National Library of Energy BETA

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. 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

    DOE Patents [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)

    2012-05-29

    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.

  3. Videos | Department of Energy

    Office of Energy Efficiency and Renewable Energy (EERE) Indexed Site

    Demoing the Modified TALON Robot Retrofitting the Streetlights in Boise, Idaho Cutting Electricity Costs in Miami-Dade County, Florida How Energy Efficiency is Adding Jobs in St....

  4. robots

    National Nuclear Security Administration (NNSA)

    2%2A en LANL hosts annual robot rodeo http:nnsa.energy.govbloglanl-hosts-annual-robot-rodeo

    Hazardous devices teams from around the Southwest recently wrangled their bomb...

  5. Robotics

    ScienceCinema (OSTI)

    Buckner, Mark

    2014-06-23

    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.

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

    SciTech Connect (OSTI)

    Derek Wadsworth; Victor Walker

    2013-02-01

    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.

  7. Robotic intelligence kernel

    DOE Patents [OSTI]

    Bruemmer, David J. (Idaho Falls, ID)

    2009-11-17

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

  8. Evidence for Neandertal Jewelry: Modified White-Tailed Eagle Claws at Krapina

    E-Print Network [OSTI]

    Radov?i?, Davorka; Radov?i?, Jakov; Sršen, Ankica Oros; Frayer, David W.

    2015-03-11

    We describe eight, mostly complete white-tailed eagle (Haliaëtus [Haliaeetus] albicilla) talons from the Krapina Neandertal site in present-day Croatia, dating to approximately 130 kyrs ago. Four talons bear multiple, edge-smoothed cut marks; eight...

  9. Robot Partners: Collaborative Perceptual Robotic Systems

    E-Print Network [OSTI]

    Little, Jim

    Robot Partners: Collaborative Perceptual Robotic Systems Working paper Cooperative Distributed robotic systems, including remote-brained soccer players, visually guided mobile robots, and visual been supported by the the Networks of Centres of Excellence Institute for Robotics and Intelligent

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

    DOE Patents [OSTI]

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

    2012-09-18

    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.

  11. Hybrid redundant robot Robotic Hands for

    E-Print Network [OSTI]

    Simaan, Nabil

    Hybrid redundant robot Robotic Hands for Quaternion representation Singularity Analysis using line geometry NEW COURSE (Spring 2011) ME392-02: Special Topics: ADVANCED TOPICS IN ROBOTICS AND MECHANISM SYNTHESIS Instructor: N. Simaan Prerequisites: Linear algebra, Introduction to robotics; Recommended

  12. Safe Fall: Humanoid robot fall direction change through intelligent stepping and inertia shaping

    E-Print Network [OSTI]

    Yun, Seung-kook

    Although fall is a rare event in the life of a humanoid robot, we must be prepared for it because its consequences are serious. In this paper we present a fall strategy which rapidly modifies the robot's fall direction in ...

  13. 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)

    2001-01-01

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

  14. Robotics 1 1 Robot components

    E-Print Network [OSTI]

    De Luca, Alessandro

    , payload changes, round-off errors in control computations, ... ! can be improved by (kinematic in robotics) · rotating optical disk, with alternated transparent and opaque sectors on multiple concentric

  15. Multi Robot Cooperation Based on Auction Theory With a Value Map

    E-Print Network [OSTI]

    Pozo, Angello

    2011-01-01

    with Particle swarm Optimization (PSO) and Modified ParticleParticle Swarm Optimization (PSO) algorithms require the usefor a low number of robots. PSO algorithms are limit to

  16. Robotic vehicle

    DOE Patents [OSTI]

    Box, W.D.

    1997-02-11

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

  17. Robotic vehicle

    DOE Patents [OSTI]

    Box, W. Donald (Oak Ridge, TN)

    1997-01-01

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

  18. Robotic vehicle

    DOE Patents [OSTI]

    Box, W.D.

    1998-08-11

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

  19. Robotic vehicle

    DOE Patents [OSTI]

    Box, W. Donald (Oak Ridge, TN)

    1998-01-01

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

  20. Robotic arm

    DOE Patents [OSTI]

    Kwech, Horst (Lake Bluff, IL)

    1989-04-18

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

  1. Generic robot architecture

    DOE Patents [OSTI]

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

    2010-09-21

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

  2. Cooperating mobile robots

    DOE Patents [OSTI]

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

    2004-02-03

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

  3. Robotic Helicopter Surveying (MAS 13)

    E-Print Network [OSTI]

    Srikanth Saripalli; Jonathan Kelly; Gaurav S. Sukhatme

    2006-01-01

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

  4. Robot Fish

    E-Print Network [OSTI]

    Hacker, Randi

    2009-12-30

    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...

  5. Robotics and Energy Usage 

    E-Print Network [OSTI]

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

    1983-01-01

    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...

  6. Tandem mobile robot system

    DOE Patents [OSTI]

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

    2003-01-01

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

  7. Robot Intelligence Kernel

    ScienceCinema (OSTI)

    None

    2013-05-28

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

  8. 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

  9. Adaptive Sampling for Environmental Robotics

    E-Print Network [OSTI]

    Mohammad Rahimi; Richard Pon; Deborah Estrin; William J. Kaiser; Mani Srivastava; Gaurav S. Sukhatme

    2003-01-01

    186, 2003. S. Thrun, “Robotics Mapping: A survey”, Exploringtechnique to environmental robotics applications includingSampling for Environmental Robotics Mohammad Rahimi †,‡‡ ,

  10. China's Space Robotic Arms Programs

    E-Print Network [OSTI]

    POLLPETER, Kevin

    2013-01-01

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

  11. Robotic Ground Rules

    E-Print Network [OSTI]

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

    2007-05-16

    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...

  12. 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

  13. Advanced Robotics Minimally invasive surgery (MIS) and robotics technologies have

    E-Print Network [OSTI]

    Lennard, William N.

    Advanced Robotics Minimally invasive surgery (MIS) and robotics technologies have revolutionized robot technologies for clinical use, researchers and clinicians at Canadian Surgical Technologies & Advanced Robotics (CSTAR) are setting international standards for surgical technology, treatment innovation

  14. 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: Alternative Fuels Data Center Homesum_a_epg0_fpd_mmcf_m.xls" ,"Available from WebQuantityBonneville Power Administration wouldMassR&D100NationalquestionnairesDrought-inducedPhotoRoboRAVE brings robot

  15. Robotic vehicle

    DOE Patents [OSTI]

    Box, W.D.

    1996-03-12

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

  16. Robotic vehicle

    DOE Patents [OSTI]

    Box, W.D.

    1994-03-15

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

  17. Robotic vehicle

    DOE Patents [OSTI]

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

    1994-01-01

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

  18. Robotic vehicle

    DOE Patents [OSTI]

    Box, W. Donald (Oak Ridge, TN)

    1996-01-01

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

  19. Institute for Software Technology Ad anced RoboticsAdvanced Robotics

    E-Print Network [OSTI]

    Institute 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;Institute for Software Technology Motivation lik t h b t th t· we like to have robots

  20. Edinburgh Research Explorer Dancing Robots

    E-Print Network [OSTI]

    Edinburgh, University of

    will be given the choice to work with bespoke robots (arduino based) or an e-puck [2] robot, participants

  1. Multi-robot pursuit-evasion

    E-Print Network [OSTI]

    Kolling, Andreas

    2009-01-01

    Multi-Robot Approaches . . . . . . . . . . . . . . . .Multi-Robot Pursuit-3 Graph-Clear: Multi-Robot Pursuit-Evasion on

  2. ASTRIL Robotics Astrobiology

    E-Print Network [OSTI]

    Rhoads, James

    ASTRIL Robotics Astrobiology AstroDevils ASU/NASA Space Grant ASU/NASA Space Grant ASCEND ASU/NASA Space Grant Robotics Center for Environmental Security Center for Meteorite Studies Drinking Water

  3. Multi-robot Caravanning 

    E-Print Network [OSTI]

    Mahadevan, Aditya

    2013-11-06

    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...

  4. Artificial Intelligence and Robotics

    E-Print Network [OSTI]

    Brady, Michael

    1984-02-01

    Since Robotics is the field concerned with the connection of perception to action, Artificial Intelligence must have a central role in Robotics if the connection is to be intelligent. Artificial Intelligence addresses ...

  5. 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 ...

  6. A Mobile Robot Project

    E-Print Network [OSTI]

    Brooks, Rodney A.

    We are building a mobile robot which will roam around the AI lab observing and later perhaps doing. Our approach to building the robot and its controlling software differs from that used in many other projects in a number ...

  7. RHOBOT: Radiation hardened robotics

    SciTech Connect (OSTI)

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

    1997-10-01

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

  8. 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

  9. Modular robot

    DOE Patents [OSTI]

    Ferrante, T.A.

    1997-11-11

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

  10. Modular robot

    DOE Patents [OSTI]

    Ferrante, Todd A. (Idaho Falls, ID)

    1997-01-01

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

  11. Morphogenetic Robotics: An Emerging New Field in Developmental Robotics

    E-Print Network [OSTI]

    Jin, Yaochu

    1 Morphogenetic Robotics: An Emerging New Field in Developmental Robotics Yaochu Jin, Senior Member, IEEE, and Yan Meng, Member, IEEE Abstract-- Developmental robotics is also known as epigenetic robotics. We propose in this paper that there is one substan- tial difference between developmental robotics

  12. The educational impact of the Robotic Autonomy mobile robotics course

    E-Print Network [OSTI]

    The educational impact of the Robotic Autonomy mobile robotics course Illah R. Nourbakhsh, Kevin Crowley, Katie Wilkinson and Emily Hamner CMU-RI-TR-03-18 The Robotics Institute Carnegie Mellon of the Robotic Autonomy mobile robotics course Illah R. Nourbakhsha , Kevin Crowleyb , Katie Wilkinsonb , Emily

  13. Development of Human-Robot Interaction Systems for Humanoid Robots

    E-Print Network [OSTI]

    Maxwell, Bruce

    Development of Human-Robot Interaction Systems for Humanoid Robots Bruce A. Maxwell, Brian Leighton, Andrew Ramsay Colby College {bmaxwell,bmleight,acramsay}@colby.edu Abstract - Effective human-robot interaction is one of the primary challenges for humanoid robots. Sources of uncertainty, such as robot motion

  14. 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 Robot moving together with human is presented first. A teleoperated book browsing robot is described

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

    E-Print Network [OSTI]

    Telleria, Maria J

    2010-01-01

    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 ...

  16. Robot Trac School : improving autonomous navigation in EOD robots

    E-Print Network [OSTI]

    Denewiler, Thomas

    2011-01-01

    3.5.2 Simulating Robot Runs . . . . . . . . . . . . . . .4.2.2 Unicycle-like Robot Kinematics . . . . . . . 4.2.3Figure Figure Figure Figure Figure Figure Figure Robot Test

  17. Precision mechatronics lab robot development 

    E-Print Network [OSTI]

    Rogers, Adam Gregory

    2009-05-15

    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...

  18. Persuasive robotics : how robots change our minds

    E-Print Network [OSTI]

    Siegel, Michael Steven

    2009-01-01

    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 ...

  19. Robotics for Learning

    E-Print Network [OSTI]

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

    2015-01-01

    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 ...

  20. Robots and Education in the classroom and in the museum: On the study of robots, and robots for study

    E-Print Network [OSTI]

    Robots and Education in the classroom and in the museum: On the study of robots, and robots for study Illah R. Nourbakhsh The Robotics Institute Carnegie Mellon University Pittsburgh, PA 15213 illah@ri.cmu.edu Abstract The Mobile Robot Programming Lab and the Toy Robots Initiative at Carnegie Mellon's Robotics

  1. Multi-robot control interface

    DOE Patents [OSTI]

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

    2011-12-06

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

  2. Kindergarten Robotics: Using Robotics to Motivate Math, Science, and Engineering

    E-Print Network [OSTI]

    Kindergarten Robotics: Using Robotics to Motivate Math, Science, and Engineering Literacy, 474 Boston Ave, Tufts University, Medford, MA 02155, USA. E-mail: Erin.Cejka@tufts.edu Robotics Mindstorms makes it easy for students even in kindergarten to design and build their own robotic creations

  3. Robotics and Autonomous Systems 30 (2000) 133153 Biomimetic robot navigation

    E-Print Network [OSTI]

    2000-01-01

    Robotics and Autonomous Systems 30 (2000) 133­153 Biomimetic robot navigation Matthias O. Franz Abstract In the past decade, a large number of robots has been built that explicitly implement biological applications, most notably in the field of indoor robot navigation. While simpler insect navigation behaviours

  4. Robot Rodeo 2013

    ScienceCinema (OSTI)

    Deuel, Jake

    2014-02-26

    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.

  5. Multi-robot pursuit-evasion

    E-Print Network [OSTI]

    Kolling, Andreas

    2009-01-01

    International Journal of Robotics Research, A. Kolling, S.International Conference on Robotics and Automation, 3508-International Conference on Robotics and Automation, pp.

  6. Affordable avatar control system for personal robots

    E-Print Network [OSTI]

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

    2009-01-01

    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 ...

  7. Robotic device for manipulating human stepping

    E-Print Network [OSTI]

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

    2006-01-01

    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

  8. Update on Robotic Laparoscopic Radical Prostatectomy

    E-Print Network [OSTI]

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

    2006-01-01

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

  9. Mobile Robot Sensing for Environmental Applications

    E-Print Network [OSTI]

    2007-01-01

    deployable cable based robot,” in IEEE ICRA, Rome, Italy,Mobile robot sensing for environmental applications Amarjeetsystems per- formed using mobile robot sensing systems. Both

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

    E-Print Network [OSTI]

    Telleria, Maria J.

    We explain 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 joints ...

  11. MICS 2007 Robot Contest The robot contest will consist of two (two weight classes) sumo-robot tournaments. Each

    E-Print Network [OSTI]

    Hu, Wen-Chen

    MICS 2007 Robot Contest The robot contest will consist of two (two weight classes) sumo-robot the number of entries). In a sumo-robot match, two autonomously-controlled robots try to push each other outside of a round ring. This may sound destructive, but any harmful behavior by a robot, whether

  12. Toward Precise Control of a Robotic Boat

    E-Print Network [OSTI]

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

    2007-01-01

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

  13. Robotic follow system and method

    DOE Patents [OSTI]

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

    2007-05-01

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

  14. Robotics and remote systems applications

    SciTech Connect (OSTI)

    Rabold, D.E.

    1996-05-01

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

  15. 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)

    1992-01-01

    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.

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

    DOE Patents [OSTI]

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

    1992-09-22

    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.

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

    DOE Patents [OSTI]

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

    1991-01-01

    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.

  18. Weitzenfeld, A., and Dominey, P. Cognitive Robotics

    E-Print Network [OSTI]

    Weitzenfeld, Alfredo

    Weitzenfeld, A., and Dominey, P. Cognitive Robotics: Robot Soccer Coaching using Spoken Language in developing cognitive robotics architectures in the context of robot soccer coaching using spoken language intentions that guide the interactions between human and robot. We demonstrate this approach in robot soccer

  19. 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 ...

  20. Wheeled hopping robot

    DOE Patents [OSTI]

    Fischer, Gary J. (Albuquerque, NM)

    2010-08-17

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

  1. Robot-aided neurorehabilitation: A novel robot for ankle rehabilitation

    E-Print Network [OSTI]

    Roy, Anindo

    In this paper, we present the design and characterization of a novel ankle robot developed at the Massachusetts institute of technology (MIT). This robotic module is being tested with stroke patients at Baltimore Veterans ...

  2. 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 ...

  3. Implementing intentional robotics principles using SSR2K platform

    E-Print Network [OSTI]

    Kozma, Robert; Huntsberger, Terry; Aghazarian, Hrand; Freeman, Walter J III

    2008-01-01

    robots. IEEE Trans. on Robotics and Automation, Kortenkamp,IEEE Transactions on Robotics and Automation, vol. 18, no.in: Intelligence for Space Robotics, E. Tunstel, A. Howard,

  4. Design and control of a passively stabilized multimodal hopping robot

    E-Print Network [OSTI]

    Pantel, Erica

    2010-01-01

    Stabilized Multimodal Hopping Robot A Thesis submitted inStabilized Multimodal Hopping Robot by Erica Pantel Masterfor a multimodal hopping robot. The robot harnesses passive

  5. MIT Mobile Robots - What's Next?

    E-Print Network [OSTI]

    Flynn, Anita M.

    The MIT Mobile Robot Project began in January of 1985 with the objective of building machines that could operate autonomously and robustly in dynamically changing environments. We now have four working robots, each ...

  6. Robot Manipulation in Human Environments

    E-Print Network [OSTI]

    Edsinger, Aaron

    2007-01-16

    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 ...

  7. Robot manipulation in human environments

    E-Print Network [OSTI]

    Edsinger, Aaron Ladd, 1972-

    2007-01-01

    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 ...

  8. China's Space Robotic Arms Programs

    E-Print Network [OSTI]

    POLLPETER, Kevin

    2013-01-01

    build a craft capable of pulling alongside a satellite, extending a robotic arm, and plucking the satellite’s solar

  9. Probabilistic Robotics The SLAM Problem

    E-Print Network [OSTI]

    Kosecka, Jana

    rule · History of SLAM dates back to the mid-eighties (stone-age of mobile robotics) The SLAM Problem

  10. MECH 563 Robotics (3 Credits)

    E-Print Network [OSTI]

    Phani, A. Srikantha

    , Spatial Kinematic Chains: Analysis, Synthesis and Optimization, Springer Verlag, 1982 e) H. Asada and J. Niku, Introduction to Robotics, Analysis, Systems, Applications, Prentice Hall, 2001. c) R.L. Andersson.J. Slotine, Robot Analysis and Control, Wiley-Interscience, 1986. f) J.J. Craig, Introduction to Robotics

  11. Robotic actions in the human brain Robotic movement preferentially engages the action observation network

    E-Print Network [OSTI]

    Hamilton, Antonia

    Robotic actions in the human brain 1 Robotic movement., Stadler, W. & Prinz, W. (in press / 2011). Robotic movement preferentially engages the action observation network. Human Brain Mapping. #12;Robotic

  12. Computational Chemistry Robots

    E-Print Network [OSTI]

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

    stream_source_info ACS2005_final.ppt.txt stream_content_type text/plain stream_size 6280 Content-Encoding UTF-8 stream_name ACS2005_final.ppt.txt Content-Type text/plain; charset=UTF-8 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 properties? Can protocols be automated? Can we believe the results...

