NASA Kennedy Space Center Director Bob Cabana, at right, talks with Kurt Leucht, event emcee, during media day at the agency's 8th Annual Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. At the mining arena, Cabana shared his thoughts about the competition and the progress made to make Kennedy a multi-user spaceport. Teams from colleges and universities around the U.S. used their mining robots to dig in a supersized sandbox filled with BP-1, or simulated Martian soil, and participated in other competition requirements, May 22-26. The Robotic Mining Competition is a NASA Human Exploration and Operations Mission Directorate project designed to encourage students in science, technology, engineering and math, or STEM fields. The project provides a competitive environment to foster innovative ideas and solutions that could be used on NASA's Journey to Mars.

Mobile robot navigation modulated by artificial emotions.

PubMed

Lee-Johnson, C P; Carnegie, D A

2010-04-01

For artificial intelligence research to progress beyond the highly specialized task-dependent implementations achievable today, researchers may need to incorporate aspects of biological behavior that have not traditionally been associated with intelligence. Affective processes such as emotions may be crucial to the generalized intelligence possessed by humans and animals. A number of robots and autonomous agents have been created that can emulate human emotions, but the majority of this research focuses on the social domain. In contrast, we have developed a hybrid reactive/deliberative architecture that incorporates artificial emotions to improve the general adaptive performance of a mobile robot for a navigation task. Emotions are active on multiple architectural levels, modulating the robot's decisions and actions to suit the context of its situation. Reactive emotions interact with the robot's control system, altering its parameters in response to appraisals from short-term sensor data. Deliberative emotions are learned associations that bias path planning in response to eliciting objects or events. Quantitative results are presented that demonstrate situations in which each artificial emotion can be beneficial to performance.

KSC-2014-2650

NASA Image and Video Library

2014-05-21

CAPE CANAVERAL, Fla. – A robot dumps its load of simulated Martian soil in a collector in the Caterpillar Mining Arena during NASA’s 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. A competition judge monitors the progress. More than 35 teams from colleges and universities around the U.S. have designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

Progress in Insect-Inspired Optical Navigation Sensors

NASA Technical Reports Server (NTRS)

Thakoor, Sarita; Chahl, Javaan; Zometzer, Steve

2005-01-01

Progress has been made in continuing efforts to develop optical flight-control and navigation sensors for miniature robotic aircraft. The designs of these sensors are inspired by the designs and functions of the vision systems and brains of insects. Two types of sensors of particular interest are polarization compasses and ocellar horizon sensors. The basic principle of polarization compasses was described (but without using the term "polarization compass") in "Insect-Inspired Flight Control for Small Flying Robots" (NPO-30545), NASA Tech Briefs, Vol. 29, No. 1 (January 2005), page 61. To recapitulate: Bees use sky polarization patterns in ultraviolet (UV) light, caused by Rayleigh scattering of sunlight by atmospheric gas molecules, as direction references relative to the apparent position of the Sun. A robotic direction-finding technique based on this concept would be more robust in comparison with a technique based on the direction to the visible Sun because the UV polarization pattern is distributed across the entire sky and, hence, is redundant and can be extrapolated from a small region of clear sky in an elsewhere cloudy sky that hides the Sun.

Normalized Movement Quality Measures for Therapeutic Robots Strongly Correlate With Clinical Motor Impairment Measures

PubMed Central

Celik, Ozkan; O’Malley, Marcia K.; Boake, Corwin; Levin, Harvey S.; Yozbatiran, Nuray; Reistetter, Timothy A.

2016-01-01

In this paper, we analyze the correlations between four clinical measures (Fugl–Meyer upper extremity scale, Motor Activity Log, Action Research Arm Test, and Jebsen-Taylor Hand Function Test) and four robotic measures (smoothness of movement, trajectory error, average number of target hits per minute, and mean tangential speed), used to assess motor recovery. Data were gathered as part of a hybrid robotic and traditional upper extremity rehabilitation program for nine stroke patients. Smoothness of movement and trajectory error, temporally and spatially normalized measures of movement quality defined for point-to-point movements, were found to have significant moderate to strong correlations with all four of the clinical measures. The strong correlations suggest that smoothness of movement and trajectory error may be used to compare outcomes of different rehabilitation protocols and devices effectively, provide improved resolution for tracking patient progress compared to only pre-and post-treatment measurements, enable accurate adaptation of therapy based on patient progress, and deliver immediate and useful feedback to the patient and therapist. PMID:20388607

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

NASA Astrophysics Data System (ADS)

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

2017-05-01

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

Amelioration de la precision d'un bras robotise pour une application d'ebavurage

NASA Astrophysics Data System (ADS)

Mailhot, David

Process automation is a more and more referred solution when it comes to complex, tedious or even dangerous tasks for human. Flexibility, low cost and compactness make industrial robots very attractive for automation. Even if many developments have been made to enhance robot's performances, they still can not meet some industries requirements. For instance, aerospace industry requires very tight tolerances on a large variety of parts, which is not what robots were designed for at first. When it comes to robotic deburring, robot imprecision is a major problem that needs to be addressed before it can be implemented in production. This master's thesis explores different calibration techniques for robot's dimensions that could overcome the problem and make the robotic deburring application possible. Some calibration techniques that are easy to implement in production environment are simulated and compared. A calibration technique for tool's dimensions is simulated and implemented to evaluate its potential. The most efficient technique will be used within the application. Finally, the production environment and requirements are explained. The remaining imprecision will be compensated by the use of a force/torque sensor integrated with the robot's controller and by the use of a camera. Many tests are made to define the best parameters to use to deburr a specific feature on a chosen part. Concluding tests are shown and demonstrate the potential use of robotic deburring. Keywords: robotic calibration, robotic arm, robotic precision, robotic deburring

Feasibility of the adaptive and automatic presentation of tasks (ADAPT) system for rehabilitation of upper extremity function post-stroke.

PubMed

Choi, Younggeun; Gordon, James; Park, Hyeshin; Schweighofer, Nicolas

2011-08-03

Current guidelines for rehabilitation of arm and hand function after stroke recommend that motor training focus on realistic tasks that require reaching and manipulation and engage the patient intensively, actively, and adaptively. Here, we investigated the feasibility of a novel robotic task-practice system, ADAPT, designed in accordance with such guidelines. At each trial, ADAPT selects a functional task according to a training schedule and with difficulty based on previous performance. Once the task is selected, the robot picks up and presents the corresponding tool, simulates the dynamics of the tasks, and the patient interacts with the tool to perform the task. Five participants with chronic stroke with mild to moderate impairments (> 9 months post-stroke; Fugl-Meyer arm score 49.2 ± 5.6) practiced four functional tasks (selected out of six in a pre-test) with ADAPT for about one and half hour and 144 trials in a pseudo-random schedule of 3-trial blocks per task. No adverse events occurred and ADAPT successfully presented the six functional tasks without human intervention for a total of 900 trials. Qualitative analysis of trajectories showed that ADAPT simulated the desired task dynamics adequately, and participants reported good, although not excellent, task fidelity. During training, the adaptive difficulty algorithm progressively increased task difficulty leading towards an optimal challenge point based on performance; difficulty was then continuously adjusted to keep performance around the challenge point. Furthermore, the time to complete all trained tasks decreased significantly from pretest to one-hour post-test. Finally, post-training questionnaires demonstrated positive patient acceptance of ADAPT. ADAPT successfully provided adaptive progressive training for multiple functional tasks based on participant's performance. Our encouraging results establish the feasibility of ADAPT; its efficacy will next be tested in a clinical trial.

Detection and Tracking of Dynamic Objects by Using a Multirobot System: Application to Critical Infrastructures Surveillance

PubMed Central

Rodríguez-Canosa, Gonzalo; Giner, Jaime del Cerro; Barrientos, Antonio

2014-01-01

The detection and tracking of mobile objects (DATMO) is progressively gaining importance for security and surveillance applications. This article proposes a set of new algorithms and procedures for detecting and tracking mobile objects by robots that work collaboratively as part of a multirobot system. These surveillance algorithms are conceived of to work with data provided by long distance range sensors and are intended for highly reliable object detection in wide outdoor environments. Contrary to most common approaches, in which detection and tracking are done by an integrated procedure, the approach proposed here relies on a modular structure, in which detection and tracking are carried out independently, and the latter might accept input data from different detection algorithms. Two movement detection algorithms have been developed for the detection of dynamic objects by using both static and/or mobile robots. The solution to the overall problem is based on the use of a Kalman filter to predict the next state of each tracked object. Additionally, new tracking algorithms capable of combining dynamic objects lists coming from either one or various sources complete the solution. The complementary performance of the separated modular structure for detection and identification is evaluated and, finally, a selection of test examples discussed. PMID:24526305

A Single LiDAR-Based Feature Fusion Indoor Localization Algorithm.

PubMed

Wang, Yun-Ting; Peng, Chao-Chung; Ravankar, Ankit A; Ravankar, Abhijeet

2018-04-23

In past years, there has been significant progress in the field of indoor robot localization. To precisely recover the position, the robots usually relies on multiple on-board sensors. Nevertheless, this affects the overall system cost and increases computation. In this research work, we considered a light detection and ranging (LiDAR) device as the only sensor for detecting surroundings and propose an efficient indoor localization algorithm. To attenuate the computation effort and preserve localization robustness, a weighted parallel iterative closed point (WP-ICP) with interpolation is presented. As compared to the traditional ICP, the point cloud is first processed to extract corners and line features before applying point registration. Later, points labeled as corners are only matched with the corner candidates. Similarly, points labeled as lines are only matched with the lines candidates. Moreover, their ICP confidence levels are also fused in the algorithm, which make the pose estimation less sensitive to environment uncertainties. The proposed WP-ICP architecture reduces the probability of mismatch and thereby reduces the ICP iterations. Finally, based on given well-constructed indoor layouts, experiment comparisons are carried out under both clean and perturbed environments. It is shown that the proposed method is effective in significantly reducing computation effort and is simultaneously able to preserve localization precision.

A Single LiDAR-Based Feature Fusion Indoor Localization Algorithm

PubMed Central

Wang, Yun-Ting; Peng, Chao-Chung; Ravankar, Ankit A.; Ravankar, Abhijeet

2018-01-01

In past years, there has been significant progress in the field of indoor robot localization. To precisely recover the position, the robots usually relies on multiple on-board sensors. Nevertheless, this affects the overall system cost and increases computation. In this research work, we considered a light detection and ranging (LiDAR) device as the only sensor for detecting surroundings and propose an efficient indoor localization algorithm. To attenuate the computation effort and preserve localization robustness, a weighted parallel iterative closed point (WP-ICP) with interpolation is presented. As compared to the traditional ICP, the point cloud is first processed to extract corners and line features before applying point registration. Later, points labeled as corners are only matched with the corner candidates. Similarly, points labeled as lines are only matched with the lines candidates. Moreover, their ICP confidence levels are also fused in the algorithm, which make the pose estimation less sensitive to environment uncertainties. The proposed WP-ICP architecture reduces the probability of mismatch and thereby reduces the ICP iterations. Finally, based on given well-constructed indoor layouts, experiment comparisons are carried out under both clean and perturbed environments. It is shown that the proposed method is effective in significantly reducing computation effort and is simultaneously able to preserve localization precision. PMID:29690624

Incorporating haptic effects into three-dimensional virtual environments to train the hemiparetic upper extremity

PubMed Central

Adamovich, Sergei; Fluet, Gerard G.; Merians, Alma S.; Mathai, Abraham; Qiu, Qinyin

2010-01-01

Current neuroscience has identified several constructs to increase the effectiveness of upper extremity rehabilitation. One is the use of progressive, skill acquisition-oriented training. Another approach emphasizes the use of bilateral activities. Building on these principles, this paper describes the design and feasibility testing of a robotic / virtual environment system designed to train the arm of persons who have had strokes. The system provides a variety of assistance modes, scalable workspaces and hand-robot interfaces allowing persons with strokes to train multiple joints in three dimensions. The simulations utilize assistance algorithms that adjust task difficulty both online and offline in relation to subject performance. Several distinctive haptic effects have been incorporated into the simulations. An adaptive master-slave relationship between the unimpaired and impaired arm encourages active movement of the subject's hemiparetic arm during a bimanual task. Adaptive anti-gravity support and damping stabilize the arm during virtual reaching and placement tasks. An adaptive virtual spring provides assistance to complete the movement if the subject is unable to complete the task in time. Finally, haptically rendered virtual objects help to shape the movement trajectory during a virtual placement task. A proof of concept study demonstrated this system to be safe, feasible and worthy of further study. PMID:19666345

Designing and implementing transparency for real time inspection of autonomous robots

NASA Astrophysics Data System (ADS)

Theodorou, Andreas; Wortham, Robert H.; Bryson, Joanna J.

2017-07-01

The EPSRC's Principles of Robotics advises the implementation of transparency in robotic systems, however research related to AI transparency is in its infancy. This paper introduces the reader of the importance of having transparent inspection of intelligent agents and provides guidance for good practice when developing such agents. By considering and expanding upon other prominent definitions found in literature, we provide a robust definition of transparency as a mechanism to expose the decision-making of a robot. The paper continues by addressing potential design decisions developers need to consider when designing and developing transparent systems. Finally, we describe our new interactive intelligence editor, designed to visualise, develop and debug real-time intelligence.

Characteristics of locomotion efficiency of an expanding-extending robotic endoscope in the intestinal environment.

PubMed

He, Shu; Yan, Guozheng; Wang, Zhiwu; Gao, Jinyang; Yang, Kai

2015-07-01

Robotic endoscopes with locomotion ability are among the most promising alternatives to traditional endoscopes; the locomotion ability is an important factor when evaluating the performance of the robot. This article describes the research on the characteristics of an expanding-extending robotic endoscope's locomotion efficiency in real intestine and explores an approach to improve the locomotion ability in this environment. In the article, the robot's locomotion efficiency was first calculated according to its gait in the gut, and the reasons for step losses were analyzed. Next, dynamical models of the robot and the intestine were built to calculate the step losses caused by failed anchoring and intestinal compression/extension. Based on the models and the calculation results, methods for reducing step losses were proposed. Finally, a series of ex vivo experiments were carried out, and the actual locomotion efficiency of the robot was analyzed on the basis of the theoretical models. In the experiment, on a level platform, the locomotion efficiency of the robot varied between 34.2% and 63.7%; the speed of the robot varied between 0.62 and 1.29 mm/s. The robot's efficiency when climbing a sloping intestine was also tested and analyzed. The proposed theoretical models and experimental results provide a good reference for improving the design of robotic endoscopy. © IMechE 2015.

Research and development of service robot platform based on artificial psychology

NASA Astrophysics Data System (ADS)

Zhang, Xueyuan; Wang, Zhiliang; Wang, Fenhua; Nagai, Masatake

2007-12-01

Some related works about the control architecture of robot system are briefly summarized. According to the discussions above, this paper proposes control architecture of service robot based on artificial psychology. In this control architecture, the robot can obtain the cognition of environment through sensors, and then be handled with intelligent model, affective model and learning model, and finally express the reaction to the outside stimulation through its behavior. For better understanding the architecture, hierarchical structure is also discussed. The control system of robot can be divided into five layers, namely physical layer, drives layer, information-processing and behavior-programming layer, application layer and system inspection and control layer. This paper shows how to achieve system integration from hardware modules, software interface and fault diagnosis. Embedded system GENE-8310 is selected as the PC platform of robot APROS-I, and its primary memory media is CF card. The arms and body of the robot are constituted by 13 motors and some connecting fittings. Besides, the robot has a robot head with emotional facial expression, and the head has 13 DOFs. The emotional and intelligent model is one of the most important parts in human-machine interaction. In order to better simulate human emotion, an emotional interaction model for robot is proposed according to the theory of need levels of Maslom and mood information of Siminov. This architecture has already been used in our intelligent service robot.

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

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

Smith, C.; Lightman, A.

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

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

ERIC Educational Resources Information Center

Howell, Richard

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

Development of Articulated Competency-Based Curriculum in Automated Systems/Robotics Technology. Final Report.

ERIC Educational Resources Information Center

Luzerne County Community Coll., Nanticoke, PA.

A project was conducted at the Community College of Luzerne County (Pennsylvania) to develop, in cooperation with area vocational-technical schools, the first year of a competency-based curriculum in automated systems/robotics. Existing programs were reviewed by the task force and a list of sample competencies was developed and sent to area…

Developing Teachers' Computational Thinking Beliefs and Engineering Practices through Game Design and Robotics

ERIC Educational Resources Information Center

Leonard, Jacqueline; Barnes-Johnson, Joy; Mitchell, Monica; Unertl, Adrienne; Stubbe, Christopher R.; Ingraham, Latanya

2017-01-01

This research report presents the final year results of a three-year research project on computational thinking (CT). The project, funded by the National Science Foundation, involved training teachers in grades four through six to implement Scalable Game Design and LEGO® EV3 robotics during afterschool clubs. Thirty teachers and 531 students took…

Development of Articulated Competency-Based Curriculum in Automated Systems/Robotics Technology. Final Report.

ERIC Educational Resources Information Center

Luzerne County Community Coll., Nanticoke, PA.

The project described in this report was conducted at the Community College of Luzerne County (Pennsylvania) to develop, in conjunction with area vocational-technical schools, the second year of a competency-based curriculum in automated systems/robotics technology. During the project, a task force of teachers from the area schools and the college…

An assembly system based on industrial robot with binocular stereo vision

NASA Astrophysics Data System (ADS)

Tang, Hong; Xiao, Nanfeng

2017-01-01

This paper proposes an electronic part and component assembly system based on an industrial robot with binocular stereo vision. Firstly, binocular stereo vision with a visual attention mechanism model is used to get quickly the image regions which contain the electronic parts and components. Secondly, a deep neural network is adopted to recognize the features of the electronic parts and components. Thirdly, in order to control the end-effector of the industrial robot to grasp the electronic parts and components, a genetic algorithm (GA) is proposed to compute the transition matrix and the inverse kinematics of the industrial robot (end-effector), which plays a key role in bridging the binocular stereo vision and the industrial robot. Finally, the proposed assembly system is tested in LED component assembly experiments, and the results denote that it has high efficiency and good applicability.

Real and virtual robotics in mathematics education at the school-university transition

NASA Astrophysics Data System (ADS)

Samuels, Peter; Haapasalo, Lenni

2012-04-01

LOGO and turtle graphics were an influential movement in primary school mathematics education in the 1980s and 1990s. Since then, technology has moved forward, both in terms of its sophistication and pedagogical potential; and learner experiences, preferences and ways of thinking have changed dramatically. Based on the authors' previous work and a literature review, this article revisits the subject of enhancing mathematics education through educational robotics kits and virtual robotic animations by proposing their simultaneous deployment at the school-university transition. The rationale for such an application is argued and an evaluation framework for these technologies is proposed. Two educational robotic kits and a virtual environment supporting robotic animations are evaluated both in terms of their feasibility of deployment and their educational effectiveness. Finally, the evaluation of learning experiences when deploying the proposed pedagogical approach is discussed.

Development of wall climbing robot

NASA Astrophysics Data System (ADS)

Kojima, Hisao; Toyama, Ryousei; Kobayashi, Kengo

1992-03-01

A configuration design is presented for a wall-climbing robot with high payload which is capable of moving on diversified surfaces of walls including the wall surface to ceilings in every direction. A developed quadruped wall climbing robot, NINJYA-1, is introduced. NINJYA-1 is composed of legs based on a 3D parallel link mechanism and a VM (Valve-regulated Multiple) sucker which will be able to suck even if there are grooves and a small difference in level. A wall climbing robot which supports rescue operation at a high building using a VM sucker is also introduced. Finally, a wall climbing robot named Disk Rover with a disk-type magnetic wheel is shown. The wheel shape is calculated by FEM. The disk-type magnetic wheel has a force three times more powerful than the one heretofore in use.

Final matches of the FIRST regional robotic competition at KSC

NASA Technical Reports Server (NTRS)

1999-01-01

Student teams behind protective walls operate remote controls to maneuver their robots around the playing field during the 1999 FIRST Southeastern Regional robotic competition held at KSC. The robotic gladiators spent two minutes each trying to grab, claw and hoist large, satin pillows onto their machines. Teams played defense by taking away competitors' pillows and generally harassing opposing machines. On the side of the field are the judges, including (far left) Deputy Director for Launch and Payload Processing Loren Shriver and former KSC Director of Shuttle Processing Robert Sieck. A giant screen TV displays the action on the field. The competition comprised 27 teams, pairing high school students with engineer mentors and corporations. The FIRST robotics competition is designed to provide students with a hands-on, inside look at engineering and other professional careers.

Autonomous planetary rover

NASA Astrophysics Data System (ADS)

Krotkov, Eric; Simmons, Reid; Whittaker, William

1992-02-01

This report describes progress in research on an autonomous robot for planetary exploration performed during 1991 at the Robotics Institute, Carnegie Mellon University. The report summarizes the achievements during calendar year 1991, and lists personnel and publications. In addition, it includes several papers resulting from the research. Research in 1991 focused on understanding the unique capabilities of the Ambler mechanism and on autonomous walking in rough, natural terrain. We also designed a sample acquisition system, and began to configure a successor to the Ambler.

Swarmathon 2018

NASA Image and Video Library

2018-04-17

Students from Montgomery College in Rockville in Maryland, follow the progress of their Swarmie robots during the Swarmathon competition at the Kennedy Space Center Visitor Complex. Students were asked to develop computer code for the small robots, programming them to look for "resources" in the form of AprilTag cubes, similar to barcodes. Teams developed search algorithms for the Swarmies to operate autonomously, communicating and interacting as a collective swarm similar to ants foraging for food. In the spaceport's third annual Swarmathon, 23 teams represented 24 minority serving universities and community colleges were invited to develop software code to operate these innovative robots known as "Swarmies" to help find resources when astronauts explore distant locations, such as the Moon or Mars.

Multiscale modelling and analysis of collective decision making in swarm robotics.

PubMed

Vigelius, Matthias; Meyer, Bernd; Pascoe, Geoffrey

2014-01-01

We present a unified approach to describing certain types of collective decision making in swarm robotics that bridges from a microscopic individual-based description to aggregate properties. Our approach encompasses robot swarm experiments, microscopic and probabilistic macroscopic-discrete simulations as well as an analytic mathematical model. Following up on previous work, we identify the symmetry parameter, a measure of the progress of the swarm towards a decision, as a fundamental integrated swarm property and formulate its time evolution as a continuous-time Markov process. Contrary to previous work, which justified this approach only empirically and a posteriori, we justify it from first principles and derive hard limits on the parameter regime in which it is applicable.

Recent Advances in Liquid Metal Manipulation toward Soft Robotics and Biotechnologies.

PubMed

Yu, Yue; Miyako, Eijiro

2018-04-06

Interest has grown significantly in the field of soft robotics, which seeks to develop machinery capable of duplicating the elastic and rheological properties of typically polymeric or elastomeric biological tissues and organs. As a result of a number of unique properties, gallium-based liquid metals (LMs) are emerging as materials used in the forefront of soft robotics research. Finding methods to enable the sophisticated manipulation of LMs will be essential for further progress in the field. This review provides a critical discussion of the manipulation of LMs and on important biotechnological applications of LMs including microfluidics, healthcare devices, biomaterials, and nanomedicines. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

Externalising moods and psychological states in a cloud based system to enhance a pet-robot and child's interaction.

PubMed

Larriba, Ferran; Raya, Cristóbal; Angulo, Cecilio; Albo-Canals, Jordi; Díaz, Marta; Boldú, Roger

2016-07-15

This PATRICIA research project is about using pet robots to reduce pain and anxiety in hospitalized children. The study began 2 years ago and it is believed that the advances made in this project are significant. Patients, parents, nurses, psychologists, and engineers have adopted the Pleo robot, a baby dinosaur robotic pet, which works in different ways to assist children during hospitalization. Focus is spent on creating a wireless communication system with the Pleo in order to help the coordinator, who conducts therapy with the child, monitor, understand, and control Pleo's behavior at any moment. This article reports how this technological function is being developed and tested. Wireless communication between the Pleo and an Android device is achieved. The developed Android app allows the user to obtain any state of the robot without stopping its interaction with the patient. Moreover, information is sent to a cloud, so that robot moods, states and interactions can be shared among different robots. Pleo attachment was successful for more than 1 month, working with children in therapy, which makes the investment capable of positive therapeutic possibilities. This technical improvement in the Pleo addresses two key issues in social robotics: needing an enhanced response to maintain the attention and engagement of the child, and using the system as a platform to collect the states of the child's progress for clinical purposes.

