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Sample records for robots iter se

  1. Robot Calibration Using Iteration and Differential Kinematics

    NASA Astrophysics Data System (ADS)

    Ye, S. H.; Wang, Y.; Ren, Y. J.; Li, D. K.

    2006-10-01

    In the applications of seam laser tracking welding robot and general measuring robot station based on stereo vision, the robot calibration is the most difficult step during the whole system calibration progress. Many calibration methods were put forward, but the exact location of base frame has to be known no matter which method was employed. However, the accurate base frame location is hard to be known. In order to obtain the position of base coordinate, this paper presents a novel iterative algorithm which can also get parameters' deviations at the same time. It was a method of employing differential kinematics to solve link parameters' deviations and approaching real values step-by-step. In the end, experiment validation was provided.

  2. Indirect iterative learning control for a discrete visual servo without a camera-robot model.

    PubMed

    Jiang, Ping; Bamforth, Leon C A; Feng, Zuren; Baruch, John E F; Chen, YangQuan

    2007-08-01

    This paper presents a discrete learning controller for vision-guided robot trajectory imitation with no prior knowledge of the camera-robot model. A teacher demonstrates a desired movement in front of a camera, and then, the robot is tasked to replay it by repetitive tracking. The imitation procedure is considered as a discrete tracking control problem in the image plane, with an unknown and time-varying image Jacobian matrix. Instead of updating the control signal directly, as is usually done in iterative learning control (ILC), a series of neural networks are used to approximate the unknown Jacobian matrix around every sample point in the demonstrated trajectory, and the time-varying weights of local neural networks are identified through repetitive tracking, i.e., indirect ILC. This makes repetitive segmented training possible, and a segmented training strategy is presented to retain the training trajectories solely within the effective region for neural network approximation. However, a singularity problem may occur if an unmodified neural-network-based Jacobian estimation is used to calculate the robot end-effector velocity. A new weight modification algorithm is proposed which ensures invertibility of the estimation, thus circumventing the problem. Stability is further discussed, and the relationship between the approximation capability of the neural network and the tracking accuracy is obtained. Simulations and experiments are carried out to illustrate the validity of the proposed controller for trajectory imitation of robot manipulators with unknown time-varying Jacobian matrices.

  3. Iterative CT reconstruction on limited angle trajectories applied to robotic inspection

    NASA Astrophysics Data System (ADS)

    Banjak, H.; Costin, M.; Vienne, C.; Guillamet, R.; Kaftandjian, V.

    2017-02-01

    Robotic inspection is one of the acknowledged new trends in X-ray Non Destructive testing (NDT) since it allows more flexibility in the acquisition trajectory and therefore a valued adaptability to object and environment constraints. In this context, we are developing an advanced Computed Tomography (CT) robotic platform consisting of two robots equipped, with a micro-focus X-ray tube and a flat panel detector, respectively. In parallel to the equipment installation, we propose to address the new challenges brought by this robotic inspection. In particular we focus on 3D iterative reconstruction algorithms that deal with few and limited-angle data. For this purpose, we consider regularized algebraic methods. In particular, we propose two algorithms named SART-FISTA-TV and DART-FISTA-TV. The first one is based on the common used SART [1] algorithm and the second is based on Discrete Algebraic Reconstruction Technique (DART) [2] which is an algebraic algorithm that incorporates prior knowledge about the different materials (attenuation coefficient) of the scanned object into the reconstruction process. The two proposed algorithms use Total Variation (TV) regularization and Fast Iterative Shrinkage-Thresholding Algorithm (FISTA) to increase the convergence speed. For performance evaluation, we illustrate a numerical comparison of these algorithms from both complete (noiseless and noisy) and truncated data generated on a reverse helix of angular range limited to 150 degrees. CIVA [3] software is used to simulate these projection data. We also show reconstruction results using the robotic inspection platform with a view angle limited to 150 degrees and a reduced number of projections.

  4. Iter

    NASA Astrophysics Data System (ADS)

    Iotti, Robert

    2015-04-01

    ITER is an international experimental facility being built by seven Parties to demonstrate the long term potential of fusion energy. The ITER Joint Implementation Agreement (JIA) defines the structure and governance model of such cooperation. There are a number of necessary conditions for such international projects to be successful: a complete design, strong systems engineering working with an agreed set of requirements, an experienced organization with systems and plans in place to manage the project, a cost estimate backed by industry, and someone in charge. Unfortunately for ITER many of these conditions were not present. The paper discusses the priorities in the JIA which led to setting up the project with a Central Integrating Organization (IO) in Cadarache, France as the ITER HQ, and seven Domestic Agencies (DAs) located in the countries of the Parties, responsible for delivering 90%+ of the project hardware as Contributions-in-Kind and also financial contributions to the IO, as ``Contributions-in-Cash.'' Theoretically the Director General (DG) is responsible for everything. In practice the DG does not have the power to control the work of the DAs, and there is not an effective management structure enabling the IO and the DAs to arbitrate disputes, so the project is not really managed, but is a loose collaboration of competing interests. Any DA can effectively block a decision reached by the DG. Inefficiencies in completing design while setting up a competent organization from scratch contributed to the delays and cost increases during the initial few years. So did the fact that the original estimate was not developed from industry input. Unforeseen inflation and market demand on certain commodities/materials further exacerbated the cost increases. Since then, improvements are debatable. Does this mean that the governance model of ITER is a wrong model for international scientific cooperation? I do not believe so. Had the necessary conditions for success

  5. Task-Space Iterative Learning for Redundant Robotic Systems: Existence of a Task-Space Control and Convergence of Learning

    NASA Astrophysics Data System (ADS)

    Arimoto, Suguru; Sekimoto, Masahiro; Kawamura, Sadao

    This paper presents a feasibility study of iterative learning control for a class of redundant multi-joint robotic systems when a desired motion trajectory is specified in task-space with less dimension than that of joint space. First, it is shown that if the desired trajectory described in task-space for a time interval t ∈ [0,T] is twice continuously differentiable then a unique control signal describable in task-space exists despite of the system joint-redundancy. Second, a learning control update law is constructed through transpose of the Jacobian matrix of task-space coordinates with respect to joint coordinates by using measured data of motion trajectories in task-space. Third, the convergence of trajectory trackings through iterative learning is proved theoretically on the basis of original nonlinear robot dynamics in joint space.

  6. Solving the robot-world, hand-eye(s) calibration problem with iterative methods

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Robot-world, hand-eye calibration is the problem of determining the transformation between the robot end effector and a camera, as well as the transformation between the robot base and the world coordinate system. This relationship has been modeled as AX = ZB, where X and Z are unknown homogeneous ...

  7. Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing

    PubMed Central

    Xu, Yuan; Chen, Xiyuan; Li, Qinghua

    2013-01-01

    In order to reduce the estimated errors of the inertial navigation system (INS)/Wireless sensor network (WSN)-integrated navigation for mobile robots indoors, this work proposes an on-line iterated extended Rauch-Tung-Striebel smoothing (IERTSS) utilizing inertial measuring units (IMUs) and an ultrasonic positioning system. In this mode, an iterated Extended Kalman filter (IEKF) is used in forward data processing of the Extended Rauch-Tung-Striebel smoothing (ERTSS) to improve the accuracy of the filtering output for the smoother. Furthermore, in order to achieve the on-line smoothing, IERTSS is embedded into the average filter. For verification, a real indoor test has been done to assess the performance of the proposed method. The results show that the proposed method is effective in reducing the errors compared with the conventional schemes.

  8. Using Functional Electrical Stimulation Mediated by Iterative Learning Control and Robotics to Improve Arm Movement for People With Multiple Sclerosis.

    PubMed

    Sampson, Patrica; Freeman, Chris; Coote, Susan; Demain, Sara; Feys, Peter; Meadmore, Katie; Hughes, Ann-Marie

    2016-02-01

    Few interventions address multiple sclerosis (MS) arm dysfunction but robotics and functional electrical stimulation (FES) appear promising. This paper investigates the feasibility of combining FES with passive robotic support during virtual reality (VR) training tasks to improve upper limb function in people with multiple sclerosis (pwMS). The system assists patients in following a specified trajectory path, employing an advanced model-based paradigm termed iterative learning control (ILC) to adjust the FES to improve accuracy and maximise voluntary effort. Reaching tasks were repeated six times with ILC learning the optimum control action from previous attempts. A convenience sample of five pwMS was recruited from local MS societies, and the intervention comprised 18 one-hour training sessions over 10 weeks. The accuracy of tracking performance without FES and the amount of FES delivered during training were analyzed using regression analysis. Clinical functioning of the arm was documented before and after treatment with standard tests. Statistically significant results following training included: improved accuracy of tracking performance both when assisted and unassisted by FES; reduction in maximum amount of FES needed to assist tracking; and less impairment in the proximal arm that was trained. The system was well tolerated by all participants with no increase in muscle fatigue reported. This study confirms the feasibility of FES combined with passive robot assistance as a potentially effective intervention to improve arm movement and control in pwMS and provides the basis for a follow-up study.

  9. Adaptive Iterated Extended Kalman Filter and Its Application to Autonomous Integrated Navigation for Indoor Robot

    PubMed Central

    Chen, Xiyuan; Li, Qinghua

    2014-01-01

    As the core of the integrated navigation system, the data fusion algorithm should be designed seriously. In order to improve the accuracy of data fusion, this work proposed an adaptive iterated extended Kalman (AIEKF) which used the noise statistics estimator in the iterated extended Kalman (IEKF), and then AIEKF is used to deal with the nonlinear problem in the inertial navigation systems (INS)/wireless sensors networks (WSNs)-integrated navigation system. Practical test has been done to evaluate the performance of the proposed method. The results show that the proposed method is effective to reduce the mean root-mean-square error (RMSE) of position by about 92.53%, 67.93%, 55.97%, and 30.09% compared with the INS only, WSN, EKF, and IEKF. PMID:24693225

  10. Adaptive iterated extended Kalman filter and its application to autonomous integrated navigation for indoor robot.

    PubMed

    Xu, Yuan; Chen, Xiyuan; Li, Qinghua

    2014-01-01

    As the core of the integrated navigation system, the data fusion algorithm should be designed seriously. In order to improve the accuracy of data fusion, this work proposed an adaptive iterated extended Kalman (AIEKF) which used the noise statistics estimator in the iterated extended Kalman (IEKF), and then AIEKF is used to deal with the nonlinear problem in the inertial navigation systems (INS)/wireless sensors networks (WSNs)-integrated navigation system. Practical test has been done to evaluate the performance of the proposed method. The results show that the proposed method is effective to reduce the mean root-mean-square error (RMSE) of position by about 92.53%, 67.93%, 55.97%, and 30.09% compared with the INS only, WSN, EKF, and IEKF.

  11. Jacobian-Based Iterative Method for Magnetic Localization in Robotic Capsule Endoscopy.

    PubMed

    Di Natali, Christian; Beccani, Marco; Simaan, Nabil; Valdastri, Pietro

    2016-04-01

    The purpose of this study is to validate a Jacobian-based iterative method for real-time localization of magnetically controlled endoscopic capsules. The proposed approach applies finite-element solutions to the magnetic field problem and least-squares interpolations to obtain closed-form and fast estimates of the magnetic field. By defining a closed-form expression for the Jacobian of the magnetic field relative to changes in the capsule pose, we are able to obtain an iterative localization at a faster computational time when compared with prior works, without suffering from the inaccuracies stemming from dipole assumptions. This new algorithm can be used in conjunction with an absolute localization technique that provides initialization values at a slower refresh rate. The proposed approach was assessed via simulation and experimental trials, adopting a wireless capsule equipped with a permanent magnet, six magnetic field sensors, and an inertial measurement unit. The overall refresh rate, including sensor data acquisition and wireless communication was 7 ms, thus enabling closed-loop control strategies for magnetic manipulation running faster than 100 Hz. The average localization error, expressed in cylindrical coordinates was below 7 mm in both the radial and axial components and 5° in the azimuthal component. The average error for the capsule orientation angles, obtained by fusing gyroscope and inclinometer measurements, was below 5°.

  12. Jacobian-Based Iterative Method for Magnetic Localization in Robotic Capsule Endoscopy

    PubMed Central

    Di Natali, Christian; Beccani, Marco; Simaan, Nabil; Valdastri, Pietro

    2016-01-01

    The purpose of this study is to validate a Jacobian-based iterative method for real-time localization of magnetically controlled endoscopic capsules. The proposed approach applies finite-element solutions to the magnetic field problem and least-squares interpolations to obtain closed-form and fast estimates of the magnetic field. By defining a closed-form expression for the Jacobian of the magnetic field relative to changes in the capsule pose, we are able to obtain an iterative localization at a faster computational time when compared with prior works, without suffering from the inaccuracies stemming from dipole assumptions. This new algorithm can be used in conjunction with an absolute localization technique that provides initialization values at a slower refresh rate. The proposed approach was assessed via simulation and experimental trials, adopting a wireless capsule equipped with a permanent magnet, six magnetic field sensors, and an inertial measurement unit. The overall refresh rate, including sensor data acquisition and wireless communication was 7 ms, thus enabling closed-loop control strategies for magnetic manipulation running faster than 100 Hz. The average localization error, expressed in cylindrical coordinates was below 7 mm in both the radial and axial components and 5° in the azimuthal component. The average error for the capsule orientation angles, obtained by fusing gyroscope and inclinometer measurements, was below 5°. PMID:27087799

  13. Robotics.

    ERIC Educational Resources Information Center

    Waddell, Steve; Doty, Keith L.

    1999-01-01

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

  14. Robotics

    SciTech Connect

    Scheide, A.W.

    1983-11-01

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

  15. Robotics

    NASA Technical Reports Server (NTRS)

    1985-01-01

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

  16. Robotics

    NASA Technical Reports Server (NTRS)

    Ambrose, Robert O.

    2007-01-01

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

  17. Robotics

    NASA Technical Reports Server (NTRS)

    Rothschild, Lynn J.

    2012-01-01

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

  18. Iterative Goal Refinement for Robotics

    DTIC Science & Technology

    2014-06-01

    present a goal lifecycle for BDI agents, provide operational semantics for their lifecycle, and demonstrate the lifecycle on a Mars rover scenario...208, 1–17. Harland, J., Morley, D., Thangarajah, J., & Yorke-Smith, N. (2014). An operational semantics for the goal life-cycle in BDI agents...executing, suspending, and aborting goals in BDI agent systems. In Declarative Agent Languages and Technologies VIII (pp. 1–21). Toronto, Canada: Springer

  19. Guarded Motion for Mobile Robots

    SciTech Connect

    2005-03-30

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

  20. Special-Purpose Robotic Welder

    NASA Technical Reports Server (NTRS)

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

    1995-01-01

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

  1. Exploratorium: Robots.

    ERIC Educational Resources Information Center

    Brand, Judith, Ed.

    2002-01-01

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

  2. Robotic surgery

    MedlinePlus

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

  3. Robot and robot system

    NASA Technical Reports Server (NTRS)

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

    2011-01-01

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

  4. US ITER Moving Forward

    ScienceCinema

    US ITER / ORNL

    2016-07-12

    US ITER Project Manager Ned Sauthoff, joined by Wayne Reiersen, Team Leader Magnet Systems, and Jan Berry, Team Leader Tokamak Cooling System, discuss the U.S.'s role in the ITER international collaboration.

  5. Iter and Ornl

    NASA Astrophysics Data System (ADS)

    Uckan, N. A.; Milora, S. L.

    2004-11-01

    ITER (means ``the way''), a tokamak burning plasma experiment, is the next step device toward making fusion energy a reality. The programmatic objective of ITER is to demonstrate the scientific and technological feasibility of fusion energy for peaceful purposes. ITER began in 1985 as collaboration between the Russian Federation (former Soviet Union), the USA, European Union, and Japan. ITER conceptual and engineering design activities led to a detailed design in 2001. The USA opted out of the project between 1999-2003, but rejoined in 2004 for site selection and construction negotiations. China and Korea joined the project in 2003. Negotiations are continuing and a decision on the site for ITER construction [France versus Japan] is pending. The ITER international undertaking is an unprecedented scale and the six ITER parties represent 40% of the world population. By 2018, ITER will produce a fusion power of 500 million Watts for time periods up to an hour with one-tenth of the power needed to sustain it. Steady state operation is also possible at lower power levels with higher fraction of circulated power. The ITER parties invested about $1 billion into the research and development (R) and related fusion experiments to establish the ITER's feasibility. ORNL has been a key player in the ITER project and contributed to its physics and engineering design and related R since its inception. Recently, the U.S. DOE selected the PPPL/ORNL partnership to lead the U.S. project office for ITER.

  6. 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.

  7. Iteration, Not Induction

    ERIC Educational Resources Information Center

    Dobbs, David E.

    2009-01-01

    The main purpose of this note is to present and justify proof via iteration as an intuitive, creative and empowering method that is often available and preferable as an alternative to proofs via either mathematical induction or the well-ordering principle. The method of iteration depends only on the fact that any strictly decreasing sequence of…

  8. A power autonomous monopedal robot

    NASA Astrophysics Data System (ADS)

    Krupp, Benjamin T.; Pratt, Jerry E.

    2006-05-01

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

  9. Adaptive artificial neural network for autonomous robot control

    NASA Technical Reports Server (NTRS)

    Arras, Michael K.; Protzel, Peter W.; Palumbo, Daniel L.

    1992-01-01

    The topics are presented in viewgraph form and include: neural network controller for robot arm positioning with visual feedback; initial training of the arm; automatic recovery from cumulative fault scenarios; and error reduction by iterative fine movements.

  10. The ITER design

    NASA Astrophysics Data System (ADS)

    Aymar, R.; Barabaschi, P.; Shimomura, Y.

    2002-05-01

    In 1998, after six years of joint work originally foreseen under the ITER engineering design activities (EDA) agreement, a design for ITER had been developed fulfilling all objectives and the cost target adopted by the ITER parties in 1992 at the start of the EDA. While accepting this design, the ITER parties recognized the possibility that they might be unable, for financial reasons, to proceed to the construction of the then foreseen device. The focus of effort in the ITER EDA since 1998 has been the development of a new design to meet revised technical objectives and a cost reduction target of about 50% of the previously accepted cost estimate. The rationale for the choice of parameters of the design has been based largely on system analysis drawing on the design solutions already developed and using the latest physics results and outputs from technology R&D projects. In so doing the joint central team and home teams converge towards a new design which will allow the exploration of a range of burning plasma conditions. The new ITER design, whilst having reduced technical objectives from its predecessor, will nonetheless meet the programmatic objective of providing an integrated demonstration of the scientific and technological feasibility of fusion energy. Background, design features, performance, safety features, and R&D and future perspectives of the ITER design are discussed.

  11. CASSY Robot

    NASA Astrophysics Data System (ADS)

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

    2014-03-01

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

  12. Perl Modules for Constructing Iterators

    NASA Technical Reports Server (NTRS)

    Tilmes, Curt

    2009-01-01

    The Iterator Perl Module provides a general-purpose framework for constructing iterator objects within Perl, and a standard API for interacting with those objects. Iterators are an object-oriented design pattern where a description of a series of values is used in a constructor. Subsequent queries can request values in that series. These Perl modules build on the standard Iterator framework and provide iterators for some other types of values. Iterator::DateTime constructs iterators from DateTime objects or Date::Parse descriptions and ICal/RFC 2445 style re-currence descriptions. It supports a variety of input parameters, including a start to the sequence, an end to the sequence, an Ical/RFC 2445 recurrence describing the frequency of the values in the series, and a format description that can refine the presentation manner of the DateTime. Iterator::String constructs iterators from string representations. This module is useful in contexts where the API consists of supplying a string and getting back an iterator where the specific iteration desired is opaque to the caller. It is of particular value to the Iterator::Hash module which provides nested iterations. Iterator::Hash constructs iterators from Perl hashes that can include multiple iterators. The constructed iterators will return all the permutations of the iterations of the hash by nested iteration of embedded iterators. A hash simply includes a set of keys mapped to values. It is a very common data structure used throughout Perl programming. The Iterator:: Hash module allows a hash to include strings defining iterators (parsed and dispatched with Iterator::String) that are used to construct an overall series of hash values.

  13. ITER Cryoplant Infrastructures

    NASA Astrophysics Data System (ADS)

    Fauve, E.; Monneret, E.; Voigt, T.; Vincent, G.; Forgeas, A.; Simon, M.

    2017-02-01

    The ITER Tokamak requires an average 75 kW of refrigeration power at 4.5 K and 600 kW of refrigeration Power at 80 K to maintain the nominal operation condition of the ITER thermal shields, superconducting magnets and cryopumps. This is produced by the ITER Cryoplant, a complex cluster of refrigeration systems including in particular three identical Liquid Helium Plants and two identical Liquid Nitrogen Plants. Beyond the equipment directly part of the Cryoplant, colossal infrastructures are required. These infrastructures account for a large part of the Cryoplants lay-out, budget and engineering efforts. It is ITER Organization responsibility to ensure that all infrastructures are adequately sized and designed to interface with the Cryoplant. This proceeding presents the overall architecture of the cryoplant. It provides order of magnitude related to the cryoplant building and utilities: electricity, cooling water, heating, ventilation and air conditioning (HVAC).

  14. Diagnostics for ITER

    SciTech Connect

    Donne, A. J. H.; Hellermann, M. G. von; Barnsley, R.

    2008-10-22

    After an introduction into the specific challenges in the field of diagnostics for ITER (specifically high level of nuclear radiation, long pulses, high fluxes of particles to plasma facing components, need for reliability and robustness), an overview will be given of the spectroscopic diagnostics foreseen for ITER. The paper will describe both active neutral-beam based diagnostics as well as passive spectroscopic diagnostics operating in the visible, ultra-violet and x-ray spectral regions.

  15. Army Robotics

    DTIC Science & Technology

    2009-10-07

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

  16. Space Robotics

    DTIC Science & Technology

    1982-08-01

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

  17. TARDEC Robotics

    DTIC Science & Technology

    2010-01-12

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

  18. (Robotic hands)

    SciTech Connect

    Mann, R.C.

    1988-09-23

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

  19. Basic Robotics.

    ERIC Educational Resources Information Center

    Mullen, Frank

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

  20. Industrial Robots.

    ERIC Educational Resources Information Center

    Reed, Dean; Harden, Thomas K.

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

  1. Progress on ITER Diagnostic Integration

    NASA Astrophysics Data System (ADS)

    Johnson, David; Feder, Russ; Klabacha, Jonathan; Loesser, Doug; Messineo, Mike; Stratton, Brentley; Wood, Rick; Zhai, Yuhu; Andrew, Phillip; Barnsley, Robin; Bertschinger, Guenter; Debock, Maarten; Reichle, Roger; Udintsev, Victor; Vayakis, George; Watts, Christopher; Walsh, Michael

    2013-10-01

    On ITER, front-end components must operate reliably in a hostile environment. Many will be housed in massive port plugs, which also shield the machine from radiation. Multiple diagnostics reside in a single plug, presenting new challenges for developers. Front-end components must tolerate thermally-induced stresses, disruption-induced mechanical loads, stray ECH radiation, displacement damage, and degradation due to plasma-induced coatings. The impact of failures is amplified due to the difficulty in performing robotic maintenance on these large structures. Motivated by needs to minimize disruption loads on the plugs, standardize the handling of shield modules, and decouple the parallel efforts of the many parties, the packaging strategy for diagnostics has recently focused on the use of 3 vertical shield modules inserted from the plasma side into each equatorial plug structure. At the front of each is a detachable first wall element with customized apertures. Progress on US equatorial and upper plugs will be used as examples, including the layout of components in the interspace and port cell regions. Supported by PPPL under contract DE-AC02-09CH11466 and UT-Battelle, LLC under contract DE-AC05-00OR22725 with the U.S. DOE.

  2. Robust iterative methods

    SciTech Connect

    Saadd, Y.

    1994-12-31

    In spite of the tremendous progress achieved in recent years in the general area of iterative solution techniques, there are still a few obstacles to the acceptance of iterative methods in a number of applications. These applications give rise to very indefinite or highly ill-conditioned non Hermitian matrices. Trying to solve these systems with the simple-minded standard preconditioned Krylov subspace methods can be a frustrating experience. With the mathematical and physical models becoming more sophisticated, the typical linear systems which we encounter today are far more difficult to solve than those of just a few years ago. This trend is likely to accentuate. This workshop will discuss (1) these applications and the types of problems that they give rise to; and (2) recent progress in solving these problems with iterative methods. The workshop will end with a hopefully stimulating panel discussion with the speakers.

  3. Rescheduling with iterative repair

    NASA Technical Reports Server (NTRS)

    Zweben, Monte; Davis, Eugene; Daun, Brian; Deale, Michael

    1992-01-01

    This paper presents a new approach to rescheduling called constraint-based iterative repair. This approach gives our system the ability to satisfy domain constraints, address optimization concerns, minimize perturbation to the original schedule, and produce modified schedules quickly. The system begins with an initial, flawed schedule and then iteratively repairs constraint violations until a conflict-free schedule is produced. In an empirical demonstration, we vary the importance of minimizing perturbation and report how fast the system is able to resolve conflicts in a given time bound. These experiments were performed within the domain of Space Shuttle ground processing.

  4. Rescheduling with iterative repair

    NASA Technical Reports Server (NTRS)

    Zweben, Monte; Davis, Eugene; Daun, Brian; Deale, Michael

    1992-01-01

    This paper presents a new approach to rescheduling called constraint-based iterative repair. This approach gives our system the ability to satisfy domain constraints, address optimization concerns, minimize perturbation to the original schedule, produce modified schedules, quickly, and exhibits 'anytime' behavior. The system begins with an initial, flawed schedule and then iteratively repairs constraint violations until a conflict-free schedule is produced. In an empirical demonstration, we vary the importance of minimizing perturbation and report how fast the system is able to resolve conflicts in a given time bound. We also show the anytime characteristics of the system. These experiments were performed within the domain of Space Shuttle ground processing.

  5. Iterated multidimensional wave conversion

    SciTech Connect

    Brizard, A. J.; Tracy, E. R.; Johnston, D.; Kaufman, A. N.; Richardson, A. S.; Zobin, N.

