Implementation of MPS Control with FPGAs using Remote Manipulation

2006 ◽  
Author(s):  
A. Atoche ◽  
J. Castillo ◽  
V. Huerta
Keyword(s):  
Remote Manipulation

Anatomical movement replicator applied to activities in ionizing radiation fields

2021 ◽  
Vol 8 (3A) ◽  
Author(s):  
Amir Zacarias Mesquita
Keyword(s):  
Ionizing Radiation ◽  
Radiological Protection ◽  
Control Center ◽  
Control Programs ◽  
Remote Manipulation ◽  
Radiation Fields ◽  
Working Environments ◽  
Operation Costs ◽  
Human Arm ◽  
And Robotics

The aim of this work is to demonstrate the need to develop more efficient means for radiological protection, making use of the latest automation and robotics technologies. A manipulator model has been developed that has technological differentials that can positively influence the performance and cost of remote manipulation. The built-in equipment has a Slave manipulator, developed without using semiconductor elements. They are housed in the control center, which is attached to the manipulator via umbilical cord, facilitating the equipment adaptation in hot cells and other working environments. The arrangement of the joints and the links, have similarities with the anatomy of the human arm, improving the instinctively of the operation. To demonstrate its technological feasibility, a prototype Master-Slave manipulator was designed, and built using three control programs, which were written exclusively for this work. It was also designed to reduce construction and operation costs, making it accessible to most areas. The results obtained with the prototype construction are shown to be promising, providing an incentive to continue the development of manipulators using similar technologies. The equipment, obtained satisfactory results in relation to the operability, being able to perform movement tasks of loads, as foreseen in the project.

scholarly journals Small-variance asymptotics for non-parametric online robot learning

2018 ◽  
Vol 38 (1) ◽  
pp. 3-22 ◽  
Author(s):  
Ajay Kumar Tanwani ◽  
Sylvain Calinon
Keyword(s):  
Mixture Models ◽  
Dirichlet Process ◽  
Large Scale ◽  
Principal Component ◽  
Small Variance ◽  
Remote Manipulation ◽  
State Duration ◽  
Duration Information ◽  
Low Dimensional ◽  
Non Parametric

Small-variance asymptotics is emerging as a useful technique for inference in large-scale Bayesian non-parametric mixture models. This paper analyzes the online learning of robot manipulation tasks with Bayesian non-parametric mixture models under small-variance asymptotics. The analysis yields a scalable online sequence clustering (SOSC) algorithm that is non-parametric in the number of clusters and the subspace dimension of each cluster. SOSC groups the new datapoint in low-dimensional subspaces by online inference in a non-parametric mixture of probabilistic principal component analyzers (MPPCA) based on a Dirichlet process, and captures the state transition and state duration information online in a hidden semi-Markov model (HSMM) based on a hierarchical Dirichlet process. A task-parameterized formulation of our approach autonomously adapts the model to changing environmental situations during manipulation. We apply the algorithm in a teleoperation setting to recognize the intention of the operator and remotely adjust the movement of the robot using the learned model. The generative model is used to synthesize both time-independent and time-dependent behaviors by relying on the principles of shared and autonomous control. Experiments with the Baxter robot yield parsimonious clusters that adapt online with new demonstrations and assist the operator in performing remote manipulation tasks.

scholarly journals Remote manipulation of magnetic nanoparticles using magnetic field gradient to promote cancer cell death

2018 ◽  
Author(s):  
Mahendran Subramanian ◽  
Arkadiusz Miaskowski ◽  
Stuart Iain Jenkins ◽  
Jenson Lim ◽  
Jon Dobson
Keyword(s):  
Magnetic Field ◽  
Magnetic Nanoparticles ◽  
Field Gradient ◽  
Biomedical Applications ◽  
Magnetic Field Gradient ◽  
Field Source ◽  
Remote Manipulation ◽  
Cancer Cell Death ◽  
The Magnetic Field

AbstractThe manipulation of magnetic nanoparticles (MNPs) using an external magnetic field, has been demonstrated to be useful in various biomedical applications. Some techniques have evolved utilizing this non-invasive external stimulus but the scientific community widely adopts few, and there is an excellent potential for more novel methods. The primary focus of this study is on understanding the manipulation of MNPs by a time-varying static magnetic field and how this can be used, at different frequencies and displacement, to manipulate cellular function. Here we explore, using numerical modeling, the physical mechanism which underlies this kind of manipulation, and we discuss potential improvements which would enhance such manipulation with its use in biomedical applications, i.e., increasing the MNP response by improving the field parameters. From our observations and other related studies, we infer that such manipulation depends mostly on the magnetic field gradient, the magnetic susceptibility and size of the MNPs, the magnet array oscillating frequency, the viscosity of the medium surrounding MNPs, and the distance between the magnetic field source and the MNPs. Additionally, we demonstrate cytotoxicity in neuroblastoma (SH-SY5Y) and hepatocellular carcinoma (HepG2) cells in vitro. This was induced by incubation with MNPs, followed by exposure to a magnetic field gradient, physically oscillating at various frequencies and displacement amplitudes. Even though this technique reliably produces MNP endocytosis and/or cytotoxicity, a better biophysical understanding is required to develop the mechanism used for this precision manipulation of MNPs, in vitro.

scholarly journals Multi-Sensor Localization and Navigation for Remote Manipulation in Smoky Areas

10.5772/55808 ◽  
2013 ◽  
Vol 10 (4) ◽  
pp. 211 ◽  
Author(s):  
Jose Vicente Marti ◽  
Jorge Sales ◽  
Raul Marin ◽  
Pedro Sanz
Keyword(s):  
Sensor Localization ◽  
Remote Manipulation

Drawing Elon Musk: A Robot Avatar for Remote Manipulation

2021 ◽  
Author(s):  
Lingyun Chen ◽  
Abdalla Swikir ◽  
Sami Haddadin
Keyword(s):  
Remote Manipulation

Knotting Mechanisms and a Knotting Theory

1998 ◽  
Author(s):  
Shahram Payandeh ◽  
Alan J. Lomax
Keyword(s):  
Degrees Of Freedom ◽  
Knot Theory ◽  
Design Concept ◽  
Haptic Interface ◽  
Design Features ◽  
Operation System ◽  
Remote Manipulation ◽  
Challenging Tasks ◽  
Mathematical Abstraction ◽  
Practical Design

Abstract In the filed of remote manipulation, it is generally required to manipulate objects through elongated tools or through a tele-operation system. In the field of EndoSurgery, one of the challenging tasks for the surgeons is the notion of knotting a suture. This is done by using long graspers and needle drivers which have constrained degrees of freedom caused by the ports of entry to the surgical area. In general, this task is the most time consuming one and requires degree of dexterity which is not available. The objective of this paper is to present an overview of the patented design features of various knotting assisting mechanisms which have been invented for automating aspect of knotting and discussion on a novel and practical design concept. Then this paper presents how the notion of the Knot Theory which is mathematical abstraction can be extended to develop a Graphical Surgeon Interface (GSI) in order to guide the operator during the remote manipulation of the suture during the knotting task and also during the training phases using a haptic interface device.

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