Sample records for modified talon robot

  1. Demoing the Modified TALON Robot

    Broader source: Energy.gov [DOE]

    A technician at Idaho National Laboratory demonstrates the modified TALON robot; which is being sent to assist emergency workers at Japan's Fukishima nuclear reactor.

  2. A Modified Reactive Control Framework for Cooperative Mobile Robots

    E-Print Network [OSTI]

    A Modified Reactive Control Framework for Cooperative Mobile Robots J. Salido a , J.M. Dolan a , J Dept. of Electrical & Computer Engineering, Carnegie Mellon Univ. Pittsburgh, PA 15213­3890 USA. Purely reactive approaches such as that of Brooks are efficient, but lack a mechanism for global control

  3. Apparatus and method for modifying the operation of a robotic vehicle in a real environment, to emulate the operation of the robotic vehicle operating in a mixed reality environment

    SciTech Connect (OSTI)

    Garretson, Justin R. (Albuquerque, NM); Parker, Eric P. (Albuquerque, NM); Gladwell, T. Scott (Albuquerque, NM); Rigdon, J. Brian (Edgewood, NM); Oppel, III, Fred J. (Albuquerque, NM)

    2012-05-29T23:59:59.000Z

    Apparatus and methods for modifying the operation of a robotic vehicle in a real environment to emulate the operation of the robotic vehicle in a mixed reality environment include a vehicle sensing system having a communications module attached to the robotic vehicle for communicating operating parameters related to the robotic vehicle in a real environment to a simulation controller for simulating the operation of the robotic vehicle in a mixed (live, virtual and constructive) environment wherein the affects of virtual and constructive entities on the operation of the robotic vehicle (and vice versa) are simulated. These effects are communicated to the vehicle sensing system which generates a modified control command for the robotic vehicle including the effects of virtual and constructive entities, causing the robot in the real environment to behave as if virtual and constructive entities existed in the real environment.

  4. Robotics

    ScienceCinema (OSTI)

    Buckner, Mark

    2014-06-23T23:59:59.000Z

    Mark Buckner wants to help machines see objects the way humans do, and he's also mentoring the next generation of scientists and engineers through FIRST Robotics.

  5. DOE Robotic and Remote Systems Assistance to the Government of Japan

    SciTech Connect (OSTI)

    Derek Wadsworth; Victor Walker

    2013-02-01T23:59:59.000Z

    At the request of the Government of Japan, DOE did a complex wide survey of available remotely operated and robotic systems to assist in the initial assessment of the damage to the Fukushima Daiichi reactors following an earthquake and subsequent tsunami. As a result several radiation hardened cameras and a Talon robot were identified as systems that could immediately assist in the effort and were subsequently sent to Japan. These systems were transferred to the Government of Japan and used to map radiation levels surrounding the damaged facilities. This report describes the equipment, its use, data collected, and lessons learned from the experience.

  6. Modular Countermine Payload for Small Robots

    SciTech Connect (OSTI)

    Herman Herman; Doug Few; Roelof Versteeg; Jean-Sebastien Valois; Jeff McMahill; Michael Licitra; Edward Henciak

    2010-04-01T23:59:59.000Z

    Payloads for small robotic platforms have historically been designed and implemented as platform and task specific solutions. A consequence of this approach is that payloads cannot be deployed on different robotic platforms without substantial re-engineering efforts. To address this issue, we developed a modular countermine payload that is designed from the ground-up to be platform agnostic. The payload consists of the multi-mission payload controller unit (PCU) coupled with the configurable mission specific threat detection, navigation and marking payloads. The multi-mission PCU has all the common electronics to control and interface to all the payloads. It also contains the embedded processor that can be used to run the navigational and control software. The PCU has a very flexible robot interface which can be configured to interface to various robot platforms. The threat detection payload consists of a two axis sweeping arm and the detector. The navigation payload consists of several perception sensors that are used for terrain mapping, obstacle detection and navigation. Finally, the marking payload consists of a dual-color paint marking system. Through the multi-mission PCU, all these payloads are packaged in a platform agnostic way to allow deployment on multiple robotic platforms, including Talon and Packbot.

  7. Robotic intelligence kernel

    DOE Patents [OSTI]

    Bruemmer, David J. (Idaho Falls, ID)

    2009-11-17T23:59:59.000Z

    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.

  8. System and method for seamless task-directed autonomy for robots

    DOE Patents [OSTI]

    Nielsen, Curtis; Bruemmer, David; Few, Douglas; Walton, Miles

    2012-09-18T23:59:59.000Z

    Systems, methods, and user interfaces are used for controlling a robot. An environment map and a robot designator are presented to a user. The user may place, move, and modify task designators on the environment map. The task designators indicate a position in the environment map and indicate a task for the robot to achieve. A control intermediary links task designators with robot instructions issued to the robot. The control intermediary analyzes a relative position between the task designators and the robot. The control intermediary uses the analysis to determine a task-oriented autonomy level for the robot and communicates target achievement information to the robot. The target achievement information may include instructions for directly guiding the robot if the task-oriented autonomy level indicates low robot initiative and may include instructions for directing the robot to determine a robot plan for achieving the task if the task-oriented autonomy level indicates high robot initiative.

  9. Robotic Surveying

    SciTech Connect (OSTI)

    Suzy Cantor-McKinney; Michael Kruzic

    2007-03-01T23:59:59.000Z

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

  10. Hopping robot

    DOE Patents [OSTI]

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

    2001-01-01T23:59:59.000Z

    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.

  11. Robotic vehicle

    DOE Patents [OSTI]

    Box, W. Donald (Oak Ridge, TN)

    1998-01-01T23:59:59.000Z

    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.

  12. Robotic vehicle

    DOE Patents [OSTI]

    Box, W. Donald (Oak Ridge, TN)

    1997-01-01T23:59:59.000Z

    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.

  13. Robotic arm

    DOE Patents [OSTI]

    Kwech, Horst (Lake Bluff, IL)

    1989-04-18T23:59:59.000Z

    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. Robotic vehicle

    DOE Patents [OSTI]

    Box, W.D.

    1998-08-11T23:59:59.000Z

    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.

  15. Robotic vehicle

    DOE Patents [OSTI]

    Box, W.D.

    1997-02-11T23:59:59.000Z

    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.

  16. Generic robot architecture

    DOE Patents [OSTI]

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

    2010-09-21T23:59:59.000Z

    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.

  17. Cooperating mobile robots

    DOE Patents [OSTI]

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

    2004-02-03T23:59:59.000Z

    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.

  18. Extremum seeking for mobile robots

    E-Print Network [OSTI]

    Ghods, Nima

    2011-01-01T23:59:59.000Z

    Janata, “Plumetracking robots: A new application of chemicaleral applications including an autonomous underwater robot,

  19. Robotic Helicopter Surveying (MAS 13)

    E-Print Network [OSTI]

    Srikanth Saripalli; Jonathan Kelly; Gaurav S. Sukhatme

    2006-01-01T23:59:59.000Z

    for Embedded Networked Sensing Robotic Helicopter Surveyingand Gaurav S. Sukhatme Robotic Embedded Systems Laboratory,

  20. Robotics for telesurgery: second

    E-Print Network [OSTI]

    Cavusoglu, Cenk

    Francisco, CA, USA. Keywords Robots, Surgery Abstract Robotic telesurgery is a promising application Medical robotics is an active area of research on the application of computers and robotic technology for patients' post-operative pain and long hospital Industrial Robot: An International Journal Volume 30

  1. Robot Fish

    E-Print Network [OSTI]

    Hacker, Randi

    2009-12-30T23:59:59.000Z

    Broadcast transcript: Usually you expect this kind of news from Japan but this time it's South Korea where scientists have just created a robotic fish. Yes, folks, this is an electronic fish that can live underwater. At depths of up to 100 meters...

  2. Tandem mobile robot system

    DOE Patents [OSTI]

    Buttz, James H. (Albuquerque, NM); Shirey, David L. (Albuquerque, NM); Hayward, David R. (Albuquerque, NM)

    2003-01-01T23:59:59.000Z

    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.

  3. Robotics and Energy Usage 

    E-Print Network [OSTI]

    Hershey, R. L.; Fenton, S. E.; Letzt, A. M.

    1983-01-01T23:59:59.000Z

    in St. Louis (62 welding robots) and Franklin Manufacturing Company in St. Cloud, Minnesota (4 spray painting robots used in freezer manufacture), We also examined data on energy effects of robots from John Deere, caterpillar, and GM Guide Division...

  4. Robotics 1 1 Robot components

    E-Print Network [OSTI]

    De Luca, Alessandro

    ! a device (with the outer form of a cylinder), typically located between the last robot link and its end gauges is glued so as to undergo opposite deformations (e.g., traction/compression) along the main axis (resolution 0.1%) · 5÷70 Nm (resolution 0.05%) · sample frequency " 1 KHz · 4 deformable elements · two pair

  5. Robot Intelligence Kernel

    ScienceCinema (OSTI)

    None

    2013-05-28T23:59:59.000Z

    Check out this robotics breakthrough which allows robots to behave autonomously. For more information about INL research projects, visit http://www.facebook.com/idahonationallaboratory.

  6. Robotics and Vision Scientist Evolution Robotics

    E-Print Network [OSTI]

    Plotkin, Joshua B.

    91106 (626) 993-3300 09 May 2011 Evolution Robotics Employment Opportunity Profile · Title: Robotics and Vision Scientist · Reports to: VP of Research and Development The Company: Evolution Robotics, Inc. The recent convergence of low-cost mobile comput- ing, wireless communication, and sensing technologies has

  7. China's Space Robotic Arms Programs

    E-Print Network [OSTI]

    POLLPETER, Kevin

    2013-01-01T23:59:59.000Z

    2013 China’s Space Robotic Arm Programs Kevin POLLPETERdebris observation and space robotic arm technologies. Thelikely equipped with a robotic arm, grappling the target

  8. Medical Robots Surgical Assistants

    E-Print Network [OSTI]

    Pulfrey, David L.

    1 Medical Robots Surgical Assistants · Efficacy of Procedure ­ Accuracy ­ Longevity ­ Invasiveness · Augment human capabilities ­ Enabling new procedures ­ Time under anaesthetic #12;2 Surgical Robots) ­ Sensei (Hansen Medical) Autonomous Surgical Robots Robodoc.com #12;3 Guided Surgical Robots Makosurgical

  9. Robotic Ground Rules

    E-Print Network [OSTI]

    Hacker, Randi; Tsutsui, William; von Holten, Leslie

    2007-05-16T23:59:59.000Z

    Broadcast Transcript: In his short story Runaround, Isaac Asimov created his Laws of Robotics: Rule 1: a robot may not injure a human. Rule 2: A robot must obey orders from a human unless they conflict with Rule 1, and Rule 3: A robot must protect...

  10. Robot Rodeo

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative1 First Use of Energy for All Purposes (Fuel and Nonfuel), 2002; Level:Energy: Grid Integration Redefining What's PossibleRadiation Protection TechnicalResonantNovember 15 to MarchNuclearRobertRobleyRobot Rodeo

  11. Institute for Software Technology Ad anced RoboticsAdvanced Robotics

    E-Print Network [OSTI]

    Interaction #12;Institute for Software Technology Application Areas Gerald Steinbauer 3 Advanced RoboticsInstitute for Software Technology Ad anced RoboticsAdvanced Robotics Human Robot Interaction Gerald Steinbauer Institute for Software Technology Gerald Steinbauer 1 Advanced Robotics ­ Human Robot Interaction

  12. Robotic vehicle

    DOE Patents [OSTI]

    Box, W. Donald (115 Newhaven Rd., Oak Ridge, TN 37830)

    1994-01-01T23:59:59.000Z

    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.

  13. Robotic vehicle

    DOE Patents [OSTI]

    Box, W. Donald (Oak Ridge, TN)

    1996-01-01T23:59:59.000Z

    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.

  14. Robotic vehicle

    DOE Patents [OSTI]

    Box, W.D.

    1996-03-12T23:59:59.000Z

    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.

  15. Robotic vehicle

    DOE Patents [OSTI]

    Box, W.D.

    1994-03-15T23:59:59.000Z

    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.

  16. WORLD ROBOTICS 2009 EXECUTIVE SUMMARY of

    E-Print Network [OSTI]

    De Luca, Alessandro

    WORLD ROBOTICS 2009 IX EXECUTIVE SUMMARY of 1. World Robotics 2009 Industrial Robots 2. World Robotics 2009 Service Robots 1. World Robotics 2009 Industrial Robots 2008 World Robot Market ­ Already affected by the economical downturn In 2008, the worldwide sales of industrial robots stagnated at about

  17. WORLD ROBOTICS 2011 EXECUTIVE SUMMARY of

    E-Print Network [OSTI]

    De Luca, Alessandro

    WORLD ROBOTICS 2011 VII EXECUTIVE SUMMARY of 1. World Robotics 2011 Industrial Robots 2. World Robotics 2011 Service Robots 1. World Robotics 2011 Industrial Robots 2010: Strong comeback of the robotics and financial crisis caused a significant slump in the sales of industrial robots. Compared to 2008, considered

  18. Junggon Kim Robotics Institute

    E-Print Network [OSTI]

    Treuille, Adrien

    planning algorithm for industrial robots. - Contributed to reducing noise and vibration of industrial robots. Research Assistant (Part-time internship) 3/1998 ­ 2/2000 Korea Institute of Science

  19. Computational Chemistry Robots

    E-Print Network [OSTI]

    Townsend, Joseph A; Murray-Rust, Peter; Tyrrell, Simon M; Zhang, Yong

    Computational Chemistry Robots ACS Sep 2005 Computational Chemistry Robots J. A. Townsend, P. Murray-Rust, S. M. Tyrrell, Y. Zhang jat45@cam.ac.uk Can high-throughput computation provide a reliable “experimental” resource for molecular...

  20. Robot learning [TC Spotlight

    E-Print Network [OSTI]

    Tedrake, Russell Louis

    Creating autonomous robots that can learn to act in unpredictable environments has been a long-standing goal of robotics, artificial intelligence, and the cognitive sciences. In contrast, current commercially available ...

  1. Multi-robot Caravanning

    E-Print Network [OSTI]

    Mahadevan, Aditya

    2013-11-06T23:59:59.000Z

    We study multi-robot caravanning, which is loosely defined as the problem of a heterogeneous team of robots visiting specific areas of an environment (waypoints) as a group. After formally defining this problem, we propose a novel solution...

  2. Robotics research projects report

    SciTech Connect (OSTI)

    Hsia, T.C. (ed.)

    1983-06-01T23:59:59.000Z

    The research results of the Robotics Research Laboratory are summarized. Areas of research include robotic control, a stand-alone vision system for industrial robots, and sensors other than vision that would be useful for image ranging, including ultrasonic and infra-red devices. One particular project involves RHINO, a 6-axis robotic arm that can be manipulated by serial transmission of ASCII command strings to its interfaced controller. (LEW)

  3. Oussama Khatib Robotics Laboratory

    E-Print Network [OSTI]

    Sentis, Luis

    . The potential applications of this emerging technology include virtual prototyping, animation, surgery, robotics, CA 94305, USA {kcchang, ruspini, lsentis, sviji}@cs.stanford.edu Human-Centered Robotics with the autonomous behaviors needed for robots to work, assist, and cooperate with humans. In addition to the new

  4. Torras: Robot Arm Control 1 Robot Arm Control

    E-Print Network [OSTI]

    Torras, Carme

    Torras: Robot Arm Control 1 Robot Arm Control Carme Torras Institut de Rob#18;otica i Inform#18;atica Industrial (CSIC-UPC) Llorens i Artigas 4-6, 08028-Barcelona. RUNNING HEAD: Robot Arm Control: 34-93-401.57.50 e-mail: ctorras@iri.upc.es #12; Torras: Robot Arm Control 2 INTRODUCTION A robot

  5. Modular robot

    DOE Patents [OSTI]

    Ferrante, T.A.

    1997-11-11T23:59:59.000Z

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

  6. Robotics and Energy Usage

    E-Print Network [OSTI]

    Hershey, R. L.; Fenton, S. E.; Letzt, A. M.

    1983-01-01T23:59:59.000Z

    , robots will play an increasing role in the coming years. Science Management Corporation has been assisting the Electric Power Research Institute (EPRI) and the manufacturers in assessing the effects of robots and re lated technologies. For EPRI... Milacron 1,000 Copperweld 735 DeVilbiss 137 Asea 85 Advanced Robotics 48 Thermwood 24 Nordson 30 Cybotech 28 Reis 3 Others 210 TOTAL 6,000 SOURCE: SMC Robotics Survey, EPRI RP1967-4, 1982 Table 2 U.S. Robot Use Classified By Applicat ion...

  7. Modeling and implementation of solder-activated joints for single actuator, centimeter-scale robotic mechanisms

    E-Print Network [OSTI]

    Telleria, Maria J

    2010-01-01T23:59:59.000Z

    This thesis explains when, and why, solder-based phase change materials (PCMs) are best-suited as a means to modify a robotic mechanism's kinematic and elastomechanic behavior. The preceding refers to mechanisms that possess ...

  8. Simulating Swarm Behaviour of Robots K.A.Hawick and H.A.James

    E-Print Network [OSTI]

    Hawick, Ken

    is a fascinating one and has recently become more accessible to research work due to commodity priced robot parts Body Side Elevation Modified "Swarm Cybot" Lithium Battery Pack PIC/Tini Electronics Front Array Rear

  9. Experimental validation of the efficient robotic transportation algorithm for large-scale flexible space structures

    E-Print Network [OSTI]

    Ono, Masahiro, S.M. Massachusetts Institute of Technology

    2007-01-01T23:59:59.000Z

    A new large space structure transportation method proposed recently is modified and experimentally validated. The proposed method is to use space robots' manipulators to control the vibration, instead of their reaction ...

  10. A Constructive Approach for Communication Robots

    E-Print Network [OSTI]

    Kanda, Takayuki

    researchers assume communication robots are simi- lar to industrial robots, which enactly perform precise

  11. WORLD ROBOTICS 2010 EXECUTIVE SUMMARY of

    E-Print Network [OSTI]

    De Luca, Alessandro

    WORLD ROBOTICS 2010 VII EXECUTIVE SUMMARY of 1. World Robotics 2010 Industrial Robots 2. World Robotics 2010 Service Robots 1. World Robotics 2010 Industrial Robots Sales slump in 2009 In 2009, the worldwide economic and financial crisis caused a significant slump in the sales of industrial robots

  12. Control of Autonomous Mobile Robots Magnus Egerstedt

    E-Print Network [OSTI]

    Egerstedt, Magnus

    are the many robots employed in industrial settings. Such industrial robots are not considered here since

  13. Precision mechatronics lab robot development

    E-Print Network [OSTI]

    Rogers, Adam Gregory

    2009-05-15T23:59:59.000Z

    based mobile robot. The principal goal of this work was the demonstration of the Precision Mechatronics Lab (PML) robot. This robot should be capable of traversing any known distance while maintaining a minimal position error. An optical correction...

  14. Precision mechatronics lab robot development

    E-Print Network [OSTI]

    Rogers, Adam Gregory

    2008-10-10T23:59:59.000Z

    based mobile robot. The principal goal of this work was the demonstration of the Precision Mechatronics Lab (PML) robot. This robot should be capable of traversing any known distance while maintaining a minimal position error. An optical correction...

  15. Institute for Software Technology Ad anced RoboticsAdvanced Robotics

    E-Print Network [OSTI]

    Journal of Robotics and Automation, 1988 4. Moritz Tenorth , Daniel Nyga, Michael Beetz , Understanding Conference on Robotics andp , , Automation (ICRA). 5. Michael Beetz. Structured Reactive Controllers

  16. Persuasive robotics : how robots change our minds

    E-Print Network [OSTI]

    Siegel, Michael Steven

    2009-01-01T23:59:59.000Z

    This thesis explores the extent to which socially capable humanoid robots have the potential to influence human belief, perception and behavior. Sophisticated computational systems coupled with human-like form and function ...

  17. Robotics for Learning

    E-Print Network [OSTI]

    Toh, Dennis; Lim, Matthew; Wee, Loo Kang; Ong, Matthew

    2015-01-01T23:59:59.000Z

    Teaching Robotics is about empowering students to create and configure robotics devices and program computers to nurture in students the skill sets necessary to play an active role in society. The robot in Figure 1 focuses on the design of scaffolds and physical assembly methods, coupled with a computer logic program to make that makes it move or behave in a very precise (remote controlled or autonomous) manner. This enables students to investigate, explore and refine the program to affect the robots. The Robotics approach takes into account the increasing popularity of Computer Science and the learning by doing (Schank, Berman, & Macpherson, 1999) approach to solve complex problems and use computers meaningfully in learning (Barron & Darling-Hammond, 2008; Jonassen, Howland, Marra, & Crismond, 2008). In Singapore, teachers and students in Woodlands Ring Secondary and Rulang Primary have incorporated robotics to varying extents into formal and informal curricula. In addition, other less expensive ...

  18. Advanced robot locomotion.

    SciTech Connect (OSTI)

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

    2007-01-01T23:59:59.000Z

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

  19. Multi-robot control interface

    DOE Patents [OSTI]

    Bruemmer, David J. (Idaho Falls, ID); Walton, Miles C. (Idaho Falls, ID)

    2011-12-06T23:59:59.000Z

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

  20. Human Robot Interaction in Mobile Robot Applications Akihisa Ohya

    E-Print Network [OSTI]

    Ohya, Akihisa

    Human Robot Interaction in Mobile Robot Applications Akihisa Ohya PRESTO, JST / University the usefulness of mobile robots by showing concrete applications in human daily life through this study. Only a few mobile robot applications were de- signed and made with the purpose of supporting humans

  1. Robot Rodeo 2013

    ScienceCinema (OSTI)

    Deuel, Jake

    2014-02-26T23:59:59.000Z

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

  2. Robot Rodeo 2013

    SciTech Connect (OSTI)

    Deuel, Jake

    2013-08-27T23:59:59.000Z

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

  3. Mobile Robot Sensing for Environmental Applications

    E-Print Network [OSTI]

    2007-01-01T23:59:59.000Z

    Mobile robot sensing for environmental applications Amarjeetwith Mobile robot sensing for environmental applications (a)Mobile robot sensing for environmental applications only a

  4. Affordable avatar control system for personal robots

    E-Print Network [OSTI]

    Lee, Jun Ki, S. M. Massachusetts Institute of Technology

    2009-01-01T23:59:59.000Z

    Social robots (personal robots) emphasize individualized social interaction and communication with people. To maximize communication capacity of a personal robot, designers make it more anthropomorphic (or zoomorphic), and ...

  5. Robotic device for manipulating human stepping

    E-Print Network [OSTI]

    Emken, J L; Wynne, J H; Harkema, S J; Reinkensmeyer, D J

    2006-01-01T23:59:59.000Z

    Upper and lower extremity robotic devices for rehabilitationrehabilitation with a 4-DOF robotic orthosis,” IEEE Trans.and S. J. Harkema, “A robotic tool for studying locomotor

  6. Update on Robotic Laparoscopic Radical Prostatectomy

    E-Print Network [OSTI]

    Matsunaga, Garrett S; Ahlering, Thomas E; Skarecky, Douglas W

    2006-01-01T23:59:59.000Z

    J. , and Moll, F. (1999) Robotic computer-assistedand Chitwood, W. (2002) Robotic-assisted adrenalectomy forT. , and Clayman, R. (2004) Robotic revelation: laparoscopic

  7. Activity Recognition for Natural Human Robot Interaction

    E-Print Network [OSTI]

    Ravindran, Balaraman

    Activity Recognition for Natural Human Robot Interaction Addwiteey Chrungoo1 , SS Manimaran between humans and robots. While humans can distinguish between communicative actions and activities of daily living, robots cannot draw such inferences effectively. To allow intuitive human robot interaction

  8. Toward Precise Control of a Robotic Boat

    E-Print Network [OSTI]

    Vedantam, Satish; Zhang, Wenyi; Mitra, Urbashi; Sabharwal, Ashutosh

    2007-01-01T23:59:59.000Z

    Precise Control of a Robotic Boat Arvind Menezes Pereira,David Caron & Gaurav Sukhatme Robotic Embedded Systems Lab,

  9. Robotic follow system and method

    DOE Patents [OSTI]

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

    2007-05-01T23:59:59.000Z

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

  10. Apparatus for attaching a cleaning tool to a robotic manipulator

    DOE Patents [OSTI]

    Killian, M.A.; Zollinger, W.T.

    1991-01-01T23:59:59.000Z

    This invention is comprised of an apparatus for connecting a cleaning tool to a robotic manipulator so that the tool can be used in contaminated areas on horizontal, vertical and sloped surfaces. The apparatus comprises a frame and a handle, with casters on the frame to facilitate movement. The handle is pivotally and releasibly attached to the frame at a preselected position of a plurality of attachment positions. The apparatus is specifically configured for the KELLY VACUUM SYSTEM but can be modified for use with any standard mobile robot and cleaning tool.

  11. Apparatus for attaching a cleaning tool to a robotic manipulator

    DOE Patents [OSTI]

    Killian, Mark A. (102 Foxhunt Dr., North Augusta, SC 29841); Zollinger, W. Thor (3927 Almon Dr., Martinez, GA 30907)

    1992-01-01T23:59:59.000Z

    An apparatus for connecting a cleaning tool to a robotic manipulator so that the tool can be used in contaminated areas on horizontal, vertical and sloped surfaces. The apparatus comprises a frame and a handle, with casters on the frame to facilitate movement. The handle is pivotally and releasibly attached to the frame at a preselected position of a plurality of attachment positions. The apparatus is specifically configured for the KELLY VACUUM SYSTEM but can be modified for use with any standard mobile robot and cleaning tool.

  12. Apparatus for attaching a cleaning tool to a robotic manipulator

    DOE Patents [OSTI]

    Killian, M.A.; Zollinger, W.T.

    1992-09-22T23:59:59.000Z

    An apparatus is described for connecting a cleaning tool to a robotic manipulator so that the tool can be used in contaminated areas on horizontal, vertical and sloped surfaces. The apparatus comprises a frame and a handle, with casters on the frame to facilitate movement. The handle is pivotally and releasibly attached to the frame at a preselected position of a plurality of attachment positions. The apparatus is specifically configured for the Kelly Vacuum System but can be modified for use with any standard mobile robot and cleaning tool. 14 figs.

  13. Industrial Robotics Prof. Alessandro De Luca

    E-Print Network [OSTI]

    De Luca, Alessandro

    Robotics 1 Industrial Robotics Prof. Alessandro De Luca Robotics 1 1 #12;What is a robot? ! industrial definition (RIA = Robotic Institute of America) re-programmable multi-functional manipulator;Evolution toward industrial robots ! with respect to the ancestors ! flexibility of use ! adaptability

  14. Fine Grained Robotics

    E-Print Network [OSTI]

    Flynn, Anita M.