  13. 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: Alternative Fuels Data Center Homesum_a_epg0_fpd_mmcf_m.xls" ,"Available from WebQuantityBonneville Power Administration wouldMassR&D100NationalquestionnairesDrought-inducedPhotoRoboRAVE brings robotRobotic

  14. Will robots see? Stanley A. Klein

    E-Print Network [OSTI]

    Klein, Stanley

    Will robots see? Stanley A. Klein Will robots ever really see? Imagine a robot 10,000 years in the future. At that time we should finally understand the visual system and be able to build robots whose visual performance surpasses humans'. We will then ask: when a robot claims to be seeing, are its

  15. Wine Tasting Robots

    E-Print Network [OSTI]

    Hacker, Randi; Tsutsui, William

    2007-03-21

    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...

  16. Savannah River Site Robotics

    ScienceCinema (OSTI)

    None

    2012-06-14

    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.

  17. Robot Round Up

    E-Print Network [OSTI]

    Hacker, Randi

    2011-11-09

    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...

  18. "Intelligent systems for healthcare and robotics"

    E-Print Network [OSTI]

    Zhigilei, Leonid V.

    "Intelligent systems for healthcare and robotics" Laura Barnes Assistant Professor lbarnes, and robotics. We are interested in problems such as computationally modeling group behavior and interactions and clinicians. Robotics & Multiagent Systems Research in this area is specifically focused on multiagent

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

    E-Print Network [OSTI]

    Park, Yong-Lae

    http://ijr.sagepub.com/ Robotics Research The International Journal of http: 1748 originally published online 13 November 2014The International Journal of Robotics Research J. Wood Journal of Robotics ResearchAdditional services and information for http

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

    E-Print Network [OSTI]

    Haller, Gary L.

    http://ijr.sagepub.com/ Robotics Research The International Journal of http: 736 originally published online 17 February 2014The International Journal of Robotics Research Robert:The International Journal of Robotics ResearchAdditional services and information for http

  1. Monotonic Target Assignment for Robotic Networks

    E-Print Network [OSTI]

    Smith, Stephen L; Bullo, Francesco

    2009-01-01

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

  2. Learning Motor Skills: From Algorithms to Robot

    E-Print Network [OSTI]

    Learning Motor Skills: From Algorithms to Robot Experiments Erlernen Motorischer Fähigkeiten: Von Algorithmen zu Roboter-Experimenten Zur Erlangung des akademischen Grades Doktor-Ingenieur (Dr Motor Skills: From Algorithms to Robot Experiments Erlernen Motorischer Fähigkeiten: Von Algorithmen zu

  3. Singularities of Robot Manipulators Peter Donelan

    E-Print Network [OSTI]

    Donelan, Peter

    Singularities of Robot Manipulators Peter Donelan School of Mathematics, Statistics and Computer and control of robot manipulators. Singularities of the kinematic mapping, which determines the position singularities and, more specifically, singularities of robot manipulators, using aspects of the singularity

  4. revision:19950904 modified:19950904

    E-Print Network [OSTI]

    Shelah, Saharon

    530 revision:1995­09­04 modified:1995­09­04 A model in which every Boolean algebra has many:1995­09­04 modified:1995­09­04 1 Definitions and facts In this section we give some basic definitions­ algebras using the following well­known fact. 2 #12; 530 revision:1995­09­04 modified:1995­09­04 Fact 1

  5. revision:19951120 modified:19951201

    E-Print Network [OSTI]

    Shelah, Saharon

    609 revision:1995­11­20 modified:1995­12­01 A ZFC Dowker space in # #+1 : an application of pcf; 609 revision:1995­11­20 modified:1995­12­01 Exactly two Dowker spaces were constructed in ZFC so far # in this interval is the true cofinality of a 2 #12; 609 revision:1995­11­20 modified:1995­12­01 reduced product # B

  6. Efficient design of precision medical robotics

    E-Print Network [OSTI]

    Hanumara, Nevan Clancy

    2012-01-01

    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 ...

  7. Autonomous Realtime Threat-Hunting Robot (ARTHR

    ScienceCinema (OSTI)

    INL

    2009-09-01

    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.

  8. Grid Integration of Robotic Telescopes

    E-Print Network [OSTI]

    F. Breitling; T. Granzer; H. Enke

    2009-03-23

    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.

  9. Robot arm apparatus

    DOE Patents [OSTI]

    Nachbar, Henry D. (Ballston Lake, NY)

    1992-01-01

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

  10. Robot arm apparatus

    DOE Patents [OSTI]

    Nachbar, Henry D.

    1992-12-01

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

  11. revision:19950829 modified:19950829

    E-Print Network [OSTI]

    Shelah, Saharon

    595 revision:1995­08­29 modified:1995­08­29 Embedding Cohen algebras using pcf theory Saharon and Department of Mathematics Rutgers University New Brunswick, NJ 08854, USA done: July 1995 printed: October 6 and Humanities. Publication 595. 1 #12; 595 revision:1995­08­29 modified:1995­08­29 Sh:595 October 6, 2003 2 3

  12. revision:19950227 modified:19950227

    E-Print Network [OSTI]

    Shelah, Saharon

    495 revision:1995­02­27 modified:1995­02­27 ``On the Strong Equality between Supercompactness and Department of Mathematics Rutgers University New Brunswick, New Jersey 08904 February 19, 1995 Abstract: We:1995­02­27 modified:1995­02­27 §0 Introduction and Preliminaries It is a well known fact

  13. revision:19951225 modified:19951226

    E-Print Network [OSTI]

    Shelah, Saharon

    496 revision:1995­12­25 modified:1995­12­26 ``Menas' Result is Best Possible'' by Arthur W. Apter Brunswick, New Jersey 08904 December 11, 1995 Abstract: Generalizing some earlier techniques due supporting this research. 1 #12; 496 revision:1995­12­25 modified:1995­12­26 §0 Introduction

  14. revision:19950418 modified:19950422

    E-Print Network [OSTI]

    Shelah, Saharon

    571 revision:1995­04­18 modified:1995­04­22 A consistency result on weak reflection James Cummings The research for this paper was done in the period July 1994 -- January 1995. 1 #12; 571 revision:1995­04­18 modified:1995­04­22 have an unbounded set of cofinalities at which strong non­reflection holds

  15. revision:19950904 modified:19950904

    E-Print Network [OSTI]

    Shelah, Saharon

    291 revision:1995­09­04 modified:1995­09­04 A Variety with Solvable, but not Uniformly Solvable #12; 291 revision:1995­09­04 modified:1995­09­04 Abstract In the literature two notions decidable, word problem. Other related examples are given as well. #12; 291 revision:1995

  16. revision:19950923 modified:19950923

    E-Print Network [OSTI]

    Shelah, Saharon

    (456) revision:1995­09­23 modified:1995­09­23 UNIVERSAL IN (­Israel Binational Science Foundation; Pub. No.456 Typeset by A M S­T E X 1 #12; (456) revision:1995­09­23 modified:1995­09­23 2 SAHARON SHELAH We deal with the existence of reduced separable (abelian) groups

  17. revision:20040330 modified:20040330

    E-Print Network [OSTI]

    Shelah, Saharon

    E43 revision:2004­03­30 modified:2004­03­30 # # # # Revised GCH Saharon Shelah March 28, 2004 shelah@math.huji.ac.il The Hebrew University of Jerusalem Rutgers University 1 #12; E43 revision:2004­03­30 modified:2004­03­30 # # # # Dedicated to Azriel Levy Papers are available from Mathematics arXive http

  18. Institute for Software Technology Ad anced RoboticsAdvanced Robotics

    E-Print Network [OSTI]

    of the medal· two sides of the medal · forward kinematics · inverse kinematics Gerald Steinbauer 8 Advanced Planar 3-R Manipulator l ki ti h i· planar kinematic chain · moves within one plane · all jointsInstitute for Software Technology Ad anced RoboticsAdvanced Robotics Manipulation and Grasping

  19. Autonomous Local Path-Planning for a Mobile Robot Using a Genetic Algorithm

    E-Print Network [OSTI]

    Wainwright, Roger L.

    , Kaveh Ashenayi, Theodore W. Manikas, Roger L. Wainwright, Heng-Ming Tai Electrical Engineering of everyday life. Recently, robots have become a major part of this trend. Therefore, autonomously navigating of a genetic algorithm based path-planning software. The algorithm uses an improved, modified version

  20. The Multi-robot Coverage Problem for Optimal Coordinated Search with an Unknown Number of Robots

    E-Print Network [OSTI]

    Minnesota, University of

    The Multi-robot Coverage Problem for Optimal Coordinated Search with an Unknown Number of Robots of Minnesota Minneapolis, MN 55455 Email: {hjmin|npapas}@cs.umn.edu Abstract-- This work presents a novel multi-robot coverage scheme for an unknown number of robots; it focuses on optimizing the number of robots and each

  1. Robotics and Autonomous Systems 54 (2006) 288299 www.elsevier.com/locate/robot

    E-Print Network [OSTI]

    Fajen, Brett

    2006-01-01

    Robotics and Autonomous Systems 54 (2006) 288­299 www.elsevier.com/locate/robot Visual navigation robots have not been nearly as successful. We propose a new approach to vision-guided local navigation the robot heading. This potential field controls the angular acceleration of the robot, steering it towards

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

    E-Print Network [OSTI]

    Stryk, Oskar von

    Cooperation 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 and a wheeled robot with largely complementing and some competing capabilities. By combining two strongly

  3. Robotic Efficiency Solutions for Ductwork 

    E-Print Network [OSTI]

    Forrest, F.

    2012-01-01

    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 upgrade ? Windows, window... 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 cleaning Click image to play video...

  4. 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

    2008-06-01

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

  5. 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.

  6. Robot Manipulator Control under Unix

    E-Print Network [OSTI]

    Hayward, Vincent

    functions included in a library. Manipulator control is thus integrated within the lan- guage in the same94 Robot Manipulator Control under Unix RCCL: A Robot Control "C" Library Vincent Hayward for an easy inte- gration of sensors. The first part of the paper reviews the functional organization ofthe

  7. MECH 464 Robotics (3 Credits)

    E-Print Network [OSTI]

    Phani, A. Srikantha

    , Analysis, Systems, Applications, Prentice Hall, 2001. c) R.L. Andersson, A Robotic Ping-Pong Player - Experiment in Real-Time Intelligent Control, MIT Press, 1988. d) J. Angeles, Spatial Kinematic Chains: Analysis, Synthesis and Optimization, Springer Verlag, 1982 e) H. Asada and J.J. Slotine, Robot Analysis

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

    E-Print Network [OSTI]

    2006-01-01

    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,

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

    E-Print Network [OSTI]

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

    2010-01-01

    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

  10. Distributed Motion Constraints for Algebraic Connectivity of Robotic Networks

    E-Print Network [OSTI]

    Schuresko, Michael; Cortés, Jorge

    2009-01-01

    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

  11. Autonomous Robotic Sensing Experiments at San Joaquin River

    E-Print Network [OSTI]

    2006-01-01

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

  12. Autonomous Robotic Sensing Experiments at San Joaquin River

    E-Print Network [OSTI]

    2007-01-01

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

  13. Human Assisted Robotic Team Campaigns for Aquatic Monitoring

    E-Print Network [OSTI]

    2007-01-01

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

  14. The synergy of human arm and robotic system

    E-Print Network [OSTI]

    Li, Zhi

    2014-01-01

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

  15. Transoral robotic assisted resection of the parapharyngeal space

    E-Print Network [OSTI]

    Mendelsohn, AH; Mendelsohn, AH

    2015-01-01

    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

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

    E-Print Network [OSTI]

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

    2007-01-01

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

  17. Compressed Sensing Environmental Mapping by an Autonomous Robot

    E-Print Network [OSTI]

    2015-01-01

    Mapping by an Autonomous Robot M. Horning ? , M. Lin ? , S.sens- ing for autonomous robots performing environmentalrequirements. A prototype robot sends data collected over

  18. Mobile Robot Navigation With Low-Cost Sensors

    E-Print Network [OSTI]

    Yap, Teddy Ng

    2009-01-01

    lem. IEEE Transactions on Robotics and Automation, 17(3):International Conference on Robotics and Automation, pagesInternational Conference on Robotics and Automation, pages

  19. 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

  20. Faculty of Engineering Institute of Design, Robotics

    E-Print Network [OSTI]

    Haase, Markus

    Faculty of Engineering Institute of Design, Robotics and Optimisation (iDRO) #12;Contents 01 Introduction 02 Bio-Mechatronics and Robotics 03ExplorationRobotics 05Rehabilitation Introduction The three primary areas of our activity are: Bio-Mechatronic & Robotics Theoretical

  1. Robotic Motion The linear algebra of Canadarm

    E-Print Network [OSTI]

    Murty, Ram

    Robotic Motion The linear algebra of Canadarm #12;The robot arm simulation The movements of the robotic arm can be described using orthogonal matrices. #12;Six degrees of freedom The first segment the robotic arm to the position (x,y), we need to rotate the first arm by an angle and the second arm

  2. Promoting scientific thinking with robots

    E-Print Network [OSTI]

    Carbajal, Juan Pablo; Benker, Emanuel

    2011-01-01

    This article describes an exemplary robot exercise which was conducted in a class for mechatronics students. The goal of this exercise was to engage students in scientific thinking and reasoning, activities which do not always play an important role in their curriculum. The robotic platform presented here is simple in its construction and is customizable to the needs of the teacher. Therefore, it can be used for exercises in many different fields of science, not necessarily related to robotics. Here we present a situation where the robot is used like an alien creature from which we want to understand its behavior, resembling an ethological research activity. This robot exercise is suited for a wide range of courses, from general introduction to science, to hardware oriented lectures.

  3. 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

    2007-01-01

    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,

  4. 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

    2007-01-01

    assistance turned on. With robot assist- ance, the subjectsWZ, Reinkensmeyer DJ: Robot- assisted reaching exerciseforce-feedback cueing in robot-assisted stroke therapy. IEEE

  5. Inventing Japan's `robotics culture': The repeated assembly of science, technology, and culture in social robotics

    E-Print Network [OSTI]

    Sabanovic, Selma

    1 Inventing Japan's `robotics culture': The repeated assembly of science, technology, and culture in social robotics Selma Sabanovi School of Informatics and Computing, Indiana University analyzes the co- construction of robotics and culture in Japan through the technical discourse

  6. Introducing mobile robots on the automotive final assembly line : control, sensing and human-robot interaction

    E-Print Network [OSTI]

    Unhelkar, Vaibhav Vasant

    2015-01-01

    Traditionally, robots in manufacturing have been deployed in caged, static and predictable environments. Advances in robotics are enabling industrial robots to emerge from these traditional habitats, and enter the final ...

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

    E-Print Network [OSTI]

    Lasota, Przemyslaw A. (Przemyslaw Andrzej)

    2014-01-01

    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 ...

  8. 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

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

    E-Print Network [OSTI]

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

    2004-01-01

    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 ...

  10. An iterative learning controller for nonholonomic mobile robots

    SciTech Connect (OSTI)

    Oriolo, G.; Panzieri, S.; Ulivi, G.

    1998-09-01

    The authors present an iterative learning controller that applies to nonholonomic mobile robots, as well as other systems that can be put in chained form. The learning algorithm exploits the fact that chained-form. The learning algorithm exploits the fact that chained-form systems are linear under piecewise-constant inputs. The proposed control scheme requires the execution of a small number of experiments to drive the system to the desired state in finite time, with nice convergence and robustness properties with respect to modeling inaccuracies as well as disturbances. To avoid the necessity of exactly reinitializing the system at each iteration, the basic method is modified so as to obtain a cyclic controller, by which the system is cyclically steered through an arbitrary sequence of states. As a case study, a carlike mobile robot is considered. Both simulation and experimental results are reported to show the performance of the method.

  11. Precision Robotic Assembly Machine

    ScienceCinema (OSTI)

    None

    2010-09-01

    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.

  12. A MODULAR ACTUATOR ARCHITECTURE FOR ROBOTIC APPLICATIONS

    SciTech Connect (OSTI)

    None

    2001-07-01

    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.

  13. Robotic Searching for Stationary, Unknown and Transient Radio Sources 

    E-Print Network [OSTI]

    Kim, Chang Young

    2012-07-16

    of the transient target localization problem such as Single Robot Single Target (SRST), Multiple Robots Single Target (MRST), Single Robot Multiple Targets (SRMT) and Multiple Robots Multiple Targets (MRMT). We propose the expected searching time (EST) as a primary...

  14. Design of running-man, a bipedal robot

    E-Print Network [OSTI]

    Chen, Jin

    2011-01-01

    are the “muscles” of the robot. Two types of RC servo motorsforce at the end. This robot is based on a previous robot ofSpecifications of Running Man robot prototype Hip range of

  15. A Dog Tail For Communicating Robotic States Ashish Singh

    E-Print Network [OSTI]

    .g., iRobot Roomba robotic vacuum cleans the floor autonomously). For these robots, it will be important oven displays a timer to let people know when that their food will be ready. In human-robot interaction

  16. Generating Arachnid Robot Gaits with Cyclic Genetic Algorithms

    E-Print Network [OSTI]

    Parker, Gary B.

    hexapod robot (1994). These solutions proved to be successful for the robots used but we wanted a solution

  17. Curing Robot Autism: A Challenge Gal A. Kaminka

    E-Print Network [OSTI]

    Kaminka, Gal A.

    Curing Robot Autism: A Challenge Gal A. Kaminka The MAVERICK Group Computer Science Dept. and Gonda.11 [Distributed Artificial Intelligence]; I.2.9 [Robotics] Keywords Challenge; Robot Autism; Social Intelligence; Multi-agent sys- tems; Multi-robot systems 1. ROBOT AUTISM AND ITS IMPACT Robots and other synthetic

  18. Managing Risk in Disaster Scenarios with Autonomous Robots

    E-Print Network [OSTI]

    Allan, Vicki H.

    in 2001. Photograph by the Center for Robot-Assisted Search and Rescue Fig. 2. Robots in use in Iraq robots deployed to Iraq [3] and the robot was the center of a widespread controversy when it was claimed-Miller SWORDS robots. The middle robot is the type that was deployed to Iraq. Photograph by US Army. Fig. 4

  19. Metastable legged-robot locomotion

    E-Print Network [OSTI]

    Byl, Katie

    2008-01-01

    A variety of impressive approaches to legged locomotion exist; however, the science of legged robotics is still far from demonstrating a solution which performs with a level of flexibility, reliability and careful foot ...

