Climbing walls as multitasking sites of geo(morpho)logical interests: Italian examples from the Western Alps and Sardinia

NASA Astrophysics Data System (ADS)

Bollati, Irene; Fossati, Maria; Panizza, Valeria; Pelfini, Manuela; Zanoletti, Enrico; Zucali, Michele

2015-04-01

Geosites and in particular geomorphosites have been recently more and more used as base for educational activities in Earth Sciences and to enhance the geodiversity of a territory. Their attributes acquire a greater value and become especially appreciable when associated with field and outdoor activities. Frequently rock walls represent key sites for geological and gemorphological researches due to the wide outcrops of rocks where mineralogical composition and structures are very evident as well as landforms deriving from the modeling of outcrops surfaces. Where the rock walls are equipped for climbing activities they may be considered open-air laboratories useful to get in touch with the different features of rocks that condition progression on climbing routes. Due to these two aspects, geohistorical importance and educational exemplarity contribute to the increase of the scientific value and, as a consequence, of the global value of these sites as geosites. Geomorphosites from climbing sites allow to realize educational projects with different goals: 1) Recent researches in the Western Italian Alps have been conducted to make a census of climbing rock cliffs along the Ossola Valley (Verbanio-Cusio-Ossola Province, Italy) and to operate a choice of the ones characterized by high educational value (considering easy accessibility, grades for experts and beginners and the good exposition of rock features), representativeness, geohistorical importance, high cultural and socio-economic values, in order to propose an educational project addressed to students of an Italian secondary school aimed at introducing the three great families of rocks (magmatic, metamorphic and sedimentary); 2) The Eclogitic Micaschist Complex of the Austroalpine Domain (Montestrutto climbing wall, Turin Province, Italy) has been investigated in order to i) reconstruct the deformation stages at local scales along the sport climbing wall and the relationships between geological elements and

Modification of a Limbed Robot to Favor Climbing

NASA Technical Reports Server (NTRS)

Okon, Avi; Kennedy, Brett; Garrett, Michael; Magnone, Lee

2006-01-01

The figure shows the LEMUR IIb, which is a modified version of the LEMUR II the second generation of the Limbed Excursion Mechanical Utility Robot (LEMUR). Except as described below, the LEMUR IIb hardware is mostly the same as that of the LEMUR II. The IIb and II versions differ in their kinematic configurations and characteristics associated with their kinematic configurations. The differences are such that relative to the LEMUR II, the LEMUR IIb is simpler and is better suited to climbing on inclined surfaces. The first-generation LEMUR, now denoted the LEMUR I, was described in Six-Legged Experimental Robot (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58. The LEMUR II was described in Second-Generation Six-Limbed Experimental Robot (NPO-35140) NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 55. To recapitulate: the LEMUR I and LEMUR II were six-legged or sixlimbed robots for demonstrating robotic capabilities for assembly, maintenance, and inspection. They were designed to be capable of walking autonomously along a truss structure toward a mechanical assembly at a prescribed location. They were equipped with stereoscopic video cameras and image-data-processing circuitry for navigation and mechanical operations. They were also equipped with wireless modems, through which they could be commanded remotely. Upon arrival at a mechanical assembly, the LEMUR I would perform simple mechanical operations by use of one or both of its front legs (or in the case of the LEMUR II, any of its limbs could be used to perform mechanical operations). Either LEMUR could also transmit images to a host computer. The differences between the LEMUR IIb and the LEMUR II are the following: Whereas the LEMUR II had six limbs, the LEMUR IIb has four limbs. This change has reduced both the complexity and mass of the legs and of the overall robot. Whereas each limb of the LEMUR II had four degrees of freedom (DOFs), each limb of the LEMUR IIb has three DOFs

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

NASA Astrophysics Data System (ADS)

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

2017-02-01

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

Student teams maneuver robots in qualifying match at regional robotic competition at KSC

NASA Technical Reports Server (NTRS)

1999-01-01

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

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

NASA Technical Reports Server (NTRS)

Thatte, Nitish

2011-01-01

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

Computer-controlled wall servicing robot

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

Lefkowitz, S.

1995-03-01

After four years of cooperative research, Pentek has unveiled a new robot with the capability to automatically deliver a variety of cleaning, painting, inspection, and surveillance devices to large vertical surfaces. The completely computer-controlled robot can position a working tool on a 50-foot tall by 50-foot wide vertical surface with a repeatability of 1/16 inch. The working end can literally {open_quotes}fly{close_quotes} across the face of a wall at speed of 60 per minute, and can handle working loads of 350 pounds. The robot was originally developed to decontaminate the walls of reactor fueling cavities at commercial nuclear power plants duringmore » fuel outages. If these cavities are left to dry after reactor refueling, contamination present in the residue could later become airborne and move throughout the containment building. Decontaminating the cavity during the refueling outage reduces the need for restrictive personal protective equipment during plant operations to limit the dose rates.« less

Study on the intelligent decision making of soccer robot side-wall behavior

NASA Astrophysics Data System (ADS)

Zhang, Xiaochuan; Shao, Guifang; Tan, Zhi; Li, Zushu

2007-12-01

Side-wall is the static obstacle in soccer robot game, reasonably making use of the Side-wall can improve soccer robot competitive ability. As a kind of artificial life, the Side-wall processing strategy of soccer robot is influenced by many factors, such as game state, field region, attacking and defending situation and so on, each factor also has different influence degree, so, the Side-wall behavior selection is an intelligent selecting process. From the view point of human simulated, based on the idea of Side-wall processing priority[1], this paper builds the priority function for Side-wall processing, constructs the action predicative model for Side-wall obstacle, puts forward the Side-wall processing strategy, and forms the Side-wall behavior selection mechanism. Through the contrasting experiment between the strategy applied and none, proves that this strategy can improve the soccer robot capacity, it is feasible and effective, and has positive meaning for soccer robot stepped study.

Innovative gait robot for the repetitive practice of floor walking and stair climbing up and down in stroke patients

PubMed Central

2010-01-01

Background Stair climbing up and down is an essential part of everyday's mobility. To enable wheelchair-dependent patients the repetitive practice of this task, a novel gait robot, G-EO-Systems (EO, Lat: I walk), based on the end-effector principle, has been designed. The trajectories of the foot plates are freely programmable enabling not only the practice of simulated floor walking but also stair climbing up and down. The article intended to compare lower limb muscle activation patterns of hemiparetic subjects during real floor walking and stairs climbing up, and during the corresponding simulated conditions on the machine, and secondly to demonstrate gait improvement on single case after training on the machine. Methods The muscle activation pattern of seven lower limb muscles of six hemiparetic patients during free and simulated walking on the floor and stair climbing was measured via dynamic electromyography. A non-ambulatory, sub-acute stroke patient additionally trained on the G-EO-Systems every workday for five weeks. Results The muscle activation patterns were comparable during the real and simulated conditions, both on the floor and during stair climbing up. Minor differences, concerning the real and simulated floor walking conditions, were a delayed (prolonged) onset (duration) of the thigh muscle activation on the machine across all subjects. Concerning stair climbing conditions, the shank muscle activation was more phasic and timely correct in selected patients on the device. The severely affected subject regained walking and stair climbing ability. Conclusions The G-EO-Systems is an interesting new option in gait rehabilitation after stroke. The lower limb muscle activation patterns were comparable, a training thus feasible, and the positive case report warrants further clinical studies. PMID:20584307

Innovative gait robot for the repetitive practice of floor walking and stair climbing up and down in stroke patients.

PubMed

Hesse, Stefan; Waldner, Andreas; Tomelleri, Christopher

2010-06-28

Stair climbing up and down is an essential part of everyday's mobility. To enable wheelchair-dependent patients the repetitive practice of this task, a novel gait robot, G-EO-Systems (EO, Lat: I walk), based on the end-effector principle, has been designed. The trajectories of the foot plates are freely programmable enabling not only the practice of simulated floor walking but also stair climbing up and down. The article intended to compare lower limb muscle activation patterns of hemiparetic subjects during real floor walking and stairs climbing up, and during the corresponding simulated conditions on the machine, and secondly to demonstrate gait improvement on single case after training on the machine. The muscle activation pattern of seven lower limb muscles of six hemiparetic patients during free and simulated walking on the floor and stair climbing was measured via dynamic electromyography. A non-ambulatory, sub-acute stroke patient additionally trained on the G-EO-Systems every workday for five weeks. The muscle activation patterns were comparable during the real and simulated conditions, both on the floor and during stair climbing up. Minor differences, concerning the real and simulated floor walking conditions, were a delayed (prolonged) onset (duration) of the thigh muscle activation on the machine across all subjects. Concerning stair climbing conditions, the shank muscle activation was more phasic and timely correct in selected patients on the device. The severely affected subject regained walking and stair climbing ability. The G-EO-Systems is an interesting new option in gait rehabilitation after stroke. The lower limb muscle activation patterns were comparable, a training thus feasible, and the positive case report warrants further clinical studies.

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.

Effect of Indoor Wall Climbing on Self- Efficacy and Self-Perceptions of Children with Special Needs

ERIC Educational Resources Information Center

Mazzoni, Erin R.; Purves, P. Lynn; Southward, Julie; Rhodes, Ryan E.; Temple, Viviene A.

2009-01-01

The impact of a six-week indoor wall climbing on the perceptions of self for children with special needs aged 6-12 years was explored. Participants (n = 46) were randomly assigned to the intervention (girls, n = 4; boys, n = 19) and control groups (girls, n = 5; boys, n = 18). Belayers' and children's perceptions of efficacy were measured using…

0g Climbing - The Challenge of Walking in Space

NASA Technical Reports Server (NTRS)

Ambrose, Robert O.; Rehnmark, Frederik; Goza, Michael

2003-01-01

Space walking is poorly named, as it has little in common with how animals walk on Earth. Space walking is more akin to mountain climbing in scuba gear, while parachuting in a freefall -- an odd combination of effects and equipment to help people do a demanding job. Robots are now being studied for service in this same domain, working on large scale space structures like the Space Station, servicing science or military platforms in high orbit, or riding on the outside of a space craft in transit to Mars, the Moon or other destinations. What have we learned about climbing in 0g? How should machines be controlled for serving in this role? What can they do to overcome the problems that humans have faced? In order to move about in this environment, a robot must be able to climb autonomously, using gaits that smoothly manage its momentum and that minimize contact forces (walking lightly) while providing for safety in the event of an emergency requiring the system to stop. All three of these objectives are now being explored at NASA's Johnson Space Center, using the Robonaut system and a set of mockups that emulate the 0g condition. NASA's goal for Robonaut is to develop the control technology that will allow it to climb on the outside of the Space Shuttle, the Space Station, and satellite mockups at JSC, enabling the robot to perform EVA task setups or serve as an Astronaut's assistant.

0g Climbing - The Challenge of Walking in Space

NASA Technical Reports Server (NTRS)

Ambrose, Robert O.; Rehnmark, Frederik; Goza, Michael

2004-01-01

Space walking is poorly named, as it has little in common with how animals walk on Earth. Space walking is more akin to mountain climbing in scuba gear, while parachuting in a freefall-an odd combination of effects and equipment to help people do a demanding job. Robots are now being studied for service in this same domain, working on large scale space structures like the Space Station, servicing science or military platforms in high orbit, or riding on the outside of a space craft in transit to Mars, the Moon or other destinations. What have we learned about climbing in 0g? How should machines be controlled for serving in this role? What can they do to overcome the problems that humans have faced? In order to move about in this environment, a robot must be able to climb autonomously, using gaits that smoothly manage its momentum and that minimize contact forces (walking lightly) while providing for safety in the event of an emergency requiring the system to stop. All three of these objectives are now being explored at NASA's Johnson Space Center, using the Robonaut system and a set of mockups that emulate the 0g condition. NASA's goal for Robonaut is to develop the control technology that will allow it to climb on the outside of the Space Shuttle, the Space Station, and satellite mockups at JSC, enabling the robot to perform EVA task setups or serve as an Astronaut's assistant.

Student teams practice for regional robotic competition at KSC

NASA Technical Reports Server (NTRS)

1999-01-01

Student teams (right and left) behind protective walls maneuver their robots on the playing field during practice rounds of the 1999 Southeastern Regional robotic competition at Kennedy Space Center Visitor Complex . Thirty schools from around the country have converged at KSC for the event that pits gladiator robots against each other in an athletic-style competition. The robots have to retrieve pillow-like disks from the floor, as well as climb onto the platform (foreground) and raise the cache of pillows to a height of eight feet. KSC is hosting the event being sponsored by the nonprofit organization For Inspiration and Recognition of Science and Technology, known as FIRST. The FIRST robotics competition is designed to provide students with a hands-on, inside look at engineering and other professional careers.

Final matches of the FIRST regional robotic competition at KSC

NASA Technical Reports Server (NTRS)

1999-01-01

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

Climbing robot. [caterpillar design

NASA Technical Reports Server (NTRS)

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

1993-01-01

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

Curb Mounting, Vertical Mobility, and Inverted Mobility on Rough Surfaces Using Microspine-Enabled Robots

NASA Technical Reports Server (NTRS)

Parness, Aaron

2012-01-01

Three robots that extend microspine technology to enable advanced mobility are presented. First, the Durable Reconnaissance and Observation Platform (DROP) and the ReconRobotics Scout platform use a new rotary configuration of microspines to provide improved soldier-portable reconnaissance by moving rapidly over curbs and obstacles, transitioning from horizontal to vertical surfaces, climbing rough walls and surviving impacts. Next, the four-legged LEMUR robot uses new configurations of opposed microspines to anchor to both manmade and natural rough surfaces. Using these anchors as feet enables mobility in unstructured environments, from urban disaster areas to deserts and caves.

Stair-climbing capabilities of USU's T3 ODV mobile robot

NASA Astrophysics Data System (ADS)

Robinson, D. Reed; Wood, Carl G.

2001-09-01

A six-wheeled autonomous omni-directional vehicle (ODV) called T3 has been developed at Utah State University's (USU) Center for Self-Organizing and Intelligent Systems (CSOIS). This paper focuses on T3's ability to climb stairs using its unique configuration of 6 independently driven and steered wheels and active suspension height control. The ability of T3, or any similar vehicle, to climb stairs is greatly dependent on the chassis orientation relative to the stairs. Stability criteria is developed for any vehicle dimensions and orientation, on any staircase. All possible yaw and pitch angles on various staircases are evaluated to find vehicle orientations that will allow T3 to climb with the largest margin of stability. Different controller types are investigated for controlling vertical wheel movement with the objective of keeping all wheels in contact with the stairs, providing smooth load transfer between loaded and unloaded wheels, and maintaining optimum chassis pitch and roll angles. A controller is presented that uses feedback from wheel loading, vertical wheel position, and chassis orientation sensors. The implementation of the controller is described, and T3's stair climbing performance is presented and evaluated.

Climbing with adhesion: from bioinspiration to biounderstanding

PubMed Central

Cutkosky, Mark R.

2015-01-01

Bioinspiration is an increasingly popular design paradigm, especially as robots venture out of the laboratory and into the world. Animals are adept at coping with the variability that the world imposes. With advances in scientific tools for understanding biological structures in detail, we are increasingly able to identify design features that account for animals' robust performance. In parallel, advances in fabrication methods and materials are allowing us to engineer artificial structures with similar properties. The resulting robots become useful platforms for testing hypotheses about which principles are most important. Taking gecko-inspired climbing as an example, we show that the process of extracting principles from animals and adapting them to robots provides insights for both robotics and biology. PMID:26464786

A Mobile Robot for Locomotion Through a 3D Periodic Lattice Environment

NASA Technical Reports Server (NTRS)

Jenett, Benjamin; Cellucci, Daniel; Cheung, Kenneth

2017-01-01

This paper describes a novel class of robots specifically adapted to climb periodic lattices, which we call 'Relative Robots'. These robots use the regularity of the structure to simplify the path planning, align with minimal feedback, and reduce the number of degrees of freedom (DOF) required to locomote. They can perform vital inspection and repair tasks within the structure that larger truss construction robots could not perform without modifying the structure. We detail a specific type of relative robot designed to traverse a cuboctahedral (CubOct) cellular solids lattice, show how the symmetries of the lattice simplify the design, and test these design methodologies with a CubOct relative robot that traverses a 76.2 mm (3 in.) pitch lattice, MOJO (Multi-Objective JOurneying robot). We perform three locomotion tasks with MOJO: vertical climbing, horizontal climbing, and turning, and find that, due to changes in the orientation of the robot relative to the gravity vector, the success rate of vertical and horizontal climbing is significantly different.

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.

Final matches of the FIRST regional robotic competition at KSC

NASA Technical Reports Server (NTRS)

1999-01-01

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

Bouldering: an alternative strategy to long-vertical climbing in root-climbing hortensias

PubMed Central

Granados Mendoza, Carolina; Isnard, Sandrine; Charles-Dominique, Tristan; Van den Bulcke, Jan; Rowe, Nick P.; Van Acker, Joris; Goetghebeur, Paul; Samain, Marie-Stéphanie

2014-01-01

In the Neotropics, the genus Hydrangea of the popular ornamental hortensia family is represented by climbing species that strongly cling to their support surface by means of adhesive roots closely positioned along specialized anchoring stems. These root-climbing hortensia species belong to the nearly exclusive American Hydrangea section Cornidia and generally are long lianescent climbers that mostly flower and fructify high in the host tree canopy. The Mexican species Hydrangea seemannii, however, encompasses not only long lianescent climbers of large vertical rock walls and coniferous trees, but also short ‘shrub-like’ climbers on small rounded boulders. To investigate growth form plasticity in root-climbing hortensia species, we tested the hypothesis that support variability (e.g. differences in size and shape) promotes plastic responses observable at the mechanical, structural and anatomical level. Stem bending properties, architectural axis categorization, tissue organization and wood density were compared between boulder and long-vertical tree-climbers of H. seemannii. For comparison, the mechanical patterns of a closely related, strictly long-vertical tree-climbing species were investigated. Hydrangea seemannii has fine-tuned morphological, mechanical and anatomical responses to support variability suggesting the presence of two alternative root-climbing strategies that are optimized for their particular environmental conditions. Our results suggest that variation of some stem anatomical traits provides a buffering effect that regulates the mechanical and hydraulic demands of two distinct plant architectures. The adaptive value of observed plastic responses and the importance of considering growth form plasticity in evolutionary and conservation studies are discussed. PMID:25079869

Final matches of the FIRST regional robotic competition at KSC

NASA Technical Reports Server (NTRS)

1999-01-01

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

Research on Walking Wheel Slippage Control of Live Inspection Robot

NASA Astrophysics Data System (ADS)

Yan, Yu; Liu, Xiaqing; Guo, Hao; Li, Jinliang; Liu, Lanlan

2017-07-01

To solve the problem of walking wheel slippage of a live inspection robot during walking or climbing, this paper analyzes the climbing capacity of the robot with a statics method, designs a pressing wheel mechanism, and presents a method of indirectly identifying walking wheel slippage by reading speed of the pressing wheel due to the fact that the linear speed of the pressing wheel and the walking wheel at the contract point is the same; and finds that the slippage state can not be controlled through accurate mathematical models after identifying the slippage state, whereas slippage can be controlled with fuzzy control. The experiment results indicate that due to design of the pressing wheel mechanism, friction force of the walking wheel is increased, and the climbing capability of the robot is improved. Within the range of climbing capability of the robot, gradient is the key factor that has influence on slippage of robot, and slippage can be effectively eliminated through the fuzzy control method proposed in this paper.

Enhancing the Trajectory Generation of a Stair-Climbing Mobility System

PubMed Central

Chocoteco, Jose Abel

2017-01-01

Recent advances in mobile robotic technologies have enabled significant progress to be made in the development of Stair-Climbing Mobility Systems (SCMSs) for people with mobility impairments and limitations. These devices are mainly characterized by their ability to negotiate those architectural barriers associated with climbing stairs (curbs, ramps, etc.). The development of advanced trajectory generators with which to surpass such architectural barriers is one of the most important aspects of SCMSs that has not yet been appropriately exploited. These advanced trajectory generators have a considerable influence on the time invested in the stair climbing process and on passenger comfort and, consequently, provide people with physical disabilities with greater independence and a higher quality of life. In this paper, we propose a new nonlinear trajectory generator for an SCMS. This generator balances the stair-climbing time and the user’s comfort and includes the most important constraints inherent to the system behavior: the geometry of the architectural barrier, the reconfigurable nature of the SCMS (discontinuous states), SCMS state-transition diagrams, comfort restrictions and physical limitations as regards the actuators, speed and acceleration. The SCMS was tested on a real two-step staircase using different time-comfort combinations and different climbing strategies to verify the effectiveness and the robustness of the proposed approach.

Biologically-inspired adaptive obstacle negotiation behavior of hexapod robots

PubMed Central

Goldschmidt, Dennis; Wörgötter, Florentin; Manoonpong, Poramate

2014-01-01

Neurobiological studies have shown that insects are able to adapt leg movements and posture for obstacle negotiation in changing environments. Moreover, the distance to an obstacle where an insect begins to climb is found to be a major parameter for successful obstacle negotiation. Inspired by these findings, we present an adaptive neural control mechanism for obstacle negotiation behavior in hexapod robots. It combines locomotion control, backbone joint control, local leg reflexes, and neural learning. While the first three components generate locomotion including walking and climbing, the neural learning mechanism allows the robot to adapt its behavior for obstacle negotiation with respect to changing conditions, e.g., variable obstacle heights and different walking gaits. By successfully learning the association of an early, predictive signal (conditioned stimulus, CS) and a late, reflex signal (unconditioned stimulus, UCS), both provided by ultrasonic sensors at the front of the robot, the robot can autonomously find an appropriate distance from an obstacle to initiate climbing. The adaptive neural control was developed and tested first on a physical robot simulation, and was then successfully transferred to a real hexapod robot, called AMOS II. The results show that the robot can efficiently negotiate obstacles with a height up to 85% of the robot's leg length in simulation and 75% in a real environment. PMID:24523694

Single actuator wave-like robot (SAW): design, modeling, and experiments.

PubMed

Zarrouk, David; Mann, Moshe; Degani, Nir; Yehuda, Tal; Jarbi, Nissan; Hess, Amotz

2016-07-01

In this paper, we present a single actuator wave-like robot, a novel bioinspired robot which can move forward or backward by producing a continuously advancing wave. The robot has a unique minimalistic mechanical design and produces an advancing sine wave, with a large amplitude, using only a single motor but with no internal straight spine. Over horizontal surfaces, the robot does not slide relative to the surface and its direction of locomotion is determined by the direction of rotation of the motor. We developed a kinematic model of the robot that accounts for the two-dimensional mechanics of motion and yields the speed of the links relative to the motor. Based on the optimization of the kinematic model, and accounting for the mechanical constraints, we have designed and built multiple versions of the robot with different sizes and experimentally tested them (see movie). The experimental results were within a few percentages of the expectations. The larger version attained a top speed of 57 cm s(-1) over a horizontal surface and is capable of climbing vertically when placed between two walls. By optimizing the parameters, we succeeded in making the robot travel by 13% faster than its own wave speed.

Model-based Robotic Dynamic Motion Control for the Robonaut 2 Humanoid Robot

NASA Technical Reports Server (NTRS)

Badger, Julia M.; Hulse, Aaron M.; Taylor, Ross C.; Curtis, Andrew W.; Gooding, Dustin R.; Thackston, Allison

2013-01-01

Robonaut 2 (R2), an upper-body dexterous humanoid robot, has been undergoing experimental trials on board the International Space Station (ISS) for more than a year. R2 will soon be upgraded with two climbing appendages, or legs, as well as a new integrated model-based control system. This control system satisfies two important requirements; first, that the robot can allow humans to enter its workspace during operation and second, that the robot can move its large inertia with enough precision to attach to handrails and seat track while climbing around the ISS. This is achieved by a novel control architecture that features an embedded impedance control law on the motor drivers called Multi-Loop control which is tightly interfaced with a kinematic and dynamic coordinated control system nicknamed RoboDyn that resides on centralized processors. This paper presents the integrated control algorithm as well as several test results that illustrate R2's safety features and performance.

Virtual wall-based haptic-guided teleoperated surgical robotic system for single-port brain tumor removal surgery.

PubMed

Seung, Sungmin; Choi, Hongseok; Jang, Jongseong; Kim, Young Soo; Park, Jong-Oh; Park, Sukho; Ko, Seong Young

2017-01-01

This article presents a haptic-guided teleoperation for a tumor removal surgical robotic system, so-called a SIROMAN system. The system was developed in our previous work to make it possible to access tumor tissue, even those that seat deeply inside the brain, and to remove the tissue with full maneuverability. For a safe and accurate operation to remove only tumor tissue completely while minimizing damage to the normal tissue, a virtual wall-based haptic guidance together with a medical image-guided control is proposed and developed. The virtual wall is extracted from preoperative medical images, and the robot is controlled to restrict its motion within the virtual wall using haptic feedback. Coordinate transformation between sub-systems, a collision detection algorithm, and a haptic-guided teleoperation using a virtual wall are described in the context of using SIROMAN. A series of experiments using a simplified virtual wall are performed to evaluate the performance of virtual wall-based haptic-guided teleoperation. With haptic guidance, the accuracy of the robotic manipulator's trajectory is improved by 57% compared to one without. The tissue removal performance is also improved by 21% ( p < 0.05). The experiments show that virtual wall-based haptic guidance provides safer and more accurate tissue removal for single-port brain surgery.

Avoiding Local Optima with Interactive Evolutionary Robotics

DTIC Science & Technology

2012-07-09

the top of a flight of stairs selects for climbing ; suspending the robot and the target object above the ground and creating rungs between the two will...REPORT Avoiding Local Optimawith Interactive Evolutionary Robotics 14. ABSTRACT 16. SECURITY CLASSIFICATION OF: The main bottleneck in evolutionary... robotics has traditionally been the time required to evolve robot controllers. However with the continued acceleration in computational resources, the

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.

Technical Tree Climbing.

ERIC Educational Resources Information Center

Jenkins, Peter

Tree climbing offers a safe, inexpensive adventure sport that can be performed almost anywhere. Using standard procedures practiced in tree surgery or rock climbing, almost any tree can be climbed. Tree climbing provides challenge and adventure as well as a vigorous upper-body workout. Tree Climbers International classifies trees using a system…

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

A visitor to the Worcester Polytechnic Institute (WPI) "TouchTomorrow" education and outreach event helps demonstrate how a NASA rover design enables the rover to climb over obstacles higher than it's own body on Saturday, June 16, 2012 at WPI in Worcester, Mass. The event was held in tandem with the NASA-WPI Sample Return Robot Centennial Challenge. The NASA-WPI challenge tasked robotic teams to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Integration of Haptics in Agricultural Robotics

NASA Astrophysics Data System (ADS)

Kannan Megalingam, Rajesh; Sreekanth, M. M.; Sivanantham, Vinu; Sai Kumar, K.; Ghanta, Sriharsha; Surya Teja, P.; Reddy, Rajesh G.

2017-08-01

Robots can differentiate with open loop system and closed loop system robots. We face many problems when we do not have a feedback from robots. In this research paper, we are discussing all possibilities to achieve complete closed loop system for Multiple-DOF Robotic Arm, which is used in a coconut tree climbing and cutting robot by introducing a Haptic device. We are working on various sensors like tactile, vibration, force and proximity sensors for getting feedback. For monitoring the robotic arm achieved by graphical user interference software which simulates the working of the robotic arm, send the feedback of all the real time analog values which are produced by various sensors and provide real-time graphs for estimate the efficiency of the Robot.

Effects of four recovery methods on repeated maximal rock climbing performance.

PubMed

Heyman, Elsa; DE Geus, Bas; Mertens, Inge; Meeusen, Romain

2009-06-01

Considering the development of rock climbing as a competitive sport, we aimed at investigating the influence of four recovery methods on subsequent maximal climbing performance. In a randomly assigned crossover design, 13 female well-trained climbers (27.1 +/- 8.9 yr) came to the climbing center on four occasions separated by 1 wk. On each occasion, they had to perform two climbing tests (C1 and C2) until volitional exhaustion on a prepracticed route (overhanging wall, level 6b). These two tests were separated by 20 min of recovery. Four recovery methods were used in randomized order: passive recovery, active recovery (cycle ergometer, 30-40 W), electromyostimulation on the forearm muscles (bisymmetric TENS current), or cold water immersion of the forearms and arms (three periods of 5 min at 15 +/- 1 degrees C). Climbing tests' performance was reflected by the number of arm movements and climb duration. Using active recovery and cold water immersion, performance at C2 was maintained in comparison with C1, whereas C2 performance was impaired compared with C1 (P< 0.01) using electromyostimulation and passive recovery (recovery method-by-climb interaction, P < 0.05). Blood lactate decreased during recovery, with the greatest decrease occurring during active recovery (time-by-recovery method interaction, P < 0.001). Arms and forearms' skin temperatures were lower throughout the cold water immersion compared with the other three methods (P < 0.001). Active recovery and cold water immersion are two means of preserving performance when repeating acute exhausting climbing trails in female climbers. These positive effects are accompanied by a greater lactate removal and a decrease in subcutaneous tissues temperatures, respectively.

Referees check robots after qualifying match at regional robotic competition at KSC

NASA Technical Reports Server (NTRS)

1999-01-01

Referees check the robots on the floor of the playing field after a qualifying match of the 1999 Southeastern Regional robotic competition at Kennedy Space Center Visitor Complex . Thirty schools from around the country have converged at KSC for the event that pits gladiator robots against each other in an athletic-style competition. The robots have to retrieve pillow- like disks from the floor, as well as climb onto the platform (with flags) and raise the cache of pillows to a height of eight feet. KSC is hosting the event being sponsored by the nonprofit organization For Inspiration and Recognition of Science and Technology, known as FIRST. The FIRST robotics competition is designed to provide students with a hands-on, inside look at engineering and other professional careers.

Affordance Realization in Climbing: Learning and Transfer.

PubMed

Seifert, Ludovic; Orth, Dominic; Mantel, Bruno; Boulanger, Jérémie; Hérault, Romain; Dicks, Matt

2018-01-01

The aim of this study was to investigate how the affordances of an indoor climbing wall changed for intermediate climbers following a period of practice during which hold orientation was manipulated within a learning and transfer protocol. The learning protocol consisted of four sessions, in which eight climbers randomly ascended three different routes of fixed absolute difficulty (5c on the French scale), as fluently as possible. All three routes were 10.3 m in height and composed of 20 hand-holds at the same locations on an artificial climbing wall; only hold orientations were altered: (i) a horizontal-edge route (H) was designed to afford horizontal hold grasping, (ii) a vertical-edge route (V) afforded vertical hold grasping, and (iii), a double-edge route (D) was designed to afford both horizontal and vertical hold grasping. Five inertial measurement units (IMU) (3D accelerometer, 3D gyroscope, 3D magnetometer) were attached to the hip, feet and forearms to analyze the vertical acceleration and direction (3D unitary vector) of each limb and hip in ambient space during the entire ascent. Segmentation and classification processes supported detection of movement and stationary phases for each IMU. Depending on whether limbs and/or hip were moving, a decision tree distinguished four states of behavior: stationary (absence of limb and hip motion), hold exploration (absence of hip motion but at least one limb in motion), hip movement (hip in motion but absence of limb motion) and global motion (hip in motion and at least one limb in motion). Results showed that with practice, the learners decreased the relative duration of hold exploration, suggesting that they improved affordance perception of hold grasp-ability. The number of performatory movements also decreased as performance increased during learning sessions, confirming that participants' climbing efficacy improved as a function of practice. Last, the results were more marked for the H route, while the D route

Designing collective behavior in a termite-inspired robot construction team.

PubMed

Werfel, Justin; Petersen, Kirstin; Nagpal, Radhika

2014-02-14

Complex systems are characterized by many independent components whose low-level actions produce collective high-level results. Predicting high-level results given low-level rules is a key open challenge; the inverse problem, finding low-level rules that give specific outcomes, is in general still less understood. We present a multi-agent construction system inspired by mound-building termites, solving such an inverse problem. A user specifies a desired structure, and the system automatically generates low-level rules for independent climbing robots that guarantee production of that structure. Robots use only local sensing and coordinate their activity via the shared environment. We demonstrate the approach via a physical realization with three autonomous climbing robots limited to onboard sensing. This work advances the aim of engineering complex systems that achieve specific human-designed goals.

Climb Hard, Train Harder: Supplemental Training Techniques for Improved Rock Climbing Performance

ERIC Educational Resources Information Center

Larew, Bradley; Haibach-Beach, Pamela

2017-01-01

Climbing is an increasingly popular recreational activity that has attracted interest from a wide variety of populations, likely because of the increasing availability and challenge of climbing. Many children and adolescents are introduced to rock climbing in adventure programming units in their schools. Through physical education, children are…

Project CLIMB.

ERIC Educational Resources Information Center

DeLucca, Adolph

1982-01-01

As a state and national model for a basic skills curriculum for Kindergarten through grade 12 students, Coordination Learning Integration--Middlesex Basics (Project CLIMB) is described. The unified system was developed by teachers with administrative support to accomodate all students' reading and mathematics needs. Project CLIMB's development and…

Climbing favours the tripod gait over alternative faster insect gaits

NASA Astrophysics Data System (ADS)

Ramdya, Pavan; Thandiackal, Robin; Cherney, Raphael; Asselborn, Thibault; Benton, Richard; Ijspeert, Auke Jan; Floreano, Dario

2017-02-01

To escape danger or catch prey, running vertebrates rely on dynamic gaits with minimal ground contact. By contrast, most insects use a tripod gait that maintains at least three legs on the ground at any given time. One prevailing hypothesis for this difference in fast locomotor strategies is that tripod locomotion allows insects to rapidly navigate three-dimensional terrain. To test this, we computationally discovered fast locomotor gaits for a model based on Drosophila melanogaster. Indeed, the tripod gait emerges to the exclusion of many other possible gaits when optimizing fast upward climbing with leg adhesion. By contrast, novel two-legged bipod gaits are fastest on flat terrain without adhesion in the model and in a hexapod robot. Intriguingly, when adhesive leg structures in real Drosophila are covered, animals exhibit atypical bipod-like leg coordination. We propose that the requirement to climb vertical terrain may drive the prevalence of the tripod gait over faster alternative gaits with minimal ground contact.

Climbing favours the tripod gait over alternative faster insect gaits

PubMed Central

Ramdya, Pavan; Thandiackal, Robin; Cherney, Raphael; Asselborn, Thibault; Benton, Richard; Ijspeert, Auke Jan; Floreano, Dario

2017-01-01

To escape danger or catch prey, running vertebrates rely on dynamic gaits with minimal ground contact. By contrast, most insects use a tripod gait that maintains at least three legs on the ground at any given time. One prevailing hypothesis for this difference in fast locomotor strategies is that tripod locomotion allows insects to rapidly navigate three-dimensional terrain. To test this, we computationally discovered fast locomotor gaits for a model based on Drosophila melanogaster. Indeed, the tripod gait emerges to the exclusion of many other possible gaits when optimizing fast upward climbing with leg adhesion. By contrast, novel two-legged bipod gaits are fastest on flat terrain without adhesion in the model and in a hexapod robot. Intriguingly, when adhesive leg structures in real Drosophila are covered, animals exhibit atypical bipod-like leg coordination. We propose that the requirement to climb vertical terrain may drive the prevalence of the tripod gait over faster alternative gaits with minimal ground contact. PMID:28211509

Control Algorithms for a Shape-shifting Tracked Robotic Vehicle Climbing Obstacles

DTIC Science & Technology

2008-12-01

robot be- havioural skills. The Swiss Federal Institute of Technology is developing the shape-shifting robotic platform Octopus [6] (Figure l(b...and traverse steep (a) Lurker (b) Octopus (c) NUGV (d) Chaos (e) STRV Figure 1: Shape-shifting robotic vehicles in different research labs. DRDC...situations. The system is assumed stuck when vv?; + v~ + v’i) < 0.01 mls or Vx < O. Only forward movements are considered in this work, for this reason

The Rock Climbing Teaching Guide.

ERIC Educational Resources Information Center

Kudlas, John

The product of 10 years of rock climbing instruction, this guide provides material from which an instructor can teach basic climbing concepts and safety skills as well as conduct a safe, enjoyable rock climbing class in a high school setting. It is designed for an instructor with limited experience in climbing; however, the need for teacher…

Preparticipation Evaluation for Climbing Sports.

PubMed

Campbell, Aaron D; Davis, Christopher; Paterson, Ryan; Cushing, Tracy A; Ng, Pearlly; Peterson, Charles S; Sedgwick, Peter E; McIntosh, Scott E

2015-12-01

Climbing is a popular wilderness sport among a wide variety of professional athletes and amateur enthusiasts, and many styles are performed across many environments. Potential risks confront climbers, including personal health or exacerbation of a chronic condition, in addition to climbing-specific risks or injuries. Although it is not common to perform a preparticipation evaluation (PPE) for climbing, a climber or a guide agency may request such an evaluation before participation. Formats from traditional sports PPEs can be drawn upon, but often do not directly apply. The purpose of this article was to incorporate findings from expert opinion from professional societies in wilderness medicine and in sports medicine, with findings from the literature of both climbing epidemiology and traditional sports PPEs, into a general PPE that would be sufficient for the broad sport of climbing. The emphasis is on low altitude climbing, and an overview of different climbing styles is included. Knowledge of climbing morbidity and mortality, and a standardized approach to the PPE that involves adequate history taking and counseling have the potential for achieving risk reduction and will facilitate further study on the evaluation of the efficacy of PPEs. Copyright © 2015. Published by Elsevier Inc.

Preparticipation Evaluation for Climbing Sports.

PubMed

Campbell, Aaron D; Davis, Christopher; Paterson, Ryan; Cushing, Tracy A; Ng, Pearlly; Peterson, Charles S; Sedgwick, Peter E; McIntosh, Scott E

2015-09-01

Climbing is a popular wilderness sport among a wide variety of professional athletes and amateur enthusiasts, and many styles are performed across many environments. Potential risks confront climbers, including personal health or exacerbation of a chronic condition, in addition to climbing-specific risks or injuries. Although it is not common to perform a preparticipation evaluation (PPE) for climbing, a climber or a guide agency may request such an evaluation before participation. Formats from traditional sports PPEs can be drawn upon, but often do not directly apply. The purpose of this article was to incorporate findings from expert opinion from professional societies in wilderness medicine and in sports medicine, with findings from the literature of both climbing epidemiology and traditional sports PPEs, into a general PPE that would be sufficient for the broad sport of climbing. The emphasis is on low altitude climbing, and an overview of different climbing styles is included. Knowledge of climbing morbidity and mortality, and a standardized approach to the PPE that involves adequate history taking and counseling have the potential for achieving risk reduction and will facilitate further study on the evaluation of the efficacy of PPEs.

Non-destructive inspection in industrial equipment using robotic mobile manipulation

NASA Astrophysics Data System (ADS)

Maurtua, Iñaki; Susperregi, Loreto; Ansuategui, Ander; Fernández, Ane; Ibarguren, Aitor; Molina, Jorge; Tubio, Carlos; Villasante, Cristobal; Felsch, Torsten; Pérez, Carmen; Rodriguez, Jorge R.; Ghrissi, Meftah

2016-05-01

MAINBOT project has developed service robots based applications to autonomously execute inspection tasks in extensive industrial plants in equipment that is arranged horizontally (using ground robots) or vertically (climbing robots). The industrial objective has been to provide a means to help measuring several physical parameters in multiple points by autonomous robots, able to navigate and climb structures, handling non-destructive testing sensors. MAINBOT has validated the solutions in two solar thermal plants (cylindrical-parabolic collectors and central tower), that are very demanding from mobile manipulation point of view mainly due to the extension (e.g. a thermal solar plant of 50Mw, with 400 hectares, 400.000 mirrors, 180 km of absorber tubes, 140m height tower), the variability of conditions (outdoor, day-night), safety requirements, etc. Once the technology was validated in simulation, the system was deployed in real setups and different validation tests carried out. In this paper two of the achievements related with the ground mobile inspection system are presented: (1) Autonomous navigation localization and planning algorithms to manage navigation in huge extensions and (2) Non-Destructive Inspection operations: thermography based detection algorithms to provide automatic inspection abilities to the robots.

Does perceived steepness deter stair climbing when an alternative is available?

PubMed

Eves, Frank F; Thorpe, Susannah K S; Lewis, Amanda; Taylor-Covill, Guy A H

2014-06-01

Perception of hill slant is exaggerated in explicit awareness. Proffitt (Perspectives on Psychological Science 1:110-122, 2006) argued that explicit perception of the slant of a climb allows individuals to plan locomotion in keeping with their available locomotor resources, yet no behavioral evidence supports this contention. Pedestrians in a built environment can often avoid climbing stairs, the man-made equivalent of steep hills, by choosing an adjacent escalator. Stair climbing is avoided more by women, the old, and the overweight than by their comparators. Two studies tested perceived steepness of the stairs as a cue that promotes this avoidance. In the first study, participants estimated the steepness of a staircase in a train station (n = 269). Sex, age, height, and weight were recorded. Women, older individuals, and those who were heavier and shorter reported the staircase as steeper than did their comparison groups. In a follow-up study in a shopping mall, pedestrians were recruited from those who chose the stairs and those who avoided them, with the samples stratified for sex, age, and weight status. Participants (n = 229) estimated the steepness of a life-sized image of the stairs they had just encountered, presented on the wall of a vacant shop in the mall. Pedestrians who avoided stair climbing by choosing the escalator reported the stairs as steeper even when demographic differences were controlled. Perceived steepness may to be a contextual cue that pedestrians use to avoid stair climbing when an alternative is available.

Towards Autonomous Operations of the Robonaut 2 Humanoid Robotic Testbed

NASA Technical Reports Server (NTRS)

Badger, Julia; Nguyen, Vienny; Mehling, Joshua; Hambuchen, Kimberly; Diftler, Myron; Luna, Ryan; Baker, William; Joyce, Charles

2016-01-01

The Robonaut project has been conducting research in robotics technology on board the International Space Station (ISS) since 2012. Recently, the original upper body humanoid robot was upgraded by the addition of two climbing manipulators ("legs"), more capable processors, and new sensors, as shown in Figure 1. While Robonaut 2 (R2) has been working through checkout exercises on orbit following the upgrade, technology development on the ground has continued to advance. Through the Active Reduced Gravity Offload System (ARGOS), the Robonaut team has been able to develop technologies that will enable full operation of the robotic testbed on orbit using similar robots located at the Johnson Space Center. Once these technologies have been vetted in this way, they will be implemented and tested on the R2 unit on board the ISS. The goal of this work is to create a fully-featured robotics research platform on board the ISS to increase the technology readiness level of technologies that will aid in future exploration missions. Technology development has thus far followed two main paths, autonomous climbing and efficient tool manipulation. Central to both technologies has been the incorporation of a human robotic interaction paradigm that involves the visualization of sensory and pre-planned command data with models of the robot and its environment. Figure 2 shows screenshots of these interactive tools, built in rviz, that are used to develop and implement these technologies on R2. Robonaut 2 is designed to move along the handrails and seat track around the US lab inside the ISS. This is difficult for many reasons, namely the environment is cluttered and constrained, the robot has many degrees of freedom (DOF) it can utilize for climbing, and remote commanding for precision tasks such as grasping handrails is time-consuming and difficult. Because of this, it is important to develop the technologies needed to allow the robot to reach operator-specified positions as

Transition by head-on collision: mechanically mediated manoeuvres in cockroaches and small robots.

PubMed

Jayaram, Kaushik; Mongeau, Jean-Michel; Mohapatra, Anand; Birkmeyer, Paul; Fearing, Ronald S; Full, Robert J

2018-02-01

Exceptional performance is often considered to be elegant and free of 'errors' or missteps. During the most extreme escape behaviours, neural control can approach or exceed its operating limits in response time and bandwidth. Here we show that small, rapid running cockroaches with robust exoskeletons select head-on collisions with obstacles to maintain the fastest escape speeds possible to transition up a vertical wall. Instead of avoidance, animals use their passive body shape and compliance to negotiate challenging environments. Cockroaches running at over 1 m or 50 body lengths per second transition from the floor to a vertical wall within 75 ms by using their head like an automobile bumper, mechanically mediating the manoeuvre. Inspired by the animal's behaviour, we demonstrate a passive, high-speed, mechanically mediated vertical transitions with a small, palm-sized legged robot. By creating a collision model for animal and human materials, we suggest a size dependence favouring mechanical mediation below 1 kg that we term the 'Haldane limit'. Relying on the mechanical control offered by soft exoskeletons represents a paradigm shift for understanding the control of small animals and the next generation of running, climbing and flying robots where the use of the body can off-load the demand for rapid sensing and actuation. © 2018 The Authors.

Transition by head-on collision: mechanically mediated manoeuvres in cockroaches and small robots

PubMed Central

Mongeau, Jean-Michel; Mohapatra, Anand; Birkmeyer, Paul; Fearing, Ronald S.; Full, Robert J.

2018-01-01

Exceptional performance is often considered to be elegant and free of ‘errors’ or missteps. During the most extreme escape behaviours, neural control can approach or exceed its operating limits in response time and bandwidth. Here we show that small, rapid running cockroaches with robust exoskeletons select head-on collisions with obstacles to maintain the fastest escape speeds possible to transition up a vertical wall. Instead of avoidance, animals use their passive body shape and compliance to negotiate challenging environments. Cockroaches running at over 1 m or 50 body lengths per second transition from the floor to a vertical wall within 75 ms by using their head like an automobile bumper, mechanically mediating the manoeuvre. Inspired by the animal's behaviour, we demonstrate a passive, high-speed, mechanically mediated vertical transitions with a small, palm-sized legged robot. By creating a collision model for animal and human materials, we suggest a size dependence favouring mechanical mediation below 1 kg that we term the ‘Haldane limit’. Relying on the mechanical control offered by soft exoskeletons represents a paradigm shift for understanding the control of small animals and the next generation of running, climbing and flying robots where the use of the body can off-load the demand for rapid sensing and actuation. PMID:29445036

Tree climbing and human evolution

PubMed Central

Venkataraman, Vivek V.; Kraft, Thomas S.; Dominy, Nathaniel J.

2013-01-01

Paleoanthropologists have long argued—often contentiously—about the climbing abilities of early hominins and whether a foot adapted to terrestrial bipedalism constrained regular access to trees. However, some modern humans climb tall trees routinely in pursuit of honey, fruit, and game, often without the aid of tools or support systems. Mortality and morbidity associated with facultative arboreality is expected to favor behaviors and anatomies that facilitate safe and efficient climbing. Here we show that Twa hunter–gatherers use extraordinary ankle dorsiflexion (>45°) during climbing, similar to the degree observed in wild chimpanzees. Although we did not detect a skeletal signature of dorsiflexion in museum specimens of climbing hunter–gatherers from the Ituri forest, we did find that climbing by the Twa is associated with longer fibers in the gastrocnemius muscle relative to those of neighboring, nonclimbing agriculturalists. This result suggests that a more excursive calf muscle facilitates climbing with a bipedally adapted ankle and foot by positioning the climber closer to the tree, and it might be among the mechanisms that allow hunter–gatherers to access the canopy safely. Given that we did not find a skeletal correlate for this observed behavior, our results imply that derived aspects of the hominin ankle associated with bipedalism remain compatible with vertical climbing and arboreal resource acquisition. Our findings challenge the persistent arboreal–terrestrial dichotomy that has informed behavioral reconstructions of fossil hominins and highlight the value of using modern humans as models for inferring the limits of hominin arboreality. PMID:23277565

Three-dimensional formulation of dislocation climb

NASA Astrophysics Data System (ADS)

Gu, Yejun; Xiang, Yang; Quek, Siu Sin; Srolovitz, David J.