    2011-12-23

    Mode conversion can occur repeatedly in a two-dimensional cavity (e.g., the poloidal cross section of an axisymmetric tokamak). We report on two novel concepts that allow for a complete and global visualization of the ray evolution under iterated conversions. First, iterated conversion is discussed in terms of ray-induced maps from the two-dimensional conversion surface to itself (which can be visualized in terms of three-dimensional rooms). Second, the two-dimensional conversion surface is shown to possess a symplectic structure derived from Dirac constraints associated with the two dispersion surfaces of the interacting waves.

  6. Robot manipulator technologies for planetary exploration

    NASA Astrophysics Data System (ADS)

    Das, Hari; Bao, Xiaoqi; Bar-Cohen, Yoseph; Bonitz, Robert; Lindemann, Randall A.; Maimone, Mark; Nesnas, Issa A.; Voorhees, Christopher J.

    1999-06-01

    NASA exploration missions to Mars, initiated by the Mars Pathfinder mission in July 1997, will continue over the next decade. The missions require challenging innovations in robot design and improvements in autonomy to meet ambitious objectives under tight budget and time constraints. The authors are developing design tools, component technologies and capabilities to address these needs for manipulation with robots for planetary exploration. The specific developments are: (1) a software analysis tool to reduce robot design iteration cycles and optimize on design solutions, (2) new piezoelectric ultrasonic motors for light-weight and high torque actuation in planetary environments, (3) use of advanced materials and structures for strong and light-weight robot arms and (4) intelligent camera-image coordinated autonomous control of robot arms for instrument placement and sample acquisition from a rover vehicle.

  7. Iterative software kernels

    SciTech Connect

    Duff, I.

    1994-12-31

    This workshop focuses on kernels for iterative software packages. Specifically, the three speakers discuss various aspects of sparse BLAS kernels. Their topics are: `Current status of user lever sparse BLAS`; Current status of the sparse BLAS toolkit`; and `Adding matrix-matrix and matrix-matrix-matrix multiply to the sparse BLAS toolkit`.

  8. ITER Fusion Energy

    ScienceCinema

    Dr. Norbert Holtkamp

    2016-07-12

    ITER (in Latin “the way”) is designed to demonstrate the scientific and technological feasibility of fusion energy. Fusion is the process by which two light atomic nuclei combine to form a heavier over one and thus release energy. In the fusion process two isotopes of hydrogen – deuterium and tritium – fuse together to form a helium atom and a neutron. Thus fusion could provide large scale energy production without greenhouse effects; essentially limitless fuel would be available all over the world. The principal goals of ITER are to generate 500 megawatts of fusion power for periods of 300 to 500 seconds with a fusion power multiplication factor, Q, of at least 10. Q ? 10 (input power 50 MW / output power 500 MW). The ITER Organization was officially established in Cadarache, France, on 24 October 2007. The seven members engaged in the project – China, the European Union, India, Japan, Korea, Russia and the United States – represent more than half the world’s population. The costs for ITER are shared by the seven members. The cost for the construction will be approximately 5.5 billion Euros, a similar amount is foreseen for the twenty-year phase of operation and the subsequent decommissioning.

  9. TARDEC Robotics

    DTIC Science & Technology

    2011-03-01

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

  10. ROBOT WRITING,

    DTIC Science & Technology

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

  11. Robot Programming.

    DTIC Science & Technology

    1982-12-01

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

  12. Robotics research

    SciTech Connect

    Brady, M.; Paul, R.

    1984-01-01

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

  13. Hopping robot

    DOEpatents

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

    2001-01-01

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

  14. Robotics 101

    ERIC Educational Resources Information Center

    Sultan, Alan

    2011-01-01

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

  15. The Iterate Manual

    DTIC Science & Technology

    1990-10-01

    is probably a bad idea. A better versica would use a temporary: (defmacro sum-of-squares (expr) (let ((temp ( gensym ))) ’(lot (,temp ,expr)) (sum...val ( gensym )) (tempi ( gensym )) (temp2 ( gensym )) (winner (or var iterate::*result-var*))) ’(progn (with ,max-val - nil) (with ,winner = nil) (cond ((null...the elements of a vector (disregards fill-pointer)" (let ((vect ( gensym )) (end ( gensym )) (index ( gensym ))) ’(progn (with ,vect - v) (with ,end = (array

  16. Robotic Surgery

    NASA Technical Reports Server (NTRS)

    2000-01-01

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

  17. Robot Design

    NASA Technical Reports Server (NTRS)

    1988-01-01

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

  18. Neutron activation for ITER

    SciTech Connect

    Barnes, C.W.; Loughlin, M.J.; Nishitani, Takeo

    1996-04-29

    There are three primary goals for the Neutron Activation system for ITER: maintain a robust relative measure of fusion power with stability and high dynamic range (7 orders of magnitude); allow an absolute calibration of fusion power (energy); and provide a flexible and reliable system for materials testing. The nature of the activation technique is such that stability and high dynamic range can be intrinsic properties of the system. It has also been the technique that demonstrated (on JET and TFTR) the highest accuracy neutron measurements in DT operation. Since the gamma-ray detectors are not located on the tokamak and are therefore amenable to accurate characterization, and if material foils are placed very close to the ITER plasma with minimum scattering or attenuation, high overall accuracy in the fusion energy production (7--10%) should be achievable on ITER. In the paper, a conceptual design is presented. A system is shown to be capable of meeting these three goals, also detailed design issues remain to be solved.

  19. Neutron cameras for ITER

    SciTech Connect

    Johnson, L.C.; Barnes, C.W.; Batistoni, P.

    1998-12-31

    Neutron cameras with horizontal and vertical views have been designed for ITER, based on systems used on JET and TFTR. The cameras consist of fan-shaped arrays of collimated flight tubes, with suitably chosen detectors situated outside the biological shield. The sight lines view the ITER plasma through slots in the shield blanket and penetrate the vacuum vessel, cryostat, and biological shield through stainless steel windows. This paper analyzes the expected performance of several neutron camera arrangements for ITER. In addition to the reference designs, the authors examine proposed compact cameras, in which neutron fluxes are inferred from {sup 16}N decay gammas in dedicated flowing water loops, and conventional cameras with fewer sight lines and more limited fields of view than in the reference designs. It is shown that the spatial sampling provided by the reference designs is sufficient to satisfy target measurement requirements and that some reduction in field of view may be permissible. The accuracy of measurements with {sup 16}N-based compact cameras is not yet established, and they fail to satisfy requirements for parameter range and time resolution by large margins.

  20. Robotic transportation.

    PubMed

    Lob, W S

    1990-09-01

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

  1. [Robotic surgery].

    PubMed

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

    2013-10-01

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

  2. Subsumption Robotics

    DTIC Science & Technology

    1998-01-01

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

  3. Searching with iterated maps

    PubMed Central

    Elser, V.; Rankenburg, I.; Thibault, P.

    2007-01-01

    In many problems that require extensive searching, the solution can be described as satisfying two competing constraints, where satisfying each independently does not pose a challenge. As an alternative to tree-based and stochastic searching, for these problems we propose using an iterated map built from the projections to the two constraint sets. Algorithms of this kind have been the method of choice in a large variety of signal-processing applications; we show here that the scope of these algorithms is surprisingly broad, with applications as diverse as protein folding and Sudoku. PMID:17202267

  4. Iterative Magnetometer Calibration

    NASA Technical Reports Server (NTRS)

    Sedlak, Joseph

    2006-01-01

    This paper presents an iterative method for three-axis magnetometer (TAM) calibration that makes use of three existing utilities recently incorporated into the attitude ground support system used at NASA's Goddard Space Flight Center. The method combines attitude-independent and attitude-dependent calibration algorithms with a new spinning spacecraft Kalman filter to solve for biases, scale factors, nonorthogonal corrections to the alignment, and the orthogonal sensor alignment. The method is particularly well-suited to spin-stabilized spacecraft, but may also be useful for three-axis stabilized missions given sufficient data to provide observability.

  5. Robotic arm

    DOEpatents

    Kwech, Horst

    1989-04-18

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

  6. Robotic vehicle

    DOEpatents

    Box, W.D.

    1998-08-11

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

  7. Robotic vehicle

    DOEpatents

    Box, W.D.

    1997-02-11

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

  8. Robotic vehicle

    DOEpatents

    Box, W. Donald

    1998-01-01

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

  9. Robotic vehicle

    DOEpatents

    Box, W. Donald

    1997-01-01

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

  10. Runaway electrons and ITER

    NASA Astrophysics Data System (ADS)

    Boozer, Allen

    2016-10-01

    ITER planning for avoiding runaway damage depends on magnetic surface breakup in fast relaxations. These arise in thermal quenches and in the spreading of impurities from massive gas injection or shattered pellets. Surface breakup would prevent a runaway to relativistic energies were it not for non-intercepting flux tubes, which contain magnetic field lines that do not intercept the walls. Such tubes persist near the magnetic axis and in the cores of islands but must dissipate before any confining surfaces re-form. Otherwise, a highly dangerous situation arises. Electrons that were trapped and accelerated in these flux tubes can fill a large volume of stochastic field lines and serve as a seed for the transfer of the full plasma current to runaways. If the outer confining surfaces are punctured, as by a drift into the wall, then the full runaway inventory will be lost in a short pulse along a narrow flux tube. Although not part of ITER planning, currents induced in the walls by the fast magnetic relaxation could be used to passively prevent outer surfaces re-forming. If magnetic surface breakup can be avoided during impurity injection, the plasma current could be terminated in tens of milliseconds by plasma cooling with no danger of runaway. Support by DoE Office of Fusion Energy Science Grant De-FG02-03ER54696.

  11. Microtearing instability in ITER*

    NASA Astrophysics Data System (ADS)

    Wong, King-Lap; Mikkelsen, David; Budny, Robert; Breslau, Joshua

    2010-11-01

    Microtearing modes are found to be unstable in some regions of a simulated ITER H-mode plasma [1] with the GS2 code [2]. Modes with kρs>1 are in the interior (r/a˜0.65-0.85) while longer wavelength modes are in the pedestal region. This instability may keep the pedestal within the peeling-ballooning stability boundary [3]. Microtearing modes can produce stochastic magnetic field similar to RMP coils; they may have similar effects on ELMs by increasing the pedestal width. The possibility of using this technique for ELM mitigation in ITER is explored. We propose to use a deuterium gas jet to control the microtearing instability and the Chirikov parameter at the edge. Preliminary evaluation of its effectiveness will be presented and the limitations of the GS2 code will be discussed based on our understanding from NSTX [4]. *This work is supported by USDoE contract DE-AC02-09CH11466. [4pt] [1] R. V. Budny, Nucl. Fusion (2009)[0pt] [2] W. Dorland et al., Phys. Rev. Lett. (2000).[0pt] [3] P. B. Snyder et al.,Nucl. Fusion (2009).[0pt] [4] K. L. Wong et al., Phys. Rev. Lett. (2007).

  12. Robot Rescue

    NASA Technical Reports Server (NTRS)

    Morring, Frank, Jr.

    2004-01-01

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

  13. Handbook of industrial robotics

    SciTech Connect

    Nof, S.Y.

    1985-01-01

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

  14. Tutorial on robotics

    SciTech Connect

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

    1986-01-01

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

  15. Building a safe care-providing robot.

    PubMed

    Fotoohi, Leila; Gräser, Axel

    2011-01-01

    A service robot especially a care-providing robot, works in the vicinity of a human body and is sometimes even in direct contact with it. Conventional safety methods and precautions in industrial robotics are not applicable to such robots. This paper presents a safety approach for designing the safe care-providing robot FRIEND. The approach is applied in each step of design iteratively to identify and assess the potential hazards during design. The steps are explained briefly in this work. The main contribution of this paper is verification of safety requirements using the Ramadge-Wonham (RW) framework. The greater complexity of the tasks the robot will perform, the more complex is the identification of safety requirements. Use of this framework led us to analyze the requirements and verify them formally, systematically and on a modular basis. In our approach human-robot interaction (HRI) is also modeled by a set of uncontrolled events that may happen any time during operation. Subsequently the safety requirements are modified to consider these interactions. As a result the safety module behaves like a controller, running in parallel with the system, which maintains the system safe and works according to the safety requirements by enabling the admissible sequences of events.

  16. Robotics in scansorial environments

    NASA Astrophysics Data System (ADS)

    Autumn, Kellar; Buehler, Martin; Cutkosky, Mark; Fearing, Ronald; Full, Robert J.; Goldman, Daniel; Groff, Richard; Provancher, William; Rizzi, Alfred A.; Saranli, Uluc; Saunders, Aaron; Koditschek, Daniel E.

    2005-05-01

    We review a large multidisciplinary effort to develop a family of autonomous robots capable of rapid, agile maneuvers in and around natural and artificial vertical terrains such as walls, cliffs, caves, trees and rubble. Our robot designs are inspired by (but not direct copies of) biological climbers such as cockroaches, geckos, and squirrels. We are incorporating advanced materials (e.g., synthetic gecko hairs) into these designs and fabricating them using state of the art rapid prototyping techniques (e.g., shape deposition manufacturing) that permit multiple iterations of design and testing with an effective integration path for the novel materials and components. We are developing novel motion control techniques to support dexterous climbing behaviors that are inspired by neuroethological studies of animals and descended from earlier frameworks that have proven analytically tractable and empirically sound. Our near term behavioral targets call for vertical climbing on soft (e.g., bark) or rough surfaces and for ascents on smooth, hard steep inclines (e.g., 60 degree slopes on metal or glass sheets) at one body length per second.

  17. Iterated crowdsourcing dilemma game

    PubMed Central

    Oishi, Koji; Cebrian, Manuel; Abeliuk, Andres; Masuda, Naoki

    2014-01-01

    The Internet has enabled the emergence of collective problem solving, also known as crowdsourcing, as a viable option for solving complex tasks. However, the openness of crowdsourcing presents a challenge because solutions obtained by it can be sabotaged, stolen, and manipulated at a low cost for the attacker. We extend a previously proposed crowdsourcing dilemma game to an iterated game to address this question. We enumerate pure evolutionarily stable strategies within the class of so-called reactive strategies, i.e., those depending on the last action of the opponent. Among the 4096 possible reactive strategies, we find 16 strategies each of which is stable in some parameter regions. Repeated encounters of the players can improve social welfare when the damage inflicted by an attack and the cost of attack are both small. Under the current framework, repeated interactions do not really ameliorate the crowdsourcing dilemma in a majority of the parameter space. PMID:24526244

  18. Iterated crowdsourcing dilemma game

    NASA Astrophysics Data System (ADS)

    Oishi, Koji; Cebrian, Manuel; Abeliuk, Andres; Masuda, Naoki

    2014-02-01

    The Internet has enabled the emergence of collective problem solving, also known as crowdsourcing, as a viable option for solving complex tasks. However, the openness of crowdsourcing presents a challenge because solutions obtained by it can be sabotaged, stolen, and manipulated at a low cost for the attacker. We extend a previously proposed crowdsourcing dilemma game to an iterated game to address this question. We enumerate pure evolutionarily stable strategies within the class of so-called reactive strategies, i.e., those depending on the last action of the opponent. Among the 4096 possible reactive strategies, we find 16 strategies each of which is stable in some parameter regions. Repeated encounters of the players can improve social welfare when the damage inflicted by an attack and the cost of attack are both small. Under the current framework, repeated interactions do not really ameliorate the crowdsourcing dilemma in a majority of the parameter space.

  19. Medical robotics.

    PubMed

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

    2011-01-01

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

  20. Rehabilitation robotics.

    PubMed

    Krebs, H I; Volpe, B T

    2013-01-01

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

  1. Rehabilitation robotics

    PubMed Central

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

    2015-01-01

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

  2. Generic robot architecture

    DOEpatents

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

    2010-09-21

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

  3. Cooperating mobile robots

    DOEpatents

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

    2004-02-03

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

  4. Robotic Vehicle

    NASA Technical Reports Server (NTRS)

    1994-01-01

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

  5. Robot Swarms

    NASA Technical Reports Server (NTRS)

    Morring, Frank, Jr.

    2005-01-01

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

  6. Robot Manipulators

    NASA Technical Reports Server (NTRS)

    1988-01-01

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

  7. Robot Hand

    NASA Technical Reports Server (NTRS)

    1986-01-01

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

  8. Robot Tools

    NASA Technical Reports Server (NTRS)

    1996-01-01

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

  9. Robot gripper

    NASA Technical Reports Server (NTRS)

    Webb, Winston S. (Inventor)

    1987-01-01

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

  10. Iterative marker excision system.

    PubMed

    Myronovskyi, Maksym; Rosenkränzer, Birgit; Luzhetskyy, Andriy

    2014-05-01

    The deletions of large genomic DNA fragments and consecutive gene knockouts are prerequisites for the generation of organisms with improved properties. One of the key issues in this context is the removal of antibiotic resistance markers from engineered organisms without leaving an active recombinase recognition site. Here, we report the establishment of an iterative marker excision system (IMES) that solves this problem. Based on the phiC31 integrase and its mutant att sites, IMES can be used for highly effective deletion of DNA fragments between inversely oriented B-CC and P-GG sites. The B-CC and P-GG sites are derived from attB and attP by substitution of the central core TT dinucleotide with CC and GG, respectively. An unnatural RR site that resides in the chromosome following deletion is the joining product of the right shoulders of B-CC and P-GG. We show that the RR sites do not recombine with each other as well as the RR site recombines with B-CC. The recombination efficiencies between RR and P-GG or RR and LL are only 0.1 % and 1 %, respectively. Thus, IMES can be used for multistep genomic engineering without risking unwanted DNA recombination. The fabrication of multi-purpose antibiotic cassettes and examples of the utilisation of IMES are described.

  11. Mode conversion in ITER

    NASA Astrophysics Data System (ADS)

    Jaeger, E. F.; Berry, L. A.; Myra, J. R.

    2006-10-01

    Fast magnetosonic waves in the ion cyclotron range of frequencies (ICRF) can convert to much shorter wavelength modes such as ion Bernstein waves (IBW) and ion cyclotron waves (ICW) [1]. These modes are potentially useful for plasma control through the generation of localized currents and sheared flows. As part of the SciDAC Center for Simulation of Wave-Plasma Interactions project, the AORSA global-wave solver [2] has been ported to the new, dual-core Cray XT-3 (Jaguar) at ORNL where it demonstrates excellent scaling with the number of processors. Preliminary calculations using 4096 processors have allowed the first full-wave simulations of mode conversion in ITER. Mode conversion from the fast wave to the ICW is observed in mixtures of deuterium, tritium and helium3 at 53 MHz. The resulting flow velocity and electric field shear will be calculated. [1] F.W. Perkins, Nucl. Fusion 17, 1197 (1977). [2] E.F. Jaeger, L.A. Berry, J.R. Myra, et al., Phys. Rev. Lett. 90, 195001-1 (2003).

  12. Robotics Challenge: Cognitive Robot for General Missions

    DTIC Science & Technology

    2015-01-01

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

  13. Robotics in Construction.

    DTIC Science & Technology

    1986-01-01

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

  14. Beyond Robotics

    ERIC Educational Resources Information Center

    Tally, Beth; Laverdure, Nate

    2006-01-01

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

  15. Robotic Surgery

    ERIC Educational Resources Information Center

    Childress, Vincent W.

    2007-01-01

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

  16. The first fusion reactor: ITER

    NASA Astrophysics Data System (ADS)

    Campbell, D. J.

    2016-11-01

    Established by the signature of the ITER Agreement in November 2006 and currently under construction at St Paul-lez-Durance in southern France, the ITER project [1,2] involves the European Union (including Switzerland), China, India, Japan, the Russian Federation, South Korea and the United States. ITER (`the way' in Latin) is a critical step in the development of fusion energy. Its role is to provide an integrated demonstration of the physics and technology required for a fusion power plant based on magnetic confinement.

  17. Tandem mobile robot system

    DOEpatents

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

    2003-01-01

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

  18. The ITER project construction status

    NASA Astrophysics Data System (ADS)

    Motojima, O.

    2015-10-01

    The pace of the ITER project in St Paul-lez-Durance, France is accelerating rapidly into its peak construction phase. With the completion of the B2 slab in August 2014, which will support about 400 000 metric tons of the tokamak complex structures and components, the construction is advancing on a daily basis. Magnet, vacuum vessel, cryostat, thermal shield, first wall and divertor structures are under construction or in prototype phase in the ITER member states of China, Europe, India, Japan, Korea, Russia, and the United States. Each of these member states has its own domestic agency (DA) to manage their procurements of components for ITER. Plant systems engineering is being transformed to fully integrate the tokamak and its auxiliary systems in preparation for the assembly and operations phase. CODAC, diagnostics, and the three main heating and current drive systems are also progressing, including the construction of the neutral beam test facility building in Padua, Italy. The conceptual design of the Chinese test blanket module system for ITER has been completed and those of the EU are well under way. Significant progress has been made addressing several outstanding physics issues including disruption load characterization, prediction, avoidance, and mitigation, first wall and divertor shaping, edge pedestal and SOL plasma stability, fuelling and plasma behaviour during confinement transients and W impurity transport. Further development of the ITER Research Plan has included a definition of the required plant configuration for 1st plasma and subsequent phases of ITER operation as well as the major plasma commissioning activities and the needs of the accompanying R&D program to ITER construction by the ITER parties.

  19. Robotic System

    NASA Technical Reports Server (NTRS)

    1984-01-01

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

  20. Climbing robot

    NASA Astrophysics Data System (ADS)

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

    1993-11-01

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

  1. Performance improvement of robots using a learning control scheme

    NASA Technical Reports Server (NTRS)

    Krishna, Ramuhalli; Chiang, Pen-Tai; Yang, Jackson C. S.

    1987-01-01

    Many applications of robots require that the same task be repeated a number of times. In such applications, the errors associated with one cycle are also repeated every cycle of the operation. An off-line learning control scheme is used here to modify the command function which would result in smaller errors in the next operation. The learning scheme is based on a knowledge of the errors and error rates associated with each cycle. Necessary conditions for the iterative scheme to converge to zero errors are derived analytically considering a second order servosystem model. Computer simulations show that the errors are reduced at a faster rate if the error rate is included in the iteration scheme. The results also indicate that the scheme may increase the magnitude of errors if the rate information is not included in the iteration scheme. Modification of the command input using a phase and gain adjustment is also proposed to reduce the errors with one attempt. The scheme is then applied to a computer model of a robot system similar to PUMA 560. Improved performance of the robot is shown by considering various cases of trajectory tracing. The scheme can be successfully used to improve the performance of actual robots within the limitations of the repeatability and noise characteristics of the robot.

  2. ITER Central Solenoid Module Fabrication

    SciTech Connect

    Smith, John

    2016-09-23

    The fabrication of the modules for the ITER Central Solenoid (CS) has started in a dedicated production facility located in Poway, California, USA. The necessary tools have been designed, built, installed, and tested in the facility to enable the start of production. The current schedule has first module fabrication completed in 2017, followed by testing and subsequent shipment to ITER. The Central Solenoid is a key component of the ITER tokamak providing the inductive voltage to initiate and sustain the plasma current and to position and shape the plasma. The design of the CS has been a collaborative effort between the US ITER Project Office (US ITER), the international ITER Organization (IO) and General Atomics (GA). GA’s responsibility includes: completing the fabrication design, developing and qualifying the fabrication processes and tools, and then completing the fabrication of the seven 110 tonne CS modules. The modules will be shipped separately to the ITER site, and then stacked and aligned in the Assembly Hall prior to insertion in the core of the ITER tokamak. A dedicated facility in Poway, California, USA has been established by GA to complete the fabrication of the seven modules. Infrastructure improvements included thick reinforced concrete floors, a diesel generator for backup power, along with, cranes for moving the tooling within the facility. The fabrication process for a single module requires approximately 22 months followed by five months of testing, which includes preliminary electrical testing followed by high current (48.5 kA) tests at 4.7K. The production of the seven modules is completed in a parallel fashion through ten process stations. The process stations have been designed and built with most stations having completed testing and qualification for carrying out the required fabrication processes. The final qualification step for each process station is achieved by the successful production of a prototype coil. Fabrication of the first

  3. ITER safety challenges and opportunities

    SciTech Connect

    Piet, S.J.

    1991-01-01

    Results of the Conceptual Design Activity (CDA) for the International Thermonuclear Experimental Reactor (ITER) suggest challenges and opportunities. ITER is capable of meeting anticipated regulatory dose limits,'' but proof is difficult because of large radioactive inventories needing stringent radioactivity confinement. We need much research and development (R D) and design analysis to establish that ITER meets regulatory requirements. We have a further opportunity to do more to prove more of fusion's potential safety and environmental advantages and maximize the amount of ITER technology on the path toward fusion power plants. To fulfill these tasks, we need to overcome three programmatic challenges and three technical challenges. The first programmatic challenge is to fund a comprehensive safety and environmental ITER R D plan. Second is to strengthen safety and environment work and personnel in the international team. Third is to establish an external consultant group to advise the ITER Joint Team on designing ITER to meet safety requirements for siting by any of the Parties. The first of the three key technical challenges is plasma engineering -- burn control, plasma shutdown, disruptions, tritium burn fraction, and steady state operation. The second is the divertor, including tritium inventory, activation hazards, chemical reactions, and coolant disturbances. The third technical challenge is optimization of design requirements considering safety risk, technical risk, and cost. Some design requirements are now too strict; some are too lax. Fuel cycle design requirements are presently too strict, mandating inappropriate T separation from H and D. Heat sink requirements are presently too lax; they should be strengthened to ensure that maximum loss of coolant accident temperatures drop.

  4. Fusion Power measurement at ITER

    SciTech Connect

    Bertalot, L.; Barnsley, R.; Krasilnikov, V.; Stott, P.; Suarez, A.; Vayakis, G.; Walsh, M.