  20. ORNL researcher developing robotic hand

    ScienceCinema (OSTI)

    Dr.Lonnie Love

    2010-01-08

    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.

  1. Teleoperated robotic sorting system

    DOE Patents [OSTI]

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

    2008-06-24

    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.

  2. Robotic end effector

    DOE Patents [OSTI]

    Minichan, R.L.

    1993-10-05

    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.

  3. Robotic end effector

    DOE Patents [OSTI]

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

    1993-01-01

    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.

  4. Teleoperated robotic sorting system

    DOE Patents [OSTI]

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

    2000-01-01

    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.

  5. Multi Robot Cooperation Based on Auction Theory With a Value Map

    E-Print Network [OSTI]

    Pozo, Angello

    2011-01-01

    and forma- tion control. Robotics and , pages 128–133,multirobot localization. Robotics and Automa- tion, IEEEwith robot teams. Robotics and Automation, 2004. [18] Juhua

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

    E-Print Network [OSTI]

    Duckett, Tom

    - 1 - ICORR '99: International Conference on Rehabilitation Robotics, Stanford, CA AUTONOMY AND LEARNING IN MOBILE ROBOTS George A. Bekey Computer Science Department University of Southern California Los Angeles, CA 90089-0781 bekey@robotics.usc.edu http://www-robotics.usc.edu/ Abstract Recent trends

  7. Robotics and Autonomous Systems 47 (2004) 171175 Towards multimodal neural robot learning

    E-Print Network [OSTI]

    Weber, Cornelius

    2004-01-01

    Robotics and Autonomous Systems 47 (2004) 171­175 Towards multimodal neural robot learning S for robot learning. Recent experiments have shown that `mirror' neurons are activated when an action this evidence from mirror neurons by integrating motor, vision and language representations in a learning robot

  8. Liability in Robotics: An International Perspective on Robots as Richard Kelley1

    E-Print Network [OSTI]

    Nicolescu, Monica

    Liability in Robotics: An International Perspective on Robots as Animals Richard Kelley1 , Enrique Circuit, San Francisco, CA 94109, enrique schaerer@ca9.uscourts.gov Abstract As service robots become increasingly common in society, so too will accidents involving service robots. Current law functions

  9. Advanced Robotics, Vol. 21, No. 10, pp. 11151129 (2007) VSP and Robotics Society of Japan 2007.

    E-Print Network [OSTI]

    Rucci, Michele

    2007-01-01

    Advanced Robotics, Vol. 21, No. 10, pp. 1115­1129 (2007) VSP and Robotics Society of Japan 2007. Also available online - www.brill.nl/ar Full paper Integrating robotics and neuroscience: brains for robots, bodies for brains MICHELE RUCCI , DANIEL BULLOCK and FABRIZIO SANTINI Department of Cognitive

  10. Robotics and Autonomous Systems 30 (2000) 515 Architectures for a biomimetic hexapod robot

    E-Print Network [OSTI]

    Nelson, Mark E.

    2000-01-01

    Robotics and Autonomous Systems 30 (2000) 5­15 Architectures for a biomimetic hexapod robot Fred Institute, 405 North Mathews, Urbana, IL 61801, USA Abstract This paper describes a six-legged robot based on the features of an agile insect, the American cockroach, Periplaneta americana. The robot is designed

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

    E-Print Network [OSTI]

    Sabanovic, Selma

    Robots in the Wild: Observing Human-Robot Social Interaction Outside the Lab Selma Sabanovic@rpi.edu Marek P. Michalowski Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania 15213 Email: michalowski@cmu.edu Reid Simmons Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania 15213

  12. International Journal of Advanced Robotic Systems Heterogeneous Context-Aware Robots

    E-Print Network [OSTI]

    Veloso, Manuela M.

    International Journal of Advanced Robotic Systems Heterogeneous Context-Aware Robots Providing Turck1 1 Department of Information Technology, Ghent University - IBBT, Ghent, Belgium 2 Robotics Group the original work is properly cited. Abstract Existing robot guides offer a tour of a building

  13. Matching Robot Appearance and Behavior to Tasks to Improve Human-Robot Cooperation

    E-Print Network [OSTI]

    Kiesler, Sara

    Matching Robot Appearance and Behavior to Tasks to Improve Human-Robot Cooperation Jennifer Goetz Interaction Institute Carnegie Mellon University apowers@cmu.edu Abstract A robot's appearance and behavior provide cues to the robot's abilities and propensities. We hypothesize that an appropriate match between

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

    E-Print Network [OSTI]

    Formal Verification of Robot Movements - a Case Study on Home Service Robot SHR100 Moonzoo Kim, Kyo of Technology Suwon, South Korea twinclee@samsung.com Abstract-- Home service robots have received much atten- tion from both academia and industry because home service robots have wide range of potential

  15. 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

  16. Multi-robot Cooperation for Human-Robot Communication Takayuki Kanda1

    E-Print Network [OSTI]

    Kanda, Takayuki

    Multi-robot Cooperation for Human-Robot Communication Takayuki Kanda1 , Hiroshi Ishiguro1-0288 Kyoto, Japan E-mail kanda@atr.co.jp Abstract This paper illustrates how robots can effectively coop- erate to facilitate communication with people. We expect that communication robots will play

  17. Tandem robot control system and method for controlling mobile robots in tandem

    DOE Patents [OSTI]

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

    2002-01-01

    A control system for controlling mobile robots provides a way to control mobile robots, connected in tandem with coupling devices, to navigate across difficult terrain or in closed spaces. The mobile robots can be controlled cooperatively as a coupled system in linked mode or controlled individually as separate robots.

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

    E-Print Network [OSTI]

    Crabbe, Frederick

    The 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@usna.edu ABSTRACT We present the design of the Snackbot, a robot that will deliver snacks in our university

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

    E-Print Network [OSTI]

    Kanda, Takayuki

    An 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@ams.eng.osaka-u.ac.jp Abstract. This paper reports our research efforts on social robots that recognize interpersonal relation

  20. TESTING OF THE FE WALKING ROBOT MAY 2006 1 Testing of the FE Walking Robot

    E-Print Network [OSTI]

    Ruina, Andy L.

    TESTING OF THE FE WALKING ROBOT MAY 2006 1 Testing of the FE Walking Robot Elianna R Weyer, May and result of testing the FE walking robot during spring 2006. Improve- ments in code and launch technique. The author predicts that with continued optimization and testing, the FE walking robot can surpass

  1. 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 Change

  2. TRIG: An Interactive Robotic Teach System

    E-Print Network [OSTI]

    McLaughlin, James R.

    Currently, it is difficult for a non-programmer to generate a complex sensor-based robotic program. Most robot programming methods either generate only very simple programs or are such that they are only useful to programmers. ...

  3. Mechanical design of a quadruped robot

    E-Print Network [OSTI]

    Ajilo, Deborah (Deborah M.)

    2015-01-01

    This thesis presents the mechanical design and fabrication of the Super Mini Cheetah (SMC) robot, a small ( 9kg) quadruped that is capable of jumping, bounding and trotting. The robot is designed using commercially available ...

  4. Autonomous Mobile Robots and Distributed Exploratory Missions ?

    E-Print Network [OSTI]

    Hougen, Dean F.

    , and shipping. While all exploratory missions cover a significant area relative to the size of the robot (such as time or fuel available) do not permit a single robot to effectively cover the points

  5. Animal learning models as robot controllers 

    E-Print Network [OSTI]

    Hallam, Bridget

    2000-01-01

    Robots can do a range of wonderful things, but they can also appear really stupid. I would like my autonomous, sensor-rich, robot to be able to: complete its task whenever possible, despite distractions and disabilities; ...

  6. Biologically-inspired robots for stage performance

    E-Print Network [OSTI]

    Dong, Wei, S.M. Massachusetts Institute of Technology

    2010-01-01

    Stage performances present many challenges and opportunities in the field of robotics. Onstage robots not only have to function flawlessly, they must interact convincingly with their human counterparts and adhere to a rigid ...

  7. Autonomous Realtime Threat-Hunting Robot (ARTHR)

    ScienceCinema (OSTI)

    Idaho National Laboratory - David Bruemmer, Curtis Nielsen

    2010-01-08

    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

  8. Energy Efficient Legged Robotics at Sandia Labs

    SciTech Connect (OSTI)

    Buerger, Steve

    2014-12-16

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

  9. Playing 'Sticky Hands' With A Humanoid Robot

    E-Print Network [OSTI]

    Hale, J.G.

    Hale,J.G. Pollick,F.E. First IEEE-RAS International Conference on Humanoid Robots (Humanoids 2000) IEEE

  10. @ work' video segment features Robotic Software Engineer

    ScienceCinema (OSTI)

    Idaho National Laboratory

    2010-01-08

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

  11. Advanced robotics for decontamination and dismantlement

    SciTech Connect (OSTI)

    Hamel, W.R.; Haley, D.C.

    1994-06-01

    The decontamination and dismantlement (D&D) robotics technology application area of the US Department of Energy`s Robotics Technology Development Program is explained and described. D&D robotic systems show real promise for the reduction of human exposure to hazards, for improvement of productivity, and for the reduction of secondary waste generation. Current research and development pertaining to automated floor characterization, robotic equipment removal, and special inspection is summarized. Future research directions for these and emerging activities is given.

  12. Proceedings of the 32nd ISR(International Symposium on Robotics), 19-21 April 2001 Implementation of Integrated Cooperative Robots System for Tight Cooperation

    E-Print Network [OSTI]

    Fujita, Toyomi

    robots system named "ICRoS" (In- tegrated Cooperative Robot System) is implemented to two hexapod robots, which is named "ICRoS" (Integrated Cooperative Robot System), is implemented to two hexapod robots. Then

  13. PUNCTUATED ANYTIME LEARNING FOR EVOLUTIONARY ROBOTICS

    E-Print Network [OSTI]

    Parker, Gary B.

    PUNCTUATED ANYTIME LEARNING FOR EVOLUTIONARY ROBOTICS GARY B. PARKER and KAREN J. LAROCHELLE­line on a simple model while periodic checks on the actual robot help to improve the learning system's output. We discuss this concept by learning gaits for a hexapod robot, which is modeled after the ServoBot. We use

  14. Constraint satisfaction and global optimization in robotics

    E-Print Network [OSTI]

    Neumaier, Arnold

    Constraint satisfaction and global optimization in robotics Arnold Neumaier Universit¨at Wien and Jean-Pierre Merlet INRIA Sophia Antipolis 1 #12;The design, validation, and use of robots poses a num they are going to do. Soon they will be able to do anything they want!" Genesis 11:6. 3 #12;A robot is a machine

  15. PUNCTUATED ANYTIME LEARNING FOR EVOLUTIONARY ROBOTICS

    E-Print Network [OSTI]

    Parker, Gary B.

    PUNCTUATED ANYTIME LEARNING FOR EVOLUTIONARY ROBOTICS GARY B. PARKER and KAREN J. LAROCHELLE-line on a simple model while periodic checks on the actual robot help to improve the learning system's output. We discuss this concept by learning gaits for a hexapod robot, which is modeled after the ServoBot. We use

  16. Reinforcement Learning in Robotics: J. Andrew Bagnell

    E-Print Network [OSTI]

    Reinforcement Learning in Robotics: A Survey Jens Kober J. Andrew Bagnell Jan Peters§¶ email to robotics a framework and set of tools for the design of sophisticated and hard-to-engineer behaviors. Conversely, the challenges of robotic problems provide both inspiration, impact, and valida- tion

  17. Mobile Robots for Difficult Measurements in

    E-Print Network [OSTI]

    Siegel, Mel

    Mobile Robots for Difficult Measurements in Difficult Environments: Application to Aging Aircraft aircraft for skin cracks and lap joint delamination. Several robot designs are evaluated; a small mobile robot with suction cup feet is found to be best in the practical context of commercial aircraft

  18. Unifying Artificial Intelligence Robotics: An Undergraduate Textbook

    E-Print Network [OSTI]

    Crabbe, Frederick

    Unifying Artificial Intelligence Robotics: An Undergraduate Textbook Introduction to AI Robotics the artificial intelligence (AI) perspective. Robin Murphy's Introduction to AI Robotics (IAIR) is a new and artificial, intelligence perspective. Such a text would need to take into account that few undergraduates can

  19. Distributed Robotic Manipulation: Experiments in Minimalism

    E-Print Network [OSTI]

    Richardson, David

    Distributed Robotic Manipulation: Experiments in Minimalism Karl B¨ohringer, Russell Brown, Bruce College Hanover, NH 03755, USA rus@cs.dartmouth.edu This paper describes research done in the Robotics and Vision Laboratory at Cornell University. Support for our robotics research was provided in part by the Na

  20. 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)

    2002-01-01

    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.

  1. Robot Behavior Adaptation for Formation Maintenance

    E-Print Network [OSTI]

    López-Sánchez, Maite

    1 Robot Behavior Adaptation for Formation Maintenance Maite López-Sánchez maite@maia.ub.es WAI): ­1 or 2 reference robots to follow ­keeping fixed angle (formation property) ­and fixed distance d (separation distance) · related to robot visibility range, speed or reaction capabilities Basic behaviors I

  2. 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-axis robotic manipulators. The method proposed by the authors is based on a least-square estimation of the Yaskawa Motoman Robot was calibrated. The measurements of the Cartesian coordinates of points were

  3. METACHRONAL WAVE GAIT GENERATION FOR HEXAPOD ROBOTS

    E-Print Network [OSTI]

    Parker, Gary B.

    METACHRONAL WAVE GAIT GENERATION FOR HEXAPOD ROBOTS GARY B. PARKER and JONATHAN W. MILLS Department: genetic, robot, hexapod, gait, control, cyclic, metachronal INTRODUCTION Generating gaits is important have been used to evolve gaits for hexapod robots. Those striving for maximum speed have been used

  4. DSA torque test robot

    SciTech Connect (OSTI)

    McMillan, D.E.

    1990-11-01

    A rotary solenoid used in the Dual Strong-Link Assembly (DSA) has a housing diameter of 0.67 inches, and overall length of approximately 1.37 inches. The rotor and housing each have four poles. When the coil is energized and the shaft is rotated, magnetic torque is produced which completes four nominally identical cycles during each revolution of the shaft. At zero and 90 degrees of shaft rotation, the poles are aligned and the rotor is stable. The mid-point between poles is unstable; any displacement produces a torque toward one of the stable points. A torque measurement is performed on each solenoid produced. The measurement technique used previously was labor intensive and required that analog torque plots be manually interpreted to determine compliance with the torque specification. This paper describes a robotically assisted torque measurement system that was developed and placed into production. This system reduces cycle time from approximately 6 minutes per part to a little more than 1 minute per part.

  5. Robot Companions: Technology for Humans

    E-Print Network [OSTI]

    Kernbach, Serge

    2011-01-01

    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.

  6. DIS2002 | 00 All Robots Are Not Created Equal

    E-Print Network [OSTI]

    Kiesler, Sara

    contribute to people's perception of its humanness. To answer this question we analyzed 48 robots influence the perception of humanness in robot heads. This paper presents our findings and initial guidelines for the design of humanoid robot heads. Keywords human-robot interaction, social robots

  7. MOTOR SCHEMAS IN ROBOT LEARNING Lynne E. Parker

    E-Print Network [OSTI]

    Parker, Lynne E.

    MOTOR 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, or a task. Motor schemas in robot learning are also known as movement primitives, basis behaviors, units

  8. Alignment-based Transfer Learning for Robot Models

    E-Print Network [OSTI]

    Alignment-based Transfer Learning for Robot Models Botond B´ocsi Lehel Csat´o Jan Peters Abstract-- Robot manipulation tasks require on robot mod- els. When exact physical parameters of the robot are not available, learning robot models from data becomes an ap- pealing alternative. Most learning approaches

  9. Flying Robots and Flying Cars Heinrich H. Blthoff

    E-Print Network [OSTI]

    Flying Robots and Flying Cars Heinrich H. Bülthoff Biological Cybernetics Research at the Max Flying Robots -- Human Robot Interaction group at MPI Tübingen Flying Cars -- European Project (my. Robuffo Giordano Human Robot Interaction group Bilateral shared control of Flying Robots M. Cognetti, V

  10. Institute for Software Technology Ad anced RoboticsAdvanced Robotics

    E-Print Network [OSTI]

    environment ­ no group work 3. practical assignment II (out 13.4, in 22.6) ­ automatically explore a building Advanced Robotics - Organization- 4- 50,0 5 #12;Institute for Software Technology Literature · R Int6. W. Mou and A. Kleiner. Online Learning Terrain Classification for Adaptive Velocity Control

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

    E-Print Network [OSTI]

    Gilbert, Taylor Harrison

    2011-01-01

    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 ...

  12. Research Councils UK Robotics and

    E-Print Network [OSTI]

    Crowther, Paul

    Research Councils UK Robotics and autonomous systems #12;Research funded by the Research Councils of approaches to support innovation and deliver impact from research, including the development of collaborative research programmes, investment in major research capabilities, such as national research facilities

  13. Robotics crosscutting program: Technology summary

    SciTech Connect (OSTI)

    1996-08-01

    The Office of Environmental Management (EM) is responsible for cleaning up the legacy of radioactive and chemically hazardous waste at contaminated sites and facilities throughout the U.S. Department of Energy (DOE) nuclear weapons complex, preventing further environmental contamination, and instituting responsible environmental management. Initial efforts to achieve this mission resulted in the establishment of environmental restoration and waste management programs. However, as EM began to execute its responsibilities, decision makers became aware that the complexity and magnitude of this mission could not be achieved efficiently, affordably, safely, or reasonably with existing technology. Once the need for advanced cleanup technologies became evident, EM established an aggressive, innovative program of applied research and technology development. The Office of Technology Development (OTD) was established in November 1989 to advance new and improved environmental restoration and waste management technologies that would reduce risks to workers, the public, and the environment; reduce cleanup costs; and devise methods to correct cleanup problems that currently have no solutions. In 1996, OTD added two new responsibilities - management of a Congressionally mandated environmental science program and development of risk policy, requirements, and guidance. OTD was renamed the Office of Science and Technology (OST). This documents presents information concerning robotics tank waste retrieval overview, robotic chemical analysis automation, robotics decontamination and dismantlement, and robotics crosscutting and advanced technology.