Long-term knowledge acquisition using contextual information in a memory-inspired robot architecture

NASA Astrophysics Data System (ADS)

Pratama, Ferdian; Mastrogiovanni, Fulvio; Lee, Soon Geul; Chong, Nak Young

2017-03-01

In this paper, we present a novel cognitive framework allowing a robot to form memories of relevant traits of its perceptions and to recall them when necessary. The framework is based on two main principles: on the one hand, we propose an architecture inspired by current knowledge in human memory organisation; on the other hand, we integrate such an architecture with the notion of context, which is used to modulate the knowledge acquisition process when consolidating memories and forming new ones, as well as with the notion of familiarity, which is employed to retrieve proper memories given relevant cues. Although much research has been carried out, which exploits Machine Learning approaches to provide robots with internal models of their environment (including objects and occurring events therein), we argue that such approaches may not be the right direction to follow if a long-term, continuous knowledge acquisition is to be achieved. As a case study scenario, we focus on both robot-environment and human-robot interaction processes. In case of robot-environment interaction, a robot performs pick and place movements using the objects in the workspace, at the same time observing their displacement on a table in front of it, and progressively forms memories defined as relevant cues (e.g. colour, shape or relative position) in a context-aware fashion. As far as human-robot interaction is concerned, the robot can recall specific snapshots representing past events using both sensory information and contextual cues upon request by humans.

Child-Robot Interactions for Second Language Tutoring to Preschool Children

PubMed Central

Vogt, Paul; de Haas, Mirjam; de Jong, Chiara; Baxter, Peta; Krahmer, Emiel

2017-01-01

In this digital age social robots will increasingly be used for educational purposes, such as second language tutoring. In this perspective article, we propose a number of design features to develop a child-friendly social robot that can effectively support children in second language learning, and we discuss some technical challenges for developing these. The features we propose include choices to develop the robot such that it can act as a peer to motivate the child during second language learning and build trust at the same time, while still being more knowledgeable than the child and scaffolding that knowledge in adult-like manner. We also believe that the first impressions children have about robots are crucial for them to build trust and common ground, which would support child-robot interactions in the long term. We therefore propose a strategy to introduce the robot in a safe way to toddlers. Other features relate to the ability to adapt to individual children’s language proficiency, respond contingently, both temporally and semantically, establish joint attention, use meaningful gestures, provide effective feedback and monitor children’s learning progress. Technical challenges we observe include automatic speech recognition (ASR) for children, reliable object recognition to facilitate semantic contingency and establishing joint attention, and developing human-like gestures with a robot that does not have the same morphology humans have. We briefly discuss an experiment in which we investigate how children respond to different forms of feedback the robot can give. PMID:28303094

Soft robotics: a review and progress towards faster and higher torque actuators (presentation video)

NASA Astrophysics Data System (ADS)

Shepherd, Robert

2014-03-01

Last year, nearly 160,000 industrial robots were shipped worldwide—into a total market valued at 26 Bn (including hardware, software, and peripherals).[1] Service robots for professional (e.g., defense, medical, agriculture) and personal (e.g., household, handicap assistance, toys, and education) use accounted for 16,000 units, 3.4 Bn and 3,000,000 units, $1.2 Bn respectively.[1] The vast majority of these robotic systems use fully actuated, rigid components that take little advantage of passive dynamics. Soft robotics is a field that is taking advantage of compliant actuators and passive dynamics to achieve several goals: reduced design, manufacturing and control complexity, improved energy efficiency, more sophisticated motions, and safe human-machine interactions to name a few. The potential for societal impact is immense. In some instances, soft actuators have achieved commercial success; however, large scale adoption will require improved methods of controlling non-linear systems, greater reliability in their function, and increased utility from faster and more forceful actuation. In my talk, I will describe efforts from my work in the Whitesides group at Harvard to prove sophisticated motions in these machines using simple controls, as well capabilities unique to soft machines. I will also describe the potential for combinations of different classes of soft actuators (e.g., electrically and pneumatically actuated systems) to improve the utility of soft robots. 1. World Robotics - Industrial Robots 2013, 2013, International Federation of Robotics.

Child-Robot Interactions for Second Language Tutoring to Preschool Children.

PubMed

Vogt, Paul; de Haas, Mirjam; de Jong, Chiara; Baxter, Peta; Krahmer, Emiel

2017-01-01

In this digital age social robots will increasingly be used for educational purposes, such as second language tutoring. In this perspective article, we propose a number of design features to develop a child-friendly social robot that can effectively support children in second language learning, and we discuss some technical challenges for developing these. The features we propose include choices to develop the robot such that it can act as a peer to motivate the child during second language learning and build trust at the same time, while still being more knowledgeable than the child and scaffolding that knowledge in adult-like manner. We also believe that the first impressions children have about robots are crucial for them to build trust and common ground, which would support child-robot interactions in the long term. We therefore propose a strategy to introduce the robot in a safe way to toddlers. Other features relate to the ability to adapt to individual children's language proficiency, respond contingently, both temporally and semantically, establish joint attention, use meaningful gestures, provide effective feedback and monitor children's learning progress. Technical challenges we observe include automatic speech recognition (ASR) for children, reliable object recognition to facilitate semantic contingency and establishing joint attention, and developing human-like gestures with a robot that does not have the same morphology humans have. We briefly discuss an experiment in which we investigate how children respond to different forms of feedback the robot can give.

Simulation tools for robotics research and assessment

NASA Astrophysics Data System (ADS)

Fields, MaryAnne; Brewer, Ralph; Edge, Harris L.; Pusey, Jason L.; Weller, Ed; Patel, Dilip G.; DiBerardino, Charles A.

2016-05-01

The Robotics Collaborative Technology Alliance (RCTA) program focuses on four overlapping technology areas: Perception, Intelligence, Human-Robot Interaction (HRI), and Dexterous Manipulation and Unique Mobility (DMUM). In addition, the RCTA program has a requirement to assess progress of this research in standalone as well as integrated form. Since the research is evolving and the robotic platforms with unique mobility and dexterous manipulation are in the early development stage and very expensive, an alternate approach is needed for efficient assessment. Simulation of robotic systems, platforms, sensors, and algorithms, is an attractive alternative to expensive field-based testing. Simulation can provide insight during development and debugging unavailable by many other means. This paper explores the maturity of robotic simulation systems for applications to real-world problems in robotic systems research. Open source (such as Gazebo and Moby), commercial (Simulink, Actin, LMS), government (ANVEL/VANE), and the RCTA-developed RIVET simulation environments are examined with respect to their application in the robotic research domains of Perception, Intelligence, HRI, and DMUM. Tradeoffs for applications to representative problems from each domain are presented, along with known deficiencies and disadvantages. In particular, no single robotic simulation environment adequately covers the needs of the robotic researcher in all of the domains. Simulation for DMUM poses unique constraints on the development of physics-based computational models of the robot, the environment and objects within the environment, and the interactions between them. Most current robot simulations focus on quasi-static systems, but dynamic robotic motion places an increased emphasis on the accuracy of the computational models. In order to understand the interaction of dynamic multi-body systems, such as limbed robots, with the environment, it may be necessary to build component-level computational models to provide the necessary simulation fidelity for accuracy. However, the Perception domain remains the most problematic for adequate simulation performance due to the often cartoon nature of computer rendering and the inability to model realistic electromagnetic radiation effects, such as multiple reflections, in real-time.

Controlling the autonomy of a reconnaissance robot

NASA Astrophysics Data System (ADS)

Dalgalarrondo, Andre; Dufourd, Delphine; Filliat, David

2004-09-01

In this paper, we present our research on the control of a mobile robot for indoor reconnaissance missions. Based on previous work concerning our robot control architecture HARPIC, we have developed a man machine interface and software components that allow a human operator to control a robot at different levels of autonomy. This work aims at studying how a robot could be helpful in indoor reconnaissance and surveillance missions in hostile environment. In such missions, since a soldier faces many threats and must protect himself while looking around and holding his weapon, he cannot devote his attention to the teleoperation of the robot. Moreover, robots are not yet able to conduct complex missions in a fully autonomous mode. Thus, in a pragmatic way, we have built a software that allows dynamic swapping between control modes (manual, safeguarded and behavior-based) while automatically performing map building and localization of the robot. It also includes surveillance functions like movement detection and is designed for multirobot extensions. We first describe the design of our agent-based robot control architecture and discuss the various ways to control and interact with a robot. The main modules and functionalities implementing those ideas in our architecture are detailed. More precisely, we show how we combine manual controls, obstacle avoidance, wall and corridor following, way point and planned travelling. Some experiments on a Pioneer robot equipped with various sensors are presented. Finally, we suggest some promising directions for the development of robots and user interfaces for hostile environment and discuss our planned future improvements.

Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU

PubMed Central

Dou, Lihua; Su, Zhong; Liu, Ning

2018-01-01

A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot’s motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS) Inertial-Measurement-Unit (IMU). First, it studies the snake robot’s motion characteristics, builds the kinematics model, and then analyses the motion constraint characteristics and motion error propagation properties. Second, it explores the snake robot’s navigation layout, proposes a constraint criterion and the fixed relationship, and makes zero-state constraints based on the motion features and control modes of a snake robot. Finally, it realizes autonomous navigation positioning based on the Extended-Kalman-Filter (EKF) position estimation method under the constraints of its motion characteristics. With the self-developed snake robot, the test verifies the proposed method, and the position error is less than 5% of Total-Traveled-Distance (TDD). In a short-distance environment, this method is able to meet the requirements of a snake robot in order to perform autonomous navigation and positioning in traditional applications and can be extended to other familiar multi-link robots. PMID:29547515

Use of 3D vision for fine robot motion

NASA Technical Reports Server (NTRS)

Lokshin, Anatole; Litwin, Todd

1989-01-01

An integration of 3-D vision systems with robot manipulators will allow robots to operate in a poorly structured environment by visually locating targets and obstacles. However, by using computer vision for objects acquisition makes the problem of overall system calibration even more difficult. Indeed, in a CAD based manipulation a control architecture has to find an accurate mapping between the 3-D Euclidean work space and a robot configuration space (joint angles). If a stereo vision is involved, then one needs to map a pair of 2-D video images directly into the robot configuration space. Neural Network approach aside, a common solution to this problem is to calibrate vision and manipulator independently, and then tie them via common mapping into the task space. In other words, both vision and robot refer to some common Absolute Euclidean Coordinate Frame via their individual mappings. This approach has two major difficulties. First a vision system has to be calibrated over the total work space. And second, the absolute frame, which is usually quite arbitrary, has to be the same with a high degree of precision for both robot and vision subsystem calibrations. The use of computer vision to allow robust fine motion manipulation in a poorly structured world which is currently in progress is described along with the preliminary results and encountered problems.

A lightweight, inexpensive robotic system for insect vision.

PubMed

Sabo, Chelsea; Chisholm, Robert; Petterson, Adam; Cope, Alex

2017-09-01

Designing hardware for miniaturized robotics which mimics the capabilities of flying insects is of interest, because they share similar constraints (i.e. small size, low weight, and low energy consumption). Research in this area aims to enable robots with similarly efficient flight and cognitive abilities. Visual processing is important to flying insects' impressive flight capabilities, but currently, embodiment of insect-like visual systems is limited by the hardware systems available. Suitable hardware is either prohibitively expensive, difficult to reproduce, cannot accurately simulate insect vision characteristics, and/or is too heavy for small robotic platforms. These limitations hamper the development of platforms for embodiment which in turn hampers the progress on understanding of how biological systems fundamentally work. To address this gap, this paper proposes an inexpensive, lightweight robotic system for modelling insect vision. The system is mounted and tested on a robotic platform for mobile applications, and then the camera and insect vision models are evaluated. We analyse the potential of the system for use in embodiment of higher-level visual processes (i.e. motion detection) and also for development of navigation based on vision for robotics in general. Optic flow from sample camera data is calculated and compared to a perfect, simulated bee world showing an excellent resemblance. Copyright © 2017 The Authors. Published by Elsevier Ltd.. All rights reserved.

A study of the passive gait of a compass-like biped robot: Symmetry and chaos

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

Goswami, A.; Espiau, B.; Thuilot, B.

1998-12-01

The focus of this work is a systematic study of the passive gait of a compass-like planar, biped robot on inclined slopes. The robot is kinematically equivalent to a double pendulum, possessing two kneeless legs with point masses and a third point mass at the hip joint. Three parameters, namely, the ground-slope angle and the normalized mass and length of the robot describe its gait. The authors show that in response to a continuous change in any one of its parameters, the symmetric and steady stable gait of the unpowered robot gradually evolves through a regime of bifurcations characterized bymore » progressively complicated asymmetric gaits, eventually arriving at an apparently chaotic gait where not two steps are identical. The robot can maintain this gait indefinitely. A necessary (but not sufficient) condition for the stability of such gaits is the contraction of the phase-fluid volume. For this frictionless robot, the volume contraction, which the authors compute, is caused by the dissipative effects of the ground-impact model. In the chaotic regime, the fractal dimension of the robot`s strange attractor (2.07) compared to its state-space dimension (4) also reveals strong contraction. The authors present a novel graphical technique based on the first return map that compactly captures the entire evolution of the gait, from symmetry to chaos. Additional passive dissipative elements in the robot joint results in a significant improvement in the stability and the versatility of the gait, and provide a rich repertoire for simple controls laws.« less

Study and Analysis of The Robot-Operated Material Processing Systems (ROMPS)

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.

1996-01-01

This is a report presenting the progress of a research grant funded by NASA for work performed during 1 Oct. 1994 - 31 Sep. 1995. The report deals with the development and investigation of potential use of software for data processing for the Robot Operated Material Processing System (ROMPS). It reports on the progress of data processing of calibration samples processed by ROMPS in space and on earth. First data were retrieved using the I/O software and manually processed using MicroSoft Excel. Then the data retrieval and processing process was automated using a program written in C which is able to read the telemetry data and produce plots of time responses of sample temperatures and other desired variables. LabView was also employed to automatically retrieve and process the telemetry data.

Experimental determination of dynamic parameters of an industrial robot

NASA Astrophysics Data System (ADS)

Banas, W.; Cwikła, G.; Foit, K.; Gwiazda, A.; Monica, Z.; Sekala, A.

2017-08-01

In an industry increasingly used are industrial robots. Commonly used are two basic methods of programming, on-line programming and off-line programming. In both cases, the programming consists in getting to the selected points record this position, and set the order of movement of the robot, and the introduction of logical tests. Such a program is easy to write, and it is suitable for most industrial applications. Especially when the process is known, respectively slow and unchanging. In this case, the program is being prepared for a universal model of the robot with the appropriate geometry and are checked only collisions. Is not taken into account the dynamics of the robot and how it will really behave while in motion. For this reason, the robot programmed to be tested at a reduced speed, which is raised gradually to the final value. Depending on the complexity of the move and the proximity of the elements it takes a lot of time. It is easy to notice that the robot at different speeds have different trajectories and behaves differently.

Space station automation: the role of robotics and artificial intelligence (Invited Paper)

NASA Astrophysics Data System (ADS)

Park, W. T.; Firschein, O.

1985-12-01

Automation of the space station is necessary to make more effective use of the crew, to carry out repairs that are impractical or dangerous, and to monitor and control the many space station subsystems. Intelligent robotics and expert systems play a strong role in automation, and both disciplines are highly dependent on a common artificial intelligence (Al) technology base. The AI technology base provides the reasoning and planning capabilities needed in robotic tasks, such as perception of the environment and planning a path to a goal, and in expert systems tasks, such as control of subsystems and maintenance of equipment. This paper describes automation concepts for the space station, the specific robotic and expert systems required to attain this automation, and the research and development required. It also presents an evolutionary development plan that leads to fully automatic mobile robots for servicing satellites. Finally, we indicate the sequence of demonstrations and the research and development needed to confirm the automation capabilities. We emphasize that advanced robotics requires AI, and that to advance, AI needs the "real-world" problems provided by robotics.

Memetic Engineering as a Basis for Learning in Robotic Communities

NASA Technical Reports Server (NTRS)

Truszkowski, Walter F.; Rouff, Christopher; Akhavannik, Mohammad H.

2014-01-01

This paper represents a new contribution to the growing literature on memes. While most memetic thought has been focused on its implications on humans, this paper speculates on the role that memetics can have on robotic communities. Though speculative, the concepts are based on proven advanced multi agent technology work done at NASA - Goddard Space Flight Center and Lockheed Martin. The paper is composed of the following sections : 1) An introductory section which gently leads the reader into the realm of memes. 2) A section on memetic engineering which addresses some of the central issues with robotic learning via memes. 3) A section on related work which very concisely identifies three other areas of memetic applications, i.e., news, psychology, and the study of human behaviors. 4) A section which discusses the proposed approach for realizing memetic behaviors in robots and robotic communities. 5) A section which presents an exploration scenario for a community of robots working on Mars. 6) A final section which discusses future research which will be required to realize a comprehensive science of robotic memetics.

A Biologically Inspired Cooperative Multi-Robot Control Architecture

NASA Technical Reports Server (NTRS)

Howsman, Tom; Craft, Mike; ONeil, Daniel; Howell, Joe T. (Technical Monitor)

2002-01-01

A prototype cooperative multi-robot control architecture suitable for the eventual construction of large space structures has been developed. In nature, there are numerous examples of complex architectures constructed by relatively simple insects, such as termites and wasps, which cooperatively assemble their nests. The prototype control architecture emulates this biological model. Actions of each of the autonomous robotic construction agents are only indirectly coordinated, thus mimicking the distributed construction processes of various social insects. The robotic construction agents perform their primary duties stigmergically i.e., without direct inter-agent communication and without a preprogrammed global blueprint of the final design. Communication and coordination between individual agents occurs indirectly through the sensed modifications that each agent makes to the structure. The global stigmergic building algorithm prototyped during the initial research assumes that the robotic builders only perceive the current state of the structure under construction. Simulation studies have established that an idealized form of the proposed architecture was indeed capable of producing representative large space structures with autonomous robots. This paper will explore the construction simulations in order to illustrate the multi-robot control architecture.

A Stigmergic Cooperative Multi-Robot Control Architecture

NASA Technical Reports Server (NTRS)

Howsman, Thomas G.; O'Neil, Daniel; Craft, Michael A.

2004-01-01

In nature, there are numerous examples of complex architectures constructed by relatively simple insects, such as termites and wasps, which cooperatively assemble their nests. A prototype cooperative multi-robot control architecture which may be suitable for the eventual construction of large space structures has been developed which emulates this biological model. Actions of each of the autonomous robotic construction agents are only indirectly coordinated, thus mimicking the distributed construction processes of various social insects. The robotic construction agents perform their primary duties stigmergically, i.e., without direct inter-agent communication and without a preprogrammed global blueprint of the final design. Communication and coordination between individual agents occurs indirectly through the sensed modifications that each agent makes to the structure. The global stigmergic building algorithm prototyped during the initial research assumes that the robotic builders only perceive the current state of the structure under construction. Simulation studies have established that an idealized form of the proposed architecture was indeed capable of producing representative large space structures with autonomous robots. This paper will explore the construction simulations in order to illustrate the multi-robot control architecture.

Design of a Compact Actuation and Control System for Flexible Medical Robots.

PubMed

Morimoto, Tania K; Hawkes, Elliot Wright; Okamura, Allison M

2017-07-01

Flexible medical robots can improve surgical procedures by decreasing invasiveness and increasing accessibility within the body. Using preoperative images, these robots can be designed to optimize a procedure for a particular patient. To minimize invasiveness and maximize biocompatibility, the actuation units of flexible medical robots should be placed fully outside the patient's body. In this letter, we present a novel, compact, lightweight, modular actuation, and control system for driving a class of these flexible robots, known as concentric tube robots. A key feature of the design is the use of three-dimensional printed waffle gears to enable compact control of two degrees of freedom within each module. We measure the precision and accuracy of a single actuation module and demonstrate the ability of an integrated set of three actuation modules to control six degrees of freedom. The integrated system drives a three-tube concentric tube robot to reach a final tip position that is on average less than 2 mm from a given target. In addition, we show a handheld manifestation of the device and present its potential applications.

Offline motion planning and simulation of two-robot welding coordination

NASA Astrophysics Data System (ADS)

Zhang, Tie; Ouyang, Fan

2012-03-01

This paper focuses on the two-robot welding coordination of complex curve seam which means one robot grasp the workpiece, the other hold the torch, the two robots work on the same workpiece simultaneously. This paper builds the dual-robot coordinate system at the beginning, and three point calibration method of two robots' relative base coordinate system is presented. After that, the non master/slave scheme is chosen for the motion planning, the non master/slave scheme sets the poses versus time function of the point u on the workpiece, and calculates the two robot end effecter trajectories through the constrained relationship matrix automatically. Moreover, downhand welding is employed which can guarantee the torch and the seam keep in good contact condition all the time during the welding. Finally, a Solidworks-Sim Mechanics simulation platform is established, and a simulation of curved steel pipe welding is conducted. The results of the simulation illustrate the welding process can meet the requirements of downhand welding, the joint displacement curves are smooth and continuous and no joint velocities are out of working scope.

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

PubMed

Chen, J Y C; Terrence, P I

2008-08-01

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

Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra.

PubMed

Fu, Zhongtao; Yang, Wenyu; Yang, Zhen

2013-08-01

In this paper, we present an efficient method based on geometric algebra for computing the solutions to the inverse kinematics problem (IKP) of the 6R robot manipulators with offset wrist. Due to the fact that there exist some difficulties to solve the inverse kinematics problem when the kinematics equations are complex, highly nonlinear, coupled and multiple solutions in terms of these robot manipulators stated mathematically, we apply the theory of Geometric Algebra to the kinematic modeling of 6R robot manipulators simply and generate closed-form kinematics equations, reformulate the problem as a generalized eigenvalue problem with symbolic elimination technique, and then yield 16 solutions. Finally, a spray painting robot, which conforms to the type of robot manipulators, is used as an example of implementation for the effectiveness and real-time of this method. The experimental results show that this method has a large advantage over the classical methods on geometric intuition, computation and real-time, and can be directly extended to all serial robot manipulators and completely automatized, which provides a new tool on the analysis and application of general robot manipulators.

Soft Robotics: Academic Insights and Perspectives Through Bibliometric Analysis.

PubMed

Bao, Guanjun; Fang, Hui; Chen, Lingfeng; Wan, Yuehua; Xu, Fang; Yang, Qinghua; Zhang, Libin

2018-06-01

Soft robotics is of growing interest in the robot community as well as in public media, and there is an increase in the quality and quantity of publications related to this topic. To formally elaborate this growth, we have used a bibliometric analysis to evaluate the publications in the field from 1990 to 2017 based on the Science Citation Index Expanded database. We present a detailed overview and discussion based on keywords, citation, h-index, year, journal, institution, country, author, and review articles. The results show that the United States takes the leading position in this research field, followed by China and Italy. Harvard University has the most publications, high average number of citations per publication and the highest h-index. IEEE Transactions on Robotics ranks first among the top 20 academic journals publishing articles related to this field, whereas Soft Robotics holds the top position in journals categorized with "ROBOTICS." Actuator, fabrication, control, material, sensing, simulation, bionics, stiffness, modeling, power, motion, and application are the hot topics of soft robotics. Smart materials, bionics, morphological computation, and embodiment control are expected to contribute to this field in the future. Application and commercialization appear to be the initial driving force and final goal for soft robots.

An assigned responsibility system for robotic teleoperation control.

PubMed

Small, Nicolas; Lee, Kevin; Mann, Graham

2018-01-01

This paper proposes an architecture that explores a gap in the spectrum of existing strategies for robot control mode switching in adjustable autonomy. In situations where the environment is reasonably known and/or predictable, pre-planning these control changes could relieve robot operators of the additional task of deciding when and how to switch. Such a strategy provides a clear division of labour between the automation and the human operator(s) before the job even begins, allowing for individual responsibilities to be known ahead of time, limiting confusion and allowing rest breaks to be planned. Assigned Responsibility is a new form of adjustable autonomy-based teleoperation that allows the selective inclusion of automated control elements at key stages of a robot operation plan's execution. Progression through these stages is controlled by automatic goal accomplishment tracking. An implementation is evaluated through engineering tests and a usability study, demonstrating the viability of this approach and offering insight into its potential applications.

Design and implementation air quality monitoring robot

NASA Astrophysics Data System (ADS)

Chen, Yuanhua; Li, Jie; Qi, Chunxue

2017-01-01

Robot applied in environmental protection can break through the limitations in working environment, scope and mode of the existing environmental monitoring and pollution abatement equipments, which undertake the innovation and improvement in the basin, atmosphere, emergency and pollution treatment facilities. Actually, the relevant technology is backward with limited research and investment. Though the device companies have achieved some results in the study on the water quality monitoring, pipeline monitoring and sewage disposal, this technological progress on the whole is still much slow, and the mature product has not been formed. As a result, the market urges a demand of a new type of device which is more suitable for environmental protection on the basis of robot successfully applied in other fields. This paper designs and realizes a tracked mobile robot of air quality monitoring, which can be used to monitor air quality for the pollution accident in industrial parks and regular management.

Cache-Aware Asymptotically-Optimal Sampling-Based Motion Planning.