2015-10-01

We derive a Green's function formulation for the climb of curved dislocations and multiple dislocations in three-dimensions. In this new dislocation climb formulation, the dislocation climb velocity is determined from the Peach-Koehler force on dislocations through vacancy diffusion in a non-local manner. The long-range contribution to the dislocation climb velocity is associated with vacancy diffusion rather than from the climb component of the well-known, long-range elastic effects captured in the Peach-Koehler force. Both long-range effects are important in determining the climb velocity of dislocations. Analytical and numerical examples show that the widely used local climb formula, based on straight infinite dislocations, is not generally applicable, except for a small set of special cases. We also present a numerical discretization method of this Green's function formulation appropriate for implementation in discrete dislocation dynamics (DDD) simulations. In DDD implementations, the long-range Peach-Koehler force is calculated as is commonly done, then a linear system is solved for the climb velocity using these forces. This is also done within the same order of computational cost as existing discrete dislocation dynamics methods.

An observational study: Effects of tenting of the abdominal wall on peak airway pressure in robotic radical prostatectomy surgery

PubMed Central

Kakde, Avinash Sahebarav; Wagh, Harshal D.

2017-01-01

Background: Robotic radical prostatectomy (RRP) is associated with various anesthetic challenges due to pneumoperitoneum and deep Trendelenburg position. Tenting of the abdominal wall done in RRP surgery causes decrease in peak airway pressure leading to better ventilation. Herein, we aimed to describe the effects of tenting of the abdominal wall on peak airway pressure in RRP surgery performed in deep Trendelenburg position. Methods: One hundred patients admitted for RRP in Kokilaben Dhirubhai Ambani Hospital of American Society of Anesthesiologists 1 and 2 physical status were included in the study. After undergoing preanesthesia work-up, patients received general anesthesia. Peak airway pressures were recorded after induction of general anesthesia, after insufflation of CO2, after giving Trendelenburg position, and after tenting of the abdominal wall with robotic arms. Results: Mean peak airway pressure recording after induction in supine position was 19.5 ± 2.3 cm of H2O, after insufflation of CO2 in supine position was 26.3 ± 2.6 cm of H2O, after giving steep head low was 34.1 ± 3.4 cm of H2O, and after tenting of the abdominal wall with robotic arms was 29.5 ± 2.5 cm of H2O. P value is highly statistically significant (P = 0.001). Conclusion: Tenting of the abdominal wall during RRP is beneficial as it decreases peak airway pressure and helps in better ventilation and thus reduces the ill effects of raised peak airway pressure and intra-abdominal pressures. PMID:28757826

The Effect of Climbing Wall Use on the Grip Strength of Fourth-Grade Students

ERIC Educational Resources Information Center

Lirgg, Cathy D.; Dibrezzo, Ro; Gray, Michelle; Esslinger, Travis

2011-01-01

Physical educators are challenged to provide quality experiences that are fun for their students, enhance fitness levels, and build confidence. These challenges are amplified with the current decrease in activity levels of American youth. A possible solution to enhancing physical activity engagement in children is to incorporate climbing walls…

A Dust Devil Making a Streak and Climbing a Crater Wall

NASA Technical Reports Server (NTRS)

2002-01-01

MGS MOC Release No. MOC2-318, 8 August 2002 [figure removed for brevity, see original site] One of the key elements of the Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) Extended Mission is to look for and monitor changes taking place on the planet over the course of a second--and, eventually, a third--martian year. MGS is now well into its second Mars year, which will draw to a close in December 2002. Among the changes the MOC has observed are streaks believed to be caused by the passage of dust devils. Thousands of MOC images show these streaks, dozens show that they change over time, but far fewer images have actually captured a dust devil in the act of creating a streak. At the center right of this image (above left) is a dust devil that, on May 21, 2002, was seen climbing the wall of a crater at 4.1oS, 9.5oW. This crater (above right) is in western Terra Meridiani. The dust devil was moving toward the northeast (upper right), leaving behind a dark trail where a thin coating of surficial dust was removed or disrupted as the dust devil advanced. Dust devils most commonly form after noon on days when the martian air is still (that is, when there isn't even a faint breeze). On such days, the ground is better able to heat up the air immediately above the surface. As the warmed near-surface air begins to rise, it also begins to spin, creating a vortex. The spinning column then moves across the surface and picks up loose dust (if any is present). The dust makes the vortex visible and gives it a tornado-like appearance. The dust devil in this image has a very short, dark shadow cast to the right of the bright column; this shadow is short because the sun was nearly overhead.

A bi-hemispheric neuronal network model of the cerebellum with spontaneous climbing fiber firing produces asymmetrical motor learning during robot control.

PubMed

Pinzon-Morales, Ruben-Dario; Hirata, Yutaka

2014-01-01

To acquire and maintain precise movement controls over a lifespan, changes in the physical and physiological characteristics of muscles must be compensated for adaptively. The cerebellum plays a crucial role in such adaptation. Changes in muscle characteristics are not always symmetrical. For example, it is unlikely that muscles that bend and straighten a joint will change to the same degree. Thus, different (i.e., asymmetrical) adaptation is required for bending and straightening motions. To date, little is known about the role of the cerebellum in asymmetrical adaptation. Here, we investigate the cerebellar mechanisms required for asymmetrical adaptation using a bi-hemispheric cerebellar neuronal network model (biCNN). The bi-hemispheric structure is inspired by the observation that lesioning one hemisphere reduces motor performance asymmetrically. The biCNN model was constructed to run in real-time and used to control an unstable two-wheeled balancing robot. The load of the robot and its environment were modified to create asymmetrical perturbations. Plasticity at parallel fiber-Purkinje cell synapses in the biCNN model was driven by error signal in the climbing fiber (cf) input. This cf input was configured to increase and decrease its firing rate from its spontaneous firing rate (approximately 1 Hz) with sensory errors in the preferred and non-preferred direction of each hemisphere, as demonstrated in the monkey cerebellum. Our results showed that asymmetrical conditions were successfully handled by the biCNN model, in contrast to a single hemisphere model or a classical non-adaptive proportional and derivative controller. Further, the spontaneous activity of the cf, while relatively small, was critical for balancing the contribution of each cerebellar hemisphere to the overall motor command sent to the robot. Eliminating the spontaneous activity compromised the asymmetrical learning capabilities of the biCNN model. Thus, we conclude that a bi

A bi-hemispheric neuronal network model of the cerebellum with spontaneous climbing fiber firing produces asymmetrical motor learning during robot control

PubMed Central

Pinzon-Morales, Ruben-Dario; Hirata, Yutaka

2014-01-01

To acquire and maintain precise movement controls over a lifespan, changes in the physical and physiological characteristics of muscles must be compensated for adaptively. The cerebellum plays a crucial role in such adaptation. Changes in muscle characteristics are not always symmetrical. For example, it is unlikely that muscles that bend and straighten a joint will change to the same degree. Thus, different (i.e., asymmetrical) adaptation is required for bending and straightening motions. To date, little is known about the role of the cerebellum in asymmetrical adaptation. Here, we investigate the cerebellar mechanisms required for asymmetrical adaptation using a bi-hemispheric cerebellar neuronal network model (biCNN). The bi-hemispheric structure is inspired by the observation that lesioning one hemisphere reduces motor performance asymmetrically. The biCNN model was constructed to run in real-time and used to control an unstable two-wheeled balancing robot. The load of the robot and its environment were modified to create asymmetrical perturbations. Plasticity at parallel fiber-Purkinje cell synapses in the biCNN model was driven by error signal in the climbing fiber (cf) input. This cf input was configured to increase and decrease its firing rate from its spontaneous firing rate (approximately 1 Hz) with sensory errors in the preferred and non-preferred direction of each hemisphere, as demonstrated in the monkey cerebellum. Our results showed that asymmetrical conditions were successfully handled by the biCNN model, in contrast to a single hemisphere model or a classical non-adaptive proportional and derivative controller. Further, the spontaneous activity of the cf, while relatively small, was critical for balancing the contribution of each cerebellar hemisphere to the overall motor command sent to the robot. Eliminating the spontaneous activity compromised the asymmetrical learning capabilities of the biCNN model. Thus, we conclude that a bi

Maneuverability and mobility in palm-sized legged robots

NASA Astrophysics Data System (ADS)

Kohut, Nicholas J.; Birkmeyer, Paul M.; Peterson, Kevin C.; Fearing, Ronald S.

2012-06-01

Palm sized legged robots show promise for military and civilian applications, including exploration of hazardous or difficult to reach places, search and rescue, espionage, and battlefield reconnaissance. However, they also face many technical obstacles, including- but not limited to- actuator performance, weight constraints, processing power, and power density. This paper presents an overview of several robots from the Biomimetic Millisystems Laboratory at UC Berkeley, including the OctoRoACH, a steerable, running legged robot capable of basic navigation and equipped with a camera and active tail; CLASH, a dynamic climbing robot; and BOLT, a hybrid crawling and flying robot. The paper also discusses, and presents some preliminary solutions to, the technical obstacles listed above plus issues such as robustness to unstructured environments, limited sensing and communication bandwidths, and system integration.

Student teams practice for regional robotic competition at KSC

NASA Technical Reports Server (NTRS)

1999-01-01

During practice rounds of the 1999 Southeastern Regional robotic competition at Kennedy Space Center Visitor Complex, team members adjust components of their robot on the floor. Thirty schools from around the country have converged at KSC for the event that pits gladiator robots against each other in an athletic-style competition. The robots have to retrieve pillow-like disks from the floor, as well as climb onto a platform and raise the cache of pillows to a height of eight feet. KSC is hosting the event being sponsored by the nonprofit organization For Inspiration and Recognition of Science and Technology, known as FIRST. The FIRST robotics competition is designed to provide students with a hands-on, inside look at engineering and other professional careers.

Re-Establishing a Clean Climbing Ethic.

ERIC Educational Resources Information Center

Attarian, Aram

This paper addresses environmental impact issues associated with rock climbing and stresses the importance of reestablishing a clean climbing ethic through climber education and ethical considerations. The adventure sport of rock climbing has grown considerably over the last decade: it is estimated that there are currently over 200,000 rock…

Honeybees Prefer to Steer on a Smooth Wall With Tetrapod Gaits

PubMed Central

Zhao, Jieliang; Zhu, Fei; Yan, Shaoze

2018-01-01

Abstract Insects are well equipped in walking on complex three-dimensional terrain, allowing them to overcome obstacles or catch prey. However, the gait transition for insects steering on a wall remains unexplored. Here, we find that honeybees adopted a tetrapod gait to change direction when climbing a wall. On the contrary to the common tripod gait, honeybees propel their body forward by synchronously stepping with both middle legs and then both front legs. This process ensures the angle of the central axis of the honeybee to be consistent with the crawling direction. Interestingly, when running in an alternating tripod gait, the central axis of honeybee sways around the center of mass under alternating tripod gait to maintain stability. Experimental results show that tripod, tetrapod, and random gaits result in the amazing consensus harmony on the climbing speed and gait stability, whether climbing on a smooth wall or walking on smooth ground. PMID:29722862

Ice Climbing Festival in Sochi 2014 Winter Olympics: Medical Management and Injury Analysis.

PubMed

Mashkovskiy, Evgeny; Beverly, James Marc; Stöcker, Urs; Bychkovskiy, Sergey

2016-03-01

Sports ice climbing (SIC) is developing rapidly as an independent sport with Olympic potentials. To date there has been no prior systematic evaluation of injury risks and injury patterns in a SIC-specific setting. This paper reports injury statistics collected during the Ice Climbing Festival, which was held during the XXII Winter Olympics in Sochi, Russia. More than 2500 amateur climbers and 53 professional athletes climbed during 16 days on a dry tooling lead-difficulty, and a 17-m vertical ice wall (grade M4/M5 or Union Internationale des Associations d'Alpinisme [UIAA] V+/VI-). The injury incidence rates were 0.82/100 in lead-difficulty and 0.83/100 in speed ice climbing with an overall incidence rate of 0.83/100. The injury risk in amateur climbers was 248 injuries per 1000 hours of sports activities. There were no major accidents or fatalities during the event. SIC could be graded I according to UIAA Fatality Risk Classification. Penetrating and superficial soft tissue injuries (cuts and bruises) were the most common. The anteromedial aspects of the thigh and knee were the most typical injury locations. The findings from this study provide an opportunity to compare injury patterns in SIC with what has previously been reported for traditional ice climbing. SIC has lower fatality risks, higher minor injury rates, and comparable injury severity to traditional ice climbing. The main limitation of our findings is that they were obtained on a population of amateur ice climbers with no previous experience. Further research should be performed to define injury risks in professional competitive ice climbers, and standard methodologies for reporting injuries should be considered. Copyright © 2016 Wilderness Medical Society. All rights reserved.

14 CFR 23.69 - Enroute climb/descent.

Code of Federal Regulations, 2010 CFR

2010-01-01

... climb/descent. (a) All engines operating. The steady gradient and rate of climb must be determined at.... The steady gradient and rate of climb/descent must be determined at each weight, altitude, and ambient...

Active tactile sampling by an insect in a step-climbing paradigm

PubMed Central

Krause, André F.; Dürr, Volker

2012-01-01

Many insects actively explore their near-range environment with their antennae. Stick insects (Carausius morosus) rhythmically move their antennae during walking and respond to antennal touch by repetitive tactile sampling of the object. Despite its relevance for spatial orientation, neither the spatial sampling patterns nor the kinematics of antennation behavior in insects are understood. Here we investigate unrestrained bilateral sampling movements during climbing of steps. The main objectives are: (1) How does the antennal contact pattern relate to particular object features? (2) How are the antennal joints coordinated during bilateral tactile sampling? We conducted motion capture experiments on freely climbing insects, using steps of different height. Tactile sampling was analyzed at the level of antennal joint angles. Moreover, we analyzed contact patterns on the surfaces of both the obstacle and the antenna itself. Before the first contact, both antennae move in a broad, mostly elliptical exploratory pattern. After touching the obstacle, the pattern switches to a narrower and faster movement, caused by higher cycle frequencies and lower cycle amplitudes in all joints. Contact events were divided into wall- and edge-contacts. Wall contacts occurred mostly with the distal third of the flagellum, which is flexible, whereas edge contacts often occurred proximally, where the flagellum is stiff. The movement of both antennae was found to be coordinated, exhibiting bilateral coupling of functionally analogous joints [e.g., left head-scape (HS) joint with right scape-pedicel (SP) joint] throughout tactile sampling. In comparison, bilateral coupling between homologous joints (e.g., both HS joints) was significantly weaker. Moreover, inter-joint coupling was significantly weaker during the contact episode than before. In summary, stick insects show contact-induced changes in frequency, amplitude and inter-joint coordination during tactile sampling of climbed obstacles

Lifting as You Climb

ERIC Educational Resources Information Center

Sullivan, Debra R.

2009-01-01

This article addresses leadership themes and answers leadership questions presented to "Exchange" by the Panel members who attended the "Exchange" Panel of 300 Reception in Dallas, Texas, last November. There is an old proverb that encourages people to lift as they climb: "While you climb a mountain, you must not forget others along the way." With…

Evolutionary novelty versus exaptation: oral kinematics in feeding versus climbing in the waterfall-climbing Hawaiian Goby Sicyopterus stimpsoni.

PubMed

Cullen, Joshua A; Maie, Takashi; Schoenfuss, Heiko L; Blob, Richard W

2013-01-01

Species exposed to extreme environments often exhibit distinctive traits that help meet the demands of such habitats. Such traits could evolve independently, but under intense selective pressures of extreme environments some existing structures or behaviors might be coopted to meet specialized demands, evolving via the process of exaptation. We evaluated the potential for exaptation to have operated in the evolution of novel behaviors of the waterfall-climbing gobiid fish genus Sicyopterus. These fish use an "inching" behavior to climb waterfalls, in which an oral sucker is cyclically protruded and attached to the climbing surface. They also exhibit a distinctive feeding behavior, in which the premaxilla is cyclically protruded to scrape diatoms from the substrate. Given the similarity of these patterns, we hypothesized that one might have been coopted from the other. To evaluate this, we filmed climbing and feeding in Sicyopterus stimpsoni from Hawai'i, and measured oral kinematics for two comparisons. First, we compared feeding kinematics of S. stimpsoni with those for two suction feeding gobiids (Awaous guamensis and Lentipes concolor), assessing what novel jaw movements were required for algal grazing. Second, we quantified the similarity of oral kinematics between feeding and climbing in S. stimpsoni, evaluating the potential for either to represent an exaptation from the other. Premaxillary movements showed the greatest differences between scraping and suction feeding taxa. Between feeding and climbing, overall profiles of oral kinematics matched closely for most variables in S. stimpsoni, with only a few showing significant differences in maximum values. Although current data cannot resolve whether oral movements for climbing were coopted from feeding, or feeding movements coopted from climbing, similarities between feeding and climbing kinematics in S. stimpsoni are consistent with evidence of exaptation, with modifications, between these behaviors. Such

Evolutionary Novelty versus Exaptation: Oral Kinematics in Feeding versus Climbing in the Waterfall-Climbing Hawaiian Goby Sicyopterus stimpsoni

PubMed Central

Cullen, Joshua A.; Maie, Takashi; Schoenfuss, Heiko L.; Blob, Richard W.

2013-01-01

Species exposed to extreme environments often exhibit distinctive traits that help meet the demands of such habitats. Such traits could evolve independently, but under intense selective pressures of extreme environments some existing structures or behaviors might be coopted to meet specialized demands, evolving via the process of exaptation. We evaluated the potential for exaptation to have operated in the evolution of novel behaviors of the waterfall-climbing gobiid fish genus Sicyopterus. These fish use an “inching” behavior to climb waterfalls, in which an oral sucker is cyclically protruded and attached to the climbing surface. They also exhibit a distinctive feeding behavior, in which the premaxilla is cyclically protruded to scrape diatoms from the substrate. Given the similarity of these patterns, we hypothesized that one might have been coopted from the other. To evaluate this, we filmed climbing and feeding in Sicyopterus stimpsoni from Hawai’i, and measured oral kinematics for two comparisons. First, we compared feeding kinematics of S. stimpsoni with those for two suction feeding gobiids (Awaous guamensis and Lentipes concolor), assessing what novel jaw movements were required for algal grazing. Second, we quantified the similarity of oral kinematics between feeding and climbing in S. stimpsoni, evaluating the potential for either to represent an exaptation from the other. Premaxillary movements showed the greatest differences between scraping and suction feeding taxa. Between feeding and climbing, overall profiles of oral kinematics matched closely for most variables in S. stimpsoni, with only a few showing significant differences in maximum values. Although current data cannot resolve whether oral movements for climbing were coopted from feeding, or feeding movements coopted from climbing, similarities between feeding and climbing kinematics in S. stimpsoni are consistent with evidence of exaptation, with modifications, between these behaviors

Gripping Mechanisms for Microgravity and Extreme Terrain and Vertical Climbing Micro Ground Vehicle

NASA Technical Reports Server (NTRS)

McKenzie, Clifford; Parness, Aaron

2011-01-01

Asteroids and comets may provide insight into the origins of our solar system and the precursors to life on our planet. Near Earth objects offer an accessible target of opportunity, but are small and lack the gravity necessary for conventional wheeled travel. Therefore, it is necessary to develop alternative methods for maneuvering in these environments. This project researched and developed a method for gripping rock surfaces. Work has been completed on the design and prototyping of several possible hooked gripping mechanisms. Future work includes quantitative testing, downselection to a final design, and attachment to the robotic platform, Lemur IIb. A second project focuses on the development of a 100g, crash-proof robot capable of climbing vertical surfaces using a novel silicone adhesive. Capable of carrying video/audio payloads the robot may serve as a surveillance tool for the Department of Defense or as a method of pre-flight spacecraft inspections. A specialized track was developed to provide the specific loading conditions necessary for proper engagement of the adhesive. Both of these projects rely heavily on the shape deposition manufacturing process, being researched at JPL, and 3D printing.

Climbing therapy under PK-tailored prophylaxis.

PubMed

Stemberger, M; Schmit, E; Czepa, D; Kurnik, K; Spannagl, M

2014-01-01

Climbing has a low risk of injury and strengthens the entire musculature. Due to its benefits in physical and mental health as well as its high fun factor climbing is an established way of therapy. So far, the usefulness of climbing therapy has not been shown for people with haemophilia (PWH). A crucial requirement for physical activity in PWH is regular prophylaxis. As the patient's individual pharmacokinetic (PK) response varies significantly, PK-tailored prophylaxis may decrease bleeding frequency. We describe a man (age 25 years) with severe haemophilia A who took part in an 8.5-month weekly climbing program under PK-tailored prophylaxis. Bleeding frequency, factor consumption, joint health (Haemophilia Joint Health Score, HJHS), quality of life (Haemo-QoL-A) and climbing performance (UIAA scale) were assessed before and after the training. Prior to the study, the patient was on demand treatment. The patient was started on standard prophylaxis for a 2 months period and then observed for 6.5 months under PK-tailored prophylaxis. PK-tailored prophylaxis was targeted to a trough level of 1-3%. For high-impact activities a factor activity >15%, for low-impact activities a factor activity >5% was suggested. Climbing therapy was safe. The bleeding rate decreased from 14 (2012) to 1 (during the study period of 8.5 months). The one bleeding event was due to a missed infusion and was not triggered by physical activity. The elimination half-life using Bayesian statistics was determined to be 16h. Using this half-life for PK-tailored prophylaxis reduced the factor VIII consumption in comparison to standard prophylaxis. Joint health was particularly improved in the categories range of motion and swelling. Quality of life scores stayed at a high level. Climbing performance improved by 1 grade. The combination of PK-tailored prophylaxis with therapeutic climbing improved clinical outcome in this young adult with severe haemophilia. The tailored concept for high- and low

Robonaut 2 - Building a Robot on the International Space Station

NASA Technical Reports Server (NTRS)

Diftler, Myron; Badger, Julia; Joyce, Charles; Potter, Elliott; Pike, Leah

2015-01-01

In 2010, the Robonaut Project embarked on a multi-phase mission to perform technology demonstrations on-board the International Space Station (ISS), showcasing state of the art robotics technologies through the use of Robonaut 2 (R2). This phased approach implements a strategy that allows for the use of ISS as a test bed during early development to both demonstrate capability and test technology while still making advancements in the earth based laboratories for future testing and operations in space. While R2 was performing experimental trials onboard the ISS during the first phase, engineers were actively designing for Phase 2, Intra-Vehicular Activity (IVA) Mobility, that utilizes a set of zero-g climbing legs outfitted with grippers to grasp handrails and seat tracks. In addition to affixing the new climbing legs to the existing R2 torso, it became clear that upgrades to the torso to both physically accommodate the climbing legs and to expand processing power and capabilities of the robot were required. In addition to these upgrades, a new safety architecture was also implemented in order to account for the expanded capabilities of the robot. The IVA climbing legs not only needed to attach structurally to the R2 torso on ISS, but also required power and data connections that did not exist in the upper body. The climbing legs were outfitted with a blind mate adapter and coarse alignment guides for easy installation, but the upper body required extensive rewiring to accommodate the power and data connections. This was achieved by mounting a custom adapter plate to the torso and routing the additional wiring through the waist joint to connect to the new set of processors. In addition to the power and data channels, the integrated unit also required updated electronics boards, additional sensors and updated processors to accommodate a new operating system, software platform, and custom control system. In order to perform the unprecedented task of building a robot

14 CFR 31.17 - Performance: Climb.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Performance: Climb. 31.17 Section 31.17 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: MANNED FREE BALLOONS Flight Requirements § 31.17 Performance: Climb. (a) Each balloon must be...

14 CFR 31.17 - Performance: Climb.

Code of Federal Regulations, 2012 CFR

2012-01-01

... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Performance: Climb. 31.17 Section 31.17 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: MANNED FREE BALLOONS Flight Requirements § 31.17 Performance: Climb. (a) Each balloon must be...

14 CFR 31.17 - Performance: Climb.

Code of Federal Regulations, 2013 CFR

2013-01-01

... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Performance: Climb. 31.17 Section 31.17 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: MANNED FREE BALLOONS Flight Requirements § 31.17 Performance: Climb. (a) Each balloon must be...

14 CFR 31.17 - Performance: Climb.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Performance: Climb. 31.17 Section 31.17 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: MANNED FREE BALLOONS Flight Requirements § 31.17 Performance: Climb. (a) Each balloon must be...

Robot-Assisted End-Effector-Based Stair Climbing for Cardiopulmonary Exercise Testing: Feasibility, Reliability, and Repeatability.

PubMed

Stoller, Oliver; Schindelholz, Matthias; Hunt, Kenneth J

2016-01-01

Neurological impairments can limit the implementation of conventional cardiopulmonary exercise testing (CPET) and cardiovascular training strategies. A promising approach to provoke cardiovascular stress while facilitating task-specific exercise in people with disabilities is feedback-controlled robot-assisted end-effector-based stair climbing (RASC). The aim of this study was to evaluate the feasibility, reliability, and repeatability of augmented RASC-based CPET in able-bodied subjects, with a view towards future research and applications in neurologically impaired populations. Twenty able-bodied subjects performed a familiarisation session and 2 consecutive incremental CPETs using augmented RASC. Outcome measures focussed on standard cardiopulmonary performance parameters and on accuracy of work rate tracking (RMSEP-root mean square error). Criteria for feasibility were cardiopulmonary responsiveness and technical implementation. Relative and absolute test-retest reliability were assessed by intraclass correlation coefficients (ICC), standard error of the measurement (SEM), and minimal detectable change (MDC). Mean differences, limits of agreement, and coefficients of variation (CoV) were estimated to assess repeatability. All criteria for feasibility were achieved. Mean V'O2peak was 106±9% of predicted V'O2max and mean HRpeak was 99±3% of predicted HRmax. 95% of the subjects achieved at least 1 criterion for V'O2max, and the detection of the sub-maximal ventilatory thresholds was successful (ventilatory anaerobic threshold 100%, respiratory compensation point 90% of the subjects). Excellent reliability was found for peak cardiopulmonary outcome measures (ICC ≥ 0.890, SEM ≤ 0.60%, MDC ≤ 1.67%). Repeatability for the primary outcomes was good (CoV ≤ 0.12). RASC-based CPET with feedback-guided exercise intensity demonstrated comparable or higher peak cardiopulmonary performance variables relative to predicted values, achieved the criteria for V'O2max

Robot-Assisted End-Effector-Based Stair Climbing for Cardiopulmonary Exercise Testing: Feasibility, Reliability, and Repeatability

PubMed Central

Stoller, Oliver; Schindelholz, Matthias; Hunt, Kenneth J.

2016-01-01

Background Neurological impairments can limit the implementation of conventional cardiopulmonary exercise testing (CPET) and cardiovascular training strategies. A promising approach to provoke cardiovascular stress while facilitating task-specific exercise in people with disabilities is feedback-controlled robot-assisted end-effector-based stair climbing (RASC). The aim of this study was to evaluate the feasibility, reliability, and repeatability of augmented RASC-based CPET in able-bodied subjects, with a view towards future research and applications in neurologically impaired populations. Methods Twenty able-bodied subjects performed a familiarisation session and 2 consecutive incremental CPETs using augmented RASC. Outcome measures focussed on standard cardiopulmonary performance parameters and on accuracy of work rate tracking (RMSEP−root mean square error). Criteria for feasibility were cardiopulmonary responsiveness and technical implementation. Relative and absolute test-retest reliability were assessed by intraclass correlation coefficients (ICC), standard error of the measurement (SEM), and minimal detectable change (MDC). Mean differences, limits of agreement, and coefficients of variation (CoV) were estimated to assess repeatability. Results All criteria for feasibility were achieved. Mean V′O2peak was 106±9% of predicted V′O2max and mean HRpeak was 99±3% of predicted HRmax. 95% of the subjects achieved at least 1 criterion for V′O2max, and the detection of the sub-maximal ventilatory thresholds was successful (ventilatory anaerobic threshold 100%, respiratory compensation point 90% of the subjects). Excellent reliability was found for peak cardiopulmonary outcome measures (ICC ≥ 0.890, SEM ≤ 0.60%, MDC ≤ 1.67%). Repeatability for the primary outcomes was good (CoV ≤ 0.12). Conclusions RASC-based CPET with feedback-guided exercise intensity demonstrated comparable or higher peak cardiopulmonary performance variables relative to

Adaptive Trajectory Prediction Algorithm for Climbing Flights

NASA Technical Reports Server (NTRS)

Schultz, Charles Alexander; Thipphavong, David P.; Erzberger, Heinz

2012-01-01

Aircraft climb trajectories are difficult to predict, and large errors in these predictions reduce the potential operational benefits of some advanced features for NextGen. The algorithm described in this paper improves climb trajectory prediction accuracy by adjusting trajectory predictions based on observed track data. It utilizes rate-of-climb and airspeed measurements derived from position data to dynamically adjust the aircraft weight modeled for trajectory predictions. In simulations with weight uncertainty, the algorithm is able to adapt to within 3 percent of the actual gross weight within two minutes of the initial adaptation. The root-mean-square of altitude errors for five-minute predictions was reduced by 73 percent. Conflict detection performance also improved, with a 15 percent reduction in missed alerts and a 10 percent reduction in false alerts. In a simulation with climb speed capture intent and weight uncertainty, the algorithm improved climb trajectory prediction accuracy by up to 30 percent and conflict detection performance, reducing missed and false alerts by up to 10 percent.

When affordances climb into your mind: advantages of motor simulation in a memory task performed by novice and expert rock climbers.

PubMed

Pezzulo, Giovanni; Barca, Laura; Bocconi, Alessandro Lamberti; Borghi, Anna M

2010-06-01

Does the sight of multiple climbing holds laid along a path activate a motor simulation of climbing that path? One way of testing whether multiple affordances and their displacement influence the formation of a motor simulation is to study acquired motor skills. We used a behavioral task in which expert and novice rock climbers were shown three routes: an easy route, a route impossible to climb but perceptually salient, and a difficult route. After a distraction task, they were then given a recall test in which they had to write down the sequence of holds composing each route. We found no difference between experts and novices on the easy and impossible routes, whereas on the difficult route, the performance of experts was better than that of novices. This suggests that seeing a climbing wall activates a motor, embodied simulation, which relies not on perceptual salience, but on motor competence. More importantly, our results show that the capability to form this simulation is modulated by individuals' motor repertoire and expertise, and that this strongly impacts recall. Copyright 2010 Elsevier Inc. All rights reserved.

Small-scale soft-bodied robot with multimodal locomotion.

PubMed

Hu, Wenqi; Lum, Guo Zhan; Mastrangeli, Massimo; Sitti, Metin

2018-02-01

Untethered small-scale (from several millimetres down to a few micrometres in all dimensions) robots that can non-invasively access confined, enclosed spaces may enable applications in microfactories such as the construction of tissue scaffolds by robotic assembly, in bioengineering such as single-cell manipulation and biosensing, and in healthcare such as targeted drug delivery and minimally invasive surgery. Existing small-scale robots, however, have very limited mobility because they are unable to negotiate obstacles and changes in texture or material in unstructured environments. Of these small-scale robots, soft robots have greater potential to realize high mobility via multimodal locomotion, because such machines have higher degrees of freedom than their rigid counterparts. Here we demonstrate magneto-elastic soft millimetre-scale robots that can swim inside and on the surface of liquids, climb liquid menisci, roll and walk on solid surfaces, jump over obstacles, and crawl within narrow tunnels. These robots can transit reversibly between different liquid and solid terrains, as well as switch between locomotive modes. They can additionally execute pick-and-place and cargo-release tasks. We also present theoretical models to explain how the robots move. Like the large-scale robots that can be used to study locomotion, these soft small-scale robots could be used to study soft-bodied locomotion produced by small organisms.

Small-scale soft-bodied robot with multimodal locomotion

NASA Astrophysics Data System (ADS)

Hu, Wenqi; Lum, Guo Zhan; Mastrangeli, Massimo; Sitti, Metin

2018-02-01

Untethered small-scale (from several millimetres down to a few micrometres in all dimensions) robots that can non-invasively access confined, enclosed spaces may enable applications in microfactories such as the construction of tissue scaffolds by robotic assembly, in bioengineering such as single-cell manipulation and biosensing, and in healthcare such as targeted drug delivery and minimally invasive surgery. Existing small-scale robots, however, have very limited mobility because they are unable to negotiate obstacles and changes in texture or material in unstructured environments. Of these small-scale robots, soft robots have greater potential to realize high mobility via multimodal locomotion, because such machines have higher degrees of freedom than their rigid counterparts. Here we demonstrate magneto-elastic soft millimetre-scale robots that can swim inside and on the surface of liquids, climb liquid menisci, roll and walk on solid surfaces, jump over obstacles, and crawl within narrow tunnels. These robots can transit reversibly between different liquid and solid terrains, as well as switch between locomotive modes. They can additionally execute pick-and-place and cargo-release tasks. We also present theoretical models to explain how the robots move. Like the large-scale robots that can be used to study locomotion, these soft small-scale robots could be used to study soft-bodied locomotion produced by small organisms.

14 CFR 23.67 - Climb: One engine inoperative.

Code of Federal Regulations, 2010 CFR

2010-01-01

... knots must be able to maintain a steady climb gradient of at least 1.5 percent at a pressure altitude of... requirements prescribed in § 23.562(d), or that has a VSO of 61 knots or less, the steady gradient of climb or... acrobatic category— (1) The steady gradient of climb at an altitude of 400 feet above the takeoff must be...

A Survey on Robotic Coconut Tree Climbers - Existing Methods and Techniques

NASA Astrophysics Data System (ADS)

Kannan Megalingam, Rajesh; Sakthiprasad, K. M.; Sreekanth, M. M.; Vamsy Vivek, Gedela

2017-08-01

As the coconut palm growers are struggling with the acute shortage of human coconut tree climbers to climb and harvest the coconuts, many are working towards possible alternatives to help them handle this situation. In this study paper we analyse the problems associated with the shortage of human coconut tree climbers in -depth. We also present details of various existing mechanical models available in the market and have not yet solved this issue. Along with this we discuss how robotics and automation could be a possible solution for this entire problem. In this context we discuss about the features of such robotic system and also give suggestions on various unmanned robotic models that can be designed and implemented.

Activity of southeastern bats along sandstone cliffs used for rock climbing

USGS Publications Warehouse

Loeb, Susan C.; Jodice, Patrick G. R.

2018-01-01

Bats in the eastern U.S. are facing numerous threats and many species are in decline. Although several species of bats commonly roost in cliffs, little is known about use of cliffs for foraging and roosting. Because rock climbing is a rapidly growing sport and may cause disturbance to bats, our objectives were to examine use of cliff habitats by bats and to assess the effects of climbing on their activity. We used radio-telemetry to track small-footed bats (Myotis leibii) to day roosts, and Anabat SD2 detectors to compare bat activity between climbed and unclimbed areas of regularly climbed cliff faces, and between climbed and unclimbed cliffs. Four adult male small-footed bats were tracked to nine day roosts, all of which were in various types of crevices including five cliff face roosts (three on climbed and two on unclimbed faces). Bat activity was high along climbed cliffs and did not differ between climbed and unclimbed areas of climbed cliffs. In contrast, overall bat activity was significantly higher along climbed cliffs than unclimbed cliffs; species richness did not differ between climbed and unclimbed cliffs or areas. Lower activity along unclimbed cliffs may have been related to lower cliff heights and more clutter along these cliff faces. Due to limited access to unclimbed cliffs of comparable size to climbed cliffs, we could not thoroughly test the effects of climbing on bat foraging and roosting activity. However, the high overall use of climbed and unclimbed cliff faces for foraging and commuting that we observed suggests that cliffs may be important habitat for a number of bat species. Additional research on bats' use of cliff faces will improve our understanding of the factors that affect their use of this habitat including the impacts of climbing.

Softworms: the design and control of non-pneumatic, 3D-printed, deformable robots.

PubMed

Umedachi, T; Vikas, V; Trimmer, B A

2016-03-10

Robots that can easily interact with humans and move through natural environments are becoming increasingly essential as assistive devices in the home, office and hospital. These machines need to be safe, effective, and easy to control. One strategy towards accomplishing these goals is to build the robots using soft and flexible materials to make them much more approachable and less likely to damage their environment. A major challenge is that comparatively little is known about how best to design, fabricate and control deformable machines. Here we describe the design, fabrication and control of a novel soft robotic platform (Softworms) as a modular device for research, education and public outreach. These robots are inspired by recent neuromechanical studies of crawling and climbing by larval moths and butterflies (Lepidoptera, caterpillars). Unlike most soft robots currently under development, the Softworms do not rely on pneumatic or fluidic actuators but are electrically powered and actuated using either shape-memory alloy microcoils or motor tendons, and they can be modified to accept other muscle-like actuators such as electroactive polymers. The technology is extremely versatile, and different designs can be quickly and cheaply fabricated by casting elastomeric polymers or by direct 3D printing. Softworms can crawl, inch or roll, and they are steerable and even climb steep inclines. Softworms can be made in any shape but here we describe modular and monolithic designs requiring little assembly. These modules can be combined to make multi-limbed devices. We also describe two approaches for controlling such highly deformable structures using either model-free state transition-reward matrices or distributed, mechanically coupled oscillators. In addition to their value as a research platform, these robots can be developed for use in environmental, medical and space applications where cheap, lightweight and shape-changing deformable robots will provide new

Bergsteigen in den Alpen (Mountain Climbing in the Alps).

ERIC Educational Resources Information Center

Hawrysz, Ilse; Budzinski, Elisabeth

German second language instructional materials contain a short text in German on mountain climbing in the Alps, a vocabulary list with translation, a simple German climbing song, a recipe for goulash soup in English, and a short text in English on mountain climbing. (MSE)

14 CFR 25.119 - Landing climb: All-engines-operating.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Landing climb: All-engines-operating. 25... AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY AIRPLANES Flight Performance § 25.119 Landing climb: All-engines-operating. In the landing configuration, the steady gradient of climb may not be less than...

14 CFR 25.119 - Landing climb: All-engines-operating.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Landing climb: All-engines-operating. 25... AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY AIRPLANES Flight Performance § 25.119 Landing climb: All-engines-operating. In the landing configuration, the steady gradient of climb may not be less than...

The Design of Artificial Intelligence Robot Based on Fuzzy Logic Controller Algorithm

NASA Astrophysics Data System (ADS)

Zuhrie, M. S.; Munoto; Hariadi, E.; Muslim, S.

2018-04-01

Artificial Intelligence Robot is a wheeled robot driven by a DC motor that moves along the wall using an ultrasonic sensor as a detector of obstacles. This study uses ultrasonic sensors HC-SR04 to measure the distance between the robot with the wall based ultrasonic wave. This robot uses Fuzzy Logic Controller to adjust the speed of DC motor. When the ultrasonic sensor detects a certain distance, sensor data is processed on ATmega8 then the data goes to ATmega16. From ATmega16, sensor data is calculated based on Fuzzy rules to drive DC motor speed. The program used to adjust the speed of a DC motor is CVAVR program (Code Vision AVR). The readable distance of ultrasonic sensor is 3 cm to 250 cm with response time 0.5 s. Testing of robots on walls with a setpoint value of 9 cm to 10 cm produce an average error value of -12% on the wall of L, -8% on T walls, -8% on U wall, and -1% in square wall.

Aircraft rate-of-climb indicators

NASA Technical Reports Server (NTRS)

Johnson, Daniel P

1939-01-01

The theory of the rate-of-climb indicator is developed in a form adapted for application to the instrument in its present-day form. Compensations for altitude, temperature, and rate of change of temperature are discussed from the designer's standpoint on the basis of this theory. Certain dynamic effects, including instrument lag, and the use of the rate-of-climb indicator as a statoscope are also considered. Modern instruments are described. A laboratory test procedure is outlined and test results are given.

Effectiveness and cost of two stair-climbing interventions-less is more.

PubMed

Olander, Ellinor K; Eves, Frank F

2011-01-01

The current study compared two interventions for promotion of stair climbing in the workplace, an information-based intervention at a health information day and an environmental intervention (point-of-choice prompts), for their effectiveness in changing stair climbing and cost per employee. Interrupted time-series design. Four buildings on a university campus. Employees at a university in the United Kingdom. Two stair-climbing interventions were compared: (1) a stand providing information on stair climbing at a health information day and (2) point-of-choice prompts (posters). Observers recorded employees' gender and method of ascent (n = 4279). The cost of the two interventions was calculated. Logistic regression. There was no significant difference between baseline (47.9% stair climbing) and the Workplace Wellbeing Day (48.8% stair climbing), whereas the prompts increased stair climbing (52.6% stair climbing). The health information day and point-of-choice prompts cost $773.96 and $31.38, respectively. The stand at the health information day was more expensive than the point-of-choice prompts and was inferior in promoting stair climbing. It is likely that the stand was unable to encourage stair climbing because only 3.2% of targeted employees visited the stand. In contrast, the point-of-choice prompts were potentially visible to all employees using the buildings and hence better for disseminating the stair climbing message to the target audience.

Biomechanical Analyses of Stair-climbing while Dual-tasking

PubMed Central

Vallabhajosula, Srikant; Tan, Chi Wei; Mukherjee, Mukul; Davidson, Austin J.; Stergiou, Nicholas

2015-01-01

Stair-climbing while doing a concurrent task like talking or holding an object is a common activity of daily living which poses high risk for falls. While biomechanical analyses of overground walking during dual-tasking have been studied extensively, little is known on the biomechanics of stair-climbing while dual-tasking. We sought to determine the impact of performing a concurrent cognitive or motor task during stair-climbing. We hypothesized that a concurrent cognitive task will have a greater impact on stair climbing performance compared to a concurrent motor task and that this impact will be greater on a higher-level step. Ten healthy young adults performed 10 trials of stair-climbing each under four conditions: stair ascending only, stair ascending and performing subtraction of serial sevens from a three-digit number, stair ascending and carrying an empty opaque box and stair ascending, performing subtraction of serial sevens from a random three-digit number and carrying an empty opaque box. Kinematics (lower extremity joint angles and minimum toe clearance) and kinetics (ground reaction forces and joint moments and powers) data were collected. We found that a concurrent cognitive task impacted kinetics but not kinematics of stair-climbing. The effect of dual-tasking during stair ascent also seemed to vary based on the different phases of stair ascent stance and seem to have greater impact as one climbs higher. Overall, the results of the current study suggest that the association between the executive functioning and motor task (like gait) becomes stronger as the level of complexity of the motor task increases. PMID:25773590

Evaluation of injury and fatality risk in rock and ice climbing.

PubMed

Schöffl, Volker; Morrison, Audry; Schwarz, Ulrich; Schöffl, Isabelle; Küpper, Thomas

2010-08-01

Rock and ice climbing are widely considered to be 'high-risk' sporting activities that are associated with a high incidence of severe injury and even death, compared with more mainstream sports. However, objective scientific data to support this perception are questionable. Accordingly, >400 sport-specific injury studies were analysed and compared by quantifying the injury incidence and objectively grading the injury severity (using the National Advisory Committee for Aeronautics score) per 1000 hours of sporting participation. Fatalities were also analysed. The analysis revealed that fatalities occurred in all sports, but it was not always clear whether the sport itself or pre-existing health conditions contributed or caused the deaths. Bouldering (ropeless climbing to low heights), sport climbing (mostly bolt protected lead climbing with little objective danger) and indoor climbing (climbing indoors on artificial rock structures), showed a small injury rate, minor injury severity and few fatalities. As more objective/external dangers exist for alpine and ice climbing, the injury rate, injury severity and fatality were all higher. Overall, climbing sports had a lower injury incidence and severity score than many popular sports, including basketball, sailing or soccer; indoor climbing ranked the lowest in terms of injuries of all sports assessed. Nevertheless, a fatality risk remains, especially in alpine and ice climbing. In the absence of a standard definition for a 'high-risk' sport, categorizing climbing as a high-risk sport was found to be either subjective or dependent on the definition used. In conclusion, this analysis showed that retrospective data on sport-specific injuries and fatalities are not reported in a standardized manner. To improve preventative injury measures for climbing sports, it is recommended that a standardized, robust and comprehensive sport-specific scoring model should be developed to report and fully evaluate the injury risk, severity

The effectiveness of chocolate milk as a post-climbing recovery aid.

PubMed

Potter, J; Fuller, B

2015-12-01

Recovery is essential to effective performance in climbing competitions which often involve repeated bouts, and sport climbing where climbers may work a route over a number of days prior to a complete ascent. This study employed a cross-over design to compare water with chocolate milk as recovery aids following an exhaustive bout of high intensity endurance climbing. Ten male climbers (age: 22±1 years; height: 178.5±7.9 cm; mass: 74.7±11.3 kg) climbed a Tredwall (Brewer Ledge M6) until volitional exhaustion. The participants consumed either water or chocolate milk 20 minutes after the climb and then again with their evening meal. The exercise protocol was repeated 24 hours after the original climb. The second condition was completed 7 days later. Workload indicators of heart rate, rate of perceived exertion (RPE), blood lactate and muscle soreness scores were recorded alongside climbing performance measures of duration and distance of the climb. A improved performance was found after the consumption of chocolate milk, with both a greater distance climbed (F(1,9)=11.704, P=0.008) and duration (F(1,9) =10.922, P=0.009), there were no differences in end of climb heart rate or RPE. Muscle soreness scores were lower three days after exercise following chocolate milk (t(8)=3.773, P=0.005). Chocolate milk as a recovery drink resulted in further sustained climbing, a decrease in muscle soreness, compared to water. It may be pertinent for climbers to consider its use as a recovery aid during repeated climbing bouts. Chocolate milk is a relatively unexplored recovery aid and warrants further attention.

21 CFR 890.3890 - Stair-climbing wheelchair.

Code of Federal Regulations, 2012 CFR

2012-04-01

... 21 Food and Drugs 8 2012-04-01 2012-04-01 false Stair-climbing wheelchair. 890.3890 Section 890.3890 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED) MEDICAL DEVICES PHYSICAL MEDICINE DEVICES Physical Medicine Prosthetic Devices § 890.3890 Stair-climbing...

21 CFR 890.3890 - Stair-climbing wheelchair.

Code of Federal Regulations, 2013 CFR

2013-04-01

... 21 Food and Drugs 8 2013-04-01 2013-04-01 false Stair-climbing wheelchair. 890.3890 Section 890.3890 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED) MEDICAL DEVICES PHYSICAL MEDICINE DEVICES Physical Medicine Prosthetic Devices § 890.3890 Stair-climbing...

21 CFR 890.3890 - Stair-climbing wheelchair.

Code of Federal Regulations, 2014 CFR

2014-04-01

... 21 Food and Drugs 8 2014-04-01 2014-04-01 false Stair-climbing wheelchair. 890.3890 Section 890.3890 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED) MEDICAL DEVICES PHYSICAL MEDICINE DEVICES Physical Medicine Prosthetic Devices § 890.3890 Stair-climbing...