    Fine grained robotics is the idea of solving problems utilizing multitudes of very simple machines in place of one large complex entity. Organized in the proper way, simple machines and simple behaviors can lead to emergent ...

  15. Robot calibration without scaling

    E-Print Network [OSTI]

    Ives, Thomas W.

    1995-01-01T23:59:59.000Z

    methods. Scaling is a common way of improving the condition number for a matrix. Researchers in other fields have developed specific methods of scaling matrices to improve the condition number. However, robotics researchers have not specifically addressed...

  16. Wheeled hopping robot

    DOE Patents [OSTI]

    Fischer, Gary J. (Albuquerque, NM)

    2010-08-17T23:59:59.000Z

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

  17. Machine Learning for Humanoid Robot Modeling and Control /

    E-Print Network [OSTI]

    Wu, Tingfan

    2013-01-01T23:59:59.000Z

    of robot dynamics parameters: Theory and application. [36]in [12] for applications to model free robot control. ThisApplication to Robotics For Newtonian problems, including articulated robots,

  18. Gnat Robots (And How They Will Change Robotics)

    E-Print Network [OSTI]

    Flynn, A. M.

    A new concept in mobile robots is proposed, namely that of a gnat-sized autonomous robot with on-board sensors, brains, actuators and power supplies, all fabricated on a single piece of silicon. Recent breakthroughs in ...

  19. Robot manipulation in human environments

    E-Print Network [OSTI]

    Edsinger, Aaron Ladd, 1972-

    2007-01-01T23:59:59.000Z

    Human environments present special challenges for robot manipulation. They are often dynamic, difficult to predict, and beyond the control of a robot engineer. Fortunately, many characteristics of these settings can be ...

  20. Robot Manipulation in Human Environments

    E-Print Network [OSTI]

    Edsinger, Aaron

    2007-01-16T23:59:59.000Z

    Human environments present special challenges for robot manipulation. They are often dynamic, difficult to predict, and beyond the control of a robot engineer. Fortunately, many characteristics of these settings can be ...

  1. Imaging Robot Jonathan Dyssel Stets

    E-Print Network [OSTI]

    with a Command File, a file that contains the coordinates and directions of the robot arm. One of the interfaces and an attached camera. The other interface, programmed in Matlab, controls the calculations of the robot arm

  2. Coördinating human-robot communication

    E-Print Network [OSTI]

    Brööks, Andrëw G. (Brööks Zoz)

    2007-01-01T23:59:59.000Z

    As robots begin to emerge from the cloisters of industrial and military applications and enter the realms of coöperative partners for people, one of the most important facets of human-robot interaction (HRI) will be ...

  3. Application Study: Robot Arm Control

    E-Print Network [OSTI]

    Visser, Arnoud

    Application Study: Robot Arm Control An experience using distributed AIM Arnoud Visser Michiel Wiedijk Frank Tuijnman Hamideh Afsarmanesh November 1993 u University of Amsterdam #12;2 1. The Robot Arm application at UvA In the robot arm application we deal with three agents that are heterogeneous

  4. WORLD ROBOTICS 2007 EXECUTIVE SUMMARY

    E-Print Network [OSTI]

    De Luca, Alessandro

    ,200 units, down 11% on 2005 World total stock of operational industrial robots: · 951,000 units,3% greater was down by 11% in 2006, at 112,203 newly supplied industrial robots. Nevertheless, developments were quite industry increased substantially. Figure 1 Estimated yearly shipments of industrial robots 0 10,000 20

  5. Robotics II June 10, 2014

    E-Print Network [OSTI]

    De Luca, Alessandro

    Robotics II June 10, 2014 Exercise 1 Consider a planar 3R robot with unitary link lengths as in Fig. 1. Taking into account the robot redundancy, a velocity control scheme is active so as to track desired end-effector position trajectories while trying to locally maximize the minimum Cartesian distance

  6. Decentralized Swarming by Robot CollectivesDecentralized Swarming by Robot Collectives Research Goal

    E-Print Network [OSTI]

    Krovi, Venkat

    Cooperative Robots Buildings Surveillance Application Arenas: Entertainment Industry Medical Nanobots ChangeDecentralized Swarming by Robot CollectivesDecentralized Swarming by Robot Collectives Research Goal: Develop a framework for decentralized swarming by robot collectives using artificial potential

  7. A Survey of NASA and Military Standards on Fault Tolerance and Reliability Applied to Robotics

    E-Print Network [OSTI]

    Rice University - Center for Cooperative Autonomous Robots for Hazardous Environments

    the Robotic Industries Association (RIA) and American National Standard for Industrial Robots and Robot

  8. Friendship estimation model for social robots to understand human relationships Takayuki Kanda, Hiroshi Ishiguro

    E-Print Network [OSTI]

    Kanda, Takayuki

    ." These robots are different from traditional task-oriented robots, such as industrial robots, that perform

  9. Robot-to-Robot Nurturing: A Call to the Research Community

    E-Print Network [OSTI]

    Schlupp, Ingo

    Robot-to-Robot Nurturing: A Call to the Research Community Mark Woehrer School of Computer Science and artificial systems, how robot-to-robot (R2R) nurturing is related to developmental robotics including epigenetic and morphogenetic robotics, why R2R nurturing should be considered an important topic, and why we

  10. Fuel Cells For RobotsFuel Cells For Robots Pavlo Rudakevych

    E-Print Network [OSTI]

    MicroRig Overview · MicroRig is a fully autonomous downhole robotic vehicle. · Its purpose is to carry oil field on the end of long flexible tubes. · MicroRig is a fully autonomous downhole robotic vehicle. ·Fuel Cells For RobotsFuel Cells For Robots Pavlo Rudakevych iRobot Pavlo Rudakevych iRobot #12

  11. Walking Humanoids for Robotics Research Krister Wolff Peter Nordin

    E-Print Network [OSTI]

    Fernandez, Thomas

    of the robot is then calculated from the inverse kinematics. Conven- tional industrial robots are designed

  12. Human-Robot-Communication and Machine Learning

    E-Print Network [OSTI]

    Demiris, Yiannis

    be obtained from today's industrial robots. However, to enable new robot applications with emphasis on serviceHuman-Robot-Communication and Machine Learning Abbr. title: Human-Robot-Communication and ML Volker for Real-Time Computer Systems and Robotics Kaiserstr. 12 D-76128 Karlsruhe, Germany Phone: +49 721 608

  13. Savannah River Site Robotics

    SciTech Connect (OSTI)

    None

    2010-01-01T23:59:59.000Z

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

  14. Savannah River Site Robotics

    ScienceCinema (OSTI)

    None

    2012-06-14T23:59:59.000Z

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

  15. Robot Round Up

    E-Print Network [OSTI]

    Hacker, Randi

    2011-11-09T23:59:59.000Z

    Broadcast Transcript: This is a Postcard about robots. In Japan. Now there's a surprise. But suspend your disbelief for a moment, if you will. Let's talk about Evolta first. Evolta is a battery-powered triathlete headed for the Hawaiian Iron Man...

  16. Wine Tasting Robots

    E-Print Network [OSTI]

    Hacker, Randi; Tsutsui, William

    2007-03-21T23:59:59.000Z

    Broadcast Transcript: Well, Japanese scientists have created the world's first wine-tasting robot and the thought that springs to mind is: Why? Followed by: what were they thinking? Or, more to the point, what were they drinking? The scientists who...

  17. Multi-robot pursuit-evasion

    E-Print Network [OSTI]

    Kolling, Andreas

    2009-01-01T23:59:59.000Z

    such as in applications in which robots paint, deliver seedsideas in an application we constructed a robot grid map ofTwo Robots In this section we describe the ?rst application

  18. Lund September 2010 Robotics and Automation software

    E-Print Network [OSTI]

    of industrial robots enabling cost effective, high precision manufacturing in factories of the future. $: EU.FP7, Korea #12;LUCAS: Robotics and Semantic Systems, Lund, Sept. 2010 4 ,,Re-Inventing Industrial Robotics

  19. Monotonic Target Assignment for Robotic Networks

    E-Print Network [OSTI]

    Smith, Stephen L; Bullo, Francesco

    2009-01-01T23:59:59.000Z

    Target assignment for robotic networks: Worst-case andTARGET ASSIGNMENT FOR ROBOTIC NETWORKS [6] H. W. Kuhn, “TheTarget Assignment for Robotic Networks Stephen L. Smith,

  20. Learning domain abstractions for long lived robots 

    E-Print Network [OSTI]

    Rosman, Benjamin Saul

    2014-06-27T23:59:59.000Z

    Recent trends in robotics have seen more general purpose robots being deployed in unstructured environments for prolonged periods of time. Such robots are expected to adapt to different environmental conditions, and ...

  1. Update on Robotic Laparoscopic Radical Prostatectomy

    E-Print Network [OSTI]

    Matsunaga, Garrett S; Ahlering, Thomas E; Skarecky, Douglas W

    2006-01-01T23:59:59.000Z

    it in the third robot arm. The assistant’s other duties alsoassistant is responsible for changing instruments for the robot

  2. Efficient design of precision medical robotics

    E-Print Network [OSTI]

    Hanumara, Nevan Clancy

    2012-01-01T23:59:59.000Z

    Medical robotics is increasingly demonstrating the potential to improve patient care through more precise interventions. However, taking inspiration from industrial robotics has often resulted in large, sometimes cumbersome ...

  3. Autonomous Realtime Threat-Hunting Robot (ARTHR

    SciTech Connect (OSTI)

    INL

    2008-05-29T23:59:59.000Z

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

  4. Autonomous Realtime Threat-Hunting Robot (ARTHR

    ScienceCinema (OSTI)

    INL

    2009-09-01T23:59:59.000Z

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

  5. Grid Integration of Robotic Telescopes

    E-Print Network [OSTI]

    F. Breitling; T. Granzer; H. Enke

    2009-03-23T23:59:59.000Z

    Robotic telescopes and grid technology have made significant progress in recent years. Both innovations offer important advantages over conventional technologies, particularly in combination with one another. Here, we introduce robotic telescopes used by the Astrophysical Institute Potsdam as ideal instruments for building a robotic telescope network. We also discuss the grid architecture and protocols facilitating the network integration that is being developed by the German AstroGrid-D project. Finally, we present three user interfaces employed for this purpose.

  6. AUTONOMOUS ROBOTIC INSPECTION EXPERIMENTAL SYSTEM

    SciTech Connect (OSTI)

    David N. Rocheleau, Senior Investigator; Edward A. Hamilton, Associate Director, SCUREF; Jerry L. Hudgins, Senior Investigator; Paul McCarty, Graduate Research Assistant; Robert J. Schalkoff, Senior Investigator; Robert O. Pettus, Project Manager & Principal Investigator

    1998-08-01T23:59:59.000Z

    This document contains appendices on these topics: COMPUTERS AND CONTROLS; COMPUTER VISION SYSTEM; ELECTRICAL SYSTEMS; MECHANICAL SYSTEMS; ROBOTIC VEHICLE SYSTEMS; FIELD TRIALS.

  7. Robot arm apparatus

    DOE Patents [OSTI]

    Nachbar, Henry D. (Ballston Lake, NY)

    1992-01-01T23:59:59.000Z

    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.

  8. Robot arm apparatus

    DOE Patents [OSTI]

    Nachbar, Henry D.

    1992-12-01T23:59:59.000Z

    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.

  9. revision:19970323 modified:19970323

    E-Print Network [OSTI]

    Shelah, Saharon

    596 revision:1997­03­23 modified:1997­03­23 Some independence results on reflection James Cummings. Publication number 596. 1 #12; 596 revision:1997­03­23 modified:1997­03­23 Baumgartner proved in [1­reflection principle captures 2 #12; 596 revision:1997­03­23 modified:1997­03­23 exactly that part of # which is useful

  10. Building Knowledge-enabled Cloud Robotics Applications using the Ubiquitous Network Robot Platform

    E-Print Network [OSTI]

    Building Knowledge-enabled Cloud Robotics Applications using the Ubiquitous Network Robot Platform of distributed robotic applications. Our aim is to modularize applications by factoring out environment- , task base that is shared between the robots and service applications. Robot control decisions can

  11. Robots in the Wild: Observing Human-Robot Social Interaction Outside the Lab

    E-Print Network [OSTI]

    Sabanovic, Selma

    , scientific, and technical concerns relevant to social robot design. Unlike industrial and laboratory robots-laboratory applications [7]. Interactions with robots in the laboratory, under the watchful eye and expert guidanceRobots in the Wild: Observing Human-Robot Social Interaction Outside the Lab Selma Sabanovic

  12. An Approach for a Social Robot to Understand Human Relationships: Friendship Estimation through Interaction with Robots

    E-Print Network [OSTI]

    Kanda, Takayuki

    , such as industrial robots that per- form certain tasks in limited applications. Interaction-oriented robotsAn Approach for a Social Robot to Understand Human Relationships: Friendship Estimation through Interaction with Robots Takayuki Kanda1 and Hiroshi Ishiguro1,2 1 ATR, Intelligent Robotics and Communication

  13. Introduction to RoboticsIntroduction to Robotics Jee-Hwan Ryu

    E-Print Network [OSTI]

    Ryu, Jee-Hwan

    the robots of science fiction. HONDA ASIMO Application Areas of Robots 1970 1990 20102000 Automotive Field Service HospitalHospital Elder, DisabledElder, Disabled #12;Industrial Robots LCD Transfer WeldingIntroduction to RoboticsIntroduction to Robotics Jee-Hwan Ryu School of Mechanical Engineering

  14. Cooperation of Heterogeneous, Autonomous Robots: A Case Study of Humanoid and Wheeled Robots

    E-Print Network [OSTI]

    Stryk, Oskar von

    . I. INTRO With the growing importance of autonomous mobile robots in industrial and researchCooperation of Heterogeneous, Autonomous Robots: A Case Study of Humanoid and Wheeled Robots Jutta- ation of a strongly heterogeneous robot team, composed of a highly articulated humanoid robot

  15. Sandia National Laboratories proof-of-concept robotic security vehicle

    SciTech Connect (OSTI)

    Harrington, J.J.; Jones, D.P.; Klarer, P.R.; Morrow, J.D.; Workhoven, R.M.; Wunderlin, F.

    1989-01-01T23:59:59.000Z

    Several years ago Sandia National Laboratories developed a prototype interior robot that could navigate autonomously inside a large complex building to air and test interior intrusion detection systems. Recently the Department of Energy Office of Safeguards and Security has supported the development of a vehicle that will perform limited security functions autonomously in a structured exterior environment. The goal of the first phase of this project was to demonstrate the feasibility of an exterior robotic vehicle for security applications by using converted interior robot technology, if applicable. An existing teleoperational test bed vehicle with remote driving controls was modified and integrated with a newly developed command driving station and navigation system hardware and software to form the Robotic Security Vehicle (RSV) system. The RSV, also called the Sandia Mobile Autonomous Navigator (SANDMAN), has been successfully used to demonstrate that teleoperated security vehicles which can perform limited autonomous functions are viable and have the potential to decrease security manpower requirements and improve system capabilities. 2 refs., 3 figs.

  16. Robot to the Mine Rescue

    Broader source: Energy.gov [DOE]

    To increase the speed of rescue efforts, scientists and engineers at the Energy Department’s Sandia National Laboratories recently developed a new robot, called the Gemini-Scout Mine Rescue Robot, that quickly finds dangers and provides relief to trapped miners.

  17. Urologic robots and future directions

    E-Print Network [OSTI]

    Mozer, Pierre; Stoianovici, Dan; 10.1097/MOU.0b013e32831cc1ba

    2008-01-01T23:59:59.000Z

    PURPOSE OF REVIEW: Robot-assisted laparoscopic surgery in urology has gained immense popularity with the daVinci system, but a lot of research teams are working on new robots. The purpose of this study is to review current urologic robots and present future development directions. RECENT FINDINGS: Future systems are expected to advance in two directions: improvements of remote manipulation robots and developments of image-guided robots. SUMMARY: The final goal of robots is to allow safer and more homogeneous outcomes with less variability of surgeon performance, as well as new tools to perform tasks on the basis of medical transcutaneous imaging, in a less invasive way, at lower costs. It is expected that improvements for a remote system could be augmented in reality, with haptic feedback, size reduction, and development of new tools for natural orifice translumenal endoscopic surgery. The paradigm of image-guided robots is close to clinical availability and the most advanced robots are presented with end-use...

  18. Robotic Welding and Inspection System

    SciTech Connect (OSTI)

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

    2008-06-01T23:59:59.000Z

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

  19. Robotic Efficiency Solutions for Ductwork

    E-Print Network [OSTI]

    Forrest, F.

    2012-01-01T23:59:59.000Z

    New Technologies That Work Robotic Efficiency Solutions for ductwork Frank Forrest Electrical Energy Consumption in Office Buildings Building Energy Upgrades ? Lighting upgrade ? Supplemental load reduction ? Air distribution system... based or ? Solvent based and ? Brushed or ? Sprayed ? Rolled Sealant Sprayable ? Lower viscosity than other methods ? Substantially better elasticity ? Sprays at a continuous pressure Robotic Spray Application Process ? Duct interior...

  20. TOPIC REVIEW IN TOUCH WITH ROBOTICS: NEUROSURGERY FOR

    E-Print Network [OSTI]

    Cavusoglu, Cenk

    advantages, increased preci- sion, and improved quality of product persis- tently demonstrated by industrial robots stimulated the application of robots in the health sector. Although the first robot

  1. Transoral robotic assisted resection of the parapharyngeal space

    E-Print Network [OSTI]

    Mendelsohn, AH

    2015-01-01T23:59:59.000Z

    H, Durmus K, Ozer E. Transoral robotic resection of selectedsurgery via a transoral approach using a robotic surgicalsystem: transoral robotic surgery. J Laparoendosc Adv Surg

  2. Autonomous Robotic Sensing Experiments at San Joaquin River

    E-Print Network [OSTI]

    2007-01-01T23:59:59.000Z

    2007 FrE12.5 Autonomous Robotic Sensing Experiments at Sanan autonomous, high resolution robotic spatial map- ping ofinsights for similar robotic investigations in aquatic

  3. Human Assisted Robotic Team Campaigns for Aquatic Monitoring

    E-Print Network [OSTI]

    2007-01-01T23:59:59.000Z

    W. J. (2007a). Autonomous robotic sensing experiments at sanand development of a wireless robotic networked aquaticHuman Assisted Robotic Team Campaigns for Aquatic Monitoring

  4. Stereo Vision Aided Navigation for Robotic Boats (MAS 10)

    E-Print Network [OSTI]

    2006-01-01T23:59:59.000Z

    A docking system for a robotic boat using stereo vision foraided Navigation for Robotic Boats Arvind Menezes Pereira,Moorthi and David Caron. Robotic Embedded Systems Lab,

  5. Autonomous Robotic Sensing Experiments at San Joaquin River

    E-Print Network [OSTI]

    2006-01-01T23:59:59.000Z

    Autonomous Robotic Sensing Experiments at San Joaquin Riverof an autonomous, high-resolution robotic spatial mapping ofinsights for similar robotic investigations in aquatic

  6. The synergy of human arm and robotic system

    E-Print Network [OSTI]

    Li, Zhi

    2014-01-01T23:59:59.000Z

    and Micro-structures in Robotic Ma- nipulators . . . . . .212 11.3.2 Robotic Mechanism Design - Linkof a Multi-Arms Surgical Robotic System for Manipulation

  7. A robotic wheelchair trainer: design overview and a feasibility study

    E-Print Network [OSTI]

    Marchal-Crespo, Laura; Furumasu, Jan; Reinkensmeyer, David J

    2010-01-01T23:59:59.000Z

    L, Jimenez AR, Azevedo L: A Robotic Vehicle for Disabledperform a new movement with robotic assistance: comparisonMarchal-Crespo et al. : A robotic wheelchair trainer: design

  8. On synchronous robotic networks - Part I: Models, tasks, and complexity

    E-Print Network [OSTI]

    Frazzoli, Emilio; Bullo, Francesco; Cortes, Jorge; Martinez, Sonia

    2007-01-01T23:59:59.000Z

    E. Frazzoli, “On synchronous robotic networks Part II: Timeto control design for mobile robotic networks. Application2007 On Synchronous Robotic Networks—Part I: Models, Tasks,

  9. Distributed Motion Constraints for Algebraic Connectivity of Robotic Networks

    E-Print Network [OSTI]

    Schuresko, Michael; Cortés, Jorge

    2009-01-01T23:59:59.000Z

    E. : On synchronous robotic networks - Part I: models,a simulation environment for robotic networks. http://function associated to the robotic network. 2.1 The Graph

  10. Optimal Robot Localization in Trees Rudolf Fleischer

    E-Print Network [OSTI]

    Fleischer, Rudolf

    Optimal Robot Localization in Trees Rudolf Fleischer Department of Computer Science, The Hong Kong of localization, that is, of a robot finding its position on a map, is an important task for autonomous mobile robots. It has appli­ cations in numerous areas of robotics ranging from aerial photography to autonomous

  11. Interval Analysis and Reliability in Robotics

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    be highly reliable (i.e. for a robot used in surgical applications). The sources of uncertainties will restrict ourself in this paper to industrial robot. These type of robots have a base that is attached the mechanism motion). There are two main classes of industrial robots mechani- cal architecture: serial

  12. NYU Educational Robot With contributions from

    E-Print Network [OSTI]

    Mishra, Bud

    assistant). 1.2 The Role of ED I Robot The ED I robot plays a key role in the entire project. ThusED I: NYU Educational Robot Bud Mishra With contributions from: M. Antoniotti, R. Even, F. Hansen & N. Silver Robotics & Manufacturing Research Lab Courant Institute, New York University #12; Abstract

  13. Robot Learning Learning Models for Control

    E-Print Network [OSTI]

    in order to ensure the safe interaction with human beings. In contrast, traditional industrial robots

  14. Robotic Routers Onur Tekdas and Volkan Isler

    E-Print Network [OSTI]

    Bystroff, Chris

    Robotic Routers Onur Tekdas and Volkan Isler Department of Computer Science, Rensselaer Polytechnic Institute Technical Report # 08-01 {tekdao,isler}@cs.rpi.edu Abstract-- Mobile robots equipped with wireless networking capabilities can act as robotic routers and provide network connectivity to mobile users. Robotic

  15. Robot Languages in the Eighties Giuseppina Gini

    E-Print Network [OSTI]

    Gini, Giuseppina

    -purpose languages applied to robots and languages specifically designed for robotics. Criteria for making a choiceRobot Languages in the Eighties Giuseppina Gini Dept. of Electronics, Politecnico, Milan, Italy of general-purpose programming systems is rapidly changing; what are the consequences for robot programming

  16. Quantum Robot: Structure, Algorithms and Applications

    E-Print Network [OSTI]

    Dao-Yi Dong; Chun-Lin Chen; Chen-Bin Zhang; Zong-Hai Chen

    2005-06-18T23:59:59.000Z

    A kind of brand-new robot, quantum robot, is proposed through fusing quantum theory with robot technology. Quantum robot is essentially a complex quantum system and it is generally composed of three fundamental parts: MQCU (multi quantum computing units), quantum controller/actuator, and information acquisition units. Corresponding to the system structure, several learning control algorithms including quantum searching algorithm and quantum reinforcement learning are presented for quantum robot. The theoretic results show that quantum robot can reduce the complexity of O(N^2) in traditional robot to O(N^(3/2)) using quantum searching algorithm, and the simulation results demonstrate that quantum robot is also superior to traditional robot in efficient learning by novel quantum reinforcement learning algorithm. Considering the advantages of quantum robot, its some potential important applications are also analyzed and prospected.

  17. Human-robot cooperative movement training: Learning a novel sensory motor transformation during walking with robotic assistance-as-needed

    E-Print Network [OSTI]

    Emken, Jeremy L; Benitez, Raul; Reinkensmeyer, David J

    2007-01-01T23:59:59.000Z

    impairment, but with the robotic assistance turned on. With4A, steps 391–440). The robotic assistance decreased withsignificantly smaller with robotic assist- ance (Fig. 6-top,

  18. Robotics and Manufacturing Automation Laboratory of the MMRI http://robotics.mcmaster.ca

    E-Print Network [OSTI]

    Bone, Gary

    Robotics and Manufacturing Automation Laboratory of the MMRI http://robotics.mcmaster.ca Powered Chan and Matthew Lahey Robotics and Manufacturing Automation Laboratory, McMaster Manufacturing Research Institute (MMRI). The 14th International Conference on Flexible Automation and Intelligent

  19. Developing safe and efficient robotic assistants for close-proximity human-robot collaboration

    E-Print Network [OSTI]

    Lasota, Przemyslaw A. (Przemyslaw Andrzej)

    2014-01-01T23:59:59.000Z

    As the field of robotics continues to advance and the capabilities of robots continue to expand, there is a strong incentive to introduce robots into traditionally human-only domains. By harnessing the complementary strengths ...

  20. Robust end effecter for the introduction to Robotics Laboratory robotic arms

    E-Print Network [OSTI]

    Romatoski, Rebecca R. (Rebecca Rose)

    2006-01-01T23:59:59.000Z

    In the MIT ci ss Introduction to Robotics, a two link robotic arm is used to learn about robots however, the arm is limited since its only function is movement. In order to create a more meaningful and useful experience ...

  1. Stupid robot tricks : a behavior-based distributed algorithm library for programming swarms of robots

    E-Print Network [OSTI]

    McLurkin, James D. (James Dwight), 1972-

    2004-01-01T23:59:59.000Z

    As robots become ubiquitous, multiple robots dedicated to a single task will become commonplace. Groups of robots can solve problems in fundamentally different ways than individuals while achieving higher levels of ...

