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At least 235 records · Page 13
All sourcesNASA NTRSDOE OSTI
DOE OSTI2014

SU-E-T-125: Dosimetric Comparison of Intensity Modulated Radiation Therapy Using Robotic Versus Traditional Linac Platform in Prostate Cancer

Purpose: Recent development of an MLC for robotic external beam radiotherapy has the potential of new clinical application in conventionally fractionated radiation therapy. This study offers a dosimetric comparison of IMRT plans using Cyberknife with MLC versus conventional linac plans. Methods: Ten prostate cancer patients treated on a traditional linac with IMRT to 7920cGy at 180cGy/fraction were randomly selected. GTVs were defined as prostate plus proximal seminal vesicles. PTVs were defined as GTV+8mm in all directions except 5mm posteriorly. Conventional IMRT planning was performed on Philips Pinnacle and delivered on a standard linac with CBCT and 10mm collimator leaf width. For each case a Cyberknife plan was created using Accuray Multiplan with same CT data set, contours, and dose constraints. All dosimetric data was transferred to third party software for independent computation of contour volumes and DVH. Delivery efficiency was evaluated using total MU, treatment time, number of beams, and number of segments. Results: Evaluation criteria including percent target coverage, homogeneity index, and conformity index were found to be comparable. All dose constraints from QUANTEC were found to be statistically similar except rectum V50Gy and bladder V65Gy. Average rectum V50Gy was lower for robotic IMRT (30.07%±6.57) versus traditional (34.73%±3.62, p=0.0130). Average bladder V65Gy was lower for robotic (17.87%±12.74) versus traditional (21.03%±11.93, p=0.0405). Linac plans utilized 9 coplanar beams, 48.9±3.8 segments, and 19381±2399MU. Robotic plans utilized 38.4±9.0 non-coplanar beams, 85.5±21.0 segments and 42554.71±16381.54 MU. The average treatment was 15.02±0.60 minutes for traditional versus 20.90±2.51 for robotic. Conclusion: The robotic IMRT plans were comparable to the traditional IMRT plans in meeting the target volume dose objectives. Critical structure dose constraints were largely comparable although statistically significant differences were found in favor of the robotic platform in terms of rectum V50Gy and bladder V65Gy at a cost of 25% longer treatment time.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2015

MO-DE-210-07: Investigation of Treatment Interferences of a Novel Robotic Ultrasound Radiotherapy Guidance System with Clinical VMAT Plans for Liver SBRT Patients

Purpose: To evaluate the proportion of liver SBRT cases in which robotic ultrasound image guidance concurrent with beam delivery can be deployed without interfering with clinically used VMAT beam configurations. Methods: A simulation environment incorporating LINAC, couch, planning CT, and robotic ultrasound guidance hardware was developed. Virtual placement of the robotic ultrasound hardware was guided by a target visibility map rendered on the CT surface. The map was computed on GPU by using the planning CT to simulate ultrasound propagation and attenuation along rays connecting skin surface points to a rasterized imaging target. The visibility map was validated in a prostate phantom experiment by capturing live ultrasound images of the prostate from different phantom locations. In 20 liver SBRT patients treated with VMAT, the simulation environment was used to place the robotic hardware and ultrasound probe at imaging locations indicated on the visibility map. Imaging targets were either entire PTV (range 5.9–679.5 ml) or entire GTV (range 0.9–343.4 ml). Presence or absence of mechanical collisions with LINAC, couch, and patient body as well as interferences with treated beams were recorded. Results: For PTV targets, robotic ultrasound guidance without mechanical collision was possible in 80% of the cases and guidance without beam interference was possible in 60% of the cases. For the smaller GTV targets, these proportions were 95% and 85% correspondingly. GTV size (1/20), elongated shape (1/20), and depth (1/20) were the main factors limiting the availability of non-interfering imaging positions. Conclusion: This study indicates that for VMAT liver SBRT, robotic ultrasound tracking of a relevant internal target would be possible in 85% of cases while using treatment plans currently deployed in the clinic. With beam re-planning in accordance with the presence of robotic ultrasound guidance, intra-fractional ultrasound guidance may be an option for 95% of the liver SBRT cases. This project was funded by NIH Grant R41CA174089.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2016