    2015-07-01

    Nuclear fusion research aims to provide energy for the future in a sustainable way and the ITER project scope is to demonstrate the feasibility of nuclear fusion energy. ITER is a nuclear experimental reactor based on a large scale fusion plasma (tokamak type) device generating Deuterium - Tritium (DT) fusion reactions with emission of 14 MeV neutrons producing up to 700 MW fusion power. The measurement of fusion power, i.e. total neutron emissivity, will play an important role for achieving ITER goals, in particular the fusion gain factor Q related to the reactor performance. Particular attention is given also to the development of the neutron calibration strategy whose main scope is to achieve the required accuracy of 10% for the measurement of fusion power. Neutron Flux Monitors located in diagnostic ports and inside the vacuum vessel will measure ITER total neutron emissivity, expected to range from 1014 n/s in Deuterium - Deuterium (DD) plasmas up to almost 10{sup 21} n/s in DT plasmas. The neutron detection systems as well all other ITER diagnostics have to withstand high nuclear radiation and electromagnetic fields as well ultrahigh vacuum and thermal loads. (authors)

  5. Relaxation Criteria for Iterated Traffic Simulations

    NASA Astrophysics Data System (ADS)

    Kelly, Terence; Nagel, Kai

    Iterative transportation microsimulations adjust traveler route plans by iterating between a microsimulation and a route planner. At each iteration, the route planner adjusts individuals' route choices based on the preceding microsimulations. Empirically, this process yields good results, but it is usually unclear when to stop the iterative process when modeling real-world traffic. This paper investigates several criteria to judge relaxation of the iterative process, emphasizing criteria related to traveler decision-making.

  6. Construction Safety Forecast for ITER

    SciTech Connect

    cadwallader, lee charles

    2006-11-01

    The International Thermonuclear Experimental Reactor (ITER) project is poised to begin its construction activity. This paper gives an estimate of construction safety as if the experiment was being built in the United States. This estimate of construction injuries and potential fatalities serves as a useful forecast of what can be expected for construction of such a major facility in any country. These data should be considered by the ITER International Team as it plans for safety during the construction phase. Based on average U.S. construction rates, ITER may expect a lost workday case rate of < 4.0 and a fatality count of 0.5 to 0.9 persons per year.

  7. Error Field Correction in ITER

    SciTech Connect

    Park, Jong-kyu; Boozer, Allen H.; Menard, Jonathan E.; Schaffer, Michael J.

    2008-05-22

    A new method for correcting magnetic field errors in the ITER tokamak is developed using the Ideal Perturbed Equilibrium Code (IPEC). The dominant external magnetic field for driving islands is shown to be localized to the outboard midplane for three ITER equilibria that represent the projected range of operational scenarios. The coupling matrices between the poloidal harmonics of the external magnetic perturbations and the resonant fields on the rational surfaces that drive islands are combined for different equilibria and used to determine an ordered list of the dominant errors in the external magnetic field. It is found that efficient and robust error field correction is possible with a fixed setting of the correction currents relative to the currents in the main coils across the range of ITER operating scenarios that was considered.

  8. Robot environment expert system

    NASA Technical Reports Server (NTRS)

    Potter, J. L.

    1985-01-01

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

  9. Adaptive collaborative control of highly redundant robots

    NASA Astrophysics Data System (ADS)

    Handelman, David A.

    2008-04-01

    The agility and adaptability of biological systems are worthwhile goals for next-generation unmanned ground vehicles. Management of the requisite number of degrees of freedom, however, remains a challenge, as does the ability of an operator to transfer behavioral intent from human to robot. This paper reviews American Android research funded by NASA, DARPA, and the U.S. Army that attempts to address these issues. Limb coordination technology, an iterative form of inverse kinematics, provides a fundamental ability to control balance and posture independently in highly redundant systems. Goal positions and orientations of distal points of the robot skeleton, such as the hands and feet of a humanoid robot, become variable constraints, as does center-of-gravity position. Behaviors utilize these goals to synthesize full-body motion. Biped walking, crawling and grasping are illustrated, and behavior parameterization, layering and portability are discussed. Robotic skill acquisition enables a show-and-tell approach to behavior modification. Declarative rules built verbally by an operator in the field define nominal task plans, and neural networks trained with verbal, manual and visual signals provide additional behavior shaping. Anticipated benefits of the resultant adaptive collaborative controller for unmanned ground vehicles include increased robot autonomy, reduced operator workload and reduced operator training and skill requirements.

  10. Iterative Restoration Of Tomosynthetic Slices

    NASA Astrophysics Data System (ADS)

    Ruttimann, U. E.; Groenhuis, R. A.; Webber, R. L.

    1984-08-01

    Tomosynthetic reconstructions suffer from the disadvantage that blurred images of object detail lying outside the plane of interest are superimposed over the desired image of structures in the tomosynthetic plane. It is proposed to selectively reduce these undesired superimpositions by a constrained iterative restoration method. Sufficient conditions are derived ensuring the convergence of the iterations to the exact solution in the absence of noise and constraints. Although in practice the restoration process must be left incomplete because of noise and quantization artifacts, the experimental results demonstrate that for reasons of stability these convergence conditions must be satisfied.

  11. The real mission of ITER

    SciTech Connect

    Wurden, G A

    2009-01-01

    For future machines, the plasma stored energy is going up by factors of 20-40x, and plasma currents by 2-3x, while the surface to volume ratio is at the same time decreasing. Therefore the disruption forces, even for constant B, (which scale like IxB), and associated possible localized heating on machine components, are more severe. Notably, Tore Supra has demonstrated removal of more than 1 GJ of input energy, over nearly a 400 second period. However, the instantaneous stored energy in the Tore Supra system (which is most directly related to the potential for disruption damage) is quite small compared to other large tokamaks. The goal of ITER is routinely described as studying DT burning plasmas with a Q {approx} 10. In reality, ITER has a much more important first order mission. In fact, if it fails at this mission, the consequences are that ITER will never get to the eventual stated purpose of studying a burning plasma. The real mission of ITER is to study (and demonstrate successfully) plasma control with {approx}10-17 MA toroidal currents and {approx}100-400 MJ plasma stored energy levels in long-pulse scenarios. Before DT operation is ever given a go-ahead in ITER, the reality is that ITER must demonstrate routine and reliable control of high energy hydrogen (and deuterium) plasmas. The difficulty is that ITER must simultaneously deal with several technical problems: (1) heat removal at the plasma/wall interface, (2) protection of the wall components from off-normal events, and (3) generation of dust/redeposition of first wall materials. All previous tokamaks have encountered hundred's of major disruptions in the course of their operation. The consequences of a few MA of runaway electrons (at 20-50 MeV) being generated in ITER, and then being lost to the walls are simply catastrophic. They will not be deposited globally, but will drift out (up, down, whatever, depending on control system), and impact internal structures, unless 'ameliorated'. Basically, this

  12. Robots and manipulators

    NASA Technical Reports Server (NTRS)

    Heer, E.

    1981-01-01

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

  13. Robotic Telesurgery Research

    DTIC Science & Technology

    2010-03-01

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

  14. Collaborative Robotics Design Considerations

    DTIC Science & Technology

    2004-05-06

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

  15. Robotic Vision for Welding

    NASA Technical Reports Server (NTRS)

    Richardson, R. W.

    1986-01-01

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

  16. Robotic vehicle

    DOEpatents

    Box, W.D.

    1994-03-15

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

  17. Robotic vehicle

    DOEpatents

    Box, W.D.

    1996-03-12

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

  18. Robotic vehicle

    DOEpatents

    Box, W. Donald

    1996-01-01

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

  19. Robotic vehicle

    DOEpatents

    Box, W. Donald

    1994-01-01

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

  20. Hexapod Robot

    NASA Technical Reports Server (NTRS)

    Begody, Ericka

    2016-01-01

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

  1. Iterative method for interferogram processing

    NASA Astrophysics Data System (ADS)

    Kotlyar, Victor V.; Seraphimovich, P. G.; Zalyalov, Oleg K.

    1994-12-01

    We have developed and numerically evaluated an iterative algorithm for interferogram processing including the Fourier-transform method, the Gerchberg-Papoulis algorithm and Wiener's filter-based regularization used in combination. Using a signal-to-noise ratio not less than 1, it has been possible to reconstruct the phase of an object field with accuracy better than 5%.

  2. Energetic ions in ITER plasmas

    SciTech Connect

    Pinches, S. D.; Chapman, I. T.; Sharapov, S. E.; Lauber, Ph. W.; Oliver, H. J. C.; Shinohara, K.; Tani, K.

    2015-02-15

    This paper discusses the behaviour and consequences of the expected populations of energetic ions in ITER plasmas. It begins with a careful analytic and numerical consideration of the stability of Alfvén Eigenmodes in the ITER 15 MA baseline scenario. The stability threshold is determined by balancing the energetic ion drive against the dominant damping mechanisms and it is found that only in the outer half of the plasma (r/a>0.5) can the fast ions overcome the thermal ion Landau damping. This is in spite of the reduced numbers of alpha-particles and beam ions in this region but means that any Alfvén Eigenmode-induced redistribution is not expected to influence the fusion burn process. The influence of energetic ions upon the main global MHD phenomena expected in ITER's primary operating scenarios, including sawteeth, neoclassical tearing modes and Resistive Wall Modes, is also reviewed. Fast ion losses due to the non-axisymmetric fields arising from the finite number of toroidal field coils, the inclusion of ferromagnetic inserts, the presence of test blanket modules containing ferromagnetic material, and the fields created by the Edge Localised Mode (ELM) control coils in ITER are discussed. The greatest losses and associated heat loads onto the plasma facing components arise due to the use of the ELM control coils and come from neutral beam ions that are ionised in the plasma edge.

  3. Networking Theories by Iterative Unpacking

    ERIC Educational Resources Information Center

    Koichu, Boris

    2014-01-01

    An iterative unpacking strategy consists of sequencing empirically-based theoretical developments so that at each step of theorizing one theory serves as an overarching conceptual framework, in which another theory, either existing or emerging, is embedded in order to elaborate on the chosen element(s) of the overarching theory. The strategy is…

  4. Robotic intelligence kernel

    DOEpatents

    Bruemmer, David J.

    2009-11-17

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

  5. Intelligent robots and computer vision

    SciTech Connect

    Casasent, D.P.

    1985-01-01

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

  6. Humanoid Robot

    NASA Technical Reports Server (NTRS)

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

    2013-01-01

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

  7. Robotics for Human Exploration

    NASA Technical Reports Server (NTRS)

    Fong, Terrence; Deans, Mathew; Bualat, Maria

    2013-01-01

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

  8. Competencies Identification for Robotics Training.

    ERIC Educational Resources Information Center

    Tang, Le D.

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

  9. Robot strings: Long, thin continuum robots

    NASA Astrophysics Data System (ADS)

    Walker, I. D.

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

  10. Bioinspired iterative synthesis of polyketides

    PubMed Central

    Zheng, Kuan; Xie, Changmin; Hong, Ran

    2015-01-01

    Diverse array of biopolymers and second metabolites (particularly polyketide natural products) has been manufactured in nature through an enzymatic iterative assembly of simple building blocks. Inspired by this strategy, molecules with inherent modularity can be efficiently synthesized by repeated succession of similar reaction sequences. This privileged strategy has been widely adopted in synthetic supramolecular chemistry. Its value also has been reorganized in natural product synthesis. A brief overview of this approach is given with a particular emphasis on the total synthesis of polyol-embedded polyketides, a class of vastly diverse structures and biologically significant natural products. This viewpoint also illustrates the limits of known individual modules in terms of diastereoselectivity and enantioselectivity. More efficient and practical iterative strategies are anticipated to emerge in the future development. PMID:26052510

  11. I-mode for ITER?

    NASA Astrophysics Data System (ADS)

    Whyte, D. G.; Marmar, E.; Hubbard, A.; Hughes, J.; Dominguez, A.; Greenwald, M.

    2011-10-01

    I-mode is a recently explored confinement regime that features a temperature pedestal and H-mode energy confinement, yet with L-mode particle confinement and no density pedestal nor large ELMs. Experiments on Alcator C-Mod and ASDEX-Upgrade show this leads to a stationary collisionless pedestal that inherently does not require ELMs for core impurity and particle control, possibly making I-mode an attractive operating regime for ITER where ELM heat pulses are expected to surpass material limits. We speculate as to how I-mode could be obtained, maintained and exploited for the ITER burning plasma physics mission. Issues examined include I-mode topology and power threshold requirements, pedestal formation, density control, avoiding H-mode, and the response of I-mode to alpha self-heating. Key uncertainties requiring further investigation are identified. Supported by the US DOE Cooperative Agreement DE-FC02-99ER54512.

  12. Spectroscopic problems in ITER diagnostics

    NASA Astrophysics Data System (ADS)

    Lisitsa, V. S.; Bureyeva, L. A.; Kukushkin, A. B.; Kadomtsev, M. B.; Krupin, V. A.; Levashova, M. G.; Medvedev, A. A.; Mukhin, E. E.; Shurygin, V. A.; Tugarinov, S. N.; Vukolov, K. Yu

    2012-12-01

    Problems of spectroscopic diagnostics of ITER plasma are under consideration. Three types of diagnostics are presented: 1) Balmer lines spectroscopy in the edge and divertor plasmas; 2) Thomson scattering, 3) charge exchange recombination spectroscopy. The Zeeman-Stark structure of line shapes is discussed. The overlapping of isotopes H-D-T spectral line shapes are presented for the SOL and divertor conditions. The polarization measurements of H-alpha spectral lines for H-D mixture on T-10 tokamak are shown in order to separate Zeeman splitting in more details. The problem of plasma background radiation emission for Thomson scattering in ITER is discussed in details. The line shape of P-7 hydrogen spectral line having a wave length close to laser one is presented together with continuum radiation. The charge exchange recombination spectroscopy (CXRS) is discussed in details. The data on Dα, HeII and CVI measurements in CXRS experiments on T-10 tokamak are presented.

  13. Design of ITER Relief Lines

    NASA Astrophysics Data System (ADS)

    Shah, N.; Choukekar, K.; Jadon, M.; Sarkar, B.; Joshi, B.; Kanzaria, H.; Gehani, V.; Vyas, H.; Pandya, U.; Panjwani, R.; Badgujar, S.; Monneret, E.

    2017-02-01

    The ITER Cryogenic system is one of the most complex cryogenic systems in the world. It includes roughly 5 km of cryogenic transfer line (cryolines) having large number of layout singularities in terms of bends at odd angles and branches. The relief lines are particularly important cryolines as they collect the helium from outlet of all process safety valves of the cryogenic clients and transfers it back to cryoplant. The total length of ITER relief lines is around 1.6 km with process pipe size varying from DN 50 to DN 200. While some part of relief lines carries warm helium for the recovery system, most part of the relief line is vacuum jacketed cryoline which carries cold helium from the clients. The final detailed design of relief lines has been completed. The paper describes the major input data and constraints for design of relief lines, design steps, flexibility and structural analysis approach and major design outcome.

  14. ITER Plasma Control System Development

    NASA Astrophysics Data System (ADS)

    Snipes, Joseph; ITER PCS Design Team

    2015-11-01

    The development of the ITER Plasma Control System (PCS) continues with the preliminary design phase for 1st plasma and early plasma operation in H/He up to Ip = 15 MA in L-mode. The design is being developed through a contract between the ITER Organization and a consortium of plasma control experts from EU and US fusion laboratories, which is expected to be completed in time for a design review at the end of 2016. This design phase concentrates on breakdown including early ECH power and magnetic control of the poloidal field null, plasma current, shape, and position. Basic kinetic control of the heating (ECH, ICH, NBI) and fueling systems is also included. Disruption prediction, mitigation, and maintaining stable operation are also included because of the high magnetic and kinetic stored energy present already for early plasma operation. Support functions for error field topology and equilibrium reconstruction are also required. All of the control functions also must be integrated into an architecture that will be capable of the required complexity of all ITER scenarios. A database is also being developed to collect and manage PCS functional requirements from operational scenarios that were defined in the Conceptual Design with links to proposed event handling strategies and control algorithms for initial basic control functions. A brief status of the PCS development will be presented together with a proposed schedule for design phases up to DT operation.

  15. Repetitive control of electrically driven robot manipulators

    NASA Astrophysics Data System (ADS)

    Fateh, Mohammad Mehdi; Ahsani Tehrani, Hojjat; Karbassi, Seyed Mehdi

    2013-04-01

    This article presents a novel robust discrete repetitive control of electrically driven robot manipulators for tracking of a periodic trajectory. We propose a novel model, which presents the highly non-linear dynamics of robot manipulator in the form of linear discrete-time time-varying system. Based on the proposed model, we develop a two-term control law. The first term is an ordinary time-optimal and minimum-norm (TOMN) control by employing parametric controllers to guarantee stability. The second term is a novel robust control to improve the control performance in the face of uncertainties. The robust control estimates and compensates uncertainties including the parametric uncertainty, unmodelled dynamics and external disturbances. Performance of the proposed method is compared with two discrete methods, namely the TOMN control and an adaptive iterative learning (AIL) control. Simulation results confirm superiority of the proposed method in terms of the convergence speed and precision.

  16. Robotic Lander Prototype

    NASA Video Gallery

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

  17. Robotic Lander Development Project

    NASA Video Gallery

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

  18. Robotic Intelligence Kernel: Communications

    SciTech Connect

    Walton, Mike C.

    2009-09-16

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

  19. Robots and the Economy.

    ERIC Educational Resources Information Center

    Albus, James S.

    1984-01-01

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

  20. Optimized input shaping for a single flexible robot link

    SciTech Connect

    Wilson, D.G.; Stokes, D.; Starr, G.; Robinett, R.D.

    1996-03-01

    This paper will discuss the design of an input shaped open-loop control for a single flexible robot link. The authors develop the equations of motion, including the first flexible mode shape and the actuator dynamics. Additional content includes the hardware system identification iterative runs used to update the model. Optimized input shaped commands for the flexible robot link to produce a rest-to-rest, residual vibration-free, 90 degree maneuver are developed. Correlation between both experimental and analytical results of the 90{degree} slew, using two different identification models, are reviewed.

  1. Robotic Surveying

    SciTech Connect

    Suzy Cantor-McKinney; Michael Kruzic

    2007-03-01

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

  2. RHOBOT: Radiation hardened robotics

    SciTech Connect

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

    1997-10-01

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

  3. Tool Changer For Robot

    NASA Technical Reports Server (NTRS)

    Voellmer, George M.

    1992-01-01

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

  4. Robotics Research for Cybersecurity

    DTIC Science & Technology

    2012-01-24

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

  5. Towards Pervasive Robotics

    DTIC Science & Technology

    2003-01-01

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

  6. Ground Vehicle Robotics

    DTIC Science & Technology

    2013-08-20

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

  7. Telepresence and Intervention Robotics

    DTIC Science & Technology

    2000-11-01

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

  8. Robotics of human movements.

    PubMed

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

    2009-01-01

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

  9. Building a Better Robot

    ERIC Educational Resources Information Center

    Navah, Jan

    2012-01-01

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

  10. Robotics development programs overview

    SciTech Connect

    Heckendorn, F.M.

    1990-11-01

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

  11. Networking a mobile robot

    NASA Astrophysics Data System (ADS)

    McKee, Gerard T.

    1994-10-01

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

  12. Robotic Telesurgery Research

    DTIC Science & Technology

    2010-10-01

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

  13. Mobile robot knowledge base

    NASA Astrophysics Data System (ADS)

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

    2005-05-01

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

  14. Total portal robotic pneumonectomy.

    PubMed

    Rodriguez, Jose R

    2013-09-01

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

  15. Inertially Aided Robotics

    DTIC Science & Technology

    1989-12-31

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

  16. Robotic Intelligence Kernel: Visualization

    SciTech Connect

    2009-09-16

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

  17. Robotic Follow Algorithm

    SciTech Connect

    2005-03-30

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

  18. Modular robot

    DOEpatents

    Ferrante, T.A.

    1997-11-11

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

  19. Modular robot

    DOEpatents

    Ferrante, Todd A.

    1997-01-01

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

  20. Intelligent robots and computer vision

    SciTech Connect

    Casasent, D.P.

    1986-01-01

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

  1. Cryogenic instrumentation for ITER magnets

    NASA Astrophysics Data System (ADS)

    Poncet, J.-M.; Manzagol, J.; Attard, A.; André, J.; Bizel-Bizellot, L.; Bonnay, P.; Ercolani, E.; Luchier, N.; Girard, A.; Clayton, N.; Devred, A.; Huygen, S.; Journeaux, J.-Y.

    2017-02-01

    Accurate measurements of the helium flowrate and of the temperature of the ITER magnets is of fundamental importance to make sure that the magnets operate under well controlled and reliable conditions, and to allow suitable helium flow distribution in the magnets through the helium piping. Therefore, the temperature and flow rate measurements shall be reliable and accurate. In this paper, we present the thermometric chains as well as the venturi flow meters installed in the ITER magnets and their helium piping. The presented thermometric block design is based on the design developed by CERN for the LHC, which has been further optimized via thermal simulations carried out by CEA. The electronic part of the thermometric chain was entirely developed by the CEA and will be presented in detail: it is based on a lock-in measurement and small signal amplification, and also provides a web interface and software to an industrial PLC. This measuring device provides a reliable, accurate, electromagnetically immune, and fast (up to 100 Hz bandwidth) system for resistive temperature sensors between a few ohms to 100 kΩ. The flowmeters (venturi type) which make up part of the helium mass flow measurement chain have been completely designed, and manufacturing is on-going. The behaviour of the helium gas has been studied in detailed thanks to ANSYS CFX software in order to obtain the same differential pressure for all types of flowmeters. Measurement uncertainties have been estimated and the influence of input parameters has been studied. Mechanical calculations have been performed to guarantee the mechanical strength of the venturis required for pressure equipment operating in nuclear environment. In order to complete the helium mass flow measurement chain, different technologies of absolute and differential pressure sensors have been tested in an applied magnetic field to identify equipment compatible with the ITER environment.

  2. [Robotics in pediatric surgery].

    PubMed

    Camps, J I

    2011-10-01

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

  3. Miniaturized autonomous robot

    NASA Astrophysics Data System (ADS)

    Ishihara, Hidenori; Fukuda, Toshio

    1998-01-01

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

  4. Robotic technology in urology

    PubMed Central

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

    2006-01-01

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

  5. Robotics Technical Note 102.

    DTIC Science & Technology

    1981-06-01

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

  6. Iterates of maps with symmetry

    NASA Technical Reports Server (NTRS)

    Chossat, Pascal; Golubitsky, Martin

    1988-01-01

    Fixed-point bifurcation, period doubling, and Hopf bifurcation (HB) for iterates of equivariant mappings are investigated analytically, with a focus on HB in the presence of symmetry. An algebraic formulation for the hypotheses of the theorem of Ruelle (1973) is derived, and the case of standing waves in a system of ordinary differential equations with O(2) symmetry is considered in detail. In this case, it is shown that HB can lead directly to motion on an invariant 3-torus, with an unexpected third frequency due to drift of standing waves along the torus.

  7. Space robotics in Japan

    NASA Astrophysics Data System (ADS)

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

    1994-03-01

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

  8. Space robotics in Japan

    NASA Technical Reports Server (NTRS)

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

    1994-01-01

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

  9. Numerical Nonlinear Robust Control with Applications to Humanoid Robots

    DTIC Science & Technology

    2015-07-01

    Humanoid robots are designed to imitate the manipulative, locomotive, perceptive, communicative, and cognitive abilities of humans [3]. On one hand... neurodynamic programming, and other variations. We refer readers to Powell [37] for a comprehensive review of these methods. In short, the idea of value... neurodynamic programming algorithm in conjunction with a two-player policy iteration was applied to a nonlinear affine systems with input saturations. The result

  10. Iterated Stretching of Viscoelastic Jets

    NASA Technical Reports Server (NTRS)

    Chang, Hsueh-Chia; Demekhin, Evgeny A.; Kalaidin, Evgeny

    1999-01-01

    We examine, with asymptotic analysis and numerical simulation, the iterated stretching dynamics of FENE and Oldroyd-B jets of initial radius r(sub 0), shear viscosity nu, Weissenberg number We, retardation number S, and capillary number Ca. The usual Rayleigh instability stretches the local uniaxial extensional flow region near a minimum in jet radius into a primary filament of radius [Ca(1 - S)/ We](sup 1/2)r(sub 0) between two beads. The strain-rate within the filament remains constant while its radius (elastic stress) decreases (increases) exponentially in time with a long elastic relaxation time 3We(r(sup 2, sub 0)/nu). Instabilities convected from the bead relieve the tension at the necks during this slow elastic drainage and trigger a filament recoil. Secondary filaments then form at the necks from the resulting stretching. This iterated stretching is predicted to occur successively to generate high-generation filaments of radius r(sub n), (r(sub n)/r(sub 0)) = square root of 2[r(sub n-1)/r(sub 0)](sup 3/2) until finite-extensibility effects set in.

  11. ETR/ITER systems code

    SciTech Connect

    Barr, W.L.; Bathke, C.G.; Brooks, J.N.; Bulmer, R.H.; Busigin, A.; DuBois, P.F.; Fenstermacher, M.E.; Fink, J.; Finn, P.A.; Galambos, J.D.; Gohar, Y.; Gorker, G.E.; Haines, J.R.; Hassanein, A.M.; Hicks, D.R.; Ho, S.K.; Kalsi, S.S.; Kalyanam, K.M.; Kerns, J.A.; Lee, J.D.; Miller, J.R.; Miller, R.L.; Myall, J.O.; Peng, Y-K.M.; Perkins, L.J.; Spampinato, P.T.; Strickler, D.J.; Thomson, S.L.; Wagner, C.E.; Willms, R.S.; Reid, R.L.

    1988-04-01

    A tokamak systems code capable of modeling experimental test reactors has been developed and is described in this document. The code, named TETRA (for Tokamak Engineering Test Reactor Analysis), consists of a series of modules, each describing a tokamak system or component, controlled by an optimizer/driver. This code development was a national effort in that the modules were contributed by members of the fusion community and integrated into a code by the Fusion Engineering Design Center. The code has been checked out on the Cray computers at the National Magnetic Fusion Energy Computing Center and has satisfactorily simulated the Tokamak Ignition/Burn Experimental Reactor II (TIBER) design. A feature of this code is the ability to perform optimization studies through the use of a numerical software package, which iterates prescribed variables to satisfy a set of prescribed equations or constraints. This code will be used to perform sensitivity studies for the proposed International Thermonuclear Experimental Reactor (ITER). 22 figs., 29 tabs.