  2. Precision Robotic Assembly Machine

    ScienceCinema (OSTI)

    None

    2010-09-01T23:59:59.000Z

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

  3. Robotic Bees: Overview,

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative1 First Use of Energy for All Purposes (Fuel and Nonfuel), 2002; Level:Energy: Grid Integration Redefining What's PossibleRadiation Protection TechnicalResonantNovember 15 to MarchNuclearRobertRobleyRobot

  4. A MODULAR ACTUATOR ARCHITECTURE FOR ROBOTIC APPLICATIONS

    SciTech Connect (OSTI)

    None

    2001-07-01T23:59:59.000Z

    The United States Department of Energy (DOE) Complexes perform numerous hazardous material handling operations within the confines of a glovebox. The DOE is continuing to seek more efficient and safer means of handling these materials inside gloveboxes rather than the conventional, labor-intensive method through lead lined gloves. The use of glovebox automation technology will also be critical to the DOE in its efforts to comply with its mandated ALARA principles in handling the hazardous materials associated with the cleanup process. Operations associated with materials processing in a glovebox are similar to many industrial tasks, but the unique glovebox environment and Plutonium material properties create a unique set of challenges for conventional automation machinery. Such properties include: Low to moderate levels of ionizing radiation, high abrasiveness, corrosiveness, pyrophoric tendencies, rapid dispersal and permeation of environment, diffuses quickly, and possible incompatible material interaction. The glovebox presents the following challenges: existing gloveboxes may not be readily altered or even modified at all, complex mechanical operations for maintenance and repair are difficult or impossible through gloves, failed equipment may not be removed easily or at all. If a broken piece of equipment cannot be bagged-out through a glove port (approximately 216 mm (8 1/2 inch) diameter) it must remain in place. Broken equipment obstructs further operations. If it renders the entire glovebox unusable, a significant volume of waste is generated and an expensive system must be disposed of and replaced. A moderate sized glovebox alone costs between $250,000 and $500,000 and an equipment malfunction, which penetrates the glovebox and exposes the room to Plutonium or other toxic materials, is catastrophic. In addition to the human exposure issues, cleanup can easily run into the millions of dollars. A solution to the issues described above is ARM Automation Inc.'s (ARM) modular robotic manipulator technology developed for DOE EM operations, which addresses many of the issues discussed in the previous section. This manipulator system has the capability of custom configurations, which accommodate common glovebox tasks such as materials repackaging. The modular nature and quick connects of this system simplify installations into ''hot'' boxes and any potential modifications or repair therein. In the field of automation and robotics, a very common element is one used to generate motion for precise positioning of loads. One example of such an automation component would be an individual joint within an industrial robotic manipulator. This component consists of a tightly integrated package containing an electric motor, gear train, output support bearings, position sensors, brake, servo-amplifier and communications controller. Within the context of this paper, this key building block is referred to as an actuator module. With regard to the needs of the EM, [8] and [9] have shown that while each focus area has unique requirements for robotic automation at a system or manipulator level, their requirements at the actuator level are very similar. Thereby, a modular approach to automation which utilizes a small set of versatile actuator modules can be used to construct a broad range of robotic systems and automation cells suited to EM applications. By providing a pre-engineered, pre-integrated motion system to different robotics users within the DOE, new automation systems can be more quickly created without extensive expertise in motion control or the expense of building custom equipment.

  5. Distributed Multi-Robot Collaboration Using Evolutionary Computation

    E-Print Network [OSTI]

    Darvishzadeh, Amirali

    2011-01-01T23:59:59.000Z

    As the cost of robots reduced and application of roboticAs the cost of robots reduced and application of roboticreal world applications of utilizing robots to search for a

  6. Deployment algorithms for mobile robots under dynamic constraints

    E-Print Network [OSTI]

    Kwok, Andrew Nicholas

    2011-01-01T23:59:59.000Z

    for many mobile robot applications. It can perform one ofthe robots in the testbed. The first one is an application

  7. Machine Learning for Humanoid Robot Modeling and Control /

    E-Print Network [OSTI]

    Wu, Tingfan

    2013-01-01T23:59:59.000Z

    Unlike traditional industrial robot arms with only a fewdynamics. For traditional industrial robots these un-modeled

  8. advanced robot control: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    Symposium on Measurement and Control in Robotics -Toward Advanced Robots: Design, Sensors, Control and Applications - Computer Technologies and Information Sciences...

  9. MOTOR SCHEMAS IN ROBOT LEARNING Lynne E. Parker

    E-Print Network [OSTI]

    Parker, Lynne E.

    allows robot learning to scale to more complex robots or tasks, thus making practical applicationsMOTOR SCHEMAS IN ROBOT LEARNING Lynne E. Parker Department of Electrical Engineering and Computer in robot learning; Macro actions in robot learning; Basis behaviors for robot learning. Definition Motor

  10. LOCOMOTION (TERRESTRIAL AND AERIAL) AND COMMUNICATION OF AUTONOMOUS ROBOT NETWORKS

    E-Print Network [OSTI]

    Kansas, University of

    , flying robots, micro-air vehicles, robot communication, autonomous robot networks. #12;2 1. TERRESTRIAL1 LOCOMOTION (TERRESTRIAL AND AERIAL) AND COMMUNICATION OF AUTONOMOUS ROBOT NETWORKS Arvin Agah vehicles, next generation robotic platforms, platform mechanics and materials, winterization of robotic

  11. Follicular unit extraction with the Artas robotic hair transplant system system: an evaluation of FUE yield

    E-Print Network [OSTI]

    Rashid, Rashid M

    2014-01-01T23:59:59.000Z

    extraction with the Artas robotic hair transplant systemtransplant, hair graft quality, artas, robotics, roboticsurgery, robotic hair transplant, neograft Abstract Hair

  12. ORNL researcher developing robotic hand

    ScienceCinema (OSTI)

    Dr.Lonnie Love

    2010-01-08T23:59:59.000Z

    Oak Ridge National Lab is literally giving the robotics industry a hand. One scientist there is currently working on a fluid powered hand that will help everyone from amputees to the military.

  13. Controlling robots with spoken commands

    SciTech Connect (OSTI)

    Beugelsdijk, T.; Phelan, P.

    1987-10-01T23:59:59.000Z

    A robotic system for handling radioactive materials has been developed at Los Alamos National Laboratory. Because of safety considerations, the robot must be under the control of a human operator continuously. In this paper we describe the implementation of a voice-recognition system that makes such control possible, yet permits the robot to perform preprogrammed manipulations without the operator's intervention. We also describe the training given both the operator and the voice recognition-system, as well as practical problems encountered during routine operation. A speech synthesis unit connected to the robot's control computer provides audible feedback to the operator. Thus, when a task is completed or if an emergency develops, the computer provides an appropriate spoken message. Implementation and operation of this commercially available hardware are discussed.

  14. Teleoperated robotic sorting system

    SciTech Connect (OSTI)

    Roos, Charles E.; Sommer, Jr., Edward J.; Parrish, Robert H.; Russell, James R.

    2008-06-24T23:59:59.000Z

    A method and apparatus are disclosed for classifying materials utilizing a computerized touch sensitive screen or other computerized pointing device for operator identification and electronic marking of spatial coordinates of materials to be extracted. An operator positioned at a computerized touch sensitive screen views electronic images of the mixture of materials to be sorted as they are conveyed past a sensor array which transmits sequences of images of the mixture either directly or through a computer to the touch sensitive display screen. The operator manually "touches" objects displayed on the screen to be extracted from the mixture thereby registering the spatial coordinates of the objects within the computer. The computer then tracks the registered objects as they are conveyed and directs automated devices including mechanical means such as air jets, robotic arms, or other mechanical diverters to extract the registered objects.

  15. Teleoperated robotic sorting system

    SciTech Connect (OSTI)

    Roos, Charles E. (Nashville, TN); Sommer, Edward J. (Nashville, TN); Parrish, Robert H. (Nashville, TN); Russell, James R. (Brentwood, TN)

    2000-01-01T23:59:59.000Z

    A method and apparatus are disclosed for classifying materials utilizing a computerized touch sensitive screen or other computerized pointing device for operator identification and electronic marking of spatial coordinates of materials to be extracted. An operator positioned at a computerized touch sensitive screen views electronic images of the mixture of materials to be sorted as they are conveyed past a sensor array which transmits sequences of images of the mixture either directly or through a computer to the touch sensitive display screen. The operator manually "touches" objects displayed on the screen to be extracted from the mixture thereby registering the spatial coordinates of the objects within the computer. The computer then tracks the registered objects as they are conveyed and directs automated devices including mechanical means such as air jets, robotic arms, or other mechanical diverters to extract the registered objects.

  16. Robotic end effector

    DOE Patents [OSTI]

    Minichan, R.L.

    1993-10-05T23:59:59.000Z

    An end effector is described for use in probing a surface with a robotic arm. The end effector has a first portion that carries a gimbal with a probe, the gimbal holding the probe normal to the surface, and a second portion with a set of three shafts within a housing for urging the gimbal and probe against the surface. The second portion contains a potentiometer connected by another shaft to the first portion to measure the position of the first portion with respect to the second so that the second portion can be moved to place and maintain the shafts at the midpoint of their travel. Then, as irregularities in the surface are encountered, the first portion can respond by moving closer to or farther from the second portion. 7 figures.

  17. Robotic end effector

    DOE Patents [OSTI]

    Minichan, Richard L. (23 Pineview Dr., Warrenville, SC 29851)

    1993-01-01T23:59:59.000Z

    An end effector for use in probing a surface with a robotic arm. The end effector has a first portion that carries a gimbal with a probe, the gimbal holding the probe normal to the surface, and a second portion with a set of three shafts within a housing for urging the gimbal and probe against the surface. The second portion contains a potentiometer connected by another shaft to the first portion to measure the position of the first portion with respect to the second so that the second portion can be moved to place and maintain the shafts at the midpoint of their travel. Then, as irregularities in the surface are encountered, the first portion can respond by moving closer to or farther from the second portion.

  18. Robot Deception and Squirrel Behavior: A Case Study in Bioinspired Robotics

    E-Print Network [OSTI]

    Robot Deception and Squirrel Behavior: A Case Study in Bio­inspired Robotics Jaeeun Shim and Ronald C. Arkin Mobile Robot Laboratory, School of Interactive Computing Georgia Institute of Technology and human beings is deception. Deceptive behavior in robotics is potentially beneficial in several domains

  19. The WURDE Robotics Middleware and RIDE Multi-Robot Tele-Operation Interface

    E-Print Network [OSTI]

    Dixon, Michael

    The WURDE Robotics Middleware and RIDE Multi-Robot Tele-Operation Interface Frederick Heckel, Tim {fwph,tmb1,msd2,ccw1,wds}@wustl.edu Abstract We have developed highly modular middleware for robotics programming and an interface for multi-robot teleoperation. WURDE provides abstractions for the communications

  20. Evaluating Control Strategies for Wireless-Networked Robots Using an Integrated Robot and Network Simulation

    E-Print Network [OSTI]

    Heidemann, John

    Evaluating Control Strategies for Wireless-Networked Robots Using an Integrated Robot and Network communication is an enabling factor in mul- tiple mobile robot systems. There is signi#12;cant interac- tion between robot controllers and communications sub- systems. We present a method for evaluating combined

  1. HUMAN ROBOT INTERACTION FOR MULTI-ROBOT SYSTEMS A Dissertation Proposal by

    E-Print Network [OSTI]

    Sukthankar, Gita Reese

    HUMAN ROBOT INTERACTION FOR MULTI-ROBOT SYSTEMS A Dissertation Proposal by Bennie G. Lewis Jr. 11 Hughes Annie Wu #12;Outline Abstract ii 1 Introduction 1 2 Related Work 3 2.1 Human Robot Interaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2.2 Multi-Robot Manipulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 2

  2. Service Robot Anthropomorphism and Interface Design for Emotion in Human-Robot Interaction

    E-Print Network [OSTI]

    Zhang, Tao

    . Based on a survey of existing service robot applications and associated interface requirements, we sensors have promoted a wide variety of robot applications in the health care field, including laboratoryService Robot Anthropomorphism and Interface Design for Emotion in Human-Robot Interaction Tao

  3. Formal Verification of Robot Movements -a Case Study on Home Service Robot SHR100

    E-Print Network [OSTI]

    applications such as home security, cleaning, etc. The robots need to add or update services frequently to develop robot applications. These challenges raise safety issues seriously. Considering that safe operation of home service robots is crucial, current practice of validating robot applications is, however

  4. Industrial Robot: An International Journal Emerald Article: A software framework for agricultural and forestry robots

    E-Print Network [OSTI]

    Hellström, Thomas

    and forestry robots Thomas Hellström, Ola Ringdahl Article information: To cite this document: Thomas Hellström, Ola Ringdahl, (2013),"A software framework for agricultural and forestry robots", Industrial Robot and forestry robots Thomas Hellstro¨m and Ola Ringdahl Department of Computing Science, Umea° University, Umea

  5. The Snackbot: Documenting the Design of a Robot for Long-term Human-Robot Interaction

    E-Print Network [OSTI]

    Crabbe, Frederick

    in developing robots that act as social assistants, with the ability to use speech and gesture, and engageThe Snackbot: Documenting the Design of a Robot for Long-term Human-Robot Interaction Min Kyung Lee Glaser3 , Sara Kiesler1 1 HCI Institute, 2 Robotics Institute Carnegie Mellon University 5000 Forbes Ave

  6. ICORR '99: International Conference on Rehabilitation Robotics, Stanford, CA AUTONOMY AND LEARNING IN MOBILE ROBOTS

    E-Print Network [OSTI]

    Duckett, Tom

    of these machines in 1962. Industrial robots rapidly assumed an important role in manufacturing (particularly

  7. Robotics and Autonomous Systems 46 (2004) 97110 Remote-neocortex control of robotic

    E-Print Network [OSTI]

    Harris Jr., Frederick C.

    2004-01-01T23:59:59.000Z

    , to classify it as a threat or non-threat. This experiment combines traditional robotic tasks, like movementRobotics and Autonomous Systems 46 (2004) 97­110 Remote-neocortex control of robotic search 20 September 2003 Abstract Robots with remote processing capabilities would be useful in hazardous

  8. Experiences in Applying Formal Verification in Robotics

    E-Print Network [OSTI]

    Lüth, Christoph - Deutschen Forschungszentrum für Künstliche Intelligenz & Fachbereich 3

    and certifying a safety function for autonomous vehicles and robots. We out- line the algorithm which such as the area covered by a braking robot in our case, play a central role. This leads to an increase

  9. Autonomous Realtime Threat-Hunting Robot (ARTHR)

    SciTech Connect (OSTI)

    Idaho National Laboratory - David Bruemmer, Curtis Nielsen

    2008-05-29T23:59:59.000Z

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

  10. BSG policy memo Page 1 Killer robots

    E-Print Network [OSTI]

    Wallace, Mark

    BSG policy memo Page 1 Killer robots: Regulate, don't ban Executive summary Lethal Autonomous direction for LAWS is clearly needed. While there is widespread opposition to LAWS--or `killer robots

  11. Autonomous Realtime Threat-Hunting Robot (ARTHR)

    ScienceCinema (OSTI)

    Idaho National Laboratory - David Bruemmer, Curtis Nielsen

    2010-01-08T23:59:59.000Z

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

  12. Balancing a two-wheeled Segway robot

    E-Print Network [OSTI]

    Bageant, Maia R. (Maia Reynolds)

    2011-01-01T23:59:59.000Z

    In this thesis, I designed and constructed hardware for a two-wheeled balancing Segway robot. Because the robot could not be balanced based on a control system derived from the original analytical model, additional system ...

  13. Energy Efficient Legged Robotics at Sandia Labs

    SciTech Connect (OSTI)

    Buerger, Steve

    2014-12-16T23:59:59.000Z

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

  14. @ work' video segment features Robotic Software Engineer

    ScienceCinema (OSTI)

    Idaho National Laboratory

    2010-01-08T23:59:59.000Z

    @ work highlights Idaho National Laboratory employees and the jobs they perform.This segment features Robotic Software Engineer Miles Walton.

  15. Mobile robotics research at Sandia National Laboratories

    SciTech Connect (OSTI)

    Morse, W.D.

    1998-09-01T23:59:59.000Z

    Sandia is a National Security Laboratory providing scientific and engineering solutions to meet national needs for both government and industry. As part of this mission, the Intelligent Systems and Robotics Center conducts research and development in robotics and intelligent machine technologies. An overview of Sandia`s mobile robotics research is provided. Recent achievements and future directions in the areas of coordinated mobile manipulation, small smart machines, world modeling, and special application robots are presented.

  16. Serpentine Robots for Industrial Inspection and Surveillance

    E-Print Network [OSTI]

    Borenstein, Johann

    the successful traverse of the shown obstacle. Fig. 1. The OmniTread Model OT-4 serpen- tine robot enteringSerpentine Robots for Industrial Inspection and Surveillance Grzegorz Granosik1, Johann Borenstein2 in common: small- sized mobile robots that can travel across the rubble of a collapsed building, squeeze

  17. The OmniTread Serpentine Robot

    E-Print Network [OSTI]

    Kamat, Vineet R.

    The OmniTread Serpentine Robot for Industrial Inspection and Surveillance1 Grzegorz Granosik Malik to some of these applications. Serpentine robots are slender, multi- segmented vehicles designed are at the Mobile Robotics Laboratory the University of Michigan, USA. Grzegorz Granosik is also associated

  18. 06Towards Autonomous Robotic Systems Proceedings of

    E-Print Network [OSTI]

    Witkowski, Mark

    to the University of Surrey at Guildford. The TAROS series, now in its 9th year, continues as a premier platformTAROS-06 06Towards Autonomous Robotic Systems Proceedings of Towards Autonomous Robotic Systems. The TAROS series began as the TIMR (Towards Intelligent Mobile Robotics) conferences. The name was changed

  19. Title: Robot Arm Demonstration Supervisor: Alexander Frster

    E-Print Network [OSTI]

    Krause, Rolf

    UROP 2009 Title: Robot Arm Demonstration Supervisor: Alexander Förster Sponsor: Luca Gambardella / UROP Keywords: programming language C++, Qt-framework, Katana robot arm, computer vision Prerequisites based controlled robot arm. The computer vision system has to detect the position and orientation

  20. DYNAMIC WORKCELL FOR INDUSTRIAL ROBOTS A Dissertation

    E-Print Network [OSTI]

    Hoover, Adam

    DYNAMIC WORKCELL FOR INDUSTRIAL ROBOTS A Dissertation Presented to the Graduate School of Clemson: This dissertation entitled "Dynamic Workcell for Industrial Robots" and written by Yanfei Liu is presented present a novel approach to workcell design for enhanced per- formance of industrial robot manipulators

  1. Robotics Science & Technology for Burning Plasma Experiments

    E-Print Network [OSTI]

    Robotics Science & Technology for Burning Plasma Experiments J. N. Herndon, T. W. Burgess, M. M, General Atomics, San Diego, California. #12;Robotics Challenges in Burning Plasma Experiments · Control x x x x x x earthmoving equipment electric robots Conventional Machines DMHP Machines x x x x

  2. Portable control device for networked mobile robots

    DOE Patents [OSTI]

    Feddema, John T. (Albuquerque, NM); Byrne, Raymond H. (Albuquerque, NM); Bryan, Jon R. (Edgewood, NM); Harrington, John J. (Albuquerque, NM); Gladwell, T. Scott (Albuquerque, NM)

    2002-01-01T23:59:59.000Z

    A handheld control device provides a way for controlling one or multiple mobile robotic vehicles by incorporating a handheld computer with a radio board. The device and software use a personal data organizer as the handheld computer with an additional microprocessor and communication device on a radio board for use in controlling one robot or multiple networked robots.

  3. Motion Control of Robot Manipulators with MATLAB

    E-Print Network [OSTI]

    Siena, UniversitĂ  di

    Motion Control of Robot Manipulators with MATLAB · By Francesco Chinello, Stefano Scheggi, Fabio Morbidi, and Domenico Prattichizzo 1070-9932/11/$26.00ª2011 IEEE DECEMBER 2011 · IEEE ROBOTICS robot manipulators. The KUKA Control Toolbox (KCT) is a collection of MATLAB functions developed

  4. Evolutionary Robotics: A New Scientific Tool for

    E-Print Network [OSTI]

    of an artificial analogue of natural Darwinian evolution to the design of robots or simulated agents designed minimal insectlike robots in an incremental fashion explicitly modeled on the process of naturalEvolutionary Robotics: A New Scientific Tool for Studying Cognition Inman Harvey Ezequiel Di Paolo

  5. Integrated Cognitive Assistive & Domotic Companion Robotic Systems

    E-Print Network [OSTI]

    Baudoin, Genevičve

    mobile robotic companion with the advantages of a stationary smart home environment. 2. Semantic support and cognitive engagement of the elderly. Advantages of the Smart Home ­ Numerous existing for reconstructing the home environment. ­ Allows promising marketing policy: "Rent-a-robot" or "Robots-on- demand

  6. Mobile Robotics: Research, Applications and Challenges

    E-Print Network [OSTI]

    Nehmzow, Ulrich

    detection -- and presents one of the future challenges of mobile robotics research: that of applying quanti.g. descending stairs), and it must pose no risk to humans in the vicinity of the robot. Section 2 discussesMobile Robotics: Research, Applications and Challenges Ulrich Nehmzow Department of Computer

  7. Modified Faraday cup

    DOE Patents [OSTI]

    Elmer, John W. (Pleasanton, CA); Teruya, Alan T. (Livermore, CA); O'Brien, Dennis W. (Livermore, CA)

    1996-01-01T23:59:59.000Z

    A tomographic technique for measuring the current density distribution in electron beams using electron beam profile data acquired from a modified Faraday cup to create an image of the current density in high and low power beams. The modified Faraday cup includes a narrow slit and is rotated by a stepper motor and can be moved in the x, y and z directions. The beam is swept across the slit perpendicular thereto and controlled by deflection coils, and the slit rotated such that waveforms are taken every few degrees form 0.degree. to 360.degree. and the waveforms are recorded by a digitizing storage oscilloscope. Two-din-tensional and three-dimensional images of the current density distribution in the beam can be reconstructed by computer tomography from this information, providing quantitative information about the beam focus and alignment.

  8. Modified Faraday cup

    DOE Patents [OSTI]

    Elmer, J.W.; Teruya, A.T.; O`Brien, D.W.

    1996-09-10T23:59:59.000Z

    A tomographic technique for measuring the current density distribution in electron beams using electron beam profile data acquired from a modified Faraday cup to create an image of the current density in high and low power beams is disclosed. The modified Faraday cup includes a narrow slit and is rotated by a stepper motor and can be moved in the x, y and z directions. The beam is swept across the slit perpendicular thereto and controlled by deflection coils, and the slit rotated such that waveforms are taken every few degrees from 0{degree} to 360{degree} and the waveforms are recorded by a digitizing storage oscilloscope. Two-dimensional and three-dimensional images of the current density distribution in the beam can be reconstructed by computer tomography from this information, providing quantitative information about the beam focus and alignment. 12 figs.

  9. The Modified Dirac Equation

    E-Print Network [OSTI]

    Burra G. Sidharth

    2009-11-10T23:59:59.000Z

    We consider the behavior of the particles at ultra relativistic energies, for both the Klein-Gordon and Dirac equations. We observe that the usual description is valid for energies such that we are outside the particle's Compton wavelength. For higher energies however, both the Klein-Gordon and Dirac equations get modified and this leads to some new effects for the particles, including the appearance of anti particles with a slightly different energy.

  10. Viscosity in modified gravity

    E-Print Network [OSTI]

    Iver Brevik

    2012-11-23T23:59:59.000Z

    A bulk viscosity is introduced in the formalism of modified gravity. It is shown that, on the basis of a natural scaling law for the viscosity, a simple solution can be found for quantities such as the Hubble parameter and the energy density. These solutions may incorporate a viscosity-induced Big Rip singularity. By introducing a phase transition in the cosmic fluid, the future singularity can nevertheless in principle be avoided.

  11. Robot Companions: Technology for Humans

    E-Print Network [OSTI]

    Kernbach, Serge

    2011-01-01T23:59:59.000Z

    Creation of devices and mechanisms which help people has a long history. Their inventors always targeted practical goals such as irrigation, harvesting, devices for construction sites, measurement, and, last but not least, military tasks for different mechanical and later mechatronic systems. Development of such assisting mechanisms counts back to Greek engineering, came through Middle Ages and led finally in XIX and XX centuries to autonomous devices, which we call today "Robots". This chapter provides overview of several robotic technologies, introduces bio-/chemo- hybrid and collective systems and discuss their applications in service areas.

  12. Tinning/Trimming Robot System

    SciTech Connect (OSTI)

    Fureigh, M.L.

    1993-02-01T23:59:59.000Z

    In a new surface mount assembly area at AlliedSignal Inc., Kansas City Division (KCD), a tinning/trimming robot system tins and trims the gold-plated leads of surface mount technology (SMT) transistors. The KCD-designed system uses a Unimation PUMA 260 robot, a General Production Devices SP-2000 solder pot; water-soluble Blackstone No. 2508 flux; and a Virtual Industries high-temperature, ESD-conductive, miniature suction cup. After the manual cleaning operation, the processed SMT transistors go to the QUADSTAR Automated Component Placement System for a Radar Logic Assembly. The benefits are reductions in the cost of nonconformance, worker fatigue, and standard hours.

  13. Joint Stiffness Identification of Six-revolute Industrial Serial Robots Claire Dumas

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    the stiffness of industrial robots from robot manufacturers. As a consequence, this paper introduces a robust

  14. There is a strong correlation between the number of appropriate behaviors an interactive robot can

    E-Print Network [OSTI]

    Kanda, Takayuki

    -oriented robots, such as industrial robots, which perform particular tasks in limited areas. The interaction

  15. Prof. Alessandro De Luca Dynamic model of robots

    E-Print Network [OSTI]

    De Luca, Alessandro

    , identification, uses #12;Analysis of inertial couplings ! Cartesian robot ! Cartesian "skew" robot ! PR robot ! 2 advantage for the design of a motion control law! (*) structural condition in mechanical design Robotics 2 8 in the mechanical design lead to g(q) 0!! Robotics 2 9 #12;Adding dynamic terms ... ! dissipative phenomena due

  16. ROBOTICS -INTRODUCTION q ROBOTICS THE INTELLIGENT CONNECTION OF THE

    E-Print Network [OSTI]

    Petriu, Emil M.

    to create a wireless network in order to facilitate the deployment of men and material, or gather and transmit sensor information. Automated methods to accomplish this are highly desirable since not only is available to each robot through its sensors or communication system. Dispersion in an unknown environment

  17. Invited viewpoint in Industrial Robot (2005), 32:6, p.437 The What and When of Service Robotics

    E-Print Network [OSTI]

    Bugmann, Guido

    Invited viewpoint in Industrial Robot (2005), 32:6, p.437 The What and When of Service Robotics industrial robotics and gain a dominant share of the estimated $59 billion robotics market in 2010 (Key the kind of applications proposed for commercial service robots and the research in laboratories worldwide

  18. The Creation of a low-cost, reliable platform for mobile robotics research

    E-Print Network [OSTI]

    Gilbert, Taylor Harrison

    2011-01-01T23:59:59.000Z

    This work documents the planning process, design, fabrication, and integration of a low-cost robot designed for research on the problem of life-long robot mapping. The robotics platform used is the iRobot Create. This robot ...