PubMed

Ichnowski, Jeffrey; Prins, Jan F; Alterovitz, Ron

2014-05-01

We present CARRT* (Cache-Aware Rapidly Exploring Random Tree*), an asymptotically optimal sampling-based motion planner that significantly reduces motion planning computation time by effectively utilizing the cache memory hierarchy of modern central processing units (CPUs). CARRT* can account for the CPU's cache size in a manner that keeps its working dataset in the cache. The motion planner progressively subdivides the robot's configuration space into smaller regions as the number of configuration samples rises. By focusing configuration exploration in a region for periods of time, nearest neighbor searching is accelerated since the working dataset is small enough to fit in the cache. CARRT* also rewires the motion planning graph in a manner that complements the cache-aware subdivision strategy to more quickly refine the motion planning graph toward optimality. We demonstrate the performance benefit of our cache-aware motion planning approach for scenarios involving a point robot as well as the Rethink Robotics Baxter robot.

Dynamic Modelling Of A SCARA Robot

NASA Astrophysics Data System (ADS)

Turiel, J. Perez; Calleja, R. Grossi; Diez, V. Gutierrez

1987-10-01

This paper describes a method for modelling industrial robots that considers dynamic approach to manipulation systems motion generation, obtaining the complete dynamic model for the mechanic part of the robot and taking into account the dynamic effect of actuators acting at the joints. For a four degree of freedom SCARA robot we obtain the dynamic model for the basic (minimal) configuration, that is, the three degrees of freedom that allow us to place the robot end effector in a desired point, using the Lagrange Method to obtain the dynamic equations in matrix form. The manipulator is considered to be a set of rigid bodies inter-connected by joints in the form of simple kinematic pairs. Then, the state space model is obtained for the actuators that move the robot joints, uniting the models of the single actuators, that is, two DC permanent magnet servomotors and an electrohydraulic actuator. Finally, using a computer simulation program written in FORTRAN language, we can compute the matrices of the complete model.

A Force-Sensing System on Legs for Biomimetic Hexapod Robots Interacting with Unstructured Terrain

PubMed Central

Wu, Rui; Li, Changle; Zang, Xizhe; Zhang, Xuehe; Jin, Hongzhe; Zhao, Jie

2017-01-01

The tiger beetle can maintain its stability by controlling the interaction force between its legs and an unstructured terrain while it runs. The biomimetic hexapod robot mimics a tiger beetle, and a comprehensive force sensing system combined with certain algorithms can provide force information that can help the robot understand the unstructured terrain that it interacts with. This study introduces a complicated leg force sensing system for a hexapod robot that is the same for all six legs. First, the layout and configuration of sensing system are designed according to the structure and sizes of legs. Second, the joint toque sensors, 3-DOF foot-end force sensor and force information processing module are designed, and the force sensor performance parameters are tested by simulations and experiments. Moreover, a force sensing system is implemented within the robot control architecture. Finally, the experimental evaluation of the leg force sensor system on the hexapod robot is discussed and the performance of the leg force sensor system is verified. PMID:28654003

Controlling legs for locomotion-insights from robotics and neurobiology.

PubMed

Buschmann, Thomas; Ewald, Alexander; von Twickel, Arndt; Büschges, Ansgar

2015-06-29

Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in neurobiology and robotics, with a large and growing body of work. This paper gives an overview of the current knowledge on the control of legged locomotion in animals and machines and attempts to give walking control researchers from biology and robotics an overview of the current knowledge in both fields. We try to summarize the knowledge on the neurobiological basis of walking control in animals, emphasizing common principles seen in different species. In a section on walking robots, we review common approaches to walking controller design with a slight emphasis on biped walking control. We show where parallels between robotic and neurobiological walking controllers exist and how robotics and biology may benefit from each other. Finally, we discuss where research in the two fields diverges and suggest ways to bridge these gaps.

The current status of robot-assisted radical prostatectomy

PubMed Central

Dasgupta, Prokar; Kirby, Roger S.

2009-01-01

Robot-assisted radical prostatectomy (RARP) is a rapidly evolving technique for the treatment of localized prostate cancer. In the United States, over 65% of radical prostatectomies are robot-assisted, although the acceptance of this technology in Europe and the rest of the world has been somewhat slower. This article reviews the current literature on RARP with regard to oncological, continence and potency outcomes–the so-called 'trifecta'. Preliminary data appear to show an advantage of RARP over open prostatectomy, with reduced blood loss, decreased pain, early mobilization, shorter hospital stay and lower margin rates. Most studies show good postoperative continence and potency with RARP; however, this needs to be viewed in the context of the paucity of randomized data available in the literature. There is no definitive evidence to show an advantage over standard laparoscopy, but the fact that this technique has reached parity with laparoscopy within 5 years is encouraging. Finally, evolving techniques of single-port robotic prostatectomy, laser-guided robotics, catheter-free prostatectomy and image-guided robotics are discussed. PMID:19050687

Distributed finite-time trajectory tracking control for multiple nonholonomic mobile robots with uncertainties and external disturbances

NASA Astrophysics Data System (ADS)

Ou, Meiying; Sun, Haibin; Gu, Shengwei; Zhang, Yangyi

2017-11-01

This paper investigates the distributed finite-time trajectory tracking control for a group of nonholonomic mobile robots with time-varying unknown parameters and external disturbances. At first, the tracking error system is derived for each mobile robot with the aid of a global invertible transformation, which consists of two subsystems, one is a first-order subsystem and another is a second-order subsystem. Then, the two subsystems are studied respectively, and finite-time disturbance observers are proposed for each robot to estimate the external disturbances. Meanwhile, distributed finite-time tracking controllers are developed for each mobile robot such that all states of each robot can reach the desired value in finite time, where the desired reference value is assumed to be the trajectory of a virtual leader whose information is available to only a subset of the followers, and the followers are assumed to have only local interaction. The effectiveness of the theoretical results is finally illustrated by numerical simulations.

Morphological change in machines accelerates the evolution of robust behavior

PubMed Central

Bongard, Josh

2011-01-01

Most animals exhibit significant neurological and morphological change throughout their lifetime. No robots to date, however, grow new morphological structure while behaving. This is due to technological limitations but also because it is unclear that morphological change provides a benefit to the acquisition of robust behavior in machines. Here I show that in evolving populations of simulated robots, if robots grow from anguilliform into legged robots during their lifetime in the early stages of evolution, and the anguilliform body plan is gradually lost during later stages of evolution, gaits are evolved for the final, legged form of the robot more rapidly—and the evolved gaits are more robust—compared to evolving populations of legged robots that do not transition through the anguilliform body plan. This suggests that morphological change, as well as the evolution of development, are two important processes that improve the automatic generation of robust behaviors for machines. It also provides an experimental platform for investigating the relationship between the evolution of development and robust behavior in biological organisms. PMID:21220304

Robotic inspection for vehicle-borne contraband

NASA Astrophysics Data System (ADS)

Witus, Gary; Gerhart, Grant; Smuda, W.; Andrusz, H.

2006-05-01

Vehicle-borne smuggling is widespread because of the availability, flexibility and capacity of the cars and trucks. Inspecting vehicles at border crossings and checkpoints are key security elements. At the present time, most vehicle security inspections at home and abroad are conducted manually. Remotely operated vehicle inspection robots could be integrated into the operating procedures to improve throughput while reducing the workload burden on security personnel. The robotic inspection must be effective at detecting contraband and efficient at clearing the "clean" vehicles that make up the bulk of the traffic stream, while limiting the workload burden on the operators. In this paper, we present a systems engineering approach to robotic vehicle inspection. We review the tactics, techniques and procedures to interdict contraband. We present an operational concept for robotic vehicle inspection within this framework, and identify needed capabilities. We review the technologies currently available to meet these needs. Finally, we summarize the immediate potential and R&D challenges for effective contraband detection robots.

Intrinsic interactive reinforcement learning - Using error-related potentials for real world human-robot interaction.

PubMed

Kim, Su Kyoung; Kirchner, Elsa Andrea; Stefes, Arne; Kirchner, Frank

2017-12-14

Reinforcement learning (RL) enables robots to learn its optimal behavioral strategy in dynamic environments based on feedback. Explicit human feedback during robot RL is advantageous, since an explicit reward function can be easily adapted. However, it is very demanding and tiresome for a human to continuously and explicitly generate feedback. Therefore, the development of implicit approaches is of high relevance. In this paper, we used an error-related potential (ErrP), an event-related activity in the human electroencephalogram (EEG), as an intrinsically generated implicit feedback (rewards) for RL. Initially we validated our approach with seven subjects in a simulated robot learning scenario. ErrPs were detected online in single trial with a balanced accuracy (bACC) of 91%, which was sufficient to learn to recognize gestures and the correct mapping between human gestures and robot actions in parallel. Finally, we validated our approach in a real robot scenario, in which seven subjects freely chose gestures and the real robot correctly learned the mapping between gestures and actions (ErrP detection (90% bACC)). In this paper, we demonstrated that intrinsically generated EEG-based human feedback in RL can successfully be used to implicitly improve gesture-based robot control during human-robot interaction. We call our approach intrinsic interactive RL.

Design and Evolution of a Modular Tensegrity Robot Platform

NASA Technical Reports Server (NTRS)

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

2014-01-01

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

On the reproducibility of expert-operated and robotic ultrasound acquisitions.

PubMed

Kojcev, Risto; Khakzar, Ashkan; Fuerst, Bernhard; Zettinig, Oliver; Fahkry, Carole; DeJong, Robert; Richmon, Jeremy; Taylor, Russell; Sinibaldi, Edoardo; Navab, Nassir

2017-06-01

We present the evaluation of the reproducibility of measurements performed using robotic ultrasound imaging in comparison with expert-operated sonography. Robotic imaging for interventional procedures may be a valuable contribution, but requires reproducibility for its acceptance in clinical routine. We study this by comparing repeated measurements based on robotic and expert-operated ultrasound imaging. Robotic ultrasound acquisition is performed in three steps under user guidance: First, the patient is observed using a 3D camera on the robot end effector, and the user selects the region of interest. This allows for automatic planning of the robot trajectory. Next, the robot executes a sweeping motion following the planned trajectory, during which the ultrasound images and tracking data are recorded. As the robot is compliant, deviations from the path are possible, for instance due to patient motion. Finally, the ultrasound slices are compounded to create a volume. Repeated acquisitions can be performed automatically by comparing the previous and current patient surface. After repeated image acquisitions, the measurements based on acquisitions performed by the robotic system and expert are compared. Within our case series, the expert measured the anterior-posterior, longitudinal, transversal lengths of both of the left and right thyroid lobes on each of the 4 healthy volunteers 3 times, providing 72 measurements. Subsequently, the same procedure was performed using the robotic system resulting in a cumulative total of 144 clinically relevant measurements. Our results clearly indicated that robotic ultrasound enables more repeatable measurements. A robotic ultrasound platform leads to more reproducible data, which is of crucial importance for planning and executing interventions.

Robotic radical prostatectomy: present and future.

PubMed

Bianco, Fernando J

2011-10-01

The last 10 years have witnessed unprecedented evolution regarding de surgical removal of the prostate gland. Laparoscopic radical prostatectomy broke the open paradigm and started to generate great excitement and expectations. Shortly however, robot-assisted, laparoscopic - Robotic Surgery - emerged to address a fundamental pitfall of prostate laparoscopic surgery: execution reproducibility. Today, robotic assisted laparoscopic prostatectomy is the most used surgical approach to remove the prostate gland. Consistent advantages of this technique are: a shorter convalescent state, marked decrease in blood loss and in experienced hands, shorter average surgical times. Importantly it served to highlight the importance of outcomes as ultimate judge of a procedure success. The data suggest equivalency in long-term functional and oncological outcomes, while clear advantages in the short run: perioperative outcomes with patient rapid return to productive state. That said, the major challenge for robotic surgeons still remains: establish a paradigm that breaks with the tradition and prevents biased reporting due to technology and marketing enthusiasm, but rather takes a critical approach based in prospective, controlled, randomize clinical trials. If the latter objective is reached, urologic robotic surgeons will deliver counseling based on clinical evidence delivering major progress for our Urology field.

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

PubMed Central

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

2014-01-01

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

Training and outcome monitoring in robotic urologic surgery.

PubMed

Liberman, Daniel; Trinh, Quoc-Dien; Jeldres, Claudio; Valiquette, Luc; Zorn, Kevin C

2011-11-08

The use of robot-assisted laparoscopic technology is rapidly expanding, with applicability in numerous disciplines of surgery. Training to perform robot-assisted laparoscopic urological procedures requires a motivated learner, a motivated teacher or proctor, a curriculum with stepwise learning objectives, and regular access to a training robot. In light of the many constraints that limit surgical training, animal models should be utilized to quantifiably improve the surgical skills of residents and surgical fellows, before these skills are put into practice on patients. A system based on appropriate supervision, graduated responsibility, real-time feedback, and objective measure of progress has proven to be safe and effective. Surgical team education directed towards cohesion is perhaps the most important aspect of training. At present, there are very few published guidelines for the safe introduction of robotic urologic surgery at an institution. Increasing evidence demonstrates the effects of learning curve and surgical volume on oncological and functional outcomes in robotic surgery (RS). This necessitates the introduction of mechanisms and guidelines by which trainee surgeons can attain a sufficient level of skill, without compromising the safety of patients. Guidelines for outcome monitoring following RS should be developed, to ensure patient safety and sufficient baseline surgeon skill.

Super Ball Bot - Structures for Planetary Landing and Exploration, NIAC Phase 2 Final Report

NASA Technical Reports Server (NTRS)

SunSpiral, Vytas; Agogino, Adrian; Atkinson, David

2015-01-01

Small, light-weight and low-cost missions will become increasingly important to NASA's exploration goals. Ideally teams of small, collapsible, light weight robots, will be conveniently packed during launch and would reliably separate and unpack at their destination. Such robots will allow rapid, reliable in-situ exploration of hazardous destination such as Titan, where imprecise terrain knowledge and unstable precipitation cycles make single-robot exploration problematic. Unfortunately landing lightweight conventional robots is difficult with current technology. Current robot designs are delicate, requiring a complex combination of devices such as parachutes, retrorockets and impact balloons to minimize impact forces and to place a robot in a proper orientation. Instead we are developing a radically different robot based on a "tensegrity" structure and built purely with tensile and compression elements. Such robots can be both a landing and a mobility platform allowing for dramatically simpler mission profile and reduced costs. These multi-purpose robots can be light-weight, compactly stored and deployed, absorb strong impacts, are redundant against single-point failures, can recover from different landing orientations and can provide surface mobility. These properties allow for unique mission profiles that can be carried out with low cost and high reliability and which minimizes the inefficient dependance on "use once and discard" mass associated with traditional landing systems. We believe tensegrity robot technology can play a critical role in future planetary exploration.

Self-Adaptive Correction of Heading Direction in Stair Climbing for Tracked Mobile Robots Using Visual Servoing Approach

NASA Astrophysics Data System (ADS)

Ji, Peng; Song, Aiguo; Song, Zimo; Liu, Yuqing; Jiang, Guohua; Zhao, Guopu

2017-02-01

In this paper, we describe a heading direction correction algorithm for a tracked mobile robot. To save hardware resources as far as possible, the mobile robot’s wrist camera is used as the only sensor, which is rotated to face stairs. An ensemble heading deviation detector is proposed to help the mobile robot correct its heading direction. To improve the generalization ability, a multi-scale Gabor filter is used to process the input image previously. Final deviation result is acquired by applying the majority vote strategy on all the classifiers’ results. The experimental results show that our detector is able to enable the mobile robot to correct its heading direction adaptively while it is climbing the stairs.

Proctorship and mentoring: Its backbone and application in robotic surgery.

PubMed

Santok, Glen Denmer; Raheem, Ali Abdel; Kim, Lawrence Hc; Chang, Kidon; Chung, Byung Ha; Choi, Young Deuk; Rha, Koon Ho

2016-12-01

In pursuit of continuing medical education in robotic surgery, several forms of training have been implemented. This variable application of curriculum has brought acquisition of skills in a heterogeneous and unstandardized fashion from different parts of the world. Recently, efforts have been made to provide cost effective and well-structured curricula with the aim of bridging the gap between formal fellowship training and short courses. Proctorship training has been implicated on some curriculum to provide excellent progression during the learning curve while ensuring patient safety.

Telerobotics test bed for space structure assembly

NASA Technical Reports Server (NTRS)

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

1994-01-01

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

Robots As Intentional Agents: Using Neuroscientific Methods to Make Robots Appear More Social

PubMed Central

Wiese, Eva; Metta, Giorgio; Wykowska, Agnieszka

2017-01-01

Robots are increasingly envisaged as our future cohabitants. However, while considerable progress has been made in recent years in terms of their technological realization, the ability of robots to interact with humans in an intuitive and social way is still quite limited. An important challenge for social robotics is to determine how to design robots that can perceive the user’s needs, feelings, and intentions, and adapt to users over a broad range of cognitive abilities. It is conceivable that if robots were able to adequately demonstrate these skills, humans would eventually accept them as social companions. We argue that the best way to achieve this is using a systematic experimental approach based on behavioral and physiological neuroscience methods such as motion/eye-tracking, electroencephalography, or functional near-infrared spectroscopy embedded in interactive human–robot paradigms. This approach requires understanding how humans interact with each other, how they perform tasks together and how they develop feelings of social connection over time, and using these insights to formulate design principles that make social robots attuned to the workings of the human brain. In this review, we put forward the argument that the likelihood of artificial agents being perceived as social companions can be increased by designing them in a way that they are perceived as intentional agents that activate areas in the human brain involved in social-cognitive processing. We first review literature related to social-cognitive processes and mechanisms involved in human–human interactions, and highlight the importance of perceiving others as intentional agents to activate these social brain areas. We then discuss how attribution of intentionality can positively affect human–robot interaction by (a) fostering feelings of social connection, empathy and prosociality, and by (b) enhancing performance on joint human–robot tasks. Lastly, we describe circumstances under which attribution of intentionality to robot agents might be disadvantageous, and discuss challenges associated with designing social robots that are inspired by neuroscientific principles. PMID:29046651

Robots As Intentional Agents: Using Neuroscientific Methods to Make Robots Appear More Social.

PubMed

Wiese, Eva; Metta, Giorgio; Wykowska, Agnieszka

2017-01-01

Robots are increasingly envisaged as our future cohabitants. However, while considerable progress has been made in recent years in terms of their technological realization, the ability of robots to interact with humans in an intuitive and social way is still quite limited. An important challenge for social robotics is to determine how to design robots that can perceive the user's needs, feelings, and intentions, and adapt to users over a broad range of cognitive abilities. It is conceivable that if robots were able to adequately demonstrate these skills, humans would eventually accept them as social companions. We argue that the best way to achieve this is using a systematic experimental approach based on behavioral and physiological neuroscience methods such as motion/eye-tracking, electroencephalography, or functional near-infrared spectroscopy embedded in interactive human-robot paradigms. This approach requires understanding how humans interact with each other, how they perform tasks together and how they develop feelings of social connection over time, and using these insights to formulate design principles that make social robots attuned to the workings of the human brain. In this review, we put forward the argument that the likelihood of artificial agents being perceived as social companions can be increased by designing them in a way that they are perceived as intentional agents that activate areas in the human brain involved in social-cognitive processing. We first review literature related to social-cognitive processes and mechanisms involved in human-human interactions, and highlight the importance of perceiving others as intentional agents to activate these social brain areas. We then discuss how attribution of intentionality can positively affect human-robot interaction by (a) fostering feelings of social connection, empathy and prosociality, and by (b) enhancing performance on joint human-robot tasks. Lastly, we describe circumstances under which attribution of intentionality to robot agents might be disadvantageous, and discuss challenges associated with designing social robots that are inspired by neuroscientific principles.

Robotic Surgery Simulator: Elements to Build a Training Program.

PubMed

Tillou, Xavier; Collon, Sylvie; Martin-Francois, Sandrine; Doerfler, Arnaud

2016-01-01

Face, content, and construct validity of robotic surgery simulators were confirmed in the literature by several studies, but elements to build a training program are still lacking. The aim of our study was to validate a progressive training program and to assess according to prior surgical experience the amount of training needed with a robotic simulator to complete the program. Exercises using the Da Vinci Skill Simulator were chosen to ensure progressive learning. A new exercise could only be started if a minimal score of 80% was achieved in the prior one. The number of repetitions to achieve an exercise was not limited. We devised a "performance index" by calculating the ratio of the sum of scores for each exercise over the number of repetitions needed to complete the exercise with at least an 80% score. The study took place at the François Baclesse Cancer Center. Participants all work at the primary care university Hospital located next to the cancer center. A total of 32 surgeons participated in the study- 2 experienced surgeons, 8 junior and 8 senior residents in surgery, 6 registrars, and 6 attending surgeons. There was no difference between junior and senior residents, whereas the registrars had better results (p < 0.0001). The registrars performed less exercise repetitions compared to the junior or senior residents (p = 0.012). Attending surgeons performed significantly more repetitions than registrars (p = 0.024), but they performed fewer repetitions than junior or senior residents with no statistical difference (p = 0.09). The registrars had a performance index of 50, which is the best result among all novice groups. Attending surgeons were between senior and junior residents with an index at 33.85. Choice of basic exercises to manipulate different elements of the robotic surgery console in a specific and progressive order enables rapid progress. The level of prior experience in laparoscopic surgery affects outcomes. More advanced laparoscopic expertise seems to slow down learning, surgeons having to "unlearn" to acquire a new technique. Copyright © 2016 Association of Program Directors in Surgery. Published by Elsevier Inc. All rights reserved.

Adaptive dynamic surface control of flexible-joint robots using self-recurrent wavelet neural networks.

PubMed

Yoo, Sung Jin; Park, Jin Bae; Choi, Yoon Ho

2006-12-01

A new method for the robust control of flexible-joint (FJ) robots with model uncertainties in both robot dynamics and actuator dynamics is proposed. The proposed control system is a combination of the adaptive dynamic surface control (DSC) technique and the self-recurrent wavelet neural network (SRWNN). The adaptive DSC technique provides the ability to overcome the "explosion of complexity" problem in backstepping controllers. The SRWNNs are used to observe the arbitrary model uncertainties of FJ robots, and all their weights are trained online. From the Lyapunov stability analysis, their adaptation laws are induced, and the uniformly ultimately boundedness of all signals in a closed-loop adaptive system is proved. Finally, simulation results for a three-link FJ robot are utilized to validate the good position tracking performance and robustness against payload uncertainties and external disturbances of the proposed control system.

Robot-based additive manufacturing for flexible die-modelling in incremental sheet forming

NASA Astrophysics Data System (ADS)

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

2017-10-01

The paper describes the application concept of additive manufactured dies to support the robot-based incremental sheet metal forming process (`Roboforming') for the production of sheet metal components in small batch sizes. Compared to the dieless kinematic-based generation of a shape by means of two cooperating industrial robots, the supporting robot models a die on the back of the metal sheet by using the robot-based fused layer manufacturing process (FLM). This tool chain is software-defined and preserves the high geometrical form flexibility of Roboforming while flexibly generating support structures adapted to the final part's geometry. Test series serve to confirm the feasibility of the concept by investigating the process challenges of the adhesion to the sheet surface and the general stability as well as the influence on the geometric accuracy compared to the well-known forming strategies.

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.

Dynamic path planning for mobile robot based on particle swarm optimization

NASA Astrophysics Data System (ADS)

Wang, Yong; Cai, Feng; Wang, Ying

2017-08-01

In the contemporary, robots are used in many fields, such as cleaning, medical treatment, space exploration, disaster relief and so on. The dynamic path planning of robot without collision is becoming more and more the focus of people's attention. A new method of path planning is proposed in this paper. Firstly, the motion space model of the robot is established by using the MAKLINK graph method. Then the A* algorithm is used to get the shortest path from the start point to the end point. Secondly, this paper proposes an effective method to detect and avoid obstacles. When an obstacle is detected on the shortest path, the robot will choose the nearest safety point to move. Moreover, calculate the next point which is nearest to the target. Finally, the particle swarm optimization algorithm is used to optimize the path. The experimental results can prove that the proposed method is more effective.

Wheelchair-mounted robotic arm to hold and move a communication device - final design.

PubMed

Barrett, Graham; Kurley, Kyle; Brauchie, Casey; Morton, Scott; Barrett, Steven

2015-01-01

At the 51st Rocky Mountain Bioengineering Symposium we presented a preliminary design for a robotic arm to assist an individual living within an assistive technology smart home. The individual controls much of their environment with a Dynavox Maestro communication device. However, the device obstructs the individual’s line of site when navigating about the smart home. A robotic arm was developed to move the communication device in and out of the user’s field of view as desired. The robotic arm is controlled by a conveniently mounted jelly switch. The jelly switch sends control signals to a four state (up, off, down, off) single-axis robotic arm interfaced to a DC motor by high power electronic relays. This paper describes the system, control circuitry, and multiple safety features. The arm will be delivered for use later in 2015.

