Special Topics Flashcards
Is a specialty that uses medical imaging to diagnose and treat diseases seen within the body.
Radiology
Type of Radiology which has a main objective of producing and interpreting shadow images of internal organs of the body using x-radiation
Diagnostic Radiologist
An instrument that uses a penetrating electromagnetic radiation similar to light but having shorter waveleghts
X-ray Machine
Type of Radiology which is concerns with the treatment of ailments by the destruction of tissue with high energy radiation
Therapeutic Radiology
A special imaging radiology includes nuclear technique, computed axial tomography (CAT) and ultrasound
Radiologic imaging system
An instrument for obtaining cross sectional images in three dimensions of internal body structures.
Computerized Axial Tomograph
A sensitive and swift method of analyzing chemicals using very tiny samples of that chemicals
Chromatography
An instrument for recording the waveform of voltages developed in the brain using electrodes applied to the scalp
Echoencephalograph
A record produced by an electroencephalograph
Electroencephalogram
An instrument that provides an audible presentation of brain waves
Electroencephalophone
An instrument used for displaying on a cathode-ray screen the waveforms of voltages generated by various sections of the brain
Electroencephaloscope
An instrument for recording electric activity of the brain using electrodes placed directly on the external gray layer of the brain
Electrocorticograph
The branch of electrostatography in which electrostatic images are formed on an insulating medium without the aid of electromagnetic radiation
Electrography
An instrument that provides a continuous recording of the movements of an internal organ such as the heart
Electrokymograph
An instrument for recording eye movements that have been induced by electric stimulation
Electronystagmograph
A medical instrument used for cauterizing by using eletrically generated heat to coagulate or destroy tissues
Electrocautery
A diagnostic technique that uses ultrasound to produce an image of the internal structures of the heart
Echocardiography
A graphic record made by electrocardiograph
Electrocardiogram
An instrument for recording the waveforms of voltages developed in the chest and lower parts of the human body in synchronism with action of the heart
Electrocardiograph
The record produced by an electromyograph
Electromyogram
An instrument for detecting an electric charge by means of the mechanical forces exerted between electrically charged bodies
Electroscope
An instrument for measuring small amounts of uranium in liquids
Fluorimeter
Photography of an image produced on a fluorescent screen
Fluorography
An instrument that measures the intensity of x-rays and other radiation by measuring the intensity of the fluorescence produced
Fluoremeter
The use of a fluoroscope for x-ray examination
Fluoroscopy
A direct-reading instrument that has a graduated float whose position in a liquid is determined by the density
Hydrometer
An instrument that measures the humidity of the atmosphere
Hygrometer
Used to identify substances by their wavelengths and also the amount of infrared radiation radiation that they emit
Infrared analyzer
Radiography of a particular layer of a body or object
Laminography
A laser combined with an ophthalmoscope for directing burst of coherent light through a human eye to burn selected points on a detached retina
Laser photocoagulator
The application nuclear magnetic resonance in medicine which is used to visualize soft tissues of the body
Magnetic Resonance Imaging (MRI)
Used to measure nuclear magnetic moment which is the characteristic of the magnetic behavior of specific nuclei
Nuclear Magnetic Resonance (NMR)
Used to measure the acidity or alkalinity of a solution
pH sensor
An instrument that indicates or records one or more functional variables of a body that may change when a person undergoes the emotional stress associated with a lie
Polygraph
The science of using lie detectors
Polygraphy
An instrument used that measures the refractive index of a liquid or solid usually by measuring the critical angle at which total reflection occurs
Refractometer
An instrument that analyzes by wavelength the light radiation emitted by incandescent substances
Spectroscope
A spectrometer that provides a permanent record of a spectrum that provides a permanent record of a spectrum of radiation
Spectrograph
The branch of physical science that deals with the measurement and analysis of visible, infrared and ultraviolet spectra
Spectroscopy
An instrument that disperses radiation into its component wavelengths and measures the magnitude of each component
Spectrometer
An instrument that measures transmission or apparent reflectance of visible light as a function of wavelength
Spectrophotometer
A far-infared image-forming device that provides a thermal photograph by scanning a far-infrared image of an object or scene
Thermograph
Photography that uses radiation in the long-wavelength far-infrared region
Thermography
An instrument that measures the turbidity of a liquid
Turbidimeter
This system is for the visualization of boundaries and different tissue densities particularly in the abdomen
Ultrasound
It is a computer-controlled machine that is programmed to move, manipulate objects, and accomplish work while interacting with its environment
Robot
It refers to the discipline of conceptualizing, designing, building and applying robots
Robotics
The term robotics was coined by
Isaac Asimov
Robot Generations
First - Primitive(No AI)
Second - Programmed using a button box
Third - First truly computer-programmable robots