  12. Status of US ITER Diagnostics

    NASA Astrophysics Data System (ADS)

    Stratton, B.; Delgado-Aparicio, L.; Hill, K.; Johnson, D.; Pablant, N.; Barnsley, R.; Bertschinger, G.; de Bock, M. F. M.; Reichle, R.; Udintsev, V. S.; Watts, C.; Austin, M.; Phillips, P.; Beiersdorfer, P.; Biewer, T. M.; Hanson, G.; Klepper, C. C.; Carlstrom, T.; van Zeeland, M. A.; Brower, D.; Doyle, E.; Peebles, A.; Ellis, R.; Levinton, F.; Yuh, H.

    2013-10-01

    The US is providing 7 diagnostics to ITER: the Upper Visible/IR cameras, the Low Field Side Reflectometer, the Motional Stark Effect diagnostic, the Electron Cyclotron Emission diagnostic, the Toroidal Interferometer/Polarimeter, the Core Imaging X-Ray Spectrometer, and the Diagnostic Residual Gas Analyzer. The front-end components of these systems must operate with high reliability in conditions of long pulse operation, high neutron and gamma fluxes, very high neutron fluence, significant neutron heating (up to 7 MW/m3) , large radiant and charge exchange heat flux (0.35 MW/m2) , and high electromagnetic loads. Opportunities for repair and maintenance of these components will be limited. These conditions lead to significant challenges for the design of the diagnostics. Space constraints, provision of adequate radiation shielding, and development of repair and maintenance strategies are challenges for diagnostic integration into the port plugs that also affect diagnostic design. The current status of design of the US ITER diagnostics is presented and R&D needs are identified. Supported by DOE contracts DE-AC02-09CH11466 (PPPL) and DE-AC05-00OR22725 (UT-Battelle, LLC).

  13. Challenges for Cryogenics at Iter

    NASA Astrophysics Data System (ADS)

    Serio, L.

    2010-04-01

    Nuclear fusion of light nuclei is a promising option to provide clean, safe and cost competitive energy in the future. The ITER experimental reactor being designed by seven partners representing more than half of the world population will be assembled at Cadarache, South of France in the next decade. It is a thermonuclear fusion Tokamak that requires high magnetic fields to confine and stabilize the plasma. Cryogenic technology is extensively employed to achieve low-temperature conditions for the magnet and vacuum pumping systems. Efficient and reliable continuous operation shall be achieved despite unprecedented dynamic heat loads due to magnetic field variations and neutron production from the fusion reaction. Constraints and requirements of the largest superconducting Tokamak machine have been analyzed. Safety and technical risks have been initially assessed and proposals to mitigate the consequences analyzed. Industrial standards and components are being investigated to anticipate the requirements of reliable and efficient large scale energy production. After describing the basic features of ITER and its cryogenic system, we shall present the key design requirements, improvements, optimizations and challenges.

  14. ITER Port Interspace Pressure Calculations

    SciTech Connect

    Carbajo, Juan J; Van Hove, Walter A

    2016-01-01

    The ITER Vacuum Vessel (VV) is equipped with 54 access ports. Each of these ports has an opening in the bioshield that communicates with a dedicated port cell. During Tokamak operation, the bioshield opening must be closed with a concrete plug to shield the radiation coming from the plasma. This port plug separates the port cell into a Port Interspace (between VV closure lid and Port Plug) on the inner side and the Port Cell on the outer side. This paper presents calculations of pressures and temperatures in the ITER (Ref. 1) Port Interspace after a double-ended guillotine break (DEGB) of a pipe of the Tokamak Cooling Water System (TCWS) with high temperature water. It is assumed that this DEGB occurs during the worst possible conditions, which are during water baking operation, with water at a temperature of 523 K (250 C) and at a pressure of 4.4 MPa. These conditions are more severe than during normal Tokamak operation, with the water at 398 K (125 C) and 2 MPa. Two computer codes are employed in these calculations: RELAP5-3D Version 4.2.1 (Ref. 2) to calculate the blowdown releases from the pipe break, and MELCOR, Version 1.8.6 (Ref. 3) to calculate the pressures and temperatures in the Port Interspace. A sensitivity study has been performed to optimize some flow areas.

  15. Communication-optimal iterative methods

    NASA Astrophysics Data System (ADS)

    Demmel, J.; Hoemmen, M.; Mohiyuddin, M.; Yelick, K.

    2009-07-01

    Data movement, both within the memory system of a single processor node and between multiple nodes in a system, limits the performance of many Krylov subspace methods that solve sparse linear systems and eigenvalue problems. Here, s iterations of algorithms such as CG, GMRES, Lanczos, and Arnoldi perform s sparse matrix-vector multiplications and Ω(s) vector reductions, resulting in a growth of Ω(s) in both single-node and network communication. By reorganizing the sparse matrix kernel to compute a set of matrix-vector products at once and reorganizing the rest of the algorithm accordingly, we can perform s iterations by sending O(log P) messages instead of Ω(s·log P) messages on a parallel machine, and reading the on-node components of the matrix A from DRAM to cache just once on a single node instead of s times. This reduces communication to the minimum possible. We discuss both algorithms and an implementation of GMRES on a single node of an 8-core Intel Clovertown. Our implementations achieve significant speedups over the conventional algorithms.

  16. Marsupial robots for law enforcement

    NASA Astrophysics Data System (ADS)

    Murphy, Robin R.

    2001-02-01

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

  17. A 2D systems approach to iterative learning control for discrete linear processes with zero Markov parameters

    NASA Astrophysics Data System (ADS)

    Hladowski, Lukasz; Galkowski, Krzysztof; Cai, Zhonglun; Rogers, Eric; Freeman, Chris T.; Lewin, Paul L.

    2011-07-01

    In this article a new approach to iterative learning control for the practically relevant case of deterministic discrete linear plants with uniform rank greater than unity is developed. The analysis is undertaken in a 2D systems setting that, by using a strong form of stability for linear repetitive processes, allows simultaneous consideration of both trial-to-trial error convergence and along the trial performance, resulting in design algorithms that can be computed using linear matrix inequalities (LMIs). Finally, the control laws are experimentally verified on a gantry robot that replicates a pick and place operation commonly found in a number of applications to which iterative learning control is applicable.

  18. Preconditioned iterations to calculate extreme eigenvalues

    SciTech Connect

    Brand, C.W.; Petrova, S.

    1994-12-31

    Common iterative algorithms to calculate a few extreme eigenvalues of a large, sparse matrix are Lanczos methods or power iterations. They converge at a rate proportional to the separation of the extreme eigenvalues from the rest of the spectrum. Appropriate preconditioning improves the separation of the eigenvalues. Davidson`s method and its generalizations exploit this fact. The authors examine a preconditioned iteration that resembles a truncated version of Davidson`s method with a different preconditioning strategy.

  19. 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.

  20. Evolution of robotic arms.

    PubMed

    Moran, Michael E

    2007-01-01

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

  1. A Bio-Inspired Approach to Task Assignment of Swarm Robots in 3-D Dynamic Environments.

    PubMed

    Yi, Xin; Zhu, Anmin; Yang, Simon X; Luo, Chaomin

    2016-03-15

    Intending to mimic the operating mechanism of biological neural systems, a self organizing map-based approach to task assignment of a swarm of robots in 3-D dynamic environments is proposed in this paper. This approach integrates the advantages and characteristics of biological neural systems. It is capable of dynamically planning the paths of a swarm of robots in 3-D environments under uncertain situations, such as when some robots are presented in or broken down or when more than one robot is needed for some special task locations. A Bezier path optimizing algorithm and a parameter adjusting algorithm are integrated in this paper. It is capable of reducing the complexity of the robot navigation control and limiting the number of convergence iterations. The simulation results with different environments demonstrate the effectiveness of the proposed approach.

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

    DTIC Science & Technology

    2004-01-01

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

  3. Upper limb stroke rehabilitation: the effectiveness of Stimulation Assistance through Iterative Learning (SAIL).

    PubMed

    Meadmore, Katie L; Cai, Zhonglun; Tong, Daisy; Hughes, Ann-Marie; Freeman, Chris T; Rogers, Eric; Burridge, Jane H

    2011-01-01

    A novel system has been developed which combines robotic therapy with electrical stimulation (ES) for upper limb stroke rehabilitation. This technology, termed SAIL: Stimulation Assistance through Iterative Learning, employs advanced model-based iterative learning control (ILC) algorithms to precisely assist participant's completion of 3D tracking tasks with their impaired arm. Data is reported from a preliminary study with unimpaired participants, and also from a single hemiparetic stroke participant with reduced upper limb function who has used the system in a clinical trial. All participants completed tasks which involved moving their (impaired) arm to follow an image of a slowing moving sphere along a trajectory. The participants' arm was supported by a robot and ES was applied to the triceps brachii and anterior deltoid muscles. During each task, the same tracking trajectory was repeated 6 times and ILC was used to compute the stimulation signals to be applied on the next iteration. Unimpaired participants took part in a single, one hour training session and the stroke participant undertook 18, 1 hour treatment sessions composed of tracking tasks varying in length, orientation and speed. The results reported describe changes in tracking ability and demonstrate feasibility of the SAIL system for upper limb rehabilitation.

  4. Iterative phase retrieval without support.

    PubMed

    Wu, J S; Weierstall, U; Spence, J C H; Koch, C T

    2004-12-01

    An iterative phase retrieval method for nonperiodic objects has been developed from the charge-flipping algorithm proposed in crystallography. A combination of the hybrid input-output (HIO) algorithm and the flipping algorithm has greatly improved performance. In this combined algorithm the flipping algorithm serves to find the support (object boundary) dynamically, and the HIO part improves convergence and moves the algorithm out of local minima. It starts with a single intensity measurement in the Fourier domain and does not require a priori knowledge of the support in the image domain. This method is suitable for general image recovery from oversampled diffuse elastic x-ray and electron-diffraction intensities. The relationship between this algorithm and the output-output algorithm is elucidated.

  5. Iterative phase retrieval without support

    NASA Astrophysics Data System (ADS)

    Wu, J. S.; Weierstall, U.; Spence, J. C. H.; Koch, C. T.

    2004-12-01

    An iterative phase retrieval method for nonperiodic objects has been developed from the charge-flipping algorithm proposed in crystallography. A combination of the hybrid input-output (HIO) algorithm and the flipping algorithm has greatly improved performance. In this combined algorithm the flipping algorithm serves to find the support (object boundary) dynamically, and the HIO part improves convergence and moves the algorithm out of local minima. It starts with a single intensity measurement in the Fourier domain and does not require a priori knowledge of the support in the image domain. This method is suitable for general image recovery from oversampled diffuse elastic x-ray and electron-diffraction intensities. The relationship between this algorithm and the output-output algorithm is elucidated.

  6. Planning as an Iterative Process

    NASA Technical Reports Server (NTRS)

    Smith, David E.

    2012-01-01

    Activity planning for missions such as the Mars Exploration Rover mission presents many technical challenges, including oversubscription, consideration of time, concurrency, resources, preferences, and uncertainty. These challenges have all been addressed by the research community to varying degrees, but significant technical hurdles still remain. In addition, the integration of these capabilities into a single planning engine remains largely unaddressed. However, I argue that there is a deeper set of issues that needs to be considered namely the integration of planning into an iterative process that begins before the goals, objectives, and preferences are fully defined. This introduces a number of technical challenges for planning, including the ability to more naturally specify and utilize constraints on the planning process, the ability to generate multiple qualitatively different plans, and the ability to provide deep explanation of plans.

  7. Benchmarking ICRF simulations for ITER

    SciTech Connect

    R. V. Budny, L. Berry, R. Bilato, P. Bonoli, M. Brambilla, R.J. Dumont, A. Fukuyama, R. Harvey, E.F. Jaeger, E. Lerche, C.K. Phillips, V. Vdovin, J. Wright, and members of the ITPA-IOS

    2010-09-28

    Abstract Benchmarking of full-wave solvers for ICRF simulations is performed using plasma profiles and equilibria obtained from integrated self-consistent modeling predictions of four ITER plasmas. One is for a high performance baseline (5.3 T, 15 MA) DT H-mode plasma. The others are for half-field, half-current plasmas of interest for the pre-activation phase with bulk plasma ion species being either hydrogen or He4. The predicted profiles are used by seven groups to predict the ICRF electromagnetic fields and heating profiles. Approximate agreement is achieved for the predicted heating power partitions for the DT and He4 cases. Profiles of the heating powers and electromagnetic fields are compared.

  8. Humanlike Robots - The Upcoming Revolution in Robotics

    NASA Technical Reports Server (NTRS)

    Bar-Cohen, Yoseph

    2009-01-01

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

  9. Humanlike robots: the upcoming revolution in robotics

    NASA Astrophysics Data System (ADS)

    Bar-Cohen, Yoseph

    2009-08-01

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

  10. INL Multi-Robot Control Interface

    SciTech Connect

    2005-03-30

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

  11. Redundant Sensors for Mobile Robot Navigation

    DTIC Science & Technology

    1985-09-01

    Robot Path Planning Sensors Nvgation Mal) Making 20 ABSTRACT (C.~tfn* On ~ e e14- Of Ro...ew drt Id-ifI ry Mock .abor) Re.dundant se-nsorc- aro ne-dod...on ariob-,il robot so that the accurac wi th;w~ it its surroundings can no increased. Sonar and i nfrarc d s n-or, art, u-s ci he r, in tandem, each...Iated Nork on Intelligent Mobile Robots 11 2 1 Shakc 19o71969 11 2 1c ic Propulsion i.b rmor) Mars Rover 1970-1973 15 2.3 11,: Stant(rd Girt 1973-1981

  12. Applying robotics to HAZMAT

    NASA Technical Reports Server (NTRS)

    Welch, Richard V.; Edmonds, Gary O.

    1994-01-01

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

  13. Robots in modern industry

    NASA Technical Reports Server (NTRS)

    Heer, E.

    1981-01-01

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

  14. ROBOTIC SURGERY: BIOETHICAL ASPECTS

    PubMed Central

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

    2016-01-01

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

  15. Robotic surgical simulation.

    PubMed

    Liss, Michael A; McDougall, Elspeth M

    2013-01-01

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

  16. Survival of falling robots

    NASA Astrophysics Data System (ADS)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-02-01

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

  17. Survival of falling robots

    NASA Technical Reports Server (NTRS)

    Cameron, Jonathan M.; Arkin, Ronald C.

    1992-01-01

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

  18. Robotics and expert systems

    SciTech Connect

    Not Available

    1986-01-01

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

  19. Robotic liver surgery

    PubMed Central

    Leung, Universe

    2014-01-01

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

  20. NASA Robot Brain Surgeon

    NASA Technical Reports Server (NTRS)

    1997-01-01

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

  1. TARDEC Ground Vehicle Robotics

    DTIC Science & Technology

    2013-05-30

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

  2. A Modular Robotic Architecture

    DTIC Science & Technology

    1990-11-01

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

  3. Ground Vehicle Robotics Presentation

    DTIC Science & Technology

    2012-08-14

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

  4. Robotic Security Systems

    DTIC Science & Technology

    2003-12-01

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

  5. Army Medical Robotics Research

    DTIC Science & Technology

    2007-01-01

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

  6. Robotics Strategy White Paper

    DTIC Science & Technology

    2009-03-19

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

  7. AMAS Robotics Seminar Brief

    DTIC Science & Technology

    2011-07-19

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

  8. Artificial Intelligence and Robotics.

    DTIC Science & Technology

    1984-02-01

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

  9. Compliant Robotic Structures

    DTIC Science & Technology

    1985-08-01

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

  10. Industrial robots: Handbook

    NASA Astrophysics Data System (ADS)

    Kozyrev, Iu. G.

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

  11. Asteroid Redirect Mission: Robotic Segment

    NASA Video Gallery

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

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

    NASA Astrophysics Data System (ADS)

    Bhamjee, Sajida; Griffiths, Frances; Palmer, Julie

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

  13. Hopping Robot with Wheels

    NASA Technical Reports Server (NTRS)

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

    2003-01-01

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

  14. Human-Robot Interaction

    NASA Technical Reports Server (NTRS)

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

    2015-01-01

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

  15. [Robots and intellectual property].

    PubMed

    Larrieu, Jacques

    2013-12-01

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

  16. Robotics for welding research

    SciTech Connect

    Braun, G.; Jones, J.

    1984-09-01

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

  17. [Robotic surgery in gynecology].

    PubMed

    Csorba, Roland

    2012-06-24

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

  18. Advanced robot locomotion.

    SciTech Connect

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

    2007-01-01

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

  19. Robotic Thumb Assembly

    NASA Technical Reports Server (NTRS)

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

    2013-01-01

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

  20. Experiments in autonomous robotics

    SciTech Connect

    Hamel, W.R.

    1987-01-01

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

  1. Hazardous Environment Robotics

    NASA Technical Reports Server (NTRS)

    1996-01-01

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

  2. New concurrent iterative methods with monotonic convergence

    SciTech Connect

    Yao, Qingchuan

    1996-12-31

    This paper proposes the new concurrent iterative methods without using any derivatives for finding all zeros of polynomials simultaneously. The new methods are of monotonic convergence for both simple and multiple real-zeros of polynomials and are quadratically convergent. The corresponding accelerated concurrent iterative methods are obtained too. The new methods are good candidates for the application in solving symmetric eigenproblems.

  3. An accelerated subspace iteration for eigenvector derivatives

    NASA Technical Reports Server (NTRS)

    Ting, Tienko

    1991-01-01

    An accelerated subspace iteration method for calculating eigenvector derivatives has been developed. Factors affecting the effectiveness and the reliability of the subspace iteration are identified, and effective strategies concerning these factors are presented. The method has been implemented, and the results of a demonstration problem are presented.

  4. Rater Variables Associated with ITER Ratings

    ERIC Educational Resources Information Center

    Paget, Michael; Wu, Caren; McIlwrick, Joann; Woloschuk, Wayne; Wright, Bruce; McLaughlin, Kevin

    2013-01-01

    Advocates of holistic assessment consider the ITER a more authentic way to assess performance. But this assessment format is subjective and, therefore, susceptible to rater bias. Here our objective was to study the association between rater variables and ITER ratings. In this observational study our participants were clerks at the University of…

  5. Iterative methods for weighted least-squares

    SciTech Connect

    Bobrovnikova, E.Y.; Vavasis, S.A.

    1996-12-31

    A weighted least-squares problem with a very ill-conditioned weight matrix arises in many applications. Because of round-off errors, the standard conjugate gradient method for solving this system does not give the correct answer even after n iterations. In this paper we propose an iterative algorithm based on a new type of reorthogonalization that converges to the solution.

  6. Multi-robot control interface

    DOEpatents

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

    2011-12-06

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

  7. Progressive band processing of fast iterative pixel purity index

    NASA Astrophysics Data System (ADS)

    Li, Yao; Chang, Chein-I.

    2016-05-01

    Fast Iterative Pixel Purity Index (FIPPI) was previously developed to address two major issues arising in PPI which are the use of skewers whose number must be determined by a priori and inconsistent final results which cannot be reproduced. Recently, a new concept has been developed for hyperspectral data communication according to Band SeQuential (BSQ) acquisition format in such a way that bands can be collected band by band. By virtue of BSQ users are able to develop Progressive Band Processing (PBP) for hyperspectral imaging algorithms so that data analysts can observe progressive profiles of inter-band changes among bands. Its advantages have been justified in several applications, anomaly detection, constrained energy minimization, automatic target generation process, orthogonal subspace projection, PPI, etc. This paper further extends PBP to FIPPI. The idea to implement PBP-FIPPI is to use two loops specified by skewers and bands to process FIPPI. Depending upon which one is implemented in the outer loop two different versions of PBP-FIPPI can be designed. When the outer loop is iterated band by band, it is called to be called Progressive Band Processing of FIPPI (PBP-FIPPI). When the outer loop is iterated by growing skewers, it is called Progressive Skewer Processing of FIPPI (PSP-FIPPI). Interestingly, both versions provide different insights into the design of FIPPI but produce close results.

  8. Canadian space robotic activities

    NASA Astrophysics Data System (ADS)

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

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

  9. On the interplay between inner and outer iterations for a class of iterative methods

    SciTech Connect

    Giladi, E.

    1994-12-31

    Iterative algorithms for solving linear systems of equations often involve the solution of a subproblem at each step. This subproblem is usually another linear system of equations. For example, a preconditioned iteration involves the solution of a preconditioner at each step. In this paper, the author considers algorithms for which the subproblem is also solved iteratively. The subproblem is then said to be solved by {open_quotes}inner iterations{close_quotes} while the term {open_quotes}outer iteration{close_quotes} refers to a step of the basic algorithm. The cost of performing an outer iteration is dominated by the solution of the subproblem, and can be measured by the number of inner iterations. A good measure of the total amount of work needed to solve the original problem to some accuracy c is then, the total number of inner iterations. To lower the amount of work, one can consider solving the subproblems {open_quotes}inexactly{close_quotes} i.e. not to full accuracy. Although this diminishes the cost of solving each subproblem, it usually slows down the convergence of the outer iteration. It is therefore interesting to study the effect of solving each subproblem inexactly on the total amount of work. Specifically, the author considers strategies in which the accuracy to which the inner problem is solved, changes from one outer iteration to the other. The author seeks the `optimal strategy`, that is, the one that yields the lowest possible cost. Here, the author develops a methodology to find the optimal strategy, from the set of slowly varying strategies, for some iterative algorithms. This methodology is applied to the Chebychev iteration and it is shown that for Chebychev iteration, a strategy in which the inner-tolerance remains constant is optimal. The author also estimates this optimal constant. Then generalizations to other iterative procedures are discussed.

  10. An iterative learning control method with application for CNC machine tools

    SciTech Connect

    Kim, D.I.; Kim, S.

    1996-01-01

    A proportional, integral, and derivative (PID) type iterative learning controller is proposed for precise tracking control of industrial robots and computer numerical controller (CNC) machine tools performing repetitive tasks. The convergence of the output error by the proposed learning controller is guaranteed under a certain condition even when the system parameters are not known exactly and unknown external disturbances exist. As the proposed learning controller is repeatedly applied to the industrial robot or the CNC machine tool with the path-dependent repetitive task, the distance difference between the desired path and the actual tracked or machined path, which is one of the most significant factors in the evaluation of control performance, is progressively reduced. The experimental results demonstrate that the proposed learning controller can improve machining accuracy when the CNC machine tool performs repetitive machining tasks.

  11. Iterants, Fermions and Majorana Operators

    NASA Astrophysics Data System (ADS)

    Kauffman, Louis H.

    Beginning with an elementary, oscillatory discrete dynamical system associated with the square root of minus one, we study both the foundations of mathematics and physics. Position and momentum do not commute in our discrete physics. Their commutator is related to the diffusion constant for a Brownian process and to the Heisenberg commutator in quantum mechanics. We take John Wheeler's idea of It from Bit as an essential clue and we rework the structure of that bit to a logical particle that is its own anti-particle, a logical Marjorana particle. This is our key example of the amphibian nature of mathematics and the external world. We show how the dynamical system for the square root of minus one is essentially the dynamics of a distinction whose self-reference leads to both the fusion algebra and the operator algebra for the Majorana Fermion. In the course of this, we develop an iterant algebra that supports all of matrix algebra and we end the essay with a discussion of the Dirac equation based on these principles.

  12. Distributed adaptive fuzzy iterative learning control of coordination problems for higher order multi-agent systems

    NASA Astrophysics Data System (ADS)

    Li, Jinsha; Li, Junmin

    2016-07-01

    In this paper, the adaptive fuzzy iterative learning control scheme is proposed for coordination problems of Mth order (M ≥ 2) distributed multi-agent systems. Every follower agent has a higher order integrator with unknown nonlinear dynamics and input disturbance. The dynamics of the leader are a higher order nonlinear systems and only available to a portion of the follower agents. With distributed initial state learning, the unified distributed protocols combined time-domain and iteration-domain adaptive laws guarantee that the follower agents track the leader uniformly on [0, T]. Then, the proposed algorithm extends to achieve the formation control. A numerical example and a multiple robotic system are provided to demonstrate the performance of the proposed approach.

  13. Robotic Intelligence Kernel: Architecture

    SciTech Connect

    2009-09-16

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

  14. Robot Rodeo 2013

    ScienceCinema

    Deuel, Jake

    2016-07-12

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

  15. Robot Rodeo 2013

    SciTech Connect

    Deuel, Jake

    2013-08-27

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

  16. Next generation space robot

    NASA Technical Reports Server (NTRS)

    Iwata, Tsutomu; Oda, Mitsushige; Imai, Ryoichi

    1989-01-01

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

  17. Real World Robotics.

    ERIC Educational Resources Information Center

    Clark, Lisa J.

    2002-01-01

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

  18. Robotics technology discipline

    NASA Technical Reports Server (NTRS)

    Montemerlo, Melvin D.

    1990-01-01

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

  19. Motivating Students with Robotics

    ERIC Educational Resources Information Center

    Brand, Brenda; Collver, Michael; Kasarda, Mary

    2008-01-01

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

  20. 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.

  1. The Uranus Mobile Robot

    DTIC Science & Technology

    1990-09-01

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

  2. Neurotechnology for Biomimetic Robots

    DTIC Science & Technology

    2007-11-02

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

  3. Concurrent programming and robotics

    SciTech Connect

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

    1989-04-01

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

  4. Going Green Robots

    ERIC Educational Resources Information Center

    Nelson, Jacqueline M.

    2011-01-01

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

  5. Robotics and Industrial Arts.

    ERIC Educational Resources Information Center

    Edmison, Glenn A.; And Others

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

  6. INL Generic Robot Architecture

    SciTech Connect

    2005-03-30

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

  7. Robot Vision Library

    NASA Technical Reports Server (NTRS)

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

    2009-01-01

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

  8. Iterative learning control with applications in energy generation, lasers and health care

    PubMed Central

    Tutty, O. R.