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

    SciTech Connect (OSTI)

    Anthony L. Crawford

    2012-07-01

    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

  15. Good Experimental Methodologies and Simulation in Autonomous Mobile Robotics

    E-Print Network [OSTI]

    Amigoni, Francesco

    Good Experimental Methodologies and Simulation in Autonomous Mobile Robotics Francesco Amigoni and Viola Schiaffonati Artificial Intelligence and Robotics Laboratory, Dipartimento di Elettronica e to characterize analytically, as it is often the case in autonomous mobile robotics. Although their importance

  16. PhD Program in Bioengineering and Robotics

    E-Print Network [OSTI]

    Robbiano, Lorenzo

    1 PhD Program in Bioengineering and Robotics MAY 28TH --> VERSION UPDATED WITH NEW THEME, # 43 Curriculum Advanced and Humanoid Robotics Research themes 1. ARTICULATORY INFORMATION FOR AUTOMATIC SPEECH RECOGNITION IN HUMAN­ROBOT VERBAL INTERACTION

  17. Research Interests: Robotics, Haptics, Wearable Interfaces, Tactile Interfaces,

    E-Print Network [OSTI]

    Research Interests: Robotics, Haptics, Wearable Interfaces, Tactile Interfaces, Virtual and Augmented Reality, Telepresence, Telexistence, Human-Robot; Tactile Telexistence, Augmented Haptic Human-Robot Interaction iFeel_IM! (Affective

  18. Wireless Relay Communication System for Multiple Small Robots

    E-Print Network [OSTI]

    Baumgartner, Jeremy Gordon

    2015-01-01

    conference on advanced robotics, volume 1, pages 317–323,International Conference on Robotics and Remote Systems forIASTED Int Conf on Robotics and Applications, 2007. [27] Maj

  19. Local distributed algorithms for multi-robot systems

    E-Print Network [OSTI]

    Cornejo Collado, Alejandro

    2013-01-01

    The field of swarm robotics focuses on controlling large populations of simple robots to accomplish tasks more effectively than what is possible using a single robot. This thesis develops distributed algorithms tailored ...

  20. Ensuring Safety in Human Robot Collaboration in Assembly

    E-Print Network [OSTI]

    Gupta, Satyandra K.

    into anthropic environments High inertia High power actuation Electrical threats Human errors · TraditionalEnsuring 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

  1. Hunting a robot controlled by an artificial brain

    E-Print Network [OSTI]

    Visser, Arnoud

    In this demonstration an Raspberry Pi robot, controlled by an artificial brain which simulates the 302 neurons on the GoPiGo robot board1 . The demonstration is based on the later robot, which consists of a Raspberry Pi

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

    E-Print Network [OSTI]

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

    2007-01-01

    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 ...

  3. 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

    2013-01-01

    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

  4. 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,

  5. Mechanism design and control implementation of a hopping robot

    E-Print Network [OSTI]

    Hughes, Robert Paul

    2008-01-01

    Height (feet) Mass of Robot (kg) F.O.S. (2) Height SpringImplementation of a Hopping Robot A Thesis submitted in18 Figure 18: Picture of Robot in “Lock

  6. Establishing a virtual manufacturing environment for military robots

    E-Print Network [OSTI]

    Andersen, Ryan J. (Ryan John)

    2007-01-01

    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 ...

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

    E-Print Network [OSTI]

    Cantum, Cecilia G

    2013-01-01

    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 ...

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

    E-Print Network [OSTI]

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

    2004-01-01

    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 ...

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

    E-Print Network [OSTI]

    Balaguer, Benjamin Daniel

    2012-01-01

    Machine Learning in Robotics . . . . . . . . . . . . . . .Models from the Robotics Community . . . . . . . .International Conference on Robotics and Automation, p. xvii

  10. 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

  11. Planning for multiple mobile robots in dynamic environ ments involves determining the optimal path each robot

    E-Print Network [OSTI]

    Stentz, Tony

    Abstract Planning for multiple mobile robots in dynamic environ­ ments involves determining the optimal path each robot should follow to accomplish the goals of the mission, given the current knowledge reassign robots to goals in order to continually minimize the time to complete the mission. In this paper

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

    E-Print Network [OSTI]

    Everett, Louis J.

    A 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 with this design. First, long reach robot arms are inherently prone to vibration. Second, during vibration

  13. Kickoff reveals new twists in robotics competition | ornl.gov

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

    Kickoff reveals new twists in robotics competition January 01, 2013 2013 FIRST robotics competition kickoff event. Students from dozens of area high schools piled into ORNL's...

  14. Sticky Hands interaction with an anthropomorphic robot

    E-Print Network [OSTI]

    Hale, J.G.

    Hale,J.G. Pollick,F.E. Workshop on Interactive Robotics and Entertainment (WIRE-2000), Carnegie Mellon University, Pittsburgh, Pennsylvania Dept of Computing Science, University of Glasgow

  15. MODULAR MANIPULATOR FOR ROBOTICS APPLICATIONS

    SciTech Connect (OSTI)

    Joseph W. Geisinger, Ph.D.

    2001-07-31

    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.

  16. Robot-assisted torque measurement

    SciTech Connect (OSTI)

    Lembke, J.R.

    1986-03-01

    An Intelledex 605T robot was used to evaluate the feasibility of automating the measurement of rotary solenoid torque, with the goal of improving productivity. The solenoid chosen for the evaluation is expected to be produced in relatively large quantities for several programs. A new measurement concept was devised, in which the robot connects the solenoid shaft to a torque sensor, rotates the solenoid housing, and correlates rotational data with digitized torque measurements. Prototype tooling was designed and fabricated, and the measurement concept was evaluated in comparison with the manual method which is presently used. The automatic robot-based measurement system was shown to yield results that are in good agreement with manual measurements. The technique automatically performs all necessary operations once the solenoids have been placed into a part loading fixture, with a cycle time significantly reduced from the manual method. Manual interpretation of chart data is not required, because the results are digitized. The system can compare the measured torque to specification limits and can provide a printed report of acceptance or rejection. 12 figs.

  17. Motion Planning for a Tethered Mobile Robot 

    E-Print Network [OSTI]

    HosseiniTeshnizi, Reza

    2015-08-12

    Recently there has been surge of research in motion planning for tethered robots. In this problem a planar robot is connected via a cable of limited length to a fixed point in R2. The configuration space in this problem is more complicated than...

  18. Design Considerations of Expressive Bidirectional Telepresence Robots

    E-Print Network [OSTI]

    Shaw, Chris

    .chi: Is there a Designer in the house? May 7­12, 2011 · Vancouver, BC, Canada 781 #12;Introduction Considering provide a robot-based UI that enables the co-located user to create/edit robot animations, while have already described the details of our system specifications, software structure, messaging

  19. WORLD ROBOTICS 2011 EXECUTIVE SUMMARY of

    E-Print Network [OSTI]

    De Luca, Alessandro

    industry In 2010, robot sales almost doubled compared to 2009 to 118,337 units. The automotive industry. The automotive industry still remained the main customer, but the increase of robot orders was below average,025 units to 513 units. There were almost no investments taking place in the automotive industry

  20. Java Therapy: Web-Based Robotic Rehabilitation

    E-Print Network [OSTI]

    Reinkensmeyer, David J.

    Java Therapy: Web-Based Robotic Rehabilitation David J. Reinkensmeyer, Clifton T. Pang, Jeff A performance, allowing users and their caregivers to assess rehabilitation progress via the Web. 1 are developing robotic devices, termed "rehabilitators", that physically interact with people to stimulate

  1. 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

  2. Robotic CCD microscope for enhanced crystal recognition

    DOE Patents [OSTI]

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

    2007-11-06

    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.

  3. Communication Robots for Elementary Schools Takayuki Kanda*

    E-Print Network [OSTI]

    Kanda, Takayuki

    employed a design policy of in- teractive behaviors, such as a pseudo-learning mechanism and talking aboutCommunication Robots for Elementary Schools Takayuki Kanda* Hiroshi Ishiguro* * ATR Intelligent@ams.eng.osaka-u.ac.jp Abstract This paper reports our approaches and efforts for developing communication robots for elementary

  4. Autonomous mobile robot for radiologic surveys

    DOE Patents [OSTI]

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

    1994-01-01

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

  5. A Fitting Robot for Variational Analysis

    E-Print Network [OSTI]

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

    2008-12-18

    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.

  6. Autonomous mobile robot for radiologic surveys

    DOE Patents [OSTI]

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

    1994-06-28

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

  7. Control algorithms for autonomous robot navigation

    SciTech Connect (OSTI)

    Jorgensen, C.C.

    1985-09-20

    This paper examines control algorithm requirements for autonomous robot navigation outside laboratory environments. Three aspects of navigation are considered: navigation control in explored terrain, environment interactions with robot sensors, and navigation control in unanticipated situations. Major navigation methods are presented and relevance of traditional human learning theory is discussed. A new navigation technique linking graph theory and incidental learning is introduced.

  8. Modeling and Control of Legged Robots

    E-Print Network [OSTI]

    Tedrake, Russ

    suspen- sion system. Indeed, one of the most advanced hexapod robots of the 1980s was aptly called in the late 1960s. Among early pioneers, Robert McGhee initiated a series of quadruped and hexapod robots with the Adaptive Suspension Vehicle, a human carrying hexapod vehicle walking on natural and irregular outdoor

  9. Integrated Cognitive Assistive & Domotic Companion Robotic Systems

    E-Print Network [OSTI]

    Baudoin, Genevičve

    for reconstructing the home environment. ­ Allows promising marketing policy: "Rent-a-robot" or "Robots-on- demand.g. by closing the "eyes"). ­ Allows a plug-and-play solution (only requires "energy" and internet access Telecommunications, Fundacion Robotiker, Austrian Research Centers GmbH, Legrand France SA, AKG Acoustics Gmb

  10. TRESSA: Teamed Robots for Exploration and Science

    E-Print Network [OSTI]

    Huntsberger, Terry

    fielded. These systems include single as well as teams of robots. TRESSA Teamed Robots for Exploration. In this paper, we present results from field demonstrations of the TRESSA system in even more challenging in Endurance Crater and Cape Verde at Victoria Crater on Mars. A deep drilling mission is logistically

  11. Towards Collaborative Robots for Infrastructure Security Applications

    E-Print Network [OSTI]

    Guo, Yi

    , infrastructure security and monitoring of sensitive national security sites (e.g. nuclear facilities, powerTowards Collaborative Robots for Infrastructure Security Applications Yi Guo School of Electrical.madhavan@nist.gov Abstract-- We discuss techniques towards using collaborative robots for infrastructure security

  12. Automating Oceanography: A Robotic Surface Sensor Platform Combining Flexibility and Low-cost

    E-Print Network [OSTI]

    Mairs, Bryant

    2015-01-01

    sea-air interactions. In Robotics and Automation, 2005. ICRAemission monitoring. In Robotics and Automation (ICRA), 2010using a profiling sonar. In Robotics and Automation (ICRA),

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

    E-Print Network [OSTI]

    2005-01-01

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

  14. 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

    2006-01-01

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

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

    E-Print Network [OSTI]

    2009-01-01

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

  16. Automating Oceanography: A Robotic Surface Sensor Platform Combining Flexibility and Low-cost

    E-Print Network [OSTI]

    Mairs, Bryant

    2015-01-01

    AUTOMATING OCEANOGRAPHY: A ROBOTIC SURFACE SENSOR PLATFORM65] Karl N Murphy. Analysis of robotic vehicle steering andet al. Operation of robotic science boats using the

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

    E-Print Network [OSTI]

    Wottawa, Christopher Robert

    2013-01-01

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

  18. Spatio-temporal Neuroimaging of Visual Processing of Human and Robot Actions in Humans

    E-Print Network [OSTI]

    Urgen, Burcu Aysen

    2015-01-01

    H. (2006). Human-inspired robots. IEEE Intelligent Sys. 21,K. (2007). Socially intelligent robots: dimensionsof human-robot interaction. Philos. Trans. R. Soc. Lond. B

  19. Design, fabrication and testing of ModBot, the biomimetic, backdrivable, modular finger robot

    E-Print Network [OSTI]

    Kelley, Michael Scott

    2011-01-01

    Early Pneumatic Robot Walking Turck…. …. …………………………….Asimo, Qrio and Kawasaki Humanoid Robots………………………………. Fig.1.3 Phantom Robot ……………………………. ……………………………..… 6 Fig. 1.4

  20. Multi Robot Cooperation Based on Auction Theory With a Value Map

    E-Print Network [OSTI]

    Pozo, Angello

    2011-01-01

    5.1.2 Robot4.1.1 Robots . . . . . . . . . . . . 4.1.2 CameraMap Size . . . . . . Singel Robot Map Setup . . . . Single

  1. Fine-tuning robot-assisted radical prostatectomy planning with MRI

    E-Print Network [OSTI]

    2013-01-01

    article Fine—tuning robot-assisted radical prostatectomyimaging in performing robot—assisted laparoscopic radicalleakage rates after robot—assisted radical prostatectomy.

  2. Inertial and Aerodynamic Tail Steering of a Meso-scale Legged Robot

    E-Print Network [OSTI]

    Kohut, Nicholas Jospeh

    2013-01-01

    Legged Robot Maneuverability 2.1 Background . . . . .iii Robot in Free4.19 Robot body position versus time for a maximum effort

  3. USC Viterbi Robotics A LEADER IN RESEARCH AND INTERDISCIPLINARY COLLABORATION

    E-Print Network [OSTI]

    Zhou, Chongwu

    USC Viterbi Robotics A LEADER IN RESEARCH AND INTERDISCIPLINARY COLLABORATION USC ROBOTICS A LEADER IN RESEARCH AND INTERDISCIPLINARY COLLABORATION #12;The Robotics and Autonomous Systems Center (RASC and technology of effective, robust and scalable robotic systems with broad and far-reaching applications

  4. Defense from a distance ORNL robotics sensors detect underwater

    E-Print Network [OSTI]

    SCIENCE Defense from a distance ORNL robotics sensors detect underwater explosive ordnance Modern of the future are not human oriented, but robotics oriented. For robots to perform their mission of safety at the forefront of robotics design, these are the droids we are looking for. ­Dylan Platz Karnowski analyzes

  5. Investigation of Robot-Environment Interaction using Chaos Theory

    E-Print Network [OSTI]

    Nehmzow, Ulrich

    Behaviour Chaotic? A mobile robot, interacting with its environment, is a non-linear system. Any prediction (see figure 1). This triangle of robot, task and environment constitutes a non-linear system, whose is currently hardly possible in mobile robotics research. 3. Predictions made by the theory of robot

  6. Solving the Communication Channel Association Problems for Mobile Robots 

    E-Print Network [OSTI]

    Ivanov, Plamen

    2015-08-12

    Robots working in teams can benefit from recruiting the help of conveniently located nearby robots. To do this an initiating robot needs to be aware of the network addresses of its neighbors. However, a robot is typically aware of its neighbors...

  7. Homotopic Path Planning on Manifolds for Cabled Mobile Robots

    E-Print Network [OSTI]

    Igarashi, Takeo

    and power. Currently, cables are a viable option for robots that work in fixed environments such as homes are experimentally validated using a real robot. 1 Introduction Mobile robots are typically untethered. This is not always desirable in household and high-power robotics. Wireless communication can be unreliable

  8. 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

  9. Analysis of humanoid appearances in human-robot interaction

    E-Print Network [OSTI]

    Kanda, Takayuki

    and Cynthia compared a robot and a computer- graphic agent and found that the robot was suitable of robots in HRI. Goetz et al. compared the appearances of robot faces and found that a friendly face inherently calls for friendly impressions. Rather, it is important to investigate the relationship between

  10. Friendly social robot that understands human's friendly relationships

    E-Print Network [OSTI]

    Kanda, Takayuki

    Friendly social robot that understands human's friendly relationships Takayuki Kanda 1 , Rumi Sato 1&2 , Naoki Saiwaki 1&2 , and Hiroshi Ishiguro 1&3 1 ATR Intelligent Robotics and Communication Labs@atr.jp Abstract-- This paper reports our novel approach to developing a social robot. The developed robot is able

  11. Distributed Range-Based Relative Localization of Robot Swarms

    E-Print Network [OSTI]

    Napp, Nils

    Distributed Range-Based Relative Localization of Robot Swarms Alejandro Cornejo and Radhika Nagpal studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied

  12. 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)

  13. Controlled Use Robot Colony Power Supply Gary Parker

    E-Print Network [OSTI]

    Parker, Gary B.

    of charging solar panels a continuous power station. Brooks a robot, Attila, which batteries recharged panels

  14. Prof. Alessandro De Luca Dynamic model of robots

    E-Print Network [OSTI]

    De Luca, Alessandro

    III Robotics 2 5 #12;Robots with closed kinematic chains - 2 MIT Direct Drive Mark IV (planar five-bar linkage) UMinnesota Direct Drive Arm (spatial five-bar linkage) Robotics 2 6 #12;Robot with parallelogram of masses (including motors) ! mechanical compensation ! articulated system of springs ! closed kinematic

  15. CYCLIC GENETIC ALGORITHMS FOR THE LOCOMOTION OF HEXAPOD ROBOTS

    E-Print Network [OSTI]

    Parker, Gary B.

    CYCLIC GENETIC ALGORITHMS FOR THE LOCOMOTION OF HEXAPOD ROBOTS GARY B. PARKER and GREGORY J. E, adaptive gait development for hexapod robots, was the impetus for this new kind of evolutionary computation, but it can be applied to other robotics domains. KEYWORDS: genetic, evolutionary, robot, hexapod, gait

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

    SciTech Connect (OSTI)

    Harrison, K.

    2014-01-01

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

  17. Robotic guarded motion system and method

    DOE Patents [OSTI]

    Bruemmer, David J. (Idaho Falls, ID)

    2010-02-23

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

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

    DOE Patents [OSTI]

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

    1991-02-19

    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.

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

    DOE Patents [OSTI]

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

    1991-02-19

    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.