21 CFR 890.3890 - Stair-climbing wheelchair.

Code of Federal Regulations, 2011 CFR

2011-04-01

... 21 Food and Drugs 8 2011-04-01 2011-04-01 false Stair-climbing wheelchair. 890.3890 Section 890.3890 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED) MEDICAL DEVICES PHYSICAL MEDICINE DEVICES Physical Medicine Prosthetic Devices § 890.3890 Stair-climbing...

21 CFR 890.3890 - Stair-climbing wheelchair.

Code of Federal Regulations, 2010 CFR

2010-04-01

... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Stair-climbing wheelchair. 890.3890 Section 890.3890 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED) MEDICAL DEVICES PHYSICAL MEDICINE DEVICES Physical Medicine Prosthetic Devices § 890.3890 Stair-climbing...

Leaf mimicry in a climbing plant protects against herbivory.

PubMed

Gianoli, Ernesto; Carrasco-Urra, Fernando

2014-05-05

Mimicry refers to adaptive similarity between a mimic organism and a model. Mimicry in animals is rather common, whereas documented cases in plants are rare, and the associated benefits are seldom elucidated [1, 2]. We show the occurrence of leaf mimicry in a climbing plant endemic to a temperate rainforest. The woody vine Boquila trifoliolata mimics the leaves of its supporting trees in terms of size, shape, color, orientation, petiole length, and/or tip spininess. Moreover, sequential leaf mimicry occurs when a single individual vine is associated with different tree species. Leaves of unsupported vines differed from leaves of climbing plants closely associated with tree foliage but did not differ from those of vines climbing onto leafless trunks. Consistent with an herbivory-avoidance hypothesis, leaf herbivory on unsupported vines was greater than that on vines climbing on trees but was greatest on vines climbing onto leafless trunks. Thus, B. trifoliolata gains protection against herbivory not merely by climbing and thus avoiding ground herbivores [3] but also by climbing onto trees whose leaves are mimicked. Unlike earlier cases of plant mimicry or crypsis, in which the plant roughly resembles a background or color pattern [4-7] or mimics a single host [8, 9], B. trifoliolata is able to mimic several hosts. Copyright © 2014 Elsevier Ltd. All rights reserved.

An exploration of self-efficacy as a motivation for rock climbing and its impact on frequency of climbs

Treesearch

Edwin Gomez; Eddie Hill; Amy Ackerman

2008-01-01

This study utilizes the theoretical framework of self-efficacy to explore the role it plays in rock climbing. Data were gathered from on-site self-administered surveys to rock-climbers in three different locations (N=72). A conceptual model was developed to consider the relationship between selfefficacy and frequency of rock climbing. The initial factor of self-...

National Tree Climbing Guide [2015 Electronic Edition

Treesearch

Jerry Berdeen; Burnham Chamberlain; Teryl Grubb; Art Henderson; Brock Mayo; Manfred Mielke; Kathryn Purcell; Dennis Ringnes; Marc Roberts; Donna Stubbs; Micah Thorning

2015-01-01

The Forest Service Tree Climbing Program provides direction that protects Forest Service employees while ascending, descending, and working aloft in trees by establishing national direction based on recognized industry standards, procedures and practices. Climbing and working in trees demands specialized equipment and skills. The potential for a serious injury or fatal...

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.

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.

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.

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.

49 CFR 238.407 - Anti-climbing mechanism.

Code of Federal Regulations, 2010 CFR

2010-10-01

... power car constructed with a crash energy management design is permitted to crush in a controlled manner... Equipment § 238.407 Anti-climbing mechanism. (a) Each power car shall have an anti-climbing mechanism at its..., including between units of articulated cars or other permanently joined units of cars, shall have an anti...

49 CFR 238.407 - Anti-climbing mechanism.

Code of Federal Regulations, 2012 CFR

2012-10-01

... power car constructed with a crash energy management design is permitted to crush in a controlled manner... Equipment § 238.407 Anti-climbing mechanism. (a) Each power car shall have an anti-climbing mechanism at its..., including between units of articulated cars or other permanently joined units of cars, shall have an anti...

49 CFR 238.407 - Anti-climbing mechanism.

Code of Federal Regulations, 2011 CFR

2011-10-01

... power car constructed with a crash energy management design is permitted to crush in a controlled manner... Equipment § 238.407 Anti-climbing mechanism. (a) Each power car shall have an anti-climbing mechanism at its..., including between units of articulated cars or other permanently joined units of cars, shall have an anti...

49 CFR 238.407 - Anti-climbing mechanism.

Code of Federal Regulations, 2013 CFR

2013-10-01

... power car constructed with a crash energy management design is permitted to crush in a controlled manner... Equipment § 238.407 Anti-climbing mechanism. (a) Each power car shall have an anti-climbing mechanism at its..., including between units of articulated cars or other permanently joined units of cars, shall have an anti...

49 CFR 238.407 - Anti-climbing mechanism.

Code of Federal Regulations, 2014 CFR

2014-10-01

... power car constructed with a crash energy management design is permitted to crush in a controlled manner... Equipment § 238.407 Anti-climbing mechanism. (a) Each power car shall have an anti-climbing mechanism at its..., including between units of articulated cars or other permanently joined units of cars, shall have an anti...

14 CFR 23.69 - Enroute climb/descent.

Code of Federal Regulations, 2013 CFR

2013-01-01

... inoperative and its propeller in the minimum drag position; (2) The remaining engine(s) at not more than... climb/descent. (a) All engines operating. The steady gradient and rate of climb must be determined at... applicant with— (1) Not more than maximum continuous power on each engine; (2) The landing gear retracted...

14 CFR 23.69 - Enroute climb/descent.

Code of Federal Regulations, 2014 CFR

2014-01-01

... inoperative and its propeller in the minimum drag position; (2) The remaining engine(s) at not more than... climb/descent. (a) All engines operating. The steady gradient and rate of climb must be determined at... applicant with— (1) Not more than maximum continuous power on each engine; (2) The landing gear retracted...

14 CFR 23.69 - Enroute climb/descent.

Code of Federal Regulations, 2012 CFR

2012-01-01

... inoperative and its propeller in the minimum drag position; (2) The remaining engine(s) at not more than... climb/descent. (a) All engines operating. The steady gradient and rate of climb must be determined at... applicant with— (1) Not more than maximum continuous power on each engine; (2) The landing gear retracted...

14 CFR 23.69 - Enroute climb/descent.

Code of Federal Regulations, 2011 CFR

2011-01-01

... inoperative and its propeller in the minimum drag position; (2) The remaining engine(s) at not more than... climb/descent. (a) All engines operating. The steady gradient and rate of climb must be determined at... applicant with— (1) Not more than maximum continuous power on each engine; (2) The landing gear retracted...

Robotic Technology Efforts at the NASA/Johnson Space Center

NASA Technical Reports Server (NTRS)

Diftler, Ron

2017-01-01

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

Autonomous Legged Hill and Stairwell Ascent

DTIC Science & Technology

2011-11-01

environments with little burden to a human operator. Keywords: autonomous robot , hill climbing , stair climbing , sequential composition, hexapod, self...X-RHex robot on a set of stairs with laser scanner, IMU, wireless repeater, and handle payloads. making them useful for both climbing hills and...reconciliation into that more powerful (but restrictive) framework. 1) The Stair Climbing Behavior: RHex robots have been climbing single-flight stairs

Climbing plants: attachment adaptations and bioinspired innovations.

PubMed

Burris, Jason N; Lenaghan, Scott C; Stewart, C Neal

2018-04-01

Climbing plants have unique adaptations to enable them to compete for sunlight, for which they invest minimal resources for vertical growth. Indeed, their stems bear relatively little weight, as they traverse their host substrates skyward. Climbers possess high tensile strength and flexibility, which allows them to utilize natural and manmade structures for support and growth. The climbing strategies of plants have intrigued scientists for centuries, yet our understanding about biochemical adaptations and their molecular undergirding is still in the early stages of research. Nonetheless, recent discoveries are promising, not only from a basic knowledge perspective, but also for bioinspired product development. Several adaptations, including nanoparticle and adhesive production will be reviewed, as well as practical translation of these adaptations to commercial applications. We will review the botanical literature on the modes of adaptation to climb, as well as specialized organs-and cellular innovations. Finally, recent molecular and biochemical data will be reviewed to assess the future needs and new directions for potential practical products that may be bioinspired by climbing plants.

360 Degree Videos within a Climbing MOOC

ERIC Educational Resources Information Center

Gänsluckner, Michael; Ebner, Martin; Kamrat, Isidor

2017-01-01

In this research study a course, combining both computer-supported and face-to-face teaching using the concept of blended learning, has been designed. It is a beginners climbing course called "Klettern mit 360° Videos" (climbing with 360° videos) and the online part has been implemented as a Massive Open Online Course (MOOC). This…

14 CFR 23.65 - Climb: All engines operating.

Code of Federal Regulations, 2010 CFR

2010-01-01

...-powered airplane of 6,000 pounds or less maximum weight must have a steady climb gradient at sea level of... gradient of climb after takeoff of at least 4 percent with (1) Take off power on each engine; (2) The...

Promoting workplace stair climbing: sometimes, not interfering is the best.

PubMed

Åvitsland, Andreas; Solbraa, Ane Kristiansen; Riiser, Amund

2017-01-01

Stair climbing is a vigorous activity and can lead to several health benefits. Studies seeking to increase stair climbing in various public locations have shown positive effects, while results from similar studies conducted in the workplace are inconclusive. This study examined stair climbing in the workplace, and monitored effects from a single- and a combined intervention. Interventions were inspired by nudging, the libertarian method of influencing behavior. By quasi-experimental design, stair- and elevator traffic in two office buildings was monitored preceding-, during- and following interventions with stair leading footprints alone, and combined with stair-riser banners. Chi square tests were applied to determine differences between baseline and the subsequent periods. Web-based questionnaires were distributed after follow-up period. Elevators and stairs were used 45 237 times, of which 89.6% was stair use. Intervention site stair climbing at baseline (79.0%) was significantly reduced with footprints (-5.1%, p <  0.001), and footprints with stair-riser banners (-5.7%, p <  0.001) while baseline stair climbing at the control site (94.2%) remained stable ( p >  0.027). Stair climbing was significantly reduced during the intervention periods. Use of stair leading footprints alone, or combined with stair-riser banners in an attempt to influence stair climbing may be ineffective, or cause a negative reaction, when applied in a workplace with a pre-existing high amount of stair climbing.

Skill transfer, affordances and dexterity in different climbing environments.

PubMed

Seifert, L; Wattebled, L; L'hermette, M; Bideault, G; Herault, R; Davids, K

2013-12-01

This study explored how skills in one region of a perceptual-motor landscape of performance, created in part by previous experience in rock climbing, can shape those that emerge in another region (ice climbing). Ten novices in rock climbing and five intermediate rock climbers were observed climbing an icefall. Locations of right and left ice tools and crampons were videotaped from a frontal camera. Inter-individual variability of upper and lower limb couplings and types of action regarding icefall properties were assessed by cluster hierarchical analysis, distinguishing three clusters. Pelvis vertical displacement, duration and number of pelvis pauses were also analyzed. Experienced rock climbers were grouped in the same cluster and showed the highest range and variability of limb angular locations and coordination patterns, the highest vertical displacement and the shortest pelvis plateaux durations. Non-fluent climbers (clusters 2 and 3) showed low range and variability of limb angular locations and coordination patterns. In particular, climbers of cluster 3 exhibited the lowest vertical displacement, the longest plateaux durations and the greatest ratio between tool swinging and definitive anchorage. Our results exemplified the positive influence of skills in rock climbing on ice climbing performance, facilitated by the detection of affordances from environmental properties. Copyright © 2013 Elsevier B.V. All rights reserved.

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

NASA Technical Reports Server (NTRS)

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

Foot overuse diseases in rock climbing: an epidemiologic study.

PubMed

Buda, Roberto; Di Caprio, Francesco; Bedetti, Letizia; Mosca, Massimiliano; Giannini, Sandro

2013-01-01

Literature examining the incidence of foot diseases in rock climbing is limited to traumatic injuries. We examined a large sample of climbers, assessed the chronic diseases of the foot, and correlated them with foot morphology, shoe type, and type of climbing practiced. Between May 1 and September 30, 2009, 144 climbers (mean age, 31.7 years) were examined to analyze the effect of rock climbing on the various foot diseases found at the time of the evaluation. Eighty-six percent of the climbers were affected by a pathologic condition. Nail disease was found in 65.3% of patients, followed by recurrent ankle sprains (27.8%), retrocalcaneal bursitis (19.4%), Achilles tendinitis (12.5%), metatarsalgia (12.5%), and plantar fasciitis (5.6%). Male sex, the use of high-type shoes, the high degree of climbing difficulty, and the competitive level were often related to the onset of foot diseases. Climbing shoes are usually smaller than common footwear. This "shoe-size reduction" averaged 2.3 sizes, forcing the foot into a supinated and cavus posture that favors lateral instability. The posterior edge of the shoe aperture produces increased pressure on the heel, with retrocalcaneal bursitis. Overuse foot diseases related to rock climbing are particularly frequent and debilitating. Detailed knowledge of these diseases and their predisposing factors may help us implement effective preventive or therapeutic measures, including changes in the type of climbing, correction of body weight, degree of difficulty, footwear, orthoses, and measures that maximize the support of the foot to the ground.

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.

14 CFR 29.65 - Climb: All engines operating.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Climb: All engines operating. 29.65 Section 29.65 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY ROTORCRAFT Flight Performance § 29.65 Climb: All engines operating...

14 CFR 29.65 - Climb: All engines operating.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Climb: All engines operating. 29.65 Section 29.65 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY ROTORCRAFT Flight Performance § 29.65 Climb: All engines operating...

Physiological responses to indoor rock-climbing and their relationship to maximal cycle ergometry.

PubMed

Sheel, A William; Seddon, Nicholas; Knight, Andrew; McKenzie, Donald C; R Warburton, Darren E

2003-07-01

To quantify the cardiorespiratory responses to indoor climbing during two increasingly difficult climbs and relate them to whole-body dynamic exercise. It was hypothesized that as climbing difficulty increased, oxygen consumption ([V02] and heart rate would increase, and that climbing would require utilization of a significant fraction of maximal cycling values. Elite competitive sport rock climbers (6 male, 3 female) completed two data collection sessions. The first session was completed at an indoor climbing facility, and the second session was an incremental cycle test to exhaustion. During indoor climbing subjects were randomly assigned to climb two routes designated as "harder" or "easier" based on their previous best climb. Subjects wore a portable metabolic system, which allowed measurement of oxygen consumption [V02], minute ventilation ([V02]E), respiratory exchange ratio (RER), and heart rate. During the second session, maximal values for [V02], [V02]E, RER, and heart rate were determined during an incremental cycle test to exhaustion. Heart rate and [VO2], expressed as percent of cycling maximum, were significantly higher during harder climbing compared with easier climbing. During harder climbing, %HR(max) was significantly higher than %[V02] (2max) (89.6% vs 51.2%), and during easier climbing, %HR(max) was significantly higher than %[V02] (2max) (66.9% vs 45.3%). With increasing levels of climbing difficulty, there is a rise in both heart rate and [V02]. However, there is a disproportional rise in heart rate compared with [V02], which we attribute to the fact that climbing requires the use of intermittent isometric contractions of the arm musculature and the reliance of both anaerobic and aerobic metabolism.

Robotic Technology Efforts at the NASA/Johnson Space Center

NASA Technical Reports Server (NTRS)

Diftler, Ron

2017-01-01

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

14 CFR 27.67 - Climb: one engine inoperative.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Climb: one engine inoperative. 27.67... AIRWORTHINESS STANDARDS: NORMAL CATEGORY ROTORCRAFT Flight Performance § 27.67 Climb: one engine inoperative... minimum rate of descent), must be determined with— (a) Maximum weight; (b) The critical engine inoperative...

14 CFR 27.67 - Climb: one engine inoperative.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Climb: one engine inoperative. 27.67... AIRWORTHINESS STANDARDS: NORMAL CATEGORY ROTORCRAFT Flight Performance § 27.67 Climb: one engine inoperative... minimum rate of descent), must be determined with— (a) Maximum weight; (b) The critical engine inoperative...

The evolution of vertical climbing in primates: evidence from reaction forces.

PubMed

Hanna, Jandy B; Granatosky, Michael C; Rana, Pooja; Schmitt, Daniel

2017-09-01

Vertical climbing is an essential behavior for arboreal animals, yet limb mechanics during climbing are poorly understood and rarely compared with those observed during horizontal walking. Primates commonly engage in both arboreal walking and vertical climbing, and this makes them an ideal taxa in which to compare these locomotor forms. Additionally, primates exhibit unusual limb mechanics compared with most other quadrupeds, with weight distribution biased towards the hindlimbs, a pattern that is argued to have evolved in response to the challenges of arboreal walking. Here we test an alternative hypothesis that functional differentiation between the limbs evolved initially as a response to climbing. Eight primate species were recorded locomoting on instrumented vertical and horizontal simulated arboreal runways. Forces along the axis of, and normal to, the support were recorded. During walking, all primates displayed forelimbs that were net braking, and hindlimbs that were net propulsive. In contrast, both limbs served a propulsive role during climbing. In all species, except the lorisids, the hindlimbs produced greater propulsive forces than the forelimbs during climbing. During climbing, the hindlimbs tends to support compressive loads, while the forelimb forces tend to be primarily tensile. This functional disparity appears to be body-size dependent. The tensile loading of the forelimbs versus the compressive loading of the hindlimbs observed during climbing may have important evolutionary implications for primates, and it may be the case that hindlimb-biased weight support exhibited during quadrupedal walking in primates may be derived from their basal condition of climbing thin branches. © 2017. Published by The Company of Biologists Ltd.

Scaling effects in spiral capsule robots.

PubMed

Liang, Liang; Hu, Rong; Chen, Bai; Tang, Yong; Xu, Yan

2017-04-01

Spiral capsule robots can be applied to human gastrointestinal tracts and blood vessels. Because of significant variations in the sizes of the inner diameters of the intestines as well as blood vessels, this research has been unable to meet the requirements for medical applications. By applying the fluid dynamic equations, using the computational fluid dynamics method, to a robot axial length ranging from 10 -5 to 10 -2  m, the operational performance indicators (axial driving force, load torque, and maximum fluid pressure on the pipe wall) of the spiral capsule robot and the fluid turbulent intensity around the robot spiral surfaces was numerically calculated in a straight rigid pipe filled with fluid. The reasonableness and validity of the calculation method adopted in this study were verified by the consistency of the calculated values by the computational fluid dynamics method and the experimental values from a relevant literature. The results show that the greater the fluid turbulent intensity, the greater the impact of the fluid turbulence on the driving performance of the spiral capsule robot and the higher the energy consumption of the robot. For the same level of size of the robot, the axial driving force, the load torque, and the maximum fluid pressure on the pipe wall of the outer spiral robot were larger than those of the inner spiral robot. For different requirements of the operating environment, we can choose a certain kind of spiral capsule robot. This study provides a theoretical foundation for spiral capsule robots.

14 CFR 23.65 - Climb: All engines operating.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Climb: All engines operating. 23.65 Section... Climb: All engines operating. (a) Each normal, utility, and acrobatic category reciprocating engine... than maximum continuous power on each engine; (2) The landing gear retracted; (3) The wing flaps in the...

14 CFR 27.65 - Climb: all engines operating.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Climb: all engines operating. 27.65 Section... AIRWORTHINESS STANDARDS: NORMAL CATEGORY ROTORCRAFT Flight Performance § 27.65 Climb: all engines operating. (a...) With maximum continuous power on each engine; (ii) With the landing gear retracted; and (iii) For the...

14 CFR 27.65 - Climb: all engines operating.

Code of Federal Regulations, 2014 CFR

2014-01-01

... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Climb: all engines operating. 27.65 Section... AIRWORTHINESS STANDARDS: NORMAL CATEGORY ROTORCRAFT Flight Performance § 27.65 Climb: all engines operating. (a...) With maximum continuous power on each engine; (ii) With the landing gear retracted; and (iii) For the...

14 CFR 23.65 - Climb: All engines operating.

Code of Federal Regulations, 2011 CFR

2011-01-01

... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Climb: All engines operating. 23.65 Section... Climb: All engines operating. (a) Each normal, utility, and acrobatic category reciprocating engine... than maximum continuous power on each engine; (2) The landing gear retracted; (3) The wing flaps in the...

Robotic Ankle for Omnidirectional Rock Anchors

NASA Technical Reports Server (NTRS)

Parness, Aaron; Frost, Matthew; Thatte, Nitish

2013-01-01

Future robotic exploration of near-Earth asteroids and the vertical and inverted rock walls of lava caves and cliff faces on Mars and other planetary bodies would require a method of gripping their rocky surfaces to allow mobility without gravitational assistance. In order to successfully navigate this terrain and drill for samples, the grippers must be able to produce anchoring forces in excess of 100 N. Additionally, the grippers must be able to support the inertial forces of a moving robot, as well gravitational forces for demonstrations on Earth. One possible solution would be to use microspine arrays to anchor to rock surfaces and provide the necessary load-bearing abilities for robotic exploration of asteroids. Microspine arrays comprise dozens of small steel hooks supported on individual suspensions. When these arrays are dragged along a rock surface, the steel hooks engage with asperities and holes on the surface. The suspensions allow for individual hooks to engage with asperities while the remaining hooks continue to drag along the surface. This ensures that the maximum possible number of hooks engage with the surface, thereby increasing the load-bearing abilities of the gripper. Using the microspine array grippers described above as the end-effectors of a robot would allow it to traverse terrain previously unreachable by traditional wheeled robots. Furthermore, microspine-gripping robots that can perch on cliffs or rocky walls could enable a new class of persistent surveillance devices for military applications. In order to interface these microspine grippers with a legged robot, an ankle is needed that can robotically actuate the gripper, as well as allow it to conform to the large-scale irregularities in the rock. The anchor serves three main purposes: deploy and release the anchor, conform to roughness or misalignment with the surface, and cancel out any moments about the anchor that could cause unintentional detachment. The ankle design contains a

A wheelchair with lever propulsion control for climbing up and down stairs.

PubMed

Sasaki, Kai; Eguchi, Yosuke; Suzuki, Kenji

2016-08-01

This study proposes a novel stair-climbing wheelchair based on lever propulsion control using the human upper body. Wheelchairs are widely used as supporting locomotion devices for people with acquired lower limb disabilities. However, steps and stairs are critical obstacles to locomotion, which restrict their activities when using wheelchairs. Previous research focused on power-assisted, stair-climbing wheelchairs, which were large and heavy due to its large actuators and mechanisms. In the previous research, we proposed a wheelchair with lever propulsion mechanism and presented its feasibility of climbing up the stairs. The developed stair-climbing wheelchair consists of manual wheels with casters for planar locomotion and a rotary-leg mechanism based on lever propulsion that is capable of climbing up stairs. The wheelchair also has a passive mechanism powered by gas springs for posture transition to shift the user's center of gravity between the desired positions for planar locomotion and stair-climbing. In this paper, we present an advanced study on both climbing up and going down using lever propulsion control by the user's upper body motion. For climbing down the stairs, we reassembled one-way clutches used for the rotary-leg mechanism to help a user climb down the stairs through lever operation. We also equipped the wheelchair with sufficient torque dampers. The frontal wheels were fixed while climbing down the stairs to ensure safety. Relevant experiments were then performed to investigate its performance and verify that the wheelchair users can operate the proposed lever propulsion mechanism.

Foot use during vertical climbing in chimpanzees (Pan troglodytes).

PubMed

Wunderlich, R E; Ischinger, S B

2017-08-01

Upright bipedalism is a hallmark of hominin locomotion, however debates continue regarding the extent of arboreal locomotion and the nature of bipedalism practiced by early hominins. Pedal form and function play a prominent role in these debates, as the foot is the element that directly interacts with the locomotor substrate. Recent finds have substantially increased the availability of associated foot remains of early hominins and emphasized the enigmatic nature of the early evolution of human bipedalism. New discoveries of associated forefoot remains have afforded the opportunity to assess relative proportions across the forefoot of fossil hominins and illuminated the need for data on relative loading across the forefoot in extant hominoids. In order to provide functional data with which to examine the relationship between bony features and load distribution across the forefoot during climbing, we present the first analysis of plantar pressure distribution across the forefoot of chimpanzees climbing a vertical support. Chimpanzees load the medial metatarsals and first toe disproportionately during vertical climbing. Peak pressures on these elements occur at the end of stance phase during climbing and are higher than on any other elements of the foot. Toe pressures are considerably higher during vertical climbing than during knuckle-walking or movement on horizontal poles, supporting the notion that the plantarly-broad and dorsally-narrow metatarsal heads in chimpanzees and some early hominins are associated with close-packing of the metatarsophalangeal joint during climbing. Copyright © 2017 Elsevier Ltd. All rights reserved.

Versatile robotic interface to evaluate, enable and train locomotion and balance after neuromotor disorders.

PubMed

Dominici, Nadia; Keller, Urs; Vallery, Heike; Friedli, Lucia; van den Brand, Rubia; Starkey, Michelle L; Musienko, Pavel; Riener, Robert; Courtine, Grégoire

2012-07-01

Central nervous system (CNS) disorders distinctly impair locomotor pattern generation and balance, but technical limitations prevent independent assessment and rehabilitation of these subfunctions. Here we introduce a versatile robotic interface to evaluate, enable and train pattern generation and balance independently during natural walking behaviors in rats. In evaluation mode, the robotic interface affords detailed assessments of pattern generation and dynamic equilibrium after spinal cord injury (SCI) and stroke. In enabling mode,the robot acts as a propulsive or postural neuroprosthesis that instantly promotes unexpected locomotor capacities including overground walking after complete SCI, stair climbing following partial SCI and precise paw placement shortly after stroke. In training mode, robot-enabled rehabilitation, epidural electrical stimulation and monoamine agonists reestablish weight-supported locomotion, coordinated steering and balance in rats with a paralyzing SCI. This new robotic technology and associated concepts have broad implications for both assessing and restoring motor functions after CNS disorders, both in animals and in humans.

Step climbing capacity in patients with pulmonary hypertension.

PubMed

Fox, Benjamin Daniel; Langleben, David; Hirsch, Andrew; Boutet, Kim; Shimony, Avi

2013-01-01

Patients with pulmonary hypertension (PH) typically have exercise intolerance and limitation in climbing steps. To explore the exercise physiology of step climbing in PH patients, on a laboratory-based step test. We built a step oximetry system from an 'aerobics' step equipped with pressure sensors and pulse oximeter linked to a computer. Subjects mounted and dismounted from the step until their maximal exercise capacity or 200 steps was achieved. Step-count, SpO(2) and heart rate were monitored throughout exercise and recovery. We derived indices of exercise performance, desaturation and heart rate. A 6-min walk test and serum NT-proBrain Natriuretic Peptide (BNP) level were measured. Lung function tests and hemodynamic parameters were extracted from the medical record. Eighty-six subjects [52 pulmonary arterial hypertension (PAH), 14 chronic thromboembolic PH (CTEPH), 20 controls] were recruited. Exercise performance (climbing time, height gained, velocity, energy expenditure, work-rate and climbing index) on the step test was significantly worse with PH and/or worsening WHO functional class (ANOVA, p < 0.001). There was a good correlation between exercise performance on the step and 6-min walking distance-climb index (r = -0.77, p < 0.0001). The saturation deviation (mean of SpO(2) values <95 %) on the step test correlated with diffusion capacity of the lung (ρ = -0.49, p = 0.001). No correlations were found between the step test indices and other lung function tests, hemodynamic parameters or NT-proBNP levels. Patients with PAH/CTEPH have significant limitation in step climbing ability that correlates with functional class and 6-min walking distance. This is a significant impediment to their daily activities.

Evaluation of robotic endovascular catheters for arch vessel cannulation.

PubMed

Riga, Celia V; Bicknell, Colin D; Hamady, Mohamad S; Cheshire, Nicholas J W

2011-09-01

Conventional catheter instability and embolization risk limits the adoption of endovascular therapy in patients with challenging arch anatomy. This study investigated whether arch vessel cannulation can be enhanced by a remotely steerable robotic catheter system. Seventeen clinicians with varying endovascular experience cannulated all arch vessels within two computed tomography-reconstructed pulsatile flow phantoms (bovine type I and type III aortic arches), under fluoroscopic guidance, using conventional and robotic techniques. Quantitative (catheterization times, catheter tip movements, vessel wall hits, catheter deflection) and qualitative metrics (Imperial College Complex Endovascular Cannulation Scoring Tool [IC3ST]) performance scores were compared. Robotic catheterization techniques resulted in a significant reduction in median carotid artery cannulation times and the median number of catheter tip movements for all vessels. Vessel wall contact with the aortic arch wall was reduced to a median of zero with robotic catheters. During stiff guidewire exchanges, robotic catheters maintained stability with zero deflection, independent of the distance the catheter was introduced into the carotid vessels. Overall IC3ST performance scores (interquartile range) were significantly improved using the robotic system: Type I arch score was 26/35 (20-30.8) vs 33/35 (31-34; P = .001), and type III arch score was 20.5/35 (16.5-28.5) vs 26.5/35 (23.5-28.8; P = .001). Low- and medium-volume interventionalists demonstrated an improvement in performance with robotic cannulation techniques. The high-volume intervention group did not show statistically significant improvement, but cannulation times, movements, and vessel wall hits were significantly reduced. Robotic technology has the potential to reduce the time, risk of embolization and catheter dislodgement, radiation exposure, and the manual skill required for carotid and arch vessel cannulation, while improving overall

Benefits and Risks of Tree Climbing on Child Development and Resiliency

ERIC Educational Resources Information Center

Gull, Carla; Goldenstein, Suzanne Levenson; Rosengarten, Tricia

2018-01-01

This study examined the benefits and risks associated with tree climbing on child development and resiliency. A mixed method survey instrument was administered to parents of children aged 3-13 years who climbed trees. The survey examined demographics, details of tree climbing activities, and the type of injuries that have resulted from this type…

Physiological responses to rock climbing in young climbers

PubMed Central

Morrison, Audry Birute; Schöffl, Volker Rainer

2007-01-01

Key questions regarding the training and physiological qualities required to produce an elite rock climber remain inadequately defined. Little research has been done on young climbers. The aim of this paper was to review literature on climbing alongside relevant literature characterising physiological adaptations in young athletes. Evidence‐based recommendations were sought to inform the training of young climbers. Of 200 studies on climbing, 50 were selected as being appropriate to this review, and were interpreted alongside physiological studies highlighting specific common development growth variables in young climbers. Based on injury data, climbers younger than 16 years should not participate in international bouldering competitions and intensive finger strength training is not recommended. The majority of climbing foot injuries result from wearing too small or unnaturally shaped climbing shoes. Isometric and explosive strength improvements are strongly associated with the latter stages of sexual maturation and specific ontogenetic development, while improvement in motor abilities declines. Somatotyping that might identify common physical attributes in elite climbers of any age is incomplete. Accomplished adolescent climbers can now climb identical grades and compete against elite adult climbers aged up to and >40 years. High‐intensity sports training requiring leanness in a youngster can result in altered and delayed pubertal and skeletal development, metabolic and neuroendocrine aberrations and trigger eating disorders. This should be sensitively and regularly monitored. Training should reflect efficacious exercises for a given sex and biological age. PMID:18037632

Non-synaptic signaling from cerebellar climbing fibers modulates Golgi cell activity.

PubMed

Nietz, Angela K; Vaden, Jada H; Coddington, Luke T; Overstreet-Wadiche, Linda; Wadiche, Jacques I

2017-10-13

Golgi cells are the principal inhibitory neurons at the input stage of the cerebellum, providing feedforward and feedback inhibition through mossy fiber and parallel fiber synapses. In vivo studies have shown that Golgi cell activity is regulated by climbing fiber stimulation, yet there is little functional or anatomical evidence for synapses between climbing fibers and Golgi cells. Here, we show that glutamate released from climbing fibers activates ionotropic and metabotropic receptors on Golgi cells through spillover-mediated transmission. The interplay of excitatory and inhibitory conductances provides flexible control over Golgi cell spiking, allowing either excitation or a biphasic sequence of excitation and inhibition following single climbing fiber stimulation. Together with prior studies of spillover transmission to molecular layer interneurons, these results reveal that climbing fibers exert control over inhibition at both the input and output layers of the cerebellar cortex.

75 FR 23151 - Noxious Weeds; Old World Climbing Fern and Maidenhair Creeper

Federal Register 2010, 2011, 2012, 2013, 2014

2010-05-03

.... APHIS-2008-0097] Noxious Weeds; Old World Climbing Fern and Maidenhair Creeper AGENCY: Animal and Plant... adding Old World climbing fern (Lygodium microphyllum (Cavanilles) R. Brown) and maidenhair creeper... amended the regulations by adding Old World climbing fern (Lygodium microphyllum (Cavanilles) R. Brown...

Finding paradise: cues directing the migration of the waterfall climbing Hawaiian gobioid Sicyopterus stimpsoni.

PubMed

Leonard, G; Maie, T; Moody, K N; Schrank, G D; Blob, R W; Schoenfuss, H L

2012-07-01

A series of waterfall-climbing trials were conducted to identify cues that direct the climbing of juvenile Sicyopterus stimpsoni. In the first experiment, whether climbing juveniles preferentially ascend water sources with conspecifics or whether the presence of just stream water is sufficient to attract fish to ascend a climbing path were assessed. In the second experiment, whether climbing juveniles create a trail of mucus that facilitates the ability of conspecifics to follow their lead was determined. The results indicate that juvenile S. stimpsoni are less likely to climb in waters devoid of organic cues but are strongly attracted to stream water with or without the odour of conspecifics. Once climbing, performance did not differ for juveniles climbing in differing water choices, suggesting an all-or-nothing commitment once climbing commences. Climbing S. stimpsoni did produce a mucous trail while climbing that was associated with a mucous gland that dramatically increases in size just prior to juveniles gaining the ability to climb. The trail was not followed closely by subsequent juveniles traversing the same channel, however, suggesting only weak trail-following in waterfall climbing S. stimpsoni. Previous genetic studies suggest that juvenile S. stimpsoni do not home to natal streams in the face of strong near-shore oceanic currents. Instead, these fish appear primarily to rely on cues that suggest the presence of organic growth in streams, a factor that may indicate suitable habitat in an ever-changing stream environment but which may also be vulnerable to interference through human activity. © 2012 The Authors. Journal of Fish Biology © 2012 The Fisheries Society of the British Isles.

Modeling, validation and analysis of a Whegs robot in the USARSim environment

NASA Astrophysics Data System (ADS)

Taylor, Brian K.; Balakirsky, Stephen; Messina, Elena; Quinn, Roger D.

2008-04-01

Simulation of robots in a virtual domain has multiple benefits. End users can use the simulation as a training tool to increase their skill with the vehicle without risking damage to the robot or surrounding environment. Simulation allows researchers and developers to benchmark robot performance in a range of scenarios without having the physical robot or environment present. The simulation can also help guide and generate new design concepts. USARSim (Unified System for Automation and Robot Simulation) is a tool that is being used to accomplish these goals, particularly within the realm of search and rescue. It is based on the Unreal Tournament 2004 gaming engine, which approximates the physics of how a robot interacts with its environment. A family of vehicles that can benefit from simulation in USARSim are Whegs TM robots. Developed in the Biorobotics Laboratory at Case Western Reserve University, Whegs TM robots are highly mobile ground vehicles that use abstracted biological principles to achieve a robust level of locomotion, including passive gait adaptation and enhanced climbing abilities. This paper describes a Whegs TM robot model that was constructed in USARSim. The model was configured with the same kinds of behavioral characteristics found in real Whegs TM vehicles. Once these traits were implemented, a validation study was performed using identical performance metrics measured on both the virtual and real vehicles to quantify vehicle performance and to ensure that the virtual robot's performance matched that of the real robot.

Park Managers Attitudes toward Climbing: Implications for Future Regulation.

ERIC Educational Resources Information Center

Huffman, Michael G.; Harwell, Rick

This study examined park managers' attitudes toward adventure climbing and climbing regulations, especially concerning the management of: (1) conflicts (among visitors competing for use of the same resource); (2) impact on the environment; and (3) risk (i.e. implications for rescue and legal liability problems). Questionnaires were sent randomly…

14 CFR 23.66 - Takeoff climb: One-engine inoperative.

Code of Federal Regulations, 2013 CFR

2013-01-01

... applicant with— (a) The critical engine inoperative and its propeller in the position it rapidly and... 14 Aeronautics and Space 1 2013-01-01 2013-01-01 false Takeoff climb: One-engine inoperative. 23... Performance § 23.66 Takeoff climb: One-engine inoperative. For normal, utility, and acrobatic category...

14 CFR 23.66 - Takeoff climb: One-engine inoperative.

Code of Federal Regulations, 2010 CFR

2010-01-01

... applicant with— (a) The critical engine inoperative and its propeller in the position it rapidly and... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Takeoff climb: One-engine inoperative. 23... Performance § 23.66 Takeoff climb: One-engine inoperative. For normal, utility, and acrobatic category...

14 CFR 23.66 - Takeoff climb: One-engine inoperative.

Code of Federal Regulations, 2014 CFR

2014-01-01

... applicant with— (a) The critical engine inoperative and its propeller in the position it rapidly and... 14 Aeronautics and Space 1 2014-01-01 2014-01-01 false Takeoff climb: One-engine inoperative. 23... Performance § 23.66 Takeoff climb: One-engine inoperative. For normal, utility, and acrobatic category...

14 CFR 23.66 - Takeoff climb: One-engine inoperative.

Code of Federal Regulations, 2012 CFR

2012-01-01

... applicant with— (a) The critical engine inoperative and its propeller in the position it rapidly and... 14 Aeronautics and Space 1 2012-01-01 2012-01-01 false Takeoff climb: One-engine inoperative. 23... Performance § 23.66 Takeoff climb: One-engine inoperative. For normal, utility, and acrobatic category...

14 CFR 23.66 - Takeoff climb: One-engine inoperative.

Code of Federal Regulations, 2011 CFR

2011-01-01

... applicant with— (a) The critical engine inoperative and its propeller in the position it rapidly and... 14 Aeronautics and Space 1 2011-01-01 2011-01-01 false Takeoff climb: One-engine inoperative. 23... Performance § 23.66 Takeoff climb: One-engine inoperative. For normal, utility, and acrobatic category...

Combined virtual and real robotic test-bed for single operator control of multiple robots

NASA Astrophysics Data System (ADS)

Lee, Sam Y.-S.; Hunt, Shawn; Cao, Alex; Pandya, Abhilash

2010-04-01

Teams of heterogeneous robots with different dynamics or capabilities could perform a variety of tasks such as multipoint surveillance, cooperative transport and explorations in hazardous environments. In this study, we work with heterogeneous robots of semi-autonomous ground and aerial robots for contaminant localization. We developed a human interface system which linked every real robot to its virtual counterpart. A novel virtual interface has been integrated with Augmented Reality that can monitor the position and sensory information from video feed of ground and aerial robots in the 3D virtual environment, and improve user situational awareness. An operator can efficiently control the real multi-robots using the Drag-to-Move method on the virtual multi-robots. This enables an operator to control groups of heterogeneous robots in a collaborative way for allowing more contaminant sources to be pursued simultaneously. The advanced feature of the virtual interface system is guarded teleoperation. This can be used to prevent operators from accidently driving multiple robots into walls and other objects. Moreover, the feature of the image guidance and tracking is able to reduce operator workload.

Altitude transitions in energy climbs

NASA Technical Reports Server (NTRS)

Weston, A. R.; Cliff, E. M.; Kelley, H. J.

1982-01-01

The aircraft energy-climb trajectory for configurations with a sharp transonic drag rise is well known to possess two branches in the altitude/Mach-number plane. Transition in altitude between the two branches occurs instantaneously, a 'corner' in the minimum-time solution obtained with the energy-state model. If the initial and final values of altitude do not lie on the energy-climb trajectory, then additional jumps (crude approximations to dives and zooms) are required at the initial and terminal points. With a singular-perturbation approach, a 'boundary-layer' correction is obtained for each altitude jump, the transonic jump being a so-called 'internal' boundary layer, different in character from the initial and terminal layers. The determination of this internal boundary layer is examined and some computational results for an example presented.

Pregnant Women in Sport Climbing - Is there a Higher Risk for Preterm Birth?

PubMed

Drastig, Jan; Hillebrandt, David; Rath, Werner; Küpper, Thomas

2017-02-01

Sport climbing is a popular recreational sport with an increasing proportion of female athletes. International recommendations emphasize the physical and mental benefits of regular sport activity during any uncomplicated pregnancy. In this context, sport climbing is associated with a high risk potential.The aim of this study was to examine if there is a higher risk for preterm birth in active climbing athletes.Original manuscript.A retrospective self-report online survey in the German language collected data between September 2012 and November 2013. In addition to anthropometric and demographic data, data on climbing experience, preferred climbing discipline, skill level and changes of climbing habits during pregnancy, known risk factors for preterm birth and information on delivery and the newborn were requested. The rate of preterm birth of the survey was tested with Fisher's exact test with information from the German Federal Statistical Office.Sample size was 32. 72% had a university degree, 81% were primiparous, all were singleton pregnancies. A 33 rd questionnaire was excluded because of described preeclampsia. Age ranged between 21 and 39 years, climbing experience before pregnancy between 2 and 24 years, and skill level before pregnancy between 4 and 7 on the UIAA scale (International Climbing and Mountaineering Federation). Half of the women climbed until the 36 th week and 90% adjusted their climbing habits mostly by reducing climbing difficulty and doing more top roping. 2 preterm births in the 36 th week of gestation were found (2 from 15, p=0.36). According to the data from the German Federal Statistical Office, 8.9% births in the year 2013 in Germany were preterm.This is the first study investigating the risk of preterm birth in recreational sport climbing athletes. No significantly higher proportion of preterm birth could be found. Limitations are small sample size and high social status of participants. What is known about the subject: Sport

Development of an advanced mobile base for personal mobility and manipulation appliance generation II robotic wheelchair.

PubMed

Wang, Hongwu; Candiotti, Jorge; Shino, Motoki; Chung, Cheng-Shiu; Grindle, Garrett G; Ding, Dan; Cooper, Rory A

2013-07-01

This paper describes the development of a mobile base for the Personal Mobility and Manipulation Appliance Generation II (PerMMA Gen II robotic wheelchair), an obstacle-climbing wheelchair able to move in structured and unstructured environments, and to climb over curbs as high as 8 inches. The mechanical, electrical, and software systems of the mobile base are presented in detail, and similar devices such as the iBOT mobility system, TopChair, and 6X6 Explorer are described. The mobile base of PerMMA Gen II has two operating modes: "advanced driving mode" on flat and uneven terrain, and "automatic climbing mode" during stair climbing. The different operating modes are triggered either by local and dynamic conditions or by external commands from users. A step-climbing sequence, up to 0.2 m, is under development and to be evaluated via simulation. The mathematical model of the mobile base is introduced. A feedback and a feed-forward controller have been developed to maintain the posture of the passenger when driving over uneven surfaces or slopes. The effectiveness of the controller has been evaluated by simulation using the open dynamics engine tool. Future work for PerMMA Gen II mobile base is implementation of the simulation and control on a real system and evaluation of the system via further experimental tests.

Development of an advanced mobile base for personal mobility and manipulation appliance generation II robotic wheelchair

PubMed Central

Wang, Hongwu; Candiotti, Jorge; Shino, Motoki; Chung, Cheng-Shiu; Grindle, Garrett G.; Ding, Dan; Cooper, Rory A.

2013-01-01

Background This paper describes the development of a mobile base for the Personal Mobility and Manipulation Appliance Generation II (PerMMA Gen II robotic wheelchair), an obstacle-climbing wheelchair able to move in structured and unstructured environments, and to climb over curbs as high as 8 inches. The mechanical, electrical, and software systems of the mobile base are presented in detail, and similar devices such as the iBOT mobility system, TopChair, and 6X6 Explorer are described. Findings The mobile base of PerMMA Gen II has two operating modes: “advanced driving mode” on flat and uneven terrain, and “automatic climbing mode” during stair climbing. The different operating modes are triggered either by local and dynamic conditions or by external commands from users. A step-climbing sequence, up to 0.2 m, is under development and to be evaluated via simulation. The mathematical model of the mobile base is introduced. A feedback and a feed-forward controller have been developed to maintain the posture of the passenger when driving over uneven surfaces or slopes. The effectiveness of the controller has been evaluated by simulation using the open dynamics engine tool. Conclusion Future work for PerMMA Gen II mobile base is implementation of the simulation and control on a real system and evaluation of the system via further experimental tests. PMID:23820149

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

PubMed

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

2015-07-01

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

Virtual modeling of robot-assisted manipulations in abdominal surgery.

PubMed

Berelavichus, Stanislav V; Karmazanovsky, Grigory G; Shirokov, Vadim S; Kubyshkin, Valeriy A; Kriger, Andrey G; Kondratyev, Evgeny V; Zakharova, Olga P

2012-06-27

To determine the effectiveness of using multidetector computed tomography (MDCT) data in preoperative planning of robot-assisted surgery. Fourteen patients indicated for surgery underwent MDCT using 64 and 256-slice MDCT. Before the examination, a specially constructed navigation net was placed on the patient's anterior abdominal wall. Processing of MDCT data was performed on a Brilliance Workspace 4 (Philips). Virtual vectors that imitate robotic and assistant ports were placed on the anterior abdominal wall of the 3D model of the patient, considering the individual anatomy of the patient and the technical capabilities of robotic arms. Sites for location of the ports were directed by projection on the roentgen-positive tags of the navigation net. There were no complications observed during surgery or in the post-operative period. We were able to reduce robotic arm interference during surgery. The surgical area was optimal for robotic and assistant manipulators without any need for reinstallation of the trocars. This method allows modeling of the main steps in robot-assisted intervention, optimizing operation of the manipulator and lowering the risk of injuries to internal organs.

Proposition of stair climb of a drop using chemical wettability gradient

NASA Astrophysics Data System (ADS)

Seerha, Prabh P. S.; Kumar, Parmod; Das, Arup K.; Mitra, Sushanta K.

2017-07-01

We propose a passive technique for a drop to climb along the staircase textured surface using chemical wettability gradients. The stair structure, droplet configuration, and contact angle gradient are modeled using Lagrangian smoothed particle hydrodynamics. The stair climb efficiency of the droplet is found to be a function of wettability gradient strength. Using analytical balance of actuation and resistive forces across droplets, physical reasons behind stair climbing are established and influencing parameters are identified. Evolution of the droplet shape along with the advancing and the receding contact angles is presented from where instantaneous actuation and hysteresis forces are calculated. Using history of Lagrangian particles, circulation at the foot of stairs and progressing development of the advancing drop front are monitored. Higher efficiency in stair climbing in the case of a bigger sized drop than smaller one is obtained from simulation results and realized from force balance. Difficulty in climbing steeper stairs is also demonstrated to delineate the effect of gravitational pull against the actuation force due to the wettability gradient.