    2016-01-01

    Many physical systems make repeated executions of the same finite time duration task. One example is a robot in a factory or warehouse whose task is to collect an object in sequence from a location, transfer it over a finite duration, place it at a specified location or on a moving conveyor and then return for the next one and so on. Iterative learning control was especially developed for systems with this mode of operation and this paper gives an overview of this control design method using relatively recent relevant applications in wind turbines, free-electron lasers and health care, as exemplars to demonstrate its applicability. PMID:27713654

  9. Iterative learning control with applications in energy generation, lasers and health care

    NASA Astrophysics Data System (ADS)

    Rogers, E.; Tutty, O. R.

    2016-09-01

    Many physical systems make repeated executions of the same finite time duration task. One example is a robot in a factory or warehouse whose task is to collect an object in sequence from a location, transfer it over a finite duration, place it at a specified location or on a moving conveyor and then return for the next one and so on. Iterative learning control was especially developed for systems with this mode of operation and this paper gives an overview of this control design method using relatively recent relevant applications in wind turbines, free-electron lasers and health care, as exemplars to demonstrate its applicability.

  10. Honda humanoid robots development.

    PubMed

    Hirose, Masato; Ogawa, Kenichi

    2007-01-15

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

  11. Intelligent Articulated Robot

    NASA Astrophysics Data System (ADS)

    Nyein, Aung Kyaw; Thu, Theint Theint

    2008-10-01

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

  12. [The robotic surgeon training].

    PubMed

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

    2015-10-01

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

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

    DTIC Science & Technology

    2015-09-01

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

  14. Expanding Frontiers of Humanoid Robotics

    DTIC Science & Technology

    2000-08-01

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

  15. Robots in Space -Psychological Aspects

    NASA Technical Reports Server (NTRS)

    Sipes, Walter E.

    2006-01-01

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

  16. [Application of robots in stomatology].

    PubMed

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

    2016-10-01

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

  17. New stopping criteria for iterative root finding

    PubMed Central

    Nikolajsen, Jorgen L.

    2014-01-01

    A set of simple stopping criteria is presented, which improve the efficiency of iterative root finding by terminating the iterations immediately when no further improvement of the roots is possible. The criteria use only the function evaluations already needed by the root finding procedure to which they are applied. The improved efficiency is achieved by formulating the stopping criteria in terms of fractional significant digits. Test results show that the new stopping criteria reduce the iteration work load by about one-third compared with the most efficient stopping criteria currently available. This is achieved without compromising the accuracy of the extracted roots. PMID:26064544

  18. Iterative restoration algorithms for nonlinear constraint computing

    NASA Astrophysics Data System (ADS)

    Szu, Harold

    A general iterative-restoration principle is introduced to facilitate the implementation of nonlinear optical processors. The von Neumann convergence theorem is generalized to include nonorthogonal subspaces which can be reduced to a special orthogonal projection operator by applying an orthogonality condition. This principle is shown to permit derivation of the Jacobi algorithm, the recursive principle, the van Cittert (1931) deconvolution method, the iteration schemes of Gerchberg (1974) and Papoulis (1975), and iteration schemes using two Fourier conjugate domains (e.g., Fienup, 1981). Applications to restoring the image of a double star and division by hard and soft zeros are discussed, and sample results are presented graphically.

  19. A Survey of Space Robotics

    NASA Technical Reports Server (NTRS)

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

    2003-01-01

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

  20. ITER CS Intermodule Support Structure

    SciTech Connect

    Myatt, R.; Freudenberg, Kevin D

    2011-01-01

    With five independently driven, bi-polarity power supplies, the modules of the ITER central solenoid (CS) can be energized in aligned or opposing field directions. This sets up the possibility for repelling modules, which indeed occurs, particularly between CS2L and CS3L around the End of Burn (EOB) time point. Light interface compression between these two modules at EOB and wide variations in these coil currents throughout the pulse produce a tendency for relative motion or slip. Ideally, the slip is purely radial as the modules breathe without any accumulative translational motion. In reality, however, asymmetries such as nonuniformity in intermodule friction, lateral loads from a plasma Vertical Disruption Event (VDE), magnetic forces from manufacturing and assembly tolerances, and earthquakes can all contribute to a combination of radial and lateral module motion. This paper presents 2D and 3D, nonlinear, ANSYS models which simulate these various asymmetries and determine the lateral forces which must be carried by the intermodule structure. Summing all of these asymmetric force contributions leads to a design-basis lateral load which is used in the design of various support concepts: the CS-CDR centering rings and a variation, the 2001 FDR baseline radial keys, and interlocking castles structures. Radial key-type intermodule structure interface slip and stresses are tracked through multiple 15 MA scenario current pulses to demonstrate stable motion following the first few cycles. Detractions and benefits of each candidate intermodule structure are discussed, leading to the simplest and most robust configuration which meets the design requirements: match-drilled radial holes and pin-shaped keys.

  1. Robotic Surgery for Thoracic Disease.

    PubMed

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

    2016-01-01

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

  2. A Vision-Based Self-Calibration Method for Robotic Visual Inspection Systems

    PubMed Central

    Yin, Shibin; Ren, Yongjie; Zhu, Jigui; Yang, Shourui; Ye, Shenghua

    2013-01-01

    A vision-based robot self-calibration method is proposed in this paper to evaluate the kinematic parameter errors of a robot using a visual sensor mounted on its end-effector. This approach could be performed in the industrial field without external, expensive apparatus or an elaborate setup. A robot Tool Center Point (TCP) is defined in the structural model of a line-structured laser sensor, and aligned to a reference point fixed in the robot workspace. A mathematical model is established to formulate the misalignment errors with kinematic parameter errors and TCP position errors. Based on the fixed point constraints, the kinematic parameter errors and TCP position errors are identified with an iterative algorithm. Compared to the conventional methods, this proposed method eliminates the need for a robot-based-frame and hand-to-eye calibrations, shortens the error propagation chain, and makes the calibration process more accurate and convenient. A validation experiment is performed on an ABB IRB2400 robot. An optimal configuration on the number and distribution of fixed points in the robot workspace is obtained based on the experimental results. Comparative experiments reveal that there is a significant improvement of the measuring accuracy of the robotic visual inspection system. PMID:24300597

  3. Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems.

    PubMed

    Liu, Tao; Guo, Yin; Yang, Shourui; Yin, Shibin; Zhu, Jigui

    2017-02-14

    Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF) pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments.

  4. Single-Command Approach and Instrument Placement by a Robot on a Target

    NASA Technical Reports Server (NTRS)

    Huntsberger, Terrance; Cheng, Yang

    2005-01-01

    AUTOAPPROACH is a computer program that enables a mobile robot to approach a target autonomously, starting from a distance of as much as 10 m, in response to a single command. AUTOAPPROACH is used in conjunction with (1) software that analyzes images acquired by stereoscopic cameras aboard the robot and (2) navigation and path-planning software that utilizes odometer readings along with the output of the image-analysis software. Intended originally for application to an instrumented, wheeled robot (rover) in scientific exploration of Mars, AUTOAPPROACH could be adapted to terrestrial applications, notably including the robotic removal of land mines and other unexploded ordnance. A human operator generates the approach command by selecting the target in images acquired by the robot cameras. The approach path consists of multiple legs. Feature points are derived from images that contain the target and are thereafter tracked to correct odometric errors and iteratively refine estimates of the position and orientation of the robot relative to the target on successive legs. The approach is terminated when the robot attains the position and orientation required for placing a scientific instrument at the target. The workspace of the robot arm is then autonomously checked for self/terrain collisions prior to the deployment of the scientific instrument onto the target.

  5. Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems

    PubMed Central

    Liu, Tao; Guo, Yin; Yang, Shourui; Yin, Shibin; Zhu, Jigui

    2017-01-01

    Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF) pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments. PMID:28216555

  6. Partner Ballroom Dance Robot -PBDR-

    NASA Astrophysics Data System (ADS)

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

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

  7. The Physics Basis of ITER Confinement

    SciTech Connect

    Wagner, F.

    2009-02-19

    ITER will be the first fusion reactor and the 50 year old dream of fusion scientists will become reality. The quality of magnetic confinement will decide about the success of ITER, directly in the form of the confinement time and indirectly because it decides about the plasma parameters and the fluxes, which cross the separatrix and have to be handled externally by technical means. This lecture portrays some of the basic principles which govern plasma confinement, uses dimensionless scaling to set the limits for the predictions for ITER, an approach which also shows the limitations of the predictions, and describes briefly the major characteristics and physics behind the H-mode--the preferred confinement regime of ITER.

  8. Archimedes' Pi--An Introduction to Iteration.

    ERIC Educational Resources Information Center

    Lotspeich, Richard

    1988-01-01

    One method (attributed to Archimedes) of approximating pi offers a simple yet interesting introduction to one of the basic ideas of numerical analysis, an iteration sequence. The method is described and elaborated. (PK)

  9. Anderson Acceleration for Fixed-Point Iterations

    SciTech Connect

    Walker, Homer F.

    2015-08-31

    The purpose of this grant was to support research on acceleration methods for fixed-point iterations, with applications to computational frameworks and simulation problems that are of interest to DOE.

  10. ITER Magnet Feeder: Design, Manufacturing and Integration

    NASA Astrophysics Data System (ADS)

    CHEN, Yonghua; ILIN, Y.; M., SU; C., NICHOLAS; BAUER, P.; JAROMIR, F.; LU, Kun; CHENG, Yong; SONG, Yuntao; LIU, Chen; HUANG, Xiongyi; ZHOU, Tingzhi; SHEN, Guang; WANG, Zhongwei; FENG, Hansheng; SHEN, Junsong

    2015-03-01

    The International Thermonuclear Experimental Reactor (ITER) feeder procurement is now well underway. The feeder design has been improved by the feeder teams at the ITER Organization (IO) and the Institute of Plasma Physics, Chinese Academy of Sciences (ASIPP) in the last 2 years along with analyses and qualification activities. The feeder design is being progressively finalized. In addition, the preparation of qualification and manufacturing are well scheduled at ASIPP. This paper mainly presents the design, the overview of manufacturing and the status of integration on the ITER magnet feeders. supported by the National Special Support for R&D on Science and Technology for ITER (Ministry of Public Security of the People's Republic of China-MPS) (No. 2008GB102000)

  11. On the safety of ITER accelerators.

    PubMed

    Li, Ge

    2013-01-01

    Three 1 MV/40A accelerators in heating neutral beams (HNB) are on track to be implemented in the International Thermonuclear Experimental Reactor (ITER). ITER may produce 500 MWt of power by 2026 and may serve as a green energy roadmap for the world. They will generate -1 MV 1 h long-pulse ion beams to be neutralised for plasma heating. Due to frequently occurring vacuum sparking in the accelerators, the snubbers are used to limit the fault arc current to improve ITER safety. However, recent analyses of its reference design have raised concerns. General nonlinear transformer theory is developed for the snubber to unify the former snubbers' different design models with a clear mechanism. Satisfactory agreement between theory and tests indicates that scaling up to a 1 MV voltage may be possible. These results confirm the nonlinear process behind transformer theory and map out a reliable snubber design for a safer ITER.

  12. Accelerated Schwarz iterations for Helmholtz equation

    NASA Astrophysics Data System (ADS)

    Nagid, Nabila; Belhadj, Hassan; Amattouch, Mohamed Ridouan

    2017-01-01

    In this paper, the Restricted additive Schwarz (RAS) method is applied to solve Helmholtz equation. To accelerate the RAS iterations, we propose to apply the vector ɛ-algorithm. Some convergence analysis of the proposed method is presented, and applied succeffully to Helmholtz problem. The obtained results show the efficiency of the proposed approach. Moreover, the algorithm yields much faster convergence than the classical Schwarz iterations.

  13. Programmable Iterative Optical Image And Data Processing

    NASA Technical Reports Server (NTRS)

    Jackson, Deborah J.

    1995-01-01

    Proposed method of iterative optical image and data processing overcomes limitations imposed by loss of optical power after repeated passes through many optical elements - especially, beam splitters. Involves selective, timed combination of optical wavefront phase conjugation and amplification to regenerate images in real time to compensate for losses in optical iteration loops; timing such that amplification turned on to regenerate desired image, then turned off so as not to regenerate other, undesired images or spurious light propagating through loops from unwanted reflections.

  14. Novel aspects of plasma control in ITER

    NASA Astrophysics Data System (ADS)

    Humphreys, D.; Ambrosino, G.; de Vries, P.; Felici, F.; Kim, S. H.; Jackson, G.; Kallenbach, A.; Kolemen, E.; Lister, J.; Moreau, D.; Pironti, A.; Raupp, G.; Sauter, O.; Schuster, E.; Snipes, J.; Treutterer, W.; Walker, M.; Welander, A.; Winter, A.; Zabeo, L.

    2015-02-01

    ITER plasma control design solutions and performance requirements are strongly driven by its nuclear mission, aggressive commissioning constraints, and limited number of operational discharges. In addition, high plasma energy content, heat fluxes, neutron fluxes, and very long pulse operation place novel demands on control performance in many areas ranging from plasma boundary and divertor regulation to plasma kinetics and stability control. Both commissioning and experimental operations schedules provide limited time for tuning of control algorithms relative to operating devices. Although many aspects of the control solutions required by ITER have been well-demonstrated in present devices and even designed satisfactorily for ITER application, many elements unique to ITER including various crucial integration issues are presently under development. We describe selected novel aspects of plasma control in ITER, identifying unique parts of the control problem and highlighting some key areas of research remaining. Novel control areas described include control physics understanding (e.g., current profile regulation, tearing mode (TM) suppression), control mathematics (e.g., algorithmic and simulation approaches to high confidence robust performance), and integration solutions (e.g., methods for management of highly subscribed control resources). We identify unique aspects of the ITER TM suppression scheme, which will pulse gyrotrons to drive current within a magnetic island, and turn the drive off following suppression in order to minimize use of auxiliary power and maximize fusion gain. The potential role of active current profile control and approaches to design in ITER are discussed. Issues and approaches to fault handling algorithms are described, along with novel aspects of actuator sharing in ITER.

  15. Iterative methods for design sensitivity analysis

    NASA Technical Reports Server (NTRS)

    Belegundu, A. D.; Yoon, B. G.

    1989-01-01

    A numerical method is presented for design sensitivity analysis, using an iterative-method reanalysis of the structure generated by a small perturbation in the design variable; a forward-difference scheme is then employed to obtain the approximate sensitivity. Algorithms are developed for displacement and stress sensitivity, as well as for eignevalues and eigenvector sensitivity, and the iterative schemes are modified so that the coefficient matrices are constant and therefore decomposed only once.

  16. Iterative consolidation of unorganized point clouds.

    PubMed

    Liu, Shengjun; Chan, Kwan-Chung; Wang, Charlie C L

    2012-01-01

    Unorganized point clouds obtained from 3D shape acquisition devices usually present noise, outliers, and nonuniformities. The proposed framework consolidates unorganized points through an iterative procedure of interlaced downsampling and upsampling. Selection operations remove outliers while preserving geometric details. The framework improves the uniformity of points by moving the downsampled particles and refining point samples. Surface extrapolation fills missed regions. Moreover, an adaptive sampling strategy speeds up the iterations. Experimental results demonstrate the framework's effectiveness.

  17. Novel aspects of plasma control in ITER

    DOE PAGES

    Humphreys, David; Ambrosino, G.; de Vries, Peter; ...

    2015-02-12

    ITER plasma control design solutions and performance requirements are strongly driven by its nuclear mission, aggressive commissioning constraints, and limited number of operational discharges. In addition, high plasma energy content, heat fluxes, neutron fluxes, and very long pulse operation place novel demands on control performance in many areas ranging from plasma boundary and divertor regulation to plasma kinetics and stability control. Both commissioning and experimental operations schedules provide limited time for tuning of control algorithms relative to operating devices. Although many aspects of the control solutions required by ITER have been well-demonstrated in present devices and even designed satisfactorily formore » ITER application, many elements unique to ITER including various crucial integration issues are presently under development. We describe selected novel aspects of plasma control in ITER, identifying unique parts of the control problem and highlighting some key areas of research remaining. Novel control areas described include control physics understanding (e.g. current profile regulation, tearing mode suppression (TM)), control mathematics (e.g. algorithmic and simulation approaches to high confidence robust performance), and integration solutions (e.g. methods for management of highly-subscribed control resources). We identify unique aspects of the ITER TM suppression scheme, which will pulse gyrotrons to drive current within a magnetic island, and turn the drive off following suppression in order to minimize use of auxiliary power and maximize fusion gain. The potential role of active current profile control and approaches to design in ITER are discussed. Finally, issues and approaches to fault handling algorithms are described, along with novel aspects of actuator sharing in ITER.« less

  18. Micro autonomous robotic system

    NASA Astrophysics Data System (ADS)

    Ishihara, Hidenori; Fukuda, Toshio

    1995-12-01

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

  19. Future of robotic surgery.

    PubMed

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

    2013-01-01

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

  20. Robotic comfort zones

    NASA Astrophysics Data System (ADS)

    Likhachev, Maxim; Arkin, Ronald C.

    2000-10-01

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

  1. Autonomous mobile robot

    SciTech Connect

    Mattaboni, P.J.

    1987-01-20

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

  2. Toward cognitive robotics

    NASA Astrophysics Data System (ADS)

    Laird, John E.

    2009-05-01

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

  3. Door breaching robotic manipulator

    NASA Astrophysics Data System (ADS)

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

    2008-04-01

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

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

    PubMed Central

    Laschi, Cecilia; Cianchetti, Matteo

    2014-01-01

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

  5. Agile Walking Robot

    NASA Technical Reports Server (NTRS)

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

    1990-01-01

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

  6. Autonomous mobile robot teams

    NASA Technical Reports Server (NTRS)

    Agah, Arvin; Bekey, George A.

    1994-01-01

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

  7. Modelling robot construction systems

    NASA Technical Reports Server (NTRS)

    Grasso, Chris

    1990-01-01

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

  8. Advanced mechanisms for robotics

    NASA Technical Reports Server (NTRS)

    Vranish, John M.

    1991-01-01

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

  9. Robotics in shoulder rehabilitation

    PubMed Central

    Sicuri, Chiara; Porcellini, Giuseppe; Merolla, Giovanni

    2014-01-01

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

  10. Robotics: An introduction

    SciTech Connect

    Mc Cloy, D.; Harris, D.

    1986-01-01

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

  11. Robots and telechirs

    SciTech Connect

    Thring, M.W.

    1985-01-01

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

  12. Joint Robotics Program

    DTIC Science & Technology

    2008-04-23

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

  13. Artificial Intelligence and Robotics.

    DTIC Science & Technology

    1982-09-20

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

  14. Robots in astronomy

    NASA Astrophysics Data System (ADS)

    Baruch, John E. F.

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

  15. MVACS Robotic Arm

    NASA Technical Reports Server (NTRS)

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

    2000-01-01

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

  16. Architecture for robot intelligence

    NASA Technical Reports Server (NTRS)

    Peters, II, Richard Alan (Inventor)

    2004-01-01

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

  17. Algorithm Plans Collision-Free Path for Robotic Manipulator

    NASA Technical Reports Server (NTRS)

    Backes, Paul; Diaz-Calderon, Antonio

    2007-01-01

    An algorithm has been developed to enable a computer aboard a robot to autonomously plan the path of the manipulator arm of the robot to avoid collisions between the arm and any obstacle, which could be another part of the robot or an external object in the vicinity of the robot. In simplified terms, the algorithm generates trial path segments and tests each segment for potential collisions in an iterative process that ends when a sequence of collision-free segments reaches from the starting point to the destination. The main advantage of this algorithm, relative to prior such algorithms, is computational efficiency: the algorithm is designed to make minimal demands upon the limited computational resources available aboard a robot. This path-planning algorithm utilizes a modified version of the collision-detection method described in "Improved Collision-Detection Method for Robotic Manipulator" (NPO-30356), NASA Tech Briefs, Vol. 27, No. 3 (June 2003), page 72. The method involves utilization of mathematical models of the robot constructed prior to operation and similar models of external objects constructed automatically from sensory data acquired during operation. This method incorporates a previously developed method, known in the art as the method of oriented bounding boxes (OBBs), in which an object is represented approximately, for computational purposes, by a box that encloses its outer boundary. Because many parts of a robotic manipulator are cylindrical, the OBB method has been extended in this method to enable the approximate representation of cylindrical parts by use of octagonal or other multiple-OBB assemblies denoted oriented bounding prisms (OBPs). A multiresolution OBB/OBP representation of the robot and its manipulator arm and a multiresolution OBB representation of external objects (including terrain) are constructed and used in a process in which collisions at successively finer resolutions are detected through computational detection of overlaps

  18. Software Architecture for Planetary and Lunar Robotics

    NASA Technical Reports Server (NTRS)

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

    2006-01-01

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

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

    PubMed

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

    2009-05-01

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

  20. 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.

  1. Robotics and remote systems applications

    SciTech Connect

    Rabold, D.E.

    1996-05-01

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

  2. Robotic follow system and method

    DOEpatents

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

    2007-05-01

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

  3. Iterative motion compensation approach for ultrasonic thermal imaging

    NASA Astrophysics Data System (ADS)

    Fleming, Ioana; Hager, Gregory; Guo, Xiaoyu; Kang, Hyun Jae; Boctor, Emad

    2015-03-01

    As thermal imaging attempts to estimate very small tissue motion (on the order of tens of microns), it can be negatively influenced by signal decorrelation. Patient's breathing and cardiac cycle generate shifts in the RF signal patterns. Other sources of movement could be found outside the patient's body, like transducer slippage or small vibrations due to environment factors like electronic noise. Here, we build upon a robust displacement estimation method for ultrasound elastography and we investigate an iterative motion compensation algorithm, which can detect and remove non-heat induced tissue motion at every step of the ablation procedure. The validation experiments are performed on laboratory induced ablation lesions in ex-vivo tissue. The ultrasound probe is either held by the operator's hand or supported by a robotic arm. We demonstrate the ability to detect and remove non-heat induced tissue motion in both settings. We show that removing extraneous motion helps unmask the effects of heating. Our strain estimation curves closely mirror the temperature changes within the tissue. While previous results in the area of motion compensation were reported for experiments lasting less than 10 seconds, our algorithm was tested on experiments that lasted close to 20 minutes.

  4. Robots on the Roof

    NASA Video Gallery

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

  5. DOE Robotics Project

    SciTech Connect

    Not Available

    1991-01-01

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

  6. 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.

  7. Operator roles in robotics

    SciTech Connect

    Lyman, J.; Madni, A.M.

    1984-01-01

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

  8. Microprocessors, Robotics, and Work.

    ERIC Educational Resources Information Center

    DeVore, Paul W.

    1982-01-01

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

  9. Rolling friction robot fingers

    NASA Technical Reports Server (NTRS)

    Vranish, John M. (Inventor)

    1992-01-01

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

  10. Robotic aortic surgery.

    PubMed

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

    2011-01-01

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

  11. Robotics in urologic oncology

    PubMed Central

    Jain, Saurabh; Gautam, Gagan

    2015-01-01

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

  12. K-10 Robots

    NASA Video Gallery

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

  13. Robots in operating theatres.

    PubMed Central

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

    1995-01-01

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

  14. FIRST Robotics Kickoff

    NASA Technical Reports Server (NTRS)

    2007-01-01

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

  15. 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

  16. CORSICA modelling of ITER hybrid operation scenarios

    NASA Astrophysics Data System (ADS)

    Kim, S. H.; Bulmer, R. H.; Campbell, D. J.; Casper, T. A.; LoDestro, L. L.; Meyer, W. H.; Pearlstein, L. D.; Snipes, J. A.

    2016-12-01

    The hybrid operating mode observed in several tokamaks is characterized by further enhancement over the high plasma confinement (H-mode) associated with reduced magneto-hydro-dynamic (MHD) instabilities linked to a stationary flat safety factor (q ) profile in the core region. The proposed ITER hybrid operation is currently aiming at operating for a long burn duration (>1000 s) with a moderate fusion power multiplication factor, Q , of at least 5. This paper presents candidate ITER hybrid operation scenarios developed using a free-boundary transport modelling code, CORSICA, taking all relevant physics and engineering constraints into account. The ITER hybrid operation scenarios have been developed by tailoring the 15 MA baseline ITER inductive H-mode scenario. Accessible operation conditions for ITER hybrid operation and achievable range of plasma parameters have been investigated considering uncertainties on the plasma confinement and transport. ITER operation capability for avoiding the poloidal field coil current, field and force limits has been examined by applying different current ramp rates, flat-top plasma currents and densities, and pre-magnetization of the poloidal field coils. Various combinations of heating and current drive (H&CD) schemes have been applied to study several physics issues, such as the plasma current density profile tailoring, enhancement of the plasma energy confinement and fusion power generation. A parameterized edge pedestal model based on EPED1 added to the CORSICA code has been applied to hybrid operation scenarios. Finally, fully self-consistent free-boundary transport simulations have been performed to provide information on the poloidal field coil voltage demands and to study the controllability with the ITER controllers. Extended from Proc. 24th Int. Conf. on Fusion Energy (San Diego, 2012) IT/P1-13.

  17. Energetic particle physics issues for ITER

    SciTech Connect

    Cheng, C.Z.; Budny, R.; Fu, G.Y.