  20. Robotics and Autonomous Systems 29 (1999) 227242 On robots and flies: Modeling the visual orientation behavior of flies

    E-Print Network [OSTI]

    1999-01-01

    Robotics and Autonomous Systems 29 (1999) 227­242 On robots and flies: Modeling the visual to implement specific biological control structures on robots. Nevertheless, the process of designing the sensorimotor control of a robot can contribute to our understanding of these mechanisms and can provide

  1. Robotics Minor Robotics is a truly interdisciplinary minor, involving expertise in the fields of computer science, electrical

    E-Print Network [OSTI]

    Massachusetts at Lowell, University of

    Robotics Minor Robotics is a truly interdisciplinary minor, involving expertise in the fields-requisites to the minor courses: Calculus I, Calculus II, Physics I, and Physics II or electricity. Robotics Minor.265 Logic Design 16.317 Microprocessors Systems Design I 22.211 Statics 22.213 Dynamics 22.579 Robotics

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

    E-Print Network [OSTI]

    Bugmann, Guido

    2005-01-01

    Invited viewpoint in Industrial Robot (2005), 32:6, p.437 The What and When of Service Robotics Guido Bugmann Robotics Intelligence Laboratory School of Computing, Communications and Electronics University of Plymouth, Drake Circus, Plymouth PL4 8AA, United Kingdom Service robotics is the area

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

    E-Print Network [OSTI]

    Flanagan, Randy

    What type of robots are we talking about? Although humanoid robots are often in the press, most robotic devices found in neuroscience labs around the world are specialized devices for controlling stimuli and creating virtual environments. Most robots consist of a series of links that allow the end

  4. Multiple forearm robotic elbow configuration

    DOE Patents [OSTI]

    Fisher, John J. (Wilmington, DE)

    1990-01-01

    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.

  5. Simulation and optimization of a two-wheeled, ball- flinging robot

    E-Print Network [OSTI]

    Chen, Po-Ting

    2010-01-01

    Wheeled, Ball-Flinging Robot A thesis submitted in partiala Two-Wheeled, Ball-Flinging Robot by Po-Ting Chen Master ofremote controlled robot. The robot is maneuverable and

  6. High precision redundant robotic manipulator

    DOE Patents [OSTI]

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

    1998-01-01

    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.

  7. High precision redundant robotic manipulator

    DOE Patents [OSTI]

    Young, K.K.D.

    1998-09-22

    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.

  8. 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)

    2012-07-24

    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.

  9. Theory of a triangular micro-robot

    E-Print Network [OSTI]

    Vladimir A. Vladimirov

    2012-10-02

    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.

  10. 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

    2013-01-15

    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.

  11. Relativistic MOND from Modified Energetics

    E-Print Network [OSTI]

    Durmus Ali Demir; Canan Nurhan Karahan

    2014-08-22

    We begin to investigate the question of what modifications in energy-momentum tensor can yield correct MOND regime. As a starting study, we refrain from insisting on an action principle and focus exclusively on the equations of motion. The present work, despite the absence of an explicit action functional, can be regarded to extend Milgrom's modified inertia approach to relativistic domain. Our results show that a proper MOND limit arises if energy-momentum tensor is modified to involve determinant of the metric tensor in reference to the flat metric, where the latter is dynamically generated as in gravitational Higgs mechanism. This modified energy-momentum tensor is conserved in both Newtonian and MONDian regimes.

  12. Relativistic MOND from Modified Energetics

    E-Print Network [OSTI]

    Demir, Durmus Ali

    2014-01-01

    We begin to investigate the question of what modifications in energy-momentum tensor can yield correct MOND regime. As a starting study, we refrain from insisting on an action principle and focus exclusively on the equations of motion. The present work, despite the absence of an explicit action functional, can be regarded to extend Milgrom's modified inertia approach to relativistic domain. Our results show that a proper MOND limit arises if energy-momentum tensor is modified to involve determinant of the metric tensor in reference to the flat metric, where the latter is dynamically generated as in gravitational Higgs mechanism. This modified energy-momentum tensor is conserved in both Newtonian and MONDian regimes.

  13. Adaptive Robot Design with Hand and Face Tracking for Use in Autism Therapy

    E-Print Network [OSTI]

    O'Kane, Jason

    Adaptive Robot Design with Hand and Face Tracking for Use in Autism Therapy Laura Boccanfuso1 interactive games using hand and face tracking with a robot as a tool for autism therapy. The robot robotics 1 Introduction Robot-assisted autism therapy employs robots as social mediators for promot- ing

  14. Teaching a robot manipulation skills through demonstration

    E-Print Network [OSTI]

    Lieberman, Jeff I. (Jeff Ian), 1978-

    2004-01-01

    An automated software system has been developed to allow robots to learn a generalized motor skill from demonstrations given by a human operator. Data is captured using a teleoperation suit as a task is performed repeatedly ...

  15. Optimizing robot trajectories using reinforcement learning

    E-Print Network [OSTI]

    Kollar, Thomas (Thomas Fleming)

    2007-01-01

    The mapping problem has received considerable attention in robotics recently. Mature techniques now allow practitioners to reliably and consistently generate 2-D and 3-D maps of objects, office buildings, city blocks and ...

  16. A nano-stepping robotic instrumentation platform

    E-Print Network [OSTI]

    Wahab, Adam Joseph

    2013-01-01

    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 ...

  17. Performing overhead tasks with supernumerary robotic limbs

    E-Print Network [OSTI]

    McKenna, Jay (Jay P.)

    2014-01-01

    Overhead tasks such as those frequently found in aircraft manufacturing pose health risks to the workers due to the strain imposed on the shoulders. To reduce the risk of injury, a set of supernumerary robotic limbs (SRL) ...

  18. Security robots for nuclear materials management

    SciTech Connect (OSTI)

    Deming, R.

    1986-01-01

    Robots have successfully invaded industry where they have replaced costly personnel performing their tasks cheaper and better in most cases. There may be a place for a unique class of robots, security robots, in nuclear materials management. Robots could be employed in the functions of general response, patrol and neutralizing dangerous situations. The last is perhaps most important. Ion Track Instruments of Burlington, Massachusetts has designed an excellent unit to protect life in hazardous situations. The unit can detect, disrupt or remove explosives. It can enter dangerous areas to reconnoiter the extent of danger. It can communicate with those in a dangerous area. It can fight fires or clean an area using a 2 1/2 inch, two man hose. If necessary, it can engage an adversary in a fire fight using a twelve gauge shot gun.

  19. Virtual articulation and kinematic abstraction in robotics

    E-Print Network [OSTI]

    Vona, Marsette Arthur, 1977-

    2009-01-01

    This thesis presents the theory, implementation, novel applications, and experimental validation of a general-purpose framework for applying virtual modifications to an articulated robot, or virtual articulations. These ...

  20. Following recipes with a cooking robot

    E-Print Network [OSTI]

    Bollini, Mario Attilio

    2012-01-01

    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 ...

  1. Ground Robot Navigation using Uncalibrated Cameras

    E-Print Network [OSTI]

    Teller, Seth

    Precise calibration of camera intrinsic and extrinsic parameters, while often useful, is difficult to obtain during field operation and presents scaling issues for multi-robot systems. We demonstrate a vision-based approach ...

  2. Robotics Learning Center Milling Machine Operation Manual

    E-Print Network [OSTI]

    Miller, Damon A.

    Robotics Learning Center Milling Machine Operation Manual Ken Gruel, Dr. Massood Atashbar, RyanMaster.............................................................................................................. 16 6. Milling Machine Operation for the operation of the LPKF® milling machine, and then gives an overview of the physical operation of the machine

  3. MARKER-AUGMENTED ROBOT-ENVIRONMENT INTERACTION

    E-Print Network [OSTI]

    Mali, Amol D.

    MARKER-AUGMENTED ROBOT-ENVIRONMENT INTERACTION Amol Dattatraya Mali Electrical Engg. & Computer Science University of Wisconsin, Milwaukee, WI 53211 mali@miller.cs.uwm.edu Abstract There has been

  4. Vertical Glider Robots for Subsea Equipment Delivery

    E-Print Network [OSTI]

    Reed, Brooks L.

    2011-01-01

    We have developed an underwater vehicle that offers significant performance improvements over existing sub sea elevators. Our Vertical Glider Robot falls under its own weight to a precise location on the seafloor, employing ...

  5. Explorations in low-cost compliant robotics

    E-Print Network [OSTI]

    Kumpf, Adam (Adam A.)

    2007-01-01

    This thesis presents the findings of exploratory research in low-cost compliant robotics. The most heavily leveraged trade-off is that of mechanical precision for computational power, with the hope that the price of future ...

  6. Explorations in Low-Cost Compliant Robotics

    E-Print Network [OSTI]

    Kumpf, Adam

    2007-01-30

    This thesis presents the findings of exploratory research in low-cost compliant robotics. The most heavily leveraged trade-off is that of mechanical precision for computational power, with the hope that the price of future ...

  7. Elective in Robotics Motion Control of the

    E-Print Network [OSTI]

    De Luca, Alessandro

    in Robotics ­ Haptic and Locomotion Interfaces 5 4332 INOX steel balls of dball=8 mm diameter with gaps of 0) " materials suitable for the grid supporting the balls INOX steel Polyethylene (PE) stripes Acetal (POM) plate

  8. Modified Acyl-ACP desaturase

    DOE Patents [OSTI]

    Cahoon, E.B.; Shanklin, J.; Lindqvist, Y.; Schneider, G.

    1999-03-30

    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. 2 figs.

  9. Cosmological Hints of Modified Gravity ?

    E-Print Network [OSTI]

    Eleonora Di Valentino; Alessandro Melchiorri; Joseph Silk

    2015-09-24

    The recent measurements of Cosmic Microwave Background temperature and polarization anisotropies made by the Planck satellite have provided impressive confirmation of the $\\Lambda$CDM cosmological model. However interesting hints of slight deviations from $\\Lambda$CDM have been found, including a $95 \\%$ c.l. preference for a "modified gravity" structure formation scenario. In this paper we confirm the preference for a modified gravity scenario from Planck 2015 data, find that modified gravity solves the so-called $A_{lens}$ anomaly in the CMB angular spectrum, and constrains the amplitude of matter density fluctuations to $\\sigma_8=0.815_{-0.048}^{+0.032}$, in better agreement with weak lensing constraints. Moreover, we find a lower value for the reionization optical depth of $\\tau=0.059\\pm0.020$ (to be compared with the value of $\\tau= 0.079 \\pm 0.017$ obtained in the standard scenario), more consistent with recent optical and UV data. We check the stability of this result by considering possible degeneracies with other parameters, including the neutrino effective number, the running of the spectral index and the amount of primordial helium. The indication for modified gravity is still present at about $95\\%$ c.l., and could become more significant if lower values of $\\tau$ were to be further confirmed by future cosmological and astrophysical data.

  10. Robotics and Autonomous Systems 54 (2006) 766778 www.elsevier.com/locate/robot

    E-Print Network [OSTI]

    Nehmzow, Ulrich

    2006-01-01

    The operation of an autonomous mobile robot in a semi-structured environment is a complex, usually non-linear Control and Systems Engineering, University of Sheffield, Sheffield, UK Received 19 December 2005 and partly unpredictable process. Lacking a theory of robot­environment interaction that allows the design

  11. Robopedia: Leveraging Sensorpedia for Web-Enabled Robot Control

    SciTech Connect (OSTI)

    Resseguie, David R

    2010-01-01

    There is a growing interest in building Internetscale sensor networks that integrate sensors from around the world into a single unified system. In contrast, robotics application development has primarily focused on building specialized systems. These specialized systems take scalability and reliability into consideration, but generally neglect exploring the key components required to build a large scale system. Integrating robotic applications with Internet-scale sensor networks will unify specialized robotics applications and provide answers to large scale implementation concerns. We focus on utilizing Internet-scale sensor network technology to construct a framework for unifying robotic systems. Our framework web-enables a surveillance robot s sensor observations and provides a webinterface to the robot s actuators. This lets robots seamlessly integrate into web applications. In addition, the framework eliminates most prerequisite robotics knowledge, allowing for the creation of general web-based robotics applications. The framework also provides mechanisms to create applications that can interface with any robot. Frameworks such as this one are key to solving large scale mobile robotics implementation problems. We provide an overview of previous Internetscale sensor networks, Sensorpedia (an ad-hoc Internet-scale sensor network), our framework for integrating robots with Sensorpedia, two applications which illustrate our frameworks ability to support general web-based robotic control, and offer experimental results that illustrate our framework s scalability, feasibility, and resource requirements.

  12. A Bayesian Approach to Empirical Local Linearization For Robotics 

    E-Print Network [OSTI]

    Ting, Jo-Anne; D'Souza, Aaron; Vijayakumar, Sethu; Schaal, Stefan

    2008-01-01

    Local linearizations are ubiquitous in the control of robotic systems. Analytical methods, if available, can be used to obtain the linearization, but in complex robotics systems where the dynamics and kinematics are ...

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

    E-Print Network [OSTI]

    Schwager, Mac

    2009-01-01

    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 ...

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

    E-Print Network [OSTI]

    Rynn, Andrew John

    2004-11-15

    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...

  15. 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

  16. 2.12 Introduction to Robotics, Fall 2004

    E-Print Network [OSTI]

    Asada, H. (Haruhiko)

    This course provides an overview of robot mechanisms, dynamics, and intelligent controls. Topics include planar and spatial kinematics, and motion planning; mechanism design for manipulators and mobile robots, multi-rigid-body ...

  17. Lateral undulation of a snake-like robot

    E-Print Network [OSTI]

    Gupta, Amit

    2007-01-01

    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, ...

  18. Terrain sensing and estimation for dynamic outdoor mobile robots

    E-Print Network [OSTI]

    Ward, Christopher Charles

    2007-01-01

    In many applications, mobile robots are required to travel on outdoor terrain at high speed. Compared to traditional low-speed, laboratory-based robots, outdoor scenarios pose increased perception and mobility challenges ...

  19. Ensemble : fluency and embodiment for robots acting with humans

    E-Print Network [OSTI]

    Hoffman, Guy, Ph. D. Massachusetts Institute of Technology

    2007-01-01

    This thesis is concerned with the notion of fluency in human-robot interaction (HRI), exploring cognitive mechanisms for robotic agents that would enable them to overcome the stop-and-go rigidity present in much of HRI to ...

  20. 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 ...

  1. Design and control of a soft biomimetic batoid robot

    E-Print Network [OSTI]

    Cloitre, Audren Damien Prigent

    2013-01-01

    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 ...

  2. Design of an MRI compatible robot for wrist rehabilitation

    E-Print Network [OSTI]

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

    2005-01-01

    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 ...

  3. Experiments in Competence Acquisition for Autonomous Mobile Robots 

    E-Print Network [OSTI]

    Nehmzow, Ulrich

    This thesis addresses the problem of intelligent control of autonomous mobile robots, particularly under circumstances unforeseen by the designer.As the range of applications for autonomous robots widens and increasingly ...

  4. Motion planning for self-reconfiguring robotic systems 

    E-Print Network [OSTI]

    Larkworthy, Thomas James

    2012-06-25

    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 ...

  5. 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 ...

  6. 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 ...

  7. 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...

  8. A distributed boundary detection algorithm for multi-robot systems

    E-Print Network [OSTI]

    McLurkin, James

    We describe a distributed boundary detection algorithm suitable for use on multi-robot systems with dynamic network topologies. We assume that each robot has access to its local network geometry, which is the combination ...

  9. MarineSIM: Robot simulation for marine environments

    E-Print Network [OSTI]

    Senarathne, P. G. C. Namal

    Development of robust navigation algorithms for marine robotics is a challenge faced by many marine robotists. This paper presents MarineSIM, a marine robot simulation platform which provides an infrastructure to easily ...

  10. Development of manufacturing technique for composite structures for robotic applications

    E-Print Network [OSTI]

    Dixon, Theresa, S.B. Massachusetts Institute of Technology

    2010-01-01

    An experimental study was performed with the aim of developing a technique for manufacturing composite parts for use in dynamic robotic applications in lieu of heavy and expensive metal parts used in conventional robotic ...

  11. EVOLVING SENSOR MORPHOLOGY ON A LEGGED ROBOT IN NICHE ENVIRONMENTS

    E-Print Network [OSTI]

    Parker, Gary B.

    morphology on a legged hexapod robot in niche environments. The evolution of sensor morphology in different for a simulated hexapod robot are described. This automatic design method enables the system to decipher relevant

  12. Dynamic locomotion with a Hexapod Robot Uluc. Saranli

    E-Print Network [OSTI]

    Saranlý, Uluç

    Dynamic locomotion with a Hexapod Robot by Uluc. Saranli A dissertation submitted in partial locomotion with a Hexapod Robot by Uluc. Saranli Chair: Daniel E. Koditschek Legged vehicles offer superior

  13. 1 Sanjiv Singh Developing Plans for Robotic Excavators

    E-Print Network [OSTI]

    Singh, Sanjiv

    1 Sanjiv Singh Developing Plans for Robotic Excavators Sanjiv Singh1 Abstract We would like a robot, Carnegie Mellon University, Pittsburgh, PA. 15213. #12;2 Sanjiv Singh for digging [Romero-Lois89][Apte92

  14. Poster: Phones and Robots: Brains and Brawn Avraham Klausner

    E-Print Network [OSTI]

    Starobinski, David

    on the roof. This camera collects pictures for street view maps. Other more closely related works use signal for a robot [2]. In this paper, a new efficient technique using a combi- nation of a VEX Robot

  15. TofuDraw : choreographing robot behavior through Digital Painting

    E-Print Network [OSTI]

    Wistort, Ryan Mark

    2010-01-01

    In this document, TofuDraw is introduced as an expressive robotic character with interfaces that enable children to choreograph robotic behaviors through controlling both physical motion and form. Unique to the TofuDraw ...

  16. 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

  17. Underwater Robot Localization using Artificial Visual Pifu Zhang2

    E-Print Network [OSTI]

    Milios, Evangelos E.

    or landmarks at known positions. Figure 1 The robot underwater off the Barbados west coast There are two main

  18. Proceedingsof the Zoo0 IEEE InternationalConferenceon Robotics& Automation

    E-Print Network [OSTI]

    of appropriate robot gaits is not difficult to see: human walk is extraordinarily complex, elegant and efficient,for

  19. Online Distance Recovery for a Sewer Inspection Robot Marina Kolesnik

    E-Print Network [OSTI]

    Kolesnik, Marina

    Online Distance Recovery for a Sewer Inspection Robot Marina Kolesnik Institute for Autonomous computation based on images taken in a sewer by a robot-inspector is presented. Modern concrete sewers provide regular marks on the sewer images and can be used for their 3-D interpretation. After each robot

  20. ROBBIT: AN OPEN SOURCE SIMULATOR FOR EDUCATION IN ROBOTICS

    E-Print Network [OSTI]

    Leahy, Richard M.