  19. NONLINEAR FORCE PROFILE USED TO INCREASE THE PERFORMANCE OF A HAPTIC USER INTERFACE FOR TELEOPERATING A ROBOTIC HAND

    SciTech Connect (OSTI)

    Anthony L. Crawford

    2012-07-01T23:59:59.000Z

    MODIFIED PAPER TITLE AND ABSTRACT DUE TO SLIGHTLY MODIFIED SCOPE: TITLE: Nonlinear Force Profile Used to Increase the Performance of a Haptic User Interface for Teleoperating a Robotic Hand Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be accomplished in hazardous environments, such as hot cells, glove boxes, decommissioning, explosives disarmament, and space. The research associated with this paper hypothesizes that a user interface and complementary radiation compatible robotic hand that integrates the human hand’s anthropometric properties, speed capability, nonlinear strength profile, reduction of active degrees of freedom during the transition from manipulation to grasping, and just noticeable difference force sensation characteristics will enhance a user’s teleoperation performance. The main contribution of this research is in that a system that concisely integrates all these factors has yet to be developed and furthermore has yet to be applied to a hazardous environment as those referenced above. In fact, the most prominent slave manipulator teleoperation technology in use today is based on a design patented in 1945 (Patent 2632574) [1]. The robotic hand/user interface systems of similar function as the one being developed in this research limit their design input requirements in the best case to only complementing the hand’s anthropometric properties, speed capability, and linearly scaled force application relationship (e.g. robotic force is a constant, 4 times that of the user). In this paper a nonlinear relationship between the force experienced between the user interface and the robotic hand was devised based on property differences of manipulation and grasping activities as they pertain to the human hand. The results show that such a relationship when subjected to a manipulation task and grasping task produces increased performance compared to the traditional linear scaling techniques used by other systems. Key Words: Teleoperation, Robotic Hand, Robotic Force Scaling

  20. Probabilistic Robotics Bayes Filter Implementations

    E-Print Network [OSTI]

    Zhang, Hong

    ·Dynamics are linear function of state and control plus additive noise: Linear Gaussian Systems: Dynamics dimensionality n: O(k2.376 + n2) ·Optimal for linear Gaussian systems! ·Most robotics systems are nonlinear! 24. Multivariate Gaussians 8 Linear Gaussian Systems: Initialization ·Initial belief is normally distributed: 9

  1. On Modified Gravity

    E-Print Network [OSTI]

    Ivan Dimitrijevic; Branko Dragovich; Jelena Grujic; Zoran Rakic

    2012-04-09T23:59:59.000Z

    We consider some aspects of nonlocal modified gravity, where nonlocality is of the type $R \\mathcal{F}(\\Box) R$. In particular, using ansatz of the form $\\Box R = c R^\\gamma,$ we find a few $R(t)$ solutions for the spatially flat FLRW metric. There are singular and nonsingular bounce solutions. For late cosmic time, scalar curvature R(t) is in low regime and scale factor a(t) is decelerated. R (t) = 0 satisfies all equations when k = -1.

  2. Informative Sensing Using Mobile Robots for Environmental Applications

    E-Print Network [OSTI]

    Singh, Amarjeet; Batalin, Maxim; Kaiser, William J

    2007-01-01T23:59:59.000Z

    multiple robots for environmental applications Amarjeetenvironmental applications Efficient Multi-robot InformativeApplications (IDEA) methodology Iterative feedback for further characterization Spatial characterization Sequential Allocation for multi-robot

  3. 1999 International Symposium on Robotics Research, Snowbird. Shape and Enlightenment

    E-Print Network [OSTI]

    Jaffe, Jules

    that they have much broader applicability. For example, within industrial and ser- vice robotics1999 International Symposium on Robotics Research, Snowbird. Shape and Enlightenment hand, vision-based robot systems can ex- ploit this naturally occurring variability to better un

  4. Establishing a virtual manufacturing environment for military robots

    E-Print Network [OSTI]

    Andersen, Ryan J. (Ryan John)

    2007-01-01T23:59:59.000Z

    Recent advances in the robotics industry have given the military an opportunity to capitalize on industry's innovation. Not only has core robotics technology improved but robotics manufacturing technology has also made ...

  5. The chandelier : an exploration in robotic musical instrument design

    E-Print Network [OSTI]

    Fabio, Michael A., S.M. Massachusetts Institute of Technology

    2007-01-01T23:59:59.000Z

    This thesis presents several works involving robotic musical instruments. Robots have long been used in industry for performing repetitive tasks, or jobs requiring superhuman strength. However, more recently robots have ...

  6. Learning (near) Time Optimal Control for Flexible Robot Joints

    E-Print Network [OSTI]

    Teschner, Matthias

    of a robot arm. I. INTRODUCTION Robotic arms with series elastic actuators [3] provide me- chanical for the human interaction with the robot arm. On the other hand the introduction of elastic elements

  7. Machine Learning for Humanoid Robot Modeling and Control /

    E-Print Network [OSTI]

    Wu, Tingfan

    2013-01-01T23:59:59.000Z

    3.4.4 Multi-Link Robot Arm . . . . . . . . . . . . . . . 3.5directed reaching by a robot arm. In Biomedical Circuits anddirected reaching by a robot arm. In Biomedical Circuits and

  8. Proceedings of the 2000 IEEE International Conference on Robotics & Automation

    E-Print Network [OSTI]

    Yao, Bin

    to control a robot- arm-like mechanical device driven by hydraulic actuators (i.e., a hydraulic robot arm, which substantially increases the controller design dif- ficulties. It is well known that a robot arm

  9. Identification of geometrical and elastostatic parameters of heavy industrial robots

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    Identification of geometrical and elastostatic parameters of heavy industrial robots A. Klimchik, Y modeling of heavy industrial robots with gravity compensators. The main attention is paid of huge aircraft compo- nents where industrial robots successfully replace conven- tional CNC

  10. Elasto-geometrical modeling and calibration of robot manipulators

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    method to im- prove the static pose accuracy of industrial robots involved in machining, form- ing-driven identification, forming applications 1. Introduction Industrial robots propose an interesting alternative on actual industrial robots. Even if open contr

  11. Biologically Inspired Robot Manipulator for New Applications in Automation Engineering

    E-Print Network [OSTI]

    Stryk, Oskar von

    restrictions exist for industrial robots, those manipulators are not primarily designed to interact directly human-robot interaction for small-size industrial robots is to add a compliant covering to reduce

  12. Brain-computer interface controlled robotic gait orthosis

    E-Print Network [OSTI]

    Do, An H; Wang, Po T; King, Christine E; Chun, Sophia N; Nenadic, Zoran

    2013-01-01T23:59:59.000Z

    computer interface controlled robotic gait orthosis An H DoBCI operation. A commercial robotic gait orthosis (RoGO)based BCI system with a robotic gait orthosis (RoGO), and

  13. Designing Robotic Artifacts: Rural School-Community Collaboration for Learning

    E-Print Network [OSTI]

    Designing Robotic Artifacts: Rural School-Community Collaboration for Learning Claudia Urrea MIT of robotic artifacts and the use of other digital technologies can enhance student learning, while also artifact-be it a robot,

  14. Design and control of a voice coil actuated robot arm for human-robot interaction

    E-Print Network [OSTI]

    McBean, John M. (John Michael), 1979-

    2004-01-01T23:59:59.000Z

    The growing field of human-robot interaction (HRI) demands robots that move fluidly, gracefully, compliantly and safely. This thesis describes recent work in the design and evaluation of long-travel voice coil actuators ...

  15. Planning and control for simulated robotic Sandia hand for the DARPA Robotic Challenge

    E-Print Network [OSTI]

    Cantum, Cecilia G

    2013-01-01T23:59:59.000Z

    The DARPA Robotic Challenge (DRC) required the development of user interface, perception, and planning and control modules for a robotic humanoid. This paper focuses on the planning and control component for the manipulation ...

  16. TAG ARCHIVES: DARPA ROBOTICS CHALLENGE Team ViGIR at DARPA Robotics

    E-Print Network [OSTI]

    Stryk, Oskar von

    . This is in response to the difficulties faced by robots deployed during the Fukushima Daiichi nuclear incident

  17. anthropomorphic robot hand: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    2003-01-01 12 Design of an Anthropomorphic Robotic Finger System with Biomimetic Artificial Joints Biology and Medicine Websites Summary: Design of an Anthropomorphic Robotic...

  18. Towards Brain-Robot Interfaces in Stroke Rehabilitation

    E-Print Network [OSTI]

    recovery. Fig. 1. A robot arm is attached to the patient's forearm and it may move the patient's forearm flexion of the robot arm can be adjusted depending

  19. Mobile Robot Navigation With Low-Cost Sensors

    E-Print Network [OSTI]

    Yap, Teddy Ng

    2009-01-01T23:59:59.000Z

    use and 113,300 industrial robots sold through the end ofin sharp contrast to industrial robots being the most common

  20. Robotics and Manufacturing Automation Laboratory of the MMRI http://robotics.mcmaster.ca

    E-Print Network [OSTI]

    Bone, Gary

    Robotics and Manufacturing Automation Laboratory of the MMRI http://robotics.mcmaster.ca Servo. Bone, Robotics and Manufacturing Automation Laboratory, McMaster Manufacturing Research Institute (MMRI). The 14th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM2004) #12

  1. A NEW ROBOT DESIGN TO PASSIVELY DAMP FLEXIBLE ROBOTIC ARMS Louis J. Everett

    E-Print Network [OSTI]

    Everett, Louis J.

    applications as well as the Department of Energy's Environmental Waste Management projects. Most of the robotsA NEW ROBOT DESIGN TO PASSIVELY DAMP FLEXIBLE ROBOTIC ARMS Louis J. Everett Mechanical and Industrial Engineering University of Texas El Paso USA Marc Compere Mechanical Engineering Department

  2. Making Robot Learning Controllable: A Case Study in Robot Navigation Alexandra Kirsch, Michael Schweitzer, Michael Beetz

    E-Print Network [OSTI]

    Cremers, Daniel

    Schweitzer, Michael Beetz Abstract In many applications the performance of learned robot con- trollers drags on the performance of learning and data mining ap- plications. Beetz et al. [2004] have proposed ROLL (Robot Learning is not informative for learning the dynamics of the robot. In this paper we evaluate some of the claims made by Beetz

  3. Knowledge and Skill Representations for Robotized Production

    E-Print Network [OSTI]

    Malec, Jacek

    : Model-based control, Knowledge representation, System architectures, Autonomous control, Industrial robots 1. INTRODUCTION Model-based systems in control are a means to utilize effi- ciently human

  4. Polyoxometalate-Graphene Nanocomposite Modified Electrode for...

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    Polyoxometalate-Graphene Nanocomposite Modified Electrode for Electrocatalytic Detection of Ascorbic Acid. Polyoxometalate-Graphene Nanocomposite Modified Electrode for...

  5. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    SciTech Connect (OSTI)

    Joseph W. Geisinger, Ph.D.

    2001-07-31T23:59:59.000Z

    ARM Automation, Inc. is developing a framework of modular actuators that can address the DOE's wide range of robotics needs. The objective of this effort is to demonstrate the effectiveness of this technology by constructing a manipulator from these actuators within a glovebox for Automated Plutonium Processing (APP). At the end of the project, the system of actuators was used to construct several different manipulator configurations, which accommodate common glovebox tasks such as repackaging. The modular nature and quickconnects of this system simplify installation into ''hot'' boxes and any potential modifications or repair therein. This work focused on the development of self-contained robotic actuator modules including the embedded electronic controls for the purpose of building a manipulator system. Both of the actuators developed under this project contain the control electronics, sensors, motor, gear train, wiring, system communications and mechanical interfaces of a complete robotics servo device. Test actuators and accompanying DISC{trademark}s underwent validation testing at The University of Texas at Austin and ARM Automation, Inc. following final design and fabrication. The system also included custom links, an umbilical cord, an open architecture PC-based system controller, and operational software that permitted integration into a completely functional robotic manipulator system. The open architecture on which this system is based avoids proprietary interfaces and communication protocols which only serve to limit the capabilities and flexibility of automation equipment. The system was integrated and tested in the contractor's facility for intended performance and operations. The manipulator was tested using the full-scale equipment and process mock-ups. The project produced a practical and operational system including a quantitative evaluation of its performance and cost.

  6. Why Robots Need Maps Miroslaw Dynia1

    E-Print Network [OSTI]

    Schindelhauer, Christian

    to the constant factor bounds known so far. For the energy model (Sect. 4) we show the (4 - 2/k)- competitive alWhy Robots Need Maps Miroslaw Dynia1 , Jakub Lopusza´nski2 , and Christian Schindelhauer3 1 DFG number of edges traversed by a robot (the energy) we present an improved (4 - 2/k)-competitive online

  7. ASBESTOS PIPE-INSULATION REMOVAL ROBOT SYSTEM

    SciTech Connect (OSTI)

    Unknown

    2000-09-15T23:59:59.000Z

    This final topical report details the development, experimentation and field-testing activities for a robotic asbestos pipe-insulation removal robot system developed for use within the DOE's weapon complex as part of their ER and WM program, as well as in industrial abatement. The engineering development, regulatory compliance, cost-benefit and field-trial experiences gathered through this program are summarized.

  8. Fluid Construction Grammar on Real Robots

    E-Print Network [OSTI]

    Steels, Luc

    Chapter 10 Fluid Construction Grammar on Real Robots Luc Steels1,2, Joachim De Beule3, and Pieter and P. Wellens (2012). Fluid Construction Grammar on Real Robots. In Luc Steels and Manfred Hild (Eds game experiments reported in this book. This framework is called Fluid Construction Grammar (FCG

  9. SLAMBOT: Structural Health Monitoring Robot using Lamb

    E-Print Network [OSTI]

    Henderson, Thomas C.

    SLAMBOT: Structural Health Monitoring Robot using Lamb Waves Wenyi Wang, Thomas C. Henderson of a mobile robot and a computational sensor network ap- proach to perform structural health monitoring of ultrasound propagation through the material is used to define two structural health monitoring meth- ods: (1

  10. ROBOT CALIBRATION USING LEAST-SQUARES AND

    E-Print Network [OSTI]

    Flanagan, Randy

    ROBOT CALIBRATION USING LEAST-SQUARES AND P OLAR-DEC OMP O SITION FILTERING Gregory Ioannldes 1 This paper reports the experimental results of a novel method to calibrate geometric errors of multi of the Yaskawa Motoman Robot was calibrated. The measurements of the Cartesian coordinates of points were

  11. Autonomous mobile robot for radiologic surveys

    DOE Patents [OSTI]

    Dudar, Aed M. (Augusta, GA); Wagner, David G. (Augusta, GA); Teese, Gregory D. (Aiken, SC)

    1994-01-01T23:59:59.000Z

    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.

  12. A Fitting Robot for Variational Analysis

    E-Print Network [OSTI]

    Alan Ó Cais; Derek Leinweber; Selim Mahbub; Tony Williams

    2008-12-18T23:59:59.000Z

    We develop a robot algorithm to maximise the number of distinct states reliably extracted from correlator data using the variational analysis method. The robot explores the variational parameter space and attempts to remove, as far as possible, the human element from the fitting of the subsequent orthogonalised data.

  13. Autonomous mobile robot for radiologic surveys

    DOE Patents [OSTI]

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

    1994-06-28T23:59:59.000Z

    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.

  14. Robotic CCD microscope for enhanced crystal recognition

    DOE Patents [OSTI]

    Segelke, Brent W. (San Ramon, CA); Toppani, Dominique (Livermore, CA)

    2007-11-06T23:59:59.000Z

    A robotic CCD microscope and procedures to automate crystal recognition. The robotic CCD microscope and procedures enables more accurate crystal recognition, leading to fewer false negative and fewer false positives, and enable detection of smaller crystals compared to other methods available today.

  15. Communication Robots for Elementary Schools Takayuki Kanda*

    E-Print Network [OSTI]

    Kanda, Takayuki

    experiments are novel as the first trials of applying interactive humanoid robots for human daily lives children. The developed robot Robovie was applied for two field experiments at elementary schools. The first experiment purpose using it as a peer tutor of foreign language educa- tion, and the second

  16. A robotic device for studying rodent locomotion after spinal cord injury

    E-Print Network [OSTI]

    2005-01-01T23:59:59.000Z

    Second generation robotic systems for studying rodentspinal cord adapts to robotic loading applied duringand R. D. de Leon, “Robotic assessment of locomotor recovery

  17. Learning to perform a new movement with robotic assistance: comparison of haptic guidance and visual demonstration

    E-Print Network [OSTI]

    Liu, J; Cramer, SC; Reinkensmeyer, DJ

    2006-01-01T23:59:59.000Z

    perform a new movement with robotic assistance: comparisonMechanical guidance with a robotic device is a candidatereproduce the path without robotic demonstration. Results:

  18. An Investigation into the Benefits of Tactile Feedback for Laparoscopic, Robotic, and Remote Surgery

    E-Print Network [OSTI]

    Wottawa, Christopher Robert

    2013-01-01T23:59:59.000Z

    to haptic feedback in robotic surgery. (March 2010 NSFfeedback actuator array for robotic surgery or simulation.conventional versus robotic approach—a comparative study.

  19. Networked Robotic Sensor Platform Deployments for use in Coastal Environmental Assessment in Southern California

    E-Print Network [OSTI]

    2009-01-01T23:59:59.000Z

    Sensing Networked Robotic Sensor Platform Deployments forGaurav S. Sukhatme 1 Robotic Embedded Systems Laboratory,~4 wks) Collaborative robotic sensing Slow moving (<1km/hr)

  20. Teaching Mobile Robots to Cooperatively Navigate in Populated Environments

    E-Print Network [OSTI]

    Teschner, Matthias

    of the robots highly depends on the application, we need flexible means for teaching a robot a certain robots are expected to populate our human envi- ronments for numerous applications in the near future. The desired navigation behavior of a robot highly depends on the application at hand. For example, a cleaning

  1. Virtual Chassis for Snake Robots: Definition and Applications

    E-Print Network [OSTI]

    Choset, Howie

    Full paper Virtual Chassis for Snake Robots: Definition and Applications David Rollinson*, Austin Buchan and Howie Choset The Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue the motion of a snake robot is difficult. This is in part because the internal shape changes that the robot

  2. A Prototype Robot Speech Interface with Multimodal Feedback Mathias Haage+

    E-Print Network [OSTI]

    Nugues, Pierre

    of industrial robot arms. The aim of the prototype is to develop a speech system for designing robot trajectories that would fit well with current CAD paradigms. 1 Introduction Industrial robot programming developed for studying multimodal user interfaces in the context of industrial robot programming [5

  3. Transferring Spatial Perception Between Robots Operating In A Shared Workspace

    E-Print Network [OSTI]

    Förster, Alexander

    the vast majority of robotic systems are used in industrial applications. In these settings robots have. For a robot to be able to work in these `unstructured' environments, and extend its applications from of the canonical problems. Cooperating mobile robots have been researched for diverse applications, such as

  4. Optimal Trajectory Generation for Manipulator Robots under Thermal Constraints

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    of industrial robots is generally based on the operator's experience, regardless of the system's ex- act are compared then in section V to the analytical solution, and tested on a real industrial robot. II. TEMPERATURE PREDICTION FOR ROBOTIC SYSTEMS Minimizing the duration of robotic applications usually induces

  5. Web Interfaces for Mobile Robots in Public Places Dirk Schulz

    E-Print Network [OSTI]

    Schulz, Dirk

    to understand for people on the Web. ÂŻ If one wants to make a single physical robot amenable to many people to connect robots to the Internet, enabling people all over the World to control them and monitor their op with people in the robot's environment, which arise naturally in applications with Web-based robot con- trol

  6. HSS Helps Pioneer “Robot” Patrol Technology MDARS- December 11, 2005

    Broader source: Energy.gov [DOE]

    HSS Helps Pioneer “Robot” Patrol Technology: Deployment of the DOE Mobile Detection Assessment Response System (MDARS)

  7. Simulator Building and Parameter Optimization of an Autonomous Robotic Fish

    E-Print Network [OSTI]

    Hu, Huosheng

    Simulator Building and Parameter Optimization of an Autonomous Robotic Fish Jindong Liu, Huosheng@essex.ac.uk Abstract-- This paper presents a short review on the research of robotic fish. A simulation environment for robotic fish is built and the experiment shows that it is a convenient way to make research on the robotic

  8. Advanced Robotics 23 (2009) 13271358 www.brill.nl/ar

    E-Print Network [OSTI]

    Tachi, Susumu

    2009-01-01T23:59:59.000Z

    Advanced Robotics 23 (2009) 1327­1358 www.brill.nl/ar Full paper iSoRA: Humanoid Robot Arm on the development and control of the humanoid robot arm iSoRA, intended for operation in a dynamic unstructured that the proposed approach not only provides safe interaction of the robot arm with a person, but also improves

  9. Fueling Robot Automates Hydrogen Hose Reliability Testing (Fact Sheet)

    SciTech Connect (OSTI)

    Harrison, K.

    2014-01-01T23:59:59.000Z

    Automated robot mimics fueling action to test hydrogen hoses for durability in real-world conditions.

  10. page 1 11 June 2008 Hosted by World Robotics 2008

    E-Print Network [OSTI]

    De Luca, Alessandro

    June 2008 Hosted by Industrial robots are meeting the changing demands of their customers Total world supply of industrial robots up to 2007 Distribution in the main regions (Americas, Asia, Europe robots operating Estimated worldwide operational stock of industrial robots 3 66 454 605 750 923 951 994

  11. MODELS FOR DIAGNOSING ROBOT ERROR SOURCES Louis J. Everett

    E-Print Network [OSTI]

    Everett, Louis J.

    of industrial robots and on some machine tools, calibration methods have significantly improved position

  12. The Control of Flexible-Link Robots Manipulating

    E-Print Network [OSTI]

    Damaren, Christopher J.

    links which are inherently flexible. A different philosophy prevails in the design of industrial robots

  13. Robotic Video Game Learning Using Self-Detection

    E-Print Network [OSTI]

    Wurtele, Eve Syrkin

    Robotic Video Game Learning Using Self-Detection Games (Inspiration) The games used were enhanced of move- ment. Desktop Sim A natural Evolution of the two single-Axis games is a setup in which the robot. Games in Robotics Real-time games have become increas- ingly popular in robotics research and have

  14. ROBOTS IN PROBLEM-SOLVING AND PROGRAMMING. Scott Turner

    E-Print Network [OSTI]

    Hill, Gary

    82 ROBOTS IN PROBLEM-SOLVING AND PROGRAMMING. Scott Turner University of Northampton Avenue Campus based on using Mindstorm (LEGO, Denmark) robot kits. This is being done as a foundation step before experience, problem-solving, robots, Java. INTRODUCTION Mindstorm based robots have been used previously

  15. Ensuring Safety in Human Robot Collaboration in Assembly

    E-Print Network [OSTI]

    Gupta, Satyandra K.

    -time behavior observed during experiments with a 5 DOF robot and a human safely performing shared assembly tasksEnsuring Safety in Human Robot Collaboration in Assembly Applications Satyandra K. Gupta, Krishnanand Kaipa, Carlos Morato, and Boxuan Zhao #12;Human Robot Collaboration · Robots welding, bolting

  16. Pmceedngsof the1999IEEE InternationalConferenceon Robotics& Automation

    E-Print Network [OSTI]

    Allen, Peter K.

    DOF cartesian gantry robot. At the gantry's end-effecter is a 2-DOF pan-tilt unit (PTU). The net part, robot-mounted tool or gripper as it moves in the workcell. By its design, this robot has 2Pmceedngsof the1999IEEE InternationalConferenceon Robotics& Automation Detroit,MichigansMay 1999

  17. Convergence of Autonomous Mobile Robots With Inaccurate Sensors and Movements

    E-Print Network [OSTI]

    Cohen, Reuven

    Convergence of Autonomous Mobile Robots With Inaccurate Sensors and Movements (Extended abstract, that robot movements are accurate, and that internal calcula- tions performed by the robots on (real concentrates on the ability of robot systems with inaccurate sensors, movements and calcu- lations to carry out

  18. Convergence of Autonomous Mobile Robots With Inaccurate Sensors and Movements

    E-Print Network [OSTI]

    Cohen, Reuven

    Convergence of Autonomous Mobile Robots With Inaccurate Sensors and Movements Reuven Cohen David, that robot movements are accurate, and that internal calculations performed by the robots on (real concentrates on the ability of robot systems with inaccurate sensors, movements and calculations to carry out

  19. Robotic guarded motion system and method

    DOE Patents [OSTI]

    Bruemmer, David J. (Idaho Falls, ID)

    2010-02-23T23:59:59.000Z

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

  20. System for exchanging tools and end effectors on a robot

    DOE Patents [OSTI]

    Burry, D.B.; Williams, P.M.

    1991-02-19T23:59:59.000Z

    A system and method for exchanging tools and end effectors on a robot permits exchange during a programmed task. The exchange mechanism is located off the robot, thus reducing the mass of the robot arm and permitting smaller robots to perform designated tasks. A simple spring/collet mechanism mounted on the robot is used which permits the engagement and disengagement of the tool or end effector without the need for a rotational orientation of the tool to the end effector/collet interface. As the tool changing system is not located on the robot arm no umbilical cords are located on robot. 12 figures.

  1. System for exchanging tools and end effectors on a robot

    DOE Patents [OSTI]

    Burry, David B. (Westminster, CO); Williams, Paul M. (Lafayette, CO)

    1991-02-19T23:59:59.000Z

    A system and method for exchanging tools and end effectors on a robot permits exchange during a programmed task. The exchange mechanism is located off the robot, thus reducing the mass of the robot arm and permitting smaller robots to perform designated tasks. A simple spring/collet mechanism mounted on the robot is used which permits the engagement and disengagement of the tool or end effector without the need for a rotational orientation of the tool to the end effector/collet interface. As the tool changing system is not located on the robot arm no umbilical cords are located on robot.

  2. An Extendible Reconfigurable Robot Based on Hot Melt Adhesives

    E-Print Network [OSTI]

    Brodbeck, Luzius; Iida, Fumiya

    2015-01-01T23:59:59.000Z

    do not require fast motion of the robot arm, but some tasks might re- quire dynamic motions. The focus of this analysis is on the RBE processes, for which the dynamic limits of the base are not critical. The static torques on the robot base... - cific experimental platform as the robot base. The hard- ware used for the robot base is a five degrees of free- dom robotic arm (ST Robotics, R-12 Firefly, Fig. 3a) with a range of 500mm and a maximum payload of An Extendible Reconfigurable Robot Based...

  3. What type of robots are we talking about? Although humanoid robots are often in the press, most

    E-Print Network [OSTI]

    Flanagan, Randy

    like a fancy Anglepoise lamp than a human. The configuration of the robot is tracked with sensors the neuroscientist can control the position of the robot and the forces applied by the robotic interface. What can of movement). Indeed, robots have done for these areas what computer monitors have done for visual

  4. Experimental Validation of the Distributed Shortest-Distance Rendezvous Algorithm on a Low-Cost Robot Platform

    E-Print Network [OSTI]

    Parikh, Kush Jay

    2013-01-01T23:59:59.000Z

    using Advanced Robot Interface for Application (ARIA), whichAdvanced Robot Interface for Applications (ARIA) – Libraries

  5. Miniature Autonomous Robotic Vehicle (MARV)

    SciTech Connect (OSTI)

    Feddema, J.T.; Kwok, K.S.; Driessen, B.J.; Spletzer, B.L.; Weber, T.M.

