Telesurgery: Surgery in the Digital Age

The dawn of the digital age has transformed the way we now receive and provide healthcare. Today, providers have instant access to all of their patients’ information, just as patients can connect with their providers on their smartphones in minutes from nearly anywhere in the world

Graphical programming: A systems approach for telerobotic servicing of space assets

Satellite servicing is in many ways analogous to subsea robotic servicing in the late 1970's. A cost effective, reliable, telerobotic capability had to be demonstrated before the oil companies invested money in deep water robot serviceable production facilities. In the same sense, aeronautic engineers will not design satellites for telerobotic servicing until such a quantifiable capability has been demonstrated. New space servicing systems will be markedly different than existing space robot systems. Past space manipulator systems, including the Space Shuttle's robot arm, have used master/slave technologies with poor fidelity, slow operating speeds and most importantly, in-orbit human operators. In contrast, new systems will be capable of precision operations, conducted at higher rates of speed, and be commanded via ground-control communication links. Challenge presented by this environment include achieving a mandated level of robustness and dependability, radiation hardening, minimum weight and power consumption, and a system which accommodates the inherent communication delay between the ground station and the satellite. There is also a need for a user interface which is easy to use, ensures collision free motions, and is capable of adjusting to an unknown workcell (for repair operations the condition of the satellite may not be known in advance). This paper describes the novel technologies required to deliver such a capability

Wave Prediction and Delay Modeling for Teleoperation via Internet

This paper propose a novel approach for modeling the end-to-end time delay dynamics of the internet using system identification, and use it for controlling real-time internet-based telerobotic operations. When a single model is used, it needs to adapt to the operating conditions before an appropriate control mechanism can be applied. Slow adaptation may result in large transient errors. As an alternative, we propose to use an adaptive multiple model framework, and determine the best model for the current operating conditions to activate the corresponding controller. We employ multivariable wave prediction method to achieve this objective

The Virtual Robotics Laboratory

The growth of the Internet has provided a unique opportunity to expand research collaborations between industry, universities, and the national laboratories. The Virtual Robotics Laboratory (VRL) is an innovative program at Oak Ridge National Laboratory (ORNL) that is focusing on the issues related to collaborative research through controlled access of laboratory equipment using the World Wide Web. The VRL will provide different levels of access to selected ORNL laboratory equipment to outside universities, industrial researchers, and elementary and secondary education programs. In the past, the ORNL Robotics and Process Systems Division (RPSD) has developed state-of-the-art robotic systems for the Army, NASA, Department of Energy, Department of Defense, as well as many other clients. After proof of concept, many of these systems sit dormant in the laboratories. This is not out of completion of all possible research topics, but from completion of contracts and generation of new programs. In the past, a number of visiting professors have used this equipment for their own research. However, this requires that the professor, and possibly his students, spend extended periods at the laboratory facility. In addition, only a very exclusive group of faculty can gain access to the laboratory and hardware. The VRL is a tool that enables extended collaborative efforts without regard to geographic limitations

Wave Prediction and Delay Modeling for Teleoperation via Internet

This paper propose a novel approach for modeling the end-to-end time delay dynamics of the internet using system identification, and use it for controlling real-time internet-based telerobotic operations. When a single model is used, it needs to adapt to the operating conditions before an appropriate control mechanism can be applied. Slow adaptation may result in large transient errors. As an alternative, we propose to use an adaptive multiple model framework, and determine the best model for the current operating conditions to activate the corresponding controller. We employ multivariable wave prediction method to achieve this objective

Robotics handbook. Version 1: For the interested party and professional

This publication covers several categories of information about robotics. The first section provides a brief overview of the field of Robotics. The next section provides a reasonably detailed look at the NASA Robotics program. The third section features a listing of companies and organization engaging in robotics or robotic-related activities; followed by a listing of associations involved in the field; followed by a listing of publications and periodicals which cover elements of robotics or related fields. The final section is an abbreviated abstract of referred journal material and other reference material relevant to the technology and science of robotics, including such allied fields as vision perception; three-space axis orientation and measurement systems and associated inertial reference technology and algorithms; and physical and mechanical science and technology related to robotics