    ROBBIT: AN OPEN SOURCE SIMULATOR FOR EDUCATION IN ROBOTICS Gianluca Antonelli1, Filippo Arrichiello Abstract. An open source software, named ROBBIT, aimed at the simulation of multiple mobile robots has been with educational purposes in robotics, computer sciences, non-linear control, behavioral and cognitive sciences

  1. Robotic spotting of cDNA and oligonucleotide microarrays

    E-Print Network [OSTI]

    Kreil, David

    Robotic spotting of cDNA and oligonucleotide microarrays Richard P. Auburn1 , David P. Kreil1 recent techno- logical advances with a focus on spotted arrays. Robotic spotting still poses numerous popular one, micro- arrays for gene expression analysis. Microarrays can be manufactured using robotic

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

    E-Print Network [OSTI]

    Southern California, University of

    http://ijr.sagepub.com Research The International Journal of Robotics DOI: 10.1177/0278364908100926 2009; 28; 512The International Journal of Robotics Research A.A.G. Requicha, D.J. Arbuckle, B. Mokaberi://www.sagepublications.com On behalf of: Multimedia Archives can be found at:The International Journal of Robotics Research

  3. Title: Robotics Outreach Competition II Funding number: NNA15525443C

    E-Print Network [OSTI]

    Zhou, Chongwu

    Title: Robotics Outreach Competition II Funding number: NNA15525443C Letter of Intent Receipt Date Funding: $2.5M Description: The NASA Ames Robotics Alliance Project (RAP) invites offerors to submit proposals to this NASA Cooperative Agreement Notice (CAN) to design and administer two distinct robotics

  4. Name Module Robotics and Computer Vision Language English

    E-Print Network [OSTI]

    Boucherie, Richard J.

    1 Name Module Robotics and Computer Vision Language English Contact person Ferdi van der Heijden A robotic device is a goal oriented machine that can sense, plan and act; often, in an unknown or dynamic environment. Robotics binds elements from physics and mechanics, sensor and actuator technology, pattern

  5. ME/SE 740 Vision, Robotics & Planning Spring 2009

    E-Print Network [OSTI]

    Lin, Xi

    ME/SE 740 ­ Vision, Robotics & Planning Spring 2009 Professor Pierre Dupont, Room 408, 110 Cummington Street 353-9596 pierre@bu.edu Required Text: A Mathematical Introduction to ROBOTIC MANIPULATION://www.engin.umich.edu/group/ctm/basic/basic.html #12;ME/SE 740 ­ Vision, Robotics & Planning 1/22/20092 Course Topics: 1. Introduction: · Historical

  6. Proceedingsof the 1997EEE International Conferenceon Robotics and Automation

    E-Print Network [OSTI]

    Rucci, Michele

    Proceedingsof the 1997EEE International Conferenceon Robotics and Automation Albuquerque,New Mexico -April 1997 A robotic system emulating the adaptive orienting behavior of the barn owl M. Rucci, J. Wray, G. Tononi and G.M. Edelman The Neurosciences Institute San Diego, CA Abstmct- Autonomous robotic

  7. Proceedings of the 2002 IEEE International Conferenceon Robotics 8 Automation

    E-Print Network [OSTI]

    Hutchinson, Seth

    Proceedings of the 2002 IEEE International Conferenceon Robotics 8 Automation Washington, DC May 2002 Coordinatingthe Motions of Multiple Robots with Specified Trajectories SrinivasAkella Departmentof the motions of multiple robots operating in a shared workspace without collisions is an importantca- pability

  8. Embedded Sensors for Biomimetic Robotics via Shape Deposition Manufacturing

    E-Print Network [OSTI]

    Haller, Gary L.

    Embedded Sensors for Biomimetic Robotics via Shape Deposition Manufacturing Aaron M. Dollar-inspired design has been the development of mechanically robust robots. One promising biomimetic facbrication to produce robot structures with compliant joints and embedded actuation elements. In this paper, we add

  9. 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

  10. Modeling of Web Robot Navigational Patterns PangNing Tan

    E-Print Network [OSTI]

    Kumar, Vipin

    Modeling of Web Robot Navigational Patterns Pang­Ning Tan Department of Computer Science University�cult to ignore the impact of Web robots on both commercial and institu- tional Web sites. Not only do Web robots consume valuable bandwidth and Web server resources, they are also making it more di�cult to apply Web

  11. Visual-Feedback Distortion in a Robotic Rehabilitation

    E-Print Network [OSTI]

    Klatzky, Roberta

    INVITED P A P E R Visual-Feedback Distortion in a Robotic Rehabilitation Environment In a finger-motion rehabilitation trial, where a patient presses against robot resistance, progress can be aided by visual feedback Matsuoka ABSTRACT | We create a robotic rehabilitation environment that distorts the visual feedback

  12. Test and Evaluation Challenges of Embodied Artificial Intelligence and Robotics

    E-Print Network [OSTI]

    MacLennan, Bruce

    Test and Evaluation Challenges of Embodied Artificial Intelligence and Robotics Technical Report UT science, artificial intelligence (AI), and robotics promise a new generation of intelligent agents is an unedited draft of "Challenges of Embodied Artificial Intelligence and Robotics," an article invited

  13. Low cost robotic imaging system for high precision photometry

    E-Print Network [OSTI]

    Guyon, Olivier

    Low cost robotic imaging system for high precision photometry Olivier Guyon (Subaru Telescope robotic, robust to weather, hardware failures, software errors automatic decision making (flats, darks angular resolution (with longer focal length lens) Installed Dec 30, 2010 ­ working robotically now New

  14. Rapid GRB Followup with the 2m Robotic Liverpool Telescope

    E-Print Network [OSTI]

    Gomboc, Andreja

    Rapid GRB Follow­up with the 2­m Robotic Liverpool Telescope Andreja Gomboc #,+ , Michael F. Bode. We present the capabilities of the 2­m robotic Liverpool Telescope (LT), owned and operated by Liverpool John Moores University and situated at ORM, La Palma. Robotic control and scheduling of the LT

  15. Mars Exploration Rover Mobility and Robotic Arm Operational Performance

    E-Print Network [OSTI]

    Mars Exploration Rover Mobility and Robotic Arm Operational Performance Edward Tunstel, Mark California Institute of Technology Pasadena, CA, 91109 USA tunstel@robotics.jpl.nasa.gov Abstract - Increased they should operate. The purpose of this paper is to describe an actual instance of a practical human-robot

  16. Preprint Version Distributed Target Identification in Robotic Swarms

    E-Print Network [OSTI]

    Preprint Version Distributed Target Identification in Robotic Swarms Paolo Stegagno Max Planck of a multi-robot team able to interact with the environment. In most existing systems, the identification systems, constituted by a multitude of small robots with limited sensing and computational capa- bilities

  17. Cooperation with a Robotic Assistant Jennifer Goetz, Sara Kiesler

    E-Print Network [OSTI]

    Kiesler, Sara

    Cooperation with a Robotic Assistant Jennifer Goetz, Sara Kiesler Human Computer Interaction Robotic assistants soon will serve many assistive roles in our everyday lives. It is important to understand how these robots can interact with users, not just as tools, but also as social agents

  18. 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

  19. 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

  20. Bayesian Color Estimation for Adaptive Vision-based Robot Localization

    E-Print Network [OSTI]

    Schulz, Dirk

    to variations in the lighting condition, a robot needs to adapt its color model to such changes. We propose that the robot can localize under different lighting conditions and adapt to changes in the lighting condition Gaussian color model which enables a robot to quickly adapt to different lighting conditions. The lower

  1. Interpreting and Executing Recipes with a Cooking Robot

    E-Print Network [OSTI]

    Tellex, Stefanie

    Interpreting and Executing Recipes with a Cooking Robot Mario Bollini, Stefanie Tellex, Tyler in the home, and a robotic chef capable of following arbitrary recipes would have many applications in both, and the ordered nature of recipes. We envision a robotic chef, the BakeBot, which can collect recipes online

  2. Method and apparatus for planning motions of robot manipulators

    DOE Patents [OSTI]

    Chen, Pang C. (4000 Camino De La Sierra, N.E., Albuquerque, NM 87111); Hwang, Yong K. (9036 Walter Bambrook, N.E., Albuquerque, NM 87122)

    1996-01-01

    Method and apparatus for automatically planning motions of robot manipulators. The invention rapidly finds a collision-free path in a cluttered robot environment, if one exists, from any starting configuration of the robot manipulator to any ending configuration. The time to solution of a motion planning problem is not uniform, but proportional to the complexity of the problem.

  3. Map-Merging-Free Connectivity Positioning for Distributed Robot Teams

    E-Print Network [OSTI]

    Veloso, Manuela M.

    Map-Merging-Free Connectivity Positioning for Distributed Robot Teams Somchaya LIEMHETCHARAT a,1 and obstacles. The goal is to achieve connectivity among the towers through a set of robots positioned in a way to act as gateways among the towers. The autonomous mobile robots are initially randomly deployed without

  4. Towards Robot Skill Learning: From Simple Skills to Table Tennis

    E-Print Network [OSTI]

    Towards Robot Skill Learning: From Simple Skills to Table Tennis Jan Peters, Jens Kober, Katharina Planck Institute for Intelligent Systems, 72076 Tübingen, Germany Abstract. Learning robots that can acquire new motor skills and re- fine existing ones have been a long-standing vision of both robotics

  5. Selforganized robot behavior from the principle of homeokinesis

    E-Print Network [OSTI]

    Der, Ralf

    Self­organized robot behavior from the principle of homeokinesis Ralf Der Universit¨at Leipzig for the self­organization of robot behavior. Homeokinesis is a domain­ invariant principle which induces breaking scenario is a domain invariant principle. In the above sense the movement of an agent (robot

  6. 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

  7. Multi-robot Simultaneous Localization and Mapping using Particle Filters

    E-Print Network [OSTI]

    Del Moral , Pierre

    Multi-robot Simultaneous Localization and Mapping using Particle Filters Andrew Howard NASA Jet Propulsion Laboratory Pasadena, California 91109, U.S.A. Email: abhoward@robotics.jpl.nasa.gov Abstract-- This paper describes an on-line algorithm for multi- robot simultaneous localization and mapping (SLAM). We

  8. Emergent robot behavior from the principle of homeokinesis

    E-Print Network [OSTI]

    Der, Ralf

    Emergent robot behavior from the principle of homeokinesis Ralf Der and Thomas Pantzer Institut f In the behavior based approach to robotics, there is a strong interest in exploiting the phe­ nomenon of emergent behavior for the development of advanced robot controllers. One of the most clear cut ways

  9. Compressed Sensing Environmental Mapping by an Autonomous Robot

    E-Print Network [OSTI]

    Ferguson, Thomas S.

    Compressed Sensing Environmental Mapping by an Autonomous Robot M. Horning, M. Lin, S. Srinivasan of compressed sens- ing for autonomous robots performing environmental mapping in order to reduce data collection, storage, and transmission requirements. A prototype robot sends data collected over adaptively

  10. Analysis of Dynamic Task Allocation in Multi-Robot Systems

    E-Print Network [OSTI]

    Southern California, University of

    Analysis of Dynamic Task Allocation in Multi-Robot Systems Kristina Lerman1 , Chris Jones2 , Aram of Southern California, Los Angeles, CA 90089-0781, USA {lerman|galstyan}@isi.edu, {cvjones|maja}@robotics.usc.edu Abstract Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown

  11. Continuum Robot Arms Inspired by Cephalopods Ian D. Walkera

    E-Print Network [OSTI]

    Kier, William M.

    Continuum Robot Arms Inspired by Cephalopods Ian D. Walkera , Darren M. Dawsona , Tamar Flashb in the development of a new class of soft, continuous backbone ("continuum") robot manipulators. Our work is strongly to delicate tasks in cluttered and/or unstructured environments. Our aim is to endow these compliant robotic

  12. Analysis of Dynamic Task Allocation in Multi-Robot Systems

    E-Print Network [OSTI]

    Galstyan, Aram

    Analysis of Dynamic Task Allocation in Multi-Robot Systems Kristina Lerman1 , Chris Jones2 , Aram of Southern California, Los Angeles, CA 90089-0781, USA {lerman|galstyan}@isi.edu, {cvjones|maja}@robotics.usc.edu Abstract Dynamic task allocation is an essential requirement for multi-robot systems functioning in unknown

  13. Multi-Robot Control for Circumnavigation of Particle Distributions

    E-Print Network [OSTI]

    Sorin, Eric J.

    Multi-Robot Control for Circumnavigation of Particle Distributions Sarah Tang, Dylan Shinzaki bearing-only sensors. The proposed controller drives a team of n robots to circumnavigate an arbitrary distribution of target points at a desired radius from the targets. The controller also dictates robot spacing

  14. Robot docking with neural vision and reinforcement Cornelius Weber*,1

    E-Print Network [OSTI]

    Weber, Cornelius

    Robot docking with neural vision and reinforcement Cornelius Weber*,1 , Stefan Wermter, Alexandros, SR6 0DD, UK Available online 10 April 2004 Abstract We present a solution for robotic docking, i.e. approach of a robot toward a table so that it can grasp an object. One constraint is that our People

  15. An Efficient Stochastic Clustering Auction for Heterogeneous Robot Teams

    E-Print Network [OSTI]

    Barbu, Adrian

    An Efficient Stochastic Clustering Auction for Heterogeneous Robot Teams Kai Zhang and Emmanuel G for effective coordination of heterogeneous robotic systems have numerous applications. For example, they can be used for efficient task allocation for teams of robots in many application domains [1], [2] such as col

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

    E-Print Network [OSTI]

    Riedi, Rudolf H.

    Analyzing 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 driven, but rather the consequence of a computer program. In this study, we collectively call robots

  17. Fitness Biasing Produce Adaptive Gaits for Hexapod Robots

    E-Print Network [OSTI]

    Parker, Gary B.

    Fitness Biasing Produce Adaptive Gaits for Hexapod Robots Gary Parker Computer Science Connecticut in an earlier work an effective learning cycles a hexapod robot. learning system capable of adapting to changes produce gaits hexapod robots difficult problem. particularly challenging if wants programs altered adapt

  18. Evolving Predator Control Programs for an Actual Hexapod Robot Predator

    E-Print Network [OSTI]

    Parker, Gary B.

    Evolving Predator Control Programs for an Actual Hexapod Robot Predator Gary Parker Department. In this study, a learned control program was tested on a predator, which is an autonomous hexapod robot tasked to pursue a prey, which is another autonomous hexapod robot. The predator/prey problem is well suited

  19. LOCOMOTION CONTROL CYCLES ADAPTED FOR DISABILITIES IN HEXAPOD ROBOTS

    E-Print Network [OSTI]

    Parker, Gary B.

    LOCOMOTION CONTROL CYCLES ADAPTED FOR DISABILITIES IN HEXAPOD ROBOTS GARY B. PARKER and INGO CYLIAX to repeat. This is no more apparent than in the locomotion of hexapod robots. The movement of the separate Algorithms which have successfully been used to generate gaits for actual hexapod robots. In this paper, we

  20. Fitness Biasing to Produce Adaptive Gaits for Hexapod Robots

    E-Print Network [OSTI]

    Parker, Gary B.

    Fitness Biasing to Produce Adaptive Gaits for Hexapod Robots Gary B. Parker Computer Science was shown in an earlier work to be an effective tool for learning leg cycles for a hexapod robot for hexapod robots is a difficult problem. It is particularly challenging if one wants these programs

  1. Ground fluidization promotes rapid running of a lightweight robot

    E-Print Network [OSTI]

    Goldman, Daniel I.

    . Goldman1 Abstract We study the locomotor mechanics of a small, lightweight robot (DynaRoACH, 10 cm, 25 g, reflecting a change in propulsion mode. At low frequencies, the robot used a quasi- static "rotary walking was achieved. At high frequencies the robot propelled itself using the speed-dependent fluid-like inertial

  2. Creating robotic characters for long-term interaction

    E-Print Network [OSTI]

    Setapen, Adam (Adam Michael)

    2012-01-01

    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 ...

  3. THE EFFECT OF HETEROGENEITY IN TEAMS OF 100+ MOBILE ROBOTS

    E-Print Network [OSTI]

    Parker, Lynne E.

    THE EFFECT OF HETEROGENEITY IN TEAMS OF 100+ MOBILE ROBOTS Lynne E. Parker Department of Computer Science The University of Tennessee Knoxville, Tennessee USA parker@cs.utk.edu in Multi-Robot Systems for Distributed Robotics (SDR) Program, aimed at the practical implementation of a team of 100+ heterogeneous

  4. 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

  5. Cosmological Hints of Modified Gravity ?

    E-Print Network [OSTI]

    Di Valentino, Eleonora; Silk, Joseph

    2015-01-01

    The recent measurements of Cosmic Microwave Background temperature and polarization anisotropies made by the Planck satellite have provided impressive confirmation of the $\\Lambda$CDM cosmological model. However interesting hints of slight deviations from $\\Lambda$CDM have been found, including a $95 \\%$ c.l. preference for a "modified gravity" structure formation scenario. In this paper we confirm the preference for a modified gravity scenario from Planck 2015 data, find that modified gravity solves the so-called $A_{lens}$ anomaly in the CMB angular spectrum, and constrains the amplitude of matter density fluctuations to $\\sigma_8=0.815_{-0.048}^{+0.032}$, in better agreement with weak lensing constraints. Moreover, we find a lower value for the reionization optical depth of $\\tau=0.059\\pm0.020$ (to be compared with the value of $\\tau= 0.079 \\pm 0.017$ obtained in the standard scenario), more consistent with recent optical and UV data. We check the stability of this result by considering possible degeneraci...

  6. 18/05/12 7:48 AMrobots.net -Berkley Sends 100 Robots Down River Page 1 of 2http://robots.net/article/3377.html

    E-Print Network [OSTI]

    Ideas Review: Apocalyptic AI by Robert M. Geraci Raspberry Pi Interview with Eben Upton Review: Robotics Than One Way to Skin a Robot Polulu 3pi: the 10,000 Mile Review Day of the Androids at Hanson Robotics

  7. Robot-guided open-loop insertion of skew-line needle arrangements for high dose rate brachytherapy

    E-Print Network [OSTI]

    2013-01-01

    IEEE Transactions on Robotics and Automation, vol. 19, no.D. Stoianovici, “Medical robotics in computer- integratedsurgery,” IEEE Transactions on Robotics and Automation, vol.