    1996-12-31T23:59:59.000Z

    Sandia National Laboratories (SNL) has recently developed a 16 cm{sup 3} (1 in{sup 3}) autonomous robotic vehicle which is capable of tracking a single conducting wire carrying a 96 kHz signal. This vehicle was developed to assess the limiting factors in using commercial technology to build miniature autonomous vehicles. Particular attention was paid to the design of the control system to search out the wire, track it, and recover if the wire was lost. This paper describes the test vehicle and the control analysis. Presented in the paper are the vehicle model, control laws, a stability analysis, simulation studies and experimental results.

  6. Quantum robots and quantum computers

    SciTech Connect (OSTI)

    Benioff, P.

    1998-07-01T23:59:59.000Z

    Validation of a presumably universal theory, such as quantum mechanics, requires a quantum mechanical description of systems that carry out theoretical calculations and systems that carry out experiments. The description of quantum computers is under active development. No description of systems to carry out experiments has been given. A small step in this direction is taken here by giving a description of quantum robots as mobile systems with on board quantum computers that interact with different environments. Some properties of these systems are discussed. A specific model based on the literature descriptions of quantum Turing machines is presented.

  7. Multiple forearm robotic elbow configuration

    DOE Patents [OSTI]

    Fisher, John J. (Wilmington, DE)

    1990-01-01T23:59:59.000Z

    A dual forearmed robotic elbow configuration comprises a main arm having a double elbow from which two coplanar forearms depend, two actuators carried in the double elbow for moving the forearms, and separate, independent end effectors, operated by a cable carried from the main arm through the elbow, is attached to the distal end of each forearm. Coiling the cables around the actuators prevents bending or kinking when the forearms are rotated 360 degrees. The end effectors can have similar or different capabilities. Actuator cannisters within the dual elbow are modular for rapid replacement or maintenance. Coarse and fine resolver transducers within the actuators provide accurate position referencing information.

  8. Robotic Crawler | GE Global Research

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative1 First Use of Energy for All Purposes (Fuel and Nonfuel), 2002; Level:Energy: Grid Integration Redefining What's PossibleRadiation Protection TechnicalResonantNovember 15 to MarchNuclearRobertRobleyRobotCrawler

  9. International Journal of Advanced Robotic Systems Cooperative Tasks between Humans and

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    Robotic manipulators are increasingly widespread in current industries [1] due control of the robot is needed. Nevertheless, the application of robotic manipulators: Cooperative Tasks between Humans and Robots in Industrial Environments www.intechopen.com ARTICLE www

  10. Modified acyl-ACP desaturase

    DOE Patents [OSTI]

    Cahoon, Edgar B. (Shoreham, NY); Shanklin, John (Shoreham, NY); Lindgvist, Ylva (Jarfalla, SE); Schneider, Gunter (Jarfalla, SE)

    1998-01-06T23:59:59.000Z

    Disclosed is a methods for modifying the chain length and double bond positional specificities of a soluble plant fatty acid desaturase. More specifically, the method involves modifying amino acid contact residues in the substrate binding channel of the soluble fatty acid desaturase which contact the fatty acid. Specifically disclosed is the modification of an acyl-ACP desaturase. Amino acid contact residues which lie within the substrate binding channel are identified, and subsequently replaced with different residues to effect the modification of activity.

  11. Modified Acyl-ACP desaturase

    DOE Patents [OSTI]

    Cahoon, Edgar B. (Shoreham, NY); Shanklin, John (Shoreham, NY); Lindqvist, Ylva (Jarfalla, SE); Schneider, Gunter (Jarfalla, SE)

    1999-03-30T23:59:59.000Z

    Disclosed is a method for modifying the chain length and double bond positional specificities of a soluble plant fatty acid desaturase. More specifically, the method involves modifying amino acid contact residues in the substrate binding channel of the soluble fatty acid desaturase which contact the fatty acid. Specifically disclosed is the modification of an acyl-ACP desaturase. Amino acid contact residues which lie within the substrate binding channel are identified, and subsequently replaced with different residues to effect the modification of activity.

  12. High precision redundant robotic manipulator

    DOE Patents [OSTI]

    Young, K.K.D.

    1998-09-22T23:59:59.000Z

    A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space is disclosed. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degrees of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns. 3 figs.

  13. High precision redundant robotic manipulator

    DOE Patents [OSTI]

    Young, Kar-Keung David (Mountain View, CA)

    1998-01-01T23:59:59.000Z

    A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degreed of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns.

  14. Robotic vehicle with multiple tracked mobility platforms

    DOE Patents [OSTI]

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

    2012-07-24T23:59:59.000Z

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

  15. Theory of a triangular micro-robot

    E-Print Network [OSTI]

    Vladimir A. Vladimirov

    2012-10-02T23:59:59.000Z

    In this paper we study the self-propulsion of a triangular micro-robot (or triangle-robot) which consists of three spheres connected by three rods; the rods' lengths are changing independently and periodically. Using the asymptotic procedure containing the two-timing method and distinguished limit arguments, we obtain analytic expressions for self-propulsion velocity the angular velocity. Our calculations show that a triangle-robot rotates with constant angular velocity around its centroid, while the centroid moves in a circle. The important special case of zero angular velocity represents rectilinear translational self-propulsion with constant velocity.

  16. Learning Anticipation Policies for Robot Table Tennis Zhikun Wang1,2

    E-Print Network [OSTI]

    subproblems in robotics. For example, a recent approach [11] allowed a Barrett WAMTM robot arm to successfully

  17. Robotics and Manufacturing Automation Laboratory (Mechanical Eng'g Dept.) STANDARD OPERATING PROCEDURE (SOP)

    E-Print Network [OSTI]

    Thompson, Michael

    .06-1999 Standard for Industrial Robots and Robot Systems - Safety Requirements 3. McMaster University Risk

  18. PHIL 20632/STV 20233 Fall 2013 Prof. Don Howard Robot Ethics

    E-Print Network [OSTI]

    Howard, Don

    employer, USR (US Robotics), has decided to redirect its R&D from industrial robots to fully autonomous

  19. Robots, systems, and methods for hazard evaluation and visualization

    DOE Patents [OSTI]

    Nielsen, Curtis W.; Bruemmer, David J.; Walton, Miles C.; Hartley, Robert S.; Gertman, David I.; Kinoshita, Robert A.; Whetten, Jonathan

    2013-01-15T23:59:59.000Z

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

  20. Indoor robot gardening: design and implementation

    E-Print Network [OSTI]

    Correll, Nikolaus

    This paper describes the architecture and implementation of a distributed autonomous gardening system with applications in urban/indoor precision agriculture. The garden is a mesh network of robots and plants. The gardening ...

  1. Computer- and robot-assisted Medical Intervention

    E-Print Network [OSTI]

    Troccaz, Jocelyne

    2009-01-01T23:59:59.000Z

    Medical robotics includes assistive devices used by the physician in order to make his/her diagnostic or therapeutic practices easier and more efficient. This chapter focuses on such systems. It introduces the general field of Computer-Assisted Medical Interventions, its aims, its different components and describes the place of robots in that context. The evolutions in terms of general design and control paradigms in the development of medical robots are presented and issues specific to that application domain are discussed. A view of existing systems, on-going developments and future trends is given. A case-study is detailed. Other types of robotic help in the medical environment (such as for assisting a handicapped person, for rehabilitation of a patient or for replacement of some damaged/suppressed limbs or organs) are out of the scope of this chapter.

  2. Towards robot audition Leslie S. Smith

    E-Print Network [OSTI]

    Smith, Leslie S.

    Towards robot audition Leslie S. Smith Department of Computing Science and Mathematics, University in illumination, and auditory systems can detect changes in room reverberation. #12;2 Leslie S. Smith Another key

  3. Robot components: Prof. Alessandro De Luca

    E-Print Network [OSTI]

    De Luca, Alessandro

    (external world: force and proximity, vision, ...) ! actuation units ! motors (electrical, hydraulic.g., friction) electrical mechanical electrical, hydraulic, or pneumatic P = types of powers in play Robotics 1 ! pneumatic: pneumatic energy (compressor) # pistons or turbines # mechanical energy ! difficult to control

  4. On Dynamic Models of Robot Force Control

    E-Print Network [OSTI]

    Eppinger, Steven D.

    1986-07-01T23:59:59.000Z

    For precise robot control, endpoint compliance strategies utilize feedback from a force sensor located near the tool/workpiece interface. Such endpoint force control systems have been observed in the laboratory to be ...

  5. 2011 Robotics Challenge Saturday May 21, 2011

    E-Print Network [OSTI]

    Wang, Hai

    Detection and Removal Robot (BDAR-bot) LEVEL: Middle School ­ All Grades TYPE OF CONTEST: Team COMPOSITION uranium, to make a nuclear bomb. With nearly 2 million kilograms of each in existence in the world today

  6. An automated miniature robotic vehicle inspection system

    SciTech Connect (OSTI)

    Dobie, Gordon; Summan, Rahul; MacLeod, Charles; Pierce, Gareth; Galbraith, Walter [Centre for Ultrasonic Engineering, University of Strathclyde, 204 George Street, Glasgow, G1 1XW (United Kingdom)

    2014-02-18T23:59:59.000Z

    A novel, autonomous reconfigurable robotic inspection system for quantitative NDE mapping is presented. The system consists of a fleet of wireless (802.11g) miniature robotic vehicles, each approximately 175 × 125 × 85 mm with magnetic wheels that enable them to inspect industrial structures such as storage tanks, chimneys and large diameter pipe work. The robots carry one of a number of payloads including a two channel MFL sensor, a 5 MHz dry coupled UT thickness wheel probe and a machine vision camera that images the surface. The system creates an NDE map of the structure overlaying results onto a 3D model in real time. The authors provide an overview of the robot design, data fusion algorithms (positioning and NDE) and visualization software.

  7. Embodied cognition in robots and human evolution

    E-Print Network [OSTI]

    Myhrvold, Conor L. (Conor Lachlan)

    2012-01-01T23:59:59.000Z

    This thesis investigates the notion of embodied cognition in humans using the research of former University of Washington researcher William Calvin and robots using the research of former MIT professor Rodney Brooks. The ...

  8. Advanced Topics in Computer Vision and Robotics

    E-Print Network [OSTI]

    Kosecka, Jana

    % Final exam/ project: 40% ! · Prerequisites: Computer Vision, Robotics, AI, Data Mining, Pattern (with Image Processing toolbox)! · Open CV library! Student Participation, Presentation! · 2-3 papers columnpole sky road tree signsymbol columnpole tree building building sky building car car columnpole

  9. Following recipes with a cooking robot

    E-Print Network [OSTI]

    Bollini, Mario Attilio

    2012-01-01T23:59:59.000Z

    In this thesis, we present BakeBot, a PR2 robot system that interprets natural language baking recipes into baking instructions which it follows to execute the recipe, from mise en place presentation of the ingredients ...

  10. Mind-theoretic planning for social robots

    E-Print Network [OSTI]

    A?algeirsson, Sigur?ur Örn

    2014-01-01T23:59:59.000Z

    As robots move out of factory floors and into human environments, out from safe barricaded workstations to operating in close proximity with people, they will increasingly be expected to understand and coordinate with basic ...

  11. "Soft Robotics" -the next generation of

    E-Print Network [OSTI]

    sensory-motor coordination design for emergence morpho-functional machines Trends in AI/robotics 8 classical centralized control top-down control algorithm abstract symbol processing top-down design fixed

  12. Autonomous Mobile Robots and Distributed Exploratory Missions ?

    E-Print Network [OSTI]

    Hougen, Dean F.

    (such as time or fuel available) do not permit a single robot to effectively cover the points. ? This material is based upon work supported by the Defense Advanced Research Projects Agency, Microsystems

  13. Design of a minimalist autonomous robotic vehicle

    E-Print Network [OSTI]

    Spadafora, Mark (Mark A.)

    2008-01-01T23:59:59.000Z

    The purpose of this thesis is to investigate design alternatives for the creation of a minimalist autonomous robotic vehicle, based on the Ford Escape. The work builds on prior work performed by the MIT DARPA Urban Challenge ...

  14. http://ijr.sagepub.com/ Robotics Research

    E-Print Network [OSTI]

    Dollar, Aaron M.

    .1177/0278364913514466 published online 17 February 2014The International Journal of Robotics Research Robert Kohout, Robert D Howe , Nicholas Corson3 , Yaroslav Tenzer2 , Raymond R Ma1 , Martin Buehler3 , Robert Kohout3 , Robert D Howe2

  15. A nano-stepping robotic instrumentation platform

    E-Print Network [OSTI]

    Wahab, Adam Joseph

    2013-01-01T23:59:59.000Z

    The development of an Autonomous Nano-stepping Tool (ANT) system is presented. Each ANT is a small, tripodal, robotic instrument capable of untethered precision motion within a quasi-three-dimensional workspace of arbitrary ...

  16. Structural Dynamics Model of a Cartesian Robot

    E-Print Network [OSTI]

    Reynoso, Alfonso Garcia

    1985-10-01T23:59:59.000Z

    Methods are developed for predicting vibration response characteristics of systems which change configuration during operation. A cartesian robot, an example of such a position-dependent system, served as a test case ...

  17. Computer- and robot-assisted urological surgery

    E-Print Network [OSTI]

    Troccaz, Jocelyne

    2006-01-01T23:59:59.000Z

    The author reviews the computer and robotic tools available to urologists to help in diagnosis and technical procedures. The first part concerns the contribution of robotics and presents several systems at various stages of development (laboratory prototypes, systems under validation or marketed systems). The second part describes image fusion tools and navigation systems currently under development or evaluation. Several studies on computerized simulation of urological procedures are also presented.

  18. Calibration of a SCARA robot manipulator

    E-Print Network [OSTI]

    Brock, Timothy Boland

    1989-01-01T23:59:59.000Z

    CALIBRATION OF A SCARA ROBOT MANIPULATOR A Thesis By TIMOTHY BOLAND BROCK Submitted to the Office of Graduate Studies of Texas A&M University in partial fulfillment of the requirements for the degree of lvlASTER OF SCIENCE May 1989 Major... Subject: Mechanical Engineering CALIBRATION OF A SCARA ROBOT MANIPULATOR A Thesis By TIMOTHY BOLAND BROCK Approved as to style and contem by: Make McDermon (Chair of Committee) Michael J. ins (Head of Department) uis J. Everett (Member) Karan...

  19. Application of proximity sensors to robotic manipulations

    E-Print Network [OSTI]

    Fink, Rainer J.

    1992-01-01T23:59:59.000Z

    sensor based finger attached to a UMI RTX robot. Although the system operated quite slowly, Etter reported that the system functioned as a voice activated assist system for grasping stationary objects. Results indicated that a more sensitive, accurate...APPLICATION OF PROXIMITY SENSORS TO ROBOTIC MANIPULATIONS A Thesis by RAINER Z. FINK Submitted to the Office of Graduate Studies of Texas A&M University in partial fulfillment of the requirements for the degree of MASTER OF SCIENCE August...

  20. Cask system design guidance for robotic handling

    SciTech Connect (OSTI)

    Griesmeyer, J.M.; Drotning, W.D.; Morimoto, A.K.; Bennett, P.C.

    1990-10-01T23:59:59.000Z

    Remote automated cask handling has the potential to reduce both the occupational exposure and the time required to process a nuclear waste transport cask at a handling facility. The ongoing Advanced Handling Technologies Project (AHTP) at Sandia National Laboratories is described. AHTP was initiated to explore the use of advanced robotic systems to perform cask handling operations at handling facilities for radioactive waste, and to provide guidance to cask designers regarding the impact of robotic handling on cask design. The proof-of-concept robotic systems developed in AHTP are intended to extrapolate from currently available commercial systems to the systems that will be available by the time that a repository would be open for operation. The project investigates those cask handling operations that would be performed at a nuclear waste repository facility during cask receiving and handling. The ongoing AHTP indicates that design guidance, rather than design specification, is appropriate, since the requirements for robotic handling do not place severe restrictions on cask design but rather focus on attention to detail and design for limited dexterity. The cask system design features that facilitate robotic handling operations are discussed, and results obtained from AHTP design and operation experience are summarized. The application of these design considerations is illustrated by discussion of the robot systems and their operation on cask feature mock-ups used in the AHTP project. 11 refs., 11 figs.

  1. Robot Glossary This appendix section briefly describes each of the robot projects discussed in this thesis.

    E-Print Network [OSTI]

    discussed in this thesis. The glossary is organized in alphabetical order by the robot's name. Baygon Palmer and is pictured on page 80. Blind The second robot of the David Hogg/Katie Lilienkamp team, Blind. Blind exploited the fact that the initial position of the puck was a known distance from the initial

  2. RoboticsRobotics & AI& AI LabLab coursecourse Projects 2009/10

    E-Print Network [OSTI]

    Gini, Giuseppina

    of V1 in visual cortex (disparity) Tomorrow: 1. Coordinate hand and arm movements: grasping, ontology the visual cortex V2 (shapes and objects) Additions (sw) #12;Prof. GiniDEI ­ Robotics 8 Walking, swimming and down hill -CPG controller ·12 GDL ·ServoMotors ·Micro-controller on board #12;Prof. GiniDEI ­ Robotics

  3. robots

    National Nuclear Security Administration (NNSA)

    AFDC Printable Version Share this resource Send a link to EERE: Alternative Fuels Data Center Home Page to someone by E-mail Share EERE: Alternative Fuels Data Center Home Page on Facebook Tweet about EERE: Alternative Fuels Data Center Home Page on Twitter Bookmark EERE: Alternative1 First Use of Energy for All Purposes (Fuel and Nonfuel), 2002; Level: National5Sales for4,645 3,625 1,006 492 742EnergyOn AprilA Approved:AdministrationAnalysisDarby Dietrich57/%2A0/%2A en4/%2A2/%2A en LANL

  4. Localization and Coordination in Decentralized Multi-Robot Systems

    E-Print Network [OSTI]

    Sun, Yu

    Localization and Coordination in Decentralized Multi-Robot Systems Patricia Kristine Sheridan Supervisor: Professor B. Benhabib Department of Mechanical and Industrial Engineering University of Toronto March, 2009 #12;Localization and Coordination in Decentralized Multi-Robot Systems ABSTRACT

  5. RF-compass: Robot object manipulation using RFIDs

    E-Print Network [OSTI]

    Wang, Jue

    Modern robots have to interact with their environment, search for objects, and move them around. Yet, for a robot to pick up an object, it needs to identify the object's orientation and locate it to within centimeter-scale ...

  6. Robotic Airship Trajectory Tracking Control Using a Backstepping Methodology

    E-Print Network [OSTI]

    Papadopoulos, Evangelos

    Robotic Airship Trajectory Tracking Control Using a Backstepping Methodology Filoktimon Repoulias- loop trajectory tracking controller for an underactuated robotic airship having 6 degrees of freedom and the controller corrects the vehicle's trajectory successfully too. I. INTRODUCTION OBOTIC (autonomous) airships

  7. Towards Empathic Virtual and Robotic Tutors Ginevra Castellano1

    E-Print Network [OSTI]

    Bull, Susan

    that embodiment plays in user perception of an artificial entity: experi- ments comparing robots Embodied Empathic Virtual and Robotic Tutors with EMOTE Two students are learning about ecology models

  8. Experimental Design for Human-Robot Interaction with Assistive Technology

    E-Print Network [OSTI]

    Yanco, Holly A.

    Experimental Design for Human-Robot Interaction with Assistive Technology Katherine M. Tsui Rehabilitation Center Assistive Technology Unit One Verney Drive Greenfield, NH 03047 david technology (AT), and human- robot interaction with assisitve technology (HRI-AT). To illustrate complexities

  9. Hazardous devices teams showcase skills at Robot Rodeo June 24...

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    Hazardous devices teams showcase skills at Robot Rodeo June 24-27 Hazardous devices teams showcase skills at Robot Rodeo June 24-27 Bomb squads compete in timed scenarios at Los...

  10. Design and control of a soft biomimetic batoid robot

    E-Print Network [OSTI]

    Cloitre, Audren Damien Prigent

    2013-01-01T23:59:59.000Z

    This thesis presents the work accomplished in the design, experimental characterization and control of a soft batoid robot. The shape of the robot is based on the body of the common stingray, Dasyatidae, and is made of ...

  11. Robot Arm Control Exploiting Natural Dynamics Matthew Williamson

    E-Print Network [OSTI]

    Robot Arm Control Exploiting Natural Dynamics Matthew Williamson M.Eng, University of Oxford (1993 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Arthur C. Chairman, Departmental Committee on Graduate Students #12; Robot Arm Control Exploiting Natural

  12. autonomous biomorphic robots: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    Study with AIBO Eduardo R Miranda and Vadim This paper presents a project whereby the Sony AIBO robot (ERS-220 model) was programmed to compose original introduction to robotic...

  13. autonomous robot platform: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    Study with AIBO Eduardo R Miranda and Vadim This paper presents a project whereby the Sony AIBO robot (ERS-220 model) was programmed to compose original introduction to robotic...

  14. Soft Motion Trajectory Planner for Service Manipulator Robot

    E-Print Network [OSTI]

    Boyer, Edmond

    manipula- tor can't be controlled like industrial robotic manipulator where personnel is isolated from. Using this approach, industrial robots can evolve at high speeds satisfying path constraints. Literature

  15. Motion planning for self-reconfiguring robotic systems 

    E-Print Network [OSTI]

    Larkworthy, Thomas James

    2012-06-25T23:59:59.000Z

    Robots that can actively change morphology offer many advantages over fixed shape, or monolithic, robots: flexibility, increased maneuverability and modularity. So called self-reconfiguring systems (SRS) are endowed with ...

  16. Evolutionary, developmental neural networks for robust robotic control

    E-Print Network [OSTI]

    Adams, Bryan (Bryan Paul), 1977-

    2006-01-01T23:59:59.000Z

    The use of artificial evolution to synthesize controllers for physical robots is still in its infancy. Most applications are on very simple robots in artificial environments, and even these examples struggle to span the ...

  17. Long-term robot mapping in dynamic environments

    E-Print Network [OSTI]

    Walcott, Aisha, 1978-

    2011-01-01T23:59:59.000Z

    One of the central goals in mobile robotics is to develop a mobile robot that can construct a map of an initially unknown dynamic environment. This is often referred to as the Simultaneous Localization and Mapping (SLAM) ...

  18. Design of running-man, a bipedal robot

    E-Print Network [OSTI]

    Chen, Jin

    2011-01-01T23:59:59.000Z

    Table 4.1 Specifications of Running Man robot prototype HipSan Diego Design of running-man, a bipedal robot A Thesis41 v Implementation of Running

  19. Mag-Foot: a steel bridge inspection robot

    E-Print Network [OSTI]

    Asada, Harry

    A legged robot that moves across a steel structure is developed for steel bridge inspection. Powerful permanent magnets imbedded in each foot allow the robot to hang from a steel ceiling powerlessly. Although the magnets ...

  20. LEARNING REFLEXES FOR TELEOPERATED GROUND-BASED RESCUE ROBOTS

    E-Print Network [OSTI]

    Moss, Matthew 1987-

    2011-04-25T23:59:59.000Z

    This thesis presents a system for shared autonomy, where a search and rescue robot uses training data to create a "maintain balance" reflex to enable a robot to autonomously stop, back up, or change configuration to avoid falling over...

  1. Optimal Motion Planning with constraints for mobile robot navigation

    E-Print Network [OSTI]

    Pearce, Roger Allan

    2013-02-22T23:59:59.000Z

    -dimensional space. Motion Planning, or path planning for robots, becomes increasing difficult as the dimension of the planning space increases with the robot's degrees of freedom (dof). While the running time of deterministic motion planning algorithms grows...

  2. Sensor based localization for multiple mobile robots using virtual links

    E-Print Network [OSTI]

    Rynn, Andrew John

    2004-11-15T23:59:59.000Z

    Mobile robots are used for a wide range of purposes such as mapping an environment and transporting material goods. Regardless of the specific application, the navigation of the mobile robot is usually divided into three separate parts: localization...

  3. Optimal multi-robot path planning with temporal logic constraints

    E-Print Network [OSTI]

    Ulusoy, Alphan

    In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted ...

  4. A design for self-assembling robots in a system

    E-Print Network [OSTI]

    Kim, Myunghee, Ph. D. Massachusetts Institute of Technology

    2006-01-01T23:59:59.000Z

    This thesis presents the design, construction, control, and application for a novel concept of self-assembling robots in a system. The system is composed of multiple cooperative robots that are designed to self-assemble ...

  5. Reconfiguring Boundary Relations: Robotic Innovations in Pharmacy Work

    E-Print Network [OSTI]

    Barrett, Michael

    Robotics is a rapidly expanding area of digital innovation with important implications for organizational practice in multioccupational settings. This paper explores the influence of robotic innovations on the boundary ...

  6. Autonomous Robotics COGS Q360 / CSCI B355

    E-Print Network [OSTI]

    Beer, Randall D.

    = + sensors/actuators AI #12;Rodney Brooks #12;Robots Everywhere #12;Robot Movies! #12;Embodiment · Laboratory Course · Groups · Group Dynamics · Stations · Lab Access Class times: T/Th 9:30-10:45, F 9

  7. A gradient optimization approach to adaptive multi-robot control

    E-Print Network [OSTI]

    Schwager, Mac

    2009-01-01T23:59:59.000Z

    This thesis proposes a unified approach for controlling a group of robots to reach a goal configuration in a decentralized fashion. As a motivating example, robots are controlled to spread out over an environment to provide ...

  8. Lateral undulation of a snake-like robot

    E-Print Network [OSTI]

    Gupta, Amit

    2007-01-01T23:59:59.000Z

    Snake robots have been studied by many researchers but historically more on a theoretical basis. Recently, more and more robotic snakes have been realized in hardware. This thesis presents a design process for the electrical, ...

  9. Design of an MRI compatible robot for wrist rehabilitation

    E-Print Network [OSTI]

    Mendelowitz, Sarah E. (Sarah Elizabeth), 1980-

    2005-01-01T23:59:59.000Z

    Magnetic Resonance Imaging (MRI) can be used to study the effects of robotic therapy on stroke patients. This thesis focuses on the design of an MRI compatible wrist robot to be used as a clinical tool for studying the ...