2014-2684

NASA Image and Video Library

2014-05-23

CAPE CANAVERAL, Fla. -- The University of North Dakota's robotic miner digs in the simulated Martian soil in the Caterpillar Mining Arena on the final day of NASA's 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from colleges and universities around the U.S. designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

2014-2683

NASA Image and Video Library

2014-05-23

CAPE CANAVERAL, Fla. -- Team members prepare their robot to dig in simulated Martian soil in the Caterpillar Mining Arena on the final day of NASA's 2014 Robotic Mining Competition at the Kennedy Space Center Visitor Complex in Florida. More than 35 teams from colleges and universities around the U.S. designed and built remote-controlled robots for the mining competition. The competition is a NASA Human Exploration and Operations Mission Directorate project designed to engage and retain students in science, technology, engineering and mathematics, or STEM, fields by expanding opportunities for student research and design. Teams use their remote-controlled robotics to maneuver and dig in a supersized sandbox filled with a crushed material that has characteristics similar to Martian soil. The objective of the challenge is to see which team’s robot can collect and move the most regolith within a specified amount of time. For more information, visit www.nasa.gov/nasarmc. Photo credit: NASA/Kim Shiflett

Motion planning: A journey of robots, molecules, digital actors, and other artifacts

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

Latombe, J.C.

1999-11-01

During the past three decades, motion planning has emerged as a crucial and productive research area in robotics. In the mid-1980s, the most advanced planners were barely able to compute collision-free paths for objects crawling in planar workspaces. Today, planners efficiently deal with robots with many degrees of freedom in complex environments. Techniques also exist to generate quasi-optimal trajectories, coordinate multiple robots, deal with dynamic and kinematic constraints, and handle dynamic environments. This paper describes some of these achievements, presents new problems that have recently emerged, discusses applications likely to motivate future research, and finally gives expectations for the comingmore » years. It stresses the fact that nonrobotics applications (e.g., graphic animation, surgical planning, computational biology) are growing in importance and are likely to shape future motion-planning research more than robotics itself.« less

The Dominant Robot: Threatening Robots Cause Psychological Reactance, Especially When They Have Incongruent Goals

NASA Astrophysics Data System (ADS)

Roubroeks, M. A. J.; Ham, J. R. C.; Midden, C. J. H.

Persuasive technology can take the form of a social agent that persuades people to change behavior or attitudes. However, like any persuasive technology, persuasive social agents might trigger psychological reactance, which can lead to restoration behavior. The current study investigated whether interacting with a persuasive robot can cause psychological reactance. Additionally, we investigated whether goal congruency plays a role in psychological reactance. Participants programmed a washing machine while a robot gave threatening advice. Confirming expectations, participants experienced more psychological reactance when receiving high-threatening advice compared to low-threatening advice. Moreover, when the robot gave high-threatening advice and expressed an incongruent goal, participants reported the highest level of psychological reactance (on an anger measure). Finally, high-threatening advice led to more restoration, and this relationship was partially mediated by psychological reactance. Overall, results imply that under certain circumstances persuasive technology can trigger opposite effects, especially when people have incongruent goal intentions.

Dynamic coupling of underactuated manipulators

NASA Astrophysics Data System (ADS)

Bergerman, Marcel; Lee, Christopher; Xu, Yangsheng

1994-08-01

In recent years, researchers have been turning their attention to so called underactuated systems, where the term underactuated refers to the fact that the system has more joints than control actuators. Some examples of underactuated systems are robot manipulators with failed actuators; free-floating space robots, where the base can be considered as a virtual passive linkage in inertia space; legged robots with passive joints; hyper-redundant (snake-like) robots with passive joints, etc. From the examples above, it is possible to justify the importance of the study of underactuated systems. For example, if some actuators of a conventional manipulator fail, the loss of one or more degrees of freedom may compromise an entire operation. In free-floating space systems, the base (satellite) can be considered as a 6-DOF device without positioning actuators. Finally, manipulators with passive joints and hyper-redundant robots with few actuators are important from the viewpoint of energy saving, lightweight design and compactness.

Robotic surgery for colorectal cancer: systematic review of the literature.

PubMed

Papanikolaou, Ioannis G

2014-12-01

Surgical practice has been changed since the introduction of robotic techniques and robotic colorectal surgery is an emerging field. Innovative robotic technologies have helped surgeons overcome many technical difficulties of conventional laparoscopic surgery. Herein, we review the clinical studies regarding the application of surgical robots in resections for colorectal cancer. A systematic review of the literature was conducted for articles published up to September 9, 2012, using the MEDLINE database. The keywords that were used in various combinations were: "surgical robotics," "robotic surgery," "computer-assisted surgery," "colectomy," "sigmoid resection," "sigmoidectomy," and "rectal resection." Fifty-nine articles reporting on robot-assisted resections of colon and/or rectum were identified and 41 studies were finally included in the analysis. A total of 1635 colorectal procedures were performed: 254 right colectomies, 185 left colectomies/sigmoid resections, 969 anterior resections, 182 abdominoperineal or intersphincteric resections, 34 colectomies (without being specified as right or left), and 11 total/subtotal colectomies. In general, blood loss, conversion rates, and complications were low but the operative time was longer than the open procedures, whereas the duration of hospitalization was shorter. The number of harvested lymph nodes was also quite satisfactory. Robotic colorectal operations provide favorable results, with acceptable operative times and low conversion rates and morbidity. Surgical robots may provide additional benefits treating challenging pathologies, such as rectal cancer. Further clinical studies and long-term follow-up are required to better evaluate the outcomes of robotic colorectal surgery.

Behavior Selection of Mobile Robot Based on Integration of Multimodal Information

NASA Astrophysics Data System (ADS)

Chen, Bin; Kaneko, Masahide

Recently, biologically inspired robots have been developed to acquire the capacity for directing visual attention to salient stimulus generated from the audiovisual environment. On purpose to realize this behavior, a general method is to calculate saliency maps to represent how much the external information attracts the robot's visual attention, where the audiovisual information and robot's motion status should be involved. In this paper, we represent a visual attention model where three modalities, that is, audio information, visual information and robot's motor status are considered, while the previous researches have not considered all of them. Firstly, we introduce a 2-D density map, on which the value denotes how much the robot pays attention to each spatial location. Then we model the attention density using a Bayesian network where the robot's motion statuses are involved. Secondly, the information from both of audio and visual modalities is integrated with the attention density map in integrate-fire neurons. The robot can direct its attention to the locations where the integrate-fire neurons are fired. Finally, the visual attention model is applied to make the robot select the visual information from the environment, and react to the content selected. Experimental results show that it is possible for robots to acquire the visual information related to their behaviors by using the attention model considering motion statuses. The robot can select its behaviors to adapt to the dynamic environment as well as to switch to another task according to the recognition results of visual attention.

Forming Human-Robot Teams Across Time and Space

NASA Technical Reports Server (NTRS)

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

2012-01-01

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

Bioinspired Intelligent Algorithm and Its Applications for Mobile Robot Control: A Survey.

PubMed

Ni, Jianjun; Wu, Liuying; Fan, Xinnan; Yang, Simon X

2016-01-01

Bioinspired intelligent algorithm (BIA) is a kind of intelligent computing method, which is with a more lifelike biological working mechanism than other types. BIAs have made significant progress in both understanding of the neuroscience and biological systems and applying to various fields. Mobile robot control is one of the main application fields of BIAs which has attracted more and more attention, because mobile robots can be used widely and general artificial intelligent algorithms meet a development bottleneck in this field, such as complex computing and the dependence on high-precision sensors. This paper presents a survey of recent research in BIAs, which focuses on the research in the realization of various BIAs based on different working mechanisms and the applications for mobile robot control, to help in understanding BIAs comprehensively and clearly. The survey has four primary parts: a classification of BIAs from the biomimetic mechanism, a summary of several typical BIAs from different levels, an overview of current applications of BIAs in mobile robot control, and a description of some possible future directions for research.

Reinforcement learning of periodical gaits in locomotion robots

NASA Astrophysics Data System (ADS)

Svinin, Mikhail; Yamada, Kazuyaki; Ushio, S.; Ueda, Kanji

1999-08-01

Emergence of stable gaits in locomotion robots is studied in this paper. A classifier system, implementing an instance- based reinforcement learning scheme, is used for sensory- motor control of an eight-legged mobile robot. Important feature of the classifier system is its ability to work with the continuous sensor space. The robot does not have a prior knowledge of the environment, its own internal model, and the goal coordinates. It is only assumed that the robot can acquire stable gaits by learning how to reach a light source. During the learning process the control system, is self-organized by reinforcement signals. Reaching the light source defines a global reward. Forward motion gets a local reward, while stepping back and falling down get a local punishment. Feasibility of the proposed self-organized system is tested under simulation and experiment. The control actions are specified at the leg level. It is shown that, as learning progresses, the number of the action rules in the classifier systems is stabilized to a certain level, corresponding to the acquired gait patterns.

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

NASA Technical Reports Server (NTRS)

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

2014-01-01

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

Progress in building a cognitive vision system

NASA Astrophysics Data System (ADS)

Benjamin, D. Paul; Lyons, Damian; Yue, Hong

2016-05-01

We are building a cognitive vision system for mobile robots that works in a manner similar to the human vision system, using saccadic, vergence and pursuit movements to extract information from visual input. At each fixation, the system builds a 3D model of a small region, combining information about distance, shape, texture and motion to create a local dynamic spatial model. These local 3D models are composed to create an overall 3D model of the robot and its environment. This approach turns the computer vision problem into a search problem whose goal is the acquisition of sufficient spatial understanding for the robot to succeed at its tasks. The research hypothesis of this work is that the movements of the robot's cameras are only those that are necessary to build a sufficiently accurate world model for the robot's current goals. For example, if the goal is to navigate through a room, the model needs to contain any obstacles that would be encountered, giving their approximate positions and sizes. Other information does not need to be rendered into the virtual world, so this approach trades model accuracy for speed.

Bioinspired Intelligent Algorithm and Its Applications for Mobile Robot Control: A Survey

PubMed Central

Ni, Jianjun; Wu, Liuying; Fan, Xinnan; Yang, Simon X.

2016-01-01

Bioinspired intelligent algorithm (BIA) is a kind of intelligent computing method, which is with a more lifelike biological working mechanism than other types. BIAs have made significant progress in both understanding of the neuroscience and biological systems and applying to various fields. Mobile robot control is one of the main application fields of BIAs which has attracted more and more attention, because mobile robots can be used widely and general artificial intelligent algorithms meet a development bottleneck in this field, such as complex computing and the dependence on high-precision sensors. This paper presents a survey of recent research in BIAs, which focuses on the research in the realization of various BIAs based on different working mechanisms and the applications for mobile robot control, to help in understanding BIAs comprehensively and clearly. The survey has four primary parts: a classification of BIAs from the biomimetic mechanism, a summary of several typical BIAs from different levels, an overview of current applications of BIAs in mobile robot control, and a description of some possible future directions for research. PMID:26819582

Robotic devices and brain-machine interfaces for hand rehabilitation post-stroke.

PubMed

McConnell, Alistair C; Moioli, Renan C; Brasil, Fabricio L; Vallejo, Marta; Corne, David W; Vargas, Patricia A; Stokes, Adam A

2017-06-28

To review the state of the art of robotic-aided hand physiotherapy for post-stroke rehabilitation, including the use of brain-machine interfaces. Each patient has a unique clinical history and, in response to personalized treatment needs, research into individualized and at-home treatment options has expanded rapidly in recent years. This has resulted in the development of many devices and design strategies for use in stroke rehabilitation. The development progression of robotic-aided hand physiotherapy devices and brain-machine interface systems is outlined, focussing on those with mechanisms and control strategies designed to improve recovery outcomes of the hand post-stroke. A total of 110 commercial and non-commercial hand and wrist devices, spanning the 2 major core designs: end-effector and exoskeleton are reviewed. The growing body of evidence on the efficacy and relevance of incorporating brain-machine interfaces in stroke rehabilitation is summarized. The challenges involved in integrating robotic rehabilitation into the healthcare system are discussed. This review provides novel insights into the use of robotics in physiotherapy practice, and may help system designers to develop new devices.

SSVEP-based Experimental Procedure for Brain-Robot Interaction with Humanoid Robots.

PubMed

Zhao, Jing; Li, Wei; Mao, Xiaoqian; Li, Mengfan

2015-11-24

Brain-Robot Interaction (BRI), which provides an innovative communication pathway between human and a robotic device via brain signals, is prospective in helping the disabled in their daily lives. The overall goal of our method is to establish an SSVEP-based experimental procedure by integrating multiple software programs, such as OpenViBE, Choregraph, and Central software as well as user developed programs written in C++ and MATLAB, to enable the study of brain-robot interaction with humanoid robots. This is achieved by first placing EEG electrodes on a human subject to measure the brain responses through an EEG data acquisition system. A user interface is used to elicit SSVEP responses and to display video feedback in the closed-loop control experiments. The second step is to record the EEG signals of first-time subjects, to analyze their SSVEP features offline, and to train the classifier for each subject. Next, the Online Signal Processor and the Robot Controller are configured for the online control of a humanoid robot. As the final step, the subject completes three specific closed-loop control experiments within different environments to evaluate the brain-robot interaction performance. The advantage of this approach is its reliability and flexibility because it is developed by integrating multiple software programs. The results show that using this approach, the subject is capable of interacting with the humanoid robot via brain signals. This allows the mind-controlled humanoid robot to perform typical tasks that are popular in robotic research and are helpful in assisting the disabled.

A Method on Dynamic Path Planning for Robotic Manipulator Autonomous Obstacle Avoidance Based on an Improved RRT Algorithm.

PubMed

Wei, Kun; Ren, Bingyin

2018-02-13

In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on random sampling has been widely applied in dynamic path planning for a high-dimensional robotic manipulator, especially in a complex environment because of its probability completeness, perfect expansion, and fast exploring speed over other planning methods. However, the existing RRT algorithm has a limitation in path planning for a robotic manipulator in a dynamic unstructured environment. Therefore, an autonomous obstacle avoidance dynamic path-planning method for a robotic manipulator based on an improved RRT algorithm, called Smoothly RRT (S-RRT), is proposed. This method that targets a directional node extends and can increase the sampling speed and efficiency of RRT dramatically. A path optimization strategy based on the maximum curvature constraint is presented to generate a smooth and curved continuous executable path for a robotic manipulator. Finally, the correctness, effectiveness, and practicability of the proposed method are demonstrated and validated via a MATLAB static simulation and a Robot Operating System (ROS) dynamic simulation environment as well as a real autonomous obstacle avoidance experiment in a dynamic unstructured environment for a robotic manipulator. The proposed method not only provides great practical engineering significance for a robotic manipulator's obstacle avoidance in an intelligent factory, but also theoretical reference value for other type of robots' path planning.

Outcomes from the Delphi process of the Thoracic Robotic Curriculum Development Committee.

PubMed

Veronesi, Giulia; Dorn, Patrick; Dunning, Joel; Cardillo, Giuseppe; Schmid, Ralph A; Collins, Justin; Baste, Jean-Marc; Limmer, Stefan; Shahin, Ghada M M; Egberts, Jan-Hendrik; Pardolesi, Alessandro; Meacci, Elisa; Stamenkovic, Sasha; Casali, Gianluca; Rueckert, Jens C; Taurchini, Mauro; Santelmo, Nicola; Melfi, Franca; Toker, Alper

2018-06-01

As the adoption of robotic procedures becomes more widespread, additional risk related to the learning curve can be expected. This article reports the results of a Delphi process to define procedures to optimize robotic training of thoracic surgeons and to promote safe performance of established robotic interventions as, for example, lung cancer and thymoma surgery. In June 2016, a working panel was spontaneously created by members of the European Society of Thoracic Surgeons (ESTS) and European Association for Cardio-Thoracic Surgery (EACTS) with a specialist interest in robotic thoracic surgery and/or surgical training. An e-consensus-finding exercise using the Delphi methodology was applied requiring 80% agreement to reach consensus on each question. Repeated iterations of anonymous voting continued over 3 rounds. Agreement was reached on many points: a standardized robotic training curriculum for robotic thoracic surgery should be divided into clearly defined sections as a staged learning pathway; the basic robotic curriculum should include a baseline evaluation, an e-learning module, a simulation-based training (including virtual reality simulation, Dry lab and Wet lab) and a robotic theatre (bedside) observation. Advanced robotic training should include e-learning on index procedures (right upper lobe) with video demonstration, access to video library of robotic procedures, simulation training, modular console training to index procedure, transition to full-procedure training with a proctor and final evaluation of the submitted video to certified independent examiners. Agreement was reached on a large number of questions to optimize and standardize training and education of thoracic surgeons in robotic activity. The production of the content of the learning material is ongoing.

SSVEP-based Experimental Procedure for Brain-Robot Interaction with Humanoid Robots

PubMed Central

Zhao, Jing; Li, Wei; Mao, Xiaoqian; Li, Mengfan

2015-01-01

Brain-Robot Interaction (BRI), which provides an innovative communication pathway between human and a robotic device via brain signals, is prospective in helping the disabled in their daily lives. The overall goal of our method is to establish an SSVEP-based experimental procedure by integrating multiple software programs, such as OpenViBE, Choregraph, and Central software as well as user developed programs written in C++ and MATLAB, to enable the study of brain-robot interaction with humanoid robots. This is achieved by first placing EEG electrodes on a human subject to measure the brain responses through an EEG data acquisition system. A user interface is used to elicit SSVEP responses and to display video feedback in the closed-loop control experiments. The second step is to record the EEG signals of first-time subjects, to analyze their SSVEP features offline, and to train the classifier for each subject. Next, the Online Signal Processor and the Robot Controller are configured for the online control of a humanoid robot. As the final step, the subject completes three specific closed-loop control experiments within different environments to evaluate the brain-robot interaction performance. The advantage of this approach is its reliability and flexibility because it is developed by integrating multiple software programs. The results show that using this approach, the subject is capable of interacting with the humanoid robot via brain signals. This allows the mind-controlled humanoid robot to perform typical tasks that are popular in robotic research and are helpful in assisting the disabled. PMID:26650051

[Treatment of localized prostate cancer: the role of robotic radical prostatectomy].

PubMed

Iselin, C E

2008-12-03

Robotic prostatectomy has progressively emerged as an oncologic and functional equivalent to the gold standard of open surgery, with minimally invasive advantages such as a short hospital stay, less blood loss and early return to complete activity. However, mastering the technique remains delicate and requires regular and sufficient practice to reach the aforementionned advantages. Because of the marketing pressure, there is now a plethora of robots available in some areas. This will lead to the multiplication of occasional operators, whose negative impact on the efficiency of the procedure is demonstrated. The solution may be that of aviation: improve skills on a simulator in order to correctly perform clinically. It is now necessary to stimulate the elaboration of such a simulator.

Multiscale Modelling and Analysis of Collective Decision Making in Swarm Robotics

PubMed Central

Vigelius, Matthias; Meyer, Bernd; Pascoe, Geoffrey

2014-01-01

We present a unified approach to describing certain types of collective decision making in swarm robotics that bridges from a microscopic individual-based description to aggregate properties. Our approach encompasses robot swarm experiments, microscopic and probabilistic macroscopic-discrete simulations as well as an analytic mathematical model. Following up on previous work, we identify the symmetry parameter, a measure of the progress of the swarm towards a decision, as a fundamental integrated swarm property and formulate its time evolution as a continuous-time Markov process. Contrary to previous work, which justified this approach only empirically and a posteriori, we justify it from first principles and derive hard limits on the parameter regime in which it is applicable. PMID:25369026

Issues of geologically-focused situational awareness in robotic planetary missions: Lessons from an analogue mission at Mistastin Lake impact structure, Labrador, Canada

NASA Astrophysics Data System (ADS)

Antonenko, I.; Osinski, G. R.; Battler, M.; Beauchamp, M.; Cupelli, L.; Chanou, A.; Francis, R.; Mader, M. M.; Marion, C.; McCullough, E.; Pickersgill, A. E.; Preston, L. J.; Shankar, B.; Unrau, T.; Veillette, D.

2013-07-01

Remote robotic data provides different information than that obtained from immersion in the field. This significantly affects the geological situational awareness experienced by members of a mission control science team. In order to optimize science return from planetary robotic missions, these limitations must be understood and their effects mitigated to fully leverage the field experience of scientists at mission control.Results from a 13-day analogue deployment at the Mistastin Lake impact structure in Labrador, Canada suggest that scale, relief, geological detail, and time are intertwined issues that impact the mission control science team's effectiveness in interpreting the geology of an area. These issues are evaluated and several mitigation options are suggested. Scale was found to be difficult to interpret without the reference of known objects, even when numerical scale data were available. For this reason, embedding intuitive scale-indicating features into image data is recommended. Since relief is not conveyed in 2D images, both 3D data and observations from multiple angles are required. Furthermore, the 3D data must be observed in animation or as anaglyphs, since without such assistance much of the relief information in 3D data is not communicated. Geological detail may also be missed due to the time required to collect, analyze, and request data.We also suggest that these issues can be addressed, in part, by an improved understanding of the operational time costs and benefits of scientific data collection. Robotic activities operate on inherently slow time-scales. This fact needs to be embraced and accommodated. Instead of focusing too quickly on the details of a target of interest, thereby potentially minimizing science return, time should be allocated at first to more broad data collection at that target, including preliminary surveys, multiple observations from various vantage points, and progressively smaller scale of focus. This operational model more closely follows techniques employed by field geologists and is fundamental to the geologic interpretation of an area. Even so, an operational time cost/benefit analyses should be carefully considered in each situation, to determine when such comprehensive data collection would maximize the science return.Finally, it should be recognized that analogue deployments cannot faithfully model the time scales of robotic planetary missions. Analogue missions are limited by the difficulty and expense of fieldwork. Thus, analogue deployments should focus on smaller aspects of robotic missions and test components in a modular way (e.g., dropping communications constraints, limiting mission scope, focusing on a specific problem, spreading the mission over several field seasons, etc.).

Resource Prospector Mission Animation (June 2018)

NASA Image and Video Library

2018-05-30

Expanding human presence beyond low-Earth orbit will require the maximum possible use of local materials, so-called in-situ resources (ISRU). The Moon presents a unique destination to conduct robotic investigations that advance ISRU capabilities, as well as providing significant exploration and science value. This video animation shows one mission concept under study by NASA called Resource Prospector (RP), an ISRU prospecting and technology demonstration mission. RP would scan the surface and sub-surface terrain, and demonstrate extraction of hydrogen and oxygen from lunar regolith to validate one possible ISRU approach. As NASA plans a series of progressive robotic missions to the lunar surface, the agency is considering a variety of approaches to evolve progressively larger landers leading to an eventual human lander capability. Part of this expanded lunar campaign includes early flight of select instruments from Resource Prospector to the Moon.

Systematic analysis of video data from different human-robot interaction studies: a categorization of social signals during error situations.

PubMed

Giuliani, Manuel; Mirnig, Nicole; Stollnberger, Gerald; Stadler, Susanne; Buchner, Roland; Tscheligi, Manfred

2015-01-01

Human-robot interactions are often affected by error situations that are caused by either the robot or the human. Therefore, robots would profit from the ability to recognize when error situations occur. We investigated the verbal and non-verbal social signals that humans show when error situations occur in human-robot interaction experiments. For that, we analyzed 201 videos of five human-robot interaction user studies with varying tasks from four independent projects. The analysis shows that there are two types of error situations: social norm violations and technical failures. Social norm violations are situations in which the robot does not adhere to the underlying social script of the interaction. Technical failures are caused by technical shortcomings of the robot. The results of the video analysis show that the study participants use many head movements and very few gestures, but they often smile, when in an error situation with the robot. Another result is that the participants sometimes stop moving at the beginning of error situations. We also found that the participants talked more in the case of social norm violations and less during technical failures. Finally, the participants use fewer non-verbal social signals (for example smiling, nodding, and head shaking), when they are interacting with the robot alone and no experimenter or other human is present. The results suggest that participants do not see the robot as a social interaction partner with comparable communication skills. Our findings have implications for builders and evaluators of human-robot interaction systems. The builders need to consider including modules for recognition and classification of head movements to the robot input channels. The evaluators need to make sure that the presence of an experimenter does not skew the results of their user studies.

Systematic analysis of video data from different human–robot interaction studies: a categorization of social signals during error situations

PubMed Central

Giuliani, Manuel; Mirnig, Nicole; Stollnberger, Gerald; Stadler, Susanne; Buchner, Roland; Tscheligi, Manfred

2015-01-01

Human–robot interactions are often affected by error situations that are caused by either the robot or the human. Therefore, robots would profit from the ability to recognize when error situations occur. We investigated the verbal and non-verbal social signals that humans show when error situations occur in human–robot interaction experiments. For that, we analyzed 201 videos of five human–robot interaction user studies with varying tasks from four independent projects. The analysis shows that there are two types of error situations: social norm violations and technical failures. Social norm violations are situations in which the robot does not adhere to the underlying social script of the interaction. Technical failures are caused by technical shortcomings of the robot. The results of the video analysis show that the study participants use many head movements and very few gestures, but they often smile, when in an error situation with the robot. Another result is that the participants sometimes stop moving at the beginning of error situations. We also found that the participants talked more in the case of social norm violations and less during technical failures. Finally, the participants use fewer non-verbal social signals (for example smiling, nodding, and head shaking), when they are interacting with the robot alone and no experimenter or other human is present. The results suggest that participants do not see the robot as a social interaction partner with comparable communication skills. Our findings have implications for builders and evaluators of human–robot interaction systems. The builders need to consider including modules for recognition and classification of head movements to the robot input channels. The evaluators need to make sure that the presence of an experimenter does not skew the results of their user studies. PMID:26217266

The effectiveness of Robot-Assisted Gait Training versus conventional therapy on mobility in severely disabled progressIve MultiplE sclerosis patients (RAGTIME): study protocol for a randomized controlled trial.

