Raymond Goertz
Raymond C. Goertz | |
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Born | Raymond C. Goertz March 12, 1915 Clearwater, Kansas, U.S. |
Died | June 4, 1970 | (aged 55)
Alma mater |
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Known for | teleoperators |
Spouse | Helen Boula |
Children | 3 |
Awards |
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Scientific career | |
Fields | Telerobotics |
Institutions | Argonne National Laboratory |
Raymond C. Goertz (March 12, 1915 – June 4, 1970) was an American mechanical engineer and an early pioneer in the field of
Goertz also performed early research on the degrees of freedom necessary for smooth motion by remote manipulation and developed one of the first head-mounted displays as a prototype for virtual reality. Nautical terms such as pitch, yaw, and roll were incorporated into the lexicon of robotics by Goertz.[3]
Today, the purpose of teleoperation has expanded beyond the scope of nuclear safety and now includes uses such as reaching remote environments in space or in surgical operations, among other uses.[4]
In 1985 the American Nuclear Society established the 'Ray Goertz Award' to recognize and honor members who have made outstanding contributions to the field of remote technology.[5]
Education and early life
Raymond C. Goertz was born in
Career and research
Raymond Goertz worked for the
At the first and second International Conferences on Peaceful Uses of Atomic Energy in 1955 and 1958 Goertz represented the United States as a delegate.
During his career Goertz was a member of the American Nuclear Society, the American Institute of Chemical Engineers, and the Institute of Electrical and Electronics Engineers.
Goertz's primary work and accomplishments revolved around the development and improvement of
For his work Goertz also codified terms so that university and industrial developers could replicate and contribute to his field, and he incorporated nautical terms into the lexicon of robotics, including pitch, yaw, and roll.
The company of Central Research Labs in Red-Wing, Minnesota was created by Goertz's efforts and technological developments, and the company made more than 8,000 master-slave manipulators for entities in 26 different countries. Goertz was replaced in 1953 as head of Central Research Labs by Demetrius Jelatis.
Today, the purpose of teleoperation has expanded beyond the scope of just safety and now includes uses such as reaching remote environments in space or deep underwater and working with manipulating extremely large or small objects for surgical operations or manufacturing, among many other uses.[4]
Master-slave manipulator device
The goal of a
While at Argonne National Laboratory Goertz developed the master-slave manipulator in order to safely handle hazardous material from the 100-B plutonium reactor at Hanford.[8] The initial master-slave manipulator device was designed by Goertz in 1948 as a seven-degree-of-freedom bilateral (symmetrical) metal tape transmission pantograph device, which was operated through a leaded glass wall.[6] In 1949 Goertz filed a patent for a mechanical, bilateral master-slave manipulator, and in 1951 Goertz improved upon this design with the first tel-operated articulated arm with a design that relied on mechanical coupling between the master and slave arms through the utilization of steel pulleys and cables.[9][2] This was a major milestone in force feedback technology and derivatives of this design are still seen today.
Goertz gradually became aware of the necessity of
In order to create accurate master-slave manipulator devices, it was necessary for Goertz to develop several principles, all of which are applicable to our own contemporary robotic surgical systems. The principles are as follows. The motion of the slave arm must possess six independent degrees of freedom, three of translation and three of rotation to position gripping devices, and a tong squeeze motion to grip items.[11] The motion of the slave arm must be coupled to the master arms that the position and the direction of the two arms correspond to.[11] The coupling of the two arms must be bilateral and this means that forces at the slave end must be reflected at the master end and displacements produced at the slave end must be able to produce a displacement at the master end, with the slave arm being able to align itself in response to the constraints imposed by the task being done.[4][11]
Awards
Goertz was the recipient of the
In 1985 the American Nuclear Society established the "Ray Goertz Award" to recognize and honor its members who have made outstanding contributions to the field of remote technology.[5]
Personal life
Goertz married Helen Boula on September 2, 1950, in Cook, Illinois. Together they had three children: Alan, Jean, and Linda. Goertz died on June 4, 1970, at the age of 55 in Downers Grove, Illinois.[citation needed]
References
- ^ Goertz, Raymond (Nov 3, 1959). "Manipulator for a Slave Robot" (PDF). Retrieved May 22, 2017.
- ^ a b US 2632574 A, C, Goertz Raymond, "Remote-control manipulator", published 1953-03-24
- ^ ISBN 9781848821149.
- ^ ISBN 978-3-540-71364-7
- ^ a b "Ray Goertz Award -- ANS / Honors and Awards". www.ans.org. Retrieved 2017-06-04.
- ^ ISBN 9783540239574.
- ^ Singh, Manjit (June 2006). "Master-Slave Manipulators: Technology and Recent Developments" (PDF). www.barc.gov. Retrieved May 20, 2017.
- ^ Goertz, Raymond (1949). Master-Slave Manipulator. Argonne National Laboratory.
- ^ "Timeline of Robotics part 2". www.thocp.net. Retrieved 2017-06-04.
- ^ Goertz, Raymond (1952). Anti-Swing Crane with Anti-creep Variable Speed Hoisting. Argonne National Laboratory.
- ^ ISBN 9789812813152.