  10. Dumbbell micro-robot driven by flow oscillations

    E-Print Network [OSTI]

    Dumbbell micro-robot driven by flow oscillations By V. A. V l a d i m i r o v Dept of Mathematics-propulsion of a dumbbell micro-robot submerged in a viscous fluid. The micro-robot consists of two rigid spherical beads of each sphere differs from the density of a fluid, while the whole micro-robot has neutral buoyancy

  11. The synergy of human arm and robotic system

    E-Print Network [OSTI]

    Li, Zhi

    2014-01-01T23:59:59.000Z

    robot, is immersed in a surgical console and is physically removed from the surgical site itself, while the assistant

  12. Friction Modeling and Compensation for an Industrial Robot

    E-Print Network [OSTI]

    it is assumed to be unpredictable or insignificant. In experiments on the PUMA 560 robot arm, Armstrong' dem

  13. Abstract--This paper describes research on a "mental commitment robot". These robots have a different target

    E-Print Network [OSTI]

    Sabanovic, Selma

    a different target audience to industrial robots, one that is not so rigidly dependent on objective measures, as with industrial robots. Because these are complicated factors that require consideration and sensitivity to people

  14. A Trade Space Model for Robotic Lunar Exploration

    E-Print Network [OSTI]

    A Trade Space Model for Robotic Lunar Exploration Zachary James Bailey, David W. Miller June 2010 SSL # 11-10 #12;#12;A Trade Space Model for Robotic Lunar Exploration Zachary James Bailey, David W of Technology. #12;2 #12;A Trade Space Model for Robotic Lunar Exploration by Zachary James Bailey Submitted

  15. CATEGORIAL BIBLIOGRAPHY OF LITERATURE IN THE FIELD OF ROBOTICS

    E-Print Network [OSTI]

    . New York, 1967). RoaOTS IN LITEHATURK 1\\ 6. l(arel Capek, ".U.R. (ROSSUM'S UNIVERSAL ROBOTS) 10Xfor Intelligent Automaton Program," PROC. ~'I.flST NATIONAL SYJ.!POSIIJM ON INDIJS'l'RIAL RObOTS, Chicago, IllCATEGORIAL BIBLIOGRAPHY OF LITERATURE IN THE FIELD OF ROBOTICS by L. Stephen Coles Artificial

  16. Solving the Robots Gathering Problem Mark Cieliebak1

    E-Print Network [OSTI]

    Prencipe, Giuseppe

    Solving the Robots Gathering Problem Mark Cieliebak1 , Paola Flocchini2 , Giuseppe Prencipe3 a set of n > 2 simple autonomous mobile robots (decentralized, asynchronous, no common coordinate system) moving freely in the plane and able to sense the posi- tions of the other robots. W e study the primitive

  17. Proceedings ofthe 1996IEEE International Conference on Robotics and Automation

    E-Print Network [OSTI]

    Zheng, Yuan F.

    ). However, no one has addressed t,lie same 1)robl(,iii ot ti biped robot. IValkiiig metliod of a biped canProceedings ofthe 1996IEEE International Conference on Robotics and Automation Minneapolis joints of a biped robot is considered in this paper. The ankle of human being has small torque

  18. Analyzing Robot Behavior in E-Business Sites Virgilio Almeiday

    E-Print Network [OSTI]

    Riedi, Rudolf H.

    levels: user level, application level, protocol level, and network level 4]. We looked at the robotAnalyzing Robot Behavior in E-Business Sites Virg´ilio Almeiday Daniel Menasc´ez Rudolf Riedi x Fl. Engineering Rice University Houston TX 77251 USA riedi@rice.edu 1. INTRODUCTION The population of robots, i

  19. Controllability of Dynamical Extensions with Bounded Control: Application to Robotics

    E-Print Network [OSTI]

    Sontag, Eduardo

    1 Controllability of Dynamical Extensions with Bounded Control: Application to Robotics Monique. An application to the motion plan- ning problem for a class of two-driving-wheel mobile robots illustrates- vated by applications coming from robotics, we extend these results to the situation of bounded controls

  20. Autonomous Robots in SWAT Applications: Research, Design, and Operations Challenges

    E-Print Network [OSTI]

    Autonomous Robots in SWAT Applications: Research, Design, and Operations Challenges Mr. Henry L of their application. The robot #12;builders (the ARL researchers and MLB designers) and the SWAT leaders felt Jones Prof. Stephen Rock Aerospace Robotics Laboratory Stanford University (650) 723-3389 hlj

  1. Design Optimization of Robot Manipulators over Global Stiffness Performance Evaluation

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    objective is to fulfill the industrial demands in the preliminary design of the robots manipulatorsDesign Optimization of Robot Manipulators over Global Stiffness Performance Evaluation Eric for the design optimization of robot manipulators with respect to multiple global stiffness objectives

  2. An autonomous mobile robot for known industrial environments

    E-Print Network [OSTI]

    Milios, Evangelos E.

    An autonomous mobile robot for known industrial environments S. B. Nickerson1 , P. Jasiobedzki4 , D types of industrial operations and environments for which mobile robots can be used to reduce human to workers. It is this industrial survey and inspection task in that the ARK (Autonomous Robot for a Known

  3. Optimization of measurement configurations for geometrical calibration of industrial robot

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    , the accuracy of robotic manipulator depends on a number of factors. Usually, for the industrial applicationsOptimization of measurement configurations for geometrical calibration of industrial robot Alexandr of industrial robots employed in precise manufacturing. To identify geometric parameters, an advanced

  4. Pancakes: A Software Framework for Distributed Robot and Sensor Network

    E-Print Network [OSTI]

    Egerstedt, Magnus

    functionality in mil- itary, industrial, and consumer applications. In [13], the authors deployed a robotPancakes: A Software Framework for Distributed Robot and Sensor Network Applications Patrick Martin resources of the sensors as well as detected failures. To make multi-agent robotics applications

  5. Real Time Control Design for Mobile Robot Fault Tolerant Control.

    E-Print Network [OSTI]

    Kuehnlenz, Kolja

    Mobile Robot. Cristian Axenie Automation and Industrial Informatics Department Razvan Solea, Lecturer, Ph-time distributed control application with fault tolerance capabilities for differential wheeled mobile robots mobile robot the author has been able to develop a hierarchical software application that minimizes costs

  6. Stiffness modeling of robotic manipulator with gravity compensator

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    to the stiffness modeling of a heavy industrial robot of the Kuka family. Key words: Stiffness modeling, gravity compensator, industrial robot. 1 Introduction Recently, in aerospace industry much attention is paid these requirements, industrial robots are more and more used to replace conventional CNC-machines, which are limited

  7. Perception of Deformable Objects and Compliant Manipulation for Service Robots

    E-Print Network [OSTI]

    Eckmiller, Rolf

    demonstrations of our ap- proaches. 1. Introduction In today's industrial settings, robots are frequently interaction with humans under any circum- stances. This approach may not be applicable, e.g., in human-robot specific instance of an object class. This approach limits the range of possible applications of robotics

  8. Pancakes: A Software Framework for Distributed Robot and Sensor Network

    E-Print Network [OSTI]

    Egerstedt, Magnus

    , industrial, and consumer applications. In [14], the authors deployed a robot to maintain an office gardenPancakes: A Software Framework for Distributed Robot and Sensor Network Applications Patrick Martin environment. To make multi-agent robotics applications, such as the prior examples, work across different

  9. An Introduction to Computational Intelligence Techniques for Robot Control

    E-Print Network [OSTI]

    Bullinaria, John

    : The application of computational intelligence techniques to the field of industrial robot control is discussed involved, with particular reference to existing applications of these techniques in industrial robotics in real time to update that model. Often, particularly for industrial robots, the model is used off

  10. Interactive Robots as Social Partners and Peer Tutors for

    E-Print Network [OSTI]

    Kanda, Takayuki

    Interactive Robots as Social Partners and Peer Tutors for Children: A Field Trial Takayuki Kanda Osaka University HUMAN-COMPUTER INTERACTION, 2004, Volume 19, pp. 61­84 Copyright © 2004, Lawrence and human-robot interaction; he is a researcher in the Intelligent Robotics and Communication Laboratories

  11. Interactive Humanoid Robots for a Science Museum Masahiro Shiomi

    E-Print Network [OSTI]

    Kanda, Takayuki

    Interactive Humanoid Robots for a Science Museum Masahiro Shiomi 1,2 Takayuki Kanda 2 Hiroshi on a field trial with interactive humanoid robots at a science museum where visitors are supposed to study the museum's exhibits. Information obtained from the RFID tags was used to direct the robots' interaction

  12. Magnetic Wall Climbing Robot for Thin Surfaces with Specific Obstacles

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    Magnetic Wall Climbing Robot for Thin Surfaces with Specific Obstacles W. Fischer¹, F. Tâche high magnetic forces The main optimization criterion for this robot was to design it as light@ethz.ch Summary. This paper describes a novel solution to a mobile climbing robot on mag- netic wheels, designed

  13. Influence of surface traction on soft robot undulation

    E-Print Network [OSTI]

    Liu, David R.

    , assist in human motor tasks, and reduce manufacturing costs. As with natural invertebrates, soft robotsArticle Influence of surface traction on soft robot undulation The International Journal of Robotics Research 32(13) 1577­1584 © The Author(s) 2013 Reprints and permissions: sagepub

  14. On the Effect of Compliance in Robotic Contact Tasks Problem

    E-Print Network [OSTI]

    1 1995 ACC On the Effect of Compliance in Robotic Contact Tasks Problem Shahram Payandeh, Assistant Professor Experimental Robotics Laboratory (ERL) School of Engineering Science Simon Fraser University control of the robotic manipulator during its phase transition from free to constrained motions. One

  15. A Miniature Biomimetic Robotic Fish and Its Realtime Path Planning

    E-Print Network [OSTI]

    Boyer, Edmond

    A Miniature Biomimetic Robotic Fish and Its Realtime Path Planning Chao Zhou, Zhiqiang Cao, Shuo a novel miniature biomimetic robotic fish based on single link with compact structure, high maneuverability and multiple sensors. The robotic fish mimics the motion of Thunniform mode, and the methods

  16. Controlled Use Robot Colony Power Supply Gary Parker

    E-Print Network [OSTI]

    Parker, Gary B.

    Controlled Use Robot Colony Power Supply Gary Parker Computer Science Connecticut College New.S.A. rszbe@conncoll.edu Abstract ­ controlled of a continuous power supply robots colony presented. builds at a power station. onboard controller implemented to direct hexapod colony robot behavior according power

  17. Motion Planning for an Omnidirectional Robot with Steering Constraints

    E-Print Network [OSTI]

    Kabanza, Froduald

    to control the kinematics of a wheeled omnidirectional robot. For AZIMUT, we chose to model the velocityMotion Planning for an Omnidirectional Robot with Steering Constraints Simon Chamberland, Éric manoeuvrability in natural environments. Modeling the kinematics of such robots is a challenging problem

  18. Obstacle Avoidance Control of Humanoid Robot Arm through Tactile Interaction

    E-Print Network [OSTI]

    Tachi, Susumu

    Obstacle Avoidance Control of Humanoid Robot Arm through Tactile Interaction Dzmitry Tsetserukou through tactile interaction. The implementation of the approach was realized on humanoid robot arm control are summarized and illustrated in this work as well. The controllable compliance of robot arm

  19. Neural Network Control of a Pneumatic Robot Ted Hesselroth

    E-Print Network [OSTI]

    Duckett, Tom

    Neural Network Control of a Pneumatic Robot Arm Ted Hesselroth , Kakali Sarkar , P. Patrick van der been employed to control a five-joint pneu- matic robot arm and gripper through feedback from two video cameras. The pneumatically driven robot arm (SoftArm) employed in this inves- tigation shares essential

  20. Robot Arm Control Exploiting Natural Dynamics Matthew M. Williamson

    E-Print Network [OSTI]

    Robot Arm Control Exploiting Natural Dynamics by Matthew M. Williamson M.Eng, University of Oxford by . . . . . . . . . . . . .. . . . . . . . . . . .. . . . . . . . . . . . .. . . . . . . . . . . . .. . . . . . . . . . . . .. . . . . . . Arthur C. Smith Chairman, Departmental Committee on Graduate Students #12;Robot Arm Control Exploiting for the degree of Doctor of Philosophy Abstract This thesis presents an approach to robot arm control exploiting

  1. CONTINUOUS-TIME MODEL IDENTIFICATION OF ROBOT FLEXIBILITIES

    E-Print Network [OSTI]

    Boyer, Edmond

    , instrumental variable, visual servoing, robot arm, H control, flexible manipulator. 1. INTRODUCTION This paper identification approach to identify a flexible robot arm for heart beating mouvement compensation. Generally, robotic arms are designed as rigid in order to be easily controllable. With the improve- ments in real

  2. Rhythmic Robot Arm Control Using Oscillators Matthew M. Williamson

    E-Print Network [OSTI]

    Rhythmic Robot Arm Control Using Oscillators Matthew M. Williamson MIT AI Lab, 545 Technology to robot arm con- trol based on exploiting the dynamical properties of a simple oscillator circuit coupled This paper presents an approach to robot arm con- trol that is computationally simple, and provides ro- bust

  3. Efficient Dynamic Programming for Optimal Multi-Location Robot Rendezvous

    E-Print Network [OSTI]

    Mitchell, Ian

    and efficiency of the algorithm are analyzed theoretically, while a continuous robot arm problem demonstrates it to solve a continuous problem involving robotic arms cooperating to deliver some cargo from a source to a destination through a workspace with obstacles. This robot arm problem is a form of hybrid system because

  4. Goal of the Group Human-Robot Interaction Group

    E-Print Network [OSTI]

    - Part I: Inverse Kinematics Design 2010 IEEE International Conference on Robotics and Automation (ICRA International Conference on Robotics and Automation (ICRA 2010) Paolo Robuffo Giordano Hyoung Il Son Volker Thomas Nestmeyer Study novel ways to interface humans with autonomous robots Vehicle point of view

  5. RESPONSE ROBOTS DHS/NIST Sponsored Evaluation Exercises

    E-Print Network [OSTI]

    RESPONSE ROBOTS DHS/NIST Sponsored Evaluation Exercises RESPONSE ROBOTS DHS/NIST Sponsored Evaluation Exercises 11 Pocket Guide Version 2010.2 Pocket Guide Version 2010.2 #12;22 Certain commercial address responder-defined requirements for robot mobility, manipulation, sensors, energy, communications

  6. Trajectory Description Conception for Industrial Robots. Sergey Alatartsev

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    Trajectory Description Conception for Industrial Robots. Sergey Alatartsev Computer Systems for industrial robots programming. It should allow them to obtain difficult motions by easy com- bination of modern manufactur- ing process. At the present moment industrial robots do not meet these demands

  7. Adaptive Robot Design and Applications in Flexible Manufacturing Environments

    E-Print Network [OSTI]

    manufacturing environments. However, state-of-art industrial robots with high accuracy are rather costly is needed. Rather than designing an industrial robot for each given application, ARFLEX aims at providing IT systems, existing industrial robot's accuracy and adaptability can be enhanced at the same time

  8. Creating robotic characters for long-term interaction

    E-Print Network [OSTI]

    Setapen, Adam (Adam Michael)

    2012-01-01T23:59:59.000Z

    Researchers studying ways in which humans and robots interact in social settings have a problem: they don't have a robot to use. There is a need for a socially expressive robot that can be deployed outside of a laboratory ...

  9. The Conceptual Design of Robotic Architectures using Complexity Rules

    E-Print Network [OSTI]

    Berlin,Technische Universität

    The Conceptual Design of Robotic Architectures using Complexity Rules Waseem A. Khan and J. Angeles To develop a concept-evaluation framework for robot design Requirements Should be quantitative Should lead Benefits Could provide tools to complement the robot designer's judgement; and support the contemporary

  10. Robot Path Planning in Uncertain Environments: A Language-Measure-

    E-Print Network [OSTI]

    Ray, Asok

    Robot Path Planning in Uncertain Environments: A Language-Measure- Theoretic Approach Devesh K. Jha the problem of goal-directed robot path planning in the presence of uncertainties that are induced by bounded, probabilistic finite state automata 1 Motivation and Introduction In general, path planning of robots (e

  11. Linear Sum Assignment Algorithms for Distributed Multi-robot Systems

    E-Print Network [OSTI]

    Liu, Lantao

    2013-04-30T23:59:59.000Z

    Multi-robot task assignment (allocation) involves assigning robots to tasks in order to optimize the entire team’s performances. Until now, one of the most useful non-domain-specific ways to coordinate multi-robot systems is through task allocation...

  12. http://ijr.sagepub.com The International Journal of Robotics

    E-Print Network [OSTI]

    Guo, Yi

    http://ijr.sagepub.com Research The International Journal of Robotics DOI: 10.1177/0278364908097586 2009; 28; 558The International Journal of Robotics Research Adriano Cavalcanti, Bijan Shirinzadeh://www.sagepublications.com On behalf of: Multimedia Archives can be found at:The International Journal of Robotics Research

  13. Proceedingsof the 1998IEEE InternationalConferenceon Robotics& Automation

    E-Print Network [OSTI]

    Allen, Peter K.

    on a custom designed 5 DOF gantry robot which highlight the limitations of regulator-based control, as well can increase the performance of robotic tasks. Controllers can be designed to handle external three translational DOF which configure it as a Cartesian Gantry robot and can cover a workspace of 3

  14. Evolving an Indoor Robotic Localization System Based on Wireless Networks

    E-Print Network [OSTI]

    Braun, Torsten

    of indoor robotic localization. We investigate the design and building of an autonomous localization system provides the position of one robot in a space, as in a Cartesian plane, corroborating with the EvoEvolving an Indoor Robotic Localization System Based on Wireless Networks Gustavo Pessin1

  15. Virtual Remote Center of Motion Control for Needle Placement Robots

    E-Print Network [OSTI]

    Boyer, Edmond

    mechanical design but also the need for calibration and registration of the robot to the medical imager priorVirtual Remote Center of Motion Control for Needle Placement Robots Emad M. Boctor, Robert J@jhu.edu, GaborF@jhu.edu http://cisstweb.cs.jhu.edu Abstract. Surgical robots, including those with remote center

  16. Asynchronous Control of Rotation and Translation for a Robot Vehicle

    E-Print Network [OSTI]

    Crowley, James L.

    Cartesian coordinate space. In the same sense, robot vehicles require a "vehicle controller" to commandAsynchronous Control of Rotation and Translation for a Robot Vehicle James L. Crowley Patrick Appeared in Journal of Robotics and Autonomous Systems February 1993 © 1992 James L. Crowley This work has

  17. Research and Development Towards an Autonomous Biped Walking Robot

    E-Print Network [OSTI]

    Stryk, Oskar von

    , and perception subject to the real-time constraints given by the robot HW and SW design. Many research groups dynamics on all levels of the design, implementation and operation phases of ahumanoid robot to influ- ence the posture of the humanoid robot in selected cartesian task coordinate directions

  18. Analog VLSI for Robot Path Planning Mircea Stan Wayne Burleson

    E-Print Network [OSTI]

    Stan, Mircea R.

    . In cartesian space there are two or three dimensions and the robot arm's nonzero dimensions must be takenAnalog VLSI for Robot Path Planning Mircea Stan Wayne Burleson Department of Electrical & Computer­545­4611 fax Abstract Analog VLSI provides a convenient and high­ performance engine for robot path planning

  19. A Depth Space Approach to Human-Robot Collision Avoidance

    E-Print Network [OSTI]

    De Luca, Alessandro

    A Depth Space Approach to Human-Robot Collision Avoidance Fabrizio Flacco Torsten Kr is presented for safe human-robot coexistence. The main contribution is a fast method to evaluate distances between the robot and possibly moving obstacles (including humans), based on the concept of depth space

  20. VISUAL-BASED PLANNING AND CONTROL FOR NONHOLONOMIC MOBILE ROBOTS

    E-Print Network [OSTI]

    De Luca, Alessandro

    in the cartesian space. The mobile robot SuperMARIO used in our experiments is a two-wheel differen- tially drivenVISUAL-BASED PLANNING AND CONTROL FOR NONHOLONOMIC MOBILE ROBOTS A. De Luca, G. Oriolo, L. Paone, P: Visual feedback, nonholonomic mo- bile robots, motion planning, nonlinear control Abstract An integrated

  1. Some Distance Measures for Morphological Diversification in Generative Evolutionary Robotics

    E-Print Network [OSTI]

    Glette, Kyrre

    .9 [Computing Methodologies]: Artificial Intelligence-- Robotics General Terms Design, experimentation Keywords, higher speeds, and portability, new possibilities open up for the design or repair of robotic systems of automatic design and adaptation of robotic systems through the use of evolutionary algorithms (EAs

  2. Sensorless Robot Collision Detection and Hybrid Force/Motion Control

    E-Print Network [OSTI]

    De Luca, Alessandro

    a lightweight robot design [6], possibly with distributed compliant characteristics in the driving system andSensorless Robot Collision Detection and Hybrid Force/Motion Control Alessandro De Luca Raffaella-time detection of collisions between a robot manipulator and obstacles of unknown geometry and location

  3. Genetic Programming Based Automatic Gait Generation for Quadruped Robots

    E-Print Network [OSTI]

    Fernandez, Thomas

    Descriptors I.2.9 [Artificial Intelligence]: Robotics General Terms Algorithms, Design, Performance KeywordsGenetic Programming Based Automatic Gait Generation for Quadruped Robots Kisung Seo Electronic a new approach to develop a fast gait for quadruped robot using genetic programming (GP). Several recent

  4. Space Robotic Capabilities David Kortenkamp (NASA Johnson Space Center)

    E-Print Network [OSTI]

    Kortenkamp, David

    Johnson Space Center Space Robotic Capabilities David Kortenkamp (NASA Johnson Space Center) Liam) David Wettergreen (Carnegie Mellon University) Dan Clancy (NASA Ames) #12;Johnson Space Center 12/18/2001 Space Robotics State-of-Art 2 ! Motivation Science Objectives Mission Concepts Robots Human

  5. Transfer of Human Movements to Humanoid Robots , D. Gehrig1

    E-Print Network [OSTI]

    Schultz, Tanja

    Transfer of Human Movements to Humanoid Robots M. Do1 , D. Gehrig1 , H. Kühne1 , P. Azad1 , P present techniques for transferring of human motion to humanoid robots. For the generation of human motion sequences to the humanoid robot ARMAR IIIb. Since the focus is set on upper body movements, only 17 DoF (7

  6. Bio-inspired Slowness for Robotic Systems Ronald C. Arkin

    E-Print Network [OSTI]

    be applied to robotic systems. While slugs, snails, and tortoises are frequently and correctly associated behaviors for robots that deliberately exploit slowness. There has also been research in slow movements in human factors associated with determining safe slow speeds for robots performing alongside humans [6

  7. Bioinspired Slowness for Robotic Systems Ronald C. Arkin

    E-Print Network [OSTI]

    be applied to robotic systems. While slugs, snails, and tortoises are frequently and correctly associated behaviors for robots that deliberately exploit slowness. There has also been research in slow movements in human factors associated with determining safe slow speeds for robots performing alongside humans [6

  8. Reinforcement Learning based Omnidirectional Vision Agent for Mobile Robot Navigation

    E-Print Network [OSTI]

    Menegatti, Emanuele

    policy for the robot. The LEM strategy is also applied to speed up learning. The knowledge acquired to support the human and robot activity in the environment with a network of smart sensors [3, 11Reinforcement Learning based Omnidirectional Vision Agent for Mobile Robot Navigation E. Menegatti1

  9. A demonstration of remote survey and characterization of a buried waste site using the SRIP (Soldier Robot Interface Project) testbed

    SciTech Connect (OSTI)

    Burks, B.L.; Richardson, B.S.; Armstrong, G.A.; Hamel, W.R.; Jansen, J.F.; Killough, S.M.; Thompson, D.H.; Emery, M.S.

    1990-01-01T23:59:59.000Z

    During FY 1990, the Oak Ridge National Laboratory (ORNL) supported the Department of Energy (DOE) Environmental Restoration and Waste Management (ER WM) Office of Technology Development through several projects including the development of a semiautonomous survey of a buried waste site using a remotely operated all-terrain robotic testbed borrowed from the US Army. The testbed was developed for the US Army's Human Engineering Laboratory (HEL) for the US Army's Soldier Robot Interface Project (SRIP). Initial development of the SRIP testbed was performed by a team including ORNL, HEL, Tooele Army Depot, and Odetics, Inc., as an experimental testbed for a variety of human factors issues related to military applications of robotics. The SRIP testbed was made available to the DOE and ORNL for the further development required for a remote landfill survey. The robot was modified extensively, equipped with environmental sensors, and used to demonstrate an automated remote survey of Solid Waste Storage Area No. 3 (SWSA 3) at ORNL on Tuesday, September 18, 1990. Burial trenches in this area containing contaminated materials were covered with soil nearly twenty years ago. This paper describes the SRIP testbed and work performed in FY 1990 to demonstrate a semiautonomous landfill survey at ORNL. 5 refs.

  10. Development of the Robotic Touch foot Sensor for 2D walking Robot, for Studying Rough Terrain Locomotion

    E-Print Network [OSTI]

    Lee, Hunwoo

    2012-08-31T23:59:59.000Z

    Development of the Robotic Touch foot Sensor for 2D walking Robot, for Studying Rough Terrain Locomotion By HUNWOO LEE Submitted to the graduate degree program in Mechanical Engineering and the Graduate Faculty of the University of Kansas... ________________________________ Professor Robert Umholtz Date Defended: June 5, 2012 ii The Thesis Committee for HUNWOO LEE certifies that this is the approved version of the following thesis: Development of the Robotic Touch Foot Sensor for 2D Walking Robot...

  11. Robots learning to manipulate: real-time application-oriented algorithms using feature-based and machine learning techniques

    E-Print Network [OSTI]

    Balaguer, Benjamin Daniel

    2012-01-01T23:59:59.000Z

    wide spectrum of robot applications that range from helpinginvented for robot folding applications where a fold isRobot Simulators: Available Software, Scientific Applications

  12. The Resonating Arm Exerciser: design and pilot testing of a mechanically passive rehabilitation device that mimics robotic active assistance

    E-Print Network [OSTI]

    Zondervan, Daniel K; Palafox, Lorena; Hernandez, Jorge; Reinkensmeyer, David J

    2013-01-01T23:59:59.000Z

    device that mimics robotic active assistance Daniel K1,3 Abstract Background: Robotic arm therapy devices thatin the development of robotic and computer-based devices for

  13. Trainer variability during step training after spinal cord injury: Implications for robotic gait-training device design.