SU-F-P-31: Dosimetric Effects of Roll and Pitch Corrections Using Robotic Table

Purpose: To quantify the dosimetric effect of roll and pitch corrections being performed by two types of robotic tables available at our institution: BrainLabTM 5DOF robotic table installed at VERO (BrainLab&MHI) dedicated SBRT linear accelerator and 6DOF robotic couch by IBA Proton Therapy with QFixTM couch top. Methods: Planning study used a thorax phantom (CIRSTM), scanned at 4DCT protocol; targets (IGTV, PTV) were determined according to the institutional lung site-specific standards. 12 CT sets were generated with Pitch and Roll angles ranging from −4 to +4 degrees each. 2 table tops were placed onto the scans according to the modality-specific patient treatment workflows. The pitched/rolled CT sets were fused to the original CT scan and the verification treatment plans were generated (12 photon SBRT plans and 12 proton conventional fractionation lung plans). Then the CT sets were fused again to simulate the effect of patient roll/pitch corrections by the robotic table. DVH sets were evaluated for all cases. Results: The effect of not correcting the phantom position for roll/pitch in photon SBRT cases was reducing the target coverage by 2% as maximum; correcting the positional errors by robotic table varied the target coverage within 0.7%. in case of proton treatment, not correcting the phantom position led to the coverage loss up to 4%, applying the corrections using robotic table reduced the coverage variation to less than 2% for PTV and within 1% for IGTV. Conclusion: correcting the patient position by using robotic tables is highly preferable, despite the small dosimetric changes introduced by the devices.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2020

Evolving Trust in Robots: Specification Through Sequential and Comparative Meta-Analyses

Objective The objectives of this meta-analysis are to explore the presently available empirical findings on the antecedents of trust in robots and use this information to expand upon a previous meta-analytic review of the area. Background Human–robot interaction (HRI) represents an increasingly important dimension of our everyday existence. Currently, the most important element of these interactions is proposed to be whether the human trusts the robot or not. We have identified three overarching categories that exert effects on the expression of trust. These consist of factors associated with (a) the human, (b) the robot, and (c) the context in which any specific HRI event occurs. Method The current body of literature was examined and all qualifying articles pertaining to trust in robots were included in the meta-analysis. A previous meta-analysis on HRI trust was used as the basis for this extended, updated, and evolving analysis. Results Multiple additional factors, which have now been demonstrated to significantly influence trust, were identified. The present results, expressed as points of difference and points of commonality between the current and previous analyses, are identified, explained, and cast in the setting of the emerging wave of HRI. Conclusion The present meta-analysis expands upon previous work and validates the overarching categories of trust antecedent (human-related, robot-related, and contextual), as well as identifying the significant individual precursors to trust within each category. A new and updated model of these complex interactions is offered. Application The identified trust factors can be used in order to promote appropriate levels of trust in robots.

Behavioral Sciences↗
DOE OSTI2021

AI-Enabled Robotic NDE for Structural Damage Assessment and Repair

The aim of this paper is to develop the concept and a prototype of an intelligent mobile robotic platform that is integrated with nondestructive evaluation (NDE) capabilities for autonomous live inspection and repair. In many industrial environments, such as the application of power plant boiler inspection, human inspectors often have to perform hazardous and challenging tasks. There is a significant chance of injury, considering the confined spaces and limited visibility of the inspection environment and hazards such as pressurization and improper water levels. In order to provide a solution to eliminate these dangers, the concept of a new robotic system was developed and prototyped that is capable of autonomously sweeping the region to be inspected. The robot design contains systematic integration of components from robotics, NDE, and artificial intelligence (AI). A magnetic track system is used to navigate over the vertical steel structures required for examination. While moving across the inspection area, the robot uses an NDE sensor to acquire data for inspection and repair. This paper presents a design of a portable NDE scanning system based on eddy current array probes, which can be customized and installed on various mobile robot platforms. Machine learning methods are applied for semantic segmentation that will simultaneously localize and recognize defects without the need of human intervention. Experiments were conducted that show the NDE and repair capabilities of the system. Improvements in human safety and structural damage prevention, as well as lowering the overall costs of maintenance, are possible through the implementation of this robotic NDE system.

Materials Science↗
NASA NTRS1974

Experientally guided robots

This paper argues that an experientally guided robot is necessary to successfully explore far-away planets. Such a robot is characterized as having sense organs which receive sensory information from its environment and motor systems which allow it to interact with that environment. The sensori-motor information which it receives is organized into an experiential knowledge structure and this knowledge in turn is used to guide the robot's future actions. A summary is presented of a problem solving system which is being used as a test bed for developing such a robot. The robot currently engages in the behaviors of visual tracking, focusing down, and looking around in a simulated Martian landscape. Finally, some unsolved problems are outlined whose solutions are necessary before an experientally guided robot can be produced. These problems center around organizing the motivational and memory structure of the robot and understanding its high-level control mechanisms.