  8. 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

    2013-01-01

    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

  9. 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

    2006-01-01

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

  10. 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

    2011-01-01

    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

  11. 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

    2006-01-01

    AN, Kahn LE: Design of robot assistance for arm movementOpen Access Research Robot-assisted reaching exercisemovements more than the robot-assisted group. Conclusion:

  12. Abstract--A robot called the Closed-chain Robot for Assisting in Manual Exercise and Rehabilitation (CRAMER)

    E-Print Network [OSTI]

    Bobrow, James E.

    Abstract--A robot called the Closed-chain Robot for Assisting in Manual Exercise and Rehabilitation in their rehabilitation therapy by having them play computer- based exercise games. Toward this goal, the remote be necessary. Index Terms--wrist, stroke, rehabilitation, robot, video games, Wii, acceleration, optimization

  13. Planning for multiple mobile robots in dynamic environ-ments involves determining the optimal path each robot

    E-Print Network [OSTI]

    Stentz, Tony

    Abstract Planning for multiple mobile robots in dynamic environ- ments involves determining the optimal path each robot should follow to accomplish the goals of the mission, given the current knowledge reassign robots to goals in order to continually minimize the time to complete the mission. In this paper

  14. BOA: Asbestos pipe-insulation removal robot system. Phase I. Topical report, November 1993--December 1994

    SciTech Connect (OSTI)

    Schempf, H.; Bares, J.E.

    1995-01-01

    Based on several key design criteria and site visits, we developed a Robot design and built a system which automatically strips the lagging and insulation from the pipes, and encapsulates them under complete vacuum operation. The system can operate on straight runs of piping in horizontal or vertical orientations. Currently we are limited to four-inch diameter piping without obstacles as well as a somewhat laborious emplacement and removal procedure. Experimental results indicated that the current robotic abatement process is sound yet needs to be further expanded and modified. One of the main discoveries was that a longitudinal cut to fully allow the paddles to dig in and compress the insulation off the pipe is essential. Furthermore, a different cutting method might be explored to alleviate the need for a deeper cut and to enable a combination of certain functions such as compression and cutting. Unfortunately due to a damaged mechanism caused by extensive testing, we were unable to perform vertical piping abatement experiments, but foresee no trouble in implementing them in the next proposed Phase. Other encouraging results have BOA removing asbestos at a rate of 4-5 ft./h compared to 3 ft./h for manual removal of asbestos with a 3-person crew. However, we feel confident that we can double the asbestos removal rate by improving cutting speed, and increasing the length of the BOA robot. The containment and vacuum system on BOA is able to achieve the regulatory requirement for airborne fiber emissions of 0.01 fibers/ccm/8-hr. shift. Currently, BOA weighs about 117 pounds which is more than a human is permitted to lift overhead under OSHA requirements (i.e., 25 pounds). We are considering designing the robot into two components (i.e., locomotor section and cutter/removal section) to aid human installation as well as incorporating composite materials. A more detailed list of all the technical modifications is given in this topical report.

  15. 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)

    2011-07-05

    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.

  16. 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

  17. Wireless Communication Enhancement Methods for Mobile Robots in Radiation Environments

    E-Print Network [OSTI]

    Nattanmai Parasuraman, Ramviyas; Ferre, Manuel

    In hostile environments such as in scientific facilities where ionising radiation is a dominant hazard, reducing human interventions by increasing robotic operations are desirable. CERN, the European Organization for Nuclear Research, has around 50 km of underground scientific facilities, where wireless mobile robots could help in the operation of the accelerator complex, e.g. in conducting remote inspections and radiation surveys in different areas. The main challenges to be considered here are not only that the robots should be able to go over long distances and operate for relatively long periods, but also the underground tunnel environment, the possible presence of electromagnetic fields, radiation effects, and the fact that the robots shall in no way interrupt the operation of the accelerators. Having a reliable and robust wireless communication system is essential for successful execution of such robotic missions and to avoid situations of manual recovery of the robots in the event that the robot runs ...

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

    E-Print Network [OSTI]

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

    2012-01-01

    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. Modified Entropic Gravity and Cosmology

    E-Print Network [OSTI]

    Miguel Zumalacarregui

    2012-02-06

    It has been recently proposed that gravity might be an entropic force. Although a well defined fundamental description for such a mechanism is still lacking, it is still possible to address the viability of phenomenological models of entropic-inspired modified gravities. I will summarize some recent work directed to using cosmology as a tool to constraint scenarios in which the modifications are aimed to explain the physics behind dark energy and inflation. A phenomenological modification is able to explain cosmic acceleration at the background level and fit observations, but simple inflation models with higher curvature corrections are in conflict with late time matter domination.

  20. Adhesives from modified soy protein

    DOE Patents [OSTI]

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

    2008-08-26

    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.

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

    E-Print Network [OSTI]

    Keating, Steven J. (Steven John)

    2012-01-01

    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 ...

  2. International Conference on Robotics and Automation (ICRA), 1998 RANGE AND POSE ESTIMATION FOR VISUAL SERVOING

    E-Print Network [OSTI]

    International Conference on Robotics and Automation (ICRA), 1998 RANGE AND POSE ESTIMATION FOR VISUAL SERVOING OF A MOBILE ROBOT David Jung, Jochen Heinzmann and Alexander Zelinsky Robotic Systems for real-time visual servoing on a mobile robot. The behaviour is a component of a multi-robot cleaning

  3. Department of Mechanical Engineering The Application of Fluid Power to Meet the Needs of Surgical Robotics

    E-Print Network [OSTI]

    Wu, Mingshen

    Robotics Devin R. Berg1, Perry Y. Li1, Arthur G. Erdman1, Tianhong Cui1, and Timothy P. Kinney2 1Department of Minnesota, Minneapolis, MN Introduction Robotic surgery promises to produce continued development of a novel fluid powered robotic surgical platform. Unlike current robotic instruments in which a robot

  4. JUNE 2006 IEEE Robotics & Automation Magazine 7 E D U C A T I O N

    E-Print Network [OSTI]

    Haller, Gary L.

    JUNE 2006 IEEE Robotics & Automation Magazine 7 E D U C A T I O N Spotlight on the Robotics Robotics Everywhere," March 2006), Daniela Rus discussed the outcomes of the Robotics Education Workshop held in conjunction with the Robotics: Science and Systems confer- ence at the Massachusetts Institute

  5. csce190 Computing in the Modern World Computing Challenges in Robotics

    E-Print Network [OSTI]

    Valtorta, Marco

    csce190 ­ Computing in the Modern World Fall 2011 Computing Challenges in Robotics Prof. Jason O'Kane March 1, 2011 #12;Main idea csce190 ­ Computing Challenges in Robotics ­ 2 Robots will have huge impact;Jobs in Robotics csce190 ­ Computing Challenges in Robotics ­ 3 The job market for computer scientists

  6. 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

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

    E-Print Network [OSTI]

    Kanda, Takayuki

    robot can produce and its perceived intelligence. We propose a robot architecture for implementing the robot in communicating with people in a consistent manner. We have implemented over 100 behaviors and 800 episode rules in a humanoid robot. As a result, the robot could entice people to relate

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

    E-Print Network [OSTI]

    Parikh, Kush Jay

    2013-01-01

    Dynamic Coordination Between Robots: Self-Organized Timingthe position vector of a robot at time t, ! ! ! denotes theis the projection of the i’th robot’s position to its convex

  9. 1070-9932/07/$25.002007 IEEEIEEE Robotics & Automation Magazine MARCH 200720 IEEE Robotics & Automation Magazine MARCH 200720 ithin factories around the world, robots perform heroic feats of manipulation

    E-Print Network [OSTI]

    Kemp, Charlie

    1070-9932/07/$25.00©2007 IEEEIEEE Robotics & Automation Magazine MARCH 200720 IEEE Robotics & Automation Magazine MARCH 200720 W ithin factories around the world, robots perform heroic feats sophisticated robot would be unable to get you a glass of water. The everyday manipulation tasks we take

  10. Synthesis of Tactical Plans for Robotic Excavation

    E-Print Network [OSTI]

    Singh, Sanjiv

    of soil varies immensely, and in general, it is not possible to analytically describe the mechanics the early work and for set- ting me on track to investigate soil mechanics. Thanks to Dan Koditschek an approach to synthesizing plans for robotic excavators. Excava- tion tasks range from loading a pile of soil

  11. The International Journal of Robotics Research

    E-Print Network [OSTI]

    Bustamante, Fabián E.

    objects by means of the perturbations the objects induce in a self-generated electric field in understanding the computational principles of biological active electrosense. Prior work in robotic active to detect electrical fields that originate from outside of their body, only two groups of freshwater

  12. ROBOTIC DEVICE FOR CLEANING PHOTOVOLTAIC PANEL ARRAYS

    E-Print Network [OSTI]

    Mavroidis, Constantinos

    1 ROBOTIC DEVICE FOR CLEANING PHOTOVOLTAIC PANEL ARRAYS MARK ANDERSON, ASHTON GRANDY, JEREMY HASTIE. The main method for harnessing solar power is with arrays made up of photovoltaic (PV) panels. Accumulation-based cleaning methods for photovoltaic arrays are costly in time, water and energy usage and lack automation

  13. 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.

    1999-08-10

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

  14. WORLD ROBOTICS 2009 EXECUTIVE SUMMARY of

    E-Print Network [OSTI]

    De Luca, Alessandro

    of industrial robots since 2005 has two reasons: · The automotive industry strengthened its investments in traditional markets. · Many non-automotive sectors like the rubber and plastics industry, the metal the automotive and electrical/electronics industry in 2005, purchases in both sectors were down in 2006 and 2007

  15. Team Description Paper Virtual Robot competition

    E-Print Network [OSTI]

    Visser, Arnoud

    UvA Rescue Team Description Paper Virtual Robot competition Rescue Simulation League RoboCup Iran- ject [7], although their participation for the Iran Open and Brazil 2014 is not yet con#12;rmed and not full 6D SLAM, because the 3D point-cloud consists of slices of a rotating 2D laser scanner. When

  16. Engineering Creative Design in Robotics and

    E-Print Network [OSTI]

    Sainudiin, Raazesh

    Engineering Creative Design in Robotics and Mechatronics Maki K. Habib The American University in Cairo, Egypt J. Paulo Davim University of Aveiro, Portugal A volume in the Advances in Mechatronics and mechatronics / Maki K. Habib and J. Paulo Davim, editors. pages cm Includes bibliographical references

  17. METACHRONAL WAVE GAIT GENERATION FOR HEXAPOD ROBOTS

    E-Print Network [OSTI]

    Parker, Gary B.

    METACHRONAL WAVE GAIT GENERATION FOR HEXAPOD ROBOTS GARY B. PARKER and JONATHAN W. MILLS Department@cs.indiana.edu ABSTRACT The metachronal wave is a gait used by most terrestrial arthropods. Each leg only lifts when the leg behind it is on the ground in position to support the animal's weight. The wave starts from

  18. 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

  19. 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)

    1999-01-01

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

  20. Robotics Technology Development Program. Technology summary

    SciTech Connect (OSTI)

    Not Available

    1994-02-01

    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.

  1. SUMMARY OF 2009 RHEOLOGY MODIFIER PROGRAM

    SciTech Connect (OSTI)

    Hansen, E.

    2009-12-08

    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.

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

    E-Print Network [OSTI]

    Borissova, Daniela

    36 . BULGARIAN ACADEMY OF SCIENCES , 53 PROBLEMS OF ENGINEERING CYBERNETICS AND ROBOTICS, 53 . 2002 . Sofia Modular Approach in Projecting of Intelligent Mobile Robots P. Kopacek, N. Chivarov Institute for Handling Devices and Robotics, Vienna University of Technology, Favoritenstrasse 9

  3. "Architectural Robotics": An Interdisciplinary Course Rethinking the Machines We Live In

    E-Print Network [OSTI]

    "Architectural Robotics": An Interdisciplinary Course Rethinking the Machines We Live In Apoorva- ditionally prevented robotics from significantly impacting the built (architectural) environment we inhabit-level course in Architectural Robotics. The results from class interactions and projects provide insight

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

    E-Print Network [OSTI]

    Lee, Jae Yong

    2002-01-01

    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...

  5. 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.

  6. Design of a low-mass high-torque brushless motor for application in quadruped robotics

    E-Print Network [OSTI]

    Farve, Niaja Nichole

    2012-01-01

    The Biomimetic Robotics Group is attempting to build the fastest quadruped robot powered by electromagnetic means. The limitations in achieving this goal are the torque produced from motors used to power the robot, as well ...

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

    E-Print Network [OSTI]

    Kim, Jinsuck

    2004-11-15

    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 ...

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

    E-Print Network [OSTI]

    Xu, Yiliang

    2011-10-21

    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 ...

  9. 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

    2007-01-01

    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

  10. 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.

    2010-01-01

    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

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

    E-Print Network [OSTI]

    Hamilton, Matthew

    2010-01-01

    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

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

    E-Print Network [OSTI]

    Marchal-Crespo, Laura; Reinkensmeyer, David J

    2009-01-01

    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

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

    E-Print Network [OSTI]

    Dantu, Karthik; Sukhatme, Gaurav

    2007-01-01

    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

  14. Application of Modern Filtering Techniques for 3D Localisation in Biological and Robotic Systems

    E-Print Network [OSTI]

    Application of Modern Filtering Techniques for 3D Localisation in Biological and Robotic Systems Application of Modern Filtering Techniques for 3D Localisation in Biological and Robotic Systems Kudah C system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 2.2 Robotic system

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

    E-Print Network [OSTI]

    Zhang, Bin; Sukhatme, Gaurav

    2007-01-01

    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

  16. 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

  17. 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.

    2010-01-01

    J, Cathelineau X et al (2006) Robot-assisted versus pure010-0189-8 CASE REPORT Robot-assisted laparoscopicthe ?rst report of robot-assisted pelvic lymphadenectomy in

  18. Toto the Robot Figure 1. Toto, front view. Figure 2. Toto, rear view.

    E-Print Network [OSTI]

    Indiana University

    Toto the Robot Figure 1. Toto, front view. Figure 2. Toto, rear view. Toto the Robot was created so a robot, helps account for his lack of verbal charm. Second, some younger children may recognize in Toto

  19. 18-20 2547 -A Leg-Wheel Hybrid Mobile Robot

    E-Print Network [OSTI]

    Laksanacharoen, Sathaporn

    improve rough terrain locomotion in a hexapod robot," in Robotics and Autonomous System, vol.18, 1996, pp. Watson, "Design and simulation of a cockroach-like hexapod robot," in Proceedcings ICRA 1997 IEEE

  20. EVOLVING PREDATOR CONTROL PROGRAMS FOR A HEXAPOD ROBOT PURSUING A PREY

    E-Print Network [OSTI]

    Parker, Gary B.

    EVOLVING PREDATOR CONTROL PROGRAMS FOR A HEXAPOD ROBOT PURSUING A PREY GARY PARKER, CONNECTICUT for an autonomous hexapod robot, the predator, which allowed it to catch another autonomous robot, the prey

  1. Robotics: Science and Systems 2006 Philadelphia, PA, August 16-19, 2006

    E-Print Network [OSTI]

    and Feedback on a Robotic Climbing Hexapod G. Clark Haynes and Alfred A. Rizzi The Robotics Institute Carnegie, to produce behaviors that span the space of possible gaits. These concepts are applied to a robotic hexapod

  2. Seeing with Your Hands: a Better Way to Obtain Perception Capabilities with a Personal Robot

    E-Print Network [OSTI]

    Sukhatme, Gaurav S.

    homes or gardens, we find robots vacuuming or mowing the lawn. Today's robots however, are still very the hospital, food delivery, errants and so on, could be performed by a robot in the future. Furthermore

  3. Inertial and Aerodynamic Tail Steering of a Meso-scale Legged Robot

    E-Print Network [OSTI]

    Kohut, Nicholas Jospeh

    2013-01-01

    In International Symposium on Robotics, volume 30, OctoberIn IEEE Int. Conf. on Robotics and Automation, May 2013.In IEEE Int. Conf. on Robotics and Automation, Pasadena, CA,

  4. PhD Program in Bioengineering and Curriculum Robotics and Autonomous Systems

    E-Print Network [OSTI]

    Robbiano, Lorenzo

    1 PhD Program in Bioengineering and Robotics Curriculum Robotics and Autonomous Systems Research of this curriculum are supported by the Department of Informatics, Bioengineering, Robotics and System Engineering

  5. 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

  6. Robotic assembly and testing of rotary solenoids: Final report

    SciTech Connect (OSTI)

    Lembke, J.R.

    1987-02-01

    Robotic automation of rotary solenoid assembly and testing operations was investigated. A robot was used to evaluate the automation of solenoid torque measurements. A measurement arrangement was devised in which the robot connects the solenoid shaft to a torque sensor, rotates the solenoid housing, and correlates rotational data with digitized torque readings. Results are typically in good agreement with those from the manually operated universal tension tester. Stack assembly of the rotary solenoid was attempted using another robot. Starting with parts in a component tray, the robot assembles the solenoid vertically in a precision cavity and installs retaining rings on the shaft. Special tooling and a remote center compliance device in the robot wrist have enabled the prototype assembly process to be largely successful, in spite of extremely small clearances between mating parts.

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

    E-Print Network [OSTI]

    Vladimir A. Vladimirov

    2012-09-13

    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.

  8. Energy Dissipation by Metamorphic Micro-Robots in Viscous Fluids

    E-Print Network [OSTI]

    Hogg, Tad

    2015-01-01

    Microscopic robots could perform tasks with high spatial precision, such as acting on precisely-targeted cells in biological tissues. Some tasks may benefit from robots that change shape, such as elongating to improve chemical gradient sensing or contracting to squeeze through narrow channels. This paper evaluates the energy dissipation for shape-changing (i.e., metamorphic) robots whose size is comparable to bacteria. Unlike larger robots, surface forces dominate the dissipation. Theoretical estimates indicate that the power likely to be available to the robots, as determined by previous studies, is sufficient to change shape fairly rapidly even in highly-viscous biological fluids. Achieving this performance will require significant improvements in manufacturing and material properties compared to current micromachines. Furthermore, optimally varying the speed of shape change only slightly reduces energy use compared to uniform speed, thereby simplifying robot controllers.