PubMed

Straudi, Sofia; Manfredini, Fabio; Lamberti, Nicola; Zamboni, Paolo; Bernardi, Francesco; Marchetti, Giovanna; Pinton, Paolo; Bonora, Massimo; Secchiero, Paola; Tisato, Veronica; Volpato, Stefano; Basaglia, Nino

2017-02-27

Gait and mobility impairments affect the quality of life (QoL) of patients with progressive multiple sclerosis (MS). Robot-assisted gait training (RAGT) is an effective rehabilitative treatment but evidence of its superiority compared to other options is lacking. Furthermore, the response to rehabilitation is multidimensional, person-specific and possibly involves functional reorganization processes. The aims of this study are: (1) to test the effectiveness on gait speed, mobility, balance, fatigue and QoL of RAGT compared to conventional therapy (CT) in progressive MS and (2) to explore changes of clinical and circulating biomarkers of neural plasticity. This will be a parallel-group, randomized controlled trial design with the assessor blinded to the group allocation of participants. Ninety-eight (49 per arm) progressive MS patients (EDSS scale 6-7) will be randomly assigned to receive twelve 2-h training sessions over a 4-week period (three sessions/week) of either: (1) RAGT intervention on a robotic-driven gait orthosis (Lokomat, Hocoma, Switzerland). The training parameters (torque of the knee and hip drives, treadmill speed, body weight support) are set during the first session and progressively adjusted during training progression or (2) individual conventional physiotherapy focusing on over-ground walking training performed with the habitual walking device. The same assessors will perform outcome measurements at four time points: baseline (before the first intervention session); intermediate (after six training sessions); end of treatment (after the completion of 12 sessions); and follow-up (after 3 months from the end of the training program). The primary outcome is gait speed, assessed by the Timed 25-Foot Walk Test. We will also assess walking endurance, balance, depression, fatigue and QoL as well as instrumental laboratory markers (muscle metabolism, cerebral venous hemodynamics, cortical activation) and circulating laboratory markers (rare circulating cell populations pro and anti-inflammatory cytokines/chemokines, growth factors, neurotrophic factors, coagulation factors, other plasma proteins suggested by transcriptomic analysis and metabolic parameters). The RAGT training is expected to improve mobility compared to the active control intervention in progressive MS. Unique to this study is the analysis of various potential markers of plasticity in relation with clinical outcomes. ClinicalTrials.gov, identifier: NCT02421731 . Registered on 19 January 2015 (retrospectively registered).

A robotic exploration mission to Mars and Phobos

NASA Technical Reports Server (NTRS)

Kerr, Justin H.; Defosse, Erin; Ho, Quang; Barriga, Ernisto; Davis, Grant; Mccourt, Steve; Smith, Matt

1993-01-01

This report discusses the design of a robotic exploration to Mars and Phobos. It begins with the mission's background and objectives, followed by a detailed explanation of various elements of Project Aeneas, including science, spacecraft, probes, and orbital trajectories. In addition, a description of Argos Space Endeavours, management procedures, and overall project costs are presented. Finally, a list of recommendations for future design activity is included.

Team RoboSimian

NASA Image and Video Library

2015-06-09

Many members of Team RoboSimian and a few guests gather with competition hardware at a "Meet the Robots" event during the DARPA Robotics Challenge Finals in Pomona, California, on June 6, 2015. The RoboSimian team at JPL is collaborating with partners at the University of California, Santa Barbara, and the California Institute of Technology in Pasadena. Caltech manages JPL for NASA. http://photojournal.jpl.nasa.gov/catalog/PIA19329

Astro STARS Camp

NASA Image and Video Library

2012-06-15

Summer is a time of educational activity at Stennis Space Center. In June 2012, 25 young people age 13-15 attended the annual Astro STARS (Spaceflight, Technology, Astronomy and Robotics at Stennis) camp at the rocket engine test facility. During the five-day camp, participants engaged in hands-on experiences in a variety of areas, including engineering and robotics. On the final day, campers launched model rockets they had assembled.

Planning and Control for Microassembly of Structures Composed of Stress-Engineered MEMS Microrobots

PubMed Central

Donald, Bruce R.; Levey, Christopher G.; Paprotny, Igor; Rus, Daniela

2013-01-01

We present control strategies that implement planar microassembly using groups of stress-engineered MEMS microrobots (MicroStressBots) controlled through a single global control signal. The global control signal couples the motion of the devices, causing the system to be highly underactuated. In order for the robots to assemble into arbitrary planar shapes despite the high degree of underactuation, it is desirable that each robot be independently maneuverable (independently controllable). To achieve independent control, we fabricated robots that behave (move) differently from one another in response to the same global control signal. We harnessed this differentiation to develop assembly control strategies, where the assembly goal is a desired geometric shape that can be obtained by connecting the chassis of individual robots. We derived and experimentally tested assembly plans that command some of the robots to make progress toward the goal, while other robots are constrained to remain in small circular trajectories (closed-loop orbits) until it is their turn to move into the goal shape. Our control strategies were tested on systems of fabricated MicroStressBots. The robots are 240–280 μm × 60 μm × 7–20 μm in size and move simultaneously within a single operating environment. We demonstrated the feasibility of our control scheme by accurately assembling five different types of planar microstructures. PMID:23580796

Robotics for mixed waste operations, demonstration description

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

Ward, C.R.

The Department of Energy (DOE) Office of Technology Development (OTD) is developing technology to aid in the cleanup of DOE sites. Included in the OTD program are the Robotics Technology Development Program and the Mixed Waste Integrated Program. These two programs are working together to provide technology for the cleanup of mixed waste, which is waste that has both radioactive and hazardous constituents. There are over 240,000 cubic meters of mixed low level waste accumulated at DOE sites and the cleanup is expected to generate about 900,000 cubic meters of mixed low level waste over the next five years. Thismore » waste must be monitored during storage and then treated and disposed of in a cost effective manner acceptable to regulators and the states involved. The Robotics Technology Development Program is developing robotics technology to make these tasks safer, better, faster and cheaper through the Mixed Waste Operations team. This technology will also apply to treatment of transuranic waste. The demonstration at the Savannah River Site on November 2-4, 1993, showed the progress of this technology by DOE, universities and industry over the previous year. Robotics technology for the handling, characterization and treatment of mixed waste as well robotics technology for monitoring of stored waste was demonstrated. It was shown that robotics technology can make future waste storage and waste treatment facilities better, faster, safer and cheaper.« less

[Multidisciplinary development of robotic surgery in a University Tertiary Hospital: Organization and outcomes].

PubMed

Ortiz Oshiro, Elena; Ramos Carrasco, Angel; Moreno Sierra, Jesús; Pardo Martínez, Cristina; Galante Romo, Isabel; Bullón Sopelana, Fernando; Coronado Martín, Pluvio; Mansilla García, Iván; Escudero Mate, María; Vidart Aragón, José A; Silmi Moyano, Angel; Alvarez Fernández-Represa, Jesús

2010-02-01

Da Vinci system (Intuitive Surgical) is a surgical telemanipulator providing many technical advantages over conventional laparoscopic approach (3-D vision, ergonomics, highly precise movements, endowrist instrumentation...) and it is currently applied to several specialties throughout the world since 2000. The first Spanish public hospital incorporating this robotic technology was Hospital Clinico San Carlos (HCSC) in Madrid, in July 2006. We present the multidisciplinary organization and clinical, research and training outcomes of the Robotic Surgery Plan developed in the HCSC. Starting from joint management and joint scrub nurses team, General and Digestive Surgery, Urology and Gynaecology Departments were progressively incorporated into the Robotic Surgery Plan, with several procedures increasing in complexity. A number of intra and extra-hospital teaching and information activities were planned to report on the Robotic Surgery Plan. Between July 2006 and July 2008, 306 patients were operated on: 169 by General Surgery, 107 by Urology and 30 by Gynaecology teams. The outcomes showed feasibility and a short learning curve. The educational plan included residents and staff interested in robotic technology application. The structured and gradual incorporation of robotic surgery throughout the PCR-HCSC has made it easier to learn, to share designed infrastructure, to coordinate information activities and multidisciplinary collaboration. This preliminary experience has shown the efficiency of an adequate organization and motivated team. Copyright 2009 AEC. Published by Elsevier Espana. All rights reserved.

Miniature surgical robots in the era of NOTES and LESS: dream or reality?

PubMed

Zygomalas, Apollon; Kehagias, Ioannis; Giokas, Konstantinos; Koutsouris, Dimitrios

2015-02-01

Laparoscopy is an established method for the treatment of numerous surgical conditions. Natural orifice transluminal endoscopic surgery (NOTES) is a novel surgical technique that uses the natural orifices of the human body as entrances to the abdominal cavity. An alternative concept of minimally invasive approach to the abdominal cavity is to insert all the laparoscopic instruments through ports using a single small incision on the abdominal wall. A suggested name for this technique is laparoendoscopic single-site surgery (LESS). Considering the technical difficulties in NOTES and LESS and the progress in informatics and robotics, the use of robots seems ideal. The aim of this study is to investigate if there is at present, a realistic possibility of using miniature robots in NOTES or LESS in daily clinical practice. An up-to-date review on in vivo surgical miniature robots is made. A Web-based research of the English literature up to March 2013 using PubMed, Scopus, and Google Scholar as search engines was performed. The development of in vivo miniature robots for use in NOTES or LESS is a reality with great advancements, potential advantages, and possible application in minimally invasive surgery in the future. However, true totally NOTES or LESS procedures on humans using miniature robots either solely or as assistance, remain a dream at present. © The Author(s) 2014.

Soft Robotics: Academic Insights and Perspectives Through Bibliometric Analysis

PubMed Central

Bao, Guanjun; Fang, Hui; Chen, Lingfeng; Xu, Fang; Yang, Qinghua; Zhang, Libin

2018-01-01

Abstract Soft robotics is of growing interest in the robot community as well as in public media, and there is an increase in the quality and quantity of publications related to this topic. To formally elaborate this growth, we have used a bibliometric analysis to evaluate the publications in the field from 1990 to 2017 based on the Science Citation Index Expanded database. We present a detailed overview and discussion based on keywords, citation, h-index, year, journal, institution, country, author, and review articles. The results show that the United States takes the leading position in this research field, followed by China and Italy. Harvard University has the most publications, high average number of citations per publication and the highest h-index. IEEE Transactions on Robotics ranks first among the top 20 academic journals publishing articles related to this field, whereas Soft Robotics holds the top position in journals categorized with “ROBOTICS.” Actuator, fabrication, control, material, sensing, simulation, bionics, stiffness, modeling, power, motion, and application are the hot topics of soft robotics. Smart materials, bionics, morphological computation, and embodiment control are expected to contribute to this field in the future. Application and commercialization appear to be the initial driving force and final goal for soft robots. PMID:29782219

A New Conflict Resolution Method for Multiple Mobile Robots in Cluttered Environments With Motion-Liveness.

PubMed

Shahriari, Mohammadali; Biglarbegian, Mohammad

2018-01-01

This paper presents a new conflict resolution methodology for multiple mobile robots while ensuring their motion-liveness, especially for cluttered and dynamic environments. Our method constructs a mathematical formulation in a form of an optimization problem by minimizing the overall travel times of the robots subject to resolving all the conflicts in their motion. This optimization problem can be easily solved through coordinating only the robots' speeds. To overcome the computational cost in executing the algorithm for very cluttered environments, we develop an innovative method through clustering the environment into independent subproblems that can be solved using parallel programming techniques. We demonstrate the scalability of our approach through performing extensive simulations. Simulation results showed that our proposed method is capable of resolving the conflicts of 100 robots in less than 1.23 s in a cluttered environment that has 4357 intersections in the paths of the robots. We also developed an experimental testbed and demonstrated that our approach can be implemented in real time. We finally compared our approach with other existing methods in the literature both quantitatively and qualitatively. This comparison shows while our approach is mathematically sound, it is more computationally efficient, scalable for very large number of robots, and guarantees the live and smooth motion of robots.

People Detection by a Mobile Robot Using Stereo Vision in Dynamic Indoor Environments

NASA Astrophysics Data System (ADS)

Méndez-Polanco, José Alberto; Muñoz-Meléndez, Angélica; Morales, Eduardo F.

People detection and tracking is a key issue for social robot design and effective human robot interaction. This paper addresses the problem of detecting people with a mobile robot using a stereo camera. People detection using mobile robots is a difficult task because in real world scenarios it is common to find: unpredictable motion of people, dynamic environments, and different degrees of human body occlusion. Additionally, we cannot expect people to cooperate with the robot to perform its task. In our people detection method, first, an object segmentation method that uses the distance information provided by a stereo camera is used to separate people from the background. The segmentation method proposed in this work takes into account human body proportions to segment people and provides a first estimation of people location. After segmentation, an adaptive contour people model based on people distance to the robot is used to calculate a probability of detecting people. Finally, people are detected merging the probabilities of the contour people model and by evaluating evidence over time by applying a Bayesian scheme. We present experiments on detection of standing and sitting people, as well as people in frontal and side view with a mobile robot in real world scenarios.

A miniature surface tension-driven robot using spatially elliptical moving legs to mimic a water strider's locomotion.

PubMed

Yan, J H; Zhang, X B; Zhao, J; Liu, G F; Cai, H G; Pan, Q M

2015-08-04

The highly agile and efficient water-surface locomotion of the water strider has stimulated substantial interest in biomimetic research. In this paper, we propose a new miniature surface tension-driven robot inspired by the water strider. A key feature of this robot is that its actuating leg possesses an ellipse-like spatial trajectory similar to that of a water strider by using a cam-link mechanism. Simplified models are presented to discuss the leg-water interactions as well as critical conditions for a leg penetrating the water surface, and simulations are performed on the robot's dynamic properties. The final fabricated robot weighs about 3.9 g, and can freely and stably walk on water at different gaits. The maximum forward and turning speeds of the robot are measured as 16 cm s(-1) and 23°/s, respectively. Furthermore, a similarity analysis with Bond number and Weber number demonstrates that the locomotion of this robot is quite analogous to that of a real water strider: the surface tension force dominates the lifting force and plays a major role in the propulsion force. This miniature surface tension-driven robot might have potential applications in many areas such as water quality monitoring and aquatic search and rescue.

A haptic sensing upgrade for the current EOD robotic fleet

NASA Astrophysics Data System (ADS)

Rowe, Patrick

2014-06-01

The past decade and a half has seen a tremendous rise in the use of mobile manipulator robotic platforms for bomb inspection and disposal, explosive ordnance disposal, and other extremely hazardous tasks in both military and civilian settings. Skilled operators are able to control these robotic vehicles in amazing ways given the very limited situational awareness obtained from a few on-board camera views. Future generations of robotic platforms will, no doubt, provide some sort of additional force or haptic sensor feedback to further enhance the operator's interaction with the robot, especially when dealing with fragile, unstable, and explosive objects. Unfortunately, the robot operators need this capability today. This paper discusses an approach to provide existing (and future) robotic mobile manipulator platforms, with which trained operators are already familiar and highly proficient, this desired haptic and force feedback capability. The goals of this technology are to be rugged, reliable, and affordable. It should also be able to be applied to a wide range of existing robots with a wide variety of manipulator/gripper sizes and styles. Finally, the presentation of the haptic information to the operator is discussed, given the fact that control devices that physically interact with the operators are not widely available and still in the research stages.

Robot-assisted Partial Nephrectomy: 5-yr Oncological Outcomes at a Single European Tertiary Cancer Center.

PubMed

Vartolomei, Mihai Dorin; Matei, Deliu Victor; Renne, Giuseppe; Tringali, Valeria Maria; Crisan, Nicolae; Musi, Gennaro; Mistretta, Francesco Alessandro; Russo, Andrea; Cozzi, Gabriele; Cordima, Giovani; Luzzago, Stefano; Cioffi, Antonio; Di Trapani, Ettore; Catellani, Michele; Delor, Maurizio; Bottero, Danilo; Imbimbo, Ciro; Mirone, Vincenzo; Ferro, Matteo; de Cobelli, Ottavio

2017-10-27

Nowadays, there is a debate about which surgical treatment should be best for clinical T1 renal tumors. If the oncological outcomes are considered, there are many open and laparoscopic series published. As far as robotic series are concerned, only a few of them report 5-yr oncological outcomes. The aim of this study was to analyze robot-assisted partial nephrectomy (RAPN) midterm oncological outcomes achieved in a tertiary robotic reference center. Between April 2009 and September 2013, 123 consecutive patients with clinical T1-stage renal masses underwent RAPN in our tertiary cancer center. Inclusion criteria were as follows: pathologically confirmed renal cell carcinomas (RCCs) and follow-up for >12 mo. Eighteen patients were excluded due to follow-up of <12 mo and 15 due to benign final pathology. Median follow-up was 59 mo (interquartile range 44-73 mo). Patients were followed according to guideline recommendations and institutional protocol. Outcomes were measured by time to disease progression, overall survival, or time to cancer-specific death. Kaplan-Meier method was used to estimate survival; log-rank tests were applied for pair-wise comparison of survival. From the 90 patients included, 66 (73.3%) had T1a, 12 (13.3%) T1b, three (3.3%) T2a, and nine (10%) T3a tumors. Predominant histological type was clear cell carcinoma: 67 (74.5%). Fuhrmann grade 1 and 2 was found in 73.3% of all malignant tumors. Two patients (2.2%) had positive surgical margins, and complication rate was 17.8%. Relapse rate was 7.7%, including two cases (2.2%) of local recurrences and five (5.5%) distant metastasis. Five-year disease-free survival was 90.9%, 5-yr cancer-specific survival was 97.5%, and 5-yr overall survival was 95.1%. Midterm oncological outcomes after RAPN for localized RCCs (predominantly T1a tumors of low anatomic complexity) were shown to be good, adding significant evidence to support the oncological efficacy and safety of RAPN for the treatment of this type of tumors. Robot-assisted partial nephrectomy seems to be the most promising minimally invasive approach in the treatment of renal masses suitable for organ-sparing surgery as midterm (5 yr) oncological outcomes are excellent. Copyright © 2017 European Association of Urology. Published by Elsevier B.V. All rights reserved.

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

PubMed

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

2015-03-01

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

Panoramic optical-servoing for industrial inspection and repair

NASA Astrophysics Data System (ADS)

Sallinger, Christian; O'Leary, Paul; Retschnig, Alexander; Kammerhofer, Martin

2004-05-01

Recently specialized robots were introduced to perform the task of inspection and repair in large cylindrical structures such as ladles, melting furnaces and converters. This paper reports on the image processing system and optical servoing for one such a robot. A panoramic image of the vessels inner surface is produced by performing a coordinated robot motion and image acquisition. The level of projective distortion is minimized by acquiring a high density of images. Normalized phase correlation calculated via the 2D Fourier transform is used to calculate the shift between the single images. The narrow strips from the dense image map are then stitched together to build the panorama. The mapping between the panoramic image and the positioning of the robot is established during the stitching of the images. This enables optical feedback. The robots operator can locate a defect on the surface by selecting the area of the image. Calculation of the forward and inverse kinematics enable the robot to automatically move to the location on the surface requiring repair. Experimental results using a standard 6R industrial robot have shown the full functionality of the system concept. Finally, were test measurements carried out successfully, in a ladle at a temperature of 1100° C.

Caregiver and social assistant robot for rehabilitation and coaching for the elderly.

PubMed

Pérez, P J; Garcia-Zapirain, B; Mendez-Zorrilla, A

2015-01-01

Socially assistive robotics (SAR) has been a major field of investigation during the last decade and, as it develops, the groups the technology can be applied to and all ways in which these can be assisted are rapidly increasing. The main objective is to design and develop a complete robotic agent, so that it performs physical and mental activities for elderly people to maintain their healthy life habits and, as a final result, improve their quality of life. LEGO Mindstorms NXT® robot's unique capacity for adaptability and engaging its users to develop coaching activities and assistive rehabilitation for the elderly. Such activities will aim to enhance healthy habits and provide training in physical and mental rehabilitation. The robot is attached to an iPod Touch that acts as its interface. The robot has been tested by a voluntary group of residents, also from that retirement home. Results in the variables of the questionnaire show scores above 4 points out of 5 for all the categories. Based on the tests, an easy to use Robot is prepared to deliver basic coaching for physical activities as proposed by the client, the staff of La Misericordia, who confirmed their satisfaction regarding this aspect.

Omni-Directional Scanning Localization Method of a Mobile Robot Based on Ultrasonic Sensors.

PubMed

Mu, Wei-Yi; Zhang, Guang-Peng; Huang, Yu-Mei; Yang, Xin-Gang; Liu, Hong-Yan; Yan, Wen

2016-12-20

Improved ranging accuracy is obtained by the development of a novel ultrasonic sensor ranging algorithm, unlike the conventional ranging algorithm, which considers the divergence angle and the incidence angle of the ultrasonic sensor synchronously. An ultrasonic sensor scanning method is developed based on this algorithm for the recognition of an inclined plate and to obtain the localization of the ultrasonic sensor relative to the inclined plate reference frame. The ultrasonic sensor scanning method is then leveraged for the omni-directional localization of a mobile robot, where the ultrasonic sensors are installed on a mobile robot and follow the spin of the robot, the inclined plate is recognized and the position and posture of the robot are acquired with respect to the coordinate system of the inclined plate, realizing the localization of the robot. Finally, the localization method is implemented into an omni-directional scanning localization experiment with the independently researched and developed mobile robot. Localization accuracies of up to ±3.33 mm for the front, up to ±6.21 for the lateral and up to ±0.20° for the posture are obtained, verifying the correctness and effectiveness of the proposed localization method.

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

PubMed

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

2018-03-01

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

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

NASA Astrophysics Data System (ADS)

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

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

Robotics in biomedical chromatography and electrophoresis.

PubMed

Fouda, H G

1989-08-11

The ideal laboratory robot can be viewed as "an indefatigable assistant capable of working continuously for 24 h a day with constant efficiency". The development of a system approaching that promise requires considerable skill and time commitment, a thorough understanding of the capabilities and limitations of the robot and its specialized modules and an intimate knowledge of the functions to be automated. The robot need not emulate every manual step. Effective substitutes for difficult steps must be devised. The future of laboratory robots depends not only on technological advances in other fields, but also on the skill and creativity of chromatographers and other scientists. The robot has been applied to automate numerous biomedical chromatography and electrophoresis methods. The quality of its data can approach, and in some cases exceed, that of manual methods. Maintaining high data quality during continuous operation requires frequent maintenance and validation. Well designed robotic systems can yield substantial increase in the laboratory productivity without a corresponding increase in manpower. They can free skilled personnel from mundane tasks and can enhance the safety of the laboratory environment. The integration of robotics, chromatography systems and laboratory information management systems permits full automation and affords opportunities for unattended method development and for future incorporation of artificial intelligence techniques and the evolution of expert systems. Finally, humanoid attributes aside, robotic utilization in the laboratory should not be an end in itself. The robot is a useful tool that should be utilized only when it is prudent and cost-effective to do so.

Cooperative Exploration of Rough Martian Terrains with the "Scorpion" Legged Robot as an Adjunct to a Rover.

NASA Technical Reports Server (NTRS)

Colombano, Silvano P.; Kirchner, Frank; Spenneberg, Dirk; Starman, Jared; Hanratty, James; Kovsmeyer, David (Technical Monitor)

2003-01-01

NASA needs autonomous robotic exploration of difficult (rough and/or steep) scientifically interesting Martian terrains. Concepts involving distributed autonomy for cooperative robotic exploration are key to enabling new scientific objectives in robotic missions. We propose to utilize a legged robot as an adjunct scout to a rover for access to difficult - scientifically interesting - terrains (rocky areas, slopes, cliffs). Our final mission scenario involves the Ames rover platform "K9" and Scorpion acting together to explore a steep cliff, with the Scorpion robot rappelling down using the K9 as an anchor as well as mission planner and executive. Cooperation concepts, including wheeled rappelling robots have been proposed before. Now we propose to test the combined advantages of a wheeled vehicle with a legged scout as well as the advantages of merging of high level planning and execution with biologically inspired, behavior based robotics. We propose to use the 8-legged, multifunctional autonomous robot platform Scorpion that is currently capable of: Walking on different terrains (rocks, sand, grass, ...). Perceiving its environment and modifying its behavioral pattern accordingly. These capabilities would be extended to enable the Scorpion to: communicate and cooperate with a partner robot; climb over rocks, rubble piles, and objects with structural features. This will be done in the context of exploration of rough terrains in the neighborhood of the rover, but inaccessible to it, culminating in the added capability of rappelling down a steep cliff for both vertical and horizontal terrain observation.