Merriam, E. W.↗
NASA NTRS1983

Study of robotics systems applications to the space station program

Applications of robotics systems to potential uses of the Space Station as an assembly facility, and secondarily as a servicing facility, are considered. A typical robotics system mission is described along with the pertinent application guidelines and Space Station environmental assumptions utilized in developing the robotic task scenarios. A functional description of a supervised dual-robot space structure construction system is given, and four key areas of robotic technology are defined, described, and assessed. Alternate technologies for implementing the more routine space technology support subsystems that will be required to support the Space Station robotic systems in assembly and servicing tasks are briefly discussed. The environmental conditions impacting on the robotic configuration design and operation are reviewed.

Fox, J. C.↗
NASA NTRS1984

Translational control of a graphically simulated robot arm by kinematic rate equations that overcome elbow joint singularity

An operator commands a robot hand to move in a certain direction relative to its own axis system by specifying a velocity in that direction. This velocity command is then resolved into individual joint rotational velocities in the robot arm to effect the motion. However, the usual resolved-rate equations become singular when the robot arm is straightened. To overcome this elbow joint singularity, equations were developed which allow continued translational control of the robot hand even though the robot arm is (or is nearly) fully extended. A feature of the equations near full arm extension is that an operator simply extends and retracts the robot arm to reverse the direction of the elbow bend (difficult maneuver for the usual resolved-rate equations). Results show successful movement of a graphically simulated robot arm.

Barker, L. K.↗
NASA NTRS1989

Interaction dynamics of multiple mobile robots with simple navigation strategies

The global dynamic behavior of multiple interacting autonomous mobile robots with simple navigation strategies is studied. Here, the effective spatial domain of each robot is taken to be a closed ball about its mass center. It is assumed that each robot has a specified cone of visibility such that interaction with other robots takes place only when they enter its visibility cone. Based on a particle model for the robots, various simple homing and collision-avoidance navigation strategies are derived. Then, an analysis of the dynamical behavior of the interacting robots in unbounded spatial domains is made. The article concludes with the results of computer simulations studies of two or more interacting robots.

Wang, P. K. C.↗
NASA NTRS1989

User Needs, Benefits, and Integration of Robotic Systems in a Space Station Laboratory

The methodology, results and conclusions of all tasks of the User Needs, Benefits, and Integration Study (UNBIS) of Robotic Systems in a Space Station Laboratory are summarized. Study goals included the determination of user requirements for robotics within the Space Station, United States Laboratory. In Task 1, three experiments were selected to determine user needs and to allow detailed investigation of microgravity requirements. In Task 2, a NASTRAN analysis of Space Station response to robotic disturbances, and acceleration measurement of a standard industrial robot (Intelledex Model 660) resulted in selection of two ranges of microgravity manipulation: Level 1 (10-3 to 10-5 G at greater than 1 Hz) and Level 2 (less than equal 10-6 G at 0.1 Hz). This task included an evaluation of microstepping methods for controlling stepper motors and concluded that an industrial robot actuator can perform milli-G motion without modification. Relative merits of end-effectors and manipulators were studied in Task 3 in order to determine their ability to perform a range of tasks related to the three microgravity experiments. An Effectivity Rating was established for evaluating these robotic system capabilities. Preliminary interface requirements for an orbital flight demonstration were determined in Task 4. Task 5 assessed the impact of robotics.

Dodd, W. R.↗
NASA NTRS1989

M.I.N.G., Mars Investment for a New Generation: Robotic construction of a permanently manned Mars base