  9. [8] Robotic Cloning and Protein Production Platform of the Northeast Structural

    E-Print Network [OSTI]

    Gerstein, Mark

    [8] Robotic Cloning and Protein Production Platform of the Northeast Structural Genomics Consortium eukaryotic and prokaryotic proteins. These improved robotic and/or parallel cloning, expression, protein pro

  10. I, Quantum Robot: Quantum Mind control on a Quantum Computer

    E-Print Network [OSTI]

    Paola Zizzi

    2009-05-28

    The logic which describes quantum robots is not orthodox quantum logic, but a deductive calculus which reproduces the quantum tasks (computational processes, and actions) taking into account quantum superposition and quantum entanglement. A way toward the realization of intelligent quantum robots is to adopt a quantum metalanguage to control quantum robots. A physical implementation of a quantum metalanguage might be the use of coherent states in brain signals.

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

    E-Print Network [OSTI]

    Feldman, Todd; Friedman, Daniel

    2008-01-01

    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

  12. Human Assisted Robotic Team Campaigns for Aquatic Monitoring

    E-Print Network [OSTI]

    2007-01-01

    designed for lake environment monitoring. Advanced Robotics,monitoring programs in shallow estuaries where the physical, chemical and biological characteristics of the observed environment

  13. SRNS revives student robotics team | National Nuclear Security...

    National Nuclear Security Administration (NNSA)

    the donation, in addition to supporting local students, is an investment in the next generation of engineers, technicians and scientists. SRNS revives student robotics team Jun 14,...

  14. Using the Average Landmark Vector Method for Robot Homing

    E-Print Network [OSTI]

    Mántaras, Ramon López de

    López DE MÁNTARAS a Ricardo TOLEDO c a IIIA (Artificial Inteligence Research Institute) of the CSIC b sensor for the robot is us

  15. "Thinking" Telescopes: An Autonomous Robotic Ecosystem for Persistent...

    Office of Scientific and Technical Information (OSTI)

    "Thinking" Telescopes: An Autonomous Robotic Ecosystem for Persistent Monitoring and Real-Time Response Citation Details In-Document Search Title: "Thinking" Telescopes: An...

  16. Robot in Society: Friend or Appliance? Cynthia Breazeal #

    E-Print Network [OSTI]

    Robot in Society: Friend or Appliance? Cynthia Breazeal # Massachusetts Institute of Technology Artificial Intelligence Laboratory 545 Technology Square, Room 938 Cambridge, MA 02139 USA email: cynthia

  17. Local FIRST robotics teams dominate regionals, advance to world...

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

    2011 2010 News Home | ORNL | News | Features | 2013 SHARE News Feature Local FIRST robotics teams dominate regionals, advance to world championship UT-Battelle continues third...

  18. Sandia hosts annual robot rodeo | National Nuclear Security Administra...

    National Nuclear Security Administration (NNSA)

    hosts annual robot rodeo | National Nuclear Security Administration Facebook Twitter Youtube Flickr RSS People Mission Managing the Stockpile Preventing Proliferation Powering the...

  19. Rehabilitation Robot Cell for Multimodal Standing-Up Motion Augmentation

    E-Print Network [OSTI]

    Kamnik, R.; Bajd, T.; Williamson, J.

    Kamnik,R. Bajd,T. Williamson,J. Murray-Smith,R. International Conference on Robotics and Automation (ICRA 2005), Barcelona IEEE

  20. Nonderivative modified gravity: a classification

    SciTech Connect (OSTI)

    Comelli, D.; Nesti, F.; Pilo, L. E-mail: fabrizio.nesti@irb.hr

    2014-11-01

    We analyze the theories of gravity modified by a generic nonderivative potential built from the metric, under the minimal requirement of unbroken spatial rotations. Using the canonical analysis, we classify the potentials V according to the number of degrees of freedom (DoF) that propagate at the nonperturbative level. We then compare the nonperturbative results with the perturbative DoF propagating around Minkowski and FRW backgrounds. A generic V implies 6 propagating DoF at the non-perturbative level, with a ghost on Minkowski background. There exist potentials which propagate 5 DoF, as already studied in previous works. Here, no V with unbroken rotational invariance admitting 4 DoF is found. Theories with 3 DoF turn out to be strongly coupled on Minkowski background. Finally, potentials with only the 2 DoF of a massive graviton exist. Their effect on cosmology is simply equivalent to a cosmological constant. Potentials with 2 or 5 DoF and explicit time dependence appear to be a further viable possibility.

  1. Piezoelectric film load cell robot collision detector

    DOE Patents [OSTI]

    Lembke, J.R.

    1988-03-15

    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.

  2. Piezoelectric film load cell robot collision detector

    DOE Patents [OSTI]

    Lembke, J.R.

    1989-04-18

    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.

  3. Piezoelectric film load cell robot collision detector

    DOE Patents [OSTI]

    Lembke, John R. (Overland Park, KS)

    1989-04-18

    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.

  4. Needs for Robotic Assessments of Nuclear Disasters

    SciTech Connect (OSTI)

    Victor Walker; Derek Wadsworth

    2012-06-01

    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.

  5. Operations Manual MobileRobots Exclusive

    E-Print Network [OSTI]

    BotTM, PowerBotTM, PatrolBotTM, ARCSinsideTM, SetNetGoTM, MobilePlannerTM, MobileSimTM and MobileEyesTM are trademarks of MobileRobots Inc. Other names and logos for companies and products mentioned or featured in this document are often registered trademarks or trademarks of their respective companies. Mention of any third

  6. Modular architecture for robotics and teleoperation

    DOE Patents [OSTI]

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

    1996-12-03

    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.

  7. Process for anodizing a robotic device

    DOE Patents [OSTI]

    Townsend, William T. (Weston, MA)

    2011-11-08

    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.

  8. Intelligent, self-contained robotic hand

    DOE Patents [OSTI]

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

    2007-01-30

    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.

  9. LEARNING REFLEXES FOR TELEOPERATED GROUND-BASED RESCUE ROBOTS 

    E-Print Network [OSTI]

    Moss, Matthew 1987-

    2011-04-25

    . The software system written in C# uses a Subsumption Architecture, where the reflex takes priority over operator commands that place the robot in danger. The developed system was tested over 3 trials, 2 with the NIST Standard Test Method for Response Robots...

  10. Global methodology in control architecture to improve mobile robot reliability

    E-Print Network [OSTI]

    Paris-Sud XI, Université de

    (valid interval value verification), safety-bag checks (command verification), and model-based monitoring and diagnosis (detection of any inconsistency between measured system data and corre- sponding model values) [3. Robots are fitted with numerous powerful sensors which provide accurate information about the robot state

  11. Multi-Robot Organisms: State of the Art

    E-Print Network [OSTI]

    Kernbach, Serge; Harada, Kanako; Popesku, Sergej; Liedke, Jens; Raja, Humza; Liu, Wenguo; Caparrelli, Fabio; Jemai, Jaouhar; Havlik, Jiri; Meister, Eugen; Levi, Paul

    2011-01-01

    This paper represents the state of the art development on the field of artificial multi-robot organisms. It briefly considers mechatronic development, sensor and computational equipment, software framework and introduces one of the Grand Challenges for swarm and reconfigurable robotics.

  12. : Measurement of Battery Capacity in Mobile Robot Systems

    E-Print Network [OSTI]

    Breu, Ruth

    . These enhancements pose demanding operation conditions on the battery, emphasizing the importance of this com- ponentRoBM2 : Measurement of Battery Capacity in Mobile Robot Systems Nestor Lucas1 , Cosmin Codrea1. With battery driven robot systems performing very sophisti- cated tasks, increasing demands on the power supply

  13. Robust Neural Sliding Mode Control of Robot Manipulators

    SciTech Connect (OSTI)

    Nguyen Tran Hiep [Le Quy Don University Hanoi-Vietnam (Viet Nam); Pham Thuong Cat [Institute of Information Technology, Academy of Science and Technology Vietnam (Viet Nam)

    2009-03-05

    This paper proposes a robust neural sliding mode control method for robot tracking problem to overcome the noises and large uncertainties in robot dynamics. The Lyapunov direct method has been used to prove the stability of the overall system. Simulation results are given to illustrate the applicability of the proposed method.

  14. Self-Stabilizing Robot Formations over Unreliable Networks

    E-Print Network [OSTI]

    Liberzon, Daniel

    -stabilization ensures that the robots can adapt to changes in the desired target formation. Categories and Subject17 Self-Stabilizing Robot Formations over Unreliable Networks SETH GILBERT Ecole Polytechnique F Descriptors: F.1.2 [Computation by Abstract Devices]: Modes of Compu- tation--Interactive and reactive

  15. Robotic Needle Steering: Design, Modeling, Planning, and Image Guidance

    E-Print Network [OSTI]

    . Cowan et al. 1 Introduction From biopsies to brachytherapy, needle-based interventions already comprise brachytherapy destroys healthy instead of cancerous tissue, sometimes with catas- trophic outcomes [13]. Robotic engineering needle- placement robots for prostate biopsy and brachytherapy under a variety of imaging

  16. On Provably Safe Obstacle Avoidance for Autonomous Robotic Ground Vehicles

    E-Print Network [OSTI]

    Platzer, André

    and mov- ing obstacles: (i) passive safety, which ensures that no collisions can happen while the robot moves, and (ii) the stronger passive friendly safety in which the robot further maintains sufficient as consumer products--such as autonomous household appliances [7] or driverless cars on regular Califor- nian

  17. Multi-robot Patrol via the Metropolis-Hastings Algorithm 

    E-Print Network [OSTI]

    Edwards, Matthew Ryan

    2014-09-17

    The problem of multi-robot patrol is a growing field of study that focuses on the problem of coordinating teams of robots to optimally patrol a perimeter or area. In this paper, we propose a new method of generating patrolling policies in the form...

  18. Object Recognition Tools for Educational Robots Xinghao Pan

    E-Print Network [OSTI]

    McAuliffe, Jon

    Object Recognition Tools for Educational Robots Xinghao Pan Advised by Professor David S. Touretzky-source tools to conveniently perform these tasks. This research aims to develop SIFT-based object recognition tools for use by students in undergraduate robotics courses. The tools will allow students to gain

  19. Design, Control, and Experimental Performance of a Teleoperated Robotic Fish

    E-Print Network [OSTI]

    Papadopoulos, Evangelos

    Design, Control, and Experimental Performance of a Teleoperated Robotic Fish Evangelos Papadopoulos National Technical University of Athens 15780 Athens, Greece egpapado@central.ntua.gr Abstract-- Fish-cost teleoperated underwater robotic fish, driven by an oscillating foil. The main principles for the development

  20. www.yalecancercenter.org Robotic Surgery for Lung Cancer

    E-Print Network [OSTI]

    O'Hern, Corey S.

    www.yalecancercenter.org Robotic Surgery for Lung Cancer Guest Expert: Anthony Kim, MD Assistant and an expert in the use of radiation to treat lung cancers and cutaneous lymphomas. If you would like to join for a conversation about robotic surgery for lung cancer. Here is Francine Foss. Foss Let's start off by talking

  1. Bringing Together Human and Robotic Environment Representations A Pilot Study

    E-Print Network [OSTI]

    Bringing Together Human and Robotic Environment Representations ­ A Pilot Study Elin A. Topp, Helge and Communication (CSC) Royal Institute of Technology (KTH) 10044 Stockholm, Sweden Email: {topp,hehu,hic,kse}@csc.kth.se Abstract-- Human interaction with a service robot requires a shared representation of the environment

  2. Robotic snow cat Guttorm Ringstad Opshaug and Per Enge

    E-Print Network [OSTI]

    Stanford University

    Robotic snow cat Guttorm Ringstad Opshaug and Per Enge Department of Aeronautics and Astronautics. This same technology can also find use in grooming the slopes of a ski area! With safety paramount, snow grooming is always performed after closing time of a ski resort, i.e. evenings and nights. Robotic snow

  3. Proceedings of the 2001 IEEE International Conference on Robotics & Automation

    E-Print Network [OSTI]

    Shen, Wei-Min

    and manage multiple active hormones for producing coherent global effects. 2 Introduction Metamorphic or self, or become a ball to roll down a slope. Similarly, to enter a room through a closed door, a self of the CONRO self- reconfigurable robots. Metamorphic robots are constructed from a set of autonomous

  4. A system of launchable mesoscale robots for distributed sensing

    E-Print Network [OSTI]

    Voyles, Richard

    A system of launchable mesoscale robots for distributed sensing Kemal B. Yesina , Bradley J technologies to develop active vision modules for the mesoscale robot. A single chip CMOS video sensor is used- log video signals from the camera. Keywords: launchable, mobile, mesoscale, camera, pan-tilt 1

  5. MIRO: MIDDLEWARE FOR CONTROLLING BIOLOGICALLY INSPIRED MOBILE ROBOTS

    E-Print Network [OSTI]

    Weitzenfeld, Alfredo

    . These animals react both to fixed and mobile objects. Within the fixed group we find, for example, a water@itam.mx Abstract The study of animal behavior has inspired many robotic designs. In general, there are two ways. The goal within this architecture is to reduce robot complexity, size, cost and energy consumption

  6. Evolution of the layers in a subsumption architecture robot controller

    E-Print Network [OSTI]

    Togelius, Julian

    Evolution of the layers in a subsumption architecture robot controller Julian Togelius Dissertation julian@togelius.com +46-705-192088 #12;2 Abstract An approach to robotics called layered evolution. The evolvability and performance of layered evolution on this task is compared to (standard) monolithic evolution

  7. Stream-oriented Robotics Programming: The Design of roshask

    E-Print Network [OSTI]

    Taylor, Camillo J.

    component that produces commands for a motor interface. ROS nodes is designed in a complementary fashionStream-oriented Robotics Programming: The Design of roshask Anthony Cowley and Camillo J. Taylor a core design principle of virtually every large robotics software engineering effort over the past

  8. Complementary Tactile Sensor and Human Interface for Robotic Telemanipulation

    E-Print Network [OSTI]

    Payeur, Pierre

    operations, nuclear power plants, or difficult to reach environments, such as under-water, extreme climate and human interface for the robotic telemanipulation of physical objects in interactive haptic virtual environments. Keywords-tactile sensor; tactile human interface; robotic telemanipulation; interactive virtual

  9. Robot Task Execution with Telepresence Using Virtual Reality Technology

    E-Print Network [OSTI]

    Ang Jr.,, Marcelo H.

    that are non-repetitive, unpredictable and hazardous to humans. Clearing up a nuclear power plant leak1 Robot Task Execution with Telepresence Using Virtual Reality Technology Lim Ser Yong*, Wong Hong. This paper describes the design and implementation of a telepresent robot control system using virtual

  10. Click here to print Marathon robot: 'Ranger' sets a world

    E-Print Network [OSTI]

    Ruina, Andy L.

    . Professor Ruina said: 'Our challenge is to lower the energy use while still maintaining balance, 'TheClick here to print Marathon robot: 'Ranger' sets a world record by walking 40.5 miles non a new world record after their robot walked 40.5 miles on a single battery charge without stopping

  11. Towards Brain-Robot Interfaces in Stroke Rehabilitation

    E-Print Network [OSTI]

    Towards Brain-Robot Interfaces in Stroke Rehabilitation M. Gomez-Rodriguez, M. Grosse-Wentrup, J rehabilitation methods for patients with severe motor impairment due to cerebrovascular brain damage (e of a robot-based rehabilitation framework that enables artificial support of the sensorimotor feedback loop

  12. BOOK REVIEW Darwin's Devices: What Evolving Robots Can

    E-Print Network [OSTI]

    Fish, Frank

    and machines were sepa- rate entities. One adapting to an ever-changing environment by unconscious forces fiction and the musings of futur- ists, but now they are becoming a reality. The devel- opment of robots design was selected as a simplified robotic model of fossil fishes and examines the functional

  13. Path Planning for Permutation-Invariant Multi-Robot Formations

    E-Print Network [OSTI]

    Hutchinson, Seth

    Path Planning for Permutation-Invariant Multi-Robot Formations Stephen Kloder Seth Hutchinson, IL 61801 Email: {kloder, seth}@uiuc.edu Abstract-- In this paper we demonstrate path planning for our-assign roles for each individual robot, rely on local planning and behaviors to build emergent behaviors

  14. Learning Opportunity Costs in MultiRobot Market Based Planners

    E-Print Network [OSTI]

    Schneider, Jeff

    . The robots then trade these tasks through a market based mechanism. The challenge for the system designer costs in market based planners. We provide analytic results in simplified scenarios and empiricalLearning Opportunity Costs in Multi­Robot Market Based Planners Jeff Schneider, David Apfelbaum

  15. 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

  16. 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 to the joints of an arm. Using the same architecture, a wide variety of tasks can be achieved without any

  17. Planning Single-arm Manipulations with N-Arm Robots

    E-Print Network [OSTI]

    Likhachev, Maxim

    Planning Single-arm Manipulations with N-Arm Robots Benjamin Cohen bcohen@seas.upenn.edu University@cs.cmu.edu Carnegie Mellon University Abstract--Many robotic systems are comprised of two or more arms. Such systems range from dual-arm household manipula- tors to factory floors populated with a multitude of industrial

  18. Giancarlo Valentn & Michael Arpin Camera Equipped Robotic Arm

    E-Print Network [OSTI]

    Hamblen, James

    Giancarlo Valentín & Michael Arpin Camera Equipped Robotic Arm ECE 4180 Fall 2011 #12;Overview #12;Materials: Use USB camera was attached to the ebox to detect objects in the vicinity of the robot arm. If an object of a predetermined type is detected (e.g. red pyramid) it should be picked up by the arm and moved

  19. Postural primitives: Interactive Behavior for a Humanoid Robot Arm

    E-Print Network [OSTI]

    Postural primitives: Interactive Behavior for a Humanoid Robot Arm Matthew M. Williamson matt This paper describes the implementation of re- ex action for the arm of the humanoid robot Cog 5 . A set of biologically inspired postural primitives are used to create the arm motion. The primitives are combined in di

  20. Camera Equipped Robotic Arm Giancarlo Valentn & Michael Arpin

    E-Print Network [OSTI]

    Hamblen, James

    Camera Equipped Robotic Arm Giancarlo Valentín & Michael Arpin #12;Overview: Use USB camera with the ebox to detect objects in the vicinity of the robot arm. If an object of a predetermined type is detected (e.g. red ball) it should be picked up by the arm and move to a designated location. Materials: 1