    1996-12-31

    This paper summarizes our present understanding of the following energetic/alpha particle physics issues for the 21 MA, 20 TF coil ITER Interim Design configuration and operational scenarios: (a) toroidal field ripple effects on alpha particle confinement, (b) energetic particle interaction with low frequency MHD modes, (c) energetic particle excitation of toroidal Alfven eigenmodes, and (d) energetic particle transport due to MHD modes. TF ripple effects on alpha loss in ITER under a number of different operating conditions are found to be small with a maximum loss of 1%. With careful plasma control in ITER reversed-shear operation, TF ripple induced alpha loss can be reduced to below the nominal ITER design limit of 5%. Fishbone modes are expected to be unstable for {beta}{sub {alpha}} > 1%, and sawtooth stabilization is lost if the ideal kink growth rate exceeds 10% of the deeply trapped alpha precessional drift frequency evaluated at the q = 1 surface. However, it is expected that the fishbone modes will lead only to a local flattening of the alpha profile due to small banana size. MHD modes observed during slow decrease of stored energy after fast partial electron temperature collapse in JT-60U reversed-shear experiments may be resonant type instabilities; they may have implications on the energetic particle confinement in ITER reversed-shear operation. From the results of various TAE stability code calculations, ITER equilibria appear to lie close to TAE linear stability thresholds. However, the prognosis depends strongly on q profile and profiles of alpha and other high energy particles species. If TAE modes are unstable in ITER, the stochastic diffusion is the main loss mechanism, which scales with ({delta}B{sub r}/B){sup 2}, because of the relatively small alpha particle banana orbit size. For isolated TAE modes the particle loss is very small, and TAE modes saturate via the resonant wave-particle trapping process at very small amplitude.

  18. Dragons, Ladybugs, and Softballs: Girls' STEM Engagement with Human-Centered Robotics

    NASA Astrophysics Data System (ADS)

    Gomoll, Andrea; Hmelo-Silver, Cindy E.; Šabanović, Selma; Francisco, Matthew

    2016-12-01

    Early experiences in science, technology, engineering, and math (STEM) are important for getting youth interested in STEM fields, particularly for girls. Here, we explore how an after-school robotics club can provide informal STEM experiences that inspire students to engage with STEM in the future. Human-centered robotics, with its emphasis on the social aspects of science and technology, may be especially important for bringing girls into the STEM pipeline. Using a problem-based approach, we designed two robotics challenges. We focus here on the more extended second challenge, in which participants were asked to imagine and build a telepresence robot that would allow others to explore their space from a distance. This research follows four girls as they engage with human-centered telepresence robotics design. We constructed case studies of these target participants to explore their different forms of engagement and phases of interest development—considering facets of behavioral, social, cognitive, and conceptual-to-consequential engagement as well as stages of interest ranging from triggered interest to well-developed individual interest. The results demonstrated that opportunities to personalize their robots and feedback from peers and facilitators were important motivators. We found both explicit and vicarious engagement and varied interest phases in our group of four focus participants. This first iteration of our project demonstrated that human-centered robotics is a promising approach to getting girls interested and engaged in STEM practices. As we design future iterations of our robotics club environment, we must consider how to harness multiple forms of leadership and engagement without marginalizing students with different working preferences.

  19. Wheeled hopping robot

    DOEpatents

    Fischer, Gary J.

    2010-08-17

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

  20. Military Space Robotics

    DTIC Science & Technology

    1987-04-30

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

  1. Robotics and general surgery.

    PubMed

    Jacob, Brian P; Gagner, Michel

    2003-12-01

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

  2. Modularity in robotic systems

    NASA Technical Reports Server (NTRS)

    Tesar, Delbert; Butler, Michael S.

    1989-01-01

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

  3. Robot goniophotometry at PTB

    NASA Astrophysics Data System (ADS)

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

    2015-04-01

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

  4. Robotic surgery in gynecology

    PubMed Central

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

    2015-01-01

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

  5. Application of robots in space.

    NASA Technical Reports Server (NTRS)

    Johnsen, E. G.

    1971-01-01

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

  6. Robotic hand with modular extensions

    DOEpatents

    Salisbury, Curt Michael; Quigley, Morgan

    2015-01-20

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

  7. Comparison of Iterative and Non-Iterative Strain-Gage Balance Load Calculation Methods

    NASA Technical Reports Server (NTRS)

    Ulbrich, N.

    2010-01-01

    The accuracy of iterative and non-iterative strain-gage balance load calculation methods was compared using data from the calibration of a force balance. Two iterative and one non-iterative method were investigated. In addition, transformations were applied to balance loads in order to process the calibration data in both direct read and force balance format. NASA's regression model optimization tool BALFIT was used to generate optimized regression models of the calibration data for each of the three load calculation methods. This approach made sure that the selected regression models met strict statistical quality requirements. The comparison of the standard deviation of the load residuals showed that the first iterative method may be applied to data in both the direct read and force balance format. The second iterative method, on the other hand, implicitly assumes that the primary gage sensitivities of all balance gages exist. Therefore, the second iterative method only works if the given balance data is processed in force balance format. The calibration data set was also processed using the non-iterative method. Standard deviations of the load residuals for the three load calculation methods were compared. Overall, the standard deviations show very good agreement. The load prediction accuracies of the three methods appear to be compatible as long as regression models used to analyze the calibration data meet strict statistical quality requirements. Recent improvements of the regression model optimization tool BALFIT are also discussed in the paper.

  8. [The ideographic iteration mark in Senkinho].

    PubMed

    Matsuoka, Takanori; Yamashita, Koichi; Murasaki, Toru

    2006-06-01

    In the 7th century, Senkinho was written by Sonshibaku in the Tang dynasty China. This book that was altered in 1066 in the north Sung dynasty China has become known in the world now. However four series of books remained intact, as they were not modified. The names of each book were Senkinho Kentoushi-syouraibon, the Shincho-sonshinjin senkinho, Stein book, and the Kozlov book. Senkinho Kentoushi-syouraibon and Shincho-sonshinjin Senkinho are in Japan, while Stein and the Kozlov books are in the United Kingdom and Russia respectively. We researched the ideographic iteration marks in these books. In Senkinho Kentoushi-syouraibon, several ideographic iteration marks were used. But in Shincho-sonshinjin senkinho and the Kozlov book, only one ideographic iteration mark was used. Furthermore, there were two types of ideographic iteration marks in the Chinese character text of Senkinho Kentoushi-syouraibon. We estimated that the ideographic iteration marks in the Katakana character were transcribed between the middle era of Kamakura Japan and the early era of Muromachi Japan.

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

    NASA Technical Reports Server (NTRS)

    Gevarter, W. B.

    1982-01-01

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

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

    PubMed

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

    2007-01-01

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

  11. Deployer: A Robot-Deploying Robot

    DTIC Science & Technology

    2003-04-01

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

  12. Iterative Reconstruction of Coded Source Neutron Radiographs

    SciTech Connect

    Santos-Villalobos, Hector J; Bingham, Philip R; Gregor, Jens

    2013-01-01

    Use of a coded source facilitates high-resolution neutron imaging through magnifications but requires that the radiographic data be deconvolved. A comparison of direct deconvolution with two different iterative algorithms has been performed. One iterative algorithm is based on a maximum likelihood estimation (MLE)-like framework and the second is based on a geometric model of the neutron beam within a least squares formulation of the inverse imaging problem. Simulated data for both uniform and Gaussian shaped source distributions was used for testing to understand the impact of non-uniformities present in neutron beam distributions on the reconstructed images. Results indicate that the model based reconstruction method will match resolution and improve on contrast over convolution methods in the presence of non-uniform sources. Additionally, the model based iterative algorithm provides direct calculation of quantitative transmission values while the convolution based methods must be normalized base on known values.

  13. The Dynamics of Some Iterative Implicit Schemes

    NASA Technical Reports Server (NTRS)

    Yee, H. C.; Sweby, P. K.

    1994-01-01

    The global asymptotic nonlinear behavior of some standard iterative procedures in solving nonlinear systems of algebraic equations arising from four implicit linear multistep methods (LMMs) in discretizing 2 x 2 systems of first-order autonomous nonlinear ordinary differential equations is analyzed using the theory of dynamical systems. With the aid of parallel Connection Machines (CM-2 and CM-5), the associated bifurcation diagrams as a function of the time step, and the complex behavior of the associated 'numerical basins of attraction' of these iterative implicit schemes are revealed and compared. Studies showed that all of the four implicit LMMs exhibit a drastic distortion and segmentation but less shrinkage of the basin of attraction of the true solution than standard explicit methods. The numerical basins of attraction of a noniterative implicit procedure mimic more closely the basins of attraction of the differential equations than the iterative implicit procedures for the four implicit LMMs.

  14. The ITER in-vessel system

    SciTech Connect

    Lousteau, D.C.

    1994-09-01

    The overall programmatic objective, as defined in the ITER Engineering Design Activities (EDA) Agreement, is to demonstrate the scientific and technological feasibility of fusion energy for peaceful purposes. The ITER EDA Phase, due to last until July 1998, will encompass the design of the device and its auxiliary systems and facilities, including the preparation of engineering drawings. The EDA also incorporates validating research and development (R&D) work, including the development and testing of key components. The purpose of this paper is to review the status of the design, as it has been developed so far, emphasizing the design and integration of those components contained within the vacuum vessel of the ITER device. The components included in the in-vessel systems are divertor and first wall; blanket and shield; plasma heating, fueling, and vacuum pumping equipment; and remote handling equipment.

  15. Re-starting an Arnoldi iteration

    SciTech Connect

    Lehoucq, R.B.

    1996-12-31

    The Arnoldi iteration is an efficient procedure for approximating a subset of the eigensystem of a large sparse n x n matrix A. The iteration produces a partial orthogonal reduction of A into an upper Hessenberg matrix H{sub m} of order m. The eigenvalues of this small matrix H{sub m} are used to approximate a subset of the eigenvalues of the large matrix A. The eigenvalues of H{sub m} improve as estimates to those of A as m increases. Unfortunately, so does the cost and storage of the reduction. The idea of re-starting the Arnoldi iteration is motivated by the prohibitive cost associated with building a large factorization.

  16. Selection of plasma facing materials for ITER

    SciTech Connect

    Ulrickson, M.; Barabash, V.; Chiocchio, S.

    1996-10-01

    ITER will be the first tokamak having long pulse operation using deuterium-tritium fuel. The problem of designing heat removal structures for steady state in a neutron environment is a major technical goal for the ITER Engineering Design Activity (EDA). The steady state heat flux specified for divertor components is 5 MW/m{sup 2} for normal operation with transients to 15 MW/m{sup 2} for up to 10 s. The selection of materials for plasma facing components is one of the major research activities. Three materials are being considered for the divertor; carbon fiber composites, beryllium, and tungsten. This paper discusses the relative advantages and disadvantages of these materials. The final section of plasma facing materials for the ITER divertor will not be made until the end of the EDA.

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

    PubMed

    Dautenhahn, Kerstin

    2007-04-29

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

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

    ERIC Educational Resources Information Center

    Simkins, Michael

    2008-01-01

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

  19. Global Asymptotic Behavior of Iterative Implicit Schemes

    NASA Technical Reports Server (NTRS)

    Yee, H. C.; Sweby, P. K.

    1994-01-01

    The global asymptotic nonlinear behavior of some standard iterative procedures in solving nonlinear systems of algebraic equations arising from four implicit linear multistep methods (LMMs) in discretizing three models of 2 x 2 systems of first-order autonomous nonlinear ordinary differential equations (ODEs) is analyzed using the theory of dynamical systems. The iterative procedures include simple iteration and full and modified Newton iterations. The results are compared with standard Runge-Kutta explicit methods, a noniterative implicit procedure, and the Newton method of solving the steady part of the ODEs. Studies showed that aside from exhibiting spurious asymptotes, all of the four implicit LMMs can change the type and stability of the steady states of the differential equations (DEs). They also exhibit a drastic distortion but less shrinkage of the basin of attraction of the true solution than standard nonLMM explicit methods. The simple iteration procedure exhibits behavior which is similar to standard nonLMM explicit methods except that spurious steady-state numerical solutions cannot occur. The numerical basins of attraction of the noniterative implicit procedure mimic more closely the basins of attraction of the DEs and are more efficient than the three iterative implicit procedures for the four implicit LMMs. Contrary to popular belief, the initial data using the Newton method of solving the steady part of the DEs may not have to be close to the exact steady state for convergence. These results can be used as an explanation for possible causes and cures of slow convergence and nonconvergence of steady-state numerical solutions when using an implicit LMM time-dependent approach in computational fluid dynamics.

  20. Iterative Vessel Segmentation of Fundus Images.

    PubMed

    Roychowdhury, Sohini; Koozekanani, Dara D; Parhi, Keshab K

    2015-07-01

    This paper presents a novel unsupervised iterative blood vessel segmentation algorithm using fundus images. First, a vessel enhanced image is generated by tophat reconstruction of the negative green plane image. An initial estimate of the segmented vasculature is extracted by global thresholding the vessel enhanced image. Next, new vessel pixels are identified iteratively by adaptive thresholding of the residual image generated by masking out the existing segmented vessel estimate from the vessel enhanced image. The new vessel pixels are, then, region grown into the existing vessel, thereby resulting in an iterative enhancement of the segmented vessel structure. As the iterations progress, the number of false edge pixels identified as new vessel pixels increases compared to the number of actual vessel pixels. A key contribution of this paper is a novel stopping criterion that terminates the iterative process leading to higher vessel segmentation accuracy. This iterative algorithm is robust to the rate of new vessel pixel addition since it achieves 93.2-95.35% vessel segmentation accuracy with 0.9577-0.9638 area under ROC curve (AUC) on abnormal retinal images from the STARE dataset. The proposed algorithm is computationally efficient and consistent in vessel segmentation performance for retinal images with variations due to pathology, uneven illumination, pigmentation, and fields of view since it achieves a vessel segmentation accuracy of about 95% in an average time of 2.45, 3.95, and 8 s on images from three public datasets DRIVE, STARE, and CHASE_DB1, respectively. Additionally, the proposed algorithm has more than 90% segmentation accuracy for segmenting peripapillary blood vessels in the images from the DRIVE and CHASE_DB1 datasets.

  1. Robots for Astrobiology!

    NASA Technical Reports Server (NTRS)

    Boston, Penelope J.

    2016-01-01

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

  2. Phonons in bulk CdSe and CdSe nanowires.

    PubMed

    Mohr, Marcel; Thomsen, Christian

    2009-03-18

    We present first-principles calculations for bulk CdSe and CdSe nanowires with diameters of up to 22 A. Their electronic and structural properties are presented and discussed. The vibrational properties of bulk CdSe and the zone-center vibrations of the nanowires are calculated and analyzed. An iterative, symmetry-based relaxation method is used that yields improved results for phonon frequencies. We find that the band gap varies with the surface termination and that strongly size-dependent and nearly constant vibrational modes exist in the nanowires, depending on the displacement directions. A strong shift in frequency for specific modes is found, stemming from surface contributions to the polarization, similar to that reported for thin slabs. A comparison with experimental data from Raman measurements is given.

  3. ISS Update: Robotic Refueling Mission

    NASA Video Gallery

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

  4. Artificial intelligence: Robots with instincts

    NASA Astrophysics Data System (ADS)

    Adami, Christoph

    2015-05-01

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

  5. Industrial Robots on the Line.

    ERIC Educational Resources Information Center

    Ayres, Robert; Miller, Steve

    1982-01-01

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

  6. Basic Operational Robotics Instructional System

    NASA Technical Reports Server (NTRS)

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

    2013-01-01

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

  7. Robots Aboard International Space Station

    NASA Video Gallery

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

  8. Pediatric robotic urologic surgery-2014.

    PubMed

    Kearns, James T; Gundeti, Mohan S

    2014-07-01

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

  9. Swarm Robots Search for Multiple Targets Based on an Improved Grouping Strategy.

    PubMed

    Tang, Qirong; Ding, Lu; Yu, Fangchao; Zhang, Yuan; Li, Yinghao; Tu, Haibo

    2017-03-14

    Swarm robots search for multiple targets in collaboration in unknown environments has been addressed in this paper. An improved grouping strategy based on constriction factors Particle Swarm Optimization is proposed. Robots are grouped under this strategy after several iterations of stochastic movements, which considers the influence range of targets and environmental information they have sensed. The group structure may change dynamically and each group focuses on searching one target. All targets are supposed to be found finally. Obstacle avoidance is considered during the search process. Simulation compared with previous method demonstrates the adaptability, accuracy and efficiency of the proposed strategy in multiple targets searching.

  10. Accelerated iterative beam angle selection in IMRT

    SciTech Connect

    Bangert, Mark; Unkelbach, Jan

    2016-03-15

    Purpose: Iterative methods for beam angle selection (BAS) for intensity-modulated radiation therapy (IMRT) planning sequentially construct a beneficial ensemble of beam directions. In a naïve implementation, the nth beam is selected by adding beam orientations one-by-one from a discrete set of candidates to an existing ensemble of (n − 1) beams. The best beam orientation is identified in a time consuming process by solving the fluence map optimization (FMO) problem for every candidate beam and selecting the beam that yields the largest improvement to the objective function value. This paper evaluates two alternative methods to accelerate iterative BAS based on surrogates for the FMO objective function value. Methods: We suggest to select candidate beams not based on the FMO objective function value after convergence but (1) based on the objective function value after five FMO iterations of a gradient based algorithm and (2) based on a projected gradient of the FMO problem in the first iteration. The performance of the objective function surrogates is evaluated based on the resulting objective function values and dose statistics in a treatment planning study comprising three intracranial, three pancreas, and three prostate cases. Furthermore, iterative BAS is evaluated for an application in which a small number of noncoplanar beams complement a set of coplanar beam orientations. This scenario is of practical interest as noncoplanar setups may require additional attention of the treatment personnel for every couch rotation. Results: Iterative BAS relying on objective function surrogates yields similar results compared to naïve BAS with regard to the objective function values and dose statistics. At the same time, early stopping of the FMO and using the projected gradient during the first iteration enable reductions in computation time by approximately one to two orders of magnitude. With regard to the clinical delivery of noncoplanar IMRT treatments, we could

  11. Iterated learning and the evolution of language.

    PubMed

    Kirby, Simon; Griffiths, Tom; Smith, Kenny

    2014-10-01

    Iterated learning describes the process whereby an individual learns their behaviour by exposure to another individual's behaviour, who themselves learnt it in the same way. It can be seen as a key mechanism of cultural evolution. We review various methods for understanding how behaviour is shaped by the iterated learning process: computational agent-based simulations; mathematical modelling; and laboratory experiments in humans and non-human animals. We show how this framework has been used to explain the origins of structure in language, and argue that cultural evolution must be considered alongside biological evolution in explanations of language origins.

  12. Iterative method for generating correlated binary sequences

    NASA Astrophysics Data System (ADS)

    Usatenko, O. V.; Melnik, S. S.; Apostolov, S. S.; Makarov, N. M.; Krokhin, A. A.

    2014-11-01

    We propose an efficient iterative method for generating random correlated binary sequences with a prescribed correlation function. The method is based on consecutive linear modulations of an initially uncorrelated sequence into a correlated one. Each step of modulation increases the correlations until the desired level has been reached. The robustness and efficiency of the proposed algorithm are tested by generating sequences with inverse power-law correlations. The substantial increase in the strength of correlation in the iterative method with respect to single-step filtering generation is shown for all studied correlation functions. Our results can be used for design of disordered superlattices, waveguides, and surfaces with selective transport properties.

  13. Modified Iterative Extended Hueckel. 1: Theory

    NASA Technical Reports Server (NTRS)

    Aronowitz, S.

    1980-01-01

    Iterative Extended Huekel is modified by inclusion of explicit effective internuclear and electronic interactions. The one electron energies are shown to obey a variational principle because of the form of the effective electronic interactions. The modifications permit mimicking of aspects of valence bond theory with the additional feature that the energies associated with valence bond type structures are explicitly calculated. In turn, a hybrid molecular, orbital valence, bond scheme is introduced which incorporates variant total molecular electronic density distributions similar to the way that Iterative Extended Hueckel incorporates atoms.

  14. Robotic mitral valve surgery: overview, methodology, results, and perspective

    PubMed Central

    2016-01-01

    Robotic mitral valve repair began in 1998 and has advanced remarkably. It arose from an interest in reducing patient trauma by operating through smaller incisions with videoscopic assistance. In the United States, following two clinical trials, the FDA approved the daVinci Surgical System in 2002 for intra-cardiac surgery. This device has undergone three iterations, eventuating in the current daVinci XI. At present it is the only robotic device approved for mitral valve surgery. Many larger centers have adopted its use as part of their routine mitral valve repair armamentarium. Although these operations have longer perfusion and arrest times, complications have been either similar or less than other traditional methods. Preoperative screening is paramount and leads to optimal patient selection and outcomes. There are clear contraindications, both relative and absolute, that must be considered. Three-dimensional (3D) echocardiographic studies optimally guide surgeons in operative planning. Herein, we describe the selection criteria as well as our operative management during a robotic mitral valve repair. Major complications are detailed with tips to avoid their occurrence. Operative outcomes from the author’s series as well as those from the largest experiences in the United States are described. They show that robotic mitral valve repair is safe and effective, as well as economically reasonable due to lower costs of hospitalization. Thus, the future of this operative technique is bright for centers adopting the “heart team” approach, adequate clinical volume and a dedicated and experienced mitral repair surgeon. PMID:27942486

  15. Remote Education Based on Robot Edutainment

    NASA Astrophysics Data System (ADS)

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

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

  16. Height control of laser metal-wire deposition based on iterative learning control and 3D scanning

    NASA Astrophysics Data System (ADS)

    Heralić, Almir; Christiansson, Anna-Karin; Lennartson, Bengt

    2012-09-01

    Laser Metal-wire Deposition is an additive manufacturing technique for solid freeform fabrication of fully dense metal structures. The technique is based on robotized laser welding and wire filler material, and the structures are built up layer by layer. The deposition process is, however, sensitive to disturbances and thus requires continuous monitoring and adjustments. In this work a 3D scanning system is developed and integrated with the robot control system for automatic in-process control of the deposition. The goal is to ensure stable deposition, by means of choosing a correct offset of the robot in the vertical direction, and obtaining a flat surface, for each deposited layer. The deviations in the layer height are compensated by controlling the wire feed rate on next deposition layer, based on the 3D scanned data, by means of iterative learning control. The system is tested through deposition of bosses, which is expected to be a typical application for this technique in the manufacture of jet engine components. The results show that iterative learning control including 3D scanning is a suitable method for automatic deposition of such structures. This paper presents the equipment, the control strategy and demonstrates the proposed approach with practical experiments.

  17. Aerial Explorers and Robotic Ecosystems

    NASA Technical Reports Server (NTRS)

    Young, Larry A.; Pisanich, Greg

    2004-01-01

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

  18. Cooperative Autonomous Robots for Reconnaissance

    DTIC Science & Technology

    2009-03-06

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

  19. Higher Order Languages for Robots,

    DTIC Science & Technology

    1986-10-01

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

  20. Teen Sized Humanoid Robot: Archie

    NASA Astrophysics Data System (ADS)

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

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

  1. Investigating the Implementation of Robotics.

    DTIC Science & Technology

    1984-02-01

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

  2. US Army TARDEC: Robotics Overview

    DTIC Science & Technology

    2010-03-25

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

  3. ICAM Robotics Application Guide (RAG)

    DTIC Science & Technology

    1980-04-01

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

  4. Quantum robots plus environments.

    SciTech Connect

    Benioff, P.

    1998-07-23

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

  5. Robotics, Ethics, and Nanotechnology

    NASA Astrophysics Data System (ADS)

    Ganascia, Jean-Gabriel

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

  6. Robotic microsurgery optimization.

    PubMed

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

    2014-05-01

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

  7. Biologically inspired intelligent robots

    NASA Astrophysics Data System (ADS)

    Bar-Cohen, Yoseph; Breazeal, Cynthia

    2003-07-01

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

  8. Engineering robust intelligent robots

    NASA Astrophysics Data System (ADS)

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

    2010-01-01

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

  9. Surgery with cooperative robots.

    PubMed

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

    2008-03-01

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

  10. The problem with multiple robots

    NASA Technical Reports Server (NTRS)

    Huber, Marcus J.; Kenny, Patrick G.

    1994-01-01

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

  11. Robotics and Intelligent Systems Program

    SciTech Connect

    Not Available

    1987-06-01

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

  12. Heterogeneous Multi-Robot Cooperation

    DTIC Science & Technology

    1994-02-01

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

  13. 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.

  14. Humans and Robots. Educational Brief.

    ERIC Educational Resources Information Center

    National Aeronautics and Space Administration, Washington, DC.

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

  15. KC-135 materials handling robotics

    NASA Technical Reports Server (NTRS)

    Workman, Gary L.

    1991-01-01

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

  16. Robotic Design for the Classroom

    NASA Technical Reports Server (NTRS)

    Culbert, Chris; Burns, Kaylynn

    2001-01-01

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

  17. Robot Technology: Implications for Education.

    ERIC Educational Resources Information Center

    Post, Paul E.; And Others

    1988-01-01

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

  18. Future perspectives in robotic surgery.

    PubMed

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

    2011-09-01

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

  19. ITER Cryoplant Final Design and Construction

    NASA Astrophysics Data System (ADS)

    Monneret, E.; Benkheira, L.; Fauve, E.; Henry, D.; Voigt, T.; Badgujar, S.; Chang, H.-S.; Vincent, G.; Forgeas, A.; Navion-Maillot, N.

    2017-02-01

    The ITER Tokamak supraconducting magnets, thermal shields and cryopumps will require tremendous amount of cooling power. With an average need of 75 kW at 4.5 K and of 600 kW at 80 K, ITER requires a world class cryogenic complex. ITER then relies on a Cryoplant which consists in a cluster of systems dedicated to the management of all fluids required for the Tokamak operation. From storage and purification to liquefaction and refrigeration, the Cryoplant will supply to the distribution system, all fluids to be circulated in the Tokamak. It includes Liquid Helium Plants and Liquid Nitrogen Plants, which generate all of the refrigeration power, an 80 K helium loop capable to circulate large quantities of helium through thermal shields, and all the auxiliaries required for gas storage, purification, and onsite nitrogen production. From the conceptual phase, the design of the Cryoplant has evolved and is now nearing completion. This proceeding will present the final design of the Cryoplant and the organization for the construction phase. Also the latest status of the ITER Cryogenic System will be introduced.

  20. Iteration and Anxiety in Mathematical Literature

    ERIC Educational Resources Information Center

    Capezzi, Rita; Kinsey, L. Christine

    2016-01-01

    We describe our experiences in team-teaching an honors seminar on mathematics and literature. We focus particularly on two of the texts we read: Georges Perec's "How to Ask Your Boss for a Raise" and Alain Robbe-Grillet's "Jealousy," both of which make use of iterative structures.