    E-Print Network [OSTI]

    Galvez, Jose A; Budovitch, Amy; Harkema, Susan J; Reinkensmeyer, David J

    2011-01-01T23:59:59.000Z

    this goal may be to have robotic gait-training devices learnparaplegic patients with a robotic orthosis. J Rehabil Resand quantitative evaluation of robotic-assisted treadmill

  14. Robot-assisted reaching exercise promotes arm movement recovery in chronic hemiparetic stroke: a randomized controlled pilot study

    E-Print Network [OSTI]

    Kahn, Leonard E; Zygman, Michele L; Rymer, W Zev; Reinkensmeyer, David J

    2006-01-01T23:59:59.000Z

    exercise with a simple robotic device, while a second grouparm skateboards to sophisticated robotic devices [2,3]. Twoenhanced somatosensory input. Robotic devices have recently

  15. (Chapter to appear in Handbook of Industrial Robotics, 2nd Edition, edited by Shimon Nof, ROBOTICS APPLICATIONS

    E-Print Network [OSTI]

    Parker, Lynne E.

    on applications for which working robot prototypes have been developed. 2.1. Nuclear Industry In the nuclear(Chapter to appear in Handbook of Industrial Robotics, 2nd Edition, edited by Shimon Nof, 1998) ROBOTICS APPLICATIONS IN MAINTENANCE AND REPAIR LYNNE E. PARKER Center for Engineering Systems Advanced

  16. Robotics virtual rail system and method

    DOE Patents [OSTI]

    Bruemmer, David J. (Idaho Falls, ID); Few, Douglas A. (Idaho Falls, ID); Walton, Miles C. (Idaho Falls, ID)

    2011-07-05T23:59:59.000Z

    A virtual track or rail system and method is described for execution by a robot. A user, through a user interface, generates a desired path comprised of at least one segment representative of the virtual track for the robot. Start and end points are assigned to the desired path and velocities are also associated with each of the at least one segment of the desired path. A waypoint file is generated including positions along the virtual track representing the desired path with the positions beginning from the start point to the end point including the velocities of each of the at least one segment. The waypoint file is sent to the robot for traversing along the virtual track.

  17. Immuno-inspired robotic applications: a review

    E-Print Network [OSTI]

    Raza, Ali

    2012-01-01T23:59:59.000Z

    Artificial immune systems primarily mimic the adaptive nature of biological immune functions. Their ability to adapt to varying pathogens makes such systems a suitable choice for various robotic applications. Generally, AIS-based robotic applications map local instantaneous sensory information into either an antigen or a co-stimulatory signal, according to the choice of representation schema. Algorithms then use relevant immune functions to output either evolved antibodies or maturity of dendritic cells, in terms of actuation signals. It is observed that researchers, in an attempt to solve the problem in hand, do not try to replicate the biological immunity but select necessary immune functions instead, resulting in an ad-hoc manner these applications are reported. Authors, therefore, present a comprehensive review of immuno-inspired robotic applications in an attempt to categorize them according to underlying immune definitions. Implementation details are tabulated in terms of corresponding mathematical expr...

  18. Dynamic behavior analysis for a six axis industrial machining robot

    E-Print Network [OSTI]

    Bisu, Claudiu-Florinel; Gérard, Alain; K'Nevez, Jean-Yves

    2012-01-01T23:59:59.000Z

    The six axis robots are widely used in automotive industry for their good repeatability (as defined in the ISO92983) (painting, welding, mastic deposition, handling etc.). In the aerospace industry, robot starts to be used for complex applications such as drilling, riveting, fiber placement, NDT, etc. Given the positioning performance of serial robots, precision applications require usually external measurement device with complexes calibration procedure in order to reach the precision needed. New applications in the machining field of composite material (aerospace, naval, or wind turbine for example) intend to use off line programming of serial robot without the use of calibration or external measurement device. For those applications, the position, orientation and path trajectory precision of the tool center point of the robot are needed to generate the machining operation. This article presents the different conditions that currently limit the development of robots in robotic machining applications. We ana...

  19. OmniTread OT-4 Serpentine Robot new Features and Experiments Johann Borenstein* and Malik Hansen

    E-Print Network [OSTI]

    Borenstein, Johann

    1 OmniTread OT-4 Serpentine Robot ­ new Features and Experiments Johann Borenstein* and Malik-of-freedom joints. The OT-4 can climb over obstacles that are much higher than the robot itself, propel itself of the OT-4. Keywords: OmniTread, Serpentine Robot, Snake Robot, Snakebot, Mobile Robot, Hyper

  20. Culturally Variable Preferences for Robot Design and Use in South Korea, Turkey, and the United States

    E-Print Network [OSTI]

    Sabanovic, Selma

    .2 [User- Centered Design]; I.2.9 [Robotics]: Commercial robots and applications; K.4: Computers, Turkey, United States, survey, robot design, robot application, user preferences. 1. INTRODUCTIONCulturally Variable Preferences for Robot Design and Use in South Korea, Turkey, and the United

  1. Designing Arms and Hands for the Humanoid Robot ROMAN J. Hirth, K. Berns

    E-Print Network [OSTI]

    Berns, Karsten

    in assistance- and personal robots. Application areas for these robots reach from the care of elderly people in [1]. These application areas lead to completely new requirements for the robot design, comparedDesigning Arms and Hands for the Humanoid Robot ROMAN J. Hirth, K. Berns Robotics Research Lab

  2. Experimental Comparison of Observers for Tool Position Estimation of Industrial Robots

    E-Print Network [OSTI]

    Schön, Thomas

    Experimental Comparison of Observers for Tool Position Estimation of Industrial Robots Robert methods for tool position estimation of industrial robots. It is assumed that the motor angular position industrial robot. I. INTRODUCTION Current industrial robot development is focused on in- creasing the robot

  3. equation reference goes here Abstract--Off-line robot dynamic identification methods are

    E-Print Network [OSTI]

    Boyer, Edmond

    parameters of several robotic prototypes and industrial robots [2], [3], [4], [5], [6], [7], [8], [9 reference trajectory. In spite it is difficult to know details on the control law for most industrial robots parameters of the robot. Section III presents the DIDIM method. The modeling of the TX40 industrial robot

  4. . BULGARIAN ACADEMY OF SCIENCES PROBLEMS OF ENGINEERING CYBERNETICS AND ROBOTICS, 53

    E-Print Network [OSTI]

    Borissova, Daniela

    , unintelligent, industrial robots from the late 70?s are now only a tool on the production level. The producers of unintelligent, industrial robots had some marketing problems between 1991 and 1993. The num bers of robots sold installations of industrial robots [2] #12;4 Intelligent robots Nearly at the same time one of the oldest dreams

  5. A Robot Architecture Based on Situated Modules Hiroshi Ishiguro, Toshiyuki Kanda, Katumi Kimoto and Toru Ishida

    E-Print Network [OSTI]

    Kanda, Takayuki

    A Robot Architecture Based on Situated Modules Hiroshi Ishiguro, Toshiyuki Kanda, Katumi Kimoto a robot architecture that enables us to progressively develop robots (especially, vision-guided mobile, this kind of robot architectures is strongly needed. #12;Abstract This paper proposes a robot architecture

  6. Auton Robot DOI 10.1007/s10514-008-9095-6

    E-Print Network [OSTI]

    Vijayakumar, Sethu

    Designing a flexible controller of a complex robot is a dif- ficult and time-consuming task for robotAuton Robot DOI 10.1007/s10514-008-9095-6 Geodesic Gaussian kernels for value function is successfully demon- strated in simulated robot arm control and Khepera robot navigation. The current paper

  7. Renaissance robotics : novel applications of multipurpose robotic arms spanning design fabrication, utility, and art

    E-Print Network [OSTI]

    Keating, Steven J. (Steven John)

    2012-01-01T23:59:59.000Z

    This work investigates, defines, and expands on the use of robotic arms in digital fabrication, design, and art through methods including 3D printing, milling, sculpting, functionally graded fabrication, construction-scale ...

  8. Rise of the Robots A look at the growth of robotics globally

    E-Print Network [OSTI]

    Levinson, David M.

    International Report 3-D printing to grow at CAGR of 23 percent from now until 2020, when it will be worth $8 vehicles in 2032 #12;Robotics Revolution Areas Medicine Agriculture Security & Defense Industrial

  9. SelfReconfigurable Molecule Robots as 3D Metamorphic Robots Craig McGray Daniela Rus

    E-Print Network [OSTI]

    Rus, Daniela

    in designing modular robots includes [PaKh95, PaKh93, FuKa, ChBu, Yim, NeSa, HaSa]. These papers focus on how

  10. Web-enabled Robots Robots that use the Web as an Information Resource

    E-Print Network [OSTI]

    Cremers, Daniel

    , Dejan Pangercic, and Michael Beetz Intelligent Autonomous Systems, Technische Universit¨at M¨unchen {tenorth, klank, pangercic, beetz}@cs.tum.edu Abstract-- As robots are starting to perform everyday manip

  11. SCIENCE AT THE CROSSROADS Genetically Modified Foods

    E-Print Network [OSTI]

    Newman, Stuart A.

    SCIENCE AT THE CROSSROADS Genetically Modified Foods and the Attack on Nature Stuart A. NewmanBy:[Newman,StuartA.]At:16:493July2009 #12;about, genetically modified (GM) food as scientifically ignorant, economically and Arpad Pusztai, ``Effect of Diets Containing Genetically Modified Potatoes Expressing galanthus nivalis

  12. Cooperative Bin-Picking with Time-of-Flight Camera and Impedance Controlled DLR Lightweight Robot III

    E-Print Network [OSTI]

    Blanz, Volker

    is characterized by all-purpose industrial robots replacing man- power for mass production. These robots perform industrial robotic generation will be characterized by highly sensorized light- weight robots

  13. Adhesives from modified soy protein

    DOE Patents [OSTI]

    Sun, Susan (Manhattan, KS); Wang, Donghai (Manhattan, KS); Zhong, Zhikai (Manhattan, KS); Yang, Guang (Shanghai, CN)

    2008-08-26T23:59:59.000Z

    The, present invention provides useful adhesive compositions having similar adhesive properties to conventional UF and PPF resins. The compositions generally include a protein portion and modifying ingredient portion selected from the group consisting of carboxyl-containing compounds, aldehyde-containing compounds, epoxy group-containing compounds, and mixtures thereof. The composition is preferably prepared at a pH level at or near the isoelectric point of the protein. In other preferred forms, the adhesive composition includes a protein portion and a carboxyl-containing group portion.

  14. Knowledge assistant for robotic environmental characterization

    SciTech Connect (OSTI)

    Feddema, J.; Rivera, J.; Tucker, S.; Matek, J.

    1996-08-01T23:59:59.000Z

    A prototype sensor fusion framework called the {open_quotes}Knowledge Assistant{close_quotes} has been developed and tested on a gantry robot at Sandia National Laboratories. This Knowledge Assistant guides the robot operator during the planning, execution, and post analysis stages of the characterization process. During the planning stage, the Knowledge Assistant suggests robot paths and speeds based on knowledge of sensors available and their physical characteristics. During execution, the Knowledge Assistant coordinates the collection of data through a data acquisition {open_quotes}specialist.{close_quotes} During execution and postanalysis, the Knowledge Assistant sends raw data to other {open_quotes}specialists,{close_quotes} which include statistical pattern recognition software, a neural network, and model-based search software. After the specialists return their results, the Knowledge Assistant consolidates the information and returns a report to the robot control system where the sensed objects and their attributes (e.g., estimated dimensions, weight, material composition, etc.) are displayed in the world model. This report highlights the major components of this system.

  15. Failure Mode Analyses Robotics Technology Development Program

    E-Print Network [OSTI]

    Richards-Kortum, Rebecca

    . Cavallaro and Ian D. Walker Department of Electrical & Computer Engineering Rice University, Houston, TX of Preliminary ORNL Tank Demo System (MLDUA/Hose Management System). Ongoing Analysis. ffl Contract with Hanford special issues, including upcoming Reliability Engineering and System Safety issue on Safety of Robotic

  16. Robot Motion Planning with Uncertainty The Challenge

    E-Print Network [OSTI]

    Whitton, Mary C.

    Roadmap (SMR), a new motion planning framework that explicitly considers uncertainty in robot motion approach. Our framework builds on the highly successful approach used in Probabilistic Roadmaps (PRMs of discrete states is selected in the state space, and a roadmap is built that represents their collision

  17. Robotics Technology Development Program. Technology summary

    SciTech Connect (OSTI)

    Not Available

    1994-02-01T23:59:59.000Z

    The Robotics Technology Development Program (RTDP) is a ``needs-driven`` effort. A lengthy series of presentations and discussions at DOE sites considered critical to DOE`s Environmental Restoration and Waste Management (EM) Programs resulted in a clear understanding of needed robotics applications toward resolving definitive problems at the sites. A detailed analysis of the Tank Waste Retrieval (TWR), Contaminant Analysis Automation (CAA), Mixed Waste Operations (MWO), and Decontamination & Dismantlement (D&D). The RTDP Group realized that much of the technology development was common (Cross Cutting-CC) to each of these robotics application areas, for example, computer control and sensor interface protocols. Further, the OTD approach to the Research, Development, Demonstration, Testing, and Evaluation (RDDT&E) process urged an additional organizational break-out between short-term (1--3 years) and long-term (3--5 years) efforts (Advanced Technology-AT). The RDTP is thus organized around these application areas -- TWR, CAA, MWO, D&D and CC&AT -- with the first four developing short-term applied robotics. An RTDP Five-Year Plan was developed for organizing the Program to meet the needs in these application areas.

  18. Fault Tolerant Algorithms and Architectures for Robotics

    E-Print Network [OSTI]

    Bennett, John K.

    environments be­ come more widespread, the issues of reliability and safety for robots are becoming more, J.R. Cavallaro, and I.D. Walker Department of Electrical and Computer Engineering Rice University of performance versus reliability is discussed. This paper also summarizes other work by our group at Rice

  19. Mobile autonomous robotic apparatus for radiologic characterization

    DOE Patents [OSTI]

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

    1999-08-10T23:59:59.000Z

    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.

  20. Mobile autonomous robotic apparatus for radiologic characterization

    DOE Patents [OSTI]

    Dudar, Aed M. (Dearborn, MI); Ward, Clyde R. (Aiken, SC); Jones, Joel D. (Aiken, SC); Mallet, William R. (Cowichan Bay, CA); Harpring, Larry J. (North Augusta, SC); Collins, Montenius X. (Blackville, SC); Anderson, Erin K. (Pleasanton, CA)

    1999-01-01T23:59:59.000Z

    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.

  1. DOE/NE robotics for advanced reactors

    SciTech Connect (OSTI)

    Not Available

    1991-01-01T23:59:59.000Z

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

  2. A Low-cost and Modular, 20-DOF Anthropomorphic Robotic Hand: Design, Actuation and Modeling

    E-Print Network [OSTI]

    Todorov, Emanuel

    -driven, anthropomorphic robotic hand. The prototyping process makes the most of 3D printing technology, and takes@cs.washington.edu Fig. 1. The 3D-printed 20-DOF anthropomorphic robotic hand. Many anthropomorphic robotic hands were

  3. Dynamic Chess: Strategic Planning for Robot Motion Tobias Kunz, Peter Kingston, Mike Stilman and Magnus Egerstedt

    E-Print Network [OSTI]

    Egerstedt, Magnus

    robot sword defense. Our approach enables a simulated 7-DOF robot arm to block known attacks in any, we concentrate on the following task: A robot arm, equipped with a sword must defend from a series

  4. A framework for roadmap-based navigation and sector-based localization of mobile robots 

    E-Print Network [OSTI]

    Kim, Jinsuck

    2004-11-15T23:59:59.000Z

    Personal robotics applications require autonomous mobile robot navigation methods that are safe, robust, and inexpensive. Two requirements for autonomous use of robots for such applications are an automatic motion planner ...

  5. Cooperative self-localization in a multi-robot-no-landmark scenario using fuzzy logic 

    E-Print Network [OSTI]

    Sinha, Dhirendra Kumar

    2005-02-17T23:59:59.000Z

    In this thesis, we develop a method using fuzzy logic to do cooperative localization. In a group of robots, at a given instant, each robot gives crisp pose estimates for all the other robots. These crisp pose values are ...

  6. Systems and Algorithms for Automated Collaborative Observation using Networked Robotic Cameras 

    E-Print Network [OSTI]

    Xu, Yiliang

    2011-10-21T23:59:59.000Z

    The development of telerobotic systems has evolved from Single Operator Single Robot (SOSR) systems to Multiple Operator Multiple Robot (MOMR) systems. The relationship between human operators and robots follows the ...

  7. Tiny Terminators: New Micro-Robots Assemble, Repair Themselves and Are Surprisingly Strong

    Broader source: Energy.gov [DOE]

    Tiny robots that can assemble and repair themselves? Watch a video of Argonne National Laboratory's micro-robots that easily perform tasks that can challenge other robots, including moving objects that are larger than themselves.

  8. Detecting and Tracking Level Sets of Scalar Fields Using a Robotic Sensor Network

    E-Print Network [OSTI]

    Dantu, Karthik; Sukhatme, Gaurav

    2007-01-01T23:59:59.000Z

    distributed sensing, robotic sam- pling, and of?ine analysisSets of Scalar Fields using a Robotic Sensor Network Karthikgaurav@usc.edu) are with the Robotic Embedded Systems

  9. Review of control strategies for robotic movement training after neurologic injury

    E-Print Network [OSTI]

    Marchal-Crespo, Laura; Reinkensmeyer, David J

    2009-01-01T23:59:59.000Z

    P, Geer D, Dijkers M: A robotic arm "smart exercise system":during walking with robotic assistance-as- needed. Jpractice and an assistive robotic device in a patient with

  10. Adaptive Sampling for Estimating a Scalar Field using a Robotic Boat and a Sensor Network

    E-Print Network [OSTI]

    Zhang, Bin; Sukhatme, Gaurav

    2007-01-01T23:59:59.000Z

    and development of a wireless robotic networked aquatica Scalar Field using a Robotic Boat and a Sensor Network Binvalidated the algorithm on a robotic boat and a system of

  11. Systems and Algorithms for Automated Collaborative Observation using Networked Robotic Cameras

    E-Print Network [OSTI]

    Xu, Yiliang

    2011-10-21T23:59:59.000Z

    The development of telerobotic systems has evolved from Single Operator Single Robot (SOSR) systems to Multiple Operator Multiple Robot (MOMR) systems. The relationship between human operators and robots follows the master-slave control architecture...

  12. How do robots compute and move? Dr. Ross Snider, Electrical and Computer Engineering

    E-Print Network [OSTI]

    Dyer, Bill

    How do robots compute and move? Dr. Ross Snider, Electrical and Computer Engineering Silly Jokes What do you call a robot driving in a car? What do you call a robot who likes books? What do you call

  13. Robotic Enrichment Processing of Roche 454 Titanium Emlusion PCR at the DOE Joint Genome Institute

    E-Print Network [OSTI]

    Hamilton, Matthew

    2010-01-01T23:59:59.000Z

    Robotic Enrichment Processing of Roche 454 Titanium Emulsionbead removal washes. The robotic process is broken down inWe made two changes to the robotic procedure as detailed in

  14. On synchronous robotic networks - Part II: Time complexity of rendezvous and deployment algorithms

    E-Print Network [OSTI]

    Frazzoli, Emilio; Bullo, Francesco; Cortes, Jorge; Martinez, Sonia

    2007-01-01T23:59:59.000Z

    et al. : SYNCHRONOUS ROBOTIC NETWORKS—PART II control andFrazzoli, “On synchronous robotic networks—Part I: Models,et al. : SYNCHRONOUS ROBOTIC NETWORKS—PART II links. ) We

  15. Robot-assisted laparoscopic transperitoneal pelvic lymphadenectomy and metastasectomy for melanoma: initial report of two cases

    E-Print Network [OSTI]

    Sohn, William; Finley, David S.; Jakowatz, James; Ornstein, David K.

    2010-01-01T23:59:59.000Z

    environment using a robotic interface: initial experienceJ Robotic Surg (2010) 4:129–132 DOI 10.1007/s11701-010-0189-Springerlink.com Abstract Robotic pelvic lymphadenectomy is

  16. Consecutive scanning scheme: applications to localization and navigation for mobile robots in a dynamic environment

    E-Print Network [OSTI]

    Lee, Jae Yong

    2002-01-01T23:59:59.000Z

    This thesis presents a mobile robot localization and obstacle detection algorithm based on consecutive range sensor scans. For a known environment, a mobile robot may scan the environment using a range sensor which can rotate 360o. The mobile robot...

  17. A framework for roadmap-based navigation and sector-based localization of mobile robots

    E-Print Network [OSTI]

    Kim, Jinsuck

    2004-11-15T23:59:59.000Z

    Personal robotics applications require autonomous mobile robot navigation methods that are safe, robust, and inexpensive. Two requirements for autonomous use of robots for such applications are an automatic motion planner to select paths and a...

  18. Towards printable robotics: Origami-inspired planar fabrication of three-dimensional mechanisms

    E-Print Network [OSTI]

    Onal, Cagdas D.

    This work presents a technique which allows the application of 2-D fabrication methods to build 3-D robotic systems. The ability to print robots introduces a fast and low-cost fabrication method to modern, real-world robotic ...

  19. Trajectory generation for car-like robots

    SciTech Connect (OSTI)

    Vasseur, H.A.; Pin, F.G.

    1990-01-01T23:59:59.000Z

    Autonomous robots or remotely operated vehicles have raised high hopes in the military and industrial communities because of the potential safety improvement and gain of productivity they may provide. Waste management on nuclear sites, pallet manipulation in factories, interventions on battle-fields, etc., are actively studied. A lot of these applications require powerful four-wheel vehicles, the kinematics of which is similar to that of a car. Such vehicles have three degrees of freedom: the (x,y) positions in a plane and the orientation of the vehicle. Path planning is often understood as only changing the position of the vehicle, whereas the tasks performed by this kind of robot requires a perfect orientation of the vehicle: forklifting a pallet or docking at a loading or unloading station requires accuracy in the orientation of the vehicle. It is this requirement and the kinematic constraints of the motion mode which have led to the path-planning algorithm presented in this paper. The velocity of the robot belongs to a two-dimensional vectorial space. However, we assume that there is no slipping of the wheels. Therefore, at a given position, the direction of the velocity of the rear axle, is colinear with that of the vehicle. The equation conveying this constraint is not integrable and affects the velocity but not the space of the configurations of the robot: it is a non-holonomic constraint. If the steering angle of the front wheels is constant, the vehicle moves along a circle. Since the steering angle of the car-like robots is limited, the radius of the circle is always greater than a certain value which is the minimum radius of curvature of any achievable trajectory. 3 refs., 8 figs.

  20. ROBOTIC TANK INSPECTION END EFFECTOR

    SciTech Connect (OSTI)

    Rachel Landry

    1999-10-01T23:59:59.000Z

    The objective of this contract between Oceaneering Space Systems (OSS) and the Department of Energy (DOE) was to provide a tool for the DOE to inspect the inside tank walls of underground radioactive waste storage tanks in their tank farms. Some of these tanks are suspected to have leaks, but the harsh nature of the environment within the tanks precludes human inspection of tank walls. As a result of these conditions only a few inspection methods can fulfill this task. Of the methods available, OSS chose to pursue Alternating Current Field Measurement (ACFM), because it does not require clean surfaces for inspection, nor any contact with the Surface being inspected, and introduces no extra by-products in the inspection process (no coupling fluids or residues are left behind). The tool produced by OSS is the Robotic Tank Inspection End Effector (RTIEE), which is initially deployed on the tip of the Light Duty Utility Arm (LDUA). The RTEE combines ACFM with a color video camera for both electromagnetic and visual inspection The complete package consists of an end effector, its corresponding electronics and software, and a user's manual to guide the operator through an inspection. The system has both coarse and fine inspection modes and allows the user to catalog defects and suspected areas of leakage in a database for further examination, which may lead to emptying the tank for repair, decommissioning, etc.. The following is an updated report to OSS document OSS-21100-7002, which was submitted in 1995. During the course of the contract, two related subtasks arose, the Wall and Coating Thickness Sensor and the Vacuum Scarifying and Sampling Tool Assembly. The first of these subtasks was intended to evaluate the corrosion and wall thinning of 55-gallon steel drums. The second was retrieved and characterized the waste material trapped inside the annulus region of the underground tanks on the DOE's tank farms. While these subtasks were derived from the original intent of the contract, the focus remains on the RTIEE.

  1. AAAI Fall Symposium on Human-Robot Interaction, AAAI Technical Report FS-02-03, pp. 111 119, November 2002. A Taxonomy for Human-Robot Interaction

    E-Print Network [OSTI]

    Yanco, Holly A.

    , November 2002. A Taxonomy for Human-Robot Interaction Holly A. Yanco and Jill L. Drury Computer Science of a taxonomy for human-robot interaction. By drawing from multiple research fields, a more complete taxonomy is attained. Taxonomy categories include team composition (ratio of people to robots, types of robots), amount

  2. Self-propulsion of V-shape micro-robot

    E-Print Network [OSTI]

    Vladimir A. Vladimirov

    2012-09-13T23:59:59.000Z

    In this paper we study the self-propulsion of a symmetric V-shape micro-robot (or V-robot) which consists of three spheres connected by two arms with an angle between them; the arms' lengths and the angle are changing periodically. Using an asymptotic procedure containing two-timing method and a distinguished limit, we obtain analytic expressions for the self-propulsion velocity and Lighthill's efficiency. The calculations show that a version of V-robot, aligned perpendicularly to the direction of self-swimming, is both the fastest one and the most efficient one. We have also shown that such $V$-robot is faster and more efficient than a linear three-sphere micro-robot. At the same time the maximal self-propulsion velocity of V-robots is significantly smaller than that of comparable microorganisms.

  3. E-Print Network 3.0 - automated robotic terrestrial Sample Search...

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    by a group of mobile robots. It is a complex problem involving a wide range of subjects: automation, robot... Description of bachelor thesis Vehicle Routing Problem for Mobile...

  4. E-Print Network 3.0 - artemis automated robotic Sample Search...

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    by a group of mobile robots. It is a complex problem involving a wide range of subjects: automation, robot... Description of bachelor thesis Vehicle Routing Problem for Mobile...

  5. Robotic Enrichment Processing of Roche 454 Titanium Emlusion PCR at the DOE Joint Genome Institute

    E-Print Network [OSTI]

    Hamilton, Matthew

    2010-01-01T23:59:59.000Z

    Robotic Enrichment Processing of Roche 454 Titanium EmulsionLaboratory Abstract Enrichment of emulsion PCR product isergonomic demands of the 454 enrichment process. The robot

  6. SUMMARY OF 2009 RHEOLOGY MODIFIER PROGRAM

    SciTech Connect (OSTI)

    Hansen, E.