Using articulated scene models for dynamic 3d scene analysis in vista spaces

NASA Astrophysics Data System (ADS)

Beuter, Niklas; Swadzba, Agnes; Kummert, Franz; Wachsmuth, Sven

2010-09-01

In this paper we describe an efficient but detailed new approach to analyze complex dynamic scenes directly in 3D. The arising information is important for mobile robots to solve tasks in the area of household robotics. In our work a mobile robot builds an articulated scene model by observing the environment in the visual field or rather in the so-called vista space. The articulated scene model consists of essential knowledge about the static background, about autonomously moving entities like humans or robots and finally, in contrast to existing approaches, information about articulated parts. These parts describe movable objects like chairs, doors or other tangible entities, which could be moved by an agent. The combination of the static scene, the self-moving entities and the movable objects in one articulated scene model enhances the calculation of each single part. The reconstruction process for parts of the static scene benefits from removal of the dynamic parts and in turn, the moving parts can be extracted more easily through the knowledge about the background. In our experiments we show, that the system delivers simultaneously an accurate static background model, moving persons and movable objects. This information of the articulated scene model enables a mobile robot to detect and keep track of interaction partners, to navigate safely through the environment and finally, to strengthen the interaction with the user through the knowledge about the 3D articulated objects and 3D scene analysis. [Figure not available: see fulltext.

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

PubMed

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

2017-04-01

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

Ongoing Progress in Spacecraft Controls

NASA Technical Reports Server (NTRS)

Ghosh, Dave (Editor)

1992-01-01

This publication is a collection of papers presented at the Mars Mission Research Center workshop on Ongoing Progress in Spacecraft Controls. The technical program addressed additional Mars mission control problems that currently exist in robotic missions in addition to human missions. Topics include control systems design in the presence of large time delays, fuel-optimal propulsive control, and adaptive control to handle a variety of unknown conditions.

Using conceptual spaces to fuse knowledge from heterogeneous robot platforms

NASA Astrophysics Data System (ADS)

Kira, Zsolt

2010-04-01

As robots become more common, it becomes increasingly useful for many applications to use them in teams that sense the world in a distributed manner. In such situations, the robots or a central control center must communicate and fuse information received from multiple sources. A key challenge for this problem is perceptual heterogeneity, where the sensors, perceptual representations, and training instances used by the robots differ dramatically. In this paper, we use Gärdenfors' conceptual spaces, a geometric representation with strong roots in cognitive science and psychology, in order to represent the appearance of objects and show how the problem of heterogeneity can be intuitively explored by looking at the situation where multiple robots differ in their conceptual spaces at different levels. To bridge low-level sensory differences, we abstract raw sensory data into properties (such as color or texture categories), represented as Gaussian Mixture Models, and demonstrate that this facilitates both individual learning and the fusion of concepts between robots. Concepts (e.g. objects) are represented as a fuzzy mixture of these properties. We then treat the problem where the conceptual spaces of two robots differ and they only share a subset of these properties. In this case, we use joint interaction and statistical metrics to determine which properties are shared. Finally, we show how conceptual spaces can handle the combination of such missing properties when fusing concepts received from different robots. We demonstrate the fusion of information in real-robot experiments with a Mobile Robots Amigobot and Pioneer 2DX with significantly different cameras and (on one robot) a SICK lidar.ÿÿÿÿ

Mars Climate Continues to Fascinate

NASA Technical Reports Server (NTRS)

2005-01-01

After Opportunity ground a hole in the rock called 'Ice Cream' and conducted various scientific experiments, it took this final microscopic image of the hole before driving away. When the image arrived at Earth, scientist discovered that the hole had been filled with dust. Apparently, a blast of wind had picked up some of the tailings produced by the grinding of the rover's rock abrasion tool and swept them back into the hole. In recent months, both rovers have experienced the effects of wind. The Spirit rover on the other side of Mars has tracked the progress of numerous dust devils moving across the plains.

Opportunity took this mosaic of images on martian day, or sol, 549 (Aug. 9, 2005). The area shown is approximately 6 centimeters (2.4 inches) wide. The darker portions in the upper left corner of each quadrangle in the mosaic are shadows cast by the rover's robotic arm.

Instrumentation progress at the Giant Magellan Telescope project

NASA Astrophysics Data System (ADS)

Jacoby, George H.; Bernstein, R.; Bouchez, A.; Colless, M.; Crane, Jeff; DePoy, D.; Espeland, B.; Hare, Tyson; Jaffe, D.; Lawrence, J.; Marshall, J.; McGregor, P.; Shectman, Stephen; Sharp, R.; Szentgyorgyi, A.; Uomoto, Alan; Walls, B.

2016-08-01

Instrument development for the 24m Giant Magellan Telescope (GMT) is described: current activities, progress, status, and schedule. One instrument team has completed its preliminary design and is currently beginning its final design (GCLEF, an optical 350-950 nm, high-resolution and precision radial velocity echelle spectrograph). A second instrument team is in its conceptual design phase (GMACS, an optical 350-950 nm, medium resolution, 6-10 arcmin field, multi-object spectrograph). A third instrument team is midway through its preliminary design phase (GMTIFS, a near-IR YJHK diffraction-limited imager/integral-field-spectrograph), focused on risk reduction prototyping and design optimization. A fourth instrument team is currently fabricating the 5 silicon immersion gratings needed to begin its preliminary design phase (GMTNIRS, a simultaneous JHKLM high-resolution, AO-fed, echelle spectrograph). And, another instrument team is focusing on technical development and prototyping (MANIFEST, a facility robotic, multifiber feed, with a 20 arcmin field of view). In addition, a medium-field (6 arcmin, 0.06 arcsec/pix) optical imager will support telescope and AO commissioning activities, and will excel at narrow-band imaging. In the spirit of advancing synergies with other groups, the challenges of running an ELT instrument program and opportunities for cross-ELT collaborations are discussed.

Adaptive output feedback control of flexible-joint robots using neural networks: dynamic surface design approach.

PubMed

Yoo, Sung Jin; Park, Jin Bae; Choi, Yoon Ho

2008-10-01

In this paper, we propose a new robust output feedback control approach for flexible-joint electrically driven (FJED) robots via the observer dynamic surface design technique. The proposed method only requires position measurements of the FJED robots. To estimate the link and actuator velocity information of the FJED robots with model uncertainties, we develop an adaptive observer using self-recurrent wavelet neural networks (SRWNNs). The SRWNNs are used to approximate model uncertainties in both robot (link) dynamics and actuator dynamics, and all their weights are trained online. Based on the designed observer, the link position tracking controller using the estimated states is induced from the dynamic surface design procedure. Therefore, the proposed controller can be designed more simply than the observer backstepping controller. From the Lyapunov stability analysis, it is shown that all signals in a closed-loop adaptive system are uniformly ultimately bounded. Finally, the simulation results on a three-link FJED robot are presented to validate the good position tracking performance and robustness of the proposed control system against payload uncertainties and external disturbances.

A Review of Robotics in Neurorehabilitation: Towards an Automated Process for Upper Limb

PubMed Central

Sánchez-Herrera, P.; Balaguer, C.; Jardón, A.

2018-01-01

Robot-mediated neurorehabilitation is a growing field that seeks to incorporate advances in robotics combined with neuroscience and rehabilitation to define new methods for treating problems related with neurological diseases. In this paper, a systematic literature review is conducted to identify the contribution of robotics for upper limb neurorehabilitation, highlighting its relation with the rehabilitation cycle, and to clarify the prospective research directions in the development of more autonomous rehabilitation processes. With this aim, first, a study and definition of a general rehabilitation process are made, and then, it is particularized for the case of neurorehabilitation, identifying the components involved in the cycle and their degree of interaction between them. Next, this generic process is compared with the current literature in robotics focused on upper limb treatment, analyzing which components of this rehabilitation cycle are being investigated. Finally, the challenges and opportunities to obtain more autonomous rehabilitation processes are discussed. In addition, based on this study, a series of technical requirements that should be taken into account when designing and implementing autonomous robotic systems for rehabilitation is presented and discussed. PMID:29707189

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

NASA Technical Reports Server (NTRS)

Thatte, Nitish

2011-01-01

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

Robonaut 2 and You: Specifying and Executing Complex Operations

NASA Technical Reports Server (NTRS)

Baker, William; Kingston, Zachary; Moll, Mark; Badger, Julia; Kavraki, Lydia

2017-01-01

Crew time is a precious resource due to the expense of trained human operators in space. Efficient caretaker robots could lessen the manual labor load required by frequent vehicular and life support maintenance tasks, freeing astronaut time for scientific mission objectives. Humanoid robots can fluidly exist alongside human counterparts due to their form, but they are complex and high-dimensional platforms. This paper describes a system that human operators can use to maneuver Robonaut 2 (R2), a dexterous humanoid robot developed by NASA to research co-robotic applications. The system includes a specification of constraints used to describe operations, and the supporting planning framework that solves constrained problems on R2 at interactive speeds. The paper is developed in reference to an illustrative, typical example of an operation R2 performs to highlight the challenges inherent to the problems R2 must face. Finally, the interface and planner is validated through a case-study using the guiding example on the physical robot in a simulated microgravity environment. This work reveals the complexity of employing humanoid caretaker robots and suggest solutions that are broadly applicable.

Robot-assisted vitreoretinal surgery: current perspectives

PubMed Central

Roizenblatt, Marina; Edwards, Thomas L; Gehlbach, Peter L

2018-01-01

Vitreoretinal microsurgery is among the most technically challenging of the minimally invasive surgical techniques. Exceptional precision is required to operate on micron scale targets presented by the retina while also maneuvering in a tightly constrained and fragile workspace. These challenges are compounded by inherent limitations of the unassisted human hand with regard to dexterity, tremor and precision in positioning instruments. The limited human ability to visually resolve targets on the single-digit micron scale is a further limitation. The inherent attributes of robotic approaches therefore, provide logical, strategic and promising solutions to the numerous challenges associated with retinal microsurgery. Robotic retinal surgery is a rapidly emerging technology that has witnessed an exponential growth in capabilities and applications over the last decade. There is now a worldwide movement toward evaluating robotic systems in an expanding number of clinical applications. Coincident with this expanding application is growth in the number of laboratories committed to “robotic medicine”. Recent technological advances in conventional retina surgery have also led to tremendous progress in the surgeon’s capabilities, enhanced outcomes, a reduction of patient discomfort, limited hospitalization and improved safety. The emergence of robotic technology into this rapidly advancing domain is expected to further enhance important aspects of the retinal surgery experience for the patients, surgeons and society. PMID:29527537

Robot-assisted vitreoretinal surgery: current perspectives.

PubMed

Roizenblatt, Marina; Edwards, Thomas L; Gehlbach, Peter L

2018-01-01

Vitreoretinal microsurgery is among the most technically challenging of the minimally invasive surgical techniques. Exceptional precision is required to operate on micron scale targets presented by the retina while also maneuvering in a tightly constrained and fragile workspace. These challenges are compounded by inherent limitations of the unassisted human hand with regard to dexterity, tremor and precision in positioning instruments. The limited human ability to visually resolve targets on the single-digit micron scale is a further limitation. The inherent attributes of robotic approaches therefore, provide logical, strategic and promising solutions to the numerous challenges associated with retinal microsurgery. Robotic retinal surgery is a rapidly emerging technology that has witnessed an exponential growth in capabilities and applications over the last decade. There is now a worldwide movement toward evaluating robotic systems in an expanding number of clinical applications. Coincident with this expanding application is growth in the number of laboratories committed to "robotic medicine". Recent technological advances in conventional retina surgery have also led to tremendous progress in the surgeon's capabilities, enhanced outcomes, a reduction of patient discomfort, limited hospitalization and improved safety. The emergence of robotic technology into this rapidly advancing domain is expected to further enhance important aspects of the retinal surgery experience for the patients, surgeons and society.

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

PubMed

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

2014-09-06

To better understand the role of tensegrity structures in biological systems and their application to robotics, the Dynamic Tensegrity Robotics Lab at NASA Ames Research Center, Moffett Field, CA, USA, has developed and validated two software environments for the analysis, simulation and design of tensegrity robots. These tools, along with new control methodologies and the modular hardware components developed to validate them, are presented as a system for the design of actuated tensegrity structures. As evidenced from their appearance in many biological systems, tensegrity ('tensile-integrity') structures have unique physical properties that make them ideal for interaction with uncertain environments. Yet, these characteristics make design and control of bioinspired tensegrity robots extremely challenging. This work presents the progress our tools have made in tackling the design and control challenges of spherical tensegrity structures. We focus on this shape since it lends itself to rolling locomotion. The results of our analyses include multiple novel control approaches for mobility and terrain interaction of spherical tensegrity structures that have been tested in simulation. A hardware prototype of a spherical six-bar tensegrity, the Reservoir Compliant Tensegrity Robot, is used to empirically validate the accuracy of simulation. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

Towards Rehabilitation Robotics: Off-the-Shelf BCI Control of Anthropomorphic Robotic Arms.

PubMed

Athanasiou, Alkinoos; Xygonakis, Ioannis; Pandria, Niki; Kartsidis, Panagiotis; Arfaras, George; Kavazidi, Kyriaki Rafailia; Foroglou, Nicolas; Astaras, Alexander; Bamidis, Panagiotis D

2017-01-01

Advances in neural interfaces have demonstrated remarkable results in the direction of replacing and restoring lost sensorimotor function in human patients. Noninvasive brain-computer interfaces (BCIs) are popular due to considerable advantages including simplicity, safety, and low cost, while recent advances aim at improving past technological and neurophysiological limitations. Taking into account the neurophysiological alterations of disabled individuals, investigating brain connectivity features for implementation of BCI control holds special importance. Off-the-shelf BCI systems are based on fast, reproducible detection of mental activity and can be implemented in neurorobotic applications. Moreover, social Human-Robot Interaction (HRI) is increasingly important in rehabilitation robotics development. In this paper, we present our progress and goals towards developing off-the-shelf BCI-controlled anthropomorphic robotic arms for assistive technologies and rehabilitation applications. We account for robotics development, BCI implementation, and qualitative assessment of HRI characteristics of the system. Furthermore, we present two illustrative experimental applications of the BCI-controlled arms, a study of motor imagery modalities on healthy individuals' BCI performance, and a pilot investigation on spinal cord injured patients' BCI control and brain connectivity. We discuss strengths and limitations of our design and propose further steps on development and neurophysiological study, including implementation of connectivity features as BCI modality.

Towards Rehabilitation Robotics: Off-the-Shelf BCI Control of Anthropomorphic Robotic Arms

PubMed Central

Xygonakis, Ioannis; Pandria, Niki; Kartsidis, Panagiotis; Arfaras, George; Kavazidi, Kyriaki Rafailia; Foroglou, Nicolas

2017-01-01

Advances in neural interfaces have demonstrated remarkable results in the direction of replacing and restoring lost sensorimotor function in human patients. Noninvasive brain-computer interfaces (BCIs) are popular due to considerable advantages including simplicity, safety, and low cost, while recent advances aim at improving past technological and neurophysiological limitations. Taking into account the neurophysiological alterations of disabled individuals, investigating brain connectivity features for implementation of BCI control holds special importance. Off-the-shelf BCI systems are based on fast, reproducible detection of mental activity and can be implemented in neurorobotic applications. Moreover, social Human-Robot Interaction (HRI) is increasingly important in rehabilitation robotics development. In this paper, we present our progress and goals towards developing off-the-shelf BCI-controlled anthropomorphic robotic arms for assistive technologies and rehabilitation applications. We account for robotics development, BCI implementation, and qualitative assessment of HRI characteristics of the system. Furthermore, we present two illustrative experimental applications of the BCI-controlled arms, a study of motor imagery modalities on healthy individuals' BCI performance, and a pilot investigation on spinal cord injured patients' BCI control and brain connectivity. We discuss strengths and limitations of our design and propose further steps on development and neurophysiological study, including implementation of connectivity features as BCI modality. PMID:28948168

A Touch-Communication Framework for Drug Delivery Based on a Transient Microbot System.

PubMed

Yifan Chen; Kosmas, Panagiotis; Anwar, Putri Santi; Limin Huang

2015-06-01

Recent progress in bioresorbable radio frequency electronics and engineered bacteria has promised the prospect of realizing a transient microbot (TM) system for therapeutic applications. The inorganic or organic miniature robots will dissolve into the human body after completing the required tasks and cause no side-effect. In this paper, we propose a potential architecture of a TM system for transporting pharmaceutical compounds inside the body, and analyze the system using a micro-to-macro cross-scale communication model. The remote controllability and tangibility of a TM essentially lead to a touch-communication (TouchCom) paradigm. Externally maneuverable and trackable TMs are responsible for the delivery of drug particles (information molecules in the TouchCom context). The loading/injection and unloading of the drug correspond to the transmitting and receiving processes in the TouchCom framework. Subsequently, we investigate simulation tools for the propagation and transient characteristics of TMs in the blood vessels. We also define the propagation delay, path loss, as well as angular and delay spectra of targeting intensity, which are parallel to their counterpart concepts in the conventional wireless channel. Finally, our approach is illustrated with comprehensive simulation studies of targeted drug delivery by using the proposed analytical framework integrating robotics and communications at crossover length scales. The proposed methodology may find important applications in the design and analysis of TM-assisted administration of pharmaceutical compounds.

The Evolution of Three Dimensional Visualization for Commanding the Mars Rovers

NASA Technical Reports Server (NTRS)

Hartman, Frank R.; Wright, John; Cooper, Brian

2014-01-01

NASA's Jet Propulsion Laboratory has built and operated four rovers on the surface of Mars. Two and three dimensional visualization has been extensively employed to command both the mobility and robotic arm operations of these rovers. Stereo visualization has been an important component in this set of visualization techniques. This paper discusses the progression of the implementation and use of visualization techniques for in-situ operations of these robotic missions. Illustrative examples will be drawn from the results of using these techniques over more than ten years of surface operations on Mars.

UPenn Multi-Robot Unmanned Vehicle System (MAGIC)

DTIC Science & Technology

2014-05-05

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

Rehabilitation robotics: an academic engineer perspective.

PubMed

Krebs, Hermano I

2011-01-01

In this paper, we present a retrospective review of our efforts to revolutionize the way physical medicine is practiced by developing and deploying rehabilitation robots. We present a sample of our clinical results with well over 600 stroke patients, both inpatients and outpatients. We discuss the different robots developed at our laboratory over the past 20 years and their unique characteristics. All are configured both to deliver reproducible interactive therapy and also to measure outcomes with minimal encumbrance, thus providing critical measurement tools to help unravel the key remaining question: what constitutes "best practice"? While success to date indicates that this therapeutic application of robots has opened an emerging new frontier in physical medicine and rehabilitation, the barrier to further progress lies not in developing new hardware but rather in finding the most effective way to enhance neuro-recovery. We close this manuscript discussing some of the tools required for advancing the effort beyond the present state to what we believe will be the central feature of research during the next 10 years.

Vision technology/algorithms for space robotics applications

NASA Technical Reports Server (NTRS)

Krishen, Kumar; Defigueiredo, Rui J. P.

1987-01-01

The thrust of automation and robotics for space applications has been proposed for increased productivity, improved reliability, increased flexibility, higher safety, and for the performance of automating time-consuming tasks, increasing productivity/performance of crew-accomplished tasks, and performing tasks beyond the capability of the crew. This paper provides a review of efforts currently in progress in the area of robotic vision. Both systems and algorithms are discussed. The evolution of future vision/sensing is projected to include the fusion of multisensors ranging from microwave to optical with multimode capability to include position, attitude, recognition, and motion parameters. The key feature of the overall system design will be small size and weight, fast signal processing, robust algorithms, and accurate parameter determination. These aspects of vision/sensing are also discussed.

Organ printing: from bioprinter to organ biofabrication line.

PubMed

Mironov, Vladimir; Kasyanov, Vladimir; Markwald, Roger R

2011-10-01

Organ printing, or the layer by layer additive robotic biofabrication of functional three-dimensional tissue and organ constructs using self-assembling tissue spheroid building blocks, is a rapidly emerging technology that promises to transform tissue engineering into a commercially successful biomedical industry. It is increasingly obvious that similar well-established industries implement automated robotic systems on the path to commercial translation and economic success. The use of robotic bioprinters alone however is not sufficient for the development of large industrial scale organ biofabrication. The design and development of a fully integrated organ biofabrication line is imperative for the commercial translation of organ printing technology. This paper presents recent progress and challenges in the development of the essential components of an organ biofabrication line. Copyright © 2011 Elsevier Ltd. All rights reserved.

SVMs for Vibration-Based Terrain Classification

NASA Astrophysics Data System (ADS)

Weiss, Christian; Stark, Matthias; Zell, Andreas

When an outdoor mobile robot traverses different types of ground surfaces, different types of vibrations are induced in the body of the robot. These vibrations can be used to learn a discrimination between different surfaces and to classify the current terrain. Recently, we presented a method that uses Support Vector Machines for classification, and we showed results on data collected with a hand-pulled cart. In this paper, we show that our approach also works well on an outdoor robot. Furthermore, we more closely investigate in which direction the vibration should be measured. Finally, we present a simple but effective method to improve the classification by combining measurements taken in multiple directions.

Zero Robotics at Kennedy Space Center Visitor Complex

NASA Image and Video Library

2017-08-11

A trio of programmable off-the-shelf Sphero robots are shown at the Center for Space Education at NASA's Kennedy Space Center in Florida. The Spheros were available for students to practice their programming skills during "loss of signal" times when the connection to the International Space Station was temporarily unavailable. Teams from across the state of Florida were gathered at Kennedy for the finals of the Zero Robotics Middle School Summer Program national championship. The five-week program allows rising sixth- through ninth-graders to write programs for small satellites called SPHERES (Synchronized, Position, Hold, Engage, Reorient, Experimental Satellites). Finalists saw their code tested aboard the orbiting laboratory.

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.

Design, Kinematic Optimization, and Evaluation of a Teleoperated System for Middle Ear Microsurgery

PubMed Central

Miroir, Mathieu; Nguyen, Yann; Szewczyk, Jérôme; Sterkers, Olivier; Bozorg Grayeli, Alexis

2012-01-01

Middle ear surgery involves the smallest and the most fragile bones of the human body. Since microsurgical gestures and a submillimetric precision are required in these procedures, the outcome can be potentially improved by robotic assistance. Today, there is no commercially available device in this field. Here, we describe a method to design a teleoperated assistance robotic system dedicated to the middle ear surgery. Determination of design specifications, the kinematic structure, and its optimization are detailed. The robot-surgeon interface and the command modes are provided. Finally, the system is evaluated by realistic tasks in experimental dedicated settings and in human temporal bone specimens. PMID:22927789

Safety, efficiency and learning curves in robotic surgery: a human factors analysis.

PubMed

Catchpole, Ken; Perkins, Colby; Bresee, Catherine; Solnik, M Jonathon; Sherman, Benjamin; Fritch, John; Gross, Bruno; Jagannathan, Samantha; Hakami-Majd, Niv; Avenido, Raymund; Anger, Jennifer T

2016-09-01

Expense, efficiency of use, learning curves, workflow integration and an increased prevalence of serious incidents can all be barriers to adoption. We explored an observational approach and initial diagnostics to enhance total system performance in robotic surgery. Eighty-nine robotic surgical cases were observed in multiple operating rooms using two different surgical robots (the S and Si), across several specialties (Urology, Gynecology, and Cardiac Surgery). The main measures were operative duration and rate of flow disruptions-described as 'deviations from the natural progression of an operation thereby potentially compromising safety or efficiency.' Contextual parameters collected were surgeon experience level and training, type of surgery, the model of robot and patient factors. Observations were conducted across four operative phases (operating room pre-incision; robot docking; main surgical intervention; post-console). A mean of 9.62 flow disruptions per hour (95 % CI 8.78-10.46) were predominantly caused by coordination, communication, equipment and training problems. Operative duration and flow disruption rate varied with surgeon experience (p = 0.039; p < 0.001, respectively), training cases (p = 0.012; p = 0.007) and surgical type (both p < 0.001). Flow disruption rates in some phases were also sensitive to the robot model and patient characteristics. Flow disruption rate is sensitive to system context and generates improvement diagnostics. Complex surgical robotic equipment increases opportunities for technological failures, increases communication requirements for the whole team, and can reduce the ability to maintain vision in the operative field. These data suggest specific opportunities to reduce the training costs and the learning curve.