  1. ITER faces further five-year delay

    NASA Astrophysics Data System (ADS)

    Clery, Daniel

    2016-06-01

    The €14bn ITER fusion reactor currently under construction in Cadarache, France, will require an additional cash injection of €4.6bn if it is to start up in 2025 - a target date that is already five years later than currently scheduled.

  2. Microtearing Instability In The ITER Pedestal

    SciTech Connect

    Wong, K. L.; Mikkelsen, D. R.; Rewoldt, G. M.; Budny, R.

    2010-12-01

    Unstable microtearing modes are discovered by the GS2 gyrokinetic siimulation code, in the pedestal region of a simulated ITER H-mode plasma with approximately 400 WM DT fusion power. Existing nonlinear theory indicates that these instabilities should produce stochastic magnetic fields and broaden the pedestal. The resulted electron thermal conductivity is estimated and the implications of these findings are discussed.

  3. Constructing Easily Iterated Functions with Interesting Properties

    ERIC Educational Resources Information Center

    Sprows, David J.

    2009-01-01

    A number of schools have recently introduced new courses dealing with various aspects of iteration theory or at least have found ways of including topics such as chaos and fractals in existing courses. In this note, we will consider a family of functions whose members are especially well suited to illustrate many of the concepts involved in these…

  4. On the safety of ITER accelerators

    PubMed Central

    Li, Ge

    2013-01-01

    Three 1 MV/40A accelerators in heating neutral beams (HNB) are on track to be implemented in the International Thermonuclear Experimental Reactor (ITER). ITER may produce 500 MWt of power by 2026 and may serve as a green energy roadmap for the world. They will generate −1 MV 1 h long-pulse ion beams to be neutralised for plasma heating. Due to frequently occurring vacuum sparking in the accelerators, the snubbers are used to limit the fault arc current to improve ITER safety. However, recent analyses of its reference design have raised concerns. General nonlinear transformer theory is developed for the snubber to unify the former snubbers' different design models with a clear mechanism. Satisfactory agreement between theory and tests indicates that scaling up to a 1 MV voltage may be possible. These results confirm the nonlinear process behind transformer theory and map out a reliable snubber design for a safer ITER. PMID:24008267

  5. Matched filter based iterative adaptive approach

    NASA Astrophysics Data System (ADS)

    Nepal, Ramesh; Zhang, Yan Rockee; Li, Zhengzheng; Blake, William

    2016-05-01

    Matched Filter sidelobes from diversified LPI waveform design and sensor resolution are two important considerations in radars and active sensors in general. Matched Filter sidelobes can potentially mask weaker targets, and low sensor resolution not only causes a high margin of error but also limits sensing in target-rich environment/ sector. The improvement in those factors, in part, concern with the transmitted waveform and consequently pulse compression techniques. An adaptive pulse compression algorithm is hence desired that can mitigate the aforementioned limitations. A new Matched Filter based Iterative Adaptive Approach, MF-IAA, as an extension to traditional Iterative Adaptive Approach, IAA, has been developed. MF-IAA takes its input as the Matched Filter output. The motivation here is to facilitate implementation of Iterative Adaptive Approach without disrupting the processing chain of traditional Matched Filter. Similar to IAA, MF-IAA is a user parameter free, iterative, weighted least square based spectral identification algorithm. This work focuses on the implementation of MF-IAA. The feasibility of MF-IAA is studied using a realistic airborne radar simulator as well as actual measured airborne radar data. The performance of MF-IAA is measured with different test waveforms, and different Signal-to-Noise (SNR) levels. In addition, Range-Doppler super-resolution using MF-IAA is investigated. Sidelobe reduction as well as super-resolution enhancement is validated. The robustness of MF-IAA with respect to different LPI waveforms and SNR levels is also demonstrated.

  6. Solving Differential Equations Using Modified Picard Iteration

    ERIC Educational Resources Information Center

    Robin, W. A.

    2010-01-01

    Many classes of differential equations are shown to be open to solution through a method involving a combination of a direct integration approach with suitably modified Picard iterative procedures. The classes of differential equations considered include typical initial value, boundary value and eigenvalue problems arising in physics and…

  7. Iteration of Complex Functions and Newton's Method

    ERIC Educational Resources Information Center

    Dwyer, Jerry; Barnard, Roger; Cook, David; Corte, Jennifer

    2009-01-01

    This paper discusses some common iterations of complex functions. The presentation is such that similar processes can easily be implemented and understood by undergraduate students. The aim is to illustrate some of the beauty of complex dynamics in an informal setting, while providing a couple of results that are not otherwise readily available in…

  8. Iterated rippled noise discrimination at long durations.

    PubMed

    Yost, William A

    2009-09-01

    Iterated rippled noise (IRN) was used to study discrimination of IRN stimuli with a lower number of iterations from IRN stimuli with a higher number of iterations as a function of stimulus duration (100-2000 ms). Such IRN stimuli differ in the strength of the repetition pitch. In some cases, the gain used to generate IRN stimuli was adjusted so that both IRN stimuli in the discrimination task had the same height of the first peak in the autocorrelation function or autocorrelogram. In previous work involving short-duration IRN stimuli (<500 ms), listeners were not able to discriminate between IRN stimuli that had different numbers of iterations but the same height of the first peak in the autocorrelation function. In the current study, IRN discrimination performance improved with increases in duration, even in cases when the height of the first peak in the autocorrelation was the same for the two IRN stimuli. Thus, future studies involving discrimination of IRN stimuli may need to use longer durations (1 s or greater) than those that have been used in the past.

  9. Iterative solution of the Helmholtz equation

    SciTech Connect

    Larsson, E.; Otto, K.

    1996-12-31

    We have shown that the numerical solution of the two-dimensional Helmholtz equation can be obtained in a very efficient way by using a preconditioned iterative method. We discretize the equation with second-order accurate finite difference operators and take special care to obtain non-reflecting boundary conditions. We solve the large, sparse system of equations that arises with the preconditioned restarted GMRES iteration. The preconditioner is of {open_quotes}fast Poisson type{close_quotes}, and is derived as a direct solver for a modified PDE problem.The arithmetic complexity for the preconditioner is O(n log{sub 2} n), where n is the number of grid points. As a test problem we use the propagation of sound waves in water in a duct with curved bottom. Numerical experiments show that the preconditioned iterative method is very efficient for this type of problem. The convergence rate does not decrease dramatically when the frequency increases. Compared to banded Gaussian elimination, which is a standard solution method for this type of problems, the iterative method shows significant gain in both storage requirement and arithmetic complexity. Furthermore, the relative gain increases when the frequency increases.

  10. Human-Robot Interaction

    NASA Technical Reports Server (NTRS)

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

    2012-01-01

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

  11. Transoral Robotic Surgery.

    PubMed

    Yee, Shokjean

    2017-01-01

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

  12. Advanced mechanisms for robotics

    NASA Technical Reports Server (NTRS)

    Vranish, John M.

    1992-01-01

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

  13. The universal robot

    NASA Technical Reports Server (NTRS)

    Moravec, Hans

    1993-01-01

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

  14. 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.

  15. The universal robot

    NASA Astrophysics Data System (ADS)

    Moravec, Hans

    1993-12-01

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

  16. FIRST robots compete

    NASA Technical Reports Server (NTRS)

    2000-01-01

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

  17. An iterative approach of protein function prediction

    PubMed Central

    2011-01-01

    Background Current approaches of predicting protein functions from a protein-protein interaction (PPI) dataset are based on an assumption that the available functions of the proteins (a.k.a. annotated proteins) will determine the functions of the proteins whose functions are unknown yet at the moment (a.k.a. un-annotated proteins). Therefore, the protein function prediction is a mono-directed and one-off procedure, i.e. from annotated proteins to un-annotated proteins. However, the interactions between proteins are mutual rather than static and mono-directed, although functions of some proteins are unknown for some reasons at present. That means when we use the similarity-based approach to predict functions of un-annotated proteins, the un-annotated proteins, once their functions are predicted, will affect the similarities between proteins, which in turn will affect the prediction results. In other words, the function prediction is a dynamic and mutual procedure. This dynamic feature of protein interactions, however, was not considered in the existing prediction algorithms. Results In this paper, we propose a new prediction approach that predicts protein functions iteratively. This iterative approach incorporates the dynamic and mutual features of PPI interactions, as well as the local and global semantic influence of protein functions, into the prediction. To guarantee predicting functions iteratively, we propose a new protein similarity from protein functions. We adapt new evaluation metrics to evaluate the prediction quality of our algorithm and other similar algorithms. Experiments on real PPI datasets were conducted to evaluate the effectiveness of the proposed approach in predicting unknown protein functions. Conclusions The iterative approach is more likely to reflect the real biological nature between proteins when predicting functions. A proper definition of protein similarity from protein functions is the key to predicting functions iteratively. The

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

    ERIC Educational Resources Information Center

    Kazakoff, Elizabeth R.; Bers, Marina Umaschi

    2014-01-01

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

  19. Embedding knowledge in robot controllers

    SciTech Connect

    Puttre, M.

    1994-06-01

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

  20. Robust Software Architecture for Robots

    NASA Technical Reports Server (NTRS)

    Aghazanian, Hrand; Baumgartner, Eric; Garrett, Michael

    2009-01-01

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

  1. Joint service EOD robotics program

    NASA Astrophysics Data System (ADS)

    Hacker, Kurt; Brezina, Byron; DeBolt, Chris

    2006-05-01

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

  2. Morphological Evolution of Physical Robots through Model-Free Phenotype Development

    PubMed Central

    Brodbeck, Luzius; Hauser, Simon; Iida, Fumiya

    2015-01-01

    Artificial evolution of physical systems is a stochastic optimization method in which physical machines are iteratively adapted to a target function. The key for a meaningful design optimization is the capability to build variations of physical machines through the course of the evolutionary process. The optimization in turn no longer relies on complex physics models that are prone to the reality gap, a mismatch between simulated and real-world behavior. We report model-free development and evaluation of phenotypes in the artificial evolution of physical systems, in which a mother robot autonomously designs and assembles locomotion agents. The locomotion agents are automatically placed in the testing environment and their locomotion behavior is analyzed in the real world. This feedback is used for the design of the next iteration. Through experiments with a total of 500 autonomously built locomotion agents, this article shows diversification of morphology and behavior of physical robots for the improvement of functionality with limited resources. PMID:26091255

  3. 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.

  4. Robotic component preparation

    SciTech Connect

    Dokos, J.R.

    1986-04-01

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

  5. Robotic retroauricular thyroid surgery

    PubMed Central

    Alabbas, Haytham; Bu Ali, Daniah

    2016-01-01

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

  6. Dextrous robot hands

    NASA Technical Reports Server (NTRS)

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

    1990-01-01

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

  7. Transoral robotic thyroid surgery

    PubMed Central

    Clark, James H.; Kim, Hoon Yub

    2015-01-01

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

  8. Microwave vision for robots

    NASA Technical Reports Server (NTRS)

    Lewandowski, Leon; Struckman, Keith

    1994-01-01

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

  9. Robotic Planetary Drill Tests

    NASA Technical Reports Server (NTRS)

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

    2010-01-01

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

  10. Testing Short Samples of ITER Conductors and Projection of Their Performance in ITER Magnets

    SciTech Connect

    Martovetsky, N N

    2007-08-20

    Qualification of the ITER conductor is absolutely necessary. Testing large scale conductors is expensive and time consuming. To test straight 3-4m long samples in a bore of a split solenoid is a relatively economical way in comparison with fabrication of a coil to be tested in a bore of a background field solenoid. However, testing short sample may give ambiguous results due to different constraints in current redistribution in the cable or other end effects which are not present in the large magnet. This paper discusses processes taking place in the ITER conductor, conditions when conductor performance could be distorted and possible signal processing to deduce behavior of ITER conductors in ITER magnets from the test data.

  11. 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.

  12. Hiding robot inertia using resonance.

    PubMed

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

    2010-01-01

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

  13. 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

  14. A bioinspired modular aquatic robot

    NASA Astrophysics Data System (ADS)

    Tallapragada, Phanindra; Pollard, Beau

    2016-11-01

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

  15. Robots in industry: an overview.

    PubMed

    Edwards, M

    1984-03-01

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

  16. Reinforcement learning for robot control

    NASA Astrophysics Data System (ADS)

    Smart, William D.; Pack Kaelbling, Leslie

    2002-02-01

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

  17. Robotic servicing of EOS instruments

    NASA Technical Reports Server (NTRS)

    Razzaghi, Andrea I.; Juberts, Maris

    1990-01-01

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

  18. Intelligent Robots for Factory Automation

    NASA Astrophysics Data System (ADS)

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

    1985-04-01

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

  19. [Robotic surgery in gynecology].

    PubMed

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

    2012-12-01

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

  20. Reducing the latency of the Fractal Iterative Method to half an iteration

    NASA Astrophysics Data System (ADS)

    Béchet, Clémentine; Tallon, Michel

    2013-12-01

    The fractal iterative method for atmospheric tomography (FRiM-3D) has been introduced to solve the wavefront reconstruction at the dimensions of an ELT with a low-computational cost. Previous studies reported the requirement of only 3 iterations of the algorithm in order to provide the best adaptive optics (AO) performance. Nevertheless, any iterative method in adaptive optics suffer from the intrinsic latency induced by the fact that one iteration can start only once the previous one is completed. Iterations hardly match the low-latency requirement of the AO real-time computer. We present here a new approach to avoid iterations in the computation of the commands with FRiM-3D, thus allowing low-latency AO response even at the scale of the European ELT (E-ELT). The method highlights the importance of "warm-start" strategy in adaptive optics. To our knowledge, this particular way to use the "warm-start" has not been reported before. Futhermore, removing the requirement of iterating to compute the commands, the computational cost of the reconstruction with FRiM-3D can be simplified and at least reduced to half the computational cost of a classical iteration. Thanks to simulations of both single-conjugate and multi-conjugate AO for the E-ELT,with FRiM-3D on Octopus ESO simulator, we demonstrate the benefit of this approach. We finally enhance the robustness of this new implementation with respect to increasing measurement noise, wind speed and even modeling errors.

  1. SE-FIT

    NASA Technical Reports Server (NTRS)

    Chen, Yongkang; Weislogel, Mark; Schaeffer, Ben; Semerjian, Ben; Yang, Lihong; Zimmerli, Gregory

    2012-01-01

    The mathematical theory of capillary surfaces has developed steadily over the centuries, but it was not until the last few decades that new technologies have put a more urgent demand on a substantially more qualitative and quantitative understanding of phenomena relating to capillarity in general. So far, the new theory development successfully predicts the behavior of capillary surfaces for special cases. However, an efficient quantitative mathematical prediction of capillary phenomena related to the shape and stability of geometrically complex equilibrium capillary surfaces remains a significant challenge. As one of many numerical tools, the open-source Surface Evolver (SE) algorithm has played an important role over the last two decades. The current effort was undertaken to provide a front-end to enhance the accessibility of SE for the purposes of design and analysis. Like SE, the new code is open-source and will remain under development for the foreseeable future. The ultimate goal of the current Surface Evolver Fluid Interface Tool (SEFIT) development is to build a fully integrated front-end with a set of graphical user interface (GUI) elements. Such a front-end enables the access to functionalities that are developed along with the GUIs to deal with pre-processing, convergence computation operation, and post-processing. In other words, SE-FIT is not just a GUI front-end, but an integrated environment that can perform sophisticated computational tasks, e.g. importing industry standard file formats and employing parameter sweep functions, which are both lacking in SE, and require minimal interaction by the user. These functions are created using a mixture of Visual Basic and the SE script language. These form the foundation for a high-performance front-end that substantially simplifies use without sacrificing the proven capabilities of SE. The real power of SE-FIT lies in its automated pre-processing, pre-defined geometries, convergence computation operation

  2. Overview on Experiments On ITER-like Antenna On JET And ICRF Antenna Design For ITER

    SciTech Connect

    Nightingale, M. P. S.; Blackman, T.; Edwards, D.; Fanthome, J.; Graham, M.; Hamlyn-Harris, C.; Hancock, D.; Jacquet, P.; Mayoral, M.-L.; Monakhov, I.; Nicholls, K.; Stork, D.; Whitehurst, A.; Wilson, D.; Wooldridge, E.

    2009-11-26

    Following an overview of the ITER Ion Cyclotron Resonance Frequency (ICRF) system, the JET ITER-like antenna (ILA) will be described. The ILA was designed to test the following ITER issues: (a) reliable operation at power densities of order 8 MW/m{sup 2} at voltages up to 45 kV using a close-packed array of straps; (b) powering through ELMs using an internal (in-vacuum) conjugate-T junction; (c) protection from arcing in a conjugate-T configuration, using both existing and novel systems; and (d) resilience to disruption forces. ITER-relevant results have been achieved: operation at high coupled power density; control of the antenna matching elements in the presence of high inter-strap coupling, use of four conjugate-T systems (as would be used in ITER, should a conjugate-T approach be used); operation with RF voltages on the antenna structures up to 42 kV; achievement of ELM tolerance with a conjugate-T configuration by operating at 3{omega} real impedance at the conjugate-T point; and validation of arc detection systems on conjugate-T configurations in ELMy H-mode plasmas. The impact of these results on the predicted performance and design of the ITER antenna will be reviewed. In particular, the implications of the RF coupling measured on JET will be discussed.

  3. Model Based Iterative Reconstruction for Bright Field Electron Tomography (Postprint)

    DTIC Science & Technology

    2013-02-01

    Reconstruction Technique ( SIRT ) are applied to the data. Model based iterative reconstruction (MBIR) provides a powerful framework for tomographic...the reconstruction when the typical algorithms such as Filtered Back Projection (FBP) and Simultaneous Iterative Reconstruction Technique ( SIRT ) are

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

    NASA Astrophysics Data System (ADS)

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

    2008-04-01

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

  5. Iterative color constancy with temporal filtering for an image sequence with no relative motion between the camera and the scene.

    PubMed

    Simão, Josemar; Jörg Andreas Schneebeli, Hans; Vassallo, Raquel Frizera

    2015-11-01

    Color constancy is the ability to perceive the color of a surface as invariant even under changing illumination. In outdoor applications, such as mobile robot navigation or surveillance, the lack of this ability harms the segmentation, tracking, and object recognition tasks. The main approaches for color constancy are generally targeted to static images and intend to estimate the scene illuminant color from the images. We present an iterative color constancy method with temporal filtering applied to image sequences in which reference colors are estimated from previous corrected images. Furthermore, two strategies to sample colors from the images are tested. The proposed method has been tested using image sequences with no relative movement between the scene and the camera. It also has been compared with known color constancy algorithms such as gray-world, max-RGB, and gray-edge. In most cases, the iterative color constancy method achieved better results than the other approaches.

  6. New frontiers for psychology and education: robotics.

    PubMed

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

    2004-06-01

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

  7. Iterative Assembly of Helical Proteins by Optimal Hydrophobic Packing

    PubMed Central

    Wu, G. Albert; Coutsias, Evangelos A.; Dill, Ken A.

    2008-01-01

    SUMMARY We present a method for the computer-based iterative assembly of native-like tertiary structures of helical proteins from alpha-helical fragments. For any pair of helices, our method, called MATCHSTIX, first generates an ensemble of possible relative orientations of the helices with various ways to form hydrophobic contacts between them. Those conformations having steric clashes, or a large radius of gyration of hydrophobic residues, or with helices too far separated to be connected by the intervening linking region, are discarded. Then, we attempt to connect the two helical fragments by using a robotics-based loop-closure algorithm. When loop closure is feasible, the algorithm generates an ensemble of viable interconnecting loops. After energy minimization and clustering, we use a representative set of conformations for further assembly with the remaining helices, adding one helix at a time. To efficiently sample the conformational space, the order of assembly generally proceeds from the pair of helices connected by the shortest loop, followed by joining one of its adjacent helices, always proceeding with the shorter connecting loop. We tested MATCHSTIX on 28 helical proteins each containing up to 5 helices and found it to heavily sample native-like conformations. The average RMSD of the best conformations for the 17 helix-bundle proteins that have 2 or 3 helices is less than 2 Å; errors increase somewhat for proteins containing more helices. Native-like states are even more densely sampled when disulfide bonds are known and imposed as restraints. We conclude that, at least for helical proteins, if the secondary structures are known, this rapid rigid-body maximization of hydrophobic interactions can lead to small ensembles of highly native-like structures. It may be useful for protein structure prediction. PMID:18682227

  8. Savannah River Site Robotics

    SciTech Connect

    2010-01-01

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

  9. MRV - Modular Robotic Vehicle

    NASA Technical Reports Server (NTRS)

    Ridley, Justin; Bluethmann, Bill

    2015-01-01

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

  10. Savannah River Site Robotics

    ScienceCinema

    None

    2016-07-12

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

  11. Artificial intelligence and robotics

    SciTech Connect

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

    1982-09-01

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

  12. Brain controlled robots.

    PubMed

    Kawato, Mitsuo

    2008-06-01

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

  13. Information Robots and Manipulators.

    ERIC Educational Resources Information Center

    Katys, G. P.; And Others

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

  14. Space robot simulator vehicle

    NASA Technical Reports Server (NTRS)

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

    1985-01-01

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

  15. Robot Serviced Space Facility

    NASA Technical Reports Server (NTRS)

    Purves, Lloyd R. (Inventor)

    1992-01-01

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

  16. [Radical prostatectomy - pro robotic].

    PubMed

    Gillitzer, R

    2012-05-01

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

  17. Autonomous Robot Skill Acquisition

    DTIC Science & Technology

    2011-05-01

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

  18. Robots in the Kindergarten.

    ERIC Educational Resources Information Center

    Keller, Joan; Shanahan, Dolores

    1983-01-01

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

  19. Robotic surgery in gynecology.

    PubMed

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

    2016-01-01

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

  20. Robot Manipulator Control.

    DTIC Science & Technology

    1983-03-07

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

  1. Emotions in robot psychology.

    PubMed

    Nitsch, V; Popp, M

    2014-10-01

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

  2. Robotic and Survey Telescopes

    NASA Astrophysics Data System (ADS)

    Woźniak, Przemysław

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

  3. Industrial robot's vision systems

    NASA Astrophysics Data System (ADS)

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

    2016-03-01

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

  4. Linearization of Robot Manipulators

    NASA Technical Reports Server (NTRS)

    Kreutz, Kenneth

    1987-01-01

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

  5. Robotic surgery in gynecology

    PubMed Central

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

    2016-01-01

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

  6. Mathematics and "Lego" Robots

    ERIC Educational Resources Information Center

    Hansen, Janus Halkier; Traeholt, Rune

    2007-01-01

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

  7. Robotic Water Blast Cleaner

    NASA Technical Reports Server (NTRS)

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

    1983-01-01

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

  8. Robotic Firefighting Technologies

    DTIC Science & Technology

    2010-12-01

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

  9. The Iterative Structure Analysis of Montgomery Modular Multiplication

    NASA Astrophysics Data System (ADS)

    Jinbo, Wang

    2007-09-01

    Montgomery modular multiplication (MMM) plays a crucial role in the implementation of modular exponentiations of public-key cryptography. In this paper, we discuss the iterative structure and extend the iterative bound condition of MMM. It can be applied to complicated modular exponentiations. Based on the iterative condition of MMM, we can directly use non-modular additions, subtractions and even simple multiplications instead of the modular forms, which make modular exponentiation operation very efficient but more importantly iterative applicability of MMM.

  10. Iterative performance of various formulations of the SPN equations

    NASA Astrophysics Data System (ADS)

    Zhang, Yunhuang; Ragusa, Jean C.; Morel, Jim E.

    2013-11-01

    In this paper, the Standard, Composite, and Canonical forms of the Simplified PN (SPN) equations are reviewed and their corresponding iterative properties are compared. The Gauss-Seidel (FLIP), Explicit, and preconditioned Source Iteration iterative schemes have been analyzed for both isotropic and highly anisotropic (Fokker-Planck) scattering. The iterative performance of the various SPN forms is assessed using Fourier analysis, corroborated with numerical experiments.

  11. Developing Humanoid Robots for Real-World Environments

    NASA Technical Reports Server (NTRS)

    Stoica, Adrian; Kuhlman, Michael; Assad, Chris; Keymeulen, Didier

    2008-01-01

    Humanoids are steadily improving in appearance and functionality demonstrated in controlled environments. To address the challenges of operation in the real-world, researchers have proposed the use of brain-inspired architectures for robot control, and the use of robot learning techniques that enable the robot to acquire and tune skills and behaviours. In the first part of the paper we introduce new concepts and results in these two areas. First, we present a cerebellum-inspired model that demonstrated efficiency in the sensory-motor control of anthropomorphic arms, and in gait control of dynamic walkers. Then, we present a set of new ideas related to robot learning, emphasizing the importance of developing teaching techniques that support learning. In the second part of the paper we propose the use in robotics of the iterative and incremental development methodologies, in the context of practical task-oriented applications. These methodologies promise to rapidly reach system-level integration, and to early identify system-level weaknesses to focus on. We apply this methodology in a task targeting the automated assembly of a modular structure using HOAP-2. We confirm this approach led to rapid development of a end-to-end capability, and offered guidance on which technologies to focus on for gradual improvement of a complete functional system. It is believed that providing Grand Challenge type milestones in practical task-oriented applications accelerates development. As a meaningful target in short-mid term we propose the 'IKEA Challenge', aimed at the demonstration of autonomous assembly of various pieces of furniture, from the box, following included written/drawn instructions.

  12. Soldier universal robot controller

    NASA Astrophysics Data System (ADS)

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

    2008-04-01

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

  13. Robotic Rock Classification

    NASA Technical Reports Server (NTRS)

    Hebert, Martial

    1999-01-01

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

  14. Application Of Iterative Reconstruction Techniques To Conventional Circular Tomography

    NASA Astrophysics Data System (ADS)

    Ghosh Roy, D. N.; Kruger, R. A.; Yih, B. C.; Del Rio, S. P.; Power, R. L.

    1985-06-01

    Two "point-by-point" iteration procedures, namely, Iterative Least Square Technique (ILST) and Simultaneous Iterative Reconstructive Technique (SIRT) were applied to classical circular tomographic reconstruction. The technique of tomosynthetic DSA was used in forming the tomographic images. Reconstructions of a dog's renal and neck anatomy are presented.