Fourth - Considered the next generation robots (Can Multiply and evolve)
Three Laws of Robotics
First Law - robot may not injure humanity
Second Law - robot must obey orders given it by human beings
Third Law - robot must protect its own existence
It is a programmable multi-function manipulator designed to move materials, parts, tools or any specified device through variable programmed motion for the performance of a variety of task
Industrial Robot
It is an automatic control device that reacts in response to a feedback signal
Servocontrol mechanism
It is less expensive and simpler in design an operation but considerably more limited in scope than servorobots
Nonservorobots
One of limited number of ways a robot can move
Degree of freedom
It is like the human hand used to grasp objects like a workpiece or some other parts
End effector
Refers to the robot as a whole, including base, power supply, and arm
Manipulator
The brain and nervous system for the robot
Controller
The method used for determining the work envelope or spatial volume in which the robot operates
Coordinate systems
Defined by three distances in which the work space resembles a rectangle
Cartesian or rectangular coordinates
Defined by two distances and an angle in which the work space resembles a cylinder
Cylindrical Coordinates
Defined by two angles and a distance in which the work space resembles a sphere
Spherical Coordinates
Combines the features of other systems
Jointed arm configuration
Robotic motion which only the angles and extensions needed to reach the starting and ending points are required
Point-to-point path motion
Robotic motion which defined by interim positions and angles
Continuous path motion
Robotic motion which every point in a line is determined by a mathematical function
Controlled path motion
Types of robot actuators
Electric motor actuator
Hydraulic fluid actuator
Pneumatic fluid actuator
This program produces only two-position motion about any individual robot axis
Positive-stop Program
This program has the capacity to move a robot axis to any position within its range
Point-to-point program
It is similar to point-to-point program but with the destination position very close together
Continuous-path programs
It is a 4-axis robot with rotating elements that move in a single plane and therefore limits the work envelope but also inexpensive compared to sophisticated robots
SCARA robot
A motor or transducer that converts energy (electric, hydraulic or pneumatic) into power used to produce motion or power
Actuator
The ability of a robot to position its end effector at a programmed location in space
Accuracy
Control signals that are processed by directly measuring quantities
Analog control
A robot or machine that resembles a human
Android
A robot with rotary joints that can move much like a person’s arm
Anthropomorphic robot
An interconnected set of links and powered joints comprising a manipulator that supports or moves a wrist, hand or end effector
Arm
The ability of a machine system to perceived anticipated or unanticipated new conditions
Artificial intelligence
Also known as assembly cell or assembly station
Assembly
Is the used of any one of several techniques to determine the presence or absence of features
Automated inspection
Automatically controlled operation of an apparatus, process or system by mechanical or electronics devices that replace human observation, effort and decision
Automation
A traveled path in space, usually referred to as a linear direction of travel in any of threee dimensions
Axis
A robot in which motions are controlled by driving each axis or degree of freedom against a mechanical limit stop
Bang-bang robot
The platform or structure to which a robot arm is attached
Base
The production of parts or materials in discrete runs, or batches, interspersed with other production operations or runs of other parts or materials
Batch manufacturing
An acronym for computer-aided design and computer-aided manufacturing
CAD/CAM
A manufacturing unit consisting of two or more workstations or machines and the material transport mechanisms and storage buffers that interconnect them
Cell
A manufacturing unit consisting of two or more cells, and the materials transport mechanisms and storage buffers that interconnect them
Center
An assembly between two closely related rigid members enabling on member to rotate in relation to the other around a mobile axis
Complex joint
The use of an interactive-terminal workstation usually with graphics capability to automate the design of products
Computer-aided-design (CAD)
Working from a product design likely to exist in a CAD data base
Computer-aided manufacturing (CAM)
The philosophy dictating that all functions within a manufacturing operation be data base-driven and that information from within any single data be shared by other functional groups
Computer-integrated manufacturing (CIM)
A numerical control system with a dedicated mini or micro computer that performs the functions of data processing and control
Computerized numerical control (CNC)
The unit of automatic work for a robot
Cycle (program)
The number of independent ways the end effector can move
Degrees of Freedom
A multistep process beginning with a description of the range of tasks to be performed
Design process (of robots)
The joint that connects the upper arm and forearm on a robot
Elbow
Also know as end-of-arm tooling
End effector
A computer program usually based on artificial intelligence techniques
Expert system
Robots with little computer power
First-generation robot system
Also known as a nonservo robot or open robot
Fixed-stop robot
Multipurpose robots that are adaptable and capable of being redirected, trained or used for new purpose
Flexibility, operational