A basic procedure for robotically constructing a manned Mars base is outlined. The research procedure was divided into three areas: environment, robotics, and habitat. The base as designed will consist of these components: two power plants, communication facilities, a habitat complex, and a hangar, a garage, recreation and manufacturing facilities. The power plants will be self-contained nuclear fission reactors placed approx. 1 km from the base for safety considerations. The base communication system will use a combination of orbiting satellites and surface relay stations. This system is necessary for robotic contact with Phobos and any future communication requirements. The habitat complex will consist of six self-contained modules: core, biosphere, science, living quarters, galley/storage, and a sick bay which will be brought from Phobos. The complex will be set into an excavated hole and covered with approximately 0.5 m of sandbags to provide radiation protection for the astronauts. The recreation, hangar, garage, and manufacturing facilities will each be transformed from the four one-way landers. The complete complex will be built by autonomous, artificially intelligent robots. Robots incorporated into the design are as follows: Large Modular Construction Robots with detachable arms capable of large scale construction activities; Small Maneuverable Robotic Servicers capable of performing delicate tasks normally requiring a suited astronaut; and a trailer vehicle with modular type attachments to complete specific tasks; and finally, Mobile Autonomous Rechargeable Transporters capable of transferring air and water from the manufacturing facility to the habitat complex.

Amos, Jeff↗
NASA NTRS1989

Cartesian control of redundant robots

A Cartesian-space position/force controller is presented for redundant robots. The proposed control structure partitions the control problem into a nonredundant position/force trajectory tracking problem and a redundant mapping problem between Cartesian control input F is a set member of the set R(sup m) and robot actuator torque T is a set member of the set R(sup n) (for redundant robots, m is less than n). The underdetermined nature of the F yields T map is exploited so that the robot redundancy is utilized to improve the dynamic response of the robot. This dynamically optimal F yields T map is implemented locally (in time) so that it is computationally efficient for on-line control; however, it is shown that the map possesses globally optimal characteristics. Additionally, it is demonstrated that the dynamically optimal F yields T map can be modified so that the robot redundancy is used to simultaneously improve the dynamic response and realize any specified kinematic performance objective (e.g., manipulability maximization or obstacle avoidance). Computer simulation results are given for a four degree of freedom planar redundant robot under Cartesian control, and demonstrate that position/force trajectory tracking and effective redundancy utilization can be achieved simultaneously with the proposed controller.

Colbaugh, R.↗
NASA NTRS1990

Situationally Driven Local Navigation for Mobile Robots

For mobile robots to autonomously accommodate dynamically changing navigation tasks in a goal-directed fashion, they must employ navigation plans. Any such plan must provide for the robot's immediate and continuous need for guidance while remaining highly flexible in order to avoid costly computation each time the robot's perception of the world changes. Due to the world's uncertainties, creation and maintenance of navigation plans cannot involve arbitrarily complex processes, as the robot's perception of the world will be in constant flux, requiring modifications to be made quickly if they are to be of any use. This work introduces navigation templates (NaT's) which are building blocks for the construction and maintenance of rough navigation plans which capture the relationship that objects in the world have to the current navigation task. By encoding only the critical relationship between the objects in the world and the navigation task, a NaT-based navigation plan is highly flexible; allowing new constraints to be quickly incorporated into the plan and existing constraints to be updated or deleted from the plan. To satisfy the robot's need for immediate local guidance, the NaT's forming the current navigation plan are passed to a transformation function. The transformation function analyzes the plan with respect to the robot's current location to quickly determine (a few times a second) the locally preferred direction of travel. This dissertation presents NaT's and the transformation function as well as the needed support systems to demonstrate the usefulness of the technique for controlling the actions of a mobile robot operating in an uncertain world.

Slack, Marc Glenn↗
NASA NTRS1990

Experiments in thrusterless robot locomotion control for space applications

While performing complex assembly tasks or moving about in space, a space robot should minimize the amount of propellant consumed. A study is presented of space robot locomotion and orientation without the use of thrusters. The goal was to design a robot control paradigm that will perform thrusterless locomotion between two points on a structure, and to implement this paradigm on an experimental robot. A two arm free flying robot was constructed which floats on a cushion of air to simulate in 2-D the drag free, zero-g environment of space. The robot can impart momentum to itself by pushing off from an external structure in a coordinated two arm maneuver, and can then reorient itself by activating a momentum wheel. The controller design consists of two parts: a high level strategic controller and a low level dynamic controller. The control paradigm was verified experimentally by commanding the robot to push off from a structure with both arms, rotate 180 degs while translating freely, and then to catch itself on another structure. This method, based on the computed torque, provides a linear feedback law in momentum and its derivatives for a system of rigid bodies.