The acute toxicity of the metaldehyde on the climbing perch

NASA Astrophysics Data System (ADS)

Wahida Mohamad Ismail, Syamimi; Aini Dahalan, Farrah; Zakaria, Ammar; Mad Shakaff, Ali Yeon; Aqlima Ahmad, Siti; Shukor, Mohd Yunus Abd; Khalizan Sabullah, Mohd; Khalil, Khalilah Abdul; Jalil, Mohd Faizal Ab

2018-03-01

In Asia, Climbing perch (Anabas testudineus) is commonly found in paddy fields and irrigation systems. Due to its habitat, Climbing perch is exposed to toxic pesticides used in paddy fields such as metaldehyde which is one of the most widely used molluscicide. This study aims to determine the acute toxicity Lethal Concentration50 (LC50) of metaldehyde and its effect on the behaviour and physical changes of the Climbing perch. The fish mortality responses to six different metaldehyde concentrations ranging from 180 to 330 mg/L were investigated. The 96-h LC50 values were determined and analysed using three different analysis methods which is arithmetic, logarithmic and probit graphic. The LC50 values obtained in this study were 239, 234 and 232 mg/L, respectively. After 96-h of exposure to metaldehyde, the fish showed a series of abnormal behavioural response in all cases: imbalance position, and restlessness of movement. The LC50 values show that metaldehyde is moderately toxic to the Climbing perch indicating that metaldehyde is not destructive to Climbing perch. However, long term exposure of aquatic organisms to the metaldehyde means a continuous health risk for the fish population as they are more vulnerable and it is on high risk for human to consume this toxicated fishes.

Performance and scaling of a novel locomotor structure: adhesive capacity of climbing gobiid fishes.

PubMed

Maie, Takashi; Schoenfuss, Heiko L; Blob, Richard W

2012-11-15

Many species of gobiid fishes adhere to surfaces using a sucker formed from fusion of the pelvic fins. Juveniles of many amphidromous species use this pelvic sucker to scale waterfalls during migrations to upstream habitats after an oceanic larval phase. However, adults may still use suckers to re-scale waterfalls if displaced. If attachment force is proportional to sucker area and if growth of the sucker is isometric, then increases in the forces that climbing fish must resist might outpace adhesive capacity, causing climbing performance to decline through ontogeny. To test for such trends, we measured pressure differentials and adhesive suction forces generated by the pelvic sucker across wide size ranges in six goby species, including climbing and non-climbing taxa. Suction was achieved via two distinct growth strategies: (1) small suckers with isometric (or negatively allometric) scaling among climbing gobies and (2) large suckers with positively allometric growth in non-climbing gobies. Species using the first strategy show a high baseline of adhesive capacity that may aid climbing performance throughout ontogeny, with pressure differentials and suction forces much greater than expected if adhesion were a passive function of sucker area. In contrast, large suckers possessed by non-climbing species may help compensate for reduced pressure differentials, thereby producing suction sufficient to support body weight. Climbing Sicyopterus species also use oral suckers during climbing waterfalls, and these exhibited scaling patterns similar to those for pelvic suckers. However, oral suction force was considerably lower than that for pelvic suckers, reducing the ability for these fish to attach to substrates by the oral sucker alone.

Synaptic plasticity in a recurrent neural network for versatile and adaptive behaviors of a walking robot.

PubMed

Grinke, Eduard; Tetzlaff, Christian; Wörgötter, Florentin; Manoonpong, Poramate

2015-01-01

Walking animals, like insects, with little neural computing can effectively perform complex behaviors. For example, they can walk around their environment, escape from corners/deadlocks, and avoid or climb over obstacles. While performing all these behaviors, they can also adapt their movements to deal with an unknown situation. As a consequence, they successfully navigate through their complex environment. The versatile and adaptive abilities are the result of an integration of several ingredients embedded in their sensorimotor loop. Biological studies reveal that the ingredients include neural dynamics, plasticity, sensory feedback, and biomechanics. Generating such versatile and adaptive behaviors for a many degrees-of-freedom (DOFs) walking robot is a challenging task. Thus, in this study, we present a bio-inspired approach to solve this task. Specifically, the approach combines neural mechanisms with plasticity, exteroceptive sensory feedback, and biomechanics. The neural mechanisms consist of adaptive neural sensory processing and modular neural locomotion control. The sensory processing is based on a small recurrent neural network consisting of two fully connected neurons. Online correlation-based learning with synaptic scaling is applied to adequately change the connections of the network. By doing so, we can effectively exploit neural dynamics (i.e., hysteresis effects and single attractors) in the network to generate different turning angles with short-term memory for a walking robot. The turning information is transmitted as descending steering signals to the neural locomotion control which translates the signals into motor actions. As a result, the robot can walk around and adapt its turning angle for avoiding obstacles in different situations. The adaptation also enables the robot to effectively escape from sharp corners or deadlocks. Using backbone joint control embedded in the the locomotion control allows the robot to climb over small obstacles

Synaptic plasticity in a recurrent neural network for versatile and adaptive behaviors of a walking robot

PubMed Central

Grinke, Eduard; Tetzlaff, Christian; Wörgötter, Florentin; Manoonpong, Poramate

2015-01-01

Walking animals, like insects, with little neural computing can effectively perform complex behaviors. For example, they can walk around their environment, escape from corners/deadlocks, and avoid or climb over obstacles. While performing all these behaviors, they can also adapt their movements to deal with an unknown situation. As a consequence, they successfully navigate through their complex environment. The versatile and adaptive abilities are the result of an integration of several ingredients embedded in their sensorimotor loop. Biological studies reveal that the ingredients include neural dynamics, plasticity, sensory feedback, and biomechanics. Generating such versatile and adaptive behaviors for a many degrees-of-freedom (DOFs) walking robot is a challenging task. Thus, in this study, we present a bio-inspired approach to solve this task. Specifically, the approach combines neural mechanisms with plasticity, exteroceptive sensory feedback, and biomechanics. The neural mechanisms consist of adaptive neural sensory processing and modular neural locomotion control. The sensory processing is based on a small recurrent neural network consisting of two fully connected neurons. Online correlation-based learning with synaptic scaling is applied to adequately change the connections of the network. By doing so, we can effectively exploit neural dynamics (i.e., hysteresis effects and single attractors) in the network to generate different turning angles with short-term memory for a walking robot. The turning information is transmitted as descending steering signals to the neural locomotion control which translates the signals into motor actions. As a result, the robot can walk around and adapt its turning angle for avoiding obstacles in different situations. The adaptation also enables the robot to effectively escape from sharp corners or deadlocks. Using backbone joint control embedded in the the locomotion control allows the robot to climb over small obstacles

My Big Wall

NASA Technical Reports Server (NTRS)

Espinosa, Paul S.

2002-01-01

It was June and I was in Yosemite National Park in California, 2,000-feet off the ground. I was climbing El Capitan, a majestic 3,000-foot high, mile-wide granite monolith--one of the most sought after and spectacular rock climbs in the world. After three days of climbing on its sheer face, and having completed the most difficult part of the route, my partner and I were heading down. A thunderstorm lasting all night and into the morning had soaked our tiny perch and all our worldly possessions. We began rappelling down the vertical wall by sliding to the ends of two 50meter ropes tied together and looped through a set of fixed rings bolted into the rock. At the end of the ropes was another rappel station consisting of a set of rings, placed by previous climbers for retreating parties, which we used to anchor ourselves to the rock face. We then pulled the ropes down from the rings above, threaded the ones in front of our noses and started down another rope length. Everything we brought up for our five-day climb to the summit we had to bring back down with us: ropes, climbing gear of every sort, sleeping bags, extra clothes, food, water, and other essentials. All this we either stuffed into a haul bag (an oversized reinforced duffel bag) or slung over our shoulders. The retreat was slow and methodical, akin to a train backing down a mountain, giving me ample time to think. My situation made me think about my work, mostly, about all the projects I have managed, or been involved in managing. As a NASA project manager, I have worked on a number of successful projects. I have also been involved in a number of projects I never saw the end of. I thought about all the projects I transferred off of for other opportunities, projects that were in full stride and ran out of funding, and ones put on the shelf because they would not meet a flight date. Oh yes, I have had many success, to be sure, or I would have burned out years ago. Lessons from both the successful and not

Biologically Inspired SNN for Robot Control.

PubMed

Nichols, Eric; McDaid, Liam J; Siddique, Nazmul

2013-02-01

This paper proposes a spiking-neural-network-based robot controller inspired by the control structures of biological systems. Information is routed through the network using facilitating dynamic synapses with short-term plasticity. Learning occurs through long-term synaptic plasticity which is implemented using the temporal difference learning rule to enable the robot to learn to associate the correct movement with the appropriate input conditions. The network self-organizes to provide memories of environments that the robot encounters. A Pioneer robot simulator with laser and sonar proximity sensors is used to verify the performance of the network with a wall-following task, and the results are presented.

Valgus-varus motion of the knee in normal level walking and stair climbing.

PubMed

Yu, B; Stuart, M J; Kienbacher, T; Growney, E S; An, K-N

1997-07-01

OBJECTIVE: The knee valgus-varus moment and the knee angles were compared between normal level walking and stair climbing. DESIGN: Ten healthy subjects were tested for ascent, descent, and level walking. BACKGROUND: An understanding of the normal valgus-varus motion of the knee during stair climbing is needed to apply biomechanical analysis of stair climbing as a evaluation tool for knee osteoarthritis patients. METHODS: A motion analysis system, three force plates, and a flight of stairs were used to collect kinematic and kinetic data. The knee angles and moments were calculated from the collected kinematic and kinetic data. RESULTS: The knee varus angle for the maximum knee valgus moments in stair climbing was significantly greater than that in level walking. The knee valgus moment was significantly correlated to ground reaction forces and knee valgus-varus angle during stair climbing and level walking. CONCLUSIONS: There is a coupling between the knee valgus-varus motion and flexion-extension motion. Ground reaction forces are the major contributors to the within-subject variation in the knee valgus-varus moment during stair climbing and level walking. The knee valgus-varus angle is a major contributor to the between-subject variation in the knee valgus moment during stair climbing and level walking.

Application of Nadal Limit in the prediction of wheel climb derailment

DOT National Transportation Integrated Search

2011-03-16

Application of the Nadal Limit to the prediction of wheel climb derailment is presented along with the effect of pertinent geometric and material parameters. Conditions which : contribute to this climb include wheelset angle of attack, contact angle,...

Kasner solutions, climbing scalars and big-bang singularity

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

Condeescu, Cezar; Dudas, Emilian, E-mail: cezar.condeescu@roma2.infn.it, E-mail: emilian.dudas@cpht.polytechnique.fr

We elaborate on a recently discovered phenomenon where a scalar field close to big-bang is forced to climb a steep potential by its dynamics. We analyze the phenomenon in more general terms by writing the leading order equations of motion near the singularity. We formulate the conditions for climbing to exist in the case of several scalars and after inclusion of higher-derivative corrections and we apply our results to some models of moduli stabilization. We analyze an example with steep stabilizing potential and notice again a related critical behavior: for a potential steepness above a critical value, going backwards towardsmore » big-bang, the scalar undergoes wilder oscillations, with the steep potential pushing it back at every passage and not allowing the scalar to escape to infinity. Whereas it was pointed out earlier that there are possible implications of the climbing phase to CMB, we point out here another potential application, to the issue of initial conditions in inflation.« less

Amount of balance necessary for the independence of transfer and stair-climbing in stroke inpatients.

PubMed

Fujita, Takaaki; Sato, Atsushi; Ohashi, Yuji; Nishiyama, Kazutaka; Ohashi, Takuro; Yamane, Kazuhiro; Yamamoto, Yuichi; Tsuchiya, Kenji; Otsuki, Koji; Tozato, Fusae

2018-05-01

The purpose of this study was to clarify the amount of balance necessary for the independence of transfer and stair-climbing in stroke patients. This study included 111 stroke inpatients. Simple and multiple regression analyses were conducted to establish the association between the FIM ® instrument scores for transfer or stair-climbing and Berg Balance Scale. Furthermore, receiver operating characteristic curves were used to elucidate the amount of balance necessary for the independence of transfer and stair-climbing. Simple and multiple regression analyses showed that the FIM ® instrument scores for transfer and stair-climbing were strongly associated with Berg Balance Scale. On comparison of the independent and supervision-dependent groups, Berg Balance Scale cut-off values for transfer and stair-climbing were 41/40 and 54/53 points, respectively. On comparison of the independent-supervision and dependent groups, the cut-off values for transfer and stair-climbing were 30/29 and 41/40 points, respectively. The calculated cut-off values indicated the amount of balance necessary for the independence of transfer and stair-climbing, with and without supervision, in stroke patients. Berg Balance Scale has a good discriminatory ability and cut-off values are clinically useful to determine the appropriate independence levels of transfer and stair-climbing in hospital wards. Implications for rehabilitation The Berg Balance Scale's (BBS) strong association with transfer and stair-climbing independence and performance indicates that establishing cut-off values is vitally important for the established use of the BBS clinically. The cut-off values calculated herein accurately demonstrate the level of balance necessary for transfer and stair-climbing independence, with and without supervision, in stroke patients. These criteria should be employed clinically for determining the level of independence for transfer and stair-climbing as well as for setting balance training

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

NASA Astrophysics Data System (ADS)

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

2015-05-01

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

Top-of-Climb Matching Method for Reducing Aircraft Trajectory Prediction Errors.

PubMed

Thipphavong, David P

2016-09-01

The inaccuracies of the aircraft performance models utilized by trajectory predictors with regard to takeoff weight, thrust, climb profile, and other parameters result in altitude errors during the climb phase that often exceed the vertical separation standard of 1000 feet. This study investigates the potential reduction in altitude trajectory prediction errors that could be achieved for climbing flights if just one additional parameter is made available: top-of-climb (TOC) time. The TOC-matching method developed and evaluated in this paper is straightforward: a set of candidate trajectory predictions is generated using different aircraft weight parameters, and the one that most closely matches TOC in terms of time is selected. This algorithm was tested using more than 1000 climbing flights in Fort Worth Center. Compared to the baseline trajectory predictions of a real-time research prototype (Center/TRACON Automation System), the TOC-matching method reduced the altitude root mean square error (RMSE) for a 5-minute prediction time by 38%. It also decreased the percentage of flights with absolute altitude error greater than the vertical separation standard of 1000 ft for the same look-ahead time from 55% to 30%.

Top-of-Climb Matching Method for Reducing Aircraft Trajectory Prediction Errors

PubMed Central

Thipphavong, David P.

2017-01-01

The inaccuracies of the aircraft performance models utilized by trajectory predictors with regard to takeoff weight, thrust, climb profile, and other parameters result in altitude errors during the climb phase that often exceed the vertical separation standard of 1000 feet. This study investigates the potential reduction in altitude trajectory prediction errors that could be achieved for climbing flights if just one additional parameter is made available: top-of-climb (TOC) time. The TOC-matching method developed and evaluated in this paper is straightforward: a set of candidate trajectory predictions is generated using different aircraft weight parameters, and the one that most closely matches TOC in terms of time is selected. This algorithm was tested using more than 1000 climbing flights in Fort Worth Center. Compared to the baseline trajectory predictions of a real-time research prototype (Center/TRACON Automation System), the TOC-matching method reduced the altitude root mean square error (RMSE) for a 5-minute prediction time by 38%. It also decreased the percentage of flights with absolute altitude error greater than the vertical separation standard of 1000 ft for the same look-ahead time from 55% to 30%. PMID:28684883

Top-of-Climb Matching Method for Reducing Aircraft Trajectory Prediction Errors

NASA Technical Reports Server (NTRS)

Thipphavong, David P.

2016-01-01

The inaccuracies of the aircraft performance models utilized by trajectory predictors with regard to takeoff weight, thrust, climb profile, and other parameters result in altitude errors during the climb phase that often exceed the vertical separation standard of 1000 feet. This study investigates the potential reduction in altitude trajectory prediction errors that could be achieved for climbing flights if just one additional parameter is made available: top-of-climb (TOC) time. The TOC-matching method developed and evaluated in this paper is straightforward: a set of candidate trajectory predictions is generated using different aircraft weight parameters, and the one that most closely matches TOC in terms of time is selected. This algorithm was tested using more than 1000 climbing flights in Fort Worth Center. Compared to the baseline trajectory predictions of a real-time research prototype (Center/TRACON Automation System), the TOC-matching method reduced the altitude root mean square error (RMSE) for a 5-minute prediction time by 38%. It also decreased the percentage of flights with absolute altitude error greater than the vertical separation standard of 1000 ft for the same look-ahead time from 55% to 30%.

strange beta: An assistance system for indoor rock climbing route setting

NASA Astrophysics Data System (ADS)

Phillips, C.; Becker, L.; Bradley, E.

2012-03-01

This paper applies the mathematics of chaos to the task of designing indoor rock-climbing routes. Chaotic variation has been used to great advantage on music and dance, but the challenges here are quite different, beginning with the representation. We present a formalized system for transcribing rock climbing problems and then describe a variation generator that is designed to support human route-setters in designing new and interesting climbing problems. This variation generator, termed strange beta, uses chaos to introduce novelty. We validated this approach with a large blinded study in a commercial climbing gym, in cooperation with experienced climbers and expert route setters. The results show that strange beta can help a human setter produce routes that are at least as good as, and in some cases better than, those produced in the traditional manner.

Beneficial aerodynamic effect of wing scales on the climbing flight of butterflies.

PubMed

Slegers, Nathan; Heilman, Michael; Cranford, Jacob; Lang, Amy; Yoder, John; Habegger, Maria Laura

2017-01-30

It is hypothesized that butterfly wing scale geometry and surface patterning may function to improve aerodynamic efficiency. In order to investigate this hypothesis, a method to measure butterfly flapping kinematics optically over long uninhibited flapping sequences was developed. Statistical results for the climbing flight flapping kinematics of 11 butterflies, based on a total of 236 individual flights, both with and without their wing scales, are presented. Results show, that for each of the 11 butterflies, the mean climbing efficiency decreased after scales were removed. Data was reduced to a single set of differences of climbing efficiency using are paired t-test. Results show a mean decrease in climbing efficiency of 32.2% occurred with a 95% confidence interval of 45.6%-18.8%. Similar analysis showed that the flapping amplitude decreased by 7% while the flapping frequency did not show a significant difference. Results provide strong evidence that butterfly wing scale geometry and surface patterning improve butterfly climbing efficiency. The authors hypothesize that the wing scale's effect in measured climbing efficiency may be due to an improved aerodynamic efficiency of the butterfly and could similarly be used on flapping wing micro air vehicles to potentially achieve similar gains in efficiency.

36 CFR 13.1312 - Climbing and walking on Exit Glacier.

Code of Federal Regulations, 2014 CFR

2014-07-01

... Glacier. 13.1312 Section 13.1312 Parks, Forests, and Public Property NATIONAL PARK SERVICE, DEPARTMENT OF... General Provisions § 13.1312 Climbing and walking on Exit Glacier. Except for areas designated by the Superintendent, climbing or walking on, in, or under Exit Glacier is prohibited within 1/2 mile of the glacial...

36 CFR 13.1312 - Climbing and walking on Exit Glacier.

Code of Federal Regulations, 2010 CFR

2010-07-01

... Glacier. 13.1312 Section 13.1312 Parks, Forests, and Public Property NATIONAL PARK SERVICE, DEPARTMENT OF... General Provisions § 13.1312 Climbing and walking on Exit Glacier. Except for areas designated by the Superintendent, climbing or walking on, in, or under Exit Glacier is prohibited within 1/2 mile of the glacial...

36 CFR 13.1312 - Climbing and walking on Exit Glacier.

Code of Federal Regulations, 2013 CFR

2013-07-01

... Glacier. 13.1312 Section 13.1312 Parks, Forests, and Public Property NATIONAL PARK SERVICE, DEPARTMENT OF... General Provisions § 13.1312 Climbing and walking on Exit Glacier. Except for areas designated by the Superintendent, climbing or walking on, in, or under Exit Glacier is prohibited within 1/2 mile of the glacial...

36 CFR 13.1312 - Climbing and walking on Exit Glacier.

Code of Federal Regulations, 2011 CFR

2011-07-01

... Glacier. 13.1312 Section 13.1312 Parks, Forests, and Public Property NATIONAL PARK SERVICE, DEPARTMENT OF... General Provisions § 13.1312 Climbing and walking on Exit Glacier. Except for areas designated by the Superintendent, climbing or walking on, in, or under Exit Glacier is prohibited within 1/2 mile of the glacial...

Global diversification of a tropical plant growth form: environmental correlates and historical contingencies in climbing palms

PubMed Central

Couvreur, Thomas L. P.; Kissling, W. Daniel; Condamine, Fabien L.; Svenning, Jens-Christian; Rowe, Nick P.; Baker, William J.

2015-01-01

Tropical rain forests (TRF) are the most diverse terrestrial biome on Earth, but the diversification dynamics of their constituent growth forms remain largely unexplored. Climbing plants contribute significantly to species diversity and ecosystem processes in TRF. We investigate the broad-scale patterns and drivers of species richness as well as the diversification history of climbing and non-climbing palms (Arecaceae). We quantify to what extent macroecological diversity patterns are related to contemporary climate, forest canopy height, and paleoclimatic changes. We test whether diversification rates are higher for climbing than non-climbing palms and estimate the origin of the climbing habit. Climbers account for 22% of global palm species diversity, mostly concentrated in Southeast Asia. Global variation in climbing palm species richness can be partly explained by past and present-day climate and rain forest canopy height, but regional differences in residual species richness after accounting for current and past differences in environment suggest a strong role of historical contingencies in climbing palm diversification. Climbing palms show a higher net diversification rate than non-climbers. Diversification analyses of palms detected a diversification rate increase along the branches leading to the most species-rich clade of climbers. Ancestral character reconstructions revealed that the climbing habit originated between early Eocene and Miocene. These results imply that changes from non-climbing to climbing habits may have played an important role in palm diversification, resulting in the origin of one fifth of all palm species. We suggest that, in addition to current climate and paleoclimatic changes after the late Neogene, present-day diversity of climbing palms can be explained by morpho-anatomical innovations, the biogeographic history of Southeast Asia, and/or ecological opportunities due to the diversification of high-stature dipterocarps in Asian TRFs

Global diversification of a tropical plant growth form: environmental correlates and historical contingencies in climbing palms.

PubMed

Couvreur, Thomas L P; Kissling, W Daniel; Condamine, Fabien L; Svenning, Jens-Christian; Rowe, Nick P; Baker, William J

2014-01-01

Tropical rain forests (TRF) are the most diverse terrestrial biome on Earth, but the diversification dynamics of their constituent growth forms remain largely unexplored. Climbing plants contribute significantly to species diversity and ecosystem processes in TRF. We investigate the broad-scale patterns and drivers of species richness as well as the diversification history of climbing and non-climbing palms (Arecaceae). We quantify to what extent macroecological diversity patterns are related to contemporary climate, forest canopy height, and paleoclimatic changes. We test whether diversification rates are higher for climbing than non-climbing palms and estimate the origin of the climbing habit. Climbers account for 22% of global palm species diversity, mostly concentrated in Southeast Asia. Global variation in climbing palm species richness can be partly explained by past and present-day climate and rain forest canopy height, but regional differences in residual species richness after accounting for current and past differences in environment suggest a strong role of historical contingencies in climbing palm diversification. Climbing palms show a higher net diversification rate than non-climbers. Diversification analyses of palms detected a diversification rate increase along the branches leading to the most species-rich clade of climbers. Ancestral character reconstructions revealed that the climbing habit originated between early Eocene and Miocene. These results imply that changes from non-climbing to climbing habits may have played an important role in palm diversification, resulting in the origin of one fifth of all palm species. We suggest that, in addition to current climate and paleoclimatic changes after the late Neogene, present-day diversity of climbing palms can be explained by morpho-anatomical innovations, the biogeographic history of Southeast Asia, and/or ecological opportunities due to the diversification of high-stature dipterocarps in Asian TRFs.

Tele-care robot for assisting independent senior citizens who live at home.

PubMed

Katz, Reuven

2015-01-01

In the last twenty years most developed countries face dramatic demographic changes, and predominantly the rapid aging of their population. As the share of elderly people is climbing while the number of care providers is declining, the aging problem is becoming an increasingly important social and economic challenge. The supply of care at home, utilizing affordable tele-care systems and smart home technologies, is one of the promising strategies to cope with challenges posed by these demographic changes. The goal of this paper is to present a tele-care robot (TCR) aimed to assist Senior citizens who live independently at their home, that need assistance in daily life activities. The idea of the proposed system is that a caregiver, operating from a central location, will be able to service between 10 to 20 patients living at their home, by using the tele-care robot. The robot will possess motion control capabilities to move inside the house of each patient and alert in case that emergency events occur. The robot will allow the care provider to communicate remotely with the patient using audio and video equipment installed on the robot. By using the robot, the caregiver will be able to examine several times during the day the well-being of the patient, his medication consumption, and his overall functionality.

Peak oxygen consumption measured during the stair-climbing test in lung resection candidates.

PubMed

Brunelli, Alessandro; Xiumé, Francesco; Refai, Majed; Salati, Michele; Di Nunzio, Luca; Pompili, Cecilia; Sabbatini, Armando

2010-01-01

The stair-climbing test is commonly used in the preoperative evaluation of lung resection candidates, but it is difficult to standardize and provides little physiologic information on the performance. To verify the association between the altitude and the V(O2peak) measured during the stair-climbing test. 109 consecutive candidates for lung resection performed a symptom-limited stair-climbing test with direct breath-by-breath measurement of V(O2peak) by a portable gas analyzer. Stepwise logistic regression and bootstrap analyses were used to verify the association of several perioperative variables with a V(O2peak) <15 ml/kg/min. Subsequently, multiple regression analysis was also performed to develop an equation to estimate V(O2peak) from stair-climbing parameters and other patient-related variables. 56% of patients climbing <14 m had a V(O2peak) <15 ml/kg/min, whereas 98% of those climbing >22 m had a V(O2peak) >15 ml/kg/min. The altitude reached at stair-climbing test resulted in the only significant predictor of a V(O2peak) <15 ml/kg/min after logistic regression analysis. Multiple regression analysis yielded an equation to estimate V(O2peak) factoring altitude (p < 0.0001), speed of ascent (p = 0.005) and body mass index (p = 0.0008). There was an association between altitude and V(O2peak) measured during the stair-climbing test. Most of the patients climbing more than 22 m are able to generate high values of V(O2peak) and can proceed to surgery without any additional tests. All others need to be referred for a formal cardiopulmonary exercise test. In addition, we were able to generate an equation to estimate V(O2peak), which could assist in streamlining the preoperative workup and could be used across different settings to standardize this test. Copyright (c) 2010 S. Karger AG, Basel.

Ladder Climbing and Autoresonant Acceleration of Plasma Waves

NASA Astrophysics Data System (ADS)

Barth, Ido; Dodin, Ilya; Fisch, Nathaniel

2015-11-01

When the background density in a bounded plasma is modulated in time, discrete modes become coupled. Interestingly, for appropriately chosen modulations, the average plasmon energy might be made to grow in a ladder-like manner, achieving up-conversion or down-conversion of the plasmon energy. This reversible process is identified as a classical analog of the effect known as quantum ladder climbing, so that the efficiency and the rate of this process can be written immediately by analogy to a quantum particle in a box. In the limit of densely spaced spectrum, ladder climbing transforms into continuous autoresonance; plasmons may then be manipulated by chirped background modulations much like electrons are autoresonantly manipulated by chirped fields. By formulating the wave dynamics within a universal Lagrangian framework, similar ladder climbing and autoresonance effects are predicted to be achievable with general linear waves in both plasma and other media. Supported by NNSA grant DE274-FG52-08NA28553, DOE contract DE-AC02-09CH11466, and DTRA grant HDTRA1-11-1-0037.

Criterion-related validity of self-reported stair climbing in older adults.

PubMed

Higueras-Fresnillo, Sara; Esteban-Cornejo, Irene; Gasque, Pablo; Veiga, Oscar L; Martinez-Gomez, David

2018-02-01

Stair climbing is an activity of daily living that might contribute to increase levels of physical activity (PA). To date, there is no study examining the validity of climbing stairs assessed by self-report. The aim of this study was, therefore, to examine the validity of estimated stair climbing from one question included in a common questionnaire compared to a pattern-recognition activity monitor in older adults. A total of 138 older adults (94 women), aged 65-86 years (70.9 ± 4.7 years), from the IMPACT65 + study participated in this validity study. Estimates of stair climbing were obtained from the European Prospective Investigation into Cancer and Nutrition (EPIC) PA questionnaire. An objective assessment of stair climbing was obtained with the Intelligent Device for Energy Expenditure and Activity (IDEEA) monitor. The correlation between both methods to assess stair climbing was fair (ρ = 0.22, p = 0.008 for PA energy expenditure and ρ = 0.26, p = 0.002 for duration). Mean differences between self-report and the IDEEA were 7.96 ± 10.52 vs. 9.88 ± 3.32 METs-min/day for PA energy expenditure, and 0.99 ± 1.32 vs. 1.79 ± 2.02 min/day for duration (both Wilcoxon test p < 0.001). Results from the Bland-Altman analysis indicate that bias between both instruments were -1.91 ± 10.30 METs-min/day and -0.80 ± 1.99 min/day, and corresponding limits of agreement for the two instruments were from 18.27 to -22.10 METs-min/day and from 3.09 to -4.70 min/day, respectively. Our results indicate that self-reported stair climbing has modest validity to accurately rank old age participants, and underestimates both PAEE and its duration, as compared with an objectively measured method.

Megachiropteran bats profoundly unique from microchiropterans in climbing and walking locomotion: Evolutionary implications

PubMed Central

Carter, Richard T.

2017-01-01

Understandably, most locomotor analyses of bats have focused on flight mechanics and behaviors. However, we investigated nonflight locomotion in an effort to glean deeper insights into the evolutionary history of bats. We used high-speed video (300 Hz) to film and compare walking and climbing mechanics and kinematics between several species of the suborders Megachiroptera (Pteropodidae) versus Microchiroptera (Vespertilionidae and Phyllostomatidae). We found fundamentally distinctive behaviors, functional abilities, and performance outcomes between groups, but nearly homogeneous outcomes within groups. Megachiropterans exhibited climbing techniques and skills not found in microchiropterans and which aligned with other fully arboreal mammals. Megachiropterans climbed readily when placed in a head-up posture on a vertical surface, showed significantly greater ability than microchiropterans to abduct and extend the reach of their limbs, and climbed at a greater pace by using a more aggressive ipsilateral gait, at times being supported by only a single contact point. In addition, megachiropterans showed little ability to employ basic walking mechanics when placed on the ground, also a pattern observed in some highly adapted arboreal mammals. Conversely, microchiropterans resisted climbing vertical surfaces in a head-up posture, showed significantly less extension of their limbs, and employed a less-aggressive, slower contralateral gait with three points of contact. When walking, microchiropterans used the same gait they did when climbing which is representative of basic tetrapod terrestrial mechanics. Curiously, megachiropterans cycled their limbs significantly faster when climbing than when attempting to walk, whereas microchiropterans cycled their limbs at significantly faster rates when walking than when climbing. We contend that nonflight locomotion mechanics give a deep evolutionary view into the ancestral es locomotor platform on which flight was built in each of

Climbing Ability of the Common Bed Bug (Hemiptera: Cimicidae).

PubMed

Hottel, B A; Pereira, R M; Gezan, S A; Qing, R; Sigmund, W M; Koehler, P G

2015-05-01

Little is known about what factors influence the climbing ability of bed bugs, Cimex lectularius L. (Hemiptera: Cimicidae), in relation to the various surfaces they encounter. We examined how sex, time since last fed, and what surfaces the bed bugs were in contact with affected their climbing performance. The effects of sex and time since fed were tested by counting the number of bed bugs able to climb a 45° slope. The pulling force was recorded using an analytical balance technique that captured the sequential vertical pulling force output of bed bugs attached to various surfaces. Recently fed female bed bugs were found to have the most difficulty in climbing smooth surfaces in comparison with males. This difference can be explained by the larger weight gained from bloodmeals by female bed bugs. A variety of vertical pulling forces were observed on surfaces ranging from sandpaper to talc powder-covered glass. For surfaces not treated with talc powder, bed bugs generated the least amount of vertical pulling force from synthetically created 0.6-µm plastron surfaces. This vast range in the ability of bed bugs to grip onto various surfaces may have implications on limiting bed bugs dispersal and hitchhiking behaviors. © The Authors 2015. Published by Oxford University Press on behalf of Entomological Society of America. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

Dynamic traversal of high bumps and large gaps by a small legged robot

NASA Astrophysics Data System (ADS)

Gart, Sean; Winey, Nastasia; de La Tijera Obert, Rafael; Li, Chen

Small animals encounter and negotiate diverse obstacles comparable in size or larger than themselves. In recent experiments, we found that cockroaches can dynamically traverse bumps up to 4 times hip height and gaps up to 1 body length. To better understand the physics that governs these locomotor transitions, we studied a small six-legged robot negotiating high bumps and large gaps and compared it to animal observations. We found that the robot was able to traverse bumps as large as 1 hip height and gaps as wide as 0.5 body length. For the bump, the robot often climbed over to traverse when initial body yaw was small, but was often deflected laterally and failed to traverse when initial body yaw was large. A simple locomotion energy landscape model explained these observations. For the gap, traversal probability decreased with gap width, which was well explained by a simple Lagrangian model of a forward-moving rigid body falling over the gap edge. For both the bump and the gap, animal performance far exceeded that of the robot, likely due to their relatively higher running speeds and larger rotational oscillations prior to and during obstacle traversal. Differences between animal and robot obstacle negotiation behaviors revealed that animals used active strategies to overcome potential energy barriers.

Promoting stair climbing: stair-riser banners are better than posters... sometimes.

PubMed

Olander, Ellinor K; Eves, Frank F; Puig-Ribera, Anna

2008-04-01

Stair-riser banners are twice as effective as posters in encouraging stair climbing in shopping centres. This study tested the effectiveness of stair-riser banners in an English train station in 2006-2007. The train station had a 39-step staircase and an adjacent escalator. Baseline observations (3.5 weeks) were followed by 10.5 weeks of a banner intervention supplemented with 3 weeks of a poster intervention. Both poster and banner featured the message 'Stair climbing burns more calories per minute than jogging. Take the stairs'. Ascending escalator and stair users (N=36,239) were coded for gender. Analyses, controlling for effects of gender and pedestrian traffic volume, revealed no significant change in stair climbing between baseline (40.6%) and the banner intervention (40.9%; p=0.98). Addition of the poster increased stair climbing (44.3%; OR=1.36, 95% CIs 1.16-1.60, p<0.001), with the effect reduced at higher pedestrian traffic volumes. While stair-riser banners had no effect, the poster intervention increased stair climbing. The high pedestrian volumes as the wave of disembarking passengers seek to leave the station would have obscured the visibility of the banner for many commuters. Thus stair-riser banners appear unsuitable point-of-choice prompts in stations where pedestrian traffic volume is high.

Promoting stair climbing: intervention effects generalize to a subsequent stair ascent.

PubMed

Webb, Oliver J; Eves, Frank F

2007-01-01

Studies report a significant increase in stair use when message prompts are introduced at the "point of choice" between stairs and escalators. Climbing one set of stairs, however, will not confer meaningful health dividends. Therefore, this study examined whether exposure to point of choice prompts also encouraged individuals to climb the next set of stairs that they encountered. Interrupted time-series design. Two separate stair/escalator pairings within a U.K. shopping mall (the "intervention" site and the "generalization" site), separated by a 25-m long atrium. Subjects. Ascending pedestrians (intervention site n = 29,713; generalization site n = 47,553). Two weeks of baseline monitoring were followed by a 13-week intervention in which banners carrying health promotion messages were introduced at the intervention site only. At both sites observers inconspicuously recorded pedestrians' methods of ascent, along with their gender, age, ethnicity, and baggage. Banners increased stair climbing at the intervention site by 161%. Results also suggested a simultaneous increase of up to 143% at the generalization site, where no prompt was in place. At both sites stair use remained significantly elevated 5 weeks after the banners were removed. It appears that exposure to point of choice prompts can encourage pedestrians to climb stairs when they are encountered in a subsequent setting. Consequently stair-climbing interventions are likely to engage the public in more physical activity than previously realized.

Strange Beta: Chaotic Variations for Indoor Rock Climbing Route Setting

NASA Astrophysics Data System (ADS)

Phillips, Caleb; Bradley, Elizabeth

2011-04-01

In this paper we apply chaotic systems to the task of sequence variation for the purpose of aiding humans in setting indoor rock climbing routes. This work expands on prior work where similar variations were used to assist in dance choreography and music composition. We present a formalization for transcription of rock climbing problems and a variation generator that is tuned for this domain and addresses some confounding problems, including a new approach to automatic selection of initial conditions. We analyze our system with a large blinded study in a commercial climbing gym in cooperation with experienced climbers and expert route setters. Our results show that our system is capable of assisting a human setter in producing routes that are at least as good as, and in some cases better than, those produced traditionally.

Climbing the walls

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

Duey, R.

1997-07-01

{open_quotes}Integrated solutions{close_quotes} has become such a buzzword in the business world that it`s beginning to lose its semantic impact. But when the business is oil and gas and the integrated solutions revolve around information technology, the impact is very great indeed. A recent Cambridge Energy Research Associates study called the use of information technology within the petroleum industry a {open_quotes}quiet revolution.{close_quotes} The technology has been {open_quotes}a powerful, enabling factor in the survival and rebirth{close_quotes} of the industry since the price collapse of 1986, the report states, adding, {open_quotes}It will be even more important to the industry`s future, shaping business strategymore » and competitive advantage-- and company structure.{close_quotes} Like many other industries, oil and gas companies are moving away from hierarchical structures, relying on asset teams and other interdisciplinary approaches to maximize profits in an era of downsizing, volatile prices and stiff competition. {open_quotes}I think in the past the energy industry had a commodity mindset,{close_quotes} says Robert Shaw, senior vice president and head of the worldwide sector for Oracle Energy. {open_quotes}The industry was fairly controlled, stable and regulated, and there was a feeling that there wasn`t much to do except find oil, own reserves, refine as much as they can, run the pipe full, dispose of as much as they can and hopefully make a lot of money{close_quotes}.« less

Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility

DTIC Science & Technology

2012-01-01

performance. Ob- stacle climbing using the tail is compared to results from a previous robot with a posterior body segment and body flexion joint. Actual...3. Mechanisms of Locomotion for Multi-Modal Mobility 3.1. Gate and Tail Design Demands of multi-modal locomotion motivated a quadruped design for...tail instead of a rear body segment simplifies waterproofing design requirements and adds stability both on land and in water. This new morphology is

Robotic Transversus Abdominis Release (TAR): is it possible to offer minimally invasive surgery for abdominal wall complex defects?

PubMed

Amaral, Maria Vitória França DO; Guimarães, José Ricardo; Volpe, Paula; Oliveira, Flávio Malcher Martins DE; Domene, Carlos Eduardo; Roll, Sérgio; Cavazzola, Leandro Totti

2017-01-01

We describe the preliminary national experience and the early results of the use of robotic surgery to perform the posterior separation of abdominal wall components by the Transversus Abdominis Release (TAR) technique for the correction of complex defects of the abdominal wall. We performed the procedures between 04/2/2015 and 06/15/2015 and the follow-up time was up to six months, with a minimum of two months. The mean surgical time was five hours and 40 minutes. Two patients required laparoscopic re-intervention, since one developed hernia by peritoneal migration of the mesh and one had mesh extrusion. The procedure proved to be technically feasible, with a still long surgical time. Considering the potential advantages of robotic surgery and those related to TAR and the results obtained when these two techniques are associated, we conclude that they seem to be a good option for the correction of complex abdominal wall defects. RESUMO Descrevemos a experiência preliminar nacional na utilização da cirurgia robótica para realizar a separação posterior de componentes da parede abdominal pela técnica transversus abdominis release (TAR) na correção de defeitos complexos da parede abdominal e seus resultados precoces. As cirurgias foram realizadas entre 02/04/2015 e 15/06/2015 e o tempo de acompanhamento dos resultados foi de até seis meses, com tempo mínimo de dois meses. O tempo cirúrgico médio foi de cinco horas e 40 minutos. Dois pacientes necessitaram reintervenção por laparoscopia, pois um desenvolveu hérnia por migração peritoneal da tela e um teve escape da tela. A cirurgia provou ser factível do ponto de vista técnico, com um tempo cirúrgico ainda elevado. Tendo em vista as vantagens potenciais da cirurgia robótica e aquelas relacionadas ao TAR e os resultados obtidos ao se associar essas duas técnicas, conclui-se que elas parecem ser uma boa opção para a correção de defeitos complexos da parede abdominal.

It's Lonely at the Top: Winning Climbing Fibers Ascend Dendrites Solo

PubMed Central

Draft, Ryan W.; Lichtman, Jeff W.

2009-01-01

In mammals, climbing fiber axons compete for sole innervation at each Purkinje cell. At the same time, synapses disappear from Purkinje somata and appear in great numbers on the dendrites. In this issue of Neuron, Hashimoto et al. show that, by the time climbing fibers ascend the dendrites, the winner and losers are already decided. PMID:19607787

Muscle fiber type distribution in climbing Hawaiian gobioid fishes: ontogeny and correlations with locomotor performance.

PubMed

Cediel, Roberto A; Blob, Richard W; Schrank, Gordon D; Plourde, Robert C; Schoenfuss, Heiko L

2008-01-01

Three species of Hawaiian amphidromous gobioid fishes are remarkable in their ability to climb waterfalls up to several hundred meters tall. Juvenile Lentipes concolor and Awaous guamensis climb using rapid bursts of axial undulation, whereas juvenile Sicyopterus stimpsoni climb using much slower movements, alternately attaching oral and pelvic sucking disks to the substrate during prolonged bouts of several cycles. Based on these differing climbing styles, we hypothesized that propulsive musculature in juvenile L. concolor and A. guamensis would be dominated by white muscle fibers, whereas S. stimpsoni would exhibit a greater proportion of red muscle fibers than other climbing species. We further predicted that, because adults of these species shift from climbing to burst swimming as their main locomotor behavior, muscle from adult fish of all three species would be dominated by white fibers. To test these hypotheses, we used ATPase assays to evaluate muscle fiber type distribution in Hawaiian climbing gobies for three anatomical regions (midbody, anal, and tail). Axial musculature was dominated by white muscle fibers in juveniles of all three species, but juvenile S. stimpsoni had a significantly greater proportion of red fibers than the other two species. Fiber type proportions of adult fishes did not differ significantly from those of juveniles. Thus, muscle fiber type proportions in juveniles appear to help accommodate differences in locomotor demands among these species, indicating that they overcome the common challenge of waterfall climbing through both diverse behaviors and physiological specializations.

Does a video displaying a stair climbing model increase stair use in a worksite setting?

PubMed

Van Calster, L; Van Hoecke, A-S; Octaef, A; Boen, F

2017-08-01

This study evaluated the effects of improving the visibility of the stairwell and of displaying a video with a stair climbing model on climbing and descending stair use in a worksite setting. Intervention study. Three consecutive one-week intervention phases were implemented: (1) the visibility of the stairs was improved by the attachment of pictograms that indicated the stairwell; (2) a video showing a stair climbing model was sent to the employees by email; and (3) the same video was displayed on a television screen at the point-of-choice (POC) between the stairs and the elevator. The interventions took place in two buildings. The implementation of the interventions varied between these buildings and the sequence was reversed. Improving the visibility of the stairs increased both stair climbing (+6%) and descending stair use (+7%) compared with baseline. Sending the video by email yielded no additional effect on stair use. By contrast, displaying the video at the POC increased stair climbing in both buildings by 12.5% on average. One week after the intervention, the positive effects on stair climbing remained in one of the buildings, but not in the other. These findings suggest that improving the visibility of the stairwell and displaying a stair climbing model on a screen at the POC can result in a short-term increase in both climbing and descending stair use. Copyright © 2017 The Royal Society for Public Health. Published by Elsevier Ltd. All rights reserved.

Spiral lead platen robotic end effector

NASA Technical Reports Server (NTRS)

Beals, David C. (Inventor)

1990-01-01

A robotic end effector is disclosed which makes use of a rotating platen with spiral leads used to impact lateral motion to gripping fingers. Actuation is provided by the contact of rolling pins with the walls of the leads. The use of the disclosed method of actuation avoids jamming and provides excellent mechanical advantage while remaining light in weight and durable. The entire end effector is compact and easily adapted for attachment to robotic arms currently in use.

The role of multiple dopamine receptors in apomorphine and N-n-propylnorapomorphine-induced climbing and hypothermia.

PubMed

Moore, N A; Axton, M S

1990-03-20

Apomorphine and N-n-propylnorapomorphine (NPA) were compared for their ability to induce stereotyped cage climbing and hypothermia in mice. Climbing behavior was produced by similar doses of apomorphine and NPA (0.625-2.5 mg/kg s.c.), whereas NPA was 43 times more potent than apomorphine in inducing a hypothermic response. SKF38393 caused a shift to the left in the dose-response curve for NPA-induced climbing, the ED50 changing from 0.98 to 0.014 mg/kg. SKF38393 had no effect on apomorphine-induced climbing behaviour. The climbing response produced by apomorphine was antagonised by both D-1 and D-2 antagonists. Climbing behaviour induced by NPA (2.5 mg/kg) could be antagonised by SCH23390 but not by clebopride, however climbing behaviour induced by a low dose of NPA (0.06 mg/kg) plus SKF38393 could be blocked by both D-1 and D-2 receptor antagonists. The hypothermic responses produced by either apomorphine or NPA could only be reversed by the selective D-2 antagonist, clebopride. These results demonstrate that dopamine agonist-induced stereotyped cage climbing requires both D-1 and D-2 receptor stimulation, whereas the hypothermic response is D-2-mediated. The results also show that it is possible to assess the relative activity of a dopamine agonist at D-1 or D-2 receptors in vivo by comparing the ability of the compound to induce hypothermia and climbing behaviour.

36 CFR 13.910 - Mountain climbing.

Code of Federal Regulations, 2014 CFR

2014-07-01

... 36 Parks, Forests, and Public Property 1 2014-07-01 2014-07-01 false Mountain climbing. 13.910 Section 13.910 Parks, Forests, and Public Property NATIONAL PARK SERVICE, DEPARTMENT OF THE INTERIOR NATIONAL PARK SYSTEM UNITS IN ALASKA Special Regulations-Denali National Park and Preserve General...

36 CFR 13.910 - Mountain climbing.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 36 Parks, Forests, and Public Property 1 2011-07-01 2011-07-01 false Mountain climbing. 13.910 Section 13.910 Parks, Forests, and Public Property NATIONAL PARK SERVICE, DEPARTMENT OF THE INTERIOR NATIONAL PARK SYSTEM UNITS IN ALASKA Special Regulations-Denali National Park and Preserve General...

36 CFR 13.910 - Mountain climbing.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 36 Parks, Forests, and Public Property 1 2010-07-01 2010-07-01 false Mountain climbing. 13.910 Section 13.910 Parks, Forests, and Public Property NATIONAL PARK SERVICE, DEPARTMENT OF THE INTERIOR NATIONAL PARK SYSTEM UNITS IN ALASKA Special Regulations-Denali National Park and Preserve General...

Concept design of robotic modules for needlescopic surgery.

PubMed

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

2017-08-01

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

Procedure for Determining Speed and Climbing Performance of Airships

NASA Technical Reports Server (NTRS)

Thompson, F L

1936-01-01

The procedure for obtaining air-speed and rate-of-climb measurements in performance tests of airships is described. Two methods of obtaining speed measurements, one by means of instruments in the airship and the other by flight over a measured ground course, are explained. Instruments, their calibrations, necessary correction factors, observations, and calculations are detailed for each method, and also for the rate-of-climb tests. A method of correction for the effect on density of moist air and a description of other methods of speed course testing are appended.