A robotically constructed production and supply base on Phobos

NASA Astrophysics Data System (ADS)

1989-05-01

PHOBIA Corporation is involved with the design of a man-tenable robotically constructed, bootstrap base on Mars' moon, Phobos. This base will be a pit-stop for future manned missions to Mars and beyond and will be a control facility during the robotic construction of a Martian base. An introduction is given to the concepts and the ground rules followed during the design process. Details of a base design and its location are given along with information about some of the subsystems. Since a major purpose of the base is to supply fuel to spacecraft so they can limit their fuel mass, mining and production systems are discussed. Surface support activities such as docks, anchors, and surface transportation systems are detailed. Several power supplies for the base are investigated and include fuel cells and a nuclear reactor. Tasks for the robots are defined along with descriptions of the robots capable of completing the tasks. Finally, failure modes for the entire PHOBIA Corporation design are presented along with an effects analysis and preventative recommendations.

COMPASS Final Report: Low Cost Robotic Lunar Lander

NASA Technical Reports Server (NTRS)

McGuire, Melissa L.; Oleson, Steven R.

2010-01-01

The COllaborative Modeling for the Parametric Assessment of Space Systems (COMPASS) team designed a robotic lunar Lander to deliver an unspecified payload (greater than zero) to the lunar surface for the lowest cost in this 2006 design study. The purpose of the low cost lunar lander design was to investigate how much payload can an inexpensive chemical or Electric Propulsion (EP) system deliver to the Moon s surface. The spacecraft designed as the baseline out of this study was a solar powered robotic lander, launched on a Minotaur V launch vehicle on a direct injection trajectory to the lunar surface. A Star 27 solid rocket motor does lunar capture and performs 88 percent of the descent burn. The Robotic Lunar Lander soft-lands using a hydrazine propulsion system to perform the last 10% of the landing maneuver, leaving the descent at a near zero, but not exactly zero, terminal velocity. This low-cost robotic lander delivers 10 kg of science payload instruments to the lunar surface.

A developmental roadmap for learning by imitation in robots.

PubMed

Lopes, Manuel; Santos-Victor, José

2007-04-01

In this paper, we present a strategy whereby a robot acquires the capability to learn by imitation following a developmental pathway consisting on three levels: 1) sensory-motor coordination; 2) world interaction; and 3) imitation. With these stages, the system is able to learn tasks by imitating human demonstrators. We describe results of the different developmental stages, involving perceptual and motor skills, implemented in our humanoid robot, Baltazar. At each stage, the system's attention is drawn toward different entities: its own body and, later on, objects and people. Our main contributions are the general architecture and the implementation of all the necessary modules until imitation capabilities are eventually acquired by the robot. Also, several other contributions are made at each level: learning of sensory-motor maps for redundant robots, a novel method for learning how to grasp objects, and a framework for learning task description from observation for program-level imitation. Finally, vision is used extensively as the sole sensing modality (sometimes in a simplified setting) avoiding the need for special data-acquisition hardware.

A robotically constructed production and supply base on Phobos

NASA Technical Reports Server (NTRS)

1989-01-01

PHOBIA Corporation is involved with the design of a man-tenable robotically constructed, bootstrap base on Mars' moon, Phobos. This base will be a pit-stop for future manned missions to Mars and beyond and will be a control facility during the robotic construction of a Martian base. An introduction is given to the concepts and the ground rules followed during the design process. Details of a base design and its location are given along with information about some of the subsystems. Since a major purpose of the base is to supply fuel to spacecraft so they can limit their fuel mass, mining and production systems are discussed. Surface support activities such as docks, anchors, and surface transportation systems are detailed. Several power supplies for the base are investigated and include fuel cells and a nuclear reactor. Tasks for the robots are defined along with descriptions of the robots capable of completing the tasks. Finally, failure modes for the entire PHOBIA Corporation design are presented along with an effects analysis and preventative recommendations.

Proactive learning for artificial cognitive systems

NASA Astrophysics Data System (ADS)

Lee, Soo-Young

2010-04-01

The Artificial Cognitive Systems (ACS) will be developed for human-like functions such as vision, auditory, inference, and behavior. Especially, computational models and artificial HW/SW systems will be devised for Proactive Learning (PL) and Self-Identity (SI). The PL model provides bilateral interactions between robot and unknown environment (people, other robots, cyberspace). For the situation awareness in unknown environment it is required to receive audiovisual signals and to accumulate knowledge. If the knowledge is not enough, the PL should improve by itself though internet and others. For human-oriented decision making it is also required for the robot to have self-identify and emotion. Finally, the developed models and system will be mounted on a robot for the human-robot co-existing society. The developed ACS will be tested against the new Turing Test for the situation awareness. The Test problems will consist of several video clips, and the performance of the ACSs will be compared against those of human with several levels of cognitive ability.

Lateral specialization in unilateral spatial neglect: a cognitive robotics model.

PubMed

Conti, Daniela; Di Nuovo, Santo; Cangelosi, Angelo; Di Nuovo, Alessandro

2016-08-01

In this paper, we present the experimental results of an embodied cognitive robotic approach for modelling the human cognitive deficit known as unilateral spatial neglect (USN). To this end, we introduce an artificial neural network architecture designed and trained to control the spatial attentional focus of the iCub robotic platform. Like the human brain, the architecture is divided into two hemispheres and it incorporates bio-inspired plasticity mechanisms, which allow the development of the phenomenon of the specialization of the right hemisphere for spatial attention. In this study, we validate the model by replicating a previous experiment with human patients affected by the USN and numerical results show that the robot mimics the behaviours previously exhibited by humans. We also simulated recovery after the damage to compare the performance of each of the two hemispheres as additional validation of the model. Finally, we highlight some possible advantages of modelling cognitive dysfunctions of the human brain by means of robotic platforms, which can supplement traditional approaches for studying spatial impairments in humans.

Three dialogues concerning robots in elder care.

PubMed

Metzler, Theodore A; Barnes, Susan J

2014-01-01

The three dialogues in this contribution concern 21st century application of life-like robots in the care of older adults. They depict conversations set in the near future, involving a philosopher (Dr Phonius) and a nurse (Dr Myloss) who manages care at a large facility for assisted living. In their first dialogue, the speakers discover that their quite different attitudes towards human-robot interaction parallel fundamental differences separating their respective concepts of consciousness. The second dialogue similarly uncovers deeply contrasting notions of personhood that appear to be associated with respective communities of nursing and robotics. The additional key awareness that arises in their final dialogue links applications of life-like robots in the care of older adults with potential transformations in our understandings of ourselves - indeed, in our understandings of the nature of our own humanity. This series of dialogues, therefore, appears to address a topic in nursing philosophy that merits our careful attention. © 2013 John Wiley & Sons Ltd.

Twitter discussions about the predicaments of robots in geriatric nursing: forecast of nursing robotics in aged care.

PubMed

Eriksson, Henrik; Salzmann-Erikson, Martin

2018-02-01

People use social media to express perceptions, attitudes and a wide range of concerns regarding human life. This study aims at analysing the ongoing discussions on the internet microblog Twitter and offers some coming predicaments regarding developments in geriatric nursing regarding nursing robots. Data were retrospectively collected from Twitter. 1322 mentions were included in the final analyses, where principles of interpreting data by using netnography were utilized. Many ideas are presented expressing functional, psychological and social aspects of robots in nursing care. Most postings come from metropolitan cities around the globe. The discussion focuses on market-driven, science fiction solutions for aged care. Twitter users overall seem to be positive using various nursing robots in aged care. These discussions offer a window into the attitudes and ideas of this group of users. We suggest that monitoring Twitter discussions on social media can provide valuable insights into current attitudes as well as forecast coming trends.

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

NASA Technical Reports Server (NTRS)

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

Synthetic Fiber Capstan Drives for Highly Efficient, Torque Controlled, Robotic Applications

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

Mazumdar, Anirban; Spencer, Steven James; Hobart, Clinton

Here this paper describes the design and performance of a synthetic rope on sheave drive system. This system uses synthetic ropes instead of steel cables to achieve low weight and a compact form factor. We demonstrate how this system is capable of 28-Hz torque control bandwidth, 95% efficiency, and quiet operation, making it ideal for use on legged robots and other dynamic physically interactive systems. Component geometry and tailored maintenance procedures are used to achieve high endurance. Endurance tests based on walking data predict that the ropes will survive roughly 247,000 cycles when used on large (90 kg), fully actuatedmore » bipedal robot systems. The drive systems have been incorporated into two novel bipedal robots capable of three-dimensional unsupported walking. Robot data illustrate effective torque tracking and nearly silent operation. Finally, comparisons with alternative transmission designs illustrate the size, weight, and endurance advantages of using this type of synthetic rope drive system.« less

Synthetic Fiber Capstan Drives for Highly Efficient, Torque Controlled, Robotic Applications

DOE PAGES

Mazumdar, Anirban; Spencer, Steven James; Hobart, Clinton; ...

2017-01-05

Here this paper describes the design and performance of a synthetic rope on sheave drive system. This system uses synthetic ropes instead of steel cables to achieve low weight and a compact form factor. We demonstrate how this system is capable of 28-Hz torque control bandwidth, 95% efficiency, and quiet operation, making it ideal for use on legged robots and other dynamic physically interactive systems. Component geometry and tailored maintenance procedures are used to achieve high endurance. Endurance tests based on walking data predict that the ropes will survive roughly 247,000 cycles when used on large (90 kg), fully actuatedmore » bipedal robot systems. The drive systems have been incorporated into two novel bipedal robots capable of three-dimensional unsupported walking. Robot data illustrate effective torque tracking and nearly silent operation. Finally, comparisons with alternative transmission designs illustrate the size, weight, and endurance advantages of using this type of synthetic rope drive system.« less

Final matches of the FIRST regional robotic competition at KSC

NASA Technical Reports Server (NTRS)

1999-01-01

During the 1999 FIRST Southeastern Regional robotic competition held at KSC, a robot carrying its cache of pillow-like disks maneuvers to move around another at left. Powered by 12-volt batteries and operated by remote control, the robotic gladiators spend two minutes each trying to grab, claw and hoist the pillows onto their machines. Teams play defense by taking away competitors' pillows and generally harassing opposing machines. Behind the field are a group of judges, including KSC former KSC Director of Shuttle Processing Robert Sieck (left, in cap), and Center Director Roy Bridges (in white shirt). A giant screen TV in the background displays the action on the playing field. FIRST is a nonprofit organization, For Inspiration and Recognition of Science and Technology. The competition comprised 27 teams, pairing high school students with engineer mentors and corporations. The FIRST robotics competition is designed to provide students with a hands-on, inside look at engineering and other professional careers.

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

NASA Technical Reports Server (NTRS)

Chen, Vincent Wei-Kang

1992-01-01

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

System design and animal experiment study of a novel minimally invasive surgical robot.

PubMed

Wang, Wei; Li, Jianmin; Wang, Shuxin; Su, He; Jiang, Xueming

2016-03-01

Robot-assisted minimally invasive surgery has shown tremendous advances over the traditional technique. However, currently commercialized systems are large and complicated, which vastly raises the system cost and operation room requirements. A MIS robot named 'MicroHand' was developed over the past few years. The basic principle and the key technologies are analyzed in this paper. Comparison between the proposed robot and the da Vinci system is also presented. Finally, animal experiments were carried out to test the performance of MicroHand. Fifteen animal experiments were carried out from July 2013 to December 2013. All animal experiments were finished successfully. The proposed design method is an effective way to resolve the drawbacks of previous generations of the da Vinci surgical system. The animal experiment results confirmed the feasibility of the design. Copyright © 2015 John Wiley & Sons, Ltd.

Autonomous navigation method for substation inspection robot based on travelling deviation

NASA Astrophysics Data System (ADS)

Yang, Guoqing; Xu, Wei; Li, Jian; Fu, Chongguang; Zhou, Hao; Zhang, Chuanyou; Shao, Guangting

2017-06-01

A new method of edge detection is proposed in substation environment, which can realize the autonomous navigation of the substation inspection robot. First of all, the road image and information are obtained by using an image acquisition device. Secondly, the noise in the region of interest which is selected in the road image, is removed with the digital image processing algorithm, the road edge is extracted by Canny operator, and the road boundaries are extracted by Hough transform. Finally, the distance between the robot and the left and the right boundaries is calculated, and the travelling distance is obtained. The robot's walking route is controlled according to the travel deviation and the preset threshold. Experimental results show that the proposed method can detect the road area in real time, and the algorithm has high accuracy and stable performance.

KSC-2014-3536

NASA Image and Video Library

2014-08-15

CAPE CANAVERAL, Fla. – Kennedy Space Center Director and former astronaut Bob Cabana, talks to Florida middle school students and their teachers during the Zero Robotics finals competition at the center's Space Station Processing Facility in Florida. Students designed software to control Synchronized Position Hold Engage and Reorient Experimental Satellites, or SPHERES, and competed with other teams locally. The Zero Robotics is a robotics programming competition where the robots are SPHERES. The competition starts online, where teams program the SPHERES to solve an annual challenge. After several phases of virtual competition in a simulation environment that mimics the real SPHERES, finalists are selected to compete in a live championship aboard the space station. Students compete to win a technically challenging game by programming their strategies into the SPHERES satellites. The programs are autonomous and the students cannot control the satellites during the test. Photo credit: NASA/Daniel Casper

KSC-2014-3535

NASA Image and Video Library

2014-08-15

CAPE CANAVERAL, Fla. – Kennedy Space Center Director and former astronaut Bob Cabana, talks to Florida middle school students and their teachers during the Zero Robotics finals competition at the center's Space Station Processing Facility in Florida. Students designed software to control Synchronized Position Hold Engage and Reorient Experimental Satellites, or SPHERES, and competed with other teams locally. The Zero Robotics is a robotics programming competition where the robots are SPHERES. The competition starts online, where teams program the SPHERES to solve an annual challenge. After several phases of virtual competition in a simulation environment that mimics the real SPHERES, finalists are selected to compete in a live championship aboard the space station. Students compete to win a technically challenging game by programming their strategies into the SPHERES satellites. The programs are autonomous and the students cannot control the satellites during the test. Photo credit: NASA/Daniel Casper

KSC-2014-3537

NASA Image and Video Library

2014-08-15

CAPE CANAVERAL, Fla. – Kennedy Space Center Director and former astronaut Bob Cabana, talks to Florida middle school students and their teachers during the Zero Robotics finals competition at the center's Space Station Processing Facility in Florida. Students designed software to control Synchronized Position Hold Engage and Reorient Experimental Satellites, or SPHERES, and competed with other teams locally. The Zero Robotics is a robotics programming competition where the robots are SPHERES. The competition starts online, where teams program the SPHERES to solve an annual challenge. After several phases of virtual competition in a simulation environment that mimics the real SPHERES, finalists are selected to compete in a live championship aboard the space station. Students compete to win a technically challenging game by programming their strategies into the SPHERES satellites. The programs are autonomous and the students cannot control the satellites during the test. Photo credit: NASA/Daniel Casper

Design principles of a cooperative robot controller

NASA Technical Reports Server (NTRS)

Hayward, Vincent; Hayati, Samad

1987-01-01

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

Localization from Visual Landmarks on a Free-Flying Robot

NASA Technical Reports Server (NTRS)

Coltin, Brian; Fusco, Jesse; Moratto, Zack; Alexandrov, Oleg; Nakamura, Robert

2016-01-01

We present the localization approach for Astrobee,a new free-flying robot designed to navigate autonomously on board the International Space Station (ISS). Astrobee will conduct experiments in microgravity, as well as assisst astronauts and ground controllers. Astrobee replaces the SPHERES robots which currently operate on the ISS, which were limited to operating in a small cube since their localization system relied on triangulation from ultrasonic transmitters. Astrobee localizes with only monocular vision and an IMU, enabling it to traverse the entire US segment of the station. Features detected on a previously-built map, optical flow information,and IMU readings are all integrated into an extended Kalman filter (EKF) to estimate the robot pose. We introduce several modifications to the filter to make it more robust to noise.Finally, we extensively evaluate the behavior of the filter on atwo-dimensional testing surface.

Social cognitive neuroscience and humanoid robotics.

PubMed

Chaminade, Thierry; Cheng, Gordon

2009-01-01

We believe that humanoid robots provide new tools to investigate human social cognition, the processes underlying everyday interactions between individuals. Resonance is an emerging framework to understand social interactions that is based on the finding that cognitive processes involved when experiencing a mental state and when perceiving another individual experiencing the same mental state overlap, both at the behavioral and neural levels. We will first review important aspects of his framework. In a second part, we will discuss how this framework is used to address questions pertaining to artificial agents' social competence. We will focus on two types of paradigm, one derived from experimental psychology and the other using neuroimaging, that have been used to investigate humans' responses to humanoid robots. Finally, we will speculate on the consequences of resonance in natural social interactions if humanoid robots are to become integral part of our societies.

Space suit glove design with advanced metacarpal phalangeal joints and robotic hand evaluation.

PubMed

Southern, Theodore; Roberts, Dustyn P; Moiseev, Nikolay; Ross, Amy; Kim, Joo H

2013-06-01

One area of space suits that is ripe for innovation is the glove. Existing models allow for some fine motor control, but the power grip--the act of grasping a bar--is cumbersome due to high torque requirements at the knuckle or metacarpal phalangeal joint (MCP). This area in particular is also a major source of complaints of pain and injury as reported by astronauts. This paper explores a novel fabrication and patterning technique that allows for more freedom of movement and less pain at this crucial joint in the manned space suit glove. The improvements are evaluated through unmanned testing, manned testing while depressurized in a vacuum glove box, and pressurized testing with a robotic hand. MCP joint flex score improved from 6 to 6.75 (out of 10) in the final glove relative to the baseline glove, and torque required for flexion decreased an average of 17% across all fingers. Qualitative assessments during unpressurized and depressurized manned testing also indicated the final glove was more comfortable than the baseline glove. The quantitative results from both human subject questionnaires and robotic torque evaluation suggest that the final iteration of the glove design enables flexion at the MCP joint with less torque and more comfort than the baseline glove.

Soft robotic devices for hand rehabilitation and assistance: a narrative review.

PubMed

Chu, Chia-Ye; Patterson, Rita M

2018-02-17

The debilitating effects on hand function from a number of a neurologic disorders has given rise to the development of rehabilitative robotic devices aimed at restoring hand function in these patients. To combat the shortcomings of previous traditional robotics, soft robotics are rapidly emerging as an alternative due to their inherent safety, less complex designs, and increased potential for portability and efficacy. While several groups have begun designing devices, there are few devices that have progressed enough to provide clinical evidence of their design's therapeutic abilities. Therefore, a global review of devices that have been previously attempted could facilitate the development of new and improved devices in the next step towards obtaining clinical proof of the rehabilitative effects of soft robotics in hand dysfunction. A literature search was performed in SportDiscus, Pubmed, Scopus, and Web of Science for articles related to the design of soft robotic devices for hand rehabilitation. A framework of the key design elements of the devices was developed to ease the comparison of the various approaches to building them. This framework includes an analysis of the trends in portability, safety features, user intent detection methods, actuation systems, total DOF, number of independent actuators, device weight, evaluation metrics, and modes of rehabilitation. In this study, a total of 62 articles representing 44 unique devices were identified and summarized according to the framework we developed to compare different design aspects. By far, the most common type of device was that which used a pneumatic actuator to guide finger flexion/extension. However, the remainder of our framework elements yielded more heterogeneous results. Consequently, those results are summarized and the advantages and disadvantages of many design choices as well as their rationales were highlighted. The past 3 years has seen a rapid increase in the development of soft robotic devices for hand rehabilitative applications. These mostly preclinical research prototypes display a wide range of technical solutions which have been highlighted in the framework developed in this analysis. More work needs to be done in actuator design, safety, and implementation in order for these devices to progress to clinical trials. It is our goal that this review will guide future developers through the various design considerations in order to develop better devices for patients with hand impairments.

[Digital imaging and robotics in endoscopic surgery].

PubMed

Go, P M

1998-05-23

The introduction of endoscopical surgery has among other things influenced technical developments in surgery. Owing to digitalisation, major progress will be made in imaging and in the sophisticated technology sometimes called robotics. Digital storage makes the results of imaging diagnostics (e.g. the results of radiological examination) suitable for transmission via video conference systems for telediagnostic purposes. The availability of digital video technique renders possible the processing, storage and retrieval of moving images as well. During endoscopical operations use may be made of a robot arm which replaces the camera man. The arm does not grow tired and provides a stable image. The surgeon himself can operate or address the arm and it can remember fixed image positions to which it can return if ordered to do so. The next step is to carry out surgical manipulations via a robot arm. This may make operations more patient-friendly. A robot arm can also have remote control: telerobotics. At the Internet site of this journal a number of supplements to this article can be found, for instance three-dimensional (3D) illustrations (which is the purpose of the 3D spectacles enclosed with this issue) and a quiz (http:@appendix.niwi. knaw.nl).

The Challenge of Planning and Execution for Spacecraft Mobile Robots

NASA Technical Reports Server (NTRS)

Dorais, Gregory A.; Gawdiak, Yuri; Clancy, Daniel (Technical Monitor)

2002-01-01

The need for spacecraft mobile robots continues to grow. These robots offer the potential to increase the capability, productivity, and duration of space missions while decreasing mission risk and cost. Spacecraft Mobile Robots (SMRs) can serve a number of functions inside and outside of spacecraft from simpler tasks, such as performing visual diagnostics and crew support, to more complex tasks, such as performing maintenance and in-situ construction. One of the predominant challenges to deploying SMRs is to reduce the need for direct operator interaction. Teleoperation is often not practical due to the communication latencies incurred because of the distances involved and in many cases a crewmember would directly perform a task rather than teleoperate a robot to do it. By integrating a mixed-initiative constraint-based planner with an executive that supports adjustably autonomous control, we intend to demonstrate the feasibility of autonomous SMRs by deploying one inside the International Space Station (ISS) and demonstrate in simulation one that operates outside of the ISS. This paper discusses the progress made at NASA towards this end, the challenges ahead, and concludes with an invitation to the research community to participate.

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

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

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

1997-08-01

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

Current state of virtual reality simulation in robotic surgery training: a review.

PubMed

Bric, Justin D; Lumbard, Derek C; Frelich, Matthew J; Gould, Jon C

2016-06-01

Worldwide, the annual number of robotic surgical procedures continues to increase. Robotic surgical skills are unique from those used in either open or laparoscopic surgery. The acquisition of a basic robotic surgical skill set may be best accomplished in the simulation laboratory. We sought to review the current literature pertaining to the use of virtual reality (VR) simulation in the acquisition of robotic surgical skills on the da Vinci Surgical System. A PubMed search was conducted between December 2014 and January 2015 utilizing the following keywords: virtual reality, robotic surgery, da Vinci, da Vinci skills simulator, SimSurgery Educational Platform, Mimic dV-Trainer, and Robotic Surgery Simulator. Articles were included if they were published between 2007 and 2015, utilized VR simulation for the da Vinci Surgical System, and utilized a commercially available VR platform. The initial search criteria returned 227 published articles. After all inclusion and exclusion criteria were applied, a total of 47 peer-reviewed manuscripts were included in the final review. There are many benefits to utilizing VR simulation for robotic skills acquisition. Four commercially available simulators have been demonstrated to be capable of assessing robotic skill. Three of the four simulators demonstrate the ability of a VR training curriculum to improve basic robotic skills, with proficiency-based training being the most effective training style. The skills obtained on a VR training curriculum are comparable with those obtained on dry laboratory simulation. The future of VR simulation includes utilization in assessment for re-credentialing purposes, advanced procedural-based training, and as a warm-up tool prior to surgery.

Implementation of an i.v.-compounding robot in a hospital-based cancer center pharmacy.

PubMed

Yaniv, Angela W; Knoer, Scott J

2013-11-15

The implementation of a robotic device for compounding patient-specific chemotherapy doses is described, including a review of data on the robot's performance over a 13-month period. The automated system prepares individualized i.v. chemotherapy doses in a variety of infusion bags and syringes; more than 50 drugs are validated for use in the machine. The robot is programmed to recognize the physical parameters of syringes and vials and uses photographic identification, barcode identification, and gravimetric measurements to ensure that the correct ingredients are compounded and the final dose is accurate. The implementation timeline, including site preparation, logistics planning, installation, calibration, staff training, development of a pharmacy information system (PIS) interface, and validation by the state board of pharmacy, was about 10 months. In its first 13 months of operation, the robot was used to prepare 7384 medication doses; 85 doses (1.2%) found to be outside the desired accuracy range (±4%) were manually modified by pharmacy staff. Ongoing system monitoring has identified mechanical and materials-related problems including vial-recognition failures (in many instances, these issues were resolved by the system operator and robotic compounding proceeded successfully), interface issues affecting robot-PIS communication, and human errors such as the loading of an incorrect vial or bag into the machine. Through staff training, information technology improvements, and workflow adjustments, the robot's throughput has been steadily improved. An i.v.-compounding robot was successfully implemented in a cancer center pharmacy. The robot performs compounding tasks safely and accurately and has been integrated into the pharmacy's workflow.

Robotically assisted laparoscopy benefits surgical performance under stress.