Jasper, Warren Joseph↗
NASA NTRS1991

A cost-effective intelligent robotic system with dual-arm dexterous coordination and real-time vision

Dexterous coordination of manipulators based on the use of redundant degrees of freedom, multiple sensors, and built-in robot intelligence represents a critical breakthrough in development of advanced manufacturing technology. A cost-effective approach for achieving this new generation of robotics has been made possible by the unprecedented growth of the latest microcomputer and network systems. The resulting flexible automation offers the opportunity to improve the product quality, increase the reliability of the manufacturing process, and augment the production procedures for optimizing the utilization of the robotic system. Moreover, the Advanced Robotic System (ARS) is modular in design and can be upgraded by closely following technological advancements as they occur in various fields. This approach to manufacturing automation enhances the financial justification and ensures the long-term profitability and most efficient implementation of robotic technology. The new system also addresses a broad spectrum of manufacturing demand and has the potential to address both complex jobs as well as highly labor-intensive tasks. The ARS prototype employs the decomposed optimization technique in spatial planning. This technique is implemented to the framework of the sensor-actuator network to establish the general-purpose geometric reasoning system. The development computer system is a multiple microcomputer network system, which provides the architecture for executing the modular network computing algorithms. The knowledge-based approach used in both the robot vision subsystem and the manipulation control subsystems results in the real-time image processing vision-based capability. The vision-based task environment analysis capability and the responsive motion capability are under the command of the local intelligence centers. An array of ultrasonic, proximity, and optoelectronic sensors is used for path planning. The ARS currently has 18 degrees of freedom made up by two articulated arms, one movable robot head, and two charged coupled device (CCD) cameras for producing the stereoscopic views, and articulated cylindrical-type lower body, and an optional mobile base. A functional prototype is demonstrated.

Marzwell, Neville I.↗
NASA NTRS1990

i-SAIRAS '90; Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, Kobe, Japan, Nov. 18-20, 1990

The present conference on artificial intelligence (AI), robotics, and automation in space encompasses robot systems, lunar and planetary robots, advanced processing, expert systems, knowledge bases, issues of operation and management, manipulator control, and on-orbit service. Specific issues addressed include fundamental research in AI at NASA, the FTS dexterous telerobot, a target-capture experiment by a free-flying robot, the NASA Planetary Rover Program, the Katydid system for compiling KEE applications to Ada, and speech recognition for robots. Also addressed are a knowledge base for real-time diagnosis, a pilot-in-the-loop simulation of an orbital docking maneuver, intelligent perturbation algorithms for space scheduling optimization, a fuzzy control method for a space manipulator system, hyperredundant manipulator applications, robotic servicing of EOS instruments, and a summary of astronaut inputs on automation and robotics for the Space Station Freedom.

Source record↗
NASA NTRS1990

Robotic servicing of EOS instruments

This paper addresses robotic servicing of the Earth Observing Satellite (EOS) instruments. The goals of implementing a robotic servicing system on EOS would be to maintain the instruments throughout the required mission life and minimize life-cycle costs. To address robot servicing, an initial design concept has been developed which will be applied to a representative EOS instrument. This instrument will be used as a model for determining the most practical level of servicing of its parts, and how to design these parts for robot servicing. Using this representative EOS instrument as a model, a generic design scheme will be developed that can be applied to all EOS instruments. The first task is to determine how to identify which parts must be designed for robot servicing. Next, the requirements imposed on the instruments and the servicing robot when designing for robot serviceability must be examined.

Razzaghi, Andrea I.↗
NASA NTRS1993

Integration of advanced teleoperation technologies for control of space robots

Teleoperated robots require one or more humans to control actuators, mechanisms, and other robot equipment given feedback from onboard sensors. To accomplish this task, the human or humans require some form of control station. Desirable features of such a control station include operation by a single human, comfort, and natural human interfaces (visual, audio, motion, tactile, etc.). These interfaces should work to maximize performance of the human/robot system by streamlining the link between human brain and robot equipment. This paper describes development of a control station testbed with the characteristics described above. Initially, this testbed will be used to control two teleoperated robots. Features of the robots include anthropomorphic mechanisms, slaving to the testbed, and delivery of sensory feedback to the testbed. The testbed will make use of technologies such as helmet mounted displays, voice recognition, and exoskeleton masters. It will allow tor integration and testing of emerging telepresence technologies along with techniques for coping with control link time delays. Systems developed from this testbed could be applied to ground control of space based robots. During man-tended operations, the Space Station Freedom may benefit from ground control of IVA or EVA robots with science or maintenance tasks. Planetary exploration may also find advanced teleoperation systems to be very useful.

Stagnaro, Michael J.↗