Risk factors for injury in sport climbing and bouldering: a systematic review of the literature.

PubMed

Woollings, Kaikanani Y; McKay, Carly D; Emery, Carolyn A

2015-09-01

Rock climbing is an increasingly popular sport worldwide, as a recreational activity and a competitive sport. Several disciplines including sport climbing and bouldering have developed, each employing specific movements and techniques, leading to specific injuries. To examine risk factors and prevention measures for injury in sport climbing and bouldering, and to assess the methodological quality of existing studies. 12 electronic databases and several other sources were searched systematically using predetermined inclusion and exclusion criteria. Eligible articles were peer-reviewed, based on primary research using original data; outcome measures included injury, morbidity or mortality in rock climbing, and included one or more potential risk factor or injury prevention strategy. Two independent reviewers assessed the methodology of research in each study using the Downs and Black Quality Index. The data extracted is summarised, and appraisals of the articles are presented with respect to the quality of evidence presented. 19 studies met the inclusion criteria, and introduced 35 possible risk factors or injury prevention measures in climbing. Age, increasing years of climbing experience, highest climbing grade achieved (skill level), high climbing intensity score (CIS) and participating in lead climbing are potential risk factors. Results regarding injury prevention measures remain inconclusive. This field is relatively new and, as such, the data are not as robust as for more established sports with a larger research foundation. The key need is establishing modifiable risk factors using prospective studies and high quality methodology, such that injury prevention strategies can be developed. The CIS may be a useful measure in this field of research. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://group.bmj.com/group/rights-licensing/permissions.

Climbing for credit: applying Kurt Hahn's principles for promoting holistic lifestyles.

PubMed

Brand, James; Kruczek, Nick; Shan, Kevin; Haraf, Paul; Simmons, Daniel E

2012-01-01

Climbing is a sport, a hobby, and metaphor for life's lessons. A climbing course for undergraduate students was designed on the basis of the principles of rock climber and educator Kurt Hahn, who transferred lessons learned from physical activity into lessons for life and whose philosophy underpins the Outward Bound program. Hahn's 10 principles for sound mind-body-spirit are described.

The effects of therapeutic climbing in patients with chronic low back pain: a randomized controlled study.

PubMed

Engbert, Kai; Weber, Michaela

2011-05-15

A randomized controlled study investigated the effects of therapeutic climbing in patients with chronic low back pain. Before and after 4 weeks of training, physical and mental well-being were measured by two questionnaires (36-Item Short Form Health Survey [SF-36]; Hannover Functional Ability Questionnaire for measuring back pain-related disability [FFbH-R]). Therapeutic climbing has been suggested to increase muscular strength and perceived physical and mental well-being. This study focused on the psychological effects of therapeutic climbing and compared it with standard exercise therapy. Therapeutic climbing has become increasingly popular in rehabilitation and its effects on muscular strengthening have been shown. Therapeutic climbing has also been suggested to yield psychological effects such as changes in attentional focus from pain to physical capabilities. To date, no controlled clinical trial has investigated these psychological effects and it is unclear whether therapeutic climbing is comparable or superior to other forms of exercise. Twenty-eight patients with chronic low back pain conducted either a therapeutic climbing or a standard exercise regime. Each program took 4 weeks, including four guided training sessions per week. Before and after the program, patients answered two questionnaires assessing their physical and mental well-being. For the Hannover Functional Ability Questionnaire for measuring back pain-related disability, there was no difference before versus after or between the treatments. For the SF-36, both treatments showed significant improvements in 3/8 subscales of the SF-36. In 2/8 subscales, only the participants of the therapeutic climbing improved and in 1/8 subscales the converse was true. Comparing both groups, significantly larger improvements were found after therapeutic climbing in two subscales of the SF-36: physical functioning and general health perception. The benefits of therapeutic climbing were comparable with those of

Robotic-assisted Laparoscopic Repair of Scrotal Inguinal Hernias.

PubMed

Yheulon, Christopher G; Maxwell, Daniel W; Balla, Fadi M; Patel, Ankit D; Lin, Edward; Stetler, Jamil L; Davis, Steven S

2018-06-01

Scrotal inguinal hernias represent a challenging surgical pathology. Although some advanced laparoscopists can repair these hernias through a minimally invasive approach, open repair is considered the technique of choice for most surgeons. The purpose of this study is to show our results of robotic-assisted laparoscopic repair of scrotal inguinal hernias. We reviewed the charts of 14 patients with inguinoscrotal hernias who underwent robotic-assisted transabdominal preperitoneal (TAPP) hernia repair. Mean follow-up was 7 months. The European Registry for Abdominal Wall Hernia Quality of Life score, a 90-point scale, was utilized to quantify patient reported outcomes. Robotic TAPP repair was successful in all 14 patients. Average case duration was 100 minutes (78 to 140 min) for unilateral hernias and 208 minutes (166 to 238 min) for bilateral hernias. Trainees were involved in 93% (13/14) of cases. There were no recurrences. Three patients developed postoperative seromas. The mean European Registry for Abdominal Wall Hernia Quality of Life score was 3.7 (0 to 10). Scrotal hernias can be safely repaired using robotic-assisted TAPP methods with low morbidity and favorable patient reported outcomes.

Reliability and Validity of Finger Strength and Endurance Measurements in Rock Climbing

ERIC Educational Resources Information Center

Michailov, Michail Lubomirov; Baláš, Jirí; Tanev, Stoyan Kolev; Andonov, Hristo Stoyanov; Kodejška, Jan; Brown, Lee

2018-01-01

Purpose: An advanced system for the assessment of climbing-specific performance was developed and used to: (a) investigate the effect of arm fixation (AF) on construct validity evidence and reliability of climbing-specific finger-strength measurement; (b) assess reliability of finger-strength and endurance measurements; and (c) evaluate the…

Mobile autonomous robotic apparatus for radiologic characterization

DOEpatents

Dudar, Aed M.; Ward, Clyde R.; Jones, Joel D.; Mallet, William R.; Harpring, Larry J.; Collins, Montenius X.; Anderson, Erin K.

1999-01-01

A mobile robotic system that conducts radiological surveys to map alpha, beta, and gamma radiation on surfaces in relatively level open areas or areas containing obstacles such as stored containers or hallways, equipment, walls and support columns. The invention incorporates improved radiation monitoring methods using multiple scintillation detectors, the use of laser scanners for maneuvering in open areas, ultrasound pulse generators and receptors for collision avoidance in limited space areas or hallways, methods to trigger visible alarms when radiation is detected, and methods to transmit location data for real-time reporting and mapping of radiation locations on computer monitors at a host station. A multitude of high performance scintillation detectors detect radiation while the on-board system controls the direction and speed of the robot due to pre-programmed paths. The operators may revise the preselected movements of the robotic system by ethernet communications to remonitor areas of radiation or to avoid walls, columns, equipment, or containers. The robotic system is capable of floor survey speeds of from 1/2-inch per second up to about 30 inches per second, while the on-board processor collects, stores, and transmits information for real-time mapping of radiation intensity and the locations of the radiation for real-time display on computer monitors at a central command console.

Cooperative Exploration of Rough Martian Terrains with the "Scorpion" Legged Robot as an Adjunct to a Rover.

NASA Technical Reports Server (NTRS)

Colombano, Silvano P.; Kirchner, Frank; Spenneberg, Dirk; Starman, Jared; Hanratty, James; Kovsmeyer, David (Technical Monitor)

2003-01-01

NASA needs autonomous robotic exploration of difficult (rough and/or steep) scientifically interesting Martian terrains. Concepts involving distributed autonomy for cooperative robotic exploration are key to enabling new scientific objectives in robotic missions. We propose to utilize a legged robot as an adjunct scout to a rover for access to difficult - scientifically interesting - terrains (rocky areas, slopes, cliffs). Our final mission scenario involves the Ames rover platform "K9" and Scorpion acting together to explore a steep cliff, with the Scorpion robot rappelling down using the K9 as an anchor as well as mission planner and executive. Cooperation concepts, including wheeled rappelling robots have been proposed before. Now we propose to test the combined advantages of a wheeled vehicle with a legged scout as well as the advantages of merging of high level planning and execution with biologically inspired, behavior based robotics. We propose to use the 8-legged, multifunctional autonomous robot platform Scorpion that is currently capable of: Walking on different terrains (rocks, sand, grass, ...). Perceiving its environment and modifying its behavioral pattern accordingly. These capabilities would be extended to enable the Scorpion to: communicate and cooperate with a partner robot; climb over rocks, rubble piles, and objects with structural features. This will be done in the context of exploration of rough terrains in the neighborhood of the rover, but inaccessible to it, culminating in the added capability of rappelling down a steep cliff for both vertical and horizontal terrain observation.

US Army TARDEC Ground Vehicle Mobility: Dynamics Modeling, Simluation, and Research

DTIC Science & Technology

2011-10-24

DRIVEN. WARFIGHTER FOCUSED. For official use only Stair Climbing of a Small Robot Robotic Vehicle Step Climbing UNCLASSIFIED For official use only...NOTES NASA Jet Propulsion Laboratory, mobility, and robotics section. Briefing to the jet propulsion lab. 14. ABSTRACT N/A 15. SUBJECT TERMS 16...JLTV GCV M2 M915 ASV FTTS HMMWV Platforms Supported APDSmall Robot UNCLASSIFIED For official use only Mobility Events • Vehicle stability • Ride

Autonomous Motion Learning for Intra-Vehicular Activity Space Robot

NASA Astrophysics Data System (ADS)

Watanabe, Yutaka; Yairi, Takehisa; Machida, Kazuo

Space robots will be needed in the future space missions. So far, many types of space robots have been developed, but in particular, Intra-Vehicular Activity (IVA) space robots that support human activities should be developed to reduce human-risks in space. In this paper, we study the motion learning method of an IVA space robot with the multi-link mechanism. The advantage point is that this space robot moves using reaction force of the multi-link mechanism and contact forces from the wall as space walking of an astronaut, not to use a propulsion. The control approach is determined based on a reinforcement learning with the actor-critic algorithm. We demonstrate to clear effectiveness of this approach using a 5-link space robot model by simulation. First, we simulate that a space robot learn the motion control including contact phase in two dimensional case. Next, we simulate that a space robot learn the motion control changing base attitude in three dimensional case.

Low Reynolds Number Bacterial Robots

NASA Astrophysics Data System (ADS)

Giesbrecht, Grant; Ni, Katha; Vock, Isaac; Rodenborn, Bruce

The dynamics of prokaryotic motility in a fluid is important in a wide range of fields. Our experiment models the locomotion of bacteria with a robotic swimmer made using a computer controlled DC motor that drives a helical flagellum formed from welding wire. Because of its small size, a bacterium swimming in water is like our robot swimming in corn syrup. We compensate for the size difference by placing the robot in highly viscous silicone oil. Previous research measured helical propulsion of a swimmer far from a boundary. However proximity to a boundary strongly affects bacterial swimming. We have designed a system to precisely control the distance from the flagellum to the tank wall, and have made some of the first macroscopic measurements of boundary effects on helical propulsion.

How to push a block along a wall

NASA Technical Reports Server (NTRS)

Mason, Matthew T.

1989-01-01

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

Climbing fibers mediate vestibular modulation of both "complex" and "simple spikes" in Purkinje cells.

PubMed

Barmack, N H; Yakhnitsa, V

2015-10-01

Climbing and mossy fibers comprise two distinct afferent paths to the cerebellum. Climbing fibers directly evoke a large multispiked action potential in Purkinje cells termed a "complex spike" (CS). By logical exclusion, the other class of Purkinje cell action potential, termed "simple spike" (SS), has often been attributed to activity conveyed by mossy fibers and relayed to Purkinje cells through granule cells. Here, we investigate the relative importance of climbing and mossy fiber pathways in modulating neuronal activity by recording extracellularly from Purkinje cells, as well as from mossy fiber terminals and interneurons in folia 8-10. Sinusoidal roll-tilt vestibular stimulation vigorously modulates the discharge of climbing and mossy fiber afferents, Purkinje cells, and interneurons in folia 9-10 in anesthetized mice. Roll-tilt onto the side ipsilateral to the recording site increases the discharge of both climbing fibers (CSs) and mossy fibers. However, the discharges of SSs decrease during ipsilateral roll-tilt. Unilateral microlesions of the beta nucleus (β-nucleus) of the inferior olive blocks vestibular modulation of both CSs and SSs in contralateral Purkinje cells. The blockage of SSs occurs even though primary and secondary vestibular mossy fibers remain intact. When mossy fiber afferents are damaged by a unilateral labyrinthectomy (UL), vestibular modulation of SSs in Purkinje cells ipsilateral to the UL remains intact. Two inhibitory interneurons, Golgi and stellate cells, could potentially contribute to climbing fiber-induced modulation of SSs. However, during sinusoidal roll-tilt, only stellate cells discharge appropriately out of phase with the discharge of SSs. Golgi cells discharge in phase with SSs. When the vestibularly modulated discharge is blocked by a microlesion of the inferior olive, the modulated discharge of CSs and SSs is also blocked. When the vestibular mossy fiber pathway is destroyed, vestibular modulation of ipsilateral CSs and

Experimental Studies in Helicopter Vertical Climb Performance

NASA Technical Reports Server (NTRS)

McKillip, Robert M., Jr.

1996-01-01

Data and analysis from an experimental program to measure vertical climb performance on an eight-foot model rotor are presented. The rotor testing was performed using a unique moving-model facility capable of accurately simulating the flow conditions during axial flight, and was conducted from July 9, 1992 to July 16, 1992 at the Dynamic Model Track, or 'Long Track,' just prior to its demolition in August of 1992. Data collected during this brief test program included force and moment time histories from a sting-mounted strain gauge balance, support carriage velocity, and rotor rpm pulses. In addition, limited video footage (of marginal use) was recorded from smoke flow studies for both simulated vertical climb and descent trajectories. Analytical comparisons with these data include a series of progressively more detailed calculations ranging from simple momentum theory, a prescribed wake method, and a free-wake prediction.

Anatomy-based eligibility measure for robotic-assisted bypass surgery.

PubMed

Escoto, Abelardo; Trejos, Ana Luisa; Patel, Rajni V; Goela, Aashish; Kiaii, Bob

2014-01-01

Robotic-assisted endoscopic single-vessel small thoracotomy allows clinicians to perform coronary artery bypass grafting surgery in a minimally invasive manner using the da Vinci Surgical System. Not all patients are suitable for this technique, and the lack of an appropriate method for patient eligibility avoids completion of the procedure robotically. The objective of this study was to develop a patient eligibility method based on the anatomy of the chest of the patient. Preoperative computed tomography thorax scans of 110 patients were analyzed. Two-dimensional measurements taken on the axial images were used with the goal of finding a relation between the anatomy of the patient and the completion of the procedure robotically. Patients with a distance from the left anterior descending coronary artery to the anterior chest wall of smaller than 15 mm have a 20% probability of requiring conversion of the procedure to open surgery. This probability increases if the chest of the patient is very elliptical, having an anterior-posterior dimension of less than 45% of the transverse dimension. The smaller the distance is from the left anterior descending artery to the anterior chest wall, the lower the chances are of completing the procedure robotically.

Mobile autonomous robotic apparatus for radiologic characterization

DOEpatents

Dudar, A.M.; Ward, C.R.; Jones, J.D.; Mallet, W.R.; Harpring, L.J.; Collins, M.X.; Anderson, E.K.

1999-08-10

A mobile robotic system is described that conducts radiological surveys to map alpha, beta, and gamma radiation on surfaces in relatively level open areas or areas containing obstacles such as stored containers or hallways, equipment, walls and support columns. The invention incorporates improved radiation monitoring methods using multiple scintillation detectors, the use of laser scanners for maneuvering in open areas, ultrasound pulse generators and receptors for collision avoidance in limited space areas or hallways, methods to trigger visible alarms when radiation is detected, and methods to transmit location data for real-time reporting and mapping of radiation locations on computer monitors at a host station. A multitude of high performance scintillation detectors detect radiation while the on-board system controls the direction and speed of the robot due to pre-programmed paths. The operators may revise the preselected movements of the robotic system by ethernet communications to remonitor areas of radiation or to avoid walls, columns, equipment, or containers. The robotic system is capable of floor survey speeds of from 1/2-inch per second up to about 30 inches per second, while the on-board processor collects, stores, and transmits information for real-time mapping of radiation intensity and the locations of the radiation for real-time display on computer monitors at a central command console. 4 figs.

Obstacle traversal and self-righting of bio-inspired robots reveal the physics of multi-modal locomotion

NASA Astrophysics Data System (ADS)

Li, Chen; Fearing, Ronald; Full, Robert

Most animals move in nature in a variety of locomotor modes. For example, to traverse obstacles like dense vegetation, cockroaches can climb over, push across, reorient their bodies to maneuver through slits, or even transition among these modes forming diverse locomotor pathways; if flipped over, they can also self-right using wings or legs to generate body pitch or roll. By contrast, most locomotion studies have focused on a single mode such as running, walking, or jumping, and robots are still far from capable of life-like, robust, multi-modal locomotion in the real world. Here, we present two recent studies using bio-inspired robots, together with new locomotion energy landscapes derived from locomotor-environment interaction physics, to begin to understand the physics of multi-modal locomotion. (1) Our experiment of a cockroach-inspired legged robot traversing grass-like beam obstacles reveals that, with a terradynamically ``streamlined'' rounded body like that of the insect, robot traversal becomes more probable by accessing locomotor pathways that overcome lower potential energy barriers. (2) Our experiment of a cockroach-inspired self-righting robot further suggests that body vibrations are crucial for exploring locomotion energy landscapes and reaching lower barrier pathways. Finally, we posit that our new framework of locomotion energy landscapes holds promise to better understand and predict multi-modal biological and robotic movement.

Robot-operated quality control station based on the UTT method

NASA Astrophysics Data System (ADS)

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

2017-03-01

This paper presents a robotic test stand for the ultrasonic transmission tomography (UTT) inspection of stator vane thickness. The article presents the method of the test stand design in Autodesk Robot Structural Analysis Professional 2013 software suite. The performance of the designed test stand solution was simulated in the RobotStudio software suite. The operating principle of the test stand measurement system is presented with a specific focus on the measurement strategy. The results of actual wall thickness measurements performed on stator vanes are presented.

A workplace intervention to promote stair climbing: greater effects in the overweight.

PubMed

Eves, Frank F; Webb, Oliver J; Mutrie, Nanette

2006-12-01

Stair climbing is a lifestyle physical activity that uses more calories per minute than jogging. This study tested an intervention designed to promote stair climbing in a workplace. Because previous studies provide only equivocal evidence of the effects of increased stair climbing in worksites, a formal comparison of the effects of the intervention on stair ascent and descent was made. In a five-story public sector building, a 2-week baseline was followed by 6 weeks of an intervention involving a 23(1/2)- x 16(1/2)-inch poster in the lobby, the same poster and six messages affixed to the stair risers between floors, and an 11(3/4)- x 8(1/4)-inch point-of-choice prompt at the elevators. Stair and elevator choices (n = 26,806) were videotaped throughout and subsequently coded for direction of travel, traveler's sex, and traveler's load. Weight status was coded using silhouettes beside the computer monitor. A significant effect of the intervention on stair climbing was greater in those coded as overweight (+5.4%; odds ratio = 1.33) than in individuals of normal weight (+2.5%; odds ratio = 1.12). Although stair descent was more common than ascent, the intervention had similar effects for both directions of travel. Stair climbing at work has few barriers and seems to be a type of physical activity that is acceptable to overweight individuals. The relatively weak effect of workplace interventions compared with results for public access staircases may reflect uncontrolled effects such as the immediate availability of the elevator for the traveler.

A multistage controlled intervention to increase stair climbing at work: effectiveness and process evaluation.

PubMed

Bellicha, Alice; Kieusseian, Aurélie; Fontvieille, Anne-Marie; Tataranni, Antonio; Copin, Nane; Charreire, Hélène; Oppert, Jean-Michel

2016-04-11

Stair climbing helps to accumulate short bouts of physical activity throughout the day as a strategy for attaining recommended physical activity levels. There exists a need for effective long-term stair-climbing interventions that can be transferred to various worksite settings. The aims of this study were: 1) to evaluate short- and long-term effectiveness of a worksite stair-climbing intervention using an objective measurement of stair climbing and a controlled design; and 2) to perform a process evaluation of the intervention. We performed a controlled before-and-after study. The study was conducted in two corporate buildings of the same company located in Paris (France), between September, 2013 and September, 2014. The status of either "intervention site" or "control site" was assigned by the investigators. Participants were on-site employees (intervention site: n = 783; control site: n = 545 at baseline). Two one-month intervention phases using signs (intervention phase 1) and enhancement of stairwell aesthetics (intervention phase 2) were performed. The main outcome was the change in stair climbing, measured with automatic counters and expressed in absolute counts/day/100 employees and percent change compared to baseline. Qualitative outcomes were used to describe the intervention process. Stair climbing significantly increased at the intervention site (+18.7%) but decreased at the control site (-13.3%) during the second intervention phase (difference between sites: +4.6 counts/day/100 employees, p < 0.001). After the intervention and over the long term, stair climbing returned to baseline levels at the intervention site, but a significant difference between sites was found (intervention site vs. control site: +2.9 counts/day/100 employees, p < 0.05). Some important facets of the intervention were implemented as intended but other aspects had to be adapted. The main difficulty reported by the company's staff members lay in matching the internal

14 CFR 27.65 - Climb: all engines operating.

Code of Federal Regulations, 2010 CFR

2010-01-01

...) For rotorcraft other than helicopters— (1) The steady rate of climb, at V Y, must be determined— (i...; or (ii) At least 1:6 under standard sea level conditions. (b) Each helicopter must meet the following...

Comparative multibody dynamics analysis of falls from playground climbing frames.

PubMed

Forero Rueda, M A; Gilchrist, M D

2009-10-30

This paper shows the utility of multibody dynamics in evaluating changes in injury related parameters of the head and lower limbs of children following falls from playground climbing frames. A particular fall case was used as a starting point to analyze the influence of surface properties, posture of the body at impact, and intermediate collisions against the climbing frame before impacting the ground. Simulations were made using the 6-year-old pedestrian MADYMO rigid body model and scaled head contact characteristics. Energy absorbing surfaces were shown to reduce injury severity parameters by up to 30-80% of those of rigid surfaces, depending on impact posture and surface. Collisions against components of a climbing frame during a fall can increase injury severity of the final impact of the head with the ground by more than 90%. Negligible changes are associated with lower limb injury risks when different surfacing materials are used. Computer reconstructions of actual falls that are intended to quantify the severity of physical injuries rely on accurate knowledge of initial conditions prior to falling, intermediate kinematics of the fall and the orientation of the body when it impacts against the ground. Multibody modelling proved to be a valuable tool to analyze the quality of eyewitness information and analyze the relative injury risk associated with changes in components influencing fall injuries from playground climbing frames. Such simulations can also support forensic investigations by evaluating alternative hypotheses for the sequence of kinematic motion of falls which result in known injuries.

Specific effects of a calorie-based intervention on stair climbing in overweight commuters.

PubMed

Lewis, Amanda L; Eves, Frank F

2011-10-01

Point-of-choice prompts consistently increase stair climbing; a greater increase in overweight than normal weight individuals was reported in a multi-component worksite campaign. The purpose of this study is to investigate effects of a multi-component campaign, on stair climbing, in a public access setting. In an interrupted-time-series-design, baseline observations (2 weeks) preceded a 2-week point-of-choice prompt. An additional message, positioned at the top of the climb for a further 6-week period, summarised the calorific consequences of a single ascent. Inconspicuous observers recorded traveller's methods of ascent, coded by sex and weight status, twice a week between 08:00 and 09:59. At baseline, the overweight chose stairs less than normal weight individuals. The multi-component campaign targeting weight control reversed this bias, increasing stair climbing only in overweight individuals. The specificity of the effect confirms the appeal of this lifestyle activity for the overweight. The discussion focuses on how intentions to control weight may be converted into behaviour.

The effects of high resistance-few repetitions and low resistance-high repetitions resistance training on climbing performance.

PubMed

Hermans, Espen; Andersen, Vidar; Saeterbakken, Atle Hole

2017-05-01

The aim of the study was to compare the effects of different strength training intensities on climbing performance, climbing-specific tests and a general strength test. Thirty lower grade and intermediate-level climbers participated in a 10-week training programme. The participants were randomized into three groups: high resistance-few repetitions training groups (HR-FR), low resistance-high repetitions training groups (LR-HR) and a control group (CON) which continued climbing/training as usual. Post-testing results demonstrated statistical tendencies for climbing performance improvements in the HR-FR and LR-HR (p = 0.088-0.090, effect size = 0.55-0.73), but no differences were observed between the groups (p = 0.950). For the climbing-specific tests, no differences were observed between the groups (p = 0.507-1.000), but the HR-FR and LR-HR improved their time in both Dead-hang (p = 0.004-0.026) and Bent-arm hang (p < 0.001-0.002). The HR-FR and LR-HR improved their 12RM strength in pull-down (p ≤ 0.001), but not the CON group (p = 0.250). No differences were observed in the CON group in any of the tests (p = 0.190-0.596) with the exception of improvement in Bent-arm Hang (p = 0.018). The training groups reduced their climbing sessions during the intervention compared to the CON group (p = 0.057-0.074). In conclusion, HR-FR and LR-HR training programmes demonstrated an 11% and 12% non-significant improvement in climbing performance despite a 50% reduction in climbing sessions, but improved the results in strength and climbing-specific tests. None of the training intensities was superior compared to the others.

Behaviors, Knowledge, and Education of Leave No Trace Principles in the Red River Gorge Rock Climbing Community

ERIC Educational Resources Information Center

Clark, Brian Gregory

2017-01-01

Rock Climbing is becoming a very popular and mainstream outdoor activity. With the growth in rock climbing comes an increase in the numbers of visitors that this sport attracts. The increase in visitor usage undoubtedly leads to an impact on the natural environment surrounding these rock climbing areas. Rock climbers acknowledge the impacts that…

Footwear in rock climbing: Current practice.

PubMed

McHenry, R D; Arnold, G P; Wang, W; Abboud, R J

2015-09-01

Many rock climbers wear ill-fitting and excessively tight footwear during activity. However, there is insufficient evidence of the extent or harms of this practice. To investigate footwear use in rock climbers with a focus on issues surrounding fit. A cross-sectional study with active rock climbers of over one year of experience completing a survey on their activity and footwear. Additionally, the authors quantified foot and shoe lengths and sizes alongside demographic data. Ill-fitting and excessively tight footwear was found in 55 out of 56 rock climbers. Foot pain during activity was also commonplace in 91% of the climbers. A mean size reduction of almost 4 UK shoe sizes was found between the climbers' street shoe size and that of their climbing footwear using a calibrated foot/shoe ruler. There is an unfortunate association of climbers of higher abilities seeking a tighter shoe fit (p<0.001). With the elucidation of footwear use amongst rock climbers, further investigation may aim to quantify its impact and seek a solution balancing climbing performance while mitigating foot injury. Copyright © 2015 Elsevier Ltd. All rights reserved.

Pure climb creep mechanism drives flow in Earth’s lower mantle

PubMed Central

Boioli, Francesca; Carrez, Philippe; Cordier, Patrick; Devincre, Benoit; Gouriet, Karine; Hirel, Pierre; Kraych, Antoine; Ritterbex, Sebastian

2017-01-01

At high pressure prevailing in the lower mantle, lattice friction opposed to dislocation glide becomes very high, as reported in recent experimental and theoretical studies. We examine the consequences of this high resistance to plastic shear exhibited by ringwoodite and bridgmanite on creep mechanisms under mantle conditions. To evaluate the consequences of this effect, we model dislocation creep by dislocation dynamics. The calculation yields to an original dominant creep behavior for lower mantle silicates where strain is produced by dislocation climb, which is very different from what can be activated under high stresses under laboratory conditions. This mechanism, named pure climb creep, is grain-size–insensitive and produces no crystal preferred orientation. In comparison to the previous considered diffusion creep mechanism, it is also a more efficient strain-producing mechanism for grain sizes larger than ca. 0.1 mm. The specificities of pure climb creep well match the seismic anisotropy observed of Earth’s lower mantle. PMID:28345037

Aero acoustic analysis and community noise. HSCT climb to cruise noise assessment

NASA Technical Reports Server (NTRS)

Mortlock, Alan K.

1992-01-01

The widely accepted industry High Speed Civil Transport (HSCT) design goal for exterior noise is to achieve Federal Aviation Regulation (FAR) Part 36 Stage 3 noise limits currently required for new subsonic aircraft. The three phases of the concern are as follows: (1) airport noise abatement at communities close to the airport, (2) climb power opening-up procedures, and (3) the climb to cruise phase affecting communities far from the airport.

Autonomous mobile robot for radiologic surveys

DOEpatents

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

1994-06-28

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

Autonomous mobile robot for radiologic surveys

DOEpatents

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

1994-01-01

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

Controlling the autonomy of a reconnaissance robot

NASA Astrophysics Data System (ADS)

Dalgalarrondo, Andre; Dufourd, Delphine; Filliat, David

2004-09-01

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

Coordinated control of slip ratio for wheeled mobile robots climbing loose sloped terrain.

PubMed

Li, Zhengcai; Wang, Yang

2014-01-01

A challenging problem faced by wheeled mobile robots (WMRs) such as planetary rovers traversing loose sloped terrain is the inevitable longitudinal slip suffered by the wheels, which often leads to their deviation from the predetermined trajectory, reduced drive efficiency, and possible failures. This study investigates this problem using terramechanics analysis of the wheel-soil interaction. First, a slope-based wheel-soil interaction terramechanics model is built, and an online slip coordinated algorithm is designed based on the goal of optimal drive efficiency. An equation of state is established using the coordinated slip as the desired input and the actual slip as a state variable. To improve the robustness and adaptability of the control system, an adaptive neural network is designed. Analytical results and those of a simulation using Vortex demonstrate the significantly improved mobile performance of the WMR using the proposed control system.

[The primary stability between manual and robot assisted implantation of hip prostheses: A biomechanical study on synthetic femurs].

PubMed

Decking, J; Gerber, A; Kränzlein, J; Meurer, A; Böhm, B; Plitz, W

2004-01-01

We investigated the initial stability of cementless stems implanted with robotic milling and conventional manual broaching. Proximally porous structured stems (G2, ESKA-Implants, Luebeck, Germany) were implanted into synthetic femora. In one group, the femoral cavity was prepared by a CT-based robot (CASPAR, URS-Ortho, Germany) with a high-speed milling head. In the other group, femora were rasped manually with broaches. The broaches had 1 mm proximal press-fit, the robotic cavities 1.5 mm. The implants were exposed to 15 000 loading cycles with 1 000 +/- 500 N. The direction of forces on the implant head were chosen to simulate stair climbing. Internal rotation and translation (caudal, dorsal and lateral) of the implants were measured by linear transducers. The robotic group showed significantly less reversible motion regarding translation in caudal, dorsal and lateral directions. The standard deviations of implant motions were smaller in the robotic group. Using robotic preparation of the femur, initial stability was higher and more consistent than with manual broaching, but differences in undersizing of the cavities created in the femur in relation to the implant may have contributed to these differences for the most part. In-vitro-loading experiments focusing on femoral cavities with varying press-fits are recommended before the introduction of new implants or operating procedures.

Event-Based Control Strategy for Mobile Robots in Wireless Environments.

PubMed

Socas, Rafael; Dormido, Sebastián; Dormido, Raquel; Fabregas, Ernesto

2015-12-02

In this paper, a new event-based control strategy for mobile robots is presented. It has been designed to work in wireless environments where a centralized controller has to interchange information with the robots over an RF (radio frequency) interface. The event-based architectures have been developed for differential wheeled robots, although they can be applied to other kinds of robots in a simple way. The solution has been checked over classical navigation algorithms, like wall following and obstacle avoidance, using scenarios with a unique or multiple robots. A comparison between the proposed architectures and the classical discrete-time strategy is also carried out. The experimental results shows that the proposed solution has a higher efficiency in communication resource usage than the classical discrete-time strategy with the same accuracy.

Event-Based Control Strategy for Mobile Robots in Wireless Environments

PubMed Central

Socas, Rafael; Dormido, Sebastián; Dormido, Raquel; Fabregas, Ernesto

2015-01-01

In this paper, a new event-based control strategy for mobile robots is presented. It has been designed to work in wireless environments where a centralized controller has to interchange information with the robots over an RF (radio frequency) interface. The event-based architectures have been developed for differential wheeled robots, although they can be applied to other kinds of robots in a simple way. The solution has been checked over classical navigation algorithms, like wall following and obstacle avoidance, using scenarios with a unique or multiple robots. A comparison between the proposed architectures and the classical discrete-time strategy is also carried out. The experimental results shows that the proposed solution has a higher efficiency in communication resource usage than the classical discrete-time strategy with the same accuracy. PMID:26633412

Effects of foot placement, hand positioning, age and climbing biodynamics on ladder slip outcomes.

PubMed

Pliner, Erika M; Campbell-Kyureghyan, Naira H; Beschorner, Kurt E

2014-01-01

Ladder falls frequently cause severe injuries; yet the factors that influence ladder slips/falls are not well understood. This study aimed to quantify (1) the effects of restricted foot placement, hand positioning, climbing direction and age on slip outcomes, and (2) differences in climbing styles leading to slips versus styles leading to non-slips. Thirty-two occupational ladder users from three age groups (18-24, 25-44 and 45-64 years) were unexpectedly slipped climbing a vertical ladder, while being assigned to different foot placement conditions (unrestricted vs. restricted toe clearance) and different hand positions (rails vs. rungs). Constraining foot placement increased the climber's likelihood of slipping (p < 0.01), while younger and older participants slipped more than the middle-aged group (p < 0.01). Longer double stance time, dissimilar and more variable foot and body positioning were found in styles leading to a slip. Maintaining sufficient toe clearance and targeting ladder safety training to younger and older workers may reduce ladder falls. Practitioner Summary: Ladder falls frequently cause severe occupational fall injuries. This study aims to identify safer ladder climbing techniques and individuals at risk of falling. The results suggest that ladders with unrestricted toe clearance and ladder climbing training programmes, particularly for younger and older workers, may reduce ladder slipping risk.

Climbing ability of teneral and sclerotized adult bed bugs and assessment of adhesive properties of the exoskeletal fluid using atomic force microscopy

PubMed Central

Zungoli, Patricia A.; Bridges, William C.; Ellis, Brittany R.; Song, Jinbo

2017-01-01

We observed that teneral adults (<1 h post-molt) of Cimex lectularius L. appeared more adept at climbing a smooth surface compared to sclerotized adults. Differences in climbing ability on a smooth surface based on sclerotization status were quantified by measuring the height to which bed bugs climbed when confined within a glass vial. The average maximum height climbed by teneral (T) bed bugs (n = 30, height climbed = 4.69 cm) differed significantly (P< 0.01) from recently sclerotized (RS) bed bugs (n = 30, height climbed = 1.73 cm at ~48 h post molt), sclerotized group 1 (S1) bed bugs (n = 30, S1 = 2.42 cm at >72 h), and sclerotized group 2 (S2) bed bugs (n = 30, height climbed = 2.64 cm at >72 h post molt). When heights from all climbing events were summed, teneral bed bugs (650.8 cm climbed) differed significantly (P< 0.01) from recently sclerotized (82 cm climbed) and sclerotized (group 1 = 104.6 cm climbed, group 2 = 107.8 cm climbed) bed bugs. These findings suggested that the external surface of teneral bed bug exoskeletons possess an adhesive property. Using atomic force microscopy (AFM), we found that adhesion force of an exoskeletal (presumably molting) fluid decreased almost five-fold from 88 to 17 nN within an hour of molting. Our findings may have implications for laboratory safety and the effectiveness of bed bug traps, barriers, and biomimetic-based adhesives. PMID:29244819

Climbing ability of teneral and sclerotized adult bed bugs and assessment of adhesive properties of the exoskeletal fluid using atomic force microscopy.

PubMed

Hinson, Kevin R; Reukov, Vladimir; Benson, Eric P; Zungoli, Patricia A; Bridges, William C; Ellis, Brittany R; Song, Jinbo

2017-01-01

We observed that teneral adults (<1 h post-molt) of Cimex lectularius L. appeared more adept at climbing a smooth surface compared to sclerotized adults. Differences in climbing ability on a smooth surface based on sclerotization status were quantified by measuring the height to which bed bugs climbed when confined within a glass vial. The average maximum height climbed by teneral (T) bed bugs (n = 30, height climbed = 4.69 cm) differed significantly (P< 0.01) from recently sclerotized (RS) bed bugs (n = 30, height climbed = 1.73 cm at ~48 h post molt), sclerotized group 1 (S1) bed bugs (n = 30, S1 = 2.42 cm at >72 h), and sclerotized group 2 (S2) bed bugs (n = 30, height climbed = 2.64 cm at >72 h post molt). When heights from all climbing events were summed, teneral bed bugs (650.8 cm climbed) differed significantly (P< 0.01) from recently sclerotized (82 cm climbed) and sclerotized (group 1 = 104.6 cm climbed, group 2 = 107.8 cm climbed) bed bugs. These findings suggested that the external surface of teneral bed bug exoskeletons possess an adhesive property. Using atomic force microscopy (AFM), we found that adhesion force of an exoskeletal (presumably molting) fluid decreased almost five-fold from 88 to 17 nN within an hour of molting. Our findings may have implications for laboratory safety and the effectiveness of bed bug traps, barriers, and biomimetic-based adhesives.

Step-Climbing Power Wheelchairs: A Literature Review

PubMed Central

Sundaram, S. Andrea; Wang, Hongwu; Ding, Dan

2017-01-01

Background: Power wheelchairs capable of overcoming environmental barriers, such as uneven terrain, curbs, or stairs, have been under development for more than a decade. Method: We conducted a systematic review of the scientific and engineering literature to identify these devices, and we provide brief descriptions of the mechanism and method of operation for each. We also present data comparing their capabilities in terms of step climbing and standard wheelchair functions. Results: We found that all the devices presented allow for traversal of obstacles that cannot be accomplished with traditional power wheelchairs, but the slow speeds and small wheel diameters of some designs make them only moderately effective in the basic area of efficient transport over level ground and the size and configuration of some others limit maneuverability in tight spaces. Conclusion: We propose that safety and performance test methods more comprehensive than the International Organization for Standards (ISO) testing protocols be developed for measuring the capabilities of advanced wheelchairs with step-climbing and other environment-negotiating features to allow comparison of their clinical effectiveness. PMID:29339886

Robot arm apparatus

DOEpatents

Nachbar, Henry D.

1992-12-01

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

Robot arm apparatus

DOEpatents

Nachbar, Henry D.

1992-01-01

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

INS/EKF-based stride length, height and direction intent detection for walking assistance robots.

PubMed

Brescianini, Dario; Jung, Jun-Young; Jang, In-Hun; Park, Hyun Sub; Riener, Robert

2011-01-01

We propose an algorithm used to obtain the information on stride length, height difference, and direction based on user's intent during walking. For exoskeleton robots used to assist paraplegic patients' walking, this information is used to generate gait patterns by themselves in on-line. To obtain this information, we attach an inertial measurement unit(IMU) on crutches and apply an extended kalman filter-based error correction method to reduce the phenomena of drift due to bias of the IMU. The proposed method is verifed in real walking scenarios including walking, climbing up-stairs, and changing direction of walking with normal. © 2011 IEEE

Robot-Assisted Laparoscopic Repair of Spontaneous Appendicovesical Fistula

PubMed Central

Kibar, Yusuf; Yalcin, Serdar; Kopru, Burak; Topuz, Bahadir; Ebiloglu, Turgay

2016-01-01

Abstract Background: To report the first case of the spontaneous appendicovesical fistulas' (AVF) repair with robot assisted laparoscopy. Case Presentation: A 29-year-old male patient with urgent persistant bacteriuria and dysuria was referred to our clinic. Physical examination and blood tests were normal. He had used various antibiotics due to recurrent UTI for about 20 years. Computed tomography revealed the fistula tract between the distal end of the appendix and right lateral wall of the bladder dome. He was successfully treated with robot-assisted laparoscopic repair. Following this surgery, the patient's complaints were resolved completely. Conclusion: AVF is the rare condition. Robot-assisted laparoscopy repair of AVF is safe and effective treatment option. PMID:27579435

Coordinated Control of Slip Ratio for Wheeled Mobile Robots Climbing Loose Sloped Terrain

PubMed Central

Li, Zhengcai; Wang, Yang

2014-01-01

A challenging problem faced by wheeled mobile robots (WMRs) such as planetary rovers traversing loose sloped terrain is the inevitable longitudinal slip suffered by the wheels, which often leads to their deviation from the predetermined trajectory, reduced drive efficiency, and possible failures. This study investigates this problem using terramechanics analysis of the wheel-soil interaction. First, a slope-based wheel-soil interaction terramechanics model is built, and an online slip coordinated algorithm is designed based on the goal of optimal drive efficiency. An equation of state is established using the coordinated slip as the desired input and the actual slip as a state variable. To improve the robustness and adaptability of the control system, an adaptive neural network is designed. Analytical results and those of a simulation using Vortex demonstrate the significantly improved mobile performance of the WMR using the proposed control system. PMID:25276849

Ascending Stairway Modeling: A First Step Toward Autonomous Multi-Floor Exploration

DTIC Science & Technology

2012-10-01

Many robotics platforms are capable of ascending stairways, but all existing approaches for autonomous stair climbing use stairway detection as a...the rich potential of an autonomous ground robot that can climb stairs while exploring a multi-floor building. Our proposed solution to this problem is...over several steps. However, many ground robots are not capable of traversing tight spiral stairs , and so we do not focus on these types. The stairway is

Exploration of Planetary Terrains with a Legged Robot as a Scout Adjunct to a Rover

NASA Technical Reports Server (NTRS)

Colombano, Silvano; Kirchner, Frank; Spenneberg, Dirk; Hanratty, James

2004-01-01

The Scorpion robot is an innovative, biologically inspired 8-legged walking robot. It currently runs a novel approach to control which utilizes a central pattern generator (CPG) and local reflex action for each leg. From this starting point we are proposing to both extend the system's individual capabilities and its capacity to function as a "scout", cooperating with a larger wheeled rover. For this purpose we propose to develop a distributed system architecture that extends the system's capabilities both in the direction of high level planning and execution in collaboration with a rover, and in the direction of force-feedback based low level behaviors that will greatly enhance its ability to walk and climb in rough varied terrains. The final test of this improved ability will be a rappelling experiment where the Scorpion explores a steep cliff side in cooperation with a rover that serves as both anchor and planner/executive.

Climbing performance of Harris' hawks (Parabuteo unicinctus) with added load: Implications for muscle mechanics and for radiotracking

USGS Publications Warehouse

Pennycuick, C.J.; Fuller, M.R.; McAllister, L.

1989-01-01

Two Harris' hawks were trained to fly along horizontal and climbing flight paths, while carrying loads of various masses, to provide data for estimating available muscle power during short flights. The body mass of both hawks was about 920 g, and they were able to carry loads up to 630 g in horizontal flight. The rate of climb decreased with increasing all-up mass, as also did the climbing power (product of weight and rate of climb). Various assumptions about the aerodynamic power in low-speed climbs led to estimates of the maximum power output of the flight muscles ranging from 41 to 46 W. This, in turn, would imply a stress during shortening of around 210 kPa. The effects of a radio package on a bird that is raising young should be considered in relation to the food load that the forager can normally carry, rather than in relation to its body mass.

Comparison of Genetic Algorithm and Hill Climbing for Shortest Path Optimization Mapping

NASA Astrophysics Data System (ADS)

Fronita, Mona; Gernowo, Rahmat; Gunawan, Vincencius

2018-02-01

Traveling Salesman Problem (TSP) is an optimization to find the shortest path to reach several destinations in one trip without passing through the same city and back again to the early departure city, the process is applied to the delivery systems. This comparison is done using two methods, namely optimization genetic algorithm and hill climbing. Hill Climbing works by directly selecting a new path that is exchanged with the neighbour's to get the track distance smaller than the previous track, without testing. Genetic algorithms depend on the input parameters, they are the number of population, the probability of crossover, mutation probability and the number of generations. To simplify the process of determining the shortest path supported by the development of software that uses the google map API. Tests carried out as much as 20 times with the number of city 8, 16, 24 and 32 to see which method is optimal in terms of distance and time computation. Based on experiments conducted with a number of cities 3, 4, 5 and 6 producing the same value and optimal distance for the genetic algorithm and hill climbing, the value of this distance begins to differ with the number of city 7. The overall results shows that these tests, hill climbing are more optimal to number of small cities and the number of cities over 30 optimized using genetic algorithms.

The Effect of Magnesium Carbonate (Chalk) on Geometric Entropy, Force, and Electromyography During Rock Climbing.

PubMed

Kilgas, Matthew A; Drum, Scott N; Jensen, Randall L; Phillips, Kevin C; Watts, Phillip B

2016-12-01

Rock climbers believe chalk dries the hands of sweat and improves the static coefficient of friction between the hands and the surface of the rock. The purpose of this study was to assess whether chalk affects geometric entropy or muscular activity during rock climbing. Nineteen experienced recreational rock climbers (13 males, 6 females; 173.5 ± 7.0 cm; 67.5 ± 3.4 kg) completed 2 climbing trails with and without chalk. The body position of the climber and muscular activity of the finger flexors was recorded throughout the trial. Following the movement sequence participants hung from a standard climbing hold until they slipped from the climbing structure, while the coefficient of friction and the ratio of the vertical forces on the hands and feet were determined. Although there were no differences in the coefficient of friction (P = .748), geometric entropy (P = .359), the ratio of the vertical forces between the hands and feet (P = .570), or muscular activity (P = .968), participants were able to hang longer after the use of chalk 62.9 ± 36.7 s and 49.3 ± 25.2 s (P = .046). This is advantageous because it may allow for prolonged rests, and more time to plan the next series of climbing moves.

Stiffening Sheaths for Continuum Robots.

PubMed

Langer, Marlene; Amanov, Ernar; Burgner-Kahrs, Jessica

2018-06-01

Added to their high dexterity and ability to conform to complex shapes, continuum robots can be further improved to provide safer interaction with their environment. Indeed, controlling their stiffness is one of the most challenging yet promising research topics. We propose a tubular stiffening sheath as a replaceable cover for small-diameter continuum robots to temporarily increase the stiffness in a certain configuration. In this article, we assess and compare performances of two different stiffening modalities: granular and layer jamming, provide arguments for material selection and experimental results for stiffness with respect to lateral and axial applied forces. Furthermore, we detected empirically additional effects relating sheath stiffness to material parameters and added to recent investigations in the state of the art, which are based exclusively on material roughness. Finally, we integrated the selected layer jamming material in a miniaturized sheath (13 mm outer diameter, 2.5 mm wall thickness) and covered a tendon-actuated continuum robot with it. Experimental characterization of the behavior with respect to applied external forces was performed via stiffness measurements and proved that the initial tendon-actuated continuum robot stiffness can be improved by a factor up to 24.