PubMed

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

2015-12-01

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

Towards more effective robotic gait training for stroke rehabilitation: a review

PubMed Central

2012-01-01

Background Stroke is the most common cause of disability in the developed world and can severely degrade walking function. Robot-driven gait therapy can provide assistance to patients during training and offers a number of advantages over other forms of therapy. These potential benefits do not, however, seem to have been fully realised as of yet in clinical practice. Objectives This review determines ways in which robot-driven gait technology could be improved in order to achieve better outcomes in gait rehabilitation. Methods The literature on gait impairments caused by stroke is reviewed, followed by research detailing the different pathways to recovery. The outcomes of clinical trials investigating robot-driven gait therapy are then examined. Finally, an analysis of the literature focused on the technical features of the robot-based devices is presented. This review thus combines both clinical and technical aspects in order to determine the routes by which robot-driven gait therapy could be further developed. Conclusions Active subject participation in robot-driven gait therapy is vital to many of the potential recovery pathways and is therefore an important feature of gait training. Higher levels of subject participation and challenge could be promoted through designs with a high emphasis on robotic transparency and sufficient degrees of freedom to allow other aspects of gait such as balance to be incorporated. PMID:22953989

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy.

PubMed

Zhang, Libo; Zhu, Junjie; Ren, Hao; Liu, Dongdong; Meng, Dan; Wu, Yanjun; Luo, Tiejian

2017-10-14

Intelligent robots are part of a new generation of robots that are able to sense the surrounding environment, plan their own actions and eventually reach their targets. In recent years, reliance upon robots in both daily life and industry has increased. The protocol proposed in this paper describes the design and production of a handling robot with an intelligent search algorithm and an autonomous identification function. First, the various working modules are mechanically assembled to complete the construction of the work platform and the installation of the robotic manipulator. Then, we design a closed-loop control system and a four-quadrant motor control strategy, with the aid of debugging software, as well as set steering gear identity (ID), baud rate and other working parameters to ensure that the robot achieves the desired dynamic performance and low energy consumption. Next, we debug the sensor to achieve multi-sensor fusion to accurately acquire environmental information. Finally, we implement the relevant algorithm, which can recognize the success of the robot's function for a given application. The advantage of this approach is its reliability and flexibility, as the users can develop a variety of hardware construction programs and utilize the comprehensive debugger to implement an intelligent control strategy. This allows users to set personalized requirements based on their needs with high efficiency and robustness.

[Surgical robotics, short state of the art and prospects].

PubMed

Gravez, P

2003-11-01

State-of-the-art robotized systems developed for surgery are either remotely controlled manipulators that duplicate gestures made by the surgeon (endoscopic surgery applications), or automated robots that execute trajectories defined relatively to pre-operative medical imaging (neurosurgery and orthopaedic surgery). This generation of systems primarily applies existing robotics technologies (the remote handling systems and the so-called "industrial robots") to current surgical practices. It has contributed to validate the huge potential of surgical robotics, but it suffers from several drawbacks, mainly high costs, excessive dimensions and some lack of user-friendliness. Nevertheless, technological progress let us anticipate the appearance in the near future of miniaturised surgical robots able to assist the gesture of the surgeon and to enhance his perception of the operation at hand. Due to many in-the-body articulated links, these systems will have the capability to perform complex minimally invasive gestures without obstructing the operating theatre. They will also combine the facility of manual piloting with the accuracy and increased safety of computer control, guiding the gestures of the human without offending to his freedom of action. Lastly, they will allow the surgeon to feel the mechanical properties of the tissues he is operating through a genuine "remote palpation" function. Most probably, such technological evolutions will lead the way to redesigned surgical procedures taking place inside new operating rooms featuring a better integration of all equipments and favouring cooperative work from multidisciplinary and sometimes geographically distributed medical staff.

Early assessment of feasibility and technical specificities of transoral robotic surgery using the da Vinci Xi.

PubMed

Gorphe, Philippe; Von Tan, Jean; El Bedoui, Sophie; Hartl, Dana M; Auperin, Anne; Qassemyar, Quentin; Moya-Plana, Antoine; Janot, François; Julieron, Morbize; Temam, Stephane

2017-12-01

The latest generation Da Vinci ® Xi™ Surgical System Robot released has not been evaluated to date in transoral surgery for head and neck cancers. We report here the 1-year results of a non-randomized phase II multicentric prospective trial aimed at assessing its feasibility and technical specificities. Our primary objective was to evaluate the feasibility of transoral robotic surgery using the da Vinci ® Xi™ Surgical System Robot. The secondary objective was to assess peroperative outcomes. Twenty-seven patients, mean age 62.7 years, were included between May 2015 and June 2016 with tumors affecting the following sites: oropharynx (n = 21), larynx (n = 4), hypopharynx (n = 1), parapharyngeal space (n = 1). Eighteen patients were included for primary treatment, three for a local recurrence, and six for cancer in a previously irradiated field. Three were reconstructed with a FAMM flap and 6 with a free ALT flap. The mean docking time was 12 min. "Chopsticking" of surgical instruments was very rare. During hospitalization following surgery, 3 patients experienced significant bleeding between day 8 and 9 that required surgical transoral hemostasis (n = 1) or endovascular embolization (n = 2). Transoral robotic surgery using the da Vinci ® Xi™ Surgical System Robot proved feasible with technological improvements compared to previous generation surgical system robots and with a similar postoperative course. Further technological progress is expected to be of significant benefit to the patients.

Self-adaptive robot training of stroke survivors for continuous tracking movements.

PubMed

Vergaro, Elena; Casadio, Maura; Squeri, Valentina; Giannoni, Psiche; Morasso, Pietro; Sanguineti, Vittorio

2010-03-15

Although robot therapy is progressively becoming an accepted method of treatment for stroke survivors, few studies have investigated how to adapt the robot/subject interaction forces in an automatic way. The paper is a feasibility study of a novel self-adaptive robot controller to be applied with continuous tracking movements. The haptic robot Braccio di Ferro is used, in relation with a tracking task. The proposed control architecture is based on three main modules: 1) a force field generator that combines a non linear attractive field and a viscous field; 2) a performance evaluation module; 3) an adaptive controller. The first module operates in a continuous time fashion; the other two modules operate in an intermittent way and are triggered at the end of the current block of trials. The controller progressively decreases the gain of the force field, within a session, but operates in a non monotonic way between sessions: it remembers the minimum gain achieved in a session and propagates it to the next one, which starts with a block whose gain is greater than the previous one. The initial assistance gains are chosen according to a minimal assistance strategy. The scheme can also be applied with closed eyes in order to enhance the role of proprioception in learning and control. The preliminary results with a small group of patients (10 chronic hemiplegic subjects) show that the scheme is robust and promotes a statistically significant improvement in performance indicators as well as a recalibration of the visual and proprioceptive channels. The results confirm that the minimally assistive, self-adaptive strategy is well tolerated by severely impaired subjects and is beneficial also for less severe patients. The experiments provide detailed information about the stability and robustness of the adaptive controller of robot assistance that could be quite relevant for the design of future large scale controlled clinical trials. Moreover, the study suggests that including continuous movement in the repertoire of training is acceptable also by rather severely impaired subjects and confirms the stabilizing effect of alternating vision/no vision trials already found in previous studies.

Ontogeny of a surgical technique: Robotic kidney transplantation with regional hypothermia.

PubMed

Sood, Akshay; McCulloch, Peter; Dahm, Philipp; Ahlawat, Rajesh; Jeong, Wooju; Bhandari, Mahendra; Menon, Mani

2016-01-01

Innovation is a hallmark of surgical practice. It is generally accepted that a new procedure will undergo technical changes during its evolution; however, quantitative accounts of the process are limited. Multiple groups, including our own, have recently described a minimally-invasive approach to conventional kidney transplantation (KT) operation. Unique to our experience is a structured development of the technique within the confines of a safe surgical innovation framework - the IDEAL framework (idea, development, exploration, assessment, long-term monitoring; stages 0-4). We here provide a first-hand narrative of the progress of robotic KT operation from preclinical trial to clinical application. Overall, 54 patients underwent robotic KT with regional hypothermia successfully. Major technical changes including selection of optimal patient position (flank vs. lithotomy), robotic instrumentation, vascular occlusion method (bulldog vs. tourniquet) and suture material (prolene vs. GoreTex) occurred early during the procedure development (IDEAL stage 0, preclinical). Minor technical changes such as utilization of the aortic punch for arteriotomy (case 3), use of barbed suture during ureteroneocystostomy (case 6) and extraperitonealization of the graft kidney (case 6) that increased the efficiency and safety of the procedure continued throughout procedure development (IDEAL stages 1-2, clinical stages). We demonstrate that a surgical technique evolves continually; although, the majority of technical alterations occur early in the life-cycle of the procedure. Development of a new technique within the confines a structured surgical innovation framework allows for evidence based progression of the technique and may minimize the risk of harm to the patient. Copyright © 2015 IJS Publishing Group Limited. Published by Elsevier Ltd. All rights reserved.

The HAAPI (Home Arm Assistance Progression Initiative) Trial: A Novel Robotics Delivery Approach in Stroke Rehabilitation.

PubMed

Wolf, Steven L; Sahu, Komal; Bay, R Curtis; Buchanan, Sharon; Reiss, Aimee; Linder, Susan; Rosenfeldt, Anson; Alberts, Jay

2015-01-01

Geographical location, socioeconomic status, and logistics surrounding transportation impede access of poststroke individuals to comprehensive rehabilitative services. Robotic therapy may enhance telerehabilitation by delivering consistent and state-of-the art therapy while allowing remote monitoring and adjusting therapy for underserved populations. The Hand Mentor Pro (HMP) was incorporated within a home exercise program (HEP) to improve upper-extremity (UE) functional capabilities poststroke. To determine the efficacy of a home-based telemonitored robotic-assisted therapy as part of a HEP compared with a dose-matched HEP-only intervention among individuals less than 6 months poststroke and characterized as underserved. In this prospective, single-blinded, multisite, randomized controlled trial, 99 hemiparetic participants with limited access to UE rehabilitation were randomized to either (1) the experimental group, which received combined HEP and HMP for 3 h/d ×5 days ×8 weeks, or (2) the control group, which received HEP only at an identical dosage. Weekly communication between the supervising therapist and participant promoted compliance and progression of the HEP and HMP prescription. The Action Research Arm Test and Wolf Motor Function Test along with the Fugl-Meyer Assessment (UE) were primary and secondary outcome measures, respectively, undertaken before and after the interventions. Both groups demonstrated improvement across all UE outcomes. Robotic + HEP and HEP only were both effectively delivered remotely. There was no difference between groups in change in motor function over time. Additional research is necessary to determine the appropriate dosage of HMP and HEP. © The Author(s) 2015.

The HAAPI (Home Arm Assistance Progression Initiative) Trial: - A Novel Robotics Delivery Approach in Stroke Rehabilitation

PubMed Central

Wolf, Steven L.; Sahu, Komal; Bay, R. Curtis; Buchanan, Sharon; Reiss, Aimee; Linder, Susan; Rosenfeldt, Anson; Alberts, Jay

2015-01-01

Background Geographical location, socioeconomic status and logistics surrounding transportation impede access of post-stroke individuals to comprehensive rehabilitative services. Robotic therapy may enhance telerehabilitation by delivering consistent and state-of-the art therapy while allowing for the remote monitoring and adjusting therapy for underserved populations. The Hand Mentor Pro (HMP), was incorporated within a home exercise program (HEP) to improve upper extremity functional capabilities post-stroke. Objective To determine the efficacy of a home-based telemonitored robotic-assisted therapy as part of a HEP compared with a dose-matched HEP-only intervention among individuals less than 6 months post-stroke and characterized as underserved. Methods In this prospective, single-blinded, multisite, randomized controlled trial, 99 hemiparetic participants with limited access to upper extremity rehabilitation were randomized to the: 1) experimental group which received combined HEP and HMP for 3 hrs/day x 5 days x 8 weeks; or 2) control group which received HEP only at an identical dosage. Weekly communication between the supervising therapist and participant promoted compliance and progression of the HEP and HMP prescription. The Action Research Arm Test and Wolf Motor Function Test along with the Fugl Meyer Assessment (upper extremity) were primary and secondary outcome measures respectively, undertaken before and after the interventions. Results Both groups demonstrated improvement across all upper extremity outcomes. Conclusions Robotic+HEP and HEP only were both effectively delivered remotely. There was no difference between groups in change in motor function over time, additional research is necessary to determine appropriate dosage of HMP and HEP. PMID:25782693

Design-validation of a hand exoskeleton using musculoskeletal modeling.

PubMed

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

2018-04-01

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

A robotic system for researching social integration in honeybees.

PubMed

Griparić, Karlo; Haus, Tomislav; Miklić, Damjan; Polić, Marsela; Bogdan, Stjepan

2017-01-01

In this paper, we present a novel robotic system developed for researching collective social mechanisms in a biohybrid society of robots and honeybees. The potential for distributed coordination, as observed in nature in many different animal species, has caused an increased interest in collective behaviour research in recent years because of its applicability to a broad spectrum of technical systems requiring robust multi-agent control. One of the main problems is understanding the mechanisms driving the emergence of collective behaviour of social animals. With the aim of deepening the knowledge in this field, we have designed a multi-robot system capable of interacting with honeybees within an experimental arena. The final product, stationary autonomous robot units, designed by specificaly considering the physical, sensorimotor and behavioral characteristics of the honeybees (lat. Apis mallifera), are equipped with sensing, actuating, computation, and communication capabilities that enable the measurement of relevant environmental states, such as honeybee presence, and adequate response to the measurements by generating heat, vibration and airflow. The coordination among robots in the developed system is established using distributed controllers. The cooperation between the two different types of collective systems is realized by means of a consensus algorithm, enabling the honeybees and the robots to achieve a common objective. Presented results, obtained within ASSISIbf project, show successful cooperation indicating its potential for future applications.

Behaving as or behaving as if? Children's conceptions of personified robots and the emergence of a new ontological category.

PubMed

Severson, Rachel L; Carlson, Stephanie M

2010-01-01

Imagining another's perspective is an achievement in social cognition and underlies empathic concern and moral regard. Imagination is also within the realm of fantasy, and may take the form of imaginary play in children and imaginative production in adults. Yet, an interesting and provocative question emerges in the case of personified robots: How do people conceive of life-like robots? Do people imagine about robots' experiences? If so, do these imaginings reflect their actual or pretend beliefs about robots? The answers to these questions bear on the possibility that personified robots represent the emergence of a new ontological category. We draw on simulation theory as a framework for imagining others' internal states as well as a means for imaginative play. We then turn to the literature on people's and, in particular, children's conceptions of personified technologies and raise the question of the veracity of children's beliefs about personified robots (i.e., are they behaving as or behaving as if?). Finally, we consider the suggestion that such personified technologies represent the emergence of a new ontological category and offer some suggestions for future research in this important emerging area of social cognition. Copyright © 2010. Published by Elsevier Ltd.

Zero Robotics at Kennedy Space Center Visitor Complex

NASA Image and Video Library

2017-08-11

Students and their sponsors gather for a commemorative photo in the Center for Space Education at NASA’s Kennedy Space Center in Florida after participating in the finals of the Zero Robotics Middle School Summer Program national championship. The five-week program allows rising sixth- through ninth-graders to write programs for small satellites called SPHERES (Synchronized, Position, Hold, Engage, Reorient, Experimental Satellites). Finalists saw their code tested aboard the International Space Station.

Why Are There Developmental Stages in Language Learning? A Developmental Robotics Model of Language Development.

PubMed

Morse, Anthony F; Cangelosi, Angelo

2017-02-01

Most theories of learning would predict a gradual acquisition and refinement of skills as learning progresses, and while some highlight exponential growth, this fails to explain why natural cognitive development typically progresses in stages. Models that do span multiple developmental stages typically have parameters to "switch" between stages. We argue that by taking an embodied view, the interaction between learning mechanisms, the resulting behavior of the agent, and the opportunities for learning that the environment provides can account for the stage-wise development of cognitive abilities. We summarize work relevant to this hypothesis and suggest two simple mechanisms that account for some developmental transitions: neural readiness focuses on changes in the neural substrate resulting from ongoing learning, and perceptual readiness focuses on the perceptual requirements for learning new tasks. Previous work has demonstrated these mechanisms in replications of a wide variety of infant language experiments, spanning multiple developmental stages. Here we piece this work together as a single model of ongoing learning with no parameter changes at all. The model, an instance of the Epigenetic Robotics Architecture (Morse et al 2010) embodied on the iCub humanoid robot, exhibits ongoing multi-stage development while learning pre-linguistic and then basic language skills. Copyright © 2016 Cognitive Science Society, Inc.

Robotic surgery for benign duodenal tumors.

PubMed

Downs-Canner, Stephanie; Van der Vliet, Wald J; Thoolen, Stijn J J; Boone, Brian A; Zureikat, Amer H; Hogg, Melissa E; Bartlett, David L; Callery, Mark P; Kent, Tara S; Zeh, Herbert J; Moser, A James

2015-02-01

Benign duodenal and periampullary tumors are uncommon lesions requiring careful attention to their complex anatomic relationships with the major and minor papillae as well as the gastric outlet during surgical intervention. While endoscopy is less morbid than open resection, many lesions are not amenable to endoscopic removal. Robotic surgery offers technical advantages above traditional laparoscopy, and we demonstrate the safety and feasibility of this approach for a variety of duodenal lesions. We performed a retrospective review of all robotic duodenal resections between April 2010 and December 2013 from two institutions. Demographic, clinicopathologic, and operative details were recorded with special attention to the post-operative course. Twenty-six patients underwent robotic duodenal resection for a variety of diagnoses. The majority (88 %) were symptomatic at presentation. Nine patients underwent transduodenal ampullectomy, seven patients underwent duodenal resection, six patients underwent transduodenal resection of a mass, and four patients underwent segmental duodenal resection. Median operative time was 4 h with a median estimated blood loss of 50 cm(3) and no conversions to an open operation. The rate of major Clavien-Dindo grades 3-4 complications was 15 % at post-operative days 30 and 90 without mortality. Final pathology demonstrated a median tumor size of 2.9 cm with a final histologic diagnoses of adenoma (n = 13), neuroendocrine tumor (n = 6), gastrointestinal stromal tumor (GIST) (n = 2), lipoma (n = 2), Brunner's gland hamartoma (n = 1), leiomyoma (n = 1), and gangliocytic paraganglioma (n = 1). Robotic duodenal resection is safe and feasible for benign and premalignant duodenal tumors not amenable to endoscopic resection.

Analysis of secondary cytoreduction for recurrent ovarian cancer by robotics, laparoscopy and laparotomy.

PubMed

Magrina, Javier F; Cetta, Rachel L; Chang, Yu-Hui; Guevara, Gregory; Magtibay, Paul M

2013-05-01

Analysis of perioperative outcomes and survival of patients with recurrent ovarian cancer undergoing secondary cytoreduction by robotics, laparoscopy, or laparotomy. Retrospective analysis of 52 selected patients with recurrent ovarian cancer undergoing secondary cytoreduction by laparoscopy (9), laparotomy (33) or robotics (10) between January 2006 and December 2010. Comparison was made by a total of 21 factors including age, BMI, number of previous surgeries, tumor type and grade, number of procedures, and 15 types of procedures performed at secondary cytoreduction. For all patients, the mean operating time was 213.8 min, mean blood loss 657.4 ml; and mean hospital stay 7.5 days. Complete debulking was achieved in 75% of patients. Postoperative complications were noted in 36.5% of patients. Overall and progression-free survival at 3-years were 58.8% and 34.1%, respectively. Laparoscopy and robotics had reduced blood loss and hospital stay, while no differences were observed among the three groups for operating time, complications, complete debulking, and survival. Selected patients with recurrent ovarian cancer benefit from a laparoscopic or robotic secondary cytoreduction without compromising survival. Robotics and laparoscopy provide similar perioperative outcomes, and reduced blood loss and shorter hospital stay as compared to laparotomy. Laparotomy seems preferable for patients with widespread peritoneal implants, multiple sites of recurrence, and/or extensive adhesions. Copyright © 2013 Elsevier Inc. All rights reserved.

Design of a walking robot

NASA Technical Reports Server (NTRS)

Whittaker, William; Dowling, Kevin

1994-01-01

Carnegie Mellon University's Autonomous Planetary Exploration Program (APEX) is currently building the Daedalus robot; a system capable of performing extended autonomous planetary exploration missions. Extended autonomy is an important capability because the continued exploration of the Moon, Mars and other solid bodies within the solar system will probably be carried out by autonomous robotic systems. There are a number of reasons for this - the most important of which are the high cost of placing a man in space, the high risk associated with human exploration and communication delays that make teleoperation infeasible. The Daedalus robot represents an evolutionary approach to robot mechanism design and software system architecture. Daedalus incorporates key features from a number of predecessor systems. Using previously proven technologies, the Apex project endeavors to encompass all of the capabilities necessary for robust planetary exploration. The Ambler, a six-legged walking machine was developed by CMU for demonstration of technologies required for planetary exploration. In its five years of life, the Ambler project brought major breakthroughs in various areas of robotic technology. Significant progress was made in: mechanism and control, by introducing a novel gait pattern (circulating gait) and use of orthogonal legs; perception, by developing sophisticated algorithms for map building; and planning, by developing and implementing the Task Control Architecture to coordinate tasks and control complex system functions. The APEX project is the successor of the Ambler project.

Design of a walking robot

NASA Astrophysics Data System (ADS)

Whittaker, William; Dowling, Kevin

1994-03-01

Carnegie Mellon University's Autonomous Planetary Exploration Program (APEX) is currently building the Daedalus robot; a system capable of performing extended autonomous planetary exploration missions. Extended autonomy is an important capability because the continued exploration of the Moon, Mars and other solid bodies within the solar system will probably be carried out by autonomous robotic systems. There are a number of reasons for this - the most important of which are the high cost of placing a man in space, the high risk associated with human exploration and communication delays that make teleoperation infeasible. The Daedalus robot represents an evolutionary approach to robot mechanism design and software system architecture. Daedalus incorporates key features from a number of predecessor systems. Using previously proven technologies, the Apex project endeavors to encompass all of the capabilities necessary for robust planetary exploration. The Ambler, a six-legged walking machine was developed by CMU for demonstration of technologies required for planetary exploration. In its five years of life, the Ambler project brought major breakthroughs in various areas of robotic technology. Significant progress was made in: mechanism and control, by introducing a novel gait pattern (circulating gait) and use of orthogonal legs; perception, by developing sophisticated algorithms for map building; and planning, by developing and implementing the Task Control Architecture to coordinate tasks and control complex system functions. The APEX project is the successor of the Ambler project.

The University of Chicago technique of complete intracorporeal pediatric robotic-assisted laparoscopic augmentation ileocystoplasty and Mitrofanoff appendicovesicostomy.

PubMed

Gundeti, Mohan S; Acharya, Sujeet S; Zagaja, Gregory P

2009-06-01

We present the University of Chicago technique for complete intracorporeal robotic-assisted laparoscopic augmentation ileocystoplasty and Mitrofanoff appendicovesicostomy. The operative steps of the open procedure were replicated laparoscopically using robotic assistance. Initially, five transperitoneal laparoscopic ports are placed prior to docking the da Vinci S robotic system. A 20 cm ileal segment is isolated, and the gastrointestinal anastomosis is performed in an end-to-end fashion using intracorporeal suturing. The appendix is anastomosed to the right posterior wall of the bladder over an 8F feeding tube in an extravesical fashion. Then, the bladder is incised in a coronal plane, and the simple detubularized ileal on-lay patch is anastomosed to the posterior and anterior walls of the bladder. A suprapubic catheter and pelvic drain are placed. Finally, the Mitrofanoff stoma is then fashioned. Cystography is done at 4 weeks postoperatively. This report suggests that robotic-assisted ileocystoplasty and appendicovesicostomy is feasible. A reasonable outcome with early recovery, resumption of normal activities, and excellent cosmesis can be achieved in select patients. A large case series, however, is necessary to determine whether a robotic-assisted approach provides any significant advantages over conventional open procedures.

Lightweight robotic mobility: template-based modeling for dynamics and controls using ADAMS/car and MATLAB

NASA Astrophysics Data System (ADS)

Adamczyk, Peter G.; Gorsich, David J.; Hudas, Greg R.; Overholt, James

2003-09-01

The U.S. Army is seeking to develop autonomous off-road mobile robots to perform tasks in the field such as supply delivery and reconnaissance in dangerous territory. A key problem to be solved with these robots is off-road mobility, to ensure that the robots can accomplish their tasks without loss or damage. We have developed a computer model of one such concept robot, the small-scale "T-1" omnidirectional vehicle (ODV), to study the effects of different control strategies on the robot's mobility in off-road settings. We built the dynamic model in ADAMS/Car and the control system in Matlab/Simulink. This paper presents the template-based method used to construct the ADAMS model of the T-1 ODV. It discusses the strengths and weaknesses of ADAMS/Car software in such an application, and describes the benefits and challenges of the approach as a whole. The paper also addresses effective linking of ADAMS/Car and Matlab for complete control system development. Finally, this paper includes a section describing the extension of the T-1 templates to other similar ODV concepts for rapid development.