An arrangement of machine tools that is capable of standing alone, interconnected by a workpiece transport system and controlled by a central computer
Flexible manufacturing system (FMS)
Also known as pedestal robot
Floor-mounted robot
That portion of a jointed arm which is connected to the wrist and elbow
Forearm
An overhead-mounted, rectilinear robot with a minimum of three degrees of freedom and normally not exceeding six
Gantry robot
The grasping hand of a robot which manipulates objects and tools to fulfill a given task
Gripper
A technique for grouping parts to gain design and operational advantages
Group Technology
A fingered gripper sometimes disguised from a regular gripper by having more than three fingers and more dexterous finger motions resembling the human hand
Hand
Also known as fixed automation, or hard tooling
Hard Automation
Robot manipulation and sensory feedback to check the compliance of a part or assembly with specifications
Inspection (robotic)
An approach used to introduce factory automation technology into manufacturing by selective application of automation
Islands of automation
A discrete parts-manufacturing facility characterized by a mix of products of relatively low-volume production in batch lots
Job shop
The degree to which a process has been made automatic
Level of automation
an electrical switched positioned to be switched when a motion limit occurs
Limit switch
The use of the robot’s manipulative and transport capabilities in ways generally more sophisticated than simple materials-handling
Machine loading
A numerically controlled metal-cutting machine tool that uses tools
Machining center
A mechanism usually consisting of a series of segments or links, jointed or sliding relative to one another
Manipulator
The use of the robot’s basic capability to transport objects
Materials-handling
The basic element of a central processing unit that is constructed as a single integrated circuit
Microprocessor
The means of attaching end of arm tooling to an industrial robot
Mounting plate
A method for the control of machine tool systems
Numerical control
Developing robot programs partially or completely without requiring the use of the robot itself
Off-line programming
Software that controls the execution of computer programs
Operating system
The four robot generations were proposed by ______
Eiji Nakano
The first instance that the term “Robot” was used was in a play called ________ written by __________ in ________
Rossum’s Universal Robots, Karel Capek, 1921
The Short Story written by Isaac Asimov, where the 3 laws of robotics were written
Runaround
In 1948, William Grey Wiener invents two robots, ______ and _____, robots that mimic lifeforms
Elmer and Elsie
The two proponents of the first robot company (1956)
George Devol & Joseph Engelberger
The First Industrial Robot
UNIMATE
First Company to purchase UNIMATE(the first industrial robot arm)
General Motors
The Six Degrees of Freedom
- ) Forward/Reverse
- ) Left/Right
- ) Up/Down
- ) Tilt Up/Tilt Down
- ) Tilt Sideways
- ) Swivel Left/Right
A term used to describe the three linear motion degrees of freedom
Prismatic
A term used to describe the three rotational/angular motion degrees of freedom
Revolute
the number of joints needed in a robot depend on how many __________ a robot design needs
degrees of freedom
number of joints = number of degrees of freedom
Tilt up/tilt down (imagine a bird soaring high or doing a nosedive) DOF is also called __________
Pitch
Sideway tilting (imagine an airplane doing a barrel roll) DOF is also called _________
Roll
The Swivel/Steer to the left/right movement (imagine a boat steering left or right) DOF is also called
Yaw
A Cartesian Robot has ______ Prismatic Joints and _____ Revolute Joints
3 Prismatic
0 Revolute
A Cylindrical Robot has ______ Prismatic Joints and _____ Revolute Joints
2 Prismatic
1 Revolute
An Articulated Robot has ______ Prismatic Joints and _____ Revolute Joints
0 Prismatic
3 Revolute
A Gantry Robot has ______ Prismatic Joints and _____ Revolute Joints
3 Prismatic
0 Revolute
A Spherical Robot has ______ Prismatic Joints and _____ Revolute Joints
1 Prismatic
2 Revolute
A SCARA Robot has ______ Prismatic Joints and _____ Revolute Joints
1 Prismatic
2 Revolute
Another term for Articulated Robot
Anthropomorphic
An Articulated Robot mimics the movement of _____
Humans
Advantages of an Electric Actuator
- Low Cost
- No Oil leaks
- Accurate servo positioning
Disadvantages of an Electric Actuator
- Limited Force
- Low Holding Strength when stopped
Advantages of an Hydraulic Actuator
- Great Force
- Great Holding Strength
- Accurate Positioning
Disadvantages of an Hydraulic Actuator
- High Cost
- Oil Leaks
- Heavy
Advantages of an Pneumatic Actuator
- Moderate Cost
- Clean
- Quick Response
Disadvantages of an Pneumatic Actuator
- Cannot Accuraly Position itself
- Weak Force
- Not So Much Holding Strength
Accuracy range of an uncalibrated robot
+- 100mm
Accuracy range of a calibrated robot
+- 0.01mm
How is the robot property, Maximum Speed, Measured?
The Speed where all joints and arms move in a complementary motion for its end effector to achieve maximum speed
A robot property that describes the ability to return repeatedly to a given position or perform the same set of movements; it is expressed as error
Repeatability
A robot property that describes the Smallest increment motion
Resolution
A robot property that describes the Maximum Horizontal Distance from the robot center to the tip of the end effector
Reach
A robot property that describes the Maximum weight that can be carried by the robot, without sacrificing presicion
Payload
The Volume of work area reachable by the robot
Working Envelope