Particles climbing along a vertically vibrating tube: numerical simulation using the Discrete Element Method (DEM)

DOE PAGES

Xu, Yupeng; Musser, Jordan; Li, Tingwen; ...

2017-07-22

It has been reported experimentally that granular particles can climb along a vertically vibrating tube partially inserted inside a granular silo. Here, we use the Discrete Element Method (DEM) available in the Multiphase Flow with Interphase eXchanges (MFIX) code to investigate this phenomenon. By tracking the movement of individual particles, the climbing mechanism was illustrated and analyzed. The numerical results show that a sufficiently high vibration strength is needed to form a low solids volume fraction region inside the lower end of the vibrating tube, a dense region in the middle of the tube, and to bring the particles outsidemore » from the top layers down to fill in the void. The results also show that particle compaction in the middle section of the tube is the main cause of the climbing. Consequently, varying parameters which influence the compacted region, such as the restitution coefficient, change the climbing height.« less

Particles climbing along a vertically vibrating tube: numerical simulation using the Discrete Element Method (DEM)

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

Xu, Yupeng; Musser, Jordan; Li, Tingwen

It has been reported experimentally that granular particles can climb along a vertically vibrating tube partially inserted inside a granular silo. Here, we use the Discrete Element Method (DEM) available in the Multiphase Flow with Interphase eXchanges (MFIX) code to investigate this phenomenon. By tracking the movement of individual particles, the climbing mechanism was illustrated and analyzed. The numerical results show that a sufficiently high vibration strength is needed to form a low solids volume fraction region inside the lower end of the vibrating tube, a dense region in the middle of the tube, and to bring the particles outsidemore » from the top layers down to fill in the void. The results also show that particle compaction in the middle section of the tube is the main cause of the climbing. Consequently, varying parameters which influence the compacted region, such as the restitution coefficient, change the climbing height.« less

Nudged-elastic band method with two climbing images: Finding transition states in complex energy landscapes

DOE PAGES

Zarkevich, Nikolai A.; Johnson, Duane D.

2015-01-09

The nudged-elastic band (NEB) method is modified with concomitant two climbing images (C2-NEB) to find a transition state (TS) in complex energy landscapes, such as those with a serpentine minimal energy path (MEP). If a single climbing image (C1-NEB) successfully finds the TS, then C2-NEB finds it too. Improved stability of C2-NEB makes it suitable for more complex cases, where C1-NEB misses the TS because the MEP and NEB directions near the saddle point are different. Generally, C2-NEB not only finds the TS, but guarantees, by construction, that the climbing images approach it from the opposite sides along the MEP.more » In addition, C2-NEB provides an accuracy estimate from the three images: the highest-energy one and its climbing neighbors. C2-NEB is suitable for fixed-cell NEB and the generalized solid-state NEB.« less

Correlation of climbing perception and eye movements during daytime and nighttime takeoffs using a flight simulator.

PubMed

Tamura, Atsushi; Wada, Yoshiro; Shimizu, Naoki; Inui, Takuo; Shiotani, Akihiro

2016-01-01

This study suggests that the subjective climbing perception can be quantitatively evaluated using values calculated from induced eye movements, and the findings may aid in the detection of pilots who are susceptible to spatial disorientation in a screening test. The climbing perception experienced by a pilot during takeoff at night is stronger than that experienced during the day. To investigate this illusion, this study assessed eye movements and analyzed their correlation with subjective climbing perception during daytime and nighttime takeoffs. Eight male volunteers participated in this study. A simulated aircraft takeoff environment was created using a flight simulator and the maximum slow-phase velocities and vestibulo-ocular reflex gain of vertical eye movements were calculated during takeoff simulation. Four of the eight participants reported that their perception of climbing at night was stronger, while the other four reported that there was no difference between day and night. These perceptions were correlated with eye movements; participants with a small difference in the maximum slow-phase velocities of their downward eye movements between daytime and nighttime takeoffs indicated that their perception of climbing was the same under the two conditions.

14 CFR 29.1045 - Climb cooling test procedures.

Code of Federal Regulations, 2010 CFR

2010-01-01

... continuous power (or at full throttle when above the critical altitude); (2) For helicopters for which the... the critical altitude); and (3) For other rotorcraft, be at maximum continuous power (or at full throttle when above the critical altitude). (d) After temperatures have stabilized in flight, the climb...

14 CFR 29.1045 - Climb cooling test procedures.

Code of Federal Regulations, 2011 CFR

2011-01-01

... continuous power (or at full throttle when above the critical altitude); (2) For helicopters for which the... the critical altitude); and (3) For other rotorcraft, be at maximum continuous power (or at full throttle when above the critical altitude). (d) After temperatures have stabilized in flight, the climb...

14 CFR 27.67 - Climb: one engine inoperative.

Code of Federal Regulations, 2013 CFR

2013-01-01

.... For multiengine helicopters, the steady rate of climb (or descent), at V y (or at the speed for... and the remaining engines at either— (1) Maximum continuous power and, for helicopters for which... power for helicopters for which certification for the use of continuous OEI power is requested. (Secs...

14 CFR 27.67 - Climb: one engine inoperative.

Code of Federal Regulations, 2012 CFR

2012-01-01

.... For multiengine helicopters, the steady rate of climb (or descent), at V y (or at the speed for... and the remaining engines at either— (1) Maximum continuous power and, for helicopters for which... power for helicopters for which certification for the use of continuous OEI power is requested. (Secs...

14 CFR 27.67 - Climb: one engine inoperative.

Code of Federal Regulations, 2010 CFR

2010-01-01

.... For multiengine helicopters, the steady rate of climb (or descent), at V y (or at the speed for... and the remaining engines at either— (1) Maximum continuous power and, for helicopters for which... power for helicopters for which certification for the use of continuous OEI power is requested. (Secs...

14 CFR 29.1045 - Climb cooling test procedures.

Code of Federal Regulations, 2013 CFR

2013-01-01

... engines and powerplant components. (c) Each operating engine must— (1) For helicopters for which the use... continuous power (or at full throttle when above the critical altitude); (2) For helicopters for which the... one engine operative; and (2) Sea level. (f) The climb or descent must be conducted at an airspeed...

14 CFR 29.1045 - Climb cooling test procedures.

Code of Federal Regulations, 2012 CFR

2012-01-01

... engines and powerplant components. (c) Each operating engine must— (1) For helicopters for which the use... continuous power (or at full throttle when above the critical altitude); (2) For helicopters for which the... one engine operative; and (2) Sea level. (f) The climb or descent must be conducted at an airspeed...

14 CFR 29.1045 - Climb cooling test procedures.

Code of Federal Regulations, 2014 CFR

2014-01-01

... engines and powerplant components. (c) Each operating engine must— (1) For helicopters for which the use... continuous power (or at full throttle when above the critical altitude); (2) For helicopters for which the... one engine operative; and (2) Sea level. (f) The climb or descent must be conducted at an airspeed...

Development and Initial Validation of a Rock Climbing Craving Questionnaire (RCCQ)

PubMed Central

Roderique-Davies, Gareth; Heirene, Robert M.; Mellalieu, Stephen; Shearer, David A.

2018-01-01

Conceptual similarities have been identified between experiences of extreme sports athletes and those with drug and behavioral addictions. Evidence suggests rock climbers experience craving and other withdrawal-like states when abstinent from their sport. However, no studies have attempted to quantitatively measure the craving experienced by participants of any extreme sports. Such a measure could allow a greater understanding of the craving experienced by extreme sports athletes and a comparison of these across sports (e.g., surfing) and activities (e.g., drug-use). Therefore, using validated craving measures as a template, the aim of the two studies outlined here was to design and preliminarily validate a subjective multidimensional inventory that could be used to measure craving in the sports of rock-climbing and mountaineering (“RCCQ”). The aim of the first study was to investigate the factor structure of a preliminary measure of craving. Climbers (n = 407) completed the RCCQ. A 3-factor model explained 53.65% of the total variance in item scores. All three factors comprised five items each, which were conceptually labeled as “urge to climb” “negative reinforcement” and “positive reinforcement.” The aim of the second study was to validate the 15-item 3-factor RCCQ resulting from Study 1 using confirmatory factor analysis (CFA). Climbers (n = 254) completed the questionnaire under a climbing-related cue condition or a cue-neutral condition. CFA revealed a good model fit and that all individual parameter estimates were significant and standard errors were within reasonable limits once item 13 was removed from Factor 1. Study 1 supports the multi-dimensional nature of rock climbing craving and shows parallels with substance-related craving in reflecting intention and positive (desire) and negative (withdrawal) reinforcement. Study 2 confirms this factor structure and gives initial validation to the measure with evidence that these factors are

HAZBOT - A hazardous materials emergency response mobile robot

NASA Technical Reports Server (NTRS)

Stone, H. W.; Edmonds, G.

1992-01-01

The authors describe the progress that has been made towards the development of a mobile robot that can be used by hazardous materials emergency response teams to perform a variety of tasks including incident localization and characterization, hazardous material identification/classification, site surveillance and monitoring, and ultimately incident mitigation. In September of 1991, the HAZBOT II vehicle performed its first end-to-end demonstration involving a scenario in which the vehicle: navigated to the incident location from a distant (150-200 ft.) deployment site; entered a building through a door with thumb latch style handle and door closer; located and navigated to the suspected incident location (a chemical storeroom); unlocked and opened the storeroom's door; climbed over the storeroom's 12 in. high threshold to enter the storeroom; and located and identified a broken container of benzene.

HAZBOT - A hazardous materials emergency response mobile robot

NASA Astrophysics Data System (ADS)

Stone, H. W.; Edmonds, G.

The authors describe the progress that has been made towards the development of a mobile robot that can be used by hazardous materials emergency response teams to perform a variety of tasks including incident localization and characterization, hazardous material identification/classification, site surveillance and monitoring, and ultimately incident mitigation. In September of 1991, the HAZBOT II vehicle performed its first end-to-end demonstration involving a scenario in which the vehicle: navigated to the incident location from a distant (150-200 ft.) deployment site; entered a building through a door with thumb latch style handle and door closer; located and navigated to the suspected incident location (a chemical storeroom); unlocked and opened the storeroom's door; climbed over the storeroom's 12 in. high threshold to enter the storeroom; and located and identified a broken container of benzene.

Final matches of the FIRST regional robotic competition at KSC

NASA Technical Reports Server (NTRS)

1999-01-01

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

14 CFR 29.65 - Climb: All engines operating.

Code of Federal Regulations, 2013 CFR

2013-01-01

... landing gear retracted; and (3) At Vy for standard sea level conditions and at speeds selected by the applicant for other conditions. (b) For each Category B rotorcraft except helicopters, the rate of climb... standard sea level conditions. (Secs. 313(a), 601, 603, 604, and 605 of the Federal Aviation Act of 1958...

14 CFR 27.65 - Climb: all engines operating.

Code of Federal Regulations, 2013 CFR

2013-01-01

...; or (ii) At least 1:6 under standard sea level conditions. (b) Each helicopter must meet the following requirements: (1) VY must be determined— (i) For standard sea level conditions; (ii) At maximum weight; and...) For rotorcraft other than helicopters— (1) The steady rate of climb, at V Y, must be determined— (i...

14 CFR 29.65 - Climb: All engines operating.

Code of Federal Regulations, 2010 CFR

2010-01-01

... landing gear retracted; and (3) At Vy for standard sea level conditions and at speeds selected by the applicant for other conditions. (b) For each Category B rotorcraft except helicopters, the rate of climb... standard sea level conditions. (Secs. 313(a), 601, 603, 604, and 605 of the Federal Aviation Act of 1958...

14 CFR 29.65 - Climb: All engines operating.

Code of Federal Regulations, 2012 CFR

2012-01-01

... landing gear retracted; and (3) At Vy for standard sea level conditions and at speeds selected by the applicant for other conditions. (b) For each Category B rotorcraft except helicopters, the rate of climb... standard sea level conditions. (Secs. 313(a), 601, 603, 604, and 605 of the Federal Aviation Act of 1958...

14 CFR 27.65 - Climb: all engines operating.

Code of Federal Regulations, 2012 CFR

2012-01-01

...; or (ii) At least 1:6 under standard sea level conditions. (b) Each helicopter must meet the following requirements: (1) VY must be determined— (i) For standard sea level conditions; (ii) At maximum weight; and...) For rotorcraft other than helicopters— (1) The steady rate of climb, at V Y, must be determined— (i...

Optimum Climb to Cruise Noise Trajectories for the High Speed Civil Transport

NASA Technical Reports Server (NTRS)

Berton, Jeffrey J.

2003-01-01

By entraining large quantities of ambient air into advanced ejector nozzles, the jet noise of the proposed High Speed Civil Transport (HSCT) is expected to be reduced to levels acceptable for airport-vicinity noise certification. Away from the airport, however, this entrained air is shut off and the engines are powered up from their cutback levels to provide better thrust for the climb to cruise altitude. Unsuppressed jet noise levels propagating to the ground far from the airport are expected to be high. Complicating this problem is the HSCT's relative noise level with respect to the subsonic commercial fleet of 2010, which is expected to be much quieter than it is today after the retirement of older, louder, domestic stage II aircraft by the year 2000. In this study, the classic energy state approximation theory is extended to calculate trajectories that minimize the climb to cruise noise of the HSCT. The optimizer dynamically chooses the optimal altitude velocity trajectory, the engine power setting, and whether the ejector should be stowed or deployed with respect to practical aircraft climb constraints and noise limits.

Project Hill-Climb: Drafting and Design in Motion

ERIC Educational Resources Information Center

Crowl, William F.

2008-01-01

This article describes the Hill-Climb project of a second level Computer-Aided Drafting and Design (CADD) class. The author primarily designed the activity to increase student understanding of the assembly drawing process and its components. The emphasis on problem solving adds a dimension that can aid students in their other classes as well. By…

Leading Organizational Change Is Like Climbing a Mountain

ERIC Educational Resources Information Center

Zimmerman, Judith

2004-01-01

Leading organizational change is like climbing a mountain. Transformational leaders must prepare to lead change, understand the process and nature of change, and provide the essential gear so that those involved can be successful. The author draws on the literature and personal experiences as a hiker and change leader to provide a guide for…

Semi-manual mastoidectomy assisted by human-robot collaborative control - A temporal bone replica study.

PubMed

Lim, Hoon; Matsumoto, Nozomu; Cho, Byunghyun; Hong, Jaesung; Yamashita, Makoto; Hashizume, Makoto; Yi, Byung-Ju

2016-04-01

To develop an otological robot that can protect important organs from being injured. We developed a five degree-of-freedom robot for otological surgery. Unlike the other robots that were reported previously, our robot does not replace surgeon's procedures, but instead utilizes human-robot collaborative control. The robot basically releases all of the actuators so that the surgeon can manipulate the drill within the robot's working area with minimal restriction. When the drill reaches a forbidden area, the surgeon feels as if the drill hits a wall. When an engineer performed mastoidectomy using the robot for assistance, the facial nerve in the segmented region was always protected with a more than 2.5mm margin, which was almost the same as the pre-set safety margin of 3mm. Semi-manual drilling using human-robot collaborative control was feasible, and may hold a realistic prospect of clinical use in the near future. Copyright © 2015 Elsevier Ireland Ltd. All rights reserved.

Final matches of the FIRST regional robotic competition at KSC

NASA Technical Reports Server (NTRS)

1999-01-01

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

Pediatric robotic-assisted laparoscopic augmentation ileocystoplasty and Mitrofanoff appendicovesicostomy: complete intracorporeal--initial case report.

PubMed

Gundeti, Mohan S; Eng, Michael K; Reynolds, W Stuart; Zagaja, Gregory P

2008-11-01

To the best of our knowledge, we report the first case of complete intracorporeal robotic-assisted laparoscopic augmentation ileocystoplasty and Mitrofanoff appendicovesicostomy in a pediatric patient, outlining the surgical technique and short-term results. The operative steps of the open procedure were replicated laparoscopically using robotic-assistance. In brief, 5 transperitoneal laparoscopic ports were placed before docking the da Vinci S robotic system. A 20-cm ileal segment was isolated, and the gastrointestinal anastomosis was performed in an end-to-end fashion using intracorporeal suturing. The appendix was anastomosed to the right posterior wall of the bladder over an 8F feeding tube in an extravesical fashion. The bladder was incised in a coronal plane, and the simple ileal on-lay patch was anastomosed to the posterior and anterior walls of the bladder. A suprapubic catheter and pelvic drain were placed, and the Mitrofanoff stoma was then fashioned. Cystography was performed at 4 weeks postoperatively. This preliminary first successful report suggests that robotic-assisted ileocystoplasty and appendicovesicostomy is feasible. A reasonable outcome with early recovery, resumption of normal activities, and excellent cosmesis can be achieved in selected patients. However, whether a robotic-assisted approach provides any significant advantages over conventional open procedures is yet to be determined with a large case series.

Exploring quality standards for New River Gorge climbing sites: establishing a baseline for the future

Treesearch

Roy Ramthun; Andy Blake

2003-01-01

The New River Gorge National River has become a major destination for sport climbers in the eastern U.S. A new climbing management plan is being developed for the site. This study examined the satisfaction levels of climbers with some of the easily managed facilities at climbing sites and looked at attributes of the social setting preferred by climbers. Climbers at the...

Thermally driven film climbing a vertical cylinder

NASA Astrophysics Data System (ADS)

Smolka, Linda

2017-11-01

The dynamics of a Marangoni driven film climbing the outside of a vertical cylinder is examined in numerical simulations of a thin film model. The model has three parameters: the scaled cylinder radius R̂, upstream film height h∞ and downstream precursor film thickness b , and reduces to the model for Marangoni driven film climbing a vertical plate when R̂ -> ∞ . The advancing front displays dynamics similar to that along a vertical plate where, depending on h∞ , the film forms a Lax shock, an undercompressive double shock or a rarefaction-undercompressive shock. A linear stability analysis of the Lax shock reveals the number of fingers that form along the contact line increases linearly with cylinder circumference while no fingers form below R̂ 1.15 with b = 0.1 . The substrate curvature controls the Lax shock height, bounds on h∞ that define the three solutions and the maximum growth rate of perturbations when R̂ = O (1) , whereas the shape of solutions and the stability of the Lax shock converge to the behavior on a vertical plate when R̂ >= O (10) . The azimuthal curvatures of the base state and perturbation, arising from the annular geometry of the film, promote instability of the advancing contact line.

Wheel climb derailment criteria for evaluation of rail vehicle safety

DOT National Transportation Integrated Search

1984-01-01

Criteria for evaluating safety of rail vehicles with respect to wheel climb derailment are reviewed. The relationship between flanging wheel lateral to veritical force ratio at impending derailment and angle of attack, lateral velocity and longitudin...

Muscle coordination in healthy subjects during floor walking and stair climbing in robot assisted gait training.

PubMed

Hussein, S; Schmidt, H; Volkmar, M; Werner, C; Helmich, I; Piorko, F; Krüger, J; Hesse, S

2008-01-01

The aim of gait rehabilitation is a restoration of an independent gait and improvement of daily life walking functions. Therefore the specific patterns, that are to be relearned, must be practiced to stimulate the learning process of the central nervous system (CNS). The Walking Simulator HapticWalker allows for the training of arbitrary gait trajectories of daily life. To evaluate the quality of the training a total of 9 subjects were investigated during free floor walking and stair climbing and during the same tasks in two different training modes on the HapticWalker: 1) with and 2) without vertical center of mass (CoM) motion. Electromyograms (EMG) of 8 gait relevant muscles were measured and muscle activation was compared for the various training modes. Besides the muscle activation as an indicator for the quality of rehabilitation training the study investigates if a cancellation of the vertical CoM movement by adaption of the footplate trajectory is feasible i.e. the muscle activation patterns for the two training modes on the HapticWalker agree. Results show no significant differences in activation timing between the training modes. This indicates the feasibility of using a passive patient suspension and emulate the vertical CoM motion by trajectory adaption of the footplates. The muscle activation timing during HapticWalker training shows important characteristics observed in physiological free walking though a few differences can still remain.

The development of a lightweight modular compliant surface bio-inspired robot

NASA Astrophysics Data System (ADS)

Stone, David L.; Cranney, John

2004-09-01

The DARPA Sponsored Compliant Surface Robotics (CSR) program pursues development of a high mobility, lightweight, modular, morphable robot for military forces in the field and for other industrial uses. The USTLAB effort builds on proof of concept feasibility studies and demonstration of a 4, 6, or 8 wheeled modular vehicle with articulated leg-wheel assemblies. In Phase I, basic open plant stability was proven for climbing over obstacles of ~18 inches high and traversing ~75 degree inclines (up, down, or sideways) in a platform of approximately 15 kilograms. At the completion of Phase II, we have completed mechanical and electronics engineering design and achieved changes which currently enable future work in active articulation, enabling autonomous reconfiguration for a wide variety of terrains, including upside down operations (in case of flip over), and we have reduced platform weight by one third. Currently the vehicle weighs 10 kilograms and will grow marginally as additional actuation, MEMS based organic sensing, payload, and autonomous processing is added. The CSR vehicle"s modular spider-like configuration facilitates adaptation to many uses and compliance over rugged terrain. The developmental process and the vehicle characteristics will be discussed.

Complete Spinal Accessory Nerve Palsy From Carrying Climbing Gear.

PubMed

Coulter, Jess M; Warme, Winston J

2015-09-01

We report an unusual case of spinal accessory nerve palsy sustained while transporting climbing gear. Spinal accessory nerve injury is commonly a result of iatrogenic surgical trauma during lymph node excision. This particular nerve is less frequently injured by blunt trauma. The case reported here results from compression of the spinal accessory nerve for a sustained period-that is, carrying a load over the shoulder using a single nylon rope for 2.5 hours. This highlights the importance of using proper load-carrying equipment to distribute weight over a greater surface area to avoid nerve compression in the posterior triangle of the neck. The signs and symptoms of spinal accessory nerve palsy and its etiology are discussed. This report is particularly relevant to individuals involved in mountaineering and rock climbing but can be extended to anyone carrying a load with a strap over one shoulder and across the body. Copyright © 2015 Wilderness Medical Society. Published by Elsevier Inc. All rights reserved.

Antagonism of bromocriptine-induced cage climbing behaviour in mice by the selective D-2 dopamine receptor antagonists, metoclopramide and molindone.

PubMed

Balsara, J J; Nandal, N V; Gada, V P; Bapat, T R; Chandorkar, A G

1986-01-01

Bromocriptine (5-30 mg/kg, ip), 2 hr after administration, induced cage climbing behaviour in mice. Pretreatment with haloperidol, an antagonist of both D-1 and D-2 dopamine receptors, metoclopramide and molindone, the selective D-2 dopamine receptor antagonists, effectively antagonised bromocriptine-induced climbing behaviour. The results indicate that bromocriptine most probably induces climbing behaviour in mice by stimulating the postsynaptic striatal D-2 dopamine receptors.

Biomechanics and functional morphology of a climbing monocot

PubMed Central

Hesse, Linnea; Wagner, Sarah T.; Neinhuis, Christoph

2016-01-01

Plants with a climbing growth habit possess unique biomechanical properties arising from adaptations to changing loading conditions connected with close attachment to mechanical supports. In monocot climbers, mechanical adaptation is restricted by the absence of a bifacial vascular cambium. Flagellaria indica was used to investigate the mechanical properties and adaptations of a monocot climber that, uniquely, attaches to the surrounding vegetation via leaf tendrils. Biomechanical methods such as three-point bending and torsion tests were used together with anatomical studies on tissue development, modification and distribution. In general, the torsional modulus was lower than the bending modulus; hence, torsional stiffness was less than flexural stiffness. Basal parts of mature stems showed the greatest stiffness while that of more apical stem segments levelled off. Mechanical properties were modulated via tissue maturation processes mainly affecting the peripheral region of the stem. Peripheral vascular bundles showed a reduction in the amount of conducting tissue while the proportion and density of the bundle sheath increased. Furthermore, adjacent bundle sheaths merged resulting in a dense ring of fibrous tissue. Although F. indica lacks secondary cambial growth, the climbing habit is facilitated by a complex interaction of tissue maturation and attachment. PMID:26819259

The University of Chicago technique of complete intracorporeal pediatric robotic-assisted laparoscopic augmentation ileocystoplasty and Mitrofanoff appendicovesicostomy.

PubMed

Gundeti, Mohan S; Acharya, Sujeet S; Zagaja, Gregory P

2009-06-01

We present the University of Chicago technique for complete intracorporeal robotic-assisted laparoscopic augmentation ileocystoplasty and Mitrofanoff appendicovesicostomy. The operative steps of the open procedure were replicated laparoscopically using robotic assistance. Initially, five transperitoneal laparoscopic ports are placed prior to docking the da Vinci S robotic system. A 20 cm ileal segment is isolated, and the gastrointestinal anastomosis is performed in an end-to-end fashion using intracorporeal suturing. The appendix is anastomosed to the right posterior wall of the bladder over an 8F feeding tube in an extravesical fashion. Then, the bladder is incised in a coronal plane, and the simple detubularized ileal on-lay patch is anastomosed to the posterior and anterior walls of the bladder. A suprapubic catheter and pelvic drain are placed. Finally, the Mitrofanoff stoma is then fashioned. Cystography is done at 4 weeks postoperatively. This report suggests that robotic-assisted ileocystoplasty and appendicovesicostomy is feasible. A reasonable outcome with early recovery, resumption of normal activities, and excellent cosmesis can be achieved in select patients. A large case series, however, is necessary to determine whether a robotic-assisted approach provides any significant advantages over conventional open procedures.

Watch Out for Your Neighbor: Climbing onto Shrubs Is Related to Risk of Cannibalism in the Scorpion Buthus cf. occitanus

PubMed Central

Urbano-Tenorio, Fernando

2016-01-01

The distribution and behavior of foraging animals usually imply a balance between resource availability and predation risk. In some predators such as scorpions, cannibalism constitutes an important mortality factor determining their ecology and behavior. Climbing on vegetation by scorpions has been related both to prey availability and to predation (cannibalism) risk. We tested different hypotheses proposed to explain climbing on vegetation by scorpions. We analyzed shrub climbing in Buthus cf. occitanus with regard to the following: a) better suitability of prey size for scorpions foraging on shrubs than on the ground, b) selection of shrub species with higher prey load, c) seasonal variations in prey availability on shrubs, and d) whether or not cannibalism risk on the ground increases the frequency of shrub climbing. Prey availability on shrubs was compared by estimating prey abundance in sticky traps placed in shrubs. A prey sample from shrubs was measured to compare prey size. Scorpions were sampled in six plots (50 m x 10 m) to estimate the proportion of individuals climbing on shrubs. Size difference and distance between individuals and their closest scorpion neighbor were measured to assess cannibalism risk. The results showed that mean prey size was two-fold larger on the ground. Selection of particular shrub species was not related to prey availability. Seasonal variations in the number of scorpions on shrubs were related to the number of active scorpions, but not with fluctuations in prey availability. Size differences between a scorpion and its nearest neighbor were positively related with a higher probability for a scorpion to climb onto a shrub when at a disadvantage, but distance was not significantly related. These results do not support hypotheses explaining shrub climbing based on resource availability. By contrast, our results provide evidence that shrub climbing is related to cannibalism risk. PMID:27655347

Watch Out for Your Neighbor: Climbing onto Shrubs Is Related to Risk of Cannibalism in the Scorpion Buthus cf. occitanus.

PubMed

Sánchez-Piñero, Francisco; Urbano-Tenorio, Fernando

The distribution and behavior of foraging animals usually imply a balance between resource availability and predation risk. In some predators such as scorpions, cannibalism constitutes an important mortality factor determining their ecology and behavior. Climbing on vegetation by scorpions has been related both to prey availability and to predation (cannibalism) risk. We tested different hypotheses proposed to explain climbing on vegetation by scorpions. We analyzed shrub climbing in Buthus cf. occitanus with regard to the following: a) better suitability of prey size for scorpions foraging on shrubs than on the ground, b) selection of shrub species with higher prey load, c) seasonal variations in prey availability on shrubs, and d) whether or not cannibalism risk on the ground increases the frequency of shrub climbing. Prey availability on shrubs was compared by estimating prey abundance in sticky traps placed in shrubs. A prey sample from shrubs was measured to compare prey size. Scorpions were sampled in six plots (50 m x 10 m) to estimate the proportion of individuals climbing on shrubs. Size difference and distance between individuals and their closest scorpion neighbor were measured to assess cannibalism risk. The results showed that mean prey size was two-fold larger on the ground. Selection of particular shrub species was not related to prey availability. Seasonal variations in the number of scorpions on shrubs were related to the number of active scorpions, but not with fluctuations in prey availability. Size differences between a scorpion and its nearest neighbor were positively related with a higher probability for a scorpion to climb onto a shrub when at a disadvantage, but distance was not significantly related. These results do not support hypotheses explaining shrub climbing based on resource availability. By contrast, our results provide evidence that shrub climbing is related to cannibalism risk.

Performance and Safety Characteristics in Ice-Climbing Equipment Selection.

ERIC Educational Resources Information Center

Wells, W. Tom

This study sought to determine whether Alaskan ice climbers place more emphasis on performance characteristics or on safety characteristics when selecting their various ice-climbing equipment. A survey distributed to members of the Alaska Alpine Club and the Alaska Alpine Rescue Group was developed to contain responses related to both safety and…

The CLIMB Geoportal - A web-based dissemination and documentation platform for hydrological modelling data

NASA Astrophysics Data System (ADS)

Blaschek, Michael; Gerken, Daniel; Ludwig, Ralf; Duttmann, Rainer

2015-04-01

Geoportals are important elements of spatial data infrastructures (SDIs) that are strongly based on GIS-related web services. These services are basically meant for distributing, documenting and visualizing (spatial) data in a standardized manner; an important but challenging task especially in large scientific projects with a high number of data suppliers and producers from various countries. This presentation focuses on introducing the free and open-source based geoportal solution developed within the research project CLIMB (Climate Induced Changes on the Hydrology of Mediterranean Basins, www.climb-fp7.eu) that serves as the central platform for interchanging project-related spatial data and information. In this collaboration, financed by the EU-FP7-framework and coordinated at the LMU Munich, 21 partner institutions from nine European and non-European countries were involved. The CLIMB Geoportal (lgi-climbsrv.geographie.uni-kiel.de) stores and provides spatially distributed data about the current state and future changes of the hydrological conditions within the seven CLIMB test sites around the Mediterranean. Hydrological modelling outcome - validated by the CLIMB partners - is offered to the public in forms of Web Map Services (WMS), whereas downloading the underlying data itself through Web Coverage Services (WCS) is possible for registered users only. A selection of common indicators such as discharge, drought index as well as uncertainty measures including their changes over time were used in different spatial resolution. Besides map information, the portal enables the graphical display of time series of selected variables calculated by the individual models applied within the CLIMB-project. The implementation of the CLIMB Geoportal is finally based on version 2.0c5 of the open source geospatial content management system GeoNode. It includes a GeoServer instance for providing the OGC-compliant web services and comes with a metadata catalog (pycsw) as well

Climbing fibers predict movement kinematics and performance errors.

PubMed

Streng, Martha L; Popa, Laurentiu S; Ebner, Timothy J

2017-09-01

Requisite for understanding cerebellar function is a complete characterization of the signals provided by complex spike (CS) discharge of Purkinje cells, the output neurons of the cerebellar cortex. Numerous studies have provided insights into CS function, with the most predominant view being that they are evoked by error events. However, several reports suggest that CSs encode other aspects of movements and do not always respond to errors or unexpected perturbations. Here, we evaluated CS firing during a pseudo-random manual tracking task in the monkey ( Macaca mulatta ). This task provides extensive coverage of the work space and relative independence of movement parameters, delivering a robust data set to assess the signals that activate climbing fibers. Using reverse correlation, we determined feedforward and feedback CSs firing probability maps with position, velocity, and acceleration, as well as position error, a measure of tracking performance. The direction and magnitude of the CS modulation were quantified using linear regression analysis. The major findings are that CSs significantly encode all three kinematic parameters and position error, with acceleration modulation particularly common. The modulation is not related to "events," either for position error or kinematics. Instead, CSs are spatially tuned and provide a linear representation of each parameter evaluated. The CS modulation is largely predictive. Similar analyses show that the simple spike firing is modulated by the same parameters as the CSs. Therefore, CSs carry a broader array of signals than previously described and argue for climbing fiber input having a prominent role in online motor control. NEW & NOTEWORTHY This article demonstrates that complex spike (CS) discharge of cerebellar Purkinje cells encodes multiple parameters of movement, including motor errors and kinematics. The CS firing is not driven by error or kinematic events; instead it provides a linear representation of each

Using sensor habituation in mobile robots to reduce oscillatory movements in narrow corridors.

PubMed

Chang, Carolina

2005-11-01

Habituation is a form of nonassociative learning observed in a variety of species of animals. Arguably, it is the simplest form of learning. Nonetheless, the ability to habituate to certain stimuli implies plastic neural systems and adaptive behaviors. This paper describes how computational models of habituation can be applied to real robots. In particular, we discuss the problem of the oscillatory movements observed when a Khepera robot navigates through narrow hallways using a biologically inspired neurocontroller. Results show that habituation to the proximity of the walls can lead to smoother navigation. Habituation to sensory stimulation to the sides of the robot does not interfere with the robot's ability to turn at dead ends and to avoid obstacles outside the hallway. This paper shows that simple biological mechanisms of learning can be adapted to achieve better performance in real mobile robots.

Synthetic Bursae for Robots

NASA Technical Reports Server (NTRS)

Lovchik, Christopher S.

2005-01-01

Synthetic bursae are under development for incorporation into robot joints that are actuated by motor-driven cables in a manner similar to that of arthropod joints actuated by muscle-driven tendons. Like natural bursae, the synthetic bursae would serve as cushions and friction reducers. A natural bursa is a thin bladder filled with synovial fluid, which serves to reduce friction and provide a cushion between a bone and a muscle or a tendon. A synthetic bursa would be similar in form and function: It would be, essentially, a compact, soft roller consisting of a bladder filled with a non-Newtonian fluid. The bladder would be constrained to approximately constant volume. The synthetic bursa would cushion an actuator cable against one of the members of a robot joint and would reduce the friction between the cable and the member. Under load, the pressure in the bladder would hold the opposite walls of the bladder apart, making it possible for them to move freely past each other without rubbing.

An approach to develop an algorithm to detect the climbing height in radial-axial ring rolling

NASA Astrophysics Data System (ADS)

Husmann, Simon; Hohmann, Magnus; Kuhlenkötter, Bernd

2017-10-01

Radial-axial ring rolling is the mainly used forming process to produce seamless rings, which are applied in miscellaneous industries like the energy sector, the aerospace technology or in the automotive industry. Due to the simultaneously forming in two opposite rolling gaps and the fact that ring rolling is a mass forming process, different errors could occur during the rolling process. Ring climbing is one of the most occurring process errors leading to a distortion of the ring's cross section and a deformation of the rings geometry. The conventional sensors of a radial-axial rolling machine could not detect this error. Therefore, it is a common strategy to roll a slightly bigger ring, so that random occurring process errors could be reduce afterwards by removing the additional material. The LPS installed an image processing system to the radial rolling gap of their ring rolling machine to enable the recognition and measurement of climbing rings and by this, to reduce the additional material. This paper presents the algorithm which enables the image processing system to detect the error of a climbing ring and ensures comparable reliable results for the measurement of the climbing height of the rings.

Cooperative Three-Robot System for Traversing Steep Slopes

NASA Technical Reports Server (NTRS)

Stroupe, Ashley; Huntsberger, Terrance; Aghazarian, Hrand; Younse, Paulo; Garrett, Michael

2009-01-01

Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data

Psychological profile of Turkish rock climbers: an examination of climbing experience and route difficulty.

PubMed

Aşçi, F Hülya; Demirhan, Giyasettin; Dinç, S Cem

2007-06-01

The purpose of this study was to examine sensation seeking, physical self-perception, and intrinsic and extrinsic motives of rock climbers and to compare these psychological constructs with respect to their years of climbing experience and the difficulty of their climbing routes. 64 climbers (M age=29.1 yr., SD=6.4) voluntarily participated in this study. The Arnett Inventory of Sensation Seeking (AISS), Physical Self-Description Questionnaire (PSDQ), and Sport Motivation Scale (SMS) were administered to the rock climbers. Analysis indicated that the mean score of rock climbers on the Novelty subscale of the Sensation Seeking Scale was 33.9 (SD= 3.6) and mean value on the Intensity subscale was 29.2 (SD=5.2). The mean scores of rock climbers on the PSDQ ranged between 3.9 (SD= 1.0, Physical Activity) and 5.1 (SD= 1.1, Body Fat). Descriptive analysis indicated that the highest mean score of rock climbers on the SMS was obtained in Intrinsic motivation to Experience Stimulation (5.7, SD= 0.9). The independent sample t test showed no significant differences in sensation seeking, physical self-perception, and sport motivation with regard to years of climbing experience and route difficulty (p>.05). It may be concluded that sensation seeking in climbers is high, and they have internal motivational orientation and positive physical self-perception; their competence in climbing has no obvious relationship to these variables.

Rock Climbing Injuries: Acute and Chronic Repetitive Trauma.

PubMed

Chang, Connie Y; Torriani, Martin; Huang, Ambrose J

2016-01-01

Rock climbing has increased in popularity as a sport, and specific injuries related to its practice are becoming more common. Chronic repetitive injuries are more common than acute injuries, although acute injuries tend to be more severe. We review both acute and chronic upper and lower extremity injuries. Understanding the injury pattern in rock climbers is important for accurate diagnosis. Copyright © 2015 Mosby, Inc. All rights reserved.

Estimating the Economic Value of Ice Climbing in Hyalite Canyon: An Application of Travel Cost Count Data Models that Account for Excess Zeros*

PubMed Central

Anderson, D. Mark

2009-01-01

Recently, the sport of ice climbing has seen a drastic increase in popularity. This paper uses the travel cost method to estimate the demand for ice climbing in Hyalite Canyon, Montana, one of the premier ice climbing venues in North America. Access to Hyalite and other ice climbing destinations have been put at risk due to liability issues, public land management agendas, and winter road conditions. To this point, there has been no analysis on the economic benefits of ice climbing. In addition to the novel outdoor recreation application, this study applies econometric methods designed to deal with “excess zeros” in the data. Depending upon model specification, per person per trip values are estimated to be in the range of $76 to $135. PMID:20044202

Mobile Robot Localization Using Sonar.

DTIC Science & Technology

1985-01-01

beam, called ’, is greater than Driilihelier: Rohot Localizatiou Us1 iig Sonai c.ON. OF PkIE.FI-EC.TION GiMowG I.O NO R..H O k.:N1 PROA "tr"S -rHts...null wall. Drumhii~eller Robot, Localizatlioni Us’ing Sonai ((Si IW)(S2 WW~S3 W3)(S4 W2)(S5 W4)(96 IJI)S7 US)]; x = -7.4 ft. y =6.9 ft. 99 deg. Actual

The use of clamping grips and friction pads by tree frogs for climbing curved surfaces

PubMed Central

Ji, Aihong; Yuan, Shanshan; Hill, Iain; Wang, Huan; Barnes, W. Jon P.; Dai, Zhendong; Sitti, Metin

2017-01-01

Most studies on the adhesive mechanisms of climbing animals have addressed attachment against flat surfaces, yet many animals can climb highly curved surfaces, like twigs and small branches. Here we investigated whether tree frogs use a clamping grip by recording the ground reaction forces on a cylindrical object with either a smooth or anti-adhesive, rough surface. Furthermore, we measured the contact area of fore and hindlimbs against differently sized transparent cylinders and the forces of individual pads and subarticular tubercles in restrained animals. Our study revealed that frogs use friction and normal forces of roughly a similar magnitude for holding on to cylindrical objects. When challenged with climbing a non-adhesive surface, the compressive forces between opposite legs nearly doubled, indicating a stronger clamping grip. In contrast to climbing flat surfaces, frogs increased the contact area on all limbs by engaging not just adhesive pads but also subarticular tubercles on curved surfaces. Our force measurements showed that tubercles can withstand larger shear stresses than pads. SEM images of tubercles revealed a similar structure to that of toe pads including the presence of nanopillars, though channels surrounding epithelial cells were less pronounced. The tubercles' smaller size, proximal location on the toes and shallow cells make them probably less prone to buckling and thus ideal for gripping curved surfaces. PMID:28228509

Adaptive locomotor training on an end-effector gait robot: evaluation of the ground reaction forces in different training conditions.

PubMed

Tomelleri, Christopher; Waldner, Andreas; Werner, Cordula; Hesse, Stefan

2011-01-01

The main goal of robotic gait rehabilitation is the restoration of independent gait. To achieve this goal different and specific patterns have to be practiced intensively in order to stimulate the learning process of the central nervous system. The gait robot G-EO Systems was designed to allow the repetitive practice of floor walking, stair climbing and stair descending. A novel control strategy allows training in adaptive mode. The force interactions between the foot and the ground were analyzed on 8 healthy volunteers in three different conditions: real floor walking on a treadmill, floor walking on the gait robot in passive mode, floor walking on the gait robot in adaptive mode. The ground reaction forces were measured by a Computer Dyno Graphy (CDG) analysis system. The results show different intensities of the ground reaction force across all of the three conditions. The intensities of force interactions during the adaptive training mode are comparable to the real walking on the treadmill. Slight deviations still occur in regard to the timing pattern of the forces. The adaptive control strategy comes closer to the physiological swing phase than the passive mode and seems to be a promising option for the treatment of gait disorders. Clinical trials will validate the efficacy of this new option in locomotor therapy on the patients. © 2011 IEEE

36 CFR 13.1312 - Climbing and walking on Exit Glacier.

Code of Federal Regulations, 2012 CFR

2012-07-01

... 36 Parks, Forests, and Public Property 1 2012-07-01 2012-07-01 false Climbing and walking on Exit Glacier. 13.1312 Section 13.1312 Parks, Forests, and Public Property NATIONAL PARK SERVICE, DEPARTMENT OF THE INTERIOR NATIONAL PARK SYSTEM UNITS IN ALASKA Special Regulations-Kenai Fjords National Park...

Role of robotics in managing mesh and suture complications of prior pelvic organ prolapse surgery.

PubMed

Wilkinson, Michael N; O'Sullivan, Orfhlaith E; O'Reilly, Barry A

2017-03-01

Robotic surgery is proving essential in providing a minimally invasive approach to complex urogynaecological cases. This video highlights the diversity and complexity of cases performed using the robot-assisted approach. The robot-assisted approach was utilised for excellent effect in two complex urogynaecological cases. In the first case the entire left arm of an intravesically placed TVT was removed using a combined vaginal and robotic approach. The second case involved removing four paravaginal sutures, one of which breeched the bladder and was encrusted with calculus. These were placed during a laparoscopic paravaginal repair 2 years previously. She had a concomitant vaginal hysterectomy, Mc Calls culdoplasty and anterior wall repair. The robot-assisted approach allows for excellent access to the pelvis and retropubic space facilitating the surgical management of complex urogynaecology cases.

Climbing the yeast cell wall.

PubMed

Cabib, Enrico

2017-02-25

Here is a life in three countries, with different cultures, different political structures and even different skies. The constant through all these changes is the addiction of the subject of this story to science and laboratory work. Perhaps the tale that unfolds here will show to some beginners in research that persistence, seasoned with a little luck, can bring results and satisfaction in the long run. Published by Oxford University Press on behalf of FEMS 2017. This work is written by (a) US Government employee(s) and is in the public domain in the US.

Shape sensing for torsionally compliant concentric-tube robots

NASA Astrophysics Data System (ADS)

Xu, Ran; Yurkewich, Aaron; Patel, Rajni V.

2016-03-01

Concentric-tube robots (CTR) consist of a series of pre-curved flexible tubes that make up the robot structure and provide the high dexterity required for performing surgical tasks in constrained environments. This special design introduces new challenges in shape sensing as large twisting is experienced by the torsionally compliant structure. In the literature, fiber Bragg grating (FBG) sensors are attached to needle-sized continuum robots for curvature sensing, but they are limited to obtaining bending curvatures since a straight sensor layout is utilized. For a CTR, in addition to bending curvatures, the torsion along the robots shaft should be determined to calculate the shape and pose of the robot accurately. To solve this problem, in our earlier work, we proposed embedding FBG sensors in a helical pattern into the tube wall. The strain readings are converted to bending curvatures and torsion by a strain-curvature model. In this paper, a modified strain-curvature model is proposed that can be used in conjunction with standard shape reconstruction algorithms for shape and pose calculation. This sensing technology is evaluated for its accuracy and resolution using three FBG sensors with 1 mm sensing segments that are bonded into the helical grooves of a pre-curved Nitinol tube. The results show that this sensorized robot can obtain accurate measurements: resolutions of 0.02 rad/m with a 100 Hz sampling rate. Further, the repeatability of the obtained measurements during loading and unloading conditions are presented and analyzed.

Estimating the economic value of ice climbing in Hyalite Canyon: An application of travel cost count data models that account for excess zeros.

PubMed

Anderson, D Mark

2010-01-01

Recently, the sport of ice climbing has seen a dramatic increase in popularity. This paper uses the travel cost method to estimate the demand for ice climbing in Hyalite Canyon, Montana, one of the premier ice climbing venues in North America. Access to Hyalite and other ice climbing destinations have been put at risk due to liability issues, public land management agendas, and winter road conditions. To this point, there has been no analysis on the economic benefits of ice climbing. In addition to the novel outdoor recreation application, this study applies econometric methods designed to deal with "excess zeros" in the data. Depending upon model specification, per person per trip values are estimated to be in the range of $76 to $135. Copyright 2009 Elsevier Ltd. All rights reserved.

The effect of climbing Mount Everest on spleen contraction and increase in hemoglobin concentration during breath holding and exercise.

PubMed

Engan, Harald K; Lodin-Sundström, Angelica; Schagatay, Fanny; Schagatay, Erika

2014-04-01

Release of stored red blood cells resulting from spleen contraction improves human performance in various hypoxic situations. This study determined spleen volume resulting from two contraction-evoking stimuli: breath holding and exercise before and after altitude acclimatization during a Mount Everest ascent (8848 m). Eight climbers performed the following protocol before and after the climb: 5 min ambient air respiration at 1370 m during rest, 20 min oxygen respiration, 20 min ambient air respiration at 1370 m, three maximal-effort breath holds spaced by 2 min, 10 min ambient air respiration, 5 min of cycling at 100 W, and finally 10 min ambient air respiration. We measured spleen volume by ultrasound and capillary hemoglobin (HB) concentration after each exposure, and heart rate (HR) and arterial oxygen saturation (Sao2) continuously. Mean (SD) baseline spleen volume was unchanged at 213 (101) mL before and 206 (52) mL after the climb. Before the climb, spleen volume was reduced to 184 (83) mL after three breath holds, and after the climb three breath holds resulted in a spleen volume of 132 (26) mL (p=0.032). After exercise, the preclimb spleen volume was 186 (89) mL vs. 112 (389) mL) after the climb (p=0.003). Breath hold duration and cardiovascular responses were unchanged after the climb. We concluded that spleen contraction may be enhanced by altitude acclimatization, probably reflecting both the acclimatization to chronic hypoxic exposure and acute hypoxia during physical work.

Minimum Climb to Cruise Noise Trajectories Modeled for the High Speed Civil Transport

NASA Technical Reports Server (NTRS)

Berton, Jeffrey J.