    2009-12-08T23:59:59.000Z

    The overall objective of the EM-31 Rheological Modifiers and Wetting Agents program is to utilize commercially available rheology modifiers to increase the solids fraction of radioactive sludge based waste streams, resulting in an increase in throughput and decreasing the overall processing time. The program first investigates the impact of rheology modifiers on slurry simulants and then utilizes the most effective rheology modifiers on radioactive slurries. The work presented in this document covers the initial investigation of rheology modifier testing with simulants. This task is supported by both the Savannah River National Laboratory (SRNL) and Pacific Northwest National Laboratory (PNNL). The SRNL EM-31 task, for this year, was to investigate the use of rheology modifiers on simulant Defense Waste Processing Facility (DWPF) melter feeds. The task is to determine, based on the impact of the rheology modifier, if there are rheology modifiers that could reduce the water content of the slurry going to the DWPF melter, hence increasing the melt rate by decreasing the water loading. The rheology modifier in essence would allow a higher solids content slurry to have the same type of rheology or pumpability of a lower solids slurry. The modifiers selected in this report were determined based on previous modifiers used in high level waste melter feed simulants, on-going testing performed by counterparts at PNNL, and experiences gain through use of modifiers in other Department of Energy (DOE) processes such as grout processing. There were 12 rheology modifiers selected for testing, covering both organic and inorganic types and they were tested at four different concentrations for a given melter feed. Five different DWPF melter feeds were available and there was adequate material in one of the melter feeds to increase the solids concentration, resulting in a total of six simulants for testing. The mass of melter feed available in each simulant was not adequate for testing each rheology modifier, hence based on the changes in rheology for a given rheology modifier, rheology modifiers were either dropped or added between simulants. Three rheology modifiers were used on all simulants. The results from this testing indicate that citric acid or polycarboxylate based rheology modifiers are the most effective in reducing the yield stress, by as much as 70% at the higher rheology modifier additions and were effective on most of the tested simulants. These rheology modifiers are organic, hence the can also be used as reductants in melter operations. The most effective non-organic rheology modifiers, sodium metasilicate reduced the yield stress by 10%. It is recommended that both citric acid and commercially available polycarboxylate rheology modifiers be further investigated. Different molecular weight polycarboxylates and different types of polycarboxylates used in other industries must be considered. These polycarboxylates are extensively utilized in the cement, ceramic, and water treatment processes, hence readily available. Future work on DWPF melter feeds involving rheology modifiers should include, assuming the present method of processing sludge through DPWF does not change, is: (1) Investigate the use of polycarboxylate in various processes and procure polycarboxylates for testing. Limit rheology modifier selection and future testing between four and eight different types. (2) Test rheology modifiers on at least two different chemical types or bounding DWPF SME product simulants. Test to include the impact of boiling and the effectiveness in reducing water content via rheology versus weight percent curves. (3) Based on selected modifiers, perform testing on actual radioactive melter feed based on results from simulant testing.

  7. Robot Locomotion Controller Generation Through Human-Inspired Optimization

    E-Print Network [OSTI]

    Powell, Matthew Joseph

    2013-11-13T23:59:59.000Z

    Kinematics: Coordinates and Convention . . . . . . . 10 2.2 Robot Model Dynamics and Constraints . . . . . . . . . . . . . . . . 13 2.2.1 Foot-Ground Contact Constraints . . . . . . . . . . . . . . . . 14 2.2.2 Lagrangian Dynamics with Constraints... OF FIGURES FIGURE Page 1.1 Anthropomorphic bipedal robots: NAO and NASA’s Leg Testbed. . . 1 2.1 A depiction of the modeled rigid-body robot, comprised of links ` ? {f, c, t, T} corresponding to the foot, calf, thigh and torso, each with mass m`, inertia I...

  8. The design, construction, and control of a wheeled robot vehicle

    E-Print Network [OSTI]

    Ekiriwang, Tevo

    1986-01-01T23:59:59.000Z

    of Advisory Committee: Dr. Dennis N. Bingham The mobile robot, is one of the most actively researched fields in robotics, and it offers more flexibility and working volume than the fixed single arm type. The objective of this research is to design... diverse. This is because of their flexibility. en- durability, and reliability. For example, robots can work continuously for twenty four hours, or work in an environment which is unsafe or inconvinient for liuman beings (eg. nuclear power plant...

  9. A memory based method for computing robot-arm configuration

    E-Print Network [OSTI]

    Karimjee, Saleem

    1985-01-01T23:59:59.000Z

    flexible manufacturing tool. Such systems should allow the design of robot tasks using off-line techniques such as CAD/CAM software packages. Extremely sophisticated operations could then be programmed with relative ease, and without causing any down... function is the "Inverse Kinematic Solution" for simple robot arms. CMAC can loosely be described as a mapping that transforms an input vector, in this case the cartesian position of the robot end-eifector, to Figure 2. 2 A schematic representation...

  10. Method of modifying a surface

    DOE Patents [OSTI]

    Renk, Timothy J. (Albuquerque, NM); Sorensen, Neil R. (Albuquerque, NM); Senft, Donna Cowell (Albuquerque, NM); Buchheit, Jr., Rudolph G. (Columbus, OH); Thompson, Michael O. (Ithaca, NY); Grabowski, Kenneth S. (Alexandria, VA)

    2000-01-01T23:59:59.000Z

    The present invention provides a surface modification method that provides beneficial changes in surface properties, can modify a surface to a greater depth than previous methods, and that is suitable for industrial application. The present method comprises applying a thin-film coating to a surface of a substrate, then subjecting the coated surface to an ion beam. The ion beam power pulse heats the coated surface, leading to alloying between the material in the coating and the material of the substrate. Rapid cooling of the alloyed layer after an ion beam pulse can lead to formation of metastable alloys and microstructures not accessible by conventional alloying methods or intense ion beam treatment of the substrate alone.

  11. abb robots form: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    range of possible loads and configurations. NATO AS Series. bl. Fll Robotics and Artificial lntelhgence Edited by Sprmger-rlag Berlin Heidelberg 1984 In the future, new...

  12. autonomous robotic inspection: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    user interface to multiple cooperating robots implementing a novel behavioural architecture, the Behavioural Synthesis Architecture (BSA). We consider how these two types of...

  13. autonomous soccer robot: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    with all of its essential capabilities on-board. Our robots share the same general architecture and basic hardware, but they have integrated abilities to play different roles...

  14. Staubli TX-90XL robot qualification at the LLIHE.

    SciTech Connect (OSTI)

    Covert, Timothy Todd

    2010-10-01T23:59:59.000Z

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

  15. automatic robotic spotting: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    Automatic Channel Selection and Neural Signal Estimation across Channels of Neural Probes Olga is envisaged to be a central component for brain-controlled computers and robots....

  16. Aquatic Debris Monitoring Using Smartphone-Based Robotic Sensors

    E-Print Network [OSTI]

    to capture debris arrivals with reduced energy consumption. Keywords--Robotic sensor; aquatic debris of monitoring resolution. Re- cently, autonomous underwater vehicles (AUVs) [14] [31] have been used

  17. Humans, Robots and Market Crashes: A Laboratory Study ?

    E-Print Network [OSTI]

    Feldman, Todd; Friedman, Daniel

    2008-01-01T23:59:59.000Z

    Based Models and Human Subject Experiments. Handbook of Com-data from our experiments combining humans and robots, usingbetween laboratory experiment with human subjects and agent

  18. autonoma para robots: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    assumptions. At the MIT AI ab, three basic principles guide our research . We design humanoid robots to act autonomously and safely, without human control or supervision,...

  19. applied mobile robot: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    navigation, guidance, sensor interpretation, and architectures. The design of mobile robot involves conflicting needs and a wide mix of disciplines. The Terregator design...

  20. aaai mobile robot: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    navigation, guidance, sensor interpretation, and architectures. The design of mobile robot involves conflicting needs and a wide mix of disciplines. The Terregator design...

  1. asistida por robot: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    assumptions. At the MIT AI ab, three basic principles guide our research . We design humanoid robots to act autonomously and safely, without human control or supervision,...

  2. al robot da: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    like virtual present the storytelling experiment used for the design of our human robotagent interaction system Pelachaud, Catherine 7 ROBOTICS CiteSeer Summary: ssive and...

  3. Robotic Roommates Making Pancakes -Look Into Perception-Manipulation Loop

    E-Print Network [OSTI]

    Cremers, Daniel

    Robotic Roommates Making Pancakes - Look Into Perception-Manipulation Loop Michael Beetz, Ulrich Klank, Alexis Maldonado, Dejan Pangercic, Thomas R¨uhr {beetz, klank, maldonad, pangercic, ruehr

  4. Putting People's Common Sense into Knowledge Bases of Household Robots

    E-Print Network [OSTI]

    Cremers, Daniel

    , and Michael Beetz Intelligent Autonomous Systems Group Department of Informatics Technische Universität München {kunzel,tenorth,beetz}@in.tum.de Abstract. Unlike people, household robots cannot rely

  5. Piezoelectric film load cell robot collision detector

    DOE Patents [OSTI]

    Lembke, John R. (Overland Park, KS)

    1989-04-18T23:59:59.000Z

    A piezoelectric load cell which can be utilized for detecting collisions and obstruction of a robot arm end effector includes a force sensing element of metallized polyvinylidene fluoride (PVDF) film. The piezoelectric film sensing element and a resilient support pad are clamped in compression between upper and lower plates. The lower plate has a central recess in its upper face for supporting the support pad and sensing element, while the upper plate has a corresponding central projection formed on its lower face for bearing on the sensing element and support pad. The upper and lower plates are dowelled together for concentric alignment and screwed together. The upper and lower plates are also adapted for mounting between the robot arm wrist and end effector.

  6. Piezoelectric film load cell robot collision detector

    DOE Patents [OSTI]

    Lembke, J.R.

    1988-03-15T23:59:59.000Z

    A piezoelectric load cell which can be utilized for detecting collisions and obstruction of a robot arm end effector includes a force sensing element of metallized polyvinylidene fluoride (PVDF) film. The piezoelectric film sensing element and a resilient support pad are clamped in compression between upper and lower plates. The lower plate has a central recess in its upper face for supporting the support pad and sensing element, while the upper plate has a corresponding central projection formed on its lower face for bearing on the sensing element and support pad. The upper and lower plates are dowelled together for concentric alignment and screwed together. The upper and lower plates are also adapted for mounting between the robot arm wrist and end effector. 3 figs.

  7. Piezoelectric film load cell robot collision detector

    DOE Patents [OSTI]

    Lembke, J.R.

    1989-04-18T23:59:59.000Z

    A piezoelectric load cell which can be utilized for detecting collisions and obstruction of a robot arm end effector includes a force sensing element of metallized polyvinylidene fluoride (PVDF) film. The piezoelectric film sensing element and a resilient support pad are clamped in compression between upper and lower plates. The lower plate has a central recess in its upper face for supporting the support pad and sensing element, while the upper plate has a corresponding central projection formed on its lower face for bearing on the sensing element and support pad. The upper and lower plates are doweled together for concentric alignment and screwed together. The upper and lower plates are also adapted for mounting between the robot arm wrist and end effector. 3 figs.

  8. Mobile Robotic Teams Applied to Precision Agriculture

    SciTech Connect (OSTI)

    M.D. McKay; M.O. Anderson; N.S. Flann (Utah State University); R.A. Kinoshita; R.W. Gunderson; W.D. Willis (INEEL)

    1999-04-01T23:59:59.000Z

    The Idaho National Engineering and Environmental Laboratory (INEEL) and Utah State University?s Center for Self-Organizing and Intelligent Systems (CSOIS) have developed a team of autonomous robotic vehicles applicable to precision agriculture. A unique technique has been developed to plan, coordinate, and optimize missions in large structured environments for these autonomous vehicles in real-time. Two generic tasks are supported: 1) Driving to a precise location, and 2) Sweeping an area while activating on-board equipment. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle, and task conditions. This paper discusses the development of the autonomous robotic team, details of the mission-planning algorithm, and successful field demonstrations at the INEEL.

  9. Mobile Robotic Teams Applied to Precision Agriculture

    SciTech Connect (OSTI)

    Anderson, Matthew Oley; Kinoshita, Robert Arthur; Mckay, Mark D; Willis, Walter David; Gunderson, R.W.; Flann, N.S.

    1999-04-01T23:59:59.000Z

    The Idaho National Engineering and Environmental Laboratory (INEEL) and Utah State University’s Center for Self-Organizing and Intelligent Systems (CSOIS) have developed a team of autonomous robotic vehicles applicable to precision agriculture. A unique technique has been developed to plan, coordinate, and optimize missions in large structured environments for these autonomous vehicles in realtime. Two generic tasks are supported: 1) Driving to a precise location, and 2) Sweeping an area while activating on-board equipment. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle, and task conditions. This paper discusses the development of the autonomous robotic team, details of the mission-planning algorithm, and successful field demonstrations at the INEEL.

  10. Autonomous Robot System for Sensor Characterization

    SciTech Connect (OSTI)

    David Bruemmer; Douglas Few; Frank Carney; Miles Walton; Heather Hunting; Ron Lujan

    2004-03-01T23:59:59.000Z

    This paper discusses an innovative application of new Markov localization techniques that combat the problem of odometry drift, allowing a novel control architecture developed at the Idaho National Engineering and Environmental Laboratory (INEEL) to be utilized within a sensor characterization facility developed at the Remote Sensing Laboratory (RSL) in Nevada. The new robotic capability provided by the INEEL will allow RSL to test and evaluate a wide variety of sensors including radiation detection systems, machine vision systems, and sensors that can detect and track heat sources (e.g. human bodies, machines, chemical plumes). By accurately moving a target at varying speeds along designated paths, the robotic solution allows the detection abilities of a wide variety of sensors to be recorded and analyzed.

  11. Needs for Robotic Assessments of Nuclear Disasters

    SciTech Connect (OSTI)

    Victor Walker; Derek Wadsworth

    2012-06-01T23:59:59.000Z

    Following the nuclear disaster at the Fukushima nuclear reactor plant in Japan, the need for systems which can assist in dynamic high-radiation environments such as nuclear incidents has become more apparent. The INL participated in delivering robotic technologies to Japan and has identified key components which are needed for success and obstacles to their deployment. In addition, we are proposing new work and methods to improve assessments and reactions to such events in the future. Robotics needs in disaster situations include phases such as: Assessment, Remediation, and Recovery Our particular interest is in the initial assessment activities. In assessment we need collection of environmental parameters, determination of conditions, and physical sample collection. Each phase would require key tools and efforts to develop. This includes study of necessary sensors and their deployment methods, the effects of radiation on sensors and deployment, and the development of training and execution systems.

  12. Guidance Regarding Refinancing, Restructuring, or Modifying Loan...

    Broader source: Energy.gov (indexed) [DOE]

    addresses potential refinancing, restructuring, or modifying of a loan agreement entered into by an energy services company under a federal energy savings performance contract....

  13. Guidance Regarding Refinancing, Restructuring, or Modifying ESPC...

    Office of Environmental Management (EM)

    or modifying of a loan agreement entered into by an energy services company (ESCO) under a Federal energy savings performance contract (ESPC). 14idiqrefinance.pdf More...

  14. Modified Accelerated Cost-Recovery System (MACRS)

    Broader source: Energy.gov [DOE]

    Under the federal Modified Accelerated Cost-Recovery System (MACRS), businesses may recover investments in certain property through depreciation deductions. The MACRS establishes a set of class l...

  15. Modular architecture for robotics and teleoperation

    DOE Patents [OSTI]

    Anderson, Robert J. (11908 Ibex Ave., N.E., Albuquerque, NM 87111)

    1996-12-03T23:59:59.000Z

    Systems and methods for modularization and discretization of real-time robot, telerobot and teleoperation systems using passive, network based control laws. Modules consist of network one-ports and two-ports. Wave variables and position information are passed between modules. The behavior of each module is decomposed into uncoupled linear-time-invariant, and coupled, nonlinear memoryless elements and then are separately discretized.

  16. Process for anodizing a robotic device

    DOE Patents [OSTI]

    Townsend, William T. (Weston, MA)

    2011-11-08T23:59:59.000Z

    A robotic device has a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network. A network operating controller coordinates the operation of the network, including power distribution. At least one, but more typically two to five, wires interconnect all the controllers through one or more joints. Motor sensors and external world sensors monitor operating parameters of the robotic hand. The electrical signal output of the sensors can be input anywhere on the distributed control network. V-grooves on the robotic hand locate objects precisely and assist in gripping. The hand is sealed, immersible and has electrical connections through the rotary joints for anodizing in a single dunk without masking. In various forms, this intelligent, self-contained, dexterous hand, or combinations of such hands, can perform a wide variety of object gripping and manipulating tasks, as well as locomotion and combinations of locomotion and gripping.

  17. Intelligent, self-contained robotic hand

    DOE Patents [OSTI]

    Krutik, Vitaliy; Doo, Burt; Townsend, William T.; Hauptman, Traveler; Crowell, Adam; Zenowich, Brian; Lawson, John

    2007-01-30T23:59:59.000Z

    A robotic device has a base and at least one finger having at least two links that are connected in series on rotary joints with at least two degrees of freedom. A brushless motor and an associated controller are located at each joint to produce a rotational movement of a link. Wires for electrical power and communication serially connect the controllers in a distributed control network. A network operating controller coordinates the operation of the network, including power distribution. At least one, but more typically two to five, wires interconnect all the controllers through one or more joints. Motor sensors and external world sensors monitor operating parameters of the robotic hand. The electrical signal output of the sensors can be input anywhere on the distributed control network. V-grooves on the robotic hand locate objects precisely and assist in gripping. The hand is sealed, immersible and has electrical connections through the rotary joints for anodizing in a single dunk without masking. In various forms, this intelligent, self-contained, dexterous hand, or combinations of such hands, can perform a wide variety of object gripping and manipulating tasks, as well as locomotion and combinations of locomotion and gripping.

  18. HYPERION/ODS MODIFYING CANNED QUERIES

    E-Print Network [OSTI]

    Suzuki, Masatsugu

    HYPERION/ODS MODIFYING CANNED QUERIES **Quick review of the Hyperion Query Pane: Sections: Where, Criteria, Views and Joins. Hyperion/ODS ­ Modifying Canned Queries 1 #12;What Canned Queries are Available Note: Go to http://ods.binghamton.edu to view the canned query support documentation for detailed

  19. Scope and Description Laboratory Robotics and Automation seeks to

    E-Print Network [OSTI]

    Kostic, Milivoje M.

    #12;Scope and Description Laboratory Robotics and Automation seeks to communicate developments and information about the automation of the laboratory. Application areas generally include analytical peripherals, and other robotics developments that may have an impact on laboratory automation. In the area

  20. ROBOTIC MASTERS PLAN OF STUDY FORM NAME: DATE

    E-Print Network [OSTI]

    Plotkin, Joshua B.

    ROBOTIC MASTERS PLAN OF STUDY FORM NAME: DATE PENN ID #: ADVISOR: Expected Graduation Date/FUNDAMENTALS OF AI MEAM 520/ROBOTICS & AUTOMATION MEAM 620/MOTION PLANNING ESE 500/LINEAR SYSTEMS ESE 505 NUMBER & TITLE SEMESTER R RO OB BO OT TI IC CS S E EL LE EC CT TI IV VE ES S (2) COURSE NUMBER & TITLE

  1. Proceedings ofthe 2003 IEEE lnlernstional Conference om Robotics &Automation

    E-Print Network [OSTI]

    Hutchinson, Seth

    Proceedings ofthe 2003 IEEE lnlernstional Conference om Robotics &Automation Taipei, Taiwan to be a highly effectivemeans to control a robot manipulator through the use of visual data. It provides a high. the end of th31 lnter\\al is leis than the value ot the tuncuo

  2. The Minimum Constraint Removal Problem with Three Robotics Applications

    E-Print Network [OSTI]

    Indiana University

    The Minimum Constraint Removal Problem with Three Robotics Applications Kris Hauser Abstract on three example applications: generating human-interpretable excuses for failure, motion planning under their failures. · In human-robot interaction, semantically meaningful explanations would help people diagnose

  3. Mobile Robot Navigation With Low-Cost Sensors

    E-Print Network [OSTI]

    Yap, Teddy Ng

    2009-01-01T23:59:59.000Z

    mapping with applications to multi-robot and 3d mapping. InMapping In many application areas, a mobile robot needs torobots are being employed in grow- ing numbers not only in industrial but also in service-oriented applications (

  4. NOZZLE FUZZY CONTROLLER OF AGRICULTURAL SPRAYING ROBOT AIMING

    E-Print Network [OSTI]

    NOZZLE FUZZY CONTROLLER OF AGRICULTURAL SPRAYING ROBOT AIMING TOWARD CROP ROWS Jianqiang Ren robot aiming toward crop-rows based on fuzzy control theory was studied in this paper to solve, rule-base and inference mechanism. Considering the actual application, the fuzzy controller

  5. Visually-Guided Robot Navigation: From Artificial To Natural Landmarks

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    Visually-Guided Robot Navigation: From Artificial To Natural Landmarks Enric Celaya, Jose-Luis Albarral, Pablo Jim´enez, and Carme Torras Institut de Rob`otica i Inform`atica Industrial (CSIC seems to be the fast detection of reliable visual references in the image stream as the robot moves

  6. Towards Cooperation of Heterogeneous, Autonomous Robots: A Case Study of

    E-Print Network [OSTI]

    Stryk, Oskar von

    in industrial and research applications the need to execute successfully challenging missions and tasks has also computing capabil- ities. Several applications have been investigated with robots, which differ only are classified as weakly or strongly heterogeneous. An application with a strongly heteroge- neous robot team has

  7. Navigation of a walking robot in natural environments

    E-Print Network [OSTI]

    Portland State University

    Navigation of a walking robot in natural environments Enric Celaya and Josep María Porta Institut de Robòtica i Informàtica Industrial (UPC-CSIC) Abstract The most relevant differences existing between wheeled and legged robots, from the point of view of the expected navigation tasks to be performed

  8. Io, Ganymede and Callisto a Multiagent Robot Trashcollecting Team \\Lambda

    E-Print Network [OSTI]

    at the 1994 Robot Competition sponsored by the American Association for Artificial Intelligence (AAAI trash, but not to lift it up to drop it in a wastebasket. 1 #12; Georgia Tech's approach differed from­robot system is interesting from several standpoints, including the design of: ffl Low Cost Hardware: to permit

  9. advanced robotics technology: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    robotics technology First Page Previous Page 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 Next Page Last Page Topic Index 1 Advanced Robotics Minimally...

  10. advanced robotic technology: Topics by E-print Network

    Broader source: All U.S. Department of Energy (DOE) Office Webpages (Extended Search)

    robotic technology First Page Previous Page 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 Next Page Last Page Topic Index 1 Advanced Robotics Minimally invasive...

  11. A Mobile Interactive Robot for Gathering Structured Social Video

    E-Print Network [OSTI]

    A Mobile Interactive Robot for Gathering Structured Social Video ABSTRACT Documentaries an autonomous method for capturing structured cinéma vérité style documentaries through an interactive robotic camera, which was used as a mobile physical agent to facilitate interaction and story gathering within

  12. Improving Emergency Response and Human-Robotic Performance

    SciTech Connect (OSTI)

    David I. Gertman; David J. Bruemmer; R. Scott Hartley

    2007-08-01T23:59:59.000Z

    Preparedness for chemical, biological, and radiological/nuclear incidents at nuclear power plants (NPPs) includes the deployment of well trained emergency response teams. While teams are expected to do well, data from other domains suggests that the timeliness and accuracy associated with incident response can be improved through collaborative human-robotic interaction. Many incident response scenarios call for multiple, complex procedure-based activities performed by personnel wearing cumbersome personal protective equipment (PPE) and operating under high levels of stress and workload. While robotic assistance is postulated to reduce workload and exposure, limitations associated with communications and the robot’s ability to act independently have served to limit reliability and reduce our potential to exploit human –robotic interaction and efficacy of response. Recent work at the Idaho National Laboratory (INL) on expanding robot capability has the potential to improve human-system response during disaster management and recovery. Specifically, increasing the range of higher level robot behaviors such as autonomous navigation and mapping, evolving new abstractions for sensor and control data, and developing metaphors for operator control have the potential to improve state-of-the-art in incident response. This paper discusses these issues and reports on experiments underway intelligence residing on the robot to enhance emergency response.

  13. Autonomous Robots manuscript No. (will be inserted by the editor)

    E-Print Network [OSTI]

    Indiana University

    Autonomous Robots manuscript No. (will be inserted by the editor) Recognition, Prediction, and Planning for Assisted Teleoperation of Freeform Tasks Kris Hauser Received: date / Accepted: date Abstract: The approach of inferring user's intended task and optimizing low-level robot motions has promise for mak- ing

  14. A Robotic Case Study: Optimal Design for Laparoscopic Positioning Stands

    E-Print Network [OSTI]

    A Robotic Case Study: Optimal Design for Laparoscopic Positioning Stands ALI FARAZ SHAHRAM PAYANDEH Experimental Robotics Laboratory (ERL), School of Engineering Science Simon Fraser University, Burnaby, British­ sition and lock endoscopic tools without the need for an assistant surgeon. The kinematic configuration

  15. A Robotic Case Study: Optimal Design for Laparoscopic Positioning Stands

    E-Print Network [OSTI]

    A Robotic Case Study: Optimal Design for Laparoscopic Positioning Stands ALI FARAZ SHAHRAM PAYANDEH Experimental Robotics Laboratory ERL, School of Engineering Science Simon Fraser University, Burnaby, British- sition and lock endoscopic tools without the need for an assistant surgeon. The kinematic con guration

  16. Virtual Fixtures for Robotic Cardiac Surgery Shinsuk Park1

    E-Print Network [OSTI]

    ) harvest portion of robot-assisted coronary artery bypass graft proce- dures. A preoperative CT scan, motion constraints, and the need for cogni- tive spatio-motor remapping from the surgeon's hands a specified volume of tissue. 2 Methods This project focuses on robot-assisted minimally-invasive coronary

  17. Dynamic Tracking Control of Uncertain Nonholonomic Mobile Robots

    E-Print Network [OSTI]

    Guo, Yi

    by a kinematic model or a dynamic model, the tracking control problem of the system is classified as eitherDynamic Tracking Control of Uncertain Nonholonomic Mobile Robots Wenjie Dong and Yi Guo Department consider the tracking control of a nonholonomic mobile robot with parameter uncertainty and unknown dynam

  18. Classifying Human-Robot Interaction: An Updated Taxonomy*

    E-Print Network [OSTI]

    Yanco, Holly A.

    Classifying Human-Robot Interaction: An Updated Taxonomy* Holly A. Yanco Computer Science-7803-8566-7/04/$20.00 2004 IEEE. Abstract - This paper extends a taxonomy of human- robot interaction (HRI) introduced taxonomy. New classifications include measures of the social nature of the task (human interaction roles

  19. Human Robot Cooperation for Mechanical Assembly using Cooperative Vision System

    E-Print Network [OSTI]

    Kimura, Hiroshi

    For the purpose of the child care and nursing care, we are developing the robot which can assist the hu- man 182 K.Ikeuchi Institute of Industrial Science, Univ. of Tokyo 7-22-1 Roppongi, Minato-ku, Tokyo 106 an experiment in which the human and the robotic hand assembled toy parts in cooperation. 1 Introduction

  20. Just War and Robots' Killings Thomas W. Simpson

    E-Print Network [OSTI]

    Wallace, Mark

    1 Just War and Robots' Killings Thomas W. Simpson Associate Professor of Philosophy and Public systems--`killer robots'--be used in war? There is a growing campaign in favour of an international of right assumed by Just War theory. This is necessary because the most important arguments against killer