  15. Iterative Brinkman penalization for remeshed vortex methods

    NASA Astrophysics Data System (ADS)

    Hejlesen, Mads Mølholm; Koumoutsakos, Petros; Leonard, Anthony; Walther, Jens Honoré

    2015-01-01

    We introduce an iterative Brinkman penalization method for the enforcement of the no-slip boundary condition in remeshed vortex methods. In the proposed method, the Brinkman penalization is applied iteratively only in the neighborhood of the body. This allows for using significantly larger time steps, than what is customary in the Brinkman penalization, thus reducing its computational cost while maintaining the capability of the method to handle complex geometries. We demonstrate the accuracy of our method by considering challenging benchmark problems such as flow past an impulsively started cylinder and normal to an impulsively started and accelerated flat plate. We find that the present method enhances significantly the accuracy of the Brinkman penalization technique for the simulations of highly unsteady flows past complex geometries.

  16. New iterative solvers for the NAG Libraries

    SciTech Connect

    Salvini, S.; Shaw, G.

    1996-12-31

    The purpose of this paper is to introduce the work which has been carried out at NAG Ltd to update the iterative solvers for sparse systems of linear equations, both symmetric and unsymmetric, in the NAG Fortran 77 Library. Our current plans to extend this work and include it in our other numerical libraries in our range are also briefly mentioned. We have added to the Library the new Chapter F11, entirely dedicated to sparse linear algebra. At Mark 17, the F11 Chapter includes sparse iterative solvers, preconditioners, utilities and black-box routines for sparse symmetric (both positive-definite and indefinite) linear systems. Mark 18 will add solvers, preconditioners, utilities and black-boxes for sparse unsymmetric systems: the development of these has already been completed.

  17. Linear iterative solvers for implicit ODE methods

    NASA Technical Reports Server (NTRS)

    Saylor, Paul E.; Skeel, Robert D.

    1990-01-01

    The numerical solution of stiff initial value problems, which lead to the problem of solving large systems of mildly nonlinear equations are considered. For many problems derived from engineering and science, a solution is possible only with methods derived from iterative linear equation solvers. A common approach to solving the nonlinear equations is to employ an approximate solution obtained from an explicit method. The error is examined to determine how it is distributed among the stiff and non-stiff components, which bears on the choice of an iterative method. The conclusion is that error is (roughly) uniformly distributed, a fact that suggests the Chebyshev method (and the accompanying Manteuffel adaptive parameter algorithm). This method is described, also commenting on Richardson's method and its advantages for large problems. Richardson's method and the Chebyshev method with the Mantueffel algorithm are applied to the solution of the nonlinear equations by Newton's method.

  18. ITER Shape Controller and Transport Simulations

    SciTech Connect

    Casper, T A; Meyer, W H; Pearlstein, L D; Portone, A

    2007-05-31

    We currently use the CORSICA integrated modeling code for scenario studies for both the DIII-D and ITER experiments. In these simulations, free- or fixed-boundary equilibria are simultaneously converged with thermal evolution determined from transport models providing temperature and current density profiles. Using a combination of fixed boundary evolution followed by free-boundary calculation to determine the separatrix and coil currents. In the free-boundary calculation, we use the state-space controller representation with transport simulations to provide feedback modeling of shape, vertical stability and profile control. In addition to a tightly coupled calculation with simulator and controller imbedded inside CORSICA, we also use a remote procedure call interface to couple the CORSICA non-linear plasma simulations to the controller environments developed within the Mathworks Matlab/Simulink environment. We present transport simulations using full shape and vertical stability control with evolution of the temperature profiles to provide simulations of the ITER controller and plasma response.

  19. Iterative Reconstruction of Coded Source Neutron Radiographs

    SciTech Connect

    Santos-Villalobos, Hector J; Bingham, Philip R; Gregor, Jens

    2012-01-01

    Use of a coded source facilitates high-resolution neutron imaging but requires that the radiographic data be deconvolved. In this paper, we compare direct deconvolution with two different iterative algorithms, namely, one based on direct deconvolution embedded in an MLE-like framework and one based on a geometric model of the neutron beam and a least squares formulation of the inverse imaging problem.

  20. Iterative solution of high order compact systems

    SciTech Connect

    Spotz, W.F.; Carey, G.F.

    1996-12-31

    We have recently developed a class of finite difference methods which provide higher accuracy and greater stability than standard central or upwind difference methods, but still reside on a compact patch of grid cells. In the present study we investigate the performance of several gradient-type iterative methods for solving the associated sparse systems. Both serial and parallel performance studies have been made. Representative examples are taken from elliptic PDE`s for diffusion, convection-diffusion, and viscous flow applications.

  1. Disruptions, loads, and dynamic response of ITER

    SciTech Connect

    Nelson, B.; Riemer, B.; Sayer, R.; Strickler, D.; Barabaschi, P.; Ioki, K.; Johnson, G.; Shimizu, K.; Williamson, D.

    1995-12-31

    Plasma disruptions and the resulting electromagnetic loads are critical to the design of the vacuum vessel and in-vessel components of the International Thermonuclear Experimental Reactor (ITER). This paper describes the status of plasma disruption simulations and related analysis, including the dynamic response of the vacuum vessel and in-vessel components, stresses and deflections in the vacuum vessel, and reaction loads in the support structures.

  2. Iterates of a Berezin-type transform

    NASA Astrophysics Data System (ADS)

    Liu, Congwen

    2007-05-01

    Let be the open unit ball of and dV denote the Lebesgue measure on normalized so that the measure of equals 1. Suppose . The Berezin-type transform of f is defined by We prove that if then the iterates converge to the Poisson extension of the boundary values of f, as k-->[infinity]. This can be viewed as a higher dimensional generalization of a previous result obtained independently by Englis and Zhu.

  3. Iterative solution of the supereigenvalue model

    NASA Astrophysics Data System (ADS)

    Plefka, Jan C.

    1995-02-01

    An integral form of the discrete superloop equations for the supereigenvalue model of Alvarez-Gaumé, Itoyama, Mañes and Zadra is given. By a change of variables from coupling constants to moments we find a compact form of the planar solution for general potentials. In this framework an iterative scheme for the calculation of higher genera contributions to the free energy and the multi-loop correlators is developed. We present explicit results for genus one.

  4. Fourier analysis of the SOR iteration

    NASA Technical Reports Server (NTRS)

    Leveque, R. J.; Trefethen, L. N.

    1986-01-01

    The SOR iteration for solving linear systems of equations depends upon an overrelaxation factor omega. It is shown that for the standard model problem of Poisson's equation on a rectangle, the optimal omega and corresponding convergence rate can be rigorously obtained by Fourier analysis. The trick is to tilt the space-time grid so that the SOR stencil becomes symmetrical. The tilted grid also gives insight into the relation between convergence rates of several variants.

  5. ICRF Review: From ERASMUS To ITER

    SciTech Connect

    Weynants, R. R.

    2009-11-26

    This is a personal account of how I saw ICRF evolve since 1974, with a presentation that is ordered according to the topics: heating, antenna coupling, impurity generation/mitigation and system technology. The nature of the main issues is each time reviewed, recent findings are incorporated, and it is shown how the ICRF community has been able to react to sometimes rapidly changing demands and is indeed resolutely preparing ITER.

  6. The dynamics of iterated transportation simulations

    SciTech Connect

    Nagel, K.; Rickert, M.; Simon, P.M.

    1998-12-01

    Transportation-related decisions of people often depend on what everybody else is doing. For example, decisions about mode choice, route choice, activity scheduling, etc., can depend on congestion, caused by the aggregated behavior of others. From a conceptual viewpoint, this consistency problem causes a deadlock, since nobody can start planning because they do not know what everybody else is doing. It is the process of iterations that is examined in this paper as a method for solving the problem. In this paper, the authors concentrate on the aspect of the iterative process that is probably the most important one from a practical viewpoint, and that is the ``uniqueness`` or ``robustness`` of the results. Also, they define robustness more in terms of common sense than in terms of a mathematical formalism. For this, they do not only want a single iterative process to converge, but they want the result to be independent of any particular implementation. The authors run many computational experiments, sometimes with variations of the same code, sometimes with totally different code, in order to see if any of the results are robust against these changes.

  7. Conformal mapping and convergence of Krylov iterations

    SciTech Connect

    Driscoll, T.A.; Trefethen, L.N.

    1994-12-31

    Connections between conformal mapping and matrix iterations have been known for many years. The idea underlying these connections is as follows. Suppose the spectrum of a matrix or operator A is contained in a Jordan region E in the complex plane with 0 not an element of E. Let {phi}(z) denote a conformal map of the exterior of E onto the exterior of the unit disk, with {phi}{infinity} = {infinity}. Then 1/{vert_bar}{phi}(0){vert_bar} is an upper bound for the optimal asymptotic convergence factor of any Krylov subspace iteration. This idea can be made precise in various ways, depending on the matrix iterations, on whether A is finite or infinite dimensional, and on what bounds are assumed on the non-normality of A. This paper explores these connections for a variety of matrix examples, making use of a new MATLAB Schwarz-Christoffel Mapping Toolbox developed by the first author. Unlike the earlier Fortran Schwarz-Christoffel package SCPACK, the new toolbox computes exterior as well as interior Schwarz-Christoffel maps, making it easy to experiment with spectra that are not necessarily symmetric about an axis.

  8. Iterative pass optimization of sequence data

    NASA Technical Reports Server (NTRS)

    Wheeler, Ward C.

    2003-01-01

    The problem of determining the minimum-cost hypothetical ancestral sequences for a given cladogram is known to be NP-complete. This "tree alignment" problem has motivated the considerable effort placed in multiple sequence alignment procedures. Wheeler in 1996 proposed a heuristic method, direct optimization, to calculate cladogram costs without the intervention of multiple sequence alignment. This method, though more efficient in time and more effective in cladogram length than many alignment-based procedures, greedily optimizes nodes based on descendent information only. In their proposal of an exact multiple alignment solution, Sankoff et al. in 1976 described a heuristic procedure--the iterative improvement method--to create alignments at internal nodes by solving a series of median problems. The combination of a three-sequence direct optimization with iterative improvement and a branch-length-based cladogram cost procedure, provides an algorithm that frequently results in superior (i.e., lower) cladogram costs. This iterative pass optimization is both computation and memory intensive, but economies can be made to reduce this burden. An example in arthropod systematics is discussed. c2003 The Willi Hennig Society. Published by Elsevier Science (USA). All rights reserved.

  9. Iterative pass optimization of sequence data.

    PubMed

    Wheeler, Ward C

    2003-06-01

    The problem of determining the minimum-cost hypothetical ancestral sequences for a given cladogram is known to be NP-complete. This "tree alignment" problem has motivated the considerable effort placed in multiple sequence alignment procedures. Wheeler in 1996 proposed a heuristic method, direct optimization, to calculate cladogram costs without the intervention of multiple sequence alignment. This method, though more efficient in time and more effective in cladogram length than many alignment-based procedures, greedily optimizes nodes based on descendent information only. In their proposal of an exact multiple alignment solution, Sankoff et al. in 1976 described a heuristic procedure--the iterative improvement method--to create alignments at internal nodes by solving a series of median problems. The combination of a three-sequence direct optimization with iterative improvement and a branch-length-based cladogram cost procedure, provides an algorithm that frequently results in superior (i.e., lower) cladogram costs. This iterative pass optimization is both computation and memory intensive, but economies can be made to reduce this burden. An example in arthropod systematics is discussed.

  10. Iterative solution of the semiconductor device equations

    SciTech Connect

    Bova, S.W.; Carey, G.F.

    1996-12-31

    Most semiconductor device models can be described by a nonlinear Poisson equation for the electrostatic potential coupled to a system of convection-reaction-diffusion equations for the transport of charge and energy. These equations are typically solved in a decoupled fashion and e.g. Newton`s method is used to obtain the resulting sequences of linear systems. The Poisson problem leads to a symmetric, positive definite system which we solve iteratively using conjugate gradient. The transport equations lead to nonsymmetric, indefinite systems, thereby complicating the selection of an appropriate iterative method. Moreover, their solutions exhibit steep layers and are subject to numerical oscillations and instabilities if standard Galerkin-type discretization strategies are used. In the present study, we use an upwind finite element technique for the transport equations. We also evaluate the performance of different iterative methods for the transport equations and investigate various preconditioners for a few generalized gradient methods. Numerical examples are given for a representative two-dimensional depletion MOSFET.

  11. Recent ADI iteration analysis and results

    SciTech Connect

    Wachspress, E.L.

    1994-12-31

    Some recent ADI iteration analysis and results are discussed. Discovery that the Lyapunov and Sylvester matrix equations are model ADI problems stimulated much research on ADI iteration with complex spectra. The ADI rational Chebyshev analysis parallels the classical linear Chebyshev theory. Two distinct approaches have been applied to these problems. First, parameters which were optimal for real spectra were shown to be nearly optimal for certain families of complex spectra. In the linear case these were spectra bounded by ellipses in the complex plane. In the ADI rational case these were spectra bounded by {open_quotes}elliptic-function regions{close_quotes}. The logarithms of the latter appear like ellipses, and the logarithms of the optimal ADI parameters for these regions are similar to the optimal parameters for linear Chebyshev approximation over superimposed ellipses. W.B. Jordan`s bilinear transformation of real variables to reduce the two-variable problem to one variable was generalized into the complex plane. This was needed for ADI iterative solution of the Sylvester equation.

  12. Iteration of ultrasound aberration correction methods

    NASA Astrophysics Data System (ADS)

    Maasoey, Svein-Erik; Angelsen, Bjoern; Varslot, Trond

    2004-05-01

    Aberration in ultrasound medical imaging is usually modeled by time-delay and amplitude variations concentrated on the transmitting/receiving array. This filter process is here denoted a TDA filter. The TDA filter is an approximation to the physical aberration process, which occurs over an extended part of the human body wall. Estimation of the TDA filter, and performing correction on transmit and receive, has proven difficult. It has yet to be shown that this method works adequately for severe aberration. Estimation of the TDA filter can be iterated by retransmitting a corrected signal and re-estimate until a convergence criterion is fulfilled (adaptive imaging). Two methods for estimating time-delay and amplitude variations in receive signals from random scatterers have been developed. One method correlates each element signal with a reference signal. The other method use eigenvalue decomposition of the receive cross-spectrum matrix, based upon a receive energy-maximizing criterion. Simulations of iterating aberration correction with a TDA filter have been investigated to study its convergence properties. A weak and strong human-body wall model generated aberration. Both emulated the human abdominal wall. Results after iteration improve aberration correction substantially, and both estimation methods converge, even for the case of strong aberration.

  13. Iterative Decoding of Concatenated Codes: A Tutorial

    NASA Astrophysics Data System (ADS)

    Regalia, Phillip A.

    2005-12-01

    The turbo decoding algorithm of a decade ago constituted a milestone in error-correction coding for digital communications, and has inspired extensions to generalized receiver topologies, including turbo equalization, turbo synchronization, and turbo CDMA, among others. Despite an accrued understanding of iterative decoding over the years, the "turbo principle" remains elusive to master analytically, thereby inciting interest from researchers outside the communications domain. In this spirit, we develop a tutorial presentation of iterative decoding for parallel and serial concatenated codes, in terms hopefully accessible to a broader audience. We motivate iterative decoding as a computationally tractable attempt to approach maximum-likelihood decoding, and characterize fixed points in terms of a "consensus" property between constituent decoders. We review how the decoding algorithm for both parallel and serial concatenated codes coincides with an alternating projection algorithm, which allows one to identify conditions under which the algorithm indeed converges to a maximum-likelihood solution, in terms of particular likelihood functions factoring into the product of their marginals. The presentation emphasizes a common framework applicable to both parallel and serial concatenated codes.

  14. ITER Creation Safety File Expertise Results

    NASA Astrophysics Data System (ADS)

    Perrault, D.

    2013-06-01

    In March 2010, the ITER operator delivered the facility safety file to the French "Autorité de Sûreté Nucléaire" (ASN) as part of its request for the creation decree, legally necessary before building works can begin on the site. The French "Institut de Radioprotection et de Sûreté Nucléaire" (IRSN), in support to the ASN, recently completed its expertise of the safety measures proposed for ITER, on the basis of this file and of additional technical documents from the operator. This paper presents the IRSN's main conclusions. In particular, they focus on the radioactive materials involved, the safety and radiation protection demonstration (suitability of risk management measures…), foreseeable accidents, building and safety important component design and, finally, wastes and effluents to be produced. This assessment was just the first legally-required step in on-going safety monitoring of the ITER project, which will include other complete regulatory re-evaluations.

  15. Photosensitive anisotype n-ZnSe/ p-InSe and n-ZnSe/ p-GaSe heterojunctions

    NASA Astrophysics Data System (ADS)

    Kudrynskyi, Z. R.; Kovalyuk, Z. D.

    2014-08-01

    Anisotype n-ZnSe/ p-InSe and n-ZnSe/ p-GaSe heterojunctions are obtained for the first time. They are grown on layered crystalline GaSe and InSe substrates by annealing in Zn vapor. It is found that these heterojunctions are sensitive to light in the near-infrared and visible spectral ranges.

  16. Simultaneous localization and mapping of mobile robot using a RGB-D camera

    NASA Astrophysics Data System (ADS)

    Lin, Junqin; Han, Baoling; Ge, Zhuo; Liang, Guanhao; Zhao, Jiahang

    2016-10-01

    Localization algorithm based on machine vision is a hot topic in the field of intelligent mobile robot A fast method for mobile robot 3D SLAM (simultaneous localization and mapping) was presented to address the problem of 3D modeling in complex indoor environment. After filtering, the SIFT feature is extracted and matched between every two frames of the sequence. According to the camera calibration model and the image feature extraction and matching procedure, the association between two 3D point clouds was established. On the basis of the RANSAC (random sample consensus) algorithm, the correspondence based iterative closest point arithmetic model was solved to realize the robot's precise localization effectively. With the key frame-to-frame selection mechanism, the 3D map method and the unique normal characteristic of a spatial point were used for maintaining and updating the global map. Experimental results demonstrate the feasibility and effectiveness of the proposed algorithm in the indoor environment.

  17. A Generalized Method for Automatic Downhand and Wirefeed Control of a Welding Robot and Positioner

    NASA Technical Reports Server (NTRS)

    Fernandez, Ken; Cook, George E.

    1988-01-01

    A generalized method for controlling a six degree-of-freedom (DOF) robot and a two DOF positioner used for arc welding operations is described. The welding path is defined in the part reference frame, and robot/positioner joint angles of the equivalent eight DOF serial linkage are determined via an iterative solution. Three algorithms are presented: the first solution controls motion of the eight DOF mechanism such that proper torch motion is achieved while minimizing the sum-of-squares of joint displacements; the second algorithm adds two constraint equations to achieve torch control while maintaining part orientation so that welding occurs in the downhand position; and the third algorithm adds the ability to control the proper orientation of a wire feed mechanism used in gas tungsten arc (GTA) welding operations. A verification of these algorithms is given using ROBOSIM, a NASA developed computer graphic simulation software package design for robot systems development.

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

    PubMed

    Marietti, C

    1997-11-01

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

  19. Coordinated Control Of Mobile Robotic Manipulators

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun

    1995-01-01

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

  20. The role of ITER in the US MFE Program Strategy

    SciTech Connect

    Glass, A.J.

    1992-07-01

    I want to discuss the role of ITER in the US MFE Program Strategy. I should stress that any opinions I present are purely my own. I`m not speaking ex cathedra, I`m not speaking for the ITER Home Team, and I`m not speaking for the Lawrence Livermore National Laboratory. I`m giving my own personal opinions. In discussing the role of ITER, we have to recognize that ITER plays several roles, and I want to identify how ITER influences MFE program strategy through each of its roles.

  1. The role of ITER in the US MFE Program Strategy

    SciTech Connect

    Glass, A.J.

    1992-07-01

    I want to discuss the role of ITER in the US MFE Program Strategy. I should stress that any opinions I present are purely my own. I'm not speaking ex cathedra, I'm not speaking for the ITER Home Team, and I'm not speaking for the Lawrence Livermore National Laboratory. I'm giving my own personal opinions. In discussing the role of ITER, we have to recognize that ITER plays several roles, and I want to identify how ITER influences MFE program strategy through each of its roles.

  2. Speeding up Newton-type iterations for stiff problems

    NASA Astrophysics Data System (ADS)

    Gonzalez-Pinto, S.; Rojas-Bello, R.

    2005-09-01

    Iterative schemes based on the Cooper and Butcher iteration [5] are considered, in order to implement highly implicit Runge-Kutta methods on stiff problems. By introducing two appropriate parameters in the scheme, a new iteration making use of the last two iterates, is proposed. Specific schemes of this type for the Gauss, Radau IA-IIA and Lobatto IIIA-B-C processes are developed. It is also shown that in many situations the new iteration presents a faster convergence than the original.

  3. Evaluation of ITER MSE Viewing Optics

    SciTech Connect

    Allen, S; Lerner, S; Morris, K; Jayakumar, J; Holcomb, C; Makowski, M; Latkowski, J; Chipman, R

    2007-03-26

    The Motional Stark Effect (MSE) diagnostic on ITER determines the local plasma current density by measuring the polarization angle of light resulting from the interaction of a high energy neutral heating beam and the tokamak plasma. This light signal has to be transmitted from the edge and core of the plasma to a polarization analyzer located in the port plug. The optical system should either preserve the polarization information, or it should be possible to reliably calibrate any changes induced by the optics. This LLNL Work for Others project for the US ITER Project Office (USIPO) is focused on the design of the viewing optics for both the edge and core MSE systems. Several design constraints were considered, including: image quality, lack of polarization aberrations, ease of construction and cost of mirrors, neutron shielding, and geometric layout in the equatorial port plugs. The edge MSE optics are located in ITER equatorial port 3 and view Heating Beam 5, and the core system is located in equatorial port 1 viewing heating beam 4. The current work is an extension of previous preliminary design work completed by the ITER central team (ITER resources were not available to complete a detailed optimization of this system, and then the MSE was assigned to the US). The optimization of the optical systems at this level was done with the ZEMAX optical ray tracing code. The final LLNL designs decreased the ''blur'' in the optical system by nearly an order of magnitude, and the polarization blur was reduced by a factor of 3. The mirror sizes were reduced with an estimated cost savings of a factor of 3. The throughput of the system was greater than or equal to the previous ITER design. It was found that optical ray tracing was necessary to accurately measure the throughput. Metal mirrors, while they can introduce polarization aberrations, were used close to the plasma because of the anticipated high heat, particle, and neutron loads. These mirrors formed an intermediate

  4. Interactive autonomy and robotic skills

    NASA Technical Reports Server (NTRS)

    Kellner, A.; Maediger, B.

    1994-01-01

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

  5. Survey of robot lawn mowers

    NASA Astrophysics Data System (ADS)

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

    2000-10-01

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

  6. Virtual robotics laboratory for research

    NASA Astrophysics Data System (ADS)

    McKee, Gerard T.

    1995-09-01

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

  7. Robotic Surgery in Gynecologic Oncology

    PubMed Central

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

    2011-01-01

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

  8. Robot computer problem solving system

    NASA Technical Reports Server (NTRS)

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

    1973-01-01

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

  9. 2013 Robotics Science & Systems Conference Travel Support

    DTIC Science & Technology

    2015-01-21

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

  10. Study Tour of Industrial Robots in Japan.

    DTIC Science & Technology

    1979-08-01

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

  11. State Estimation for Humanoid Robots

    DTIC Science & Technology

    2015-07-01

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

  12. Task-Level Robot Learning

    DTIC Science & Technology

    1988-08-01

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

  13. Evaluating Autonomous Ground-Robots

    DTIC Science & Technology

    2012-06-14

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

  14. Joint Center for Robotics (JCR)

    DTIC Science & Technology

    2008-04-15

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

  15. Perception and Perspective in Robotics

    DTIC Science & Technology

    2003-01-01

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

  16. Military Robotics and Collateral Damage

    DTIC Science & Technology

    2004-06-01

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

  17. Autonomous Realtime Threat-Hunting Robot (ARTHR

    ScienceCinema

    INL

    2016-07-12

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

  18. Autonomous Realtime Threat-Hunting Robot (ARTHR

    SciTech Connect

    INL

    2008-05-29

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

  19. Contrast and resolution analysis of angular domain imaging for iterative optical projection tomography reconstruction

    NASA Astrophysics Data System (ADS)

    Ng, Eldon; Vasefi, Fartash; Kaminska, Bozena; Chapman, Glenn H.; Carson, Jeffrey J. L.

    2010-02-01

    Angular domain imaging (ADI) generates a projection image of an attenuating target within a turbid medium by employing a silicon micro-tunnel array to reject photons that have deviated from the initial propagation direction. In this imaging method, image contrast and resolution are position dependent. The objective of this work was to first characterize the contrast and resolution of the ADI system at a multitude of locations within the imaging plane. The second objective was to compare the reconstructions of different targets using filtered back projection and iterative reconstruction algorithms. The ADI system consisted of a diode laser laser (808nm, CW, ThorLabs) with a beam expander for illumination of the sample cuvette. At the opposite side of the cuvette, an Angular Filter Array (AFA) of 80 μm x 80 μm square-shaped tunnels 1 cm in length was used to reject the transmitted scattered light. Image-forming light exiting the AFA was detected by a linear CCD (16-bit, Mightex). Our approach was to translate two point attenuators (0.5 mm graphite rod, 0.368 mm drill bit) submerged in a 0.6% IntralipidTM dilution using a SCARA robot (Epson E2S351S) to cover a 37x37 and 45x45 matrix of grid points in the imaging plane within the 1 cm path length sample cuvette. At each grid point, a one-dimensional point-spread distribution was collected and system contrast and resolution were measured. Then, the robot was used to rotate the target to collect projection images at several projection angles of various objects, and reconstructed with a filtered back projection and an iterative reconstruction algorithm.

  20. Students Learn About Station Robotics

    NASA Video Gallery

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