1998-01-01

The proposed U.S. High Speed Civil Transport (HSCT) will revolutionize commercial air travel by providing economical supersonic passenger service to destinations worldwide. Unlike the high-bypass turbofan engines that propel today's subsonic airliners, HSCT engines will have much higher jet exhaust speeds. Jet noise, caused by the turbulent mixing of high-speed exhaust with the surrounding air, poses a significant challenge for HSCT engine designers. To resolve this challenge, engineers have designed advanced mixer rejector nozzles that reduce HSCT jet noise to airport noise certification levels by entraining and mixing large quantities of ambient air with the engines' jet streams. Although this works well during the first several minutes of flight, far away from the airport, as the HSCT gains speed and climbs, poor ejector inlet recovery and ejector ram drag contribute to poor thrust, making it advantageous to turn off the ejector. Doing so prematurely, however, can cause unacceptable noise levels to propagate to the ground, even when the aircraft is many miles from the airport. This situation lends itself ideally to optimization, where the aircraft trajectory, throttle setting, and ejector setting can be varied (subject to practical aircraft constraints) to minimize the noise propagated to the ground. A method was developed at the NASA Lewis Research Center that employs a variation of the classic energy state approximation: a trajectory analysis technique historically used to minimize climb time or fuel burned in many aircraft problems. To minimize the noise on the ground at any given throttle setting, high aircraft altitudes are desirable; but the HSCT may either climb quickly to high altitudes using a high, noisy throttle setting or climb more slowly at a lower, quieter throttle setting. An optimizer has been programmed into NASA's existing aircraft and noise analysis codes to balance these options by dynamically choosing the best altitude-velocity path and

Musical stairs: the impact of audio feedback during stair-climbing physical therapies for children.

PubMed

Khan, Ajmal; Biddiss, Elaine

2015-05-01

Enhanced biofeedback during rehabilitation therapies has the potential to provide a therapeutic environment optimally designed for neuroplasticity. This study investigates the impact of audio feedback on the achievement of a targeted therapeutic goal, namely, use of reciprocal steps. Stair-climbing therapy sessions conducted with and without audio feedback were compared in a randomized AB/BA cross-over study design. Seventeen children, aged 4-7 years, with various diagnoses participated. Reports from the participants, therapists, and a blinded observer were collected to evaluate achievement of the therapeutic goal, motivation and enjoyment during the therapy sessions. Audio feedback resulted in a 5.7% increase (p = 0.007) in reciprocal steps. Levels of participant enjoyment increased significantly (p = 0.031) and motivation was reported by child participants and therapists to be greater when audio feedback was provided. These positive results indicate that audio feedback may influence the achievement of therapeutic goals and promote enjoyment and motivation in young patients engaged in rehabilitation therapies. This study lays the groundwork for future research to determine the long term effects of audio feedback on functional outcomes of therapy. Stair-climbing is an important mobility skill for promoting independence and activities of daily life and is a key component of rehabilitation therapies for physically disabled children. Provision of audio feedback during stair-climbing therapies for young children may increase their achievement of a targeted therapeutic goal (i.e., use of reciprocal steps). Children's motivation and enjoyment of the stair-climbing therapy was enhanced when audio feedback was provided.

A Novel Concept for Safe, Stiffness-Controllable Robot Links.

PubMed

Stilli, Agostino; Wurdemann, Helge A; Althoefer, Kaspar

2017-03-01

The recent decade has seen an astounding increase of interest and advancement in a new field of robotics, aimed at creating structures specifically for the safe interaction with humans. Softness, flexibility, and variable stiffness in robotics have been recognized as highly desirable characteristics for many applications. A number of solutions were proposed ranging from entirely soft robots (such as those composed mainly from soft materials such as silicone), via flexible continuum and snake-like robots, to rigid-link robots enhanced by joints that exhibit an elastic behavior either implemented in hardware or achieved purely by means of intelligent control. Although these are very good solutions paving the path to safe human-robot interaction, we propose here a new approach that focuses on creating stiffness controllability for the linkages between the robot joints. This article proposes a replacement for the traditionally rigid robot link-the new link is equipped with an additional capability of stiffness controllability. With this added feature, a robot can accurately carry out manipulation tasks (high stiffness), but can virtually instantaneously reduce its stiffness when a human is nearby or in contact with the robot. The key point of the invention described here is a robot link made of an airtight chamber formed by a soft and flexible, but high-strain resistant combination of a plastic mesh and silicone wall. Inflated with air to a high pressure, the mesh silicone chamber behaves like a rigid link; reducing the air pressure, softens the link and rendering the robot structure safe. This article investigates a number of link prototypes and shows the feasibility of the new concept. Stiffness tests have been performed, showing that a significant level of stiffness can be achieved-up to 40 N reaction force along the axial direction, for a 25-mm-diameter sample at 60 kPa, at an axial deformation of 5 mm. The results confirm that this novel concept to linkages

Robotics

NASA Astrophysics Data System (ADS)

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

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

Comparison of hand use and forelimb posture during vertical climbing in mountain gorillas (Gorilla beringei beringei) and chimpanzees (Pan troglodytes).

PubMed

Neufuss, Johanna; Robbins, Martha M; Baeumer, Jana; Humle, Tatyana; Kivell, Tracy L

2017-12-01

Studies on grasping and limb posture during arboreal locomotion in great apes in their natural environment are scarce and thus, attempts to correlate behavioral and habitat differences with variation in morphology are limited. The aim of this study is to compare hand use and forelimb posture during vertical climbing in wild, habituated mountain gorillas (Gorilla beringei beringei) and semi-free-ranging chimpanzees (Pan troglodytes) to assess differences in the climbing styles that may relate to variation in hand or forelimb morphology and body size. We investigated hand use and forelimb posture during both ascent and descent vertical climbing in 15 wild mountain gorillas and eight semi-free-ranging chimpanzees, using video records obtained ad libitum. In both apes, forelimb posture was correlated with substrate size during both ascent and descent climbing. While climbing, both apes used power grips and diagonal power grips, including three different thumb postures. Mountain gorillas showed greater ulnar deviation of the wrist during vertical descent than chimpanzees, and the thumb played an important supportive role when gorillas vertically descended lianas. We found that both apes generally had the same grip preferences and used similar forelimb postures on supports of a similar size, which is consistent with their overall similarity in hard and soft tissue morphology of the hand and forelimb. However, some species-specific differences in morphology appear to elicit slightly different grasping strategies during vertical climbing between mountain gorillas and chimpanzees. © 2017 Wiley Periodicals, Inc.

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.

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.

A cognitive approach to vision for a mobile robot

NASA Astrophysics Data System (ADS)

Benjamin, D. Paul; Funk, Christopher; Lyons, Damian

2013-05-01

We describe a cognitive vision system for a mobile robot. This system works in a manner similar to the human vision system, using saccadic, vergence and pursuit movements to extract information from visual input. At each fixation, the system builds a 3D model of a small region, combining information about distance, shape, texture and motion. These 3D models are embedded within an overall 3D model of the robot's environment. This approach turns the computer vision problem into a search problem, with the goal of constructing a physically realistic model of the entire environment. At each step, the vision system selects a point in the visual input to focus on. The distance, shape, texture and motion information are computed in a small region and used to build a mesh in a 3D virtual world. Background knowledge is used to extend this structure as appropriate, e.g. if a patch of wall is seen, it is hypothesized to be part of a large wall and the entire wall is created in the virtual world, or if part of an object is recognized, the whole object's mesh is retrieved from the library of objects and placed into the virtual world. The difference between the input from the real camera and from the virtual camera is compared using local Gaussians, creating an error mask that indicates the main differences between them. This is then used to select the next points to focus on. This approach permits us to use very expensive algorithms on small localities, thus generating very accurate models. It also is task-oriented, permitting the robot to use its knowledge about its task and goals to decide which parts of the environment need to be examined. The software components of this architecture include PhysX for the 3D virtual world, OpenCV and the Point Cloud Library for visual processing, and the Soar cognitive architecture, which controls the perceptual processing and robot planning. The hardware is a custom-built pan-tilt stereo color camera. We describe experiments using both

Video. Natural Orifice Translumenal Endoscopic Surgery with a miniature in vivo surgical robot.

PubMed

Lehman, Amy C; Dumpert, Jason; Wood, Nathan A; Visty, Abigail Q; Farritor, Shane M; Varnell, Brandon; Oleynikov, Dmitry

2009-07-01

The application of flexible endoscopy tools for Natural Orifice Translumenal Endoscopic Surgery (NOTES) is constrained due to limitations in dexterity, instrument insertion, navigation, visualization, and retraction. Miniature endolumenal robots can mitigate these constraints by providing a stable platform for visualization and dexterous manipulation. This video demonstrates the feasibility of using an endolumenal miniature robot to improve vision and to apply off-axis forces for task assistance in NOTES procedures. A two-armed miniature in vivo robot has been developed for NOTES. The robot is remotely controlled, has on-board cameras for guidance, and grasper and cautery end effectors for manipulation. Two basic configurations of the robot allow for flexibility during insertion and rigidity for visualization and tissue manipulation. Embedded magnets in the body of the robot and in an exterior surgical console are used for attaching the robot to the interior abdominal wall. This enables the surgeon to arbitrarily position the robot throughout a procedure. The visualization and task assistance capabilities of the miniature robot were demonstrated in a nonsurvivable NOTES procedure in a porcine model. An endoscope was used to create a transgastric incision and advance an overtube into the peritoneal cavity. The robot was then inserted through the overtube and into the peritoneal cavity using an endoscope. The surgeon successfully used the robot to explore the peritoneum and perform small-bowel dissection. This study has demonstrated the feasibility of inserting an endolumenal robot per os. Once deployed, the robot provided visualization and dexterous capabilities from multiple orientations. Further miniaturization and increased dexterity will enhance future capabilities.

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.

Robot-Assisted Transoral Odontoidectomy : Experiment in New Minimally Invasive Technology, a Cadaveric Study

PubMed Central

Yang, Moon Sul; Yoon, Tae Ho; Yoon, Do Heum; Kim, Keung Nyun; Pennant, William

2011-01-01

Objective In the field of spinal surgery, a few laboratory results or clinical cases about robotic spinal surgery have been reported. In vivo trials and development of related surgical instruments for spinal surgery are required before its clinical application. We investigated the use of the da Vinci® Surgical System in spinal surgery at the craniovertebral junction in a human cadaver to demonstrate the efficacy and pitfalls of robotic surgery. Methods Dissection of pharyngeal wall to the exposure of C1 and odontoid process was performed with full robotic procedure. Although assistance of another surgeon was necessary for drilling and removal of odontoid process due to the lack of appropriate end-effectors, successful robotic procedures for dural sutures and exposing spinal cord proved its safety and dexterity. Results Robot-assisted odontoidectomy was successfully performed in a human cadaver using the da Vinci® Surgical System with few robotic arm collisions and minimal soft tissue damages. Da Vinci® Surgical System manifested more dexterous movement than human hands in the deep and narrow oral cavity. Furthermore, sutures with robotic procedure in the oral cavity demonstrated the advantage over conventional procedure. Conclusion Presenting cadaveric study proved the probability of robot-assisted transoral approach. However, the development of robotic instruments specific to spinal surgery must first precede its clinical application. PMID:21607188

Balancing on the Edge: An Approach to Leadership and Resiliency that Combines Rock Climbing with Four Key Touch Points

ERIC Educational Resources Information Center

Winkler, Harold E.

2005-01-01

In this article, the author compares leadership and resiliency with rock climbing. It describes the author's personal experience on a rock climbing adventure with his family and how it required application of similar elements as that of leadership and resiliency. The article contains the following sections: (1) Being Resilient; (2) Points of…

Robotics Systems Joint Project Office (RSJPO) Interoperability Profiles (IOPS) 101

DTIC Science & Technology

2012-07-01

interoperability, although they are supported by some interoperability attributes  For example, stair climbing » Stair climbing is not something that...IOPs need to specify » However, the mobility & actuation related interoperable messages can be used to provide stair climbing » Also...interoperability can enable management of different poses or modes, one of which may be stair climbing R O B O T IC S Y S T E M S J P O L e a d e r s h i p

Mouse shoulder morphology responds to locomotor activity and the kinematic differences of climbing and running.

PubMed

Green, David J; Richmond, Brian G; Miran, Sara L

2012-12-01

Mechanical loads play a significant role in determining long bone shape and strength, but less work has explored how these loads influence flat bones like the scapula, which has been shown to vary with locomotor preference among primate taxa. Here, we tested the effects of voluntary running and climbing exercise in mice to examine how the mechanical loads borne from different locomotor patterns influence shoulder morphological development. Ninety-nine female wild-type mice were distributed equally among sedentary control, activity-wheel running, and vertical climbing experimental conditions. Running mice had the lowest body masses, larger intrinsic shoulder muscles, and the most pronounced differences in scapular size and shape relative to the other groups. Climbing mouse scapular morphology also differed significantly from the control individuals, but these differences were not as marked as those between the running and control mice. This might be attributable in part to greater levels of activity in the wheel-runners relative to the climbers. Additionally, climbing mice held their bodies closer to the substrate and maintained more flexed limbs and posterior hand positions compared with the kinematics of running. As a result, climbers differed significantly from both the running and control mice in developing a relatively broader infraspinous region, which is likely related to preferential recruitment of the infraspinatus and teres minor muscles to maintain flexed shoulder postures. The results of this study demonstrate that variation in activity level and type of locomotor regime over a significant portion of the life history influences muscle and bone development in the shoulder. Copyright © 2012 Wiley Periodicals, Inc.

Is lower peripheral information weighted differently as a function of step number during step climbing?

PubMed

Graci, Valentina; Rabuffetti, Marco; Frigo, Carlo; Ferrarin, Maurizio

2017-02-01

The importance of peripheral visual information during stair climbing and how peripheral visual information is weighted as a function of step number during step climbing is unclear. Previous authors postulated that the knowledge of predictable characteristics of the steps may decrease reliance on foveal vision and transfer the online visual guidance of stair climbing to peripheral vision. Hence the aim of this study was to investigate if and how the occlusion of the lower peripheral visual field influenced stair climbing and if peripheral visual information was weighted differently between steps. Ten young adult male participants ascended a 5-step staircase under 2 visual conditions: full vision (FV) and lower visual occlusion (LO). Kinematic data (100Hz) were collected. The effect of Vision and Step condition on vertical forefoot clearance was examined with a Repeated Measures 2-way ANOVA. Tukey's HSD test was used for post-hoc comparisons. A significant interaction Vision x Step and main effect of Step were found (p<=0.04): vertical forefoot clearance was greater in LO compared to FV condition only on the 1st and the 2nd steps (p<0.013) and on the last step compared to the other steps (p<0.01). These findings suggest that online peripheral visual information is more relevant when negotiating the first two steps, rather than the end of a staircase and that the steps subsequent the first few ones may require different information likely based on proprioception or working memory of the step height. Copyright © 2016 Elsevier B.V. All rights reserved.

[Robot assisted Frykman-Goldberg procedure. Case report].

PubMed

Zubieta-O'Farrill, Gregorio; Ramírez-Ramírez, Moisés; Villanueva-Sáenz, Eduardo

2017-12-01

Rectal prolapse is defined as the protrusion of the rectal wall through the anal canal; with a prevalence of less than 0.5%. The most frequent symptoms include pain, incomplete defecation sensation with blood and mucus, fecal incontinence and/or constipation. The surgical approach can be perineal or abdominal with the tendency for minimal invasion. Robot-assisted procedures are a novel option that offer technique advantages over open or laparoscopic approaches. 67 year-old female, who presented with rectal prolapse, posterior to an episode of constipation, that required manual reduction, associated with transanal hemorrhage during defecation and occasional fecal incontinence. A RMI defecography was performed that reported complete rectal and uterine prolapse, and cystocele. A robotic assisted Frykman-Goldberg procedure wass performed. There are more than 100 surgical procedures for rectal prolapse treatment. We report the first robot assisted procedure in Mexico. Robotic assisted surgery has the same safety rate as laparoscopic surgery, with the advantages of better instrument mobility, no human hand tremor, better vision, and access to complicated and narrow areas. Robotic surgery as the surgical treatment is a feasible, safe and effective option, there is no difference in recurrence and function compared with laparoscopy. It facilitates the technique, improves nerve preservation and bleeding. Further clinical, prospective and randomized studies to compare the different minimal invasive approaches, their functional and long term results for this pathology are needed. Copyright © 2016 Academia Mexicana de Cirugía A.C. Publicado por Masson Doyma México S.A. All rights reserved.

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…

Robot for Investigations and Assessments of Nuclear Areas

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

Kanaan, Daniel; Dogny, Stephane

RIANA is a remote controlled Robot dedicated for Investigations and Assessments of Nuclear Areas. The development of RIANA is motivated by the need to have at disposal a proven robot, tested in hot cells; a robot capable of remotely investigate and characterise the inside of nuclear facilities in order to collect efficiently all the required data in the shortest possible time. It is based on a wireless medium sized remote carrier that may carry a wide variety of interchangeable modules, sensors and tools. It is easily customised to match specific requirements and quickly configured depending on the mission and themore » operator's preferences. RIANA integrates localisation and navigation systems. The robot will be able to generate / update a 2D map of its surrounding and exploring areas. The position of the robot is given accurately on the map. Furthermore, the robot will be able to autonomously calculate, define and follow a trajectory between 2 points taking into account its environment and obstacles. The robot is configurable to manage obstacles and restrict access to forbidden areas. RIANA allows an advanced control of modules, sensors and tools; all collected data (radiological and measured data) are displayed in real time in different format (chart, on the generated map...) and stored in a single place so that may be exported in a convenient format for data processing. This modular design gives RIANA the flexibility to perform multiple investigation missions where humans cannot work such as: visual inspections, dynamic localization and 2D mapping, characterizations and nuclear measurements of floor and walls, non destructive testing, samples collection: solid and liquid. The benefits of using RIANA are: - reducing the personnel exposures by limiting the manual intervention time, - minimizing the time and reducing the cost of investigation operations, - providing critical inputs to set up and optimize cleanup and dismantling operations. (authors)« less

Integrating technical rock climbing into protected area management: a case example of Minnewaska State Park Preserve, New York State

Treesearch

Jennifer A. Cairo; Thomas L. Cobb

1998-01-01

In the fall of 1996, technical rock climbing was introduced as a regulated outdoor recreation activity in Minnewaska State Park Preserve, situated in the Shawangunk Mountain region of New York State. It is the first instance in which rock climbing has been sanctioned by the New York State Office of Parks, Recreation and Historic Preservation. This paper identifies key...

A novel technique for robot assisted latissimus dorsi flap harvest.

PubMed

Chung, Jae-Hyun; You, Hi-Jin; Kim, Hyon-Surk; Lee, Byung-Il; Park, Seung-Ha; Yoon, Eul-Sik

2015-07-01

A robotic surgery technique of harvesting the latissimus dorsi muscle flap has technical advantages over endoscopic harvest and cosmetic advantages over the open technique. The authors introduce a new transaxillary gasless technique using an articulated long retractor for robot assisted latissimus dorsi flap harvest. Twelve robot assisted latissimus dorsi muscle flaps were harvested: 3 cases of delayed reconstruction following tissue expander insertion or breast conserving surgery; 4 cases of immediate reconstruction following nipple-sparing mastectomy; and 5 cases of chest wall deformity correction in patients with Poland syndrome. A specially designed articulated long retractor was used to maintain adequate working space and enable latissimus dorsi muscle dissection without gas insufflation. Twelve muscle flaps were successfully harvested in 12 patients without converting to an open technique. The mean docking time was 54.6 min, and the mean operative time and robotic time were 400.4 min and 85.8 min, respectively. There were no donor site complications or flap problems. Average follow-up was 15.7 months. All patients were satisfied with their esthetic results, especially the absence of visible scars. The novel robot assisted latissimus dorsi harvest technique is a safe alternative to the conventional method. Copyright © 2015. Published by Elsevier Ltd.

Cerebellar motor learning versus cerebellar motor timing: the climbing fibre story

PubMed Central

Llinás, Rodolfo R

2011-01-01

Abstract Theories concerning the role of the climbing fibre system in motor learning, as opposed to those addressing the olivocerebellar system in the organization of motor timing, are briefly contrasted. The electrophysiological basis for the motor timing hypothesis in relation to the olivocerebellar system is treated in detail. PMID:21486816

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.

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.

Coherent vibrational climbing in carboxyhemoglobin

PubMed Central

Ventalon, Cathie; Fraser, James M.; Vos, Marten H.; Alexandrou, Antigoni; Martin, Jean-Louis; Joffre, Manuel

2004-01-01

We demonstrate vibrational climbing in the CO stretch of carboxyhemoglobin pumped by midinfrared chirped ultrashort pulses. By use of spectrally resolved pump-probe measurements, we directly observed the induced absorption lines caused by excited vibrational populations up to v = 6. In some cases, we also observed stimulated emission, providing direct evidence of vibrational population inversion. This study provides important spectroscopic parameters on the CO stretch in the strong-field regime, such as transition frequencies and dephasing times up to the v = 6to v = 7 vibrational transition. We measured equally spaced vibrational transitions, in agreement with the energy levels of a Morse potential up to v = 6. It is interesting that the integral of the differential absorption spectra was observed to deviate far from zero, in contrast to what one would expect from a simple one-dimensional Morse model assuming a linear dependence of dipole moment with bond length. PMID:15319472

A multi-component stair climbing promotional campaign targeting calorific expenditure for worksites; a quasi-experimental study testing effects on behaviour, attitude and intention

PubMed Central

2012-01-01

Background Accumulation of lifestyle physical activity is a current aim of health promotion, with increased stair climbing one public health target. While the workplace provides an opportunity for regular stair climbing, evidence for effectiveness of point-of-choice interventions is equivocal. This paper reports a new approach to worksite interventions, aimed at changing attitudes and, hence, behaviour. Methods Pre-testing of calorific expenditure messages used structured interviews with members of the public (n = 300). Effects of multi-component campaigns on stair climbing were tested with quasi-experimental, interrupted time-series designs. In one worksite, a main campaign poster outlining the amount of calorific expenditure obtainable from stair climbing and a conventional point-of-choice prompt were used (Poster alone site). In a second worksite, additional messages in the stairwell about calorific expenditure reinforced the main campaign (Poster + Stairwell messages site). The outcome variables were automated observations of stair and lift ascent (28,854) and descent (29,352) at baseline and for three weeks after the intervention was installed. Post-intervention questionnaires for employees at the worksites assessed responses to the campaign (n = 253). Analyses employed Analysis of Variance with follow-up Bonferroni t-tests (message pre-testing), logistic regression of stair ascent and descent (campaign testing), and Bonferroni t-tests and multiple regression (follow-up questionnaire). Results Pre-testing of messages based on calorific expenditure suggested they could motivate stair climbing if believed. The new campaign increased stair climbing, with greater effects at the Poster + Stairwell messages site (OR = 1.52, 95% CI = 1.40-1.66) than Posters alone (OR = 1.24, 95% CI = 1.15-1.34). Follow-up revealed higher agreement with two statements about calorific outcomes of stair climbing in the site where they were installed in

Model of a training program in robotic surgery and its initial results.

PubMed

Madureira, Fernando Athayde Veloso; Varela, José Luís Souza; Madureira, Delta; D'Almeida, Luis Alfredo Vieira; Madureira, Fábio Athayde Veloso; Duarte, Alexandre Miranda; Vaz, Otávio Pires; Ramos, José Reinan

2017-01-01

to describe the implementation of a training program in robotic surgery and to point the General Surgery procedures that can be performed with advantages using the robotic platform. we conducted a retrospective analysis of data collected prospectively from the robotic surgery group in General and Colo-Retal Surgery at the Samaritan Hospital (Rio de Janeiro, Brazil), from October 2012 to December 2015. We describe the training stages and particularities. two hundred and ninety three robotic operations were performed in general surgery: 108 procedures for morbid obesity, 59 colorectal surgeries, 55 procedures in the esophago-gastric transition area, 16 cholecystectomies, 27 abdominal wall hernioplasties, 13 inguinal hernioplasties, two gastrectomies with D2 lymphadenectomy, one vagotomy, two diaphragmatic hernioplasties, four liver surgeries, two adrenalectomies, two splenectomies, one pancreatectomy and one bilio-digestive anastomosis. The complication rate was 2.4%, with no major complications. the robotic surgery program of the Samaritan Hospital was safely implemented and with initial results better than the ones described in the current literature. There seems to be benefits in using the robotic platform in super-obese patients, re-operations of obesity surgery and hiatus hernias, giant and paraesophageal hiatus hernias, ventral hernias with multiple defects and rectal resections.

Summer climbing incidents occurring on Fujisan's north face from 1989 to 2008.

PubMed

Jones, Thomas E; Yamamoto, Kiyotatsu; Hayashi, Uichi; Jones, Nicholas R

2014-12-01

Few studies exist on climbing-related incidents at Fujisan, although it is Japan's highest peak at 3776 m, and attracts dense crowds of summer climbers. A retrospective review was thus conducted to analyze the types of incidents and the demographics of climbers involved. Police reports of summer climbing incidents occurring along the Yoshida trail on Fujisan's north face from 1989 to 2008 were reviewed. Variables assessed included climber age, sex, experience, gear, altitude of incident, and whether the incident occurred during ascent or descent, as well as the cause and severity of any associated injury. A total of 155 incident reports were assessed, including 28 deaths mostly attributable to cardiac events occurring among male climbers during ascent. The majority of nonfatal incidents occurred during descent and most involved tripping. More than half of all incidents were reported at the 8th step (approximately 3000 m). The frequent appearance of male climbers without experience or adequate footwear reflects Fujisan's summer demographics, yet the injury rate appears higher among older climbers more than 50 years of age. There were also 28 noninjury incidents attributed to acute mountain sickness or fatigue. This retrospective review describes the demographics of summer climbing incidents on Fujisan's north face. Additionally, limitations to the current method of incident reporting were identified. More comprehensive recordkeeping would increase understanding of injuries and illness, which could improve resource allocation and reduce the risk of fatalities from out-of-hospital cardiac events. Copyright © 2014 Wilderness Medical Society. Published by Elsevier Inc. All rights reserved.

On Heels and Toes: How Ants Climb with Adhesive Pads and Tarsal Friction Hair Arrays

PubMed Central

Endlein, Thomas; Federle, Walter

2015-01-01

Ants are able to climb effortlessly on vertical and inverted smooth surfaces. When climbing, their feet touch the substrate not only with their pretarsal adhesive pads but also with dense arrays of fine hairs on the ventral side of the 3rd and 4th tarsal segments. To understand what role these different attachment structures play during locomotion, we analysed leg kinematics and recorded single-leg ground reaction forces in Weaver ants (Oecophylla smaragdina) climbing vertically on a smooth glass substrate. We found that the ants engaged different attachment structures depending on whether their feet were above or below their Centre of Mass (CoM). Legs above the CoM pulled and engaged the arolia (‘toes’), whereas legs below the CoM pushed with the 3rd and 4th tarsomeres (‘heels’) in surface contact. Legs above the CoM carried a significantly larger proportion of the body weight than legs below the CoM. Force measurements on individual ant tarsi showed that friction increased with normal load as a result of the bending and increasing side contact of the tarsal hairs. On a rough sandpaper substrate, the tarsal hairs generated higher friction forces in the pushing than in the pulling direction, whereas the reverse effect was found on the smooth substrate. When the tarsal hairs were pushed, buckling was observed for forces exceeding the shear forces found in climbing ants. Adhesion forces were small but not negligible, and higher on the smooth substrate. Our results indicate that the dense tarsal hair arrays produce friction forces when pressed against the substrate, and help the ants to push outwards during horizontal and vertical walking. PMID:26559941

On Heels and Toes: How Ants Climb with Adhesive Pads and Tarsal Friction Hair Arrays.

PubMed

Endlein, Thomas; Federle, Walter

2015-01-01

Ants are able to climb effortlessly on vertical and inverted smooth surfaces. When climbing, their feet touch the substrate not only with their pretarsal adhesive pads but also with dense arrays of fine hairs on the ventral side of the 3rd and 4th tarsal segments. To understand what role these different attachment structures play during locomotion, we analysed leg kinematics and recorded single-leg ground reaction forces in Weaver ants (Oecophylla smaragdina) climbing vertically on a smooth glass substrate. We found that the ants engaged different attachment structures depending on whether their feet were above or below their Centre of Mass (CoM). Legs above the CoM pulled and engaged the arolia ('toes'), whereas legs below the CoM pushed with the 3rd and 4th tarsomeres ('heels') in surface contact. Legs above the CoM carried a significantly larger proportion of the body weight than legs below the CoM. Force measurements on individual ant tarsi showed that friction increased with normal load as a result of the bending and increasing side contact of the tarsal hairs. On a rough sandpaper substrate, the tarsal hairs generated higher friction forces in the pushing than in the pulling direction, whereas the reverse effect was found on the smooth substrate. When the tarsal hairs were pushed, buckling was observed for forces exceeding the shear forces found in climbing ants. Adhesion forces were small but not negligible, and higher on the smooth substrate. Our results indicate that the dense tarsal hair arrays produce friction forces when pressed against the substrate, and help the ants to push outwards during horizontal and vertical walking.

78 FR 39649 - Physical Medicine Devices; Reclassification of Stair-Climbing Wheelchairs; Correction

Federal Register 2010, 2011, 2012, 2013, 2014

2013-07-02

... DEPARTMENT OF HEALTH AND HUMAN SERVICES Food and Drug Administration 21 CFR Part 890 [Docket No. FDA-2013-N-0568] Physical Medicine Devices; Reclassification of Stair-Climbing Wheelchairs; Correction AGENCY: Food and Drug Administration, HHS. ACTION: Proposed order; correction. SUMMARY: The Food and Drug...

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 ...

KSC-2013-1791

NASA Image and Video Library

2013-03-08

ORLANDO, Fla. – Teams of high school students prepare robots for competition in the University of Central Florida Arena as part of the FIRST Robotics Competition's 2013 Orlando Regional. The student-built robots were required to throw discs into boxes or make climbs to score points. Photo credit: NASA/Frankie Martin

KSC-2013-1802

NASA Image and Video Library

2013-03-08

ORLANDO, Fla. – The Pink Team cheers as their robot competes in the University of Central Florida Arena as part of the FIRST Robotics Competition's 2013 Orlando Regional. The student-built robots were required to throw discs into boxes or make climbs to score points. Photo credit: NASA/Frankie Martin

KSC-2013-1803

NASA Image and Video Library

2013-03-08

ORLANDO, Fla. – Robots built and operated by teams of high school students compete in the University of Central Florida Arena as part of the FIRST Robotics Competition's 2013 Orlando Regional. The robots were required to throw discs into boxes or make climbs to score points. Photo credit: NASA/Frankie Martin

KSC-2013-1799

NASA Image and Video Library

2013-03-08

ORLANDO, Fla. – Robots built and operated by teams of high school students compete in the University of Central Florida Arena as part of the FIRST Robotics Competition's 2013 Orlando Regional. The robots were required to throw discs into boxes or make climbs to score points. Photo credit: NASA/Frankie Martin

A Demonstration of Helping Adolescents with Mild Intellectual Disability Climb Ladders

ERIC Educational Resources Information Center

Chan, Kok Hoe Anthony; Varahan, Jayashree Lakshmi; Loh, Peng Loong Daniel; Tan, Sey Ing

2011-01-01

A research team at a vocational school in Singapore, catering mainly to students between the ages of 17-21 with mild intellectual disability, studied how to best address the challenge of enabling students to learn how to climb ladders (a skill necessary at many job placements). They documented the approach used and suggested extrapolations and…

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.

Consumption climbs in central and eastern countries, stagnates in the west : markets for paper, paperboard and woodpulp, 2003-2004

Treesearch

Peter J. Ince; Eduard Akim; Bernard Lombard; Tomas Parik

2004-01-01

Annual paper and paperboard output climbed by 2.2% in the EU/EFTA subregion in 2003, a record year for European papermakers, while the subregion’s woodpulp output climbed by 2.8%. Higher paper and paperboard exports from the EU/EFTA subregion to non-UNECE countries, and a 16% increase in net exports in 2003, propelled expansion of output. Paper and paperboard...

Trunk and lower limb biomechanics during stair climbing in people with and without symptomatic femoroacetabular impingement.

PubMed

Hammond, Connor A; Hatfield, Gillian L; Gilbart, Michael K; Garland, S Jayne; Hunt, Michael A

2017-02-01

Femoroacetabular impingement is a pathomechanical hip condition leading to pain and impaired physical function. It has been shown that those with femoroacetabular impingement exhibit altered gait characteristics during level walking and stair climbing, and decreased muscle force production during isometric muscle contractions. However, no studies to-date have looked at trunk kinematics or muscle activation during dynamic movements such as stair climbing in this patient population. The purpose of this study was to compare biomechanical outcomes (trunk and lower limb kinematics as well as lower limb kinetics and muscle activation) during stair climbing in those with and without symptomatic femoroacetabular impingement. Trunk, hip, knee and ankle kinematics, as well as hip, knee and ankle kinetics and muscle activity of nine lower limb muscles were collected during stair climbing for 20 people with clinical and radiographic femoroacetabular impingement and compared to 20 age- and sex-matched pain-free individuals. Those with femoroacetabular impingement ascended the stairs slower (effect size=0.82), had significantly increased peak trunk forward flexion angles (effect size=0.99) and external hip flexion moments (effect size=0.94) and had decreased peak external knee flexion moments (effect size=0.90) compared to the control group. Findings from this study indicate that while those with and without femoroacetabular impingement exhibit many biomechanical similarities when ascending stairs, differences in trunk forward flexion and joint kinetics indicate some important differences. Further longitudinal research is required to elucidate the cause of these differences as well as the clinical relevance. Copyright © 2017 Elsevier Ltd. All rights reserved.

Hill-Climbing search and diversification within an evolutionary approach to protein structure prediction.

PubMed

Chira, Camelia; Horvath, Dragos; Dumitrescu, D

2011-07-30

Proteins are complex structures made of amino acids having a fundamental role in the correct functioning of living cells. The structure of a protein is the result of the protein folding process. However, the general principles that govern the folding of natural proteins into a native structure are unknown. The problem of predicting a protein structure with minimum-energy starting from the unfolded amino acid sequence is a highly complex and important task in molecular and computational biology. Protein structure prediction has important applications in fields such as drug design and disease prediction. The protein structure prediction problem is NP-hard even in simplified lattice protein models. An evolutionary model based on hill-climbing genetic operators is proposed for protein structure prediction in the hydrophobic - polar (HP) model. Problem-specific search operators are implemented and applied using a steepest-ascent hill-climbing approach. Furthermore, the proposed model enforces an explicit diversification stage during the evolution in order to avoid local optimum. The main features of the resulting evolutionary algorithm - hill-climbing mechanism and diversification strategy - are evaluated in a set of numerical experiments for the protein structure prediction problem to assess their impact to the efficiency of the search process. Furthermore, the emerging consolidated model is compared to relevant algorithms from the literature for a set of difficult bidimensional instances from lattice protein models. The results obtained by the proposed algorithm are promising and competitive with those of related methods.

Development and Testing of a Hybrid Wheg (trademark)-Mobile Platform for Autonomous Surf-Zone Operations

DTIC Science & Technology

2011-12-01

7 Figure 2.1 Force body diagram of a wheel. . . . . . . . . . . . . . . . . . . . . . 9 Figure 2.2 Force body diagram of a person climbing stairs ...person climbing stairs . . . . . 10 Figure 2.4 Plot of the height of center above ground vs. rotation angle for a wheel and Wheg...tail was able to climb an obstacle six centimeters higher than a similar robot with six Whegs [6].The addition of a tail shifted the center of mass

Neurobiological degeneracy and affordance perception support functional intra-individual variability of inter-limb coordination during ice climbing.

PubMed

Seifert, Ludovic; Wattebled, Léo; Herault, Romain; Poizat, Germain; Adé, David; Gal-Petitfaux, Nathalie; Davids, Keith

2014-01-01

This study investigated the functional intra-individual movement variability of ice climbers differing in skill level to understand how icefall properties were used by participants as affordances to adapt inter-limb coordination patterns during performance. Seven expert climbers and seven beginners were observed as they climbed a 30 m icefall. Movement and positioning of the left and right hand ice tools, crampons and the climber's pelvis over the first 20 m of the climb were recorded and digitized using video footage from a camera (25 Hz) located perpendicular to the plane of the icefall. Inter-limb coordination, frequency and types of action and vertical axis pelvis displacement exhibited by each climber were analysed for the first five minutes of ascent. Participant perception of climbing affordances was assessed through: (i) calculating the ratio between exploratory movements and performed actions, and (ii), identifying, by self-confrontation interviews, the perceptual variables of environmental properties, which were significant to climbers for their actions. Data revealed that experts used a wider range of upper and lower limb coordination patterns, resulting in the emergence of different types of action and fewer exploratory movements, suggesting that effective holes in the icefall provided affordances to regulate performance. In contrast, beginners displayed lower levels of functional intra-individual variability of motor organization, due to repetitive swinging of ice tools and kicking of crampons to achieve and maintain a deep anchorage, suggesting lack of perceptual attunement and calibration to environmental properties to support climbing performance.

77 FR 33777 - General Aviation Safety Forum: Climbing to the Next Level

Federal Register 2010, 2011, 2012, 2013, 2014

2012-06-07

... NATIONAL TRANSPORTATION SAFETY BOARD General Aviation Safety Forum: Climbing to the Next Level The National Transportation Safety Board (NTSB) will convene a 2- day forum focused on safety issues related to... the Next Level,'' will be chaired by NTSB Chairman Deborah A. P. Hersman and all five Board Members...

Robotic Lobectomy Utilizing the Robotic Stapler.

PubMed

Pearlstein, Daryl Phillip

2016-12-01

A drawback of robotic lobectomy is the inability of the operating surgeon to perform stapler division of the pulmonary vessels and bronchi. With the advent of the robotic stapler, the surgeon is able to control this instrument from the console. The robotic stapler presents certain challenges. This article outlines techniques to use the robotic stapler for the safe and predictable performance of lobectomies. Copyright © 2016 The Society of Thoracic Surgeons. Published by Elsevier Inc. All rights reserved.

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.

Molecular Robots Obeying Asimov's Three Laws of Robotics.

PubMed

Kaminka, Gal A; Spokoini-Stern, Rachel; Amir, Yaniv; Agmon, Noa; Bachelet, Ido

2017-01-01

Asimov's three laws of robotics, which were shaped in the literary work of Isaac Asimov (1920-1992) and others, define a crucial code of behavior that fictional autonomous robots must obey as a condition for their integration into human society. While, general implementation of these laws in robots is widely considered impractical, limited-scope versions have been demonstrated and have proven useful in spurring scientific debate on aspects of safety and autonomy in robots and intelligent systems. In this work, we use Asimov's laws to examine these notions in molecular robots fabricated from DNA origami. We successfully programmed these robots to obey, by means of interactions between individual robots in a large population, an appropriately scoped variant of Asimov's laws, and even emulate the key scenario from Asimov's story "Runaround," in which a fictional robot gets into trouble despite adhering to the laws. Our findings show that abstract, complex notions can be encoded and implemented at the molecular scale, when we understand robots on this scale on the basis of their interactions.

When Affordances Climb into Your Mind: Advantages of Motor Simulation in a Memory Task Performed by Novice and Expert Rock Climbers

ERIC Educational Resources Information Center

Pezzulo, Giovanni; Barca, Laura; Bocconi, Alessandro Lamberti; Borghi, Anna M.

2010-01-01

Does the sight of multiple climbing holds laid along a path activate a motor simulation of climbing that path? One way of testing whether multiple affordances and their displacement influence the formation of a motor simulation is to study acquired motor skills. We used a behavioral task in which expert and novice rock climbers were shown three…

Evaluation of Teaching Signals for Motor Control in the Cerebellum during Real-World Robot Application.

PubMed

Pinzon Morales, Ruben Dario; Hirata, Yutaka

2016-12-20

Motor learning in the cerebellum is believed to entail plastic changes at synapses between parallel fibers and Purkinje cells, induced by the teaching signal conveyed in the climbing fiber (CF) input. Despite the abundant research on the cerebellum, the nature of this signal is still a matter of debate. Two types of movement error information have been proposed to be plausible teaching signals: sensory error (SE) and motor command error (ME); however, their plausibility has not been tested in the real world. Here, we conducted a comparison of different types of CF teaching signals in real-world engineering applications by using a realistic neuronal network model of the cerebellum. We employed a direct current motor (simple task) and a two-wheeled balancing robot (difficult task). We demonstrate that SE, ME or a linear combination of the two is sufficient to yield comparable performance in a simple task. When the task is more difficult, although SE slightly outperformed ME, these types of error information are all able to adequately control the robot. We categorize granular cells according to their inputs and the error signal revealing that different granule cells are preferably engaged for SE, ME or their combination. Thus, unlike previous theoretical and simulation studies that support either SE or ME, it is demonstrated for the first time in a real-world engineering application that both SE and ME are adequate as the CF teaching signal in a realistic computational cerebellar model, even when the control task is as difficult as stabilizing a two-wheeled balancing robot.

Evaluation of Teaching Signals for Motor Control in the Cerebellum during Real-World Robot Application

PubMed Central

Pinzon Morales, Ruben Dario; Hirata, Yutaka

2016-01-01

Motor learning in the cerebellum is believed to entail plastic changes at synapses between parallel fibers and Purkinje cells, induced by the teaching signal conveyed in the climbing fiber (CF) input. Despite the abundant research on the cerebellum, the nature of this signal is still a matter of debate. Two types of movement error information have been proposed to be plausible teaching signals: sensory error (SE) and motor command error (ME); however, their plausibility has not been tested in the real world. Here, we conducted a comparison of different types of CF teaching signals in real-world engineering applications by using a realistic neuronal network model of the cerebellum. We employed a direct current motor (simple task) and a two-wheeled balancing robot (difficult task). We demonstrate that SE, ME or a linear combination of the two is sufficient to yield comparable performance in a simple task. When the task is more difficult, although SE slightly outperformed ME, these types of error information are all able to adequately control the robot. We categorize granular cells according to their inputs and the error signal revealing that different granule cells are preferably engaged for SE, ME or their combination. Thus, unlike previous theoretical and simulation studies that support either SE or ME, it is demonstrated for the first time in a real-world engineering application that both SE and ME are adequate as the CF teaching signal in a realistic computational cerebellar model, even when the control task is as difficult as stabilizing a two-wheeled balancing robot. PMID:27999381

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)

Maximizing Use of Robot-Arm No. 3 in Da Vinci–Assisted Thoracic Surgery

PubMed Central

Kajiwara, Naohiro; Maeda, Junichi; Yoshida, Koichi; Kato, Yasufumi; Hagiwara, Masaru; Kakihana, Masatoshi; Ohira, Tatsuo; Kawate, Norihiko; Ikeda, Norihiko

2015-01-01

We have previously reported on the importance of appropriate robot-arm settings and replacement of instrument ports in robot-assisted thoracic surgery, because the thoracic cavity requires a large space to access all lesions in various areas of the thoracic cavity from the apex to the diaphragm and mediastinum and the chest wall.1–3 Moreover, it can be difficult to manipulate the da Vinci Surgical System using only arms No. 1 and No. 2 depending on the tumor location. However, arm No. 3 is usually positioned on the same side as arm No. 2, and sometimes it is only used as an assisting-arm to avoid conflict with other arms (Fig. 1). In this report, we show how robot-arm No. 3 can be used with maximum effectiveness in da Vinci-assisted thoracic surgery. PMID:26011219

Wall Climbing Micro Ground Vehicle (MGV)

DTIC Science & Technology

2013-09-01

magnetic attraction, (2) vacuum suction, (3) bio-mimetic techniques such as gecko pads, and (4) adhesion forces generated by aerodynamic principles, also...large attractive forces, but are limited to ferrous surfaces. Vacuum suction, such as in suction cups, also has the ability to create large adhesion...clean. Vortex adhesion does not require a perfect seal like vacuum suction and has the ability to travel over porous surfaces such as brick and

Robotics: An Introduction to Today’s Robot and Future Trends.

DTIC Science & Technology

1983-07-01

trial applications." What qualities define a machine as a robot? The Robot Institute of Amer- ica defines a robot as follows: "A robot is a reprogrammable ...manufactures a robot with a spin- ning wrist. Second, and this is the key feature, robots are reprogrammable and hence versatile. An automatic lathe is not...robot spot-welds an automobile frame. In Figure 8, a single robot transferring a transmission case is shown, but a total of eight robots are

Modelling of industrial robot in LabView Robotics

NASA Astrophysics Data System (ADS)

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

2017-08-01

Currently can find many models of industrial systems including robots. These models differ from each other not only by the accuracy representation parameters, but the representation range. For example, CAD models describe the geometry of the robot and some even designate a mass parameters as mass, center of gravity, moment of inertia, etc. These models are used in the design of robotic lines and sockets. Also systems for off-line programming use these models and many of them can be exported to CAD. It is important to note that models for off-line programming describe not only the geometry but contain the information necessary to create a program for the robot. Exports from CAD to off-line programming system requires additional information. These models are used for static determination of reachability points, and testing collision. It’s enough to generate a program for the robot, and even check the interaction of elements of the production line, or robotic cell. Mathematical models allow robots to study the properties of kinematic and dynamic of robot movement. In these models the geometry is not so important, so are used only selected parameters such as the length of the robot arm, the center of gravity, moment of inertia. These parameters are introduced into the equations of motion of the robot and motion parameters are determined.

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

Flexible robotic catheters in the visceral segment of the aorta: advantages and limitations.

PubMed

Li, Mimi M; Hamady, Mohamad S; Bicknell, Colin D; Riga, Celia V

2018-06-01

Flexible robotic catheters are an emerging technology which provide an elegant solution to the challenges of conventional endovascular intervention. Originally developed for interventional cardiology and electrophysiology procedures, remotely steerable robotic catheters such as the Magellan system enable greater precision and enhanced stability during target vessel navigation. These technical advantages facilitate improved treatment of disease in the arterial tree, as well as allowing execution of otherwise unfeasible procedures. Occupational radiation exposure is an emerging concern with the use of increasingly complex endovascular interventions. The robotic systems offer an added benefit of radiation reduction, as the operator is seated away from the radiation source during manipulation of the catheter. Pre-clinical studies have demonstrated reduction in force and frequency of vessel wall contact, resulting in reduced tissue trauma, as well as improved procedural times. Both safety and feasibility have been demonstrated in early clinical reports, with the first robot-assisted fenestrated endovascular aortic repair in 2013. Following from this, the Magellan system has been used to successfully undertake a variety of complex aortic procedures, including fenestrated/branched endovascular aortic repair, embolization, and angioplasty.

Icing Frequencies Experienced During Climb and Descent by Fighter-Interceptor Aircraft

NASA Technical Reports Server (NTRS)

Perkins, Porter J.

1958-01-01

Data and analyses are presented on the relative frequencies of occurrence and severity of icing cloud layers encountered by jet aircraft in the climb and descent phases of flights to high altitudes. Fighter-interceptor aircraft operated by the Air Defense Command (USAF) at bases in the Duluth and Seattle areas collected the data with icing meters installed for a l-year period. The project was part of an extensive program conducted by the NACA to collect Icing cloud data for evaluating the icing problem relevant to routine operations. The average frequency of occurrence of icing was found to be about 5 percent of the number of climbs and descents during 1 year of operations The icing encounters were predominantly in the low and middle cloud layers, decreasing above 15,000 feet to practically none above 25,000 feet. The greatest thickness of ice that would accumulate on any aircraft component (as indicated by the accretion on a small object) was measured with the icing meters. The ice thicknesses on a small sensing probe averaged less than 1/32 inch and did not exceed 1/2 inch. Such accumulations are relatively small when compared with those that can form during horizontal flight in icing clouds. The light accretions resulted from relatively steep angles of flight through generally thin cloud layers. Because of the limited statistical reliability of the results, an analysis was made using previous statistics on icing clouds below an altitude of 20,000 feet to determine the general icing severity probabilities. The calculations were made using adiabatic lifting as a basis to establish the liquid-water content. Probabilities of over-all ice accretions on a small object as a function of airspeed and rate of climb were computed from the derived water contents. These results were then combined with the probability of occurrence of icing in order to give the icing severity that can be expected for routine aircraft operations.

Deep Infiltrating Colorectal Endometriosis Treated With Robotic-Assisted Rectosigmoidectomy

PubMed Central

Schraibman, Vladimir; Okazaki, Samuel; Maccapani, Gabriel; Chen, Winston Jenning; Domit, Cassia Danielle; Kaufmann, Oskar Grau; Advincula, Arnold P.

2013-01-01

Background and Objective: Deep infiltrating pelvic endometriosis with bowel involvement is one of the most aggressive forms of endometriosis. Nowadays, robotic technology and telemanipulation systems represent the latest developments in minimally invasive surgery. The aim of this study is to present our preliminary results and evaluate the feasibility of robotic-assisted laparoscopic colorectal resection for severe endometriosis. Methods: Between September 2009 and December 2011, 10 women with colorectal endometriosis underwent surgery with the da Vinci robotic surgical system (Intuitive Surgical, Sunnyvale, CA, USA). We evaluated the following parameters: short-term complications, clinical outcomes and long-term follow-up, pain relief recurrence rate, and fertility outcomes. Results: Extensive ureterolysis was required in 8 women (80%). Ovarian cystectomy with removal of the cystic wall was performed in 7 women (70%). Torus resection was performed in all women, with unilateral and bilateral uterosacral ligament resection in 1 woman (10%) and 8 women (80%), respectively. In addition to segmental colorectal resection in all cases, partial vaginal resection was necessary in 2 women (20%). An appendectomy was performed in 2 patients (20%). The mean operative time with the robot was 157 minutes (range, 90–190 minutes). The mean hospital stay was 3 days. Six patients had infertility before surgery, with a mean infertility time of 2 years. After a 12-month follow-up period, 4 women (67%) conceived naturally and 2 (33%) underwent in vitro fertilization. Conclusion: We show that robotic-assisted laparoscopic surgery for the treatment of deep infiltrating bowel endometriosis is feasible, effective, and safe. PMID:23925016

Soft Robotics.

PubMed

Whitesides, George M

2018-04-09

This description of "soft robotics" is not intended to be a conventional review, in the sense of a comprehensive technical summary of a developing field. Rather, its objective is to describe soft robotics as a new field-one that offers opportunities to chemists and materials scientists who like to make "things" and to work with macroscopic objects that move and exert force. It will give one (personal) view of what soft actuators and robots are, and how this class of soft devices fits into the more highly developed field of conventional "hard" robotics. It will also suggest how and why soft robotics is more than simply a minor technical "tweak" on hard robotics and propose a unique role for chemistry, and materials science, in this field. Soft robotics is, at its core, intellectually and technologically different from hard robotics, both because it has different objectives and uses and because it relies on the properties of materials to assume many of the roles played by sensors, actuators, and controllers in hard robotics. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

STS-38 Mission Specialist Gemar climbs into T-38A cockpit at Ellington Field

NASA Image and Video Library

1990-06-18

S90-41527 (August 1990) --- Astronaut Charles D. (Sam) Gemar, prepares to climb aboard on of NASA's T-38 jet trainers, located near the Johnson Space Center (JSC). Gemar began training as an astronaut candidate in summer of 1985.

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

PubMed

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

2015-02-01

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

Robotic surgery.

PubMed

Stoianovici, D

2000-09-01

The industrial revolution demonstrated the capability of robotic systems to facilitate and improve manufacturing. As a result, robotics extended to various other domains, including the delivery of health care. Hence, robots have been developed to assist hospital staff, to facilitate laboratory analyses, to augment patient rehabilitation, and even to advance surgical performance. As robotics lead usefulness and gain wider acceptance among the surgical community, the urologist should become familiar with this new interdisciplinary field and its "URobotics" subset: robotics applied to urology. This article reviews the current applications and experience, issues and debates in surgical robotics, and highlights future directions in the field.

I(CES)-cubes: a modular self-reconfigurable bipartite robotic system

NASA Astrophysics Data System (ADS)

Unsal, Cem; Kiliccote, Han; Khosla, Pradeep K.

1999-08-01

In this manuscript, we introduce I(CES)-Cubes, a class of 3D modular robotic system that is capable of reconfiguring itself in order to adapt to its environment. This is a bipartite system, i.e. a collection of (i) active elements capable of actuation, and (ii) passive elements acting as connectors between actuated elements. Active elements, called links, are 3-DOF manipulators that are capable of attaching/detaching themselves to/from the passive elements. The cubes can then be positioned and oriented using links, which are independent mechatronic elements. Self- reconfiguration property enables the system to performed locomotion tasks over difficult terrain. For example, the system would be capable of moving over obstacles and climbing stairs. These task are performed by positing and orienting cubes and links to form a 3D network with required shape and position. This paper describes the design of the passive and active elements, the attachment mechanics, and several reconfiguration scenarios. Specifics of the hardware implementation and result of experiments with current prototypes are also given.

Interactive Exploration Robots: Human-Robotic Collaboration and Interactions

NASA Technical Reports Server (NTRS)

Fong, Terry

2017-01-01

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

Robotic Surgery

PubMed Central

Lanfranco, Anthony R.; Castellanos, Andres E.; Desai, Jaydev P.; Meyers, William C.

2004-01-01

Objective: To review the history, development, and current applications of robotics in surgery. Background: Surgical robotics is a new technology that holds significant promise. Robotic surgery is often heralded as the new revolution, and it is one of the most talked about subjects in surgery today. Up to this point in time, however, the drive to develop and obtain robotic devices has been largely driven by the market. There is no doubt that they will become an important tool in the surgical armamentarium, but the extent of their use is still evolving. Methods: A review of the literature was undertaken using Medline. Articles describing the history and development of surgical robots were identified as were articles reporting data on applications. Results: Several centers are currently using surgical robots and publishing data. Most of these early studies report that robotic surgery is feasible. There is, however, a paucity of data regarding costs and benefits of robotics versus conventional techniques. Conclusions: Robotic surgery is still in its infancy and its niche has not yet been well defined. Its current practical uses are mostly confined to smaller surgical procedures. PMID:14685095

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.

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.

Robot-assisted lobectomy for non-small cell lung cancer in china: initial experience and techniques.

PubMed

Zhao, Xiaojing; Qian, Liqiang; Lin, Hao; Tan, Qiang; Luo, Qingquan

2010-03-01

To summarize our initial experience in robot-assisted thoracoscopic lobectomy. Methods Five patients underwent lobectomy using da Vinci S HD Surgical System (Intuitive Surgical, Sunnyvale, California). During the operation, we respectively made four ports over chest wall for positioning robotic endoscope, left and right robotic arms and auxiliary instruments without retracting ribs. The procedure followed sequential anatomy as complete video-assisted thoracoscopic surgery lobectomy did, and lymph node dissection followed international standard. All patients successfully underwent complete robot-assisted thoracoscopic lobectomy. Neither additional incisions nor emergent conversion to a thoracotomy happened. Frozen dissection during lobectomy showed non-small-cell lung cancer in four patients, who afterwards underwent systemic lymph node dissection, while the case left was with tuberculoma and didn't undergo lymph node dissection. Recurrent air leak occurred in one case, so chest tube was kept for drainage, and one week later, the patient was extubated due to improvement. All other patients recovered well postoperatively without obvious postoperative complications. Robot-assisted thoracoscopic surgery is feasible with good operability, clear visual field, reliable action and its supriority of trouble free; exquisite operative skills are required to ensure a stable and safe operation; robot-assisted surgery is efficiency and patients recover well postoperatively.

[Robotics].

PubMed

Bier, J

2000-05-01

Content of this paper is the current state of the art of robots in surgery and the ongoing work on the field of surgical robotics at the Clinic for Maxillofacial Surgery at the Charité. Robots in surgery allows the surgeon to transform the accuracy of the imaging systems directly during the intervention and to plan an intervention beforehand. In this paper firstly the state of the art is described. Subsequently the scientific work at the clinic is described in detail. The paper closes with a outlook for future applications of robotics systems in maxillofacial surgery.

Robot-Aided Neurorehabilitation: A Robot for Wrist Rehabilitation

PubMed Central

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

2009-01-01

In 1991, a novel robot, MIT-MANUS, was introduced to study the potential that robots might assist in and quantify the neuro-rehabilitation of motor function. MIT-MANUS proved an excellent tool for shoulder and elbow rehabilitation in stroke patients, showing in clinical trials a reduction of impairment in movements confined to the exercised joints. This successful proof of principle as to additional targeted and intensive movement treatment prompted a test of robot training examining other limb segments. This paper focuses on a robot for wrist rehabilitation designed to provide three rotational degrees-of-freedom. The first clinical trial of the device will enroll 200 stroke survivors. Ultimately 160 stroke survivors will train with both the proximal shoulder and elbow MIT-MANUS robot, as well as with the novel distal wrist robot, in addition to 40 stroke survivor controls. So far 52 stroke patients have completed the robot training (ongoing protocol). Here, we report on the initial results on 36 of these volunteers. These results demonstrate that further improvement should be expected by adding additional training to other limb segments. PMID:17894265

Robot-aided neurorehabilitation: a robot for wrist rehabilitation.

PubMed

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

2007-09-01

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

How well can an amoeba climb?

PubMed Central

Fukui, Yoshio; Uyeda, Taro Q. P.; Kitayama, Chikako; Inoué, Shinya

2000-01-01

We report here our efforts to measure the crawling force generated by cells undergoing amoeboid locomotion. In a centrifuge microscope, acceleration was increased until amoebae of Dictyostelium discoideum were “stalled” or no longer able to “climb up.” The “apparent weight” of the amoebae at stalling rpm in myosin mutants depended on the presence of myosin II (but not myosins IA and IB) and paralleled the cortical strength of the cells. Surprisingly, however, the cell stalled not only in low-density media as expected but also in media with densities greater than the cell density where the buoyant force should push the amoeba upward. We find that the leading pseudopod is bent under centrifugal force in all stalled amoebae, suggesting that this pseudopod is very dense indeed. This finding also suggests that directional cell locomotion against resistive forces requires a turgid forward-pointing pseudopod, most likely sustained by cortical actomyosin II. PMID:10963666

Collision recognition and direction changes for small scale fish robots by acceleration sensors

NASA Astrophysics Data System (ADS)

Na, Seung Y.; Shin, Daejung; Kim, Jin Y.; Lee, Bae-Ho

2005-05-01

Typical obstacles are walls, rocks, water plants and other nearby robots for a group of small scale fish robots and submersibles that have been constructed in our lab. Sonar sensors are not employed to make the robot structure simple enough. All of circuits, sensors and processor cards are contained in a box of 9 x 7 x 4 cm dimension except motors, fins and external covers. Therefore, image processing results are applied to avoid collisions. However, it is useful only when the obstacles are located far enough to give images processing time for detecting them. Otherwise, acceleration sensors are used to detect collision immediately after it happens. Two of 2-axes acceleration sensors are employed to measure the three components of collision angles, collision magnitudes, and the angles of robot propulsion. These data are integrated to calculate the amount of propulsion direction change. The angle of a collision incident upon an obstacle is the fundamental value to obtain a direction change needed to design a following path. But there is a significant amount of noise due to a caudal fin motor. Because caudal fin provides the main propulsion for a fish robot, there is a periodic swinging noise at the head of a robot. This noise provides a random acceleration effect on the measured acceleration data at the collision. We propose an algorithm which shows that the MEMS-type accelerometers are very effective to provide information for direction changes in spite of the intrinsic noise after the small scale fish robots have made obstacle collision.

D.R.O.P: The Durable Reconnaissance and Observation Platform

NASA Technical Reports Server (NTRS)

McKenzie, Clifford; Parness, Aaron

2011-01-01

Robots can provide a remote presence in areas that are either inaccessible or too dangerous for humans. However, robots are often limited by their ability to adapt to the terrain or resist environmental factors. The Durable Reconnaissance and Observation Platform (DROP) is a lightweight robot that addresses these challenges with the capability to survive falls from significant heights, carry a useable payload, and traverse a variety of surfaces, including climbing vertical surfaces like wood, stone, and concrete. DROP is manufactured using a combination of rapid prototyping and shape deposition manufacturing. It uses microspine technology to create a new wheel-like design for vertical climbing. To date, DROP has successfully engaged several vertical surfaces, hanging statically without assistance, and traversed horizontal surfaces at approximately 30 cm/s. Unassisted vertical climbing is capable on surfaces up to 85deg at a rate of approximately 25cm*s(sup -1). DROP can also survive falls from up to 3 meters and has the ability to be thrown off of and onto rooftops. Future efforts will focus on improving the microspine wheels, selecting more resilient materials, customizing the controls, and performing more rigorous and quantifiable testing.

Haptic feedback in OP:Sense - augmented reality in telemanipulated robotic surgery.

PubMed

Beyl, T; Nicolai, P; Mönnich, H; Raczkowksy, J; Wörn, H

2012-01-01

In current research, haptic feedback in robot assisted interventions plays an important role. However most approaches to haptic feedback only regard the mapping of the current forces at the surgical instrument to the haptic input devices, whereas surgeons demand a combination of medical imaging and telemanipulated robotic setups. In this paper we describe how this feature is integrated in our robotic research platform OP:Sense. The proposed method allows the automatic transfer of segmented imaging data to the haptic renderer and therefore allows enriching the haptic feedback with virtual fixtures based on imaging data. Anatomical structures are extracted from pre-operative generated medical images or virtual walls are defined by the surgeon inside the imaging data. Combining real forces with virtual fixtures can guide the surgeon to the regions of interest as well as helps to prevent the risk of damage to critical structures inside the patient. We believe that the combination of medical imaging and telemanipulation is a crucial step for the next generation of MIRS-systems.

Robotic intelligence kernel

DOEpatents

Bruemmer, David J [Idaho Falls, ID

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.

Bio-inspired vision based robot control using featureless estimations of time-to-contact.

PubMed

Zhang, Haijie; Zhao, Jianguo

2017-01-31

Marvelous vision based dynamic behaviors of insects and birds such as perching, landing, and obstacle avoidance have inspired scientists to propose the idea of time-to-contact, which is defined as the time for a moving observer to contact an object or surface if the current velocity is maintained. Since with only a vision sensor, time-to-contact can be directly estimated from consecutive images, it is widely used for a variety of robots to fulfill various tasks such as obstacle avoidance, docking, chasing, perching and landing. However, most of existing methods to estimate the time-to-contact need to extract and track features during the control process, which is time-consuming and cannot be applied to robots with limited computation power. In this paper, we adopt a featureless estimation method, extend this method to more general settings with angular velocities, and improve the estimation results using Kalman filtering. Further, we design an error based controller with gain scheduling strategy to control the motion of mobile robots. Experiments for both estimation and control are conducted using a customized mobile robot platform with low-cost embedded systems. Onboard experimental results demonstrate the effectiveness of the proposed approach, with the robot being controlled to successfully dock in front of a vertical wall. The estimation and control methods presented in this paper can be applied to computation-constrained miniature robots for agile locomotion such as landing, docking, or navigation.

Mild dehydration and cycling performance during 5-kilometer hill climbing.

PubMed

Bardis, Costas N; Kavouras, Stavros A; Arnaoutis, Giannis; Panagiotakos, Demosthenes B; Sidossis, Labros S

2013-01-01

Hydration has been shown to be an important factor in performance; however, the effects of mild dehydration during intense cycling are not clear. To determine the influence of mild dehydration on cycling performance during an outdoor climbing trial in the heat (ambient temperature = 29.0°C ± 2.2°C). Crossover study. Outdoor. Ten well-trained, male endurance cyclists (age = 28 ± 5 years, height = 182 ± 0.4 cm, mass = 73 ± 4 kg, maximal oxygen uptake = 56 ± 9 mL·min(-1)·kg(-1), body fat = 23% ± 2%, maximal power = 354 ± 48 W). Participants completed 1 hour of steady-state cycling with or without drinking to achieve the desired pre-exercise hydration level before 5-km hill-climbing cycling. Participants started the 5-km ride either euhydrated (EUH) or dehydrated by -1% of body mass (DEH). Performance time, core temperature, sweat rate, sweat sensitivity, and rating of perceived exertion (RPE). Participants completed the 5-km ride 5.8% faster in the EUH (16.6 ± 2.3 minutes) than DEH (17.6 ± 2.9 minutes) trial (t1 = 10.221, P = .001). Postexercise body mass was -1.4% ± 0.3% for the EUH trial and -2.2% ± 0.2% for the DEH trial (t1 = 191.384, P < .001). Core temperature after the climb was greater during the DEH (39.2°C ± 0.3°C) than EUH (38.8°C ± 0.2°C) trial (t1 = 8.04, P = .005). Sweat rate was lower during the DEH (0.44 ± 0.16 mg·m(-2)·s(-1)) than EUH (0.51 ± 0.16 mg·m(-2)·s(-1)) trial (t8 = 2.703, P = .03). Sweat sensitivity was lower during the DEH (72.6 ± 32 g·°C(-1)·min(-1)) than EUH (102.6 ± 54.2 g·°C(-1)·min(-1)) trial (t8 = 3.072, P = .02). Lastly, RPE after the exercise performance test was higher for the DEH (19.0 ± 1.0) than EUH (17.0 ± 1.0) participants (t9 = -3.36, P = .008). We found mild dehydration decreased cycling performance during a 5-km outdoor hill course, probably due to greater heat strain and greater perceived intensity.

Robotic surgery: new robots and finally some real competition!

PubMed

Rao, Pradeep P

2018-04-01

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

Friction enhancement in concertina locomotion of snakes

PubMed Central

Marvi, Hamidreza; Hu, David L.

2012-01-01

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

Friction enhancement in concertina locomotion of snakes.

PubMed

Marvi, Hamidreza; Hu, David L

2012-11-07

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

Flexible robotic actuators

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

Morin, Stephen A.; Shepherd, Robert F.; Stokes, Adam

Systems and methods for providing flexible robotic actuators are disclosed. Some embodiments of the disclosed subject matter include a soft robot capable of providing a radial deflection motions; a soft tentacle actuator capable of providing a variety of motions and providing transportation means for various types of materials; and a hybrid robotic system that retains desirable characteristics of both soft robots and hard robots. Some embodiments of the disclosed subject matter also include methods for operating the disclosed robotic systems.

Safety at the Summit.

ERIC Educational Resources Information Center

Huddleston, Elizabeth

2001-01-01

Explores how risk-management strategies can make the difference in climbing wall safety. Wall design, adhering to wall construction standards, limiting wall access, and climber evaluation are discussed. (GR)

Multi-robot control interface

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

Bruemmer, David J; Walton, Miles C

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 amore » multi-robot common window comprised of information received from each of the plurality of robots.« less

Robot-assisted Ivor-Lewis esophagectomy with intrathoracic robot-sewn anastomosis.

PubMed

Jin, Runsen; Xiang, Jie; Han, Dingpei; Zhang, Yajie; Li, Hecheng

2017-11-01

This video clip demonstrated a performance of robot-assisted Ivor-Lewis esophagectomy with intrathoracic robot-sewn anastomosis. The patient had an esophageal mass located approximately 33 cm away from incisor, and robot-assisted Ivor-Lewis esophagectomy was applied for him. Importantly, a double-layer esophago-gastric anastomosis was made by robotic hand-sewn suture. Our early experience demonstrated that the robot-sewn intrathoracic anastomosis is feasible and safe with a lower complication rate and the absence of anastomotic leakage.

Local adaptation despite high gene flow in the waterfall-climbing Hawaiian goby, Sicyopterus stimpsoni.

PubMed

Moody, K N; Hunter, S N; Childress, M J; Blob, R W; Schoenfuss, H L; Blum, M J; Ptacek, M B

2015-02-01

Environmental heterogeneity can promote the emergence of locally adapted phenotypes among subpopulations of a species, whereas gene flow can result in phenotypic and genotypic homogenization. For organisms like amphidromous fishes that change habitats during their life history, the balance between selection and migration can shift through ontogeny, making the likelihood of local adaptation difficult to predict. In Hawaiian waterfall-climbing gobies, it has been hypothesized that larval mixing during oceanic dispersal counters local adaptation to contrasting topographic features of streams, like slope gradient, that can select for predator avoidance or climbing ability in juvenile recruits. To test this hypothesis, we used morphological traits and neutral genetic markers to compare phenotypic and genotypic distributions in recruiting juveniles and adult subpopulations of the waterfall-climbing amphidromous goby, Sicyopterus stimpsoni, from the islands of Hawai'i and Kaua'i. We found that body shape is significantly different between adult subpopulations from streams with contrasting slopes and that trait divergence in recruiting juveniles tracked stream topography more so than morphological measures of adult subpopulation differentiation. Although no evidence of population genetic differentiation was observed among adult subpopulations, we observed low but significant levels of spatially and temporally variable genetic differentiation among juvenile cohorts, which correlated with morphological divergence. Such a pattern of genetic differentiation is consistent with chaotic genetic patchiness arising from variable sources of recruits to different streams. Thus, at least in S. stimpsoni, the combination of variation in settlement cohorts in space and time coupled with strong postsettlement selection on juveniles as they migrate upstream to adult habitats provides the opportunity for morphological adaptation to local stream environments despite high gene flow. © 2014

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – Students from Hagerty High School in Oviedo, Fla., participants in FIRST Robotics, show off their robots' capabilities at the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Robotic virtual reality simulation plus standard robotic orientation versus standard robotic orientation alone: a randomized controlled trial.

PubMed

Vaccaro, Christine M; Crisp, Catrina C; Fellner, Angela N; Jackson, Christopher; Kleeman, Steven D; Pavelka, James

2013-01-01

The objective of this study was to compare the effect of virtual reality simulation training plus robotic orientation versus robotic orientation alone on performance of surgical tasks using an inanimate model. Surgical resident physicians were enrolled in this assessor-blinded randomized controlled trial. Residents were randomized to receive either (1) robotic virtual reality simulation training plus standard robotic orientation or (2) standard robotic orientation alone. Performance of surgical tasks was assessed at baseline and after the intervention. Nine of 33 modules from the da Vinci Skills Simulator were chosen. Experts in robotic surgery evaluated each resident's videotaped performance of the inanimate model using the Global Rating Scale (GRS) and Objective Structured Assessment of Technical Skills-modified for robotic-assisted surgery (rOSATS). Nine resident physicians were enrolled in the simulation group and 9 in the control group. As a whole, participants improved their total time, time to incision, and suture time from baseline to repeat testing on the inanimate model (P = 0.001, 0.003, <0.001, respectively). Both groups improved their GRS and rOSATS scores significantly (both P < 0.001); however, the GRS overall pass rate was higher in the simulation group compared with the control group (89% vs 44%, P = 0.066). Standard robotic orientation and/or robotic virtual reality simulation improve surgical skills on an inanimate model, although this may be a function of the initial "practice" on the inanimate model and repeat testing of a known task. However, robotic virtual reality simulation training increases GRS pass rates consistent with improved robotic technical skills learned in a virtual reality environment.

Evolutionary Developmental Robotics: Improving Morphology and Control of Physical Robots.

PubMed

Vujovic, Vuk; Rosendo, Andre; Brodbeck, Luzius; Iida, Fumiya

2017-01-01

Evolutionary algorithms have previously been applied to the design of morphology and control of robots. The design space for such tasks can be very complex, which can prevent evolution from efficiently discovering fit solutions. In this article we introduce an evolutionary-developmental (evo-devo) experiment with real-world robots. It allows robots to grow their leg size to simulate ontogenetic morphological changes, and this is the first time that such an experiment has been performed in the physical world. To test diverse robot morphologies, robot legs of variable shapes were generated during the evolutionary process and autonomously built using additive fabrication. We present two cases with evo-devo experiments and one with evolution, and we hypothesize that the addition of a developmental stage can be used within robotics to improve performance. Moreover, our results show that a nonlinear system-environment interaction exists, which explains the nontrivial locomotion patterns observed. In the future, robots will be present in our daily lives, and this work introduces for the first time physical robots that evolve and grow while interacting with the environment.

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – Students gather to watch as a DARwin-OP miniature humanoid robot from Virginia Tech Robotics demonstrates its soccer abilities at the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – A child gets an up-close look at Charli, an autonomous walking robot developed by Virginia Tech Robotics, during the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Explosive vapor detection payload for small robots

NASA Astrophysics Data System (ADS)

Stimac, Phil J.; Pettit, Michael; Wetzel, John P.; Haas, John W.

2013-05-01

Detection of explosive hazards is a critical component of enabling and improving operational mobility and protection of US Forces. The Autonomous Mine Detection System (AMDS) developed by the US Army RDECOM CERDEC Night Vision and Electronic Sensors Directorate (NVESD) is addressing this challenge for dismounted soldiers. Under the AMDS program, ARA has developed a vapor sampling system that enhances the detection of explosive residues using commercial-off-the-shelf (COTS) sensors. The Explosives Hazard Trace Detection (EHTD) payload is designed for plug-and-play installation and operation on small robotic platforms, addressing critical Army needs for more safely detecting concealed or exposed explosives in areas such as culverts, walls and vehicles. In this paper, we describe the development, robotic integration and performance of the explosive vapor sampling system, which consists of a sampling "head," a vapor transport tube and an extendable "boom." The sampling head and transport tube are integrated with the boom, allowing samples to be collected from targeted surfaces up to 7-ft away from the robotic platform. During sample collection, an IR lamp in the sampling head is used to heat a suspected object/surface and the vapors are drawn through the heated vapor transport tube to an ion mobility spectrometer (IMS) for detection. The EHTD payload is capable of quickly (less than 30 seconds) detecting explosives such as TNT, PETN, and RDX at nanogram levels on common surfaces (brick, concrete, wood, glass, etc.).

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…

Does a robotic scrub nurse improve economy of movements?

NASA Astrophysics Data System (ADS)

Wachs, Juan P.; Jacob, Mithun; Li, Yu-Ting; Akingba, George

2012-02-01

Objective: Robotic assistance during surgery has been shown to be a useful resource to both augment the surgical skills of the surgeon through tele-operation, and to assist the surgeon handling the surgical instruments to the surgeon, similar to a surgical tech. We evaluated the performance and effect of a gesture driven surgical robotic nurse in the context of economy of movements, during an abdominal incision and closure exercise with a simulator. Methods: A longitudinal midline incision (100 mm) was performed on the simulated abdominal wall to enter the peritoneal cavity without damaging the internal organs. The wound was then closed using a blunt needle ensuring that no tissue is caught up by the suture material. All the instruments required to complete this task were delivered by a robotic surgical manipulator directly to the surgeon. The instruments were requested through voice and gesture recognition. The robotic system used a low end range sensor camera to extract the hand poses and for recognizing the gestures. The instruments were delivered to the vicinity of the patient, at chest height and at a reachable distance to the surgeon. Task performance measures for each of three abdominal incision and closure exercises were measured and compared to a human scrub nurse instrument delivery action. Picking instrument position variance, completion time and trajectory of the hand were recorded for further analysis. Results: The variance of the position of the robotic tip when delivering the surgical instrument is compared to the same position when a human delivers the instrument. The variance was found to be 88.86% smaller compared to the human delivery group. The mean task completion time to complete the surgical exercise was 162.7+/- 10.1 secs for the human assistant and 191.6+/- 3.3 secs (P<.01) when using the robotic standard display group. Conclusion: Multimodal robotic scrub nurse assistant improves the surgical procedure by reducing the number of movements

Robot Rocket Rally

NASA Image and Video Library

2014-03-14

CAPE CANAVERAL, Fla. – A miniature humanoid robot known as DARwin-OP, from Virginia Tech Robotics, plays soccer with a red tennis ball for a crowd of students at the Robot Rocket Rally. The three-day event at Florida's Kennedy Space Center Visitor Complex is highlighted by exhibits, games and demonstrations of a variety of robots, with exhibitors ranging from school robotics clubs to veteran NASA scientists and engineers. Photo credit: NASA/Kim Shiflett

Robot-sewn ileoileal anastomosis during robot-assisted cystectomy.

PubMed

Loertzer, P; Siemer, S; Stöckle, M; Ohlmann, C H

2018-07-01

To analyze the feasibility and perioperative results of patients undergoing robot-assisted cystectomy with intracorporeal urinary diversion and robot-sewn ileoileal anastomosis. This is a mono-centric analysis of perioperative data from 48 consecutive patients undergoing robot-assisted cystectomy with intracorporeal urinary diversion and robot-sewn ileoileal anastomosis. Data include the preoperative variables, operative and postoperative course and complication rates related to bowel anastomosis. End points were time spent for anastomosis and intra- and postoperative complication rates. Median operating time was 23.0 (13-60) min for the ileoileal anastomosis. Median overall operating time was 295 (200-780) min, with a median of 282 (200-418) min and 414.0 (225-780) min for the ileum conduit (N = 35) and ileal neobladder (N = 13). Two patients developed paralytic ileus; in another patient acute peritonitis occurred, but was caused by urinary leakage and therefore unrelated to the bowel anastomosis. No anastomotic leakage was noticed. Costs for the robot-sewn anastomosis was 8€ compared to 1250€ for a stapled anastomosis which was performed in previous cases. Limitations are the non-comparative nature of the analysis and the limited number of patients. Robot-sewn ileoileal anastomosis is feasible with low complication rates. Compared to the stapled anastomosis, a robot-sewn ileoileal anastomosis may serve as an alternative and cost-saving approach.

KSC-2013-1798

NASA Image and Video Library

2013-03-08

ORLANDO, Fla. – Ed Mango, program manager of NASA's Commercial Crew Program, speaks during a luncheon for the FIRST Robotics Competition's 2013 Orlando Regional in the University of Central Florida Arena. The student-built robots were required to throw discs into boxes or make climbs to score points. Photo credit: NASA/Frankie Martin

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.

Robot Wars: US Empire and geopolitics in the robotic age

PubMed Central

Shaw, Ian GR

2017-01-01

How will the robot age transform warfare? What geopolitical futures are being imagined by the US military? This article constructs a robotic futurology to examine these crucial questions. Its central concern is how robots – driven by leaps in artificial intelligence and swarming – are rewiring the spaces and logics of US empire, warfare, and geopolitics. The article begins by building a more-than-human geopolitics to de-center the role of humans in conflict and foreground a worldly understanding of robots. The article then analyzes the idea of US empire, before speculating upon how and why robots are materializing new forms of proxy war. A three-part examination of the shifting spaces of US empire then follows: (1) Swarm Wars explores the implications of miniaturized drone swarming; (2) Roboworld investigates how robots are changing US military basing strategy and producing new topological spaces of violence; and (3) The Autogenic Battle-Site reveals how autonomous robots will produce emergent, technologically event-ful sites of security and violence – revolutionizing the battlespace. The conclusion reflects on the rise of a robotic US empire and its consequences for democracy. PMID:29081605

Robot Wars: US Empire and geopolitics in the robotic age.

PubMed

Shaw, Ian Gr

2017-10-01

How will the robot age transform warfare? What geopolitical futures are being imagined by the US military? This article constructs a robotic futurology to examine these crucial questions. Its central concern is how robots - driven by leaps in artificial intelligence and swarming - are rewiring the spaces and logics of US empire, warfare, and geopolitics. The article begins by building a more-than-human geopolitics to de-center the role of humans in conflict and foreground a worldly understanding of robots. The article then analyzes the idea of US empire, before speculating upon how and why robots are materializing new forms of proxy war. A three-part examination of the shifting spaces of US empire then follows: (1) Swarm Wars explores the implications of miniaturized drone swarming; (2) Roboworld investigates how robots are changing US military basing strategy and producing new topological spaces of violence; and (3) The Autogenic Battle-Site reveals how autonomous robots will produce emergent, technologically event-ful sites of security and violence - revolutionizing the battlespace. The conclusion reflects on the rise of a robotic US empire and its consequences for democracy.

INL Multi-Robot Control Interface

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

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.

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);…

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…

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.

On factoring RSA modulus using random-restart hill-climbing algorithm and Pollard’s rho algorithm

NASA Astrophysics Data System (ADS)

Budiman, M. A.; Rachmawati, D.

2017-12-01

The security of the widely-used RSA public key cryptography algorithm depends on the difficulty of factoring a big integer into two large prime numbers. For many years, the integer factorization problem has been intensively and extensively studied in the field of number theory. As a result, a lot of deterministic algorithms such as Euler’s algorithm, Kraitchik’s, and variants of Pollard’s algorithms have been researched comprehensively. Our study takes a rather uncommon approach: rather than making use of intensive number theories, we attempt to factorize RSA modulus n by using random-restart hill-climbing algorithm, which belongs the class of metaheuristic algorithms. The factorization time of RSA moduli with different lengths is recorded and compared with the factorization time of Pollard’s rho algorithm, which is a deterministic algorithm. Our experimental results indicates that while random-restart hill-climbing algorithm is an acceptable candidate to factorize smaller RSA moduli, the factorization speed is much slower than that of Pollard’s rho algorithm.

Mild Dehydration and Cycling Performance During 5-Kilometer Hill Climbing

PubMed Central

Bardis, Costas N.; Kavouras, Stavros A.; Arnaoutis, Giannis; Panagiotakos, Demosthenes B.; Sidossis, Labros S.

2013-01-01

Context: Hydration has been shown to be an important factor in performance; however, the effects of mild dehydration during intense cycling are not clear. Objective: To determine the influence of mild dehydration on cycling performance during an outdoor climbing trial in the heat (ambient temperature = 29.0°C ± 2.2°C). Design: Crossover study. Setting: Outdoor. Patients or Other Participants: Ten well-trained, male endurance cyclists (age = 28 ± 5 years, height = 182 ± 0.4 cm, mass = 73 ± 4 kg, maximal oxygen uptake = 56 ± 9 mL·min−1·kg−1, body fat = 23% ± 2%, maximal power = 354 ± 48 W). Intervention(s): Participants completed 1 hour of steady-state cycling with or without drinking to achieve the desired pre-exercise hydration level before 5-km hill-climbing cycling. Participants started the 5-km ride either euhydrated (EUH) or dehydrated by −1% of body mass (DEH). Main Outcome Measure(s): Performance time, core temperature, sweat rate, sweat sensitivity, and rating of perceived exertion (RPE). Results: Participants completed the 5-km ride 5.8% faster in the EUH (16.6 ± 2.3 minutes) than DEH (17.6 ± 2.9 minutes) trial (t1 = 10.221, P = .001). Postexercise body mass was −1.4% ± 0.3% for the EUH trial and −2.2% ± 0.2% for the DEH trial (t1 = 191.384, P < .001). Core temperature after the climb was greater during the DEH (39.2°C ± 0.3°C) than EUH (38.8°C ± 0.2°C) trial (t1 = 8.04, P = .005). Sweat rate was lower during the DEH (0.44 ± 0.16 mg·m−2·s−1) than EUH (0.51 ± 0.16 mg·m−2·s−1) trial (t8 = 2.703, P = .03). Sweat sensitivity was lower during the DEH (72.6 ± 32 g·°C−1·min−1) than EUH (102.6 ± 54.2 g·°C−1·min−1) trial (t8 = 3.072, P = .02). Lastly, RPE after the exercise performance test was higher for the DEH (19.0 ± 1.0) than EUH (17.0 ± 1.0) participants (t9 = −3.36, P = .008). Conclusions: We found mild dehydration decreased cycling performance during a 5-km outdoor hill course, probably due to

Wa-Chair: A concept for development of economical stair-climbing wheelchair

NASA Astrophysics Data System (ADS)

Jyoti Baishya, Nayan; Ogai, Harutoshi

2018-02-01

In this paper, a concept for development of cost effective and reliable stair climbing wheelchair is being proposed. Slider-crank mechanism is being used to compensate for any variation in inclination angle of the wheelchair during ascent or descent on stairs. Controlling wheelchair’s inclination angle can reduce risk for the rider as it prevents the wheelchair from toppling. A prototype is being developed to validate proposed mechanism. Proposed mechanism allows rider to view in the direction of progress which adds additional safety to the rider.

Self-Reconfigurable Robots

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

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

2002-10-01

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

Robot geometry calibration

NASA Technical Reports Server (NTRS)

Hayati, Samad; Tso, Kam; Roston, Gerald

1988-01-01

Autonomous robot task execution requires that the end effector of the robot be positioned accurately relative to a reference world-coordinate frame. The authors present a complete formulation to identify the actual robot geometric parameters. The method applies to any serial link manipulator with arbitrary order and combination of revolute and prismatic joints. A method is also presented to solve the inverse kinematic of the actual robot model which usually is not a so-called simple robot. Experimental results performed by utilizing a PUMA 560 with simple measurement hardware are presented. As a result of this calibration a precision move command is designed and integrated into a robot language, RCCL, and used in the NASA Telerobot Testbed.

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.

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.

Advanced robot locomotion.

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

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

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

3D discrete dislocation dynamics study of creep behavior in Ni-base single crystal superalloys by a combined dislocation climb and vacancy diffusion model

NASA Astrophysics Data System (ADS)

Gao, Siwen; Fivel, Marc; Ma, Anxin; Hartmaier, Alexander

2017-05-01

A three-dimensional (3D) discrete dislocation dynamics (DDD) creep model is developed to investigate creep behavior under uniaxial tensile stress along the crystallographic [001] direction in Ni-base single crystal superalloys, which takes explicitly account of dislocation glide, climb and vacancy diffusion, but neglects phase transformation like rafting of γ‧ precipitates. The vacancy diffusion model takes internal stresses by dislocations and mismatch strains into account and it is coupled to the dislocation dynamics model in a numerically efficient way. This model is helpful for understanding the fundamental creep mechanisms in superalloys and clarifying the effects of dislocation glide and climb on creep deformation. In cases where the precipitate cutting rarely occurs, e.g. due to the high anti-phase boundary energy and the lack of superdislocations, the dislocation glide in the γ matrix and the dislocation climb along the γ/γ‧ interface dominate plastic deformation. The simulation results show that a high temperature or a high stress both promote dislocation motion and multiplication, so as to cause a large creep strain. Dislocation climb accelerated by high temperature only produces a small plastic strain, but relaxes the hardening caused by the filling γ channels and lets dislocations further glide and multiply. The strongest variation of vacancy concentration occurs in the horizontal channels, where more mixed dislocations exit and tend to climb. The increasing internal stresses due to the increasing dislocation density are easily overcome by dislocations under a high external stress that leads to a long-term dislocation glide accompanied by multiplication.

KSC-2013-1796

NASA Image and Video Library

2013-03-08

ORLANDO, Fla. – Robert Cabana, director of NASA's Kennedy Space Center in Florida, speaks during a luncheon for the FIRST Robotics Competition's 2013 Orlando Regional in the University of Central Florida Arena. The student-built robots were required to throw discs into boxes or make climbs to score points. Photo credit: NASA/Frankie Martin

KSC-2013-1797

NASA Image and Video Library

2013-03-08

ORLANDO, Fla. – Robert Cabana, director of NASA's Kennedy Space Center in Florida, speaks during a luncheon for the FIRST Robotics Competition's 2013 Orlando Regional in the University of Central Florida Arena. The student-built robots were required to throw discs into boxes or make climbs to score points. Photo credit: NASA/Frankie Martin

A magnetic resonance image-guided breast needle intervention robot system: overview and design considerations.

PubMed

Park, Samuel Byeongjun; Kim, Jung-Gun; Lim, Ki-Woong; Yoon, Chae-Hyun; Kim, Dong-Jun; Kang, Han-Sung; Jo, Yung-Ho

2017-08-01

We developed an image-guided intervention robot system that can be operated in a magnetic resonance (MR) imaging gantry. The system incorporates a bendable needle intervention robot for breast cancer patients that overcomes the space limitations of the MR gantry. Most breast coil designs for breast MR imaging have side openings to allow manual localization. However, for many intervention procedures, the patient must be removed from the gantry. A robotic manipulation system with integrated image guidance software was developed. Our robotic manipulator was designed to be slim, so as to fit between the patient's side and the MR gantry wall. Only non-magnetic materials were used, and an electromagnetic shield was employed for cables and circuits. The image guidance software was built using open source libraries. In situ feasibility tests were performed in a 3-T MR system. One target point in the breast phantom was chosen by the clinician for each experiment, and our robot moved the needle close to the target point. Without image-guided feedback control, the needle end could not hit the target point (distance = 5 mm) in the first experiment. Using our robotic system, the needle hits the target lesion of the breast phantom at a distance of 2.3 mm from the same target point using image-guided feedback. The second experiment was performed using other target points, and the distance between the final needle end point and the target point was 0.8 mm. We successfully developed an MR-guided needle intervention robot for breast cancer patients. Further research will allow the expansion of these interventions.

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

A life to risk: cultural differences in motivations to climb among elite male mountaineers

Treesearch

Patrick T. Maher; Tom G. Potter

2001-01-01

This study explored the cultural differences and motivations to climb of elite, male mountaineers. The purpose of the study was to first determine the motivations of elite male mountaineers and then link these motivations to the culture in which the mountaineer lives or grew up in. Five co-researchers participated in the study: two Canadians, two Americans, and one...

Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

PubMed Central

Knaepen, Kristel; Mierau, Andreas; Swinnen, Eva; Fernandez Tellez, Helio; Michielsen, Marc; Kerckhofs, Eric; Lefeber, Dirk; Meeusen, Romain

2015-01-01

In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support). Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force) and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning. PMID:26485148

Human-Robot Interaction: Does Robotic Guidance Force Affect Gait-Related Brain Dynamics during Robot-Assisted Treadmill Walking?

PubMed

Knaepen, Kristel; Mierau, Andreas; Swinnen, Eva; Fernandez Tellez, Helio; Michielsen, Marc; Kerckhofs, Eric; Lefeber, Dirk; Meeusen, Romain

2015-01-01

In order to determine optimal training parameters for robot-assisted treadmill walking, it is essential to understand how a robotic device interacts with its wearer, and thus, how parameter settings of the device affect locomotor control. The aim of this study was to assess the effect of different levels of guidance force during robot-assisted treadmill walking on cortical activity. Eighteen healthy subjects walked at 2 km.h-1 on a treadmill with and without assistance of the Lokomat robotic gait orthosis. Event-related spectral perturbations and changes in power spectral density were investigated during unassisted treadmill walking as well as during robot-assisted treadmill walking at 30%, 60% and 100% guidance force (with 0% body weight support). Clustering of independent components revealed three clusters of activity in the sensorimotor cortex during treadmill walking and robot-assisted treadmill walking in healthy subjects. These clusters demonstrated gait-related spectral modulations in the mu, beta and low gamma bands over the sensorimotor cortex related to specific phases of the gait cycle. Moreover, mu and beta rhythms were suppressed in the right primary sensory cortex during treadmill walking compared to robot-assisted treadmill walking with 100% guidance force, indicating significantly larger involvement of the sensorimotor area during treadmill walking compared to robot-assisted treadmill walking. Only marginal differences in the spectral power of the mu, beta and low gamma bands could be identified between robot-assisted treadmill walking with different levels of guidance force. From these results it can be concluded that a high level of guidance force (i.e., 100% guidance force) and thus a less active participation during locomotion should be avoided during robot-assisted treadmill walking. This will optimize the involvement of the sensorimotor cortex which is known to be crucial for motor learning.

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.

Robot Deception and Squirrel Behavior: A Case Study in Bio-inspired Robotics

DTIC Science & Technology

2014-08-01

employed by doctors/ nurses among others. It is important to focus on this aspect when we consider a robot’s deceptive capabilities in human- robot ... Robot Deception and Squirrel Behavior: A Case Study in Bio-inspired Robotics Jaeeun Shim and Ronald C. Arkin Mobile Robot ...Abstract A common behavior in animals and human beings is deception. Deceptive behavior in robotics is potentially beneficial in several domains

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.

Multigait soft robot

PubMed Central

Shepherd, Robert F.; Ilievski, Filip; Choi, Wonjae; Morin, Stephen A.; Stokes, Adam A.; Mazzeo, Aaron D.; Chen, Xin; Wang, Michael; Whitesides, George M.

2011-01-01

This manuscript describes a unique class of locomotive robot: A soft robot, composed exclusively of soft materials (elastomeric polymers), which is inspired by animals (e.g., squid, starfish, worms) that do not have hard internal skeletons. Soft lithography was used to fabricate a pneumatically actuated robot capable of sophisticated locomotion (e.g., fluid movement of limbs and multiple gaits). This robot is quadrupedal; it uses no sensors, only five actuators, and a simple pneumatic valving system that operates at low pressures (< 10 psi). A combination of crawling and undulation gaits allowed this robot to navigate a difficult obstacle. This demonstration illustrates an advantage of soft robotics: They are systems in which simple types of actuation produce complex motion. PMID:22123978

Design of a Coupled Thermoresponsive Hydrogel and Robotic System for Postinfarct Biomaterial Injection Therapy

PubMed Central

Fok, Kevin; Yoshizumi, Tomo; Park, Daewoo; Jiang, Hongbin; Schwartzman, David S.; Zenati, Marco A.; Uchibori, Takafumi

2016-01-01

Background In preclinical testing, ventricular wall injection of hydrogels has been shown to be effective in modulating ventricular remodeling and preserving cardiac function. For some approaches, early-stage clinical trials are under way. The hydrogel delivery method varies, with minimally invasive approaches being preferred. Endocardial injections carry a risk of hydrogel regurgitation into the circulation, and precise injection patterning is a challenge. An epicardial approach with a thermally gelling hydrogel through the subxiphoid pathway overcomes these disadvantages. Methods A relatively stiff, thermally responsive, injectable hydrogel based on N-isopropylacrylamide and N-vinylpyrrolidone (VP gel) was synthesized and characterized. VP gel thermal behavior was tuned to couple with a transepicardial injection robot, incorporating a cooling feature to achieve injectability. Ventricular wall injections of the optimized VP gel have been performed ex vivo and on beating porcine hearts. Results Thermal transition temperature, viscosity, and gelling time for the VP gel were manipulated by altering N-vinylpyrrolidone content. The target parameters for cooling in the robotic system were chosen by thermal modeling to support smooth, repeated injections on an ex vivo heart. Injections at predefined locations and depth were confirmed in an infarcted porcine model. Conclusions A coupled thermoresponsive hydrogel and robotic injection system incorporating a temperature-controlled injectate line was capable of targeted injections and amenable to use with a subxiphoid transepicardial approach for hydrogel injection after myocardial infarction. The confirmation of precise location and depth injections would facilitate a patient-specific planning strategy to optimize injection patterning to maximize the mechanical benefits of hydrogel placement. PMID:27154150